+ python -m lidar_slam --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters Centerline goodness [0,1] 0.7675122361980948 Centerline is valid? [0, False] SLAMing on 0.046875 meters Centerline goodness [0,1] 0.7675122361980948 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 6.00415725e-17 1.98376338e-16 3.84802650e-13] [-2.11203903e-17 1.00000000e+00 -2.00917632e-18 -4.98169214e-15] [ 5.92315995e-17 4.76181527e-17 1.00000000e+00 -4.34541183e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.076875 meters Centerline goodness [0,1] 0.7808482107643362 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99961831e-01 -7.58771474e-03 4.33171090e-03 6.73119166e-03] [ 7.57982668e-03 9.99969590e-01 1.83452518e-03 -8.09852088e-03] [-4.34549903e-03 -1.80162154e-03 9.99988935e-01 -5.20627521e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.106875 meters Centerline goodness [0,1] 0.7846374536498227 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99945657e-01 -9.14667546e-03 5.00220051e-03 4.91711630e-03] [ 9.14357895e-03 9.99957991e-01 6.41549234e-04 -9.69241046e-03] [-5.00785841e-03 -5.95776355e-04 9.99987283e-01 1.08015000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.136875 meters Centerline goodness [0,1] 0.7576790822665935 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 0.99998347 -0.00282155 0.00501075 0.0016289 ] [ 0.00278644 0.99997162 0.00700012 -0.00759253] [-0.00503036 -0.00698605 0.99996294 0.00452649] [ 0. 0. 0. 1. ]] SLAMing on 0.166875 meters Centerline goodness [0,1] 0.7607481013081736 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.00 [[ 0.99999086 -0.00131886 0.00406762 -0.00521586] [ 0.00132675 0.99999724 -0.00193957 -0.00709795] [-0.00406505 0.00194495 0.99998985 0.00175581] [ 0. 0. 0. 1. ]] SLAMing on 0.196875 meters Centerline goodness [0,1] 0.7470661083918146 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 0.99951453 -0.01992089 0.02395527 0.02276121] [ 0.02067732 0.99928178 -0.03175499 0.02107501] [-0.02330547 0.03223491 0.99920857 -0.02509241] [ 0. 0. 0. 1. ]] SLAMing on 0.226875 meters Centerline goodness [0,1] 0.7679687277085057 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.02 [[ 0.99933051 -0.02477054 -0.02692481 0.08639898] [ 0.02289715 0.99743684 -0.06778995 0.04371355] [ 0.02853499 0.06712807 0.99733624 -0.02374483] [ 0. 0. 0. 1. ]] SLAMing on 0.25687499999999996 meters Centerline goodness [0,1] 0.7648496240601503 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:-0.03 [[ 0.99865872 -0.03728035 -0.0359296 0.13887242] [ 0.0348151 0.99714845 -0.06695431 0.06081302] [ 0.03832322 0.06561361 0.99710891 -0.02841798] [ 0. 0. 0. 1. ]] SLAMing on 0.286875 meters Centerline goodness [0,1] 0.7581905307568102 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.03 [[ 0.99841274 -0.05116173 -0.0235472 0.16633618] [ 0.04962722 0.99686071 -0.06169168 0.06951939] [ 0.02662954 0.06042518 0.99781745 -0.03143804] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters Centerline goodness [0,1] 0.7306402950050285 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.03 [[ 0.997936 -0.06000586 -0.0228698 0.19305379] [ 0.05841528 0.99618609 -0.06481455 0.07516093] [ 0.02667183 0.06334483 0.99763523 -0.03019317] [ 0. 0. 0. 1. ]] SLAMing on 0.34687499999999993 meters Centerline goodness [0,1] 0.7358072556078649 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.03 [[ 0.99769771 -0.06425714 -0.02168655 0.21496002] [ 0.06260283 0.9955903 -0.06986299 0.07865091] [ 0.02608011 0.06834451 0.99732084 -0.03287831] [ 0. 0. 0. 1. ]] SLAMing on 0.37687499999999996 meters Centerline goodness [0,1] 0.727246499034599 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.03 [[ 0.99713539 -0.0740902 -0.01522039 0.2611489 ] [ 0.07300603 0.99537413 -0.06245373 0.07973453] [ 0.01977719 0.06116364 0.9979318 -0.03461392] [ 0. 0. 0. 1. ]] SLAMing on 0.406875 meters Centerline goodness [0,1] 0.737573385518591 Centerline is valid? [False, False] Translation: X:0.30, Y:0.08, Z:-0.03 [[ 0.99633464 -0.08396383 -0.01635087 0.30453165] [ 0.08313167 0.99546511 -0.0462423 0.0790111 ] [ 0.0201594 0.04471353 0.99879643 -0.029338 ] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters Centerline goodness [0,1] 0.7361182629591486 Centerline is valid? [False, False] Translation: X:0.34, Y:0.08, Z:-0.03 [[ 0.99533056 -0.09501976 -0.01698003 0.34444479] [ 0.09424595 0.99467552 -0.04169316 0.07618206] [ 0.02085129 0.03989818 0.99898617 -0.03054065] [ 0. 0. 0. 1. ]] SLAMing on 0.46687499999999993 meters Centerline goodness [0,1] 0.7489562123362333 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:-0.03 [[ 0.99500794 -0.09876325 -0.01431857 0.42433313] [ 0.09815458 0.99443276 -0.0383296 0.07966992] [ 0.01802442 0.03673282 0.99916256 -0.0290354 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters Centerline goodness [0,1] 0.7559089043906442 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:-0.03 [[ 0.99549999 -0.09410997 -0.01109397 0.45090836] [ 0.09375363 0.99516826 -0.02916135 0.08630007] [ 0.01378474 0.02799002 0.99951315 -0.02971438] [ 0. 0. 0. 1. ]] SLAMing on 0.526875 meters Centerline goodness [0,1] 0.35944801693493633 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:-0.03 [[ 0.99728137 -0.07347345 -0.00561373 0.51133361] [ 0.07329687 0.99694535 -0.02697277 0.10888412] [ 0.00757836 0.02648797 0.99962041 -0.02640485] [ 0. 0. 0. 1. ]] SLAMing on 0.556875 meters Centerline goodness [0,1] 0.33105617437294654 Centerline is valid? [False, False] Translation: X:0.61, Y:0.16, Z:-0.02 [[ 0.99963644 -0.02550212 -0.00875435 0.61345865] [ 0.02532499 0.99948354 -0.01978127 0.16349097] [ 0.00925429 0.01955237 0.999766 -0.02093637] [ 0. 0. 0. 1. ]] SLAMing on 0.5868749999999999 meters Centerline goodness [0,1] 0.24439902208328323 Centerline is valid? [False, False] Translation: X:0.70, Y:0.21, Z:-0.02 [[ 0.99990077 0.00963899 -0.01027336 0.7007042 ] [-0.00972314 0.99991933 -0.00817288 0.20849677] [ 0.01019376 0.00827196 0.99991383 -0.02160013] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters Centerline goodness [0,1] 0.598644578313253 Centerline is valid? [False, False] Translation: X:0.79, Y:0.25, Z:-0.02 [[ 9.99398820e-01 3.23704077e-02 -1.24159423e-02 7.90984720e-01] [-3.23799826e-02 9.99475468e-01 -5.70886485e-04 2.51387961e-01] [ 1.23909499e-02 9.72571274e-04 9.99922756e-01 -2.16946861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.646875 meters Centerline goodness [0,1] 0.6159531560305469 Centerline is valid? [False, False] Translation: X:0.91, Y:0.30, Z:-0.01 [[ 0.99947177 0.02871437 -0.01522036 0.91155819] [-0.0286871 0.99958643 0.00200667 0.29754058] [ 0.01527169 -0.00156899 0.99988215 -0.01404165] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters Centerline goodness [0,1] 0.6780744486238721 Centerline is valid? [False, False] Translation: X:0.95, Y:0.30, Z:-0.01 [[ 0.99989763 0.00588615 -0.0130415 0.94896067] [-0.00586666 0.99998162 0.00153175 0.30402514] [ 0.01305028 -0.00145509 0.99991378 -0.01298247] [ 0. 0. 0. 1. ]] SLAMing on 0.7068749999999999 meters Centerline goodness [0,1] 0.7826505530520278 Centerline is valid? [False, False] Translation: X:1.02, Y:0.31, Z:-0.01 [[ 0.9985752 -0.05069281 -0.01666767 1.02201619] [ 0.05074173 0.99870862 0.00252455 0.30838411] [ 0.01651816 -0.0033667 0.9998579 -0.00906738] [ 0. 0. 0. 1. ]] SLAMing on 0.736875 meters Centerline goodness [0,1] 0.9395484489404662 Centerline is valid? [False, False] Translation: X:1.12, Y:0.30, Z:-0.00 [[ 9.90425589e-01 -1.32968516e-01 -3.71015685e-02 1.12116587e+00] [ 1.32896327e-01 9.91120106e-01 -4.41617775e-03 2.99399177e-01] [ 3.73593231e-02 -5.56766721e-04 9.99301742e-01 -3.04312233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.766875 meters Centerline goodness [0,1] 0.9468987059348505 Centerline is valid? [False, False] Translation: X:1.19, Y:0.29, Z:0.00 [[ 9.81982137e-01 -1.84261796e-01 -4.19365304e-02 1.18904782e+00] [ 1.84069956e-01 9.82877044e-01 -8.42417782e-03 2.91662316e-01] [ 4.27707072e-02 5.53136840e-04 9.99084761e-01 4.10699383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.796875 meters Centerline goodness [0,1] 0.9657511785201885 Centerline is valid? [False, True] Translation: X:1.25, Y:0.27, Z:0.03 [[ 0.97025961 -0.23744409 -0.04708066 1.24610632] [ 0.23729746 0.97139753 -0.00876078 0.27143613] [ 0.04781423 -0.00267189 0.99885267 0.02791921] [ 0. 0. 0. 1. ]] SLAMing on 0.8268749999999999 meters Centerline goodness [0,1] 0.9657511785201885 Centerline is valid? [True, True] Translation: X:1.27, Y:0.28, Z:0.03 [[ 0.97019112 -0.23769051 -0.04724846 1.2733557 ] [ 0.23759378 0.97133381 -0.00773472 0.27579479] [ 0.04773249 -0.00372178 0.99885322 0.02849922] [ 0. 0. 0. 1. ]] SLAMing on 0.8568749999999999 meters Centerline goodness [0,1] 0.9754436879115973 Centerline is valid? [True, True] Translation: X:1.31, Y:0.26, Z:0.03 [[ 0.96554122 -0.2540451 -0.05649106 1.30687404] [ 0.2539341 0.96717725 -0.00925449 0.25518712] [ 0.05698793 -0.00540942 0.99836021 0.03425833] [ 0. 0. 0. 1. ]] SLAMing on 0.886875 meters Centerline goodness [0,1] 0.8065665298639612 Centerline is valid? [True, False] Translation: X:1.37, Y:0.26, Z:0.05 [[ 0.96666374 -0.24572754 -0.07196664 1.3682029 ] [ 0.24574337 0.96929523 -0.0087725 0.26330241] [ 0.07191257 -0.00920527 0.99736846 0.0527256 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters Centerline goodness [0,1] 0.9632593357425572 Centerline is valid? [False, True] Translation: X:1.35, Y:0.28, Z:0.07 [[ 0.97733958 -0.20187801 -0.06366019 1.35287165] [ 0.20191907 0.97938471 -0.00585507 0.2845284 ] [ 0.06352982 -0.00713181 0.99795446 0.06973194] [ 0. 0. 0. 1. ]] SLAMing on 0.9468749999999999 meters Centerline goodness [0,1] 0.9819420711769298 Centerline is valid? [True, True] Translation: X:1.37, Y:0.36, Z:0.06 [[ 9.87987883e-01 -1.37150411e-01 -7.12018776e-02 1.37012265e+00] [ 1.36714128e-01 9.90549598e-01 -1.09882384e-02 3.64713032e-01] [ 7.20360327e-02 1.12194378e-03 9.97401399e-01 5.73595083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9768749999999999 meters Centerline goodness [0,1] 0.9756718942510494 Centerline is valid? [True, True] Translation: X:1.40, Y:0.40, Z:0.05 [[ 0.99003653 -0.11879808 -0.07559552 1.39522339] [ 0.11825264 0.992915 -0.01166693 0.39861694] [ 0.07644594 0.00261132 0.99707031 0.04892799] [ 0. 0. 0. 1. ]] SLAMing on 1.006875 meters Centerline goodness [0,1] 0.9837364643405385 Centerline is valid? [True, True] Translation: X:1.43, Y:0.36, Z:0.04 [[ 9.86485792e-01 -1.50377713e-01 -6.50563325e-02 1.43048914e+00] [ 1.50042154e-01 9.88628607e-01 -1.00413955e-02 3.62804546e-01] [ 6.58265535e-02 1.44501741e-04 9.97831070e-01 4.29479554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.036875 meters Centerline goodness [0,1] 0.9887776455623487 Centerline is valid? [True, True] Translation: X:1.47, Y:0.31, Z:0.08 [[ 0.98104599 -0.18675275 -0.05169304 1.46530697] [ 0.18659091 0.98240527 -0.0079822 0.31324226] [ 0.05227421 -0.00181455 0.99863112 0.08040378] [ 0. 0. 0. 1. ]] SLAMing on 1.066875 meters Centerline goodness [0,1] 0.8792309439729055 Centerline is valid? [True, False] Translation: X:1.47, Y:0.27, Z:0.07 [[ 0.9726639 -0.22487467 -0.05793381 1.47245995] [ 0.22556409 0.97421244 0.00556397 0.26824725] [ 0.05518864 -0.01847966 0.99830492 0.07396424] [ 0. 0. 0. 1. ]] SLAMing on 1.096875 meters Centerline goodness [0,1] 0.9411654953666273 Centerline is valid? [False, False] Translation: X:1.47, Y:0.25, Z:0.08 [[ 0.97423431 -0.21856755 -0.05563935 1.46710369] [ 0.21942417 0.97558125 0.00970814 0.24888936] [ 0.05215883 -0.02166663 0.99840373 0.07526274] [ 0. 0. 0. 1. ]] SLAMing on 1.1268749999999998 meters Centerline goodness [0,1] 0.986483710611725 Centerline is valid? [False, True] Translation: X:1.46, Y:0.23, Z:0.07 [[ 0.97741814 -0.20387693 -0.05556959 1.46425355] [ 0.20528364 0.97848051 0.02084511 0.23495036] [ 0.05012392 -0.03178192 0.9982372 0.07498041] [ 0. 0. 0. 1. ]] SLAMing on 1.1568749999999999 meters Centerline goodness [0,1] 0.997528219494109 Centerline is valid? [True, True] Translation: X:1.49, Y:0.26, Z:0.08 [[ 9.83087204e-01 -1.77274385e-01 -4.59711018e-02 1.49090121e+00] [ 1.77123204e-01 9.84161061e-01 -7.37401190e-03 2.58950134e-01] [ 4.65501918e-02 -8.93252108e-04 9.98915553e-01 7.79860225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.186875 meters Centerline goodness [0,1] 0.9971929680776954 Centerline is valid? [True, True] Translation: X:1.52, Y:0.28, Z:0.07 [[ 9.86681717e-01 -1.54569679e-01 -5.06695534e-02 1.51678496e+00] [ 1.54355590e-01 9.87981868e-01 -8.13509244e-03 2.77245385e-01] [ 5.13180387e-02 2.05618160e-04 9.98682340e-01 7.06611495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.216875 meters Centerline goodness [0,1] 0.9968267051308469 Centerline is valid? [True, True] Translation: X:1.54, Y:0.30, Z:0.07 [[ 9.89753459e-01 -1.31774704e-01 -5.49865310e-02 1.54383116e+00] [ 1.31487081e-01 9.91278539e-01 -8.83202213e-03 2.97237584e-01] [ 5.56708052e-02 1.51150597e-03 9.98448034e-01 6.50179390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.246875 meters Centerline goodness [0,1] 0.9390776199299979 Centerline is valid? [True, False] Translation: X:1.53, Y:0.29, Z:0.06 [[ 0.99220877 -0.11323591 -0.05195569 1.53497675] [ 0.11357563 0.99352274 0.00362398 0.28797336] [ 0.05120879 -0.00949664 0.99864282 0.0632621 ] [ 0. 0. 0. 1. ]] SLAMing on 1.276875 meters Centerline goodness [0,1] 0.9881318411019555 Centerline is valid? [False, True] Translation: X:1.53, Y:0.28, Z:0.07 [[ 0.99235018 -0.11327878 -0.04908186 1.52907305] [ 0.11371447 0.99349433 0.00616817 0.28203366] [ 0.04806382 -0.0117023 0.99877571 0.06727706] [ 0. 0. 0. 1. ]] SLAMing on 1.306875 meters Centerline goodness [0,1] 0.9960800410466906 Centerline is valid? [True, True] Translation: X:1.56, Y:0.26, Z:0.08 [[ 9.90414555e-01 -1.32313621e-01 -3.96498961e-02 1.56204321e+00] [ 1.32160157e-01 9.91207205e-01 -6.47848171e-03 2.57786532e-01] [ 4.01584541e-02 1.17624610e-03 9.99192632e-01 7.83512315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3368749999999998 meters Centerline goodness [0,1] 0.9966342404465788 Centerline is valid? [True, True] Translation: X:1.60, Y:0.22, Z:0.10 [[ 9.86691044e-01 -1.59907320e-01 -2.95031020e-02 1.59890615e+00] [ 1.59834635e-01 9.87132031e-01 -4.82099326e-03 2.15096938e-01] [ 2.98943692e-02 4.12133233e-05 9.99553063e-01 9.53860570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3668749999999998 meters Centerline goodness [0,1] 0.996060811226688 Centerline is valid? [True, True] Translation: X:1.63, Y:0.18, Z:0.10 [[ 9.83685938e-01 -1.78438805e-01 -2.28378799e-02 1.63252817e+00] [ 1.78400227e-01 9.83950929e-01 -3.73212507e-03 1.82781443e-01] [ 2.31373090e-02 -4.03044000e-04 9.99732215e-01 9.86740210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3968749999999999 meters Centerline goodness [0,1] 0.9951568880953847 Centerline is valid? [True, True] Translation: X:1.66, Y:0.19, Z:0.09 [[ 9.82849168e-01 -1.82340312e-01 -2.75594509e-02 1.66173809e+00] [ 1.82285593e-01 9.83235301e-01 -4.50618772e-03 1.86758613e-01] [ 2.79190847e-02 -5.94788012e-04 9.99610009e-01 9.42238205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.426875 meters Centerline goodness [0,1] 0.9940048453989242 Centerline is valid? [True, True] Translation: X:1.69, Y:0.19, Z:0.09 [[ 9.85817425e-01 -1.65026779e-01 -3.04986503e-02 1.69030754e+00] [ 1.64951398e-01 9.86289080e-01 -4.98867263e-03 1.93003290e-01] [ 3.09037503e-02 -1.12874592e-04 9.99522359e-01 9.17801735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.456875 meters Centerline goodness [0,1] 0.9933520733734124 Centerline is valid? [True, True] Translation: X:1.72, Y:0.21, Z:0.08 [[ 9.87862953e-01 -1.51442319e-01 -3.45254856e-02 1.71666027e+00] [ 1.51337342e-01 9.88466033e-01 -5.64902233e-03 2.11237151e-01] [ 3.49827708e-02 3.55464669e-04 9.99387852e-01 8.30095519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.486875 meters Centerline goodness [0,1] 0.9935299675471388 Centerline is valid? [True, True] Translation: X:1.74, Y:0.24, Z:0.08 [[ 9.90423831e-01 -1.33115770e-01 -3.66173134e-02 1.74224939e+00] [ 1.32985068e-01 9.91099922e-01 -5.99302931e-03 2.39816538e-01] [ 3.70891831e-02 1.06608314e-03 9.99311391e-01 8.16298460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.516875 meters Centerline goodness [0,1] 0.9920183373582743 Centerline is valid? [True, True] Translation: X:1.77, Y:0.27, Z:0.08 [[ 9.91225155e-01 -1.28141874e-01 -3.24399866e-02 1.76669743e+00] [ 1.28036612e-01 9.91755226e-01 -5.31016695e-03 2.69237021e-01] [ 3.28529809e-02 1.11006507e-03 9.99459579e-01 8.41538576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.546875 meters Centerline goodness [0,1] 0.9943964988343081 Centerline is valid? [True, True] Translation: X:1.80, Y:0.26, Z:0.09 [[ 9.90718033e-01 -1.32843174e-01 -2.88178650e-02 1.79763806e+00] [ 1.32762067e-01 9.91136707e-01 -4.71831798e-03 2.63992034e-01] [ 2.91892401e-02 8.48603390e-04 9.99573543e-01 9.10598209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.576875 meters Centerline goodness [0,1] 0.9940346849247673 Centerline is valid? [True, True] Translation: X:1.82, Y:0.28, Z:0.09 [[ 9.90716039e-01 -1.32238544e-01 -3.15388345e-02 1.82317758e+00] [ 1.32141048e-01 9.91217467e-01 -5.16502571e-03 2.82372998e-01] [ 3.19448591e-02 9.49499175e-04 9.99489182e-01 8.70093399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6068749999999998 meters Centerline goodness [0,1] 0.9921453117329406 Centerline is valid? [True, True] Translation: X:1.85, Y:0.29, Z:0.09 [[ 9.90961494e-01 -1.31687813e-01 -2.55663474e-02 1.85090251e+00] [ 1.31623514e-01 9.91290927e-01 -4.18913493e-03 2.88831722e-01] [ 2.58953462e-02 7.86138936e-04 9.99664350e-01 9.40440412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6368749999999999 meters Centerline goodness [0,1] 0.9905681517244189 Centerline is valid? [True, True] Translation: X:1.88, Y:0.29, Z:0.08 [[ 9.91183404e-01 -1.28234362e-01 -3.33377900e-02 1.88106434e+00] [ 1.28122874e-01 9.91743227e-01 -5.46809284e-03 2.89101697e-01] [ 3.37637248e-02 1.14854941e-03 9.99429183e-01 8.08293004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6668749999999999 meters Centerline goodness [0,1] 0.9879790869046149 Centerline is valid? [True, True] Translation: X:1.91, Y:0.28, Z:0.07 [[ 9.91179357e-01 -1.26028827e-01 -4.09904425e-02 1.91293367e+00] [ 1.25858342e-01 9.92025437e-01 -6.72378916e-03 2.84155963e-01] [ 4.15109529e-02 1.50549187e-03 9.99136915e-01 6.97063382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.696875 meters Centerline goodness [0,1] 0.9918371564372804 Centerline is valid? [True, True] Translation: X:1.95, Y:0.27, Z:0.08 [[ 0.99176684 -0.11939686 -0.04629177 1.94648826] [ 0.11917216 0.99284457 -0.00759383 0.26575747] [ 0.04686721 0.00201461 0.9988991 0.07544185] [ 0. 0. 0. 1. ]] SLAMing on 1.726875 meters Centerline goodness [0,1] 0.9898422660830787 Centerline is valid? [True, True] Translation: X:1.98, Y:0.26, Z:0.08 [[ 0.99283408 -0.11120733 -0.04374265 1.9783268 ] [ 0.11099876 0.99379464 -0.00717592 0.25907357] [ 0.04426923 0.00226912 0.99901706 0.07722915] [ 0. 0. 0. 1. ]] SLAMing on 1.756875 meters Centerline goodness [0,1] 0.985653122555679 Centerline is valid? [True, True] Translation: X:2.01, Y:0.22, Z:0.09 [[ 9.91873150e-01 -1.22382310e-01 -3.47882736e-02 2.01342062e+00] [ 1.22257263e-01 9.92482034e-01 -5.70729068e-03 2.24537193e-01] [ 3.52252079e-02 1.40778927e-03 9.99378408e-01 8.56387963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.786875 meters Centerline goodness [0,1] 0.9850635723984693 Centerline is valid? [True, True] Translation: X:2.04, Y:0.23, Z:0.08 [[ 9.91462688e-01 -1.25224203e-01 -3.63405712e-02 2.04179921e+00] [ 1.25089581e-01 9.92127527e-01 -5.96376029e-03 2.25432733e-01] [ 3.68012882e-02 1.36701898e-03 9.99321668e-01 8.32000385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8168749999999998 meters Centerline goodness [0,1] 0.9850635723984693 Centerline is valid? [True, True] Translation: X:2.07, Y:0.23, Z:0.08 [[ 9.91428790e-01 -1.25492578e-01 -3.63396084e-02 2.06898338e+00] [ 1.25357922e-01 9.92093622e-01 -5.96962216e-03 2.29991474e-01] [ 3.68014370e-02 1.36299750e-03 9.99321668e-01 8.38009469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8468749999999998 meters Centerline goodness [0,1] 0.985811075186886 Centerline is valid? [True, True] Translation: X:2.10, Y:0.23, Z:0.08 [[ 9.91181083e-01 -1.27477818e-01 -3.61865552e-02 2.09782565e+00] [ 1.27345262e-01 9.91840578e-01 -5.95408066e-03 2.30547436e-01] [ 3.66503070e-02 1.29338575e-03 9.99327315e-01 8.26016678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8768749999999998 meters Centerline goodness [0,1] 0.9848385376061712 Centerline is valid? [True, True] Translation: X:2.13, Y:0.24, Z:0.08 [[ 9.91244520e-01 -1.27000537e-01 -3.61270742e-02 2.12517237e+00] [ 1.26867835e-01 9.91901775e-01 -5.95155581e-03 2.36164327e-01] [ 3.65903598e-02 1.31608340e-03 9.99329482e-01 8.03951873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9068749999999999 meters Centerline goodness [0,1] 0.9856852395719948 Centerline is valid? [True, True] Translation: X:2.15, Y:0.24, Z:0.08 [[ 9.91328021e-01 -1.26645398e-01 -3.50670464e-02 2.15325934e+00] [ 1.26519917e-01 9.91947207e-01 -5.78349090e-03 2.36036400e-01] [ 3.55171112e-02 1.29665681e-03 9.99368227e-01 8.20406490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.936875 meters Centerline goodness [0,1] 0.9856852395719948 Centerline is valid? [True, True] Translation: X:2.18, Y:0.24, Z:0.08 [[ 9.91293263e-01 -1.26917613e-01 -3.50654580e-02 2.18044205e+00] [ 1.26791962e-01 9.91912415e-01 -5.79310862e-03 2.40615731e-01] [ 3.55171106e-02 1.29665132e-03 9.99368227e-01 8.26405744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.966875 meters Centerline goodness [0,1] 0.983408531583265 Centerline is valid? [True, True] Translation: X:2.21, Y:0.24, Z:0.10 [[ 9.92356346e-01 -1.20349173e-01 -2.72939469e-02 2.21006750e+00] [ 1.20270440e-01 9.92730902e-01 -4.51411330e-03 2.38143819e-01] [ 2.76388143e-02 1.19695397e-03 9.99617258e-01 9.75149553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.996875 meters Centerline goodness [0,1] 0.9828794410280508 Centerline is valid? [True, True] Translation: X:2.24, Y:0.24, Z:0.10 [[ 9.92614479e-01 -1.19190631e-01 -2.25851675e-02 2.23859710e+00] [ 1.19136406e-01 9.92870866e-01 -3.73621023e-03 2.40770602e-01] [ 2.28694760e-02 1.01790068e-03 9.99737941e-01 1.02749092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.026875 meters Centerline goodness [0,1] 0.9801699138177511 Centerline is valid? [True, True] Translation: X:2.27, Y:0.24, Z:0.11 [[ 9.92483594e-01 -1.21381599e-01 -1.55827666e-02 2.26719171e+00] [ 1.21356010e-01 9.92605691e-01 -2.58086415e-03 2.38520178e-01] [ 1.57808122e-02 6.70402947e-04 9.99875250e-01 1.07871089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0568750000000002 meters Centerline goodness [0,1] 0.9799861411160478 Centerline is valid? [True, True] Translation: X:2.29, Y:0.24, Z:0.10 [[ 9.92623168e-01 -1.19632740e-01 -1.96787751e-02 2.29467731e+00] [ 1.19591543e-01 9.92817821e-01 -3.26137160e-03 2.41130557e-01] [ 1.99276055e-02 8.83897925e-04 9.99801035e-01 9.57094870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.086875 meters Centerline goodness [0,1] 0.9806148503727914 Centerline is valid? [True, True] Translation: X:2.32, Y:0.24, Z:0.08 [[ 9.92340918e-01 -1.19567014e-01 -3.10359817e-02 2.32338607e+00] [ 1.19464353e-01 9.92825144e-01 -5.14796070e-03 2.37234330e-01] [ 3.14288293e-02 1.40083857e-03 9.99505011e-01 8.11560280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1168750000000003 meters Centerline goodness [0,1] 0.9827755029375111 Centerline is valid? [True, True] Translation: X:2.38, Y:0.10, Z:0.09 [[ 9.95128303e-01 -9.60810357e-02 -2.20928642e-02 2.37656351e+00] [ 9.60232071e-02 9.95372344e-01 -3.66609629e-03 1.02503822e-01] [ 2.23428684e-02 1.52680850e-03 9.99749201e-01 8.84202897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.146875 meters Centerline goodness [0,1] 0.9897797464239272 Centerline is valid? [True, True] Translation: X:2.38, Y:0.28, Z:0.09 [[ 9.92965836e-01 -1.17303153e-01 -1.60878559e-02 2.37649099e+00] [ 1.17275256e-01 9.93095859e-01 -2.66987243e-03 2.83280463e-01] [ 1.62899675e-02 7.64384691e-04 9.99867017e-01 8.59457245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1768750000000003 meters Centerline goodness [0,1] 0.995330674986054 Centerline is valid? [True, True] Translation: X:2.43, Y:0.17, Z:0.10 [[ 9.95063173e-01 -9.90426511e-02 -6.31148095e-03 2.42534754e+00] [ 9.90379917e-02 9.95083102e-01 -1.04731629e-03 1.70899326e-01] [ 6.38417702e-03 4.17069469e-04 9.99979534e-01 9.95955098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.206875 meters Centerline goodness [0,1] 0.998961472672477 Centerline is valid? [True, True] Translation: X:2.45, Y:0.22, Z:0.09 [[ 9.90707372e-01 -1.35573389e-01 -1.08976460e-02 2.44848661e+00] [ 1.35561689e-01 9.90767257e-01 -1.80873274e-03 2.16159772e-01] [ 1.10422468e-02 3.14621577e-04 9.99938983e-01 9.45579358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.236875 meters Centerline goodness [0,1] 0.9967267445428695 Centerline is valid? [True, True] Translation: X:2.48, Y:0.19, Z:0.09 [[ 9.94503498e-01 -1.03487514e-01 -1.59099596e-02 2.48290469e+00] [ 1.03458453e-01 9.94630269e-01 -2.64118211e-03 1.86479725e-01] [ 1.60978567e-02 9.80645043e-04 9.99869940e-01 8.75307917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.266875 meters Centerline goodness [0,1] 0.9971062927942614 Centerline is valid? [True, True] Translation: X:2.51, Y:0.19, Z:0.09 [[ 9.93964235e-01 -1.08294283e-01 -1.75341922e-02 2.51141555e+00] [ 1.08259735e-01 9.94118383e-01 -2.91043227e-03 1.93035198e-01] [ 1.77462459e-02 9.94618578e-04 9.99842028e-01 8.61949727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.296875 meters Centerline goodness [0,1] 0.9980978094127754 Centerline is valid? [True, True] Translation: X:2.54, Y:0.19, Z:0.08 [[ 9.93489131e-01 -1.12095968e-01 -2.03430573e-02 2.54215016e+00] [ 1.12050245e-01 9.93696803e-01 -3.37733072e-03 1.92527108e-01] [ 2.05934162e-02 1.07589682e-03 9.99787354e-01 8.39068511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3268750000000002 meters Centerline goodness [0,1] 0.9981028151774786 Centerline is valid? [True, True] Translation: X:2.57, Y:0.20, Z:0.08 [[ 9.93211751e-01 -1.14339285e-01 -2.13762813e-02 2.56990603e+00] [ 1.14289307e-01 9.93441169e-01 -3.54926722e-03 1.99268175e-01] [ 2.16418985e-02 1.08209354e-03 9.99765201e-01 8.33811422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.356875 meters Centerline goodness [0,1] 0.9984478392288212 Centerline is valid? [True, True] Translation: X:2.60, Y:0.20, Z:0.08 [[ 9.92816565e-01 -1.17701876e-01 -2.14834227e-02 2.59976319e+00] [ 1.17652147e-01 9.93048457e-01 -3.56861222e-03 2.01496754e-01] [ 2.17541121e-02 1.01540653e-03 9.99762836e-01 8.48768050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3868750000000003 meters Centerline goodness [0,1] 0.9984701058686739 Centerline is valid? [True, True] Translation: X:2.63, Y:0.21, Z:0.09 [[ 9.92704533e-01 -1.18965181e-01 -1.96212982e-02 2.62830715e+00] [ 1.18923948e-01 9.92898017e-01 -3.25920129e-03 2.08961109e-01] [ 1.98696795e-02 9.01981649e-04 9.99802172e-01 8.62769056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.416875 meters Centerline goodness [0,1] 0.9984712285207608 Centerline is valid? [True, True] Translation: X:2.66, Y:0.21, Z:0.09 [[ 9.92540382e-01 -1.20271091e-01 -1.99613531e-02 2.65592816e+00] [ 1.20228579e-01 9.92740682e-01 -3.32072601e-03 2.14318278e-01] [ 2.02158346e-02 8.96029555e-04 9.99795238e-01 8.89325225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.446875 meters Centerline goodness [0,1] 0.9982109093866266 Centerline is valid? [True, True] Translation: X:2.68, Y:0.22, Z:0.09 [[ 9.92347279e-01 -1.22046733e-01 -1.87476014e-02 2.68377976e+00] [ 1.22009528e-01 9.92524025e-01 -3.11994191e-03 2.19962294e-01] [ 1.89882235e-02 8.08679873e-04 9.99819380e-01 9.18201584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.476875 meters Centerline goodness [0,1] 0.9986106003023988 Centerline is valid? [True, True] Translation: X:2.71, Y:0.22, Z:0.10 [[ 9.91812341e-01 -1.26901236e-01 -1.42953608e-02 2.71465868e+00] [ 1.26880051e-01 9.91915205e-01 -2.38296145e-03 2.16492253e-01] [ 1.44821865e-02 5.49654472e-04 9.99894977e-01 9.61801063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.506875 meters Centerline goodness [0,1] 0.9978791957257637 Centerline is valid? [True, True] Translation: X:2.74, Y:0.22, Z:0.10 [[ 9.91122636e-01 -1.32679821e-01 -8.48445137e-03 2.74372792e+00] [ 1.32672572e-01 9.91158912e-01 -1.41407463e-03 2.18050465e-01] [ 8.59705876e-03 2.75867392e-04 9.99963007e-01 1.00246222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.536875 meters Centerline goodness [0,1] 0.9974213089926732 Centerline is valid? [True, True] Translation: X:2.77, Y:0.22, Z:0.11 [[ 9.90530324e-01 -1.37258986e-01 -3.10625154e-03 2.77360288e+00] [ 1.37258050e-01 9.90535191e-01 -5.13660864e-04 2.17131359e-01] [ 3.14735603e-03 8.24386335e-05 9.99995044e-01 1.06776318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.566875 meters Centerline goodness [0,1] 0.9964688975569698 Centerline is valid? [True, True] Translation: X:2.80, Y:0.22, Z:0.11 [[ 9.90109121e-01 -1.40299418e-01 4.23096073e-05 2.80199547e+00] [ 1.40299418e-01 9.90109122e-01 1.33423121e-05 2.16626857e-01] [-4.37630467e-05 -7.27433160e-06 9.99999999e-01 1.11141162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5968750000000003 meters Centerline goodness [0,1] 0.9964748574390876 Centerline is valid? [True, True] Translation: X:2.83, Y:0.22, Z:0.11 [[ 9.90102858e-01 -1.40341302e-01 8.05880167e-04 2.83076776e+00] [ 1.40341234e-01 9.90103186e-01 1.40511353e-04 2.19331599e-01] [-8.17624067e-04 -2.60224749e-05 9.99999665e-01 1.09787998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.626875 meters Centerline goodness [0,1] 0.9964343865289886 Centerline is valid? [True, True] Translation: X:2.86, Y:0.22, Z:0.11 [[ 9.90281981e-01 -1.39072621e-01 -6.36030949e-04 2.85831735e+00] [ 1.39072582e-01 9.90282185e-01 -1.04673245e-04 2.23460593e-01] [ 6.44407300e-04 1.52015615e-05 9.99999792e-01 1.06422020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.656875 meters Centerline goodness [0,1] 0.996031746031746 Centerline is valid? [True, True] Translation: X:2.89, Y:0.23, Z:0.10 [[ 9.90771099e-01 -1.35497113e-01 -3.62796402e-03 2.88671882e+00] [ 1.35495810e-01 9.90777735e-01 -6.03651919e-04 2.30452493e-01] [ 3.67629907e-03 1.06506951e-04 9.99993237e-01 1.01622659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.686875 meters Centerline goodness [0,1] 0.9963705353460365 Centerline is valid? [True, True] Translation: X:2.91, Y:0.24, Z:0.10 [[ 9.91009660e-01 -1.33575684e-01 -7.57560236e-03 2.91426245e+00] [ 1.33569891e-01 9.91038585e-01 -1.26780496e-03 2.36577970e-01] [ 7.67706216e-03 2.44534586e-04 9.99970501e-01 9.69024897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.716875 meters Centerline goodness [0,1] 0.9963705353460365 Centerline is valid? [True, True] Translation: X:2.94, Y:0.24, Z:0.10 [[ 9.90972263e-01 -1.33852867e-01 -7.57524502e-03 2.94146542e+00] [ 1.33847066e-01 9.91001186e-01 -1.26993315e-03 2.41234432e-01] [ 7.67706099e-03 2.44544205e-04 9.99970501e-01 9.75023348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.746875 meters Centerline goodness [0,1] 0.9962466487935657 Centerline is valid? [True, True] Translation: X:2.97, Y:0.25, Z:0.10 [[ 9.90717238e-01 -1.35527061e-01 -1.05720988e-02 2.96882035e+00] [ 1.35515775e-01 9.90773590e-01 -1.77999284e-03 2.45185971e-01] [ 1.07157935e-02 3.30783430e-04 9.99942530e-01 9.55881863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.776875 meters Centerline goodness [0,1] 0.9964159933706236 Centerline is valid? [True, True] Translation: X:3.00, Y:0.25, Z:0.09 [[ 9.89775770e-01 -1.42108399e-01 -1.22117982e-02 2.99949742e+00] [ 1.42093815e-01 9.89851055e-01 -2.05810934e-03 2.45291759e-01] [ 1.23803360e-02 3.01845753e-04 9.99923315e-01 9.38246858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8068750000000002 meters Centerline goodness [0,1] 0.9968380104428866 Centerline is valid? [True, True] Translation: X:3.03, Y:0.24, Z:0.09 [[ 9.88193029e-01 -1.52670521e-01 -1.28937602e-02 3.03075805e+00] [ 1.52655157e-01 9.88277127e-01 -2.17329340e-03 2.42845705e-01] [ 1.30744062e-02 1.79334395e-04 9.99914510e-01 9.41792076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.836875 meters Centerline goodness [0,1] 0.9972219342800871 Centerline is valid? [True, True] Translation: X:3.06, Y:0.24, Z:0.09 [[ 9.86173625e-01 -1.65267509e-01 -1.21750684e-02 3.05979328e+00] [ 1.65254772e-01 9.86248777e-01 -2.05185021e-03 2.40597856e-01] [ 1.23467505e-02 1.14924139e-05 9.99923776e-01 9.49214268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8668750000000003 meters Centerline goodness [0,1] 0.997186071051706 Centerline is valid? [True, True] Translation: X:3.09, Y:0.24, Z:0.10 [[ 9.84397052e-01 -1.75489358e-01 -1.28813890e-02 3.08786113e+00] [ 1.75475962e-01 9.84481320e-01 -2.17176165e-03 2.39805951e-01] [ 1.30626079e-02 -1.22498354e-04 9.99914673e-01 9.62031052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters Centerline goodness [0,1] 0.9968919169256736 Centerline is valid? [True, True] Translation: X:3.12, Y:0.24, Z:0.10 [[ 9.83476842e-01 -1.80582842e-01 -1.27725613e-02 3.11607331e+00] [ 1.80570104e-01 9.83559760e-01 -2.15311336e-03 2.44959351e-01] [ 1.29513927e-02 -1.88805595e-04 9.99916109e-01 9.86735003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.926875 meters Centerline goodness [0,1] 0.9971955538269431 Centerline is valid? [True, True] Translation: X:3.14, Y:0.26, Z:0.11 [[ 9.84346547e-01 -1.76065240e-01 -7.93137418e-03 3.14154976e+00] [ 1.76060176e-01 9.84378497e-01 -1.33773311e-03 2.57070135e-01] [ 8.04300249e-03 -7.96061653e-05 9.99967651e-01 1.07896354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.956875 meters Centerline goodness [0,1] 0.9975804647947462 Centerline is valid? [True, True] Translation: X:3.17, Y:0.28, Z:0.11 [[ 9.86357861e-01 -1.64430546e-01 -7.79516027e-03 3.16790501e+00] [ 1.64425283e-01 9.86388663e-01 -1.31576583e-03 2.77418765e-01] [ 7.90540981e-03 1.60945380e-05 9.99968752e-01 1.09768385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.986875 meters Centerline goodness [0,1] 0.9972946034458209 Centerline is valid? [True, True] Translation: X:3.20, Y:0.29, Z:0.11 [[ 9.87405372e-01 -1.58002151e-01 -8.12111927e-03 3.19505301e+00] [ 1.57996205e-01 9.87438765e-01 -1.37258236e-03 2.90204613e-01] [ 8.23597895e-03 7.21891690e-05 9.99966081e-01 1.09970353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters Centerline goodness [0,1] 0.9975004064379775 Centerline is valid? [True, True] Translation: X:3.22, Y:0.32, Z:0.11 [[ 9.90534902e-01 -1.36968326e-01 -8.96018267e-03 3.22043890e+00] [ 1.36960174e-01 9.90575388e-01 -1.52007352e-03 3.19451727e-01] [ 9.08393836e-03 2.78497705e-04 9.99958701e-01 1.09534371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.046875 meters Centerline goodness [0,1] 0.9969291466688359 Centerline is valid? [True, True] Translation: X:3.25, Y:0.33, Z:0.11 [[ 9.91247686e-01 -1.31755054e-01 -8.28441802e-03 3.24935612e+00] [ 1.31747902e-01 9.91282258e-01 -1.40559244e-03 3.30680172e-01] [ 8.39739051e-03 3.01835557e-04 9.99964696e-01 1.10512497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0768750000000002 meters Centerline goodness [0,1] 0.9977144475233106 Centerline is valid? [True, True] Translation: X:3.28, Y:0.35, Z:0.11 [[ 9.92084925e-01 -1.25345466e-01 -7.48433630e-03 3.27600513e+00] [ 1.25339446e-01 9.92113104e-01 -1.27001420e-03 3.46698597e-01] [ 7.58449864e-03 3.21879381e-04 9.99971185e-01 1.10972351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.106875 meters Centerline goodness [0,1] 0.9975441943536766 Centerline is valid? [True, True] Translation: X:3.30, Y:0.35, Z:0.11 [[ 9.92271880e-01 -1.23579807e-01 -1.11600991e-02 3.30457229e+00] [ 1.23566334e-01 9.92334512e-01 -1.89150800e-03 3.50660793e-01] [ 1.13083037e-02 4.97877671e-04 9.99935935e-01 1.05706966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1368750000000003 meters Centerline goodness [0,1] 0.9974884632662229 Centerline is valid? [True, True] Translation: X:3.33, Y:0.35, Z:0.10 [[ 9.92226801e-01 -1.23425247e-01 -1.58802966e-02 3.33251883e+00] [ 1.23397826e-01 9.92353613e-01 -2.69889139e-03 3.53001588e-01] [ 1.60919810e-02 7.18318290e-04 9.99870258e-01 1.01752447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.166875 meters Centerline goodness [0,1] 0.9979335461167035 Centerline is valid? [True, True] Translation: X:3.36, Y:0.35, Z:0.10 [[ 9.91915299e-01 -1.25551908e-01 -1.84596396e-02 3.36184906e+00] [ 1.25515184e-01 9.92086732e-01 -3.13931084e-03 3.51469822e-01] [ 1.87077099e-02 7.96965393e-04 9.99824678e-01 9.89206307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.196875 meters Centerline goodness [0,1] 0.9976439524728343 Centerline is valid? [True, True] Translation: X:3.39, Y:0.35, Z:0.10 [[ 9.91246450e-01 -1.30653638e-01 -1.89763712e-02 3.39180757e+00] [ 1.30615732e-01 9.91427812e-01 -3.22872082e-03 3.48079719e-01] [ 1.92355462e-02 7.21845437e-04 9.99814719e-01 9.79516731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.226875 meters Centerline goodness [0,1] 0.9975481682773839 Centerline is valid? [True, True] Translation: X:3.42, Y:0.34, Z:0.10 [[ 9.90622215e-01 -1.35226031e-01 -1.95332269e-02 3.42298490e+00] [ 1.35186740e-01 9.90814561e-01 -3.32420212e-03 3.40756750e-01] [ 1.98033243e-02 6.52395198e-04 9.99803682e-01 1.00307672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.256875 meters Centerline goodness [0,1] 0.9971921543094328 Centerline is valid? [True, True] Translation: X:3.45, Y:0.34, Z:0.10 [[ 9.90322597e-01 -1.37403809e-01 -1.95281027e-02 3.45157802e+00] [ 1.37364950e-01 9.90514928e-01 -3.32392826e-03 3.40266529e-01] [ 1.97995977e-02 6.09284413e-04 9.99803783e-01 1.02446127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.286875 meters Centerline goodness [0,1] 0.9969771859234902 Centerline is valid? [True, True] Translation: X:3.48, Y:0.33, Z:0.10 [[ 9.89791617e-01 -1.41305364e-01 -1.85835738e-02 3.48165668e+00] [ 1.41270829e-01 9.89965927e-01 -3.16477905e-03 3.33784412e-01] [ 1.88443051e-02 5.07154898e-04 9.99822302e-01 1.04115288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.316875 meters Centerline goodness [0,1] 0.997180547838077 Centerline is valid? [True, True] Translation: X:3.51, Y:0.33, Z:0.10 [[ 9.89623392e-01 -1.42492306e-01 -1.84792982e-02 3.51165586e+00] [ 1.42458350e-01 9.89795792e-01 -3.14778543e-03 3.32309297e-01] [ 1.87392669e-02 4.82591758e-04 9.99824288e-01 1.03169911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3468750000000003 meters Centerline goodness [0,1] 0.9967757936507936 Centerline is valid? [True, True] Translation: X:3.54, Y:0.33, Z:0.10 [[ 9.89888187e-01 -1.40396999e-01 -2.02499172e-02 3.53993836e+00] [ 1.40355668e-01 9.90095121e-01 -3.45511100e-03 3.32977650e-01] [ 2.05344315e-02 5.77982912e-04 9.99788979e-01 1.02103106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.376875 meters Centerline goodness [0,1] 0.996590885324075 Centerline is valid? [True, True] Translation: X:3.57, Y:0.34, Z:0.10 [[ 9.90879529e-01 -1.33215861e-01 -2.02803921e-02 3.57009199e+00] [ 1.33172864e-01 9.91086778e-01 -3.46216407e-03 3.36023465e-01] [ 2.05608437e-02 7.29789602e-04 9.99788337e-01 1.04469817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.406875 meters Centerline goodness [0,1] 0.9961542480927996 Centerline is valid? [True, True] Translation: X:3.60, Y:0.34, Z:0.11 [[ 9.91838407e-01 -1.26169027e-01 -1.83834500e-02 3.59939366e+00] [ 1.26132482e-01 9.92008440e-01 -3.13872683e-03 3.41167055e-01] [ 1.86325477e-02 7.94359642e-04 9.99826083e-01 1.07319894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.436875 meters Centerline goodness [0,1] 0.9962156252628038 Centerline is valid? [True, True] Translation: X:3.63, Y:0.34, Z:0.11 [[ 9.92423518e-01 -1.21681634e-01 -1.70041438e-02 3.62969630e+00] [ 1.21649699e-01 9.92568848e-01 -2.90378696e-03 3.44842035e-01] [ 1.72311210e-02 8.13237486e-04 9.99851202e-01 1.09044136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.466875 meters Centerline goodness [0,1] 0.9963105854573819 Centerline is valid? [True, True] Translation: X:3.66, Y:0.35, Z:0.11 [[ 9.92447703e-01 -1.21795608e-01 -1.46077646e-02 3.65791914e+00] [ 1.21772063e-01 9.92554958e-01 -2.49393859e-03 3.46679790e-01] [ 1.48027600e-02 6.96285989e-04 9.99890191e-01 1.11660875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.496875 meters Centerline goodness [0,1] 0.9961714033279341 Centerline is valid? [True, True] Translation: X:3.69, Y:0.35, Z:0.12 [[ 9.91974547e-01 -1.25884800e-01 -1.18116820e-02 3.68664775e+00] [ 1.25869683e-01 9.92044733e-01 -2.01761730e-03 3.48709314e-01] [ 1.19717043e-02 5.14692342e-04 9.99928204e-01 1.16360308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.526875 meters Centerline goodness [0,1] 0.996344159156606 Centerline is valid? [True, True] Translation: X:3.72, Y:0.34, Z:0.11 [[ 9.91064700e-01 -1.32777770e-01 -1.26816858e-02 3.71796526e+00] [ 1.32760892e-01 9.91145725e-01 -2.16734176e-03 3.42984355e-01] [ 1.28571734e-02 4.64344002e-04 9.99917235e-01 1.14125447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters Centerline goodness [0,1] 0.9962524359166541 Centerline is valid? [True, True] Translation: X:3.75, Y:0.34, Z:0.11 [[ 9.90246030e-01 -1.38558638e-01 -1.46391175e-02 3.74933608e+00] [ 1.38536775e-01 9.90354129e-01 -2.50209488e-03 3.40424945e-01] [ 1.48445973e-02 4.49633408e-04 9.99889712e-01 1.11044448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.586875 meters Centerline goodness [0,1] 0.9965447677912267 Centerline is valid? [True, True] Translation: X:3.78, Y:0.34, Z:0.11 [[ 9.89933723e-01 -1.40706530e-01 -1.52609463e-02 3.77835118e+00] [ 1.40683042e-01 9.90051253e-01 -2.60720846e-03 3.40674547e-01] [ 1.54759703e-02 4.34007222e-04 9.99880146e-01 1.12827664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.616875 meters Centerline goodness [0,1] 0.9963148140166372 Centerline is valid? [True, True] Translation: X:3.81, Y:0.34, Z:0.11 [[ 9.90074926e-01 -1.39708598e-01 -1.52691836e-02 3.80729935e+00] [ 1.39684907e-01 9.90192558e-01 -2.61244391e-03 3.43810743e-01] [ 1.54844128e-02 4.53640725e-04 9.99880006e-01 1.13158776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.646875 meters Centerline goodness [0,1] 0.9963122708647832 Centerline is valid? [True, True] Translation: X:3.84, Y:0.35, Z:0.11 [[ 9.90510477e-01 -1.36574735e-01 -1.53732653e-02 3.83514280e+00] [ 1.36550262e-01 9.90629638e-01 -2.63543146e-03 3.50167387e-01] [ 1.55891456e-02 5.11199052e-04 9.99878351e-01 1.11548769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.676875 meters Centerline goodness [0,1] 0.9958062623584886 Centerline is valid? [True, True] Translation: X:3.86, Y:0.35, Z:0.11 [[ 9.90938979e-01 -1.33044479e-01 -1.84148471e-02 3.86441813e+00] [ 1.33008731e-01 9.91109834e-01 -3.15807346e-03 3.52721054e-01] [ 1.86713003e-02 6.80122633e-04 9.99825445e-01 1.09893816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.706875 meters Centerline goodness [0,1] 0.9959053685168335 Centerline is valid? [True, True] Translation: X:3.89, Y:0.36, Z:0.11 [[ 9.91272891e-01 -1.30079349e-01 -2.13873462e-02 3.89309621e+00] [ 1.30030409e-01 9.91503217e-01 -3.66918881e-03 3.57059269e-01] [ 2.16829083e-02 8.56162032e-04 9.99764532e-01 1.08143678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.736875 meters Centerline goodness [0,1] 0.9956426542955624 Centerline is valid? [True, True] Translation: X:3.92, Y:0.36, Z:0.11 [[ 9.91539326e-01 -1.27770157e-01 -2.29030932e-02 3.92145706e+00] [ 1.27713387e-01 9.91803328e-01 -3.93053761e-03 3.61996268e-01] [ 2.32175695e-02 9.72250999e-04 9.99729963e-01 1.06871491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.766875 meters Centerline goodness [0,1] 0.9954925529135092 Centerline is valid? [True, True] Translation: X:3.95, Y:0.37, Z:0.11 [[ 9.92071606e-01 -1.23549477e-01 -2.30098777e-02 3.95184420e+00] [ 1.23491016e-01 9.92337829e-01 -3.95000047e-03 3.66282793e-01] [ 2.33215926e-02 1.07717013e-03 9.99727434e-01 1.07510802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.796875 meters Centerline goodness [0,1] 0.9957324812885718 Centerline is valid? [True, True] Translation: X:3.98, Y:0.37, Z:0.11 [[ 9.92870959e-01 -1.16967687e-01 -2.29307590e-02 3.98148080e+00] [ 1.16907875e-01 9.93134962e-01 -3.93642917e-03 3.71516260e-01] [ 2.32337734e-02 1.22757990e-03 9.99729306e-01 1.10577676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8268750000000002 meters Centerline goodness [0,1] 0.9957857769973661 Centerline is valid? [True, True] Translation: X:4.01, Y:0.38, Z:0.11 [[ 9.93670091e-01 -1.10085453e-01 -2.23817626e-02 4.01095384e+00] [ 1.10026726e-01 9.93921202e-01 -3.84235675e-03 3.76991769e-01] [ 2.26686960e-02 1.35544292e-03 9.99742113e-01 1.12288432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.856875 meters Centerline goodness [0,1] 0.9959887773442637 Centerline is valid? [True, True] Translation: X:4.04, Y:0.38, Z:0.11 [[ 9.93928839e-01 -1.08007235e-01 -2.09737865e-02 4.03986031e+00] [ 1.07955198e-01 9.94149238e-01 -3.60097745e-03 3.82799087e-01] [ 2.12400055e-02 1.31488606e-03 9.99773541e-01 1.11919984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.886875 meters Centerline goodness [0,1] 0.9956049694306042 Centerline is valid? [True, True] Translation: X:4.07, Y:0.39, Z:0.11 [[ 9.93695802e-01 -1.10737812e-01 -1.74868804e-02 4.06777107e+00] [ 1.10702053e-01 9.93849103e-01 -3.00283115e-03 3.90533700e-01] [ 1.77118473e-02 1.04806716e-03 9.99842584e-01 1.14605563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.916875 meters Centerline goodness [0,1] 0.9959294436906377 Centerline is valid? [True, True] Translation: X:4.10, Y:0.39, Z:0.12 [[ 9.92949180e-01 -1.17493097e-01 -1.57257249e-02 4.09828812e+00] [ 1.17465013e-01 9.93073348e-01 -2.70095768e-03 3.87907507e-01] [ 1.59341422e-02 8.34691220e-04 9.99872695e-01 1.18563820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.946875 meters Centerline goodness [0,1] 0.9961032098982872 Centerline is valid? [True, True] Translation: X:4.13, Y:0.39, Z:0.12 [[ 9.91744934e-01 -1.27310350e-01 -1.52990593e-02 4.12760356e+00] [ 1.27284929e-01 9.91862713e-01 -2.62797679e-03 3.86298349e-01] [ 1.55091351e-02 6.58942995e-04 9.99879509e-01 1.21624364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.976875 meters Centerline goodness [0,1] 0.9960801585553842 Centerline is valid? [True, True] Translation: X:4.16, Y:0.38, Z:0.12 [[ 9.90464319e-01 -1.36921626e-01 -1.52610816e-02 4.15808858e+00] [ 1.36897456e-01 9.90581753e-01 -2.62228226e-03 3.83312689e-01] [ 1.54763961e-02 5.08073765e-04 9.99880104e-01 1.21820948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.006875 meters Centerline goodness [0,1] 0.9964180688526765 Centerline is valid? [True, True] Translation: X:4.19, Y:0.38, Z:0.12 [[ 9.89328986e-01 -1.44932376e-01 -1.49252600e-02 4.18985154e+00] [ 1.44910160e-01 9.89441492e-01 -2.56506128e-03 3.79381051e-01] [ 1.51394320e-02 3.74867655e-04 9.99885322e-01 1.20091309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters Centerline goodness [0,1] 0.9967030519046558 Centerline is valid? [True, True] Translation: X:4.22, Y:0.38, Z:0.12 [[ 9.88697944e-01 -1.48847687e-01 -1.79092533e-02 4.21817560e+00] [ 1.48816342e-01 9.88860063e-01 -3.07783513e-03 3.78048736e-01] [ 1.81678740e-02 3.77859717e-04 9.99834879e-01 1.16970767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.066875 meters Centerline goodness [0,1] 0.9965824566106011 Centerline is valid? [True, True] Translation: X:4.25, Y:0.38, Z:0.11 [[ 9.89035488e-01 -1.46026415e-01 -2.20247653e-02 4.24594273e+00] [ 1.45978231e-01 9.89280548e-01 -3.78848031e-03 3.80364744e-01] [ 2.23418901e-02 5.31805186e-04 9.99750247e-01 1.14014327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters Centerline goodness [0,1] 0.9967088324191201 Centerline is valid? [True, True] Translation: X:4.28, Y:0.39, Z:0.11 [[ 9.90114934e-01 -1.37994247e-01 -2.50998951e-02 4.27525610e+00] [ 1.37929029e-01 9.90432695e-01 -4.31965546e-03 3.88842184e-01] [ 2.54558444e-02 8.14951217e-04 9.99675615e-01 1.11487812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.126874999999999 meters Centerline goodness [0,1] 0.9965192556562096 Centerline is valid? [True, True] Translation: X:4.30, Y:0.40, Z:0.11 [[ 9.91784050e-01 -1.25283933e-01 -2.58521429e-02 4.30332099e+00] [ 1.25210411e-01 9.92120231e-01 -4.44976801e-03 4.02653675e-01] [ 2.62059185e-02 1.17625148e-03 9.99655874e-01 1.11843692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.156874999999999 meters Centerline goodness [0,1] 0.9962233132650568 Centerline is valid? [True, True] Translation: X:4.33, Y:0.41, Z:0.11 [[ 9.92525817e-01 -1.19275711e-01 -2.58032258e-02 4.33194632e+00] [ 1.19200426e-01 9.92860276e-01 -4.44192367e-03 4.12479737e-01] [ 2.61488115e-02 1.33296842e-03 9.99657173e-01 1.13134759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.186875 meters Centerline goodness [0,1] 0.9947609110686854 Centerline is valid? [True, True] Translation: X:4.36, Y:0.43, Z:0.11 [[ 9.94300665e-01 -1.03349671e-01 -2.61731547e-02 4.36033058e+00] [ 1.03266695e-01 9.94643497e-01 -4.50594304e-03 4.27749511e-01] [ 2.64986458e-02 1.77744698e-03 9.99647269e-01 1.13751400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.216875 meters Centerline goodness [0,1] 0.9923796405323143 Centerline is valid? [True, True] Translation: X:4.39, Y:0.44, Z:0.11 [[ 9.94690515e-01 -9.99638448e-02 -2.44542238e-02 4.38783755e+00] [ 9.98903847e-02 9.94989539e-01 -4.21038665e-03 4.39906044e-01] [ 2.47525833e-02 1.74528984e-03 9.99692084e-01 1.14491217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.246874999999999 meters Centerline goodness [0,1] 0.994180342490189 Centerline is valid? [True, True] Translation: X:4.42, Y:0.44, Z:0.12 [[ 9.94622712e-01 -1.00880838e-01 -2.34247281e-02 4.41754251e+00] [ 1.00813667e-01 9.94897146e-01 -4.03398440e-03 4.40937525e-01] [ 2.37121468e-02 1.65075978e-03 9.99717465e-01 1.15710651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2768749999999995 meters Centerline goodness [0,1] 0.9943080834214493 Centerline is valid? [True, True] Translation: X:4.45, Y:0.44, Z:0.12 [[ 9.93737539e-01 -1.09700768e-01 -2.12472490e-02 4.44791288e+00] [ 1.09647416e-01 9.93963794e-01 -3.66344798e-03 4.35591010e-01] [ 2.15208792e-02 1.31079984e-03 9.99767540e-01 1.18710570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.306875 meters Centerline goodness [0,1] 0.9960675562021231 Centerline is valid? [True, True] Translation: X:4.48, Y:0.43, Z:0.12 [[ 9.92737103e-01 -1.18389257e-01 -2.13782155e-02 4.48056162e+00] [ 1.18337235e-01 9.92966619e-01 -3.68678244e-03 4.25011446e-01] [ 2.16643298e-02 1.13016681e-03 9.99764662e-01 1.20178763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.336875 meters Centerline goodness [0,1] 0.9962887448168427 Centerline is valid? [True, True] Translation: X:4.51, Y:0.42, Z:0.12 [[ 9.91935648e-01 -1.24985518e-01 -2.10306959e-02 4.51209062e+00] [ 1.24936641e-01 9.92158091e-01 -3.62730209e-03 4.18607875e-01] [ 2.13191354e-02 9.70545731e-04 9.99772250e-01 1.19969738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.366874999999999 meters Centerline goodness [0,1] 0.9965196146222284 Centerline is valid? [True, True] Translation: X:4.54, Y:0.42, Z:0.12 [[ 9.91618058e-01 -1.27612927e-01 -2.02130807e-02 4.54214133e+00] [ 1.27568318e-01 9.91823658e-01 -3.48648648e-03 4.18269043e-01] [ 2.04927324e-02 8.78714239e-04 9.99789616e-01 1.21791221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters Centerline goodness [0,1] 0.996522142360306 Centerline is valid? [True, True] Translation: X:4.57, Y:0.42, Z:0.13 [[ 9.91355068e-01 -1.29877618e-01 -1.86261669e-02 4.57068440e+00] [ 1.29840056e-01 9.91529732e-01 -3.21710294e-03 4.15795494e-01] [ 1.88862279e-02 7.70868739e-04 9.99821342e-01 1.25301619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.426875 meters Centerline goodness [0,1] 0.9968332324314255 Centerline is valid? [True, True] Translation: X:4.60, Y:0.42, Z:0.13 [[ 9.91412308e-01 -1.29357103e-01 -1.91930940e-02 4.60027122e+00] [ 1.29317094e-01 9.91597746e-01 -3.31646162e-03 4.16265300e-01] [ 1.94608366e-02 8.05985731e-04 9.99810295e-01 1.26546884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.456874999999999 meters Centerline goodness [0,1] 0.9963537133312945 Centerline is valid? [True, True] Translation: X:4.63, Y:0.42, Z:0.12 [[ 9.92352966e-01 -1.21704935e-01 -2.05790980e-02 4.62981117e+00] [ 1.21657186e-01 9.92565790e-01 -3.56115792e-03 4.21869247e-01] [ 2.08595192e-02 1.03033045e-03 9.99781886e-01 1.24653991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4868749999999995 meters Centerline goodness [0,1] 0.9968940445657545 Centerline is valid? [True, True] Translation: X:4.66, Y:0.43, Z:0.12 [[ 9.92974086e-01 -1.16493984e-01 -2.07753653e-02 4.65979445e+00] [ 1.16444186e-01 9.93190731e-01 -3.59490287e-03 4.26443183e-01] [ 2.10526849e-02 1.15047488e-03 9.99777706e-01 1.24288543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.516875 meters Centerline goodness [0,1] 0.9970813915172057 Centerline is valid? [True, True] Translation: X:4.69, Y:0.43, Z:0.12 [[ 9.93191737e-01 -1.14574029e-01 -2.10467346e-02 4.68879878e+00] [ 1.14522486e-01 9.93413980e-01 -3.64214681e-03 4.32174240e-01] [ 2.13254159e-02 1.20702576e-03 9.99771859e-01 1.24867674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.546875 meters Centerline goodness [0,1] 0.9973859315589354 Centerline is valid? [True, True] Translation: X:4.72, Y:0.43, Z:0.12 [[ 9.92658009e-01 -1.18984078e-01 -2.17454718e-02 4.71847200e+00] [ 1.18930091e-01 9.92895496e-01 -3.76386437e-03 4.30020203e-01] [ 2.20388209e-02 1.15003917e-03 9.99756454e-01 1.22875480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.576874999999999 meters Centerline goodness [0,1] 0.9975948819087017 Centerline is valid? [True, True] Translation: X:4.75, Y:0.42, Z:0.12 [[ 9.91754704e-01 -1.26183313e-01 -2.23691513e-02 4.75036866e+00] [ 1.26127994e-01 9.92006418e-01 -3.87252184e-03 4.23202143e-01] [ 2.26789893e-02 1.01921556e-03 9.99742279e-01 1.24506376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.606875 meters Centerline goodness [0,1] 0.9975861153354093 Centerline is valid? [True, True] Translation: X:4.78, Y:0.42, Z:0.13 [[ 9.91120331e-01 -1.31125400e-01 -2.20594239e-02 4.77942037e+00] [ 1.31072818e-01 9.91365387e-01 -3.81912526e-03 4.22898405e-01] [ 2.23697336e-02 8.93821840e-04 9.99749367e-01 1.25965693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.636875 meters Centerline goodness [0,1] 0.9975861153354093 Centerline is valid? [True, True] Translation: X:4.81, Y:0.43, Z:0.13 [[ 9.91084216e-01 -1.31398131e-01 -2.20592047e-02 4.80663497e+00] [ 1.31345589e-01 9.91329280e-01 -3.82039059e-03 4.27717968e-01] [ 2.23699277e-02 8.88949574e-04 9.99749367e-01 1.26568100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.666874999999999 meters Centerline goodness [0,1] 0.9980508247447799 Centerline is valid? [True, True] Translation: X:4.84, Y:0.42, Z:0.14 [[ 9.89437419e-01 -1.44015911e-01 -1.65230416e-02 4.83830540e+00] [ 1.43988114e-01 9.89575267e-01 -2.86600358e-03 4.18074658e-01] [ 1.67635434e-02 4.56609584e-04 9.99859378e-01 1.35231999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6968749999999995 meters Centerline goodness [0,1] 0.9983835811025936 Centerline is valid? [True, True] Translation: X:4.87, Y:0.42, Z:0.14 [[ 9.89187686e-01 -1.45901239e-01 -1.48509091e-02 4.86771538e+00] [ 1.45879010e-01 9.89299087e-01 -2.57501196e-03 4.20220846e-01] [ 1.50676883e-02 3.80734199e-04 9.99886403e-01 1.38343049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.726875 meters Centerline goodness [0,1] 0.9984615760298894 Centerline is valid? [True, True] Translation: X:4.90, Y:0.42, Z:0.14 [[ 9.89307316e-01 -1.45140280e-01 -1.43294654e-02 4.89654420e+00] [ 1.45119461e-01 9.89411013e-01 -2.48764888e-03 4.24826191e-01] [ 1.45387890e-02 3.81564934e-04 9.99894233e-01 1.41026471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters Centerline goodness [0,1] 0.9984408497368934 Centerline is valid? [True, True] Translation: X:4.93, Y:0.44, Z:0.14 [[ 9.90266561e-01 -1.38364436e-01 -1.50804918e-02 4.92546985e+00] [ 1.38340506e-01 9.90381250e-01 -2.62366600e-03 4.36884220e-01] [ 1.52984584e-02 5.11885837e-04 9.99882841e-01 1.39841864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.786874999999999 meters Centerline goodness [0,1] 0.997316247582205 Centerline is valid? [True, True] Translation: X:4.95, Y:0.46, Z:0.14 [[ 9.91277650e-01 -1.30793823e-01 -1.61739690e-02 4.95221935e+00] [ 1.30765291e-01 9.91409361e-01 -2.81375667e-03 4.55167712e-01] [ 1.64030462e-02 6.74220340e-04 9.99865234e-01 1.38230713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters Centerline goodness [0,1] 0.9977149729404691 Centerline is valid? [True, True] Translation: X:4.98, Y:0.46, Z:0.13 [[ 9.92057296e-01 -1.24312791e-01 -1.92002739e-02 4.98152861e+00] [ 1.24271357e-01 9.92242646e-01 -3.34092011e-03 4.61985953e-01] [ 1.94666497e-02 9.28340080e-04 9.99810076e-01 1.34927709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.846875 meters Centerline goodness [0,1] 0.9977401673237811 Centerline is valid? [True, True] Translation: X:5.01, Y:0.47, Z:0.13 [[ 9.92511370e-01 -1.19957473e-01 -2.30517986e-02 5.01057730e+00] [ 1.19896562e-01 9.92778284e-01 -4.01153492e-03 4.73085159e-01] [ 2.33665387e-02 1.21766262e-03 9.99726224e-01 1.32513766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.876874999999999 meters Centerline goodness [0,1] 0.9974389660124462 Centerline is valid? [True, True] Translation: X:5.04, Y:0.48, Z:0.13 [[ 9.92626570e-01 -1.18655879e-01 -2.47643824e-02 5.03779790e+00] [ 1.18585158e-01 9.92934531e-01 -4.31026654e-03 4.81884406e-01] [ 2.51008489e-02 1.34179690e-03 9.99684024e-01 1.31788508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.906874999999999 meters Centerline goodness [0,1] 0.9970619849516302 Centerline is valid? [True, True] Translation: X:5.07, Y:0.49, Z:0.13 [[ 9.92320143e-01 -1.20669858e-01 -2.71940932e-02 5.06579101e+00] [ 1.20585259e-01 9.92691679e-01 -4.73565565e-03 4.88377025e-01] [ 2.75668009e-02 1.42007971e-03 9.99618955e-01 1.30089789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.936875 meters Centerline goodness [0,1] 0.9969759744743673 Centerline is valid? [True, True] Translation: X:5.09, Y:0.49, Z:0.13 [[ 9.91996824e-01 -1.22768087e-01 -2.95008211e-02 5.09413723e+00] [ 1.22669382e-01 9.92434284e-01 -5.13956378e-03 4.94345781e-01] [ 2.99086007e-02 1.47958345e-03 9.99551543e-01 1.28038202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.966875 meters Centerline goodness [0,1] 0.9975237505654897 Centerline is valid? [True, True] Translation: X:5.12, Y:0.50, Z:0.13 [[ 9.91708386e-01 -1.25014191e-01 -2.97645788e-02 5.12152159e+00] [ 1.24914658e-01 9.92153928e-01 -5.18761281e-03 5.01223003e-01] [ 3.01795690e-02 1.42656696e-03 9.99543475e-01 1.28712146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.996874999999999 meters Centerline goodness [0,1] 0.9975658174599423 Centerline is valid? [True, True] Translation: X:5.15, Y:0.51, Z:0.13 [[ 9.91555115e-01 -1.26336350e-01 -2.92844808e-02 5.15050227e+00] [ 1.26240482e-01 9.91986521e-01 -5.10718560e-03 5.06543646e-01] [ 2.96950334e-02 1.36716905e-03 9.99558070e-01 1.29226976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0268749999999995 meters Centerline goodness [0,1] 0.9970053526374119 Centerline is valid? [True, True] Translation: X:5.18, Y:0.51, Z:0.13 [[ 9.91593749e-01 -1.26381759e-01 -2.77396556e-02 5.17744165e+00] [ 1.26295606e-01 9.91980828e-01 -4.84320254e-03 5.14838423e-01] [ 2.81292989e-02 1.29909275e-03 9.99603449e-01 1.31037556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.056875 meters Centerline goodness [0,1] 0.996958981612447 Centerline is valid? [True, True] Translation: X:5.21, Y:0.52, Z:0.13 [[ 9.91686052e-01 -1.26018315e-01 -2.60414810e-02 5.20539511e+00] [ 1.25942168e-01 9.92027149e-01 -4.55037944e-03 5.20344513e-01] [ 2.64072873e-02 1.23282724e-03 9.99650507e-01 1.34773428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.086874999999999 meters Centerline goodness [0,1] 0.9969868173258004 Centerline is valid? [True, True] Translation: X:5.23, Y:0.53, Z:0.14 [[ 9.91584074e-01 -1.26858313e-01 -2.58455647e-02 5.23365909e+00] [ 1.26783427e-01 9.91920113e-01 -4.52245796e-03 5.25480579e-01] [ 2.62104468e-02 1.20760803e-03 9.99655718e-01 1.36669570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.116874999999999 meters Centerline goodness [0,1] 0.9974866109179743 Centerline is valid? [True, True] Translation: X:5.26, Y:0.53, Z:0.14 [[ 9.91317048e-01 -1.28851139e-01 -2.62277259e-02 5.26167358e+00] [ 1.28774565e-01 9.91663248e-01 -4.59504374e-03 5.30876308e-01] [ 2.66011485e-02 1.17768120e-03 9.99645433e-01 1.37047332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.146875 meters Centerline goodness [0,1] 0.9971358140626834 Centerline is valid? [True, True] Translation: X:5.29, Y:0.53, Z:0.14 [[ 9.90964238e-01 -1.31552327e-01 -2.61507984e-02 5.29102267e+00] [ 1.31477072e-01 9.91308613e-01 -4.58413635e-03 5.34270102e-01] [ 2.65265655e-02 1.10448479e-03 9.99647499e-01 1.36791494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.176875 meters Centerline goodness [0,1] 0.9968593259269676 Centerline is valid? [True, True] Translation: X:5.32, Y:0.54, Z:0.14 [[ 9.90393151e-01 -1.35574382e-01 -2.72211852e-02 5.32031293e+00] [ 1.35494206e-01 9.90766622e-01 -4.77711494e-03 5.37418515e-01] [ 2.76174961e-02 1.04290903e-03 9.99618020e-01 1.35313545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.206874999999999 meters Centerline goodness [0,1] 0.9976267681751962 Centerline is valid? [True, True] Translation: X:5.35, Y:0.54, Z:0.14 [[ 9.89931404e-01 -1.38757940e-01 -2.79651325e-02 5.34970203e+00] [ 1.38674525e-01 9.90325840e-01 -4.90990310e-03 5.40461086e-01] [ 2.83758814e-02 9.82415807e-04 9.99596841e-01 1.37028087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2368749999999995 meters Centerline goodness [0,1] 0.9974423352183401 Centerline is valid? [True, True] Translation: X:5.38, Y:0.55, Z:0.14 [[ 9.89965021e-01 -1.38817871e-01 -2.64358691e-02 5.37698171e+00] [ 1.38743194e-01 9.90317489e-01 -4.64736793e-03 5.46252170e-01] [ 2.68250412e-02 9.32934788e-04 9.99639708e-01 1.40078884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.266875 meters Centerline goodness [0,1] 0.9971614704513727 Centerline is valid? [True, True] Translation: X:5.40, Y:0.56, Z:0.14 [[ 9.90175155e-01 -1.37369535e-01 -2.61299334e-02 5.40486139e+00] [ 1.37295884e-01 9.90519396e-01 -4.60067161e-03 5.55430386e-01] [ 2.65141979e-02 9.67938424e-04 9.99647968e-01 1.39528412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters Centerline goodness [0,1] 0.9974844525190413 Centerline is valid? [True, True] Translation: X:5.43, Y:0.56, Z:0.14 [[ 9.90234243e-01 -1.36801286e-01 -2.68617267e-02 5.43340001e+00] [ 1.36723060e-01 9.90597988e-01 -4.73622599e-03 5.61854990e-01] [ 2.72570943e-02 1.01735568e-03 9.99627939e-01 1.39389474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.326874999999999 meters Centerline goodness [0,1] 0.9973532689450223 Centerline is valid? [True, True] Translation: X:5.46, Y:0.57, Z:0.14 [[ 9.90444964e-01 -1.35246436e-01 -2.69661781e-02 5.46140589e+00] [ 1.35166844e-01 9.90811412e-01 -4.76121318e-03 5.70618293e-01] [ 2.73623341e-02 1.07078643e-03 9.99625008e-01 1.39081634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.356875 meters Centerline goodness [0,1] 0.9970390932222993 Centerline is valid? [True, True] Translation: X:5.49, Y:0.58, Z:0.14 [[ 9.90548322e-01 -1.34451482e-01 -2.71444389e-02 5.48806653e+00] [ 1.34370379e-01 9.90919561e-01 -4.79843954e-03 5.80429933e-01] [ 2.75431128e-02 1.10567770e-03 9.99620005e-01 1.38476867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.386875 meters Centerline goodness [0,1] 0.9973089219587368 Centerline is valid? [True, True] Translation: X:5.52, Y:0.59, Z:0.14 [[ 9.90773179e-01 -1.32276164e-01 -2.95216001e-02 5.51639624e+00] [ 1.32179191e-01 9.91212087e-01 -5.22108640e-03 5.87762605e-01] [ 2.99527921e-02 1.27077114e-03 9.99550507e-01 1.36919454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.416874999999999 meters Centerline goodness [0,1] 0.9971359940872137 Centerline is valid? [True, True] Translation: X:5.55, Y:0.59, Z:0.14 [[ 9.91062279e-01 -1.29325328e-01 -3.27187922e-02 5.54547946e+00] [ 1.29204553e-01 9.91601071e-01 -5.78794245e-03 5.94524649e-01] [ 3.31925169e-02 1.50879451e-03 9.99447838e-01 1.36689989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4468749999999995 meters Centerline goodness [0,1] 0.9972844847424863 Centerline is valid? [True, True] Translation: X:5.57, Y:0.60, Z:0.14 [[ 9.91254722e-01 -1.27581771e-01 -3.37189490e-02 5.57428846e+00] [ 1.27452471e-01 9.91826739e-01 -5.96545955e-03 6.01582310e-01] [ 3.42044391e-02 1.61572660e-03 9.99413551e-01 1.36540086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.476875 meters Centerline goodness [0,1] 0.9968305006890216 Centerline is valid? [True, True] Translation: X:5.60, Y:0.61, Z:0.14 [[ 9.91357446e-01 -1.27032389e-01 -3.27595210e-02 5.60316443e+00] [ 1.26909941e-01 9.91897293e-01 -5.79884317e-03 6.06704744e-01] [ 3.32307211e-02 1.59121748e-03 9.99446440e-01 1.36647767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.506875 meters Centerline goodness [0,1] 0.9973982317185486 Centerline is valid? [True, True] Translation: X:5.63, Y:0.61, Z:0.14 [[ 9.91198422e-01 -1.29111392e-01 -2.92563950e-02 5.63319142e+00] [ 1.29014492e-01 9.91629159e-01 -5.18381546e-03 6.08976297e-01] [ 2.96807840e-02 1.36369075e-03 9.99558498e-01 1.39871042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.536874999999999 meters Centerline goodness [0,1] 0.9974745155661677 Centerline is valid? [True, True] Translation: X:5.66, Y:0.61, Z:0.14 [[ 9.90859922e-01 -1.31753128e-01 -2.89435511e-02 5.66329617e+00] [ 1.31659381e-01 9.91281744e-01 -5.12952483e-03 6.11683604e-01] [ 2.93670448e-02 1.27195055e-03 9.99567886e-01 1.42163593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.566875 meters Centerline goodness [0,1] 0.9977437030897454 Centerline is valid? [True, True] Translation: X:5.69, Y:0.62, Z:0.14 [[ 9.90693378e-01 -1.33022867e-01 -2.88365679e-02 5.69148019e+00] [ 1.32930286e-01 9.91112203e-01 -5.11270067e-03 6.16156758e-01] [ 2.92603805e-02 1.23186547e-03 9.99571064e-01 1.43684232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.596875 meters Centerline goodness [0,1] 0.9976254149760236 Centerline is valid? [True, True] Translation: X:5.72, Y:0.62, Z:0.14 [[ 9.90744743e-01 -1.32646900e-01 -2.88037188e-02 5.72000986e+00] [ 1.32554169e-01 9.91162571e-01 -5.11381594e-03 6.20713501e-01] [ 2.92274998e-02 1.24843327e-03 9.99572006e-01 1.44855388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.626874999999999 meters Centerline goodness [0,1] 0.9973993095512083 Centerline is valid? [True, True] Translation: X:5.75, Y:0.63, Z:0.15 [[ 9.91152910e-01 -1.29579759e-01 -2.87227220e-02 5.74726943e+00] [ 1.29486094e-01 9.91568096e-01 -5.10524188e-03 6.29223595e-01] [ 2.91420708e-02 1.34088228e-03 9.99574380e-01 1.45164215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.656874999999999 meters Centerline goodness [0,1] 0.9972857340019322 Centerline is valid? [True, True] Translation: X:5.78, Y:0.64, Z:0.14 [[ 9.91625687e-01 -1.25574310e-01 -3.01594062e-02 5.77633180e+00] [ 1.25469127e-01 9.92083031e-01 -5.36260272e-03 6.39241109e-01] [ 3.05940402e-02 1.53362024e-03 9.99530716e-01 1.43203533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.686875 meters Centerline goodness [0,1] 0.9974132405457375 Centerline is valid? [True, True] Translation: X:5.80, Y:0.65, Z:0.14 [[ 9.91964895e-01 -1.22250870e-01 -3.25633654e-02 5.80430275e+00] [ 1.22126432e-01 9.92497658e-01 -5.79082640e-03 6.49991970e-01] [ 3.30269974e-02 1.76744888e-03 9.99452897e-01 1.39912536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.716875 meters Centerline goodness [0,1] 0.9973893329058556 Centerline is valid? [True, True] Translation: X:5.83, Y:0.65, Z:0.14 [[ 9.92089806e-01 -1.20942718e-01 -3.36255116e-02 5.83443375e+00] [ 1.20809237e-01 9.92657724e-01 -5.98089872e-03 6.51508333e-01] [ 3.41019700e-02 1.87131625e-03 9.99416607e-01 1.41280659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.746874999999999 meters Centerline goodness [0,1] 0.9976176295413937 Centerline is valid? [True, True] Translation: X:5.86, Y:0.66, Z:0.14 [[ 9.91965095e-01 -1.22264824e-01 -3.25048071e-02 5.86206334e+00] [ 1.22140747e-01 9.92495940e-01 -5.78325766e-03 6.55816343e-01] [ 3.29679781e-02 1.76662831e-03 9.99454847e-01 1.44646100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7768749999999995 meters Centerline goodness [0,1] 0.9974964973931418 Centerline is valid? [True, True] Translation: X:5.89, Y:0.66, Z:0.15 [[ 9.91600524e-01 -1.25445663e-01 -3.14926263e-02 5.89254976e+00] [ 1.25330723e-01 9.92099183e-01 -5.60540050e-03 6.56869945e-01] [ 3.19469820e-02 1.61132444e-03 9.99488266e-01 1.47129511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.806875 meters Centerline goodness [0,1] 0.9976193778024315 Centerline is valid? [True, True] Translation: X:5.92, Y:0.65, Z:0.15 [[ 9.91116896e-01 -1.29830244e-01 -2.88341203e-02 5.92353651e+00] [ 1.29735719e-01 9.91535322e-01 -5.13312613e-03 6.53913852e-01] [ 2.92564837e-02 1.34671271e-03 9.99571030e-01 1.51393072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.836874999999999 meters Centerline goodness [0,1] 0.99785442757527 Centerline is valid? [True, True] Translation: X:5.95, Y:0.65, Z:0.16 [[ 9.90590131e-01 -1.34346434e-01 -2.61195082e-02 5.95484144e+00] [ 1.34270429e-01 9.90933816e-01 -4.65024020e-03 6.50852085e-01] [ 2.65074471e-02 1.09940447e-03 9.99648011e-01 1.55608355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.866874999999999 meters Centerline goodness [0,1] 0.9978707473442838 Centerline is valid? [True, True] Translation: X:5.98, Y:0.65, Z:0.16 [[ 9.89763543e-01 -1.40473159e-01 -2.52075713e-02 5.98381540e+00] [ 1.40404339e-01 9.90084075e-01 -4.48838009e-03 6.53361901e-01] [ 2.55881118e-02 9.03182590e-04 9.99672163e-01 1.56068879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.896875 meters Centerline goodness [0,1] 0.9982558276569166 Centerline is valid? [True, True] Translation: X:6.01, Y:0.65, Z:0.16 [[ 9.88995105e-01 -1.45936363e-01 -2.43158574e-02 6.01480604e+00] [ 1.45873956e-01 9.89293706e-01 -4.33038632e-03 6.48942408e-01] [ 2.46874855e-02 7.35680558e-04 9.99694947e-01 1.57546138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.926875 meters Centerline goodness [0,1] 0.9984386458801543 Centerline is valid? [True, True] Translation: X:6.04, Y:0.65, Z:0.16 [[ 9.88450586e-01 -1.49722938e-01 -2.34196822e-02 6.04415626e+00] [ 1.49666088e-01 9.88727798e-01 -4.17163804e-03 6.47048176e-01] [ 2.37802807e-02 6.18325837e-04 9.99717018e-01 1.59778861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters Centerline goodness [0,1] 0.998405786756133 Centerline is valid? [True, True] Translation: X:6.07, Y:0.65, Z:0.16 [[ 9.88279259e-01 -1.50823580e-01 -2.35871688e-02 6.07217129e+00] [ 1.50766186e-01 9.88560514e-01 -4.20317011e-03 6.49461953e-01] [ 2.39512809e-02 5.97758351e-04 9.99712948e-01 1.61429791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9868749999999995 meters Centerline goodness [0,1] 0.9983624842774759 Centerline is valid? [True, True] Translation: X:6.10, Y:0.66, Z:0.16 [[ 9.88689104e-01 -1.47800374e-01 -2.54736027e-02 6.10055906e+00] [ 1.47732370e-01 9.89016947e-01 -4.54155966e-03 6.56870550e-01] [ 2.58650689e-02 7.26914867e-04 9.99665179e-01 1.60429856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters Centerline goodness [0,1] 0.9982721893491124 Centerline is valid? [True, True] Translation: X:6.13, Y:0.67, Z:0.16 [[ 9.89479160e-01 -1.41909280e-01 -2.81557782e-02 6.12963771e+00] [ 1.41823778e-01 9.89879187e-01 -5.02099367e-03 6.68307813e-01] [ 2.85833444e-02 9.75009754e-04 9.99590937e-01 1.56552136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.046874999999999 meters Centerline goodness [0,1] 0.9977599094531822 Centerline is valid? [True, True] Translation: X:6.16, Y:0.68, Z:0.15 [[ 9.90307443e-01 -1.35627645e-01 -2.99384275e-02 6.15699461e+00] [ 1.35528093e-01 9.90759118e-01 -5.33917761e-03 6.80748810e-01] [ 3.03859101e-02 1.22992933e-03 9.99537485e-01 1.54517229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters Centerline goodness [0,1] 0.9977177007599821 Centerline is valid? [True, True] Translation: X:6.19, Y:0.69, Z:0.16 [[ 9.90841796e-01 -1.31698628e-01 -2.97994259e-02 6.18594236e+00] [ 1.31598197e-01 9.91288889e-01 -5.31530512e-03 6.90887956e-01] [ 3.02398582e-02 1.34507575e-03 9.99541766e-01 1.56171536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.106875 meters Centerline goodness [0,1] 0.997820789202362 Centerline is valid? [True, True] Translation: X:6.21, Y:0.70, Z:0.16 [[ 9.91195614e-01 -1.29354079e-01 -2.82626362e-02 6.21367520e+00] [ 1.29262763e-01 9.91597557e-01 -5.04216283e-03 7.00239689e-01] [ 2.86773854e-02 1.34446323e-03 9.99587815e-01 1.59433387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.136875 meters Centerline goodness [0,1] 0.9977258873728138 Centerline is valid? [True, True] Translation: X:6.24, Y:0.71, Z:0.16 [[ 9.91260777e-01 -1.29344508e-01 -2.59243038e-02 6.24102728e+00] [ 1.29267607e-01 9.91598946e-01 -4.62767848e-03 7.05955844e-01] [ 2.63050772e-02 1.23606344e-03 9.99653197e-01 1.62904761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.166874999999999 meters Centerline goodness [0,1] 0.9978982275051961 Centerline is valid? [True, True] Translation: X:6.27, Y:0.71, Z:0.16 [[ 9.90848119e-01 -1.32490709e-01 -2.58111927e-02 6.26934776e+00] [ 1.32415381e-01 9.91183576e-01 -4.61361648e-03 7.12919899e-01] [ 2.61948916e-02 1.15359428e-03 9.99656189e-01 1.63918753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1968749999999995 meters Centerline goodness [0,1] 0.9980083882002858 Centerline is valid? [True, True] Translation: X:6.30, Y:0.71, Z:0.17 [[ 9.90036611e-01 -1.38633159e-01 -2.46648879e-02 6.29845305e+00] [ 1.38566256e-01 9.90343349e-01 -4.40953654e-03 7.14619594e-01] [ 2.50380156e-02 9.47881449e-04 9.99686050e-01 1.65582341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.226875 meters Centerline goodness [0,1] 0.9977784013844068 Centerline is valid? [True, True] Translation: X:6.33, Y:0.71, Z:0.17 [[ 9.89440774e-01 -1.42850973e-01 -2.45062193e-02 6.32875016e+00] [ 1.42786199e-01 9.89743856e-01 -4.38197246e-03 7.14403426e-01] [ 2.48808490e-02 8.36552330e-04 9.99690074e-01 1.66780684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters Centerline goodness [0,1] 0.9978455846193476 Centerline is valid? [True, True] Translation: X:6.36, Y:0.72, Z:0.17 [[ 9.88895162e-01 -1.46392544e-01 -2.56043197e-02 6.35682419e+00] [ 1.46322991e-01 9.89226269e-01 -4.57937503e-03 7.19475324e-01] [ 2.59988520e-02 7.82021168e-04 9.99661667e-01 1.66822614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.286874999999999 meters Centerline goodness [0,1] 0.9980030186926738 Centerline is valid? [True, True] Translation: X:6.38, Y:0.73, Z:0.17 [[ 9.88935028e-01 -1.45689795e-01 -2.79641415e-02 6.38427327e+00] [ 1.45606458e-01 9.89329932e-01 -5.00455773e-03 7.29919886e-01] [ 2.83948752e-02 8.77422849e-04 9.99596399e-01 1.65382543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters Centerline goodness [0,1] 0.997759504781263 Centerline is valid? [True, True] Translation: X:6.41, Y:0.74, Z:0.16 [[ 9.89623985e-01 -1.40439504e-01 -3.03498706e-02 6.41310538e+00] [ 1.40338698e-01 9.90088626e-01 -5.43706025e-03 7.43005204e-01] [ 3.08126397e-02 1.12138390e-03 9.99524549e-01 1.62973221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.346875 meters Centerline goodness [0,1] 0.9977866514546492 Centerline is valid? [True, True] Translation: X:6.44, Y:0.76, Z:0.16 [[ 9.90425036e-01 -1.34243522e-01 -3.22013185e-02 6.44012125e+00] [ 1.34126754e-01 9.90947391e-01 -5.76909047e-03 7.59735972e-01] [ 3.26842756e-02 1.39479330e-03 9.99464753e-01 1.62119547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters Centerline goodness [0,1] 0.9972511245399609 Centerline is valid? [True, True] Translation: X:6.47, Y:0.77, Z:0.16 [[ 9.91209035e-01 -1.28274747e-01 -3.24073938e-02 6.46851591e+00] [ 1.28153266e-01 9.91737375e-01 -5.80687117e-03 7.73242083e-01] [ 3.28844986e-02 1.60270979e-03 9.99457874e-01 1.63882289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.406874999999999 meters Centerline goodness [0,1] 0.9971801755058766 Centerline is valid? [True, True] Translation: X:6.50, Y:0.78, Z:0.16 [[ 9.91571787e-01 -1.24970106e-01 -3.41740297e-02 6.49663747e+00] [ 1.24833037e-01 9.92158863e-01 -6.12396996e-03 7.84787143e-01] [ 3.46713797e-02 1.80630792e-03 9.99397135e-01 1.63819596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.436875 meters Centerline goodness [0,1] 0.9969737048577642 Centerline is valid? [True, True] Translation: X:6.52, Y:0.80, Z:0.16 [[ 9.91654862e-01 -1.24602469e-01 -3.30886470e-02 6.52243347e+00] [ 1.24473721e-01 9.92205179e-01 -5.93086599e-03 7.96365960e-01] [ 3.35697275e-02 1.76270506e-03 9.99434823e-01 1.63326505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.466875 meters Centerline goodness [0,1] 0.9975772802727803 Centerline is valid? [True, True] Translation: X:6.55, Y:0.80, Z:0.17 [[ 9.91397901e-01 -1.27517610e-01 -2.94866076e-02 6.55207043e+00] [ 1.27416602e-01 9.91835195e-01 -5.28721851e-03 8.01972761e-01] [ 2.99200687e-02 1.48465400e-03 9.99551192e-01 1.66853031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.496874999999999 meters Centerline goodness [0,1] 0.9970527819951773 Centerline is valid? [True, True] Translation: X:6.58, Y:0.81, Z:0.17 [[ 9.91235518e-01 -1.29217556e-01 -2.74767515e-02 6.58053213e+00] [ 1.29130471e-01 9.91615367e-01 -4.92799778e-03 8.05607173e-01] [ 2.78831528e-02 1.33672058e-03 9.99610296e-01 1.69622505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5268749999999995 meters Centerline goodness [0,1] 0.9970527819951773 Centerline is valid? [True, True] Translation: X:6.61, Y:0.81, Z:0.17 [[ 9.91200248e-01 -1.29487943e-01 -2.74761954e-02 6.60771153e+00] [ 1.29400876e-01 9.91580101e-01 -4.93109581e-03 8.10579921e-01] [ 2.78833661e-02 1.33225963e-03 9.99610296e-01 1.70224658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.556875 meters Centerline goodness [0,1] 0.997097501618701 Centerline is valid? [True, True] Translation: X:6.64, Y:0.82, Z:0.17 [[ 9.90897191e-01 -1.32115960e-01 -2.58482240e-02 6.63589228e+00] [ 1.32039644e-01 9.91233554e-01 -4.64484302e-03 8.15512375e-01] [ 2.62352848e-02 1.18957161e-03 9.99655088e-01 1.73772478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.586874999999999 meters Centerline goodness [0,1] 0.9973373310659626 Centerline is valid? [True, True] Translation: X:6.66, Y:0.82, Z:0.17 [[ 9.90997612e-01 -1.31336848e-01 -2.59685381e-02 6.66467768e+00] [ 1.31259494e-01 9.91337051e-01 -4.66870113e-03 8.20833593e-01] [ 2.63567465e-02 1.21805451e-03 9.99651859e-01 1.74349084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.616874999999999 meters Centerline goodness [0,1] 0.9972914894569548 Centerline is valid? [True, True] Translation: X:6.69, Y:0.83, Z:0.17 [[ 9.91096240e-01 -1.30614862e-01 -2.58457107e-02 6.69294550e+00] [ 1.30537826e-01 9.91432411e-01 -4.65297476e-03 8.26347618e-01] [ 2.62320229e-02 1.23770291e-03 9.99655115e-01 1.74882138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.646875 meters Centerline goodness [0,1] 0.9970240758972523 Centerline is valid? [True, True] Translation: X:6.72, Y:0.84, Z:0.17 [[ 9.91673818e-01 -1.26004319e-01 -2.65697092e-02 6.72174799e+00] [ 1.25921104e-01 9.92028700e-01 -4.78888060e-03 8.36990070e-01] [ 2.69613337e-02 1.40332041e-03 9.99635492e-01 1.71522179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.676875 meters Centerline goodness [0,1] 0.9970067237027275 Centerline is valid? [True, True] Translation: X:6.75, Y:0.84, Z:0.17 [[ 9.91942100e-01 -1.23695712e-01 -2.73905334e-02 6.74968029e+00] [ 1.23606378e-01 9.92319044e-01 -4.93750484e-03 8.44385926e-01] [ 2.77908960e-02 1.51207431e-03 9.99612615e-01 1.71798573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.706874999999999 meters Centerline goodness [0,1] 0.9971557187968915 Centerline is valid? [True, True] Translation: X:6.78, Y:0.85, Z:0.17 [[ 9.91945717e-01 -1.23496522e-01 -2.81478995e-02 6.77787273e+00] [ 1.23402018e-01 9.92343775e-01 -5.07681949e-03 8.50411484e-01] [ 2.85593624e-02 1.56242175e-03 9.99590877e-01 1.72370930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7368749999999995 meters Centerline goodness [0,1] 0.9964376932383385 Centerline is valid? [True, True] Translation: X:6.80, Y:0.86, Z:0.17 [[ 9.92337650e-01 -1.19861961e-01 -2.99849669e-02 6.80484405e+00] [ 1.19752882e-01 9.92788968e-01 -5.41402447e-03 8.64879947e-01] [ 3.04176799e-02 1.78175411e-03 9.99535687e-01 1.69688946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.766875 meters Centerline goodness [0,1] 0.9968468367734866 Centerline is valid? [True, True] Translation: X:6.83, Y:0.87, Z:0.17 [[ 9.92494721e-01 -1.18431999e-01 -3.04645780e-02 6.83486660e+00] [ 1.18318698e-01 9.92960431e-01 -5.50167788e-03 8.67096123e-01] [ 3.09016952e-02 1.85585706e-03 9.99520706e-01 1.70552848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.796874999999999 meters Centerline goodness [0,1] 0.9971001561454383 Centerline is valid? [True, True] Translation: X:6.86, Y:0.87, Z:0.17 [[ 9.92646095e-01 -1.17207217e-01 -3.02687768e-02 6.86300163e+00] [ 1.17094741e-01 9.93105694e-01 -5.46822344e-03 8.71765983e-01] [ 3.07010098e-02 1.88369606e-03 9.99526838e-01 1.71575141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.826874999999999 meters Centerline goodness [0,1] 0.9964398468462417 Centerline is valid? [True, True] Translation: X:6.89, Y:0.88, Z:0.17 [[ 9.92713209e-01 -1.16834673e-01 -2.94982083e-02 6.89068780e+00] [ 1.16727585e-01 9.93149654e-01 -5.33249396e-03 8.77808923e-01] [ 2.99191555e-02 1.85038257e-03 9.99550609e-01 1.72467872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.856875 meters Centerline goodness [0,1] 0.9970218102019794 Centerline is valid? [True, True] Translation: X:6.92, Y:0.88, Z:0.17 [[ 9.92584774e-01 -1.18082166e-01 -2.88456062e-02 6.91913631e+00] [ 1.17980222e-01 9.93002241e-01 -5.21687616e-03 8.81386489e-01] [ 2.92597717e-02 1.77498082e-03 9.99570265e-01 1.73459097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.886875 meters Centerline goodness [0,1] 0.9968828489415141 Centerline is valid? [True, True] Translation: X:6.95, Y:0.88, Z:0.18 [[ 9.92371142e-01 -1.20127594e-01 -2.77286595e-02 6.94958345e+00] [ 1.20034142e-01 9.92757090e-01 -5.01653998e-03 8.78588379e-01] [ 2.81304482e-02 1.64988366e-03 9.99602899e-01 1.75568028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.916874999999999 meters Centerline goodness [0,1] 0.9969846306172506 Centerline is valid? [True, True] Translation: X:6.98, Y:0.88, Z:0.18 [[ 9.92092404e-01 -1.22332306e-01 -2.80618754e-02 6.97794975e+00] [ 1.22237444e-01 9.92487896e-01 -5.07784861e-03 8.84467827e-01] [ 2.84722566e-02 1.60748312e-03 9.99593291e-01 1.76467306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9468749999999995 meters Centerline goodness [0,1] 0.9971092391427088 Centerline is valid? [True, True] Translation: X:7.01, Y:0.88, Z:0.18 [[ 9.91769169e-01 -1.25237729e-01 -2.66350721e-02 7.00801502e+00] [ 1.25153289e-01 9.92125706e-01 -4.82057831e-03 8.84270907e-01] [ 2.70290579e-02 1.44743407e-03 9.99633600e-01 1.77863964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.976875 meters Centerline goodness [0,1] 0.996990269291695 Centerline is valid? [True, True] Translation: X:7.04, Y:0.88, Z:0.18 [[ 9.91243988e-01 -1.29673856e-01 -2.49007344e-02 7.03909810e+00] [ 1.29601433e-01 9.91555925e-01 -4.50743892e-03 8.84084582e-01] [ 2.52749677e-02 1.24080088e-03 9.99679767e-01 1.79590241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.006874999999999 meters Centerline goodness [0,1] 0.996875 Centerline is valid? [True, True] Translation: X:7.07, Y:0.89, Z:0.18 [[ 9.90828977e-01 -1.32881655e-01 -2.45031652e-02 7.06936563e+00] [ 1.32812494e-01 9.91131255e-01 -4.43590321e-03 8.85909825e-01] [ 2.48753030e-02 1.14089497e-03 9.99689911e-01 1.78194041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.036874999999999 meters Centerline goodness [0,1] 0.9973919608336574 Centerline is valid? [True, True] Translation: X:7.10, Y:0.88, Z:0.18 [[ 9.90333102e-01 -1.36434192e-01 -2.50211769e-02 7.09990481e+00] [ 1.36363179e-01 9.90648553e-01 -4.53077036e-03 8.83478903e-01] [ 2.54053447e-02 1.07500465e-03 9.99676654e-01 1.79973963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.066875 meters Centerline goodness [0,1] 0.997554391712618 Centerline is valid? [True, True] Translation: X:7.13, Y:0.88, Z:0.18 [[ 9.89712070e-01 -1.40853056e-01 -2.51084669e-02 7.13152431e+00] [ 1.40782944e-01 9.90030042e-01 -4.54738940e-03 8.77938221e-01] [ 2.54986502e-02 9.65762282e-04 9.99674390e-01 1.82999946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters Centerline goodness [0,1] 0.9977961815946366 Centerline is valid? [True, True] Translation: X:7.16, Y:0.88, Z:0.18 [[ 9.89271348e-01 -1.44133029e-01 -2.38300072e-02 7.16096516e+00] [ 1.44070814e-01 9.89557967e-01 -4.31633338e-03 8.77673599e-01] [ 2.42032997e-02 8.36816400e-04 9.99706707e-01 1.81350608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.126874999999999 meters Centerline goodness [0,1] 0.9976002423056313 Centerline is valid? [True, True] Translation: X:7.19, Y:0.88, Z:0.18 [[ 9.89220062e-01 -1.44517676e-01 -2.36285985e-02 7.18950188e+00] [ 1.44456577e-01 9.89501878e-01 -4.28157829e-03 8.77958391e-01] [ 2.39993063e-02 8.22116698e-04 9.99711637e-01 1.78992878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters Centerline goodness [0,1] 0.9981586402266289 Centerline is valid? [True, True] Translation: X:7.22, Y:0.88, Z:0.18 [[ 9.89456970e-01 -1.42842195e-01 -2.38958361e-02 7.21860692e+00] [ 1.42779066e-01 9.89745086e-01 -4.33624680e-03 8.76670327e-01] [ 2.42701853e-02 8.78704473e-04 9.99705049e-01 1.82346775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.186875 meters Centerline goodness [0,1] 0.9979983796406615 Centerline is valid? [True, True] Translation: X:7.25, Y:0.88, Z:0.18 [[ 9.89818115e-01 -1.39941577e-01 -2.60087452e-02 7.24816693e+00] [ 1.39865731e-01 9.90159220e-01 -4.72184109e-03 8.77212945e-01] [ 2.64135807e-02 1.03603170e-03 9.99650564e-01 1.84682633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters Centerline goodness [0,1] 0.9982717649600346 Centerline is valid? [True, True] Translation: X:7.28, Y:0.88, Z:0.18 [[ 9.90297410e-01 -1.36516538e-01 -2.59668134e-02 7.27754731e+00] [ 1.36439734e-01 9.90637151e-01 -4.71520751e-03 8.79435920e-01] [ 2.63673939e-02 1.12655266e-03 9.99651685e-01 1.84466072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.246874999999999 meters Centerline goodness [0,1] 0.9983665625750661 Centerline is valid? [True, True] Translation: X:7.31, Y:0.88, Z:0.18 [[ 9.90893155e-01 -1.32337435e-01 -2.48507218e-02 7.30785013e+00] [ 1.32265754e-01 9.91204014e-01 -4.51362303e-03 8.84088178e-01] [ 2.52294565e-02 1.18561871e-03 9.99680984e-01 1.83840922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters Centerline goodness [0,1] 0.9984012402499879 Centerline is valid? [True, True] Translation: X:7.34, Y:0.89, Z:0.18 [[ 9.91475467e-01 -1.27955804e-01 -2.45705005e-02 7.33811508e+00] [ 1.27884386e-01 9.91779041e-01 -4.46280263e-03 8.86859405e-01] [ 2.49395489e-02 1.28257595e-03 9.99688138e-01 1.84957935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.306875 meters Centerline goodness [0,1] 0.9983638184082639 Centerline is valid? [True, True] Translation: X:7.37, Y:0.89, Z:0.18 [[ 9.91930236e-01 -1.23925261e-01 -2.67756766e-02 7.36840737e+00] [ 1.23838964e-01 9.92290408e-01 -4.86390625e-03 8.91437679e-01] [ 2.71720079e-02 1.50878361e-03 9.99629634e-01 1.84647808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.336874999999999 meters Centerline goodness [0,1] 0.9986707365104371 Centerline is valid? [True, True] Translation: X:7.40, Y:0.89, Z:0.18 [[ 9.91319604e-01 -1.28102239e-01 -2.95847868e-02 7.39949103e+00] [ 1.27998728e-01 9.91759770e-01 -5.37434208e-03 8.89224196e-01] [ 3.00294666e-02 1.54087559e-03 9.99547826e-01 1.81013150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.366874999999999 meters Centerline goodness [0,1] 0.9986437167094101 Centerline is valid? [True, True] Translation: X:7.43, Y:0.89, Z:0.18 [[ 9.90496769e-01 -1.34081084e-01 -3.06335265e-02 7.42902948e+00] [ 1.33972928e-01 9.90969363e-01 -5.56559067e-03 8.88119702e-01] [ 3.11031267e-02 1.40863633e-03 9.99515188e-01 1.80336351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.396875 meters Centerline goodness [0,1] 0.9985884101040119 Centerline is valid? [True, True] Translation: X:7.46, Y:0.89, Z:0.18 [[ 9.89744521e-01 -1.38960652e-01 -3.31016802e-02 7.45903183e+00] [ 1.38837039e-01 9.90296972e-01 -6.01525496e-03 8.87689535e-01] [ 3.36163775e-02 1.35782638e-03 9.99433887e-01 1.78060080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.426875 meters Centerline goodness [0,1] 0.9987304590261874 Centerline is valid? [True, True] Translation: X:7.49, Y:0.89, Z:0.18 [[ 9.89297857e-01 -1.41928312e-01 -3.38541663e-02 7.48837750e+00] [ 1.41800620e-01 9.89876099e-01 -6.15566917e-03 8.89981694e-01] [ 3.43850938e-02 1.28924855e-03 9.99407826e-01 1.77639690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters Centerline goodness [0,1] 0.9990815439990071 Centerline is valid? [True, True] Translation: X:7.52, Y:0.90, Z:0.18 [[ 9.89467150e-01 -1.41234072e-01 -3.17442174e-02 7.51579680e+00] [ 1.41121269e-01 9.89975458e-01 -5.77760292e-03 8.95896051e-01] [ 3.22419905e-02 1.23696405e-03 9.99479326e-01 1.81902508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4868749999999995 meters Centerline goodness [0,1] 0.9986642590348035 Centerline is valid? [True, True] Translation: X:7.54, Y:0.90, Z:0.19 [[ 9.89544296e-01 -1.41490059e-01 -2.79758731e-02 7.54457090e+00] [ 1.41402485e-01 9.89939082e-01 -5.09426277e-03 9.01372170e-01] [ 2.84151977e-02 1.08514069e-03 9.99595618e-01 1.87452868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters Centerline goodness [0,1] 0.9986848635235732 Centerline is valid? [True, True] Translation: X:7.57, Y:0.91, Z:0.19 [[ 9.89708133e-01 -1.40752459e-01 -2.58177578e-02 7.57256047e+00] [ 1.40677532e-01 9.90044290e-01 -4.70492560e-03 9.07233514e-01] [ 2.62229535e-02 1.02452467e-03 9.99655594e-01 1.91776935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.546874999999999 meters Centerline goodness [0,1] 0.9986370957749969 Centerline is valid? [True, True] Translation: X:7.60, Y:0.91, Z:0.19 [[ 9.89927321e-01 -1.39558013e-01 -2.38214025e-02 7.60041281e+00] [ 1.39493751e-01 9.90213412e-01 -4.34658269e-03 9.13801873e-01] [ 2.41948727e-02 9.79864181e-04 9.99706781e-01 1.94345914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters Centerline goodness [0,1] 0.9987940539476274 Centerline is valid? [True, True] Translation: X:7.63, Y:0.92, Z:0.20 [[ 9.90178951e-01 -1.38126323e-01 -2.16047347e-02 7.62687073e+00] [ 1.38073019e-01 9.90414188e-01 -3.94696410e-03 9.24362227e-01] [ 2.19428154e-02 9.25169834e-04 9.99758799e-01 1.95404369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.606875 meters Centerline goodness [0,1] 0.9987475749613222 Centerline is valid? [True, True] Translation: X:7.66, Y:0.93, Z:0.20 [[ 9.90208068e-01 -1.38048705e-01 -2.07493708e-02 7.65567723e+00] [ 1.37999487e-01 9.90425040e-01 -3.79233374e-03 9.30170294e-01] [ 2.10742231e-02 8.91796951e-04 9.99777516e-01 1.96375145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters Centerline goodness [0,1] 0.9987415796876157 Centerline is valid? [True, True] Translation: X:7.69, Y:0.93, Z:0.20 [[ 9.89837322e-01 -1.40600244e-01 -2.12990157e-02 7.68551557e+00] [ 1.40548857e-01 9.90066070e-01 -3.89815920e-03 9.30124051e-01] [ 2.16355149e-02 8.64991154e-04 9.99765551e-01 1.97011367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.666874999999999 meters Centerline goodness [0,1] 0.9988911340002957 Centerline is valid? [True, True] Translation: X:7.71, Y:0.94, Z:0.20 [[ 9.89692240e-01 -1.41447094e-01 -2.24051436e-02 7.71388999e+00] [ 1.41390379e-01 9.89945413e-01 -4.10355054e-03 9.35790579e-01] [ 2.27603044e-02 8.93380371e-04 9.99740552e-01 1.95802757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters Centerline goodness [0,1] 0.9985925925925926 Centerline is valid? [True, True] Translation: X:7.74, Y:0.94, Z:0.19 [[ 9.89552088e-01 -1.42051444e-01 -2.46587253e-02 7.74155696e+00] [ 1.41982775e-01 9.89858797e-01 -4.52255564e-03 9.42109670e-01] [ 2.50510917e-02 9.74190131e-04 9.99685697e-01 1.92726782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.726875 meters Centerline goodness [0,1] 0.9988222015016931 Centerline is valid? [True, True] Translation: X:7.77, Y:0.95, Z:0.19 [[ 9.89457809e-01 -1.42360468e-01 -2.65846025e-02 7.76841906e+00] [ 1.42280689e-01 9.89814329e-01 -4.87848312e-03 9.48168817e-01] [ 2.70083236e-02 1.04457766e-03 9.99634663e-01 1.93149311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters Centerline goodness [0,1] 0.9988711933449486 Centerline is valid? [True, True] Translation: X:7.80, Y:0.95, Z:0.19 [[ 9.89402363e-01 -1.42434358e-01 -2.82031501e-02 7.79711496e+00] [ 1.42344467e-01 9.89803627e-01 -5.18000407e-03 9.54026314e-01] [ 2.86533908e-02 1.11054590e-03 9.99588790e-01 1.90673775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.786874999999999 meters Centerline goodness [0,1] 0.9988997824014083 Centerline is valid? [True, True] Translation: X:7.83, Y:0.96, Z:0.19 [[ 9.89290658e-01 -1.43503206e-01 -2.66612920e-02 7.82555006e+00] [ 1.43423093e-01 9.89649320e-01 -4.90314732e-03 9.59536401e-01] [ 2.70889469e-02 1.02679288e-03 9.99632500e-01 1.91409012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters Centerline goodness [0,1] 0.998899647887324 Centerline is valid? [True, True] Translation: X:7.85, Y:0.96, Z:0.19 [[ 9.89155339e-01 -1.44470070e-01 -2.64596586e-02 7.85309572e+00] [ 1.44391355e-01 9.89508667e-01 -4.87178559e-03 9.63773566e-01] [ 2.68858887e-02 9.98406764e-04 9.99638011e-01 1.93881445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.846875 meters Centerline goodness [0,1] 0.9985010443543433 Centerline is valid? [True, True] Translation: X:7.88, Y:0.96, Z:0.20 [[ 9.88893717e-01 -1.46520267e-01 -2.49204288e-02 7.88255924e+00] [ 1.46451045e-01 9.89207268e-01 -4.59039685e-03 9.63656401e-01] [ 2.53240555e-02 8.89791759e-04 9.99678899e-01 1.97264878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters Centerline goodness [0,1] 0.9986705401546112 Centerline is valid? [True, True] Translation: X:7.91, Y:0.97, Z:0.20 [[ 9.88741157e-01 -1.47746632e-01 -2.37035116e-02 7.91148554e+00] [ 1.47684309e-01 9.89024905e-01 -4.36826600e-03 9.66886550e-01] [ 2.40887599e-02 8.18447637e-04 9.99709489e-01 1.99097804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.906874999999999 meters Centerline goodness [0,1] 0.9987974869932267 Centerline is valid? [True, True] Translation: X:7.94, Y:0.97, Z:0.20 [[ 9.88676096e-01 -1.48113974e-01 -2.41211242e-02 7.93940870e+00] [ 1.48049405e-01 9.88969950e-01 -4.45097418e-03 9.71549345e-01] [ 2.45143185e-02 8.29453705e-04 9.99699135e-01 1.98320535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters Centerline goodness [0,1] 0.9991126010648788 Centerline is valid? [True, True] Translation: X:7.97, Y:0.98, Z:0.20 [[ 9.88871250e-01 -1.46591141e-01 -2.53907064e-02 7.96754944e+00] [ 1.46519032e-01 9.89196745e-01 -4.68760623e-03 9.76301704e-01] [ 2.58035657e-02 9.15217316e-04 9.99666614e-01 1.96139990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.966874999999999 meters Centerline goodness [0,1] 0.9989381142885366 Centerline is valid? [True, True] Translation: X:8.00, Y:0.98, Z:0.20 [[ 9.88741370e-01 -1.47330208e-01 -2.61593843e-02 7.99594662e+00] [ 1.47253840e-01 9.89086928e-01 -4.83267725e-03 9.79616612e-01] [ 2.65859044e-02 9.26198153e-04 9.99646103e-01 1.97340547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters Centerline goodness [0,1] 0.9989604217717383 Centerline is valid? [True, True] Translation: X:8.02, Y:0.98, Z:0.20 [[ 9.88619910e-01 -1.48203706e-01 -2.58134603e-02 8.02479973e+00] [ 1.48129473e-01 9.88956448e-01 -4.77521236e-03 9.81585074e-01] [ 2.62360922e-02 8.97135746e-04 9.99655372e-01 1.99825788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.026875 meters Centerline goodness [0,1] 0.9990073456422474 Centerline is valid? [True, True] Translation: X:8.05, Y:0.99, Z:0.20 [[ 9.88561342e-01 -1.48515108e-01 -2.62628358e-02 8.05175208e+00] [ 1.48438211e-01 9.88909720e-01 -4.86453114e-03 9.86030270e-01] [ 2.66940300e-02 9.10479060e-04 9.99643236e-01 1.99579898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters Centerline goodness [0,1] 0.9990097784379255 Centerline is valid? [True, True] Translation: X:8.08, Y:0.99, Z:0.20 [[ 9.88617176e-01 -1.48203915e-01 -2.59167703e-02 8.07930754e+00] [ 1.48128844e-01 9.88956405e-01 -4.80351986e-03 9.92658003e-01] [ 2.63424564e-02 9.09821027e-04 9.99652563e-01 1.98247106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.086875000000001 meters Centerline goodness [0,1] 0.9989054454090898 Centerline is valid? [True, True] Translation: X:8.11, Y:1.00, Z:0.20 [[ 9.88634502e-01 -1.47928740e-01 -2.68124752e-02 8.10841905e+00] [ 1.47848197e-01 9.88997564e-01 -4.97287021e-03 9.96506117e-01] [ 2.72531031e-02 9.52174946e-04 9.99628112e-01 1.99092607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters Centerline goodness [0,1] 0.9993048831955512 Centerline is valid? [True, True] Translation: X:8.14, Y:1.00, Z:0.20 [[ 9.88735657e-01 -1.47182081e-01 -2.71889011e-02 8.13730119e+00] [ 1.47098786e-01 9.89108916e-01 -5.04963537e-03 1.00195543e+00] [ 2.76360004e-02 9.93300209e-04 9.99617559e-01 1.99081503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.146875 meters Centerline goodness [0,1] 0.9989805813172878 Centerline is valid? [True, True] Translation: X:8.17, Y:1.01, Z:0.20 [[ 9.88486594e-01 -1.49061790e-01 -2.59776219e-02 8.16521319e+00] [ 1.48986233e-01 9.88827469e-01 -4.83102659e-03 1.00713665e+00] [ 2.64075076e-02 9.05097000e-04 9.99650851e-01 2.00612270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters Centerline goodness [0,1] 0.9991317937141865 Centerline is valid? [True, True] Translation: X:8.20, Y:1.01, Z:0.20 [[ 9.87505463e-01 -1.55721236e-01 -2.41631270e-02 8.19517599e+00] [ 1.55657730e-01 9.87800806e-01 -4.49873304e-03 1.00739531e+00] [ 2.45689046e-02 6.81345971e-04 9.99697907e-01 2.03661576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.206875 meters Centerline goodness [0,1] 0.9990555017025825 Centerline is valid? [True, True] Translation: X:8.22, Y:1.01, Z:0.20 [[ 9.87173097e-01 -1.57914509e-01 -2.35007360e-02 8.22361316e+00] [ 1.57855028e-01 9.87452599e-01 -4.37668385e-03 1.01133976e+00] [ 2.38970047e-02 6.10835213e-04 9.99714239e-01 2.04568781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters Centerline goodness [0,1] 0.9989110528139385 Centerline is valid? [True, True] Translation: X:8.25, Y:1.02, Z:0.20 [[ 9.86806615e-01 -1.60002638e-01 -2.47358186e-02 8.25065929e+00] [ 1.59937244e-01 9.87116407e-01 -4.61272313e-03 1.01973447e+00] [ 2.51551802e-02 5.95687056e-04 9.99683381e-01 2.04080161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.266875 meters Centerline goodness [0,1] 0.9989915635683893 Centerline is valid? [True, True] Translation: X:8.28, Y:1.03, Z:0.20 [[ 9.86996472e-01 -1.58854865e-01 -2.45580081e-02 8.27846128e+00] [ 1.58789985e-01 9.87301749e-01 -4.58224960e-03 1.02782368e+00] [ 2.49740769e-02 6.23098460e-04 9.99687905e-01 2.04950932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters Centerline goodness [0,1] 0.9991116594694633 Centerline is valid? [True, True] Translation: X:8.31, Y:1.03, Z:0.21 [[ 9.87212994e-01 -1.57568723e-01 -2.41371642e-02 8.30660735e+00] [ 1.57505518e-01 9.87507810e-01 -4.50966622e-03 1.03459177e+00] [ 2.45462205e-02 6.50264548e-04 9.99698485e-01 2.07073113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.326875000000001 meters Centerline goodness [0,1] 0.9987971032281822 Centerline is valid? [True, True] Translation: X:8.33, Y:1.05, Z:0.21 [[ 9.87878310e-01 -1.53577816e-01 -2.25898144e-02 8.33314291e+00] [ 1.53521295e-01 9.88136304e-01 -4.22570740e-03 1.04589850e+00] [ 2.29707906e-02 7.06467121e-04 9.99735887e-01 2.10191317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters Centerline goodness [0,1] 0.9987309334960341 Centerline is valid? [True, True] Translation: X:8.36, Y:1.05, Z:0.21 [[ 9.88217824e-01 -1.51707342e-01 -2.02586879e-02 8.36081515e+00] [ 1.51661471e-01 9.88425227e-01 -3.79070950e-03 1.05472928e+00] [ 2.05992767e-02 6.73584284e-04 9.99787585e-01 2.10261014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.386875 meters Centerline goodness [0,1] 0.9990026757479932 Centerline is valid? [True, True] Translation: X:8.39, Y:1.06, Z:0.21 [[ 9.88136674e-01 -1.52592671e-01 -1.73606158e-02 8.38759399e+00] [ 1.52559046e-01 9.88289005e-01 -3.25278719e-03 1.06394081e+00] [ 1.76536572e-02 5.65679314e-04 9.99844002e-01 2.11555682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters Centerline goodness [0,1] 0.9988584474885844 Centerline is valid? [True, True] Translation: X:8.41, Y:1.07, Z:0.22 [[ 9.87960000e-01 -1.54026868e-01 -1.45176508e-02 8.41443958e+00] [ 1.54003494e-01 9.88066556e-01 -2.72112172e-03 1.06902997e+00] [ 1.47635311e-02 4.52590461e-04 9.99890911e-01 2.16482676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.446875 meters Centerline goodness [0,1] 0.9988584474885844 Centerline is valid? [True, True] Translation: X:8.44, Y:1.07, Z:0.22 [[ 9.87918489e-01 -1.54292894e-01 -1.45176579e-02 8.44157597e+00] [ 1.54269550e-01 9.88025051e-01 -2.72108501e-03 1.07423337e+00] [ 1.47636538e-02 4.48577642e-04 9.99890911e-01 2.17084527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters Centerline goodness [0,1] 0.998929388291401 Centerline is valid? [True, True] Translation: X:8.47, Y:1.08, Z:0.22 [[ 9.87642662e-01 -1.55972185e-01 -1.53182520e-02 8.47071749e+00] [ 1.55946323e-01 9.87761344e-01 -2.87589176e-03 1.07680111e+00] [ 1.55793363e-02 4.51528324e-04 9.99878533e-01 2.18622559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.506875 meters Centerline goodness [0,1] 0.9985922330097088 Centerline is valid? [True, True] Translation: X:8.50, Y:1.09, Z:0.21 [[ 9.87898094e-01 -1.54070933e-01 -1.78746446e-02 8.49895176e+00] [ 1.54035307e-01 9.88059627e-01 -3.36129489e-03 1.08530699e+00] [ 1.81790925e-02 5.67290449e-04 9.99834586e-01 2.13548040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters Centerline goodness [0,1] 0.9987138419724325 Centerline is valid? [True, True] Translation: X:8.53, Y:1.10, Z:0.21 [[ 9.88051068e-01 -1.52875697e-01 -1.95986635e-02 8.52505200e+00] [ 1.52832516e-01 9.88245211e-01 -3.69129684e-03 1.09509285e+00] [ 1.99325949e-02 6.51876725e-04 9.99801114e-01 2.11711789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.566875 meters Centerline goodness [0,1] 0.998859195611544 Centerline is valid? [True, True] Translation: X:8.55, Y:1.10, Z:0.21 [[ 9.88366375e-01 -1.50431753e-01 -2.24097298e-02 8.55373448e+00] [ 1.50374605e-01 9.88620069e-01 -4.22348498e-03 1.10118352e+00] [ 2.27900549e-02 8.04496276e-04 9.99739949e-01 2.08718715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters Centerline goodness [0,1] 0.9989783756172314 Centerline is valid? [True, True] Translation: X:8.58, Y:1.11, Z:0.21 [[ 9.88547309e-01 -1.49006159e-01 -2.39035861e-02 8.58223291e+00] [ 1.48940664e-01 9.88835862e-01 -4.50734758e-03 1.10714670e+00] [ 2.43083457e-02 8.95510353e-04 9.99704107e-01 2.08707832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.626875 meters Centerline goodness [0,1] 0.9987115908206924 Centerline is valid? [True, True] Translation: X:8.61, Y:1.11, Z:0.21 [[ 9.88661939e-01 -1.47962429e-01 -2.55869064e-02 8.61055336e+00] [ 1.47886853e-01 9.88992484e-01 -4.83167095e-03 1.11447863e+00] [ 2.60201639e-02 9.92922097e-04 9.99660925e-01 2.07987473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters Centerline goodness [0,1] 0.9984049109408608 Centerline is valid? [True, True] Translation: X:8.64, Y:1.13, Z:0.21 [[ 9.89019024e-01 -1.45399361e-01 -2.64649884e-02 8.63671343e+00] [ 1.45317426e-01 9.89372432e-01 -5.00363316e-03 1.12708129e+00] [ 2.69112550e-02 1.10286439e-03 9.99637218e-01 2.07570766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.686875 meters Centerline goodness [0,1] 0.9984050651265073 Centerline is valid? [True, True] Translation: X:8.66, Y:1.13, Z:0.21 [[ 9.89153930e-01 -1.44341005e-01 -2.72061814e-02 8.66442514e+00] [ 1.44253949e-01 9.89527319e-01 -5.14614963e-03 1.13330956e+00] [ 2.76640602e-02 1.16573502e-03 9.99616597e-01 2.08433843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters Centerline goodness [0,1] 0.9983835166956186 Centerline is valid? [True, True] Translation: X:8.69, Y:1.14, Z:0.21 [[ 9.89196810e-01 -1.44100658e-01 -2.69197243e-02 8.69054642e+00] [ 1.44015271e-01 9.89562352e-01 -5.09436507e-03 1.14365537e+00] [ 2.73728470e-02 1.16247829e-03 9.99624617e-01 2.08319494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.746875000000001 meters Centerline goodness [0,1] 0.9983120734971426 Centerline is valid? [True, True] Translation: X:8.72, Y:1.15, Z:0.21 [[ 9.89203566e-01 -1.44216383e-01 -2.60372782e-02 8.71828875e+00] [ 1.44136460e-01 9.89545537e-01 -4.93055177e-03 1.14715389e+00] [ 2.64761388e-02 1.12439830e-03 9.99648813e-01 2.09070603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters Centerline goodness [0,1] 0.9980996824785914 Centerline is valid? [True, True] Translation: X:8.75, Y:1.15, Z:0.21 [[ 9.89397250e-01 -1.43234374e-01 -2.40207265e-02 8.74622842e+00] [ 1.43165909e-01 9.89688221e-01 -4.55504773e-03 1.15438458e+00] [ 2.44254695e-02 1.06780255e-03 9.99701083e-01 2.11751209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.806875 meters Centerline goodness [0,1] 0.9986541696707523 Centerline is valid? [True, True] Translation: X:8.77, Y:1.16, Z:0.21 [[ 9.89549017e-01 -1.42323843e-01 -2.31660772e-02 8.77370720e+00] [ 1.42259786e-01 9.89819583e-01 -4.39850242e-03 1.16145677e+00] [ 2.35562487e-02 1.05693256e-03 9.99721954e-01 2.13979852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters Centerline goodness [0,1] 0.9983293556085919 Centerline is valid? [True, True] Translation: X:8.80, Y:1.17, Z:0.22 [[ 9.89855952e-01 -1.40579208e-01 -2.05591791e-02 8.80083119e+00] [ 1.40528330e-01 9.90068953e-01 -3.90607723e-03 1.17182683e+00] [ 2.09041182e-02 9.77306694e-04 9.99781007e-01 2.17926139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.866875 meters Centerline goodness [0,1] 0.998178419059489 Centerline is valid? [True, True] Translation: X:8.83, Y:1.18, Z:0.22 [[ 9.90032217e-01 -1.39590303e-01 -1.87284803e-02 8.82908871e+00] [ 1.39547900e-01 9.90208927e-01 -3.55860895e-03 1.17719157e+00] [ 1.90418557e-02 9.09617402e-04 9.99818274e-01 2.18622867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters Centerline goodness [0,1] 0.9981630364768471 Centerline is valid? [True, True] Translation: X:8.86, Y:1.18, Z:0.22 [[ 9.89710743e-01 -1.41714327e-01 -1.97406981e-02 8.85678311e+00] [ 1.41667522e-01 9.89907168e-01 -3.75668082e-03 1.18202199e+00] [ 2.00738340e-02 9.21411591e-04 9.99798076e-01 2.17144297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.926875 meters Centerline goodness [0,1] 0.9985108682598776 Centerline is valid? [True, True] Translation: X:8.89, Y:1.18, Z:0.22 [[ 9.88779416e-01 -1.47936620e-01 -2.07370129e-02 8.88631149e+00] [ 1.47886291e-01 9.88996489e-01 -3.94834149e-03 1.18232319e+00] [ 2.10929372e-02 8.37318866e-04 9.99777169e-01 2.17653796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters Centerline goodness [0,1] 0.9987432631655268 Centerline is valid? [True, True] Translation: X:8.92, Y:1.18, Z:0.22 [[ 9.87312871e-01 -1.57830795e-01 -1.73992828e-02 8.91743784e+00] [ 1.57796889e-01 9.87466032e-01 -3.31335385e-03 1.17923353e+00] [ 1.77041500e-02 5.25764220e-04 9.99843131e-01 2.19616786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.986875 meters Centerline goodness [0,1] 0.998955042527339 Centerline is valid? [True, True] Translation: X:8.95, Y:1.17, Z:0.22 [[ 9.85699337e-01 -1.67896601e-01 -1.44065107e-02 8.94863021e+00] [ 1.67874425e-01 9.85804570e-01 -2.74369684e-03 1.17478851e+00] [ 1.46626614e-02 2.85975461e-04 9.99892457e-01 2.23101912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters Centerline goodness [0,1] 0.9989095138855232 Centerline is valid? [True, True] Translation: X:8.98, Y:1.18, Z:0.22 [[ 9.84842490e-01 -1.72836760e-01 -1.45850635e-02 8.97673857e+00] [ 1.72814571e-01 9.84950460e-01 -2.77779014e-03 1.17522251e+00] [ 1.48456692e-02 2.15174279e-04 9.99889774e-01 2.24249083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.046875 meters Centerline goodness [0,1] 0.9987134985557201 Centerline is valid? [True, True] Translation: X:9.00, Y:1.18, Z:0.22 [[ 9.85044837e-01 -1.71612728e-01 -1.53538558e-02 9.00359836e+00] [ 1.71587966e-01 9.85164458e-01 -2.92566423e-03 1.18267638e+00] [ 1.56281543e-02 2.47373554e-04 9.99877842e-01 2.23794555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters Centerline goodness [0,1] 0.9985511795812909 Centerline is valid? [True, True] Translation: X:9.03, Y:1.20, Z:0.22 [[ 9.86163811e-01 -1.64781860e-01 -1.81073858e-02 9.03145263e+00] [ 1.64746229e-01 9.86329945e-01 -3.45242744e-03 1.19572544e+00] [ 1.84287543e-02 4.21535480e-04 9.99830087e-01 2.20948374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.106875 meters Centerline goodness [0,1] 0.998680548891661 Centerline is valid? [True, True] Translation: X:9.06, Y:1.21, Z:0.22 [[ 9.87519884e-01 -1.56003432e-01 -2.16196387e-02 9.05786204e+00] [ 1.55950511e-01 9.87756265e-01 -4.12298369e-03 1.21171007e+00] [ 2.19981332e-02 6.99934673e-04 9.99757767e-01 2.17549036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters Centerline goodness [0,1] 0.998528399515796 Centerline is valid? [True, True] Translation: X:9.09, Y:1.22, Z:0.21 [[ 9.88675517e-01 -1.47961792e-01 -2.50605176e-02 9.08617196e+00] [ 1.47888074e-01 9.88992552e-01 -4.78011795e-03 1.22339063e+00] [ 2.54919400e-02 1.01983393e-03 9.99674507e-01 2.14571703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.166875000000001 meters Centerline goodness [0,1] 0.9982115963855421 Centerline is valid? [True, True] Translation: X:9.11, Y:1.24, Z:0.21 [[ 9.89481641e-01 -1.41869585e-01 -2.82684059e-02 9.11260903e+00] [ 1.41773277e-01 9.89884466e-01 -5.39270999e-03 1.24335487e+00] [ 2.87475174e-02 1.32828298e-03 9.99585822e-01 2.09144887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters Centerline goodness [0,1] 0.9980596596222181 Centerline is valid? [True, True] Translation: X:9.14, Y:1.26, Z:0.21 [[ 9.89996018e-01 -1.38129653e-01 -2.87764249e-02 9.13959557e+00] [ 1.38028249e-01 9.90413074e-01 -5.49049917e-03 1.25756070e+00] [ 2.92589482e-02 1.46361277e-03 9.99570794e-01 2.07737792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.226875 meters Centerline goodness [0,1] 0.9982225132726805 Centerline is valid? [True, True] Translation: X:9.17, Y:1.26, Z:0.21 [[ 9.90143724e-01 -1.36988172e-01 -2.91486975e-02 9.16770252e+00] [ 1.36883569e-01 9.90571519e-01 -5.56372701e-03 1.26484304e+00] [ 2.96360344e-02 1.51891164e-03 9.99559602e-01 2.10613510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters Centerline goodness [0,1] 0.9982087607881452 Centerline is valid? [True, True] Translation: X:9.20, Y:1.27, Z:0.21 [[ 9.89695311e-01 -1.40511856e-01 -2.75610178e-02 9.19778517e+00] [ 1.40419560e-01 9.90078087e-01 -5.26574010e-03 1.26798775e+00] [ 2.80274587e-02 1.34137229e-03 9.99606254e-01 2.14374658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.286875 meters Centerline goodness [0,1] 0.9983378593501264 Centerline is valid? [True, True] Translation: X:9.23, Y:1.26, Z:0.22 [[ 9.88814979e-01 -1.47282893e-01 -2.35092882e-02 9.22861616e+00] [ 1.47217643e-01 9.89093922e-01 -4.49199772e-03 1.26377566e+00] [ 2.39144885e-02 9.80772627e-04 9.99713527e-01 2.19274112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters Centerline goodness [0,1] 0.9983087475335901 Centerline is valid? [True, True] Translation: X:9.26, Y:1.26, Z:0.22 [[ 9.88099817e-01 -1.52314341e-01 -2.14264741e-02 9.25885133e+00] [ 1.52261312e-01 9.88331790e-01 -4.09451505e-03 1.26367838e+00] [ 2.18001189e-02 7.83366511e-04 9.99762042e-01 2.22703673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.346875 meters Centerline goodness [0,1] 0.9985395613973099 Centerline is valid? [True, True] Translation: X:9.29, Y:1.27, Z:0.22 [[ 9.87950607e-01 -1.53430523e-01 -2.03143370e-02 9.28581456e+00] [ 1.53383079e-01 9.88159176e-01 -3.88263933e-03 1.26916649e+00] [ 2.06695139e-02 7.19980328e-04 9.99786104e-01 2.24118765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters Centerline goodness [0,1] 0.9984775021666316 Centerline is valid? [True, True] Translation: X:9.31, Y:1.28, Z:0.22 [[ 9.88412838e-01 -1.50255880e-01 -2.15228485e-02 9.31252732e+00] [ 1.50201825e-01 9.88646789e-01 -4.11570641e-03 1.28000145e+00] [ 2.18969041e-02 8.35245937e-04 9.99759885e-01 2.23338215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.406875 meters Centerline goodness [0,1] 0.998483929654336 Centerline is valid? [True, True] Translation: X:9.34, Y:1.29, Z:0.22 [[ 9.89111753e-01 -1.45379227e-01 -2.28652702e-02 9.34180790e+00] [ 1.45316870e-01 9.89375496e-01 -4.37435473e-03 1.28808889e+00] [ 2.32582784e-02 1.00401617e-03 9.99728985e-01 2.22014483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters Centerline goodness [0,1] 0.9983071678686548 Centerline is valid? [True, True] Translation: X:9.37, Y:1.30, Z:0.22 [[ 9.89703805e-01 -1.41136033e-01 -2.38117266e-02 9.36905839e+00] [ 1.41067168e-01 9.89989544e-01 -4.55590723e-03 1.29929290e+00] [ 2.42163630e-02 1.14994589e-03 9.99706079e-01 2.18958421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.466875 meters Centerline goodness [0,1] 0.998003992015968 Centerline is valid? [True, True] Translation: X:9.40, Y:1.30, Z:0.22 [[ 9.89951103e-01 -1.38988144e-01 -2.60597296e-02 9.39891834e+00] [ 1.38904890e-01 9.90293169e-01 -4.98702793e-03 1.30291063e+00] [ 2.64999100e-02 1.31708993e-03 9.99647948e-01 2.18093314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters Centerline goodness [0,1] 0.9982714319084326 Centerline is valid? [True, True] Translation: X:9.43, Y:1.31, Z:0.22 [[ 9.89709012e-01 -1.40501844e-01 -2.71164929e-02 9.42781273e+00] [ 1.40412203e-01 9.90079523e-01 -5.19154436e-03 1.30513514e+00] [ 2.75769059e-02 1.33063173e-03 9.99618799e-01 2.19813547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.526875 meters Centerline goodness [0,1] 0.9982415005861665 Centerline is valid? [True, True] Translation: X:9.46, Y:1.31, Z:0.22 [[ 9.89324858e-01 -1.43379447e-01 -2.60510851e-02 9.45632607e+00] [ 1.43297560e-01 9.89667054e-01 -4.99312051e-03 1.30846837e+00] [ 2.64978115e-02 1.20676131e-03 9.99648143e-01 2.21204503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters Centerline goodness [0,1] 0.9986382738947714 Centerline is valid? [True, True] Translation: X:9.49, Y:1.31, Z:0.22 [[ 9.88787522e-01 -1.47111742e-01 -2.56392633e-02 9.48741875e+00] [ 1.47033644e-01 9.89119278e-01 -4.91541816e-03 1.30763864e+00] [ 2.60834054e-02 1.09046983e-03 9.99659175e-01 2.22414107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.586875000000001 meters Centerline goodness [0,1] 0.9983967557881831 Centerline is valid? [True, True] Translation: X:9.52, Y:1.31, Z:0.22 [[ 9.88348669e-01 -1.50173612e-01 -2.47950682e-02 9.51722675e+00] [ 1.50101505e-01 9.88659158e-01 -4.75474597e-03 1.30772213e+00] [ 2.52279086e-02 9.77569806e-04 9.99681248e-01 2.23980867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters Centerline goodness [0,1] 0.9985045930356762 Centerline is valid? [True, True] Translation: X:9.55, Y:1.31, Z:0.23 [[ 9.88253032e-01 -1.51244748e-01 -2.19310299e-02 9.54637404e+00] [ 1.51188500e-01 9.88495985e-01 -4.21014600e-03 1.30829865e+00] [ 2.23154974e-02 8.44970050e-04 9.99750621e-01 2.28838560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.646875 meters Centerline goodness [0,1] 0.9984581079798842 Centerline is valid? [True, True] Translation: X:9.57, Y:1.31, Z:0.23 [[ 9.88378145e-01 -1.50821812e-01 -1.90111498e-02 9.57304445e+00] [ 1.50779380e-01 9.88560684e-01 -3.65415793e-03 1.31405679e+00] [ 1.93448020e-02 7.45200455e-04 9.99812594e-01 2.32532531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters Centerline goodness [0,1] 0.9987340562747814 Centerline is valid? [True, True] Translation: X:9.60, Y:1.32, Z:0.23 [[ 9.88708610e-01 -1.48615041e-01 -1.92055779e-02 9.60254302e+00] [ 1.48571276e-01 9.88894803e-01 -3.69382426e-03 1.31822341e+00] [ 1.95412540e-02 7.98718639e-04 9.99808732e-01 2.31296406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.706875 meters Centerline goodness [0,1] 0.9983991589611259 Centerline is valid? [True, True] Translation: X:9.63, Y:1.33, Z:0.23 [[ 9.89136975e-01 -1.45458413e-01 -2.12107447e-02 9.62904443e+00] [ 1.45404287e-01 9.89363909e-01 -4.08034365e-03 1.32925605e+00] [ 2.15786656e-02 9.51885564e-04 9.99766700e-01 2.28802201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters Centerline goodness [0,1] 0.9985194383417709 Centerline is valid? [True, True] Translation: X:9.66, Y:1.34, Z:0.23 [[ 9.89534298e-01 -1.42359657e-01 -2.35711950e-02 9.65761830e+00] [ 1.42291882e-01 9.89814346e-01 -4.53661696e-03 1.33505218e+00] [ 2.39769382e-02 1.13514838e-03 9.99711867e-01 2.27667267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.766875 meters Centerline goodness [0,1] 0.9987590683466973 Centerline is valid? [True, True] Translation: X:9.69, Y:1.34, Z:0.23 [[ 9.89513552e-01 -1.42369096e-01 -2.43715052e-02 9.68640796e+00] [ 1.42296594e-01 9.89812941e-01 -4.69259292e-03 1.33811474e+00] [ 2.47913115e-02 1.17540210e-03 9.99691957e-01 2.27693720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters Centerline goodness [0,1] 0.9985558524081161 Centerline is valid? [True, True] Translation: X:9.71, Y:1.34, Z:0.23 [[ 9.89433972e-01 -1.42833629e-01 -2.48790840e-02 9.71395219e+00] [ 1.42758070e-01 9.89745992e-01 -4.79627439e-03 1.34224649e+00] [ 2.53090430e-02 1.19390679e-03 9.99678962e-01 2.27195727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.826875000000001 meters Centerline goodness [0,1] 0.9988661037394451 Centerline is valid? [True, True] Translation: X:9.74, Y:1.34, Z:0.23 [[ 9.89164806e-01 -1.44634051e-01 -2.51789069e-02 9.74243933e+00] [ 1.44557184e-01 9.89484531e-01 -4.85632222e-03 1.34333771e+00] [ 2.56165285e-02 1.16391115e-03 9.99671165e-01 2.28463444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters Centerline goodness [0,1] 0.9985016192179419 Centerline is valid? [True, True] Translation: X:9.77, Y:1.35, Z:0.23 [[ 9.88844691e-01 -1.46793361e-01 -2.52564117e-02 9.77145334e+00] [ 1.46716677e-01 9.89166553e-01 -4.87307495e-03 1.34534650e+00] [ 2.56981328e-02 1.11317750e-03 9.99669129e-01 2.27705728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.886875 meters Centerline goodness [0,1] 0.9986374364339765 Centerline is valid? [True, True] Translation: X:9.80, Y:1.34, Z:0.23 [[ 9.87879459e-01 -1.53513430e-01 -2.29739131e-02 9.80332060e+00] [ 1.53451761e-01 9.88146192e-01 -4.43409858e-03 1.33862775e+00] [ 2.33822784e-02 8.54967487e-04 9.99726232e-01 2.30104055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters Centerline goodness [0,1] 0.9990112959438416 Centerline is valid? [True, True] Translation: X:9.83, Y:1.34, Z:0.24 [[ 9.87783659e-01 -1.54504568e-01 -2.02924169e-02 9.83289367e+00] [ 1.54456663e-01 9.87991801e-01 -3.91665713e-03 1.33657910e+00] [ 2.06538829e-02 7.34510915e-04 9.99786416e-01 2.35573044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.946875 meters Centerline goodness [0,1] 0.998863102740911 Centerline is valid? [True, True] Translation: X:9.86, Y:1.34, Z:0.24 [[ 9.88126815e-01 -1.52149821e-01 -2.13501753e-02 9.86090928e+00] [ 1.52096114e-01 9.88357093e-01 -4.12670766e-03 1.34200862e+00] [ 2.17294750e-02 8.30431788e-04 9.99763542e-01 2.36026274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters Centerline goodness [0,1] 0.9988179669030733 Centerline is valid? [True, True] Translation: X:9.89, Y:1.35, Z:0.23 [[ 9.88378809e-01 -1.50330490e-01 -2.25405046e-02 9.88776241e+00] [ 1.50270123e-01 9.88635371e-01 -4.35814736e-03 1.35053762e+00] [ 2.29395026e-02 9.20336094e-04 9.99736431e-01 2.34300363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.006875 meters Centerline goodness [0,1] 0.9989356962526608 Centerline is valid? [True, True] Translation: X:9.92, Y:1.35, Z:0.23 [[ 9.88279169e-01 -1.50737463e-01 -2.41350823e-02 9.91632408e+00] [ 1.50668301e-01 9.88573346e-01 -4.66935348e-03 1.35199480e+00] [ 2.45631456e-02 9.78232930e-04 9.99697802e-01 2.32584124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters Centerline goodness [0,1] 0.9990344861733469 Centerline is valid? [True, True] Translation: X:9.94, Y:1.36, Z:0.23 [[ 9.88173724e-01 -1.51138911e-01 -2.58789627e-02 9.94240527e+00] [ 1.51059334e-01 9.88511981e-01 -5.01408413e-03 1.35761215e+00] [ 2.63394879e-02 1.04552732e-03 9.99652509e-01 2.30114359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.066875 meters Centerline goodness [0,1] 0.9988829589177113 Centerline is valid? [True, True] Translation: X:9.97, Y:1.36, Z:0.23 [[ 9.88019615e-01 -1.51337973e-01 -3.02333986e-02 9.97112629e+00] [ 1.51229281e-01 9.88481324e-01 -5.86318031e-03 1.36254239e+00] [ 3.07724717e-02 1.22076202e-03 9.99525670e-01 2.25156951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters Centerline goodness [0,1] 0.9990299955230563 Centerline is valid? [True, True] Translation: X:10.00, Y:1.37, Z:0.22 [[ 9.87548817e-01 -1.53798803e-01 -3.30645262e-02 1.00000147e+01] [ 1.53669872e-01 9.88101382e-01 -6.42107846e-03 1.36602361e+00] [ 3.36586582e-02 1.26010693e-03 9.99432592e-01 2.22707935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.126875 meters Centerline goodness [0,1] 0.9990813159528243 Centerline is valid? [True, True] Translation: X:10.03, Y:1.37, Z:0.23 [[ 9.86735813e-01 -1.59189801e-01 -3.17968793e-02 1.00303826e+01] [ 1.59073188e-01 9.87247449e-01 -6.18027782e-03 1.36681304e+00] [ 3.23752252e-02 1.04027050e-03 9.99475244e-01 2.26436894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters Centerline goodness [0,1] 0.9991042993630573 Centerline is valid? [True, True] Translation: X:10.06, Y:1.37, Z:0.23 [[ 9.86304280e-01 -1.62629992e-01 -2.74836941e-02 1.00597085e+01] [ 1.62544195e-01 9.86686801e-01 -5.34248402e-03 1.37001319e+00] [ 2.79866463e-02 8.01999934e-04 9.99607975e-01 2.32786580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.186875 meters Centerline goodness [0,1] 0.9990104398594825 Centerline is valid? [True, True] Translation: X:10.09, Y:1.38, Z:0.24 [[ 9.86260916e-01 -1.63310189e-01 -2.48834858e-02 1.00874761e+01] [ 1.63240038e-01 9.86574517e-01 -4.83860748e-03 1.37621674e+00] [ 2.53396069e-02 7.10148283e-04 9.99678648e-01 2.35259061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters Centerline goodness [0,1] 0.9991559924535796 Centerline is valid? [True, True] Translation: X:10.12, Y:1.39, Z:0.24 [[ 9.86586023e-01 -1.61489674e-01 -2.38558975e-02 1.01152803e+01] [ 1.61424525e-01 9.86874131e-01 -4.64461398e-03 1.38503925e+00] [ 2.42928253e-02 7.31384323e-04 9.99704618e-01 2.36328431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.246875000000001 meters Centerline goodness [0,1] 0.9990108558569698 Centerline is valid? [True, True] Translation: X:10.14, Y:1.39, Z:0.24 [[ 9.86855475e-01 -1.60111902e-01 -2.19191980e-02 1.01418166e+01] [ 1.60056449e-01 9.87098616e-01 -4.27266200e-03 1.39437801e+00] [ 2.23205141e-02 7.08190880e-04 9.99750615e-01 2.39446346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters Centerline goodness [0,1] 0.9991144347141592 Centerline is valid? [True, True] Translation: X:10.17, Y:1.40, Z:0.24 [[ 9.87317391e-01 -1.57465470e-01 -2.02236461e-02 1.01701801e+01] [ 1.57417657e-01 9.87524238e-01 -3.94479555e-03 1.40398572e+00] [ 2.05925098e-02 7.11206272e-04 9.99787699e-01 2.43693322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.306875 meters Centerline goodness [0,1] 0.9990454745704636 Centerline is valid? [True, True] Translation: X:10.20, Y:1.42, Z:0.24 [[ 9.87840012e-01 -1.54058668e-01 -2.09293532e-02 1.01966071e+01] [ 1.54006679e-01 9.88061370e-01 -4.08322037e-03 1.41606058e+00] [ 2.13085409e-02 8.10308280e-04 9.99772619e-01 2.43227796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters Centerline goodness [0,1] 0.9989247311827957 Centerline is valid? [True, True] Translation: X:10.23, Y:1.43, Z:0.24 [[ 9.88432924e-01 -1.49748838e-01 -2.39925015e-02 1.02253216e+01] [ 1.49679202e-01 9.88723525e-01 -4.68262159e-03 1.42825836e+00] [ 2.44231678e-02 1.03727886e-03 9.99701172e-01 2.38878871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.366875 meters Centerline goodness [0,1] 0.9989247311827957 Centerline is valid? [True, True] Translation: X:10.25, Y:1.43, Z:0.24 [[ 9.88390663e-01 -1.50027547e-01 -2.39923350e-02 1.02524350e+01] [ 1.49957972e-01 9.88681279e-01 -4.68347414e-03 1.43365856e+00] [ 2.44234226e-02 1.03126022e-03 9.99701172e-01 2.39481955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters Centerline goodness [0,1] 0.9988348666165012 Centerline is valid? [True, True] Translation: X:10.28, Y:1.44, Z:0.24 [[ 9.88572626e-01 -1.48323912e-01 -2.69105810e-02 1.02796364e+01] [ 1.48235545e-01 9.88938092e-01 -5.26058495e-03 1.44276062e+00] [ 2.73931692e-02 1.21136566e-03 9.99624003e-01 2.35511802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.426875 meters Centerline goodness [0,1] 0.9991021596699831 Centerline is valid? [True, True] Translation: X:10.31, Y:1.44, Z:0.24 [[ 9.88442592e-01 -1.49399509e-01 -2.57104889e-02 1.03088040e+01] [ 1.49319141e-01 9.88776267e-01 -5.02867235e-03 1.44478692e+00] [ 2.61732024e-02 1.13148581e-03 9.99656783e-01 2.37469987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters Centerline goodness [0,1] 0.9990029425354442 Centerline is valid? [True, True] Translation: X:10.34, Y:1.45, Z:0.24 [[ 9.88593814e-01 -1.48602031e-01 -2.44889402e-02 1.03353732e+01] [ 1.48528736e-01 9.88896465e-01 -4.79539881e-03 1.45168213e+00] [ 2.49296324e-02 1.10339027e-03 9.99688599e-01 2.40709924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.486875 meters Centerline goodness [0,1] 0.9987341772151899 Centerline is valid? [True, True] Translation: X:10.36, Y:1.46, Z:0.24 [[ 9.88931432e-01 -1.45950096e-01 -2.67056574e-02 1.03641413e+01] [ 1.45861898e-01 9.89291127e-01 -5.23182942e-03 1.45952699e+00] [ 2.71832559e-02 1.27858268e-03 9.99629649e-01 2.39076922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters Centerline goodness [0,1] 0.9988575040108901 Centerline is valid? [True, True] Translation: X:10.39, Y:1.46, Z:0.24 [[ 9.88807139e-01 -1.46514703e-01 -2.81759430e-02 1.03916340e+01] [ 1.46416670e-01 9.89207591e-01 -5.52271666e-03 1.46330149e+00] [ 2.86810159e-02 1.33547390e-03 9.99587723e-01 2.37021204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.546875 meters Centerline goodness [0,1] 0.9987316763823508 Centerline is valid? [True, True] Translation: X:10.42, Y:1.47, Z:0.24 [[ 9.88563111e-01 -1.48384240e-01 -2.69275528e-02 1.04192371e+01] [ 1.48295215e-01 9.88929018e-01 -5.28464183e-03 1.46867573e+00] [ 2.74135959e-02 1.23097475e-03 9.99623419e-01 2.39720099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters Centerline goodness [0,1] 0.9987789391423268 Centerline is valid? [True, True] Translation: X:10.45, Y:1.47, Z:0.24 [[ 9.88585490e-01 -1.48350120e-01 -2.62863069e-02 1.04478241e+01] [ 1.48265187e-01 9.88934168e-01 -5.16199261e-03 1.47395963e+00] [ 2.67612093e-02 1.20572678e-03 9.99641128e-01 2.40932530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.606875 meters Centerline goodness [0,1] 0.9989828291879587 Centerline is valid? [True, True] Translation: X:10.47, Y:1.48, Z:0.24 [[ 9.88682357e-01 -1.47522742e-01 -2.72807235e-02 1.04742612e+01] [ 1.47430762e-01 9.89057834e-01 -5.36385137e-03 1.48245427e+00] [ 2.77735034e-02 1.28112734e-03 9.99613421e-01 2.39633471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters Centerline goodness [0,1] 0.998834923177747 Centerline is valid? [True, True] Translation: X:10.50, Y:1.49, Z:0.24 [[ 9.88698498e-01 -1.47513177e-01 -2.67421553e-02 1.05027807e+01] [ 1.47424674e-01 9.89059288e-01 -5.26224173e-03 1.48859550e+00] [ 2.72258271e-02 1.26031696e-03 9.99628514e-01 2.39393505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.666875000000001 meters Centerline goodness [0,1] 0.9988151658767772 Centerline is valid? [True, True] Translation: X:10.53, Y:1.50, Z:0.24 [[ 9.88705133e-01 -1.47636762e-01 -2.57981740e-02 1.05288627e+01] [ 1.47554276e-01 9.89040900e-01 -5.08273730e-03 1.49505895e+00] [ 2.62658481e-02 1.21869757e-03 9.99654250e-01 2.41960766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters Centerline goodness [0,1] 0.9987884661982069 Centerline is valid? [True, True] Translation: X:10.56, Y:1.50, Z:0.24 [[ 9.88489369e-01 -1.49034993e-01 -2.60257079e-02 1.05578394e+01] [ 1.48951385e-01 9.88831198e-01 -5.13300693e-03 1.50049196e+00] [ 2.65000295e-02 1.19735756e-03 9.99648095e-01 2.41607731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.726875 meters Centerline goodness [0,1] 0.9988597491448119 Centerline is valid? [True, True] Translation: X:10.59, Y:1.50, Z:0.24 [[ 9.88045487e-01 -1.52008244e-01 -2.56828511e-02 1.05871330e+01] [ 1.51927669e-01 9.88378604e-01 -5.07141516e-03 1.50412082e+00] [ 2.61552775e-02 1.10885317e-03 9.99657277e-01 2.41806679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters Centerline goodness [0,1] 0.9990035241220075 Centerline is valid? [True, True] Translation: X:10.62, Y:1.51, Z:0.24 [[ 9.87266454e-01 -1.57082262e-01 -2.51020162e-02 1.06162516e+01] [ 1.57006796e-01 9.87585058e-01 -4.96180834e-03 1.50708850e+00] [ 2.55697882e-02 9.57439787e-04 9.99672581e-01 2.42586491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.786875 meters Centerline goodness [0,1] 0.9989288931084009 Centerline is valid? [True, True] Translation: X:10.65, Y:1.51, Z:0.25 [[ 9.86377740e-01 -1.62731085e-01 -2.40322086e-02 1.06469546e+01] [ 1.62663569e-01 9.86670152e-01 -4.75117840e-03 1.50563986e+00] [ 2.44850273e-02 7.77291809e-04 9.99699895e-01 2.46657349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters Centerline goodness [0,1] 0.999145340886892 Centerline is valid? [True, True] Translation: X:10.68, Y:1.51, Z:0.25 [[ 9.85507477e-01 -1.67847047e-01 -2.45434542e-02 1.06776230e+01] [ 1.67778189e-01 9.85812825e-01 -4.85311416e-03 1.50608780e+00] [ 2.50098328e-02 6.64924003e-04 9.99686984e-01 2.47183494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.846875 meters Centerline goodness [0,1] 0.9991194383973779 Centerline is valid? [True, True] Translation: X:10.71, Y:1.51, Z:0.25 [[ 9.84848171e-01 -1.71757623e-01 -2.39457552e-02 1.07069879e+01] [ 1.71693209e-01 9.85139083e-01 -4.73588683e-03 1.50865647e+00] [ 2.44033240e-02 5.52805928e-04 9.99702042e-01 2.47721989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters Centerline goodness [0,1] 0.9991935878011827 Centerline is valid? [True, True] Translation: X:10.74, Y:1.51, Z:0.25 [[ 9.84634147e-01 -1.73313203e-01 -2.14039930e-02 1.07353954e+01] [ 1.73262011e-01 9.84866650e-01 -4.23759398e-03 1.51164451e+00] [ 2.18145099e-02 4.63980857e-04 9.99761928e-01 2.50945320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.906875 meters Centerline goodness [0,1] 0.9992917501099009 Centerline is valid? [True, True] Translation: X:10.76, Y:1.52, Z:0.25 [[ 9.84811226e-01 -1.72361309e-01 -2.09386643e-02 1.07635703e+01] [ 1.72311995e-01 9.85033679e-01 -4.15055045e-03 1.51683494e+00] [ 2.13406839e-02 4.79525650e-04 9.99772147e-01 2.52810846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters Centerline goodness [0,1] 0.9991701852439411 Centerline is valid? [True, True] Translation: X:10.79, Y:1.53, Z:0.25 [[ 9.85352468e-01 -1.69220191e-01 -2.10959979e-02 1.07901076e+01] [ 1.69169297e-01 9.85578113e-01 -4.18714286e-03 1.52689036e+00] [ 2.15003029e-02 5.57016411e-04 9.99768687e-01 2.51321230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.966875 meters Centerline goodness [0,1] 0.9990529843135351 Centerline is valid? [True, True] Translation: X:10.82, Y:1.54, Z:0.25 [[ 9.86151525e-01 -1.64428588e-01 -2.16427663e-02 1.08180847e+01] [ 1.64373825e-01 9.86388755e-01 -4.29763621e-03 1.53730068e+00] [ 2.20548355e-02 6.80616230e-04 9.99756531e-01 2.50586275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters Centerline goodness [0,1] 0.9988851187590887 Centerline is valid? [True, True] Translation: X:10.85, Y:1.55, Z:0.25 [[ 9.87051474e-01 -1.58569966e-01 -2.41858332e-02 1.08463364e+01] [ 1.58499768e-01 9.87347325e-01 -4.80453625e-03 1.54831279e+00] [ 2.46416728e-02 9.08875639e-04 9.99695935e-01 2.49677873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.026875 meters Centerline goodness [0,1] 0.999105675335976 Centerline is valid? [True, True] Translation: X:10.88, Y:1.56, Z:0.25 [[ 9.87652261e-01 -1.53956447e-01 -2.89900577e-02 1.08751444e+01] [ 1.53853580e-01 9.88076872e-01 -5.75950377e-03 1.55841662e+00] [ 2.95311182e-02 1.22816278e-03 9.99563107e-01 2.45870409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters Centerline goodness [0,1] 0.9990593342981187 Centerline is valid? [True, True] Translation: X:10.90, Y:1.57, Z:0.24 [[ 9.87956108e-01 -1.51459234e-01 -3.16674762e-02 1.09032947e+01] [ 1.51335170e-01 9.88462479e-01 -6.29241449e-03 1.56780859e+00] [ 3.22551563e-02 1.42422645e-03 9.99478652e-01 2.42418888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.086875000000001 meters Centerline goodness [0,1] 0.999154609792034 Centerline is valid? [True, True] Translation: X:10.93, Y:1.57, Z:0.24 [[ 9.86952872e-01 -1.57959756e-01 -3.11888292e-02 1.09315386e+01] [ 1.57842603e-01 9.87444827e-01 -6.19882442e-03 1.57263149e+00] [ 3.17764129e-02 1.19502158e-03 9.99494288e-01 2.41522940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters Centerline goodness [0,1] 0.9990986601705237 Centerline is valid? [True, True] Translation: X:10.96, Y:1.57, Z:0.25 [[ 9.85766635e-01 -1.65714954e-01 -2.83318974e-02 1.09632965e+01] [ 1.65621454e-01 9.86173319e-01 -5.63191322e-03 1.56647954e+00] [ 2.88734536e-02 8.59382108e-04 9.99582706e-01 2.47313396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.146875 meters Centerline goodness [0,1] 0.9991517824685554 Centerline is valid? [True, True] Translation: X:10.99, Y:1.57, Z:0.25 [[ 9.84899541e-01 -1.71247527e-01 -2.54396852e-02 1.09939261e+01] [ 1.71173975e-01 9.85227838e-01 -5.05751733e-03 1.56683434e+00] [ 2.59299734e-02 6.26534454e-04 9.99663565e-01 2.51999976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters Centerline goodness [0,1] 0.9993665026070854 Centerline is valid? [True, True] Translation: X:11.02, Y:1.57, Z:0.26 [[ 9.84589454e-01 -1.73291179e-01 -2.35323969e-02 1.10221373e+01] [ 1.73228806e-01 9.84870492e-01 -4.67921415e-03 1.57010538e+00] [ 2.39872298e-02 5.30615896e-04 9.99712124e-01 2.57424205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.206875 meters Centerline goodness [0,1] 0.9992415159893323 Centerline is valid? [True, True] Translation: X:11.05, Y:1.58, Z:0.26 [[ 9.84868117e-01 -1.72022673e-01 -2.10473870e-02 1.10507388e+01] [ 1.71972391e-01 9.85092860e-01 -4.18968921e-03 1.57645320e+00] [ 2.14543522e-02 5.06721864e-04 9.99769700e-01 2.61658189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters Centerline goodness [0,1] 0.9990253411306043 Centerline is valid? [True, True] Translation: X:11.08, Y:1.58, Z:0.26 [[ 9.84788329e-01 -1.72462874e-01 -2.11779118e-02 1.10772170e+01] [ 1.72411954e-01 9.85015889e-01 -4.22096809e-03 1.58475047e+00] [ 2.15885399e-02 5.05434973e-04 9.99766813e-01 2.58367963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.266875 meters Centerline goodness [0,1] 0.9992229614880288 Centerline is valid? [True, True] Translation: X:11.11, Y:1.59, Z:0.26 [[ 9.85209279e-01 -1.70022047e-01 -2.13349282e-02 1.11052133e+01] [ 1.69969756e-01 9.85440097e-01 -4.25413001e-03 1.59212673e+00] [ 2.17475896e-02 5.64915800e-04 9.99763334e-01 2.58010965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters Centerline goodness [0,1] 0.9989795670448748 Centerline is valid? [True, True] Translation: X:11.13, Y:1.60, Z:0.26 [[ 9.85329861e-01 -1.69050070e-01 -2.33909878e-02 1.11322219e+01] [ 1.68986791e-01 9.85607251e-01 -4.67033938e-03 1.59993102e+00] [ 2.38438484e-02 6.49056890e-04 9.99715484e-01 2.56462674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.326875 meters Centerline goodness [0,1] 0.9991053726002225 Centerline is valid? [True, True] Translation: X:11.16, Y:1.61, Z:0.26 [[ 9.85588932e-01 -1.66809867e-01 -2.80878255e-02 1.11604374e+01] [ 1.66717598e-01 9.85988716e-01 -5.61194219e-03 1.60882412e+00] [ 2.86304064e-02 8.48333303e-04 9.99589706e-01 2.55525326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters Centerline goodness [0,1] 0.9989399378418098 Centerline is valid? [True, True] Translation: X:11.19, Y:1.62, Z:0.25 [[ 9.85728576e-01 -1.66045419e-01 -2.77144960e-02 1.11879440e+01] [ 1.65955208e-01 9.86117729e-01 -5.54008758e-03 1.61708546e+00] [ 2.82496621e-02 8.61657682e-04 9.99600527e-01 2.54425375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.386875 meters Centerline goodness [0,1] 0.998893139873433 Centerline is valid? [True, True] Translation: X:11.21, Y:1.62, Z:0.25 [[ 9.85689553e-01 -1.66325443e-01 -2.74217342e-02 1.12146151e+01] [ 1.66237053e-01 9.86070546e-01 -5.48812706e-03 1.62427411e+00] [ 2.79525796e-02 8.51081224e-04 9.99608888e-01 2.54042107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters Centerline goodness [0,1] 0.9990057954848566 Centerline is valid? [True, True] Translation: X:11.24, Y:1.63, Z:0.26 [[ 9.85272246e-01 -1.68885138e-01 -2.67658557e-02 1.12437615e+01] [ 1.68801720e-01 9.85635442e-01 -5.36233126e-03 1.62579589e+00] [ 2.72869941e-02 7.65233681e-04 9.99627348e-01 2.56617001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.446875 meters Centerline goodness [0,1] 0.9990540179979139 Centerline is valid? [True, True] Translation: X:11.27, Y:1.63, Z:0.26 [[ 9.84924580e-01 -1.71187454e-01 -2.48681834e-02 1.12715682e+01] [ 1.71116047e-01 9.85238258e-01 -4.98741445e-03 1.62915825e+00] [ 2.53548685e-02 6.56881847e-04 9.99678298e-01 2.60205842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters Centerline goodness [0,1] 0.9989806072668139 Centerline is valid? [True, True] Translation: X:11.30, Y:1.63, Z:0.26 [[ 9.84771322e-01 -1.72325759e-01 -2.30059927e-02 1.13002287e+01] [ 1.72264908e-01 9.85039843e-01 -4.61611023e-03 1.63326599e+00] [ 2.34572941e-02 5.82687765e-04 9.99724670e-01 2.61808833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.506875 meters Centerline goodness [0,1] 0.999267452933851 Centerline is valid? [True, True] Translation: X:11.33, Y:1.64, Z:0.26 [[ 9.84793234e-01 -1.72395460e-01 -2.14963300e-02 1.13283664e+01] [ 1.72342240e-01 9.85027667e-01 -4.31822188e-03 1.63612004e+00] [ 2.19189217e-02 5.47830013e-04 9.99759601e-01 2.62768565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters Centerline goodness [0,1] 0.9990713587487781 Centerline is valid? [True, True] Translation: X:11.36, Y:1.64, Z:0.26 [[ 9.85304403e-01 -1.69301358e-01 -2.26336955e-02 1.13556461e+01] [ 1.69241381e-01 9.85564113e-01 -4.55356921e-03 1.64407980e+00] [ 2.30778834e-02 6.56093901e-04 9.99733455e-01 2.62485693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.566875 meters Centerline goodness [0,1] 0.9992673813768346 Centerline is valid? [True, True] Translation: X:11.38, Y:1.65, Z:0.26 [[ 9.86088685e-01 -1.64432601e-01 -2.43109859e-02 1.13839904e+01] [ 1.64361881e-01 9.86387973e-01 -4.89281605e-03 1.65245445e+00] [ 2.47846026e-02 8.28951182e-04 9.99692471e-01 2.62796157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters Centerline goodness [0,1] 0.999049336973479 Centerline is valid? [True, True] Translation: X:11.41, Y:1.66, Z:0.26 [[ 9.86753240e-01 -1.60458511e-01 -2.38978965e-02 1.14120347e+01] [ 1.60388989e-01 9.87042163e-01 -4.81048945e-03 1.66273991e+00] [ 2.43601155e-02 9.13806585e-04 9.99702831e-01 2.61635532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.626875 meters Centerline goodness [0,1] 0.9990486876768465 Centerline is valid? [True, True] Translation: X:11.44, Y:1.67, Z:0.26 [[ 9.87203733e-01 -1.57792184e-01 -2.30307613e-02 1.14389601e+01] [ 1.57726863e-01 9.87471890e-01 -4.63718041e-03 1.67171893e+00] [ 2.34739402e-02 9.45272079e-04 9.99724002e-01 2.62545159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters Centerline goodness [0,1] 0.9988567258574556 Centerline is valid? [True, True] Translation: X:11.47, Y:1.68, Z:0.26 [[ 9.87491229e-01 -1.55828280e-01 -2.40545207e-02 1.14671994e+01] [ 1.55756396e-01 9.87783615e-01 -4.84511736e-03 1.67910595e+00] [ 2.45156678e-02 1.03786545e-03 9.99698907e-01 2.63348258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.686875 meters Centerline goodness [0,1] 0.9989778037383178 Centerline is valid? [True, True] Translation: X:11.49, Y:1.69, Z:0.26 [[ 9.87465823e-01 -1.55605281e-01 -2.64243222e-02 1.14947016e+01] [ 1.55518387e-01 9.87818646e-01 -5.32484423e-03 1.68574113e+00] [ 2.69310121e-02 1.14863372e-03 9.99636635e-01 2.61258826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters Centerline goodness [0,1] 0.9990262664621826 Centerline is valid? [True, True] Translation: X:11.52, Y:1.69, Z:0.26 [[ 9.87468631e-01 -1.55414252e-01 -2.74246854e-02 1.15233536e+01] [ 1.55320453e-01 9.87848655e-01 -5.53095287e-03 1.68857982e+00] [ 2.79510275e-02 1.20202789e-03 9.99608571e-01 2.61424586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.746875000000001 meters Centerline goodness [0,1] 0.9989465689997306 Centerline is valid? [True, True] Translation: X:11.55, Y:1.69, Z:0.26 [[ 9.87541350e-01 -1.54654850e-01 -2.90509852e-02 1.15514003e+01] [ 1.54549059e-01 9.87967702e-01 -5.86590315e-03 1.69290796e+00] [ 2.96086254e-02 1.30301950e-03 9.99560719e-01 2.60394769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters Centerline goodness [0,1] 0.9990460349297979 Centerline is valid? [True, True] Translation: X:11.58, Y:1.70, Z:0.26 [[ 9.87529253e-01 -1.54404123e-01 -3.07464127e-02 1.15799154e+01] [ 1.54285321e-01 9.88006795e-01 -6.21389881e-03 1.69944033e+00] [ 3.13371163e-02 1.39268669e-03 9.99507902e-01 2.59037026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.806875 meters Centerline goodness [0,1] 0.9989248100090413 Centerline is valid? [True, True] Translation: X:11.61, Y:1.71, Z:0.26 [[ 9.87443635e-01 -1.54735236e-01 -3.18131176e-02 1.16059192e+01] [ 1.54607984e-01 9.87954929e-01 -6.43662324e-03 1.70732215e+00] [ 3.24258987e-02 1.43724068e-03 9.99473109e-01 2.57687702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters Centerline goodness [0,1] 0.9990896565298691 Centerline is valid? [True, True] Translation: X:11.64, Y:1.71, Z:0.26 [[ 9.87168913e-01 -1.56741656e-01 -3.04891708e-02 1.16358479e+01] [ 1.56625583e-01 9.87638757e-01 -6.17358927e-03 1.70811718e+00] [ 3.10799454e-02 1.31899126e-03 9.99516032e-01 2.61271441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.866875 meters Centerline goodness [0,1] 0.9990661555096825 Centerline is valid? [True, True] Translation: X:11.67, Y:1.71, Z:0.27 [[ 9.86914668e-01 -1.59145865e-01 -2.59235849e-02 1.16658212e+01] [ 1.59062670e-01 9.87254510e-01 -5.25354652e-03 1.71210428e+00] [ 2.64292563e-02 1.06132749e-03 9.99650123e-01 2.66588065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters Centerline goodness [0,1] 0.9989147860402022 Centerline is valid? [True, True] Translation: X:11.69, Y:1.71, Z:0.27 [[ 9.86666200e-01 -1.60987205e-01 -2.39359375e-02 1.16948975e+01] [ 1.60916797e-01 9.86956050e-01 -4.85176909e-03 1.71345000e+00] [ 2.44047911e-02 9.35382183e-04 9.99701721e-01 2.71027086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.926875 meters Centerline goodness [0,1] 0.9992606284658041 Centerline is valid? [True, True] Translation: X:11.72, Y:1.72, Z:0.27 [[ 9.86683267e-01 -1.60836559e-01 -2.42431833e-02 1.17218391e+01] [ 1.60764136e-01 9.86980590e-01 -4.92011513e-03 1.72170101e+00] [ 2.47188858e-02 9.57160841e-04 9.99693983e-01 2.71565647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters Centerline goodness [0,1] 0.9990895669291339 Centerline is valid? [True, True] Translation: X:11.75, Y:1.73, Z:0.27 [[ 9.86825080e-01 -1.59655513e-01 -2.61988359e-02 1.17503976e+01] [ 1.59570396e-01 9.87172209e-01 -5.32145788e-03 1.72641396e+00] [ 2.67123628e-02 1.07078947e-03 9.99642588e-01 2.68857907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.986875 meters Centerline goodness [0,1] 0.9991141950247288 Centerline is valid? [True, True] Translation: X:11.78, Y:1.73, Z:0.27 [[ 9.86824099e-01 -1.59482075e-01 -2.72702396e-02 1.17772959e+01] [ 1.59389613e-01 9.87200183e-01 -5.54533973e-03 1.73287611e+00] [ 2.78055678e-02 1.12568196e-03 9.99612717e-01 2.66026857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters Centerline goodness [0,1] 0.9992346812817854 Centerline is valid? [True, True] Translation: X:11.81, Y:1.74, Z:0.27 [[ 9.86486065e-01 -1.61462719e-01 -2.78394422e-02 1.18059640e+01] [ 1.61367038e-01 9.86878204e-01 -5.66472913e-03 1.73561108e+00] [ 2.83887813e-02 1.09580800e-03 9.99596357e-01 2.65824326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.046875 meters Centerline goodness [0,1] 0.999208371471687 Centerline is valid? [True, True] Translation: X:11.83, Y:1.74, Z:0.27 [[ 9.86013061e-01 -1.64114749e-01 -2.90618821e-02 1.18348593e+01] [ 1.64011444e-01 9.86440674e-01 -5.91969919e-03 1.73771613e+00] [ 2.96393325e-02 1.07041946e-03 9.99560085e-01 2.66440744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters Centerline goodness [0,1] 0.9993261119153397 Centerline is valid? [True, True] Translation: X:11.86, Y:1.74, Z:0.27 [[ 9.85426348e-01 -1.67505978e-01 -2.96084384e-02 1.18647767e+01] [ 1.67400170e-01 9.85870563e-01 -6.03459154e-03 1.73790416e+00] [ 3.02009180e-02 9.90187885e-04 9.99543358e-01 2.68217466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.106875 meters Centerline goodness [0,1] 0.9994258182090521 Centerline is valid? [True, True] Translation: X:11.89, Y:1.74, Z:0.27 [[ 9.84853350e-01 -1.70924406e-01 -2.91329138e-02 1.18934647e+01] [ 1.70823295e-01 9.85283755e-01 -5.94331768e-03 1.73986680e+00] [ 2.97200448e-02 8.76715982e-04 9.99557877e-01 2.69797949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters Centerline goodness [0,1] 0.9994514536478333 Centerline is valid? [True, True] Translation: X:11.92, Y:1.74, Z:0.27 [[ 9.84332006e-01 -1.74029346e-01 -2.83599696e-02 1.19233785e+01] [ 1.73934724e-01 9.84740169e-01 -5.78884191e-03 1.74090609e+00] [ 2.89346297e-02 7.65358878e-04 9.99581013e-01 2.72075013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.166875000000001 meters Centerline goodness [0,1] 0.9993776295152978 Centerline is valid? [True, True] Translation: X:11.95, Y:1.74, Z:0.27 [[ 9.83823480e-01 -1.77144213e-01 -2.66699759e-02 1.19509935e+01] [ 1.77061533e-01 9.84184698e-01 -5.44919200e-03 1.74448109e+00] [ 2.72134750e-02 6.38816221e-04 9.99629441e-01 2.73611024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters Centerline goodness [0,1] 0.9994995120242236 Centerline is valid? [True, True] Translation: X:11.98, Y:1.75, Z:0.27 [[ 9.83637679e-01 -1.78326210e-01 -2.56257668e-02 1.19802840e+01] [ 1.78250204e-01 9.83971250e-01 -5.23871528e-03 1.74812784e+00] [ 2.61492180e-02 5.85199572e-04 9.99657879e-01 2.74691738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.226875 meters Centerline goodness [0,1] 0.9995491546649968 Centerline is valid? [True, True] Translation: X:12.01, Y:1.75, Z:0.28 [[ 9.83932985e-01 -1.76631882e-01 -2.60203665e-02 1.20084876e+01] [ 1.76552758e-01 9.84276770e-01 -5.32569951e-03 1.75394505e+00] [ 2.65519306e-02 6.46163954e-04 9.99647227e-01 2.76540177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters Centerline goodness [0,1] 0.9994250431217658 Centerline is valid? [True, True] Translation: X:12.04, Y:1.77, Z:0.28 [[ 9.84813429e-01 -1.71484428e-01 -2.71219549e-02 1.20351095e+01] [ 1.71396340e-01 9.85186486e-01 -5.55726267e-03 1.76507119e+00] [ 2.76731675e-02 8.24263096e-04 9.99616685e-01 2.75953597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.286875 meters Centerline goodness [0,1] 0.9994250431217658 Centerline is valid? [True, True] Translation: X:12.06, Y:1.77, Z:0.28 [[ 9.84765734e-01 -1.71758212e-01 -2.71213228e-02 1.20621637e+01] [ 1.71670143e-01 9.85138795e-01 -5.56034570e-03 1.77072808e+00] [ 2.76733023e-02 8.19716547e-04 9.99616685e-01 2.76555781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters Centerline goodness [0,1] 0.9994739215391553 Centerline is valid? [True, True] Translation: X:12.09, Y:1.78, Z:0.28 [[ 9.85009921e-01 -1.70101387e-01 -2.86526410e-02 1.20902996e+01] [ 1.70002142e-01 9.85426134e-01 -5.88270564e-03 1.77822031e+00] [ 2.92357177e-02 9.23513060e-04 9.99572118e-01 2.75464184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.346875 meters Centerline goodness [0,1] 0.9996232764899415 Centerline is valid? [True, True] Translation: X:12.12, Y:1.78, Z:0.28 [[ 9.83674731e-01 -1.77705348e-01 -2.83695665e-02 1.21197592e+01] [ 1.77611046e-01 9.84083495e-01 -5.83027950e-03 1.78176437e+00] [ 2.89540940e-02 6.96350247e-04 9.99580500e-01 2.78213819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters Centerline goodness [0,1] 0.9995004995004995 Centerline is valid? [True, True] Translation: X:12.15, Y:1.79, Z:0.28 [[ 9.83413814e-01 -1.79072793e-01 -2.88132857e-02 1.21478501e+01] [ 1.78976024e-01 9.83835600e-01 -5.92414801e-03 1.78776098e+00] [ 2.94083900e-02 6.69001662e-04 9.99567256e-01 2.79303591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.406875 meters Centerline goodness [0,1] 0.9992835968379447 Centerline is valid? [True, True] Translation: X:12.17, Y:1.80, Z:0.27 [[ 9.83018455e-01 -1.80551425e-01 -3.28009116e-02 1.21745803e+01] [ 1.80426589e-01 9.83565284e-01 -6.75123080e-03 1.79775000e+00] [ 3.34807823e-02 7.18427882e-04 9.99439103e-01 2.72254128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters Centerline goodness [0,1] 0.9994878048780488 Centerline is valid? [True, True] Translation: X:12.20, Y:1.81, Z:0.27 [[ 9.81659153e-01 -1.87302148e-01 -3.55417119e-02 1.22026996e+01] [ 1.87159874e-01 9.82302205e-01 -7.31843961e-03 1.80616860e+00] [ 3.62834614e-02 5.32230897e-04 9.99341397e-01 2.67562899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.466875 meters Centerline goodness [0,1] 0.9993644274958443 Centerline is valid? [True, True] Translation: X:12.23, Y:1.81, Z:0.27 [[ 9.81779533e-01 -1.86798916e-01 -3.48584636e-02 1.22300823e+01] [ 1.86661556e-01 9.82398019e-01 -7.18304932e-03 1.81365936e+00] [ 3.55866714e-02 5.45435756e-04 9.99366445e-01 2.69832557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters Centerline goodness [0,1] 0.9993669961532843 Centerline is valid? [True, True] Translation: X:12.26, Y:1.82, Z:0.27 [[ 9.82277215e-01 -1.84387626e-01 -3.36552437e-02 1.22570599e+01] [ 1.84257869e-01 9.82853407e-01 -6.94393867e-03 1.82471096e+00] [ 3.43585473e-02 6.19629255e-04 9.99409379e-01 2.74624594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.526875 meters Centerline goodness [0,1] 0.9992471891012409 Centerline is valid? [True, True] Translation: X:12.28, Y:1.84, Z:0.28 [[ 9.83212150e-01 -1.79443838e-01 -3.30723083e-02 1.22845782e+01] [ 1.79315554e-01 9.83767907e-01 -6.82921437e-03 1.83765590e+00] [ 3.37609359e-02 7.84187265e-04 9.99429629e-01 2.76062524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters Centerline goodness [0,1] 0.9991345945816005 Centerline is valid? [True, True] Translation: X:12.31, Y:1.85, Z:0.28 [[ 9.84726201e-01 -1.71302442e-01 -3.11413221e-02 1.23123504e+01] [ 1.71184608e-01 9.85217980e-01 -6.43125477e-03 1.85356308e+00] [ 3.17826801e-02 1.00211006e-03 9.99494301e-01 2.77634092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.586875000000001 meters Centerline goodness [0,1] 0.999093922124991 Centerline is valid? [True, True] Translation: X:12.34, Y:1.87, Z:0.28 [[ 9.86192300e-01 -1.62998689e-01 -2.92604642e-02 1.23384370e+01] [ 1.62890995e-01 9.86625564e-01 -6.04325665e-03 1.87004191e+00] [ 2.98541649e-02 1.19354705e-03 9.99553552e-01 2.80298082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters Centerline goodness [0,1] 0.9991478886574512 Centerline is valid? [True, True] Translation: X:12.37, Y:1.88, Z:0.28 [[ 9.87121077e-01 -1.57540394e-01 -2.78029524e-02 1.23662606e+01] [ 1.57440976e-01 9.87511699e-01 -5.74315365e-03 1.88390386e+00] [ 2.83605194e-02 1.29186405e-03 9.99596925e-01 2.83675730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.646875 meters Centerline goodness [0,1] 0.9988301083319685 Centerline is valid? [True, True] Translation: X:12.39, Y:1.90, Z:0.28 [[ 9.87658914e-01 -1.54406674e-01 -2.62382940e-02 1.23933977e+01] [ 1.54317010e-01 9.88006516e-01 -5.42070642e-03 1.89751148e+00] [ 2.67605988e-02 1.30479394e-03 9.99641020e-01 2.83849685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters Centerline goodness [0,1] 0.9987180981237618 Centerline is valid? [True, True] Translation: X:12.42, Y:1.91, Z:0.28 [[ 9.87956517e-01 -1.52449126e-01 -2.64798725e-02 1.24213629e+01] [ 1.52357049e-01 9.88310367e-01 -5.47252131e-03 1.90841873e+00] [ 2.70046136e-02 1.37221786e-03 9.99634367e-01 2.83222412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.706875 meters Centerline goodness [0,1] 0.9987008166295471 Centerline is valid? [True, True] Translation: X:12.45, Y:1.92, Z:0.28 [[ 9.87873405e-01 -1.52457454e-01 -2.93744956e-02 1.24494126e+01] [ 1.52344053e-01 9.88308858e-01 -6.07377093e-03 1.91679789e+00] [ 2.99570659e-02 1.52508704e-03 9.99550023e-01 2.80931188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters Centerline goodness [0,1] 0.9987290583477758 Centerline is valid? [True, True] Translation: X:12.48, Y:1.92, Z:0.28 [[ 9.87301265e-01 -1.55710449e-01 -3.14716956e-02 1.24785845e+01] [ 1.55581716e-01 9.87801549e-01 -6.51370855e-03 1.92410209e+00] [ 3.21020422e-02 1.53457227e-03 9.99483419e-01 2.78115114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.766875 meters Centerline goodness [0,1] 0.9988269659820135 Centerline is valid? [True, True] Translation: X:12.51, Y:1.93, Z:0.28 [[ 9.86363601e-01 -1.61857394e-01 -2.98166176e-02 1.25070293e+01] [ 1.61744626e-01 9.86813348e-01 -6.17187727e-03 1.92806496e+00] [ 3.04224002e-02 1.26503742e-03 9.99536331e-01 2.81258559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters Centerline goodness [0,1] 0.9988210273244256 Centerline is valid? [True, True] Translation: X:12.54, Y:1.93, Z:0.29 [[ 9.85178739e-01 -1.69674924e-01 -2.51649203e-02 1.25372097e+01] [ 1.69597127e-01 9.85499707e-01 -5.20982768e-03 1.92948047e+00] [ 2.56839987e-02 8.64713293e-04 9.99669738e-01 2.87562520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.826875 meters Centerline goodness [0,1] 0.9991912189485846 Centerline is valid? [True, True] Translation: X:12.57, Y:1.93, Z:0.29 [[ 9.83493149e-01 -1.79635445e-01 -2.17332222e-02 1.25677314e+01] [ 1.79579836e-01 9.83733111e-01 -4.49987875e-03 1.92969718e+00] [ 2.21880280e-02 5.22751438e-04 9.99753679e-01 2.89861503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters Centerline goodness [0,1] 0.9991450028885037 Centerline is valid? [True, True] Translation: X:12.60, Y:1.93, Z:0.29 [[ 9.81549812e-01 -1.90451287e-01 -1.69785965e-02 1.25972057e+01] [ 1.90418960e-01 9.81696623e-01 -3.51565935e-03 1.93167120e+00] [ 1.73373927e-02 2.17748092e-04 9.99849672e-01 2.94604188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.886875 meters Centerline goodness [0,1] 0.9993757802746567 Centerline is valid? [True, True] Translation: X:12.63, Y:1.93, Z:0.30 [[ 9.79280953e-01 -2.02054121e-01 -1.35258000e-02 1.26273214e+01] [ 2.02034728e-01 9.79374357e-01 -2.79938784e-03 1.92926791e+00] [ 1.38124495e-02 8.70587415e-06 9.99904604e-01 2.98016209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters Centerline goodness [0,1] 0.9990762978015888 Centerline is valid? [True, True] Translation: X:12.66, Y:1.93, Z:0.30 [[ 9.77843630e-01 -2.08967477e-01 -1.24269153e-02 1.26561243e+01] [ 2.08951632e-01 9.77922588e-01 -2.57456555e-03 1.93257919e+00] [ 1.26905616e-02 -7.91017012e-05 9.99919468e-01 2.98639284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.946875 meters Centerline goodness [0,1] 0.999168687218566 Centerline is valid? [True, True] Translation: X:12.68, Y:1.94, Z:0.30 [[ 9.77649487e-01 -2.09741917e-01 -1.44847727e-02 1.26844136e+01] [ 2.09720405e-01 9.77756779e-01 -3.00555501e-03 1.94103653e+00] [ 1.47929756e-02 -9.93730799e-05 9.99890573e-01 2.96505794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters Centerline goodness [0,1] 0.999220326545588 Centerline is valid? [True, True] Translation: X:12.71, Y:1.95, Z:0.29 [[ 9.78088145e-01 -2.07273376e-01 -1.95276339e-02 1.27111833e+01] [ 2.07233639e-01 9.78283058e-01 -4.05918473e-03 1.94981060e+00] [ 1.99449143e-02 -7.65421652e-05 9.99801077e-01 2.93896483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.006875 meters Centerline goodness [0,1] 0.9990696196786784 Centerline is valid? [True, True] Translation: X:12.74, Y:1.96, Z:0.29 [[ 9.78520680e-01 -2.04918504e-01 -2.24874385e-02 1.27380070e+01] [ 2.04865126e-01 9.78779038e-01 -4.67699743e-03 1.96119430e+00] [ 2.29686368e-02 -3.03532077e-05 9.99736186e-01 2.90946489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters Centerline goodness [0,1] 0.9990451724373111 Centerline is valid? [True, True] Translation: X:12.76, Y:1.97, Z:0.29 [[ 9.78943740e-01 -2.02440157e-01 -2.62133004e-02 1.27649554e+01] [ 2.02366515e-01 9.79294635e-01 -5.46007379e-03 1.97316706e+00] [ 2.67758827e-02 4.04107997e-05 9.99641461e-01 2.86172536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.066875 meters Centerline goodness [0,1] 0.9990475326560232 Centerline is valid? [True, True] Translation: X:12.79, Y:1.98, Z:0.28 [[ 9.79085707e-01 -2.01151168e-01 -3.04858207e-02 1.27919956e+01] [ 2.01050716e-01 9.79560207e-01 -6.35696478e-03 1.98318409e+00] [ 3.11414077e-02 9.48172934e-05 9.99514984e-01 2.81897839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters Centerline goodness [0,1] 0.9988304093567252 Centerline is valid? [True, True] Translation: X:12.82, Y:1.99, Z:0.28 [[ 9.79207287e-01 -2.00293053e-01 -3.21835682e-02 1.28201270e+01] [ 2.00180482e-01 9.79736023e-01 -6.71563143e-03 1.99141133e+00] [ 3.28764954e-02 1.33473054e-04 9.99459413e-01 2.82518137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.126875 meters Centerline goodness [0,1] 0.9988720956462892 Centerline is valid? [True, True] Translation: X:12.85, Y:2.00, Z:0.29 [[ 9.79814100e-01 -1.97661955e-01 -2.99011993e-02 1.28464624e+01] [ 1.97563339e-01 9.80270221e-01 -6.24668371e-03 2.00058082e+00] [ 3.05459869e-02 2.13208006e-04 9.99533340e-01 2.87642910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters Centerline goodness [0,1] 0.9988514548238897 Centerline is valid? [True, True] Translation: X:12.87, Y:2.01, Z:0.29 [[ 9.81344152e-01 -1.90312029e-01 -2.72944357e-02 1.28731115e+01] [ 1.90226818e-01 9.81723568e-01 -5.70918624e-03 2.01464016e+00] [ 2.78821177e-02 4.10542875e-04 9.99611134e-01 2.90417376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.186875 meters Centerline goodness [0,1] 0.9986598767086572 Centerline is valid? [True, True] Translation: X:12.90, Y:2.03, Z:0.29 [[ 9.83175179e-01 -1.80861277e-01 -2.56079103e-02 1.28994374e+01] [ 1.80782924e-01 9.83508407e-01 -5.36173407e-03 2.03164685e+00] [ 2.61553252e-02 6.42050955e-04 9.99657685e-01 2.90240782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters Centerline goodness [0,1] 0.9985307212822796 Centerline is valid? [True, True] Translation: X:12.93, Y:2.04, Z:0.29 [[ 9.84634606e-01 -1.73088585e-01 -2.31308126e-02 1.29279487e+01] [ 1.73022499e-01 9.84905962e-01 -4.84371691e-03 2.04318360e+00] [ 2.36200673e-02 7.67140291e-04 9.99720713e-01 2.93830014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.246875 meters Centerline goodness [0,1] 0.9985583427595538 Centerline is valid? [True, True] Translation: X:12.96, Y:2.05, Z:0.29 [[ 9.85246821e-01 -1.69369646e-01 -2.45484276e-02 1.29563199e+01] [ 1.69294042e-01 9.85552178e-01 -5.14111125e-03 2.05237024e+00] [ 2.50645045e-02 9.09360977e-04 9.99685422e-01 2.94551957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters Centerline goodness [0,1] 0.9984859954579863 Centerline is valid? [True, True] Translation: X:12.98, Y:2.06, Z:0.29 [[ 9.85175258e-01 -1.69636966e-01 -2.55540645e-02 1.29833880e+01] [ 1.69555075e-01 9.85506171e-01 -5.35381056e-03 2.05863803e+00] [ 2.60918925e-02 9.41620361e-04 9.99659105e-01 2.94286585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.306875 meters Centerline goodness [0,1] 0.998515465744926 Centerline is valid? [True, True] Translation: X:13.01, Y:2.07, Z:0.29 [[ 9.85070084e-01 -1.70417812e-01 -2.43864369e-02 1.30101134e+01] [ 1.70343315e-01 9.85371496e-01 -5.11560070e-03 2.06730271e+00] [ 2.49014893e-02 8.85158715e-04 9.99689518e-01 2.94486178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters Centerline goodness [0,1] 0.9986419093418826 Centerline is valid? [True, True] Translation: X:13.04, Y:2.07, Z:0.30 [[ 9.84452998e-01 -1.74079100e-01 -2.34256804e-02 1.30403132e+01] [ 1.74011346e-01 9.84731377e-01 -4.91601086e-03 2.07008794e+00] [ 2.39237772e-02 7.63247452e-04 9.99713494e-01 2.97857417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.366875 meters Centerline goodness [0,1] 0.9985149721834342 Centerline is valid? [True, True] Translation: X:13.07, Y:2.07, Z:0.30 [[ 9.83933228e-01 -1.77035905e-01 -2.31017512e-02 1.30694584e+01] [ 1.76970806e-01 9.84204157e-01 -4.84884076e-03 2.07437802e+00] [ 2.35952585e-02 6.82599997e-04 9.99721360e-01 2.98171974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters Centerline goodness [0,1] 0.9987491903240937 Centerline is valid? [True, True] Translation: X:13.10, Y:2.08, Z:0.30 [[ 9.82826691e-01 -1.83314781e-01 -2.11515195e-02 1.31000712e+01] [ 1.83261562e-01 9.83054144e-01 -4.44417032e-03 2.07619338e+00] [ 2.16077710e-02 4.91588700e-04 9.99766404e-01 2.98588294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.426875 meters Centerline goodness [0,1] 0.998813468254679 Centerline is valid? [True, True] Translation: X:13.13, Y:2.08, Z:0.30 [[ 9.81197978e-01 -1.92048684e-01 -1.91789379e-02 1.31297622e+01] [ 1.92006588e-01 9.81385362e-01 -4.02998950e-03 2.07697159e+00] [ 1.95958831e-02 2.71735118e-04 9.99807945e-01 3.00493906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters Centerline goodness [0,1] 0.999260106275644 Centerline is valid? [True, True] Translation: X:13.16, Y:2.07, Z:0.30 [[ 9.79322345e-01 -2.01682298e-01 -1.58743429e-02 1.31598162e+01] [ 2.01654736e-01 9.79450992e-01 -3.33482748e-03 2.07469363e+00] [ 1.62207166e-02 6.47346427e-05 9.99868433e-01 3.04827552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.486875 meters Centerline goodness [0,1] 0.9992384365550454 Centerline is valid? [True, True] Translation: X:13.19, Y:2.07, Z:0.31 [[ 9.77531371e-01 -2.10433202e-01 -1.22590983e-02 1.31890368e+01] [ 2.10417413e-01 9.77608236e-01 -2.57841012e-03 2.07231035e+00] [ 1.25271786e-02 -5.90509718e-05 9.99921530e-01 3.11210241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters Centerline goodness [0,1] 0.9993258123960628 Centerline is valid? [True, True] Translation: X:13.22, Y:2.07, Z:0.32 [[ 9.76593574e-01 -2.14907644e-01 -8.92722395e-03 1.32175720e+01] [ 2.14899448e-01 9.76634373e-01 -1.87867345e-03 2.07459685e+00] [ 9.12237505e-03 -8.37550810e-05 9.99958387e-01 3.15238532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.546875 meters Centerline goodness [0,1] 0.9993237303036451 Centerline is valid? [True, True] Translation: X:13.25, Y:2.08, Z:0.31 [[ 9.76755666e-01 -2.14068569e-01 -1.10913049e-02 1.32453604e+01] [ 2.14055867e-01 9.76818632e-01 -2.33389909e-03 2.08378893e+00] [ 1.13338077e-02 -9.45097253e-05 9.99935766e-01 3.09811690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters Centerline goodness [0,1] 0.9991699383062255 Centerline is valid? [True, True] Translation: X:13.27, Y:2.10, Z:0.30 [[ 9.77812163e-01 -2.08792830e-01 -1.69978906e-02 1.32723968e+01] [ 2.08762074e-01 9.77959893e-01 -3.58388144e-03 2.09560954e+00] [ 1.73715440e-02 -4.41520342e-05 9.99849102e-01 3.02751296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.606875 meters Centerline goodness [0,1] 0.9992646075678566 Centerline is valid? [True, True] Translation: X:13.30, Y:2.11, Z:0.30 [[ 9.79182253e-01 -2.01856654e-01 -2.13543067e-02 1.32975755e+01] [ 2.01806311e-01 9.79415070e-01 -4.50919912e-03 2.10822683e+00] [ 2.18249417e-02 1.05893886e-04 9.99761802e-01 2.98927995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters Centerline goodness [0,1] 0.9992411899926351 Centerline is valid? [True, True] Translation: X:13.32, Y:2.12, Z:0.30 [[ 9.80053718e-01 -1.97279622e-01 -2.39887663e-02 1.33241514e+01] [ 1.97214636e-01 9.80347232e-01 -5.06877978e-03 2.12010728e+00] [ 2.45172876e-02 2.36740650e-04 9.99699378e-01 2.96778377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.666875000000001 meters Centerline goodness [0,1] 0.9987591402614668 Centerline is valid? [True, True] Translation: X:13.35, Y:2.13, Z:0.30 [[ 9.80487941e-01 -1.94965900e-01 -2.51335418e-02 1.33513572e+01] [ 1.94893726e-01 9.80809972e-01 -5.31363567e-03 2.13105411e+00] [ 2.56872062e-02 3.11586083e-04 9.99669981e-01 2.96303277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters Centerline goodness [0,1] 0.9988901220865705 Centerline is valid? [True, True] Translation: X:13.38, Y:2.14, Z:0.30 [[ 9.80251069e-01 -1.96268747e-01 -2.42161144e-02 1.33789595e+01] [ 1.96201997e-01 9.80550103e-01 -5.12563840e-03 2.13965497e+00] [ 2.47511161e-02 2.73162506e-04 9.99693607e-01 2.97265461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.726875 meters Centerline goodness [0,1] 0.9990937824635855 Centerline is valid? [True, True] Translation: X:13.41, Y:2.15, Z:0.30 [[ 9.79183456e-01 -2.01737703e-01 -2.23977564e-02 1.34073004e+01] [ 2.01681907e-01 9.79439576e-01 -4.74615208e-03 2.14500916e+00] [ 2.28947268e-02 1.30131376e-04 9.99737873e-01 2.99469941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters Centerline goodness [0,1] 0.9991391678622669 Centerline is valid? [True, True] Translation: X:13.43, Y:2.15, Z:0.30 [[ 9.77911411e-01 -2.08147568e-01 -1.90751868e-02 1.34348259e+01] [ 2.08108229e-01 9.78097434e-01 -4.04659404e-03 2.14928256e+00] [ 1.94996800e-02 -1.24928636e-05 9.99809863e-01 3.02877468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.786875 meters Centerline goodness [0,1] 0.9992275947299892 Centerline is valid? [True, True] Translation: X:13.46, Y:2.16, Z:0.31 [[ 9.77397580e-01 -2.10845402e-01 -1.54332837e-02 1.34616955e+01] [ 2.10819972e-01 9.77519419e-01 -3.27505354e-03 2.15588950e+00] [ 1.57768645e-02 -5.26150268e-05 9.99875536e-01 3.07751567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters Centerline goodness [0,1] 0.9988813581627953 Centerline is valid? [True, True] Translation: X:13.49, Y:2.17, Z:0.31 [[ 9.78216302e-01 -2.07098396e-01 -1.42520735e-02 1.34881149e+01] [ 2.07076316e-01 9.78320119e-01 -3.02404321e-03 2.16716646e+00] [ 1.45693648e-02 6.90148756e-06 9.99893861e-01 3.10189873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.846875 meters Centerline goodness [0,1] 0.9989295934639666 Centerline is valid? [True, True] Translation: X:13.51, Y:2.18, Z:0.31 [[ 9.79980041e-01 -1.98522169e-01 -1.51019040e-02 1.35134830e+01] [ 1.98496262e-01 9.80096386e-01 -3.21056905e-03 2.18287086e+00] [ 1.54386906e-02 1.48622113e-04 9.99880805e-01 3.10513051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters Centerline goodness [0,1] 0.9992435866957705 Centerline is valid? [True, True] Translation: X:13.54, Y:2.20, Z:0.31 [[ 9.80978075e-01 -1.93552894e-01 -1.48085476e-02 1.35387449e+01] [ 1.93527403e-01 9.81089816e-01 -3.14909752e-03 2.19558790e+00] [ 1.51380322e-02 2.23335857e-04 9.99885388e-01 3.09774688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.906875 meters Centerline goodness [0,1] 0.999073515470137 Centerline is valid? [True, True] Translation: X:13.57, Y:2.21, Z:0.31 [[ 9.82950725e-01 -1.83220870e-01 -1.54267416e-02 1.35661396e+01] [ 1.83191875e-01 9.83071692e-01 -3.28414567e-03 2.21386700e+00] [ 1.57673170e-02 4.02099655e-04 9.99875607e-01 3.06278707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters Centerline goodness [0,1] 0.9996143545795394 Centerline is valid? [True, True] Translation: X:13.59, Y:2.23, Z:0.30 [[ 9.84496448e-01 -1.74291186e-01 -1.97313403e-02 1.35918909e+01] [ 1.74241957e-01 9.84693910e-01 -4.20049133e-03 2.23081847e+00] [ 2.01614392e-02 6.97341459e-04 9.99796494e-01 3.04131783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.966875 meters Centerline goodness [0,1] 0.9993390191897654 Centerline is valid? [True, True] Translation: X:13.62, Y:2.25, Z:0.30 [[ 9.85610691e-01 -1.67594268e-01 -2.19938004e-02 1.36192963e+01] [ 1.67531418e-01 9.85855616e-01 -4.68282047e-03 2.24576679e+00] [ 2.24675255e-02 9.30785351e-04 9.99747140e-01 3.02488691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters Centerline goodness [0,1] 0.999490672948367 Centerline is valid? [True, True] Translation: X:13.65, Y:2.26, Z:0.30 [[ 9.86032109e-01 -1.65022938e-01 -2.25413033e-02 1.36476551e+01] [ 1.64956239e-01 9.86289207e-01 -4.79984292e-03 2.25515227e+00] [ 2.30243283e-02 1.01447062e-03 9.99734390e-01 3.02556948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.026875 meters Centerline goodness [0,1] 0.9994488022047912 Centerline is valid? [True, True] Translation: X:13.67, Y:2.26, Z:0.30 [[ 9.85669550e-01 -1.67291758e-01 -2.16565257e-02 1.36746681e+01] [ 1.67230722e-01 9.85907000e-01 -4.61225740e-03 2.26086587e+00] [ 2.21229129e-02 9.24525263e-04 9.99754831e-01 3.02132095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters Centerline goodness [0,1] 0.9996167521877063 Centerline is valid? [True, True] Translation: X:13.70, Y:2.26, Z:0.30 [[ 9.84946363e-01 -1.71517081e-01 -2.15070629e-02 1.37045993e+01] [ 1.71457827e-01 9.85180799e-01 -4.58321587e-03 2.26399663e+00] [ 2.19744452e-02 8.26667533e-04 9.99758191e-01 3.00777235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.086875000000001 meters Centerline goodness [0,1] 0.9997648266130756 Centerline is valid? [True, True] Translation: X:13.74, Y:2.26, Z:0.30 [[ 9.84171390e-01 -1.75743760e-01 -2.28211621e-02 1.37350613e+01] [ 1.75678152e-01 9.84435638e-01 -4.86432919e-03 2.26471913e+00] [ 2.33208407e-02 7.78154059e-04 9.99727729e-01 2.99457797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters Centerline goodness [0,1] 0.9992505995203836 Centerline is valid? [True, True] Translation: X:13.76, Y:2.27, Z:0.30 [[ 9.83777944e-01 -1.77969369e-01 -2.25357774e-02 1.37647736e+01] [ 1.77905959e-01 9.84035766e-01 -4.80417997e-03 2.26574346e+00] [ 2.30310079e-02 7.16997187e-04 9.99734494e-01 2.99956683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.146875 meters Centerline goodness [0,1] 0.9992505995203836 Centerline is valid? [True, True] Translation: X:13.79, Y:2.27, Z:0.30 [[ 9.83727221e-01 -1.78249670e-01 -2.25346512e-02 1.37917561e+01] [ 1.78186213e-01 9.83985032e-01 -4.80945696e-03 2.27157733e+00] [ 2.30310436e-02 7.15829578e-04 9.99734494e-01 3.00556914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters Centerline goodness [0,1] 0.9990101566534687 Centerline is valid? [True, True] Translation: X:13.82, Y:2.27, Z:0.30 [[ 9.83715426e-01 -1.78593588e-01 -2.02062187e-02 1.38199679e+01] [ 1.78542530e-01 9.83922721e-01 -4.31787082e-03 2.27252668e+00] [ 2.06525017e-02 6.39886729e-04 9.99786510e-01 3.03719667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.206875 meters Centerline goodness [0,1] 0.9991771151389159 Centerline is valid? [True, True] Translation: X:13.85, Y:2.27, Z:0.31 [[ 9.83825859e-01 -1.78103672e-01 -1.91248629e-02 1.38481082e+01] [ 1.78057727e-01 9.84011532e-01 -4.09266288e-03 2.27321246e+00] [ 1.95480039e-02 6.21137959e-04 9.99808727e-01 3.08630975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters Centerline goodness [0,1] 0.9988885983263598 Centerline is valid? [True, True] Translation: X:13.88, Y:2.27, Z:0.31 [[ 9.83807928e-01 -1.78263109e-01 -1.85532730e-02 1.38773917e+01] [ 1.78219877e-01 9.83982674e-01 -3.97144084e-03 2.27191257e+00] [ 1.89640606e-02 6.00572950e-04 9.99819986e-01 3.10062930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.266875 meters Centerline goodness [0,1] 0.9988091825258562 Centerline is valid? [True, True] Translation: X:13.91, Y:2.27, Z:0.31 [[ 9.83256893e-01 -1.81391694e-01 -1.74050431e-02 1.39077689e+01] [ 1.81354036e-01 9.83410795e-01 -3.73133266e-03 2.26897569e+00] [ 1.77931400e-02 5.12383738e-04 9.99841558e-01 3.08743503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters Centerline goodness [0,1] 0.9989083699066544 Centerline is valid? [True, True] Translation: X:13.94, Y:2.26, Z:0.31 [[ 9.82393550e-01 -1.86007414e-01 -1.74400357e-02 1.39378720e+01] [ 1.85970306e-01 9.82548246e-01 -3.74021904e-03 2.26496777e+00] [ 1.78313849e-02 4.31038284e-04 9.99840915e-01 3.07599661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.326875 meters Centerline goodness [0,1] 0.9987719924979905 Centerline is valid? [True, True] Translation: X:13.97, Y:2.27, Z:0.31 [[ 9.81842615e-01 -1.88782908e-01 -1.86035558e-02 1.39672883e+01] [ 1.88741170e-01 9.82018762e-01 -3.99030307e-03 2.26547001e+00] [ 1.90223418e-02 4.06592720e-04 9.99818976e-01 3.06540111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters Centerline goodness [0,1] 0.9990491283676703 Centerline is valid? [True, True] Translation: X:14.00, Y:2.26, Z:0.31 [[ 9.80651701e-01 -1.94712073e-01 -2.02348519e-02 1.39981845e+01] [ 1.94663829e-01 9.80860390e-01 -4.34619867e-03 2.25781196e+00] [ 2.06938220e-02 3.23113375e-04 9.99785808e-01 3.08263904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.386875 meters Centerline goodness [0,1] 0.9989956401652629 Centerline is valid? [True, True] Translation: X:14.03, Y:2.26, Z:0.31 [[ 9.79907326e-01 -1.98391144e-01 -2.05568872e-02 1.40280972e+01] [ 1.98342132e-01 9.80122896e-01 -4.41676574e-03 2.25657224e+00] [ 2.10245230e-02 2.50724282e-04 9.99778929e-01 3.10453816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters Centerline goodness [0,1] 0.9992430498210845 Centerline is valid? [True, True] Translation: X:14.06, Y:2.26, Z:0.31 [[ 9.78931807e-01 -2.03029956e-01 -2.17106727e-02 1.40567905e+01] [ 2.02976294e-01 9.79172513e-01 -4.67057988e-03 2.25708029e+00] [ 2.22067616e-02 1.65427311e-04 9.99753386e-01 3.09313114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.446875 meters Centerline goodness [0,1] 0.9993536621961635 Centerline is valid? [True, True] Translation: X:14.09, Y:2.26, Z:0.31 [[ 9.77678695e-01 -2.08820569e-01 -2.32021193e-02 1.40866098e+01] [ 2.08760848e-01 9.77953970e-01 -4.99400892e-03 2.25524820e+00] [ 2.37334565e-02 3.88420212e-05 9.99718321e-01 3.07890833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters Centerline goodness [0,1] 0.9993715522659032 Centerline is valid? [True, True] Translation: X:14.12, Y:2.25, Z:0.31 [[ 9.76646640e-01 -2.13267659e-01 -2.60431711e-02 1.41154571e+01] [ 2.13193820e-01 9.76993808e-01 -5.61200193e-03 2.25387240e+00] [ 2.66408754e-02 -7.13003158e-05 9.99645066e-01 3.05484070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.506875 meters Centerline goodness [0,1] 0.9993467102193188 Centerline is valid? [True, True] Translation: X:14.14, Y:2.26, Z:0.30 [[ 9.76403124e-01 -2.14317442e-01 -2.65513469e-02 1.41431575e+01] [ 2.14240986e-01 9.76764058e-01 -5.72497632e-03 2.25829891e+00] [ 2.71613636e-02 -9.85019729e-05 9.99631057e-01 3.04129383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters Centerline goodness [0,1] 0.9993256441261278 Centerline is valid? [True, True] Translation: X:14.17, Y:2.26, Z:0.30 [[ 9.76724496e-01 -2.12823311e-01 -2.67487664e-02 1.41695807e+01] [ 2.12744965e-01 9.77090700e-01 -5.77446792e-03 2.26453670e+00] [ 2.73649123e-02 -5.06010880e-05 9.99625509e-01 3.04316392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.566875 meters Centerline goodness [0,1] 0.9990846144818684 Centerline is valid? [True, True] Translation: X:14.20, Y:2.28, Z:0.31 [[ 9.79471907e-01 -1.99888084e-01 -2.60679172e-02 1.41960006e+01] [ 1.99809002e-01 9.79818687e-01 -5.63051944e-03 2.27511942e+00] [ 2.66673062e-02 3.06331085e-04 9.99644317e-01 3.10727254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters Centerline goodness [0,1] 0.9990594653060265 Centerline is valid? [True, True] Translation: X:14.22, Y:2.29, Z:0.31 [[ 9.81624713e-01 -1.89264195e-01 -2.43307756e-02 1.42239328e+01] [ 1.89191989e-01 9.81926043e-01 -5.25710954e-03 2.28780237e+00] [ 2.48860048e-02 5.57320825e-04 9.99690140e-01 3.12450135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.626875 meters Centerline goodness [0,1] 0.9988119365434343 Centerline is valid? [True, True] Translation: X:14.25, Y:2.30, Z:0.31 [[ 9.82470387e-01 -1.84972194e-01 -2.31781336e-02 1.42506413e+01] [ 1.84905464e-01 9.82743550e-01 -5.00851684e-03 2.29996108e+00] [ 2.37045976e-02 6.34955933e-04 9.99718805e-01 3.11930551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters Centerline goodness [0,1] 0.9989963823083207 Centerline is valid? [True, True] Translation: X:14.28, Y:2.31, Z:0.31 [[ 9.83720744e-01 -1.78360274e-01 -2.19342268e-02 1.42791781e+01] [ 1.78298846e-01 9.83964962e-01 -4.74085409e-03 2.30966235e+00] [ 2.24280907e-02 7.52829177e-04 9.99748175e-01 3.12665348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.686875 meters Centerline goodness [0,1] 0.9986487430981059 Centerline is valid? [True, True] Translation: X:14.31, Y:2.32, Z:0.31 [[ 9.84487359e-01 -1.73921855e-01 -2.31479683e-02 1.43065347e+01] [ 1.73852198e-01 9.84759044e-01 -5.00381117e-03 2.31917385e+00] [ 2.36654433e-02 9.01863676e-04 9.99719527e-01 3.12052052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters Centerline goodness [0,1] 0.9986440677966102 Centerline is valid? [True, True] Translation: X:14.34, Y:2.33, Z:0.31 [[ 9.84974403e-01 -1.70935517e-01 -2.46267013e-02 1.43354193e+01] [ 1.70855716e-01 9.85281672e-01 -5.32451751e-03 2.32584893e+00] [ 2.51743866e-02 1.03690077e-03 9.99682537e-01 3.12243387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.746875 meters Centerline goodness [0,1] 0.9987853872745959 Centerline is valid? [True, True] Translation: X:14.36, Y:2.33, Z:0.31 [[ 9.85291829e-01 -1.68643177e-01 -2.75588479e-02 1.43623449e+01] [ 1.68542304e-01 9.85676404e-01 -5.95978902e-03 2.33486856e+00] [ 2.81691838e-02 1.22729970e-03 9.99602416e-01 3.09179069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters Centerline goodness [0,1] 0.99894254494184 Centerline is valid? [True, True] Translation: X:14.39, Y:2.34, Z:0.31 [[ 9.85362792e-01 -1.67803891e-01 -3.00336980e-02 1.43917991e+01] [ 1.67683574e-01 9.85819448e-01 -6.49884219e-03 2.33639344e+00] [ 3.06983346e-02 1.36755945e-03 9.99527760e-01 3.05852033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.806875 meters Centerline goodness [0,1] 0.9986299751978268 Centerline is valid? [True, True] Translation: X:14.42, Y:2.34, Z:0.30 [[ 9.85083737e-01 -1.69092322e-01 -3.19032681e-02 1.44211132e+01] [ 1.68956958e-01 9.85599196e-01 -6.91166356e-03 2.33731406e+00] [ 3.26125446e-02 1.41828822e-03 9.99467063e-01 3.02858995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters Centerline goodness [0,1] 0.9988095521535202 Centerline is valid? [True, True] Translation: X:14.45, Y:2.33, Z:0.30 [[ 9.84672060e-01 -1.70917234e-01 -3.47596643e-02 1.44515931e+01] [ 1.70757343e-01 9.85284265e-01 -7.53966050e-03 2.33439875e+00] [ 3.55368083e-02 1.48862510e-03 9.99367259e-01 3.00777292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.866875 meters Centerline goodness [0,1] 0.9990418243664063 Centerline is valid? [True, True] Translation: X:14.48, Y:2.34, Z:0.30 [[ 9.84534604e-01 -1.71379499e-01 -3.63411678e-02 1.44800657e+01] [ 1.71204773e-01 9.85203876e-01 -7.88974603e-03 2.33526805e+00] [ 3.71556001e-02 1.54594659e-03 9.99308296e-01 3.00949438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters Centerline goodness [0,1] 0.999085152996124 Centerline is valid? [True, True] Translation: X:14.51, Y:2.34, Z:0.31 [[ 9.84813492e-01 -1.70125717e-01 -3.46356173e-02 1.45089856e+01] [ 1.69966057e-01 9.85421189e-01 -7.52463048e-03 2.33653407e+00] [ 3.54108043e-02 1.52347833e-03 9.99371680e-01 3.05475409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.926875 meters Centerline goodness [0,1] 0.9989790957705397 Centerline is valid? [True, True] Translation: X:14.54, Y:2.34, Z:0.31 [[ 9.84955639e-01 -1.69890180e-01 -3.16182836e-02 1.45383946e+01] [ 1.69756772e-01 9.85461999e-01 -6.87661833e-03 2.33654997e+00] [ 3.23268868e-02 1.40574625e-03 9.99476361e-01 3.09796553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters Centerline goodness [0,1] 0.9990917570818401 Centerline is valid? [True, True] Translation: X:14.57, Y:2.34, Z:0.31 [[ 9.84364122e-01 -1.73659386e-01 -2.94905670e-02 1.45687847e+01] [ 1.73544857e-01 9.84805044e-01 -6.41929497e-03 2.33512136e+00] [ 3.01572300e-02 1.20098743e-03 9.99544446e-01 3.13360845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.986875 meters Centerline goodness [0,1] 0.9991875723183732 Centerline is valid? [True, True] Translation: X:14.60, Y:2.34, Z:0.32 [[ 9.83902298e-01 -1.76564324e-01 -2.75917845e-02 1.45984936e+01] [ 1.76465148e-01 9.84288551e-01 -6.00824725e-03 2.33737484e+00] [ 2.82191197e-02 1.04253994e-03 9.99601218e-01 3.16669951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters Centerline goodness [0,1] 0.9992110648159562 Centerline is valid? [True, True] Translation: X:14.63, Y:2.34, Z:0.32 [[ 9.83766911e-01 -1.77357792e-01 -2.73290917e-02 1.46272619e+01] [ 1.77260615e-01 9.84145914e-01 -5.95771099e-03 2.34214506e+00] [ 2.79524604e-02 1.01662733e-03 9.99608737e-01 3.17595480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.046875 meters Centerline goodness [0,1] 0.9993367397071828 Centerline is valid? [True, True] Translation: X:14.65, Y:2.35, Z:0.32 [[ 9.83698256e-01 -1.77649387e-01 -2.79004890e-02 1.46530973e+01] [ 1.77548034e-01 9.84093300e-01 -6.08877718e-03 2.34972225e+00] [ 2.85383518e-02 1.03584252e-03 9.99592162e-01 3.16063929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters Centerline goodness [0,1] 0.9990364660539579 Centerline is valid? [True, True] Translation: X:14.68, Y:2.36, Z:0.31 [[ 9.83735528e-01 -1.77217721e-01 -2.92965829e-02 1.46799478e+01] [ 1.77105670e-01 9.84171052e-01 -6.39703035e-03 2.35612167e+00] [ 2.99665159e-02 1.10439509e-03 9.99550293e-01 3.14085155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.106875 meters Centerline goodness [0,1] 0.999282089367496 Centerline is valid? [True, True] Translation: X:14.71, Y:2.36, Z:0.31 [[ 9.83687013e-01 -1.77202981e-01 -3.09671478e-02 1.47091925e+01] [ 1.77077633e-01 9.84173628e-01 -6.76626812e-03 2.35967078e+00] [ 3.16760530e-02 1.17230084e-03 9.99497500e-01 3.14311923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters Centerline goodness [0,1] 0.9993838418691773 Centerline is valid? [True, True] Translation: X:14.74, Y:2.37, Z:0.31 [[ 9.83884153e-01 -1.75908177e-01 -3.20669153e-02 1.47368813e+01] [ 1.75772861e-01 9.84405768e-01 -7.01317391e-03 2.36624306e+00] [ 3.28005311e-02 1.26365721e-03 9.99461119e-01 3.14253128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.166875 meters Centerline goodness [0,1] 0.9993568018207456 Centerline is valid? [True, True] Translation: X:14.76, Y:2.37, Z:0.31 [[ 9.84137547e-01 -1.74388113e-01 -3.25894840e-02 1.47645863e+01] [ 1.74247355e-01 9.84676083e-01 -7.13233984e-03 2.37381948e+00] [ 3.33338807e-02 1.34057204e-03 9.99443373e-01 3.14708735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters Centerline goodness [0,1] 0.9993099369085173 Centerline is valid? [True, True] Translation: X:14.79, Y:2.38, Z:0.32 [[ 9.84617065e-01 -1.72211805e-01 -2.95352118e-02 1.47921112e+01] [ 1.72095009e-01 9.85059102e-01 -6.47100626e-03 2.38247549e+00] [ 3.02083129e-02 1.28860065e-03 9.99542794e-01 3.17598511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.226875 meters Centerline goodness [0,1] 0.9990957745790464 Centerline is valid? [True, True] Translation: X:14.82, Y:2.39, Z:0.32 [[ 9.84886948e-01 -1.70831153e-01 -2.85379979e-02 1.48179523e+01] [ 1.70721356e-01 9.85299471e-01 -6.25865266e-03 2.39248998e+00] [ 2.91876471e-02 1.29201961e-03 9.99573115e-01 3.18268702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters Centerline goodness [0,1] 0.9990982208140385 Centerline is valid? [True, True] Translation: X:14.85, Y:2.41, Z:0.32 [[ 9.85603726e-01 -1.66577192e-01 -2.89367212e-02 1.48458756e+01] [ 1.66462399e-01 9.86027365e-01 -6.34864099e-03 2.40601469e+00] [ 2.95899378e-02 1.44036818e-03 9.99561084e-01 3.17994716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.286875 meters Centerline goodness [0,1] 0.9991976659372721 Centerline is valid? [True, True] Translation: X:14.87, Y:2.41, Z:0.32 [[ 9.85794880e-01 -1.65478323e-01 -2.87294145e-02 1.48746768e+01] [ 1.65364631e-01 9.86212339e-01 -6.30564832e-03 2.40953978e+00] [ 2.93767512e-02 1.46524680e-03 9.99567336e-01 3.19615753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters Centerline goodness [0,1] 0.9989821636293137 Centerline is valid? [True, True] Translation: X:14.90, Y:2.42, Z:0.32 [[ 9.86087925e-01 -1.63739104e-01 -2.86375442e-02 1.49014542e+01] [ 1.63625227e-01 9.86502509e-01 -6.29162735e-03 2.42129907e+00] [ 2.92811946e-02 1.51827310e-03 9.99570061e-01 3.21609771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.346875 meters Centerline goodness [0,1] 0.9993005475024722 Centerline is valid? [True, True] Translation: X:14.93, Y:2.43, Z:0.32 [[ 9.85517556e-01 -1.67237570e-01 -2.80489301e-02 1.49289404e+01] [ 1.67129697e-01 9.85915652e-01 -6.16375289e-03 2.43082930e+00] [ 2.86846903e-02 1.38667748e-03 9.99587548e-01 3.22388173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters Centerline goodness [0,1] 0.9993703380800155 Centerline is valid? [True, True] Translation: X:14.96, Y:2.43, Z:0.32 [[ 9.84662477e-01 -1.72100050e-01 -2.86597253e-02 1.49599904e+01] [ 1.71989452e-01 9.85078653e-01 -6.29891482e-03 2.42995692e+00] [ 2.93161272e-02 1.27313460e-03 9.99569379e-01 3.23340490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.406875 meters Centerline goodness [0,1] 0.9993928207120999 Centerline is valid? [True, True] Translation: X:14.99, Y:2.43, Z:0.32 [[ 9.83946308e-01 -1.76124590e-01 -2.88060953e-02 1.49901261e+01] [ 1.76014564e-01 9.84367200e-01 -6.33162134e-03 2.43194205e+00] [ 2.94709296e-02 1.15968314e-03 9.99564965e-01 3.24306868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters Centerline goodness [0,1] 0.9993716619541313 Centerline is valid? [True, True] Translation: X:15.02, Y:2.44, Z:0.33 [[ 9.83622000e-01 -1.77939858e-01 -2.87257317e-02 1.50170090e+01] [ 1.77831185e-01 9.84040746e-01 -6.31504587e-03 2.43754989e+00] [ 2.93909888e-02 1.10328714e-03 9.99567383e-01 3.25391764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.466875 meters Centerline goodness [0,1] 0.9994662267080745 Centerline is valid? [True, True] Translation: X:15.05, Y:2.44, Z:0.33 [[ 9.83173259e-01 -1.80477651e-01 -2.82517402e-02 1.50460942e+01] [ 1.80373511e-01 9.83578564e-01 -6.21330176e-03 2.44086548e+00] [ 2.89091681e-02 1.01288658e-03 9.99581529e-01 3.26466330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters Centerline goodness [0,1] 0.9993693147362037 Centerline is valid? [True, True] Translation: X:15.07, Y:2.45, Z:0.33 [[ 9.83499327e-01 -1.78365040e-01 -3.02487547e-02 1.50745221e+01] [ 1.78244586e-01 9.83963710e-01 -6.65467285e-03 2.44856842e+00] [ 3.09506379e-02 1.15318948e-03 9.99520249e-01 3.25276715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.526875 meters Centerline goodness [0,1] 0.9993943945156367 Centerline is valid? [True, True] Translation: X:15.10, Y:2.46, Z:0.33 [[ 9.83849816e-01 -1.76275481e-01 -3.10885005e-02 1.51029584e+01] [ 1.76147147e-01 9.84340074e-01 -6.84116637e-03 2.45598078e+00] [ 3.18075867e-02 1.25452961e-03 9.99493223e-01 3.25107711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters Centerline goodness [0,1] 0.999348408427251 Centerline is valid? [True, True] Translation: X:15.13, Y:2.47, Z:0.32 [[ 9.84744003e-01 -1.71142587e-01 -3.14557485e-02 1.51301958e+01] [ 1.71008541e-01 9.85245221e-01 -6.92341505e-03 2.46971016e+00] [ 3.21765170e-02 1.43858980e-03 9.99481167e-01 3.23955866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.586875000000001 meters Centerline goodness [0,1] 0.9992505016803269 Centerline is valid? [True, True] Translation: X:15.16, Y:2.48, Z:0.32 [[ 9.85773841e-01 -1.64803376e-01 -3.30118498e-02 1.51590983e+01] [ 1.64652159e-01 9.86324927e-01 -7.26670177e-03 2.47868643e+00] [ 3.37579873e-02 1.72785218e-03 9.99428543e-01 3.23347896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters Centerline goodness [0,1] 0.9992271278137378 Centerline is valid? [True, True] Translation: X:15.19, Y:2.48, Z:0.32 [[ 9.85184674e-01 -1.67905734e-01 -3.49116409e-02 1.51887784e+01] [ 1.67738517e-01 9.85801562e-01 -7.68565017e-03 2.48394496e+00] [ 3.57064149e-02 1.71575787e-03 9.99360850e-01 3.21279262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.646875 meters Centerline goodness [0,1] 0.9993944385233989 Centerline is valid? [True, True] Translation: X:15.22, Y:2.49, Z:0.32 [[ 9.84632624e-01 -1.71124435e-01 -3.48571977e-02 1.52188366e+01] [ 1.70959714e-01 9.85248129e-01 -7.67468386e-03 2.48706471e+00] [ 3.56563148e-02 1.59756756e-03 9.99362835e-01 3.24853685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters Centerline goodness [0,1] 0.9993482668726466 Centerline is valid? [True, True] Translation: X:15.25, Y:2.49, Z:0.32 [[ 9.83477440e-01 -1.77309051e-01 -3.65188233e-02 1.52484317e+01] [ 1.77132434e-01 9.84154167e-01 -8.04211779e-03 2.49025345e+00] [ 3.73660924e-02 1.44057336e-03 9.99300605e-01 3.24818029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.706875 meters Centerline goodness [0,1] 0.9993721929782199 Centerline is valid? [True, True] Translation: X:15.28, Y:2.49, Z:0.33 [[ 9.82907867e-01 -1.80570362e-01 -3.58673872e-02 1.52778199e+01] [ 1.80402111e-01 9.83561218e-01 -7.89996263e-03 2.49387776e+00] [ 3.67042701e-02 1.29438304e-03 9.99325333e-01 3.25935243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters Centerline goodness [0,1] 0.999494645650343 Centerline is valid? [True, True] Translation: X:15.31, Y:2.50, Z:0.33 [[ 9.82821411e-01 -1.81437513e-01 -3.38009216e-02 1.53053270e+01] [ 1.81288544e-01 9.83401754e-01 -7.44672931e-03 2.49916400e+00] [ 3.45910016e-02 1.19108515e-03 9.99400842e-01 3.30394359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.766875 meters Centerline goodness [0,1] 0.9994417069204068 Centerline is valid? [True, True] Translation: X:15.33, Y:2.50, Z:0.33 [[ 9.82657469e-01 -1.82788335e-01 -3.11885165e-02 1.53327005e+01] [ 1.82662089e-01 9.83151720e-01 -6.87433194e-03 2.50439463e+00] [ 3.19195913e-02 1.05815405e-03 9.99489880e-01 3.34961388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters Centerline goodness [0,1] 0.9993918458694171 Centerline is valid? [True, True] Translation: X:15.36, Y:2.51, Z:0.34 [[ 9.82791535e-01 -1.82176867e-01 -3.05350357e-02 1.53612967e+01] [ 1.82055402e-01 9.83265206e-01 -6.73543234e-03 2.51023270e+00] [ 3.12510781e-02 1.06045767e-03 9.99511003e-01 3.36844613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.826875 meters Centerline goodness [0,1] 0.9995620864149475 Centerline is valid? [True, True] Translation: X:15.39, Y:2.52, Z:0.34 [[ 9.82913629e-01 -1.81752778e-01 -2.90985638e-02 1.53885851e+01] [ 1.81642114e-01 9.83343718e-01 -6.42445800e-03 2.51616458e+00] [ 2.97815530e-02 1.02916267e-03 9.99555901e-01 3.37728286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters Centerline goodness [0,1] 0.9994883040935673 Centerline is valid? [True, True] Translation: X:15.42, Y:2.52, Z:0.34 [[ 9.82826259e-01 -1.82094154e-01 -2.99042556e-02 1.54159495e+01] [ 1.81977296e-01 9.83280536e-01 -6.60683432e-03 2.52067828e+00] [ 3.06073384e-02 1.05147467e-03 9.99530933e-01 3.36451059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.886875 meters Centerline goodness [0,1] 0.999412930212079 Centerline is valid? [True, True] Translation: X:15.44, Y:2.53, Z:0.33 [[ 9.82839363e-01 -1.81489885e-01 -3.29880026e-02 1.54439011e+01] [ 1.81347066e-01 9.83392093e-01 -7.29605586e-03 2.52602045e+00] [ 3.37643013e-02 1.18857339e-03 9.99429117e-01 3.34088406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters Centerline goodness [0,1] 0.999485609308022 Centerline is valid? [True, True] Translation: X:15.47, Y:2.53, Z:0.33 [[ 9.83059303e-01 -1.79799030e-01 -3.55909629e-02 1.54730927e+01] [ 1.79631572e-01 9.83702441e-01 -7.87438585e-03 2.53312556e+00] [ 3.64267240e-02 1.34772767e-03 9.99335418e-01 3.32165397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.946875 meters Centerline goodness [0,1] 0.9994855589035055 Centerline is valid? [True, True] Translation: X:15.50, Y:2.54, Z:0.33 [[ 9.83111705e-01 -1.79166852e-01 -3.72909443e-02 1.55003229e+01] [ 1.78982467e-01 9.83817650e-01 -8.25277231e-03 2.53978164e+00] [ 3.81661125e-02 1.43897185e-03 9.99270372e-01 3.31097279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters Centerline goodness [0,1] 0.9994831278151074 Centerline is valid? [True, True] Translation: X:15.53, Y:2.55, Z:0.33 [[ 9.83148842e-01 -1.78785018e-01 -3.81349257e-02 1.55285856e+01] [ 1.78591655e-01 9.83887030e-01 -8.44585940e-03 2.54565478e+00] [ 3.90304519e-02 1.49295740e-03 9.99236906e-01 3.31077698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.006875 meters Centerline goodness [0,1] 0.9995355091064662 Centerline is valid? [True, True] Translation: X:15.56, Y:2.55, Z:0.33 [[ 9.83335783e-01 -1.77882484e-01 -3.75307916e-02 1.55557939e+01] [ 1.77694281e-01 9.84050577e-01 -8.31892386e-03 2.55294245e+00] [ 3.84119879e-02 1.51128847e-03 9.99260844e-01 3.31428258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters Centerline goodness [0,1] 0.999411606070264 Centerline is valid? [True, True] Translation: X:15.59, Y:2.56, Z:0.33 [[ 9.82776581e-01 -1.81389057e-01 -3.53299099e-02 1.55858717e+01] [ 1.81224474e-01 9.83410561e-01 -7.83316550e-03 2.55742046e+00] [ 3.61646570e-02 1.29560728e-03 9.99345005e-01 3.34041484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.066875 meters Centerline goodness [0,1] 0.999411606070264 Centerline is valid? [True, True] Translation: X:15.61, Y:2.56, Z:0.33 [[ 9.82726753e-01 -1.81659003e-01 -3.53289732e-02 1.56128309e+01] [ 1.81494443e-01 9.83360739e-01 -7.83738743e-03 2.56350922e+00] [ 3.61648572e-02 1.28999797e-03 9.99345005e-01 3.34644268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters Centerline goodness [0,1] 0.9995828937360454 Centerline is valid? [True, True] Translation: X:15.64, Y:2.56, Z:0.34 [[ 9.82631741e-01 -1.82948069e-01 -3.10622849e-02 1.56416241e+01] [ 1.82821317e-01 9.83121965e-01 -6.89699038e-03 2.56454557e+00] [ 3.17998056e-02 1.09835384e-03 9.99493655e-01 3.44013128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.126875 meters Centerline goodness [0,1] 0.9995083941695548 Centerline is valid? [True, True] Translation: X:15.67, Y:2.57, Z:0.34 [[ 9.82847994e-01 -1.81791765e-01 -3.10092630e-02 1.56695965e+01] [ 1.81664740e-01 9.83336392e-01 -6.88934416e-03 2.57349091e+00] [ 3.17449629e-02 1.13788839e-03 9.99495354e-01 3.44444510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters Centerline goodness [0,1] 0.9994386410231377 Centerline is valid? [True, True] Translation: X:15.70, Y:2.59, Z:0.34 [[ 9.83497692e-01 -1.78097722e-01 -3.18353688e-02 1.56973827e+01] [ 1.77961704e-01 9.84011951e-01 -7.07897461e-03 2.58503504e+00] [ 3.25871327e-02 1.29667871e-03 9.99468057e-01 3.42989326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.186874999999997 meters Centerline goodness [0,1] 0.9994411507435125 Centerline is valid? [True, True] Translation: X:15.72, Y:2.60, Z:0.34 [[ 9.84336882e-01 -1.73256831e-01 -3.26032798e-02 1.57247591e+01] [ 1.73111477e-01 9.84875546e-01 -7.25094312e-03 2.59785243e+00] [ 3.33664484e-02 1.49336882e-03 9.99442069e-01 3.42765580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters Centerline goodness [0,1] 0.9994172918639377 Centerline is valid? [True, True] Translation: X:15.75, Y:2.61, Z:0.34 [[ 9.84818163e-01 -1.70497957e-01 -3.26133828e-02 1.57535192e+01] [ 1.70350963e-01 9.85356749e-01 -7.25437371e-03 2.60596513e+00] [ 3.33726727e-02 1.58851782e-03 9.99441715e-01 3.43742863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.246875 meters Centerline goodness [0,1] 0.9993211462929739 Centerline is valid? [True, True] Translation: X:15.78, Y:2.61, Z:0.34 [[ 9.84913378e-01 -1.69877381e-01 -3.29744402e-02 1.57814659e+01] [ 1.69726636e-01 9.85463858e-01 -7.33857585e-03 2.61357579e+00] [ 3.37417771e-02 1.63122074e-03 9.99429253e-01 3.43340510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters Centerline goodness [0,1] 0.9994196169471852 Centerline is valid? [True, True] Translation: X:15.81, Y:2.62, Z:0.34 [[ 9.84843868e-01 -1.70435203e-01 -3.21620518e-02 1.58074769e+01] [ 1.70291863e-01 9.85367621e-01 -7.16476020e-03 2.62399396e+00] [ 3.29125719e-02 1.57923443e-03 9.99456987e-01 3.43483521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.306874999999998 meters Centerline goodness [0,1] 0.9993467689255559 Centerline is valid? [True, True] Translation: X:15.84, Y:2.63, Z:0.34 [[ 9.84775011e-01 -1.70612522e-01 -3.33098490e-02 1.58359403e+01] [ 1.70458656e-01 9.85336842e-01 -7.42659729e-03 2.62788882e+00] [ 3.40884919e-02 1.63557534e-03 9.99417480e-01 3.44547871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters Centerline goodness [0,1] 0.9992244116435202 Centerline is valid? [True, True] Translation: X:15.86, Y:2.63, Z:0.34 [[ 9.84834532e-01 -1.69916543e-01 -3.50615563e-02 1.58640153e+01] [ 1.69745286e-01 9.85456891e-01 -7.82649550e-03 2.63353335e+00] [ 3.58815033e-02 1.75626915e-03 9.99354508e-01 3.44454360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.366874999999997 meters Centerline goodness [0,1] 0.9993707799908037 Centerline is valid? [True, True] Translation: X:15.89, Y:2.64, Z:0.35 [[ 9.85024820e-01 -1.69277582e-01 -3.27292625e-02 1.58904020e+01] [ 1.69127799e-01 9.85567005e-01 -7.31211221e-03 2.64250936e+00] [ 3.34946579e-02 1.66718389e-03 9.99437506e-01 3.46133859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters Centerline goodness [0,1] 0.9992010072151469 Centerline is valid? [True, True] Translation: X:15.92, Y:2.64, Z:0.35 [[ 9.85029094e-01 -1.69946643e-01 -2.89106096e-02 1.59198210e+01] [ 1.69829957e-01 9.85452190e-01 -6.46277022e-03 2.64389524e+00] [ 2.95883496e-02 1.45612911e-03 9.99561108e-01 3.51286390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.426875 meters Centerline goodness [0,1] 0.9992741174477969 Centerline is valid? [True, True] Translation: X:15.95, Y:2.65, Z:0.35 [[ 9.85001816e-01 -1.70367737e-01 -2.73177107e-02 1.59460916e+01] [ 1.70263553e-01 9.85379601e-01 -6.11266485e-03 2.65204966e+00] [ 2.79597158e-02 1.36977548e-03 9.99608112e-01 3.53190249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters Centerline goodness [0,1] 0.9993239654256604 Centerline is valid? [True, True] Translation: X:15.97, Y:2.66, Z:0.35 [[ 9.84740089e-01 -1.72003963e-01 -2.64876278e-02 1.59740778e+01] [ 1.71906542e-01 9.85095419e-01 -5.92927788e-03 2.65751014e+00] [ 2.71127001e-02 1.28540111e-03 9.99631557e-01 3.54473989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.486874999999998 meters Centerline goodness [0,1] 0.9993232464832987 Centerline is valid? [True, True] Translation: X:16.00, Y:2.67, Z:0.36 [[ 9.84454529e-01 -1.73654156e-01 -2.63346562e-02 1.60008000e+01] [ 1.73558391e-01 9.84805925e-01 -5.89706794e-03 2.66510358e+00] [ 2.69585758e-02 1.23479469e-03 9.99635789e-01 3.55350947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters Centerline goodness [0,1] 0.9994447126991791 Centerline is valid? [True, True] Translation: X:16.03, Y:2.67, Z:0.36 [[ 9.84021565e-01 -1.75871488e-01 -2.77628997e-02 1.60304908e+01] [ 1.75765829e-01 9.84412352e-01 -6.22051098e-03 2.66732781e+00] [ 2.84241519e-02 1.24134788e-03 9.99595181e-01 3.55556485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.546875 meters Centerline goodness [0,1] 0.999466045337605 Centerline is valid? [True, True] Translation: X:16.06, Y:2.67, Z:0.35 [[ 9.83561545e-01 -1.78020763e-01 -3.02538448e-02 1.60592346e+01] [ 1.77896056e-01 9.84025882e-01 -6.78653030e-03 2.67018884e+00] [ 3.09787096e-02 1.29293055e-03 9.99519208e-01 3.53681305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters Centerline goodness [0,1] 0.9994203038573948 Centerline is valid? [True, True] Translation: X:16.09, Y:2.68, Z:0.35 [[ 9.83148068e-01 -1.79995683e-01 -3.19598337e-02 1.60866417e+01] [ 1.79857313e-01 9.83666531e-01 -7.17651869e-03 2.67511222e+00] [ 3.27295611e-02 1.30737069e-03 9.99463389e-01 3.51250423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.606875 meters Centerline goodness [0,1] 0.9994877923851802 Centerline is valid? [True, True] Translation: X:16.12, Y:2.68, Z:0.35 [[ 9.82945840e-01 -1.80999766e-01 -3.25047610e-02 1.61154043e+01] [ 1.80856989e-01 9.83482278e-01 -7.30470280e-03 2.67894093e+00] [ 3.32900058e-02 1.30141405e-03 9.99444887e-01 3.51404640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters Centerline goodness [0,1] 0.9994885284232062 Centerline is valid? [True, True] Translation: X:16.14, Y:2.68, Z:0.35 [[ 9.82889391e-01 -1.81460355e-01 -3.16320036e-02 1.61438829e+01] [ 1.81325122e-01 9.83397455e-01 -7.11659010e-03 2.68397444e+00] [ 3.23982108e-02 1.25914399e-03 9.99474247e-01 3.53656326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.666874999999997 meters Centerline goodness [0,1] 0.9994375427956569 Centerline is valid? [True, True] Translation: X:16.17, Y:2.69, Z:0.36 [[ 9.82876711e-01 -1.81687067e-01 -3.07112456e-02 1.61721153e+01] [ 1.81559449e-01 9.83355639e-01 -6.91761925e-03 2.68867890e+00] [ 3.14569185e-02 1.22325004e-03 9.99504360e-01 3.55355997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters Centerline goodness [0,1] 0.9995357587900408 Centerline is valid? [True, True] Translation: X:16.20, Y:2.69, Z:0.36 [[ 9.83020639e-01 -1.80983817e-01 -3.02536061e-02 1.62002937e+01] [ 1.80859371e-01 9.83485298e-01 -6.82326958e-03 2.69410177e+00] [ 3.09888782e-02 1.23576665e-03 9.99518965e-01 3.57030741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.726875 meters Centerline goodness [0,1] 0.999390600624025 Centerline is valid? [True, True] Translation: X:16.23, Y:2.70, Z:0.36 [[ 9.83178057e-01 -1.80108487e-01 -3.03618271e-02 1.62265234e+01] [ 1.79982528e-01 9.83645927e-01 -6.85424692e-03 2.70342224e+00] [ 3.10997956e-02 1.27434677e-03 9.99515472e-01 3.57470456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters Centerline goodness [0,1] 0.9992703747841526 Centerline is valid? [True, True] Translation: X:16.25, Y:2.71, Z:0.35 [[ 9.83310922e-01 -1.79321230e-01 -3.07168979e-02 1.62526424e+01] [ 1.79191832e-01 9.83789694e-01 -6.93729997e-03 2.71494863e+00] [ 3.14629728e-02 1.31730561e-03 9.99504050e-01 3.54428891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.786875 meters Centerline goodness [0,1] 0.9993152862348079 Centerline is valid? [True, True] Translation: X:16.28, Y:2.72, Z:0.35 [[ 9.83154136e-01 -1.79826938e-01 -3.27141659e-02 1.62816437e+01] [ 1.79680270e-01 9.83697280e-01 -7.39340076e-03 2.71835841e+00] [ 3.35103686e-02 1.39076237e-03 9.99437402e-01 3.54091095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters Centerline goodness [0,1] 0.9992921131642541 Centerline is valid? [True, True] Translation: X:16.31, Y:2.72, Z:0.35 [[ 9.82614456e-01 -1.82333484e-01 -3.49761632e-02 1.63105811e+01] [ 1.82167070e-01 9.83235743e-01 -7.91403536e-03 2.72153823e+00] [ 3.58328074e-02 1.40494039e-03 9.99356811e-01 3.53202286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.846874999999997 meters Centerline goodness [0,1] 0.9994376665607198 Centerline is valid? [True, True] Translation: X:16.34, Y:2.73, Z:0.35 [[ 9.82417469e-01 -1.83538889e-01 -3.41963826e-02 1.63390953e+01] [ 1.83380236e-01 9.83011537e-01 -7.74637186e-03 2.72609685e+00] [ 3.50371991e-02 1.33923033e-03 9.99385112e-01 3.53646382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters Centerline goodness [0,1] 0.9994609296513195 Centerline is valid? [True, True] Translation: X:16.37, Y:2.73, Z:0.35 [[ 9.82210677e-01 -1.84496181e-01 -3.49763586e-02 1.63681736e+01] [ 1.84330478e-01 9.82832312e-01 -7.93234478e-03 2.73035726e+00] [ 3.58393827e-02 1.34402483e-03 9.99356659e-01 3.54433903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.906875 meters Centerline goodness [0,1] 0.9994129876482818 Centerline is valid? [True, True] Translation: X:16.40, Y:2.74, Z:0.35 [[ 9.82060970e-01 -1.85259266e-01 -3.51461964e-02 1.63963266e+01] [ 1.85092104e-01 9.82688776e-01 -7.98009298e-03 2.73524965e+00] [ 3.60161589e-02 1.33165442e-03 9.99350320e-01 3.54774735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters Centerline goodness [0,1] 0.9994332881606505 Centerline is valid? [True, True] Translation: X:16.42, Y:2.74, Z:0.35 [[ 9.81789114e-01 -1.86676120e-01 -3.52443177e-02 1.64240705e+01] [ 1.86508686e-01 9.82420665e-01 -8.00924018e-03 2.73942287e+00] [ 3.61198799e-02 1.29001344e-03 9.99346632e-01 3.54216562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.966874999999998 meters Centerline goodness [0,1] 0.9995032536883414 Centerline is valid? [True, True] Translation: X:16.45, Y:2.74, Z:0.36 [[ 9.81280748e-01 -1.89719604e-01 -3.30842167e-02 1.64548603e+01] [ 1.89573729e-01 9.81837687e-01 -7.52042106e-03 2.73927397e+00] [ 3.39101022e-02 1.10774607e-03 9.99424273e-01 3.58498821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters Centerline goodness [0,1] 0.9995526950125494 Centerline is valid? [True, True] Translation: X:16.48, Y:2.74, Z:0.36 [[ 9.81029962e-01 -1.91192260e-01 -3.20270720e-02 1.64832625e+01] [ 1.91056241e-01 9.81552070e-01 -7.28328509e-03 2.74340754e+00] [ 3.28287466e-02 1.02614892e-03 9.99460465e-01 3.60589130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.026874999999997 meters Centerline goodness [0,1] 0.9996511512010365 Centerline is valid? [True, True] Translation: X:16.51, Y:2.74, Z:0.36 [[ 9.80024183e-01 -1.96716567e-01 -2.92436918e-02 1.65144815e+01] [ 1.96605468e-01 9.80460093e-01 -6.65549037e-03 2.74167976e+00] [ 2.99815180e-02 7.73071800e-04 9.99550154e-01 3.63744461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters Centerline goodness [0,1] 0.9996009178888556 Centerline is valid? [True, True] Translation: X:16.54, Y:2.75, Z:0.36 [[ 9.79545740e-01 -1.99246360e-01 -2.81252685e-02 1.65436003e+01] [ 1.99144581e-01 9.79949202e-01 -6.40296503e-03 2.74577290e+00] [ 2.88371019e-02 6.71002304e-04 9.99583899e-01 3.64998654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.086875 meters Centerline goodness [0,1] 0.9996242673212765 Centerline is valid? [True, True] Translation: X:16.57, Y:2.74, Z:0.37 [[ 9.78259109e-01 -2.05418860e-01 -2.84992447e-02 1.65744017e+01] [ 2.05316812e-01 9.78674022e-01 -6.49350634e-03 2.74465591e+00] [ 2.92253591e-02 5.00957657e-04 9.99572722e-01 3.65105270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters Centerline goodness [0,1] 0.9995961737462457 Centerline is valid? [True, True] Translation: X:16.60, Y:2.75, Z:0.37 [[ 9.77602334e-01 -2.08632256e-01 -2.76813548e-02 1.66039461e+01] [ 2.08537205e-01 9.77994082e-01 -6.30942560e-03 2.74710878e+00] [ 2.83885508e-02 3.95516833e-04 9.99596886e-01 3.68270928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.146874999999998 meters Centerline goodness [0,1] 0.9997226144845672 Centerline is valid? [True, True] Translation: X:16.63, Y:2.75, Z:0.37 [[ 9.77069274e-01 -2.11103394e-01 -2.77667289e-02 1.66321550e+01] [ 2.11008562e-01 9.77463681e-01 -6.33556555e-03 2.75134533e+00] [ 2.84784284e-02 3.31268893e-04 9.99594352e-01 3.68517417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters Centerline goodness [0,1] 0.9997227822580645 Centerline is valid? [True, True] Translation: X:16.66, Y:2.76, Z:0.37 [[ 9.77077950e-01 -2.10902145e-01 -2.89648942e-02 1.66609116e+01] [ 2.10798640e-01 9.77507113e-01 -6.61640945e-03 2.75762960e+00] [ 2.97088051e-02 3.58987467e-04 9.99558532e-01 3.67395482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.206874999999997 meters Centerline goodness [0,1] 0.999620809949947 Centerline is valid? [True, True] Translation: X:16.69, Y:2.76, Z:0.37 [[ 9.77340558e-01 -2.09609595e-01 -2.94830722e-02 1.66894487e+01] [ 2.09501542e-01 9.77785072e-01 -6.74214601e-03 2.76401068e+00] [ 3.02413264e-02 4.12623640e-04 9.99542541e-01 3.68579450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters Centerline goodness [0,1] 0.9996469015611995 Centerline is valid? [True, True] Translation: X:16.72, Y:2.77, Z:0.37 [[ 9.77295629e-01 -2.09585033e-01 -3.11025184e-02 1.67178566e+01] [ 2.09464507e-01 9.77790324e-01 -7.12062318e-03 2.77177461e+00] [ 3.19041175e-02 4.44080217e-04 9.99490835e-01 3.67884142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.266875 meters Centerline goodness [0,1] 0.9996465271290429 Centerline is valid? [True, True] Translation: X:16.75, Y:2.78, Z:0.37 [[ 9.77488890e-01 -2.08436686e-01 -3.27050104e-02 1.67451077e+01] [ 2.08302551e-01 9.78035728e-01 -7.49414518e-03 2.78001344e+00] [ 3.35487234e-02 5.12906549e-04 9.99436952e-01 3.67597938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters Centerline goodness [0,1] 0.9995715401870101 Centerline is valid? [True, True] Translation: X:16.77, Y:2.79, Z:0.37 [[ 9.77890276e-01 -2.06204879e-01 -3.47872879e-02 1.67706723e+01] [ 2.06051577e-01 9.78508636e-01 -7.97477237e-03 2.79094589e+00] [ 3.56840986e-02 6.30476818e-04 9.99362921e-01 3.65201576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.326874999999998 meters Centerline goodness [0,1] 0.9996492195134173 Centerline is valid? [True, True] Translation: X:16.80, Y:2.80, Z:0.36 [[ 9.78213049e-01 -2.04518464e-01 -3.56571043e-02 1.67986922e+01] [ 2.04356059e-01 9.78862445e-01 -8.18013364e-03 2.80010971e+00] [ 3.65763887e-02 7.15168150e-04 9.99330604e-01 3.64944652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters Centerline goodness [0,1] 0.9995739988974089 Centerline is valid? [True, True] Translation: X:16.82, Y:2.81, Z:0.37 [[ 9.78415526e-01 -2.03802218e-01 -3.41718428e-02 1.68248160e+01] [ 2.03652320e-01 9.79011817e-01 -7.84821720e-03 2.80985737e+00] [ 3.50541219e-02 7.19642492e-04 9.99385156e-01 3.66454504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.386875 meters Centerline goodness [0,1] 0.9995515248156269 Centerline is valid? [True, True] Translation: X:16.85, Y:2.82, Z:0.37 [[ 9.77913090e-01 -2.06388791e-01 -3.30099350e-02 1.68528067e+01] [ 2.06250089e-01 9.78469871e-01 -7.59022051e-03 2.81698969e+00] [ 3.38657633e-02 6.14273957e-04 9.99426202e-01 3.70066746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters Centerline goodness [0,1] 0.9995271279243405 Centerline is valid? [True, True] Translation: X:16.88, Y:2.82, Z:0.37 [[ 9.77901903e-01 -2.06475248e-01 -3.28000041e-02 1.68801022e+01] [ 2.06338062e-01 9.78451630e-01 -7.55058448e-03 2.82481966e+00] [ 3.36522263e-02 6.15841646e-04 9.99433414e-01 3.72289477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.446875 meters Centerline goodness [0,1] 0.9995793745051464 Centerline is valid? [True, True] Translation: X:16.91, Y:2.84, Z:0.37 [[ 9.78680117e-01 -2.02696345e-01 -3.31575066e-02 1.69072417e+01] [ 2.02553752e-01 9.79241346e-01 -7.63964892e-03 2.83749533e+00] [ 3.40177303e-02 7.60595119e-04 9.99420940e-01 3.73782194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters Centerline goodness [0,1] 0.9996068409671712 Centerline is valid? [True, True] Translation: X:16.93, Y:2.85, Z:0.37 [[ 9.79213117e-01 -2.00134143e-01 -3.29847775e-02 1.69338953e+01] [ 1.99991442e-01 9.79768138e-01 -7.60391631e-03 2.85186228e+00] [ 3.38392373e-02 8.49181376e-04 9.99426928e-01 3.71763244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.506874999999997 meters Centerline goodness [0,1] 0.9995078982333546 Centerline is valid? [True, True] Translation: X:16.96, Y:2.86, Z:0.37 [[ 9.79860424e-01 -1.97113175e-01 -3.19366006e-02 1.69604853e+01] [ 1.96977597e-01 9.80380300e-01 -7.36839267e-03 2.86315972e+00] [ 3.27624213e-02 9.29201520e-04 9.99462736e-01 3.73499334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters Centerline goodness [0,1] 0.9994854832782065 Centerline is valid? [True, True] Translation: X:16.99, Y:2.88, Z:0.37 [[ 9.80306784e-01 -1.95027794e-01 -3.10285031e-02 1.69856083e+01] [ 1.94898688e-01 9.80797233e-01 -7.16162840e-03 2.87678505e+00] [ 3.18293866e-02 9.73178340e-04 9.99492843e-01 3.73785346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.566875 meters Centerline goodness [0,1] 0.9994627594627594 Centerline is valid? [True, True] Translation: X:17.01, Y:2.88, Z:0.38 [[ 9.80406366e-01 -1.94997950e-01 -2.79133912e-02 1.70140907e+01] [ 1.94893362e-01 9.80803255e-01 -6.44603734e-03 2.88136182e+00] [ 2.86345090e-02 8.79601369e-04 9.99589561e-01 3.80156630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters Centerline goodness [0,1] 0.9994650716074598 Centerline is valid? [True, True] Translation: X:17.04, Y:2.89, Z:0.39 [[ 9.80085062e-01 -1.97034283e-01 -2.47136319e-02 1.70427703e+01] [ 1.96952807e-01 9.80396326e-01 -5.71277198e-03 2.88606409e+00] [ 2.53547658e-02 7.31583324e-04 9.99678249e-01 3.85884496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.626875 meters Centerline goodness [0,1] 0.9996336280592057 Centerline is valid? [True, True] Translation: X:17.07, Y:2.89, Z:0.39 [[ 9.79293817e-01 -2.01245350e-01 -2.19984069e-02 1.70723148e+01] [ 2.01181745e-01 9.79540707e-01 -5.09008097e-03 2.89081303e+00] [ 2.25726902e-02 5.59006927e-04 9.99745048e-01 3.88688054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters Centerline goodness [0,1] 0.999657500733927 Centerline is valid? [True, True] Translation: X:17.10, Y:2.89, Z:0.39 [[ 9.78480876e-01 -2.05185692e-01 -2.17717248e-02 1.71003505e+01] [ 2.05124347e-01 9.78722952e-01 -5.03846214e-03 2.89377287e+00] [ 2.23423071e-02 4.64128030e-04 9.99750272e-01 3.89514201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.686874999999997 meters Centerline goodness [0,1] 0.9997055142457484 Centerline is valid? [True, True] Translation: X:17.13, Y:2.90, Z:0.39 [[ 9.77754374e-01 -2.08625077e-01 -2.17246914e-02 1.71293058e+01] [ 2.08564798e-01 9.77995617e-01 -5.02966045e-03 2.89686742e+00] [ 2.22959663e-02 3.86766629e-04 9.99751339e-01 3.90810132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters Centerline goodness [0,1] 0.9996335564567352 Centerline is valid? [True, True] Translation: X:17.16, Y:2.90, Z:0.39 [[ 9.77547628e-01 -2.09556760e-01 -2.20589782e-02 1.71569331e+01] [ 2.09494719e-01 9.77796411e-01 -5.11277795e-03 2.90327364e+00] [ 2.26406069e-02 3.76744531e-04 9.99743598e-01 3.90502249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.746875 meters Centerline goodness [0,1] 0.9995107991096543 Centerline is valid? [True, True] Translation: X:17.19, Y:2.91, Z:0.39 [[ 9.76864694e-01 -2.12405410e-01 -2.48859781e-02 1.71856160e+01] [ 2.12327259e-01 9.77181568e-01 -5.77224818e-03 2.90817646e+00] [ 2.55441758e-02 3.54733919e-04 9.99673631e-01 3.85871098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters Centerline goodness [0,1] 0.9994846372828115 Centerline is valid? [True, True] Translation: X:17.21, Y:2.91, Z:0.39 [[ 9.76700357e-01 -2.12938241e-01 -2.67154944e-02 1.72132013e+01] [ 2.12848174e-01 9.77065590e-01 -6.20391030e-03 2.91418850e+00] [ 2.74238401e-02 3.73017188e-04 9.99623826e-01 3.86540791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.806874999999998 meters Centerline goodness [0,1] 0.9994114184814596 Centerline is valid? [True, True] Translation: X:17.24, Y:2.92, Z:0.38 [[ 9.76606725e-01 -2.13167845e-01 -2.82625993e-02 1.72414720e+01] [ 2.13066900e-01 9.77015513e-01 -6.57138260e-03 2.92124297e+00] [ 2.90138054e-02 3.95832020e-04 9.99578933e-01 3.82864768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters Centerline goodness [0,1] 0.9995353159851301 Centerline is valid? [True, True] Translation: X:17.27, Y:2.93, Z:0.38 [[ 9.76665801e-01 -2.12691427e-01 -2.97702921e-02 1.72689026e+01] [ 2.12579006e-01 9.77119320e-01 -6.92829416e-03 2.92814822e+00] [ 3.05627164e-02 4.38088851e-04 9.99532755e-01 3.81664563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.866874999999997 meters Centerline goodness [0,1] 0.9995827504111136 Centerline is valid? [True, True] Translation: X:17.30, Y:2.94, Z:0.38 [[ 9.76831395e-01 -2.11712703e-01 -3.12755087e-02 1.72968214e+01] [ 2.11587978e-01 9.77331819e-01 -7.28305800e-03 2.93501712e+00] [ 3.21084657e-02 4.96798052e-04 9.99484267e-01 3.81803232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters Centerline goodness [0,1] 0.9995585530349479 Centerline is valid? [True, True] Translation: X:17.32, Y:2.94, Z:0.38 [[ 9.76831277e-01 -2.11710041e-01 -3.12972008e-02 1.73239870e+01] [ 2.11584879e-01 9.77332391e-01 -7.29628188e-03 2.94109399e+00] [ 3.21324642e-02 5.05221916e-04 9.99483491e-01 3.83057129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.926875 meters Centerline goodness [0,1] 0.9995839757237599 Centerline is valid? [True, True] Translation: X:17.35, Y:2.95, Z:0.39 [[ 9.77078852e-01 -2.11070255e-01 -2.76814731e-02 1.73511989e+01] [ 2.10971912e-01 9.77470780e-01 -6.45964030e-03 2.94868443e+00] [ 2.84212690e-02 4.71564617e-04 9.99595923e-01 3.87775076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters Centerline goodness [0,1] 0.9995839757237599 Centerline is valid? [True, True] Translation: X:17.38, Y:2.96, Z:0.39 [[ 9.77021547e-01 -2.11335490e-01 -2.76804378e-02 1.73780771e+01] [ 2.11237129e-01 9.77413470e-01 -6.46407381e-03 2.95506156e+00] [ 2.84213210e-02 4.68403187e-04 9.99595923e-01 3.88376300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.986874999999998 meters Centerline goodness [0,1] 0.999484928012558 Centerline is valid? [True, True] Translation: X:17.41, Y:2.96, Z:0.39 [[ 9.77046878e-01 -2.11354270e-01 -2.66227408e-02 1.74055547e+01] [ 2.11263087e-01 9.77409414e-01 -6.22449527e-03 2.96154338e+00] [ 2.73368911e-02 4.57221260e-04 9.99626173e-01 3.90921156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters Centerline goodness [0,1] 0.9995363591996096 Centerline is valid? [True, True] Translation: X:17.43, Y:2.97, Z:0.39 [[ 9.77113939e-01 -2.11344699e-01 -2.41198956e-02 1.74327036e+01] [ 2.11269695e-01 9.77411500e-01 -5.64578565e-03 2.96934062e+00] [ 2.47682702e-02 4.20772883e-04 9.99693131e-01 3.92147510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.046874999999996 meters Centerline goodness [0,1] 0.9995387677817158 Centerline is valid? [True, True] Translation: X:17.46, Y:2.98, Z:0.39 [[ 9.77076402e-01 -2.11607029e-01 -2.33274469e-02 1.74580302e+01] [ 2.11536789e-01 9.77354746e-01 -5.46691085e-03 2.97804087e+00] [ 2.39560277e-02 4.06976359e-04 9.99712930e-01 3.92885294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters Centerline goodness [0,1] 0.999586555766331 Centerline is valid? [True, True] Translation: X:17.49, Y:2.98, Z:0.40 [[ 9.76833446e-01 -2.12978519e-01 -2.08942365e-02 1.74862583e+01] [ 2.12922368e-01 9.77056823e-01 -4.90206447e-03 2.98350692e+00] [ 2.14588907e-02 3.39650232e-04 9.99769674e-01 3.96415081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.106875 meters Centerline goodness [0,1] 0.999634636463281 Centerline is valid? [True, True] Translation: X:17.51, Y:2.99, Z:0.40 [[ 9.76641627e-01 -2.13942056e-01 -1.99982405e-02 1.75145186e+01] [ 2.13890723e-01 9.76846304e-01 -4.69657721e-03 2.99007382e+00] [ 2.05400027e-02 3.09434685e-04 9.99788984e-01 3.98458490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters Centerline goodness [0,1] 0.9996110651951966 Centerline is valid? [True, True] Translation: X:17.54, Y:3.00, Z:0.40 [[ 9.76336289e-01 -2.15309837e-01 -2.02268476e-02 1.75425836e+01] [ 2.15257511e-01 9.76545744e-01 -4.75535109e-03 2.99698158e+00] [ 2.07763158e-02 2.88840957e-04 9.99784107e-01 3.97798245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.166874999999997 meters Centerline goodness [0,1] 0.999612393711088 Centerline is valid? [True, True] Translation: X:17.57, Y:3.01, Z:0.40 [[ 9.76282235e-01 -2.15495563e-01 -2.08485058e-02 1.75692771e+01] [ 2.15439897e-01 9.76504774e-01 -4.90692870e-03 3.00501250e+00] [ 2.14160868e-02 2.98947384e-04 9.99770605e-01 3.96591951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters Centerline goodness [0,1] 0.9995870478781548 Centerline is valid? [True, True] Translation: X:17.60, Y:3.02, Z:0.39 [[ 9.76700705e-01 -2.13364774e-01 -2.30479122e-02 1.75951147e+01] [ 2.13295984e-01 9.76972529e-01 -5.43153730e-03 3.01624130e+00] [ 2.36760758e-02 3.88959219e-04 9.99719607e-01 3.93322013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.226875 meters Centerline goodness [0,1] 0.9995410073680396 Centerline is valid? [True, True] Translation: X:17.62, Y:3.02, Z:0.39 [[ 9.76997159e-01 -2.11707054e-01 -2.56256536e-02 1.76231493e+01] [ 2.11621331e-01 9.77333050e-01 -6.04324483e-03 3.02452080e+00] [ 2.63241957e-02 4.81298118e-04 9.99653342e-01 3.89256621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters Centerline goodness [0,1] 0.9997829861111112 Centerline is valid? [True, True] Translation: X:17.65, Y:3.03, Z:0.39 [[ 9.77398184e-01 -2.09847964e-01 -2.56246209e-02 1.76510775e+01] [ 2.09761441e-01 9.77733881e-01 -6.04936531e-03 3.03322083e+00] [ 2.63235070e-02 5.37581264e-04 9.99653332e-01 3.92492082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.286875 meters Centerline goodness [0,1] 0.9996137598068799 Centerline is valid? [True, True] Translation: X:17.68, Y:3.04, Z:0.39 [[ 9.77798224e-01 -2.08073075e-01 -2.48239511e-02 1.76782449e+01] [ 2.07991162e-01 9.78113116e-01 -5.86591485e-03 3.04157536e+00] [ 2.55011711e-02 5.72518692e-04 9.99674628e-01 3.94001335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters Centerline goodness [0,1] 0.9995189301005436 Centerline is valid? [True, True] Translation: X:17.71, Y:3.05, Z:0.40 [[ 9.78758344e-01 -2.03725909e-01 -2.29751731e-02 1.77056619e+01] [ 2.03654482e-01 9.79027756e-01 -5.43178930e-03 3.05267380e+00] [ 2.35999284e-02 6.37412117e-04 9.99721280e-01 3.95510995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.346874999999997 meters Centerline goodness [0,1] 0.9995674844414543 Centerline is valid? [True, True] Translation: X:17.73, Y:3.06, Z:0.40 [[ 9.79268365e-01 -2.01268177e-01 -2.29039213e-02 1.77332202e+01] [ 2.01196482e-01 9.79535929e-01 -5.41654704e-03 3.06131427e+00] [ 2.35253924e-02 6.96064757e-04 9.99722997e-01 3.96376261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters Centerline goodness [0,1] 0.9995452042990162 Centerline is valid? [True, True] Translation: X:17.76, Y:3.07, Z:0.40 [[ 9.80108022e-01 -1.97014162e-01 -2.39517449e-02 1.77609755e+01] [ 1.96934342e-01 9.80400282e-01 -5.67021110e-03 3.07261970e+00] [ 2.45994094e-02 8.40498253e-04 9.99697035e-01 3.96323304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.406875 meters Centerline goodness [0,1] 0.9995454545454545 Centerline is valid? [True, True] Translation: X:17.79, Y:3.08, Z:0.40 [[ 9.80254841e-01 -1.96268693e-01 -2.40633834e-02 1.77891542e+01] [ 1.96187865e-01 9.80549771e-01 -5.69817331e-03 3.07984790e+00] [ 2.47137181e-02 8.64718157e-04 9.99694195e-01 3.96350583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters Centerline goodness [0,1] 0.9994271529501623 Centerline is valid? [True, True] Translation: X:17.82, Y:3.09, Z:0.40 [[ 9.80683704e-01 -1.94164322e-01 -2.36577481e-02 1.78165591e+01] [ 1.94085445e-01 9.80968599e-01 -5.60785472e-03 3.08787599e+00] [ 2.42963533e-02 9.07907166e-04 9.99704388e-01 3.96492373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.466874999999998 meters Centerline goodness [0,1] 0.9993316624895572 Centerline is valid? [True, True] Translation: X:17.84, Y:3.10, Z:0.40 [[ 9.80731821e-01 -1.93957959e-01 -2.33539047e-02 1.78442800e+01] [ 1.93880976e-01 9.81009426e-01 -5.53838714e-03 3.09557919e+00] [ 2.39846149e-02 9.03794672e-04 9.99711919e-01 3.96457063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters Centerline goodness [0,1] 0.9993112784097656 Centerline is valid? [True, True] Translation: X:17.87, Y:3.10, Z:0.40 [[ 9.80982381e-01 -1.92659053e-01 -2.35808888e-02 1.78706376e+01] [ 1.92580048e-01 9.81265299e-01 -5.59814172e-03 3.10416648e+00] [ 2.42176406e-02 9.50469705e-04 9.99706258e-01 3.95239112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.526874999999997 meters Centerline goodness [0,1] 0.9994759658901434 Centerline is valid? [True, True] Translation: X:17.90, Y:3.11, Z:0.40 [[ 9.80945576e-01 -1.92840427e-01 -2.36293556e-02 1.78981090e+01] [ 1.92761083e-01 9.81229670e-01 -5.61238251e-03 3.10919918e+00] [ 2.42681191e-02 9.50621612e-04 9.99705034e-01 3.95144556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters Centerline goodness [0,1] 0.9993828625682412 Centerline is valid? [True, True] Translation: X:17.92, Y:3.12, Z:0.39 [[ 9.80974551e-01 -1.92561201e-01 -2.46802537e-02 1.79249860e+01] [ 1.92474371e-01 9.81284449e-01 -5.86917832e-03 3.11868502e+00] [ 2.53485252e-02 1.00719826e-03 9.99678167e-01 3.94205808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.586875 meters Centerline goodness [0,1] 0.9995014836795252 Centerline is valid? [True, True] Translation: X:17.95, Y:3.13, Z:0.39 [[ 9.81000166e-01 -1.92410088e-01 -2.48401174e-02 1.79534619e+01] [ 1.92321981e-01 9.81314075e-01 -5.91109002e-03 3.12595563e+00] [ 2.55133102e-02 1.02147969e-03 9.99673961e-01 3.94659819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters Centerline goodness [0,1] 0.9995471230395194 Centerline is valid? [True, True] Translation: X:17.98, Y:3.13, Z:0.40 [[ 9.81505726e-01 -1.89792409e-01 -2.50070224e-02 1.79825743e+01] [ 1.89702123e-01 9.81823623e-01 -5.95632275e-03 3.13159754e+00] [ 2.56829502e-02 1.10227964e-03 9.99669531e-01 3.97100567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.646874999999998 meters Centerline goodness [0,1] 0.9995244322910475 Centerline is valid? [True, True] Translation: X:18.01, Y:3.14, Z:0.40 [[ 9.81679298e-01 -1.88938506e-01 -2.46576034e-02 1.80107080e+01] [ 1.88850415e-01 9.81988293e-01 -5.87476468e-03 3.13902403e+00] [ 2.53234471e-02 1.11053621e-03 9.99678693e-01 3.98581687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters Centerline goodness [0,1] 0.9994769377080361 Centerline is valid? [True, True] Translation: X:18.04, Y:3.15, Z:0.40 [[ 9.81931511e-01 -1.87580674e-01 -2.49799693e-02 1.80389082e+01] [ 1.87489657e-01 9.82248507e-01 -5.95814821e-03 3.14688855e+00] [ 2.56541710e-02 1.16700760e-03 9.99670196e-01 3.98932851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.706874999999997 meters Centerline goodness [0,1] 0.9993592177710271 Centerline is valid? [True, True] Translation: X:18.07, Y:3.15, Z:0.40 [[ 9.82004249e-01 -1.87208180e-01 -2.49148893e-02 1.80666355e+01] [ 1.87117352e-01 9.82319553e-01 -5.94909242e-03 3.15423198e+00] [ 2.55881017e-02 1.18002594e-03 9.99671874e-01 3.99019021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters Centerline goodness [0,1] 0.9994096254663959 Centerline is valid? [True, True] Translation: X:18.09, Y:3.16, Z:0.40 [[ 9.81972685e-01 -1.87514132e-01 -2.38347783e-02 1.80932140e+01] [ 1.87430965e-01 9.82261259e-01 -5.69666999e-03 3.16168567e+00] [ 2.44801855e-02 1.12659882e-03 9.99699681e-01 3.98780505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.766875 meters Centerline goodness [0,1] 0.9994563675900539 Centerline is valid? [True, True] Translation: X:18.12, Y:3.17, Z:0.40 [[ 9.81775608e-01 -1.88774955e-01 -2.19242370e-02 1.81219283e+01] [ 1.88704859e-01 9.82019856e-01 -5.24199692e-03 3.16673689e+00] [ 2.25195938e-02 1.00925467e-03 9.99745892e-01 4.03157804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters Centerline goodness [0,1] 0.9994068801897983 Centerline is valid? [True, True] Translation: X:18.15, Y:3.17, Z:0.41 [[ 9.81537452e-01 -1.90015151e-01 -2.18740051e-02 1.81513401e+01] [ 1.89945558e-01 9.81780665e-01 -5.23552580e-03 3.16829628e+00] [ 2.24703045e-02 9.83994557e-04 9.99747027e-01 4.05341509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.826874999999998 meters Centerline goodness [0,1] 0.9994079196665403 Centerline is valid? [True, True] Translation: X:18.18, Y:3.17, Z:0.41 [[ 9.81330870e-01 -1.91101092e-01 -2.16816953e-02 1.81794092e+01] [ 1.91032854e-01 9.81569895e-01 -5.19524850e-03 3.17419800e+00] [ 2.22749171e-02 9.56341583e-04 9.99751426e-01 4.06305929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters Centerline goodness [0,1] 0.999312013664832 Centerline is valid? [True, True] Translation: X:18.21, Y:3.18, Z:0.41 [[ 9.80898707e-01 -1.93343157e-01 -2.13576973e-02 1.82083542e+01] [ 1.93277350e-01 9.81130786e-01 -5.12325099e-03 3.17967177e+00] [ 2.19452399e-02 8.97431140e-04 9.99758771e-01 4.05677860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.886875 meters Centerline goodness [0,1] 0.9991702425262559 Centerline is valid? [True, True] Translation: X:18.24, Y:3.19, Z:0.41 [[ 9.80679805e-01 -1.94448244e-01 -2.13775825e-02 1.82367401e+01] [ 1.94382515e-01 9.80912388e-01 -5.13081423e-03 3.18636241e+00] [ 2.19672133e-02 8.76257657e-04 9.99758308e-01 4.05614902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters Centerline goodness [0,1] 0.999453149147626 Centerline is valid? [True, True] Translation: X:18.27, Y:3.19, Z:0.40 [[ 9.80181195e-01 -1.96883394e-01 -2.19488915e-02 1.82655685e+01] [ 1.96814581e-01 9.80426544e-01 -5.27383951e-03 3.19097411e+00] [ 2.25576073e-02 8.49456436e-04 9.99745184e-01 4.04675046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.946875 meters Centerline goodness [0,1] 0.9994035548133127 Centerline is valid? [True, True] Translation: X:18.29, Y:3.20, Z:0.41 [[ 9.79838582e-01 -1.98479509e-01 -2.28525055e-02 1.82927091e+01] [ 1.98405301e-01 9.80104671e-01 -5.49279822e-03 3.19712885e+00] [ 2.34880552e-02 8.47997390e-04 9.99723758e-01 4.06036061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters Centerline goodness [0,1] 0.9994031846069373 Centerline is valid? [True, True] Translation: X:18.32, Y:3.20, Z:0.41 [[ 9.79341319e-01 -2.00856131e-01 -2.33964666e-02 1.83200782e+01] [ 2.00778971e-01 9.79620414e-01 -5.62579640e-03 3.20125210e+00] [ 2.40496320e-02 8.12056372e-04 9.99710436e-01 4.08248334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.006874999999997 meters Centerline goodness [0,1] 0.9993767827608524 Centerline is valid? [True, True] Translation: X:18.35, Y:3.21, Z:0.41 [[ 9.79084952e-01 -2.02118333e-01 -2.32558982e-02 1.83487689e+01] [ 2.02042394e-01 9.79360798e-01 -5.59446275e-03 3.20716919e+00] [ 2.39066585e-02 7.78776952e-04 9.99713892e-01 4.09751042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters Centerline goodness [0,1] 0.9994503130825486 Centerline is valid? [True, True] Translation: X:18.38, Y:3.21, Z:0.41 [[ 9.78625035e-01 -2.04425961e-01 -2.24291485e-02 1.83779442e+01] [ 2.04355802e-01 9.78881777e-01 -5.40116527e-03 3.20897545e+00] [ 2.30596231e-02 7.02188917e-04 9.99733845e-01 4.10377253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.066875 meters Centerline goodness [0,1] 0.999472118245513 Centerline is valid? [True, True] Translation: X:18.41, Y:3.21, Z:0.41 [[ 9.78432112e-01 -2.05448059e-01 -2.14871411e-02 1.84065694e+01] [ 2.05383794e-01 9.78667802e-01 -5.17987827e-03 3.21468026e+00] [ 2.20929691e-02 6.55048680e-04 9.99755706e-01 4.10380657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters Centerline goodness [0,1] 0.9995216912995647 Centerline is valid? [True, True] Translation: X:18.43, Y:3.22, Z:0.41 [[ 9.78066603e-01 -2.07201919e-01 -2.12857775e-02 1.84330779e+01] [ 2.07139144e-01 9.78298005e-01 -5.13701085e-03 3.22200529e+00] [ 2.18882322e-02 6.15221015e-04 9.99760235e-01 4.10679763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.126875 meters Centerline goodness [0,1] 0.9995189532422551 Centerline is valid? [True, True] Translation: X:18.46, Y:3.23, Z:0.41 [[ 9.77920043e-01 -2.07835008e-01 -2.18403040e-02 1.84613483e+01] [ 2.07769004e-01 9.78163701e-01 -5.27405989e-03 3.22711395e+00] [ 2.24595269e-02 6.19870662e-04 9.99747561e-01 4.11070480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters Centerline goodness [0,1] 0.9994697389669551 Centerline is valid? [True, True] Translation: X:18.49, Y:3.23, Z:0.41 [[ 9.77389833e-01 -2.10169236e-01 -2.31949807e-02 1.84892952e+01] [ 2.10095294e-01 9.77664832e-01 -5.60753285e-03 3.23275009e+00] [ 2.38554477e-02 6.07589311e-04 9.99715234e-01 4.10734012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.186874999999997 meters Centerline goodness [0,1] 0.9994706193753309 Centerline is valid? [True, True] Translation: X:18.52, Y:3.24, Z:0.41 [[ 9.77158834e-01 -2.11258706e-01 -2.30298139e-02 1.85177835e+01] [ 2.11185976e-01 9.77430008e-01 -5.57350169e-03 3.23776379e+00] [ 2.36874819e-02 5.82622701e-04 9.99719242e-01 4.11650799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters Centerline goodness [0,1] 0.999470045527907 Centerline is valid? [True, True] Translation: X:18.55, Y:3.24, Z:0.41 [[ 9.76940951e-01 -2.12249475e-01 -2.31633251e-02 1.85457202e+01] [ 2.12176034e-01 9.77215349e-01 -5.61183123e-03 3.24416248e+00] [ 2.38266651e-02 5.67725285e-04 9.99715944e-01 4.12485713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.246875 meters Centerline goodness [0,1] 0.9994946821309977 Centerline is valid? [True, True] Translation: X:18.57, Y:3.25, Z:0.41 [[ 9.76792611e-01 -2.12843989e-01 -2.39506052e-02 1.85723794e+01] [ 2.12765504e-01 9.77086026e-01 -5.80844485e-03 3.25106914e+00] [ 2.46380943e-02 5.77783416e-04 9.99696269e-01 4.11821836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters Centerline goodness [0,1] 0.9994471020938003 Centerline is valid? [True, True] Translation: X:18.60, Y:3.26, Z:0.41 [[ 9.76416723e-01 -2.14382511e-01 -2.55053267e-02 1.86009787e+01] [ 2.14293944e-01 9.76749613e-01 -6.18867163e-03 3.25719351e+00] [ 2.62390610e-02 5.77085413e-04 9.99655530e-01 4.10007852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.306874999999998 meters Centerline goodness [0,1] 0.9993524869298288 Centerline is valid? [True, True] Translation: X:18.63, Y:3.27, Z:0.41 [[ 9.76320664e-01 -2.14800958e-01 -2.56614526e-02 1.86280821e+01] [ 2.14711289e-01 9.76657677e-01 -6.23255709e-03 3.26502810e+00] [ 2.64012139e-02 5.75170698e-04 9.99651262e-01 4.10179936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters Centerline goodness [0,1] 0.9994246949684781 Centerline is valid? [True, True] Translation: X:18.66, Y:3.27, Z:0.41 [[ 9.76172824e-01 -2.15483822e-01 -2.55605159e-02 1.86551861e+01] [ 2.15395006e-01 9.76507251e-01 -6.21126266e-03 3.27183673e+00] [ 2.62984557e-02 5.57658342e-04 9.99653980e-01 4.10530397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.366874999999997 meters Centerline goodness [0,1] 0.9995671932482146 Centerline is valid? [True, True] Translation: X:18.68, Y:3.28, Z:0.41 [[ 9.76026504e-01 -2.16174290e-01 -2.53167787e-02 1.86836713e+01] [ 2.16087207e-01 9.76354641e-01 -6.15912565e-03 3.27738868e+00] [ 2.60495989e-02 5.40837886e-04 9.99660505e-01 4.12901210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters Centerline goodness [0,1] 0.9994949494949495 Centerline is valid? [True, True] Translation: X:18.71, Y:3.28, Z:0.42 [[ 9.76086321e-01 -2.16014417e-01 -2.43570276e-02 1.87112162e+01] [ 2.15933609e-01 9.76390030e-01 -5.93180650e-03 3.28285948e+00] [ 2.50633146e-02 5.30454323e-04 9.99685725e-01 4.15458028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.426875 meters Centerline goodness [0,1] 0.9995436093295861 Centerline is valid? [True, True] Translation: X:18.74, Y:3.29, Z:0.42 [[ 9.76474093e-01 -2.14411585e-01 -2.29350690e-02 1.87372579e+01] [ 2.14339350e-01 9.76743250e-01 -5.59169214e-03 3.29186562e+00] [ 2.36005974e-02 5.44254735e-04 9.99721319e-01 4.18022199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters Centerline goodness [0,1] 0.999521542546829 Centerline is valid? [True, True] Translation: X:18.76, Y:3.30, Z:0.42 [[ 9.76645365e-01 -2.13656615e-01 -2.26865970e-02 1.87636242e+01] [ 2.13585685e-01 9.76908665e-01 -5.53320410e-03 3.30044359e+00] [ 2.33449388e-02 5.58445795e-04 9.99727314e-01 4.18355834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.486874999999998 meters Centerline goodness [0,1] 0.999543554509201 Centerline is valid? [True, True] Translation: X:18.79, Y:3.31, Z:0.42 [[ 9.77043141e-01 -2.11817546e-01 -2.28041446e-02 1.87918767e+01] [ 2.11745322e-01 9.77309039e-01 -5.56424188e-03 3.30799550e+00] [ 2.34653007e-02 6.07833427e-04 9.99724467e-01 4.18620370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters Centerline goodness [0,1] 0.9995452587238524 Centerline is valid? [True, True] Translation: X:18.82, Y:3.32, Z:0.42 [[ 9.77959213e-01 -2.07546225e-01 -2.28110096e-02 1.88180364e+01] [ 2.07472664e-01 9.78224949e-01 -5.57152054e-03 3.31941656e+00] [ 2.34706468e-02 7.16058901e-04 9.99724270e-01 4.18278358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.546874999999996 meters Centerline goodness [0,1] 0.9994237141622244 Centerline is valid? [True, True] Translation: X:18.85, Y:3.33, Z:0.42 [[ 9.78312863e-01 -2.05799442e-01 -2.34634000e-02 1.88459733e+01] [ 2.05721058e-01 9.78593878e-01 -5.73305580e-03 3.32641923e+00] [ 2.41409993e-02 7.81806770e-04 9.99708258e-01 4.18791859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters Centerline goodness [0,1] 0.9992797637625142 Centerline is valid? [True, True] Translation: X:18.87, Y:3.34, Z:0.42 [[ 9.79343577e-01 -2.00561963e-01 -2.57110248e-02 1.88729105e+01] [ 2.00465870e-01 9.79680504e-01 -6.28847604e-03 3.33949296e+00] [ 2.64498188e-02 1.00439568e-03 9.99649638e-01 4.17295499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.606875 meters Centerline goodness [0,1] 0.9993296624371558 Centerline is valid? [True, True] Translation: X:18.90, Y:3.35, Z:0.42 [[ 9.79896605e-01 -1.97651686e-01 -2.71377122e-02 1.89010575e+01] [ 1.97543485e-01 9.80271647e-01 -6.63850363e-03 3.34822777e+00] [ 2.79144413e-02 1.14416893e-03 9.99609661e-01 4.16066760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters Centerline goodness [0,1] 0.9992599135770048 Centerline is valid? [True, True] Translation: X:18.93, Y:3.36, Z:0.41 [[ 9.80395821e-01 -1.94949464e-01 -2.86136519e-02 1.89293652e+01] [ 1.94827976e-01 9.80812441e-01 -7.00109223e-03 3.35764086e+00] [ 2.94294849e-02 1.28910168e-03 9.99566028e-01 4.14502337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.666874999999997 meters Centerline goodness [0,1] 0.9994530190967681 Centerline is valid? [True, True] Translation: X:18.96, Y:3.37, Z:0.41 [[ 9.81496289e-01 -1.89240638e-01 -2.92064449e-02 1.89554480e+01] [ 1.89111503e-01 9.81929608e-01 -7.14729894e-03 3.37212536e+00] [ 3.00312324e-02 1.49177269e-03 9.99547848e-01 4.13362140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters Centerline goodness [0,1] 0.9993571734679301 Centerline is valid? [True, True] Translation: X:18.98, Y:3.38, Z:0.41 [[ 9.81788741e-01 -1.87684122e-01 -2.94200235e-02 1.89824422e+01] [ 1.87552353e-01 9.82228213e-01 -7.20093502e-03 3.38204203e+00] [ 3.02486782e-02 1.55200231e-03 9.99541199e-01 4.12918416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.726875 meters Centerline goodness [0,1] 0.9992420474194084 Centerline is valid? [True, True] Translation: X:19.01, Y:3.39, Z:0.41 [[ 9.81054678e-01 -1.91466428e-01 -2.95351697e-02 1.90116934e+01] [ 1.91335292e-01 9.81498103e-01 -7.23045118e-03 3.38781670e+00] [ 3.03731017e-02 1.44234762e-03 9.99537590e-01 4.13508432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters Centerline goodness [0,1] 0.9991703605376063 Centerline is valid? [True, True] Translation: X:19.04, Y:3.39, Z:0.42 [[ 9.80820659e-01 -1.92919970e-01 -2.77978573e-02 1.90397803e+01] [ 1.92804370e-01 9.81213613e-01 -6.80599707e-03 3.39309942e+00] [ 2.85886488e-02 1.31591416e-03 9.99590395e-01 4.16529677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.786875 meters Centerline goodness [0,1] 0.9992641997578979 Centerline is valid? [True, True] Translation: X:19.07, Y:3.40, Z:0.42 [[ 9.80282239e-01 -1.95811855e-01 -2.65414745e-02 1.90689706e+01] [ 1.95707484e-01 9.80640776e-01 -6.49997621e-03 3.39832554e+00] [ 2.73004245e-02 1.17744605e-03 9.99626580e-01 4.18934431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters Centerline goodness [0,1] 0.9992695570216776 Centerline is valid? [True, True] Translation: X:19.10, Y:3.40, Z:0.42 [[ 9.79866455e-01 -1.97890249e-01 -2.64798065e-02 1.90978133e+01] [ 1.97787090e-01 9.80223546e-01 -6.48593377e-03 3.40409349e+00] [ 2.72396328e-02 1.11798505e-03 9.99628307e-01 4.19019117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.846874999999997 meters Centerline goodness [0,1] 0.9994576878639976 Centerline is valid? [True, True] Translation: X:19.13, Y:3.41, Z:0.42 [[ 9.79533510e-01 -1.99503937e-01 -2.66886024e-02 1.91260531e+01] [ 1.99399630e-01 9.79896423e-01 -6.54118020e-03 3.41066038e+00] [ 2.74570572e-02 1.08560776e-03 9.99622394e-01 4.19018465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters Centerline goodness [0,1] 0.9994576878639976 Centerline is valid? [True, True] Translation: X:19.15, Y:3.42, Z:0.42 [[ 9.79477848e-01 -1.99777255e-01 -2.66869583e-02 1.91528708e+01] [ 1.99672867e-01 9.79840738e-01 -6.54788182e-03 3.41734114e+00] [ 2.74570867e-02 1.08484372e-03 9.99622394e-01 4.19618790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.906875 meters Centerline goodness [0,1] 0.9995740552308384 Centerline is valid? [True, True] Translation: X:19.18, Y:3.42, Z:0.42 [[ 9.78884881e-01 -2.02846517e-01 -2.52523418e-02 1.91827232e+01] [ 2.02753914e-01 9.79210083e-01 -6.20197065e-03 3.41950546e+00] [ 2.59853958e-02 9.51004176e-04 9.99661870e-01 4.22322856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters Centerline goodness [0,1] 0.9996688506753081 Centerline is valid? [True, True] Translation: X:19.21, Y:3.42, Z:0.43 [[ 9.78465879e-01 -2.05014837e-01 -2.39465936e-02 1.92110747e+01] [ 2.04932175e-01 9.78758497e-01 -5.88279483e-03 3.42495335e+00] [ 2.46439922e-02 8.48686495e-04 9.99695930e-01 4.25237587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.966874999999998 meters Centerline goodness [0,1] 0.9996205833530947 Centerline is valid? [True, True] Translation: X:19.24, Y:3.43, Z:0.43 [[ 9.77656208e-01 -2.08995115e-01 -2.25694511e-02 1.92390401e+01] [ 2.08922621e-01 9.77916426e-01 -5.54993139e-03 3.43036484e+00] [ 2.32309455e-02 7.10656014e-04 9.99729873e-01 4.27547143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters Centerline goodness [0,1] 0.9995522458405995 Centerline is valid? [True, True] Translation: X:19.27, Y:3.44, Z:0.43 [[ 9.77249945e-01 -2.10945270e-01 -2.20144956e-02 1.92674547e+01] [ 2.10876760e-01 9.77497658e-01 -5.41486809e-03 3.43685086e+00] [ 2.26613587e-02 6.49334043e-04 9.99742988e-01 4.27970190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.026874999999997 meters Centerline goodness [0,1] 0.9994592179821777 Centerline is valid? [True, True] Translation: X:19.29, Y:3.44, Z:0.43 [[ 9.76713964e-01 -2.13430501e-01 -2.18461214e-02 1.92946348e+01] [ 2.13363529e-01 9.76958070e-01 -5.37906647e-03 3.44420320e+00] [ 2.24908014e-02 5.92643784e-04 9.99746874e-01 4.27558058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters Centerline goodness [0,1] 0.9995054634513941 Centerline is valid? [True, True] Translation: X:19.32, Y:3.45, Z:0.43 [[ 9.75911425e-01 -2.17262767e-01 -1.98439022e-02 1.93236297e+01] [ 2.17208272e-01 9.76113046e-01 -4.88753045e-03 3.44897785e+00] [ 2.04317702e-02 4.59537115e-04 9.99791144e-01 4.30131503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.086875 meters Centerline goodness [0,1] 0.9996712380236709 Centerline is valid? [True, True] Translation: X:19.35, Y:3.46, Z:0.43 [[ 9.75562790e-01 -2.18890219e-01 -1.90870251e-02 1.93504663e+01] [ 2.18840018e-01 9.75749405e-01 -4.70593205e-03 3.45561047e+00] [ 1.96542358e-02 4.13927293e-04 9.99806751e-01 4.32751700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters Centerline goodness [0,1] 0.9995304613217514 Centerline is valid? [True, True] Translation: X:19.38, Y:3.46, Z:0.43 [[ 9.75172494e-01 -2.20630001e-01 -1.90002455e-02 1.93787275e+01] [ 2.20580558e-01 9.75357503e-01 -4.68596266e-03 3.46239502e+00] [ 1.95658960e-02 3.78537143e-04 9.99808498e-01 4.33700723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.146874999999998 meters Centerline goodness [0,1] 0.9995313525166369 Centerline is valid? [True, True] Translation: X:19.41, Y:3.47, Z:0.43 [[ 9.74557994e-01 -2.23189302e-01 -2.05730641e-02 1.94065034e+01] [ 2.23131781e-01 9.74775054e-01 -5.07960665e-03 3.46983295e+00] [ 2.11878235e-02 3.59866841e-04 9.99775448e-01 4.32707134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters Centerline goodness [0,1] 0.9994870718798815 Centerline is valid? [True, True] Translation: X:19.43, Y:3.48, Z:0.43 [[ 9.73984690e-01 -2.25604523e-01 -2.13640517e-02 1.94337505e+01] [ 2.25542949e-01 9.74218915e-01 -5.28057219e-03 3.47708372e+00] [ 2.20045842e-02 3.24685249e-04 9.99757817e-01 4.31089978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.206874999999997 meters Centerline goodness [0,1] 0.9995573571894512 Centerline is valid? [True, True] Translation: X:19.46, Y:3.48, Z:0.43 [[ 9.73613129e-01 -2.27230657e-01 -2.10642715e-02 1.94615676e+01] [ 2.27171139e-01 9.73840925e-01 -5.20833767e-03 3.48378582e+00] [ 2.16967437e-02 2.85711387e-04 9.99764557e-01 4.31179068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters Centerline goodness [0,1] 0.9995336799645597 Centerline is valid? [True, True] Translation: X:19.49, Y:3.49, Z:0.43 [[ 9.73365130e-01 -2.28302319e-01 -2.09374170e-02 1.94886350e+01] [ 2.28243648e-01 9.73590253e-01 -5.18234017e-03 3.49140595e+00] [ 2.15676054e-02 2.65476761e-04 9.99767357e-01 4.31323977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.266875 meters Centerline goodness [0,1] 0.9995346781135851 Centerline is valid? [True, True] Translation: X:19.51, Y:3.50, Z:0.43 [[ 9.73248679e-01 -2.28711839e-01 -2.18609960e-02 1.95148519e+01] [ 2.28647932e-01 9.73494131e-01 -5.41302565e-03 3.49909269e+00] [ 2.25195743e-02 2.69748526e-04 9.99746366e-01 4.31130589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters Centerline goodness [0,1] 0.9995110935208251 Centerline is valid? [True, True] Translation: X:19.54, Y:3.51, Z:0.43 [[ 9.73146238e-01 -2.29075510e-01 -2.26011299e-02 1.95422287e+01] [ 2.29007228e-01 9.73408617e-01 -5.59942245e-03 3.50753232e+00] [ 2.32828251e-02 2.73234791e-04 9.99728881e-01 4.31879333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.326874999999998 meters Centerline goodness [0,1] 0.9994200343339674 Centerline is valid? [True, True] Translation: X:19.57, Y:3.51, Z:0.43 [[ 9.73156710e-01 -2.29001847e-01 -2.28948000e-02 1.95693788e+01] [ 2.28931609e-01 9.73425946e-01 -5.67847993e-03 3.51446105e+00] [ 2.35867747e-02 2.84707444e-04 9.99721753e-01 4.32862969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters Centerline goodness [0,1] 0.9995586014635847 Centerline is valid? [True, True] Translation: X:19.60, Y:3.53, Z:0.43 [[ 9.73760598e-01 -2.26211992e-01 -2.48683079e-02 1.95951467e+01] [ 2.26128026e-01 9.74078017e-01 -6.17520147e-03 3.52572394e+00] [ 2.56205767e-02 3.89746492e-04 9.99671663e-01 4.31957480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.386875 meters Centerline goodness [0,1] 0.9994687362853117 Centerline is valid? [True, True] Translation: X:19.62, Y:3.54, Z:0.43 [[ 9.74313436e-01 -2.23736520e-01 -2.55988024e-02 1.96217832e+01] [ 2.23646629e-01 9.74649551e-01 -6.35902351e-03 3.53624305e+00] [ 2.63726070e-02 4.70596181e-04 9.99652072e-01 4.30348595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters Centerline goodness [0,1] 0.999351566661263 Centerline is valid? [True, True] Translation: X:19.65, Y:3.55, Z:0.43 [[ 9.74984954e-01 -2.20673674e-01 -2.65983045e-02 1.96489588e+01] [ 2.20575390e-01 9.75347525e-01 -6.61074963e-03 3.54679734e+00] [ 2.74014089e-02 5.78450029e-04 9.99624344e-01 4.29913117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.446875 meters Centerline goodness [0,1] 0.9993069192560934 Centerline is valid? [True, True] Translation: X:19.67, Y:3.56, Z:0.43 [[ 9.76617335e-01 -2.13219691e-01 -2.74944423e-02 1.96747318e+01] [ 2.13111546e-01 9.77003936e-01 -6.83945660e-03 3.56138715e+00] [ 2.83204851e-02 8.20148767e-04 9.99598558e-01 4.29523480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters Centerline goodness [0,1] 0.9992877820153472 Centerline is valid? [True, True] Translation: X:19.70, Y:3.57, Z:0.43 [[ 9.77349387e-01 -2.09764929e-01 -2.80508531e-02 1.97015738e+01] [ 2.09650893e-01 9.77751395e-01 -6.97948236e-03 3.57335564e+00] [ 2.88908113e-02 9.40506421e-04 9.99582131e-01 4.29248702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.506874999999997 meters Centerline goodness [0,1] 0.9992202013715282 Centerline is valid? [True, True] Translation: X:19.73, Y:3.58, Z:0.43 [[ 9.78056436e-01 -2.06388862e-01 -2.84472531e-02 1.97297583e+01] [ 2.06270086e-01 9.78469478e-01 -7.08036565e-03 3.58207098e+00] [ 2.92960775e-02 1.05717985e-03 9.99570219e-01 4.29865948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters Centerline goodness [0,1] 0.9993123209169055 Centerline is valid? [True, True] Translation: X:19.76, Y:3.59, Z:0.43 [[ 9.79052539e-01 -2.01644568e-01 -2.82062894e-02 1.97579350e+01] [ 2.01525774e-01 9.79458039e-01 -7.02227388e-03 3.59210747e+00] [ 2.90428803e-02 1.19088078e-03 9.99577457e-01 4.32507932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.566875 meters Centerline goodness [0,1] 0.9992646213949213 Centerline is valid? [True, True] Translation: X:19.79, Y:3.60, Z:0.43 [[ 9.79265945e-01 -2.00646947e-01 -2.79107934e-02 1.97859774e+01] [ 2.00530155e-01 9.79662870e-01 -6.95114619e-03 3.60059062e+00] [ 2.87378942e-02 1.21006501e-03 9.99586249e-01 4.34938170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters Centerline goodness [0,1] 0.9991975605841759 Centerline is valid? [True, True] Translation: X:19.81, Y:3.61, Z:0.44 [[ 9.79508226e-01 -2.00013235e-01 -2.36292285e-02 1.98138872e+01] [ 1.99929217e-01 9.79792638e-01 -5.89025936e-03 3.60897989e+00] [ 2.43298739e-02 1.04538435e-03 9.99703438e-01 4.39541638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.626875 meters Centerline goodness [0,1] 0.999242006615215 Centerline is valid? [True, True] Translation: X:19.84, Y:3.62, Z:0.44 [[ 9.79409687e-01 -2.00729715e-01 -2.15463955e-02 1.98406556e+01] [ 2.00659915e-01 9.79646209e-01 -5.37629874e-03 3.61768574e+00] [ 2.21870276e-02 9.42101177e-04 9.99753394e-01 4.40580410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters Centerline goodness [0,1] 0.9991765970586217 Centerline is valid? [True, True] Translation: X:19.87, Y:3.63, Z:0.44 [[ 9.79162817e-01 -2.02025907e-01 -2.06327793e-02 1.98677837e+01] [ 2.01962150e-01 9.79379786e-01 -5.15011997e-03 3.62631253e+00] [ 2.12477847e-02 8.75765495e-04 9.99773857e-01 4.41241790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.686874999999997 meters Centerline goodness [0,1] 0.999244540085161 Centerline is valid? [True, True] Translation: X:19.90, Y:3.63, Z:0.44 [[ 9.78827709e-01 -2.03639610e-01 -2.06694461e-02 1.98958942e+01] [ 2.03575870e-01 9.79045551e-01 -5.16471770e-03 3.63164435e+00] [ 2.12880704e-02 8.47568323e-04 9.99773024e-01 4.40875776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters Centerline goodness [0,1] 0.9992915095417667 Centerline is valid? [True, True] Translation: X:19.92, Y:3.64, Z:0.44 [[ 9.78270365e-01 -2.06249195e-01 -2.11745768e-02 1.99243685e+01] [ 2.06182786e-01 9.78499159e-01 -5.29668691e-03 3.63861297e+00] [ 2.18117430e-02 8.15758592e-04 9.99761763e-01 4.40831928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.746875 meters Centerline goodness [0,1] 0.9994493013010257 Centerline is valid? [True, True] Translation: X:19.95, Y:3.65, Z:0.44 [[ 9.77837766e-01 -2.08091825e-01 -2.30455314e-02 1.99528613e+01] [ 2.08013523e-01 9.78108926e-01 -5.77085538e-03 3.64543082e+00] [ 2.37419078e-02 8.49178158e-04 9.99717761e-01 4.39496211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters Centerline goodness [0,1] 0.9992203623022242 Centerline is valid? [True, True] Translation: X:19.98, Y:3.65, Z:0.44 [[ 9.77813254e-01 -2.07999959e-01 -2.48446525e-02 1.99795453e+01] [ 2.07908754e-01 9.78128398e-01 -6.22795861e-03 3.65326785e+00] [ 2.55966753e-02 9.24359718e-04 9.99671924e-01 4.38615537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.806874999999998 meters Centerline goodness [0,1] 0.9992218789335164 Centerline is valid? [True, True] Translation: X:20.01, Y:3.66, Z:0.44 [[ 9.77832494e-01 -2.07682775e-01 -2.66735578e-02 2.00075268e+01] [ 2.07577399e-01 9.78195713e-01 -6.69106581e-03 3.66145777e+00] [ 2.74815790e-02 1.00591381e-03 9.99621804e-01 4.37473742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters Centerline goodness [0,1] 0.9992224661544091 Centerline is valid? [True, True] Translation: X:20.03, Y:3.67, Z:0.44 [[ 9.77896311e-01 -2.07130385e-01 -2.85623772e-02 2.00333437e+01] [ 2.07009123e-01 9.78312728e-01 -7.17146447e-03 3.67216537e+00] [ 2.94283653e-02 1.10027600e-03 9.99566286e-01 4.35491455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.866874999999997 meters Centerline goodness [0,1] 0.9991747472663504 Centerline is valid? [True, True] Translation: X:20.06, Y:3.68, Z:0.43 [[ 9.78204368e-01 -2.05382226e-01 -3.05672267e-02 2.00623193e+01] [ 2.05242409e-01 9.78681058e-01 -7.67728141e-03 3.67846932e+00] [ 3.14923429e-02 1.23625895e-03 9.99503229e-01 4.33159799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters Centerline goodness [0,1] 0.9992429629969489 Centerline is valid? [True, True] Translation: X:20.09, Y:3.69, Z:0.43 [[ 9.78207399e-01 -2.05199094e-01 -3.16799160e-02 2.00896502e+01] [ 2.05048755e-01 9.78719403e-01 -7.95852470e-03 3.68568190e+00] [ 3.26388306e-02 1.28916039e-03 9.99466380e-01 4.32671491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.926875 meters Centerline goodness [0,1] 0.9992689390477931 Centerline is valid? [True, True] Translation: X:20.12, Y:3.69, Z:0.43 [[ 9.78069134e-01 -2.05698454e-01 -3.26942658e-02 2.01169469e+01] [ 2.05538426e-01 9.78614535e-01 -8.21876436e-03 3.69207806e+00] [ 3.36856709e-02 1.31859180e-03 9.99431607e-01 4.32188547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters Centerline goodness [0,1] 0.999335654723724 Centerline is valid? [True, True] Translation: X:20.15, Y:3.70, Z:0.43 [[ 9.77791312e-01 -2.07063659e-01 -3.23850393e-02 2.01455631e+01] [ 2.06907088e-01 9.78326649e-01 -8.15014538e-03 3.69730525e+00] [ 3.33707459e-02 1.26844718e-03 9.99442237e-01 4.32363770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.986874999999998 meters Centerline goodness [0,1] 0.9992672986216056 Centerline is valid? [True, True] Translation: X:20.17, Y:3.70, Z:0.43 [[ 9.77559747e-01 -2.08249498e-01 -3.17661480e-02 2.01740737e+01] [ 2.08099214e-01 9.78074985e-01 -8.00253796e-03 3.70318255e+00] [ 3.27361992e-02 1.21244857e-03 9.99463292e-01 4.34561797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters Centerline goodness [0,1] 0.9992420936588503 Centerline is valid? [True, True] Translation: X:20.20, Y:3.71, Z:0.44 [[ 9.77236325e-01 -2.10184231e-01 -2.88401508e-02 2.02034217e+01] [ 2.10061041e-01 9.77661236e-01 -7.27096418e-03 3.70509654e+00] [ 2.97241395e-02 1.04725822e-03 9.99557592e-01 4.39983543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.046874999999996 meters Centerline goodness [0,1] 0.9991509672089768 Centerline is valid? [True, True] Translation: X:20.23, Y:3.71, Z:0.44 [[ 9.77407956e-01 -2.09584027e-01 -2.73536487e-02 2.02300345e+01] [ 2.09472918e-01 9.77790116e-01 -6.89830717e-03 3.71299062e+00] [ 2.81919023e-02 1.01261172e-03 9.99602016e-01 4.42191127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters Centerline goodness [0,1] 0.9992441247881259 Centerline is valid? [True, True] Translation: X:20.26, Y:3.72, Z:0.44 [[ 9.77760917e-01 -2.08191529e-01 -2.52957762e-02 2.02575848e+01] [ 2.08095970e-01 9.78087590e-01 -6.38226996e-03 3.72105488e+00] [ 2.60702194e-02 9.76385042e-04 9.99659637e-01 4.44389161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.106875 meters Centerline goodness [0,1] 0.9992268510096416 Centerline is valid? [True, True] Translation: X:20.28, Y:3.73, Z:0.44 [[ 9.78787751e-01 -2.03397202e-01 -2.45787910e-02 2.02842323e+01] [ 2.03305333e-01 9.79095713e-01 -6.20693453e-03 3.73282450e+00] [ 2.53274620e-02 1.07827222e-03 9.99678627e-01 4.43864327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters Centerline goodness [0,1] 0.9992702061667579 Centerline is valid? [True, True] Translation: X:20.31, Y:3.74, Z:0.44 [[ 9.79229117e-01 -2.01278563e-01 -2.44392420e-02 2.03130561e+01] [ 2.01187053e-01 9.79533393e-01 -6.17258288e-03 3.73964037e+00] [ 2.51814623e-02 1.12751380e-03 9.99682261e-01 4.44578309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.166874999999997 meters Centerline goodness [0,1] 0.9992925443300851 Centerline is valid? [True, True] Translation: X:20.34, Y:3.75, Z:0.45 [[ 9.79601980e-01 -1.99393562e-01 -2.49432882e-02 2.03398411e+01] [ 1.99297599e-01 9.79918754e-01 -6.30100375e-03 3.74850655e+00] [ 2.56987755e-02 1.20133828e-03 9.99669010e-01 4.45026874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters Centerline goodness [0,1] 0.9992478803901905 Centerline is valid? [True, True] Translation: X:20.37, Y:3.76, Z:0.44 [[ 9.79968065e-01 -1.97423514e-01 -2.62020405e-02 2.03668940e+01] [ 1.97316860e-01 9.80317407e-01 -6.62107941e-03 3.75790549e+00] [ 2.69934731e-02 1.31834204e-03 9.99634740e-01 4.43567732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.226875 meters Centerline goodness [0,1] 0.9992716015660567 Centerline is valid? [True, True] Translation: X:20.40, Y:3.77, Z:0.44 [[ 9.80015469e-01 -1.97225978e-01 -2.59151550e-02 2.03951131e+01] [ 1.97121500e-01 9.80357176e-01 -6.55150194e-03 3.76564464e+00] [ 2.66982346e-02 1.31213901e-03 9.99642677e-01 4.43664590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters Centerline goodness [0,1] 0.999156599042626 Centerline is valid? [True, True] Translation: X:20.42, Y:3.77, Z:0.45 [[ 9.79924944e-01 -1.97654612e-01 -2.60721717e-02 2.04233321e+01] [ 1.97548827e-01 9.80270842e-01 -6.59822331e-03 3.76979998e+00] [ 2.68619590e-02 1.31523667e-03 9.99638287e-01 4.45445621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.286875 meters Centerline goodness [0,1] 0.9991795245800761 Centerline is valid? [True, True] Translation: X:20.45, Y:3.78, Z:0.45 [[ 9.79736690e-01 -1.98631998e-01 -2.57166662e-02 2.04508541e+01] [ 1.98529214e-01 9.80073311e-01 -6.51580070e-03 3.77661971e+00] [ 2.64984647e-02 1.27825949e-03 9.99648037e-01 4.47271169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters Centerline goodness [0,1] 0.9992900817551011 Centerline is valid? [True, True] Translation: X:20.48, Y:3.78, Z:0.45 [[ 9.79447313e-01 -2.00069841e-01 -2.55933389e-02 2.04798369e+01] [ 1.99968352e-01 9.79780854e-01 -6.49129269e-03 3.78069712e+00] [ 2.63745753e-02 1.24002138e-03 9.99651361e-01 4.49774553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.346874999999997 meters Centerline goodness [0,1] 0.9993332107054171 Centerline is valid? [True, True] Translation: X:20.51, Y:3.78, Z:0.45 [[ 9.78859487e-01 -2.02855748e-01 -2.61467174e-02 2.05097838e+01] [ 2.02750653e-01 9.79207902e-01 -6.63758510e-03 3.78294972e+00] [ 2.69495445e-02 1.19599912e-03 9.99636080e-01 4.50417847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters Centerline goodness [0,1] 0.99926629064062 Centerline is valid? [True, True] Translation: X:20.54, Y:3.79, Z:0.45 [[ 9.78538816e-01 -2.04369020e-01 -2.63645333e-02 2.05367926e+01] [ 2.04262679e-01 9.78893225e-01 -6.69419559e-03 3.79048462e+00] [ 2.71761492e-02 1.16524003e-03 9.99629981e-01 4.49711892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.406875 meters Centerline goodness [0,1] 0.9994485294117647 Centerline is valid? [True, True] Translation: X:20.56, Y:3.80, Z:0.45 [[ 9.78193118e-01 -2.06132325e-01 -2.54497322e-02 2.05638017e+01] [ 2.06033770e-01 9.78523530e-01 -6.46426543e-03 3.79649940e+00] [ 2.62356558e-02 1.07979568e-03 9.99655203e-01 4.49685521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters Centerline goodness [0,1] 0.9994261843554902 Centerline is valid? [True, True] Translation: X:20.59, Y:3.80, Z:0.45 [[ 9.77815347e-01 -2.07971647e-01 -2.49988146e-02 2.05927490e+01] [ 2.07877081e-01 9.78134328e-01 -6.35258630e-03 3.80179590e+00] [ 2.57733566e-02 1.01497576e-03 9.99667297e-01 4.50338519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.466874999999998 meters Centerline goodness [0,1] 0.9993545561420899 Centerline is valid? [True, True] Translation: X:20.62, Y:3.80, Z:0.45 [[ 9.77341543e-01 -2.10146567e-01 -2.53363247e-02 2.06217671e+01] [ 2.10050017e-01 9.77669406e-01 -6.44378661e-03 3.80361328e+00] [ 2.61246892e-02 9.75884910e-04 9.99658216e-01 4.50947668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters Centerline goodness [0,1] 0.9992348180953927 Centerline is valid? [True, True] Translation: X:20.65, Y:3.81, Z:0.45 [[ 9.77241341e-01 -2.10534175e-01 -2.59754264e-02 2.06498323e+01] [ 2.10432746e-01 9.77585994e-01 -6.60940562e-03 3.80722129e+00] [ 2.67847188e-02 9.92904119e-04 9.99640732e-01 4.52030864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.526874999999997 meters Centerline goodness [0,1] 0.9993726036946672 Centerline is valid? [True, True] Translation: X:20.68, Y:3.81, Z:0.45 [[ 9.77324697e-01 -2.10156950e-01 -2.58938684e-02 2.06785081e+01] [ 2.10055820e-01 9.77667142e-01 -6.59633737e-03 3.81317040e+00] [ 2.67018505e-02 1.00760567e-03 9.99642934e-01 4.54263998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters Centerline goodness [0,1] 0.9993953066493011 Centerline is valid? [True, True] Translation: X:20.71, Y:3.82, Z:0.45 [[ 9.77678647e-01 -2.08661839e-01 -2.45906352e-02 2.07070359e+01] [ 2.08570002e-01 9.77987338e-01 -6.27064741e-03 3.81944658e+00] [ 2.53577747e-02 1.00180925e-03 9.99677938e-01 4.54937703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.586875 meters Centerline goodness [0,1] 0.9992778774255165 Centerline is valid? [True, True] Translation: X:20.73, Y:3.83, Z:0.46 [[ 9.77949404e-01 -2.07460185e-01 -2.39840653e-02 2.07344292e+01] [ 2.07372318e-01 9.78242938e-01 -6.12179654e-03 3.82688726e+00] [ 2.47322715e-02 1.01317606e-03 9.99693597e-01 4.55266674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters Centerline goodness [0,1] 0.9993015946921197 Centerline is valid? [True, True] Translation: X:20.76, Y:3.84, Z:0.45 [[ 9.78578477e-01 -2.04511593e-01 -2.36468488e-02 2.07613603e+01] [ 2.04425269e-01 9.78863552e-01 -6.03782085e-03 3.83818439e+00] [ 2.43818428e-02 1.07446810e-03 9.99702141e-01 4.54930522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.646874999999998 meters Centerline goodness [0,1] 0.999231109764906 Centerline is valid? [True, True] Translation: X:20.79, Y:3.84, Z:0.46 [[ 9.78956062e-01 -2.02597918e-01 -2.44767756e-02 2.07907176e+01] [ 2.02504807e-01 9.79261320e-01 -6.25068983e-03 3.84417103e+00] [ 2.52355363e-02 1.16248600e-03 9.99680857e-01 4.55450426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters Centerline goodness [0,1] 0.9992336630904277 Centerline is valid? [True, True] Translation: X:20.82, Y:3.85, Z:0.46 [[ 9.79443307e-01 -2.00102246e-01 -2.54931419e-02 2.08185745e+01] [ 2.00000367e-01 9.79774186e-01 -6.51132329e-03 3.85253288e+00] [ 2.62804528e-02 1.27883428e-03 9.99653791e-01 4.55396743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.706874999999997 meters Centerline goodness [0,1] 0.9992093758720119 Centerline is valid? [True, True] Translation: X:20.85, Y:3.86, Z:0.45 [[ 9.79865423e-01 -1.97797804e-01 -2.71989332e-02 2.08455819e+01] [ 1.97680901e-01 9.80241796e-01 -6.94862478e-03 3.86311621e+00] [ 2.80359539e-02 1.43200753e-03 9.99605890e-01 4.54121718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters Centerline goodness [0,1] 0.9993250634207648 Centerline is valid? [True, True] Translation: X:20.87, Y:3.87, Z:0.45 [[ 9.80723182e-01 -1.93280742e-01 -2.87157576e-02 2.08741261e+01] [ 1.93148458e-01 9.81142107e-01 -7.33757704e-03 3.87143995e+00] [ 2.95924513e-02 1.64972761e-03 9.99560686e-01 4.51619634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.766875 meters Centerline goodness [0,1] 0.9993250634207648 Centerline is valid? [True, True] Translation: X:20.90, Y:3.88, Z:0.45 [[ 9.80667298e-01 -1.93564189e-01 -2.87150707e-02 2.09008993e+01] [ 1.93431948e-01 9.81086236e-01 -7.34026404e-03 3.87838103e+00] [ 2.95927728e-02 1.64394486e-03 9.99560686e-01 4.52222805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters Centerline goodness [0,1] 0.9991865572779882 Centerline is valid? [True, True] Translation: X:20.93, Y:3.89, Z:0.45 [[ 9.81021491e-01 -1.91637945e-01 -2.95251078e-02 2.09272317e+01] [ 1.91497039e-01 9.81464115e-01 -7.55476539e-03 3.88960026e+00] [ 3.04256135e-02 1.75741650e-03 9.99535489e-01 4.51531846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.826874999999998 meters Centerline goodness [0,1] 0.9990039379198518 Centerline is valid? [True, True] Translation: X:20.95, Y:3.90, Z:0.45 [[ 9.81691805e-01 -1.88229331e-01 -2.91705068e-02 2.09546030e+01] [ 1.88090229e-01 9.82123375e-01 -7.46608332e-03 3.90097187e+00] [ 3.00543724e-02 1.84270553e-03 9.99546567e-01 4.52985023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters Centerline goodness [0,1] 0.9991815354395155 Centerline is valid? [True, True] Translation: X:20.98, Y:3.90, Z:0.46 [[ 9.81767587e-01 -1.87884488e-01 -2.88413725e-02 2.09839806e+01] [ 1.87748283e-01 9.82189418e-01 -7.38444116e-03 3.90151903e+00] [ 2.97151128e-02 1.83488682e-03 9.99556724e-01 4.55241421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.886874999999996 meters Centerline goodness [0,1] 0.9992724541763477 Centerline is valid? [True, True] Translation: X:21.01, Y:3.91, Z:0.46 [[ 9.81695871e-01 -1.88307965e-01 -2.85188811e-02 2.10123517e+01] [ 1.88174743e-01 9.82108363e-01 -7.30951306e-03 3.90794717e+00] [ 2.93850711e-02 1.80918568e-03 9.99566528e-01 4.56242983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters Centerline goodness [0,1] 0.9992270757699965 Centerline is valid? [True, True] Translation: X:21.04, Y:3.92, Z:0.46 [[ 9.81634775e-01 -1.88727519e-01 -2.78404860e-02 2.10388711e+01] [ 1.88600552e-01 9.82027915e-01 -7.14182695e-03 3.91836089e+00] [ 2.86879937e-02 1.75993466e-03 9.99586865e-01 4.57013564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.946875 meters Centerline goodness [0,1] 0.9992936190251942 Centerline is valid? [True, True] Translation: X:21.07, Y:3.92, Z:0.46 [[ 9.81275350e-01 -1.90688094e-01 -2.71429299e-02 2.10687121e+01] [ 1.90568097e-01 9.81649269e-01 -6.96506404e-03 3.92047569e+00] [ 2.79729921e-02 1.66206914e-03 9.99607298e-01 4.59292331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters Centerline goodness [0,1] 0.9992442849045909 Centerline is valid? [True, True] Translation: X:21.10, Y:3.93, Z:0.46 [[ 9.80901448e-01 -1.92605386e-01 -2.71203752e-02 2.10963483e+01] [ 1.92486284e-01 9.81274978e-01 -6.96052012e-03 3.92598275e+00] [ 2.79531793e-02 1.60728402e-03 9.99607941e-01 4.60344333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.006874999999997 meters Centerline goodness [0,1] 0.9994767137624281 Centerline is valid? [True, True] Translation: X:21.13, Y:3.92, Z:0.46 [[ 9.80243861e-01 -1.95981270e-01 -2.67079393e-02 2.11275222e+01] [ 1.95866965e-01 9.80606508e-01 -6.85633371e-03 3.92483604e+00] [ 2.75336921e-02 1.48967602e-03 9.99619766e-01 4.63408215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters Centerline goodness [0,1] 0.9994037966231041 Centerline is valid? [True, True] Translation: X:21.16, Y:3.93, Z:0.46 [[ 9.79797915e-01 -1.98312671e-01 -2.58482102e-02 2.11572387e+01] [ 1.98206404e-01 9.80137839e-01 -6.63609989e-03 3.92941256e+00] [ 2.66508316e-02 1.37875604e-03 9.99643853e-01 4.64595103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.066875 meters Centerline goodness [0,1] 0.9992834794239175 Centerline is valid? [True, True] Translation: X:21.18, Y:3.94, Z:0.46 [[ 9.79459883e-01 -2.00037706e-01 -2.53624416e-02 2.11836675e+01] [ 1.99935948e-01 9.79787327e-01 -6.51233109e-03 3.93803305e+00] [ 2.61525106e-02 1.30770324e-03 9.99657109e-01 4.64678710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters Centerline goodness [0,1] 0.999472130911534 Centerline is valid? [True, True] Translation: X:21.21, Y:3.94, Z:0.47 [[ 9.79155103e-01 -2.01542003e-01 -2.52211311e-02 2.12138147e+01] [ 2.01441776e-01 9.79479057e-01 -6.47981002e-03 3.93913874e+00] [ 2.60095236e-02 1.26414963e-03 9.99660896e-01 4.65649096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.126875 meters Centerline goodness [0,1] 0.9994706957944375 Centerline is valid? [True, True] Translation: X:21.24, Y:3.94, Z:0.46 [[ 9.78493087e-01 -2.04550226e-01 -2.66548883e-02 2.12419068e+01] [ 2.04439229e-01 9.78855262e-01 -6.85401696e-03 3.94494657e+00] [ 2.74932684e-02 1.25730341e-03 9.99621198e-01 4.64249330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters Centerline goodness [0,1] 0.9996613367522195 Centerline is valid? [True, True] Translation: X:21.27, Y:3.95, Z:0.46 [[ 9.78115314e-01 -2.06329301e-01 -2.68076901e-02 2.12710024e+01] [ 2.06217619e-01 9.78481854e-01 -6.89600335e-03 3.94647978e+00] [ 2.76536859e-02 1.21686846e-03 9.99616823e-01 4.64768827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.186874999999997 meters Centerline goodness [0,1] 0.9995651018386528 Centerline is valid? [True, True] Translation: X:21.30, Y:3.95, Z:0.47 [[ 9.77592819e-01 -2.08847668e-01 -2.63615579e-02 2.13002952e+01] [ 2.08740403e-01 9.77947528e-01 -6.78799014e-03 3.94991287e+00] [ 2.71978763e-02 1.13316820e-03 9.99629427e-01 4.66332303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters Centerline goodness [0,1] 0.9994689069138664 Centerline is valid? [True, True] Translation: X:21.33, Y:3.95, Z:0.47 [[ 9.76050326e-01 -2.15983285e-01 -2.60188688e-02 2.13309163e+01] [ 2.15881174e-01 9.76396620e-01 -6.70511168e-03 3.95236501e+00] [ 2.68529277e-02 9.27542493e-04 9.99638965e-01 4.65537101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.246875 meters Centerline goodness [0,1] 0.9996124406549753 Centerline is valid? [True, True] Translation: X:21.36, Y:3.96, Z:0.47 [[ 9.75499003e-01 -2.18534468e-01 -2.53846614e-02 2.13581585e+01] [ 2.18438104e-01 9.75828870e-01 -6.54297190e-03 3.95815711e+00] [ 2.62009503e-02 8.37685276e-04 9.99656345e-01 4.67606820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters Centerline goodness [0,1] 0.9996105919003115 Centerline is valid? [True, True] Translation: X:21.39, Y:3.96, Z:0.47 [[ 9.75145064e-01 -2.20176976e-01 -2.47831148e-02 2.13866996e+01] [ 2.20085582e-01 9.75459632e-01 -6.39077552e-03 3.96287483e+00] [ 2.55820296e-02 7.77526965e-04 9.99672424e-01 4.69854547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.306874999999998 meters Centerline goodness [0,1] 0.9996115184771525 Centerline is valid? [True, True] Translation: X:21.41, Y:3.97, Z:0.47 [[ 9.74918454e-01 -2.21112826e-01 -2.53599120e-02 2.14135657e+01] [ 2.21017288e-01 9.75247925e-01 -6.54547053e-03 3.96968767e+00] [ 2.61794891e-02 7.76321038e-04 9.99656957e-01 4.70154531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters Centerline goodness [0,1] 0.9995640907659894 Centerline is valid? [True, True] Translation: X:21.44, Y:3.98, Z:0.47 [[ 9.74760795e-01 -2.21563246e-01 -2.74065769e-02 2.14413836e+01] [ 2.21451727e-01 9.75145650e-01 -7.07766691e-03 3.97553513e+00] [ 2.82935551e-02 8.29798442e-04 9.99599313e-01 4.67529391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.366874999999997 meters Centerline goodness [0,1] 0.9995882082213018 Centerline is valid? [True, True] Translation: X:21.47, Y:3.98, Z:0.47 [[ 9.74784358e-01 -2.21344712e-01 -2.83191490e-02 2.14690883e+01] [ 2.21225303e-01 9.75195241e-01 -7.32172454e-03 3.98252173e+00] [ 2.92373243e-02 8.72190243e-04 9.99572118e-01 4.66302954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters Centerline goodness [0,1] 0.9994892623489068 Centerline is valid? [True, True] Translation: X:21.50, Y:3.99, Z:0.47 [[ 9.75040157e-01 -2.20106840e-01 -2.91491162e-02 2.14970873e+01] [ 2.19979536e-01 9.75475314e-01 -7.54424436e-03 3.98992510e+00] [ 3.00947830e-02 9.43732161e-04 9.99546604e-01 4.65622386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.426875 meters Centerline goodness [0,1] 0.9995407743993813 Centerline is valid? [True, True] Translation: X:21.52, Y:4.00, Z:0.46 [[ 9.75907086e-01 -2.16299482e-01 -2.86337808e-02 2.15237778e+01] [ 2.16174824e-01 9.76326500e-01 -7.41690217e-03 4.00251085e+00] [ 2.95601911e-02 1.04830487e-03 9.99562452e-01 4.64886520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters Centerline goodness [0,1] 0.9995636575196354 Centerline is valid? [True, True] Translation: X:21.55, Y:4.01, Z:0.47 [[ 9.76332291e-01 -2.14353095e-01 -2.87751185e-02 2.15517730e+01] [ 2.14226261e-01 9.76755602e-01 -7.45679984e-03 4.00863106e+00] [ 2.97046463e-02 1.11592842e-03 9.99558097e-01 4.66606434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.486874999999998 meters Centerline goodness [0,1] 0.9994675186368477 Centerline is valid? [True, True] Translation: X:21.58, Y:4.02, Z:0.47 [[ 9.75954199e-01 -2.16002821e-01 -2.92605917e-02 2.15792241e+01] [ 2.15872167e-01 9.76392129e-01 -7.59060197e-03 4.01590346e+00] [ 3.02094029e-02 1.09153251e-03 9.99542996e-01 4.67381247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters Centerline goodness [0,1] 0.9995394944133401 Centerline is valid? [True, True] Translation: X:21.61, Y:4.02, Z:0.47 [[ 9.75430938e-01 -2.18262914e-01 -2.99296782e-02 2.16074452e+01] [ 2.18127026e-01 9.75889436e-01 -7.77231108e-03 4.02192504e+00] [ 3.09044641e-02 1.05288100e-03 9.99521788e-01 4.68757743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.546874999999996 meters Centerline goodness [0,1] 0.9995426315536085 Centerline is valid? [True, True] Translation: X:21.64, Y:4.03, Z:0.47 [[ 9.75153538e-01 -2.19459458e-01 -3.02179248e-02 2.16350756e+01] [ 2.19321261e-01 9.75621074e-01 -7.85521890e-03 4.02910591e+00] [ 3.12051463e-02 1.03261114e-03 9.99512467e-01 4.70445642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters Centerline goodness [0,1] 0.9996151996151996 Centerline is valid? [True, True] Translation: X:21.66, Y:4.04, Z:0.47 [[ 9.75051597e-01 -2.20162367e-01 -2.83357741e-02 2.16615137e+01] [ 2.20040969e-01 9.75462774e-01 -7.37215766e-03 4.03854025e+00] [ 2.92635645e-02 9.53202905e-04 9.99571276e-01 4.72701770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.606875 meters Centerline goodness [0,1] 0.9996167940028261 Centerline is valid? [True, True] Translation: X:21.69, Y:4.05, Z:0.47 [[ 9.74999882e-01 -2.20488590e-01 -2.75683189e-02 2.16883010e+01] [ 2.20373676e-01 9.75389118e-01 -7.17721071e-03 4.04760309e+00] [ 2.84723313e-02 9.22447829e-04 9.99594155e-01 4.73223914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters Centerline goodness [0,1] 0.9995204641906634 Centerline is valid? [True, True] Translation: X:21.72, Y:4.05, Z:0.47 [[ 9.75020429e-01 -2.20465044e-01 -2.70245557e-02 2.17158695e+01] [ 2.20354391e-01 9.75394449e-01 -7.04349559e-03 4.05482984e+00] [ 2.79124462e-02 9.12572586e-04 9.99609955e-01 4.74734620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.666874999999997 meters Centerline goodness [0,1] 0.9997610285331932 Centerline is valid? [True, True] Translation: X:21.74, Y:4.06, Z:0.48 [[ 9.75107355e-01 -2.20223774e-01 -2.58289689e-02 2.17433675e+01] [ 2.20122418e-01 9.75448976e-01 -6.73920024e-03 4.06367941e+00] [ 2.66789733e-02 8.85908644e-04 9.99643660e-01 4.76027854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters Centerline goodness [0,1] 0.9994747899159664 Centerline is valid? [True, True] Translation: X:21.77, Y:4.08, Z:0.48 [[ 9.75270751e-01 -2.19634745e-01 -2.46483574e-02 2.17693850e+01] [ 2.19542108e-01 9.75581790e-01 -6.43697609e-03 4.07557315e+00] [ 2.54602722e-02 8.66442150e-04 9.99675459e-01 4.77244300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.726875 meters Centerline goodness [0,1] 0.9994987229370061 Centerline is valid? [True, True] Translation: X:21.80, Y:4.08, Z:0.48 [[ 9.75290207e-01 -2.19600257e-01 -2.41813787e-02 2.17972418e+01] [ 2.19510995e-01 9.75589564e-01 -6.31873164e-03 4.08282735e+00] [ 2.49786958e-02 8.54518581e-04 9.99687618e-01 4.79087625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters Centerline goodness [0,1] 0.9995701287225659 Centerline is valid? [True, True] Translation: X:21.82, Y:4.09, Z:0.48 [[ 9.75353165e-01 -2.19286020e-01 -2.44917297e-02 2.18238253e+01] [ 2.19194201e-01 9.75660222e-01 -6.40578665e-03 4.09196357e+00] [ 2.53003059e-02 8.79459164e-04 9.99679509e-01 4.79903425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.786875 meters Centerline goodness [0,1] 0.9994988425649715 Centerline is valid? [True, True] Translation: X:21.85, Y:4.10, Z:0.48 [[ 9.75441596e-01 -2.18876851e-01 -2.46295991e-02 2.18512788e+01] [ 2.18783791e-01 9.75752078e-01 -6.44475775e-03 4.10038130e+00] [ 2.54429908e-02 8.97927713e-04 9.99675871e-01 4.80357261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters Centerline goodness [0,1] 0.9996430526140447 Centerline is valid? [True, True] Translation: X:21.88, Y:4.11, Z:0.48 [[ 9.75960088e-01 -2.16532159e-01 -2.48139242e-02 2.18789370e+01] [ 2.16436796e-01 9.76275002e-01 -6.49871748e-03 4.11189766e+00] [ 2.56323952e-02 9.71842630e-04 9.99670964e-01 4.79839882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.846874999999997 meters Centerline goodness [0,1] 0.9995503916325517 Centerline is valid? [True, True] Translation: X:21.91, Y:4.12, Z:0.48 [[ 9.76263320e-01 -2.15051900e-01 -2.57412342e-02 2.19061292e+01] [ 2.14948707e-01 9.76602056e-01 -6.74363620e-03 4.12113520e+00] [ 2.65891740e-02 1.05051966e-03 9.99645893e-01 4.79012562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters Centerline goodness [0,1] 0.9995019920318725 Centerline is valid? [True, True] Translation: X:21.93, Y:4.13, Z:0.48 [[ 9.76582176e-01 -2.13492566e-01 -2.66116270e-02 2.19312597e+01] [ 2.13381511e-01 9.76944027e-01 -6.97838701e-03 4.13376035e+00] [ 2.74879038e-02 1.13653919e-03 9.99621490e-01 4.76997282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.906875 meters Centerline goodness [0,1] 0.9994357720519089 Centerline is valid? [True, True] Translation: X:21.96, Y:4.14, Z:0.48 [[ 9.77360968e-01 -2.09743825e-01 -2.78040547e-02 2.19594725e+01] [ 2.09620962e-01 9.77755508e-01 -7.29513152e-03 4.14431373e+00] [ 2.87156764e-02 1.30166412e-03 9.99586772e-01 4.75411519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters Centerline goodness [0,1] 0.9995991889470458 Centerline is valid? [True, True] Translation: X:21.99, Y:4.16, Z:0.47 [[ 9.77580088e-01 -2.08672941e-01 -2.81562747e-02 2.19857954e+01] [ 2.08546447e-01 9.77984548e-01 -7.38942181e-03 4.15548814e+00] [ 2.90783740e-02 1.35186059e-03 9.99576221e-01 4.74859878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.966874999999998 meters Centerline goodness [0,1] 0.9993609467455621 Centerline is valid? [True, True] Translation: X:22.01, Y:4.16, Z:0.48 [[ 9.77741416e-01 -2.07809601e-01 -2.89291109e-02 2.20144050e+01] [ 2.07675565e-01 9.78168265e-01 -7.59636920e-03 4.16019470e+00] [ 2.98761366e-02 1.41941534e-03 9.99552601e-01 4.75301565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters Centerline goodness [0,1] 0.9994778191830244 Centerline is valid? [True, True] Translation: X:22.04, Y:4.17, Z:0.48 [[ 9.77791525e-01 -2.07596742e-01 -2.87632979e-02 2.20426595e+01] [ 2.07463917e-01 9.78213454e-01 -7.56054467e-03 4.16756304e+00] [ 2.97061894e-02 1.42529005e-03 9.99557658e-01 4.76672747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.026874999999997 meters Centerline goodness [0,1] 0.9993629070316187 Centerline is valid? [True, True] Translation: X:22.07, Y:4.18, Z:0.48 [[ 9.77764178e-01 -2.07774325e-01 -2.84084920e-02 2.20684469e+01] [ 2.07644645e-01 9.78175774e-01 -7.47365340e-03 4.18028469e+00] [ 2.93413320e-02 1.40859932e-03 9.99568458e-01 4.76668045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters Centerline goodness [0,1] 0.9992932362711145 Centerline is valid? [True, True] Translation: X:22.10, Y:4.19, Z:0.48 [[ 9.77613156e-01 -2.08563451e-01 -2.78173375e-02 2.20972942e+01] [ 2.08439325e-01 9.78007893e-01 -7.32187261e-03 4.18601919e+00] [ 2.87326506e-02 1.35973195e-03 9.99586207e-01 4.77317022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.086875 meters Centerline goodness [0,1] 0.9993813500844695 Centerline is valid? [True, True] Translation: X:22.13, Y:4.19, Z:0.48 [[ 9.77454148e-01 -2.09378761e-01 -2.72749619e-02 2.21254353e+01] [ 2.09259547e-01 9.77833729e-01 -7.18616144e-03 4.19102539e+00] [ 2.81750073e-02 1.31659713e-03 9.99602139e-01 4.78429018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters Centerline goodness [0,1] 0.9994304698623635 Centerline is valid? [True, True] Translation: X:22.15, Y:4.20, Z:0.48 [[ 9.77044282e-01 -2.11315730e-01 -2.70209643e-02 2.21524274e+01] [ 2.11199287e-01 9.77417049e-01 -7.12561998e-03 4.19848372e+00] [ 2.79165068e-02 1.25523786e-03 9.99609470e-01 4.77540133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.146874999999998 meters Centerline goodness [0,1] 0.9994097648503164 Centerline is valid? [True, True] Translation: X:22.18, Y:4.21, Z:0.48 [[ 9.76733069e-01 -2.12708986e-01 -2.73386070e-02 2.21808757e+01] [ 2.12590207e-01 9.77114816e-01 -7.21384844e-03 4.20526815e+00] [ 2.82474084e-02 1.23408419e-03 9.99600201e-01 4.76990902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters Centerline goodness [0,1] 0.9994999523764168 Centerline is valid? [True, True] Translation: X:22.21, Y:4.21, Z:0.48 [[ 9.76423060e-01 -2.14199152e-01 -2.67718158e-02 2.22088005e+01] [ 2.14085615e-01 9.76789305e-01 -7.07122273e-03 4.21198295e+00] [ 2.76650732e-02 1.17304429e-03 9.99616560e-01 4.77391825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.206874999999997 meters Centerline goodness [0,1] 0.999476464708962 Centerline is valid? [True, True] Translation: X:22.24, Y:4.22, Z:0.48 [[ 9.75562930e-01 -2.18218981e-01 -2.56407126e-02 2.22375134e+01] [ 2.18116076e-01 9.75899296e-01 -6.77796491e-03 4.21573889e+00] [ 2.65018340e-02 1.01967969e-03 9.99648245e-01 4.80956204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters Centerline goodness [0,1] 0.999571673329526 Centerline is valid? [True, True] Translation: X:22.27, Y:4.22, Z:0.48 [[ 9.75046615e-01 -2.20559706e-01 -2.52490634e-02 2.22662228e+01] [ 2.20460667e-01 9.75373019e-01 -6.67588245e-03 4.22036069e+00] [ 2.60996859e-02 9.42871219e-04 9.99658901e-01 4.83730109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.266875 meters Centerline goodness [0,1] 0.9995456067345865 Centerline is valid? [True, True] Translation: X:22.30, Y:4.23, Z:0.49 [[ 9.74405422e-01 -2.23516415e-01 -2.39684161e-02 2.22950935e+01] [ 2.23428009e-01 9.74699819e-01 -6.33941292e-03 4.22534259e+00] [ 2.47789736e-02 8.21942839e-04 9.99692616e-01 4.85960820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters Centerline goodness [0,1] 0.9995450300519624 Centerline is valid? [True, True] Translation: X:22.32, Y:4.23, Z:0.49 [[ 9.73224582e-01 -2.28800643e-01 -2.20040819e-02 2.23236653e+01] [ 2.28727379e-01 9.73473092e-01 -5.82446596e-03 4.22867439e+00] [ 2.27530232e-02 6.35577473e-04 9.99740914e-01 4.88167182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.326874999999998 meters Centerline goodness [0,1] 0.9995193925121353 Centerline is valid? [True, True] Translation: X:22.35, Y:4.23, Z:0.49 [[ 9.72586125e-01 -2.31497594e-01 -2.20248222e-02 2.23533795e+01] [ 2.31424850e-01 9.72835307e-01 -5.83134132e-03 4.22968094e+00] [ 2.27764661e-02 5.74390491e-04 9.99740418e-01 4.89219355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters Centerline goodness [0,1] 0.9995216798603305 Centerline is valid? [True, True] Translation: X:22.38, Y:4.24, Z:0.49 [[ 9.72049691e-01 -2.33728223e-01 -2.21476200e-02 2.23806015e+01] [ 2.33655111e-01 9.72301824e-01 -5.86965374e-03 4.23622689e+00] [ 2.29060751e-02 5.30690486e-04 9.99737481e-01 4.89947331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.386874999999996 meters Centerline goodness [0,1] 0.9995667140071733 Centerline is valid? [True, True] Translation: X:22.41, Y:4.24, Z:0.49 [[ 9.71084707e-01 -2.37661331e-01 -2.26182245e-02 2.24089763e+01] [ 2.37586094e-01 9.71347976e-01 -5.99652602e-03 4.23970366e+00] [ 2.33953090e-02 4.49359106e-04 9.99726191e-01 4.89842520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters Centerline goodness [0,1] 0.9996150329628025 Centerline is valid? [True, True] Translation: X:22.44, Y:4.25, Z:0.49 [[ 9.70604712e-01 -2.39598943e-01 -2.27780435e-02 2.24376130e+01] [ 2.39523125e-01 9.70871866e-01 -6.04088097e-03 4.24548562e+00] [ 2.35619503e-02 4.07439397e-04 9.99722296e-01 4.89669460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.446875 meters Centerline goodness [0,1] 0.9995660873128751 Centerline is valid? [True, True] Translation: X:22.47, Y:4.25, Z:0.49 [[ 9.70132915e-01 -2.41506981e-01 -2.27267628e-02 2.24659334e+01] [ 2.41431892e-01 9.70399013e-01 -6.03302296e-03 4.25160925e+00] [ 2.35110453e-02 3.65868825e-04 9.99723510e-01 4.89556116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters Centerline goodness [0,1] 0.9996376811594203 Centerline is valid? [True, True] Translation: X:22.49, Y:4.26, Z:0.49 [[ 9.69762449e-01 -2.42908106e-01 -2.35890835e-02 2.24932347e+01] [ 2.42827482e-01 9.70049241e-01 -6.26770645e-03 4.25653630e+00] [ 2.44050492e-02 3.50108602e-04 9.99702091e-01 4.90067811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.506874999999997 meters Centerline goodness [0,1] 0.999638013417636 Centerline is valid? [True, True] Translation: X:22.52, Y:4.26, Z:0.49 [[ 9.69815990e-01 -2.42604780e-01 -2.44921609e-02 2.25212322e+01] [ 2.42517696e-01 9.70125137e-01 -6.51050618e-03 4.26202238e+00] [ 2.53399409e-02 3.74210561e-04 9.99678822e-01 4.91384840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters Centerline goodness [0,1] 0.9995171881035149 Centerline is valid? [True, True] Translation: X:22.55, Y:4.27, Z:0.49 [[ 9.70030078e-01 -2.41566726e-01 -2.62138224e-02 2.25483352e+01] [ 2.41466417e-01 9.70384113e-01 -6.97443690e-03 4.27019816e+00] [ 2.71222687e-02 4.35655804e-04 9.99632029e-01 4.91229534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.566875 meters Centerline goodness [0,1] 0.9996390152335571 Centerline is valid? [True, True] Translation: X:22.58, Y:4.28, Z:0.49 [[ 9.70513731e-01 -2.39535111e-01 -2.69449157e-02 2.25756301e+01] [ 2.39428247e-01 9.70887569e-01 -7.17241542e-03 4.28004278e+00] [ 2.78785290e-02 5.09553712e-04 9.99611188e-01 4.90989425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters Centerline goodness [0,1] 0.9995931359643875 Centerline is valid? [True, True] Translation: X:22.60, Y:4.29, Z:0.49 [[ 9.71928734e-01 -2.33351509e-01 -3.00268090e-02 2.26022384e+01] [ 2.33215644e-01 9.72392142e-01 -7.99913387e-03 4.29418182e+00] [ 3.10644431e-02 7.71866450e-04 9.99517086e-01 4.87406611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.626875 meters Centerline goodness [0,1] 0.9994986032519161 Centerline is valid? [True, True] Translation: X:22.63, Y:4.30, Z:0.49 [[ 9.72749151e-01 -2.29878708e-01 -3.02467875e-02 2.26300339e+01] [ 2.29739131e-01 9.73218879e-01 -8.05884606e-03 4.30499596e+00] [ 3.12893018e-02 8.90364996e-04 9.99509973e-01 4.87497984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters Centerline goodness [0,1] 0.9995463228271251 Centerline is valid? [True, True] Translation: X:22.66, Y:4.32, Z:0.49 [[ 9.73500231e-01 -2.26716177e-01 -2.99512044e-02 2.26562634e+01] [ 2.26577786e-01 9.73960373e-01 -7.98113791e-03 4.31551773e+00] [ 3.09807393e-02 9.83362013e-04 9.99519498e-01 4.89543670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.686874999999997 meters Centerline goodness [0,1] 0.9995463228271251 Centerline is valid? [True, True] Translation: X:22.68, Y:4.32, Z:0.49 [[ 9.73438001e-01 -2.26983359e-01 -2.99501654e-02 2.26829353e+01] [ 2.26844975e-01 9.73898145e-01 -7.98503469e-03 4.32272741e+00] [ 3.09808806e-02 9.78891687e-04 9.99519498e-01 4.90145691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters Centerline goodness [0,1] 0.9994287754373438 Centerline is valid? [True, True] Translation: X:22.71, Y:4.33, Z:0.49 [[ 9.74404796e-01 -2.22783607e-01 -3.00459327e-02 2.27105683e+01] [ 2.22642132e-01 9.74867275e-01 -8.01729208e-03 4.33203130e+00] [ 3.10769178e-02 1.12259734e-03 9.99516366e-01 4.93589674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.746875 meters Centerline goodness [0,1] 0.9996197537905794 Centerline is valid? [True, True] Translation: X:22.74, Y:4.34, Z:0.49 [[ 9.74603514e-01 -2.21936308e-01 -2.98708062e-02 2.27378834e+01] [ 2.21795972e-01 9.75060491e-01 -7.97406881e-03 4.34191605e+00] [ 3.08955783e-02 1.14633101e-03 9.99521960e-01 4.94344077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters Centerline goodness [0,1] 0.9995286687248133 Centerline is valid? [True, True] Translation: X:22.76, Y:4.35, Z:0.50 [[ 9.74849117e-01 -2.20964882e-01 -2.90468539e-02 2.27634694e+01] [ 2.20831551e-01 9.75281086e-01 -7.76080787e-03 4.35232282e+00] [ 3.00437132e-02 1.15115491e-03 9.99547923e-01 4.95061300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.806874999999998 meters Centerline goodness [0,1] 0.9995031702469953 Centerline is valid? [True, True] Translation: X:22.79, Y:4.36, Z:0.50 [[ 9.75045213e-01 -2.20128743e-01 -2.88126555e-02 2.27915631e+01] [ 2.19997028e-01 9.75470123e-01 -7.70366372e-03 4.36017350e+00] [ 2.98016824e-02 1.17272184e-03 9.99555143e-01 4.97304263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters Centerline goodness [0,1] 0.9996688506753081 Centerline is valid? [True, True] Translation: X:22.82, Y:4.37, Z:0.50 [[ 9.75383377e-01 -2.18836413e-01 -2.71641558e-02 2.28189591e+01] [ 2.18718652e-01 9.75760884e-01 -7.26967266e-03 4.36908054e+00] [ 2.80965898e-02 1.14941033e-03 9.99604552e-01 5.00787224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.866874999999997 meters Centerline goodness [0,1] 0.9996210775606867 Centerline is valid? [True, True] Translation: X:22.85, Y:4.38, Z:0.50 [[ 9.75424999e-01 -2.18698473e-01 -2.67777869e-02 2.28464302e+01] [ 2.18583814e-01 9.75791818e-01 -7.17251662e-03 4.37897517e+00] [ 2.76981638e-02 1.14306121e-03 9.99615679e-01 5.01272019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters Centerline goodness [0,1] 0.9994564832100574 Centerline is valid? [True, True] Translation: X:22.87, Y:4.39, Z:0.50 [[ 9.75349312e-01 -2.19076758e-01 -2.64404017e-02 2.28733608e+01] [ 2.18964982e-01 9.75706982e-01 -7.08677278e-03 4.38612783e+00] [ 2.73506318e-02 1.12255686e-03 9.99625271e-01 5.01260907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.926875 meters Centerline goodness [0,1] 0.9995261449522591 Centerline is valid? [True, True] Translation: X:22.90, Y:4.39, Z:0.50 [[ 9.75103894e-01 -2.20218824e-01 -2.60012429e-02 2.28997315e+01] [ 2.20110958e-01 9.75449899e-01 -6.97569441e-03 4.39433827e+00] [ 2.68990890e-02 1.07886829e-03 9.99637572e-01 5.02786464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters Centerline goodness [0,1] 0.999481511159294 Centerline is valid? [True, True] Translation: X:22.93, Y:4.40, Z:0.50 [[ 9.74905624e-01 -2.20974849e-01 -2.70025956e-02 2.29279343e+01] [ 2.20858704e-01 9.75278884e-01 -7.24785954e-03 4.39976360e+00] [ 2.79366560e-02 1.10222076e-03 9.99609088e-01 5.03077771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.986874999999998 meters Centerline goodness [0,1] 0.9995265711918571 Centerline is valid? [True, True] Translation: X:22.95, Y:4.41, Z:0.50 [[ 9.74582966e-01 -2.22165860e-01 -2.88162066e-02 2.29547627e+01] [ 2.22033912e-01 9.75008214e-01 -7.74112372e-03 4.40807592e+00] [ 2.98158515e-02 1.14619221e-03 9.99554751e-01 5.02347395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters Centerline goodness [0,1] 0.9996441534410362 Centerline is valid? [True, True] Translation: X:22.98, Y:4.41, Z:0.50 [[ 9.74271670e-01 -2.23359265e-01 -3.00890578e-02 2.29841518e+01] [ 2.23215830e-01 9.74735496e-01 -8.08745331e-03 4.41045184e+00] [ 3.11352802e-02 1.16302264e-03 9.99514503e-01 5.03128362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.046874999999996 meters Centerline goodness [0,1] 0.99945417437942 Centerline is valid? [True, True] Translation: X:23.01, Y:4.42, Z:0.50 [[ 9.73631293e-01 -2.25979444e-01 -3.12313384e-02 2.30100741e+01] [ 2.25826034e-01 9.74131419e-01 -8.40127326e-03 4.42046753e+00] [ 3.23219430e-02 1.12689326e-03 9.99476874e-01 5.02485443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters Centerline goodness [0,1] 0.9995721111560131 Centerline is valid? [True, True] Translation: X:23.04, Y:4.42, Z:0.50 [[ 9.73257136e-01 -2.27465467e-01 -3.20937413e-02 2.30395167e+01] [ 2.27304108e-01 9.73785512e-01 -8.63818929e-03 4.42325812e+00] [ 3.32173101e-02 1.11214013e-03 9.99447534e-01 5.03843611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.106875 meters Centerline goodness [0,1] 0.9995963145896657 Centerline is valid? [True, True] Translation: X:23.07, Y:4.43, Z:0.50 [[ 9.72818200e-01 -2.29285328e-01 -3.24497811e-02 2.30665713e+01] [ 2.29121155e-01 9.73358668e-01 -8.74064358e-03 4.42948796e+00] [ 3.35893770e-02 1.06812583e-03 9.99435147e-01 5.03724859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters Centerline goodness [0,1] 0.9995724363999144 Centerline is valid? [True, True] Translation: X:23.09, Y:4.44, Z:0.50 [[ 9.72381184e-01 -2.31080729e-01 -3.28105045e-02 2.30940306e+01] [ 2.30913801e-01 9.72934045e-01 -8.84086511e-03 4.43585109e+00] [ 3.39654104e-02 1.02029260e-03 9.99422488e-01 5.04060846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.166874999999997 meters Centerline goodness [0,1] 0.9995704159805255 Centerline is valid? [True, True] Translation: X:23.12, Y:4.44, Z:0.50 [[ 9.71625837e-01 -2.34251750e-01 -3.27009236e-02 2.31236245e+01] [ 2.34087567e-01 9.72175544e-01 -8.81607296e-03 4.43928732e+00] [ 3.38562187e-02 9.11044633e-04 9.99426299e-01 5.04894084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters Centerline goodness [0,1] 0.9995220227995124 Centerline is valid? [True, True] Translation: X:23.15, Y:4.45, Z:0.50 [[ 9.71401724e-01 -2.35135892e-01 -3.30121540e-02 2.31513888e+01] [ 2.34968797e-01 9.71962092e-01 -8.90818847e-03 4.44660146e+00] [ 3.41811971e-02 8.96603539e-04 9.99415250e-01 5.04746727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.226875 meters Centerline goodness [0,1] 0.9996417568245325 Centerline is valid? [True, True] Translation: X:23.18, Y:4.45, Z:0.51 [[ 9.71226967e-01 -2.35922704e-01 -3.25370137e-02 2.31793765e+01] [ 2.35760547e-01 9.71771439e-01 -8.78828064e-03 4.45351337e+00] [ 3.36918956e-02 8.64470986e-04 9.99431893e-01 5.05708647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters Centerline goodness [0,1] 0.9996161504690162 Centerline is valid? [True, True] Translation: X:23.21, Y:4.46, Z:0.51 [[ 9.71324463e-01 -2.35540474e-01 -3.23955716e-02 2.32078531e+01] [ 2.35379229e-01 9.71864140e-01 -8.75849896e-03 4.45936900e+00] [ 3.35470754e-02 8.82099607e-04 9.99436749e-01 5.08214934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.286875 meters Centerline goodness [0,1] 0.9996401496977257 Centerline is valid? [True, True] Translation: X:23.23, Y:4.47, Z:0.51 [[ 9.71914887e-01 -2.33207986e-01 -3.15513580e-02 2.32338465e+01] [ 2.33053574e-01 9.72426420e-01 -8.53747322e-03 4.46767488e+00] [ 3.26723811e-02 9.44540571e-04 9.99465669e-01 5.11287976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters Centerline goodness [0,1] 0.9994020426224018 Centerline is valid? [True, True] Translation: X:23.26, Y:4.48, Z:0.51 [[ 9.72354192e-01 -2.31387069e-01 -3.14221043e-02 2.32597052e+01] [ 2.31232801e-01 9.72861250e-01 -8.50768931e-03 4.47700296e+00] [ 3.25379170e-02 1.00666616e-03 9.99469995e-01 5.11774092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.346874999999997 meters Centerline goodness [0,1] 0.999546571844498 Centerline is valid? [True, True] Translation: X:23.29, Y:4.49, Z:0.51 [[ 9.72756369e-01 -2.29687338e-01 -3.14447494e-02 2.32861038e+01] [ 2.29531761e-01 9.73263881e-01 -8.51995046e-03 4.48788002e+00] [ 3.25609636e-02 1.07026737e-03 9.99469178e-01 5.11152438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters Centerline goodness [0,1] 0.9996426784820982 Centerline is valid? [True, True] Translation: X:23.31, Y:4.50, Z:0.51 [[ 9.74029284e-01 -2.24332779e-01 -3.06880685e-02 2.33137330e+01] [ 2.24181766e-01 9.74511829e-01 -8.32056444e-03 4.49867561e+00] [ 3.17724611e-02 1.22476803e-03 9.99494378e-01 5.11307949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.406875 meters Centerline goodness [0,1] 0.9995476728960838 Centerline is valid? [True, True] Translation: X:23.34, Y:4.51, Z:0.51 [[ 9.74457396e-01 -2.22454955e-01 -3.07664636e-02 2.33417973e+01] [ 2.22302128e-01 9.74942112e-01 -8.34516198e-03 4.50615986e+00] [ 3.18519437e-02 1.29255448e-03 9.99491762e-01 5.12179605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters Centerline goodness [0,1] 0.9995710609093509 Centerline is valid? [True, True] Translation: X:23.37, Y:4.52, Z:0.51 [[ 9.74874652e-01 -2.20523884e-01 -3.14424919e-02 2.33692952e+01] [ 2.20363056e-01 9.75380582e-01 -8.53484356e-03 4.51509745e+00] [ 3.25505329e-02 1.39163904e-03 9.99469122e-01 5.12922936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.466874999999998 meters Centerline goodness [0,1] 0.9995707642780494 Centerline is valid? [True, True] Translation: X:23.40, Y:4.52, Z:0.51 [[ 9.74998521e-01 -2.19874062e-01 -3.21446961e-02 2.33972427e+01] [ 2.19705478e-01 9.75527190e-01 -8.72957551e-03 4.52275050e+00] [ 3.32774322e-02 1.44895741e-03 9.99445103e-01 5.12410545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters Centerline goodness [0,1] 0.9996662375435084 Centerline is valid? [True, True] Translation: X:23.43, Y:4.53, Z:0.51 [[ 9.75195382e-01 -2.18961282e-01 -3.24025418e-02 2.34262202e+01] [ 2.18789188e-01 9.75732395e-01 -8.80825685e-03 4.52778829e+00] [ 3.35448769e-02 1.50044557e-03 9.99436086e-01 5.13955310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.526874999999997 meters Centerline goodness [0,1] 0.9995955270045206 Centerline is valid? [True, True] Translation: X:23.45, Y:4.54, Z:0.51 [[ 9.75571097e-01 -2.17355474e-01 -3.19003662e-02 2.34520773e+01] [ 2.17187598e-01 9.76091303e-01 -8.67843038e-03 4.53875923e+00] [ 3.30239744e-02 1.53806194e-03 9.99453376e-01 5.14580542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters Centerline goodness [0,1] 0.999618620837604 Centerline is valid? [True, True] Translation: X:23.48, Y:4.54, Z:0.52 [[ 9.75610070e-01 -2.17221375e-01 -3.16206599e-02 2.34801799e+01] [ 2.17056261e-01 9.76121164e-01 -8.60534288e-03 4.54346354e+00] [ 3.27348598e-02 1.53199693e-03 9.99462897e-01 5.16420398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.586875 meters Centerline goodness [0,1] 0.9995709893462355 Centerline is valid? [True, True] Translation: X:23.51, Y:4.55, Z:0.52 [[ 9.75221013e-01 -2.19232626e-01 -2.96821698e-02 2.35088738e+01] [ 2.19087948e-01 9.75671643e-01 -8.08180643e-03 4.54952337e+00] [ 3.07318470e-02 1.37854180e-03 9.99526715e-01 5.16747308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters Centerline goodness [0,1] 0.9995704877350386 Centerline is valid? [True, True] Translation: X:23.54, Y:4.56, Z:0.52 [[ 9.74916358e-01 -2.20589513e-01 -2.96371669e-02 2.35373190e+01] [ 2.20445670e-01 9.75365813e-01 -8.07700494e-03 4.55566092e+00] [ 3.06887819e-02 1.34101912e-03 9.99528089e-01 5.17419857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.646874999999998 meters Centerline goodness [0,1] 0.9995464311291478 Centerline is valid? [True, True] Translation: X:23.56, Y:4.56, Z:0.52 [[ 9.74471463e-01 -2.22487410e-01 -3.00785781e-02 2.35642988e+01] [ 2.22339902e-01 9.74934686e-01 -8.20529809e-03 4.56438666e+00] [ 3.11502246e-02 1.30816072e-03 9.99513858e-01 5.16666988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters Centerline goodness [0,1] 0.9995210727969349 Centerline is valid? [True, True] Translation: X:23.60, Y:4.56, Z:0.52 [[ 9.73568962e-01 -2.26418118e-01 -2.99718394e-02 2.35954072e+01] [ 2.26273328e-01 9.74029483e-01 -8.18211744e-03 4.56473017e+00] [ 3.10460349e-02 1.18402772e-03 9.99517254e-01 5.18704930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.706874999999997 meters Centerline goodness [0,1] 0.9996647027829669 Centerline is valid? [True, True] Translation: X:23.62, Y:4.57, Z:0.52 [[ 9.73123592e-01 -2.28323179e-01 -2.99833384e-02 2.36221752e+01] [ 2.28179121e-01 9.73584747e-01 -8.18717032e-03 4.57125782e+00] [ 3.10606417e-02 1.12555679e-03 9.99516868e-01 5.19233576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters Centerline goodness [0,1] 0.9996148198078914 Centerline is valid? [True, True] Translation: X:23.65, Y:4.58, Z:0.52 [[ 9.72580160e-01 -2.30585155e-01 -3.03037825e-02 2.36511456e+01] [ 2.30438959e-01 9.73051563e-01 -8.27902389e-03 4.57589431e+00] [ 3.13961629e-02 1.06884228e-03 9.99506447e-01 5.20842862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.766875 meters Centerline goodness [0,1] 0.9996859220603513 Centerline is valid? [True, True] Translation: X:23.68, Y:4.58, Z:0.52 [[ 9.71904313e-01 -2.33463590e-01 -2.99459409e-02 2.36806712e+01] [ 2.33321957e-01 9.72365059e-01 -8.18880322e-03 4.57956596e+00] [ 3.10301740e-02 9.71687635e-04 9.99517976e-01 5.22730501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters Centerline goodness [0,1] 0.99978184991274 Centerline is valid? [True, True] Translation: X:23.71, Y:4.58, Z:0.52 [[ 9.71512506e-01 -2.35050641e-01 -3.02431155e-02 2.37091872e+01] [ 2.34906714e-01 9.71982673e-01 -8.27757985e-03 4.58440921e+00] [ 3.13414347e-02 9.37461471e-04 9.99508297e-01 5.23563516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.826874999999998 meters Centerline goodness [0,1] 0.99980535753388 Centerline is valid? [True, True] Translation: X:23.74, Y:4.59, Z:0.52 [[ 9.71060400e-01 -2.36853082e-01 -3.06971704e-02 2.37375862e+01] [ 2.36705440e-01 9.71545062e-01 -8.40999544e-03 4.58960226e+00] [ 3.18156176e-02 9.00426316e-04 9.99493350e-01 5.23514599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters Centerline goodness [0,1] 0.9997092107495092 Centerline is valid? [True, True] Translation: X:23.77, Y:4.60, Z:0.52 [[ 9.70751441e-01 -2.38113574e-01 -3.07175055e-02 2.37650935e+01] [ 2.37966161e-01 9.71236931e-01 -8.42202063e-03 4.59584792e+00] [ 3.18393732e-02 8.65961814e-04 9.99492623e-01 5.23246184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.886874999999996 meters Centerline goodness [0,1] 0.9997076023391813 Centerline is valid? [True, True] Translation: X:23.79, Y:4.60, Z:0.52 [[ 9.70640147e-01 -2.38612749e-01 -3.03588596e-02 2.37920414e+01] [ 2.38468856e-01 9.71114434e-01 -8.32836443e-03 4.60282060e+00] [ 3.14691806e-02 8.44202371e-04 9.99504366e-01 5.23987447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters Centerline goodness [0,1] 0.9996344851113602 Centerline is valid? [True, True] Translation: X:23.82, Y:4.61, Z:0.53 [[ 9.70432973e-01 -2.39569216e-01 -2.94352720e-02 2.38204328e+01] [ 2.39434166e-01 9.70878962e-01 -8.08218895e-03 4.60833640e+00] [ 3.05143300e-02 7.95412840e-04 9.99534013e-01 5.25942920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.946875 meters Centerline goodness [0,1] 0.9999027237354086 Centerline is valid? [True, True] Translation: X:23.85, Y:4.62, Z:0.53 [[ 9.70359270e-01 -2.39902291e-01 -2.91509501e-02 2.38463859e+01] [ 2.39769849e-01 9.70796724e-01 -8.00873552e-03 4.61575276e+00] [ 3.02209609e-02 7.81831830e-04 9.99542937e-01 5.26778184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters Centerline goodness [0,1] 0.9996824155958371 Centerline is valid? [True, True] Translation: X:23.87, Y:4.62, Z:0.53 [[ 9.70262549e-01 -2.40303323e-01 -2.90671353e-02 2.38732495e+01] [ 2.40171620e-01 9.70697540e-01 -7.99240027e-03 4.62224179e+00] [ 3.01359971e-02 7.73625695e-04 9.99545508e-01 5.28370882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.006874999999997 meters Centerline goodness [0,1] 0.9997321319858761 Centerline is valid? [True, True] Translation: X:23.90, Y:4.63, Z:0.53 [[ 9.70082060e-01 -2.40977745e-01 -2.95046370e-02 2.39002688e+01] [ 2.40842088e-01 9.70530334e-01 -8.12153426e-03 4.62894804e+00] [ 3.05922542e-02 7.72596317e-04 9.99531649e-01 5.29018822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters Centerline goodness [0,1] 0.9997314125259431 Centerline is valid? [True, True] Translation: X:23.93, Y:4.64, Z:0.53 [[ 9.69905331e-01 -2.41745493e-01 -2.90304355e-02 2.39283015e+01] [ 2.41614258e-01 9.70339406e-01 -7.99923522e-03 4.63714074e+00] [ 3.01031546e-02 7.44333728e-04 9.99546520e-01 5.27457444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.066875 meters Centerline goodness [0,1] 0.999633377328054 Centerline is valid? [True, True] Translation: X:23.96, Y:4.64, Z:0.53 [[ 9.69581731e-01 -2.43034409e-01 -2.90782197e-02 2.39556355e+01] [ 2.42903094e-01 9.70017406e-01 -8.01991883e-03 4.64491842e+00] [ 3.01554954e-02 7.12777249e-04 9.99544965e-01 5.30061774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters Centerline goodness [0,1] 0.9997319949322678 Centerline is valid? [True, True] Translation: X:23.98, Y:4.65, Z:0.53 [[ 9.69137889e-01 -2.44942014e-01 -2.78417229e-02 2.39837469e+01] [ 2.44822218e-01 9.69537524e-01 -7.68580118e-03 4.65099323e+00] [ 2.88761707e-02 6.32328769e-04 9.99582796e-01 5.31756184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.126875 meters Centerline goodness [0,1] 0.9997322688993818 Centerline is valid? [True, True] Translation: X:24.01, Y:4.66, Z:0.53 [[ 9.68729683e-01 -2.46732891e-01 -2.61855370e-02 2.40106024e+01] [ 2.46627429e-01 9.69083370e-01 -7.23417762e-03 4.65759557e+00] [ 2.71608780e-02 5.49890931e-04 9.99630924e-01 5.34111940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters Centerline goodness [0,1] 0.999706866648753 Centerline is valid? [True, True] Translation: X:24.04, Y:4.66, Z:0.54 [[ 9.67675891e-01 -2.51035665e-01 -2.41757150e-02 2.40392466e+01] [ 2.50947059e-01 9.67977756e-01 -6.68110149e-03 4.66349754e+00] [ 2.50787491e-02 3.98316246e-04 9.99685399e-01 5.35510327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.186874999999997 meters Centerline goodness [0,1] 0.9997092882407094 Centerline is valid? [True, True] Translation: X:24.07, Y:4.67, Z:0.54 [[ 9.67055652e-01 -2.53335571e-01 -2.49890724e-02 2.40664131e+01] [ 2.53241590e-01 9.67378397e-01 -6.90892997e-03 4.66953264e+00] [ 2.59241666e-02 3.53047340e-04 9.99663850e-01 5.35640137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters Centerline goodness [0,1] 0.9996842591018386 Centerline is valid? [True, True] Translation: X:24.09, Y:4.68, Z:0.54 [[ 9.66415215e-01 -2.55720080e-01 -2.54729743e-02 2.40939693e+01] [ 2.55623182e-01 9.66750822e-01 -7.04528640e-03 4.67505140e+00] [ 2.64276401e-02 2.97189213e-04 9.99650685e-01 5.36727126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.246875 meters Centerline goodness [0,1] 0.9997805841337949 Centerline is valid? [True, True] Translation: X:24.12, Y:4.68, Z:0.54 [[ 9.65594991e-01 -2.58831398e-01 -2.51519396e-02 2.41216585e+01] [ 2.58737900e-01 9.65922493e-01 -6.95964464e-03 4.68076958e+00] [ 2.60961987e-02 2.12437980e-04 9.99659414e-01 5.37519264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters Centerline goodness [0,1] 0.9998296754099956 Centerline is valid? [True, True] Translation: X:24.15, Y:4.69, Z:0.54 [[ 9.65289791e-01 -2.59945402e-01 -2.53773168e-02 2.41500437e+01] [ 2.59850540e-01 9.65623298e-01 -7.02451118e-03 4.68846981e+00] [ 2.63309177e-02 1.86379460e-04 9.99653264e-01 5.37370134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.306874999999998 meters Centerline goodness [0,1] 0.9998054048794727 Centerline is valid? [True, True] Translation: X:24.18, Y:4.70, Z:0.54 [[ 9.64932866e-01 -2.61172373e-01 -2.63354422e-02 2.41772576e+01] [ 2.61070543e-01 9.65292166e-01 -7.29428681e-03 4.69643787e+00] [ 2.73264623e-02 1.63088880e-04 9.99626549e-01 5.35169862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:24.20, Y:4.70, Z:0.53 [[ 9.64859528e-01 -2.61355669e-01 -2.71901658e-02 2.42038605e+01] [ 2.61246965e-01 9.65242553e-01 -7.53910867e-03 4.70434800e+00] [ 2.82154939e-02 1.70832538e-04 9.99601849e-01 5.34389585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.366874999999997 meters Centerline goodness [0,1] 0.999804151978065 Centerline is valid? [True, True] Translation: X:24.23, Y:4.71, Z:0.53 [[ 9.64993932e-01 -2.60737665e-01 -2.83298598e-02 2.42312651e+01] [ 2.60619147e-01 9.65409669e-01 -7.86334779e-03 4.71265780e+00] [ 2.94001915e-02 2.04779021e-04 9.99567700e-01 5.34165663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters Centerline goodness [0,1] 0.9997317400317034 Centerline is valid? [True, True] Translation: X:24.26, Y:4.72, Z:0.53 [[ 9.65729483e-01 -2.57899219e-01 -2.92328259e-02 2.42577522e+01] [ 2.57771532e-01 9.66171775e-01 -8.12026446e-03 4.72298000e+00] [ 3.03381412e-02 3.06588480e-04 9.99539646e-01 5.34977806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.426875 meters Centerline goodness [0,1] 0.9997322819314641 Centerline is valid? [True, True] Translation: X:24.29, Y:4.73, Z:0.54 [[ 9.66129190e-01 -2.56486604e-01 -2.84431191e-02 2.42852017e+01] [ 2.56365002e-01 9.66547724e-01 -7.90460268e-03 4.73325619e+00] [ 2.95190568e-02 3.45047097e-04 9.99564158e-01 5.36232454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters Centerline goodness [0,1] 0.9998054900435216 Centerline is valid? [True, True] Translation: X:24.31, Y:4.74, Z:0.54 [[ 9.66638372e-01 -2.54702740e-01 -2.71435542e-02 2.43121768e+01] [ 2.54591110e-01 9.67019319e-01 -7.55000219e-03 4.74384802e+00] [ 2.81713476e-02 3.87614215e-04 9.99603034e-01 5.38074188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.486874999999998 meters Centerline goodness [0,1] 0.9997810964634918 Centerline is valid? [True, True] Translation: X:24.34, Y:4.75, Z:0.54 [[ 9.67048905e-01 -2.53275499e-01 -2.58444784e-02 2.43392011e+01] [ 2.53173623e-01 9.67394103e-01 -7.19491875e-03 4.75395016e+00] [ 2.68240926e-02 4.14698073e-04 9.99640083e-01 5.39502011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters Centerline goodness [0,1] 0.9998068938881916 Centerline is valid? [True, True] Translation: X:24.37, Y:4.77, Z:0.54 [[ 9.68243615e-01 -2.48751480e-01 -2.50400456e-02 2.43659948e+01] [ 2.48654194e-01 9.68567201e-01 -6.97638509e-03 4.76681496e+00] [ 2.59883530e-02 5.28527970e-04 9.99662106e-01 5.41174155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.546874999999996 meters Centerline goodness [0,1] 0.9996373658253553 Centerline is valid? [True, True] Translation: X:24.39, Y:4.78, Z:0.54 [[ 9.68710397e-01 -2.46889893e-01 -2.54076367e-02 2.43932815e+01] [ 2.46789029e-01 9.69043360e-01 -7.08110037e-03 4.77595627e+00] [ 2.63693537e-02 5.89209581e-04 9.99652094e-01 5.41809571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters Centerline goodness [0,1] 0.9996373658253553 Centerline is valid? [True, True] Translation: X:24.42, Y:4.78, Z:0.54 [[ 9.68642202e-01 -2.47157492e-01 -2.54058847e-02 2.44198678e+01] [ 2.47056554e-01 9.68975143e-01 -7.08738123e-03 4.78346666e+00] [ 2.63693701e-02 5.88446242e-04 9.99652095e-01 5.42409579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.606875 meters Centerline goodness [0,1] 0.999733449646215 Centerline is valid? [True, True] Translation: X:24.45, Y:4.79, Z:0.54 [[ 9.69070576e-01 -2.45403482e-01 -2.60643420e-02 2.44453486e+01] [ 2.45296421e-01 9.69420804e-01 -7.27804398e-03 4.79436949e+00] [ 2.70533727e-02 6.59448461e-04 9.99633773e-01 5.42486081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters Centerline goodness [0,1] 0.9998306683761097 Centerline is valid? [True, True] Translation: X:24.47, Y:4.80, Z:0.54 [[ 9.69449672e-01 -2.43904511e-01 -2.60369393e-02 2.44726209e+01] [ 2.43797036e-01 9.69798997e-01 -7.27401916e-03 4.80354988e+00] [ 2.70247637e-02 7.04066866e-04 9.99634516e-01 5.43214711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.666874999999997 meters Centerline goodness [0,1] 0.999711628577608 Centerline is valid? [True, True] Translation: X:24.50, Y:4.81, Z:0.54 [[ 9.70229791e-01 -2.40815813e-01 -2.57273547e-02 2.45003506e+01] [ 2.40709642e-01 9.70570516e-01 -7.19318150e-03 4.81473832e+00] [ 2.67024438e-02 7.86216637e-04 9.99643117e-01 5.43374634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters Centerline goodness [0,1] 0.9997355514953361 Centerline is valid? [True, True] Translation: X:24.53, Y:4.82, Z:0.54 [[ 9.70513682e-01 -2.39626970e-01 -2.61172215e-02 2.45279311e+01] [ 2.39517057e-01 9.70864677e-01 -7.30473403e-03 4.82384796e+00] [ 2.71066991e-02 8.33824269e-04 9.99632198e-01 5.44197018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.726874999999996 meters Centerline goodness [0,1] 0.9996404171161453 Centerline is valid? [True, True] Translation: X:24.55, Y:4.84, Z:0.54 [[ 9.71041213e-01 -2.37432070e-01 -2.65513475e-02 2.45535944e+01] [ 2.37317481e-01 9.71403713e-01 -7.43237659e-03 4.83605127e+00] [ 2.75567621e-02 9.16045071e-04 9.99619821e-01 5.44063482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters Centerline goodness [0,1] 0.99964046021093 Centerline is valid? [True, True] Translation: X:24.58, Y:4.85, Z:0.54 [[ 9.71191878e-01 -2.36714776e-01 -2.74308488e-02 2.45811830e+01] [ 2.36592076e-01 9.71578701e-01 -7.68230276e-03 4.84536077e+00] [ 2.84697430e-02 9.71068580e-04 9.99594183e-01 5.43495123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.786875 meters Centerline goodness [0,1] 0.999642422942144 Centerline is valid? [True, True] Translation: X:24.61, Y:4.85, Z:0.54 [[ 9.71401029e-01 -2.35725432e-01 -2.85229934e-02 2.46079697e+01] [ 2.35592148e-01 9.71819132e-01 -7.99460799e-03 4.85498757e+00] [ 2.96037231e-02 1.04617715e-03 9.99561166e-01 5.42328401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters Centerline goodness [0,1] 0.9996183388197128 Centerline is valid? [True, True] Translation: X:24.64, Y:4.86, Z:0.54 [[ 9.71470985e-01 -2.35305377e-01 -2.95889285e-02 2.46353462e+01] [ 2.35161615e-01 9.71920863e-01 -8.29765879e-03 4.86425081e+00] [ 3.07105807e-02 1.10275453e-03 9.99527711e-01 5.41159477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.846874999999997 meters Centerline goodness [0,1] 0.9995956424527853 Centerline is valid? [True, True] Translation: X:24.66, Y:4.87, Z:0.54 [[ 9.71709433e-01 -2.34239581e-01 -3.02092261e-02 2.46623664e+01] [ 2.34088960e-01 9.72178201e-01 -8.47964031e-03 4.87465529e+00] [ 3.13550184e-02 1.16810015e-03 9.99507628e-01 5.41972948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters Centerline goodness [0,1] 0.9996194734463815 Centerline is valid? [True, True] Translation: X:24.69, Y:4.88, Z:0.54 [[ 9.71825342e-01 -2.33857597e-01 -2.94300693e-02 2.46901882e+01] [ 2.33714241e-01 9.72270171e-01 -8.26855957e-03 4.88245147e+00] [ 3.05476439e-02 1.15736944e-03 9.99532642e-01 5.43709454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.906875 meters Centerline goodness [0,1] 0.9995734394995024 Centerline is valid? [True, True] Translation: X:24.72, Y:4.89, Z:0.55 [[ 9.71901685e-01 -2.33602344e-01 -2.89319942e-02 2.47179152e+01] [ 2.33463457e-01 9.72331536e-01 -8.13625345e-03 4.89114390e+00] [ 3.00321382e-02 1.15307505e-03 9.99548269e-01 5.45574455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters Centerline goodness [0,1] 0.9996929182217603 Centerline is valid? [True, True] Translation: X:24.74, Y:4.90, Z:0.55 [[ 9.71663254e-01 -2.34739393e-01 -2.77117086e-02 2.47441425e+01] [ 2.34612267e-01 9.72057744e-01 -7.79909888e-03 4.89953669e+00] [ 2.87681367e-02 1.07659101e-03 9.99585532e-01 5.46429391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.966874999999998 meters Centerline goodness [0,1] 0.9996464515520777 Centerline is valid? [True, True] Translation: X:24.77, Y:4.90, Z:0.55 [[ 9.71211596e-01 -2.36679771e-01 -2.70318812e-02 2.47727142e+01] [ 2.36559456e-01 9.71587202e-01 -7.61136224e-03 4.90478843e+00] [ 2.80652853e-02 9.97596135e-04 9.99605595e-01 5.47261120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters Centerline goodness [0,1] 0.9996937645756284 Centerline is valid? [True, True] Translation: X:24.80, Y:4.91, Z:0.55 [[ 9.70784483e-01 -2.38550592e-01 -2.59056693e-02 2.47996642e+01] [ 2.38440577e-01 9.71129644e-01 -7.30105812e-03 4.91403440e+00] [ 2.68994352e-02 9.10791185e-04 9.99637730e-01 5.48677580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.026874999999997 meters Centerline goodness [0,1] 0.9997634367903103 Centerline is valid? [True, True] Translation: X:24.83, Y:4.92, Z:0.55 [[ 9.69705009e-01 -2.43161646e-01 -2.33368831e-02 2.48290411e+01] [ 2.43073577e-01 9.69985520e-01 -6.58227764e-03 4.91816940e+00] [ 2.42369962e-02 7.10287926e-04 9.99705989e-01 5.51803255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters Centerline goodness [0,1] 0.9996466098101117 Centerline is valid? [True, True] Translation: X:24.86, Y:4.92, Z:0.55 [[ 9.69044763e-01 -2.45852581e-01 -2.25556048e-02 2.48578346e+01] [ 2.45771012e-01 9.69307031e-01 -6.36307071e-03 4.92344625e+00] [ 2.34276837e-02 6.22586509e-04 9.99725340e-01 5.52929173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.086875 meters Centerline goodness [0,1] 0.999600498202242 Centerline is valid? [True, True] Translation: X:24.89, Y:4.93, Z:0.55 [[ 9.68491559e-01 -2.48090562e-01 -2.17984606e-02 2.48864837e+01] [ 2.48014820e-01 9.68736685e-01 -6.15494415e-03 4.92958586e+00] [ 2.26439520e-02 5.54670179e-04 9.99743439e-01 5.54120818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters Centerline goodness [0,1] 0.9998587038432555 Centerline is valid? [True, True] Translation: X:24.91, Y:4.94, Z:0.56 [[ 9.67791150e-01 -2.50825941e-01 -2.16017888e-02 2.49145393e+01] [ 2.50752115e-01 9.68032079e-01 -6.10504883e-03 4.93579842e+00] [ 2.24425292e-02 4.91717996e-04 9.99748014e-01 5.56683479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.146874999999998 meters Centerline goodness [0,1] 0.9998584738766364 Centerline is valid? [True, True] Translation: X:24.94, Y:4.94, Z:0.56 [[ 9.67511403e-01 -2.51865220e-01 -2.20362606e-02 2.49429153e+01] [ 2.51788528e-01 9.67762201e-01 -6.23368940e-03 4.94288920e+00] [ 2.28959096e-02 4.82687954e-04 9.99737738e-01 5.58036838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters Centerline goodness [0,1] 0.9997168876515831 Centerline is valid? [True, True] Translation: X:24.97, Y:4.95, Z:0.56 [[ 9.67352943e-01 -2.52433822e-01 -2.24821987e-02 2.49686131e+01] [ 2.52354007e-01 9.67614040e-01 -6.36589496e-03 4.95111688e+00] [ 2.33610583e-02 4.84594317e-04 9.99726976e-01 5.57915383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.206874999999997 meters Centerline goodness [0,1] 0.9996009202309968 Centerline is valid? [True, True] Translation: X:25.00, Y:4.96, Z:0.56 [[ 9.67376242e-01 -2.52137211e-01 -2.46988380e-02 2.49956336e+01] [ 2.52040580e-01 9.67691339e-01 -7.00137574e-03 4.96065791e+00] [ 2.56661589e-02 5.47855096e-04 9.99670420e-01 5.55335113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters Centerline goodness [0,1] 0.9995326666043556 Centerline is valid? [True, True] Translation: X:25.02, Y:4.97, Z:0.55 [[ 9.67354206e-01 -2.52170583e-01 -2.52158217e-02 2.50222554e+01] [ 2.52069695e-01 9.67682633e-01 -7.15478772e-03 4.96959723e+00] [ 2.62051397e-02 5.65069507e-04 9.99656427e-01 5.54068006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.266875 meters Centerline goodness [0,1] 0.999836307087903 Centerline is valid? [True, True] Translation: X:25.05, Y:4.98, Z:0.55 [[ 9.67615466e-01 -2.51178321e-01 -2.50950444e-02 2.50492962e+01] [ 2.51077873e-01 9.67940647e-01 -7.12784555e-03 4.98032108e+00] [ 2.60808738e-02 5.96203227e-04 9.99659658e-01 5.54390311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters Centerline goodness [0,1] 0.9996262118911342 Centerline is valid? [True, True] Translation: X:25.08, Y:4.99, Z:0.56 [[ 9.67752760e-01 -2.50661266e-01 -2.49704792e-02 2.50763779e+01] [ 2.50561473e-01 9.68074663e-01 -7.09893394e-03 4.98922612e+00] [ 2.59527160e-02 6.13372858e-04 9.99662983e-01 5.55308667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.326874999999998 meters Centerline goodness [0,1] 0.9997422559632597 Centerline is valid? [True, True] Translation: X:25.10, Y:5.00, Z:0.56 [[ 9.67880845e-01 -2.50157349e-01 -2.50593297e-02 2.51044347e+01] [ 2.50056504e-01 9.68204987e-01 -7.13077272e-03 4.99756214e+00] [ 2.60463832e-02 6.35489940e-04 9.99660533e-01 5.56742145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters Centerline goodness [0,1] 0.999229152067274 Centerline is valid? [True, True] Translation: X:25.13, Y:5.01, Z:0.56 [[ 9.68061542e-01 -2.49494154e-01 -2.46884031e-02 2.51316556e+01] [ 2.49395892e-01 9.68376086e-01 -7.03166651e-03 5.00644848e+00] [ 2.56620188e-02 6.49899616e-04 9.99670465e-01 5.58156391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.386874999999996 meters Centerline goodness [0,1] 0.9992507609459143 Centerline is valid? [True, True] Translation: X:25.16, Y:5.02, Z:0.56 [[ 9.68625243e-01 -2.47437449e-01 -2.32346108e-02 2.51578637e+01] [ 2.47349699e-01 9.68903639e-01 -6.62298315e-03 5.01689946e+00] [ 2.41508730e-02 6.68114678e-04 9.99708102e-01 5.62075405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters Centerline goodness [0,1] 0.9992275100072567 Centerline is valid? [True, True] Translation: X:25.19, Y:5.03, Z:0.56 [[ 9.68802399e-01 -2.46724182e-01 -2.34326566e-02 2.51853579e+01] [ 2.46634657e-01 9.69085495e-01 -6.68204957e-03 5.02581883e+00] [ 2.43568709e-02 6.94280421e-04 9.99703086e-01 5.62400951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.446875 meters Centerline goodness [0,1] 0.9991377100375213 Centerline is valid? [True, True] Translation: X:25.21, Y:5.04, Z:0.56 [[ 9.69185080e-01 -2.45207015e-01 -2.35329707e-02 2.52108289e+01] [ 2.45116128e-01 9.69470459e-01 -6.71666244e-03 5.03662478e+00] [ 2.44614927e-02 7.41378345e-04 9.99700498e-01 5.60423294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters Centerline goodness [0,1] 0.9991836925086295 Centerline is valid? [True, True] Translation: X:25.24, Y:5.05, Z:0.56 [[ 9.69370465e-01 -2.44482417e-01 -2.34360761e-02 2.52384225e+01] [ 2.44391966e-01 9.69653428e-01 -6.69307032e-03 5.04503929e+00] [ 2.43612095e-02 7.60475975e-04 9.99702932e-01 5.60847011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.506874999999997 meters Centerline goodness [0,1] 0.9992074776811729 Centerline is valid? [True, True] Translation: X:25.27, Y:5.05, Z:0.56 [[ 9.69468166e-01 -2.44048591e-01 -2.39115275e-02 2.52652267e+01] [ 2.43954163e-01 9.69762681e-01 -6.83441960e-03 5.05323317e+00] [ 2.48564375e-02 7.92435556e-04 9.99690717e-01 5.61484861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters Centerline goodness [0,1] 0.9993003568180228 Centerline is valid? [True, True] Translation: X:25.29, Y:5.06, Z:0.56 [[ 9.69438989e-01 -2.44160430e-01 -2.39526677e-02 2.52927222e+01] [ 2.44065638e-01 9.69734528e-01 -6.84908304e-03 5.05949489e+00] [ 2.49000040e-02 7.93744995e-04 9.99689632e-01 5.62903688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.566875 meters Centerline goodness [0,1] 0.9991371268656717 Centerline is valid? [True, True] Translation: X:25.32, Y:5.07, Z:0.56 [[ 9.69461208e-01 -2.44044932e-01 -2.42288602e-02 2.53197956e+01] [ 2.43947734e-01 9.69763585e-01 -6.93484681e-03 5.06801479e+00] [ 2.51886805e-02 8.12489426e-04 9.99682385e-01 5.63505499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters Centerline goodness [0,1] 0.999276529207216 Centerline is valid? [True, True] Translation: X:25.35, Y:5.08, Z:0.56 [[ 9.69413469e-01 -2.44141553e-01 -2.51481299e-02 2.53483158e+01] [ 2.44036786e-01 9.69739238e-01 -7.20116462e-03 5.07528205e+00] [ 2.61452319e-02 8.43837169e-04 9.99657799e-01 5.63232866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.626875 meters Centerline goodness [0,1] 0.9992539923067957 Centerline is valid? [True, True] Translation: X:25.37, Y:5.08, Z:0.56 [[ 9.69438402e-01 -2.43961073e-01 -2.59264142e-02 2.53744422e+01] [ 2.43849484e-01 9.69784625e-01 -7.43037869e-03 5.08444287e+00] [ 2.69557610e-02 8.81151723e-04 9.99636239e-01 5.62449039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters Centerline goodness [0,1] 0.9991800206166245 Centerline is valid? [True, True] Translation: X:25.40, Y:5.09, Z:0.56 [[ 9.69351253e-01 -2.44098655e-01 -2.78207648e-02 2.54019383e+01] [ 2.43970101e-01 9.69749943e-01 -7.97727350e-03 5.09206749e+00] [ 2.89264268e-02 9.45345269e-04 9.99581096e-01 5.61270254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.686874999999997 meters Centerline goodness [0,1] 0.9992089343880874 Centerline is valid? [True, True] Translation: X:25.43, Y:5.10, Z:0.56 [[ 9.69063943e-01 -2.45123229e-01 -2.88041105e-02 2.54290113e+01] [ 2.44985681e-01 9.69491461e-01 -8.26574031e-03 5.10021820e+00] [ 2.99514642e-02 9.53436257e-04 9.99550900e-01 5.60147857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters Centerline goodness [0,1] 0.9992948476871004 Centerline is valid? [True, True] Translation: X:25.46, Y:5.11, Z:0.56 [[ 9.68456351e-01 -2.47533511e-01 -2.86261461e-02 2.54577192e+01] [ 2.47398634e-01 9.68878936e-01 -8.21721105e-03 5.10601537e+00] [ 2.97693051e-02 8.75940808e-04 9.99556412e-01 5.60427443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.746875 meters Centerline goodness [0,1] 0.9992236938060175 Centerline is valid? [True, True] Translation: X:25.49, Y:5.11, Z:0.56 [[ 9.68086103e-01 -2.49065025e-01 -2.78551580e-02 2.54856997e+01] [ 2.48937852e-01 9.68486426e-01 -7.99925606e-03 5.11242345e+00] [ 2.89696774e-02 8.09765418e-04 9.99579963e-01 5.62073533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters Centerline goodness [0,1] 0.9991782880217871 Centerline is valid? [True, True] Translation: X:25.51, Y:5.12, Z:0.56 [[ 9.67824977e-01 -2.50157981e-01 -2.71256130e-02 2.55129708e+01] [ 2.50037644e-01 9.68204732e-01 -7.79575502e-03 5.11911329e+00] [ 2.82133172e-02 7.62502059e-04 9.99601634e-01 5.63579665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.806874999999998 meters Centerline goodness [0,1] 0.9992223033959419 Centerline is valid? [True, True] Translation: X:25.54, Y:5.13, Z:0.57 [[ 9.67694997e-01 -2.50691121e-01 -2.68394424e-02 2.55414307e+01] [ 2.50573436e-01 9.68066843e-01 -7.71629829e-03 5.12641232e+00] [ 2.79167818e-02 7.41771921e-04 9.99609975e-01 5.65344575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters Centerline goodness [0,1] 0.9991753063147973 Centerline is valid? [True, True] Translation: X:25.57, Y:5.13, Z:0.57 [[ 9.67611130e-01 -2.51112710e-01 -2.59057676e-02 2.55678998e+01] [ 2.51003133e-01 9.67957595e-01 -7.45122673e-03 5.13491394e+00] [ 2.69467823e-02 7.07461072e-04 9.99636619e-01 5.67319744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.866874999999997 meters Centerline goodness [0,1] 0.9991544929306214 Centerline is valid? [True, True] Translation: X:25.60, Y:5.14, Z:0.57 [[ 9.67696921e-01 -2.50849999e-01 -2.52378199e-02 2.55955994e+01] [ 2.50745833e-01 9.68025717e-01 -7.26209850e-03 5.14403976e+00] [ 2.62525561e-02 6.99232177e-04 9.99655098e-01 5.67993553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters Centerline goodness [0,1] 0.9991316388556408 Centerline is valid? [True, True] Translation: X:25.62, Y:5.15, Z:0.57 [[ 9.67893928e-01 -2.50095064e-01 -2.51754482e-02 2.56223456e+01] [ 2.49990988e-01 9.68221015e-01 -7.25063572e-03 5.15434279e+00] [ 2.61887462e-02 7.24211139e-04 9.99656754e-01 5.68012685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.926875 meters Centerline goodness [0,1] 0.9991334488734835 Centerline is valid? [True, True] Translation: X:25.65, Y:5.17, Z:0.57 [[ 9.68467462e-01 -2.47894748e-01 -2.48790827e-02 2.56489633e+01] [ 2.47792220e-01 9.68786656e-01 -7.17155270e-03 5.16752208e+00] [ 2.58803136e-02 7.80572295e-04 9.99664744e-01 5.66980778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters Centerline goodness [0,1] 0.9992276907954785 Centerline is valid? [True, True] Translation: X:25.68, Y:5.18, Z:0.57 [[ 9.68671346e-01 -2.47026263e-01 -2.55704853e-02 2.56765035e+01] [ 2.46917484e-01 9.69008428e-01 -7.37723204e-03 5.17687352e+00] [ 2.66003858e-02 8.32313402e-04 9.99645801e-01 5.66640389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.986874999999998 meters Centerline goodness [0,1] 0.999250286999508 Centerline is valid? [True, True] Translation: X:25.70, Y:5.19, Z:0.57 [[ 9.68765217e-01 -2.46461049e-01 -2.74026725e-02 2.57039239e+01] [ 2.46335679e-01 9.69152265e-01 -7.91334044e-03 5.18705011e+00] [ 2.85076923e-02 9.15913036e-04 9.99593154e-01 5.65444801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters Centerline goodness [0,1] 0.9991594676628531 Centerline is valid? [True, True] Translation: X:25.73, Y:5.19, Z:0.57 [[ 9.68582817e-01 -2.47127995e-01 -2.78402875e-02 2.57309109e+01] [ 2.46998642e-01 9.68982410e-01 -8.04732721e-03 5.19349803e+00] [ 2.89654687e-02 9.17989658e-04 9.99579991e-01 5.66771792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.046874999999996 meters Centerline goodness [0,1] 0.9992988688417314 Centerline is valid? [True, True] Translation: X:25.76, Y:5.20, Z:0.57 [[ 9.68471440e-01 -2.47558047e-01 -2.78941352e-02 2.57571033e+01] [ 2.47428156e-01 9.68872632e-01 -8.07029691e-03 5.20316681e+00] [ 2.90237311e-02 9.14057636e-04 9.99578305e-01 5.66970456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters Centerline goodness [0,1] 0.9992079023390178 Centerline is valid? [True, True] Translation: X:25.78, Y:5.21, Z:0.57 [[ 9.68358478e-01 -2.48053250e-01 -2.74124619e-02 2.57839980e+01] [ 2.47927867e-01 9.68745991e-01 -7.93582165e-03 5.21086081e+00] [ 2.85242189e-02 8.88406982e-04 9.99592707e-01 5.68250996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.106875 meters Centerline goodness [0,1] 0.9990425705812297 Centerline is valid? [True, True] Translation: X:25.81, Y:5.22, Z:0.57 [[ 9.68326574e-01 -2.48243055e-01 -2.68147510e-02 2.58109506e+01] [ 2.48122931e-01 9.68697386e-01 -7.77076367e-03 5.21982250e+00] [ 2.79044173e-02 8.71282342e-04 9.99610216e-01 5.69170246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters Centerline goodness [0,1] 0.9988829675827884 Centerline is valid? [True, True] Translation: X:25.84, Y:5.23, Z:0.57 [[ 9.68431055e-01 -2.47850438e-01 -2.66730533e-02 2.58370427e+01] [ 2.47731241e-01 9.68797904e-01 -7.73654456e-03 5.23052311e+00] [ 2.77583041e-02 8.84561415e-04 9.99614273e-01 5.68603469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.166874999999997 meters Centerline goodness [0,1] 0.9991664351208669 Centerline is valid? [True, True] Translation: X:25.86, Y:5.24, Z:0.57 [[ 9.68641734e-01 -2.47081157e-01 -2.61551617e-02 2.58631602e+01] [ 2.46966200e-01 9.68994379e-01 -7.58872852e-03 5.24006956e+00] [ 2.72192365e-02 8.91318251e-04 9.99629091e-01 5.68846754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters Centerline goodness [0,1] 0.9990261321214089 Centerline is valid? [True, True] Translation: X:25.89, Y:5.25, Z:0.57 [[ 9.69178376e-01 -2.45025102e-01 -2.56119988e-02 2.58903494e+01] [ 2.44914072e-01 9.69516287e-01 -7.43419609e-03 5.25150023e+00] [ 2.66528146e-02 9.32323195e-04 9.99644316e-01 5.68828257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.226874999999996 meters Centerline goodness [0,1] 0.9991228677607737 Centerline is valid? [True, True] Translation: X:25.92, Y:5.26, Z:0.57 [[ 9.69476988e-01 -2.43817804e-01 -2.58311528e-02 2.59174401e+01] [ 2.43704259e-01 9.69820560e-01 -7.50441780e-03 5.26096590e+00] [ 2.68812937e-02 9.80198413e-04 9.99638152e-01 5.69720300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters Centerline goodness [0,1] 0.9991443701870824 Centerline is valid? [True, True] Translation: X:25.95, Y:5.27, Z:0.57 [[ 9.69989353e-01 -2.41797744e-01 -2.55833333e-02 2.59456739e+01] [ 2.41685493e-01 9.70326123e-01 -7.43894391e-03 5.26790026e+00] [ 2.66228964e-02 1.03257588e-03 9.99645015e-01 5.70800979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.286875 meters Centerline goodness [0,1] 0.9992605942973335 Centerline is valid? [True, True] Translation: X:25.97, Y:5.28, Z:0.57 [[ 9.70164935e-01 -2.41192845e-01 -2.46172630e-02 2.59720002e+01] [ 2.41088567e-01 9.70476677e-01 -7.16394238e-03 5.27758134e+00] [ 2.56183712e-02 1.01526504e-03 9.99671280e-01 5.72021826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters Centerline goodness [0,1] 0.9992613111726685 Centerline is valid? [True, True] Translation: X:26.00, Y:5.29, Z:0.57 [[ 9.70194118e-01 -2.41076790e-01 -2.46039499e-02 2.59995435e+01] [ 2.40972486e-01 9.70505506e-01 -7.16402405e-03 5.28522136e+00] [ 2.56053488e-02 1.02161902e-03 9.99671607e-01 5.72998483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.346874999999997 meters Centerline goodness [0,1] 0.9991894958664289 Centerline is valid? [True, True] Translation: X:26.03, Y:5.29, Z:0.57 [[ 9.70066439e-01 -2.41440453e-01 -2.60309852e-02 2.60256143e+01] [ 2.41323647e-01 9.70415039e-01 -7.58618798e-03 5.29277029e+00] [ 2.70924722e-02 1.07721406e-03 9.99632351e-01 5.73583458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters Centerline goodness [0,1] 0.9991900960314706 Centerline is valid? [True, True] Translation: X:26.05, Y:5.30, Z:0.57 [[ 9.69833753e-01 -2.42322407e-01 -2.65017452e-02 2.60513751e+01] [ 2.42201571e-01 9.70195184e-01 -7.72676940e-03 5.30259785e+00] [ 2.75842349e-02 1.07491745e-03 9.99618905e-01 5.73862808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.406875 meters Centerline goodness [0,1] 0.9992850553505535 Centerline is valid? [True, True] Translation: X:26.08, Y:5.31, Z:0.57 [[ 9.69584418e-01 -2.43326891e-01 -2.64212036e-02 2.60800304e+01] [ 2.43207067e-01 9.69943776e-01 -7.70671042e-03 5.30751175e+00] [ 2.75023319e-02 1.04648289e-03 9.99621192e-01 5.74620949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters Centerline goodness [0,1] 0.9991638213364922 Centerline is valid? [True, True] Translation: X:26.11, Y:5.31, Z:0.57 [[ 9.69294585e-01 -2.44419216e-01 -2.69676616e-02 2.61081529e+01] [ 2.44294601e-01 9.69669097e-01 -7.87337772e-03 5.31327293e+00] [ 2.80741129e-02 1.04356825e-03 9.99605300e-01 5.74383834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.466874999999998 meters Centerline goodness [0,1] 0.9992096331768097 Centerline is valid? [True, True] Translation: X:26.13, Y:5.32, Z:0.57 [[ 9.68535427e-01 -2.47261026e-01 -2.83039262e-02 2.61347395e+01] [ 2.47124767e-01 9.68948375e-01 -8.27014129e-03 5.32159504e+00] [ 2.94699269e-02 1.01532367e-03 9.99565152e-01 5.70973603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters Centerline goodness [0,1] 0.9992096331768097 Centerline is valid? [True, True] Translation: X:26.16, Y:5.33, Z:0.57 [[ 9.68467705e-01 -2.47526273e-01 -2.83027971e-02 2.61612288e+01] [ 2.47390015e-01 9.68880654e-01 -8.27400342e-03 5.32943124e+00] [ 2.94700658e-02 1.01127571e-03 9.99565152e-01 5.71575357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.526874999999997 meters Centerline goodness [0,1] 0.9992538879432955 Centerline is valid? [True, True] Translation: X:26.19, Y:5.34, Z:0.57 [[ 9.68062976e-01 -2.48999657e-01 -2.92103756e-02 2.61900559e+01] [ 2.48854931e-01 9.68503051e-01 -8.54774885e-03 5.33577440e+00] [ 3.04187244e-02 1.00561320e-03 9.99536738e-01 5.71431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters Centerline goodness [0,1] 0.9991818989294563 Centerline is valid? [True, True] Translation: X:26.22, Y:5.34, Z:0.57 [[ 9.67259677e-01 -2.52028145e-01 -2.98417687e-02 2.62198221e+01] [ 2.51878302e-01 9.67719451e-01 -8.73987747e-03 5.33823835e+00] [ 3.10811551e-02 9.37237042e-04 9.99516425e-01 5.72892528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.586875 meters Centerline goodness [0,1] 0.999225588435454 Centerline is valid? [True, True] Translation: X:26.25, Y:5.34, Z:0.57 [[ 9.66827007e-01 -2.53730596e-01 -2.94333825e-02 2.62482615e+01] [ 2.53585390e-01 9.67274529e-01 -8.62759639e-03 5.34476494e+00] [ 3.06592464e-02 8.77517405e-04 9.99529510e-01 5.72990251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters Centerline goodness [0,1] 0.9992713083540972 Centerline is valid? [True, True] Translation: X:26.28, Y:5.35, Z:0.57 [[ 9.66442844e-01 -2.55296647e-01 -2.84930034e-02 2.62761025e+01] [ 2.55161035e-01 9.66862435e-01 -8.35929733e-03 5.35145811e+00] [ 2.96829152e-02 8.08478843e-04 9.99559038e-01 5.73907383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.646874999999998 meters Centerline goodness [0,1] 0.9991980186342729 Centerline is valid? [True, True] Translation: X:26.30, Y:5.36, Z:0.58 [[ 9.65879673e-01 -2.57462804e-01 -2.80955735e-02 2.63042178e+01] [ 2.57331649e-01 9.66287928e-01 -8.25004087e-03 5.35699051e+00] [ 2.92724921e-02 7.38666520e-04 9.99571196e-01 5.75088687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters Centerline goodness [0,1] 0.9992213675617008 Centerline is valid? [True, True] Translation: X:26.33, Y:5.36, Z:0.58 [[ 9.65710841e-01 -2.58134471e-01 -2.77338519e-02 2.63324886e+01] [ 2.58006740e-01 9.66108732e-01 -8.15107235e-03 5.36429940e+00] [ 2.88979893e-02 7.16058216e-04 9.99582109e-01 5.75782314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.706874999999997 meters Centerline goodness [0,1] 0.9992683675155177 Centerline is valid? [True, True] Translation: X:26.36, Y:5.37, Z:0.58 [[ 9.65637236e-01 -2.58419362e-01 -2.76434822e-02 2.63597815e+01] [ 2.58292362e-01 9.66032570e-01 -8.13205075e-03 5.37137236e+00] [ 2.88059835e-02 7.12510688e-04 9.99584768e-01 5.76628657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters Centerline goodness [0,1] 0.9992888298881092 Centerline is valid? [True, True] Translation: X:26.39, Y:5.38, Z:0.58 [[ 9.65591477e-01 -2.58540594e-01 -2.81044767e-02 2.63870744e+01] [ 2.58409121e-01 9.66000119e-01 -8.27624996e-03 5.37872145e+00] [ 2.92886744e-02 7.29023305e-04 9.99570729e-01 5.76621067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.766875 meters Centerline goodness [0,1] 0.9992674338918165 Centerline is valid? [True, True] Translation: X:26.41, Y:5.39, Z:0.58 [[ 9.65622152e-01 -2.58479628e-01 -2.76069277e-02 2.64127799e+01] [ 2.58352542e-01 9.66016437e-01 -8.13678855e-03 5.38614514e+00] [ 2.87719400e-02 7.24743322e-04 9.99585739e-01 5.75782387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters Centerline goodness [0,1] 0.9991939307728781 Centerline is valid? [True, True] Translation: X:26.44, Y:5.39, Z:0.58 [[ 9.65635566e-01 -2.58519442e-01 -2.67516749e-02 2.64395160e+01] [ 2.58400003e-01 9.66005798e-01 -7.88907929e-03 5.39318796e+00] [ 2.78817534e-02 7.05342675e-04 9.99610979e-01 5.77375647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.826874999999998 meters Centerline goodness [0,1] 0.9995011402508552 Centerline is valid? [True, True] Translation: X:26.47, Y:5.40, Z:0.58 [[ 9.65351374e-01 -2.59723944e-01 -2.53021344e-02 2.64683995e+01] [ 2.59617330e-01 9.65682692e-01 -7.46860091e-03 5.39780537e+00] [ 2.63736077e-02 6.40951583e-04 9.99651950e-01 5.80155006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters Centerline goodness [0,1] 0.9993570816268216 Centerline is valid? [True, True] Translation: X:26.50, Y:5.40, Z:0.58 [[ 9.65122593e-01 -2.60588195e-01 -2.51430416e-02 2.64975373e+01] [ 2.60483041e-01 9.65449848e-01 -7.42810515e-03 5.40299971e+00] [ 2.62100222e-02 6.19696169e-04 9.99656266e-01 5.81802695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.886874999999996 meters Centerline goodness [0,1] 0.9992374597879186 Centerline is valid? [True, True] Translation: X:26.52, Y:5.41, Z:0.58 [[ 9.64924442e-01 -2.61273819e-01 -2.56283541e-02 2.65240726e+01] [ 2.61164654e-01 9.65264528e-01 -7.57720122e-03 5.40994008e+00] [ 2.67178654e-02 6.18206436e-04 9.99642823e-01 5.82940713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters Centerline goodness [0,1] 0.9992615531205336 Centerline is valid? [True, True] Translation: X:26.55, Y:5.42, Z:0.58 [[ 9.64758372e-01 -2.61840430e-01 -2.60935352e-02 2.65507627e+01] [ 2.61727406e-01 9.65110983e-01 -7.71721466e-03 5.41787679e+00] [ 2.72038363e-02 6.15854165e-04 9.99629717e-01 5.82624501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.946875 meters Centerline goodness [0,1] 0.999287072243346 Centerline is valid? [True, True] Translation: X:26.58, Y:5.42, Z:0.58 [[ 9.64536940e-01 -2.62623219e-01 -2.64108931e-02 2.65781778e+01] [ 2.62507623e-01 9.64898274e-01 -7.81463478e-03 5.42403404e+00] [ 2.75361297e-02 6.04443152e-04 9.99620626e-01 5.80829377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters Centerline goodness [0,1] 0.9994260844612368 Centerline is valid? [True, True] Translation: X:26.61, Y:5.43, Z:0.58 [[ 9.64365289e-01 -2.63317866e-01 -2.57544468e-02 2.66065842e+01] [ 2.63208000e-01 9.64708955e-01 -7.62760126e-03 5.43089086e+00] [ 2.68540292e-02 5.77017442e-04 9.99639199e-01 5.81438219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.006874999999997 meters Centerline goodness [0,1] 0.9993557930902844 Centerline is valid? [True, True] Translation: X:26.63, Y:5.44, Z:0.58 [[ 9.64137789e-01 -2.64219434e-01 -2.50282906e-02 2.66347503e+01] [ 2.64115818e-01 9.64462439e-01 -7.41877270e-03 5.43680681e+00] [ 2.60990301e-02 5.42351661e-04 9.99659215e-01 5.82527235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters Centerline goodness [0,1] 0.9993245362217451 Centerline is valid? [True, True] Translation: X:26.66, Y:5.44, Z:0.58 [[ 9.63185197e-01 -2.67446474e-01 -2.73250913e-02 2.66648409e+01] [ 2.67324047e-01 9.63572587e-01 -8.10704619e-03 5.43698156e+00] [ 2.84979098e-02 5.03932886e-04 9.99593725e-01 5.83516529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.066875 meters Centerline goodness [0,1] 0.999492925097793 Centerline is valid? [True, True] Translation: X:26.69, Y:5.44, Z:0.58 [[ 9.62501631e-01 -2.69827999e-01 -2.79903703e-02 2.66935867e+01] [ 2.69700327e-01 9.62908431e-01 -8.31179693e-03 5.44242682e+00] [ 2.91949191e-02 4.51106061e-04 9.99573636e-01 5.83706697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters Centerline goodness [0,1] 0.9994907609486396 Centerline is valid? [True, True] Translation: X:26.72, Y:5.45, Z:0.58 [[ 9.62015338e-01 -2.71590941e-01 -2.76559203e-02 2.67222702e+01] [ 2.71466827e-01 9.62412698e-01 -8.21953341e-03 5.44848462e+00] [ 2.88487597e-02 3.99652292e-04 9.99583708e-01 5.83118295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.126875 meters Centerline goodness [0,1] 0.9994921034174185 Centerline is valid? [True, True] Translation: X:26.75, Y:5.46, Z:0.58 [[ 9.61605620e-01 -2.73043906e-01 -2.75981450e-02 2.67506849e+01] [ 2.72920704e-01 9.62001504e-01 -8.20947019e-03 5.45500548e+00] [ 2.87910028e-02 3.62167517e-04 9.99585388e-01 5.82927302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters Centerline goodness [0,1] 0.9995867065373302 Centerline is valid? [True, True] Translation: X:26.78, Y:5.46, Z:0.59 [[ 9.61051458e-01 -2.75165626e-01 -2.57676758e-02 2.67784139e+01] [ 2.75058842e-01 9.61396795e-01 -7.67043520e-03 5.45838235e+00] [ 2.68836010e-02 2.84055873e-04 9.99638530e-01 5.85360620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.186874999999997 meters Centerline goodness [0,1] 0.9996338248217947 Centerline is valid? [True, True] Translation: X:26.81, Y:5.46, Z:0.59 [[ 9.60722871e-01 -2.76307537e-01 -2.58013567e-02 2.68059264e+01] [ 2.76200796e-01 9.61069238e-01 -7.68379920e-03 5.46403859e+00] [ 2.69199818e-02 2.55646378e-04 9.99637559e-01 5.86137834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters Centerline goodness [0,1] 0.9996105255470898 Centerline is valid? [True, True] Translation: X:26.83, Y:5.47, Z:0.59 [[ 9.60460230e-01 -2.77252180e-01 -2.54435619e-02 2.68334777e+01] [ 2.77148517e-01 9.60797156e-01 -7.58451492e-03 5.47106480e+00] [ 2.65489252e-02 2.32979493e-04 9.99647488e-01 5.86850201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.246875 meters Centerline goodness [0,1] 0.9996587779375563 Centerline is valid? [True, True] Translation: X:26.86, Y:5.48, Z:0.59 [[ 9.60444383e-01 -2.77347784e-01 -2.49958781e-02 2.68608071e+01] [ 2.77247590e-01 9.60769563e-01 -7.45797596e-03 5.47790461e+00] [ 2.60837320e-02 2.32924151e-04 9.99659734e-01 5.86806897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters Centerline goodness [0,1] 0.9994863893168978 Centerline is valid? [True, True] Translation: X:26.89, Y:5.49, Z:0.59 [[ 9.60623464e-01 -2.76672606e-01 -2.55896275e-02 2.68875639e+01] [ 2.76567166e-01 9.60964203e-01 -7.64221672e-03 5.48704120e+00] [ 2.67051080e-02 2.64041950e-04 9.99643320e-01 5.86275366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.306874999999998 meters Centerline goodness [0,1] 0.9994881419552978 Centerline is valid? [True, True] Translation: X:26.91, Y:5.50, Z:0.59 [[ 9.61055787e-01 -2.75140598e-01 -2.58732425e-02 2.69136092e+01] [ 2.75032185e-01 9.61403949e-01 -7.72938979e-03 5.49581078e+00] [ 2.70013065e-02 3.12400356e-04 9.99635349e-01 5.86834128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters Centerline goodness [0,1] 0.9995106075806885 Centerline is valid? [True, True] Translation: X:26.94, Y:5.50, Z:0.59 [[ 9.61419113e-01 -2.73792021e-01 -2.66686678e-02 2.69415526e+01] [ 2.73676223e-01 9.61788852e-01 -7.97049745e-03 5.50421410e+00] [ 2.78318860e-02 3.64408322e-04 9.99612552e-01 5.87374115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.366874999999997 meters Centerline goodness [0,1] 0.9995107512414687 Centerline is valid? [True, True] Translation: X:26.97, Y:5.51, Z:0.59 [[ 9.62315722e-01 -2.70629842e-01 -2.66071526e-02 2.69680205e+01] [ 2.70513175e-01 9.62683373e-01 -7.95903992e-03 5.51487892e+00] [ 2.77682171e-02 4.61523922e-04 9.99614282e-01 5.87571100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters Centerline goodness [0,1] 0.9994134037248863 Centerline is valid? [True, True] Translation: X:26.99, Y:5.52, Z:0.59 [[ 9.62798947e-01 -2.68838442e-01 -2.72778146e-02 2.69943626e+01] [ 2.68714924e-01 9.63185137e-01 -8.16581334e-03 5.52446336e+00] [ 2.84688701e-02 5.32080612e-04 9.99594538e-01 5.87627534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.426875 meters Centerline goodness [0,1] 0.9995599452376296 Centerline is valid? [True, True] Translation: X:27.02, Y:5.53, Z:0.59 [[ 9.63182529e-01 -2.67447972e-01 -2.74043613e-02 2.70212967e+01] [ 2.67322669e-01 9.63572129e-01 -8.20624941e-03 5.53356112e+00] [ 2.86008235e-02 5.78309049e-04 9.99590745e-01 5.88269307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters Centerline goodness [0,1] 0.9994395711500975 Centerline is valid? [True, True] Translation: X:27.05, Y:5.55, Z:0.59 [[ 9.63975939e-01 -2.64760007e-01 -2.55446222e-02 2.70479931e+01] [ 2.64650113e-01 9.64314139e-01 -7.65238064e-03 5.54527729e+00] [ 2.66590847e-02 6.16323661e-04 9.99644393e-01 5.88781770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.486874999999998 meters Centerline goodness [0,1] 0.9993916534858255 Centerline is valid? [True, True] Translation: X:27.08, Y:5.55, Z:0.59 [[ 9.64276055e-01 -2.63770617e-01 -2.44284927e-02 2.70753515e+01] [ 2.63669644e-01 9.64585235e-01 -7.32416222e-03 5.55472176e+00] [ 2.54952622e-02 6.21462256e-04 9.99674750e-01 5.89799974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters Centerline goodness [0,1] 0.999512207019341 Centerline is valid? [True, True] Translation: X:27.10, Y:5.56, Z:0.59 [[ 9.64600820e-01 -2.62634293e-01 -2.38429589e-02 2.71015585e+01] [ 2.62537614e-01 9.64895236e-01 -7.15433331e-03 5.56416376e+00] [ 2.48849307e-02 6.41402238e-04 9.99690116e-01 5.91213188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.546874999999996 meters Centerline goodness [0,1] 0.9994866278785508 Centerline is valid? [True, True] Translation: X:27.13, Y:5.57, Z:0.59 [[ 9.64667327e-01 -2.62381564e-01 -2.39345499e-02 2.71302756e+01] [ 2.62283970e-01 9.64963982e-01 -7.18551214e-03 5.56973619e+00] [ 2.49813245e-02 6.53980028e-04 9.99687704e-01 5.94091190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters Centerline goodness [0,1] 0.9994392158775053 Centerline is valid? [True, True] Translation: X:27.16, Y:5.58, Z:0.60 [[ 9.64445028e-01 -2.63153664e-01 -2.44118430e-02 2.71586980e+01] [ 2.63052216e-01 9.64753711e-01 -7.33543712e-03 5.57710554e+00] [ 2.54817633e-02 6.53036446e-04 9.99675074e-01 5.95161500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.606875 meters Centerline goodness [0,1] 0.9996325870768628 Centerline is valid? [True, True] Translation: X:27.19, Y:5.58, Z:0.60 [[ 9.64156999e-01 -2.64181361e-01 -2.46878632e-02 2.71866693e+01] [ 2.64077770e-01 9.64472809e-01 -7.42505448e-03 5.58392062e+00] [ 2.57723338e-02 6.39402363e-04 9.99667634e-01 5.95772714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters Centerline goodness [0,1] 0.9995584014131155 Centerline is valid? [True, True] Translation: X:27.21, Y:5.59, Z:0.60 [[ 9.63894217e-01 -2.65030589e-01 -2.58210287e-02 2.72137070e+01] [ 2.64917373e-01 9.64239784e-01 -7.77326814e-03 5.59090427e+00] [ 2.69578170e-02 6.52169096e-04 9.99636359e-01 5.95239320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.666874999999997 meters Centerline goodness [0,1] 0.9993634315933797 Centerline is valid? [True, True] Translation: X:27.24, Y:5.60, Z:0.59 [[ 9.63785057e-01 -2.65327971e-01 -2.68222271e-02 2.72395976e+01] [ 2.65205709e-01 9.64157980e-01 -8.08214153e-03 5.59822934e+00] [ 2.80052825e-02 6.76039476e-04 9.99607547e-01 5.93904588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters Centerline goodness [0,1] 0.9993619945033373 Centerline is valid? [True, True] Translation: X:27.27, Y:5.60, Z:0.59 [[ 9.63586790e-01 -2.65830136e-01 -2.88935440e-02 2.72675589e+01] [ 2.65688327e-01 9.64019618e-01 -8.71141530e-03 5.60462072e+00] [ 3.01696999e-02 7.17527350e-04 9.99544533e-01 5.91935495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.726874999999996 meters Centerline goodness [0,1] 0.9993879299791896 Centerline is valid? [True, True] Translation: X:27.29, Y:5.61, Z:0.59 [[ 9.63511274e-01 -2.66164783e-01 -2.83254745e-02 2.72943226e+01] [ 2.66028413e-01 9.63927289e-01 -8.54787059e-03 5.61182910e+00] [ 2.95788399e-02 7.00588675e-04 9.99562205e-01 5.91765425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters Centerline goodness [0,1] 0.99928587258982 Centerline is valid? [True, True] Translation: X:27.32, Y:5.62, Z:0.59 [[ 9.63338688e-01 -2.66901121e-01 -2.72463718e-02 2.73217798e+01] [ 2.66775049e-01 9.63723694e-01 -8.22894680e-03 5.61781507e+00] [ 2.84542892e-02 6.58610659e-04 9.99594878e-01 5.93929270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.786875 meters Centerline goodness [0,1] 0.9993806668978844 Centerline is valid? [True, True] Translation: X:27.35, Y:5.62, Z:0.60 [[ 9.63345493e-01 -2.66971236e-01 -2.63024783e-02 2.73489841e+01] [ 2.66853677e-01 9.63704287e-01 -7.94743225e-03 5.62432995e+00] [ 2.74695469e-02 6.37210000e-04 9.99622438e-01 5.97091093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters Centerline goodness [0,1] 0.9994798761609908 Centerline is valid? [True, True] Translation: X:27.38, Y:5.63, Z:0.60 [[ 9.63493665e-01 -2.66574467e-01 -2.48598314e-02 2.73769933e+01] [ 2.66469137e-01 9.63814126e-01 -7.51862991e-03 5.63263412e+00] [ 2.59645314e-02 6.19774471e-04 9.99662673e-01 5.99757151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.846874999999997 meters Centerline goodness [0,1] 0.9994779495848456 Centerline is valid? [True, True] Translation: X:27.40, Y:5.64, Z:0.60 [[ 9.63689451e-01 -2.65892219e-01 -2.45757928e-02 2.74036975e+01] [ 2.65788909e-01 9.64002553e-01 -7.43859044e-03 5.64121796e+00] [ 2.56689904e-02 6.36517969e-04 9.99670295e-01 6.00690655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters Centerline goodness [0,1] 0.9993542779088539 Centerline is valid? [True, True] Translation: X:27.43, Y:5.65, Z:0.60 [[ 9.61739738e-01 -2.72656686e-01 -2.67396292e-02 2.74334382e+01] [ 2.72536920e-01 9.62111263e-01 -8.09596744e-03 5.64519295e+00] [ 2.79339181e-02 4.98677409e-04 9.99609648e-01 5.97592831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.906875 meters Centerline goodness [0,1] 0.9995287815282359 Centerline is valid? [True, True] Translation: X:27.46, Y:5.65, Z:0.60 [[ 9.59758680e-01 -2.79547115e-01 -2.67710078e-02 2.74620445e+01] [ 2.79429701e-01 9.60131929e-01 -8.10689733e-03 5.64960096e+00] [ 2.79699591e-02 3.00050352e-04 9.99608719e-01 5.98941255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters Centerline goodness [0,1] 0.9994508374728539 Centerline is valid? [True, True] Translation: X:27.49, Y:5.65, Z:0.60 [[ 9.58569458e-01 -2.83706884e-01 -2.55929369e-02 2.74906430e+01] [ 2.83600986e-01 9.58911035e-01 -7.75286655e-03 5.65461303e+00] [ 2.67408913e-02 1.73478928e-04 9.99642383e-01 6.02564228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.966874999999998 meters Centerline goodness [0,1] 0.9995991783155469 Centerline is valid? [True, True] Translation: X:27.52, Y:5.66, Z:0.61 [[ 9.57890418e-01 -2.86051190e-01 -2.49131431e-02 2.75188047e+01] [ 2.85951471e-01 9.58214331e-01 -7.55325660e-03 5.66140811e+00] [ 2.60327487e-02 1.11242214e-04 9.99661084e-01 6.05207235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters Centerline goodness [0,1] 0.9996018513910317 Centerline is valid? [True, True] Translation: X:27.54, Y:5.67, Z:0.60 [[ 9.57782410e-01 -2.86316898e-01 -2.59901668e-02 2.75448226e+01] [ 2.86208299e-01 9.58134970e-01 -7.88595227e-03 5.67078319e+00] [ 2.71599691e-02 1.14424924e-04 9.99631093e-01 6.03572131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.026874999999997 meters Centerline goodness [0,1] 0.9993802523612385 Centerline is valid? [True, True] Translation: X:27.57, Y:5.68, Z:0.60 [[ 9.57929636e-01 -2.85420984e-01 -3.00944101e-02 2.75709577e+01] [ 2.85274780e-01 9.58402230e-01 -9.13594236e-03 5.68460190e+00] [ 3.14501394e-02 1.66413719e-04 9.99505308e-01 5.96381440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters Centerline goodness [0,1] 0.9994579545174563 Centerline is valid? [True, True] Translation: X:27.60, Y:5.70, Z:0.59 [[ 9.58663935e-01 -2.82866357e-01 -3.08234454e-02 2.75965914e+01] [ 2.82711448e-01 9.59159296e-01 -9.36386128e-03 5.69689550e+00] [ 3.22133156e-02 2.62655209e-04 9.99480982e-01 5.94156404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.086875 meters Centerline goodness [0,1] 0.9994594992998059 Centerline is valid? [True, True] Translation: X:27.62, Y:5.71, Z:0.60 [[ 9.59649808e-01 -2.79485587e-01 -3.09847259e-02 2.76235792e+01] [ 2.79327140e-01 9.60149811e-01 -9.41744873e-03 5.70757522e+00] [ 3.23820199e-02 3.82577999e-04 9.99475492e-01 5.96249873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters Centerline goodness [0,1] 0.9992884483266268 Centerline is valid? [True, True] Translation: X:27.65, Y:5.72, Z:0.60 [[ 9.61610722e-01 -2.72830916e-01 -2.94637014e-02 2.76496722e+01] [ 2.72684310e-01 9.62061823e-01 -8.96197238e-03 5.72155500e+00] [ 3.07910054e-02 5.83639666e-04 9.99525674e-01 6.01039461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.146874999999998 meters Centerline goodness [0,1] 0.9993138936535163 Centerline is valid? [True, True] Translation: X:27.68, Y:5.73, Z:0.60 [[ 9.62485837e-01 -2.69794101e-01 -2.88471295e-02 2.76756888e+01] [ 2.69652061e-01 9.62917802e-01 -8.77914058e-03 5.73274370e+00] [ 3.01459749e-02 6.71110537e-04 9.99545282e-01 6.04188132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters Centerline goodness [0,1] 0.9992638940007361 Centerline is valid? [True, True] Translation: X:27.70, Y:5.74, Z:0.61 [[ 9.63213471e-01 -2.67211498e-01 -2.85976463e-02 2.77027859e+01] [ 2.67070647e-01 9.63637616e-01 -8.70720858e-03 5.74380200e+00] [ 2.98844340e-02 7.49308702e-04 9.99553080e-01 6.06221419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.206874999999997 meters Centerline goodness [0,1] 0.9991960631455856 Centerline is valid? [True, True] Translation: X:27.73, Y:5.76, Z:0.61 [[ 9.63933744e-01 -2.64563918e-01 -2.89425359e-02 2.77278583e+01] [ 2.64418245e-01 9.64367779e-01 -8.81919182e-03 5.75583476e+00] [ 3.02444890e-02 8.48182059e-04 9.99542171e-01 6.06424414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters Centerline goodness [0,1] 0.9991470072138818 Centerline is valid? [True, True] Translation: X:27.75, Y:5.77, Z:0.61 [[ 9.64665430e-01 -2.61869887e-01 -2.90649512e-02 2.77535772e+01] [ 2.61721631e-01 9.65102729e-01 -8.86060089e-03 5.76821645e+00] [ 3.03709883e-02 9.40588930e-04 9.99538253e-01 6.05492813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.266875 meters Centerline goodness [0,1] 0.999244326353509 Centerline is valid? [True, True] Translation: X:27.78, Y:5.78, Z:0.61 [[ 9.65752490e-01 -2.57890521e-01 -2.85413198e-02 2.77806719e+01] [ 2.57745764e-01 9.66173576e-01 -8.70294584e-03 5.77888166e+00] [ 2.98202763e-02 1.04848733e-03 9.99554727e-01 6.06315289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters Centerline goodness [0,1] 0.999416257235978 Centerline is valid? [True, True] Translation: X:27.81, Y:5.79, Z:0.61 [[ 9.65980659e-01 -2.57055116e-01 -2.83554989e-02 2.78079666e+01] [ 2.56911784e-01 9.66396151e-01 -8.64949579e-03 5.78895670e+00] [ 2.96260421e-02 1.07038383e-03 9.99560479e-01 6.07162020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.326874999999998 meters Centerline goodness [0,1] 0.9994159020662464 Centerline is valid? [True, True] Translation: X:27.84, Y:5.80, Z:0.61 [[ 9.65553354e-01 -2.58594692e-01 -2.89051235e-02 2.78357319e+01] [ 2.58446199e-01 9.65985342e-01 -8.82502094e-03 5.79691780e+00] [ 3.02040292e-02 1.05060926e-03 9.99543202e-01 6.07176785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters Centerline goodness [0,1] 0.9993201573350168 Centerline is valid? [True, True] Translation: X:27.86, Y:5.80, Z:0.61 [[ 9.64772746e-01 -2.61574529e-01 -2.81480647e-02 2.78640695e+01] [ 2.61434766e-01 9.65182824e-01 -8.60112342e-03 5.80413328e+00] [ 2.94178634e-02 9.39246753e-04 9.99566760e-01 6.08710370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.386874999999996 meters Centerline goodness [0,1] 0.9993201573350168 Centerline is valid? [True, True] Translation: X:27.89, Y:5.81, Z:0.61 [[ 9.64700244e-01 -2.61842017e-01 -2.81460106e-02 2.78904654e+01] [ 2.61702172e-01 9.65110293e-01 -8.60784058e-03 5.81231280e+00] [ 2.94178989e-02 9.38113785e-04 9.99566760e-01 6.09310739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters Centerline goodness [0,1] 0.9992738890502468 Centerline is valid? [True, True] Translation: X:27.92, Y:5.82, Z:0.61 [[ 9.64377232e-01 -2.63155572e-01 -2.69388148e-02 2.79186227e+01] [ 2.63027764e-01 9.64753022e-01 -8.24634422e-03 5.81810324e+00] [ 2.81593744e-02 8.66930392e-04 9.99603070e-01 6.11978020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.446875 meters Centerline goodness [0,1] 0.9994884910485934 Centerline is valid? [True, True] Translation: X:27.95, Y:5.82, Z:0.61 [[ 9.63863933e-01 -2.65020989e-01 -2.70221087e-02 2.79471109e+01] [ 2.64892913e-01 9.64242293e-01 -8.27918461e-03 5.82422333e+00] [ 2.82500178e-02 8.22042344e-04 9.99600551e-01 6.13983519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters Centerline goodness [0,1] 0.9993709931051167 Centerline is valid? [True, True] Translation: X:27.97, Y:5.83, Z:0.61 [[ 9.63227702e-01 -2.67333596e-01 -2.69284647e-02 2.79741039e+01] [ 2.67207103e-01 9.63603743e-01 -8.25778145e-03 5.83290506e+00] [ 2.81559518e-02 7.58646790e-04 9.99603255e-01 6.14350640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.506874999999997 meters Centerline goodness [0,1] 0.9993675812414867 Centerline is valid? [True, True] Translation: X:28.00, Y:5.84, Z:0.61 [[ 9.62057659e-01 -2.71265310e-01 -2.93290435e-02 2.80028733e+01] [ 2.71116869e-01 9.62504354e-01 -9.00067385e-03 5.83813072e+00] [ 3.06709026e-02 7.07568764e-04 9.99529287e-01 6.11027542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters Centerline goodness [0,1] 0.9994164417535926 Centerline is valid? [True, True] Translation: X:28.03, Y:5.85, Z:0.61 [[ 9.61636215e-01 -2.72627863e-01 -3.04932352e-02 2.80312239e+01] [ 2.72467952e-01 9.62119310e-01 -9.36212376e-03 5.84568676e+00] [ 3.18905062e-02 6.94527908e-04 9.99491127e-01 6.09312019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.566874999999996 meters Centerline goodness [0,1] 0.999462877511658 Centerline is valid? [True, True] Translation: X:28.06, Y:5.85, Z:0.61 [[ 9.61423942e-01 -2.73224454e-01 -3.18182644e-02 2.80578552e+01] [ 2.73050363e-01 9.61950045e-01 -9.77801815e-03 5.85323963e+00] [ 3.32791745e-02 7.12832104e-04 9.99445841e-01 6.08611433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters Centerline goodness [0,1] 0.9993680577497995 Centerline is valid? [True, True] Translation: X:28.08, Y:5.86, Z:0.61 [[ 9.61490364e-01 -2.72794110e-01 -3.34612401e-02 2.80842305e+01] [ 2.72601035e-01 9.62072126e-01 -1.02907475e-02 5.86134056e+00] [ 3.49993817e-02 7.72885827e-04 9.99387035e-01 6.07795587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.626875 meters Centerline goodness [0,1] 0.9994154610550928 Centerline is valid? [True, True] Translation: X:28.11, Y:5.87, Z:0.61 [[ 9.61730640e-01 -2.71943548e-01 -3.34795889e-02 2.81120580e+01] [ 2.71749611e-01 9.62312867e-01 -1.03002384e-02 5.87040304e+00] [ 3.50189226e-02 8.07989638e-04 9.99386323e-01 6.09069593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters Centerline goodness [0,1] 0.9993925846736965 Centerline is valid? [True, True] Translation: X:28.14, Y:5.88, Z:0.61 [[ 9.61990919e-01 -2.71079432e-01 -3.30062705e-02 2.81384327e+01] [ 2.70890270e-01 9.62556621e-01 -1.01593740e-02 5.88043807e+00] [ 3.45244016e-02 8.32148042e-04 9.99403509e-01 6.10452762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.686874999999997 meters Centerline goodness [0,1] 0.9993684261665897 Centerline is valid? [True, True] Translation: X:28.17, Y:5.89, Z:0.61 [[ 9.62442962e-01 -2.69478026e-01 -3.29414353e-02 2.81655929e+01] [ 2.69288468e-01 9.63006124e-01 -1.01452341e-02 5.89159139e+00] [ 3.44567216e-02 8.93460511e-04 9.99405791e-01 6.11104464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters Centerline goodness [0,1] 0.9992466951788491 Centerline is valid? [True, True] Translation: X:28.19, Y:5.90, Z:0.61 [[ 9.62708728e-01 -2.68715436e-01 -3.13674777e-02 2.81932746e+01] [ 2.68542912e-01 9.63219203e-01 -9.66805761e-03 5.90047354e+00] [ 3.28117132e-02 8.84009644e-04 9.99461160e-01 6.12721063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.746875 meters Centerline goodness [0,1] 0.999296833325251 Centerline is valid? [True, True] Translation: X:28.22, Y:5.91, Z:0.61 [[ 9.62933833e-01 -2.68038730e-01 -3.02270248e-02 2.82210856e+01] [ 2.67877946e-01 9.63407734e-01 -9.32435702e-03 5.90868381e+00] [ 3.16202383e-02 8.81585513e-04 9.99499566e-01 6.14618134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters Centerline goodness [0,1] 0.9995161134230136 Centerline is valid? [True, True] Translation: X:28.25, Y:5.92, Z:0.62 [[ 9.63026467e-01 -2.67884454e-01 -2.85997067e-02 2.82476037e+01] [ 2.67740274e-01 9.63450676e-01 -8.82834834e-03 5.91780696e+00] [ 2.99193840e-02 8.44639795e-04 9.99551958e-01 6.16483116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.806874999999998 meters Centerline goodness [0,1] 0.9993442304422802 Centerline is valid? [True, True] Translation: X:28.27, Y:5.92, Z:0.62 [[ 9.63012832e-01 -2.68029236e-01 -2.76878054e-02 2.82748479e+01] [ 2.67894050e-01 9.63410432e-01 -8.55085178e-03 5.92407072e+00] [ 2.89665989e-02 8.17181667e-04 9.99580046e-01 6.19103853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters Centerline goodness [0,1] 0.9993924075244253 Centerline is valid? [True, True] Translation: X:28.30, Y:5.93, Z:0.62 [[ 9.62905612e-01 -2.68422337e-01 -2.76085292e-02 2.83019298e+01] [ 2.68287842e-01 9.63300987e-01 -8.53480158e-03 5.93266792e+00] [ 2.88862548e-02 8.11175609e-04 9.99582376e-01 6.20263744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.866874999999997 meters Centerline goodness [0,1] 0.9993678426414452 Centerline is valid? [True, True] Translation: X:28.33, Y:5.94, Z:0.62 [[ 9.62740662e-01 -2.68826092e-01 -2.93760214e-02 2.83287288e+01] [ 2.68673776e-01 9.63188350e-01 -9.08875784e-03 5.94182354e+00] [ 3.07379368e-02 8.57550158e-04 9.99527110e-01 6.18082407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters Centerline goodness [0,1] 0.9995141739742998 Centerline is valid? [True, True] Translation: X:28.36, Y:5.95, Z:0.62 [[ 9.62729565e-01 -2.68695704e-01 -3.08934104e-02 2.83563483e+01] [ 2.68527021e-01 9.63224683e-01 -9.56293668e-03 5.95049791e+00] [ 3.23268154e-02 9.10806414e-04 9.99476937e-01 6.17699983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.926875 meters Centerline goodness [0,1] 0.9994174333082506 Centerline is valid? [True, True] Translation: X:28.38, Y:5.96, Z:0.62 [[ 9.62522248e-01 -2.69351785e-01 -3.16312696e-02 2.83831134e+01] [ 2.69175008e-01 9.63041418e-01 -9.80014748e-03 5.95930519e+00] [ 3.31019100e-02 9.18512743e-04 9.99451560e-01 6.16441288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters Centerline goodness [0,1] 0.9994189143382887 Centerline is valid? [True, True] Translation: X:28.41, Y:5.97, Z:0.61 [[ 9.62281161e-01 -2.70074422e-01 -3.27837452e-02 2.84101560e+01] [ 2.69884600e-01 9.62838995e-01 -1.01671940e-02 5.96736271e+00] [ 3.43113673e-02 9.35871302e-04 9.99410754e-01 6.14780994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.986874999999998 meters Centerline goodness [0,1] 0.999415859416833 Centerline is valid? [True, True] Translation: X:28.44, Y:5.97, Z:0.61 [[ 9.61774990e-01 -2.71725885e-01 -3.39692811e-02 2.84391836e+01] [ 2.71522766e-01 9.62374252e-01 -1.05445153e-02 5.97312729e+00] [ 3.55563792e-02 9.18017971e-04 9.99367250e-01 6.14536305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters Centerline goodness [0,1] 0.9993902885154745 Centerline is valid? [True, True] Translation: X:28.46, Y:5.98, Z:0.61 [[ 9.61609766e-01 -2.72363694e-01 -3.35361986e-02 2.84649536e+01] [ 2.72165891e-01 9.62193966e-01 -1.04163249e-02 5.98258178e+00] [ 3.51053566e-02 8.89030375e-04 9.99383222e-01 6.14801879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.046874999999996 meters Centerline goodness [0,1] 0.9993681191824434 Centerline is valid? [True, True] Translation: X:28.49, Y:5.99, Z:0.62 [[ 9.61623700e-01 -2.72433193e-01 -3.25578685e-02 2.84920808e+01] [ 2.72246621e-01 9.62174312e-01 -1.01178936e-02 5.98869127e+00] [ 3.40827948e-02 8.65836582e-04 9.99418638e-01 6.17959022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters Centerline goodness [0,1] 0.9994635193133047 Centerline is valid? [True, True] Translation: X:28.52, Y:6.00, Z:0.62 [[ 9.61609003e-01 -2.72558245e-01 -3.19394514e-02 2.85190836e+01] [ 2.72378445e-01 9.62138905e-01 -9.93528262e-03 5.99670869e+00] [ 3.34381320e-02 8.54239125e-04 9.99440424e-01 6.20191595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.106875 meters Centerline goodness [0,1] 0.999390927252351 Centerline is valid? [True, True] Translation: X:28.55, Y:6.01, Z:0.62 [[ 9.61925684e-01 -2.71662512e-01 -2.99742751e-02 2.85451599e+01] [ 2.71503513e-01 9.62392217e-01 -9.33081100e-03 6.00534606e+00] [ 3.13818406e-02 8.37425769e-04 9.99507118e-01 6.23479530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters Centerline goodness [0,1] 0.9993142969094382 Centerline is valid? [True, True] Translation: X:28.57, Y:6.02, Z:0.62 [[ 9.62041940e-01 -2.71309422e-01 -2.94364066e-02 2.85705512e+01] [ 2.71155831e-01 9.62491817e-01 -9.16610475e-03 6.01604069e+00] [ 3.08191510e-02 8.36323913e-04 9.99524627e-01 6.24850888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.166874999999997 meters Centerline goodness [0,1] 0.9993634939287113 Centerline is valid? [True, True] Translation: X:28.60, Y:6.02, Z:0.63 [[ 9.62224713e-01 -2.70767790e-01 -2.84324675e-02 2.85984951e+01] [ 2.70624147e-01 9.62644336e-01 -8.85735171e-03 6.02393439e+00] [ 2.97686393e-02 8.28250445e-04 9.99556473e-01 6.26527180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters Centerline goodness [0,1] 0.9992646157617355 Centerline is valid? [True, True] Translation: X:28.63, Y:6.03, Z:0.63 [[ 9.62559733e-01 -2.69795882e-01 -2.62477015e-02 2.86255787e+01] [ 2.69672932e-01 9.62917205e-01 -8.18326576e-03 6.03285580e+00] [ 2.74821748e-02 7.98587492e-04 9.99621975e-01 6.28365974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.226874999999996 meters Centerline goodness [0,1] 0.9992869261599744 Centerline is valid? [True, True] Translation: X:28.65, Y:6.04, Z:0.63 [[ 9.62604528e-01 -2.69640998e-01 -2.61964533e-02 2.86529188e+01] [ 2.69518276e-01 9.62960580e-01 -8.17435635e-03 6.04157319e+00] [ 2.74302935e-02 8.08249497e-04 9.99623392e-01 6.28821027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters Centerline goodness [0,1] 0.9993368374514909 Centerline is valid? [True, True] Translation: X:28.68, Y:6.05, Z:0.63 [[ 9.62633433e-01 -2.69479002e-01 -2.67944076e-02 2.86793777e+01] [ 2.69350372e-01 9.63005901e-01 -8.36724927e-03 6.05019942e+00] [ 2.80579706e-02 8.37510215e-04 9.99605947e-01 6.28984097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.286875 meters Centerline goodness [0,1] 0.9993105995321926 Centerline is valid? [True, True] Translation: X:28.71, Y:6.06, Z:0.63 [[ 9.62921872e-01 -2.68465196e-01 -2.66065252e-02 2.87060256e+01] [ 2.68337907e-01 9.63288998e-01 -8.31109546e-03 6.05987718e+00] [ 2.78610129e-02 8.63396296e-04 9.99611434e-01 6.29570134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters Centerline goodness [0,1] 0.9992384040880503 Centerline is valid? [True, True] Translation: X:28.73, Y:6.07, Z:0.63 [[ 9.63149318e-01 -2.67706466e-01 -2.60122854e-02 2.87330469e+01] [ 2.67584434e-01 9.63500126e-01 -8.12877568e-03 6.07017809e+00] [ 2.72389661e-02 8.68742078e-04 9.99628573e-01 6.30134616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.346874999999997 meters Centerline goodness [0,1] 0.9993324102462664 Centerline is valid? [True, True] Translation: X:28.76, Y:6.08, Z:0.63 [[ 9.63351104e-01 -2.66982270e-01 -2.59830182e-02 2.87606330e+01] [ 2.66860062e-01 9.63701026e-01 -8.12652301e-03 6.07833157e+00] [ 2.72094989e-02 8.94865061e-04 9.99629353e-01 6.30827964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters Centerline goodness [0,1] 0.9992407915360502 Centerline is valid? [True, True] Translation: X:28.79, Y:6.09, Z:0.63 [[ 9.63752656e-01 -2.65545027e-01 -2.58197039e-02 2.87859893e+01] [ 2.65423671e-01 9.64098005e-01 -8.08153921e-03 6.09010726e+00] [ 2.70387376e-02 9.35444285e-04 9.99633949e-01 6.30908977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.406875 meters Centerline goodness [0,1] 0.9992118808955003 Centerline is valid? [True, True] Translation: X:28.81, Y:6.10, Z:0.63 [[ 9.63775894e-01 -2.65427053e-01 -2.61630498e-02 2.88137368e+01] [ 2.65302308e-01 9.64130473e-01 -8.19249747e-03 6.09832565e+00] [ 2.73991040e-02 9.54614088e-04 9.99624118e-01 6.31007340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters Centerline goodness [0,1] 0.9992358697527669 Centerline is valid? [True, True] Translation: X:28.84, Y:6.11, Z:0.63 [[ 9.63749024e-01 -2.65444564e-01 -2.69629647e-02 2.88388423e+01] [ 2.65311898e-01 9.64125616e-01 -8.44941463e-03 6.10991602e+00] [ 2.82385362e-02 9.89519753e-04 9.99600723e-01 6.30180305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.466874999999998 meters Centerline goodness [0,1] 0.9992096228418998 Centerline is valid? [True, True] Translation: X:28.87, Y:6.12, Z:0.63 [[ 9.63551858e-01 -2.66071635e-01 -2.78154997e-02 2.88661900e+01] [ 2.65930582e-01 9.63952734e-01 -8.72079976e-03 6.11540342e+00] [ 2.91331844e-02 1.00595080e-03 9.99575033e-01 6.30542507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters Centerline goodness [0,1] 0.9994566291246789 Centerline is valid? [True, True] Translation: X:28.89, Y:6.12, Z:0.63 [[ 9.63186902e-01 -2.67154797e-01 -2.99884292e-02 2.88927007e+01] [ 2.66991118e-01 9.63653048e-01 -9.40985166e-03 6.12419866e+00] [ 3.14123282e-02 1.05680164e-03 9.99505952e-01 6.28954330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.526874999999997 meters Centerline goodness [0,1] 0.9993802984482674 Centerline is valid? [True, True] Translation: X:28.92, Y:6.13, Z:0.63 [[ 9.62832485e-01 -2.68337870e-01 -3.07960076e-02 2.89206858e+01] [ 2.68165706e-01 9.63324288e-01 -9.66797696e-03 6.13063829e+00] [ 3.22608265e-02 1.05020916e-03 9.99478932e-01 6.28925333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters Centerline goodness [0,1] 0.9994043630407267 Centerline is valid? [True, True] Translation: X:28.95, Y:6.14, Z:0.63 [[ 9.62441780e-01 -2.69667684e-01 -3.13872579e-02 2.89470701e+01] [ 2.69489328e-01 9.62952894e-01 -9.86032105e-03 6.13837274e+00] [ 3.28834608e-02 1.03145392e-03 9.99458661e-01 6.29167858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.586875 meters Centerline goodness [0,1] 0.9994303969885336 Centerline is valid? [True, True] Translation: X:28.98, Y:6.14, Z:0.63 [[ 9.61453655e-01 -2.73322500e-01 -3.00279968e-02 2.89761359e+01] [ 2.73160909e-01 9.61922061e-01 -9.43747659e-03 6.14331694e+00] [ 3.14640673e-02 8.71221465e-04 9.99504504e-01 6.30907130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters Centerline goodness [0,1] 0.9993289257841627 Centerline is valid? [True, True] Translation: X:29.00, Y:6.15, Z:0.63 [[ 9.60952385e-01 -2.75244815e-01 -2.84746400e-02 2.90039000e+01] [ 2.75100151e-01 9.61373858e-01 -8.95616210e-03 6.15036370e+00] [ 2.98399116e-02 7.73067571e-04 9.99554392e-01 6.32914794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.646874999999998 meters Centerline goodness [0,1] 0.9993573900148295 Centerline is valid? [True, True] Translation: X:29.03, Y:6.16, Z:0.63 [[ 9.60568829e-01 -2.76783111e-01 -2.64316951e-02 2.90314784e+01] [ 2.76658863e-01 9.60932176e-01 -8.32020328e-03 6.15797326e+00] [ 2.77019580e-02 6.79565205e-04 9.99615996e-01 6.34687921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters Centerline goodness [0,1] 0.9995793120514724 Centerline is valid? [True, True] Translation: X:29.06, Y:6.16, Z:0.64 [[ 9.59702084e-01 -2.80038023e-01 -2.34652174e-02 2.90601490e+01] [ 2.79940939e-01 9.59988766e-01 -7.39192450e-03 6.16461864e+00] [ 2.45963650e-02 5.25170352e-04 9.99697326e-01 6.38951957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.706874999999997 meters Centerline goodness [0,1] 0.9994554994554995 Centerline is valid? [True, True] Translation: X:29.09, Y:6.17, Z:0.64 [[ 9.59251994e-01 -2.81651609e-01 -2.25384696e-02 2.90880077e+01] [ 2.81562363e-01 9.59516623e-01 -7.10530254e-03 6.17131617e+00] [ 2.36272562e-02 4.69790858e-04 9.99720727e-01 6.40901474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters Centerline goodness [0,1] 0.9995781218979551 Centerline is valid? [True, True] Translation: X:29.11, Y:6.18, Z:0.64 [[ 9.58797849e-01 -2.83224027e-01 -2.21547940e-02 2.91149104e+01] [ 2.83138084e-01 9.59053683e-01 -6.98990477e-03 6.17908270e+00] [ 2.32273458e-02 4.29039718e-04 9.99730117e-01 6.42448865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.766875 meters Centerline goodness [0,1] 0.9994572859363051 Centerline is valid? [True, True] Translation: X:29.14, Y:6.19, Z:0.64 [[ 9.58116303e-01 -2.85534609e-01 -2.19804008e-02 2.91431101e+01] [ 2.85450570e-01 9.58368326e-01 -6.93712179e-03 6.18678659e+00] [ 2.30461083e-02 3.72251548e-04 9.99734334e-01 6.43991206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters Centerline goodness [0,1] 0.9994084298742913 Centerline is valid? [True, True] Translation: X:29.17, Y:6.20, Z:0.64 [[ 9.57796194e-01 -2.86567320e-01 -2.24860468e-02 2.91707315e+01] [ 2.86479513e-01 9.58060040e-01 -7.10267923e-03 6.19620243e+00] [ 2.35783786e-02 3.61127410e-04 9.99721926e-01 6.43843235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.826874999999998 meters Centerline goodness [0,1] 0.999531454218145 Centerline is valid? [True, True] Translation: X:29.20, Y:6.20, Z:0.64 [[ 9.57528627e-01 -2.87405926e-01 -2.31681375e-02 2.91978423e+01] [ 2.87312803e-01 9.57808805e-01 -7.32440990e-03 6.20493782e+00] [ 2.42957249e-02 3.56829635e-04 9.99704752e-01 6.42903467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters Centerline goodness [0,1] 0.9994834202499262 Centerline is valid? [True, True] Translation: X:29.22, Y:6.21, Z:0.64 [[ 9.57341712e-01 -2.87974050e-01 -2.38284209e-02 2.92241731e+01] [ 2.87875550e-01 9.57638146e-01 -7.53988797e-03 6.21355256e+00] [ 2.49902969e-02 3.58629496e-04 9.99687629e-01 6.42461744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.886874999999996 meters Centerline goodness [0,1] 0.9995080555897183 Centerline is valid? [True, True] Translation: X:29.25, Y:6.22, Z:0.64 [[ 9.56817082e-01 -2.89421888e-01 -2.71300821e-02 2.92513348e+01] [ 2.89294660e-01 9.57201564e-01 -8.58868545e-03 6.22193146e+00] [ 2.84547106e-02 3.69213080e-04 9.99595015e-01 6.38736308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters Centerline goodness [0,1] 0.9994107248084856 Centerline is valid? [True, True] Translation: X:29.28, Y:6.23, Z:0.64 [[ 9.56665869e-01 -2.89786579e-01 -2.85333629e-02 2.92776373e+01] [ 2.89645794e-01 9.57091214e-01 -9.04005718e-03 6.23076083e+00] [ 2.99287181e-02 3.83745610e-04 9.99551962e-01 6.37067595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.946875 meters Centerline goodness [0,1] 0.9994362468748468 Centerline is valid? [True, True] Translation: X:29.30, Y:6.24, Z:0.64 [[ 9.56427273e-01 -2.90584776e-01 -2.84140866e-02 2.93042123e+01] [ 2.90445393e-01 9.56849182e-01 -9.00644737e-03 6.23865900e+00] [ 2.98051320e-02 3.61271341e-04 9.99555663e-01 6.36915435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters Centerline goodness [0,1] 0.9993613362810121 Centerline is valid? [True, True] Translation: X:29.33, Y:6.25, Z:0.64 [[ 9.56738911e-01 -2.89678343e-01 -2.71498431e-02 2.93298621e+01] [ 2.89550538e-01 9.57123981e-01 -8.61227987e-03 6.25002157e+00] [ 2.84805569e-02 3.78451574e-04 9.99594275e-01 6.37894096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.006874999999997 meters Centerline goodness [0,1] 0.9995089855641756 Centerline is valid? [True, True] Translation: X:29.36, Y:6.26, Z:0.64 [[ 9.57005070e-01 -2.88885062e-01 -2.62052709e-02 2.93570402e+01] [ 2.88765610e-01 9.57363707e-01 -8.31592032e-03 6.25851713e+00] [ 2.74903205e-02 3.91196870e-04 9.99621993e-01 6.40554500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters Centerline goodness [0,1] 0.9995107273038628 Centerline is valid? [True, True] Translation: X:29.38, Y:6.27, Z:0.64 [[ 9.57377443e-01 -2.87696804e-01 -2.56706127e-02 2.93826209e+01] [ 2.87581596e-01 9.57721447e-01 -8.15200742e-03 6.26861860e+00] [ 2.69306029e-02 4.22152250e-04 9.99637216e-01 6.41872310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.066874999999996 meters Centerline goodness [0,1] 0.9994364540710068 Centerline is valid? [True, True] Translation: X:29.41, Y:6.28, Z:0.64 [[ 9.57832770e-01 -2.86168461e-01 -2.57681377e-02 2.94085661e+01] [ 2.86051752e-01 9.58179206e-01 -8.18558270e-03 6.27901207e+00] [ 2.70329493e-02 4.69398421e-04 9.99634433e-01 6.42684714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters Centerline goodness [0,1] 0.9993390291071997 Centerline is valid? [True, True] Translation: X:29.44, Y:6.29, Z:0.64 [[ 9.58872940e-01 -2.82626658e-01 -2.61697655e-02 2.94359604e+01] [ 2.82504843e-01 9.59229812e-01 -8.31747444e-03 6.28893441e+00] [ 2.74535592e-02 5.82315674e-04 9.99622910e-01 6.44511099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.126875 meters Centerline goodness [0,1] 0.999556202075988 Centerline is valid? [True, True] Translation: X:29.46, Y:6.30, Z:0.65 [[ 9.59347233e-01 -2.81016505e-01 -2.61268352e-02 2.94636245e+01] [ 2.80894302e-01 9.59702726e-01 -8.31078976e-03 6.29832706e+00] [ 2.74094640e-02 6.34054039e-04 9.99624089e-01 6.45617981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters Centerline goodness [0,1] 0.9993126304161041 Centerline is valid? [True, True] Translation: X:29.49, Y:6.31, Z:0.65 [[ 9.59728346e-01 -2.79748590e-01 -2.57337861e-02 2.94889937e+01] [ 2.79629418e-01 9.60073061e-01 -8.19181859e-03 6.31003342e+00] [ 2.69979645e-02 6.65996884e-04 9.99635267e-01 6.45183669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.186874999999997 meters Centerline goodness [0,1] 0.9992406985573272 Centerline is valid? [True, True] Translation: X:29.52, Y:6.32, Z:0.64 [[ 9.60409607e-01 -2.77361810e-01 -2.61498056e-02 2.95156331e+01] [ 2.77237798e-01 9.60765251e-01 -8.32680635e-03 6.31960884e+00] [ 2.74333627e-02 7.47430288e-04 9.99623355e-01 6.44621862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters Centerline goodness [0,1] 0.9992408287211637 Centerline is valid? [True, True] Translation: X:29.54, Y:6.33, Z:0.64 [[ 9.60564774e-01 -2.76813533e-01 -2.62599150e-02 2.95416823e+01] [ 2.76688200e-01 9.60923346e-01 -8.36440763e-03 6.32994090e+00] [ 2.75491467e-02 7.68746701e-04 9.99620155e-01 6.44466464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.246875 meters Centerline goodness [0,1] 0.9992649400926176 Centerline is valid? [True, True] Translation: X:29.57, Y:6.34, Z:0.65 [[ 9.60665627e-01 -2.76417546e-01 -2.67374998e-02 2.95697453e+01] [ 2.76287356e-01 9.61037306e-01 -8.52016463e-03 6.33697363e+00] [ 2.80508578e-02 7.97796180e-04 9.99606179e-01 6.45246905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters Centerline goodness [0,1] 0.9993863223525946 Centerline is valid? [True, True] Translation: X:29.60, Y:6.34, Z:0.65 [[ 9.60997518e-01 -2.75248787e-01 -2.68677569e-02 2.95980183e+01] [ 2.75116662e-01 9.61372662e-01 -8.56900177e-03 6.34486707e+00] [ 2.81885343e-02 8.43021821e-04 9.99602269e-01 6.46221590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.306874999999998 meters Centerline goodness [0,1] 0.9993863223525946 Centerline is valid? [True, True] Translation: X:29.62, Y:6.35, Z:0.65 [[ 9.60918367e-01 -2.75525199e-01 -2.68655319e-02 2.96243202e+01] [ 2.75392987e-01 9.61293480e-01 -8.57597257e-03 6.35335887e+00] [ 2.81885572e-02 8.42230471e-04 9.99602269e-01 6.46821737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters Centerline goodness [0,1] 0.999263641049557 Centerline is valid? [True, True] Translation: X:29.65, Y:6.36, Z:0.65 [[ 9.61105069e-01 -2.74870564e-01 -2.68927402e-02 2.96498326e+01] [ 2.74737625e-01 9.61480846e-01 -8.59184807e-03 6.36373105e+00] [ 2.82185007e-02 8.69221170e-04 9.99601401e-01 6.47196343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.366874999999997 meters Centerline goodness [0,1] 0.9993122758756202 Centerline is valid? [True, True] Translation: X:29.68, Y:6.37, Z:0.65 [[ 9.61194870e-01 -2.74629370e-01 -2.61367749e-02 2.96778790e+01] [ 2.74503619e-01 9.61549779e-01 -8.35373147e-03 6.37247505e+00] [ 2.74259901e-02 8.54924547e-04 9.99623471e-01 6.46995439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters Centerline goodness [0,1] 0.9993595112578213 Centerline is valid? [True, True] Translation: X:29.71, Y:6.38, Z:0.65 [[ 9.61148133e-01 -2.74794556e-01 -2.61193274e-02 2.97050560e+01] [ 2.74668838e-01 9.61502584e-01 -8.35529795e-03 6.38062138e+00] [ 2.74097912e-02 8.56513728e-04 9.99623914e-01 6.47251227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.426875 meters Centerline goodness [0,1] 0.9994337067585868 Centerline is valid? [True, True] Translation: X:29.73, Y:6.39, Z:0.65 [[ 9.61083462e-01 -2.74983730e-01 -2.65052405e-02 2.97319577e+01] [ 2.74854113e-01 9.61448485e-01 -8.48692342e-03 6.38761263e+00] [ 2.78171892e-02 8.71567381e-04 9.99612647e-01 6.47310449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters Centerline goodness [0,1] 0.9995046439628483 Centerline is valid? [True, True] Translation: X:29.76, Y:6.39, Z:0.65 [[ 9.60774045e-01 -2.75854387e-01 -2.85935462e-02 2.97585289e+01] [ 2.75703680e-01 9.61198996e-01 -9.16359383e-03 6.39470772e+00] [ 3.00119054e-02 9.20797210e-04 9.99549117e-01 6.45462272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.486874999999998 meters Centerline goodness [0,1] 0.999407363508408 Centerline is valid? [True, True] Translation: X:29.79, Y:6.40, Z:0.64 [[ 9.60656413e-01 -2.76173533e-01 -2.94522772e-02 2.97851452e+01] [ 2.76013609e-01 9.61107324e-01 -9.44449263e-03 6.40275275e+00] [ 3.09151182e-02 9.43683084e-04 9.99521568e-01 6.44811158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters Centerline goodness [0,1] 0.999382761770733 Centerline is valid? [True, True] Translation: X:29.81, Y:6.41, Z:0.64 [[ 9.60485249e-01 -2.76671711e-01 -3.03455344e-02 2.98125290e+01] [ 2.76501885e-01 9.60964013e-01 -9.74032582e-03 6.41023912e+00] [ 3.18558391e-02 9.64841790e-04 9.99492008e-01 6.44819542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.546874999999996 meters Centerline goodness [0,1] 0.9994792828981626 Centerline is valid? [True, True] Translation: X:29.84, Y:6.42, Z:0.65 [[ 9.60374842e-01 -2.76940156e-01 -3.13737505e-02 2.98406667e+01] [ 2.76758459e-01 9.60886651e-01 -1.00796998e-02 6.41701685e+00] [ 3.29380916e-02 9.97339319e-04 9.99456896e-01 6.45384270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters Centerline goodness [0,1] 0.9993340075479145 Centerline is valid? [True, True] Translation: X:29.87, Y:6.42, Z:0.65 [[ 9.60140062e-01 -2.77752293e-01 -3.13803397e-02 2.98675728e+01] [ 2.77570736e-01 9.60652232e-01 -1.00883676e-02 6.42459993e+00] [ 3.29476606e-02 9.75981892e-04 9.99456602e-01 6.45468554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.606875 meters Centerline goodness [0,1] 0.9993785268600691 Centerline is valid? [True, True] Translation: X:29.90, Y:6.43, Z:0.65 [[ 9.59874667e-01 -2.78801158e-01 -3.01751099e-02 2.98958608e+01] [ 2.78633662e-01 9.60348421e-01 -9.70529633e-03 6.43183281e+00] [ 3.16844670e-02 9.08066696e-04 9.99497509e-01 6.46990831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters Centerline goodness [0,1] 0.9994297897659659 Centerline is valid? [True, True] Translation: X:29.92, Y:6.44, Z:0.65 [[ 9.59660003e-01 -2.79676887e-01 -2.88706962e-02 2.99243834e+01] [ 2.79523738e-01 9.60093808e-01 -9.29305398e-03 6.43915115e+00] [ 3.03176291e-02 8.48127295e-04 9.99539955e-01 6.48799114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.666874999999997 meters Centerline goodness [0,1] 0.9994547572430543 Centerline is valid? [True, True] Translation: X:29.95, Y:6.44, Z:0.65 [[ 9.58975271e-01 -2.82175796e-01 -2.72626168e-02 2.99528117e+01] [ 2.82040090e-01 9.59362437e-01 -8.78080357e-03 6.44473247e+00] [ 2.86324607e-02 7.31422612e-04 9.99589739e-01 6.51339091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters Centerline goodness [0,1] 0.999329042518824 Centerline is valid? [True, True] Translation: X:29.98, Y:6.45, Z:0.65 [[ 9.58694433e-01 -2.83185188e-01 -2.66670785e-02 2.99791374e+01] [ 2.83055679e-01 9.59065001e-01 -8.59109228e-03 6.45273035e+00] [ 2.80083317e-02 6.87964345e-04 9.99607453e-01 6.53004937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.726874999999996 meters Centerline goodness [0,1] 0.9995763662189439 Centerline is valid? [True, True] Translation: X:30.01, Y:6.46, Z:0.65 [[ 9.58401033e-01 -2.84256879e-01 -2.57970169e-02 3.00071874e+01] [ 2.84135984e-01 9.58747944e-01 -8.31404882e-03 6.45917526e+00] [ 2.70961625e-02 6.38332198e-04 9.99632628e-01 6.54549097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters Centerline goodness [0,1] 0.9994268484138653 Centerline is valid? [True, True] Translation: X:30.03, Y:6.47, Z:0.66 [[ 9.58242473e-01 -2.84752198e-01 -2.62211714e-02 3.00342993e+01] [ 2.84627275e-01 9.58600946e-01 -8.45812505e-03 6.46735858e+00] [ 2.75441094e-02 6.41674089e-04 9.99620383e-01 6.55113708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.786875 meters Centerline goodness [0,1] 0.9993514915693904 Centerline is valid? [True, True] Translation: X:30.06, Y:6.48, Z:0.65 [[ 9.58026811e-01 -2.85373185e-01 -2.73271968e-02 3.00609819e+01] [ 2.85237504e-01 9.58416252e-01 -8.82352571e-03 6.47539429e+00] [ 2.87088271e-02 6.58432808e-04 9.99587600e-01 6.54603711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters Centerline goodness [0,1] 0.9994497523885748 Centerline is valid? [True, True] Translation: X:30.09, Y:6.48, Z:0.65 [[ 9.57808179e-01 -2.85989282e-01 -2.85240781e-02 3.00880153e+01] [ 2.85841457e-01 9.58232578e-01 -9.21893826e-03 6.48418427e+00] [ 2.99692184e-02 6.76610426e-04 9.99550593e-01 6.53814653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.846874999999997 meters Centerline goodness [0,1] 0.9995255337745037 Centerline is valid? [True, True] Translation: X:30.11, Y:6.49, Z:0.65 [[ 9.57516189e-01 -2.86859893e-01 -2.95660289e-02 3.01146323e+01] [ 2.86701196e-01 9.57972305e-01 -9.56488170e-03 6.49230248e+00] [ 3.10672178e-02 6.81913225e-04 9.99517065e-01 6.53131556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters Centerline goodness [0,1] 0.9994478881722589 Centerline is valid? [True, True] Translation: X:30.14, Y:6.50, Z:0.65 [[ 9.57118405e-01 -2.88112906e-01 -3.02541152e-02 3.01414227e+01] [ 2.87947128e-01 9.57596216e-01 -9.79478872e-03 6.50007973e+00] [ 3.17932313e-02 6.63186968e-04 9.99494247e-01 6.53473659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.906875 meters Centerline goodness [0,1] 0.9995727784479292 Centerline is valid? [True, True] Translation: X:30.17, Y:6.51, Z:0.65 [[ 9.56832157e-01 -2.89106101e-01 -2.98309530e-02 3.01695772e+01] [ 2.88945276e-01 9.57296856e-01 -9.66211168e-03 6.50747493e+00] [ 3.13504530e-02 6.25506189e-04 9.99508258e-01 6.54851568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters Centerline goodness [0,1] 0.999548079337183 Centerline is valid? [True, True] Translation: X:30.20, Y:6.52, Z:0.66 [[ 9.56758182e-01 -2.89430113e-01 -2.90515389e-02 3.01957898e+01] [ 2.89277546e-01 9.57198958e-01 -9.41579790e-03 6.51610888e+00] [ 3.05333182e-02 6.04683822e-04 9.99533567e-01 6.56079696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.966874999999998 meters Centerline goodness [0,1] 0.9996233521657251 Centerline is valid? [True, True] Translation: X:30.22, Y:6.53, Z:0.66 [[ 9.56585133e-01 -2.90049961e-01 -2.85640126e-02 3.02235270e+01] [ 2.89902630e-01 9.57011330e-01 -9.26176049e-03 6.52521389e+00] [ 3.00224569e-02 5.78880017e-04 9.99549057e-01 6.57009853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters Centerline goodness [0,1] 0.9995242983400516 Centerline is valid? [True, True] Translation: X:30.25, Y:6.53, Z:0.66 [[ 9.56775151e-01 -2.89394905e-01 -2.88426618e-02 3.02509298e+01] [ 2.89244154e-01 9.57209598e-01 -9.35980465e-03 6.53480938e+00] [ 3.03171525e-02 6.12657194e-04 9.99540142e-01 6.57220349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.026875 meters Centerline goodness [0,1] 0.9994486768243785 Centerline is valid? [True, True] Translation: X:30.28, Y:6.54, Z:0.66 [[ 9.56962304e-01 -2.88763048e-01 -2.89663723e-02 3.02774789e+01] [ 2.88610517e-01 9.57400382e-01 -9.40629502e-03 6.54469822e+00] [ 3.04486063e-02 6.41470068e-04 9.99536128e-01 6.57740711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters Centerline goodness [0,1] 0.9995734430671953 Centerline is valid? [True, True] Translation: X:30.30, Y:6.56, Z:0.66 [[ 9.57479172e-01 -2.87009173e-01 -2.93150019e-02 3.03032663e+01] [ 2.86852041e-01 9.57927572e-01 -9.52229374e-03 6.55575123e+00] [ 3.08146343e-02 7.08329804e-04 9.99524865e-01 6.59114785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.086875 meters Centerline goodness [0,1] 0.9994739347178035 Centerline is valid? [True, True] Translation: X:30.33, Y:6.57, Z:0.66 [[ 9.57739852e-01 -2.86060830e-01 -3.00595553e-02 3.03306715e+01] [ 2.85895005e-01 9.58211157e-01 -9.76857736e-03 6.56555895e+00] [ 3.15978086e-02 7.61879124e-04 9.99500374e-01 6.59630419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters Centerline goodness [0,1] 0.9994746848108865 Centerline is valid? [True, True] Translation: X:30.36, Y:6.58, Z:0.66 [[ 9.58072942e-01 -2.84841532e-01 -3.10086970e-02 3.03575353e+01] [ 2.84664157e-01 9.58574256e-01 -1.00853575e-02 6.57600631e+00] [ 3.25968673e-02 8.35443598e-04 9.99468232e-01 6.59731990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.146874999999994 meters Centerline goodness [0,1] 0.9994480682388359 Centerline is valid? [True, True] Translation: X:30.38, Y:6.59, Z:0.66 [[ 9.59212498e-01 -2.80920718e-01 -3.15425859e-02 3.03843897e+01] [ 2.80734846e-01 9.59730466e-01 -1.02654504e-02 6.58863089e+00] [ 3.31561584e-02 9.91645333e-04 9.99449691e-01 6.59889687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters Centerline goodness [0,1] 0.9995256403854796 Centerline is valid? [True, True] Translation: X:30.41, Y:6.60, Z:0.66 [[ 9.59907567e-01 -2.78463983e-01 -3.21756708e-02 3.04109114e+01] [ 2.78269112e-01 9.60446042e-01 -1.04738710e-02 6.60064826e+00] [ 3.38195915e-02 1.10045272e-03 9.99427348e-01 6.60550169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.206875 meters Centerline goodness [0,1] 0.9994521093788913 Centerline is valid? [True, True] Translation: X:30.44, Y:6.61, Z:0.66 [[ 9.60379051e-01 -2.76806715e-01 -3.24055627e-02 3.04380096e+01] [ 2.76607960e-01 9.60924904e-01 -1.05530094e-02 6.61041665e+00] [ 3.40604561e-02 1.17125257e-03 9.99419088e-01 6.61156075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters Centerline goodness [0,1] 0.9995017190692113 Centerline is valid? [True, True] Translation: X:30.46, Y:6.62, Z:0.66 [[ 9.60827975e-01 -2.75215948e-01 -3.26463498e-02 3.04634256e+01] [ 2.75013081e-01 9.61381629e-01 -1.06381107e-02 6.62314074e+00] [ 3.43133787e-02 1.24322109e-03 9.99410349e-01 6.61281871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.266875 meters Centerline goodness [0,1] 0.9994775989452473 Centerline is valid? [True, True] Translation: X:30.49, Y:6.63, Z:0.66 [[ 9.61374373e-01 -2.73344601e-01 -3.22806977e-02 3.04906797e+01] [ 2.73145029e-01 9.61915297e-01 -1.05239908e-02 6.63228562e+00] [ 3.39279730e-02 1.30018297e-03 9.99423435e-01 6.62981823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters Centerline goodness [0,1] 0.9993276725018053 Centerline is valid? [True, True] Translation: X:30.52, Y:6.64, Z:0.66 [[ 9.61348579e-01 -2.73394324e-01 -3.26259661e-02 3.05172641e+01] [ 2.73190255e-01 9.61901140e-01 -1.06433217e-02 6.64193087e+00] [ 3.42927778e-02 1.31884615e-03 9.99410960e-01 6.63709269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.326875 meters Centerline goodness [0,1] 0.9994274619137707 Centerline is valid? [True, True] Translation: X:30.55, Y:6.65, Z:0.67 [[ 9.61415366e-01 -2.73133950e-01 -3.28380907e-02 3.05450387e+01] [ 2.72926885e-01 9.61975075e-01 -1.07177815e-02 6.64979784e+00] [ 3.45168147e-02 1.34184204e-03 9.99403216e-01 6.65887028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters Centerline goodness [0,1] 0.9995248455748118 Centerline is valid? [True, True] Translation: X:30.57, Y:6.65, Z:0.67 [[ 9.60050777e-01 -2.77791992e-01 -3.36766158e-02 3.05737600e+01] [ 2.77576842e-01 9.60640486e-01 -1.09978786e-02 6.65484661e+00] [ 3.54062432e-02 1.21067323e-03 9.99372269e-01 6.68325041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.386874999999996 meters Centerline goodness [0,1] 0.999427661374608 Centerline is valid? [True, True] Translation: X:30.60, Y:6.66, Z:0.67 [[ 9.59029987e-01 -2.81312093e-01 -3.35408712e-02 3.06019947e+01] [ 2.81100756e-01 9.59615727e-01 -1.09554261e-02 6.66153706e+00] [ 3.52682413e-02 1.07821787e-03 9.99377300e-01 6.69547378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters Centerline goodness [0,1] 0.9995495720934888 Centerline is valid? [True, True] Translation: X:30.63, Y:6.67, Z:0.67 [[ 9.58248527e-01 -2.84019788e-01 -3.30533076e-02 3.06301954e+01] [ 2.83816083e-01 9.58817932e-01 -1.07983777e-02 6.66851481e+00] [ 3.47590570e-02 9.66469262e-04 9.99395254e-01 6.70718124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.446875 meters Centerline goodness [0,1] 0.9995002748488332 Centerline is valid? [True, True] Translation: X:30.66, Y:6.68, Z:0.67 [[ 9.57611780e-01 -2.86185384e-01 -3.28268936e-02 3.06582781e+01] [ 2.85985567e-01 9.58173857e-01 -1.07291623e-02 6.67566380e+00] [ 3.45244007e-02 8.86354413e-04 9.99403462e-01 6.70914356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters Centerline goodness [0,1] 0.99942649112308 Centerline is valid? [True, True] Translation: X:30.69, Y:6.68, Z:0.67 [[ 9.56393707e-01 -2.90159513e-01 -3.34444985e-02 3.06865980e+01] [ 2.89954297e-01 9.56977991e-01 -1.09375859e-02 6.68119095e+00] [ 3.51792936e-02 7.63262281e-04 9.99380726e-01 6.69259417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.506875 meters Centerline goodness [0,1] 0.9994524502849748 Centerline is valid? [True, True] Translation: X:30.71, Y:6.69, Z:0.67 [[ 9.55798008e-01 -2.92108201e-01 -3.35107109e-02 3.07147704e+01] [ 2.91903194e-01 9.56385023e-01 -1.09641814e-02 6.68863638e+00] [ 3.52518693e-02 6.97659194e-04 9.99378216e-01 6.69597760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters Centerline goodness [0,1] 0.9995259481037924 Centerline is valid? [True, True] Translation: X:30.74, Y:6.70, Z:0.67 [[ 9.55392500e-01 -2.93438964e-01 -3.34476435e-02 3.07433323e+01] [ 2.93235232e-01 9.55977586e-01 -1.09523623e-02 6.69570314e+00] [ 3.51890474e-02 6.55777272e-04 9.99380459e-01 6.71326125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.566874999999996 meters Centerline goodness [0,1] 0.9996498862130192 Centerline is valid? [True, True] Translation: X:30.77, Y:6.70, Z:0.67 [[ 9.54752795e-01 -2.95714027e-01 -3.16277470e-02 3.07717895e+01] [ 2.95532846e-01 9.55276354e-01 -1.03645228e-02 6.70200982e+00] [ 3.32781736e-02 5.48518989e-04 9.99445978e-01 6.74353555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters Centerline goodness [0,1] 0.9996735636801929 Centerline is valid? [True, True] Translation: X:30.80, Y:6.71, Z:0.68 [[ 9.54607056e-01 -2.96300506e-01 -3.05184805e-02 3.07991997e+01] [ 2.96131862e-01 9.55094625e-01 -1.00088900e-02 6.71053143e+00] [ 3.21136759e-02 5.17062539e-04 9.99484089e-01 6.76739789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.626875 meters Centerline goodness [0,1] 0.9995983935742971 Centerline is valid? [True, True] Translation: X:30.83, Y:6.72, Z:0.68 [[ 9.54572702e-01 -2.96511318e-01 -2.95295599e-02 3.08256414e+01] [ 2.96353281e-01 9.55029208e-01 -9.69254979e-03 6.71909378e+00] [ 3.10755429e-02 5.01061463e-04 9.99516913e-01 6.78838247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters Centerline goodness [0,1] 0.9995993188420315 Centerline is valid? [True, True] Translation: X:30.85, Y:6.73, Z:0.68 [[ 9.54762985e-01 -2.95863140e-01 -2.98771621e-02 3.08526682e+01] [ 2.95700764e-01 9.55230189e-01 -9.81548800e-03 6.72917748e+00] [ 3.14436083e-02 5.36764958e-04 9.99505383e-01 6.78321816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.686875 meters Centerline goodness [0,1] 0.9996511251214832 Centerline is valid? [True, True] Translation: X:30.88, Y:6.74, Z:0.68 [[ 9.54949338e-01 -2.95184646e-01 -3.06233100e-02 3.08786569e+01] [ 2.95013481e-01 9.55440050e-01 -1.00676391e-02 6.73927869e+00] [ 3.22305493e-02 5.79795970e-04 9.99480293e-01 6.77446191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters Centerline goodness [0,1] 0.999525427115596 Centerline is valid? [True, True] Translation: X:30.91, Y:6.75, Z:0.68 [[ 9.55285187e-01 -2.94066212e-01 -3.09075228e-02 3.09053164e+01] [ 2.93891087e-01 9.55784844e-01 -1.01666862e-02 6.75030447e+00] [ 3.25306208e-02 6.28639250e-04 9.99470542e-01 6.76769264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.746874999999996 meters Centerline goodness [0,1] 0.9995249406175772 Centerline is valid? [True, True] Translation: X:30.93, Y:6.76, Z:0.68 [[ 9.55389173e-01 -2.93677742e-01 -3.13833063e-02 3.09325475e+01] [ 2.93496696e-01 9.55904257e-01 -1.03315609e-02 6.76049034e+00] [ 3.30335856e-02 6.59764747e-04 9.99454024e-01 6.77234919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters Centerline goodness [0,1] 0.9996001299577637 Centerline is valid? [True, True] Translation: X:30.96, Y:6.77, Z:0.68 [[ 9.55642729e-01 -2.92856544e-01 -3.13371908e-02 3.09597099e+01] [ 2.92675315e-01 9.56156139e-01 -1.03246759e-02 6.77068799e+00] [ 3.29868962e-02 6.95079286e-04 9.99455543e-01 6.78122919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.806875 meters Centerline goodness [0,1] 0.9994997248486668 Centerline is valid? [True, True] Translation: X:30.99, Y:6.78, Z:0.68 [[ 9.56603905e-01 -2.89687636e-01 -3.14649397e-02 3.09860944e+01] [ 2.89502994e-01 9.57120897e-01 -1.03733033e-02 6.78166811e+00] [ 3.31207690e-02 8.13948203e-04 9.99451025e-01 6.79534287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters Centerline goodness [0,1] 0.9994745665173769 Centerline is valid? [True, True] Translation: X:31.01, Y:6.79, Z:0.68 [[ 9.57129160e-01 -2.87841098e-01 -3.24233455e-02 3.10111918e+01] [ 2.87643858e-01 9.57677753e-01 -1.06926450e-02 6.79270076e+00] [ 3.41288994e-02 9.07866133e-04 9.99417027e-01 6.79432564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.866875 meters Centerline goodness [0,1] 0.9995766510608627 Centerline is valid? [True, True] Translation: X:31.04, Y:6.80, Z:0.68 [[ 9.57767775e-01 -2.85640123e-01 -3.30243744e-02 3.10377164e+01] [ 2.85433995e-01 9.58336423e-01 -1.08965314e-02 6.80412785e+00] [ 3.47609474e-02 1.01006748e-03 9.99395145e-01 6.79528360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters Centerline goodness [0,1] 0.9994291529125611 Centerline is valid? [True, True] Translation: X:31.06, Y:6.81, Z:0.68 [[ 9.58065620e-01 -2.84705179e-01 -3.24534824e-02 3.10647422e+01] [ 2.84505291e-01 9.58614569e-01 -1.07166923e-02 6.81483442e+00] [ 3.41614789e-02 1.03410697e-03 9.99415791e-01 6.79706719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.926874999999995 meters Centerline goodness [0,1] 0.9995037343986501 Centerline is valid? [True, True] Translation: X:31.09, Y:6.82, Z:0.68 [[ 9.56739792e-01 -2.89201277e-01 -3.18055334e-02 3.10938523e+01] [ 2.89011510e-01 9.57267922e-01 -1.05105558e-02 6.82151732e+00] [ 3.34860831e-02 8.63701746e-04 9.99438811e-01 6.80423083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters Centerline goodness [0,1] 0.9995042264693488 Centerline is valid? [True, True] Translation: X:31.12, Y:6.83, Z:0.68 [[ 9.56437744e-01 -2.90295284e-01 -3.09110043e-02 3.11200215e+01] [ 2.90116441e-01 9.56936777e-01 -1.02202872e-02 6.82995752e+00] [ 3.25467780e-02 8.07277810e-04 9.99469887e-01 6.81860488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.986875 meters Centerline goodness [0,1] 0.9996285381738936 Centerline is valid? [True, True] Translation: X:31.15, Y:6.84, Z:0.68 [[ 9.56540806e-01 -2.90002573e-01 -3.04662629e-02 3.11472303e+01] [ 2.89828548e-01 9.57025523e-01 -1.00777609e-02 6.83973715e+00] [ 3.20795677e-02 8.09796807e-04 9.99484990e-01 6.83787923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters Centerline goodness [0,1] 0.9994568169473113 Centerline is valid? [True, True] Translation: X:31.17, Y:6.85, Z:0.69 [[ 9.57573299e-01 -2.86543369e-01 -3.07615925e-02 3.11732376e+01] [ 2.86363970e-01 9.58066810e-01 -1.01815475e-02 6.85356842e+00] [ 3.23891157e-02 9.40566253e-04 9.99474892e-01 6.85539288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.046875 meters Centerline goodness [0,1] 0.9995058800276707 Centerline is valid? [True, True] Translation: X:31.20, Y:6.87, Z:0.69 [[ 9.58213749e-01 -2.84396919e-01 -3.07376453e-02 3.11994900e+01] [ 2.84216572e-01 9.58706086e-01 -1.01774390e-02 6.86603197e+00] [ 3.23627999e-02 1.01601379e-03 9.99475671e-01 6.86753950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters Centerline goodness [0,1] 0.9996081696625361 Centerline is valid? [True, True] Translation: X:31.23, Y:6.88, Z:0.69 [[ 9.59102738e-01 -2.81401790e-01 -3.05772996e-02 3.12262322e+01] [ 2.81221605e-01 9.59589384e-01 -1.01303460e-02 6.87842092e+00] [ 3.21923496e-02 1.11704533e-03 9.99481068e-01 6.88083075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.106874999999995 meters Centerline goodness [0,1] 0.9993128159819369 Centerline is valid? [True, True] Translation: X:31.25, Y:6.89, Z:0.69 [[ 9.60327275e-01 -2.77160598e-01 -3.08792502e-02 3.12530630e+01] [ 2.76974602e-01 9.60822763e-01 -1.02316918e-02 6.89211982e+00] [ 3.25053083e-02 1.27300471e-03 9.99470752e-01 6.89483371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters Centerline goodness [0,1] 0.9994605859997548 Centerline is valid? [True, True] Translation: X:31.28, Y:6.90, Z:0.69 [[ 9.60676904e-01 -2.75980665e-01 -3.05705650e-02 3.12802821e+01] [ 2.75797678e-01 9.61162305e-01 -1.01323800e-02 6.90253880e+00] [ 3.21796157e-02 1.30265259e-03 9.99481253e-01 6.90472615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.166875 meters Centerline goodness [0,1] 0.9994867533483234 Centerline is valid? [True, True] Translation: X:31.31, Y:6.91, Z:0.69 [[ 9.60845943e-01 -2.75399155e-01 -3.05021164e-02 3.13069600e+01] [ 2.75216426e-01 9.61329051e-01 -1.01180484e-02 6.91401765e+00] [ 3.21090725e-02 1.32720226e-03 9.99483490e-01 6.90662095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters Centerline goodness [0,1] 0.9994867533483234 Centerline is valid? [True, True] Translation: X:31.33, Y:6.92, Z:0.69 [[ 9.60768256e-01 -2.75670342e-01 -3.04995103e-02 3.13331661e+01] [ 2.75487501e-01 9.61251321e-01 -1.01258989e-02 6.92282346e+00] [ 3.21091046e-02 1.32640830e-03 9.99483490e-01 6.91262501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.226875 meters Centerline goodness [0,1] 0.9991716812434527 Centerline is valid? [True, True] Translation: X:31.36, Y:6.93, Z:0.69 [[ 9.60850168e-01 -2.75321296e-01 -3.10666891e-02 3.13601118e+01] [ 2.75131097e-01 9.61351289e-01 -1.03236868e-02 6.93292532e+00] [ 3.27083325e-02 1.37210400e-03 9.99463998e-01 6.90802514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.256875 meters Centerline goodness [0,1] 0.999272321536857 Centerline is valid? [True, True] Translation: X:31.39, Y:6.94, Z:0.69 [[ 9.60736839e-01 -2.75740904e-01 -3.08493252e-02 3.13859481e+01] [ 2.75553356e-01 9.61231043e-01 -1.02581542e-02 6.94494989e+00] [ 3.24819218e-02 1.35475152e-03 9.99471405e-01 6.90789904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.286874999999995 meters Centerline goodness [0,1] 0.999224449237779 Centerline is valid? [True, True] Translation: X:31.41, Y:6.95, Z:0.69 [[ 9.59910021e-01 -2.78724933e-01 -2.97517065e-02 3.14147116e+01] [ 2.78551800e-01 9.60370210e-01 -9.89719423e-03 6.95332028e+00] [ 3.13312474e-02 1.21302451e-03 9.99508320e-01 6.92170050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters Centerline goodness [0,1] 0.999318883942689 Centerline is valid? [True, True] Translation: X:31.44, Y:6.96, Z:0.70 [[ 9.58085082e-01 -2.85064713e-01 -2.84795563e-02 3.14449283e+01] [ 2.84908680e-01 9.58507783e-01 -9.48013635e-03 6.95726072e+00] [ 3.00003287e-02 9.68704412e-04 9.99549419e-01 6.96609874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.346875 meters Centerline goodness [0,1] 0.9993918310749994 Centerline is valid? [True, True] Translation: X:31.47, Y:6.97, Z:0.70 [[ 9.57215367e-01 -2.87940021e-01 -2.87973244e-02 3.14720358e+01] [ 2.87781635e-01 9.57648028e-01 -9.59083234e-03 6.96501316e+00] [ 3.03392854e-02 8.93151000e-04 9.99539259e-01 6.98906533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters Centerline goodness [0,1] 0.9992732910227218 Centerline is valid? [True, True] Translation: X:31.50, Y:6.97, Z:0.70 [[ 9.56283024e-01 -2.90924464e-01 -2.97612930e-02 3.14996683e+01] [ 2.90756662e-01 9.56745667e-01 -9.91423475e-03 6.97225838e+00] [ 3.13582816e-02 8.27520158e-04 9.99507866e-01 6.99892003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.406875 meters Centerline goodness [0,1] 0.99934661084626 Centerline is valid? [True, True] Translation: X:31.53, Y:6.98, Z:0.70 [[ 9.55387678e-01 -2.93852649e-01 -2.97490447e-02 3.15273691e+01] [ 2.93686330e-01 9.55850450e-01 -9.91244560e-03 6.98025060e+00] [ 3.13484361e-02 7.33340632e-04 9.99508248e-01 6.99709315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters Centerline goodness [0,1] 0.9991300775680835 Centerline is valid? [True, True] Translation: X:31.55, Y:6.99, Z:0.70 [[ 9.53783886e-01 -2.98988089e-01 -3.00403252e-02 3.15542410e+01] [ 2.98820959e-01 9.54256671e-01 -1.00119821e-02 6.98791066e+00] [ 3.16596442e-02 5.72588427e-04 9.99498544e-01 6.98003936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.466874999999995 meters Centerline goodness [0,1] 0.999107272113111 Centerline is valid? [True, True] Translation: X:31.58, Y:7.00, Z:0.70 [[ 9.53060857e-01 -3.01280150e-01 -3.00877749e-02 3.15820061e+01] [ 3.01113492e-01 9.53535537e-01 -1.00322017e-02 6.99564220e+00] [ 3.17122658e-02 5.01463830e-04 9.99496914e-01 6.99296263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters Centerline goodness [0,1] 0.9993719199922698 Centerline is valid? [True, True] Translation: X:31.61, Y:7.00, Z:0.70 [[ 9.51718579e-01 -3.05543965e-01 -2.95741733e-02 3.16103826e+01] [ 3.05384771e-01 9.52177901e-01 -9.86843257e-03 7.00125835e+00] [ 3.11751143e-02 3.60468465e-04 9.99513873e-01 7.02787915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.526875 meters Centerline goodness [0,1] 0.9992990258876991 Centerline is valid? [True, True] Translation: X:31.64, Y:7.01, Z:0.70 [[ 9.51127391e-01 -3.07470958e-01 -2.86058673e-02 3.16371514e+01] [ 3.07322720e-01 9.51557420e-01 -9.55098204e-03 7.00908187e+00] [ 3.01567749e-02 2.92967673e-04 9.99545138e-01 7.04394567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters Centerline goodness [0,1] 0.9992996184127905 Centerline is valid? [True, True] Translation: X:31.66, Y:7.02, Z:0.71 [[ 9.50561730e-01 -3.09326763e-01 -2.73742631e-02 3.16644967e+01] [ 3.09191682e-01 9.50955783e-01 -9.14339452e-03 7.01702866e+00] [ 2.88600104e-02 2.27466465e-04 9.99583437e-01 7.07232939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.586875 meters Centerline goodness [0,1] 0.9993231974088129 Centerline is valid? [True, True] Translation: X:31.69, Y:7.03, Z:0.71 [[ 9.50190936e-01 -3.10524425e-01 -2.66789493e-02 3.16922948e+01] [ 3.10396399e-01 9.50565382e-01 -8.91801363e-03 7.02630795e+00] [ 2.81293467e-02 1.92765932e-04 9.99604273e-01 7.08681864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters Centerline goodness [0,1] 0.9992509725276053 Centerline is valid? [True, True] Translation: X:31.72, Y:7.04, Z:0.71 [[ 9.49980440e-01 -3.11209541e-01 -2.61874929e-02 3.17192265e+01] [ 3.11086257e-01 9.50341302e-01 -8.76070017e-03 7.03558718e+00] [ 2.76134696e-02 1.75924652e-04 9.99618660e-01 7.09968713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.646874999999994 meters Centerline goodness [0,1] 0.9993753303541396 Centerline is valid? [True, True] Translation: X:31.74, Y:7.05, Z:0.71 [[ 9.50227060e-01 -3.10637379e-01 -2.39364312e-02 3.17449818e+01] [ 3.10534034e-01 9.50528477e-01 -8.01425761e-03 7.04661372e+00] [ 2.52417875e-02 1.82287893e-04 9.99681359e-01 7.12345135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.676874999999995 meters Centerline goodness [0,1] 0.9992384760000952 Centerline is valid? [True, True] Translation: X:31.77, Y:7.06, Z:0.71 [[ 9.50477993e-01 -3.09876560e-01 -2.38348867e-02 3.17722146e+01] [ 3.09773676e-01 9.50776774e-01 -7.98720778e-03 7.05760413e+00] [ 2.51367051e-02 2.08244781e-04 9.99684001e-01 7.12901596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.706875 meters Centerline goodness [0,1] 0.9994049885757806 Centerline is valid? [True, True] Translation: X:31.80, Y:7.07, Z:0.71 [[ 9.50760668e-01 -3.09017968e-01 -2.37075646e-02 3.17980494e+01] [ 3.08915771e-01 9.51056171e-01 -7.95021556e-03 7.06870830e+00] [ 2.50039850e-02 2.35111663e-04 9.99687324e-01 7.12873364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters Centerline goodness [0,1] 0.9993838278509811 Centerline is valid? [True, True] Translation: X:31.82, Y:7.08, Z:0.71 [[ 9.51498890e-01 -3.06656587e-01 -2.47305436e-02 3.18242716e+01] [ 3.06544501e-01 9.51820172e-01 -8.29634237e-03 7.08136014e+00] [ 2.60831583e-02 3.12948409e-04 9.99659728e-01 7.12443661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.766875 meters Centerline goodness [0,1] 0.9994311313375525 Centerline is valid? [True, True] Translation: X:31.85, Y:7.09, Z:0.71 [[ 9.51863607e-01 -3.05462602e-01 -2.54611871e-02 3.18508179e+01] [ 3.05343181e-01 9.52204005e-01 -8.54835804e-03 7.09209422e+00] [ 2.68554481e-02 3.62471040e-04 9.99639262e-01 7.12931359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters Centerline goodness [0,1] 0.9992892511075837 Centerline is valid? [True, True] Translation: X:31.88, Y:7.10, Z:0.71 [[ 9.52319471e-01 -3.03957820e-01 -2.64058463e-02 3.18772447e+01] [ 3.03828591e-01 9.52685395e-01 -8.87275097e-03 7.10328454e+00] [ 2.78534061e-02 4.26842444e-04 9.99611927e-01 7.13702226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.826875 meters Centerline goodness [0,1] 0.9993648553281581 Centerline is valid? [True, True] Translation: X:31.90, Y:7.12, Z:0.71 [[ 9.53212113e-01 -3.01093821e-01 -2.70033154e-02 3.19031252e+01] [ 3.00957319e-01 9.53594374e-01 -9.08080787e-03 7.11763222e+00] [ 2.84843848e-02 5.29090636e-04 9.99594098e-01 7.13410819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters Centerline goodness [0,1] 0.9993163279739733 Centerline is valid? [True, True] Translation: X:31.93, Y:7.13, Z:0.71 [[ 9.53558888e-01 -2.99939558e-01 -2.75990636e-02 3.19297886e+01] [ 2.99796265e-01 9.53958029e-01 -9.28858815e-03 7.12977111e+00] [ 2.91143634e-02 5.83119610e-04 9.99575917e-01 7.13708962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.886874999999996 meters Centerline goodness [0,1] 0.9993409438625397 Centerline is valid? [True, True] Translation: X:31.96, Y:7.14, Z:0.71 [[ 9.53922564e-01 -2.98741826e-01 -2.80189739e-02 3.19563718e+01] [ 2.98593401e-01 9.54333755e-01 -9.43739521e-03 7.14120544e+00] [ 2.95587972e-02 6.36263548e-04 9.99562841e-01 7.13980446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters Centerline goodness [0,1] 0.9991772256047392 Centerline is valid? [True, True] Translation: X:31.98, Y:7.15, Z:0.71 [[ 9.54252339e-01 -2.97611694e-01 -2.88054237e-02 3.19830443e+01] [ 2.97454067e-01 9.54686751e-01 -9.71006015e-03 7.15199579e+00] [ 3.03899838e-02 6.97557187e-04 9.99537874e-01 7.14811926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.946875 meters Centerline goodness [0,1] 0.9991353524023182 Centerline is valid? [True, True] Translation: X:32.01, Y:7.17, Z:0.71 [[ 9.54940791e-01 -2.95309574e-01 -2.96705516e-02 3.20091315e+01] [ 2.95141002e-01 9.55401284e-01 -1.00087289e-02 7.16516970e+00] [ 3.13029566e-02 8.00747183e-04 9.99509622e-01 7.14075584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters Centerline goodness [0,1] 0.9990423022120483 Centerline is valid? [True, True] Translation: X:32.04, Y:7.18, Z:0.71 [[ 9.55163052e-01 -2.94613952e-01 -2.94306537e-02 3.20361128e+01] [ 2.94447593e-01 9.55616002e-01 -9.93336428e-03 7.17679826e+00] [ 3.10509113e-02 8.22197411e-04 9.99517466e-01 7.14127040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.006875 meters Centerline goodness [0,1] 0.999090421438067 Centerline is valid? [True, True] Translation: X:32.06, Y:7.19, Z:0.72 [[ 9.55319365e-01 -2.94168620e-01 -2.88051006e-02 3.20633628e+01] [ 2.94008821e-01 9.55753180e-01 -9.72999498e-03 7.18633448e+00] [ 3.03928257e-02 8.26298967e-04 9.99537690e-01 7.16573422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters Centerline goodness [0,1] 0.9991362405453357 Centerline is valid? [True, True] Translation: X:32.09, Y:7.20, Z:0.72 [[ 9.55601974e-01 -2.93397116e-01 -2.72580096e-02 3.20898374e+01] [ 2.93253527e-01 9.55990311e-01 -9.21380000e-03 7.19634471e+00] [ 2.87616954e-02 8.11217998e-04 9.99585968e-01 7.21427058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.066874999999996 meters Centerline goodness [0,1] 0.9989755052621775 Centerline is valid? [True, True] Translation: X:32.12, Y:7.21, Z:0.72 [[ 9.55563139e-01 -2.93530196e-01 -2.71865905e-02 3.21162504e+01] [ 2.93387266e-01 9.55949459e-01 -9.19478727e-03 7.20585655e+00] [ 2.86879542e-02 8.10000329e-04 9.99588088e-01 7.22185212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters Centerline goodness [0,1] 0.9991862168383362 Centerline is valid? [True, True] Translation: X:32.14, Y:7.22, Z:0.72 [[ 9.55576677e-01 -2.93425806e-01 -2.78300218e-02 3.21422822e+01] [ 2.93275765e-01 9.55981481e-01 -9.41987597e-03 7.21717579e+00] [ 2.93690201e-02 8.39542849e-04 9.99568285e-01 7.21056537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.126875 meters Centerline goodness [0,1] 0.9990264030227868 Centerline is valid? [True, True] Translation: X:32.17, Y:7.23, Z:0.72 [[ 9.55653226e-01 -2.93042983e-01 -2.92013995e-02 3.21675861e+01] [ 2.92877512e-01 9.56098848e-01 -9.88719275e-03 7.22810415e+00] [ 3.08167969e-02 8.96294415e-04 9.99524648e-01 7.19209756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters Centerline goodness [0,1] 0.9990936766517162 Centerline is valid? [True, True] Translation: X:32.19, Y:7.24, Z:0.72 [[ 9.55431556e-01 -2.93677988e-01 -3.00629372e-02 3.21931969e+01] [ 2.93502779e-01 9.55903980e-01 -1.01833282e-02 7.23766973e+00] [ 3.17279006e-02 9.05917472e-04 9.99496133e-01 7.18506312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.186875 meters Centerline goodness [0,1] 0.9991849471380001 Centerline is valid? [True, True] Translation: X:32.22, Y:7.24, Z:0.72 [[ 9.55164028e-01 -2.94364672e-01 -3.17981170e-02 3.22209471e+01] [ 2.94168756e-01 9.55692708e-01 -1.07791406e-02 7.24443909e+00] [ 3.35622267e-02 9.41834769e-04 9.99436186e-01 7.19432217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters Centerline goodness [0,1] 0.9991172234353947 Centerline is valid? [True, True] Translation: X:32.25, Y:7.25, Z:0.72 [[ 9.54099301e-01 -2.97690916e-01 -3.27817519e-02 3.22480741e+01] [ 2.97484305e-01 9.54661919e-01 -1.11224658e-02 7.25279391e+00] [ 3.46065471e-02 8.59880144e-04 9.99400644e-01 7.18370964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.246874999999996 meters Centerline goodness [0,1] 0.9990720334067974 Centerline is valid? [True, True] Translation: X:32.28, Y:7.26, Z:0.72 [[ 9.53610337e-01 -2.99291678e-01 -3.24317143e-02 3.22763947e+01] [ 2.99090094e-01 9.54161333e-01 -1.10120882e-02 7.26104240e+00] [ 3.42409142e-02 8.01236668e-04 9.99413287e-01 7.19327735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters Centerline goodness [0,1] 0.9991408336235923 Centerline is valid? [True, True] Translation: X:32.30, Y:7.27, Z:0.72 [[ 9.53093511e-01 -3.00957412e-01 -3.22086290e-02 3.23044285e+01] [ 3.00759262e-01 9.53637291e-01 -1.09446045e-02 7.26881255e+00] [ 3.40092095e-02 7.44188030e-04 9.99421242e-01 7.21236754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.306875 meters Centerline goodness [0,1] 0.9992336808861435 Centerline is valid? [True, True] Translation: X:32.33, Y:7.28, Z:0.72 [[ 9.52133866e-01 -3.04112665e-01 -3.09287762e-02 3.23329541e+01] [ 3.03931414e-01 9.52635876e-01 -1.05158755e-02 7.27513343e+00] [ 3.26618727e-02 6.12294491e-04 9.99466271e-01 7.23700629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters Centerline goodness [0,1] 0.9990938030067151 Centerline is valid? [True, True] Translation: X:32.36, Y:7.28, Z:0.73 [[ 9.51550182e-01 -3.05974694e-01 -3.05243922e-02 3.23609063e+01] [ 3.05798973e-01 9.52039489e-01 -1.03826078e-02 7.28250342e+00] [ 3.22372420e-02 5.45244549e-04 9.99480096e-01 7.25688582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.366875 meters Centerline goodness [0,1] 0.9992330753677752 Centerline is valid? [True, True] Translation: X:32.39, Y:7.29, Z:0.73 [[ 9.51062935e-01 -3.07523830e-01 -3.01394732e-02 3.23890690e+01] [ 3.07353036e-01 9.51540251e-01 -1.02596964e-02 7.29069127e+00] [ 3.18340230e-02 4.94158426e-04 9.99493047e-01 7.27069348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters Centerline goodness [0,1] 0.9992780792249831 Centerline is valid? [True, True] Translation: X:32.42, Y:7.30, Z:0.73 [[ 9.50576833e-01 -3.09014916e-01 -3.02236044e-02 3.24168166e+01] [ 3.08843662e-01 9.51057084e-01 -1.02963994e-02 7.29884309e+00] [ 3.19261140e-02 4.53150020e-04 9.99490129e-01 7.27511030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.426874999999995 meters Centerline goodness [0,1] 0.9992294580521633 Centerline is valid? [True, True] Translation: X:32.44, Y:7.31, Z:0.73 [[ 9.50426011e-01 -3.09360972e-01 -3.14036090e-02 3.24428148e+01] [ 3.09175986e-01 9.50944568e-01 -1.07069426e-02 7.30833653e+00] [ 3.31754015e-02 4.66914938e-04 9.99449436e-01 7.25651977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters Centerline goodness [0,1] 0.9991636270706038 Centerline is valid? [True, True] Translation: X:32.47, Y:7.32, Z:0.73 [[ 9.50701400e-01 -3.08491668e-01 -3.16186307e-02 3.24694833e+01] [ 3.08303380e-01 9.51226909e-01 -1.07886142e-02 7.31841380e+00] [ 3.34046899e-02 5.08619909e-04 9.99441778e-01 7.25536590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.486875 meters Centerline goodness [0,1] 0.9992780455995715 Centerline is valid? [True, True] Translation: X:32.50, Y:7.33, Z:0.73 [[ 9.51307350e-01 -3.06587660e-01 -3.19113172e-02 3.24963398e+01] [ 3.06394513e-01 9.51842245e-01 -1.08968845e-02 7.32889252e+00] [ 3.37153902e-02 5.88833844e-04 9.99431301e-01 7.26293767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters Centerline goodness [0,1] 0.9992288278182838 Centerline is valid? [True, True] Translation: X:32.52, Y:7.34, Z:0.73 [[ 9.51775976e-01 -3.05118676e-01 -3.20169541e-02 3.25233812e+01] [ 3.04923131e-01 9.52314113e-01 -1.09414046e-02 7.33837034e+00] [ 3.38286241e-02 6.51056093e-04 9.99427436e-01 7.28137252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.546875 meters Centerline goodness [0,1] 0.9992995073201485 Centerline is valid? [True, True] Translation: X:32.55, Y:7.35, Z:0.73 [[ 9.52924725e-01 -3.01435530e-01 -3.27275059e-02 3.25489578e+01] [ 3.01228814e-01 9.53486221e-01 -1.11905729e-02 7.35229711e+00] [ 3.45784622e-02 8.05305783e-04 9.99401662e-01 7.28820191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters Centerline goodness [0,1] 0.9991792899685785 Centerline is valid? [True, True] Translation: X:32.58, Y:7.36, Z:0.73 [[ 9.53497535e-01 -2.99674254e-01 -3.22147771e-02 3.25771600e+01] [ 2.99472813e-01 9.54041195e-01 -1.10196383e-02 7.35998742e+00] [ 3.40365263e-02 8.59748062e-04 9.99420220e-01 7.31944082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.606874999999995 meters Centerline goodness [0,1] 0.9991593695271453 Centerline is valid? [True, True] Translation: X:32.60, Y:7.37, Z:0.73 [[ 9.54005319e-01 -2.98111393e-01 -3.16772767e-02 3.26017355e+01] [ 2.97915532e-01 9.54530657e-01 -1.08425233e-02 7.37363026e+00] [ 3.34692115e-02 9.06672185e-04 9.99439338e-01 7.31455007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters Centerline goodness [0,1] 0.9992763941084475 Centerline is valid? [True, True] Translation: X:32.63, Y:7.38, Z:0.73 [[ 9.54770926e-01 -2.95772114e-01 -3.05177765e-02 3.26281359e+01] [ 2.95588992e-01 9.55258049e-01 -1.04502312e-02 7.38490829e+00] [ 3.22432386e-02 9.56858119e-04 9.99479594e-01 7.34264933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.666875 meters Centerline goodness [0,1] 0.9991562170397281 Centerline is valid? [True, True] Translation: X:32.66, Y:7.39, Z:0.74 [[ 9.55126182e-01 -2.94731284e-01 -2.94524349e-02 3.26555600e+01] [ 2.94559994e-01 9.55579688e-01 -1.00931042e-02 7.39361450e+00] [ 3.11189021e-02 9.64679087e-04 9.99515224e-01 7.36855265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters Centerline goodness [0,1] 0.9991126056699827 Centerline is valid? [True, True] Translation: X:32.68, Y:7.40, Z:0.74 [[ 9.55471922e-01 -2.93657152e-01 -2.89635010e-02 3.26828263e+01] [ 2.93490771e-01 9.55910297e-01 -9.93334416e-03 7.40435845e+00] [ 3.06035064e-02 9.90511205e-04 9.99531112e-01 7.37917194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.726875 meters Centerline goodness [0,1] 0.9993236782574221 Centerline is valid? [True, True] Translation: X:32.71, Y:7.42, Z:0.74 [[ 9.55872234e-01 -2.92386675e-01 -2.86060283e-02 3.27080291e+01] [ 2.92223619e-01 9.56299630e-01 -9.81703066e-03 7.41594480e+00] [ 3.02263032e-02 1.02446993e-03 9.99542556e-01 7.38372398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters Centerline goodness [0,1] 0.999137368273804 Centerline is valid? [True, True] Translation: X:32.73, Y:7.43, Z:0.74 [[ 9.56296135e-01 -2.91004627e-01 -2.85308395e-02 3.27345766e+01] [ 2.90841689e-01 9.56721048e-01 -9.79530936e-03 7.42703833e+00] [ 3.01465350e-02 1.06925894e-03 9.99544918e-01 7.38682848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.786874999999995 meters Centerline goodness [0,1] 0.9991174899556423 Centerline is valid? [True, True] Translation: X:32.76, Y:7.44, Z:0.74 [[ 9.56275328e-01 -2.91004415e-01 -2.92220509e-02 3.27619904e+01] [ 2.90833239e-01 9.56721075e-01 -1.00405647e-02 7.43770458e+00] [ 3.08792006e-02 1.10280059e-03 9.99522515e-01 7.38078615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters Centerline goodness [0,1] 0.9990471099542148 Centerline is valid? [True, True] Translation: X:32.79, Y:7.45, Z:0.74 [[ 9.56183532e-01 -2.91311846e-01 -2.91626864e-02 3.27891810e+01] [ 2.91141257e-01 9.56627515e-01 -1.00282789e-02 7.44581240e+00] [ 3.08191847e-02 1.09841396e-03 9.99524373e-01 7.39153681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.846875 meters Centerline goodness [0,1] 0.9992048829540937 Centerline is valid? [True, True] Translation: X:32.82, Y:7.45, Z:0.74 [[ 9.55751831e-01 -2.92696124e-01 -2.94519271e-02 3.28174115e+01] [ 2.92522514e-01 9.56204909e-01 -1.01365972e-02 7.45188443e+00] [ 3.11290200e-02 1.07271956e-03 9.99514799e-01 7.42056300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters Centerline goodness [0,1] 0.9991399349139934 Centerline is valid? [True, True] Translation: X:32.85, Y:7.46, Z:0.74 [[ 9.55460598e-01 -2.93619273e-01 -2.97114198e-02 3.28454647e+01] [ 2.93442812e-01 9.55921860e-01 -1.02329683e-02 7.46078593e+00] [ 3.14063924e-02 1.05859547e-03 9.99506137e-01 7.42468739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.906875 meters Centerline goodness [0,1] 0.9991849091755939 Centerline is valid? [True, True] Translation: X:32.87, Y:7.47, Z:0.74 [[ 9.55213160e-01 -2.94367716e-01 -3.02566682e-02 3.28713329e+01] [ 2.94184963e-01 9.55691650e-01 -1.04248139e-02 7.47043991e+00] [ 3.19847738e-02 1.05686265e-03 9.99487797e-01 7.41924049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters Centerline goodness [0,1] 0.9992536965343533 Centerline is valid? [True, True] Translation: X:32.90, Y:7.48, Z:0.74 [[ 9.54937840e-01 -2.95173767e-01 -3.10832615e-02 3.28984498e+01] [ 2.94981196e-01 9.55442997e-01 -1.07132263e-02 7.47916275e+00] [ 3.28605479e-02 1.06148756e-03 9.99459383e-01 7.41120452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.966874999999995 meters Centerline goodness [0,1] 0.9990900818926297 Centerline is valid? [True, True] Translation: X:32.92, Y:7.49, Z:0.74 [[ 9.54900842e-01 -2.95172858e-01 -3.22081568e-02 3.29244144e+01] [ 2.94965916e-01 9.55443229e-01 -1.11060895e-02 7.48811145e+00] [ 3.40512815e-02 1.10490573e-03 9.99419476e-01 7.39583569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters Centerline goodness [0,1] 0.999092199902237 Centerline is valid? [True, True] Translation: X:32.95, Y:7.50, Z:0.74 [[ 9.54849235e-01 -2.95246676e-01 -3.30505605e-02 3.29523698e+01] [ 2.95028563e-01 9.55420382e-01 -1.14035738e-02 7.49603091e+00] [ 3.49440464e-02 1.13783430e-03 9.99388623e-01 7.40345992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.026875 meters Centerline goodness [0,1] 0.999018393437259 Centerline is valid? [True, True] Translation: X:32.98, Y:7.51, Z:0.74 [[ 9.55077095e-01 -2.94491123e-01 -3.32072557e-02 3.29775195e+01] [ 2.94270205e-01 9.55653488e-01 -1.14654529e-02 7.50701141e+00] [ 3.51111039e-02 1.17848544e-03 9.99382720e-01 7.40974849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters Centerline goodness [0,1] 0.999113867966327 Centerline is valid? [True, True] Translation: X:33.01, Y:7.52, Z:0.74 [[ 9.55228349e-01 -2.94007685e-01 -3.31403527e-02 3.30052153e+01] [ 2.93787125e-01 9.55802302e-01 -1.14492311e-02 7.51613875e+00] [ 3.50417873e-02 1.20042115e-03 9.99385127e-01 7.41937944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.086875 meters Centerline goodness [0,1] 0.9991640155121566 Centerline is valid? [True, True] Translation: X:33.03, Y:7.53, Z:0.74 [[ 9.55494462e-01 -2.93133564e-01 -3.32121442e-02 3.30322836e+01] [ 2.92911206e-01 9.56070691e-01 -1.14829868e-02 7.52686830e+00] [ 3.51192065e-02 1.24372115e-03 9.99382357e-01 7.42578098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters Centerline goodness [0,1] 0.9991640155121566 Centerline is valid? [True, True] Translation: X:33.06, Y:7.54, Z:0.74 [[ 9.55414249e-01 -2.93395227e-01 -3.32092423e-02 3.30583638e+01] [ 2.93172735e-01 9.55990426e-01 -1.14913744e-02 7.53599220e+00] [ 3.51192321e-02 1.24297848e-03 9.99382357e-01 7.43178346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.146874999999994 meters Centerline goodness [0,1] 0.9991618550940585 Centerline is valid? [True, True] Translation: X:33.09, Y:7.55, Z:0.74 [[ 9.55708144e-01 -2.92418746e-01 -3.33649453e-02 3.30852387e+01] [ 2.92193224e-01 9.56289497e-01 -1.15549995e-02 7.54700382e+00] [ 3.52854452e-02 1.29419623e-03 9.99376437e-01 7.43693749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters Centerline goodness [0,1] 0.9990991615272677 Centerline is valid? [True, True] Translation: X:33.11, Y:7.56, Z:0.74 [[ 9.56397185e-01 -2.90219209e-01 -3.28212504e-02 3.31130589e+01] [ 2.89999415e-01 9.56959226e-01 -1.13745240e-02 7.55835413e+00] [ 3.47097037e-02 1.36041932e-03 9.99396511e-01 7.44611383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.206875 meters Centerline goodness [0,1] 0.9990470435105987 Centerline is valid? [True, True] Translation: X:33.14, Y:7.57, Z:0.75 [[ 9.56542233e-01 -2.89805370e-01 -3.22459891e-02 3.31399413e+01] [ 2.89592739e-01 9.57084637e-01 -1.11822311e-02 7.56934145e+00] [ 3.41028114e-02 1.35807199e-03 9.99417407e-01 7.45410673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters Centerline goodness [0,1] 0.9990481717933837 Centerline is valid? [True, True] Translation: X:33.17, Y:7.58, Z:0.75 [[ 9.56544915e-01 -2.89831064e-01 -3.19339994e-02 3.31671648e+01] [ 2.89622241e-01 9.57076865e-01 -1.10829912e-02 7.57548445e+00] [ 3.37754872e-02 1.35258238e-03 9.99428530e-01 7.47853216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.266875 meters Centerline goodness [0,1] 0.9990277552721127 Centerline is valid? [True, True] Translation: X:33.19, Y:7.59, Z:0.75 [[ 9.56434040e-01 -2.90190692e-01 -3.19889011e-02 3.31933906e+01] [ 2.89981093e-01 9.56967889e-01 -1.11096569e-02 7.58607952e+00] [ 3.38362702e-02 1.34947756e-03 9.99426478e-01 7.47975387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters Centerline goodness [0,1] 0.9992091000023262 Centerline is valid? [True, True] Translation: X:33.22, Y:7.60, Z:0.75 [[ 9.56295101e-01 -2.90583219e-01 -3.25741033e-02 3.32204094e+01] [ 2.90365909e-01 9.56848749e-01 -1.13185975e-02 7.59522404e+00] [ 3.44574845e-02 1.36551023e-03 9.99405232e-01 7.48139442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.326874999999994 meters Centerline goodness [0,1] 0.999155722326454 Centerline is valid? [True, True] Translation: X:33.25, Y:7.60, Z:0.75 [[ 9.55949483e-01 -2.91704302e-01 -3.26984115e-02 3.32482648e+01] [ 2.91485651e-01 9.56507609e-01 -1.13713972e-02 7.60233686e+00] [ 3.45933649e-02 1.33936351e-03 9.99400573e-01 7.48759142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters Centerline goodness [0,1] 0.9989705194197473 Centerline is valid? [True, True] Translation: X:33.28, Y:7.61, Z:0.75 [[ 9.55608890e-01 -2.92823675e-01 -3.26488093e-02 3.32760160e+01] [ 2.92606034e-01 9.56165567e-01 -1.13629990e-02 7.61005589e+00] [ 3.45450224e-02 1.30534421e-03 9.99402290e-01 7.49226750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.386874999999996 meters Centerline goodness [0,1] 0.999130353029662 Centerline is valid? [True, True] Translation: X:33.30, Y:7.62, Z:0.75 [[ 9.55022005e-01 -2.94579691e-01 -3.39967082e-02 3.33033072e+01] [ 2.94344472e-01 9.55626030e-01 -1.18415448e-02 7.61841468e+00] [ 3.59764179e-02 1.30219272e-03 9.99351791e-01 7.48654739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters Centerline goodness [0,1] 0.9991786158503673 Centerline is valid? [True, True] Translation: X:33.33, Y:7.63, Z:0.75 [[ 9.54714866e-01 -2.95471916e-01 -3.48693613e-02 3.33312928e+01] [ 2.95224704e-01 9.55350527e-01 -1.21550019e-02 7.62745430e+00] [ 3.69039244e-02 1.31026412e-03 9.99317959e-01 7.48852650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.446875 meters Centerline goodness [0,1] 0.9990772288472459 Centerline is valid? [True, True] Translation: X:33.36, Y:7.63, Z:0.75 [[ 9.54492488e-01 -2.96130779e-01 -3.53645758e-02 3.33583581e+01] [ 2.95876561e-01 9.55146501e-01 -1.23378347e-02 7.63477363e+00] [ 3.74319635e-02 1.31282144e-03 9.99298316e-01 7.49455185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters Centerline goodness [0,1] 0.9990570930177738 Centerline is valid? [True, True] Translation: X:33.38, Y:7.64, Z:0.75 [[ 9.54159147e-01 -2.97126698e-01 -3.60006655e-02 3.33840809e+01] [ 2.96863650e-01 9.54837172e-01 -1.25677735e-02 7.64436856e+00] [ 3.81089947e-02 1.30436703e-03 9.99272737e-01 7.48815009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.506875 meters Centerline goodness [0,1] 0.9991904183632164 Centerline is valid? [True, True] Translation: X:33.41, Y:7.65, Z:0.75 [[ 9.53588139e-01 -2.99113286e-01 -3.46540643e-02 3.34128641e+01] [ 2.98870755e-01 9.54216875e-01 -1.21006830e-02 7.64993864e+00] [ 3.66869680e-02 1.18198146e-03 9.99326108e-01 7.52243669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters Centerline goodness [0,1] 0.9992406264831514 Centerline is valid? [True, True] Translation: X:33.44, Y:7.66, Z:0.75 [[ 9.53225986e-01 -3.00319670e-01 -3.41806267e-02 3.34402380e+01] [ 3.00084305e-01 9.53837947e-01 -1.19406731e-02 7.65796791e+00] [ 3.61887978e-02 1.12509025e-03 9.99344338e-01 7.53114669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.566874999999996 meters Centerline goodness [0,1] 0.9990540157033393 Centerline is valid? [True, True] Translation: X:33.47, Y:7.67, Z:0.75 [[ 9.52937289e-01 -3.01354130e-01 -3.31090992e-02 3.34677958e+01] [ 3.01133607e-01 9.53511701e-01 -1.15752436e-02 7.66575429e+00] [ 3.50581610e-02 1.06021875e-03 9.99384711e-01 7.54198319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters Centerline goodness [0,1] 0.9993783919477849 Centerline is valid? [True, True] Translation: X:33.50, Y:7.67, Z:0.76 [[ 9.52630644e-01 -3.02388052e-01 -3.25011240e-02 3.34960863e+01] [ 3.02175863e-01 9.53184370e-01 -1.13712281e-02 7.67239411e+00] [ 3.44180869e-02 1.01152513e-03 9.99407010e-01 7.56245116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.626875 meters Centerline goodness [0,1] 0.9991124757130179 Centerline is valid? [True, True] Translation: X:33.52, Y:7.68, Z:0.76 [[ 9.52229359e-01 -3.03689762e-01 -3.21212632e-02 3.35224002e+01] [ 3.03483033e-01 9.52770491e-01 -1.12445859e-02 7.68026083e+00] [ 3.40190574e-02 9.59166475e-04 9.99420724e-01 7.57079566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters Centerline goodness [0,1] 0.999186427699744 Centerline is valid? [True, True] Translation: X:33.55, Y:7.69, Z:0.76 [[ 9.51974837e-01 -3.04529470e-01 -3.17129720e-02 3.35504690e+01] [ 3.04328262e-01 9.52502468e-01 -1.11066151e-02 7.68759524e+00] [ 3.35889757e-02 9.22064388e-04 9.99435306e-01 7.57804396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.686875 meters Centerline goodness [0,1] 0.999229936229094 Centerline is valid? [True, True] Translation: X:33.58, Y:7.69, Z:0.76 [[ 9.51428451e-01 -3.06300198e-01 -3.10498346e-02 3.35794381e+01] [ 3.06107991e-01 9.51934592e-01 -1.08825978e-02 7.69335964e+00] [ 3.28907535e-02 8.49410706e-04 9.99458592e-01 7.59362380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters Centerline goodness [0,1] 0.9991341783111667 Centerline is valid? [True, True] Translation: X:33.61, Y:7.70, Z:0.76 [[ 9.51399693e-01 -3.06387887e-01 -3.10658560e-02 3.36053192e+01] [ 3.06195298e-01 9.51906369e-01 -1.08951710e-02 7.70201284e+00] [ 3.29099346e-02 8.53443290e-04 9.99457957e-01 7.59661322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.746874999999996 meters Centerline goodness [0,1] 0.9992041288828863 Centerline is valid? [True, True] Translation: X:33.63, Y:7.71, Z:0.76 [[ 9.51379930e-01 -3.06452985e-01 -3.10289790e-02 3.36326392e+01] [ 3.06260692e-01 9.51885411e-01 -1.08881885e-02 7.70975945e+00] [ 3.28727502e-02 8.55847398e-04 9.99459179e-01 7.60739917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters Centerline goodness [0,1] 0.9992036295187992 Centerline is valid? [True, True] Translation: X:33.66, Y:7.72, Z:0.76 [[ 9.51579106e-01 -3.05847333e-01 -3.08968317e-02 3.36586367e+01] [ 3.05656119e-01 9.52080162e-01 -1.08490622e-02 7.71968585e+00] [ 3.27344173e-02 8.79935218e-04 9.99463698e-01 7.61057815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.806875 meters Centerline goodness [0,1] 0.9992022626731453 Centerline is valid? [True, True] Translation: X:33.69, Y:7.73, Z:0.76 [[ 9.51866646e-01 -3.04960664e-01 -3.08039232e-02 3.36865734e+01] [ 3.04769981e-01 9.52364511e-01 -1.08211518e-02 7.72693146e+00] [ 3.26365889e-02 9.12182338e-04 9.99466868e-01 7.61918866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters Centerline goodness [0,1] 0.9992483026188167 Centerline is valid? [True, True] Translation: X:33.71, Y:7.74, Z:0.76 [[ 9.51855487e-01 -3.04959331e-01 -3.11598791e-02 3.37134525e+01] [ 3.04763994e-01 9.52364921e-01 -1.09528470e-02 7.73609797e+00] [ 3.30157487e-02 9.29118358e-04 9.99454400e-01 7.61198039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.866875 meters Centerline goodness [0,1] 0.9991059130560859 Centerline is valid? [True, True] Translation: X:33.74, Y:7.74, Z:0.76 [[ 9.51924762e-01 -3.04713546e-01 -3.14468146e-02 3.37415388e+01] [ 3.04514293e-01 9.52443568e-01 -1.10587040e-02 7.74376285e+00] [ 3.33210532e-02 9.51049643e-04 9.99444247e-01 7.61458102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters Centerline goodness [0,1] 0.9993426658551431 Centerline is valid? [True, True] Translation: X:33.77, Y:7.75, Z:0.76 [[ 9.52063290e-01 -3.04235314e-01 -3.18804804e-02 3.37683118e+01] [ 3.04030007e-01 9.52596398e-01 -1.12186126e-02 7.75273919e+00] [ 3.37823289e-02 9.88206533e-04 9.99428726e-01 7.62832050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.926874999999995 meters Centerline goodness [0,1] 0.9993646138807429 Centerline is valid? [True, True] Translation: X:33.80, Y:7.76, Z:0.76 [[ 9.52143069e-01 -3.03924350e-01 -3.24586604e-02 3.37964024e+01] [ 3.03711128e-01 9.52695619e-01 -1.14284170e-02 7.76000336e+00] [ 3.43965978e-02 1.02343164e-03 9.99407738e-01 7.64742872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters Centerline goodness [0,1] 0.9993422655298416 Centerline is valid? [True, True] Translation: X:33.82, Y:7.77, Z:0.77 [[ 9.52190566e-01 -3.03817982e-01 -3.20587010e-02 3.38212660e+01] [ 3.03609679e-01 9.52729547e-01 -1.12947924e-02 7.76948343e+00] [ 3.39748327e-02 1.02146289e-03 9.99422167e-01 7.65335357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.986875 meters Centerline goodness [0,1] 0.9993198270417335 Centerline is valid? [True, True] Translation: X:33.85, Y:7.78, Z:0.77 [[ 9.52110698e-01 -3.04219753e-01 -3.05869261e-02 3.38489882e+01] [ 3.04030176e-01 9.52601390e-01 -1.07816425e-02 7.77894048e+00] [ 3.24171370e-02 9.65968624e-04 9.99473960e-01 7.65638242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters Centerline goodness [0,1] 0.9992685781158572 Centerline is valid? [True, True] Translation: X:33.88, Y:7.79, Z:0.77 [[ 9.51912012e-01 -3.04872898e-01 -3.02661041e-02 3.38767354e+01] [ 3.04687346e-01 9.52392582e-01 -1.06766892e-02 7.78663940e+00] [ 3.20802462e-02 9.41569748e-04 9.99484853e-01 7.66569773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.046875 meters Centerline goodness [0,1] 0.9993895590174342 Centerline is valid? [True, True] Translation: X:33.90, Y:7.80, Z:0.77 [[ 9.51714255e-01 -3.05559457e-01 -2.95532573e-02 3.39035698e+01] [ 3.05382661e-01 9.52172569e-01 -1.04320862e-02 7.79566433e+00] [ 3.13274236e-02 9.03312804e-04 9.99508768e-01 7.67343910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters Centerline goodness [0,1] 0.9991976269208325 Centerline is valid? [True, True] Translation: X:33.93, Y:7.80, Z:0.77 [[ 9.51415251e-01 -3.06497541e-01 -2.94665577e-02 3.39314943e+01] [ 3.06322060e-01 9.51871048e-01 -1.04069151e-02 7.80320653e+00] [ 3.12380571e-02 8.75041078e-04 9.99511590e-01 7.68477736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.106874999999995 meters Centerline goodness [0,1] 0.9994142912924638 Centerline is valid? [True, True] Translation: X:33.96, Y:7.81, Z:0.77 [[ 9.50295134e-01 -3.09885281e-01 -3.01706976e-02 3.39610934e+01] [ 3.09702789e-01 9.50773628e-01 -1.06626310e-02 7.80788550e+00] [ 3.19896960e-02 7.88697208e-04 9.99487888e-01 7.69918238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters Centerline goodness [0,1] 0.9992653540993242 Centerline is valid? [True, True] Translation: X:33.99, Y:7.82, Z:0.77 [[ 9.49538684e-01 -3.12223008e-01 -2.98844681e-02 3.39884690e+01] [ 3.12044955e-01 9.50008574e-01 -1.05666611e-02 7.81549696e+00] [ 3.16896557e-02 7.08155932e-04 9.99497506e-01 7.70900528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.166875 meters Centerline goodness [0,1] 0.9995093108270566 Centerline is valid? [True, True] Translation: X:34.02, Y:7.82, Z:0.77 [[ 9.48741847e-01 -3.14740387e-01 -2.87645001e-02 3.40155736e+01] [ 3.14576401e-01 9.49177602e-01 -1.01767932e-02 7.82323189e+00] [ 3.05056671e-02 6.06516647e-04 9.99534410e-01 7.72976849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters Centerline goodness [0,1] 0.9995314773259685 Centerline is valid? [True, True] Translation: X:34.05, Y:7.83, Z:0.77 [[ 9.47182410e-01 -3.19504520e-01 -2.76105922e-02 3.40452324e+01] [ 3.19355369e-01 9.47584651e-01 -9.77127860e-03 7.82711861e+00] [ 2.92853411e-02 4.37592331e-04 9.99570997e-01 7.73891455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.226875 meters Centerline goodness [0,1] 0.9996057073855935 Centerline is valid? [True, True] Translation: X:34.07, Y:7.83, Z:0.77 [[ 9.46467231e-01 -3.21584613e-01 -2.79842139e-02 3.40741005e+01] [ 3.21432171e-01 9.46880769e-01 -9.90806401e-03 7.83357783e+00] [ 2.96839949e-02 3.82631313e-04 9.99559260e-01 7.74361784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters Centerline goodness [0,1] 0.9995036974539679 Centerline is valid? [True, True] Translation: X:34.10, Y:7.84, Z:0.77 [[ 9.45881931e-01 -3.23263995e-01 -2.84211659e-02 3.41018169e+01] [ 3.23107277e-01 9.46308762e-01 -1.00705171e-02 7.84079188e+00] [ 3.01506339e-02 3.42434651e-04 9.99545308e-01 7.74683035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.286874999999995 meters Centerline goodness [0,1] 0.9997015519299642 Centerline is valid? [True, True] Translation: X:34.13, Y:7.85, Z:0.78 [[ 9.45553512e-01 -3.24258415e-01 -2.80184870e-02 3.41284827e+01] [ 3.24106360e-01 9.45968489e-01 -9.93401930e-03 7.84908220e+00] [ 2.97257951e-02 3.12177022e-04 9.99558042e-01 7.75123062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters Centerline goodness [0,1] 0.9997268234534482 Centerline is valid? [True, True] Translation: X:34.16, Y:7.86, Z:0.78 [[ 9.45277303e-01 -3.25007016e-01 -2.86576322e-02 3.41553859e+01] [ 3.24848150e-01 9.45711557e-01 -1.01651155e-02 7.85681131e+00] [ 3.04055879e-02 2.99474102e-04 9.99537598e-01 7.76252560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.346875 meters Centerline goodness [0,1] 0.9994767528778592 Centerline is valid? [True, True] Translation: X:34.18, Y:7.87, Z:0.78 [[ 9.45371349e-01 -3.24738508e-01 -2.85991907e-02 3.41823138e+01] [ 3.24579901e-01 9.45803786e-01 -1.01531281e-02 7.86630347e+00] [ 3.03463345e-02 3.15753930e-04 9.99539394e-01 7.77032704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters Centerline goodness [0,1] 0.9996774513695911 Centerline is valid? [True, True] Translation: X:34.21, Y:7.88, Z:0.78 [[ 9.45656835e-01 -3.23923849e-01 -2.83987918e-02 3.42081586e+01] [ 3.23766878e-01 9.46083094e-01 -1.00890069e-02 7.87600811e+00] [ 3.01356867e-02 3.46150194e-04 9.99545757e-01 7.77154236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.406875 meters Centerline goodness [0,1] 0.9995504607777028 Centerline is valid? [True, True] Translation: X:34.24, Y:7.89, Z:0.78 [[ 9.45950123e-01 -3.23039642e-01 -2.87011131e-02 3.42357796e+01] [ 3.22878778e-01 9.46385357e-01 -1.02005447e-02 7.88564501e+00] [ 3.04574934e-02 3.82226251e-04 9.99535990e-01 7.78418025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters Centerline goodness [0,1] 0.999575498788923 Centerline is valid? [True, True] Translation: X:34.26, Y:7.90, Z:0.78 [[ 9.46778430e-01 -3.20507662e-01 -2.97563898e-02 3.42622657e+01] [ 3.20333240e-01 9.47245797e-01 -1.05837472e-02 7.89664213e+00] [ 3.15787872e-02 4.88502805e-04 9.99501146e-01 7.78395353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.466874999999995 meters Centerline goodness [0,1] 0.9995002248987955 Centerline is valid? [True, True] Translation: X:34.29, Y:7.91, Z:0.78 [[ 9.46910913e-01 -3.20041847e-01 -3.05440445e-02 3.42893245e+01] [ 3.19857553e-01 9.47403262e-01 -1.08722505e-02 7.90726013e+00] [ 3.24171025e-02 5.25309297e-04 9.99474290e-01 7.77428793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters Centerline goodness [0,1] 0.9995289217266259 Centerline is valid? [True, True] Translation: X:34.32, Y:7.92, Z:0.78 [[ 9.47164135e-01 -3.19250223e-01 -3.09741110e-02 3.43162095e+01] [ 3.19060000e-01 9.47670287e-01 -1.10337775e-02 7.91853384e+00] [ 3.28757806e-02 5.68198496e-04 9.99459284e-01 7.76831279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.526875 meters Centerline goodness [0,1] 0.9993742960830935 Centerline is valid? [True, True] Translation: X:34.34, Y:7.93, Z:0.78 [[ 9.47741728e-01 -3.17575395e-01 -3.05202517e-02 3.43427731e+01] [ 3.17389574e-01 9.48232818e-01 -1.08802883e-02 7.92892828e+00] [ 3.23956161e-02 6.24893512e-04 9.99474929e-01 7.79406062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters Centerline goodness [0,1] 0.9994263051557706 Centerline is valid? [True, True] Translation: X:34.37, Y:7.94, Z:0.78 [[ 9.48115649e-01 -3.16485760e-01 -3.02238110e-02 3.43692549e+01] [ 3.16302717e-01 9.48597029e-01 -1.07827624e-02 7.93967339e+00] [ 3.20828080e-02 6.63432274e-04 9.99484994e-01 7.81136881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.586875 meters Centerline goodness [0,1] 0.9995518709388304 Centerline is valid? [True, True] Translation: X:34.40, Y:7.95, Z:0.78 [[ 9.48416560e-01 -3.15608498e-01 -2.99550585e-02 3.43964228e+01] [ 3.15428004e-01 9.48889242e-01 -1.06949062e-02 7.95088162e+00] [ 3.17994361e-02 6.94561801e-04 9.99494029e-01 7.82413723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:34.42, Y:7.96, Z:0.78 [[ 9.48776130e-01 -3.14522944e-01 -2.99862246e-02 3.44227556e+01] [ 3.14341275e-01 9.49249583e-01 -1.07140988e-02 7.96229030e+00] [ 3.18342412e-02 7.39373143e-04 9.99492889e-01 7.82959260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.646874999999994 meters Centerline goodness [0,1] 0.9995530726256984 Centerline is valid? [True, True] Translation: X:34.45, Y:7.98, Z:0.78 [[ 9.49556581e-01 -3.12083291e-01 -3.07622994e-02 3.44488518e+01] [ 3.11890539e-01 9.50054365e-01 -1.09997762e-02 7.97595896e+00] [ 3.26587031e-02 8.50439783e-04 9.99466200e-01 7.80730047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters Centerline goodness [0,1] 0.9992046923153395 Centerline is valid? [True, True] Translation: X:34.48, Y:7.99, Z:0.78 [[ 9.49939550e-01 -3.10908984e-01 -3.08294523e-02 3.44757294e+01] [ 3.10714501e-01 9.50439263e-01 -1.10320626e-02 7.98722645e+00] [ 3.27314893e-02 9.00634657e-04 9.99463775e-01 7.80641099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.706875 meters Centerline goodness [0,1] 0.9994303546661383 Centerline is valid? [True, True] Translation: X:34.50, Y:8.00, Z:0.78 [[ 9.50305887e-01 -3.09793294e-01 -3.07706967e-02 3.45027507e+01] [ 3.09598698e-01 9.50803461e-01 -1.10192967e-02 7.99829374e+00] [ 3.26705892e-02 9.45134924e-04 9.99465727e-01 7.81372255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters Centerline goodness [0,1] 0.9994561321104546 Centerline is valid? [True, True] Translation: X:34.53, Y:8.01, Z:0.78 [[ 9.50845650e-01 -3.08215989e-01 -2.99241318e-02 3.45296699e+01] [ 3.08030923e-01 9.51315902e-01 -1.07240513e-02 8.00987494e+00] [ 3.17726265e-02 9.79359558e-04 9.99494643e-01 7.83689633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.766875 meters Centerline goodness [0,1] 0.9992533041292282 Centerline is valid? [True, True] Translation: X:34.56, Y:8.02, Z:0.79 [[ 9.51197117e-01 -3.07176442e-01 -2.94393870e-02 3.45566750e+01] [ 3.06996581e-01 9.51652049e-01 -1.05582343e-02 8.02097683e+00] [ 3.12592938e-02 1.00517091e-03 9.99510803e-01 7.85781878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters Centerline goodness [0,1] 0.9993304899821464 Centerline is valid? [True, True] Translation: X:34.58, Y:8.03, Z:0.79 [[ 9.51465709e-01 -3.06382399e-01 -2.90315444e-02 3.45837831e+01] [ 3.06206875e-01 9.51907966e-01 -1.04198622e-02 8.03079421e+00] [ 3.08278208e-02 1.02448312e-03 9.99524185e-01 7.87506375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.826874999999994 meters Centerline goodness [0,1] 0.9992358320802622 Centerline is valid? [True, True] Translation: X:34.61, Y:8.04, Z:0.79 [[ 9.51521820e-01 -3.06227571e-01 -2.88253441e-02 3.46090123e+01] [ 3.06054261e-01 9.51957781e-01 -1.03523995e-02 8.04240200e+00] [ 3.06107008e-02 1.02841461e-03 9.99530854e-01 7.87472287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters Centerline goodness [0,1] 0.9992582519470886 Centerline is valid? [True, True] Translation: X:34.64, Y:8.05, Z:0.79 [[ 9.51500031e-01 -3.06227939e-01 -2.95320328e-02 3.46370131e+01] [ 3.06045880e-01 9.51957630e-01 -1.06108248e-02 8.05130259e+00] [ 3.13625749e-02 1.05804315e-03 9.99507513e-01 7.87137926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.886874999999996 meters Centerline goodness [0,1] 0.9993584840484592 Centerline is valid? [True, True] Translation: X:34.66, Y:8.06, Z:0.79 [[ 9.51274760e-01 -3.06848297e-01 -3.03389923e-02 3.46629707e+01] [ 3.06656241e-01 9.51757833e-01 -1.09076609e-02 8.06173702e+00] [ 3.22223707e-02 1.07254116e-03 9.99480149e-01 7.86273356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters Centerline goodness [0,1] 0.9992604826583183 Centerline is valid? [True, True] Translation: X:34.69, Y:8.07, Z:0.79 [[ 9.50541615e-01 -3.08990465e-01 -3.15520317e-02 3.46911861e+01] [ 3.08783745e-01 9.51064562e-01 -1.13489278e-02 8.06950921e+00] [ 3.35147297e-02 1.04487369e-03 9.99437677e-01 7.85166487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.946875 meters Centerline goodness [0,1] 0.9993108879700728 Centerline is valid? [True, True] Translation: X:34.72, Y:8.08, Z:0.79 [[ 9.50169632e-01 -3.10186880e-01 -3.10124308e-02 3.47189502e+01] [ 3.09987530e-01 9.50675083e-01 -1.11632804e-02 8.07905685e+00] [ 3.29454484e-02 9.93543220e-04 9.99456658e-01 7.85384885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters Centerline goodness [0,1] 0.999284727703236 Centerline is valid? [True, True] Translation: X:34.74, Y:8.09, Z:0.79 [[ 9.50075702e-01 -3.10511644e-01 -3.06378670e-02 3.47448457e+01] [ 3.10317036e-01 9.50569074e-01 -1.10350351e-02 8.08883475e+00] [ 3.25499158e-02 9.76666694e-04 9.99469634e-01 7.86083892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.006875 meters Centerline goodness [0,1] 0.9992598623343942 Centerline is valid? [True, True] Translation: X:34.77, Y:8.10, Z:0.79 [[ 9.49122874e-01 -3.13484406e-01 -2.98880672e-02 3.47730338e+01] [ 3.13300595e-01 9.49592963e-01 -1.07676644e-02 8.09508050e+00] [ 3.17569931e-02 8.55887321e-04 9.99495253e-01 7.87638188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters Centerline goodness [0,1] 0.9992598623343942 Centerline is valid? [True, True] Translation: X:34.80, Y:8.10, Z:0.79 [[ 9.49036460e-01 -3.13746054e-01 -2.98866249e-02 3.47989988e+01] [ 3.13562246e-01 9.49506550e-01 -1.07716660e-02 8.10454511e+00] [ 3.17571138e-02 8.51386560e-04 9.99495253e-01 7.88240303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.066874999999996 meters Centerline goodness [0,1] 0.9995031302792408 Centerline is valid? [True, True] Translation: X:34.83, Y:8.11, Z:0.79 [[ 9.45505954e-01 -3.24349928e-01 -2.85589870e-02 3.48298928e+01] [ 3.24186704e-01 9.45937045e-01 -1.02998533e-02 8.10543245e+00] [ 3.03557605e-02 4.80128728e-04 9.99539042e-01 7.93204458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters Centerline goodness [0,1] 0.9995280675608544 Centerline is valid? [True, True] Translation: X:34.86, Y:8.11, Z:0.80 [[ 9.43769411e-01 -3.29468597e-01 -2.73814321e-02 3.48588143e+01] [ 3.29320616e-01 9.44166484e-01 -9.87832133e-03 8.11180714e+00] [ 2.91072272e-02 3.05587406e-04 9.99576248e-01 7.95035783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.126875 meters Centerline goodness [0,1] 0.9992387594234217 Centerline is valid? [True, True] Translation: X:34.89, Y:8.12, Z:0.80 [[ 9.42423055e-01 -3.33342769e-01 -2.68585799e-02 3.48856711e+01] [ 3.33201788e-01 9.42805687e-01 -9.69565127e-03 8.11994250e+00] [ 2.85543971e-02 1.88078450e-04 9.99592222e-01 7.95253518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters Centerline goodness [0,1] 0.9996034008378157 Centerline is valid? [True, True] Translation: X:34.91, Y:8.13, Z:0.80 [[ 9.41714562e-01 -3.35311645e-01 -2.71989723e-02 3.49127173e+01] [ 3.35167742e-01 9.42107256e-01 -9.82355812e-03 8.12904181e+00] [ 2.89183026e-02 1.34769627e-04 9.99581769e-01 7.95851117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.186875 meters Centerline goodness [0,1] 0.9993825635959496 Centerline is valid? [True, True] Translation: X:34.94, Y:8.14, Z:0.79 [[ 9.42087494e-01 -3.34201810e-01 -2.79339054e-02 3.49383894e+01] [ 3.34049279e-01 9.42501521e-01 -1.00976108e-02 8.14218337e+00] [ 2.97023881e-02 1.81531896e-04 9.99558770e-01 7.94030757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters Centerline goodness [0,1] 0.9994099859871672 Centerline is valid? [True, True] Translation: X:34.96, Y:8.15, Z:0.79 [[ 9.42962384e-01 -3.31769585e-01 -2.74022806e-02 3.49630728e+01] [ 3.31621599e-01 9.43360417e-01 -9.91159462e-03 8.15462338e+00] [ 2.91385925e-02 2.59072788e-04 9.99575347e-01 7.94534313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.246874999999996 meters Centerline goodness [0,1] 0.9993876001273791 Centerline is valid? [True, True] Translation: X:34.99, Y:8.17, Z:0.80 [[ 9.43951230e-01 -3.28934333e-01 -2.75368850e-02 3.49895143e+01] [ 3.28783568e-01 9.44352731e-01 -9.96416439e-03 8.16761749e+00] [ 2.92820883e-02 3.52009942e-04 9.99571126e-01 7.96030399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters Centerline goodness [0,1] 0.999361665561857 Centerline is valid? [True, True] Translation: X:35.02, Y:8.18, Z:0.80 [[ 9.45923760e-01 -3.23252141e-01 -2.71347388e-02 3.50156696e+01] [ 3.23103206e-01 9.46312726e-01 -9.82560749e-03 8.18367494e+00] [ 2.88540973e-02 5.26954474e-04 9.99583495e-01 7.98323352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.306875 meters Centerline goodness [0,1] 0.9991421989118181 Centerline is valid? [True, True] Translation: X:35.04, Y:8.20, Z:0.80 [[ 9.46818353e-01 -3.20630878e-01 -2.70341619e-02 3.50417998e+01] [ 3.20481788e-01 9.47204026e-01 -9.79573814e-03 8.19686429e+00] [ 2.87476831e-02 6.10828124e-04 9.99586513e-01 7.99031015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters Centerline goodness [0,1] 0.9993641788124816 Centerline is valid? [True, True] Translation: X:35.07, Y:8.21, Z:0.80 [[ 9.47487274e-01 -3.18649808e-01 -2.70215730e-02 3.50660229e+01] [ 3.18499868e-01 9.47872271e-01 -9.79755780e-03 8.21058509e+00] [ 2.87349897e-02 6.76693908e-04 9.99586836e-01 7.98221540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.366875 meters Centerline goodness [0,1] 0.9991273573471663 Centerline is valid? [True, True] Translation: X:35.09, Y:8.23, Z:0.80 [[ 9.48715689e-01 -3.14953517e-01 -2.72547838e-02 3.50925738e+01] [ 3.14799364e-01 9.49106762e-01 -9.88511815e-03 8.22533113e+00] [ 2.89810523e-02 7.98378067e-04 9.99579642e-01 7.98018435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters Centerline goodness [0,1] 0.9992683819046457 Centerline is valid? [True, True] Translation: X:35.12, Y:8.24, Z:0.80 [[ 9.48855067e-01 -3.14523668e-01 -2.73664781e-02 3.51192727e+01] [ 3.14367964e-01 9.49249278e-01 -9.92928777e-03 8.23658145e+00] [ 2.91006056e-02 8.18310989e-04 9.99576153e-01 7.98241960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.426874999999995 meters Centerline goodness [0,1] 0.9991716812434527 Centerline is valid? [True, True] Translation: X:35.15, Y:8.25, Z:0.80 [[ 9.48980581e-01 -3.14081318e-01 -2.80852752e-02 3.51463959e+01] [ 3.13916897e-01 9.49395694e-01 -1.01979319e-02 8.24743156e+00] [ 2.98670193e-02 8.61196916e-04 9.99553510e-01 7.98488030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters Centerline goodness [0,1] 0.9991991263196214 Centerline is valid? [True, True] Translation: X:35.17, Y:8.26, Z:0.80 [[ 9.48942908e-01 -3.14176710e-01 -2.82904936e-02 3.51708587e+01] [ 3.14009716e-01 9.49364122e-01 -1.02792083e-02 8.25945227e+00] [ 3.00874674e-02 8.70892021e-04 9.99546890e-01 7.97470844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.486875 meters Centerline goodness [0,1] 0.9991986595760181 Centerline is valid? [True, True] Translation: X:35.20, Y:8.27, Z:0.80 [[ 9.48639365e-01 -3.15083826e-01 -2.83819835e-02 3.51986866e+01] [ 3.14916003e-01 9.49063465e-01 -1.03174719e-02 8.26823846e+00] [ 3.01871721e-02 8.49619203e-04 9.99543902e-01 7.98279080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters Centerline goodness [0,1] 0.999275887038378 Centerline is valid? [True, True] Translation: X:35.22, Y:8.28, Z:0.80 [[ 9.48161592e-01 -3.16588104e-01 -2.75965133e-02 3.52245215e+01] [ 3.16429895e-01 9.48562784e-01 -1.00382507e-02 8.27859329e+00] [ 2.93550162e-02 7.85521994e-04 9.99568740e-01 7.99452000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.546875 meters Centerline goodness [0,1] 0.9991984649389133 Centerline is valid? [True, True] Translation: X:35.25, Y:8.29, Z:0.80 [[ 9.47644835e-01 -3.18178166e-01 -2.70540485e-02 3.52525510e+01] [ 3.18026658e-01 9.48030658e-01 -9.84458669e-03 8.28740971e+00] [ 2.87803999e-02 7.25263103e-04 9.99585495e-01 8.01994858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters Centerline goodness [0,1] 0.9991254494218249 Centerline is valid? [True, True] Translation: X:35.28, Y:8.29, Z:0.80 [[ 9.46385205e-01 -3.21951697e-01 -2.64980804e-02 3.52802122e+01] [ 3.21807674e-01 9.46755904e-01 -9.64780934e-03 8.29482061e+00] [ 2.81933426e-02 6.03258412e-04 9.99602307e-01 8.04460801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.606874999999995 meters Centerline goodness [0,1] 0.999147526609348 Centerline is valid? [True, True] Translation: X:35.31, Y:8.30, Z:0.80 [[ 9.45437304e-01 -3.24764137e-01 -2.60107751e-02 3.53081303e+01] [ 3.24626342e-01 9.45794900e-01 -9.47342259e-03 8.30371273e+00] [ 2.76774863e-02 5.12744363e-04 9.99616773e-01 8.04834623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters Centerline goodness [0,1] 0.9992486123566909 Centerline is valid? [True, True] Translation: X:35.34, Y:8.31, Z:0.81 [[ 9.44626283e-01 -3.27182420e-01 -2.51564963e-02 3.53357497e+01] [ 3.27054210e-01 9.44961098e-01 -9.16885983e-03 8.31213817e+00] [ 2.67718001e-02 4.33607953e-04 9.99641477e-01 8.05918870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.666875 meters Centerline goodness [0,1] 0.9992509363295881 Centerline is valid? [True, True] Translation: X:35.36, Y:8.32, Z:0.81 [[ 9.43152215e-01 -3.31495717e-01 -2.39685123e-02 3.53643823e+01] [ 3.31380566e-01 9.43456675e-01 -8.74198422e-03 8.31944415e+00] [ 2.55111833e-02 3.02322614e-04 9.99674491e-01 8.07163540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters Centerline goodness [0,1] 0.999199844818389 Centerline is valid? [True, True] Translation: X:35.39, Y:8.33, Z:0.81 [[ 9.42575756e-01 -3.33101365e-01 -2.43808495e-02 3.53918475e+01] [ 3.32982591e-01 9.42890984e-01 -8.89863630e-03 8.32861121e+00] [ 2.59526311e-02 2.69240378e-04 9.99663137e-01 8.07114246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.726875 meters Centerline goodness [0,1] 0.999271455631648 Centerline is valid? [True, True] Translation: X:35.42, Y:8.34, Z:0.81 [[ 9.42133363e-01 -3.34271855e-01 -2.54372461e-02 3.54181899e+01] [ 3.34142794e-01 9.42476664e-01 -9.29143650e-03 8.33778187e+00] [ 2.70798765e-02 2.54099845e-04 9.99633241e-01 8.06427731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters Centerline goodness [0,1] 0.9991779298338934 Centerline is valid? [True, True] Translation: X:35.45, Y:8.35, Z:0.80 [[ 9.41703505e-01 -3.35310016e-01 -2.75989329e-02 3.54451464e+01] [ 3.35158264e-01 9.42107812e-01 -1.00900160e-02 8.34677245e+00] [ 2.93844537e-02 2.51793050e-04 9.99568152e-01 8.04890892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.786874999999995 meters Centerline goodness [0,1] 0.9991739954326806 Centerline is valid? [True, True] Translation: X:35.47, Y:8.36, Z:0.81 [[ 9.41786849e-01 -3.34999018e-01 -2.85164706e-02 3.54718150e+01] [ 3.34836601e-01 9.42218436e-01 -1.04340709e-02 8.35676132e+00] [ 3.03641479e-02 2.78312620e-04 9.99538864e-01 8.05165564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters Centerline goodness [0,1] 0.9992970208227281 Centerline is valid? [True, True] Translation: X:35.50, Y:8.37, Z:0.81 [[ 9.41981451e-01 -3.34406001e-01 -2.90443125e-02 3.54985048e+01] [ 3.34236990e-01 9.42429059e-01 -1.06350452e-02 8.36715592e+00] [ 3.09286270e-02 3.10331715e-04 9.99521547e-01 8.05751202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.846875 meters Centerline goodness [0,1] 0.9991769746556607 Centerline is valid? [True, True] Translation: X:35.53, Y:8.38, Z:0.81 [[ 9.42322591e-01 -3.33482967e-01 -2.85875104e-02 3.55256832e+01] [ 3.33318577e-01 9.42756063e-01 -1.04753379e-02 8.37853523e+00] [ 3.04443955e-02 3.42399253e-04 9.99536403e-01 8.05491761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters Centerline goodness [0,1] 0.9992512077294686 Centerline is valid? [True, True] Translation: X:35.55, Y:8.39, Z:0.81 [[ 9.43317682e-01 -3.30658421e-01 -2.85789881e-02 3.55523046e+01] [ 3.30492599e-01 9.43750398e-01 -1.04798666e-02 8.39081312e+00] [ 3.04366876e-02 4.40699412e-04 9.99536600e-01 8.05015535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.906875 meters Centerline goodness [0,1] 0.9992040712959166 Centerline is valid? [True, True] Translation: X:35.58, Y:8.40, Z:0.81 [[ 9.43887448e-01 -3.29104267e-01 -2.76923786e-02 3.55795369e+01] [ 3.28947692e-01 9.44293465e-01 -1.01620493e-02 8.40108972e+00] [ 2.94941059e-02 4.82486736e-04 9.99564838e-01 8.06754062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters Centerline goodness [0,1] 0.99927286829221 Centerline is valid? [True, True] Translation: X:35.61, Y:8.41, Z:0.81 [[ 9.44442795e-01 -3.27572354e-01 -2.69102133e-02 3.56063927e+01] [ 3.27423673e-01 9.44825953e-01 -9.88218744e-03 8.41238948e+00] [ 2.86625993e-02 5.22119838e-04 9.99589007e-01 8.08060133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.966874999999995 meters Centerline goodness [0,1] 0.9992036102999734 Centerline is valid? [True, True] Translation: X:35.63, Y:8.43, Z:0.81 [[ 9.45927462e-01 -3.23334795e-01 -2.59970502e-02 3.56319058e+01] [ 3.23194277e-01 9.46284423e-01 -9.55252347e-03 8.42554775e+00] [ 2.76892669e-02 6.33896438e-04 9.99616378e-01 8.09414518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters Centerline goodness [0,1] 0.9992012006196747 Centerline is valid? [True, True] Translation: X:35.66, Y:8.44, Z:0.81 [[ 9.46508295e-01 -3.21625939e-01 -2.60538512e-02 3.56587212e+01] [ 3.21484084e-01 9.46866560e-01 -9.57610585e-03 8.43648323e+00] [ 2.77494445e-02 6.87965144e-04 9.99614673e-01 8.09715123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.026875 meters Centerline goodness [0,1] 0.9993225751820579 Centerline is valid? [True, True] Translation: X:35.69, Y:8.45, Z:0.81 [[ 9.47110254e-01 -3.19835659e-01 -2.62167329e-02 3.56855823e+01] [ 3.19691137e-01 9.47472736e-01 -9.64320580e-03 8.44685427e+00] [ 2.79238808e-02 7.51921944e-04 9.99609770e-01 8.10286698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters Centerline goodness [0,1] 0.9992025325632536 Centerline is valid? [True, True] Translation: X:35.71, Y:8.46, Z:0.81 [[ 9.47578794e-01 -3.18417722e-01 -2.65440109e-02 3.57106544e+01] [ 3.18268830e-01 9.47950156e-01 -9.77001783e-03 8.45802270e+00] [ 2.82733461e-02 8.09730409e-04 9.99599901e-01 8.09777461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.086875 meters Centerline goodness [0,1] 0.9992224139187909 Centerline is valid? [True, True] Translation: X:35.74, Y:8.47, Z:0.81 [[ 9.48431443e-01 -3.15727141e-01 -2.81810206e-02 3.57384422e+01] [ 3.15558035e-01 9.48849553e-01 -1.03755493e-02 8.46727718e+00] [ 3.00153913e-02 9.47749728e-04 9.99548987e-01 8.10188248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters Centerline goodness [0,1] 0.9992224139187909 Centerline is valid? [True, True] Translation: X:35.77, Y:8.48, Z:0.81 [[ 9.48766919e-01 -3.14663427e-01 -2.87795346e-02 3.57657854e+01] [ 3.14486463e-01 9.49202779e-01 -1.05994412e-02 8.47777325e+00] [ 3.06528707e-02 1.00562510e-03 9.99529584e-01 8.09905461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.146874999999994 meters Centerline goodness [0,1] 0.9992467317879186 Centerline is valid? [True, True] Translation: X:35.79, Y:8.49, Z:0.81 [[ 9.48782530e-01 -3.14536168e-01 -2.96430516e-02 3.57929984e+01] [ 3.14348096e-01 9.49244911e-01 -1.09258428e-02 8.48712011e+00] [ 3.15750886e-02 1.04801193e-03 9.99500833e-01 8.09078501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters Centerline goodness [0,1] 0.9991240023359937 Centerline is valid? [True, True] Translation: X:35.82, Y:8.50, Z:0.81 [[ 9.48857753e-01 -3.14305105e-01 -2.96861121e-02 3.58208141e+01] [ 3.14116112e-01 9.49321424e-01 -1.09499734e-02 8.49633760e+00] [ 3.16232948e-02 1.06508107e-03 9.99499291e-01 8.09532941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.206875 meters Centerline goodness [0,1] 0.9992182728716258 Centerline is valid? [True, True] Translation: X:35.85, Y:8.50, Z:0.81 [[ 9.48710672e-01 -3.14747149e-01 -2.97034212e-02 3.58479280e+01] [ 3.14557878e-01 9.49174963e-01 -1.09649933e-02 8.50436710e+00] [ 3.16449441e-02 1.05916099e-03 9.99498612e-01 8.10567505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters Centerline goodness [0,1] 0.9993135235853683 Centerline is valid? [True, True] Translation: X:35.87, Y:8.51, Z:0.81 [[ 9.48481323e-01 -3.15408587e-01 -3.00100388e-02 3.58749269e+01] [ 3.15215407e-01 9.48955376e-01 -1.10878932e-02 8.51272076e+00] [ 3.19754044e-02 1.05703304e-03 9.99488097e-01 8.10350841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.266875 meters Centerline goodness [0,1] 0.9991886110496423 Centerline is valid? [True, True] Translation: X:35.90, Y:8.52, Z:0.81 [[ 9.47636242e-01 -3.17988940e-01 -2.94718153e-02 3.59022535e+01] [ 3.17803643e-01 9.48093937e-01 -1.08963966e-02 8.51987726e+00] [ 3.14069830e-02 9.59570040e-04 9.99506218e-01 8.11502310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters Centerline goodness [0,1] 0.9992834198171485 Centerline is valid? [True, True] Translation: X:35.93, Y:8.53, Z:0.81 [[ 9.47208162e-01 -3.19388713e-01 -2.80632779e-02 3.59301078e+01] [ 3.19221201e-01 9.47623389e-01 -1.03796755e-02 8.52678503e+00] [ 2.99085697e-02 8.73320054e-04 9.99552257e-01 8.14860814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.326874999999994 meters Centerline goodness [0,1] 0.9991615082986017 Centerline is valid? [True, True] Translation: X:35.96, Y:8.54, Z:0.82 [[ 9.46862055e-01 -3.20437613e-01 -2.77846254e-02 3.59561028e+01] [ 3.20273665e-01 9.47269251e-01 -1.02832860e-02 8.53646115e+00] [ 2.96146729e-02 8.38169468e-04 9.99561038e-01 8.15643992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters Centerline goodness [0,1] 0.9993349426080103 Centerline is valid? [True, True] Translation: X:35.98, Y:8.54, Z:0.82 [[ 9.46626225e-01 -3.21123304e-01 -2.79036532e-02 3.59840336e+01] [ 3.20958095e-01 9.47037034e-01 -1.03323843e-02 8.54314840e+00] [ 2.97437624e-02 8.25002612e-04 9.99557216e-01 8.16677143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.386874999999996 meters Centerline goodness [0,1] 0.9992571315372425 Centerline is valid? [True, True] Translation: X:36.01, Y:8.55, Z:0.82 [[ 9.46150809e-01 -3.22530353e-01 -2.77996223e-02 3.60113947e+01] [ 3.22366753e-01 9.46558796e-01 -1.03015262e-02 8.55237187e+00] [ 2.96365319e-02 7.85123368e-04 9.99560433e-01 8.16025781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters Centerline goodness [0,1] 0.9994580212849823 Centerline is valid? [True, True] Translation: X:36.04, Y:8.55, Z:0.82 [[ 9.42033192e-01 -3.34325697e-01 -2.82806329e-02 3.60410155e+01] [ 3.34161485e-01 9.42457503e-01 -1.04860223e-02 8.55364364e+00] [ 3.01590414e-02 4.27882708e-04 9.99545021e-01 8.15071229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.446875 meters Centerline goodness [0,1] 0.9993526541181157 Centerline is valid? [True, True] Translation: X:36.07, Y:8.56, Z:0.82 [[ 9.39697995e-01 -3.40882845e-01 -2.76869053e-02 3.60699195e+01] [ 3.40728240e-01 9.40105760e-01 -1.02677203e-02 8.55770804e+00] [ 2.95287089e-02 2.14845621e-04 9.99563910e-01 8.18630608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters Centerline goodness [0,1] 0.9997002997002997 Centerline is valid? [True, True] Translation: X:36.10, Y:8.56, Z:0.82 [[ 9.35990929e-01 -3.51030492e-01 -2.64305508e-02 3.60998277e+01] [ 3.50893544e-01 9.36364023e-01 -9.80492702e-03 8.56010599e+00] [ 2.81904453e-02 -9.69868939e-05 9.99602566e-01 8.22719367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.506875 meters Centerline goodness [0,1] 0.9995770302547771 Centerline is valid? [True, True] Translation: X:36.13, Y:8.57, Z:0.82 [[ 9.34848864e-01 -3.53956267e-01 -2.77950258e-02 3.61275681e+01] [ 3.53805870e-01 9.35261956e-01 -1.03189231e-02 8.56932208e+00] [ 2.96480777e-02 -1.87409734e-04 9.99560382e-01 8.21756884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters Centerline goodness [0,1] 0.9995760492780369 Centerline is valid? [True, True] Translation: X:36.15, Y:8.58, Z:0.82 [[ 9.33909262e-01 -3.56350785e-01 -2.87681907e-02 3.61547916e+01] [ 3.56190556e-01 9.34352208e-01 -1.06883099e-02 8.58014676e+00] [ 3.06884101e-02 -2.65046199e-04 9.99528965e-01 8.20129251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.566874999999996 meters Centerline goodness [0,1] 0.9997522728961775 Centerline is valid? [True, True] Translation: X:36.18, Y:8.59, Z:0.82 [[ 9.33646394e-01 -3.57013766e-01 -2.90788974e-02 3.61802421e+01] [ 3.56850175e-01 9.34099080e-01 -1.08102825e-02 8.59043708e+00] [ 3.10219910e-02 -2.83828358e-04 9.99518662e-01 8.19192732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters Centerline goodness [0,1] 0.9996034794676711 Centerline is valid? [True, True] Translation: X:36.21, Y:8.60, Z:0.82 [[ 9.34464092e-01 -3.54856249e-01 -2.92216367e-02 3.62055498e+01] [ 3.54689891e-01 9.34920851e-01 -1.08666056e-02 8.60247360e+00] [ 3.11760004e-02 -2.10166352e-04 9.99513888e-01 8.18970970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.626875 meters Centerline goodness [0,1] 0.9995298309866125 Centerline is valid? [True, True] Translation: X:36.23, Y:8.61, Z:0.82 [[ 9.35268870e-01 -3.52659918e-01 -3.00520070e-02 3.62309006e+01] [ 3.52482643e-01 9.35751550e-01 -1.11813602e-02 8.61437796e+00] [ 3.20644297e-02 -1.35232713e-04 9.99485795e-01 8.21068621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:36.26, Y:8.63, Z:0.82 [[ 9.36125926e-01 -3.50341643e-01 -3.04792484e-02 3.62567934e+01] [ 3.50157754e-01 9.36621979e-01 -1.13497203e-02 8.62652844e+00] [ 3.25238137e-02 -4.77777202e-05 9.99470960e-01 8.22360751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.686875 meters Centerline goodness [0,1] 0.9994320146194497 Centerline is valid? [True, True] Translation: X:36.28, Y:8.64, Z:0.82 [[ 9.38381364e-01 -3.44208142e-01 -3.10027656e-02 3.62812335e+01] [ 3.44014223e-01 9.38893351e-01 -1.15538269e-02 8.64373682e+00] [ 3.30852118e-02 1.76503513e-04 9.99452519e-01 8.22916760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters Centerline goodness [0,1] 0.999385145105755 Centerline is valid? [True, True] Translation: X:36.31, Y:8.66, Z:0.82 [[ 9.39693594e-01 -3.40642926e-01 -3.06324373e-02 3.63051363e+01] [ 3.40451450e-01 9.40192695e-01 -1.14239811e-02 8.65855021e+00] [ 3.26918921e-02 3.06184170e-04 9.99465430e-01 8.21361446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.746874999999996 meters Centerline goodness [0,1] 0.999315001467854 Centerline is valid? [True, True] Translation: X:36.33, Y:8.67, Z:0.82 [[ 9.41041077e-01 -3.36999100e-01 -2.95516295e-02 3.63304287e+01] [ 3.36818859e-01 9.41504873e-01 -1.10286157e-02 8.67310275e+00] [ 3.15396367e-02 4.24834333e-04 9.99502412e-01 8.21695184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters Centerline goodness [0,1] 0.9993152192521216 Centerline is valid? [True, True] Translation: X:36.36, Y:8.69, Z:0.83 [[ 9.43338240e-01 -3.30749210e-01 -2.67941381e-02 3.63564442e+01] [ 3.30598346e-01 9.43718508e-01 -1.00055117e-02 8.68888299e+00] [ 2.85954391e-02 5.80484036e-04 9.99590898e-01 8.26736260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.806875 meters Centerline goodness [0,1] 0.9992189597520197 Centerline is valid? [True, True] Translation: X:36.38, Y:8.70, Z:0.83 [[ 9.44124622e-01 -3.28497474e-01 -2.67975493e-02 3.63812803e+01] [ 3.28345554e-01 9.44504624e-01 -1.00106617e-02 8.70148759e+00] [ 2.85988863e-02 6.52456010e-04 9.99590755e-01 8.28273241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters Centerline goodness [0,1] 0.9992860132456853 Centerline is valid? [True, True] Translation: X:36.41, Y:8.71, Z:0.83 [[ 9.44732378e-01 -3.26740496e-01 -2.68585608e-02 3.64083199e+01] [ 3.26587066e-01 9.45113825e-01 -1.00372185e-02 8.71231315e+00] [ 2.86639629e-02 7.10826775e-04 9.99588851e-01 8.29498274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.866875 meters Centerline goodness [0,1] 0.9992415159893323 Centerline is valid? [True, True] Translation: X:36.43, Y:8.73, Z:0.83 [[ 9.45808527e-01 -3.23647859e-01 -2.64252673e-02 3.64347442e+01] [ 3.23497941e-01 9.46177270e-01 -9.88209248e-03 8.72643255e+00] [ 2.82013053e-02 7.98047779e-04 9.99601946e-01 8.29614950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters Centerline goodness [0,1] 0.9992252378761833 Centerline is valid? [True, True] Translation: X:36.46, Y:8.74, Z:0.83 [[ 9.46297935e-01 -3.22199827e-01 -2.65986767e-02 3.64596844e+01] [ 3.22047224e-01 9.46671298e-01 -9.95182999e-03 8.73983517e+00] [ 2.83866817e-02 8.51366166e-04 9.99596654e-01 8.28762706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.926874999999995 meters Centerline goodness [0,1] 0.9992252378761833 Centerline is valid? [True, True] Translation: X:36.49, Y:8.75, Z:0.83 [[ 9.46209529e-01 -3.22459465e-01 -2.65973772e-02 3.64855255e+01] [ 3.22306867e-01 9.46582894e-01 -9.95530182e-03 8.74961949e+00] [ 2.83868036e-02 8.47284124e-04 9.99596654e-01 8.29364544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters Centerline goodness [0,1] 0.9992497398291343 Centerline is valid? [True, True] Translation: X:36.51, Y:8.76, Z:0.83 [[ 9.46664616e-01 -3.21087257e-01 -2.70014337e-02 3.65102884e+01] [ 3.20929220e-01 9.47049179e-01 -1.01137902e-02 8.76181016e+00] [ 2.88190948e-02 9.08818311e-04 9.99584230e-01 8.29226059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.986875 meters Centerline goodness [0,1] 0.9991773530123397 Centerline is valid? [True, True] Translation: X:36.54, Y:8.77, Z:0.83 [[ 9.47228206e-01 -3.19291620e-01 -2.84883562e-02 3.65371649e+01] [ 3.19114742e-01 9.47655960e-01 -1.06753035e-02 8.77331193e+00] [ 3.04056955e-02 1.02089413e-03 9.99537119e-01 8.27929239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters Centerline goodness [0,1] 0.9991017891389313 Centerline is valid? [True, True] Translation: X:36.56, Y:8.78, Z:0.83 [[ 9.47274887e-01 -3.19034611e-01 -2.97860037e-02 3.65645373e+01] [ 3.18840863e-01 9.47742445e-01 -1.11696779e-02 8.78237269e+00] [ 3.17929738e-02 1.08376019e-03 9.99493888e-01 8.27877188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.046875 meters Centerline goodness [0,1] 0.9993178883773052 Centerline is valid? [True, True] Translation: X:36.59, Y:8.79, Z:0.83 [[ 9.47437818e-01 -3.18473563e-01 -3.05968947e-02 3.65903519e+01] [ 3.18268598e-01 9.47931059e-01 -1.14807371e-02 8.79369284e+00] [ 3.26600580e-02 1.13925371e-03 9.99465869e-01 8.28032535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters Centerline goodness [0,1] 0.9992207475952758 Centerline is valid? [True, True] Translation: X:36.62, Y:8.81, Z:0.83 [[ 9.47531357e-01 -3.18154075e-01 -3.10211573e-02 3.66159580e+01] [ 3.17943111e-01 9.48038300e-01 -1.16430523e-02 8.80516091e+00] [ 3.31135297e-02 1.16919387e-03 9.99450913e-01 8.28277552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.106874999999995 meters Centerline goodness [0,1] 0.9991975488765684 Centerline is valid? [True, True] Translation: X:36.64, Y:8.81, Z:0.83 [[ 9.47812801e-01 -3.17270784e-01 -3.14665400e-02 3.66433941e+01] [ 3.17053058e-01 9.48334200e-01 -1.18153609e-02 8.81475417e+00] [ 3.35894649e-02 1.22218760e-03 9.99434967e-01 8.29991410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters Centerline goodness [0,1] 0.999270587663206 Centerline is valid? [True, True] Translation: X:36.67, Y:8.83, Z:0.83 [[ 9.47872272e-01 -3.17135708e-01 -3.10338141e-02 3.66704817e+01] [ 3.16923572e-01 9.48379385e-01 -1.16615193e-02 8.82515516e+00] [ 3.31301137e-02 1.21828363e-03 9.99450305e-01 8.30692718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.166875 meters Centerline goodness [0,1] 0.9990830337105765 Centerline is valid? [True, True] Translation: X:36.70, Y:8.84, Z:0.83 [[ 9.48384970e-01 -3.15704564e-01 -2.99429045e-02 3.66955843e+01] [ 3.15506148e-01 9.48856741e-01 -1.12585898e-02 8.83863384e+00] [ 3.19659149e-02 1.23030686e-03 9.99488202e-01 8.30488716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters Centerline goodness [0,1] 0.999182122152462 Centerline is valid? [True, True] Translation: X:36.72, Y:8.85, Z:0.83 [[ 9.48576364e-01 -3.15139812e-01 -2.98291933e-02 3.67211862e+01] [ 3.14942496e-01 9.49044435e-01 -1.12198082e-02 8.84954247e+00] [ 3.18450382e-02 1.24836432e-03 9.99492039e-01 8.30498174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.226875 meters Centerline goodness [0,1] 0.9991995342744869 Centerline is valid? [True, True] Translation: X:36.75, Y:8.86, Z:0.83 [[ 9.48787451e-01 -3.14472061e-01 -3.01611516e-02 3.67481036e+01] [ 3.14269893e-01 9.49265856e-01 -1.13476733e-02 8.85847333e+00] [ 3.21994776e-02 1.28778819e-03 9.99480633e-01 8.31610008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters Centerline goodness [0,1] 0.999200852424081 Centerline is valid? [True, True] Translation: X:36.78, Y:8.87, Z:0.83 [[ 9.48895730e-01 -3.14173374e-01 -2.98661129e-02 3.67751502e+01] [ 3.13974846e-01 9.49364750e-01 -1.12413543e-02 8.86868367e+00] [ 3.18855690e-02 1.28966495e-03 9.99490694e-01 8.33870817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.286874999999995 meters Centerline goodness [0,1] 0.9991270822724958 Centerline is valid? [True, True] Translation: X:36.80, Y:8.88, Z:0.84 [[ 9.48962175e-01 -3.13974685e-01 -2.98443798e-02 3.68012106e+01] [ 3.13776135e-01 9.49430462e-01 -1.12398436e-02 8.87896926e+00] [ 3.18641897e-02 1.30173232e-03 9.99491360e-01 8.35201725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters Centerline goodness [0,1] 0.9992978548254322 Centerline is valid? [True, True] Translation: X:36.83, Y:8.89, Z:0.84 [[ 9.48783003e-01 -3.14593361e-01 -2.90143228e-02 3.68287778e+01] [ 3.14405858e-01 9.49225714e-01 -1.09316179e-02 8.88848114e+00] [ 3.09801557e-02 1.24946013e-03 9.99519219e-01 8.36049069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.346875 meters Centerline goodness [0,1] 0.9991256405897069 Centerline is valid? [True, True] Translation: X:36.86, Y:8.90, Z:0.84 [[ 9.48590345e-01 -3.15205357e-01 -2.86694974e-02 3.68565984e+01] [ 3.15022320e-01 9.49022702e-01 -1.08097075e-02 8.89738011e+00] [ 3.06152816e-02 1.22245259e-03 9.99530495e-01 8.37152157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters Centerline goodness [0,1] 0.9991228283911211 Centerline is valid? [True, True] Translation: X:36.88, Y:8.91, Z:0.84 [[ 9.48372561e-01 -3.15819721e-01 -2.91099426e-02 3.68829779e+01] [ 3.15631080e-01 9.48818421e-01 -1.09829759e-02 8.90729160e+00] [ 3.10886902e-02 1.22795041e-03 9.99515876e-01 8.37088691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.406875 meters Centerline goodness [0,1] 0.9993403855080253 Centerline is valid? [True, True] Translation: X:36.91, Y:8.91, Z:0.84 [[ 9.48148952e-01 -3.16400220e-01 -3.00743302e-02 3.69105568e+01] [ 3.16198957e-01 9.48624966e-01 -1.13531357e-02 8.91484022e+00] [ 3.21213951e-02 1.25499188e-03 9.99483187e-01 8.37428588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters Centerline goodness [0,1] 0.9992179863147606 Centerline is valid? [True, True] Translation: X:36.94, Y:8.92, Z:0.84 [[ 9.47837001e-01 -3.17242085e-01 -3.10238345e-02 3.69366160e+01] [ 3.17028079e-01 9.48343734e-01 -1.17200064e-02 8.92437457e+00] [ 3.31393383e-02 1.27322906e-03 9.99449930e-01 8.36850492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.466874999999995 meters Centerline goodness [0,1] 0.9992909362087092 Centerline is valid? [True, True] Translation: X:36.96, Y:8.93, Z:0.84 [[ 9.47354820e-01 -3.18499485e-01 -3.28165136e-02 3.69635786e+01] [ 3.18260619e-01 9.47922136e-01 -1.24017060e-02 8.93247176e+00] [ 3.50574366e-02 1.30461202e-03 9.99384448e-01 8.36095793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters Centerline goodness [0,1] 0.9993146158176878 Centerline is valid? [True, True] Translation: X:36.99, Y:8.94, Z:0.84 [[ 9.47166515e-01 -3.18966763e-01 -3.37015744e-02 3.69886928e+01] [ 3.18714989e-01 9.47764974e-01 -1.27400632e-02 8.94159874e+00] [ 3.60048285e-02 1.32576431e-03 9.99350737e-01 8.35690149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.526875 meters Centerline goodness [0,1] 0.9992657496695874 Centerline is valid? [True, True] Translation: X:37.02, Y:8.95, Z:0.84 [[ 9.46817598e-01 -3.20020276e-01 -3.35180445e-02 3.70161553e+01] [ 3.19771667e-01 9.47409823e-01 -1.26771108e-02 8.95012266e+00] [ 3.58122571e-02 1.28479059e-03 9.99357710e-01 8.36336340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters Centerline goodness [0,1] 0.9992634421802111 Centerline is valid? [True, True] Translation: X:37.04, Y:8.96, Z:0.84 [[ 9.46606655e-01 -3.20670052e-01 -3.32649687e-02 3.70442039e+01] [ 3.20425254e-01 9.47190124e-01 -1.25906676e-02 8.95875340e+00] [ 3.55456999e-02 1.25947364e-03 9.99367258e-01 8.37629352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.586875 meters Centerline goodness [0,1] 0.9991850644539931 Centerline is valid? [True, True] Translation: X:37.07, Y:8.96, Z:0.84 [[ 9.45648403e-01 -3.23456110e-01 -3.35446370e-02 3.70718802e+01] [ 3.23208652e-01 9.46242449e-01 -1.27041648e-02 8.96496520e+00] [ 3.58505992e-02 1.17175624e-03 9.99356474e-01 8.39155455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters Centerline goodness [0,1] 0.9993316997104033 Centerline is valid? [True, True] Translation: X:37.10, Y:8.97, Z:0.84 [[ 9.44856292e-01 -3.25789021e-01 -3.32881440e-02 3.71004821e+01] [ 3.25546641e-01 9.45441881e-01 -1.26108784e-02 8.97142120e+00] [ 3.55804913e-02 1.07862439e-03 9.99366232e-01 8.41334141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.646874999999994 meters Centerline goodness [0,1] 0.9994298039021245 Centerline is valid? [True, True] Translation: X:37.13, Y:8.98, Z:0.84 [[ 9.43977469e-01 -3.28449780e-01 -3.20512052e-02 3.71276519e+01] [ 3.28226530e-01 9.44520963e-01 -1.21447487e-02 8.97909496e+00] [ 3.42619753e-02 9.44313242e-04 9.99412440e-01 8.43080543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters Centerline goodness [0,1] 0.9993263809191159 Centerline is valid? [True, True] Translation: X:37.16, Y:8.98, Z:0.85 [[ 9.42365237e-01 -3.33248440e-01 -2.98870872e-02 3.71566182e+01] [ 3.33056666e-01 9.42838777e-01 -1.13268957e-02 8.98330083e+00] [ 3.19533751e-02 7.19979154e-04 9.99489101e-01 8.46460063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.706875 meters Centerline goodness [0,1] 0.999276645631189 Centerline is valid? [True, True] Translation: X:37.19, Y:8.99, Z:0.85 [[ 9.41663355e-01 -3.35200335e-01 -3.01804664e-02 3.71855122e+01] [ 3.35005648e-01 9.42146642e-01 -1.14420660e-02 8.99002503e+00] [ 3.22698094e-02 6.63947560e-04 9.99478974e-01 8.46973193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters Centerline goodness [0,1] 0.9993014320642682 Centerline is valid? [True, True] Translation: X:37.21, Y:9.00, Z:0.85 [[ 9.40865792e-01 -3.37385652e-01 -3.06998927e-02 3.72130943e+01] [ 3.37185097e-01 9.41366323e-01 -1.16471790e-02 8.99772829e+00] [ 3.28294362e-02 6.06885988e-04 9.99460785e-01 8.45989870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.766875 meters Centerline goodness [0,1] 0.9993739670456253 Centerline is valid? [True, True] Translation: X:37.24, Y:9.01, Z:0.85 [[ 9.40245307e-01 -3.39097925e-01 -3.08441301e-02 3.72407350e+01] [ 3.38896121e-01 9.40750916e-01 -1.17103965e-02 9.00535994e+00] [ 3.29876148e-02 5.57689323e-04 9.99455605e-01 8.46443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters Centerline goodness [0,1] 0.999398224763051 Centerline is valid? [True, True] Translation: X:37.27, Y:9.01, Z:0.85 [[ 9.39455362e-01 -3.41199841e-01 -3.17221027e-02 3.72692704e+01] [ 3.40987277e-01 9.39990645e-01 -1.20525808e-02 9.01044636e+00] [ 3.39308185e-02 5.06028254e-04 9.99424056e-01 8.47129867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.826874999999994 meters Centerline goodness [0,1] 0.9995196197411004 Centerline is valid? [True, True] Translation: X:37.29, Y:9.02, Z:0.85 [[ 9.39199762e-01 -3.41857095e-01 -3.22107790e-02 3.72947249e+01] [ 3.41638031e-01 9.39751818e-01 -1.22464776e-02 9.01890557e+00] [ 3.44566834e-02 4.97461736e-04 9.99406068e-01 8.47521453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters Centerline goodness [0,1] 0.9994433057516637 Centerline is valid? [True, True] Translation: X:37.32, Y:9.03, Z:0.85 [[ 9.39143585e-01 -3.42084896e-01 -3.14205444e-02 3.73216269e+01] [ 3.41876337e-01 9.39668926e-01 -1.19532594e-02 9.02819285e+00] [ 3.36139387e-02 4.83886253e-04 9.99434775e-01 8.49137371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.886874999999996 meters Centerline goodness [0,1] 0.999444065398125 Centerline is valid? [True, True] Translation: X:37.35, Y:9.04, Z:0.85 [[ 9.39639762e-01 -3.40685441e-01 -3.17891312e-02 3.73483982e+01] [ 3.40470862e-01 9.40177180e-01 -1.21021671e-02 9.03807058e+00] [ 3.40104479e-02 5.48404511e-04 9.99421327e-01 8.48947597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters Centerline goodness [0,1] 0.9993432519134103 Centerline is valid? [True, True] Translation: X:37.37, Y:9.05, Z:0.85 [[ 9.39849113e-01 -3.40045087e-01 -3.24496972e-02 3.73738912e+01] [ 3.39820876e-01 9.40408949e-01 -1.23604729e-02 9.04846563e+00] [ 3.47191038e-02 5.89894951e-04 9.99396936e-01 8.48334271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.946875 meters Centerline goodness [0,1] 0.9995956634909403 Centerline is valid? [True, True] Translation: X:37.40, Y:9.06, Z:0.85 [[ 9.40133803e-01 -3.39238136e-01 -3.26484323e-02 3.74011348e+01] [ 3.39010495e-01 9.40700320e-01 -1.24415423e-02 9.05833342e+00] [ 3.49330363e-02 6.28553317e-04 9.99389458e-01 8.49658397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters Centerline goodness [0,1] 0.9995449374288965 Centerline is valid? [True, True] Translation: X:37.43, Y:9.07, Z:0.85 [[ 9.40596780e-01 -3.37803912e-01 -3.41498806e-02 3.74269653e+01] [ 3.37553635e-01 9.41216234e-01 -1.30209618e-02 9.06939120e+00] [ 3.65409538e-02 7.20058450e-04 9.99331897e-01 8.49260974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.006875 meters Centerline goodness [0,1] 0.9996452732662731 Centerline is valid? [True, True] Translation: X:37.46, Y:9.08, Z:0.85 [[ 9.40006289e-01 -3.39472775e-01 -3.38587040e-02 3.74553564e+01] [ 3.39227682e-01 9.40615654e-01 -1.29140024e-02 9.07715256e+00] [ 3.62319792e-02 6.53433781e-04 9.99343193e-01 8.51353207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters Centerline goodness [0,1] 0.9995438187439809 Centerline is valid? [True, True] Translation: X:37.48, Y:9.09, Z:0.85 [[ 9.38980681e-01 -3.42353777e-01 -3.33042277e-02 3.74818131e+01] [ 3.42118300e-01 9.39570967e-01 -1.27069226e-02 9.08587850e+00] [ 3.56419484e-02 5.37569074e-04 9.99364479e-01 8.53581393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.066874999999996 meters Centerline goodness [0,1] 0.9995952133984365 Centerline is valid? [True, True] Translation: X:37.51, Y:9.10, Z:0.86 [[ 9.38259390e-01 -3.44388773e-01 -3.26449174e-02 3.75086519e+01] [ 3.44163572e-01 9.38827015e-01 -1.24607788e-02 9.09510924e+00] [ 3.49392827e-02 4.56251357e-04 9.99389333e-01 8.55557189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters Centerline goodness [0,1] 0.999520177786757 Centerline is valid? [True, True] Translation: X:37.54, Y:9.11, Z:0.85 [[ 9.37479931e-01 -3.46528073e-01 -3.23986523e-02 3.75357633e+01] [ 3.46307226e-01 9.38039524e-01 -1.23756663e-02 9.10615217e+00] [ 3.46797321e-02 3.82051420e-04 9.99398404e-01 8.54661908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.126875 meters Centerline goodness [0,1] 0.9995206861755802 Centerline is valid? [True, True] Translation: X:37.56, Y:9.12, Z:0.85 [[ 9.37347831e-01 -3.46889737e-01 -3.23504936e-02 3.75616960e+01] [ 3.46669437e-01 9.37905842e-01 -1.23666081e-02 9.11756333e+00] [ 3.46315664e-02 3.76885893e-04 9.99400076e-01 8.53969727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters Centerline goodness [0,1] 0.9997988433492583 Centerline is valid? [True, True] Translation: X:37.59, Y:9.13, Z:0.85 [[ 9.37223286e-01 -3.47309338e-01 -3.14441741e-02 3.75885455e+01] [ 3.47101140e-01 9.37750550e-01 -1.20293303e-02 9.12847070e+00] [ 3.36646903e-02 3.59859783e-04 9.99433119e-01 8.54645877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.186875 meters Centerline goodness [0,1] 0.9996234372646483 Centerline is valid? [True, True] Translation: X:37.61, Y:9.14, Z:0.86 [[ 9.37743258e-01 -3.45941695e-01 -3.10149369e-02 3.76142574e+01] [ 3.45738179e-01 9.38255922e-01 -1.18716436e-02 9.14044719e+00] [ 3.32068448e-02 4.09505909e-04 9.99448417e-01 8.57042405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters Centerline goodness [0,1] 0.9995484987583716 Centerline is valid? [True, True] Translation: X:37.64, Y:9.15, Z:0.86 [[ 9.38048641e-01 -3.45165336e-01 -3.04243023e-02 3.76397375e+01] [ 3.44968926e-01 9.38541796e-01 -1.16506276e-02 9.15132466e+00] [ 3.25758721e-02 4.33416539e-04 9.99469171e-01 8.59574986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.246874999999996 meters Centerline goodness [0,1] 0.9995244412184316 Centerline is valid? [True, True] Translation: X:37.67, Y:9.16, Z:0.86 [[ 9.38394613e-01 -3.44246894e-01 -3.01600176e-02 3.76661091e+01] [ 3.44053120e-01 9.38879042e-01 -1.15583620e-02 9.16351004e+00] [ 3.22955387e-02 4.69656513e-04 9.99478253e-01 8.61335664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters Centerline goodness [0,1] 0.9994242371141763 Centerline is valid? [True, True] Translation: X:37.69, Y:9.18, Z:0.86 [[ 9.38799991e-01 -3.43170170e-01 -2.98129201e-02 3.76925968e+01] [ 3.42980032e-01 9.39273110e-01 -1.14333590e-02 9.17607303e+00] [ 3.19260619e-02 5.08401078e-04 9.99490104e-01 8.62108103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.306875 meters Centerline goodness [0,1] 0.9995754563843868 Centerline is valid? [True, True] Translation: X:37.72, Y:9.19, Z:0.86 [[ 9.39697989e-01 -3.40592858e-01 -3.10514736e-02 3.77184780e+01] [ 3.40384890e-01 9.40210673e-01 -1.19170966e-02 9.18975235e+00] [ 3.32538049e-02 6.29019324e-04 9.99446741e-01 8.60474344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters Centerline goodness [0,1] 0.999403504411582 Centerline is valid? [True, True] Translation: X:37.74, Y:9.20, Z:0.86 [[ 9.40103221e-01 -3.39455477e-01 -3.12395985e-02 3.77441139e+01] [ 3.39244127e-01 9.40621878e-01 -1.19960728e-02 9.20209041e+00] [ 3.34567824e-02 6.79696363e-04 9.99439934e-01 8.59237155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.366875 meters Centerline goodness [0,1] 0.9994784163727585 Centerline is valid? [True, True] Translation: X:37.77, Y:9.21, Z:0.86 [[ 9.40481788e-01 -3.38395336e-01 -3.13465150e-02 3.77699583e+01] [ 3.38181843e-01 9.41003759e-01 -1.20402206e-02 9.21393713e+00] [ 3.35715429e-02 7.22785968e-04 9.99436056e-01 8.59112262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters Centerline goodness [0,1] 0.9994778327572917 Centerline is valid? [True, True] Translation: X:37.80, Y:9.23, Z:0.86 [[ 9.40991629e-01 -3.36972917e-01 -3.13689013e-02 3.77957005e+01] [ 3.36758225e-01 9.41514020e-01 -1.20519101e-02 9.22615477e+00] [ 3.35954276e-02 7.77011012e-04 9.99435212e-01 8.60979897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.426874999999995 meters Centerline goodness [0,1] 0.9994054844063515 Centerline is valid? [True, True] Translation: X:37.82, Y:9.24, Z:0.86 [[ 9.41008954e-01 -3.36928743e-01 -3.13236370e-02 3.78214816e+01] [ 3.36714462e-01 9.41529824e-01 -1.20399807e-02 9.23634028e+00] [ 3.35487541e-02 7.82608088e-04 9.99436776e-01 8.62542832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters Centerline goodness [0,1] 0.9995279972176678 Centerline is valid? [True, True] Translation: X:37.85, Y:9.25, Z:0.86 [[ 9.40818106e-01 -3.37458038e-01 -3.13586470e-02 3.78474828e+01] [ 3.37243239e-01 9.41340254e-01 -1.20633272e-02 9.24633636e+00] [ 3.35900235e-02 7.73904908e-04 9.99435396e-01 8.64376080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.486875 meters Centerline goodness [0,1] 0.9994544597912068 Centerline is valid? [True, True] Translation: X:37.87, Y:9.26, Z:0.86 [[ 9.40438548e-01 -3.38515615e-01 -3.13451190e-02 3.78748083e+01] [ 3.38301270e-01 9.40960480e-01 -1.20675915e-02 9.25558130e+00] [ 3.35795863e-02 7.44734722e-04 9.99435769e-01 8.64947989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters Centerline goodness [0,1] 0.9994040524433849 Centerline is valid? [True, True] Translation: X:37.90, Y:9.27, Z:0.86 [[ 9.39929385e-01 -3.39957255e-01 -3.10131601e-02 3.79007701e+01] [ 3.39747988e-01 9.40440634e-01 -1.19464924e-02 9.26524428e+00] [ 3.32273327e-02 6.92200486e-04 9.99447580e-01 8.64400531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.546875 meters Centerline goodness [0,1] 0.9993320964749536 Centerline is valid? [True, True] Translation: X:37.93, Y:9.27, Z:0.86 [[ 9.39186650e-01 -3.42038756e-01 -3.06255802e-02 3.79288148e+01] [ 3.41835641e-01 9.39685645e-01 -1.18018252e-02 9.27415341e+00] [ 3.28150997e-02 6.15201853e-04 9.99461250e-01 8.64831363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters Centerline goodness [0,1] 0.9994537689939418 Centerline is valid? [True, True] Translation: X:37.96, Y:9.28, Z:0.87 [[ 9.38914082e-01 -3.42765530e-01 -3.08567338e-02 3.79557368e+01] [ 3.42559445e-01 9.39420794e-01 -1.18994732e-02 9.28357036e+00] [ 3.30661866e-02 6.02317345e-04 9.99452983e-01 8.65885434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.606874999999995 meters Centerline goodness [0,1] 0.9994285430331942 Centerline is valid? [True, True] Translation: X:37.98, Y:9.29, Z:0.87 [[ 9.38719485e-01 -3.43344569e-01 -3.03353772e-02 3.79821069e+01] [ 3.43145458e-01 9.39209333e-01 -1.17056930e-02 9.29319825e+00] [ 3.25103555e-02 5.78915211e-04 9.99471231e-01 8.67759699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters Centerline goodness [0,1] 0.9993308218499058 Centerline is valid? [True, True] Translation: X:38.01, Y:9.30, Z:0.87 [[ 9.38495592e-01 -3.44052013e-01 -2.92273033e-02 3.80092663e+01] [ 3.43867392e-01 9.38950437e-01 -1.12824576e-02 9.30268235e+00] [ 3.13247415e-02 5.38220143e-04 9.99509115e-01 8.70618279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.666875 meters Centerline goodness [0,1] 0.9993845850872658 Centerline is valid? [True, True] Translation: X:38.03, Y:9.31, Z:0.87 [[ 9.38324391e-01 -3.44707956e-01 -2.69028294e-02 3.80346743e+01] [ 3.44551642e-01 9.38709856e-01 -1.03909329e-02 9.31312808e+00] [ 2.88357884e-02 4.80651728e-04 9.99584047e-01 8.73692371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters Centerline goodness [0,1] 0.9994548518188126 Centerline is valid? [True, True] Translation: X:38.06, Y:9.32, Z:0.87 [[ 9.38151658e-01 -3.45186763e-01 -2.67874204e-02 3.80608631e+01] [ 3.45031870e-01 9.38533899e-01 -1.03502913e-02 9.32284782e+00] [ 2.87136857e-02 4.67629198e-04 9.99587568e-01 8.74759711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.726875 meters Centerline goodness [0,1] 0.9994312843083922 Centerline is valid? [True, True] Translation: X:38.09, Y:9.33, Z:0.88 [[ 9.37913689e-01 -3.45818325e-01 -2.69740222e-02 3.80873020e+01] [ 3.45661287e-01 9.38301378e-01 -1.04306983e-02 9.33264274e+00] [ 2.89168887e-02 4.59219470e-04 9.99581714e-01 8.75042394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters Centerline goodness [0,1] 0.9996028002581798 Centerline is valid? [True, True] Translation: X:38.11, Y:9.34, Z:0.88 [[ 9.37779611e-01 -3.46198354e-01 -2.67600760e-02 3.81142370e+01] [ 3.46043715e-01 9.38161231e-01 -1.03562148e-02 9.34170816e+00] [ 2.86905704e-02 4.51691004e-04 9.99588239e-01 8.76393794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.786874999999995 meters Centerline goodness [0,1] 0.9996283172683798 Centerline is valid? [True, True] Translation: X:38.14, Y:9.35, Z:0.88 [[ 9.37575879e-01 -3.46732823e-01 -2.69781623e-02 3.81409529e+01] [ 3.46575624e-01 9.37963832e-01 -1.04492392e-02 9.35102591e+00] [ 2.89276347e-02 4.46981196e-04 9.99581408e-01 8.77668038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters Centerline goodness [0,1] 0.9996283172683798 Centerline is valid? [True, True] Translation: X:38.17, Y:9.36, Z:0.88 [[ 9.37479142e-01 -3.46994517e-01 -2.69752508e-02 3.81666822e+01] [ 3.46837211e-01 9.37867051e-01 -1.04567508e-02 9.36110796e+00] [ 2.89276341e-02 4.46965020e-04 9.99581408e-01 8.78267594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.846875 meters Centerline goodness [0,1] 0.9994044665012407 Centerline is valid? [True, True] Translation: X:38.19, Y:9.37, Z:0.88 [[ 9.37304544e-01 -3.47439107e-01 -2.73177245e-02 3.81915739e+01] [ 3.47277731e-01 9.37702441e-01 -1.05976424e-02 9.37075817e+00] [ 2.92979324e-02 4.46380967e-04 9.99570624e-01 8.77853942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters Centerline goodness [0,1] 0.9995774822915372 Centerline is valid? [True, True] Translation: X:38.22, Y:9.38, Z:0.88 [[ 9.37183820e-01 -3.47747696e-01 -2.75323113e-02 3.82179494e+01] [ 3.47583706e-01 9.37588044e-01 -1.06876940e-02 9.37967551e+00] [ 2.95305869e-02 4.46551052e-04 9.99563777e-01 8.78355103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.906875 meters Centerline goodness [0,1] 0.9993770712381332 Centerline is valid? [True, True] Translation: X:38.24, Y:9.39, Z:0.88 [[ 9.37175320e-01 -3.47742517e-01 -2.78848056e-02 3.82438126e+01] [ 3.47574025e-01 9.37589958e-01 -1.08336322e-02 9.38952651e+00] [ 2.99118283e-02 4.60978570e-04 9.99552435e-01 8.79187758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters Centerline goodness [0,1] 0.9995269395478538 Centerline is valid? [True, True] Translation: X:38.27, Y:9.40, Z:0.88 [[ 9.37237142e-01 -3.47559754e-01 -2.80848269e-02 3.82698257e+01] [ 3.47388531e-01 9.37657715e-01 -1.09187137e-02 9.40078995e+00] [ 3.01288601e-02 4.77077205e-04 9.99545909e-01 8.79029350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.966874999999995 meters Centerline goodness [0,1] 0.9997257473385026 Centerline is valid? [True, True] Translation: X:38.30, Y:9.41, Z:0.88 [[ 9.35904900e-01 -3.51198356e-01 -2.72347734e-02 3.82979696e+01] [ 3.51038768e-01 9.36301015e-01 -1.05921352e-02 9.40734291e+00] [ 2.92198864e-02 3.52769924e-04 9.99572946e-01 8.81395621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters Centerline goodness [0,1] 0.9998000899595182 Centerline is valid? [True, True] Translation: X:38.33, Y:9.41, Z:0.89 [[ 9.33222815e-01 -3.58354191e-01 -2.60278818e-02 3.83253146e+01] [ 3.58211036e-01 9.33585699e-01 -1.01290176e-02 9.41328676e+00] [ 2.79290342e-02 1.29155850e-04 9.99609900e-01 8.85535308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.026875 meters Centerline goodness [0,1] 0.9997500812236023 Centerline is valid? [True, True] Translation: X:38.35, Y:9.42, Z:0.89 [[ 9.30494015e-01 -3.65535981e-01 -2.37557344e-02 3.83531127e+01] [ 3.65418973e-01 9.30797207e-01 -9.24841363e-03 9.42116401e+00] [ 2.54923992e-02 -7.52025377e-05 9.99675013e-01 8.89898975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters Centerline goodness [0,1] 0.9998502470922978 Centerline is valid? [True, True] Translation: X:38.38, Y:9.43, Z:0.89 [[ 9.30209532e-01 -3.66195249e-01 -2.47237875e-02 3.83788769e+01] [ 3.66068552e-01 9.30538033e-01 -9.63242101e-03 9.43311754e+00] [ 2.65337714e-02 -9.04312589e-05 9.99647913e-01 8.89059004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.086875 meters Centerline goodness [0,1] 0.9997272501859658 Centerline is valid? [True, True] Translation: X:38.40, Y:9.45, Z:0.89 [[ 9.30420515e-01 -3.65533108e-01 -2.65181534e-02 3.84047908e+01] [ 3.65386840e-01 9.30798336e-01 -1.03399578e-02 9.44678012e+00] [ 2.84626500e-02 -6.88754051e-05 9.99594854e-01 8.85914864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters Centerline goodness [0,1] 0.9996281606346058 Centerline is valid? [True, True] Translation: X:38.43, Y:9.46, Z:0.88 [[ 9.31075973e-01 -3.63789311e-01 -2.74748739e-02 3.84299854e+01] [ 3.63631303e-01 9.31481259e-01 -1.07209478e-02 9.46092992e+00] [ 2.94924964e-02 -8.70725733e-06 9.99565002e-01 8.82997099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.146874999999994 meters Centerline goodness [0,1] 0.9995076680698126 Centerline is valid? [True, True] Translation: X:38.46, Y:9.48, Z:0.88 [[ 9.31961262e-01 -3.61454553e-01 -2.82632663e-02 3.84558485e+01] [ 3.61286007e-01 9.32389725e-01 -1.10372442e-02 9.47523056e+00] [ 3.03418413e-02 7.51613535e-05 9.99539578e-01 8.81644662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters Centerline goodness [0,1] 0.9994114906451533 Centerline is valid? [True, True] Translation: X:38.48, Y:9.49, Z:0.88 [[ 9.34433762e-01 -3.55034698e-01 -2.79983341e-02 3.84805893e+01] [ 3.54866181e-01 9.34853079e-01 -1.09413753e-02 9.49181832e+00] [ 3.00588967e-02 2.88328626e-04 9.99548088e-01 8.84267965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.206875 meters Centerline goodness [0,1] 0.9994128727646354 Centerline is valid? [True, True] Translation: X:38.51, Y:9.50, Z:0.89 [[ 9.35727491e-01 -3.51656719e-01 -2.74155872e-02 3.85058178e+01] [ 3.51493503e-01 9.36128942e-01 -1.07201347e-02 9.50499897e+00] [ 2.94343320e-02 3.94723999e-04 9.99566638e-01 8.87630262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters Centerline goodness [0,1] 0.9995118855859814 Centerline is valid? [True, True] Translation: X:38.53, Y:9.52, Z:0.89 [[ 9.36794683e-01 -3.48880428e-01 -2.64228794e-02 3.85320798e+01] [ 3.48727586e-01 9.37167129e-01 -1.03365242e-02 9.51824546e+00] [ 2.83688650e-02 4.68814029e-04 9.99597413e-01 8.90951461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.266875 meters Centerline goodness [0,1] 0.9992660550458715 Centerline is valid? [True, True] Translation: X:38.56, Y:9.53, Z:0.89 [[ 9.38853885e-01 -3.43377263e-01 -2.54054757e-02 3.85569530e+01] [ 3.43233792e-01 9.39197357e-01 -9.94426168e-03 9.53468481e+00] [ 2.72753890e-02 6.16190925e-04 9.99627767e-01 8.94017647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters Centerline goodness [0,1] 0.9992916809144644 Centerline is valid? [True, True] Translation: X:38.58, Y:9.55, Z:0.89 [[ 9.39723663e-01 -3.41023231e-01 -2.49518099e-02 3.85832935e+01] [ 3.40883941e-01 9.40054626e-01 -9.76923433e-03 9.54739950e+00] [ 2.67876001e-02 6.74709377e-04 9.99640920e-01 8.94404837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.326874999999994 meters Centerline goodness [0,1] 0.9993195129657083 Centerline is valid? [True, True] Translation: X:38.61, Y:9.56, Z:0.89 [[ 9.41116588e-01 -3.37121958e-01 -2.54627794e-02 3.86075741e+01] [ 3.36975303e-01 9.41460638e-01 -9.97561476e-03 9.56389772e+00] [ 2.73352033e-02 8.07888731e-04 9.99625997e-01 8.92232831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters Centerline goodness [0,1] 0.999390927252351 Centerline is valid? [True, True] Translation: X:38.64, Y:9.57, Z:0.89 [[ 9.41363304e-01 -3.36405018e-01 -2.58223273e-02 3.86352964e+01] [ 3.36253842e-01 9.41717024e-01 -1.01193449e-02 9.57370565e+00] [ 2.77215236e-02 8.43123142e-04 9.99615329e-01 8.92744094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.386874999999996 meters Centerline goodness [0,1] 0.9994178148651272 Centerline is valid? [True, True] Translation: X:38.66, Y:9.59, Z:0.89 [[ 9.41618100e-01 -3.35667648e-01 -2.61263001e-02 3.86605355e+01] [ 3.35512414e-01 9.41980071e-01 -1.02453227e-02 9.58527099e+00] [ 2.80494774e-02 8.81483327e-04 9.99606147e-01 8.93314405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters Centerline goodness [0,1] 0.9992950213924543 Centerline is valid? [True, True] Translation: X:38.68, Y:9.60, Z:0.89 [[ 9.41571057e-01 -3.35821442e-01 -2.58438372e-02 3.86842113e+01] [ 3.35669499e-01 9.41925262e-01 -1.01384215e-02 9.59766099e+00] [ 2.77476625e-02 8.71056394e-04 9.99614580e-01 8.94934032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.446875 meters Centerline goodness [0,1] 0.9992960823340938 Centerline is valid? [True, True] Translation: X:38.71, Y:9.60, Z:0.90 [[ 9.41271316e-01 -3.36622291e-01 -2.63389865e-02 3.87126909e+01] [ 3.36464650e-01 9.41639358e-01 -1.03372783e-02 9.60431196e+00] [ 2.82815846e-02 8.68045632e-04 9.99599619e-01 8.96069635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters Centerline goodness [0,1] 0.9992704812392093 Centerline is valid? [True, True] Translation: X:38.74, Y:9.61, Z:0.90 [[ 9.41073119e-01 -3.37166753e-01 -2.64568732e-02 3.87392159e+01] [ 3.37007690e-01 9.41444548e-01 -1.03913520e-02 9.61380381e+00] [ 2.84112974e-02 8.62852316e-04 9.99595945e-01 8.96550308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.506875 meters Centerline goodness [0,1] 0.9993697580840646 Centerline is valid? [True, True] Translation: X:38.76, Y:9.62, Z:0.90 [[ 9.40477048e-01 -3.38745950e-01 -2.74609528e-02 3.87649063e+01] [ 3.38575028e-01 9.40877491e-01 -1.07933672e-02 9.62436984e+00] [ 2.94936018e-02 8.53321284e-04 9.99564605e-01 8.95304676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters Centerline goodness [0,1] 0.999391283175067 Centerline is valid? [True, True] Translation: X:38.79, Y:9.63, Z:0.90 [[ 9.39920065e-01 -3.40261063e-01 -2.77971144e-02 3.87925190e+01] [ 3.40086466e-01 9.40330653e-01 -1.09296989e-02 9.63221198e+00] [ 2.98574298e-02 8.19620917e-04 9.99553832e-01 8.95457465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.566874999999996 meters Centerline goodness [0,1] 0.9993933069624092 Centerline is valid? [True, True] Translation: X:38.82, Y:9.64, Z:0.89 [[ 9.39394504e-01 -3.41671319e-01 -2.82608560e-02 3.88189188e+01] [ 3.41491282e-01 9.39819174e-01 -1.11186651e-02 9.64226878e+00] [ 3.03590233e-02 7.93976902e-04 9.99538743e-01 8.94847095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters Centerline goodness [0,1] 0.9994414086217365 Centerline is valid? [True, True] Translation: X:38.85, Y:9.65, Z:0.90 [[ 9.38743609e-01 -3.43520951e-01 -2.74552925e-02 3.88470427e+01] [ 3.43351712e-01 9.39144740e-01 -1.08055281e-02 9.65131791e+00] [ 2.94964188e-02 7.16798762e-04 9.99564629e-01 8.96514960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.626875 meters Centerline goodness [0,1] 0.9994124271654508 Centerline is valid? [True, True] Translation: X:38.88, Y:9.66, Z:0.90 [[ 9.37774602e-01 -3.46230305e-01 -2.65211517e-02 3.88751799e+01] [ 3.46073277e-01 9.38149346e-01 -1.04446371e-02 9.65789890e+00] [ 2.84970510e-02 6.16453494e-04 9.99593686e-01 9.00616313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters Centerline goodness [0,1] 0.9995597407362113 Centerline is valid? [True, True] Translation: X:38.90, Y:9.67, Z:0.90 [[ 9.36976184e-01 -3.48413870e-01 -2.61420464e-02 3.89031964e+01] [ 3.48261947e-01 9.37340639e-01 -1.03025363e-02 9.66674401e+00] [ 2.80935490e-02 5.48951188e-04 9.99605148e-01 9.01310340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.686875 meters Centerline goodness [0,1] 0.9995357134129952 Centerline is valid? [True, True] Translation: X:38.93, Y:9.68, Z:0.90 [[ 9.36500633e-01 -3.49661459e-01 -2.65222369e-02 3.89304852e+01] [ 3.49505372e-01 9.36875972e-01 -1.04597976e-02 9.67603485e+00] [ 2.85054345e-02 5.25942788e-04 9.99593499e-01 9.01273478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters Centerline goodness [0,1] 0.9993863675412975 Centerline is valid? [True, True] Translation: X:38.96, Y:9.69, Z:0.90 [[ 9.36118485e-01 -3.50670052e-01 -2.66963688e-02 3.89579242e+01] [ 3.50512103e-01 9.36498937e-01 -1.05359628e-02 9.68574123e+00] [ 2.86957677e-02 5.05509142e-04 9.99588064e-01 9.01176505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.746874999999996 meters Centerline goodness [0,1] 0.9994622867478125 Centerline is valid? [True, True] Translation: X:38.98, Y:9.70, Z:0.90 [[ 9.35540758e-01 -3.52210922e-01 -2.66637812e-02 3.89842301e+01] [ 3.52053770e-01 9.35920536e-01 -1.05305566e-02 9.69564392e+00] [ 2.86641574e-02 4.64680174e-04 9.99588991e-01 9.01085165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters Centerline goodness [0,1] 0.9995579567779961 Centerline is valid? [True, True] Translation: X:39.01, Y:9.71, Z:0.90 [[ 9.35320444e-01 -3.52832448e-01 -2.61711826e-02 3.90114158e+01] [ 3.52681092e-01 9.35686415e-01 -1.03431486e-02 9.70504929e+00] [ 2.81374185e-02 4.44077112e-04 9.99603966e-01 9.02150438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.806875 meters Centerline goodness [0,1] 0.9994589809167814 Centerline is valid? [True, True] Translation: X:39.04, Y:9.71, Z:0.90 [[ 9.34976962e-01 -3.53750222e-01 -2.60549680e-02 3.90392819e+01] [ 3.53600365e-01 9.35339833e-01 -1.03043107e-02 9.71416619e+00] [ 2.80154016e-02 4.21246959e-04 9.99607403e-01 9.03384346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters Centerline goodness [0,1] 0.9994087796226043 Centerline is valid? [True, True] Translation: X:39.06, Y:9.72, Z:0.90 [[ 9.34975975e-01 -3.53701959e-01 -2.67366689e-02 3.90648457e+01] [ 3.53543955e-01 9.35358076e-01 -1.05802343e-02 9.72445792e+00] [ 2.87506088e-02 4.39677175e-04 9.99586519e-01 9.03213772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.866875 meters Centerline goodness [0,1] 0.9994085756530311 Centerline is valid? [True, True] Translation: X:39.09, Y:9.73, Z:0.90 [[ 9.34861670e-01 -3.53922999e-01 -2.77879069e-02 3.90926610e+01] [ 3.53752297e-01 9.35274454e-01 -1.10003566e-02 9.73378095e+00] [ 2.98825986e-02 4.53775838e-04 9.99553312e-01 9.03361032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters Centerline goodness [0,1] 0.9993572470396281 Centerline is valid? [True, True] Translation: X:39.12, Y:9.75, Z:0.90 [[ 9.35102050e-01 -3.53289051e-01 -2.77669410e-02 3.91185633e+01] [ 3.53118137e-01 9.35514092e-01 -1.09984245e-02 9.74500155e+00] [ 2.98619875e-02 4.79638824e-04 9.99553916e-01 9.04064934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.926874999999995 meters Centerline goodness [0,1] 0.9995302378479949 Centerline is valid? [True, True] Translation: X:39.15, Y:9.76, Z:0.91 [[ 9.35367487e-01 -3.52596194e-01 -2.76330921e-02 3.91451892e+01] [ 3.52426501e-01 9.35775438e-01 -1.09494517e-02 9.75543978e+00] [ 2.97191039e-02 5.03127206e-04 9.99558163e-01 9.05549137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters Centerline goodness [0,1] 0.999482171918923 Centerline is valid? [True, True] Translation: X:39.17, Y:9.77, Z:0.91 [[ 9.35944041e-01 -3.51149574e-01 -2.65090378e-02 3.91701922e+01] [ 3.50992655e-01 9.36319226e-01 -1.05101260e-02 9.76763798e+00] [ 2.85115481e-02 5.32412215e-04 9.99593321e-01 9.07825527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.986875 meters Centerline goodness [0,1] 0.9993607081386772 Centerline is valid? [True, True] Translation: X:39.20, Y:9.78, Z:0.91 [[ 9.36878297e-01 -3.48556782e-01 -2.76988497e-02 3.91963726e+01] [ 3.48384201e-01 9.37287446e-01 -1.09859998e-02 9.78029689e+00] [ 2.97910288e-02 6.42703134e-04 9.99555942e-01 9.07942753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters Centerline goodness [0,1] 0.9993597951344431 Centerline is valid? [True, True] Translation: X:39.22, Y:9.79, Z:0.91 [[ 9.37431910e-01 -3.47047314e-01 -2.79208771e-02 3.92231291e+01] [ 3.46871051e-01 9.37847358e-01 -1.10818313e-02 9.79161318e+00] [ 3.00314406e-02 7.03518300e-04 9.99548707e-01 9.08175221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.046875 meters Centerline goodness [0,1] 0.9995309336888363 Centerline is valid? [True, True] Translation: X:39.25, Y:9.81, Z:0.91 [[ 9.38464562e-01 -3.44284489e-01 -2.74309344e-02 3.92482966e+01] [ 3.44112954e-01 9.38865046e-01 -1.08950046e-02 9.80610261e+00] [ 2.95049266e-02 7.85235861e-04 9.99564326e-01 9.06941992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters Centerline goodness [0,1] 0.9994054844063515 Centerline is valid? [True, True] Translation: X:39.28, Y:9.82, Z:0.91 [[ 9.38820171e-01 -3.43276640e-01 -2.78897025e-02 3.92753304e+01] [ 3.43098635e-01 9.39233968e-01 -1.10851497e-02 9.81754823e+00] [ 3.00002289e-02 8.38043274e-04 9.99549541e-01 9.07444154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.106874999999995 meters Centerline goodness [0,1] 0.999358262371961 Centerline is valid? [True, True] Translation: X:39.30, Y:9.83, Z:0.91 [[ 9.39002380e-01 -3.42730703e-01 -2.84639191e-02 3.93009160e+01] [ 3.42544837e-01 9.39433282e-01 -1.13200395e-02 9.82885543e+00] [ 3.06196781e-02 8.79375536e-04 9.99530721e-01 9.07510329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters Centerline goodness [0,1] 0.9993562444290384 Centerline is valid? [True, True] Translation: X:39.33, Y:9.84, Z:0.91 [[ 9.38929833e-01 -3.42859006e-01 -2.92996655e-02 3.93280919e+01] [ 3.42661979e-01 9.39386439e-01 -1.16570243e-02 9.83928111e+00] [ 3.15204242e-02 9.05246497e-04 9.99502698e-01 9.08577212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.166875 meters Centerline goodness [0,1] 0.9994560379784393 Centerline is valid? [True, True] Translation: X:39.35, Y:9.85, Z:0.91 [[ 9.38016493e-01 -3.45378410e-01 -2.89622748e-02 3.93549548e+01] [ 3.45186897e-01 9.38463151e-01 -1.15290859e-02 9.84876829e+00] [ 3.11619250e-02 8.17074935e-04 9.99514015e-01 9.09685786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters Centerline goodness [0,1] 0.9993063812921126 Centerline is valid? [True, True] Translation: X:39.38, Y:9.86, Z:0.91 [[ 9.37512822e-01 -3.46785511e-01 -2.84520164e-02 3.93819354e+01] [ 3.46601218e-01 9.37944151e-01 -1.13298046e-02 9.85804485e+00] [ 3.06154144e-02 7.60333583e-04 9.99530949e-01 9.10746128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.226875 meters Centerline goodness [0,1] 0.9995038328909177 Centerline is valid? [True, True] Translation: X:39.41, Y:9.87, Z:0.91 [[ 9.36603522e-01 -3.49273376e-01 -2.79634005e-02 3.94093243e+01] [ 3.49096238e-01 9.37020626e-01 -1.11428488e-02 9.86673816e+00] [ 3.00941835e-02 6.74513497e-04 9.99546840e-01 9.10500228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters Centerline goodness [0,1] 0.9996527002555133 Centerline is valid? [True, True] Translation: X:39.44, Y:9.87, Z:0.91 [[ 9.34664601e-01 -3.54423391e-01 -2.80382656e-02 3.94376472e+01] [ 3.54247427e-01 9.35084912e-01 -1.11788650e-02 9.87228771e+00] [ 3.01802104e-02 5.16005974e-04 9.99544341e-01 9.09677639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.286874999999995 meters Centerline goodness [0,1] 0.9995260899930161 Centerline is valid? [True, True] Translation: X:39.47, Y:9.88, Z:0.91 [[ 9.33639647e-01 -3.57127164e-01 -2.78782687e-02 3.94662211e+01] [ 3.56954302e-01 9.34055675e-01 -1.11185357e-02 9.88016667e+00] [ 3.00105863e-02 4.29437832e-04 9.99549489e-01 9.10767490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters Centerline goodness [0,1] 0.9995749468683586 Centerline is valid? [True, True] Translation: X:39.50, Y:9.89, Z:0.91 [[ 9.32236943e-01 -3.60803782e-01 -2.74756890e-02 3.94954303e+01] [ 3.60637268e-01 9.32641696e-01 -1.09648421e-02 9.88608909e+00] [ 2.95811297e-02 3.13073410e-04 9.99562334e-01 9.13014991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.346875 meters Centerline goodness [0,1] 0.9995992686653142 Centerline is valid? [True, True] Translation: X:39.52, Y:9.90, Z:0.91 [[ 9.31791646e-01 -3.61944633e-01 -2.75755458e-02 3.95210506e+01] [ 3.61777229e-01 9.32199551e-01 -1.10106356e-02 9.89596671e+00] [ 2.96911519e-02 2.83413681e-04 9.99559080e-01 9.12930231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters Centerline goodness [0,1] 0.9998002646493396 Centerline is valid? [True, True] Translation: X:39.55, Y:9.91, Z:0.91 [[ 9.31718602e-01 -3.62105531e-01 -2.79290528e-02 3.95478404e+01] [ 3.61933746e-01 9.32137062e-01 -1.11561859e-02 9.90565976e+00] [ 3.00734218e-02 2.85959232e-04 9.99547651e-01 9.13791165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.406875 meters Centerline goodness [0,1] 0.9998750655905649 Centerline is valid? [True, True] Translation: X:39.57, Y:9.92, Z:0.91 [[ 9.32674300e-01 -3.59623235e-01 -2.81029889e-02 3.95738173e+01] [ 3.59447962e-01 9.33097523e-01 -1.12327498e-02 9.91728765e+00] [ 3.02623871e-02 3.74934968e-04 9.99541919e-01 9.14531634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters Centerline goodness [0,1] 0.9996771068776235 Centerline is valid? [True, True] Translation: X:39.60, Y:9.93, Z:0.91 [[ 9.33190639e-01 -3.58305936e-01 -2.77864478e-02 3.95999733e+01] [ 3.58133885e-01 9.33604136e-01 -1.11102607e-02 9.92938151e+00] [ 2.99224150e-02 4.16722733e-04 9.99552137e-01 9.14878204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.466874999999995 meters Centerline goodness [0,1] 0.9997004717569827 Centerline is valid? [True, True] Translation: X:39.63, Y:9.94, Z:0.92 [[ 9.33889266e-01 -3.56536429e-01 -2.70668452e-02 3.96259546e+01] [ 3.56372219e-01 9.34281304e-01 -1.08298491e-02 9.94202596e+00] [ 2.91492832e-02 4.68008084e-04 9.99574960e-01 9.15729996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters Centerline goodness [0,1] 0.9995529949339426 Centerline is valid? [True, True] Translation: X:39.65, Y:9.96, Z:0.92 [[ 9.35634002e-01 -3.52010009e-01 -2.60378336e-02 3.96503524e+01] [ 3.51856131e-01 9.35996049e-01 -1.04239533e-02 9.95663255e+00] [ 2.80406453e-02 5.91433752e-04 9.99606609e-01 9.17577171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.526875 meters Centerline goodness [0,1] 0.9996506201492351 Centerline is valid? [True, True] Translation: X:39.68, Y:9.97, Z:0.92 [[ 9.36315921e-01 -3.50197692e-01 -2.59628964e-02 3.96767386e+01] [ 3.50043913e-01 9.36675589e-01 -1.03971621e-02 9.96806809e+00] [ 2.79598734e-02 6.46874591e-04 9.99608837e-01 9.17871046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters Centerline goodness [0,1] 0.9994508923000125 Centerline is valid? [True, True] Translation: X:39.70, Y:9.98, Z:0.92 [[ 9.37777278e-01 -3.46272112e-01 -2.58727862e-02 3.97036202e+01] [ 3.46117710e-01 9.38133804e-01 -1.03680294e-02 9.98174286e+00] [ 2.78622948e-02 7.67872913e-04 9.99611476e-01 9.18916191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.586875 meters Centerline goodness [0,1] 0.9995034756703078 Centerline is valid? [True, True] Translation: X:39.73, Y:9.99, Z:0.92 [[ 9.37934888e-01 -3.45804451e-01 -2.64088477e-02 3.97302471e+01] [ 3.45643222e-01 9.38306259e-01 -1.05890278e-02 9.99398914e+00] [ 2.84413200e-02 8.03779442e-04 9.99595141e-01 9.18890588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters Centerline goodness [0,1] 0.9994782090145604 Centerline is valid? [True, True] Translation: X:39.76, Y:10.01, Z:0.92 [[ 9.38166073e-01 -3.45116043e-01 -2.71907199e-02 3.97566653e+01] [ 3.44944604e-01 9.38559632e-01 -1.09104285e-02 1.00059273e+01] [ 2.92854760e-02 8.56501796e-04 9.99570722e-01 9.18750782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.646874999999994 meters Centerline goodness [0,1] 0.9994793990777927 Centerline is valid? [True, True] Translation: X:39.78, Y:10.01, Z:0.92 [[ 9.37358753e-01 -3.47209407e-01 -2.83583424e-02 3.97840072e+01] [ 3.47023624e-01 9.37787254e-01 -1.13872923e-02 1.00145970e+01] [ 3.05478671e-02 8.32963320e-04 9.99532958e-01 9.17601382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters Centerline goodness [0,1] 0.9995787282549438 Centerline is valid? [True, True] Translation: X:39.81, Y:10.02, Z:0.92 [[ 9.36778052e-01 -3.48796850e-01 -2.80649078e-02 3.98103668e+01] [ 3.48615406e-01 9.37198032e-01 -1.12760050e-02 1.00243676e+01] [ 3.02354114e-02 7.79254730e-04 9.99542502e-01 9.18378254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.706875 meters Centerline goodness [0,1] 0.9995501237159781 Centerline is valid? [True, True] Translation: X:39.84, Y:10.03, Z:0.92 [[ 9.36008430e-01 -3.50863585e-01 -2.79814785e-02 3.98371560e+01] [ 3.50684014e-01 9.36426310e-01 -1.12466696e-02 1.00338183e+01] [ 3.01486395e-02 7.14320337e-04 9.99545171e-01 9.18588794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters Centerline goodness [0,1] 0.9995501237159781 Centerline is valid? [True, True] Translation: X:39.86, Y:10.04, Z:0.92 [[ 9.35912837e-01 -3.51118719e-01 -2.79786809e-02 3.98627539e+01] [ 3.50939055e-01 9.36330676e-01 -1.12536256e-02 1.00442268e+01] [ 3.01486559e-02 7.13600773e-04 9.99545171e-01 9.19188830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.766875 meters Centerline goodness [0,1] 0.9995742869306088 Centerline is valid? [True, True] Translation: X:39.89, Y:10.05, Z:0.92 [[ 9.35117838e-01 -3.53231607e-01 -2.79653561e-02 3.98909076e+01] [ 3.53052797e-01 9.35535678e-01 -1.12568621e-02 1.00524238e+01] [ 3.01388679e-02 6.53245318e-04 9.99545508e-01 9.20740170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters Centerline goodness [0,1] 0.9995486119818442 Centerline is valid? [True, True] Translation: X:39.92, Y:10.06, Z:0.92 [[ 9.33467400e-01 -3.57624706e-01 -2.72613712e-02 3.99180895e+01] [ 3.57456471e-01 9.33865255e-01 -1.09797872e-02 1.00590136e+01] [ 2.93850905e-02 5.04519886e-04 9.99568038e-01 9.21601062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.826874999999994 meters Centerline goodness [0,1] 0.999448386530602 Centerline is valid? [True, True] Translation: X:39.95, Y:10.07, Z:0.92 [[ 9.32797060e-01 -3.59479458e-01 -2.57713793e-02 3.99456046e+01] [ 3.59329726e-01 9.33152902e-01 -1.03831266e-02 1.00679808e+01] [ 2.77811581e-02 4.24927343e-04 9.99613939e-01 9.23226818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters Centerline goodness [0,1] 0.9996972372902737 Centerline is valid? [True, True] Translation: X:39.97, Y:10.08, Z:0.92 [[ 9.32323149e-01 -3.60766682e-01 -2.49188041e-02 3.99720061e+01] [ 3.60626996e-01 9.32656023e-01 -1.00454871e-02 1.00774902e+01] [ 2.68647498e-02 3.79246698e-04 9.99639006e-01 9.24881683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.886874999999996 meters Centerline goodness [0,1] 0.9995956737086829 Centerline is valid? [True, True] Translation: X:40.00, Y:10.09, Z:0.93 [[ 9.32137699e-01 -3.61313234e-01 -2.39177144e-02 3.99983578e+01] [ 3.61184650e-01 9.32444434e-01 -9.64497393e-03 1.00862106e+01] [ 2.57867964e-02 3.51732509e-04 9.99667403e-01 9.26769226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters Centerline goodness [0,1] 0.9994235300015039 Centerline is valid? [True, True] Translation: X:40.03, Y:10.10, Z:0.93 [[ 9.32242147e-01 -3.61029258e-01 -2.41340861e-02 4.00251989e+01] [ 3.60898047e-01 9.32554416e-01 -9.73967511e-03 1.00974551e+01] [ 2.60226562e-02 3.69791101e-04 9.99661285e-01 9.26632906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.946875 meters Centerline goodness [0,1] 0.999598695761224 Centerline is valid? [True, True] Translation: X:40.05, Y:10.11, Z:0.93 [[ 9.32801813e-01 -3.59633244e-01 -2.33389930e-02 4.00516056e+01] [ 3.59509944e-01 9.33093655e-01 -9.42499502e-03 1.01092775e+01] [ 2.51670078e-02 4.01052359e-04 9.99683180e-01 9.26649111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters Centerline goodness [0,1] 0.999748275688466 Centerline is valid? [True, True] Translation: X:40.08, Y:10.12, Z:0.93 [[ 9.31205231e-01 -3.63719811e-01 -2.37637642e-02 4.00793626e+01] [ 3.63593141e-01 9.31508351e-01 -9.60311738e-03 1.01171176e+01] [ 2.56289888e-02 3.02131488e-04 9.99671478e-01 9.26915389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.006874999999994 meters Centerline goodness [0,1] 0.9995456495948709 Centerline is valid? [True, True] Translation: X:40.11, Y:10.13, Z:0.93 [[ 9.30373435e-01 -3.65818858e-01 -2.41212394e-02 4.01069220e+01] [ 3.65688880e-01 9.30686036e-01 -9.75424075e-03 1.01266234e+01] [ 2.60175859e-02 2.54217456e-04 9.99661453e-01 9.27714880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters Centerline goodness [0,1] 0.9997481425513159 Centerline is valid? [True, True] Translation: X:40.13, Y:10.14, Z:0.93 [[ 9.29859142e-01 -3.67119054e-01 -2.41986787e-02 4.01332458e+01] [ 3.66988502e-01 9.30173935e-01 -9.79233786e-03 1.01369140e+01] [ 2.61039340e-02 2.24858050e-04 9.99659209e-01 9.28306154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.066874999999996 meters Centerline goodness [0,1] 0.9995720148032526 Centerline is valid? [True, True] Translation: X:40.16, Y:10.15, Z:0.93 [[ 9.30242677e-01 -3.66123974e-01 -2.45315787e-02 4.01594011e+01] [ 3.65989259e-01 9.30566046e-01 -9.93458672e-03 1.01502063e+01] [ 2.64655445e-02 2.63282252e-04 9.99649691e-01 9.26805714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters Centerline goodness [0,1] 0.9994231251567595 Centerline is valid? [True, True] Translation: X:40.18, Y:10.16, Z:0.93 [[ 9.30672652e-01 -3.65029178e-01 -2.45379906e-02 4.01849818e+01] [ 3.64893834e-01 9.30996030e-01 -9.94390047e-03 1.01630726e+01] [ 2.64745856e-02 3.00754761e-04 9.99649441e-01 9.26625429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.126875 meters Centerline goodness [0,1] 0.9995499099819964 Centerline is valid? [True, True] Translation: X:40.21, Y:10.18, Z:0.93 [[ 9.31239363e-01 -3.63545301e-01 -2.50611816e-02 4.02107808e+01] [ 3.63403396e-01 9.31576452e-01 -1.01629279e-02 1.01769788e+01] [ 2.70410914e-02 3.56799998e-04 9.99634259e-01 9.25645316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters Centerline goodness [0,1] 0.999525 Centerline is valid? [True, True] Translation: X:40.24, Y:10.19, Z:0.93 [[ 9.31573989e-01 -3.62718051e-01 -2.46072806e-02 4.02371157e+01] [ 3.62580775e-01 9.31898852e-01 -9.98550483e-03 1.01888096e+01] [ 2.65534194e-02 3.80109684e-04 9.99647324e-01 9.27471580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.186875 meters Centerline goodness [0,1] 0.9997748874437219 Centerline is valid? [True, True] Translation: X:40.26, Y:10.20, Z:0.93 [[ 9.31818984e-01 -3.62117983e-01 -2.41649852e-02 4.02630810e+01] [ 3.61985226e-01 9.32132184e-01 -9.81259572e-03 1.02008740e+01] [ 2.60782778e-02 3.96195347e-04 9.99659825e-01 9.28669580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters Centerline goodness [0,1] 0.9994764789469748 Centerline is valid? [True, True] Translation: X:40.29, Y:10.21, Z:0.93 [[ 9.32552059e-01 -3.60206990e-01 -2.44454976e-02 4.02885458e+01] [ 3.60070294e-01 9.32872291e-01 -9.93336077e-03 1.02145852e+01] [ 2.63825933e-02 4.61278526e-04 9.99651812e-01 9.29898740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.246874999999996 meters Centerline goodness [0,1] 0.9995782370307887 Centerline is valid? [True, True] Translation: X:40.31, Y:10.23, Z:0.93 [[ 9.32867244e-01 -3.59413292e-01 -2.40996126e-02 4.03135995e+01] [ 3.59280017e-01 9.33178361e-01 -9.79882714e-03 1.02269457e+01] [ 2.60110657e-02 4.82495653e-04 9.99661539e-01 9.30999884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters Centerline goodness [0,1] 0.9995539807220557 Centerline is valid? [True, True] Translation: X:40.34, Y:10.24, Z:0.93 [[ 9.33071811e-01 -3.58926156e-01 -2.34309463e-02 4.03400921e+01] [ 3.58799948e-01 9.33365834e-01 -9.52983603e-03 1.02393294e+01] [ 2.52901521e-02 4.84999069e-04 9.99680035e-01 9.31616077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.306875 meters Centerline goodness [0,1] 0.9995309336888363 Centerline is valid? [True, True] Translation: X:40.36, Y:10.25, Z:0.93 [[ 9.33501766e-01 -3.57946821e-01 -2.11784332e-02 4.03649018e+01] [ 3.57843343e-01 9.33741857e-01 -8.61896909e-03 1.02525988e+01] [ 2.28603221e-02 4.67261529e-04 9.99738559e-01 9.33225663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters Centerline goodness [0,1] 0.999457593688363 Centerline is valid? [True, True] Translation: X:40.39, Y:10.26, Z:0.93 [[ 9.33247570e-01 -3.58629720e-01 -2.08254195e-02 4.03910480e+01] [ 3.58529784e-01 9.33479794e-01 -8.47749937e-03 1.02637756e+01] [ 2.24803916e-02 4.45072524e-04 9.99747185e-01 9.34060803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.366875 meters Centerline goodness [0,1] 0.9995295515883824 Centerline is valid? [True, True] Translation: X:40.42, Y:10.27, Z:0.93 [[ 9.32949094e-01 -3.59444684e-01 -2.01372209e-02 4.04182404e+01] [ 3.59351300e-01 9.33166301e-01 -8.20356550e-03 1.02746712e+01] [ 2.17401040e-02 4.17172485e-04 9.99763569e-01 9.34669711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters Centerline goodness [0,1] 0.9994599504136289 Centerline is valid? [True, True] Translation: X:40.44, Y:10.29, Z:0.93 [[ 9.32349166e-01 -3.60944700e-01 -2.10702621e-02 4.04436817e+01] [ 3.60842704e-01 9.32587132e-01 -8.58974119e-03 1.02853483e+01] [ 2.27502769e-02 4.05587677e-04 9.99741097e-01 9.34547406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.426874999999995 meters Centerline goodness [0,1] 0.9994843968670971 Centerline is valid? [True, True] Translation: X:40.47, Y:10.30, Z:0.94 [[ 9.31888724e-01 -3.62133335e-01 -2.10440979e-02 4.04697022e+01] [ 3.62031847e-01 9.32126228e-01 -8.58118140e-03 1.02963253e+01] [ 2.27232874e-02 3.78072564e-04 9.99741721e-01 9.35815787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters Centerline goodness [0,1] 0.999482171918923 Centerline is valid? [True, True] Translation: X:40.50, Y:10.31, Z:0.94 [[ 9.31416046e-01 -3.63373667e-01 -2.05846321e-02 4.04968025e+01] [ 3.63276820e-01 9.31643420e-01 -8.39589255e-03 1.03057316e+01] [ 2.22283833e-02 3.42149365e-04 9.99752860e-01 9.37141235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.486875 meters Centerline goodness [0,1] 0.9994603345925526 Centerline is valid? [True, True] Translation: X:40.52, Y:10.32, Z:0.94 [[ 9.30712262e-01 -3.65127299e-01 -2.13714799e-02 4.05225790e+01] [ 3.65023227e-01 9.30957547e-01 -8.72289444e-03 1.03172976e+01] [ 2.30809074e-02 3.17418269e-04 9.99733550e-01 9.36369342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters Centerline goodness [0,1] 0.999459127228027 Centerline is valid? [True, True] Translation: X:40.55, Y:10.33, Z:0.93 [[ 9.29977135e-01 -3.66926277e-01 -2.25307698e-02 4.05494559e+01] [ 3.66811065e-01 9.30249979e-01 -9.19885403e-03 1.03271817e+01] [ 2.43345494e-02 2.90188237e-04 9.99703829e-01 9.34863283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.546875 meters Centerline goodness [0,1] 0.9995809814892411 Centerline is valid? [True, True] Translation: X:40.58, Y:10.34, Z:0.93 [[ 9.28581398e-01 -3.70307136e-01 -2.46822340e-02 4.05769884e+01] [ 3.70169862e-01 9.28909346e-01 -1.00846637e-02 1.03361084e+01] [ 2.66619808e-02 2.27811993e-04 9.99644480e-01 9.32916434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters Centerline goodness [0,1] 0.9994848901098901 Centerline is valid? [True, True] Translation: X:40.60, Y:10.35, Z:0.93 [[ 9.27787557e-01 -3.72313410e-01 -2.43510407e-02 4.06028385e+01] [ 3.72180324e-01 9.28107049e-01 -9.95548374e-03 1.03456911e+01] [ 2.63069326e-02 1.73595712e-04 9.99653898e-01 9.32623801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.606874999999995 meters Centerline goodness [0,1] 0.9996071402263854 Centerline is valid? [True, True] Translation: X:40.63, Y:10.35, Z:0.93 [[ 9.26821321e-01 -3.74705895e-01 -2.44485608e-02 4.06302157e+01] [ 3.74572463e-01 9.27143722e-01 -9.99946638e-03 1.03548559e+01] [ 2.64141886e-02 1.09960996e-04 9.99651078e-01 9.33978911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters Centerline goodness [0,1] 0.9994813278008299 Centerline is valid? [True, True] Translation: X:40.66, Y:10.36, Z:0.94 [[ 9.25901442e-01 -3.77028385e-01 -2.35821278e-02 4.06575721e+01] [ 3.76904840e-01 9.26201703e-01 -9.65128982e-03 1.03640805e+01] [ 2.54806172e-02 4.79250520e-05 9.99675315e-01 9.35056634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.666875 meters Centerline goodness [0,1] 0.999482120838471 Centerline is valid? [True, True] Translation: X:40.68, Y:10.37, Z:0.94 [[ 9.24130423e-01 -3.81430765e-01 -2.22155764e-02 4.06846016e+01] [ 3.81322255e-01 9.24397408e-01 -9.09783309e-03 1.03713695e+01] [ 2.40062147e-02 -6.37093530e-05 9.99711807e-01 9.38627598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters Centerline goodness [0,1] 0.9995543892657325 Centerline is valid? [True, True] Translation: X:40.71, Y:10.38, Z:0.94 [[ 9.23653849e-01 -3.82580395e-01 -2.22667524e-02 4.07113383e+01] [ 3.82471550e-01 9.23922201e-01 -9.12576966e-03 1.03812913e+01] [ 2.40640874e-02 -8.73470257e-05 9.99710414e-01 9.40566787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.726875 meters Centerline goodness [0,1] 0.9996279115917942 Centerline is valid? [True, True] Translation: X:40.74, Y:10.39, Z:0.94 [[ 9.23437523e-01 -3.83081653e-01 -2.26183337e-02 4.07375186e+01] [ 3.82969314e-01 9.23714479e-01 -9.27719392e-03 1.03918418e+01] [ 2.44468051e-02 -9.52187659e-05 9.99701128e-01 9.41016826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters Centerline goodness [0,1] 0.9995812085827606 Centerline is valid? [True, True] Translation: X:40.76, Y:10.40, Z:0.94 [[ 9.23764219e-01 -3.82265963e-01 -2.30738434e-02 4.07616641e+01] [ 3.82148626e-01 9.24052341e-01 -9.47093648e-03 1.04030316e+01] [ 2.49418557e-02 -6.87253222e-05 9.99688901e-01 9.40490228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.786874999999995 meters Centerline goodness [0,1] 0.9994593266158761 Centerline is valid? [True, True] Translation: X:40.79, Y:10.42, Z:0.94 [[ 9.25169332e-01 -3.78850367e-01 -2.31107236e-02 4.07863834e+01] [ 3.78731495e-01 9.25457940e-01 -9.48978860e-03 1.04178316e+01] [ 2.49832125e-02 2.69024966e-05 9.99687870e-01 9.39301293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters Centerline goodness [0,1] 0.9994842575765018 Centerline is valid? [True, True] Translation: X:40.81, Y:10.43, Z:0.94 [[ 9.26150575e-01 -3.76460553e-01 -2.28596564e-02 4.08109774e+01] [ 3.76343358e-01 9.26432643e-01 -9.39332659e-03 1.04303500e+01] [ 2.47141488e-02 9.65549976e-05 9.99694554e-01 9.39530465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.846875 meters Centerline goodness [0,1] 0.9995833026938256 Centerline is valid? [True, True] Translation: X:40.84, Y:10.44, Z:0.94 [[ 9.27044593e-01 -3.74239180e-01 -2.30945708e-02 4.08371985e+01] [ 3.74118803e-01 9.27332201e-01 -9.49267800e-03 1.04431680e+01] [ 2.49688712e-02 1.60022648e-04 9.99688216e-01 9.40457967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters Centerline goodness [0,1] 0.9995583147252963 Centerline is valid? [True, True] Translation: X:40.86, Y:10.46, Z:0.94 [[ 9.27868468e-01 -3.72130330e-01 -2.40649851e-02 4.08617262e+01] [ 3.71998750e-01 9.28180458e-01 -9.89781115e-03 1.04560359e+01] [ 2.60199246e-02 2.31722511e-04 9.99661398e-01 9.40858225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.906875 meters Centerline goodness [0,1] 0.9994617078541718 Centerline is valid? [True, True] Translation: X:40.89, Y:10.47, Z:0.94 [[ 9.28782025e-01 -3.69781579e-01 -2.50106978e-02 4.08873628e+01] [ 3.69638506e-01 9.29118661e-01 -1.02901986e-02 1.04691756e+01] [ 2.70430319e-02 3.12434482e-04 9.99634222e-01 9.41304496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters Centerline goodness [0,1] 0.9994373914532423 Centerline is valid? [True, True] Translation: X:40.91, Y:10.48, Z:0.94 [[ 9.29964295e-01 -3.66721375e-01 -2.61121128e-02 4.09124313e+01] [ 3.66564032e-01 9.30330722e-01 -1.07497835e-02 1.04826409e+01] [ 2.82350761e-02 4.25153539e-04 9.99601220e-01 9.41494188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.966874999999995 meters Centerline goodness [0,1] 0.999560579059151 Centerline is valid? [True, True] Translation: X:40.94, Y:10.49, Z:0.94 [[ 9.30372915e-01 -3.65749733e-01 -2.51668972e-02 4.09372945e+01] [ 3.65603148e-01 9.30713135e-01 -1.03633673e-02 1.04945341e+01] [ 2.72135606e-02 4.40699367e-04 9.99629545e-01 9.43164846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters Centerline goodness [0,1] 0.9994870542256962 Centerline is valid? [True, True] Translation: X:40.96, Y:10.50, Z:0.94 [[ 9.30088722e-01 -3.66510600e-01 -2.45957122e-02 4.09640653e+01] [ 3.66370750e-01 9.30413784e-01 -1.01323362e-02 1.05048904e+01] [ 2.65977983e-02 4.12822114e-04 9.99646131e-01 9.44530965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.026875 meters Centerline goodness [0,1] 0.9994616815112068 Centerline is valid? [True, True] Translation: X:40.99, Y:10.52, Z:0.95 [[ 9.29469257e-01 -3.68151466e-01 -2.34818657e-02 4.09905414e+01] [ 3.68024360e-01 9.29765762e-01 -9.67978347e-03 1.05151807e+01] [ 2.53962613e-02 3.55162540e-04 9.99677400e-01 9.45057872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters Centerline goodness [0,1] 0.9995842707620073 Centerline is valid? [True, True] Translation: X:41.02, Y:10.52, Z:0.95 [[ 9.28097740e-01 -3.71629520e-01 -2.29365539e-02 4.10176599e+01] [ 3.71509156e-01 9.28381082e-01 -9.46123075e-03 1.05238849e+01] [ 2.48099354e-02 2.59807101e-04 9.99692152e-01 9.46201264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.086875 meters Centerline goodness [0,1] 0.9995589640555705 Centerline is valid? [True, True] Translation: X:41.04, Y:10.53, Z:0.95 [[ 9.27404512e-01 -3.73355334e-01 -2.29492071e-02 4.10446479e+01] [ 3.73235209e-01 9.27688389e-01 -9.47272303e-03 1.05333305e+01] [ 2.48264046e-02 2.19593969e-04 9.99691753e-01 9.47284715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters Centerline goodness [0,1] 0.9995818472512606 Centerline is valid? [True, True] Translation: X:41.07, Y:10.54, Z:0.95 [[ 9.26611775e-01 -3.75323417e-01 -2.28681062e-02 4.10723213e+01] [ 3.75204584e-01 9.26893901e-01 -9.44546608e-03 1.05421829e+01] [ 2.47414128e-02 1.72061820e-04 9.99693870e-01 9.48896455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.146874999999994 meters Centerline goodness [0,1] 0.9996068699476646 Centerline is valid? [True, True] Translation: X:41.10, Y:10.55, Z:0.95 [[ 9.25154157e-01 -3.78958133e-01 -2.19207596e-02 4.10988889e+01] [ 3.78849828e-01 9.25413814e-01 -9.05978737e-03 1.05500567e+01] [ 2.37190539e-02 7.70239235e-05 9.99718661e-01 9.50901436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters Centerline goodness [0,1] 0.9996798896850607 Centerline is valid? [True, True] Translation: X:41.13, Y:10.56, Z:0.95 [[ 9.24494539e-01 -3.80600397e-01 -2.12881385e-02 4.11250715e+01] [ 3.80498636e-01 9.24739605e-01 -8.80064691e-03 1.05592326e+01] [ 2.30355145e-02 3.60423497e-05 9.99734647e-01 9.52586319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.206875 meters Centerline goodness [0,1] 0.9995349520266301 Centerline is valid? [True, True] Translation: X:41.15, Y:10.57, Z:0.95 [[ 9.24270434e-01 -3.81161467e-01 -2.09786087e-02 4.11498907e+01] [ 3.81062636e-01 9.24508483e-01 -8.67937090e-03 1.05692090e+01] [ 2.27031434e-02 2.79219758e-05 9.99742250e-01 9.53065906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters Centerline goodness [0,1] 0.9996573750030592 Centerline is valid? [True, True] Translation: X:41.18, Y:10.58, Z:0.95 [[ 9.24132584e-01 -3.81471107e-01 -2.14187251e-02 4.11756221e+01] [ 3.81368091e-01 9.24380762e-01 -8.86481663e-03 1.05806794e+01] [ 2.31807289e-02 2.38475886e-05 9.99731291e-01 9.52174999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.266875 meters Centerline goodness [0,1] 0.9997052538501215 Centerline is valid? [True, True] Translation: X:41.20, Y:10.59, Z:0.95 [[ 9.24491486e-01 -3.80558115e-01 -2.21588200e-02 4.12011160e+01] [ 3.80447417e-01 9.24757005e-01 -9.17850105e-03 1.05920636e+01] [ 2.39844770e-02 5.51802476e-05 9.99712330e-01 9.51803245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters Centerline goodness [0,1] 0.9996820271989042 Centerline is valid? [True, True] Translation: X:41.23, Y:10.61, Z:0.95 [[ 9.25550656e-01 -3.77849880e-01 -2.41961164e-02 4.12263418e+01] [ 3.77716766e-01 9.25866863e-01 -1.00298157e-02 1.06050038e+01] [ 2.61921470e-02 1.43823721e-04 9.99656917e-01 9.50399934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.326874999999994 meters Centerline goodness [0,1] 0.9997078728273041 Centerline is valid? [True, True] Translation: X:41.25, Y:10.62, Z:0.95 [[ 9.26428120e-01 -3.75623409e-01 -2.52585323e-02 4.12511464e+01] [ 3.75477448e-01 9.26772360e-01 -1.04727841e-02 1.06177282e+01] [ 2.73427324e-02 2.18272401e-04 9.99626094e-01 9.49611659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters Centerline goodness [0,1] 0.9996088975800538 Centerline is valid? [True, True] Translation: X:41.28, Y:10.63, Z:0.95 [[ 9.27255017e-01 -3.73526918e-01 -2.59956665e-02 4.12770285e+01] [ 3.73371384e-01 9.27619295e-01 -1.07820741e-02 1.06304046e+01] [ 2.81414768e-02 2.91694296e-04 9.99603908e-01 9.49500114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.386874999999996 meters Centerline goodness [0,1] 0.9994633491889254 Centerline is valid? [True, True] Translation: X:41.30, Y:10.64, Z:0.95 [[ 9.29144468e-01 -3.68801603e-01 -2.59987462e-02 4.13010022e+01] [ 3.68644002e-01 9.29508033e-01 -1.07896609e-02 1.06448367e+01] [ 2.81452877e-02 4.40871893e-04 9.99603746e-01 9.50055394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters Centerline goodness [0,1] 0.9994886529658128 Centerline is valid? [True, True] Translation: X:41.33, Y:10.66, Z:0.95 [[ 9.29356856e-01 -3.68239255e-01 -2.63758408e-02 4.13265301e+01] [ 3.68076745e-01 9.29730947e-01 -1.09488207e-02 1.06562898e+01] [ 2.85542210e-02 4.67027994e-04 9.99592136e-01 9.50957619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.446875 meters Centerline goodness [0,1] 0.9995606434133125 Centerline is valid? [True, True] Translation: X:41.35, Y:10.67, Z:0.95 [[ 9.29532702e-01 -3.67793334e-01 -2.64011280e-02 4.13530078e+01] [ 3.67630225e-01 9.29907430e-01 -1.09630648e-02 1.06672729e+01] [ 2.85827473e-02 4.84674634e-04 9.99591312e-01 9.52118718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters Centerline goodness [0,1] 0.9996592844974447 Centerline is valid? [True, True] Translation: X:41.38, Y:10.68, Z:0.95 [[ 9.29754227e-01 -3.67233239e-01 -2.63974488e-02 4.13779366e+01] [ 3.67069770e-01 9.30128749e-01 -1.09678584e-02 1.06791995e+01] [ 2.85807882e-02 5.07707240e-04 9.99591357e-01 9.51962838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.506874999999994 meters Centerline goodness [0,1] 0.9995858910649907 Centerline is valid? [True, True] Translation: X:41.40, Y:10.69, Z:0.95 [[ 9.29712525e-01 -3.67374233e-01 -2.58996822e-02 4.14034432e+01] [ 3.67216819e-01 9.30073075e-01 -1.07648582e-02 1.06899923e+01] [ 2.80433286e-02 4.97424606e-04 9.99606585e-01 9.53016750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters Centerline goodness [0,1] 0.9996581613966549 Centerline is valid? [True, True] Translation: X:41.43, Y:10.70, Z:0.96 [[ 9.29776271e-01 -3.67302380e-01 -2.45977179e-02 4.14292283e+01] [ 3.67160172e-01 9.30101462e-01 -1.02312394e-02 1.07008874e+01] [ 2.66363320e-02 4.81461300e-04 9.99645074e-01 9.55417961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.566874999999996 meters Centerline goodness [0,1] 0.9994407158836689 Centerline is valid? [True, True] Translation: X:41.46, Y:10.71, Z:0.96 [[ 9.30004036e-01 -3.66715923e-01 -2.47370994e-02 4.14554441e+01] [ 3.66571684e-01 9.30332829e-01 -1.02969335e-02 1.07134462e+01] [ 2.67897851e-02 5.08269485e-04 9.99640960e-01 9.55222556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters Centerline goodness [0,1] 0.9994643422366146 Centerline is valid? [True, True] Translation: X:41.48, Y:10.73, Z:0.95 [[ 9.30407959e-01 -3.65655132e-01 -2.52458941e-02 4.14818539e+01] [ 3.65504313e-01 9.30750243e-01 -1.05158173e-02 1.07256593e+01] [ 2.73427847e-02 5.56516938e-04 9.99625961e-01 9.54938686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.626875 meters Centerline goodness [0,1] 0.9994643422366146 Centerline is valid? [True, True] Translation: X:41.51, Y:10.74, Z:0.96 [[ 9.30307985e-01 -3.65909590e-01 -2.52433117e-02 4.15073168e+01] [ 3.65758696e-01 9.30650237e-01 -1.05220131e-02 1.07363793e+01] [ 2.73427996e-02 5.55752039e-04 9.99625961e-01 9.55538677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters Centerline goodness [0,1] 0.9994148339591359 Centerline is valid? [True, True] Translation: X:41.53, Y:10.75, Z:0.96 [[ 9.30778403e-01 -3.64677415e-01 -2.57283526e-02 4.15319184e+01] [ 3.64519993e-01 9.31133723e-01 -1.07314432e-02 1.07486924e+01] [ 2.78700518e-02 6.10096649e-04 9.99611368e-01 9.55119785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.686875 meters Centerline goodness [0,1] 0.9995142565696798 Centerline is valid? [True, True] Translation: X:41.56, Y:10.76, Z:0.96 [[ 9.31892731e-01 -3.61736512e-01 -2.68818637e-02 4.15589987e+01] [ 3.61563309e-01 9.32280086e-01 -1.12167255e-02 1.07618513e+01] [ 2.91189253e-02 7.33289400e-04 9.99575685e-01 9.56597180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters Centerline goodness [0,1] 0.9993000072413044 Centerline is valid? [True, True] Translation: X:41.58, Y:10.78, Z:0.96 [[ 9.32471891e-01 -3.60219559e-01 -2.71669242e-02 4.15828871e+01] [ 3.60041853e-01 9.32867214e-01 -1.13413059e-02 1.07767070e+01] [ 2.94284931e-02 7.94219223e-04 9.99566573e-01 9.55951848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.746874999999996 meters Centerline goodness [0,1] 0.9992237154917277 Centerline is valid? [True, True] Translation: X:41.61, Y:10.79, Z:0.96 [[ 9.32877146e-01 -3.59206318e-01 -2.66655432e-02 4.16096338e+01] [ 3.59034589e-01 9.33257819e-01 -1.11358168e-02 1.07869636e+01] [ 2.88858825e-02 8.14496650e-04 9.99582384e-01 9.57261292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters Centerline goodness [0,1] 0.9995154686629357 Centerline is valid? [True, True] Translation: X:41.63, Y:10.80, Z:0.96 [[ 9.33749572e-01 -3.56917664e-01 -2.68610741e-02 4.16340221e+01] [ 3.56742274e-01 9.34135416e-01 -1.12238685e-02 1.08007705e+01] [ 2.90978776e-02 8.97801772e-04 9.99576164e-01 9.58013414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.806875 meters Centerline goodness [0,1] 0.9994910571470118 Centerline is valid? [True, True] Translation: X:41.66, Y:10.81, Z:0.96 [[ 9.33824027e-01 -3.56691512e-01 -2.72736533e-02 4.16612181e+01] [ 3.56510474e-01 9.34221769e-01 -1.14003466e-02 1.08109360e+01] [ 2.95460475e-02 9.22574487e-04 9.99562994e-01 9.58786431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters Centerline goodness [0,1] 0.9994905262136393 Centerline is valid? [True, True] Translation: X:41.69, Y:10.82, Z:0.96 [[ 9.34143149e-01 -3.55855621e-01 -2.72645402e-02 4.16877043e+01] [ 3.55674119e-01 9.34540456e-01 -1.14042882e-02 1.08226126e+01] [ 2.95380959e-02 9.55946334e-04 9.99563198e-01 9.58508242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.866875 meters Centerline goodness [0,1] 0.9992691305089287 Centerline is valid? [True, True] Translation: X:41.71, Y:10.83, Z:0.96 [[ 9.34190351e-01 -3.55731389e-01 -2.72684465e-02 4.17149724e+01] [ 3.55549551e-01 9.34587740e-01 -1.14137446e-02 1.08324726e+01] [ 2.95449830e-02 9.67326152e-04 9.99562984e-01 9.59518912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters Centerline goodness [0,1] 0.9995151867742952 Centerline is valid? [True, True] Translation: X:41.74, Y:10.84, Z:0.96 [[ 9.34160996e-01 -3.55834636e-01 -2.69248190e-02 4.17394886e+01] [ 3.55657198e-01 9.34548444e-01 -1.12767036e-02 1.08443105e+01] [ 2.91751894e-02 9.58250951e-04 9.99573854e-01 9.60517304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.926874999999995 meters Centerline goodness [0,1] 0.9994879172864494 Centerline is valid? [True, True] Translation: X:41.77, Y:10.85, Z:0.96 [[ 9.34298393e-01 -3.55549950e-01 -2.58987557e-02 4.17665180e+01] [ 3.55385547e-01 9.34656814e-01 -1.08514382e-02 1.08536438e+01] [ 2.80646768e-02 9.34437832e-04 9.99605673e-01 9.63740220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters Centerline goodness [0,1] 0.9993451688009313 Centerline is valid? [True, True] Translation: X:41.79, Y:10.87, Z:0.96 [[ 9.34450630e-01 -3.55213606e-01 -2.50062913e-02 4.17912816e+01] [ 3.55060048e-01 9.34784709e-01 -1.04838447e-02 1.08662571e+01] [ 2.70995030e-02 9.17900275e-04 9.99632320e-01 9.64116269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.986875 meters Centerline goodness [0,1] 0.9994431397235067 Centerline is valid? [True, True] Translation: X:41.82, Y:10.88, Z:0.97 [[ 9.34964760e-01 -3.53926307e-01 -2.40222082e-02 4.18186812e+01] [ 3.53784068e-01 9.35272859e-01 -1.00753803e-02 1.08757989e+01] [ 2.60332615e-02 9.21450987e-04 9.99660653e-01 9.66143745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters Centerline goodness [0,1] 0.9994908967490121 Centerline is valid? [True, True] Translation: X:41.84, Y:10.89, Z:0.97 [[ 9.35094198e-01 -3.53567808e-01 -2.42620400e-02 4.18432592e+01] [ 3.53422424e-01 9.35408418e-01 -1.01823905e-02 1.08880554e+01] [ 2.62950820e-02 9.46745293e-04 9.99653776e-01 9.67146105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.046875 meters Centerline goodness [0,1] 0.9995373864770762 Centerline is valid? [True, True] Translation: X:41.87, Y:10.90, Z:0.97 [[ 9.35184514e-01 -3.53317099e-01 -2.44325977e-02 4.18703902e+01] [ 3.53169489e-01 9.35503126e-01 -1.02573347e-02 1.08975272e+01] [ 2.64808633e-02 9.63652528e-04 9.99648856e-01 9.67966806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters Centerline goodness [0,1] 0.9993925256354181 Centerline is valid? [True, True] Translation: X:41.90, Y:10.91, Z:0.97 [[ 9.35009355e-01 -3.53721032e-01 -2.52772144e-02 4.18968001e+01] [ 3.53562973e-01 9.35350440e-01 -1.06196714e-02 1.09080162e+01] [ 2.73994548e-02 9.92405061e-04 9.99624072e-01 9.67664019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.106874999999995 meters Centerline goodness [0,1] 0.9994889391837629 Centerline is valid? [True, True] Translation: X:41.92, Y:10.92, Z:0.97 [[ 9.34662304e-01 -3.54605436e-01 -2.57169461e-02 4.19239595e+01] [ 3.54441926e-01 9.35015509e-01 -1.08128933e-02 1.09178484e+01] [ 2.78800542e-02 9.91239881e-04 9.99610784e-01 9.65947853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters Centerline goodness [0,1] 0.9994644074398675 Centerline is valid? [True, True] Translation: X:41.95, Y:10.93, Z:0.97 [[ 9.34112610e-01 -3.55992190e-01 -2.65177670e-02 4.19497364e+01] [ 3.55818699e-01 9.34488410e-01 -1.11563563e-02 1.09286838e+01] [ 2.87521216e-02 9.85775772e-04 9.99586086e-01 9.65972568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.166875 meters Centerline goodness [0,1] 0.999657089671051 Centerline is valid? [True, True] Translation: X:41.98, Y:10.94, Z:0.97 [[ 9.33311212e-01 -3.58052760e-01 -2.69889439e-02 4.19778046e+01] [ 3.57873788e-01 9.33700880e-01 -1.13586673e-02 1.09371251e+01] [ 2.92666029e-02 9.42535949e-04 9.99571197e-01 9.67058664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters Centerline goodness [0,1] 0.9995331695331695 Centerline is valid? [True, True] Translation: X:42.01, Y:10.94, Z:0.97 [[ 9.31790249e-01 -3.62051703e-01 -2.61819761e-02 4.20074794e+01] [ 3.61884675e-01 9.32157673e-01 -1.10251836e-02 1.09431371e+01] [ 2.83974164e-02 7.98302682e-04 9.99596393e-01 9.70505117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.226875 meters Centerline goodness [0,1] 0.999482580200069 Centerline is valid? [True, True] Translation: X:42.04, Y:10.95, Z:0.97 [[ 9.30949970e-01 -3.64224648e-01 -2.59337278e-02 4.20357609e+01] [ 3.64061517e-01 9.31310837e-01 -1.09241525e-02 1.09518655e+01] [ 2.81312073e-02 7.28367174e-04 9.99603974e-01 9.71103624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters Centerline goodness [0,1] 0.9996538166712 Centerline is valid? [True, True] Translation: X:42.06, Y:10.96, Z:0.97 [[ 9.29213082e-01 -3.68654818e-01 -2.56256386e-02 4.20633901e+01] [ 3.68497058e-01 9.29566175e-01 -1.08001907e-02 1.09585235e+01] [ 2.78022692e-02 5.92706008e-04 9.99613266e-01 9.70853120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.286874999999995 meters Centerline goodness [0,1] 0.9997031539888682 Centerline is valid? [True, True] Translation: X:42.09, Y:10.97, Z:0.97 [[ 9.28373567e-01 -3.70814002e-01 -2.48896692e-02 4.20920617e+01] [ 3.70665864e-01 9.28707010e-01 -1.04932316e-02 1.09662469e+01] [ 2.70062474e-02 5.15888155e-04 9.99635132e-01 9.72189486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters Centerline goodness [0,1] 0.9996770346815065 Centerline is valid? [True, True] Translation: X:42.12, Y:10.98, Z:0.97 [[ 9.27744398e-01 -3.72360358e-01 -2.52605554e-02 4.21186273e+01] [ 3.72208180e-01 9.28088105e-01 -1.06555477e-02 1.09755530e+01] [ 2.74117245e-02 4.83439354e-04 9.99624111e-01 9.72214784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.346875 meters Centerline goodness [0,1] 0.9995521385384788 Centerline is valid? [True, True] Translation: X:42.15, Y:10.98, Z:0.97 [[ 9.26581783e-01 -3.75142662e-01 -2.67241969e-02 4.21477151e+01] [ 3.74973373e-01 9.26966990e-01 -1.12769483e-02 1.09817044e+01] [ 2.90029128e-02 4.28152608e-04 9.99579235e-01 9.71604000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters Centerline goodness [0,1] 0.9996753652141341 Centerline is valid? [True, True] Translation: X:42.17, Y:10.99, Z:0.97 [[ 9.26259765e-01 -3.75914286e-01 -2.70425156e-02 4.21735023e+01] [ 3.75741057e-01 9.26654346e-01 -1.14184599e-02 1.09912152e+01] [ 2.93514269e-02 4.15476607e-04 9.99569068e-01 9.72648865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.406875 meters Centerline goodness [0,1] 0.9995234392635882 Centerline is valid? [True, True] Translation: X:42.20, Y:11.00, Z:0.97 [[ 9.23803123e-01 -3.81970426e-01 -2.61989303e-02 4.22020381e+01] [ 3.81810127e-01 9.24174521e-01 -1.10671585e-02 1.09979934e+01] [ 2.84397111e-02 2.20858661e-04 9.99595485e-01 9.73275132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters Centerline goodness [0,1] 0.9998745452264459 Centerline is valid? [True, True] Translation: X:42.23, Y:11.00, Z:0.98 [[ 9.19058444e-01 -3.93331662e-01 -2.49355146e-02 4.22296142e+01] [ 3.93190542e-01 9.19396644e-01 -1.05360482e-02 1.10034440e+01] [ 2.70697898e-02 -1.21164424e-04 9.99633539e-01 9.76106662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.466874999999995 meters Centerline goodness [0,1] 0.9998739538166784 Centerline is valid? [True, True] Translation: X:42.26, Y:11.01, Z:0.98 [[ 9.16927714e-01 -3.98324294e-01 -2.41106738e-02 4.22570042e+01] [ 3.98194000e-01 9.17244619e-01 -1.01905538e-02 1.10123915e+01] [ 2.61745310e-02 -2.56724425e-04 9.99657355e-01 9.78831514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters Centerline goodness [0,1] 0.9998493408662901 Centerline is valid? [True, True] Translation: X:42.28, Y:11.02, Z:0.98 [[ 9.14277565e-01 -4.04423414e-01 -2.31999283e-02 4.22840210e+01] [ 4.04304579e-01 9.14571777e-01 -9.81182766e-03 1.10221652e+01] [ 2.51861325e-02 -4.09103347e-04 9.99682695e-01 9.79956944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.526875 meters Centerline goodness [0,1] 0.9999500524449328 Centerline is valid? [True, True] Translation: X:42.31, Y:11.04, Z:0.98 [[ 9.13228257e-01 -4.06773294e-01 -2.34443527e-02 4.23095668e+01] [ 4.06652550e-01 9.13529016e-01 -9.92169220e-03 1.10358177e+01] [ 2.54529759e-02 -4.72936130e-04 9.99675909e-01 9.78305747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters Centerline goodness [0,1] 0.9998755197052307 Centerline is valid? [True, True] Translation: X:42.34, Y:11.05, Z:0.98 [[ 9.12834017e-01 -4.07615123e-01 -2.41654577e-02 4.23354120e+01] [ 4.07486967e-01 9.13153687e-01 -1.02330781e-02 1.10466771e+01] [ 2.62379342e-02 -5.06007290e-04 9.99655598e-01 9.76453691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.586875 meters Centerline goodness [0,1] 0.9998757208192484 Centerline is valid? [True, True] Translation: X:42.36, Y:11.06, Z:0.98 [[ 9.13401905e-01 -4.06228175e-01 -2.59928635e-02 4.23600892e+01] [ 4.06079232e-01 9.13771537e-01 -1.10107136e-02 1.10629226e+01] [ 2.82244009e-02 -4.97955300e-04 9.99601488e-01 9.77168218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters Centerline goodness [0,1] 0.9998757084617679 Centerline is valid? [True, True] Translation: X:42.39, Y:11.07, Z:0.98 [[ 9.14000867e-01 -4.04873345e-01 -2.60765920e-02 4.23859904e+01] [ 4.04722682e-01 9.14372665e-01 -1.10535056e-02 1.10746967e+01] [ 2.83189927e-02 -4.50874520e-04 9.99598835e-01 9.78274083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.646874999999994 meters Centerline goodness [0,1] 0.9998265093684942 Centerline is valid? [True, True] Translation: X:42.41, Y:11.09, Z:0.98 [[ 9.15049380e-01 -4.02494906e-01 -2.61243731e-02 4.24111607e+01] [ 4.02342513e-01 9.15422150e-01 -1.10810196e-02 1.10883624e+01] [ 2.83748837e-02 -3.71265836e-04 9.99597283e-01 9.80285024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters Centerline goodness [0,1] 0.9998029071199803 Centerline is valid? [True, True] Translation: X:42.44, Y:11.10, Z:0.98 [[ 9.16041015e-01 -4.00232327e-01 -2.61331900e-02 4.24358831e+01] [ 4.00078738e-01 9.16413660e-01 -1.10908361e-02 1.11017438e+01] [ 2.83877235e-02 -2.95672916e-04 9.99596944e-01 9.80716458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.706875 meters Centerline goodness [0,1] 0.9996304326401892 Centerline is valid? [True, True] Translation: X:42.46, Y:11.12, Z:0.98 [[ 9.17868141e-01 -3.95997619e-01 -2.65322714e-02 4.24592229e+01] [ 3.95837421e-01 9.18251523e-01 -1.12639752e-02 1.11198183e+01] [ 2.88238060e-02 -1.63621875e-04 9.99584494e-01 9.79922189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters Centerline goodness [0,1] 0.999829064003321 Centerline is valid? [True, True] Translation: X:42.48, Y:11.13, Z:0.98 [[ 9.18709443e-01 -3.94061166e-01 -2.62441901e-02 4.24839590e+01] [ 3.93903463e-01 9.19084212e-01 -1.11477999e-02 1.11337741e+01] [ 2.85135358e-02 -9.60882970e-05 9.99593402e-01 9.79204317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.766875 meters Centerline goodness [0,1] 0.9997308802661838 Centerline is valid? [True, True] Translation: X:42.51, Y:11.15, Z:0.98 [[ 9.20307217e-01 -3.90436135e-01 -2.43772640e-02 4.25082637e+01] [ 3.90298721e-01 9.20630015e-01 -1.03578023e-02 1.11495934e+01] [ 2.64865012e-02 1.79451916e-05 9.99649171e-01 9.81699956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters Centerline goodness [0,1] 0.9996108760153704 Centerline is valid? [True, True] Translation: X:42.53, Y:11.16, Z:0.98 [[ 9.21307728e-01 -3.88131806e-01 -2.33617367e-02 4.25333625e+01] [ 3.88004701e-01 9.21603870e-01 -9.93267685e-03 1.11623436e+01] [ 2.53854548e-02 8.65882701e-05 9.99677734e-01 9.84311349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.826874999999994 meters Centerline goodness [0,1] 0.999660622515272 Centerline is valid? [True, True] Translation: X:42.56, Y:11.18, Z:0.99 [[ 9.22025047e-01 -3.86443363e-01 -2.30507967e-02 4.25585130e+01] [ 3.86318907e-01 9.22313129e-01 -9.80782954e-03 1.11765245e+01] [ 2.50502231e-02 1.38105893e-04 9.99686184e-01 9.85278146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters Centerline goodness [0,1] 0.9995418706146167 Centerline is valid? [True, True] Translation: X:42.58, Y:11.19, Z:0.98 [[ 9.23534997e-01 -3.82796840e-01 -2.34454509e-02 4.25813023e+01] [ 3.82666753e-01 9.23832516e-01 -9.98188709e-03 1.11940744e+01] [ 2.54807047e-02 2.46827495e-04 9.99675284e-01 9.83202783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.886874999999996 meters Centerline goodness [0,1] 0.9997116493656286 Centerline is valid? [True, True] Translation: X:42.61, Y:11.21, Z:0.98 [[ 9.24255063e-01 -3.81029917e-01 -2.38491170e-02 4.26066768e+01] [ 3.80894642e-01 9.24562659e-01 -1.01568583e-02 1.12079013e+01] [ 2.59200699e-02 3.03526829e-04 9.99663972e-01 9.83037283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters Centerline goodness [0,1] 0.9996384409574084 Centerline is valid? [True, True] Translation: X:42.63, Y:11.22, Z:0.98 [[ 9.25385634e-01 -3.78259868e-01 -2.41018853e-02 4.26318214e+01] [ 3.78120591e-01 9.25699368e-01 -1.02713186e-02 1.12221113e+01] [ 2.61963276e-02 3.91511556e-04 9.99656741e-01 9.83691906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.946875 meters Centerline goodness [0,1] 0.999591758320926 Centerline is valid? [True, True] Translation: X:42.66, Y:11.24, Z:0.98 [[ 9.25709659e-01 -3.77440547e-01 -2.45002161e-02 4.26568531e+01] [ 3.77296172e-01 9.26033720e-01 -1.04473684e-02 1.12353910e+01] [ 2.66312868e-02 4.27392074e-04 9.99645233e-01 9.83604446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters Centerline goodness [0,1] 0.9996152273765722 Centerline is valid? [True, True] Translation: X:42.68, Y:11.25, Z:0.98 [[ 9.25828305e-01 -3.77138836e-01 -2.46626841e-02 4.26834056e+01] [ 3.76992343e-01 9.26156630e-01 -1.05200054e-02 1.12479233e+01] [ 2.68090110e-02 4.42075725e-04 9.99640476e-01 9.83959211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.006874999999994 meters Centerline goodness [0,1] 0.9995180490626054 Centerline is valid? [True, True] Translation: X:42.71, Y:11.26, Z:0.99 [[ 9.26049712e-01 -3.76614205e-01 -2.43653648e-02 4.27094277e+01] [ 3.76470859e-01 9.26370083e-01 -1.04000643e-02 1.12609733e+01] [ 2.64881570e-02 4.58126680e-04 9.99649022e-01 9.85073434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters Centerline goodness [0,1] 0.9995193463109829 Centerline is valid? [True, True] Translation: X:42.73, Y:11.27, Z:0.99 [[ 9.26249326e-01 -3.76090583e-01 -2.48608066e-02 4.27342398e+01] [ 3.75940989e-01 9.26582773e-01 -1.06178200e-02 1.12744054e+01] [ 2.70288572e-02 4.88552385e-04 9.99634534e-01 9.85080854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.066874999999996 meters Centerline goodness [0,1] 0.9996145507106722 Centerline is valid? [True, True] Translation: X:42.76, Y:11.29, Z:0.99 [[ 9.26319756e-01 -3.75849825e-01 -2.58576687e-02 4.27608810e+01] [ 3.75687792e-01 9.26680441e-01 -1.10473297e-02 1.12861026e+01] [ 2.81139328e-02 5.18949344e-04 9.99604591e-01 9.85136840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters Centerline goodness [0,1] 0.9993537113722862 Centerline is valid? [True, True] Translation: X:42.79, Y:11.30, Z:0.98 [[ 9.26540352e-01 -3.75266682e-01 -2.64176853e-02 4.27872707e+01] [ 3.75097095e-01 9.26916722e-01 -1.12942717e-02 1.12985848e+01] [ 2.87253581e-02 5.55401464e-04 9.99587187e-01 9.84814840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.126875 meters Centerline goodness [0,1] 0.9996654799168478 Centerline is valid? [True, True] Translation: X:42.81, Y:11.31, Z:0.98 [[ 9.26728585e-01 -3.74809485e-01 -2.63055006e-02 4.28120536e+01] [ 3.74640970e-01 9.27101678e-01 -1.12526545e-02 1.13118823e+01] [ 2.86054753e-02 5.73038351e-04 9.99590615e-01 9.84821062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters Centerline goodness [0,1] 0.9996871917033615 Centerline is valid? [True, True] Translation: X:42.84, Y:11.32, Z:0.98 [[ 9.26826566e-01 -3.74500380e-01 -2.72393546e-02 4.28389337e+01] [ 3.74319433e-01 9.27226562e-01 -1.16561270e-02 1.13237630e+01] [ 2.96222771e-02 6.06988374e-04 9.99560980e-01 9.84393356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.186875 meters Centerline goodness [0,1] 0.9995934959349594 Centerline is valid? [True, True] Translation: X:42.86, Y:11.33, Z:0.99 [[ 9.26700676e-01 -3.74842811e-01 -2.68090341e-02 4.28645444e+01] [ 3.74667463e-01 9.27088191e-01 -1.14794270e-02 1.13347983e+01] [ 2.91573197e-02 5.93519918e-04 9.99574659e-01 9.85367265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters Centerline goodness [0,1] 0.9995693470823265 Centerline is valid? [True, True] Translation: X:42.89, Y:11.35, Z:0.99 [[ 9.26646278e-01 -3.75013154e-01 -2.63022933e-02 4.28888545e+01] [ 3.74844233e-01 9.27019306e-01 -1.12697543e-02 1.13464681e+01] [ 2.86090398e-02 5.83812885e-04 9.99590507e-01 9.85837378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.246874999999996 meters Centerline goodness [0,1] 0.9994765269945511 Centerline is valid? [True, True] Translation: X:42.91, Y:11.36, Z:0.99 [[ 9.26883280e-01 -3.74523343e-01 -2.48928054e-02 4.29146982e+01] [ 3.74371754e-01 9.27217310e-01 -1.06700346e-02 1.13581989e+01] [ 2.70772171e-02 5.70713401e-04 9.99633182e-01 9.88526895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters Centerline goodness [0,1] 0.999476265295434 Centerline is valid? [True, True] Translation: X:42.94, Y:11.37, Z:0.99 [[ 9.27060834e-01 -3.74112548e-01 -2.44542606e-02 4.29408607e+01] [ 3.73965912e-01 9.27383128e-01 -1.04895603e-02 1.13698376e+01] [ 2.66027448e-02 5.79400674e-04 9.99645916e-01 9.89527368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.306875 meters Centerline goodness [0,1] 0.9994239631336406 Centerline is valid? [True, True] Translation: X:42.97, Y:11.38, Z:0.99 [[ 9.27408815e-01 -3.73245655e-01 -2.45065671e-02 4.29679422e+01] [ 3.73097905e-01 9.27732347e-01 -1.05188755e-02 1.13802873e+01] [ 2.66616596e-02 6.11949032e-04 9.99644327e-01 9.90852154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters Centerline goodness [0,1] 0.9995454762930004 Centerline is valid? [True, True] Translation: X:42.99, Y:11.40, Z:0.99 [[ 9.28366086e-01 -3.70807768e-01 -2.52588478e-02 4.29915628e+01] [ 3.70649730e-01 9.28709372e-01 -1.08480832e-02 1.13959708e+01] [ 2.74806822e-02 7.08807433e-04 9.99622083e-01 9.89587957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.366875 meters Centerline goodness [0,1] 0.9994260981850355 Centerline is valid? [True, True] Translation: X:43.02, Y:11.41, Z:0.99 [[ 9.28944044e-01 -3.69340506e-01 -2.55059546e-02 4.30175751e+01] [ 3.69178704e-01 9.29293823e-01 -1.09579264e-02 1.14087620e+01] [ 2.77497322e-02 7.63045219e-04 9.99614611e-01 9.89251744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters Centerline goodness [0,1] 0.9994506281947165 Centerline is valid? [True, True] Translation: X:43.04, Y:11.42, Z:0.99 [[ 9.29656027e-01 -3.67575971e-01 -2.50515004e-02 4.30439585e+01] [ 3.67419052e-01 9.29993147e-01 -1.07697114e-02 1.14214364e+01] [ 2.72564108e-02 8.07728597e-04 9.99628149e-01 9.89391798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.426874999999995 meters Centerline goodness [0,1] 0.9995243870538156 Centerline is valid? [True, True] Translation: X:43.07, Y:11.43, Z:0.99 [[ 9.31140846e-01 -3.63802822e-01 -2.49846280e-02 4.30697899e+01] [ 3.63645197e-01 9.31475526e-01 -1.07477779e-02 1.14349553e+01] [ 2.71826414e-02 9.22155050e-04 9.99630058e-01 9.89411067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters Centerline goodness [0,1] 0.9993816590563166 Centerline is valid? [True, True] Translation: X:43.09, Y:11.45, Z:0.99 [[ 9.31625901e-01 -3.62532169e-01 -2.53693963e-02 4.30938139e+01] [ 3.62369041e-01 9.31970745e-01 -1.09182894e-02 1.14488142e+01] [ 2.76017663e-02 9.78677365e-04 9.99618520e-01 9.88850840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.486875 meters Centerline goodness [0,1] 0.9994503130825486 Centerline is valid? [True, True] Translation: X:43.12, Y:11.46, Z:0.99 [[ 9.32144148e-01 -3.61161713e-01 -2.58747764e-02 4.31198947e+01] [ 3.60991417e-01 9.32502617e-01 -1.11384949e-02 1.14599764e+01] [ 2.81510946e-02 1.04211062e-03 9.99603136e-01 9.89336193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters Centerline goodness [0,1] 0.9994022999497932 Centerline is valid? [True, True] Translation: X:43.15, Y:11.47, Z:0.99 [[ 9.33051800e-01 -3.58771552e-01 -2.64066510e-02 4.31465145e+01] [ 3.58593154e-01 9.33424702e-01 -1.13699320e-02 1.14721003e+01] [ 2.87278285e-02 1.13949127e-03 9.99586621e-01 9.89185126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.546875 meters Centerline goodness [0,1] 0.9994022999497932 Centerline is valid? [True, True] Translation: X:43.17, Y:11.48, Z:0.99 [[ 9.32951255e-01 -3.59033020e-01 -2.64054299e-02 4.31718607e+01] [ 3.58854646e-01 9.33324169e-01 -1.13727671e-02 1.14831183e+01] [ 2.87280248e-02 1.13452619e-03 9.99586621e-01 9.89787510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters Centerline goodness [0,1] 0.9994284761746005 Centerline is valid? [True, True] Translation: X:43.20, Y:11.50, Z:0.99 [[ 9.33426673e-01 -3.57799291e-01 -2.63498347e-02 4.31959684e+01] [ 3.57620967e-01 9.33797774e-01 -1.13561137e-02 1.14976463e+01] [ 2.86686264e-02 1.17684610e-03 9.99588278e-01 9.89531561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.606874999999995 meters Centerline goodness [0,1] 0.9995687693155411 Centerline is valid? [True, True] Translation: X:43.22, Y:11.50, Z:0.99 [[ 9.33771803e-01 -3.56916996e-01 -2.60859665e-02 4.32245818e+01] [ 3.56741773e-01 9.34135338e-01 -1.12462594e-02 1.15043670e+01] [ 2.83818042e-02 1.19548602e-03 9.99596441e-01 9.91253719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters Centerline goodness [0,1] 0.9994286122419828 Centerline is valid? [True, True] Translation: X:43.25, Y:11.52, Z:0.99 [[ 9.34650311e-01 -3.54640623e-01 -2.56675887e-02 4.32480242e+01] [ 3.54469940e-01 9.35001853e-01 -1.10723209e-02 1.15214239e+01] [ 2.79259377e-02 1.25035952e-03 9.99609213e-01 9.91117740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.666875 meters Centerline goodness [0,1] 0.9994740113804811 Centerline is valid? [True, True] Translation: X:43.28, Y:11.53, Z:0.99 [[ 9.34941067e-01 -3.53894538e-01 -2.53743372e-02 4.32750093e+01] [ 3.53727369e-01 9.35284484e-01 -1.09490917e-02 1.15320692e+01] [ 2.76070476e-02 1.26115795e-03 9.99618057e-01 9.91740404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters Centerline goodness [0,1] 0.9993804065486261 Centerline is valid? [True, True] Translation: X:43.30, Y:11.55, Z:0.99 [[ 9.35511084e-01 -3.52417877e-01 -2.49128965e-02 4.32990414e+01] [ 3.52256032e-01 9.35841858e-01 -1.07566152e-02 1.15455561e+01] [ 2.71053548e-02 1.28721472e-03 9.99631754e-01 9.93044748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.726875 meters Centerline goodness [0,1] 0.9993557930902844 Centerline is valid? [True, True] Translation: X:43.33, Y:11.55, Z:0.99 [[ 9.35578131e-01 -3.52227944e-01 -2.50805978e-02 4.33268058e+01] [ 3.52063704e-01 9.35913334e-01 -1.08341745e-02 1.15544081e+01] [ 2.72893649e-02 1.30624856e-03 9.99626722e-01 9.94429140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters Centerline goodness [0,1] 0.999568552253116 Centerline is valid? [True, True] Translation: X:43.35, Y:11.57, Z:0.99 [[ 9.35509662e-01 -3.52428553e-01 -2.48150528e-02 4.33524599e+01] [ 3.52267644e-01 9.35837829e-01 -1.07268549e-02 1.15658083e+01] [ 2.70033150e-02 1.29353623e-03 9.99634507e-01 9.94752040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.786874999999995 meters Centerline goodness [0,1] 0.9994018995669753 Centerline is valid? [True, True] Translation: X:43.38, Y:11.58, Z:0.99 [[ 9.35201049e-01 -3.53209838e-01 -2.53339284e-02 4.33774215e+01] [ 3.53042210e-01 9.35543216e-01 -1.09584993e-02 1.15776652e+01] [ 2.75716346e-02 1.30445397e-03 9.99618979e-01 9.92840755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters Centerline goodness [0,1] 0.9994239354807738 Centerline is valid? [True, True] Translation: X:43.40, Y:11.59, Z:0.99 [[ 9.34853569e-01 -3.54110266e-01 -2.55875837e-02 4.34048284e+01] [ 3.53939497e-01 9.35202783e-01 -1.10719307e-02 1.15865676e+01] [ 2.78502638e-02 1.29417743e-03 9.99611268e-01 9.92905347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.846875 meters Centerline goodness [0,1] 0.9994973430992389 Centerline is valid? [True, True] Translation: X:43.43, Y:11.60, Z:0.99 [[ 9.34408114e-01 -3.55266871e-01 -2.58249215e-02 4.34306237e+01] [ 3.55093169e-01 9.34764044e-01 -1.11813946e-02 1.15977120e+01] [ 2.81125871e-02 1.27773260e-03 9.99603946e-01 9.92979080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters Centerline goodness [0,1] 0.9995419368837243 Centerline is valid? [True, True] Translation: X:43.46, Y:11.60, Z:0.99 [[ 9.33797133e-01 -3.56875104e-01 -2.57502452e-02 4.34588967e+01] [ 3.56702882e-01 9.34151298e-01 -1.11537723e-02 1.16045323e+01] [ 2.80351286e-02 1.23017390e-03 9.99606182e-01 9.94505235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.906875 meters Centerline goodness [0,1] 0.9995417159121059 Centerline is valid? [True, True] Translation: X:43.49, Y:11.61, Z:1.00 [[ 9.32854999e-01 -3.59356716e-01 -2.53830962e-02 4.34868825e+01] [ 3.59190106e-01 9.33199571e-01 -1.10012943e-02 1.16136018e+01] [ 2.76408834e-02 1.14525534e-03 9.99617262e-01 9.95362048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters Centerline goodness [0,1] 0.9994675572980953 Centerline is valid? [True, True] Translation: X:43.51, Y:11.62, Z:1.00 [[ 9.32342605e-01 -3.60701522e-01 -2.51332291e-02 4.35139743e+01] [ 3.60538550e-01 9.32680656e-01 -1.08971855e-02 1.16234595e+01] [ 2.73719080e-02 1.09841230e-03 9.99624716e-01 9.95879536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.966874999999995 meters Centerline goodness [0,1] 0.9995641857537165 Centerline is valid? [True, True] Translation: X:43.54, Y:11.63, Z:1.00 [[ 9.31924032e-01 -3.61837323e-01 -2.43176787e-02 4.35416366e+01] [ 3.61684961e-01 9.32240675e-01 -1.05504717e-02 1.16334409e+01] [ 2.64874837e-02 1.03689947e-03 9.99648607e-01 9.96639544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters Centerline goodness [0,1] 0.9995878088402881 Centerline is valid? [True, True] Translation: X:43.57, Y:11.64, Z:1.00 [[ 9.31284968e-01 -3.63508374e-01 -2.38740416e-02 4.35697265e+01] [ 3.63361897e-01 9.31590418e-01 -1.03645991e-02 1.16421347e+01] [ 2.60084470e-02 9.77478288e-04 9.99661245e-01 9.97094531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.026875 meters Centerline goodness [0,1] 0.9996102883865939 Centerline is valid? [True, True] Translation: X:43.59, Y:11.65, Z:1.00 [[ 9.30946716e-01 -3.64352861e-01 -2.41909872e-02 4.35946384e+01] [ 3.64202575e-01 9.31260461e-01 -1.05089763e-02 1.16542867e+01] [ 2.63570854e-02 9.72877208e-04 9.99652118e-01 9.97080988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters Centerline goodness [0,1] 0.9996109800870432 Centerline is valid? [True, True] Translation: X:43.62, Y:11.66, Z:1.00 [[ 9.30350309e-01 -3.65835703e-01 -2.47495746e-02 4.36222759e+01] [ 3.65678792e-01 9.30678958e-01 -1.07562888e-02 1.16625742e+01] [ 2.69689428e-02 9.56722017e-04 9.99635814e-01 9.97194148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.086875 meters Centerline goodness [0,1] 0.9997562640148191 Centerline is valid? [True, True] Translation: X:43.65, Y:11.67, Z:1.00 [[ 9.30117021e-01 -3.66420120e-01 -2.48721201e-02 4.36502371e+01] [ 3.66261660e-01 9.30449026e-01 -1.08169234e-02 1.16717541e+01] [ 2.71057783e-02 9.51300559e-04 9.99632118e-01 9.97926290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters Centerline goodness [0,1] 0.9996827953053705 Centerline is valid? [True, True] Translation: X:43.68, Y:11.68, Z:1.00 [[ 9.29826671e-01 -3.67162131e-01 -2.47857162e-02 4.36773445e+01] [ 3.67004835e-01 9.30156491e-01 -1.07867137e-02 1.16829302e+01] [ 2.70150676e-02 9.33296372e-04 9.99634591e-01 9.98324273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.146874999999994 meters Centerline goodness [0,1] 0.9996089358165909 Centerline is valid? [True, True] Translation: X:43.70, Y:11.69, Z:1.00 [[ 9.29472101e-01 -3.68136703e-01 -2.36004513e-02 4.37026036e+01] [ 3.67994252e-01 9.29771271e-01 -1.02768950e-02 1.16948840e+01] [ 2.57263238e-02 8.67256751e-04 9.99668647e-01 9.97507877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters Centerline goodness [0,1] 0.9995099840744824 Centerline is valid? [True, True] Translation: X:43.73, Y:11.70, Z:1.00 [[ 9.29255225e-01 -3.68689111e-01 -2.35173731e-02 4.37299087e+01] [ 3.68547754e-01 9.29552373e-01 -1.02440148e-02 1.17028478e+01] [ 2.56374867e-02 8.52029286e-04 9.99670943e-01 9.97544725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.206875 meters Centerline goodness [0,1] 0.9996590770729331 Centerline is valid? [True, True] Translation: X:43.75, Y:11.72, Z:1.00 [[ 9.28924681e-01 -3.69505730e-01 -2.37582052e-02 4.37549154e+01] [ 3.69361539e-01 9.29228068e-01 -1.03562406e-02 1.17158753e+01] [ 2.59034814e-02 8.44800213e-04 9.99664092e-01 9.96886320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters Centerline goodness [0,1] 0.9996075642000442 Centerline is valid? [True, True] Translation: X:43.78, Y:11.72, Z:1.00 [[ 9.28704333e-01 -3.70053603e-01 -2.38451871e-02 4.37822826e+01] [ 3.69908445e-01 9.29010028e-01 -1.03975833e-02 1.17232013e+01] [ 2.60000811e-02 8.35744526e-04 9.99661591e-01 9.97905670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.266875 meters Centerline goodness [0,1] 0.9996064928676832 Centerline is valid? [True, True] Translation: X:43.81, Y:11.73, Z:1.00 [[ 9.28522115e-01 -3.70482789e-01 -2.42731475e-02 4.38083287e+01] [ 3.70332299e-01 9.28838946e-01 -1.05924806e-02 1.17340276e+01] [ 2.64701764e-02 8.46221980e-04 9.99649245e-01 9.98341671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters Centerline goodness [0,1] 0.9995832822649835 Centerline is valid? [True, True] Translation: X:43.83, Y:11.74, Z:1.00 [[ 9.28477901e-01 -3.70623473e-01 -2.38123691e-02 4.38329283e+01] [ 3.70478497e-01 9.28782831e-01 -1.03988575e-02 1.17443749e+01] [ 2.59705803e-02 8.33138716e-04 9.99662360e-01 9.99897752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.326874999999994 meters Centerline goodness [0,1] 0.9996817002105676 Centerline is valid? [True, True] Translation: X:43.86, Y:11.76, Z:1.00 [[ 9.28409434e-01 -3.70828038e-01 -2.32914006e-02 4.38590105e+01] [ 3.70689260e-01 9.28701192e-01 -1.01769039e-02 1.17553998e+01] [ 2.54046328e-02 8.14461598e-04 9.99676918e-01 1.00104608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters Centerline goodness [0,1] 0.9996577100804381 Centerline is valid? [True, True] Translation: X:43.88, Y:11.77, Z:1.00 [[ 9.28408595e-01 -3.70860346e-01 -2.28053752e-02 4.38847808e+01] [ 3.70727127e-01 9.28688300e-01 -9.97192255e-03 1.17668559e+01] [ 2.48772758e-02 8.03447367e-04 9.99690190e-01 1.00161156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.386874999999996 meters Centerline goodness [0,1] 0.9995844841492924 Centerline is valid? [True, True] Translation: X:43.91, Y:11.78, Z:1.00 [[ 9.28420052e-01 -3.70856465e-01 -2.23984188e-02 4.39083833e+01] [ 3.70727791e-01 9.28689856e-01 -9.80080199e-03 1.17799871e+01] [ 2.44358751e-02 7.95544771e-04 9.99701083e-01 1.00114401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters Centerline goodness [0,1] 0.9996078335253316 Centerline is valid? [True, True] Translation: X:43.94, Y:11.79, Z:1.00 [[ 9.28143095e-01 -3.71529927e-01 -2.27136151e-02 4.39361561e+01] [ 3.71397715e-01 9.28420641e-01 -9.94241002e-03 1.17884668e+01] [ 2.47816919e-02 7.92194476e-04 9.99692573e-01 9.99879544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.446875 meters Centerline goodness [0,1] 0.9996304872641277 Centerline is valid? [True, True] Translation: X:43.96, Y:11.80, Z:1.00 [[ 9.27875738e-01 -3.72160779e-01 -2.33016938e-02 4.39627394e+01] [ 3.72021649e-01 9.28167933e-01 -1.02069129e-02 1.17984461e+01] [ 2.54264976e-02 8.02012293e-04 9.99676373e-01 9.99856321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters Centerline goodness [0,1] 0.9995085149780061 Centerline is valid? [True, True] Translation: X:43.99, Y:11.81, Z:1.00 [[ 9.27465504e-01 -3.73166275e-01 -2.35514474e-02 4.39899233e+01] [ 3.73024269e-01 9.27764144e-01 -1.03241115e-02 1.18087114e+01] [ 2.57027987e-02 7.89995817e-04 9.99669316e-01 1.00078726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.506874999999994 meters Centerline goodness [0,1] 0.9995332268763051 Centerline is valid? [True, True] Translation: X:44.02, Y:11.82, Z:1.00 [[ 9.26482968e-01 -3.75571201e-01 -2.39913165e-02 4.40167596e+01] [ 3.75424478e-01 9.26793246e-01 -1.05232912e-02 1.18174387e+01] [ 2.61872352e-02 7.42722615e-04 9.99656780e-01 1.00260183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters Centerline goodness [0,1] 0.999703308114523 Centerline is valid? [True, True] Translation: X:44.04, Y:11.83, Z:1.00 [[ 9.25729502e-01 -3.77460343e-01 -2.34217540e-02 4.40437960e+01] [ 3.77321033e-01 9.26025503e-01 -1.02764631e-02 1.18274511e+01] [ 2.55680988e-02 6.75704687e-04 9.99672854e-01 1.00381520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.566874999999996 meters Centerline goodness [0,1] 0.9996045281526521 Centerline is valid? [True, True] Translation: X:44.07, Y:11.83, Z:1.00 [[ 9.23875484e-01 -3.82045026e-01 -2.22640479e-02 4.40724140e+01] [ 3.81920341e-01 9.24143560e-01 -9.77407066e-03 1.18339152e+01] [ 2.43093116e-02 5.26931478e-04 9.99704346e-01 1.00446568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters Centerline goodness [0,1] 0.9998272713813354 Centerline is valid? [True, True] Translation: X:44.10, Y:11.84, Z:1.01 [[ 9.22828058e-01 -3.84618344e-01 -2.13800215e-02 4.41001991e+01] [ 3.84504013e-01 9.23075584e-01 -9.38778881e-03 1.18434613e+01] [ 2.33460916e-02 4.42610843e-04 9.99727345e-01 1.00563495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.626875 meters Centerline goodness [0,1] 0.9997520333267209 Centerline is valid? [True, True] Translation: X:44.13, Y:11.85, Z:1.01 [[ 9.21821703e-01 -3.87070185e-01 -2.05285304e-02 4.41281516e+01] [ 3.86965261e-01 9.22050180e-01 -9.01952801e-03 1.18524681e+01] [ 2.24195256e-02 3.70568523e-04 9.99748582e-01 1.00731347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters Centerline goodness [0,1] 0.999875485606136 Centerline is valid? [True, True] Translation: X:44.16, Y:11.86, Z:1.01 [[ 9.20980937e-01 -3.89070543e-01 -2.04505933e-02 4.41560759e+01] [ 3.88966778e-01 9.21207906e-01 -8.99107513e-03 1.18619368e+01] [ 2.23374108e-02 3.26007391e-04 9.99750436e-01 1.00850488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.686875 meters Centerline goodness [0,1] 0.9996760366826156 Centerline is valid? [True, True] Translation: X:44.18, Y:11.87, Z:1.01 [[ 9.20218372e-01 -3.90858259e-01 -2.06874065e-02 4.41819206e+01] [ 3.90752405e-01 9.20450833e-01 -9.10060696e-03 1.18715285e+01] [ 2.25987879e-02 2.90891868e-04 9.99744572e-01 1.00964591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters Centerline goodness [0,1] 0.9996775793650794 Centerline is valid? [True, True] Translation: X:44.21, Y:11.88, Z:1.01 [[ 9.19610469e-01 -3.92248141e-01 -2.14004930e-02 4.42090782e+01] [ 3.92135180e-01 9.19859405e-01 -9.41679205e-03 1.18816267e+01] [ 2.33791640e-02 2.67894364e-04 9.99726634e-01 1.01020685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.746874999999996 meters Centerline goodness [0,1] 0.9998754452831129 Centerline is valid? [True, True] Translation: X:44.23, Y:11.89, Z:1.01 [[ 9.19350542e-01 -3.92871322e-01 -2.11354183e-02 4.42348563e+01] [ 3.92761176e-01 9.19593421e-01 -9.30584241e-03 1.18931904e+01] [ 2.30919902e-02 2.54159530e-04 9.99733312e-01 1.01013572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters Centerline goodness [0,1] 0.9996513162810391 Centerline is valid? [True, True] Translation: X:44.26, Y:11.90, Z:1.01 [[ 9.19278524e-01 -3.93051761e-01 -2.09119315e-02 4.42611412e+01] [ 3.92943928e-01 9.19516314e-01 -9.20971550e-03 1.19038950e+01] [ 2.28487571e-02 2.49077165e-04 9.99738902e-01 1.01107440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.806875 meters Centerline goodness [0,1] 0.9996759559300065 Centerline is valid? [True, True] Translation: X:44.29, Y:11.92, Z:1.01 [[ 9.19489660e-01 -3.92565583e-01 -2.07612308e-02 4.42870508e+01] [ 3.92459025e-01 9.19723976e-01 -9.14992245e-03 1.19157233e+01] [ 2.26865464e-02 2.65326687e-04 9.99742592e-01 1.01257390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters Centerline goodness [0,1] 0.9996259911235227 Centerline is valid? [True, True] Translation: X:44.31, Y:11.93, Z:1.01 [[ 9.19708280e-01 -3.92047405e-01 -2.08689138e-02 4.43130176e+01] [ 3.91939472e-01 9.19944972e-01 -9.20323463e-03 1.19276367e+01] [ 2.28063566e-02 2.84940042e-04 9.99739861e-01 1.01288601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.866875 meters Centerline goodness [0,1] 0.9996003397112454 Centerline is valid? [True, True] Translation: X:44.34, Y:11.94, Z:1.01 [[ 9.20140702e-01 -3.91013490e-01 -2.12023219e-02 4.43377701e+01] [ 3.90901669e-01 9.20384891e-01 -9.35616014e-03 1.19404093e+01] [ 2.31726816e-02 3.20960733e-04 9.99731426e-01 1.01351726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters Centerline goodness [0,1] 0.999726150169289 Centerline is valid? [True, True] Translation: X:44.36, Y:11.95, Z:1.01 [[ 9.20551556e-01 -3.90032369e-01 -2.14379178e-02 4.43640007e+01] [ 3.89917725e-01 9.20801079e-01 -9.46256722e-03 1.19529312e+01] [ 2.34307654e-02 3.51756820e-04 9.99725400e-01 1.01440566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.926874999999995 meters Centerline goodness [0,1] 0.9997506980454727 Centerline is valid? [True, True] Translation: X:44.39, Y:11.97, Z:1.01 [[ 9.21435022e-01 -3.87917418e-01 -2.18535379e-02 4.43893342e+01] [ 3.87797540e-01 9.21694039e-01 -9.65229704e-03 1.19665813e+01] [ 2.38865697e-02 4.19216301e-04 9.99714587e-01 1.01432411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters Centerline goodness [0,1] 0.9995527950310559 Centerline is valid? [True, True] Translation: X:44.41, Y:11.98, Z:1.01 [[ 9.21871569e-01 -3.86862092e-01 -2.21479504e-02 4.44134703e+01] [ 3.86738507e-01 9.22137469e-01 -9.78852182e-03 1.19802350e+01] [ 2.42102630e-02 4.58294690e-04 9.99706784e-01 1.01341573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.986875 meters Centerline goodness [0,1] 0.9995523278949463 Centerline is valid? [True, True] Translation: X:44.44, Y:11.99, Z:1.01 [[ 9.22225626e-01 -3.85985192e-01 -2.27007873e-02 4.44392444e+01] [ 3.85854997e-01 9.22504843e-01 -1.00367553e-02 1.19934507e+01] [ 2.48156251e-02 4.96940723e-04 9.99691921e-01 1.01323515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters Centerline goodness [0,1] 0.9995786656092 Centerline is valid? [True, True] Translation: X:44.46, Y:12.01, Z:1.01 [[ 9.22670189e-01 -3.84919837e-01 -2.27253350e-02 4.44642850e+01] [ 3.84788890e-01 9.22949856e-01 -1.00535384e-02 1.20063274e+01] [ 2.48441510e-02 5.31643741e-04 9.99691195e-01 1.01380342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.046875 meters Centerline goodness [0,1] 0.9997022184723807 Centerline is valid? [True, True] Translation: X:44.49, Y:12.02, Z:1.01 [[ 9.23469802e-01 -3.82903358e-01 -2.42598841e-02 4.44895750e+01] [ 3.82753362e-01 9.23788192e-01 -1.07349830e-02 1.20190778e+01] [ 2.65214555e-02 6.27880419e-04 9.99648047e-01 1.01457721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters Centerline goodness [0,1] 0.999702712746191 Centerline is valid? [True, True] Translation: X:44.51, Y:12.03, Z:1.01 [[ 9.23853822e-01 -3.81932863e-01 -2.49279838e-02 4.45138116e+01] [ 3.81774066e-01 9.24189824e-01 -1.10331888e-02 1.20332416e+01] [ 2.72521264e-02 6.76195844e-04 9.99628363e-01 1.01422202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.106874999999995 meters Centerline goodness [0,1] 0.9996761658031088 Centerline is valid? [True, True] Translation: X:44.54, Y:12.05, Z:1.01 [[ 9.24232491e-01 -3.80993983e-01 -2.52564160e-02 4.45406348e+01] [ 3.80830526e-01 9.24577239e-01 -1.11820840e-02 1.20452224e+01] [ 2.76118141e-02 7.16431175e-04 9.99618464e-01 1.01430347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters Centerline goodness [0,1] 0.9996545427626709 Centerline is valid? [True, True] Translation: X:44.57, Y:12.06, Z:1.01 [[ 9.24164480e-01 -3.81148511e-01 -2.54131058e-02 4.45661204e+01] [ 3.80982869e-01 9.24513542e-01 -1.12589385e-02 1.20571616e+01] [ 2.77860881e-02 7.23153144e-04 9.99613631e-01 1.01291104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.166875 meters Centerline goodness [0,1] 0.9997031980411071 Centerline is valid? [True, True] Translation: X:44.59, Y:12.07, Z:1.01 [[ 9.23452496e-01 -3.82793347e-01 -2.65469645e-02 4.45932159e+01] [ 3.82613016e-01 9.23833723e-01 -1.17700023e-02 1.20683031e+01] [ 2.90304596e-02 7.11823860e-04 9.99578274e-01 1.01241959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters Centerline goodness [0,1] 0.9998013261479624 Centerline is valid? [True, True] Translation: X:44.62, Y:12.08, Z:1.01 [[ 9.22748718e-01 -3.84470397e-01 -2.67827735e-02 4.46201092e+01] [ 3.84287327e-01 9.23137077e-01 -1.18822526e-02 1.20789936e+01] [ 2.92925456e-02 6.72052945e-04 9.99570655e-01 1.01330671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.226875 meters Centerline goodness [0,1] 0.9997275744217148 Centerline is valid? [True, True] Translation: X:44.65, Y:12.09, Z:1.01 [[ 9.22566949e-01 -3.84934842e-01 -2.63702849e-02 4.46456292e+01] [ 3.84757334e-01 9.22943519e-01 -1.17070135e-02 1.20899544e+01] [ 2.88447210e-02 6.54343208e-04 9.99583690e-01 1.01478266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters Centerline goodness [0,1] 0.9997764641597536 Centerline is valid? [True, True] Translation: X:44.67, Y:12.10, Z:1.02 [[ 9.22541411e-01 -3.84995423e-01 -2.63793482e-02 4.46702051e+01] [ 3.84817602e-01 9.22918246e-01 -1.17185306e-02 1.21020891e+01] [ 2.88575624e-02 6.59592304e-04 9.99583316e-01 1.01633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.286874999999995 meters Centerline goodness [0,1] 0.9997527078490529 Centerline is valid? [True, True] Translation: X:44.70, Y:12.11, Z:1.02 [[ 9.22719647e-01 -3.84578895e-01 -2.62207298e-02 4.46963973e+01] [ 3.84402906e-01 9.23091881e-01 -1.16526981e-02 1.21136440e+01] [ 2.86855246e-02 6.72848768e-04 9.99588259e-01 1.01944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters Centerline goodness [0,1] 0.9994306366967026 Centerline is valid? [True, True] Translation: X:44.72, Y:12.13, Z:1.02 [[ 9.23025044e-01 -3.83837161e-01 -2.63401445e-02 4.47220140e+01] [ 3.83659044e-01 9.23400528e-01 -1.17133385e-02 1.21265577e+01] [ 2.88185179e-02 7.06070143e-04 9.99584411e-01 1.01936686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.346875 meters Centerline goodness [0,1] 0.9994587280108255 Centerline is valid? [True, True] Translation: X:44.75, Y:12.14, Z:1.02 [[ 9.23525933e-01 -3.82632783e-01 -2.63059698e-02 4.47466551e+01] [ 3.82454458e-01 9.23900207e-01 -1.17044655e-02 1.21402016e+01] [ 2.87826032e-02 7.48541977e-04 9.99585415e-01 1.01854450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters Centerline goodness [0,1] 0.9995317775203924 Centerline is valid? [True, True] Translation: X:44.77, Y:12.15, Z:1.02 [[ 9.23959561e-01 -3.81599151e-01 -2.60925031e-02 4.47718089e+01] [ 3.81423190e-01 9.24327584e-01 -1.16132257e-02 1.21540382e+01] [ 2.85496174e-02 7.77865123e-04 9.99592074e-01 1.01864736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.406875 meters Centerline goodness [0,1] 0.9999015917533889 Centerline is valid? [True, True] Translation: X:44.80, Y:12.17, Z:1.02 [[ 9.24890616e-01 -3.79307475e-01 -2.65176895e-02 4.47960830e+01] [ 3.79124604e-01 9.25270277e-01 -1.18088454e-02 1.21683096e+01] [ 2.90152132e-02 8.68381727e-04 9.99578593e-01 1.02008357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters Centerline goodness [0,1] 0.9996552488364648 Centerline is valid? [True, True] Translation: X:44.82, Y:12.18, Z:1.02 [[ 9.25165355e-01 -3.78634590e-01 -2.65502071e-02 4.48227735e+01] [ 3.78450881e-01 9.25545811e-01 -1.18272235e-02 1.21788501e+01] [ 2.90516288e-02 8.94188140e-04 9.99577512e-01 1.02226444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.466874999999995 meters Centerline goodness [0,1] 0.9996552488364648 Centerline is valid? [True, True] Translation: X:44.85, Y:12.19, Z:1.02 [[ 9.25060635e-01 -3.78890570e-01 -2.65472553e-02 4.48479705e+01] [ 3.78706776e-01 9.25441050e-01 -1.18338458e-02 1.21902012e+01] [ 2.90516524e-02 8.93399458e-04 9.99577512e-01 1.02286461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters Centerline goodness [0,1] 0.9997031025780593 Centerline is valid? [True, True] Translation: X:44.87, Y:12.20, Z:1.03 [[ 9.25202933e-01 -3.78573586e-01 -2.61069574e-02 4.48744275e+01] [ 3.78395476e-01 9.25570763e-01 -1.16458982e-02 1.22013435e+01] [ 2.85726660e-02 8.96064606e-04 9.99591316e-01 1.02508532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.526875 meters Centerline goodness [0,1] 0.9997031319578448 Centerline is valid? [True, True] Translation: X:44.90, Y:12.21, Z:1.03 [[ 9.25537425e-01 -3.77778379e-01 -2.57676587e-02 4.49008147e+01] [ 3.77604348e-01 9.25895598e-01 -1.15021006e-02 1.22129170e+01] [ 2.82034067e-02 9.15644585e-04 9.99601785e-01 1.02719696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters Centerline goodness [0,1] 0.9996055518576042 Centerline is valid? [True, True] Translation: X:44.93, Y:12.22, Z:1.03 [[ 9.25371463e-01 -3.78164295e-01 -2.60657323e-02 4.49261781e+01] [ 3.77986133e-01 9.25738039e-01 -1.16433148e-02 1.22244596e+01] [ 2.85331258e-02 9.21905852e-04 9.99592422e-01 1.02671710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.586875 meters Centerline goodness [0,1] 0.9995061240616357 Centerline is valid? [True, True] Translation: X:44.95, Y:12.24, Z:1.03 [[ 9.25482348e-01 -3.77842900e-01 -2.67799720e-02 4.49504748e+01] [ 3.77654466e-01 9.25869220e-01 -1.19704582e-02 1.22375803e+01] [ 2.93177044e-02 9.64871743e-04 9.99569678e-01 1.02537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters Centerline goodness [0,1] 0.9997546012269939 Centerline is valid? [True, True] Translation: X:44.98, Y:12.25, Z:1.02 [[ 9.25678977e-01 -3.77333683e-01 -2.71610741e-02 4.49757988e+01] [ 3.77139471e-01 9.26076828e-01 -1.21460943e-02 1.22510349e+01] [ 2.97363718e-02 9.99871070e-04 9.99557276e-01 1.02399449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.646874999999994 meters Centerline goodness [0,1] 0.9997048841670355 Centerline is valid? [True, True] Translation: X:45.00, Y:12.26, Z:1.03 [[ 9.25520876e-01 -3.77695097e-01 -2.75231145e-02 4.50014577e+01] [ 3.77495579e-01 9.25929476e-01 -1.23163615e-02 1.22621563e+01] [ 3.01362923e-02 1.00919562e-03 9.99545289e-01 1.02544816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters Centerline goodness [0,1] 0.9994833694154694 Centerline is valid? [True, True] Translation: X:45.03, Y:12.27, Z:1.03 [[ 9.25275180e-01 -3.78218845e-01 -2.85717732e-02 4.50285296e+01] [ 3.78003772e-01 9.25715629e-01 -1.27954028e-02 1.22714115e+01] [ 3.12887995e-02 1.03903052e-03 9.99509846e-01 1.02705413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.706875 meters Centerline goodness [0,1] 0.9996804954777821 Centerline is valid? [True, True] Translation: X:45.06, Y:12.28, Z:1.03 [[ 9.24951035e-01 -3.79040912e-01 -2.81703699e-02 4.50556270e+01] [ 3.78831946e-01 9.25379369e-01 -1.26245970e-02 1.22829282e+01] [ 3.08535179e-02 1.00529801e-03 9.99523411e-01 1.02835016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters Centerline goodness [0,1] 0.9996552318565765 Centerline is valid? [True, True] Translation: X:45.08, Y:12.30, Z:1.03 [[ 9.24539896e-01 -3.80075002e-01 -2.77303828e-02 4.50809957e+01] [ 3.79872789e-01 9.24955171e-01 -1.24336582e-02 1.22953148e+01] [ 3.03750836e-02 9.61395245e-04 9.99538108e-01 1.02873643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.766875 meters Centerline goodness [0,1] 0.9999015651146766 Centerline is valid? [True, True] Translation: X:45.11, Y:12.30, Z:1.03 [[ 9.23686061e-01 -3.82235536e-01 -2.64585579e-02 4.51098151e+01] [ 3.82052219e-01 9.24064536e-01 -1.18673893e-02 1.23019534e+01] [ 2.89855530e-02 8.53191314e-04 9.99579466e-01 1.03169747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters Centerline goodness [0,1] 0.9997292107724878 Centerline is valid? [True, True] Translation: X:45.14, Y:12.31, Z:1.03 [[ 9.18349244e-01 -3.94933702e-01 -2.57300656e-02 4.51394135e+01] [ 3.94765115e-01 9.18709514e-01 -1.15469943e-02 1.23058781e+01] [ 2.81987532e-02 4.46841182e-04 9.99602236e-01 1.03343481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.826874999999994 meters Centerline goodness [0,1] 0.9997783469608905 Centerline is valid? [True, True] Translation: X:45.17, Y:12.31, Z:1.03 [[ 9.16063042e-01 -4.00231661e-01 -2.53598476e-02 4.51676077e+01] [ 4.00069841e-01 9.16413956e-01 -1.13834841e-02 1.23138806e+01] [ 2.77961490e-02 2.82278859e-04 9.99613573e-01 1.03449014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters Centerline goodness [0,1] 0.9997785106068809 Centerline is valid? [True, True] Translation: X:45.20, Y:12.32, Z:1.04 [[ 9.14038390e-01 -4.04876155e-01 -2.46803949e-02 4.51951624e+01] [ 4.04724442e-01 9.14371521e-01 -1.10836396e-02 1.23224342e+01] [ 2.70545516e-02 1.42113046e-04 9.99633949e-01 1.03633352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.886874999999996 meters Centerline goodness [0,1] 0.9998268569591136 Centerline is valid? [True, True] Translation: X:45.22, Y:12.33, Z:1.04 [[ 9.10895190e-01 -4.11907797e-01 -2.45340513e-02 4.52236003e+01] [ 4.11760230e-01 9.11225528e-01 -1.10249647e-02 1.23299023e+01] [ 2.68973228e-02 -5.95592712e-05 9.99638200e-01 1.03758825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters Centerline goodness [0,1] 0.9998769473088377 Centerline is valid? [True, True] Translation: X:45.25, Y:12.34, Z:1.04 [[ 9.09859020e-01 -4.14175848e-01 -2.47978074e-02 4.52495281e+01] [ 4.14025761e-01 9.10196875e-01 -1.11497730e-02 1.23394952e+01] [ 2.71888534e-02 -1.22209556e-04 9.99630307e-01 1.03660490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.946875 meters Centerline goodness [0,1] 0.9998764486396995 Centerline is valid? [True, True] Translation: X:45.28, Y:12.35, Z:1.04 [[ 9.08560421e-01 -4.16985813e-01 -2.53138977e-02 4.52765142e+01] [ 4.16830401e-01 9.08912971e-01 -1.13854479e-02 1.23502766e+01] [ 2.77557002e-02 -2.07234772e-04 9.99614715e-01 1.03696042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters Centerline goodness [0,1] 0.9996546961325967 Centerline is valid? [True, True] Translation: X:45.30, Y:12.36, Z:1.04 [[ 9.08579774e-01 -4.16952908e-01 -2.51608248e-02 4.53011447e+01] [ 4.16799177e-01 9.08928068e-01 -1.13230980e-02 1.23607581e+01] [ 2.75905785e-02 -1.99073269e-04 9.99619288e-01 1.03882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.006874999999994 meters Centerline goodness [0,1] 0.9999257921686002 Centerline is valid? [True, True] Translation: X:45.33, Y:12.37, Z:1.04 [[ 9.08769201e-01 -4.16559821e-01 -2.48285122e-02 4.53267744e+01] [ 4.16409857e-01 9.09108290e-01 -1.11780393e-02 1.23732487e+01] [ 2.72281283e-02 -1.80579356e-04 9.99629229e-01 1.04147428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters Centerline goodness [0,1] 0.9998515255747198 Centerline is valid? [True, True] Translation: X:45.35, Y:12.39, Z:1.04 [[ 9.09918935e-01 -4.14044112e-01 -2.47992878e-02 4.53508909e+01] [ 4.13893370e-01 9.10256812e-01 -1.11720804e-02 1.23869343e+01] [ 2.71994548e-02 -9.85732514e-05 9.99630022e-01 1.04188378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.066874999999996 meters Centerline goodness [0,1] 0.9998018330443399 Centerline is valid? [True, True] Translation: X:45.38, Y:12.40, Z:1.04 [[ 9.10781485e-01 -4.12149220e-01 -2.47003683e-02 4.53756622e+01] [ 4.11998911e-01 9.11116359e-01 -1.11300603e-02 1.24005680e+01] [ 2.70921553e-02 -3.94720276e-05 9.99632939e-01 1.04184582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:45.40, Y:12.41, Z:1.04 [[ 9.11572603e-01 -4.10388360e-01 -2.48351241e-02 4.54005297e+01] [ 4.10235655e-01 9.11910848e-01 -1.11943690e-02 1.24145804e+01] [ 2.72414578e-02 1.62267642e-05 9.99628882e-01 1.04166210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.126875 meters Centerline goodness [0,1] 0.9998271818294038 Centerline is valid? [True, True] Translation: X:45.43, Y:12.43, Z:1.04 [[ 9.13282839e-01 -4.06548424e-01 -2.51562090e-02 4.54252814e+01] [ 4.06390066e-01 9.13629224e-01 -1.13470342e-02 1.24310104e+01] [ 2.75965665e-02 1.39818151e-04 9.99619132e-01 1.04038322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters Centerline goodness [0,1] 0.999753159557662 Centerline is valid? [True, True] Translation: X:45.45, Y:12.45, Z:1.04 [[ 9.14167000e-01 -4.04516488e-01 -2.57896745e-02 4.54511314e+01] [ 4.04349033e-01 9.14530681e-01 -1.16401786e-02 1.24450115e+01] [ 2.82940927e-02 2.13037160e-04 9.99599619e-01 1.04027107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.186875 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:45.48, Y:12.46, Z:1.04 [[ 9.15009773e-01 -4.02596440e-01 -2.59465096e-02 4.54753776e+01] [ 4.02425989e-01 9.15377533e-01 -1.17173012e-02 1.24588729e+01] [ 2.84681957e-02 2.79895316e-04 9.99594660e-01 1.04059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters Centerline goodness [0,1] 0.9998526341643129 Centerline is valid? [True, True] Translation: X:45.50, Y:12.47, Z:1.04 [[ 9.15754878e-01 -4.00953029e-01 -2.50932712e-02 4.54994351e+01] [ 4.00792921e-01 9.16098556e-01 -1.13344570e-02 1.24723872e+01] [ 2.75324943e-02 3.22378833e-04 9.99620857e-01 1.04239227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.246874999999996 meters Centerline goodness [0,1] 0.9998778223047601 Centerline is valid? [True, True] Translation: X:45.52, Y:12.49, Z:1.04 [[ 9.17398408e-01 -3.97190275e-01 -2.49007349e-02 4.55225409e+01] [ 3.97031160e-01 9.17736180e-01 -1.12499737e-02 1.24890888e+01] [ 2.73206855e-02 4.34340305e-04 9.99626626e-01 1.04375901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters Centerline goodness [0,1] 0.9997316876844647 Centerline is valid? [True, True] Translation: X:45.55, Y:12.50, Z:1.04 [[ 9.17869068e-01 -3.96063978e-01 -2.54891826e-02 4.55486325e+01] [ 3.95896716e-01 9.18222790e-01 -1.15194394e-02 1.25018509e+01] [ 2.79671834e-02 4.82253370e-04 9.99608725e-01 1.04372462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.306875 meters Centerline goodness [0,1] 0.9997806536521167 Centerline is valid? [True, True] Translation: X:45.57, Y:12.52, Z:1.04 [[ 9.18255413e-01 -3.95159487e-01 -2.56120523e-02 4.55743779e+01] [ 3.94990052e-01 9.18612383e-01 -1.15822111e-02 1.25156749e+01] [ 2.81043690e-02 5.18922153e-04 9.99604860e-01 1.04293754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters Centerline goodness [0,1] 0.9996593922584727 Centerline is valid? [True, True] Translation: X:45.60, Y:12.53, Z:1.04 [[ 9.18589635e-01 -3.94354266e-01 -2.60345076e-02 4.56000467e+01] [ 3.94178661e-01 9.18958323e-01 -1.17806382e-02 1.25291533e+01] [ 2.85703724e-02 5.59324795e-04 9.99591627e-01 1.04194864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.366875 meters Centerline goodness [0,1] 0.9998534369045874 Centerline is valid? [True, True] Translation: X:45.63, Y:12.54, Z:1.04 [[ 9.18332129e-01 -3.94925204e-01 -2.64610028e-02 4.56254606e+01] [ 3.94743809e-01 9.18713107e-01 -1.19813749e-02 1.25403230e+01] [ 2.90418170e-02 5.57564465e-04 9.99578042e-01 1.04314593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters Centerline goodness [0,1] 0.9996821982105315 Centerline is valid? [True, True] Translation: X:45.65, Y:12.55, Z:1.04 [[ 9.17895228e-01 -3.95912909e-01 -2.68574013e-02 4.56522434e+01] [ 3.95726209e-01 9.18287904e-01 -1.21693091e-02 1.25508588e+01] [ 2.94808133e-02 5.41973137e-04 9.99565199e-01 1.04411245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.426874999999995 meters Centerline goodness [0,1] 0.9996578773734757 Centerline is valid? [True, True] Translation: X:45.68, Y:12.56, Z:1.05 [[ 9.17410796e-01 -3.97086017e-01 -2.60792444e-02 4.56795895e+01] [ 3.96910245e-01 9.17781264e-01 -1.18240657e-02 1.25613307e+01] [ 2.86302131e-02 4.96406196e-04 9.99589948e-01 1.04620908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters Centerline goodness [0,1] 0.9997799618600557 Centerline is valid? [True, True] Translation: X:45.71, Y:12.57, Z:1.05 [[ 9.16500611e-01 -3.99245153e-01 -2.50985687e-02 4.57057374e+01] [ 3.99082993e-01 9.16844116e-01 -1.13856090e-02 1.25713547e+01] [ 2.75571242e-02 4.18505742e-04 9.99620143e-01 1.04877782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.486875 meters Centerline goodness [0,1] 0.9998533509312216 Centerline is valid? [True, True] Translation: X:45.73, Y:12.58, Z:1.05 [[ 9.15998286e-01 -4.00396998e-01 -2.50875260e-02 4.57324421e+01] [ 4.00235314e-01 9.16341691e-01 -1.13841501e-02 1.25824456e+01] [ 2.75469255e-02 3.86948086e-04 9.99620437e-01 1.05020573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters Centerline goodness [0,1] 0.9998537191896043 Centerline is valid? [True, True] Translation: X:45.76, Y:12.59, Z:1.05 [[ 9.15535570e-01 -4.01424285e-01 -2.55570677e-02 4.57592644e+01] [ 4.01256705e-01 9.15892137e-01 -1.16038454e-02 1.25944667e+01] [ 2.80655827e-02 3.68788421e-04 9.99606016e-01 1.04998460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.546875 meters Centerline goodness [0,1] 0.9998777476221913 Centerline is valid? [True, True] Translation: X:45.78, Y:12.61, Z:1.05 [[ 9.15451948e-01 -4.01629381e-01 -2.53292726e-02 4.57834311e+01] [ 4.01464747e-01 9.15802221e-01 -1.15042636e-02 1.26060095e+01] [ 2.78170544e-02 3.62790494e-04 9.99612965e-01 1.05006000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters Centerline goodness [0,1] 0.9997551060390851 Centerline is valid? [True, True] Translation: X:45.81, Y:12.62, Z:1.05 [[ 9.15385920e-01 -4.01767048e-01 -2.55314899e-02 4.58094250e+01] [ 4.01599698e-01 9.15741833e-01 -1.16007591e-02 1.26175473e+01] [ 2.80410561e-02 3.65732876e-04 9.99606705e-01 1.05114393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.606874999999995 meters Centerline goodness [0,1] 0.9998293556958631 Centerline is valid? [True, True] Translation: X:45.84, Y:12.63, Z:1.05 [[ 9.15810306e-01 -4.00847347e-01 -2.47565750e-02 4.58357905e+01] [ 4.00689461e-01 9.16144777e-01 -1.12562445e-02 1.26303832e+01] [ 2.71926426e-02 3.88885991e-04 9.99630136e-01 1.05254703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters Centerline goodness [0,1] 0.9997565606894201 Centerline is valid? [True, True] Translation: X:45.86, Y:12.64, Z:1.05 [[ 9.16053608e-01 -4.00269734e-01 -2.50983507e-02 4.58604913e+01] [ 4.00107066e-01 9.16397275e-01 -1.14179442e-02 1.26436058e+01] [ 2.75703177e-02 4.17421569e-04 9.99619779e-01 1.05198490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.666875 meters Centerline goodness [0,1] 0.999757175465009 Centerline is valid? [True, True] Translation: X:45.89, Y:12.66, Z:1.05 [[ 9.15981576e-01 -4.00427107e-01 -2.52167471e-02 4.58863323e+01] [ 4.00262855e-01 9.16328520e-01 -1.14755936e-02 1.26555970e+01] [ 2.77019633e-02 4.18105133e-04 9.99616140e-01 1.05179003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters Centerline goodness [0,1] 0.9997074241131293 Centerline is valid? [True, True] Translation: X:45.91, Y:12.67, Z:1.05 [[ 9.15940294e-01 -4.00514233e-01 -2.53323358e-02 4.59117315e+01] [ 4.00348273e-01 9.16290439e-01 -1.15365395e-02 1.26668035e+01] [ 2.78323253e-02 4.25024548e-04 9.99612515e-01 1.05261818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.726875 meters Centerline goodness [0,1] 0.9997810059128404 Centerline is valid? [True, True] Translation: X:45.94, Y:12.68, Z:1.05 [[ 9.15664463e-01 -4.01175485e-01 -2.48358775e-02 4.59373382e+01] [ 4.01016019e-01 9.16001129e-01 -1.13174440e-02 1.26782277e+01] [ 2.72899729e-02 4.03396517e-04 9.99627478e-01 1.05416516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters Centerline goodness [0,1] 0.9997797626330601 Centerline is valid? [True, True] Translation: X:45.96, Y:12.69, Z:1.06 [[ 9.15477132e-01 -4.01599477e-01 -2.48893652e-02 4.59636631e+01] [ 4.01439379e-01 9.15815322e-01 -1.13455212e-02 1.26887230e+01] [ 2.73504173e-02 3.94993876e-04 9.99625829e-01 1.05562245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.786874999999995 meters Centerline goodness [0,1] 0.9998775979828147 Centerline is valid? [True, True] Translation: X:45.99, Y:12.70, Z:1.06 [[ 9.14948340e-01 -4.02817545e-01 -2.46487477e-02 4.59888758e+01] [ 4.02660781e-01 9.15280228e-01 -1.12427969e-02 1.27004865e+01] [ 2.70893073e-02 3.61494358e-04 9.99632952e-01 1.05583821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters Centerline goodness [0,1] 0.9998777804937669 Centerline is valid? [True, True] Translation: X:46.01, Y:12.71, Z:1.06 [[ 9.14849132e-01 -4.03020883e-01 -2.50046449e-02 4.60148383e+01] [ 4.02859533e-01 9.15190710e-01 -1.14088546e-02 1.27117802e+01] [ 2.74820253e-02 3.64021214e-04 9.99622232e-01 1.05563325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.846875 meters Centerline goodness [0,1] 0.9998294762484775 Centerline is valid? [True, True] Translation: X:46.04, Y:12.72, Z:1.05 [[ 9.14839115e-01 -4.02996177e-01 -2.57580046e-02 4.60405456e+01] [ 4.02824741e-01 9.15201582e-01 -1.17598157e-02 1.27238014e+01] [ 2.83129274e-02 3.82377821e-04 9.99599036e-01 1.05480766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters Centerline goodness [0,1] 0.9999265551937718 Centerline is valid? [True, True] Translation: X:46.07, Y:12.74, Z:1.05 [[ 9.14791392e-01 -4.03040133e-01 -2.67462185e-02 4.60674781e+01] [ 4.02855187e-01 9.15182218e-01 -1.22150252e-02 1.27353188e+01] [ 2.94008090e-02 3.99347075e-04 9.99567623e-01 1.05438880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.906875 meters Centerline goodness [0,1] 0.999828199779114 Centerline is valid? [True, True] Translation: X:46.09, Y:12.75, Z:1.05 [[ 9.14701055e-01 -4.03136824e-01 -2.83316361e-02 4.60945460e+01] [ 4.02929078e-01 9.15139617e-01 -1.29475577e-02 1.27465264e+01] [ 3.11470398e-02 4.27504637e-04 9.99514722e-01 1.05348435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters Centerline goodness [0,1] 0.9998770441411533 Centerline is valid? [True, True] Translation: X:46.12, Y:12.76, Z:1.05 [[ 9.14633741e-01 -4.03314615e-01 -2.79721588e-02 4.61204673e+01] [ 4.03111937e-01 9.15061278e-01 -1.27915716e-02 1.27573271e+01] [ 3.07552671e-02 4.23691857e-04 9.99526855e-01 1.05487405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.966874999999995 meters Centerline goodness [0,1] 0.9999260756000197 Centerline is valid? [True, True] Translation: X:46.15, Y:12.77, Z:1.06 [[ 9.14518048e-01 -4.03593557e-01 -2.77305120e-02 4.61461845e+01] [ 4.03394219e-01 9.14938285e-01 -1.26901248e-02 1.27675901e+01] [ 3.04933597e-02 4.19019884e-04 9.99534882e-01 1.05686387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters Centerline goodness [0,1] 0.9998030090369604 Centerline is valid? [True, True] Translation: X:46.17, Y:12.78, Z:1.06 [[ 9.14527951e-01 -4.03617627e-01 -2.70451007e-02 4.61708268e+01] [ 4.03427815e-01 9.14927669e-01 -1.23838214e-02 1.27791692e+01] [ 2.97426396e-02 4.14604941e-04 9.99557504e-01 1.05724097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.026875 meters Centerline goodness [0,1] 0.999876859422717 Centerline is valid? [True, True] Translation: X:46.20, Y:12.79, Z:1.06 [[ 9.14409044e-01 -4.03939351e-01 -2.62507267e-02 4.61963335e+01] [ 4.03760521e-01 9.14785682e-01 -1.20249163e-02 1.27900888e+01] [ 2.88711258e-02 3.96685156e-04 9.99583063e-01 1.05793594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters Centerline goodness [0,1] 0.9998265695456122 Centerline is valid? [True, True] Translation: X:46.22, Y:12.80, Z:1.06 [[ 9.14294094e-01 -4.04248737e-01 -2.54807366e-02 4.62231303e+01] [ 4.04080136e-01 9.14649010e-01 -1.16803905e-02 1.28000068e+01] [ 2.80277136e-02 3.83052529e-04 9.99607073e-01 1.05912864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.086875 meters Centerline goodness [0,1] 0.9998263328950306 Centerline is valid? [True, True] Translation: X:46.25, Y:12.81, Z:1.06 [[ 9.14095034e-01 -4.04714829e-01 -2.52225415e-02 4.62490735e+01] [ 4.04549577e-01 9.14442873e-01 -1.15702815e-02 1.28108682e+01] [ 2.77472378e-02 3.72568397e-04 9.99614902e-01 1.06021976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters Centerline goodness [0,1] 0.9998014050592061 Centerline is valid? [True, True] Translation: X:46.27, Y:12.82, Z:1.06 [[ 9.14117949e-01 -4.04693871e-01 -2.47234002e-02 4.62745635e+01] [ 4.04534870e-01 9.14452148e-01 -1.13493329e-02 1.28223125e+01] [ 2.72013719e-02 3.73151465e-04 9.99629905e-01 1.06105040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.146874999999994 meters Centerline goodness [0,1] 0.9997281131049484 Centerline is valid? [True, True] Translation: X:46.30, Y:12.83, Z:1.06 [[ 9.14335066e-01 -4.04205347e-01 -2.46865152e-02 4.63007344e+01] [ 4.04046427e-01 9.14668181e-01 -1.13403112e-02 1.28346661e+01] [ 2.71637844e-02 3.94345915e-04 9.99630919e-01 1.06150273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters Centerline goodness [0,1] 0.99980101977366 Centerline is valid? [True, True] Translation: X:46.33, Y:12.85, Z:1.06 [[ 9.15128979e-01 -4.02396833e-01 -2.48141098e-02 4.63266491e+01] [ 4.02235405e-01 9.15465226e-01 -1.14060951e-02 1.28483626e+01] [ 2.73062312e-02 4.56934667e-04 9.99627011e-01 1.06019128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.206875 meters Centerline goodness [0,1] 0.9998009554140127 Centerline is valid? [True, True] Translation: X:46.35, Y:12.86, Z:1.06 [[ 9.15480360e-01 -4.01584446e-01 -2.50128676e-02 4.63526645e+01] [ 4.01419919e-01 9.15821867e-01 -1.15046819e-02 1.28610263e+01] [ 2.75274323e-02 4.91647038e-04 9.99620928e-01 1.06047287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters Centerline goodness [0,1] 0.9997760302608003 Centerline is valid? [True, True] Translation: X:46.38, Y:12.87, Z:1.06 [[ 9.15842145e-01 -4.00710237e-01 -2.57773360e-02 4.63793061e+01] [ 4.00534934e-01 9.16204679e-01 -1.18639382e-02 1.28732414e+01] [ 2.83713174e-02 5.40771086e-04 9.99597307e-01 1.05951749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.266875 meters Centerline goodness [0,1] 0.9998016660055533 Centerline is valid? [True, True] Translation: X:46.40, Y:12.88, Z:1.06 [[ 9.15783728e-01 -4.00815651e-01 -2.62102785e-02 4.64040571e+01] [ 4.00634254e-01 9.16158561e-01 -1.20700235e-02 1.28843902e+01] [ 2.88506254e-02 5.52795704e-04 9.99583581e-01 1.05933086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters Centerline goodness [0,1] 0.9998501386217749 Centerline is valid? [True, True] Translation: X:46.43, Y:12.90, Z:1.06 [[ 9.15312008e-01 -4.01873290e-01 -2.64912707e-02 4.64303972e+01] [ 4.01688285e-01 9.15695134e-01 -1.22042199e-02 1.28953381e+01] [ 2.91624777e-02 5.29435952e-04 9.99574544e-01 1.05987835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.326874999999994 meters Centerline goodness [0,1] 0.9999250636958585 Centerline is valid? [True, True] Translation: X:46.46, Y:12.91, Z:1.06 [[ 9.15038237e-01 -4.02507188e-01 -2.63246680e-02 4.64568720e+01] [ 4.02324539e-01 9.15416681e-01 -1.21353019e-02 1.29060141e+01] [ 2.89825864e-02 5.13205361e-04 9.99579785e-01 1.06214904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters Centerline goodness [0,1] 0.9999250636958585 Centerline is valid? [True, True] Translation: X:46.48, Y:12.92, Z:1.06 [[ 9.14928628e-01 -4.02756491e-01 -2.63213696e-02 4.64819150e+01] [ 4.02573739e-01 9.15307022e-01 -1.21424524e-02 1.29176861e+01] [ 2.89825860e-02 5.13185085e-04 9.99579785e-01 1.06274861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.386874999999996 meters Centerline goodness [0,1] 0.9998740554156171 Centerline is valid? [True, True] Translation: X:46.51, Y:12.93, Z:1.06 [[ 9.14222346e-01 -4.04341359e-01 -2.65625196e-02 4.65099530e+01] [ 4.04155658e-01 9.14608025e-01 -1.22622948e-02 1.29264371e+01] [ 2.92524465e-02 4.75071305e-04 9.99571943e-01 1.06310834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters Centerline goodness [0,1] 0.999924710134016 Centerline is valid? [True, True] Translation: X:46.54, Y:12.94, Z:1.06 [[ 9.13654999e-01 -4.05646029e-01 -2.61885915e-02 4.65364042e+01] [ 4.05465835e-01 9.14030148e-01 -1.20973235e-02 1.29371580e+01] [ 2.88443934e-02 4.34200952e-04 9.99583820e-01 1.06324441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.446875 meters Centerline goodness [0,1] 0.9998743466023321 Centerline is valid? [True, True] Translation: X:46.56, Y:12.95, Z:1.06 [[ 9.12870752e-01 -4.07537873e-01 -2.40805494e-02 4.65626411e+01] [ 4.07386029e-01 9.13188239e-01 -1.11293851e-02 1.29472849e+01] [ 2.65257204e-02 3.49610723e-04 9.99648070e-01 1.06416002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters Centerline goodness [0,1] 0.9998744979919679 Centerline is valid? [True, True] Translation: X:46.59, Y:12.96, Z:1.07 [[ 9.12698834e-01 -4.07933942e-01 -2.38901026e-02 4.65884871e+01] [ 4.07784562e-01 9.13011383e-01 -1.10438304e-02 1.29584918e+01] [ 2.63170889e-02 3.37676053e-04 9.99653588e-01 1.06540545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.506874999999994 meters Centerline goodness [0,1] 0.9999748402354954 Centerline is valid? [True, True] Translation: X:46.61, Y:12.97, Z:1.07 [[ 9.12362256e-01 -4.08666800e-01 -2.42190220e-02 4.66147328e+01] [ 4.08513442e-01 9.12683593e-01 -1.11993982e-02 1.29687067e+01] [ 2.66811262e-02 3.24112231e-04 9.99643943e-01 1.06616310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters Centerline goodness [0,1] 0.999848481022248 Centerline is valid? [True, True] Translation: X:46.64, Y:12.98, Z:1.07 [[ 9.12391084e-01 -4.08499596e-01 -2.58957350e-02 4.66410617e+01] [ 4.08323947e-01 9.12758429e-01 -1.19834856e-02 1.29805148e+01] [ 2.85317995e-02 3.59776679e-04 9.99592821e-01 1.06634345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.566874999999996 meters Centerline goodness [0,1] 0.9998988621997471 Centerline is valid? [True, True] Translation: X:46.67, Y:12.99, Z:1.07 [[ 9.12486707e-01 -4.08253351e-01 -2.64047608e-02 4.66669016e+01] [ 4.08070398e-01 9.12868586e-01 -1.22267916e-02 1.29929228e+01] [ 2.90957053e-02 3.81783493e-04 9.99576557e-01 1.06691229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters Centerline goodness [0,1] 0.9999246477281291 Centerline is valid? [True, True] Translation: X:46.69, Y:13.01, Z:1.07 [[ 9.13141277e-01 -4.06821784e-01 -2.58658881e-02 4.66922345e+01] [ 4.06645437e-01 9.13507446e-01 -1.19847517e-02 1.30078014e+01] [ 2.85043395e-02 4.25526098e-04 9.99593578e-01 1.06680685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.626875 meters Centerline goodness [0,1] 0.9999247044650252 Centerline is valid? [True, True] Translation: X:46.72, Y:13.02, Z:1.07 [[ 9.13505870e-01 -4.06033988e-01 -2.53658243e-02 4.67163032e+01] [ 4.05863915e-01 9.13857867e-01 -1.17593525e-02 1.30218504e+01] [ 2.79554549e-02 4.47164833e-04 9.99609070e-01 1.06649079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters Centerline goodness [0,1] 0.999874686716792 Centerline is valid? [True, True] Translation: X:46.74, Y:13.03, Z:1.07 [[ 9.13810830e-01 -4.05357572e-01 -2.51993010e-02 4.67428185e+01] [ 4.05189367e-01 9.14158093e-01 -1.16857749e-02 1.30341688e+01] [ 2.77730623e-02 4.68098867e-04 9.99614145e-01 1.06799910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68687499999999 meters Centerline goodness [0,1] 0.9999249643580701 Centerline is valid? [True, True] Translation: X:46.77, Y:13.05, Z:1.07 [[ 9.14222082e-01 -4.04371712e-01 -2.61056383e-02 4.67681338e+01] [ 4.04190561e-01 9.14594580e-01 -1.21138466e-02 1.30480783e+01] [ 2.87745722e-02 5.23093496e-04 9.99585789e-01 1.06832476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters Centerline goodness [0,1] 0.9998746081504702 Centerline is valid? [True, True] Translation: X:46.79, Y:13.06, Z:1.07 [[ 9.14403314e-01 -4.03909152e-01 -2.69068129e-02 4.67933533e+01] [ 4.03716312e-01 9.14798930e-01 -1.24922549e-02 1.30611203e+01] [ 2.96600598e-02 5.60240010e-04 9.99559887e-01 1.06850508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.746874999999996 meters Centerline goodness [0,1] 0.9998252708302132 Centerline is valid? [True, True] Translation: X:46.82, Y:13.07, Z:1.07 [[ 9.14871687e-01 -4.02852170e-01 -2.68314195e-02 4.68187634e+01] [ 4.02659833e-01 9.15264865e-01 -1.24613650e-02 1.30741132e+01] [ 2.95779434e-02 5.96615159e-04 9.99562299e-01 1.06922850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters Centerline goodness [0,1] 0.9998744444165432 Centerline is valid? [True, True] Translation: X:46.84, Y:13.09, Z:1.07 [[ 9.15221278e-01 -4.02048553e-01 -2.69624373e-02 4.68442716e+01] [ 4.01853750e-01 9.15618130e-01 -1.25301157e-02 1.30875164e+01] [ 2.97250113e-02 6.32871990e-04 9.99557914e-01 1.07038423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:13.10, Z:1.07 [[ 9.15570632e-01 -4.01232736e-01 -2.72526925e-02 4.68695294e+01] [ 4.01033155e-01 9.15975895e-01 -1.26715956e-02 1.31005953e+01] [ 3.00470684e-02 6.72507526e-04 9.99548259e-01 1.07000154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters Centerline goodness [0,1] 0.9999500910837721 Centerline is valid? [True, True] Translation: X:46.89, Y:13.11, Z:1.07 [[ 9.15517345e-01 -4.01383617e-01 -2.68175891e-02 4.68948894e+01] [ 4.01190293e-01 9.15909797e-01 -1.24736919e-02 1.31122331e+01] [ 2.95692282e-02 6.60924791e-04 9.99562516e-01 1.07099127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.866875 meters Centerline goodness [0,1] 0.9999501619735859 Centerline is valid? [True, True] Translation: X:46.92, Y:13.12, Z:1.07 [[ 9.15491514e-01 -4.01517108e-01 -2.56768285e-02 4.69203199e+01] [ 4.01339701e-01 9.15851302e-01 -1.19514510e-02 1.31242348e+01] [ 2.83148688e-02 6.36321340e-04 9.99598851e-01 1.07281217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:13.14, Z:1.08 [[ 9.15540131e-01 -4.01486377e-01 -2.43917498e-02 4.69445003e+01] [ 4.01326088e-01 9.15864791e-01 -1.13602754e-02 1.31370173e+01] [ 2.69005406e-02 6.11742492e-04 9.99637928e-01 1.07515694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.926874999999995 meters Centerline goodness [0,1] 0.9998500187476566 Centerline is valid? [True, True] Translation: X:46.97, Y:13.15, Z:1.08 [[ 9.15343723e-01 -4.01918003e-01 -2.46533342e-02 4.69700393e+01] [ 4.01754290e-01 9.15675460e-01 -1.14866372e-02 1.31483712e+01] [ 2.71911395e-02 6.09638484e-04 9.99630067e-01 1.07579510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters Centerline goodness [0,1] 0.9999005692410947 Centerline is valid? [True, True] Translation: X:47.00, Y:13.16, Z:1.08 [[ 9.15135573e-01 -4.02402685e-01 -2.44737183e-02 4.69953091e+01] [ 4.02241307e-01 9.15462572e-01 -1.14109442e-02 1.31597574e+01] [ 2.69965677e-02 5.98220518e-04 9.99635347e-01 1.07738252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.986875 meters Centerline goodness [0,1] 0.9998757084617679 Centerline is valid? [True, True] Translation: X:47.02, Y:13.17, Z:1.08 [[ 9.14923198e-01 -4.02910781e-01 -2.40508556e-02 4.70201978e+01] [ 4.02754934e-01 9.15239076e-01 -1.12203349e-02 1.31714423e+01] [ 2.65330767e-02 5.79143945e-04 9.99647768e-01 1.07791235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters Centerline goodness [0,1] 0.9999253638512253 Centerline is valid? [True, True] Translation: X:47.05, Y:13.18, Z:1.08 [[ 9.14407214e-01 -4.04084075e-01 -2.39897461e-02 4.70464773e+01] [ 4.03929336e-01 9.14721685e-01 -1.11951142e-02 1.31824658e+01] [ 2.64677084e-02 5.46730997e-04 9.99649519e-01 1.07892152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.046875 meters Centerline goodness [0,1] 0.9999501917617174 Centerline is valid? [True, True] Translation: X:47.07, Y:13.19, Z:1.08 [[ 9.13093361e-01 -4.07007269e-01 -2.46088690e-02 4.70728479e+01] [ 4.06845324e-01 9.13424793e-01 -1.14904176e-02 1.31922115e+01] [ 2.71550346e-02 4.79820776e-04 9.99631119e-01 1.07826284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:13.20, Z:1.08 [[ 9.12263263e-01 -4.08843515e-01 -2.49543294e-02 4.70996422e+01] [ 4.08677578e-01 9.12604400e-01 -1.16552881e-02 1.32025194e+01] [ 2.75386198e-02 4.34416273e-04 9.99620646e-01 1.07870144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.106874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:13.21, Z:1.08 [[ 9.11110189e-01 -4.11436702e-01 -2.44553367e-02 4.71261646e+01] [ 4.11278080e-01 9.11438267e-01 -1.14292337e-02 1.32133992e+01] [ 2.69919359e-02 3.55347361e-04 9.99635588e-01 1.07831324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters Centerline goodness [0,1] 0.9998754142476266 Centerline is valid? [True, True] Translation: X:47.15, Y:13.22, Z:1.08 [[ 9.10467476e-01 -4.12873794e-01 -2.41703375e-02 4.71530900e+01] [ 4.12719168e-01 9.10788192e-01 -1.13030007e-02 1.32249340e+01] [ 2.66807708e-02 3.15452894e-04 9.99643955e-01 1.07847464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.166875 meters Centerline goodness [0,1] 0.9999750760181446 Centerline is valid? [True, True] Translation: X:47.18, Y:13.24, Z:1.08 [[ 9.09788450e-01 -4.14383101e-01 -2.39086141e-02 4.71799714e+01] [ 4.14232144e-01 9.10102505e-01 -1.11875202e-02 1.32360029e+01] [ 2.63952089e-02 2.74560214e-04 9.99651548e-01 1.07941238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters Centerline goodness [0,1] 0.9999750523899811 Centerline is valid? [True, True] Translation: X:47.21, Y:13.25, Z:1.08 [[ 9.09163213e-01 -4.15774201e-01 -2.35386178e-02 4.72054429e+01] [ 4.15628188e-01 9.09467843e-01 -1.10204942e-02 1.32465358e+01] [ 2.59896531e-02 2.36114870e-04 9.99662184e-01 1.08146902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:13.26, Z:1.08 [[ 9.08085121e-01 -4.18055463e-01 -2.47192740e-02 4.72321947e+01] [ 4.17895204e-01 9.08421486e-01 -1.15759204e-02 1.32554917e+01] [ 2.72948964e-02 1.81855019e-04 9.99627408e-01 1.08262003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters Centerline goodness [0,1] 0.9999748667940083 Centerline is valid? [True, True] Translation: X:47.26, Y:13.27, Z:1.08 [[ 9.07456200e-01 -4.19401416e-01 -2.50139515e-02 4.72579163e+01] [ 4.19237718e-01 9.07800876e-01 -1.17177045e-02 1.32661609e+01] [ 2.76221090e-02 1.46511673e-04 9.99618426e-01 1.08332095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.286874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.28, Y:13.28, Z:1.08 [[ 9.06825943e-01 -4.20745264e-01 -2.53008248e-02 4.72838757e+01] [ 4.20578074e-01 9.07178819e-01 -1.18606089e-02 1.32770132e+01] [ 2.79426674e-02 1.14535655e-04 9.99609521e-01 1.08335606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:13.29, Z:1.08 [[ 9.06348273e-01 -4.21762035e-01 -2.54871124e-02 4.73100803e+01] [ 4.21592535e-01 9.06706555e-01 -1.19564531e-02 1.32883474e+01] [ 2.81521098e-02 9.15342770e-05 9.99603647e-01 1.08363940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.34, Y:13.30, Z:1.08 [[ 9.05914556e-01 -4.22689659e-01 -2.55395777e-02 4.73362979e+01] [ 4.22519589e-01 9.06274488e-01 -1.19895680e-02 1.32994406e+01] [ 2.82137341e-02 7.05522647e-05 9.99601911e-01 1.08442406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters Centerline goodness [0,1] 0.9999495459132189 Centerline is valid? [True, True] Translation: X:47.36, Y:13.31, Z:1.09 [[ 9.05624236e-01 -4.23339822e-01 -2.50626787e-02 4.73617749e+01] [ 4.23176068e-01 9.05970966e-01 -1.17738757e-02 1.33109680e+01] [ 2.76904097e-02 5.67814162e-05 9.99616545e-01 1.08565994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.39, Y:13.32, Z:1.09 [[ 9.05732044e-01 -4.23165458e-01 -2.40927250e-02 4.73877141e+01] [ 4.23013867e-01 9.06052422e-01 -1.13259574e-02 1.33228485e+01] [ 2.66220258e-02 6.67258183e-05 9.99645569e-01 1.08880501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:13.33, Z:1.09 [[ 9.05891066e-01 -4.22850832e-01 -2.36336593e-02 4.74121810e+01] [ 4.22704674e-01 9.06199298e-01 -1.11171634e-02 1.33344873e+01] [ 2.61177073e-02 8.08807738e-05 9.99658871e-01 1.09042001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.466874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:13.35, Z:1.09 [[ 9.06193899e-01 -4.22279656e-01 -2.21925339e-02 4.74375012e+01] [ 4.22150525e-01 9.06465599e-01 -1.04427483e-02 1.33469851e+01] [ 2.45265287e-02 9.45649710e-05 9.99699175e-01 1.09165012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.46, Y:13.36, Z:1.09 [[ 9.05988353e-01 -4.22723680e-01 -2.21313232e-02 4.74627823e+01] [ 4.22595213e-01 9.06258618e-01 -1.04212751e-02 1.33587541e+01] [ 2.44620222e-02 8.89626016e-05 9.99700756e-01 1.09185505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:13.37, Z:1.09 [[ 9.05900119e-01 -4.22884277e-01 -2.26685552e-02 4.74889052e+01] [ 4.22749353e-01 9.06183690e-01 -1.06819754e-02 1.33703578e+01] [ 2.50591144e-02 9.36857312e-05 9.99685967e-01 1.09291617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.51, Y:13.38, Z:1.09 [[ 9.05856852e-01 -4.22991541e-01 -2.23946541e-02 4.75146646e+01] [ 4.22859707e-01 9.06133626e-01 -1.05603402e-02 1.33819539e+01] [ 2.47594837e-02 9.63596108e-05 9.99693432e-01 1.09395517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:13.40, Z:1.09 [[ 9.06511199e-01 -4.21546977e-01 -2.31428626e-02 4.75388754e+01] [ 4.21405520e-01 9.06806553e-01 -1.09207725e-02 1.33954707e+01] [ 2.55897181e-02 1.47272494e-04 9.99672519e-01 1.09292048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters Centerline goodness [0,1] 0.9999746841852105 Centerline is valid? [True, True] Translation: X:47.56, Y:13.41, Z:1.09 [[ 9.06936625e-01 -4.20634733e-01 -2.30733589e-02 4.75637336e+01] [ 4.20493739e-01 9.07230065e-01 -1.08915025e-02 1.34088804e+01] [ 2.55141891e-02 1.75699627e-04 9.99674445e-01 1.09277221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.646874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:13.42, Z:1.09 [[ 9.07361885e-01 -4.19731857e-01 -2.27942613e-02 4.75892474e+01] [ 4.19593895e-01 9.07648130e-01 -1.07626771e-02 1.34215745e+01] [ 2.52066071e-02 2.01310088e-04 9.99682243e-01 1.09391831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:13.43, Z:1.09 [[ 9.08188395e-01 -4.17887925e-01 -2.37386000e-02 4.76144601e+01] [ 4.17737495e-01 9.08498547e-01 -1.12149433e-02 1.34347868e+01] [ 2.62530730e-02 2.68778013e-04 9.99655293e-01 1.09343560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.64, Y:13.45, Z:1.09 [[ 9.08303782e-01 -4.17595009e-01 -2.44672792e-02 4.76404271e+01] [ 4.17435000e-01 9.08633218e-01 -1.15626837e-02 1.34469587e+01] [ 2.70603017e-02 2.88930611e-04 9.99633761e-01 1.09314097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.67, Y:13.46, Z:1.09 [[ 9.08365148e-01 -4.17455609e-01 -2.45677032e-02 4.76654578e+01] [ 4.17294032e-01 9.08697268e-01 -1.16175324e-02 1.34588248e+01] [ 2.71744088e-02 3.01005628e-04 9.99630662e-01 1.09363963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:13.47, Z:1.09 [[ 9.08138863e-01 -4.17999238e-01 -2.36736925e-02 4.76912594e+01] [ 4.17849191e-01 9.08447334e-01 -1.12024700e-02 1.34711095e+01] [ 2.61889267e-02 2.81365074e-04 9.99656972e-01 1.09341161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:13.48, Z:1.09 [[ 9.07762093e-01 -4.18823245e-01 -2.35599904e-02 4.77162532e+01] [ 4.18674731e-01 9.08067740e-01 -1.11556669e-02 1.34823447e+01] [ 2.60663199e-02 2.62718846e-04 9.99660181e-01 1.09346300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.826874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:13.49, Z:1.09 [[ 9.06664224e-01 -4.21162987e-01 -2.41189509e-02 4.77424265e+01] [ 4.21008094e-01 9.06984949e-01 -1.14231091e-02 1.34928963e+01] [ 2.66865162e-02 2.02650859e-04 9.99643831e-01 1.09333690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:13.50, Z:1.09 [[ 9.04626134e-01 -4.25469117e-01 -2.50517191e-02 4.77702534e+01] [ 4.25303526e-01 9.04972941e-01 -1.18695578e-02 1.35014334e+01] [ 2.77212582e-02 8.29277387e-05 9.99615689e-01 1.09325325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.886874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:13.51, Z:1.09 [[ 9.03999690e-01 -4.26801696e-01 -2.49974485e-02 4.77961727e+01] [ 4.26637127e-01 9.04345238e-01 -1.18512532e-02 1.35123466e+01] [ 2.76644585e-02 4.86896303e-05 9.99617264e-01 1.09465597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.82, Y:13.52, Z:1.09 [[ 9.03498757e-01 -4.27875189e-01 -2.47551804e-02 4.78219382e+01] [ 4.27713974e-01 9.03837830e-01 -1.17445282e-02 1.35241405e+01] [ 2.73998608e-02 2.30300574e-05 9.99624553e-01 1.09457573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:13.54, Z:1.10 [[ 9.03684311e-01 -4.27526468e-01 -2.39955147e-02 4.78459744e+01] [ 4.27374692e-01 9.04002830e-01 -1.13910135e-02 1.35362826e+01] [ 2.65619730e-02 3.88044867e-05 9.99647168e-01 1.09531257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:13.55, Z:1.10 [[ 9.04040211e-01 -4.26806750e-01 -2.33943180e-02 4.78709906e+01] [ 4.26662142e-01 9.04342852e-01 -1.11095878e-02 1.35489270e+01] [ 2.58981314e-02 6.20442947e-05 9.99664585e-01 1.09644624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.006874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.89, Y:13.56, Z:1.10 [[ 9.04037381e-01 -4.26828512e-01 -2.31048608e-02 4.78949507e+01] [ 4.26687281e-01 9.04332581e-01 -1.09793850e-02 1.35608419e+01] [ 2.55807930e-02 6.72242262e-05 9.99672756e-01 1.09664541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.92, Y:13.57, Z:1.10 [[ 9.04248533e-01 -4.26421576e-01 -2.23434487e-02 4.79195555e+01] [ 4.26289262e-01 9.04524534e-01 -1.06222613e-02 1.35731337e+01] [ 2.47397589e-02 8.03919030e-05 9.99693922e-01 1.09823269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.066874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:13.59, Z:1.10 [[ 9.04293510e-01 -4.26344424e-01 -2.19927429e-02 4.79447878e+01] [ 4.26216124e-01 9.04560902e-01 -1.04589858e-02 1.35851751e+01] [ 2.43529056e-02 8.43313317e-05 9.99703420e-01 1.09963650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:13.60, Z:1.10 [[ 9.04363779e-01 -4.26203107e-01 -2.18418473e-02 4.79696117e+01] [ 4.26076345e-01 9.04627494e-01 -1.03944806e-02 1.35979618e+01] [ 2.41888955e-02 9.40972495e-05 9.99707401e-01 1.09964190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:13.61, Z:1.10 [[ 9.04277082e-01 -4.26383355e-01 -2.19133137e-02 4.79945408e+01] [ 4.26255636e-01 9.04542551e-01 -1.04358645e-02 1.36104183e+01] [ 2.42712036e-02 9.62395850e-05 9.99705406e-01 1.09942004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:13.62, Z:1.10 [[ 9.04438448e-01 -4.26010784e-01 -2.24923311e-02 4.80193278e+01] [ 4.25875934e-01 9.04718077e-01 -1.07186953e-02 1.36222377e+01] [ 2.49154983e-02 1.15457585e-04 9.99689554e-01 1.09839835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:13.63, Z:1.10 [[ 9.04549025e-01 -4.25719371e-01 -2.35388845e-02 4.80448652e+01] [ 4.25571485e-01 9.04855237e-01 -1.12210511e-02 1.36340570e+01] [ 2.60763017e-02 1.32512814e-04 9.99659947e-01 1.09889526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:13.65, Z:1.10 [[ 9.04361097e-01 -4.26081226e-01 -2.42032152e-02 4.80699988e+01] [ 4.25924783e-01 9.04684902e-01 -1.15459137e-02 1.36460093e+01] [ 2.68157805e-02 1.32925981e-04 9.99640383e-01 1.09947406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.246874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:13.66, Z:1.10 [[ 9.04245484e-01 -4.26326706e-01 -2.42000871e-02 4.80948870e+01] [ 4.26170176e-01 9.04569247e-01 -1.15524669e-02 1.36580094e+01] [ 2.68157797e-02 1.32910686e-04 9.99640383e-01 1.10007354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:13.67, Z:1.10 [[ 9.04346313e-01 -4.26097248e-01 -2.44720601e-02 4.81204605e+01] [ 4.25936871e-01 9.04677353e-01 -1.16905410e-02 1.36703521e+01] [ 2.71206259e-02 1.48744932e-04 9.99632157e-01 1.10057328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:13.68, Z:1.10 [[ 9.04179316e-01 -4.26456450e-01 -2.43856456e-02 4.81458803e+01] [ 4.26297114e-01 9.04508085e-01 -1.16574220e-02 1.36834211e+01] [ 2.70283964e-02 1.44869484e-04 9.99634656e-01 1.09917732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:13.70, Z:1.10 [[ 9.04053142e-01 -4.26748501e-01 -2.39506475e-02 4.81703041e+01] [ 4.26594713e-01 9.04370332e-01 -1.14565673e-02 1.36953163e+01] [ 2.65493279e-02 1.40126073e-04 9.99647495e-01 1.09924429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.20, Y:13.71, Z:1.10 [[ 9.03920808e-01 -4.27033300e-01 -2.38691103e-02 4.81963959e+01] [ 4.26880545e-01 9.04235889e-01 -1.14218028e-02 1.37067254e+01] [ 2.64607963e-02 1.35146370e-04 9.99649843e-01 1.10067897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:13.72, Z:1.10 [[ 9.03704754e-01 -4.27612405e-01 -2.15719551e-02 4.82217052e+01] [ 4.27487659e-01 9.03962178e-01 -1.03287184e-02 1.37186713e+01] [ 2.39169196e-02 1.12367274e-04 9.99713943e-01 1.10342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.426874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:13.73, Z:1.10 [[ 9.03818794e-01 -4.27402898e-01 -2.09368054e-02 4.82463887e+01] [ 4.27285279e-01 9.04061253e-01 -1.00270112e-02 1.37311259e+01] [ 2.32137282e-02 1.16612459e-04 9.99730518e-01 1.10436001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:13.74, Z:1.11 [[ 9.04009627e-01 -4.27010895e-01 -2.06951702e-02 4.82705102e+01] [ 4.26895716e-01 9.04246470e-01 -9.91810347e-03 1.37439752e+01] [ 2.29486728e-02 1.31381513e-04 9.99736636e-01 1.10543250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:13.76, Z:1.11 [[ 9.04659882e-01 -4.25594522e-01 -2.14429816e-02 4.82961367e+01] [ 4.25470346e-01 9.04913958e-01 -1.02816994e-02 1.37578500e+01] [ 2.37798883e-02 1.78088211e-04 9.99717203e-01 1.10547234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:13.77, Z:1.11 [[ 9.04976483e-01 -4.24903815e-01 -2.17787389e-02 4.83219009e+01] [ 4.24775362e-01 9.05238480e-01 -1.04492000e-02 1.37714341e+01] [ 2.41548575e-02 2.05208541e-04 9.99708208e-01 1.10526206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.546875 meters Centerline goodness [0,1] 0.9998474679682733 Centerline is valid? [True, True] Translation: X:48.35, Y:13.79, Z:1.10 [[ 9.05236019e-01 -4.24314101e-01 -2.24787418e-02 4.83478270e+01] [ 4.24176904e-01 9.05515041e-01 -1.07919011e-02 1.37850269e+01] [ 2.49339946e-02 2.34254449e-04 9.99689072e-01 1.10463351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:13.80, Z:1.10 [[ 9.05802959e-01 -4.23038601e-01 -2.36504183e-02 4.83724421e+01] [ 4.22886121e-01 9.06111615e-01 -1.13609224e-02 1.37979578e+01] [ 2.62360274e-02 2.89323472e-04 9.99655734e-01 1.10395786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.606874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:13.81, Z:1.10 [[ 9.05507499e-01 -4.23684824e-01 -2.33952770e-02 4.83983380e+01] [ 4.23535747e-01 9.05809636e-01 -1.12416574e-02 1.38093228e+01] [ 2.59545870e-02 2.70668986e-04 9.99663086e-01 1.10497935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters Centerline goodness [0,1] 0.999974777410649 Centerline is valid? [True, True] Translation: X:48.42, Y:13.82, Z:1.11 [[ 9.05205253e-01 -4.24399360e-01 -2.21050404e-02 4.84240657e+01] [ 4.24266312e-01 9.05475082e-01 -1.06288498e-02 1.38211348e+01] [ 2.45264403e-02 2.42866733e-04 9.99699152e-01 1.10636713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:13.83, Z:1.11 [[ 9.04970623e-01 -4.24919981e-01 -2.17067100e-02 4.84499562e+01] [ 4.24791670e-01 9.05230886e-01 -1.04441607e-02 1.38325654e+01] [ 2.40875169e-02 2.30829006e-04 9.99709827e-01 1.10717506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.47, Y:13.84, Z:1.11 [[ 9.04860707e-01 -4.25121392e-01 -2.23361279e-02 4.84745173e+01] [ 4.24985530e-01 9.05136314e-01 -1.07495290e-02 1.38443354e+01] [ 2.47870952e-02 2.34295268e-04 9.99692725e-01 1.10738230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.50, Y:13.86, Z:1.11 [[ 9.04740806e-01 -4.25367631e-01 -2.25045050e-02 4.84996111e+01] [ 4.25229692e-01 9.05020621e-01 -1.08344296e-02 1.38559734e+01] [ 2.49756567e-02 2.32766814e-04 9.99688033e-01 1.10793704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:13.87, Z:1.11 [[ 9.04984414e-01 -4.24839251e-01 -2.26896817e-02 4.85244967e+01] [ 4.24698689e-01 9.05268770e-01 -1.09305983e-02 1.38685493e+01] [ 2.51840074e-02 2.55743022e-04 9.99682800e-01 1.10855629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.786874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:13.88, Z:1.11 [[ 9.04973858e-01 -4.24816923e-01 -2.35137906e-02 4.85499949e+01] [ 4.24665865e-01 9.05279244e-01 -1.13310769e-02 1.38806055e+01] [ 2.61001798e-02 2.68824165e-04 9.99659296e-01 1.10899207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.57, Y:13.89, Z:1.11 [[ 9.05174964e-01 -4.24350195e-01 -2.41908358e-02 4.85746615e+01] [ 4.24189945e-01 9.05498108e-01 -1.16647663e-02 1.38934942e+01] [ 2.68547020e-02 2.97145126e-04 9.99639303e-01 1.10838376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:13.91, Z:1.11 [[ 9.05378738e-01 -4.23883940e-01 -2.47335165e-02 4.85993907e+01] [ 4.23716170e-01 9.05716458e-01 -1.19291170e-02 1.39063304e+01] [ 2.74581141e-02 3.20378049e-04 9.99622904e-01 1.10782140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.62, Y:13.92, Z:1.11 [[ 9.05162487e-01 -4.24359971e-01 -2.44844212e-02 4.86246495e+01] [ 4.24195640e-01 9.05493524e-01 -1.18126295e-02 1.39181877e+01] [ 2.71832919e-02 3.06164388e-04 9.99630419e-01 1.10862277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:13.93, Z:1.11 [[ 9.04717136e-01 -4.25310216e-01 -2.44565797e-02 4.86509613e+01] [ 4.25146383e-01 9.05047589e-01 -1.18073917e-02 1.39288661e+01] [ 2.71561728e-02 2.84723258e-04 9.99631163e-01 1.11096718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters Centerline goodness [0,1] 0.9998987931078106 Centerline is valid? [True, True] Translation: X:48.68, Y:13.94, Z:1.11 [[ 9.04190608e-01 -4.26425625e-01 -2.45057280e-02 4.86765563e+01] [ 4.26261313e-01 9.04522592e-01 -1.18395211e-02 1.39408409e+01] [ 2.72146598e-02 2.59340046e-04 9.99629579e-01 1.11146851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.966874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.70, Y:13.96, Z:1.11 [[ 9.04042070e-01 -4.26834690e-01 -2.28053406e-02 4.87004693e+01] [ 4.26692338e-01 9.04329636e-01 -1.10253230e-02 1.39565346e+01] [ 2.53295357e-02 2.36491682e-04 9.99679128e-01 1.11414182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.72, Y:13.97, Z:1.12 [[ 9.02947848e-01 -4.29306191e-01 -1.95289191e-02 4.87240050e+01] [ 4.29202262e-01 9.03158996e-01 -9.44699610e-03 1.39708950e+01] [ 2.16933729e-02 1.48288523e-04 9.99764660e-01 1.11932387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.75, Y:13.98, Z:1.12 [[ 9.01020873e-01 -4.33319422e-01 -1.98913308e-02 4.87496797e+01] [ 4.33212527e-01 9.01240410e-01 -9.62446908e-03 1.39848136e+01] [ 2.20973405e-02 5.46738558e-05 9.99755822e-01 1.12201146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.77, Y:14.00, Z:1.12 [[ 8.99904436e-01 -4.35450566e-01 -2.35544146e-02 4.87740188e+01] [ 4.35301184e-01 9.00212644e-01 -1.14050231e-02 1.39995062e+01] [ 2.61703056e-02 1.01663045e-05 9.99657499e-01 1.11649271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.80, Y:14.02, Z:1.10 [[ 8.98129762e-01 -4.38779428e-01 -2.89057775e-02 4.87968621e+01] [ 4.38555869e-01 8.98594794e-01 -1.40052114e-02 1.40168186e+01] [ 3.21197798e-02 -9.83011566e-05 9.99484022e-01 1.10435552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:14.03, Z:1.10 [[ 8.97382687e-01 -4.40251524e-01 -2.97137745e-02 4.88221911e+01] [ 4.40015927e-01 8.97874475e-01 -1.44017814e-02 1.40310280e+01] [ 3.30196459e-02 -1.50624669e-04 9.99454691e-01 1.10479152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.146874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.85, Y:14.04, Z:1.11 [[ 8.96646402e-01 -4.41705531e-01 -3.03554699e-02 4.88484316e+01] [ 4.41460166e-01 8.97160066e-01 -1.47220056e-02 1.40438254e+01] [ 3.37365067e-02 -2.00297400e-04 9.99430742e-01 1.10644973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.87, Y:14.05, Z:1.11 [[ 8.95388067e-01 -4.44214668e-01 -3.08794111e-02 4.88736758e+01] [ 4.43961979e-01 8.95920333e-01 -1.49839569e-02 1.40548216e+01] [ 3.43215857e-02 -2.92828263e-04 9.99410798e-01 1.11022884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.90, Y:14.07, Z:1.11 [[ 8.94825738e-01 -4.45372922e-01 -3.04936027e-02 4.88990096e+01] [ 4.45126949e-01 8.95345103e-01 -1.48035556e-02 1.40680334e+01] [ 3.38954007e-02 -3.26921814e-04 9.99425332e-01 1.11290186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:14.08, Z:1.11 [[ 8.94725407e-01 -4.45601627e-01 -3.00938004e-02 4.89233530e+01] [ 4.45361855e-01 8.95231303e-01 -1.46195724e-02 1.40811110e+01] [ 3.34554174e-02 -3.22127920e-04 9.99440159e-01 1.11440866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:14.10, Z:1.12 [[ 8.94994984e-01 -4.45191420e-01 -2.80816528e-02 4.89469055e+01] [ 4.44982174e-01 8.95435381e-01 -1.36507327e-02 1.40983394e+01] [ 3.12224945e-02 -2.78497634e-04 9.99512420e-01 1.11513285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.97, Y:14.11, Z:1.12 [[ 8.95713915e-01 -4.43849519e-01 -2.63474223e-02 4.89719827e+01] [ 4.43664526e-01 8.96101311e-01 -1.28151463e-02 1.41135503e+01] [ 2.92979563e-02 -2.10711737e-04 9.99570701e-01 1.11691279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.326874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.00, Y:14.13, Z:1.12 [[ 8.96555860e-01 -4.42207625e-01 -2.52983576e-02 4.89966042e+01] [ 4.42036244e-01 8.96912702e-01 -1.23111165e-02 1.41274467e+01] [ 2.81344879e-02 -1.45187303e-04 9.99604136e-01 1.11913716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:14.14, Z:1.12 [[ 8.97571033e-01 -4.40179626e-01 -2.46604554e-02 4.90218596e+01] [ 4.40015918e-01 8.97909734e-01 -1.20042018e-02 1.41420808e+01] [ 2.74268680e-02 -7.63691317e-05 9.99623810e-01 1.12223796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.386874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:14.16, Z:1.12 [[ 9.00104560e-01 -4.34943365e-01 -2.52200560e-02 4.90446068e+01] [ 4.34769889e-01 9.00457806e-01 -1.22834257e-02 1.41597074e+01] [ 2.80521908e-02 9.14465281e-05 9.99606456e-01 1.12411254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters Centerline goodness [0,1] 0.999951751423333 Centerline is valid? [True, True] Translation: X:49.07, Y:14.18, Z:1.12 [[ 9.01366166e-01 -4.32272673e-01 -2.60647521e-02 4.90685896e+01] [ 4.32086114e-01 9.01742925e-01 -1.26999211e-02 1.41761684e+01] [ 2.89935346e-02 1.85061724e-04 9.99579582e-01 1.12228086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.446875 meters Centerline goodness [0,1] 0.999975996735556 Centerline is valid? [True, True] Translation: X:49.09, Y:14.19, Z:1.12 [[ 9.02508686e-01 -4.29877759e-01 -2.61377907e-02 4.90925949e+01] [ 4.29688926e-01 9.02887058e-01 -1.27431244e-02 1.41922296e+01] [ 2.90774587e-02 2.69661220e-04 9.99577125e-01 1.12144213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:14.21, Z:1.12 [[ 9.03691188e-01 -4.27451341e-01 -2.50517192e-02 4.91158463e+01] [ 4.27276767e-01 9.04038293e-01 -1.22200021e-02 1.42075048e+01] [ 2.78711698e-02 3.39090653e-04 9.99611466e-01 1.12173797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.506874999999994 meters Centerline goodness [0,1] 0.9998801936071309 Centerline is valid? [True, True] Translation: X:49.14, Y:14.22, Z:1.12 [[ 9.05377069e-01 -4.23975997e-01 -2.31671320e-02 4.91403621e+01] [ 4.23825466e-01 9.05673330e-01 -1.13045911e-02 1.42228823e+01] [ 2.57747288e-02 4.16097055e-04 9.99667690e-01 1.12465549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:14.24, Z:1.13 [[ 9.05765644e-01 -4.23158752e-01 -2.29187622e-02 4.91654947e+01] [ 4.23010998e-01 9.06055449e-01 -1.11901241e-02 1.42363737e+01] [ 2.55008683e-02 4.40741476e-04 9.99674703e-01 1.12563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.566874999999996 meters Centerline goodness [0,1] 0.9999760599458954 Centerline is valid? [True, True] Translation: X:49.19, Y:14.25, Z:1.13 [[ 9.05886770e-01 -4.22863913e-01 -2.35641711e-02 4.91911398e+01] [ 4.22707432e-01 9.06193077e-01 -1.15124035e-02 1.42500072e+01] [ 2.62218687e-02 4.68183730e-04 9.99656038e-01 1.12602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters Centerline goodness [0,1] 0.9999282742791565 Centerline is valid? [True, True] Translation: X:49.22, Y:14.27, Z:1.13 [[ 9.06279902e-01 -4.22004062e-01 -2.38602355e-02 4.92153725e+01] [ 4.21843152e-01 9.06593799e-01 -1.16635796e-02 1.42650171e+01] [ 2.65536196e-02 5.05190828e-04 9.99647263e-01 1.12580205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.626875 meters Centerline goodness [0,1] 0.9998334086960661 Centerline is valid? [True, True] Translation: X:49.24, Y:14.28, Z:1.13 [[ 9.06341240e-01 -4.21892378e-01 -2.35027036e-02 4.92408261e+01] [ 4.21736105e-01 9.06645778e-01 -1.14931181e-02 1.42775592e+01] [ 2.61574859e-02 5.04748236e-04 9.99657707e-01 1.12644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters Centerline goodness [0,1] 0.9998804028033583 Centerline is valid? [True, True] Translation: X:49.27, Y:14.29, Z:1.13 [[ 9.06476967e-01 -4.21643072e-01 -2.27294634e-02 4.92661267e+01] [ 4.21496650e-01 9.06761748e-01 -1.11223285e-02 1.42895729e+01] [ 2.52998607e-02 5.01741963e-04 9.99679781e-01 1.12750043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68687499999999 meters Centerline goodness [0,1] 0.999784797111499 Centerline is valid? [True, True] Translation: X:49.29, Y:14.30, Z:1.13 [[ 9.06346359e-01 -4.21896195e-01 -2.32352652e-02 4.92921534e+01] [ 4.21743061e-01 9.06643997e-01 -1.13777361e-02 1.43014204e+01] [ 2.58663372e-02 5.12857801e-04 9.99665279e-01 1.12811073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters Centerline goodness [0,1] 0.9999521359339476 Centerline is valid? [True, True] Translation: X:49.32, Y:14.31, Z:1.13 [[ 9.06243464e-01 -4.22088027e-01 -2.37588276e-02 4.93171765e+01] [ 4.21927784e-01 9.06554699e-01 -1.16414804e-02 1.43129827e+01] [ 2.64524063e-02 5.25506096e-04 9.99649936e-01 1.12821597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.746874999999996 meters Centerline goodness [0,1] 0.9999281264973646 Centerline is valid? [True, True] Translation: X:49.34, Y:14.32, Z:1.13 [[ 9.05862406e-01 -4.22833416e-01 -2.50040690e-02 4.93426442e+01] [ 4.22656080e-01 9.06207270e-01 -1.22564835e-02 1.43238954e+01] [ 2.78413199e-02 5.34565801e-04 9.99612212e-01 1.12736952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters Centerline goodness [0,1] 0.999952037219118 Centerline is valid? [True, True] Translation: X:49.37, Y:14.34, Z:1.13 [[ 9.05642660e-01 -4.23344353e-01 -2.43090842e-02 4.93692141e+01] [ 4.23176713e-01 9.05968707e-01 -1.19235781e-02 1.43359815e+01] [ 2.70710490e-02 5.11462654e-04 9.99633381e-01 1.12725004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.806875 meters Centerline goodness [0,1] 0.9999283975368752 Centerline is valid? [True, True] Translation: X:49.39, Y:14.35, Z:1.13 [[ 9.05480331e-01 -4.23692082e-01 -2.42979341e-02 4.93943747e+01] [ 4.23524553e-01 9.05806140e-01 -1.19243477e-02 1.43479098e+01] [ 2.70614696e-02 5.06490647e-04 9.99633643e-01 1.12786700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters Centerline goodness [0,1] 0.9999760157336787 Centerline is valid? [True, True] Translation: X:49.42, Y:14.36, Z:1.13 [[ 9.05164836e-01 -4.24368072e-01 -2.42561340e-02 4.94207210e+01] [ 4.24201264e-01 9.05489647e-01 -1.19074271e-02 1.43589483e+01] [ 2.70168101e-02 4.88701634e-04 9.99634860e-01 1.12858275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.866875 meters Centerline goodness [0,1] 0.9999519542604559 Centerline is valid? [True, True] Translation: X:49.45, Y:14.37, Z:1.13 [[ 9.05023581e-01 -4.24630799e-01 -2.49199083e-02 4.94469324e+01] [ 4.24454599e-01 9.05366463e-01 -1.22417583e-02 1.43703707e+01] [ 2.77598768e-02 5.01710245e-04 9.99614494e-01 1.12914365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters Centerline goodness [0,1] 0.99997597424439 Centerline is valid? [True, True] Translation: X:49.47, Y:14.38, Z:1.13 [[ 9.05198302e-01 -4.24176085e-01 -2.62808504e-02 4.94733632e+01] [ 4.23979657e-01 9.05579563e-01 -1.29192131e-02 1.43830784e+01] [ 2.92794222e-02 5.51903775e-04 9.99571113e-01 1.12921284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.926874999999995 meters Centerline goodness [0,1] 0.9999758483274966 Centerline is valid? [True, True] Translation: X:49.50, Y:14.40, Z:1.13 [[ 9.05380255e-01 -4.23782071e-01 -2.63695128e-02 4.94994787e+01] [ 4.23583919e-01 9.05764002e-01 -1.29705837e-02 1.43952533e+01] [ 2.93812563e-02 5.73608790e-04 9.99568113e-01 1.13027302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters Centerline goodness [0,1] 0.9998319569809871 Centerline is valid? [True, True] Translation: X:49.52, Y:14.41, Z:1.13 [[ 9.05858414e-01 -4.22758512e-01 -2.63775298e-02 4.95239008e+01] [ 4.22559614e-01 9.06242167e-01 -1.29810710e-02 1.44097123e+01] [ 2.93922881e-02 6.12933620e-04 9.99567765e-01 1.13003915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.986875 meters Centerline goodness [0,1] 0.9998303729372138 Centerline is valid? [True, True] Translation: X:49.55, Y:14.42, Z:1.13 [[ 9.07042136e-01 -4.20252180e-01 -2.57423641e-02 4.95497706e+01] [ 4.20061660e-01 9.07407099e-01 -1.26711580e-02 1.44215287e+01] [ 2.86838857e-02 6.79893981e-04 9.99588301e-01 1.13195595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters Centerline goodness [0,1] 0.9999278603376136 Centerline is valid? [True, True] Translation: X:49.57, Y:14.44, Z:1.13 [[ 9.07580525e-01 -4.19114872e-01 -2.53044374e-02 4.95738006e+01] [ 4.18930264e-01 9.07932941e-01 -1.24582517e-02 1.44356002e+01] [ 2.81961708e-02 7.06071959e-04 9.99602160e-01 1.13186294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.046875 meters Centerline goodness [0,1] 0.9998796630565584 Centerline is valid? [True, True] Translation: X:49.60, Y:14.45, Z:1.13 [[ 9.08094719e-01 -4.17983368e-01 -2.55711921e-02 4.96001357e+01] [ 4.17794287e-01 9.08454368e-01 -1.25934788e-02 1.44479322e+01] [ 2.84941258e-02 7.52573672e-04 9.99593677e-01 1.13278098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters Centerline goodness [0,1] 0.9998555574279593 Centerline is valid? [True, True] Translation: X:49.62, Y:14.46, Z:1.13 [[ 9.08464944e-01 -4.17152465e-01 -2.59858671e-02 4.96242083e+01] [ 4.16956659e-01 9.08836170e-01 -1.28046878e-02 1.44617056e+01] [ 2.89584030e-02 7.97629695e-04 9.99580299e-01 1.13263652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.106874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.65, Y:14.47, Z:1.13 [[ 9.08912061e-01 -4.16134115e-01 -2.66695341e-02 4.96508844e+01] [ 4.15927273e-01 9.09302845e-01 -1.31468529e-02 1.44737320e+01] [ 2.97215372e-02 8.56746606e-04 9.99557850e-01 1.13341501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.68, Y:14.49, Z:1.13 [[ 9.08742827e-01 -4.16482343e-01 -2.69987370e-02 4.96769425e+01] [ 4.16270263e-01 9.09143395e-01 -1.33175214e-02 1.44853694e+01] [ 3.00922360e-02 8.63430727e-04 9.99546753e-01 1.13445495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:14.50, Z:1.14 [[ 9.08629179e-01 -4.16730465e-01 -2.69950951e-02 4.97016744e+01] [ 4.16518274e-01 9.09029688e-01 -1.33249003e-02 1.44976862e+01] [ 3.00922348e-02 8.63442742e-04 9.99546753e-01 1.13505465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.73, Y:14.51, Z:1.14 [[ 9.08237250e-01 -4.17576781e-01 -2.71058820e-02 4.97285827e+01] [ 4.17362952e-01 9.08641246e-01 -1.33885049e-02 1.45093313e+01] [ 3.02202512e-02 8.46947909e-04 9.99542905e-01 1.13575321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.226875 meters Centerline goodness [0,1] 0.9999272956401619 Centerline is valid? [True, True] Translation: X:49.76, Y:14.52, Z:1.14 [[ 9.07797374e-01 -4.18563948e-01 -2.66110688e-02 4.97555039e+01] [ 4.18358047e-01 9.08186969e-01 -1.31519374e-02 1.45207506e+01] [ 2.96727528e-02 8.06339450e-04 9.99559342e-01 1.13730009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.78, Y:14.53, Z:1.14 [[ 9.06608362e-01 -4.21183822e-01 -2.57966299e-02 4.97835602e+01] [ 4.20991176e-01 9.06975022e-01 -1.27569569e-02 1.45288168e+01] [ 2.87699228e-02 7.05410218e-04 9.99585811e-01 1.13898812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.286874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:14.54, Z:1.14 [[ 9.05967838e-01 -4.22564611e-01 -2.57181996e-02 4.98087633e+01] [ 4.22373493e-01 9.06332558e-01 -1.27250218e-02 1.45401165e+01] [ 2.86863855e-02 6.65774725e-04 9.99588239e-01 1.13891000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters Centerline goodness [0,1] 0.9998780160530875 Centerline is valid? [True, True] Translation: X:49.83, Y:14.55, Z:1.14 [[ 9.05303065e-01 -4.23993786e-01 -2.56052834e-02 4.98333289e+01] [ 4.23804805e-01 9.05664885e-01 -1.26729267e-02 1.45525047e+01] [ 2.85630482e-02 6.21197228e-04 9.99591800e-01 1.13923908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:14.56, Z:1.14 [[ 9.04373663e-01 -4.26043608e-01 -2.43951305e-02 4.98614845e+01] [ 4.25872723e-01 9.04702470e-01 -1.20774208e-02 1.45614157e+01] [ 2.72158427e-02 5.33280643e-04 9.99629438e-01 1.14133778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters Centerline goodness [0,1] 0.9999754956014605 Centerline is valid? [True, True] Translation: X:49.89, Y:14.57, Z:1.14 [[ 9.04117161e-01 -4.26583757e-01 -2.44634047e-02 4.98865004e+01] [ 4.26411937e-01 9.04447911e-01 -1.21176094e-02 1.45730797e+01] [ 2.72950506e-02 5.24250828e-04 9.99627283e-01 1.14215256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:14.58, Z:1.14 [[ 9.03973764e-01 -4.26873715e-01 -2.47035661e-02 4.99123488e+01] [ 4.26698506e-01 9.04311095e-01 -1.22404320e-02 1.45849822e+01] [ 2.75648276e-02 5.24054672e-04 9.99619881e-01 1.14287912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters Centerline goodness [0,1] 0.999877417931305 Centerline is valid? [True, True] Translation: X:49.94, Y:14.60, Z:1.14 [[ 9.04386593e-01 -4.25934668e-01 -2.57788324e-02 4.99380329e+01] [ 4.25743236e-01 9.04753732e-01 -1.27820560e-02 1.45981307e+01] [ 2.87678156e-02 5.84756558e-04 9.99585950e-01 1.14267047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.466874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.96, Y:14.61, Z:1.14 [[ 9.04698530e-01 -4.25243372e-01 -2.62420360e-02 4.99639798e+01] [ 4.25044474e-01 9.05078828e-01 -1.30196258e-02 1.46115159e+01] [ 2.92876207e-02 6.24803981e-04 9.99570830e-01 1.14276820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.99, Y:14.63, Z:1.14 [[ 9.05038289e-01 -4.24483956e-01 -2.68154192e-02 4.99895523e+01] [ 4.24275695e-01 9.05435211e-01 -1.33121631e-02 1.46250215e+01] [ 2.99304244e-02 6.70886672e-04 9.99551759e-01 1.14261223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.526875 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:50.02, Y:14.64, Z:1.14 [[ 9.05555561e-01 -4.23336371e-01 -2.74853192e-02 5.00150949e+01] [ 4.23116790e-01 9.05972283e-01 -1.36529696e-02 1.46384995e+01] [ 3.06807361e-02 7.34022534e-04 9.99528966e-01 1.14219861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:14.65, Z:1.14 [[ 9.05634093e-01 -4.23158603e-01 -2.76348734e-02 5.00393373e+01] [ 4.22936338e-01 9.06055315e-01 -1.37338966e-02 1.46513294e+01] [ 3.08503405e-02 7.50092850e-04 9.99523734e-01 1.14152322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:14.66, Z:1.14 [[ 9.06096492e-01 -4.22238034e-01 -2.65365812e-02 5.00638782e+01] [ 4.22032614e-01 9.06484681e-01 -1.31907696e-02 1.46640367e+01] [ 2.96246489e-02 7.52807362e-04 9.99560810e-01 1.14246946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.09, Y:14.67, Z:1.15 [[ 9.06140103e-01 -4.22158120e-01 -2.63179716e-02 5.00913849e+01] [ 4.21955907e-01 9.06521900e-01 -1.30865393e-02 1.46722701e+01] [ 2.93824064e-02 7.53214515e-04 9.99567960e-01 1.14505191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.646874999999994 meters Centerline goodness [0,1] 0.999950458261085 Centerline is valid? [True, True] Translation: X:50.12, Y:14.68, Z:1.15 [[ 9.06020406e-01 -4.22421872e-01 -2.62065916e-02 5.01156259e+01] [ 4.22221246e-01 9.06399030e-01 -1.30391031e-02 1.46848189e+01] [ 2.92616316e-02 7.48713685e-04 9.99571506e-01 1.14641918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters Centerline goodness [0,1] 0.9999751595995727 Centerline is valid? [True, True] Translation: X:50.14, Y:14.70, Z:1.15 [[ 9.05919180e-01 -4.22645186e-01 -2.61052864e-02 5.01395757e+01] [ 4.22446086e-01 9.06294928e-01 -1.29926575e-02 1.46963207e+01] [ 2.91503728e-02 7.42221559e-04 9.99574762e-01 1.14761827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:14.71, Z:1.15 [[ 9.05718134e-01 -4.23064588e-01 -2.62871739e-02 5.01644231e+01] [ 4.22862772e-01 9.06099228e-01 -1.30868200e-02 1.47087393e+01] [ 2.93553581e-02 7.37103011e-04 9.99568767e-01 1.14797448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.19, Y:14.72, Z:1.15 [[ 9.05362668e-01 -4.23844756e-01 -2.59626913e-02 5.01886816e+01] [ 4.23648135e-01 9.05734577e-01 -1.29279846e-02 1.47217762e+01] [ 2.89947658e-02 7.05468858e-04 9.99579314e-01 1.14832031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:14.73, Z:1.15 [[ 9.05187683e-01 -4.24228802e-01 -2.57911177e-02 5.02149258e+01] [ 4.24034809e-01 9.05554772e-01 -1.28466527e-02 1.47319464e+01] [ 2.88051898e-02 6.92300160e-04 9.99584805e-01 1.14918640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:14.74, Z:1.15 [[ 9.04960972e-01 -4.24703216e-01 -2.59387381e-02 5.02409232e+01] [ 4.24506935e-01 9.05332372e-01 -1.29289543e-02 1.47435967e+01] [ 2.89741478e-02 6.89024848e-04 9.99579924e-01 1.14972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.826874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.27, Y:14.76, Z:1.15 [[ 9.04829766e-01 -4.24957298e-01 -2.63512750e-02 5.02653785e+01] [ 4.24754601e-01 9.05213128e-01 -1.31423674e-02 1.47563399e+01] [ 2.94384650e-02 6.98779892e-04 9.99566350e-01 1.14899936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:14.77, Z:1.15 [[ 9.04282342e-01 -4.26089521e-01 -2.68545275e-02 5.02918703e+01] [ 4.25879350e-01 9.04680750e-01 -1.33985164e-02 1.47676264e+01] [ 3.00037415e-02 6.79253078e-04 9.99549556e-01 1.14945525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.886874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:14.78, Z:1.15 [[ 9.03514485e-01 -4.27731002e-01 -2.66038467e-02 5.03181539e+01] [ 4.27525213e-01 9.03905857e-01 -1.32813744e-02 1.47794911e+01] [ 2.97282284e-02 6.26098910e-04 9.99557822e-01 1.15020492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:14.79, Z:1.15 [[ 9.01850331e-01 -4.31288593e-01 -2.56150487e-02 5.03456325e+01] [ 4.31099075e-01 9.02213890e-01 -1.27938775e-02 1.47886591e+01] [ 2.86281061e-02 4.95538870e-04 9.99590009e-01 1.15385808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.37, Y:14.80, Z:1.16 [[ 9.00846100e-01 -4.33425817e-01 -2.48669460e-02 5.03710064e+01] [ 4.33247961e-01 9.01189152e-01 -1.24224283e-02 1.47999704e+01] [ 2.77940231e-02 4.17142414e-04 9.99613584e-01 1.15586426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:14.81, Z:1.16 [[ 8.99970692e-01 -4.35273232e-01 -2.42892226e-02 5.03973273e+01] [ 4.35104124e-01 9.00298332e-01 -1.21373140e-02 1.48111855e+01] [ 2.71505945e-02 3.54885984e-04 9.99631292e-01 1.15743519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.006874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:14.82, Z:1.16 [[ 8.99144473e-01 -4.36975714e-01 -2.43196058e-02 5.04225636e+01] [ 4.36806628e-01 8.99473251e-01 -1.21589619e-02 1.48237323e+01] [ 2.71880060e-02 3.09698418e-04 9.99630290e-01 1.15692326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:14.84, Z:1.16 [[ 8.98420453e-01 -4.38456208e-01 -2.44303796e-02 5.04477032e+01] [ 4.38286045e-01 8.98752514e-01 -1.22172358e-02 1.48368476e+01] [ 2.73135880e-02 2.68720065e-04 9.99626878e-01 1.15680009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.066874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:14.85, Z:1.16 [[ 8.97257381e-01 -4.40835466e-01 -2.43574308e-02 5.04734445e+01] [ 4.40667070e-01 8.97587908e-01 -1.21852744e-02 1.48492989e+01] [ 2.72346364e-02 1.99809743e-04 9.99629049e-01 1.15702054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:14.86, Z:1.16 [[ 8.96722644e-01 -4.41916875e-01 -2.44535370e-02 5.04990235e+01] [ 4.41747346e-01 8.97055988e-01 -1.22408142e-02 1.48614276e+01] [ 2.73456142e-02 1.74330206e-04 9.99626024e-01 1.15833107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:14.87, Z:1.16 [[ 8.95887750e-01 -4.43589770e-01 -2.47640007e-02 5.05238105e+01] [ 4.43416342e-01 8.96229936e-01 -1.24035795e-02 1.48734267e+01] [ 2.76963397e-02 1.31452351e-04 9.99616374e-01 1.15813078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:14.89, Z:1.16 [[ 8.94972478e-01 -4.45403279e-01 -2.53018428e-02 5.05491031e+01] [ 4.45222843e-01 8.95330058e-01 -1.26770604e-02 1.48860366e+01] [ 2.82999046e-02 8.06617678e-05 9.99599474e-01 1.15839739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:14.90, Z:1.16 [[ 8.94326864e-01 -4.46715930e-01 -2.49867630e-02 5.05743631e+01] [ 4.46540238e-01 8.94675850e-01 -1.25275684e-02 1.48989689e+01] [ 2.79513178e-02 4.61458332e-05 9.99609285e-01 1.15912895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:14.91, Z:1.16 [[ 8.93495605e-01 -4.48411478e-01 -2.43464775e-02 5.05999735e+01] [ 4.48245088e-01 8.93827246e-01 -1.22145122e-02 1.49116688e+01] [ 2.72386724e-02 4.23976261e-07 9.99628959e-01 1.16085297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.246874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:14.92, Z:1.17 [[ 8.90518393e-01 -4.54443935e-01 -2.13939564e-02 5.06259276e+01] [ 4.54317058e-01 8.90775328e-01 -1.07389690e-02 1.49222611e+01] [ 2.39374678e-02 -1.56389866e-04 9.99713446e-01 1.16685787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters Centerline goodness [0,1] 0.9999014389907352 Centerline is valid? [True, True] Translation: X:50.65, Y:14.94, Z:1.17 [[ 8.88941575e-01 -4.57536444e-01 -2.10541887e-02 5.06516611e+01] [ 4.57414349e-01 8.89190839e-01 -1.05718913e-02 1.49353074e+01] [ 2.35582173e-02 -2.32694321e-04 9.99722440e-01 1.16786437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.68, Y:14.95, Z:1.17 [[ 8.87782042e-01 -4.59740774e-01 -2.19423503e-02 5.06764734e+01] [ 4.59608669e-01 8.88053114e-01 -1.10244658e-02 1.49495907e+01] [ 2.45543690e-02 -2.97571630e-04 9.99698452e-01 1.16702857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:14.96, Z:1.17 [[ 8.87009909e-01 -4.61178081e-01 -2.29825856e-02 5.07012539e+01] [ 4.61033451e-01 8.87307533e-01 -1.15541996e-02 1.49640905e+01] [ 2.57211649e-02 -3.47051202e-04 9.99669096e-01 1.16514884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:14.98, Z:1.16 [[ 8.86394771e-01 -4.62338080e-01 -2.34053336e-02 5.07259438e+01] [ 4.62188299e-01 8.86703645e-01 -1.17737977e-02 1.49786057e+01] [ 2.61970696e-02 -3.81438595e-04 9.99656725e-01 1.16396853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.75, Y:14.99, Z:1.16 [[ 8.86050193e-01 -4.62957190e-01 -2.42011515e-02 5.07498679e+01] [ 4.62797103e-01 8.86380547e-01 -1.21806257e-02 1.49925552e+01] [ 2.70905382e-02 -4.07577003e-04 9.99632901e-01 1.16337845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.426874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.77, Y:15.01, Z:1.16 [[ 8.86290806e-01 -4.62475220e-01 -2.46023996e-02 5.07730160e+01] [ 4.62309487e-01 8.86632119e-01 -1.23864371e-02 1.50099438e+01] [ 2.75416979e-02 -3.95937422e-04 9.99620577e-01 1.16456137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.80, Y:15.02, Z:1.17 [[ 8.86780130e-01 -4.61541163e-01 -2.45103491e-02 5.07974023e+01] [ 4.61376112e-01 8.87118722e-01 -1.23473290e-02 1.50234370e+01] [ 2.74423901e-02 -3.59123526e-04 9.99623322e-01 1.16553894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.82, Y:15.04, Z:1.17 [[ 8.87240590e-01 -4.60681153e-01 -2.40210279e-02 5.08215491e+01] [ 4.60522223e-01 8.87565643e-01 -1.21041772e-02 1.50398984e+01] [ 2.68964054e-02 -3.22899811e-04 9.99638174e-01 1.16708709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.85, Y:15.06, Z:1.17 [[ 8.88235255e-01 -4.58753060e-01 -2.41611513e-02 5.08455493e+01] [ 4.58591369e-01 8.88563764e-01 -1.21816982e-02 1.50576305e+01] [ 2.70571149e-02 -2.59881650e-04 9.99633855e-01 1.16888984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:15.07, Z:1.17 [[ 8.89493728e-01 -4.56301009e-01 -2.42960386e-02 5.08688247e+01] [ 4.56136407e-01 8.89825464e-01 -1.22564855e-02 1.50747727e+01] [ 2.72118806e-02 -1.80240764e-04 9.99629672e-01 1.16892646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.89, Y:15.10, Z:1.17 [[ 8.92549401e-01 -4.50260169e-01 -2.49268457e-02 5.08898948e+01] [ 4.50084334e-01 8.92897407e-01 -1.25822318e-02 1.50968958e+01] [ 2.79223937e-02 1.10807398e-05 9.99610094e-01 1.16764426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.606874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.91, Y:15.11, Z:1.17 [[ 8.94100780e-01 -4.47180609e-01 -2.47648417e-02 5.09136733e+01] [ 4.47005666e-01 8.94443676e-01 -1.25077840e-02 1.51148343e+01] [ 2.77439945e-02 1.13194888e-04 9.99615055e-01 1.16756575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.94, Y:15.13, Z:1.17 [[ 8.95705854e-01 -4.43979690e-01 -2.43527708e-02 5.09364486e+01] [ 4.43809159e-01 8.96036823e-01 -1.23061492e-02 1.51324272e+01] [ 2.72846597e-02 2.14707136e-04 9.99627681e-01 1.16767818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.96, Y:15.15, Z:1.17 [[ 8.97093131e-01 -4.41201992e-01 -2.37637748e-02 5.09593403e+01] [ 4.41038544e-01 8.97407775e-01 -1.20119690e-02 1.51498210e+01] [ 2.66255009e-02 2.95114228e-04 9.99645435e-01 1.16770817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters Centerline goodness [0,1] 0.9999767479712605 Centerline is valid? [True, True] Translation: X:50.98, Y:15.17, Z:1.17 [[ 8.98319679e-01 -4.38716705e-01 -2.34394324e-02 5.09836772e+01] [ 4.38556759e-01 8.98625349e-01 -1.18512171e-02 1.51665791e+01] [ 2.62625951e-02 3.66660063e-04 9.99655011e-01 1.16955418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.01, Y:15.18, Z:1.17 [[ 8.99403322e-01 -4.36547502e-01 -2.23593927e-02 5.10082660e+01] [ 4.36401128e-01 8.99681113e-01 -1.13115102e-02 1.51829690e+01] [ 2.50543349e-02 4.15945605e-04 9.99686004e-01 1.17147441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters Centerline goodness [0,1] 0.9999537187022725 Centerline is valid? [True, True] Translation: X:51.03, Y:15.20, Z:1.17 [[ 9.01242047e-01 -4.32801966e-01 -2.11005041e-02 5.10315424e+01] [ 4.32670442e-01 9.01488886e-01 -1.06806730e-02 1.52007553e+01] [ 2.36444862e-02 4.96307131e-04 9.99720307e-01 1.17376234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.786874999999995 meters Centerline goodness [0,1] 0.9999539361555115 Centerline is valid? [True, True] Translation: X:51.05, Y:15.22, Z:1.17 [[ 9.01756725e-01 -4.31743741e-01 -2.07882365e-02 5.10543858e+01] [ 4.31615657e-01 9.01996159e-01 -1.05287587e-02 1.52172357e+01] [ 2.32966352e-02 5.21850631e-04 9.99728460e-01 1.17394202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters Centerline goodness [0,1] 0.9999080628849867 Centerline is valid? [True, True] Translation: X:51.08, Y:15.23, Z:1.18 [[ 9.02224206e-01 -4.30775899e-01 -2.05817291e-02 5.10791890e+01] [ 4.30650038e-01 9.02458769e-01 -1.04266478e-02 1.52317324e+01] [ 2.30657105e-02 5.43651622e-04 9.99733803e-01 1.17505654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.846875 meters Centerline goodness [0,1] 0.9999080438630773 Centerline is valid? [True, True] Translation: X:51.10, Y:15.25, Z:1.18 [[ 9.02641339e-01 -4.29905269e-01 -2.04956770e-02 5.11029726e+01] [ 4.29780095e-01 9.02873821e-01 -1.03891396e-02 1.52474586e+01] [ 2.29713560e-02 5.69032901e-04 9.99735962e-01 1.17506358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters Centerline goodness [0,1] 0.9999311247331083 Centerline is valid? [True, True] Translation: X:51.13, Y:15.26, Z:1.18 [[ 9.02991519e-01 -4.29181621e-01 -2.02349268e-02 5.11274470e+01] [ 4.29059381e-01 9.03218023e-01 -1.02591492e-02 1.52619272e+01] [ 2.26795889e-02 5.81939567e-04 9.99742616e-01 1.17501966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.906875 meters Centerline goodness [0,1] 0.9998858004248224 Centerline is valid? [True, True] Translation: X:51.15, Y:15.28, Z:1.17 [[ 9.03038166e-01 -4.29057432e-01 -2.07795755e-02 5.11526874e+01] [ 4.28928428e-01 9.03277010e-01 -1.05379111e-02 1.52761653e+01] [ 2.32910818e-02 6.03185237e-04 9.99728544e-01 1.17460553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters Centerline goodness [0,1] 0.9999545795199055 Centerline is valid? [True, True] Translation: X:51.18, Y:15.29, Z:1.17 [[ 9.03473008e-01 -4.28066111e-01 -2.22694311e-02 5.11767375e+01] [ 4.27917455e-01 9.03747167e-01 -1.13008978e-02 1.52926713e+01] [ 2.49634667e-02 6.80577795e-04 9.99688132e-01 1.17367076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.966874999999995 meters Centerline goodness [0,1] 0.9997730007036978 Centerline is valid? [True, True] Translation: X:51.20, Y:15.31, Z:1.17 [[ 9.03731552e-01 -4.27491566e-01 -2.28088406e-02 5.12012526e+01] [ 4.27335251e-01 9.04019050e-01 -1.15819147e-02 1.53075465e+01] [ 2.55707973e-02 7.19920077e-04 9.99672754e-01 1.17413469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters Centerline goodness [0,1] 0.999954726548352 Centerline is valid? [True, True] Translation: X:51.23, Y:15.32, Z:1.18 [[ 9.03979205e-01 -4.26970346e-01 -2.27578679e-02 5.12262297e+01] [ 4.26814383e-01 9.04265324e-01 -1.15630980e-02 1.53228126e+01] [ 2.55162507e-02 7.39414760e-04 9.99674134e-01 1.17538516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.026875 meters Centerline goodness [0,1] 0.999818474733952 Centerline is valid? [True, True] Translation: X:51.25, Y:15.34, Z:1.18 [[ 9.04181791e-01 -4.26576039e-01 -2.20946146e-02 5.12499578e+01] [ 4.26428767e-01 9.04451405e-01 -1.12322343e-02 1.53385612e+01] [ 2.47749073e-02 7.34202464e-04 9.99692785e-01 1.17647474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters Centerline goodness [0,1] 0.999818474733952 Centerline is valid? [True, True] Translation: X:51.27, Y:15.35, Z:1.18 [[ 9.04064696e-01 -4.26824212e-01 -2.20933847e-02 5.12745346e+01] [ 4.26676955e-01 9.04334318e-01 -1.12346530e-02 1.53511541e+01] [ 2.47750279e-02 7.30115037e-04 9.99692785e-01 1.17707633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.086875 meters Centerline goodness [0,1] 0.9998414567856496 Centerline is valid? [True, True] Translation: X:51.30, Y:15.36, Z:1.18 [[ 9.04426583e-01 -4.26079596e-01 -2.16502545e-02 5.13002449e+01] [ 4.25937798e-01 9.04685375e-01 -1.10165845e-02 1.53649280e+01] [ 2.42806105e-02 7.42030209e-04 9.99704907e-01 1.17831970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters Centerline goodness [0,1] 0.9998645659338179 Centerline is valid? [True, True] Translation: X:51.32, Y:15.38, Z:1.18 [[ 9.04827213e-01 -4.25241760e-01 -2.13812811e-02 5.13236420e+01] [ 4.25103083e-01 9.05079481e-01 -1.08858708e-02 1.53812430e+01] [ 2.39808856e-02 7.60583611e-04 9.99712128e-01 1.17905698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.146874999999994 meters Centerline goodness [0,1] 0.9997502610906779 Centerline is valid? [True, True] Translation: X:51.35, Y:15.39, Z:1.18 [[ 9.05445663e-01 -4.23888727e-01 -2.20566986e-02 5.13488476e+01] [ 4.23740672e-01 9.05713900e-01 -1.12327485e-02 1.53947742e+01] [ 2.47384939e-02 8.24323109e-04 9.99693617e-01 1.17905098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters Centerline goodness [0,1] 0.9998873010864175 Centerline is valid? [True, True] Translation: X:51.37, Y:15.41, Z:1.18 [[ 9.05550505e-01 -4.23632426e-01 -2.26682568e-02 5.13735634e+01] [ 4.23475785e-01 9.05833774e-01 -1.15513198e-02 1.54092587e+01] [ 2.54271862e-02 8.60845635e-04 9.99676306e-01 1.17860839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.206875 meters Centerline goodness [0,1] 0.9996836301184128 Centerline is valid? [True, True] Translation: X:51.40, Y:15.42, Z:1.18 [[ 9.05797856e-01 -4.23093629e-01 -2.28478842e-02 5.13972997e+01] [ 4.22934161e-01 9.06085532e-01 -1.16492147e-02 1.54240573e+01] [ 2.56308458e-02 8.88682924e-04 9.99671081e-01 1.17864162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters Centerline goodness [0,1] 0.9997735609800281 Centerline is valid? [True, True] Translation: X:51.42, Y:15.44, Z:1.18 [[ 9.05794142e-01 -4.23104837e-01 -2.27874655e-02 5.14233177e+01] [ 4.22946135e-01 9.06080298e-01 -1.16215385e-02 1.54359171e+01] [ 2.55644027e-02 8.88851005e-04 9.99672782e-01 1.17934586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.266875 meters Centerline goodness [0,1] 0.9997741899062889 Centerline is valid? [True, True] Translation: X:51.45, Y:15.45, Z:1.18 [[ 9.06084929e-01 -4.22478887e-01 -2.28405701e-02 5.14467223e+01] [ 4.22319082e-01 9.06372304e-01 -1.16549752e-02 1.54516552e+01] [ 2.56260411e-02 9.14388812e-04 9.99671181e-01 1.17952829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters Centerline goodness [0,1] 0.9997737095788736 Centerline is valid? [True, True] Translation: X:51.47, Y:15.46, Z:1.18 [[ 9.05917313e-01 -4.22804739e-01 -2.34515312e-02 5.14736607e+01] [ 4.22636284e-01 9.06220328e-01 -1.19703240e-02 1.54609607e+01] [ 2.63133640e-02 9.32655735e-04 9.99653308e-01 1.18025085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.326874999999994 meters Centerline goodness [0,1] 0.9997499886358471 Centerline is valid? [True, True] Translation: X:51.50, Y:15.47, Z:1.18 [[ 9.05697124e-01 -4.23264478e-01 -2.36622401e-02 5.14997815e+01] [ 4.23092913e-01 9.06005688e-01 -1.20863403e-02 1.54723436e+01] [ 2.65538426e-02 9.35237592e-04 9.99646947e-01 1.18138022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters Centerline goodness [0,1] 0.9997496871088861 Centerline is valid? [True, True] Translation: X:51.53, Y:15.48, Z:1.18 [[ 9.05324762e-01 -4.24038234e-01 -2.40551577e-02 5.15260606e+01] [ 4.23860965e-01 9.05643805e-01 -1.22955928e-02 1.54848661e+01] [ 2.69992060e-02 9.35462273e-04 9.99635017e-01 1.18191701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.386874999999996 meters Centerline goodness [0,1] 0.9997726859428987 Centerline is valid? [True, True] Translation: X:51.55, Y:15.50, Z:1.18 [[ 9.05134155e-01 -4.24447587e-01 -2.40084958e-02 5.15514825e+01] [ 4.24270940e-01 9.05452033e-01 -1.22794674e-02 1.54978850e+01] [ 2.69505317e-02 9.28458233e-04 9.99636337e-01 1.18251067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters Centerline goodness [0,1] 0.9998409596946426 Centerline is valid? [True, True] Translation: X:51.58, Y:15.51, Z:1.18 [[ 9.04775195e-01 -4.25209318e-01 -2.40599763e-02 5.15777015e+01] [ 4.25031955e-01 9.05094580e-01 -1.23141885e-02 1.55092054e+01] [ 2.70126618e-02 9.15313535e-04 9.99634672e-01 1.18292583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.446875 meters Centerline goodness [0,1] 0.9999318553516264 Centerline is valid? [True, True] Translation: X:51.60, Y:15.52, Z:1.18 [[ 9.04097769e-01 -4.26611173e-01 -2.47008452e-02 5.16039647e+01] [ 4.26424534e-01 9.04434680e-01 -1.26501524e-02 1.55203892e+01] [ 2.77369974e-02 9.03928155e-04 9.99614847e-01 1.18251758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters Centerline goodness [0,1] 0.9998637168945623 Centerline is valid? [True, True] Translation: X:51.63, Y:15.53, Z:1.18 [[ 9.03797925e-01 -4.27228693e-01 -2.49990914e-02 5.16286207e+01] [ 4.27037556e-01 9.04143147e-01 -1.28099803e-02 1.55326950e+01] [ 2.80755483e-02 9.02082765e-04 9.99605397e-01 1.18216018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.506874999999994 meters Centerline goodness [0,1] 0.999839596700275 Centerline is valid? [True, True] Translation: X:51.66, Y:15.54, Z:1.18 [[ 9.03533187e-01 -4.27748476e-01 -2.56714179e-02 5.16560383e+01] [ 4.27546967e-01 9.03897342e-01 -1.31600304e-02 1.55418420e+01] [ 2.88335093e-02 9.14787381e-04 9.99583809e-01 1.18267825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters Centerline goodness [0,1] 0.9999771506911916 Centerline is valid? [True, True] Translation: X:51.68, Y:15.55, Z:1.18 [[ 9.03243768e-01 -4.28333161e-01 -2.61036185e-02 5.16821051e+01] [ 4.28124774e-01 9.03620416e-01 -1.33910907e-02 1.55536407e+01] [ 2.93236108e-02 9.19813434e-04 9.99569547e-01 1.18244116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.566874999999996 meters Centerline goodness [0,1] 0.9998857795545403 Centerline is valid? [True, True] Translation: X:51.71, Y:15.57, Z:1.18 [[ 9.03264391e-01 -4.28292704e-01 -2.60537778e-02 5.17053385e+01] [ 4.28084866e-01 9.03639586e-01 -1.33733289e-02 1.55683681e+01] [ 2.92709242e-02 9.26423832e-04 9.99571085e-01 1.18169294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters Centerline goodness [0,1] 0.9998854157117976 Centerline is valid? [True, True] Translation: X:51.73, Y:15.58, Z:1.18 [[ 9.03276162e-01 -4.28281138e-01 -2.58349055e-02 5.17318053e+01] [ 4.28076634e-01 9.03645071e-01 -1.32657896e-02 1.55773558e+01] [ 2.90270725e-02 9.23352185e-04 9.99578199e-01 1.18290984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.626875 meters Centerline goodness [0,1] 0.9999305973256836 Centerline is valid? [True, True] Translation: X:51.76, Y:15.59, Z:1.18 [[ 9.03520196e-01 -4.27752742e-01 -2.60547134e-02 5.17602640e+01] [ 4.27544261e-01 9.03895280e-01 -1.33875782e-02 1.55855719e+01] [ 2.92773057e-02 9.56404128e-04 9.99570870e-01 1.18426498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters Centerline goodness [0,1] 0.9999073495008455 Centerline is valid? [True, True] Translation: X:51.79, Y:15.60, Z:1.18 [[ 9.03432669e-01 -4.27928074e-01 -2.62102453e-02 5.17869150e+01] [ 4.27716919e-01 9.03812278e-01 -1.34760047e-02 1.55953636e+01] [ 2.94559022e-02 9.64097559e-04 9.99565616e-01 1.18456582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.81, Y:15.61, Z:1.18 [[ 9.03523614e-01 -4.27722790e-01 -2.64252504e-02 5.18106600e+01] [ 4.27507832e-01 9.03909422e-01 -1.35945200e-02 1.56090826e+01] [ 2.97007189e-02 9.85968358e-04 9.99558350e-01 1.18410280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:15.62, Z:1.18 [[ 9.03614745e-01 -4.27507213e-01 -2.67950767e-02 5.18392511e+01] [ 4.27285950e-01 9.04011372e-01 -1.37897323e-02 1.56175595e+01] [ 3.01182640e-02 1.01144566e-03 9.99545830e-01 1.18480479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.746874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:15.63, Z:1.18 [[ 9.03791031e-01 -4.27130881e-01 -2.68511297e-02 5.18641280e+01] [ 4.26908316e-01 9.04189220e-01 -1.38255145e-02 1.56299958e+01] [ 3.01838062e-02 1.03240544e-03 9.99543832e-01 1.18406777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters Centerline goodness [0,1] 0.9999763872491145 Centerline is valid? [True, True] Translation: X:51.89, Y:15.64, Z:1.18 [[ 9.04118163e-01 -4.26421190e-01 -2.71167149e-02 5.18908473e+01] [ 4.26193789e-01 9.04524088e-01 -1.39652675e-02 1.56395969e+01] [ 3.04828078e-02 1.06927655e-03 9.99534719e-01 1.18374486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.806875 meters Centerline goodness [0,1] 0.9999761995430312 Centerline is valid? [True, True] Translation: X:51.92, Y:15.65, Z:1.18 [[ 9.04150285e-01 -4.26351656e-01 -2.71390434e-02 5.19180299e+01] [ 4.26123713e-01 9.04556856e-01 -1.39812406e-02 1.56493317e+01] [ 3.05097329e-02 1.07655275e-03 9.99533890e-01 1.18462389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters Centerline goodness [0,1] 0.99997616096119 Centerline is valid? [True, True] Translation: X:51.94, Y:15.66, Z:1.18 [[ 9.04098543e-01 -4.26461299e-01 -2.71401069e-02 5.19425742e+01] [ 4.26233168e-01 9.04505166e-01 -1.39889337e-02 1.56611047e+01] [ 3.05141057e-02 1.07936079e-03 9.99533753e-01 1.18467955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:15.67, Z:1.19 [[ 9.03814038e-01 -4.27093575e-01 -2.66695098e-02 5.19707657e+01] [ 4.26873409e-01 9.04206828e-01 -1.37515611e-02 1.56686321e+01] [ 2.99879562e-02 1.04434941e-03 9.99549715e-01 1.18664350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters Centerline goodness [0,1] 0.9999758704726974 Centerline is valid? [True, True] Translation: X:52.00, Y:15.68, Z:1.19 [[ 9.03403846e-01 -4.27989525e-01 -2.62003258e-02 5.19964241e+01] [ 4.27777216e-01 9.03783138e-01 -1.35163595e-02 1.56793329e+01] [ 2.94642730e-02 1.00282870e-03 9.99565331e-01 1.18773952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.926874999999995 meters Centerline goodness [0,1] 0.9999756838905776 Centerline is valid? [True, True] Translation: X:52.02, Y:15.69, Z:1.19 [[ 9.02549929e-01 -4.29871904e-01 -2.47744272e-02 5.20240479e+01] [ 4.29682715e-01 9.02889445e-01 -1.27833907e-02 1.56864001e+01] [ 2.78637893e-02 8.92505229e-04 9.99611331e-01 1.18923369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.05, Y:15.70, Z:1.19 [[ 9.01887025e-01 -4.31300394e-01 -2.40782789e-02 5.20519378e+01] [ 4.31122101e-01 9.02208005e-01 -1.24277459e-02 1.56951035e+01] [ 2.70837077e-02 8.27744547e-04 9.99632826e-01 1.19021659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.08, Y:15.71, Z:1.19 [[ 9.01109599e-01 -4.32931194e-01 -2.39180222e-02 5.20778541e+01] [ 4.32755657e-01 9.01426632e-01 -1.23518429e-02 1.57064477e+01] [ 2.69078403e-02 7.79704806e-04 9.99637614e-01 1.18969953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:15.72, Z:1.19 [[ 9.00302137e-01 -4.34625863e-01 -2.35885766e-02 5.21041907e+01] [ 4.34455615e-01 9.00610814e-01 -1.21853023e-02 1.57167715e+01] [ 2.65401747e-02 7.22264206e-04 9.99647487e-01 1.19014438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:15.73, Z:1.19 [[ 8.99223469e-01 -4.36848319e-01 -2.36790862e-02 5.21327007e+01] [ 4.36677441e-01 8.99534940e-01 -1.22353735e-02 1.57257845e+01] [ 2.66451677e-02 6.62212201e-04 9.99644735e-01 1.19103036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:15.74, Z:1.19 [[ 8.97950735e-01 -4.39449606e-01 -2.38437007e-02 5.21590483e+01] [ 4.39277092e-01 8.98267049e-01 -1.23266464e-02 1.57352686e+01] [ 2.68349505e-02 5.94729651e-04 9.99639701e-01 1.19150025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.106874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:15.74, Z:1.19 [[ 8.95709057e-01 -4.44015509e-01 -2.35693338e-02 5.21898527e+01] [ 4.43848429e-01 8.96018984e-01 -1.21882002e-02 1.57390067e+01] [ 2.65303204e-02 4.55869582e-04 9.99647905e-01 1.19337736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:15.75, Z:1.19 [[ 8.94860366e-01 -4.45734758e-01 -2.33548968e-02 5.22153505e+01] [ 4.45571232e-01 8.95164992e-01 -1.20794694e-02 1.57494774e+01] [ 2.62907254e-02 4.03168309e-04 9.99654258e-01 1.19412722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:15.76, Z:1.20 [[ 8.94191668e-01 -4.47085126e-01 -2.31549317e-02 5.22422457e+01] [ 4.46924756e-01 8.94491340e-01 -1.19793437e-02 1.57600855e+01] [ 2.60676723e-02 3.63317089e-04 9.99660114e-01 1.19551165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.27, Y:15.77, Z:1.20 [[ 8.93720175e-01 -4.48045164e-01 -2.27987002e-02 5.22676707e+01] [ 4.47889838e-01 8.94010860e-01 -1.18014730e-02 1.57718674e+01] [ 2.56698785e-02 3.35908433e-04 9.99670418e-01 1.19568165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.29, Y:15.78, Z:1.20 [[ 8.93323205e-01 -4.48832889e-01 -2.28624039e-02 5.22928126e+01] [ 4.48676839e-01 8.93615654e-01 -1.18388401e-02 1.57838487e+01] [ 2.57438628e-02 3.18079452e-04 9.99668521e-01 1.19571746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.32, Y:15.80, Z:1.20 [[ 8.92906849e-01 -4.49672171e-01 -2.26339817e-02 5.23181505e+01] [ 4.49519293e-01 8.93193624e-01 -1.17283845e-02 1.57955819e+01] [ 2.54904563e-02 2.97943374e-04 9.99675021e-01 1.19546882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.286874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:15.81, Z:1.20 [[ 8.92733396e-01 -4.50028490e-01 -2.23928780e-02 5.23429366e+01] [ 4.49878784e-01 8.93014151e-01 -1.16106236e-02 1.58073890e+01] [ 2.52222684e-02 2.91110684e-04 9.99681826e-01 1.19670946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.37, Y:15.82, Z:1.20 [[ 8.92629106e-01 -4.50262573e-01 -2.18379391e-02 5.23683329e+01] [ 4.50120174e-01 8.92896151e-01 -1.13265882e-02 1.58202908e+01] [ 2.45989505e-02 2.80745346e-04 9.99697361e-01 1.19767487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.39, Y:15.83, Z:1.20 [[ 8.92572417e-01 -4.50405480e-01 -2.11986885e-02 5.23934302e+01] [ 4.50271169e-01 8.92824074e-01 -1.10021099e-02 1.58337077e+01] [ 2.38821100e-02 2.75021541e-04 9.99714744e-01 1.19829123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.42, Y:15.85, Z:1.20 [[ 8.92847061e-01 -4.49895184e-01 -2.04560072e-02 5.24187954e+01] [ 4.49769830e-01 8.93081319e-01 -1.06234309e-02 1.58476139e+01] [ 2.30483083e-02 2.84604193e-04 9.99734312e-01 1.19947689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:15.86, Z:1.20 [[ 8.93343042e-01 -4.48948889e-01 -1.95730338e-02 5.24424436e+01] [ 4.48833773e-01 8.93557387e-01 -1.01705094e-02 1.58619024e+01] [ 2.20556679e-02 3.00715198e-04 9.99756699e-01 1.20099678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.47, Y:15.88, Z:1.20 [[ 8.94067166e-01 -4.47510277e-01 -1.94539271e-02 5.24682411e+01] [ 4.47396172e-01 8.94278726e-01 -1.01107016e-02 1.58759172e+01] [ 2.19218760e-02 3.36033841e-04 9.99759630e-01 1.20230318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.466874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:15.89, Z:1.20 [[ 8.95592177e-01 -4.44445031e-01 -1.95772210e-02 5.24902195e+01] [ 4.44328608e-01 8.95806027e-01 -1.01808267e-02 1.58933054e+01] [ 2.20622104e-02 4.19149426e-04 9.99756512e-01 1.20161418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.51, Y:15.91, Z:1.20 [[ 8.96146819e-01 -4.43319502e-01 -1.97154455e-02 5.25144845e+01] [ 4.43201097e-01 8.96363551e-01 -1.02553792e-02 1.59085636e+01] [ 2.22186164e-02 4.52418383e-04 9.99753034e-01 1.20134084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.54, Y:15.92, Z:1.20 [[ 8.96616229e-01 -4.42386104e-01 -1.93358199e-02 5.25396427e+01] [ 4.42271876e-01 8.96824572e-01 -1.00635470e-02 1.59226514e+01] [ 2.17928117e-02 4.71450190e-04 9.99762397e-01 1.20173075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:15.94, Z:1.20 [[ 8.96774854e-01 -4.42086762e-01 -1.88190330e-02 5.25649594e+01] [ 4.41978374e-01 8.96972170e-01 -9.80018431e-03 1.59361998e+01] [ 2.12126806e-02 4.70953242e-04 9.99774875e-01 1.20282930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:15.95, Z:1.20 [[ 8.96988060e-01 -4.41659705e-01 -1.86849144e-02 5.25892258e+01] [ 4.41552639e-01 8.97182519e-01 -9.73627297e-03 1.59508844e+01] [ 2.10638980e-02 4.82947348e-04 9.99778015e-01 1.20372844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.61, Y:15.96, Z:1.21 [[ 8.96894709e-01 -4.41850834e-01 -1.86473091e-02 5.26123933e+01] [ 4.41744197e-01 8.97088408e-01 -9.71870429e-03 1.59640878e+01] [ 2.10225024e-02 4.79313873e-04 9.99778888e-01 1.20521333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.646874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.64, Y:15.98, Z:1.21 [[ 8.96563110e-01 -4.42496297e-01 -1.92773772e-02 5.26382411e+01] [ 4.42382415e-01 8.96770202e-01 -1.00501012e-02 1.59768267e+01] [ 2.17345100e-02 4.82577315e-04 9.99763661e-01 1.20599112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:15.99, Z:1.21 [[ 8.96189014e-01 -4.43226982e-01 -1.98769576e-02 5.26639563e+01] [ 4.43105942e-01 8.96409286e-01 -1.03690213e-02 1.59905218e+01] [ 2.24137194e-02 4.85004947e-04 9.99748663e-01 1.20504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:16.00, Z:1.20 [[ 8.95612222e-01 -4.44347153e-01 -2.08411757e-02 5.26889258e+01] [ 4.44214237e-01 8.95854549e-01 -1.08783973e-02 1.60039323e+01] [ 2.35044469e-02 4.84878641e-04 9.99723615e-01 1.20390277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.71, Y:16.02, Z:1.20 [[ 8.94831876e-01 -4.45885711e-01 -2.14906105e-02 5.27149671e+01] [ 4.45744755e-01 8.95089783e-01 -1.12202037e-02 1.60161780e+01] [ 2.42389544e-02 4.60869038e-04 9.99706087e-01 1.20308696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.74, Y:16.03, Z:1.20 [[ 8.94039384e-01 -4.47457961e-01 -2.17934111e-02 5.27398290e+01] [ 4.47313313e-01 8.94304863e-01 -1.13847076e-02 1.60285952e+01] [ 2.45841316e-02 4.29894094e-04 9.99697672e-01 1.20251099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:16.04, Z:1.20 [[ 8.93141392e-01 -4.49193817e-01 -2.28772313e-02 5.27660816e+01] [ 4.49034879e-01 8.93434245e-01 -1.19552100e-02 1.60401323e+01] [ 2.58095083e-02 4.05018101e-04 9.99666797e-01 1.20294361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.826874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:16.05, Z:1.20 [[ 8.91245950e-01 -4.52958613e-01 -2.25643847e-02 5.27922689e+01] [ 4.52805040e-01 8.91531495e-01 -1.17978271e-02 1.60500686e+01] [ 2.54607870e-02 2.97498553e-04 9.99675777e-01 1.20452183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:16.06, Z:1.21 [[ 8.90231749e-01 -4.54978714e-01 -2.19500008e-02 5.28186237e+01] [ 4.54833936e-01 8.90502282e-01 -1.14793824e-02 1.60619417e+01] [ 2.47694004e-02 2.35705433e-04 9.99693164e-01 1.20602616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.886874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:16.07, Z:1.21 [[ 8.89353816e-01 -4.56731746e-01 -2.11164095e-02 5.28449076e+01] [ 4.56598107e-01 8.89604450e-01 -1.10494568e-02 1.60745896e+01] [ 2.38318896e-02 1.85163923e-04 9.99715963e-01 1.20798781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:16.09, Z:1.21 [[ 8.88439102e-01 -4.58539721e-01 -2.04275690e-02 5.28712583e+01] [ 4.58415011e-01 8.88673903e-01 -1.06944938e-02 1.60869285e+01] [ 2.30572977e-02 1.37102192e-04 9.99734136e-01 1.20939759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.90, Y:16.10, Z:1.21 [[ 8.87605099e-01 -4.60176781e-01 -1.98624887e-02 5.28961924e+01] [ 4.60059157e-01 8.87827303e-01 -1.04044017e-02 1.60993495e+01] [ 2.24223238e-02 9.70801795e-05 9.99748583e-01 1.20974441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:16.11, Z:1.21 [[ 8.87483809e-01 -4.60410712e-01 -1.98611482e-02 5.29206091e+01] [ 4.60293089e-01 8.87706014e-01 -1.04069600e-02 1.61122613e+01] [ 2.24223365e-02 9.40592132e-05 9.99748583e-01 1.21034550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.006874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:16.12, Z:1.21 [[ 8.86596208e-01 -4.62106956e-01 -2.01078228e-02 5.29463424e+01] [ 4.61986673e-01 8.86824198e-01 -1.05430609e-02 1.61244188e+01] [ 2.27041256e-02 5.78916661e-05 9.99742226e-01 1.21071483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:16.14, Z:1.21 [[ 8.84920995e-01 -4.65295607e-01 -2.03674161e-02 5.29719960e+01] [ 4.65172875e-01 8.85155353e-01 -1.06863468e-02 1.61366396e+01] [ 2.30006376e-02 -1.77968192e-05 9.99735450e-01 1.20991450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.066874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:16.15, Z:1.21 [[ 8.84315405e-01 -4.66428030e-01 -2.07643272e-02 5.29956752e+01] [ 4.66300615e-01 8.84559151e-01 -1.09016070e-02 1.61487348e+01] [ 2.34520907e-02 -4.19595604e-05 9.99724961e-01 1.20987321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.02, Y:16.16, Z:1.21 [[ 8.83697386e-01 -4.67573607e-01 -2.13037966e-02 5.30208434e+01] [ 4.67439729e-01 8.83954138e-01 -1.11884722e-02 1.61618552e+01] [ 2.40630134e-02 -7.10172566e-05 9.99710441e-01 1.21035985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.05, Y:16.17, Z:1.21 [[ 8.83403538e-01 -4.68104319e-01 -2.18297097e-02 5.30454100e+01] [ 4.67963723e-01 8.83673209e-01 -1.14722952e-02 1.61749925e+01] [ 2.46605605e-02 -8.08460223e-05 9.99695879e-01 1.21135556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.07, Y:16.19, Z:1.21 [[ 8.83222553e-01 -4.68431857e-01 -2.21250461e-02 5.30696097e+01] [ 4.68287353e-01 8.83499625e-01 -1.16347493e-02 1.61877694e+01] [ 2.49975571e-02 -8.48062407e-05 9.99687509e-01 1.21299867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.09, Y:16.20, Z:1.21 [[ 8.82999167e-01 -4.68874723e-01 -2.16556004e-02 5.30939522e+01] [ 4.68736332e-01 8.83264674e-01 -1.13914973e-02 1.62014829e+01] [ 2.44688120e-02 -9.20840791e-05 9.99700590e-01 1.21376499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:16.22, Z:1.21 [[ 8.82927997e-01 -4.69046302e-01 -2.08258927e-02 5.31182340e+01] [ 4.68918207e-01 8.83173572e-01 -1.09615709e-02 1.62166364e+01] [ 2.35343623e-02 -8.73624286e-05 9.99723025e-01 1.21425166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.246874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:16.23, Z:1.21 [[ 8.82590684e-01 -4.69705544e-01 -2.02580018e-02 5.31425114e+01] [ 4.69584357e-01 8.82823138e-01 -1.06695155e-02 1.62310024e+01] [ 2.28957633e-02 -9.60257948e-05 9.99737853e-01 1.21453991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.17, Y:16.24, Z:1.22 [[ 8.82659098e-01 -4.69597752e-01 -1.97703790e-02 5.31659283e+01] [ 4.69482152e-01 8.82880481e-01 -1.04194377e-02 1.62438965e+01] [ 2.23478263e-02 -8.50286006e-05 9.99750253e-01 1.21576825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.19, Y:16.26, Z:1.22 [[ 8.82475944e-01 -4.69960329e-01 -1.93260660e-02 5.31906100e+01] [ 4.69849856e-01 8.82687533e-01 -1.01897874e-02 1.62579101e+01] [ 2.18476734e-02 -8.81070507e-05 9.99761307e-01 1.21658630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:16.27, Z:1.22 [[ 8.82643671e-01 -4.69633067e-01 -1.96196873e-02 5.32149340e+01] [ 4.69518982e-01 8.82861697e-01 -1.03512887e-02 1.62722207e+01] [ 2.21827779e-02 -7.53161046e-05 9.99753929e-01 1.21812064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.24, Y:16.29, Z:1.22 [[ 8.83016331e-01 -4.68937561e-01 -1.94864914e-02 5.32382711e+01] [ 4.68824701e-01 8.83231318e-01 -1.02877728e-02 1.62864915e+01] [ 2.20354026e-02 -5.14771472e-05 9.99757190e-01 1.21859836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.26, Y:16.30, Z:1.22 [[ 8.84588434e-01 -4.65944109e-01 -1.99847427e-02 5.32605988e+01] [ 4.65824564e-01 8.84814154e-01 -1.05540804e-02 1.63042350e+01] [ 2.26003948e-02 2.66334055e-05 9.99744578e-01 1.21876935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.426874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.28, Y:16.32, Z:1.22 [[ 8.85493239e-01 -4.64189656e-01 -2.07288886e-02 5.32834938e+01] [ 4.64060395e-01 8.85735828e-01 -1.09541342e-02 1.63195641e+01] [ 2.34451151e-02 8.03555049e-05 9.99725122e-01 1.21856916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.31, Y:16.34, Z:1.22 [[ 8.86353088e-01 -4.62497350e-01 -2.17808301e-02 5.33074276e+01] [ 4.62354018e-01 8.86620654e-01 -1.15142625e-02 1.63354028e+01] [ 2.46366497e-02 1.35247793e-04 9.99696463e-01 1.21754741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.33, Y:16.35, Z:1.22 [[ 8.87253587e-01 -4.60738028e-01 -2.23951433e-02 5.33313067e+01] [ 4.60585776e-01 8.87536158e-01 -1.18452773e-02 1.63510389e+01] [ 2.53340692e-02 1.94880320e-04 9.99679022e-01 1.21654748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.36, Y:16.37, Z:1.22 [[ 8.88034586e-01 -4.59184337e-01 -2.33306204e-02 5.33560726e+01] [ 4.59018472e-01 8.88340971e-01 -1.23434891e-02 1.63668362e+01] [ 2.63934829e-02 2.52259510e-04 9.99651600e-01 1.21535753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.38, Y:16.38, Z:1.21 [[ 8.88575761e-01 -4.58111170e-01 -2.38174647e-02 5.33799417e+01] [ 4.57937749e-01 8.88894858e-01 -1.26075533e-02 1.63818083e+01] [ 2.69468829e-02 2.95850155e-04 9.99636823e-01 1.21474274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.41, Y:16.40, Z:1.22 [[ 8.89149373e-01 -4.56966389e-01 -2.43949202e-02 5.34052362e+01] [ 4.56783921e-01 8.89483897e-01 -1.29169249e-02 1.63957356e+01] [ 2.76014892e-02 3.41868318e-04 9.99618948e-01 1.21544511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.606874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:16.41, Z:1.22 [[ 8.89356301e-01 -4.56573914e-01 -2.41998278e-02 5.34287638e+01] [ 4.56394032e-01 8.89685413e-01 -1.28200245e-02 1.64098503e+01] [ 2.73835226e-02 3.56912616e-04 9.99624937e-01 1.21611851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:16.42, Z:1.22 [[ 8.89701165e-01 -4.55927212e-01 -2.37110436e-02 5.34539248e+01] [ 4.55754205e-01 8.90016988e-01 -1.25644936e-02 1.64236987e+01] [ 2.68317262e-02 3.72236733e-04 9.99639895e-01 1.21739025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:16.44, Z:1.22 [[ 8.90157042e-01 -4.55037269e-01 -2.36964988e-02 5.34774643e+01] [ 4.54863986e-01 8.90472302e-01 -1.25631723e-02 1.64385112e+01] [ 2.68177874e-02 4.04512361e-04 9.99640257e-01 1.21807361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters Centerline goodness [0,1] 0.9999035307736832 Centerline is valid? [True, True] Translation: X:53.50, Y:16.45, Z:1.22 [[ 8.90707132e-01 -4.53966743e-01 -2.35584533e-02 5.35029678e+01] [ 4.53795009e-01 8.91018521e-01 -1.24933838e-02 1.64527495e+01] [ 2.66625990e-02 4.37237498e-04 9.99644394e-01 1.21941537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.53, Y:16.47, Z:1.22 [[ 8.91430715e-01 -4.52567707e-01 -2.31030604e-02 5.35284962e+01] [ 4.52401898e-01 8.91729916e-01 -1.22588534e-02 1.64671830e+01] [ 2.61496513e-02 4.76050066e-04 9.99657926e-01 1.22146873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.55, Y:16.48, Z:1.22 [[ 8.93079175e-01 -4.49380255e-01 -2.16095632e-02 5.35524780e+01] [ 4.49234106e-01 8.93340415e-01 -1.14726442e-02 1.64833881e+01] [ 2.44602759e-02 5.38226767e-04 9.99700658e-01 1.22462136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.786874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.58, Y:16.50, Z:1.22 [[ 8.93955949e-01 -4.47629855e-01 -2.16858172e-02 5.35754533e+01] [ 4.47482004e-01 8.94218743e-01 -1.15193355e-02 1.64993267e+01] [ 2.45482627e-02 5.93765577e-04 9.99698470e-01 1.22471282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.60, Y:16.51, Z:1.22 [[ 8.94891209e-01 -4.45741244e-01 -2.20106228e-02 5.36005836e+01] [ 4.45588285e-01 8.95161612e-01 -1.16948566e-02 1.65129722e+01] [ 2.49159445e-02 6.57948735e-04 9.99689333e-01 1.22465256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:16.53, Z:1.22 [[ 8.95673706e-01 -4.44118828e-01 -2.29581810e-02 5.36236060e+01] [ 4.43951703e-01 8.95967588e-01 -1.22051613e-02 1.65284295e+01] [ 2.59903280e-02 7.39518560e-04 9.99661921e-01 1.22405857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:16.54, Z:1.22 [[ 8.96439971e-01 -4.42575934e-01 -2.28455757e-02 5.36485787e+01] [ 4.42409833e-01 8.96730688e-01 -1.21495751e-02 1.65423386e+01] [ 2.58634384e-02 7.84257435e-04 9.99665178e-01 1.22468384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.67, Y:16.56, Z:1.23 [[ 8.97115114e-01 -4.41186481e-01 -2.32155398e-02 5.36738893e+01] [ 4.41014301e-01 8.97415052e-01 -1.23535667e-02 1.65558361e+01] [ 2.62842015e-02 8.44186353e-04 9.99654154e-01 1.22506886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:16.57, Z:1.22 [[ 8.98346956e-01 -4.38667859e-01 -2.33078486e-02 5.36995544e+01] [ 4.38493268e-01 8.98648790e-01 -1.24099074e-02 1.65710971e+01] [ 2.63893974e-02 9.28067840e-04 9.99651308e-01 1.22447205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.966874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.72, Y:16.59, Z:1.22 [[ 8.98737909e-01 -4.37852638e-01 -2.35635075e-02 5.37221101e+01] [ 4.37673747e-01 8.99046234e-01 -1.25523252e-02 1.65871561e+01] [ 2.66807514e-02 9.68121921e-04 9.99643537e-01 1.22499483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.75, Y:16.60, Z:1.23 [[ 8.98983978e-01 -4.37326693e-01 -2.39410092e-02 5.37487171e+01] [ 4.37141717e-01 8.99302150e-01 -1.27578213e-02 1.65975166e+01] [ 2.71095368e-02 1.00346309e-03 9.99631965e-01 1.22604313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.77, Y:16.61, Z:1.23 [[ 8.99303142e-01 -4.36639537e-01 -2.44902774e-02 5.37749866e+01] [ 4.36445611e-01 8.99635932e-01 -1.30544440e-02 1.66106338e+01] [ 2.77324199e-02 1.05122839e-03 9.99614830e-01 1.22701922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.80, Y:16.63, Z:1.23 [[ 8.99341899e-01 -4.36511103e-01 -2.53417523e-02 5.37988142e+01] [ 4.36303191e-01 8.99698199e-01 -1.35157570e-02 1.66261137e+01] [ 2.86997069e-02 1.09859916e-03 9.99587475e-01 1.22564850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:16.64, Z:1.22 [[ 8.99271827e-01 -4.36569883e-01 -2.67753382e-02 5.38253377e+01] [ 4.36337625e-01 8.99669596e-01 -1.42861762e-02 1.66383832e+01] [ 3.03258720e-02 1.16406834e-03 9.99539387e-01 1.22391155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters Centerline goodness [0,1] 0.999975909419417 Centerline is valid? [True, True] Translation: X:53.85, Y:16.65, Z:1.22 [[ 8.99096895e-01 -4.36889021e-01 -2.74364018e-02 5.38503649e+01] [ 4.36645014e-01 8.99514629e-01 -1.46480241e-02 1.66514439e+01] [ 3.10790057e-02 1.19002490e-03 9.99516223e-01 1.22415789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.146874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:16.66, Z:1.23 [[ 8.98779209e-01 -4.37535277e-01 -2.75466096e-02 5.38759204e+01] [ 4.37289313e-01 8.99200471e-01 -1.47163123e-02 1.66642477e+01] [ 3.12088301e-02 1.18087753e-03 9.99512188e-01 1.22505806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:16.68, Z:1.23 [[ 8.98463159e-01 -4.38210824e-01 -2.71150401e-02 5.39020778e+01] [ 4.37972560e-01 8.98871492e-01 -1.44940668e-02 1.66774010e+01] [ 3.07243935e-02 1.14674153e-03 9.99527237e-01 1.22700392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.93, Y:16.69, Z:1.23 [[ 8.98180059e-01 -4.38825780e-01 -2.65427055e-02 5.39283425e+01] [ 4.38597496e-01 8.98571480e-01 -1.41962254e-02 1.66902199e+01] [ 3.00801878e-02 1.10920236e-03 9.99546873e-01 1.22940734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:16.70, Z:1.23 [[ 8.97730769e-01 -4.39768533e-01 -2.61362673e-02 5.39529204e+01] [ 4.39547349e-01 8.98110515e-01 -1.39868361e-02 1.67045919e+01] [ 2.96242269e-02 1.06828615e-03 9.99560535e-01 1.23059001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.98, Y:16.72, Z:1.23 [[ 8.97192427e-01 -4.40923810e-01 -2.51384731e-02 5.39796486e+01] [ 4.40719435e-01 8.97543982e-01 -1.34603412e-02 1.67167673e+01] [ 2.84978702e-02 9.97502562e-04 9.99593356e-01 1.23102401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:16.73, Z:1.23 [[ 8.96681852e-01 -4.41989725e-01 -2.46320894e-02 5.40074364e+01] [ 4.41793697e-01 8.97019609e-01 -1.31966248e-02 1.67269335e+01] [ 2.79282398e-02 9.50872170e-04 9.99609478e-01 1.23228978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.326874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:16.74, Z:1.23 [[ 8.95965912e-01 -4.43485053e-01 -2.37926838e-02 5.40325911e+01] [ 4.43302489e-01 8.96281336e-01 -1.27542366e-02 1.67402138e+01] [ 2.69812517e-02 8.80005315e-04 9.99635552e-01 1.23318456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:16.75, Z:1.23 [[ 8.95429683e-01 -4.44553128e-01 -2.40457479e-02 5.40572375e+01] [ 4.44366855e-01 8.95752070e-01 -1.28967711e-02 1.67534688e+01] [ 2.72723284e-02 8.63018260e-04 9.99627668e-01 1.23392668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.386874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:16.76, Z:1.24 [[ 8.94557730e-01 -4.46295469e-01 -2.42243927e-02 5.40860511e+01] [ 4.46106925e-01 8.94885290e-01 -1.29973267e-02 1.67609237e+01] [ 2.74787007e-02 8.20189719e-04 9.99622053e-01 1.23540524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:16.77, Z:1.24 [[ 8.93748149e-01 -4.47904724e-01 -2.44049895e-02 5.41111771e+01] [ 4.47713737e-01 8.94080949e-01 -1.31021307e-02 1.67743354e+01] [ 2.76885424e-02 7.83556056e-04 9.99616292e-01 1.23515351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:16.78, Z:1.23 [[ 8.92679349e-01 -4.49933718e-01 -2.61386634e-02 5.41383201e+01] [ 4.49715234e-01 8.93061611e-01 -1.40415996e-02 1.67843901e+01] [ 2.96612260e-02 7.79690905e-04 9.99559705e-01 1.23449040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:16.80, Z:1.23 [[ 8.92571542e-01 -4.50126143e-01 -2.65046755e-02 5.41614051e+01] [ 4.49901366e-01 8.92964630e-01 -1.42453911e-02 1.67979295e+01] [ 3.00799607e-02 7.90541022e-04 9.99547183e-01 1.23365645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.506874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.19, Y:16.81, Z:1.23 [[ 8.92568025e-01 -4.50102127e-01 -2.70258239e-02 5.41871772e+01] [ 4.49868246e-01 8.92976716e-01 -1.45308248e-02 1.68117210e+01] [ 3.06737866e-02 8.11689634e-04 9.99529119e-01 1.23403332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:16.83, Z:1.23 [[ 8.92755896e-01 -4.49689213e-01 -2.76861302e-02 5.42107924e+01] [ 4.49443350e-01 8.93184687e-01 -1.48925974e-02 1.68271844e+01] [ 3.14258679e-02 8.52107004e-04 9.99505722e-01 1.23255070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.566874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:16.84, Z:1.23 [[ 8.92970720e-01 -4.49233957e-01 -2.81450885e-02 5.42367423e+01] [ 4.48979496e-01 8.93413715e-01 -1.51441853e-02 1.68394143e+01] [ 3.19484904e-02 8.86746358e-04 9.99489123e-01 1.23244890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.26, Y:16.85, Z:1.23 [[ 8.93380951e-01 -4.48405918e-01 -2.83303395e-02 5.42609632e+01] [ 4.48147449e-01 8.93829553e-01 -1.52510282e-02 1.68531719e+01] [ 3.21611460e-02 9.28808666e-04 9.99482265e-01 1.23322049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.29, Y:16.87, Z:1.24 [[ 8.94629535e-01 -4.46014135e-01 -2.66343182e-02 5.42872061e+01] [ 4.45784478e-01 8.95025403e-01 -1.43431704e-02 1.68650408e+01] [ 3.02356481e-02 9.58658185e-04 9.99542339e-01 1.23711052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:16.88, Z:1.24 [[ 8.95414823e-01 -4.44482446e-01 -2.58389442e-02 5.43088318e+01] [ 4.44265474e-01 8.95787019e-01 -1.39213903e-02 1.68833757e+01] [ 2.93340044e-02 9.86068472e-04 9.99569179e-01 1.23844721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:16.90, Z:1.24 [[ 8.95863603e-01 -4.43648776e-01 -2.45798214e-02 5.43335766e+01] [ 4.43452027e-01 8.96200216e-01 -1.32465951e-02 1.68989125e+01] [ 2.79052769e-02 9.67170802e-04 9.99610104e-01 1.24052192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:16.92, Z:1.24 [[ 8.96582839e-01 -4.42226143e-01 -2.39843715e-02 5.43576007e+01] [ 4.42038119e-01 8.96903034e-01 -1.29325079e-02 1.69152588e+01] [ 2.72307487e-02 9.93058217e-04 9.99628681e-01 1.24162328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.746874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:16.92, Z:1.24 [[ 8.97146119e-01 -4.41127818e-01 -2.31320171e-02 5.43855014e+01] [ 4.40952384e-01 8.97443735e-01 -1.24795171e-02 1.69244864e+01] [ 2.62647459e-02 9.95832257e-04 9.99654526e-01 1.24421583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.41, Y:16.94, Z:1.24 [[ 8.97594426e-01 -4.40221614e-01 -2.30038428e-02 5.44077680e+01] [ 4.40047653e-01 8.97888570e-01 -1.24168760e-02 1.69418051e+01] [ 2.61210647e-02 1.02253171e-03 9.99658264e-01 1.24496772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:16.95, Z:1.24 [[ 8.97910869e-01 -4.39567142e-01 -2.31689233e-02 5.44334595e+01] [ 4.39390366e-01 8.98209119e-01 -1.25094095e-02 1.69545932e+01] [ 2.63092636e-02 1.05213309e-03 9.99653298e-01 1.24425122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.46, Y:16.97, Z:1.24 [[ 8.97894800e-01 -4.39549590e-01 -2.41057486e-02 5.44582990e+01] [ 4.39358023e-01 8.98217649e-01 -1.30224023e-02 1.69702606e+01] [ 2.73762004e-02 1.10169325e-03 9.99624594e-01 1.24265670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:16.98, Z:1.24 [[ 8.97772002e-01 -4.39800466e-01 -2.41035899e-02 5.44825633e+01] [ 4.39608883e-01 8.98094841e-01 -1.30263969e-02 1.69835042e+01] [ 2.73763251e-02 1.09858216e-03 9.99624595e-01 1.24325824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.51, Y:17.00, Z:1.24 [[ 8.97740400e-01 -4.39811462e-01 -2.50609704e-02 5.45079494e+01] [ 4.39604100e-01 8.98089391e-01 -1.35528587e-02 1.69973463e+01] [ 2.84676943e-02 1.15004348e-03 9.99594051e-01 1.24165951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.926874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:17.01, Z:1.24 [[ 8.97350861e-01 -4.40513694e-01 -2.66292592e-02 5.45320025e+01] [ 4.40279648e-01 8.97745083e-01 -1.44082578e-02 1.70118275e+01] [ 3.02533214e-02 1.20494165e-03 9.99541537e-01 1.23961306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:17.03, Z:1.24 [[ 8.96989226e-01 -4.41202476e-01 -2.73989600e-02 5.45581012e+01] [ 4.40954874e-01 8.97406756e-01 -1.48294492e-02 1.70252668e+01] [ 3.11308015e-02 1.22015125e-03 9.99514574e-01 1.24006595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:17.03, Z:1.24 [[ 8.95999682e-01 -4.43245087e-01 -2.68023042e-02 5.45859708e+01] [ 4.43008867e-01 8.96399752e-01 -1.45130018e-02 1.70344193e+01] [ 3.04583957e-02 1.12998658e-03 9.99535397e-01 1.24409273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:17.05, Z:1.24 [[ 8.95377717e-01 -4.44549751e-01 -2.59665591e-02 5.46094331e+01] [ 4.44328511e-01 8.95753542e-01 -1.40629144e-02 1.70495633e+01] [ 2.95113024e-02 1.05393764e-03 9.99563891e-01 1.24449395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.63, Y:17.06, Z:1.24 [[ 8.94696903e-01 -4.45968337e-01 -2.50937073e-02 5.46334399e+01] [ 4.45762204e-01 8.95048206e-01 -1.35929157e-02 1.70633902e+01] [ 2.85220877e-02 9.75713357e-04 9.99592686e-01 1.24474447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:17.07, Z:1.25 [[ 8.93682553e-01 -4.48032200e-01 -2.44671564e-02 5.46604216e+01] [ 4.47836905e-01 8.94016977e-01 -1.32571511e-02 1.70740803e+01] [ 2.78136837e-02 8.90389057e-04 9.99612728e-01 1.24597248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.106874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.68, Y:17.09, Z:1.25 [[ 8.92875177e-01 -4.49667906e-01 -2.39310001e-02 5.46844254e+01] [ 4.49481494e-01 8.93195439e-01 -1.29728551e-02 1.70886415e+01] [ 2.72085367e-02 8.26598658e-04 9.99629437e-01 1.24663398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.71, Y:17.10, Z:1.25 [[ 8.91924104e-01 -4.51588498e-01 -2.32211612e-02 5.47112450e+01] [ 4.51413546e-01 8.92226019e-01 -1.25913325e-02 1.70992797e+01] [ 2.64046251e-02 7.48166247e-04 9.99651057e-01 1.24862912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:17.11, Z:1.25 [[ 8.90030768e-01 -4.55346262e-01 -2.24725063e-02 5.47390672e+01] [ 4.55183448e-01 8.90314212e-01 -1.21915179e-02 1.71095081e+01] [ 2.55589539e-02 6.21713168e-04 9.99673123e-01 1.25110974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:17.12, Z:1.25 [[ 8.88908128e-01 -4.57561180e-01 -2.19113439e-02 5.47656905e+01] [ 4.57406983e-01 8.89177972e-01 -1.18905650e-02 1.71211669e+01] [ 2.49237453e-02 5.47218164e-04 9.99689205e-01 1.25273259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.79, Y:17.13, Z:1.25 [[ 8.87780530e-01 -4.59738666e-01 -2.20474313e-02 5.47906430e+01] [ 4.59583057e-01 8.88054117e-01 -1.19707798e-02 1.71329407e+01] [ 2.50827425e-02 4.94799374e-04 9.99685256e-01 1.25399404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:17.15, Z:1.25 [[ 8.86520364e-01 -4.62168157e-01 -2.19599111e-02 5.48175196e+01] [ 4.62014452e-01 8.86792203e-01 -1.19262006e-02 1.71452652e+01] [ 2.49857881e-02 4.27023377e-04 9.99687715e-01 1.25426733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.286874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:17.16, Z:1.25 [[ 8.85367556e-01 -4.64382470e-01 -2.17534232e-02 5.48426018e+01] [ 4.64232166e-01 8.85634680e-01 -1.18198615e-02 1.71581309e+01] [ 2.47545224e-02 3.66283137e-04 9.99693493e-01 1.25338453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:17.17, Z:1.25 [[ 8.84390707e-01 -4.66227676e-01 -2.20188970e-02 5.48689724e+01] [ 4.66074175e-01 8.84664711e-01 -1.19671360e-02 1.71711435e+01] [ 2.50587511e-02 3.21184590e-04 9.99685929e-01 1.25265699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.89, Y:17.18, Z:1.25 [[ 8.82534041e-01 -4.69667979e-01 -2.33592594e-02 5.48944607e+01] [ 4.69496242e-01 8.82843095e-01 -1.27023121e-02 1.71819104e+01] [ 2.65884301e-02 2.43138274e-04 9.99646436e-01 1.25114108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:17.19, Z:1.25 [[ 8.81729374e-01 -4.71167509e-01 -2.35476006e-02 5.49208536e+01] [ 4.70993433e-01 8.82043727e-01 -1.28081743e-02 1.71944710e+01] [ 2.68048089e-02 2.02578259e-04 9.99640666e-01 1.25277996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:17.21, Z:1.25 [[ 8.80918601e-01 -4.72713504e-01 -2.28989406e-02 5.49469016e+01] [ 4.72549229e-01 8.81216159e-01 -1.24622441e-02 1.72074224e+01] [ 2.60699876e-02 1.57345951e-04 9.99660108e-01 1.25424674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:17.22, Z:1.26 [[ 8.80246697e-01 -4.73997598e-01 -2.21817411e-02 5.49718412e+01] [ 4.73843704e-01 8.80526128e-01 -1.20781386e-02 1.72199145e+01] [ 2.52566113e-02 1.21063227e-04 9.99680994e-01 1.25618262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.466874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:17.23, Z:1.26 [[ 8.79611133e-01 -4.75184486e-01 -2.19990470e-02 5.49968654e+01] [ 4.75033385e-01 8.79886184e-01 -1.19827998e-02 1.72323208e+01] [ 2.50506981e-02 8.99223550e-05 9.99686178e-01 1.25723808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.02, Y:17.24, Z:1.26 [[ 8.79256644e-01 -4.75834897e-01 -2.21112090e-02 5.50203902e+01] [ 4.75682273e-01 8.79534618e-01 -1.20511424e-02 1.72449828e+01] [ 2.51819279e-02 7.81368451e-05 9.99682882e-01 1.25749382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:17.26, Z:1.26 [[ 8.79256929e-01 -4.75785449e-01 -2.31399899e-02 5.50446682e+01] [ 4.75618155e-01 8.79561367e-01 -1.26163198e-02 1.72592953e+01] [ 2.63557025e-02 8.71872870e-05 9.99652624e-01 1.25613592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:17.27, Z:1.25 [[ 8.79540599e-01 -4.75229519e-01 -2.37747416e-02 5.50689181e+01] [ 4.75052487e-01 8.79861859e-01 -1.29708672e-02 1.72739025e+01] [ 2.70826273e-02 1.14154163e-04 9.99633192e-01 1.25465774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:17.29, Z:1.25 [[ 8.80145401e-01 -4.74095816e-01 -2.40255973e-02 5.50936119e+01] [ 4.73914380e-01 8.80473243e-01 -1.31159497e-02 1.72887178e+01] [ 2.73721125e-02 1.57866728e-04 9.99625301e-01 1.25487635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:17.30, Z:1.26 [[ 8.80683673e-01 -4.73124653e-01 -2.34377927e-02 5.51174048e+01] [ 4.72951450e-01 8.80995475e-01 -1.28022969e-02 1.73031232e+01] [ 2.67056716e-02 1.89835851e-04 9.99643322e-01 1.25665300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.646874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:17.32, Z:1.26 [[ 8.81564703e-01 -4.71477760e-01 -2.35031005e-02 5.51406780e+01] [ 4.71302812e-01 8.81877917e-01 -1.28452016e-02 1.73176979e+01] [ 2.67830922e-02 2.46798978e-04 9.99641238e-01 1.25777711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:17.33, Z:1.26 [[ 8.82470045e-01 -4.69789510e-01 -2.33331489e-02 5.51636418e+01] [ 4.69616424e-01 8.82778414e-01 -1.27548467e-02 1.73329309e+01] [ 2.65900933e-02 2.98140232e-04 9.99646376e-01 1.25843613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:17.35, Z:1.26 [[ 8.84034919e-01 -4.66865324e-01 -2.27822399e-02 5.51877216e+01] [ 4.66699264e-01 8.84328347e-01 -1.24568375e-02 1.73493446e+01] [ 2.59626460e-02 3.79824760e-04 9.99662842e-01 1.26022807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:17.36, Z:1.26 [[ 8.84768693e-01 -4.65480165e-01 -2.26401485e-02 5.52112325e+01] [ 4.65315549e-01 8.85058211e-01 -1.23855987e-02 1.73645625e+01] [ 2.58030998e-02 4.23576831e-04 9.99666955e-01 1.26154486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:17.38, Z:1.26 [[ 8.85163660e-01 -4.64723237e-01 -2.27509892e-02 5.52362402e+01] [ 4.64556644e-01 8.85455876e-01 -1.24505411e-02 1.73794307e+01] [ 2.59310528e-02 4.51643339e-04 9.99663632e-01 1.26187295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:17.39, Z:1.26 [[ 8.85691338e-01 -4.63713154e-01 -2.28246709e-02 5.52590163e+01] [ 4.63544967e-01 8.85985255e-01 -1.24976444e-02 1.73949473e+01] [ 2.60176439e-02 4.88794064e-04 9.99661364e-01 1.26164036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.826874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:17.41, Z:1.26 [[ 8.85663580e-01 -4.63740011e-01 -2.33500455e-02 5.52829768e+01] [ 4.63563860e-01 8.85971189e-01 -1.27906087e-02 1.74090073e+01] [ 2.66189846e-02 5.03939057e-04 9.99645525e-01 1.26183402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:17.42, Z:1.26 [[ 8.85585397e-01 -4.63862848e-01 -2.38696900e-02 5.53083623e+01] [ 4.63678583e-01 8.85906874e-01 -1.30837065e-02 1.74220703e+01] [ 2.72153678e-02 5.18875449e-04 9.99629459e-01 1.26244412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.886874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:17.44, Z:1.26 [[ 8.85533102e-01 -4.63924135e-01 -2.46073714e-02 5.53333050e+01] [ 4.63728078e-01 8.85874768e-01 -1.34968725e-02 1.74368055e+01] [ 2.80605743e-02 5.40798373e-04 9.99606078e-01 1.26178105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:17.45, Z:1.26 [[ 8.85680935e-01 -4.63587475e-01 -2.56112162e-02 5.53570884e+01] [ 4.63374737e-01 8.86050967e-01 -1.40547905e-02 1.74510108e+01] [ 2.92084677e-02 5.80469420e-04 9.99573173e-01 1.26120301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:17.47, Z:1.26 [[ 8.85497461e-01 -4.63864823e-01 -2.69011447e-02 5.53816357e+01] [ 4.63630096e-01 8.85905785e-01 -1.47673002e-02 1.74651846e+01] [ 3.06819108e-02 6.04226514e-04 9.99529017e-01 1.26076234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:17.48, Z:1.26 [[ 8.85395314e-01 -4.64031432e-01 -2.73855552e-02 5.54065660e+01] [ 4.63788061e-01 8.85818521e-01 -1.50393603e-02 1.74787580e+01] [ 3.12373679e-02 6.14685545e-04 9.99511805e-01 1.26107147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.006874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.43, Y:17.49, Z:1.26 [[ 8.85398600e-01 -4.63992144e-01 -2.79393883e-02 5.54317636e+01] [ 4.63738500e-01 8.85839085e-01 -1.53531235e-02 1.74936568e+01] [ 3.18735308e-02 6.37064056e-04 9.99491707e-01 1.26142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:17.51, Z:1.26 [[ 8.85642028e-01 -4.63556579e-01 -2.74498856e-02 5.54560490e+01] [ 4.63311275e-01 8.86067084e-01 -1.50925433e-02 1.75091135e+01] [ 3.13186878e-02 6.48749208e-04 9.99509239e-01 1.26213572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.066874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:17.52, Z:1.26 [[ 8.85738233e-01 -4.63413657e-01 -2.67500581e-02 5.54795689e+01] [ 4.63180377e-01 8.86141844e-01 -1.47163574e-02 1.75237418e+01] [ 3.05241068e-02 6.44738406e-04 9.99533823e-01 1.26232953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:17.54, Z:1.26 [[ 8.85657642e-01 -4.63575513e-01 -2.66136333e-02 5.55040415e+01] [ 4.63344393e-01 8.86057181e-01 -1.46507734e-02 1.75385580e+01] [ 3.03729407e-02 6.44291621e-04 9.99538428e-01 1.26308198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:17.55, Z:1.27 [[ 8.85434602e-01 -4.64047055e-01 -2.58049560e-02 5.55298003e+01] [ 4.63829715e-01 8.85810335e-01 -1.42142731e-02 1.75523779e+01] [ 2.94543883e-02 6.16703864e-04 9.99565935e-01 1.26508972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:17.57, Z:1.27 [[ 8.85305920e-01 -4.64301141e-01 -2.56491472e-02 5.55534515e+01] [ 4.64086328e-01 8.85677186e-01 -1.41351438e-02 1.75671474e+01] [ 2.92798279e-02 6.10507981e-04 9.99571067e-01 1.26585760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:17.58, Z:1.27 [[ 8.85333970e-01 -4.64240298e-01 -2.57819101e-02 5.55789734e+01] [ 4.64023106e-01 8.85709073e-01 -1.42125043e-02 1.75814254e+01] [ 2.94332890e-02 6.19410846e-04 9.99566555e-01 1.26678750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:17.60, Z:1.27 [[ 8.85453899e-01 -4.64021745e-01 -2.55971130e-02 5.56023814e+01] [ 4.63807361e-01 8.85823586e-01 -1.41176003e-02 1.75961183e+01] [ 2.92253999e-02 6.28354835e-04 9.99572649e-01 1.26751603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.246874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:17.61, Z:1.27 [[ 8.85284172e-01 -4.64373138e-01 -2.50903121e-02 5.56267856e+01] [ 4.64167150e-01 8.85639440e-01 -1.38433689e-02 1.76094808e+01] [ 2.86494586e-02 6.09216675e-04 9.99589334e-01 1.26866964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:17.63, Z:1.27 [[ 8.85527193e-01 -4.63945654e-01 -2.44135309e-02 5.56506844e+01] [ 4.63750256e-01 8.85863451e-01 -1.34776114e-02 1.76256885e+01] [ 2.78799339e-02 6.13010177e-04 9.99611091e-01 1.26988342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:17.64, Z:1.27 [[ 8.85561736e-01 -4.63886709e-01 -2.42803059e-02 5.56734117e+01] [ 4.63693287e-01 8.85894318e-01 -1.34087112e-02 1.76396355e+01] [ 2.77299079e-02 6.15626755e-04 9.99615263e-01 1.26953199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:17.65, Z:1.27 [[ 8.85326703e-01 -4.64327761e-01 -2.44204575e-02 5.56977359e+01] [ 4.64132081e-01 8.85663230e-01 -1.34927818e-02 1.76532363e+01] [ 2.78933744e-02 6.11202258e-04 9.99610717e-01 1.27005332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:17.67, Z:1.27 [[ 8.84910306e-01 -4.65133759e-01 -2.41730361e-02 5.57218325e+01] [ 4.64942121e-01 8.85240217e-01 -1.33634719e-02 1.76673573e+01] [ 2.76147457e-02 5.86411352e-04 9.99618468e-01 1.26990592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:17.68, Z:1.27 [[ 8.84577941e-01 -4.65730908e-01 -2.48311828e-02 5.57465915e+01] [ 4.65528803e-01 8.84926199e-01 -1.37315833e-02 1.76806016e+01] [ 2.83689869e-02 5.87024829e-04 9.99597347e-01 1.27071089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.426874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:17.70, Z:1.27 [[ 8.84761211e-01 -4.65403563e-01 -2.44361076e-02 5.57703711e+01] [ 4.65207502e-01 8.85098395e-01 -1.35207650e-02 1.76951642e+01] [ 2.79209718e-02 5.94787878e-04 9.99609957e-01 1.27310649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:17.71, Z:1.27 [[ 8.84772848e-01 -4.65411461e-01 -2.38574823e-02 5.57941839e+01] [ 4.65224448e-01 8.85094249e-01 -1.32054272e-02 1.77100064e+01] [ 2.72620776e-02 5.84719407e-04 9.99628149e-01 1.27403236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:17.73, Z:1.27 [[ 8.84877638e-01 -4.65229503e-01 -2.35175809e-02 5.58186315e+01] [ 4.65047501e-01 8.85189902e-01 -1.30252944e-02 1.77253886e+01] [ 2.68772763e-02 5.88999469e-04 9.99638567e-01 1.27481441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:17.74, Z:1.27 [[ 8.84958841e-01 -4.65079435e-01 -2.34300662e-02 5.58440246e+01] [ 4.64898540e-01 8.85268751e-01 -1.29840526e-02 1.77398050e+01] [ 2.67805213e-02 5.97748536e-04 9.99641159e-01 1.27495569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.87, Y:17.75, Z:1.28 [[ 8.85168151e-01 -4.64680261e-01 -2.34435238e-02 5.58689080e+01] [ 4.64498819e-01 8.85478331e-01 -1.29989514e-02 1.77547712e+01] [ 2.67990885e-02 6.16768691e-04 9.99640650e-01 1.27525385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:17.77, Z:1.28 [[ 8.85476679e-01 -4.64081739e-01 -2.36472242e-02 5.58941468e+01] [ 4.63896710e-01 8.85792143e-01 -1.31194827e-02 1.77698942e+01] [ 2.70350378e-02 6.47126467e-04 9.99634277e-01 1.27527990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.606874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:17.79, Z:1.27 [[ 8.86083790e-01 -4.62944550e-01 -2.31917984e-02 5.59163336e+01] [ 4.62766021e-01 8.86386986e-01 -1.28732749e-02 1.77872549e+01] [ 2.65165207e-02 6.74423936e-04 9.99648148e-01 1.27464995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:17.80, Z:1.28 [[ 8.86349519e-01 -4.62446847e-01 -2.29661621e-02 5.59415496e+01] [ 4.62271540e-01 8.86646742e-01 -1.27506235e-02 1.78002713e+01] [ 2.62593585e-02 6.84905876e-04 9.99654929e-01 1.27631899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:17.82, Z:1.28 [[ 8.86371250e-01 -4.62401780e-01 -2.30347622e-02 5.59666036e+01] [ 4.62225320e-01 8.86670241e-01 -1.27921080e-02 1.78152429e+01] [ 2.63393316e-02 6.91306483e-04 9.99652821e-01 1.27744337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:17.83, Z:1.28 [[ 8.86441718e-01 -4.62235885e-01 -2.36446100e-02 5.59903871e+01] [ 4.62049710e-01 8.86756712e-01 -1.31376922e-02 1.78303119e+01] [ 2.70397294e-02 7.20813291e-04 9.99634100e-01 1.27778644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.02, Y:17.85, Z:1.28 [[ 8.87176823e-01 -4.60809650e-01 -2.39113061e-02 5.60151568e+01] [ 4.60618602e-01 8.87498655e-01 -1.32906522e-02 1.78455111e+01] [ 2.73457128e-02 7.77166211e-04 9.99625734e-01 1.27826803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.04, Y:17.86, Z:1.28 [[ 8.87453146e-01 -4.60278839e-01 -2.38810133e-02 5.60381005e+01] [ 4.60087900e-01 8.87774044e-01 -1.32804910e-02 1.78610112e+01] [ 2.73136727e-02 7.98448224e-04 9.99626593e-01 1.27851083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.786874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:17.87, Z:1.28 [[ 8.87326777e-01 -4.60522494e-01 -2.38793551e-02 5.60621995e+01] [ 4.60331563e-01 8.87647679e-01 -1.32834718e-02 1.78745165e+01] [ 2.73137917e-02 7.94359327e-04 9.99626593e-01 1.27911257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.09, Y:17.89, Z:1.28 [[ 8.87429019e-01 -4.60296317e-01 -2.44343469e-02 5.60876400e+01] [ 4.60096075e-01 8.87764955e-01 -1.36009724e-02 1.78875956e+01] [ 2.79524344e-02 8.27750461e-04 9.99608912e-01 1.27978457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:17.90, Z:1.28 [[ 8.87484473e-01 -4.60201144e-01 -2.42119088e-02 5.61105568e+01] [ 4.60004309e-01 8.87814293e-01 -1.34839377e-02 1.79041474e+01] [ 2.77010022e-02 8.29203004e-04 9.99615910e-01 1.27961639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.14, Y:17.92, Z:1.28 [[ 8.87006578e-01 -4.61175621e-01 -2.31598264e-02 5.61350518e+01] [ 4.60995764e-01 8.87308548e-01 -1.29014244e-02 1.79191874e+01] [ 2.64997344e-02 7.67066451e-04 9.99648526e-01 1.28053674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:17.93, Z:1.28 [[ 8.86261928e-01 -4.62632123e-01 -2.26122344e-02 5.61600621e+01] [ 4.62460966e-01 8.86550061e-01 -1.26033261e-02 1.79329821e+01] [ 2.58775813e-02 7.12572311e-04 9.99664865e-01 1.28138516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:17.94, Z:1.28 [[ 8.85303533e-01 -4.64511033e-01 -2.16137681e-02 5.61870783e+01] [ 4.64355058e-01 8.85567105e-01 -1.20533145e-02 1.79446246e+01] [ 2.47393396e-02 6.34379318e-04 9.99693734e-01 1.28382095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.966874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:17.96, Z:1.29 [[ 8.84492939e-01 -4.66054776e-01 -2.15681847e-02 5.62130149e+01] [ 4.65899748e-01 8.84755667e-01 -1.20347348e-02 1.79584492e+01] [ 2.46914193e-02 5.96026159e-04 9.99694943e-01 1.28544378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:17.97, Z:1.29 [[ 8.83811680e-01 -4.67330842e-01 -2.18814490e-02 5.62377513e+01] [ 4.67171501e-01 8.84082323e-01 -1.22161706e-02 1.79725180e+01] [ 2.50539955e-02 5.74404913e-04 9.99685934e-01 1.28556346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:17.99, Z:1.28 [[ 8.83049249e-01 -4.68718147e-01 -2.29634973e-02 5.62614812e+01] [ 4.68542938e-01 8.83347597e-01 -1.28272632e-02 1.79874707e+01] [ 2.62971212e-02 5.67720601e-04 9.99654010e-01 1.28469427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:18.00, Z:1.28 [[ 8.82845569e-01 -4.69100774e-01 -2.29818308e-02 5.62861735e+01] [ 4.68925294e-01 8.83144467e-01 -1.28421112e-02 1.80015121e+01] [ 2.63205211e-02 5.60839216e-04 9.99653398e-01 1.28490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:18.02, Z:1.29 [[ 8.82793247e-01 -4.69178415e-01 -2.34029637e-02 5.63086295e+01] [ 4.68996263e-01 8.83103212e-01 -1.30851716e-02 1.80161212e+01] [ 2.68065125e-02 5.75598626e-04 9.99640475e-01 1.28501871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:18.03, Z:1.28 [[ 8.82352066e-01 -4.69954676e-01 -2.44424615e-02 5.63324548e+01] [ 4.69756136e-01 8.82690356e-01 -1.36714439e-02 1.80309712e+01] [ 2.80000840e-02 5.81030450e-04 9.99607752e-01 1.28366362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.146874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:18.05, Z:1.28 [[ 8.82264620e-01 -4.70094482e-01 -2.49061966e-02 5.63568634e+01] [ 4.69888132e-01 8.82615898e-01 -1.39398668e-02 1.80454336e+01] [ 2.85356596e-02 5.95525119e-04 9.99592598e-01 1.28393667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:18.06, Z:1.28 [[ 8.82279596e-01 -4.70074627e-01 -2.47499286e-02 5.63789360e+01] [ 4.69870613e-01 8.82626470e-01 -1.38608060e-02 1.80604512e+01] [ 2.83605553e-02 5.99842179e-04 9.99597579e-01 1.28431480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:18.07, Z:1.29 [[ 8.82317096e-01 -4.70029261e-01 -2.42700683e-02 5.64031342e+01] [ 4.69832868e-01 8.82650632e-01 -1.35991719e-02 1.80740780e+01] [ 2.78139998e-02 5.95906060e-04 9.99612938e-01 1.28579269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:18.09, Z:1.29 [[ 8.82367625e-01 -4.69921296e-01 -2.45224340e-02 5.64275472e+01] [ 4.69720512e-01 8.82708105e-01 -1.37492291e-02 1.80887289e+01] [ 2.81072068e-02 6.13184348e-04 9.99604726e-01 1.28766787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:18.10, Z:1.29 [[ 8.83168941e-01 -4.68445647e-01 -2.39018446e-02 5.64516071e+01] [ 4.68254183e-01 8.83492080e-01 -1.34076723e-02 1.81037689e+01] [ 2.73978561e-02 6.49101004e-04 9.99624398e-01 1.29012809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:18.12, Z:1.29 [[ 8.83341160e-01 -4.68133076e-01 -2.36604797e-02 5.64757529e+01] [ 4.67945249e-01 8.83657736e-01 -1.32759210e-02 1.81192728e+01] [ 2.71226637e-02 6.55358408e-04 9.99631898e-01 1.29053096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.326874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:18.13, Z:1.29 [[ 8.83587080e-01 -4.67646488e-01 -2.40963621e-02 5.65002871e+01] [ 4.67451280e-01 8.83915316e-01 -1.35282997e-02 1.81342375e+01] [ 2.76256054e-02 6.89555550e-04 9.99618102e-01 1.29008418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.52, Y:18.15, Z:1.29 [[ 8.84183278e-01 -4.66435651e-01 -2.56459436e-02 5.65232740e+01] [ 4.66213800e-01 8.84554789e-01 -1.44055147e-02 1.81497833e+01] [ 2.94044879e-02 7.80622434e-04 9.99567290e-01 1.28883760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.386874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.55, Y:18.16, Z:1.29 [[ 8.84132924e-01 -4.66503577e-01 -2.61416351e-02 5.65484551e+01] [ 4.66272960e-01 8.84518952e-01 -1.46884229e-02 1.81632738e+01] [ 2.99749736e-02 7.97380709e-04 9.99550331e-01 1.28981544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.57, Y:18.18, Z:1.29 [[ 8.84126915e-01 -4.66570492e-01 -2.51311464e-02 5.65723232e+01] [ 4.66357158e-01 8.84483680e-01 -1.41287149e-02 1.81775668e+01] [ 2.88201303e-02 7.71487084e-04 9.99584316e-01 1.29134760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:18.19, Z:1.29 [[ 8.84359432e-01 -4.66141756e-01 -2.49050018e-02 5.65978399e+01] [ 4.65931824e-01 8.84709695e-01 -1.40103601e-02 1.81908719e+01] [ 2.85645104e-02 7.86161135e-04 9.99591642e-01 1.29320051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:18.21, Z:1.29 [[ 8.84969406e-01 -4.64992862e-01 -2.47141468e-02 5.66198984e+01] [ 4.64785495e-01 8.85314047e-01 -1.39098103e-02 1.82081212e+01] [ 2.83477439e-02 8.22979607e-04 9.99597783e-01 1.29410447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.506874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:18.22, Z:1.30 [[ 8.85279369e-01 -4.64418839e-01 -2.44044991e-02 5.66455871e+01] [ 4.64216311e-01 8.85615292e-01 -1.37393928e-02 1.82214808e+01] [ 2.79938304e-02 8.34234458e-04 9.99607748e-01 1.29571387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:18.24, Z:1.30 [[ 8.85752702e-01 -4.63507406e-01 -2.45567859e-02 5.66708469e+01] [ 4.63301772e-01 8.86092613e-01 -1.38328942e-02 1.82352175e+01] [ 2.81712355e-02 8.75320956e-04 9.99602729e-01 1.29644563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.566874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:18.25, Z:1.29 [[ 8.86709605e-01 -4.61626931e-01 -2.54293844e-02 5.66955836e+01] [ 4.61405405e-01 8.87073630e-01 -1.43327541e-02 1.82505769e+01] [ 2.91741216e-02 9.75735304e-04 9.99573868e-01 1.29494777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:18.26, Z:1.29 [[ 8.87007009e-01 -4.61022367e-01 -2.60181342e-02 5.67191723e+01] [ 4.60789982e-01 8.87387923e-01 -1.46719800e-02 1.82646996e+01] [ 2.98522890e-02 1.02525356e-03 9.99553795e-01 1.29487894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:18.28, Z:1.30 [[ 8.87762758e-01 -4.59497231e-01 -2.71952292e-02 5.67452085e+01] [ 4.59242487e-01 8.88178484e-01 -1.53400883e-02 1.82762031e+01] [ 3.12029455e-02 1.12915442e-03 9.99512432e-01 1.29536299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.77, Y:18.29, Z:1.29 [[ 8.88193244e-01 -4.58631777e-01 -2.77426583e-02 5.67679538e+01] [ 4.58366139e-01 8.88625617e-01 -1.56523559e-02 1.82917037e+01] [ 3.18315046e-02 1.18602159e-03 9.99492546e-01 1.29499534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:18.31, Z:1.30 [[ 8.88437759e-01 -4.58185892e-01 -2.72770591e-02 5.67938152e+01] [ 4.57928724e-01 8.88855602e-01 -1.53948991e-02 1.83054833e+01] [ 3.12990924e-02 1.18646080e-03 9.99509359e-01 1.29633249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:18.32, Z:1.30 [[ 8.88866570e-01 -4.57395585e-01 -2.65612552e-02 5.68201032e+01] [ 4.57151136e-01 8.89262539e-01 -1.49992057e-02 1.83181903e+01] [ 3.04804997e-02 1.18978449e-03 9.99534654e-01 1.29861308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.746874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.85, Y:18.33, Z:1.30 [[ 8.89054179e-01 -4.56996901e-01 -2.71385202e-02 5.68461954e+01] [ 4.56741247e-01 8.89467425e-01 -1.53340391e-02 1.83314040e+01] [ 3.11464381e-02 1.23751000e-03 9.99514066e-01 1.29843787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:18.35, Z:1.30 [[ 8.89016413e-01 -4.57077545e-01 -2.70173293e-02 5.68685120e+01] [ 4.56823977e-01 8.89425990e-01 -1.52729645e-02 1.83461504e+01] [ 3.10108439e-02 1.23575228e-03 9.99518284e-01 1.29818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.89, Y:18.36, Z:1.30 [[ 8.88948934e-01 -4.57205098e-01 -2.70793334e-02 5.68948993e+01] [ 4.56950235e-01 8.89360423e-01 -1.53140785e-02 1.83563469e+01] [ 3.10849622e-02 1.23952596e-03 9.99515977e-01 1.30024373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.92, Y:18.37, Z:1.30 [[ 8.88908743e-01 -4.57279712e-01 -2.71387485e-02 5.69173413e+01] [ 4.57023503e-01 8.89322051e-01 -1.53560377e-02 1.83706870e+01] [ 3.11570919e-02 1.24707024e-03 9.99513722e-01 1.30064505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.94, Y:18.38, Z:1.30 [[ 8.88980917e-01 -4.57116610e-01 -2.75197131e-02 5.69444068e+01] [ 4.56852892e-01 8.89405857e-01 -1.55774339e-02 1.83821077e+01] [ 3.15968977e-02 1.27558091e-03 9.99499879e-01 1.30243308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:18.39, Z:1.30 [[ 8.88796958e-01 -4.57413952e-01 -2.85033964e-02 5.69711428e+01] [ 4.57130884e-01 8.89252910e-01 -1.61436456e-02 1.83942680e+01] [ 3.27310569e-02 1.31864032e-03 9.99463326e-01 1.30291100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.926874999999995 meters Centerline goodness [0,1] 0.9999061693642974 Centerline is valid? [True, True] Translation: X:57.00, Y:18.41, Z:1.30 [[ 8.88559461e-01 -4.57867359e-01 -2.86280760e-02 5.69951760e+01] [ 4.57581723e-01 8.89019544e-01 -1.62239752e-02 1.84078929e+01] [ 3.28793477e-02 1.31628231e-03 9.99458461e-01 1.30286055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:18.42, Z:1.30 [[ 8.88340865e-01 -4.58323977e-01 -2.81005458e-02 5.70209883e+01] [ 4.58048686e-01 8.88784273e-01 -1.59347787e-02 1.84203960e+01] [ 3.22786143e-02 1.28409701e-03 9.99478085e-01 1.30371415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:18.43, Z:1.31 [[ 8.87322989e-01 -4.60321051e-01 -2.76123768e-02 5.70489501e+01] [ 4.60055937e-01 8.87751708e-01 -1.56665229e-02 1.84306086e+01] [ 3.17245649e-02 1.19802804e-03 9.99495931e-01 1.30545132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.08, Y:18.44, Z:1.31 [[ 8.86410293e-01 -4.62064341e-01 -2.78089416e-02 5.70763816e+01] [ 4.61796026e-01 8.86845657e-01 -1.57864033e-02 1.84418546e+01] [ 3.19565732e-02 1.15117167e-03 9.99488595e-01 1.30639886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.10, Y:18.45, Z:1.31 [[ 8.84749728e-01 -4.65184141e-01 -2.86641485e-02 5.71032628e+01] [ 4.64900450e-01 8.85213282e-01 -1.62793388e-02 1.84514054e+01] [ 3.29467752e-02 1.07716504e-03 9.99456527e-01 1.30667668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.13, Y:18.46, Z:1.31 [[ 8.83864213e-01 -4.66871185e-01 -2.85543133e-02 5.71299088e+01] [ 4.66590343e-01 8.84324751e-01 -1.62230588e-02 1.84635198e+01] [ 3.28253647e-02 1.01581425e-03 9.99460586e-01 1.30754039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.106874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.16, Y:18.47, Z:1.31 [[ 8.83158027e-01 -4.68220835e-01 -2.83045822e-02 5.71576387e+01] [ 4.67945282e-01 8.83610954e-01 -1.60901992e-02 1.84734736e+01] [ 3.25440054e-02 9.65192921e-04 9.99469838e-01 1.30985929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.18, Y:18.48, Z:1.31 [[ 8.81864852e-01 -4.70683233e-01 -2.77790632e-02 5.71837537e+01] [ 4.70418809e-01 8.82301846e-01 -1.57986374e-02 1.84842374e+01] [ 3.19456724e-02 8.64469209e-04 9.99489233e-01 1.31087618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.21, Y:18.50, Z:1.31 [[ 8.81337002e-01 -4.71677971e-01 -2.76582706e-02 5.72104126e+01] [ 4.71416180e-01 8.81770494e-01 -1.57346983e-02 1.84968541e+01] [ 3.18099576e-02 8.29015583e-04 9.99493591e-01 1.31180104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.24, Y:18.51, Z:1.31 [[ 8.80558312e-01 -4.73105091e-01 -2.80825970e-02 5.72377698e+01] [ 4.72835652e-01 8.81005640e-01 -1.59846280e-02 1.85074911e+01] [ 3.23033352e-02 7.96943955e-04 9.99477793e-01 1.31262188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:18.52, Z:1.31 [[ 8.80152934e-01 -4.73873650e-01 -2.78312130e-02 5.72640449e+01] [ 4.73609117e-01 8.80592511e-01 -1.58503377e-02 1.85200322e+01] [ 3.20190151e-02 7.69604968e-04 9.99486964e-01 1.31329307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:18.53, Z:1.31 [[ 8.80070462e-01 -4.74025435e-01 -2.78544188e-02 5.72893015e+01] [ 4.73760237e-01 8.80510812e-01 -1.58728803e-02 1.85318868e+01] [ 3.20502659e-02 7.72937068e-04 9.99485959e-01 1.31406796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.286874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.31, Y:18.54, Z:1.31 [[ 8.78749579e-01 -4.76452322e-01 -2.81489125e-02 5.73147702e+01] [ 4.76182466e-01 8.79200032e-01 -1.60487786e-02 1.85429518e+01] [ 3.23950026e-02 6.98838874e-04 9.99474900e-01 1.31246839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:18.55, Z:1.31 [[ 8.75760308e-01 -4.81951379e-01 -2.76902563e-02 5.73433343e+01] [ 4.81692857e-01 8.76197824e-01 -1.57912866e-02 1.85507724e+01] [ 3.18727747e-02 4.91183328e-04 9.99491813e-01 1.31389762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:18.56, Z:1.32 [[ 8.74688479e-01 -4.83901412e-01 -2.75588106e-02 5.73702098e+01] [ 4.83646089e-01 8.75122416e-01 -1.57231314e-02 1.85617980e+01] [ 3.17257784e-02 4.24130900e-04 9.99496521e-01 1.31674604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:18.57, Z:1.32 [[ 8.73978869e-01 -4.85194038e-01 -2.73437658e-02 5.73955067e+01] [ 4.84943099e-01 8.74406428e-01 -1.56073609e-02 1.85744772e+01] [ 3.14821630e-02 3.80333140e-04 9.99504241e-01 1.31707621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:18.59, Z:1.32 [[ 8.73397265e-01 -4.86209408e-01 -2.78859955e-02 5.74209568e+01] [ 4.85948761e-01 8.73842254e-01 -1.59222144e-02 1.85866136e+01] [ 3.21094916e-02 3.55253614e-04 9.99484294e-01 1.31602626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:18.60, Z:1.31 [[ 8.73655739e-01 -4.85668094e-01 -2.91916466e-02 5.74460745e+01] [ 4.85381813e-01 8.74143204e-01 -1.66779625e-02 1.86010629e+01] [ 3.36176338e-02 4.01703318e-04 9.99434687e-01 1.31496408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.466874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:18.61, Z:1.31 [[ 8.74216972e-01 -4.84580885e-01 -3.04311070e-02 5.74718985e+01] [ 4.84268766e-01 8.74746331e-01 -1.73959250e-02 1.86148504e+01] [ 3.50492320e-02 4.70978281e-04 9.99385476e-01 1.31454590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:18.63, Z:1.32 [[ 8.74178518e-01 -4.84611411e-01 -3.10435075e-02 5.74963398e+01] [ 4.84286349e-01 8.74729412e-01 -1.77535388e-02 1.86282128e+01] [ 3.57582365e-02 4.85815357e-04 9.99360352e-01 1.31530686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:18.64, Z:1.32 [[ 8.74127903e-01 -4.84701446e-01 -3.10631144e-02 5.75193068e+01] [ 4.84375885e-01 8.74679525e-01 -1.77687721e-02 1.86420271e+01] [ 3.57828197e-02 4.85955972e-04 9.99359472e-01 1.31589496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:18.66, Z:1.32 [[ 8.74311996e-01 -4.84441066e-01 -2.99230283e-02 5.75439460e+01] [ 4.84138586e-01 8.74823764e-01 -1.71234074e-02 1.86554187e+01] [ 3.44726580e-02 4.84307925e-04 9.99405524e-01 1.31964054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:18.67, Z:1.32 [[ 8.74358130e-01 -4.84403601e-01 -2.91721081e-02 5.75680225e+01] [ 4.84115747e-01 8.74844511e-01 -1.67040305e-02 1.86698273e+01] [ 3.36125512e-02 4.82627959e-04 9.99434822e-01 1.32090704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:18.69, Z:1.32 [[ 8.74444150e-01 -4.84377023e-01 -2.69504718e-02 5.75925258e+01] [ 4.84131067e-01 8.74859242e-01 -1.54407494e-02 1.86852563e+01] [ 3.10570136e-02 4.54512337e-04 9.99517511e-01 1.32310651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.646874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:18.70, Z:1.32 [[ 8.74477129e-01 -4.84368319e-01 -2.60207993e-02 5.76163178e+01] [ 4.84138789e-01 8.74864065e-01 -1.49164526e-02 1.86997036e+01] [ 2.99897193e-02 4.46418391e-04 9.99550108e-01 1.32401965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:18.71, Z:1.32 [[ 8.74345644e-01 -4.84605843e-01 -2.60167499e-02 5.76402332e+01] [ 4.84376209e-01 8.74732518e-01 -1.49235126e-02 1.87135387e+01] [ 2.99897186e-02 4.46413523e-04 9.99550108e-01 1.32461918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.66, Y:18.73, Z:1.33 [[ 8.74843985e-01 -4.83765429e-01 -2.48799343e-02 5.76649230e+01] [ 4.83554846e-01 8.75197576e-01 -1.42798665e-02 1.87283731e+01] [ 2.86829639e-02 4.61842532e-04 9.99588452e-01 1.32736185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:18.74, Z:1.33 [[ 8.75368492e-01 -4.82863576e-01 -2.39326038e-02 5.76877474e+01] [ 4.82668213e-01 8.75695460e-01 -1.37425616e-02 1.87444639e+01] [ 2.75934549e-02 4.78298345e-04 9.99619114e-01 1.32868222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:18.76, Z:1.33 [[ 8.76794312e-01 -4.80278130e-01 -2.37624085e-02 5.77114758e+01] [ 4.80084485e-01 8.77116073e-01 -1.36485169e-02 1.87616416e+01] [ 2.73974746e-02 5.58978332e-04 9.99624462e-01 1.32991665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:18.78, Z:1.33 [[ 8.77420513e-01 -4.79099078e-01 -2.44400520e-02 5.77352358e+01] [ 4.78893579e-01 8.77760611e-01 -1.40445640e-02 1.87772295e+01] [ 2.81812526e-02 6.18804618e-04 9.99602638e-01 1.32922893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.826874999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:18.79, Z:1.33 [[ 8.78003894e-01 -4.77947000e-01 -2.59966868e-02 5.77597081e+01] [ 4.77713841e-01 8.78388395e-01 -1.49436649e-02 1.87935530e+01] [ 2.99774678e-02 7.01618875e-04 9.99550328e-01 1.32728798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:18.81, Z:1.33 [[ 8.79096281e-01 -4.75807177e-01 -2.82357571e-02 5.77830804e+01] [ 4.75530761e-01 8.79549209e-01 -1.62383566e-02 1.88103434e+01] [ 3.25610645e-02 8.48107821e-04 9.99469388e-01 1.32519262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.886874999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.81, Y:18.83, Z:1.33 [[ 8.79453701e-01 -4.75110160e-01 -2.88361683e-02 5.78077985e+01] [ 4.74821309e-01 8.79925867e-01 -1.65889574e-02 1.88262355e+01] [ 3.32552726e-02 8.97192764e-04 9.99446488e-01 1.32537441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.83, Y:18.84, Z:1.33 [[ 8.80135134e-01 -4.73911295e-01 -2.77530175e-02 5.78315544e+01] [ 4.73642867e-01 8.80572114e-01 -1.59745842e-02 1.88435541e+01] [ 3.20090692e-02 9.14774076e-04 9.99487160e-01 1.32697917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:18.86, Z:1.33 [[ 8.80304820e-01 -4.73608750e-01 -2.75349999e-02 5.78565157e+01] [ 4.73344095e-01 8.80734860e-01 -1.58579161e-02 1.88584350e+01] [ 3.17614821e-02 9.26270396e-04 9.99495048e-01 1.32875859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.88, Y:18.87, Z:1.33 [[ 8.80171666e-01 -4.73903381e-01 -2.67100152e-02 5.78809809e+01] [ 4.73654214e-01 8.80576392e-01 -1.53916332e-02 1.88721873e+01] [ 3.08143559e-02 8.95968169e-04 9.99524723e-01 1.33132654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.90, Y:18.89, Z:1.33 [[ 8.80249655e-01 -4.73823822e-01 -2.55250882e-02 5.79034582e+01] [ 4.73596023e-01 8.80619235e-01 -1.47163258e-02 1.88881466e+01] [ 2.94508294e-02 8.65460476e-04 9.99565856e-01 1.33451135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.93, Y:18.90, Z:1.34 [[ 8.80033304e-01 -4.74215201e-01 -2.57162806e-02 5.79282358e+01] [ 4.73984002e-01 8.80408540e-01 -1.48313007e-02 1.89018650e+01] [ 2.96740613e-02 8.62932920e-04 9.99559256e-01 1.33564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:18.92, Z:1.33 [[ 8.79785593e-01 -4.74683807e-01 -2.55459120e-02 5.79512548e+01] [ 4.74455618e-01 8.80155988e-01 -1.47412197e-02 1.89180868e+01] [ 2.94818057e-02 8.48711234e-04 9.99564957e-01 1.33455699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:18.93, Z:1.34 [[ 8.79181847e-01 -4.75797470e-01 -2.56134056e-02 5.79764335e+01] [ 4.75568384e-01 8.79554488e-01 -1.47856315e-02 1.89323581e+01] [ 2.95633520e-02 8.18332930e-04 9.99562574e-01 1.33502694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:18.95, Z:1.34 [[ 8.78796753e-01 -4.76543303e-01 -2.49548940e-02 5.80016506e+01] [ 4.76325920e-01 8.79150654e-01 -1.44133847e-02 1.89459316e+01] [ 2.88077133e-02 7.79772836e-04 9.99584668e-01 1.33675039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.03, Y:18.96, Z:1.34 [[ 8.77465181e-01 -4.79005918e-01 -2.46614347e-02 5.80263366e+01] [ 4.78794398e-01 8.77811395e-01 -1.42506073e-02 1.89595219e+01] [ 2.84742136e-02 6.96654928e-04 9.99594285e-01 1.33855287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:18.97, Z:1.34 [[ 8.76489984e-01 -4.80778351e-01 -2.48492513e-02 5.80519695e+01] [ 4.80564189e-01 8.76841923e-01 -1.43632301e-02 1.89735077e+01] [ 2.86943954e-02 6.47567045e-04 9.99588021e-01 1.33897617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.08, Y:18.99, Z:1.34 [[ 8.75637559e-01 -4.82315132e-01 -2.51192860e-02 5.80755203e+01] [ 4.82096722e-01 8.75997569e-01 -1.45261476e-02 1.89877649e+01] [ 2.90106143e-02 6.09715015e-04 9.99578918e-01 1.33867445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:19.00, Z:1.34 [[ 8.73874258e-01 -4.85546910e-01 -2.42482898e-02 5.81019926e+01] [ 4.85344523e-01 8.74210478e-01 -1.40262001e-02 1.90001158e+01] [ 2.80084872e-02 4.88360551e-04 9.99607566e-01 1.33938868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:19.01, Z:1.34 [[ 8.73058569e-01 -4.87016702e-01 -2.41550481e-02 5.81275528e+01] [ 4.86816221e-01 8.73392542e-01 -1.39797807e-02 1.90139638e+01] [ 2.79052256e-02 4.46098121e-04 9.99610474e-01 1.33978559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:19.03, Z:1.34 [[ 8.71842339e-01 -4.89162211e-01 -2.47238382e-02 5.81520705e+01] [ 4.88952840e-01 8.72192741e-01 -1.43158221e-02 1.90273636e+01] [ 2.85667114e-02 3.92348902e-04 9.99591811e-01 1.33986877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.18, Y:19.04, Z:1.34 [[ 8.71818579e-01 -4.89149338e-01 -2.57932175e-02 5.81764658e+01] [ 4.88921364e-01 8.72199952e-01 -1.49380245e-02 1.90418620e+01] [ 2.98037678e-02 4.12392173e-04 9.99555684e-01 1.34006392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.20, Y:19.06, Z:1.34 [[ 8.71999280e-01 -4.88793709e-01 -2.64190366e-02 5.82000313e+01] [ 4.88554280e-01 8.72399289e-01 -1.53034787e-02 1.90570578e+01] [ 3.05281928e-02 4.37488953e-04 9.99533810e-01 1.34014939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:19.07, Z:1.34 [[ 8.72135945e-01 -4.88578824e-01 -2.58771376e-02 5.82244271e+01] [ 4.88348886e-01 8.72519650e-01 -1.49941959e-02 1.90713662e+01] [ 2.99041576e-02 4.39905918e-04 9.99552674e-01 1.34143791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:19.09, Z:1.34 [[ 8.72752844e-01 -4.87494606e-01 -2.55241655e-02 5.82484652e+01] [ 4.87270174e-01 8.73125867e-01 -1.47985643e-02 1.90875770e+01] [ 2.95000294e-02 4.78324545e-04 9.99564665e-01 1.34160619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.27, Y:19.10, Z:1.34 [[ 8.73115177e-01 -4.86841912e-01 -2.55898544e-02 5.82730023e+01] [ 4.86615801e-01 8.73489951e-01 -1.48448098e-02 1.91022667e+01] [ 2.95795562e-02 5.08801209e-04 9.99562300e-01 1.34212887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:19.12, Z:1.34 [[ 8.72512887e-01 -4.87973463e-01 -2.45593526e-02 5.82992873e+01] [ 4.87765432e-01 8.72858345e-01 -1.42546103e-02 1.91153781e+01] [ 2.83927074e-02 4.58127991e-04 9.99596741e-01 1.34309079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.33, Y:19.13, Z:1.35 [[ 8.70937658e-01 -4.90819369e-01 -2.37474877e-02 5.83256707e+01] [ 4.90625719e-01 8.71261280e-01 -1.37907838e-02 1.91272176e+01] [ 2.74590503e-02 3.59784697e-04 9.99622864e-01 1.34525007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.35, Y:19.14, Z:1.35 [[ 8.69714782e-01 -4.93008149e-01 -2.32198707e-02 5.83503527e+01] [ 4.92823618e-01 8.70024644e-01 -1.34907515e-02 1.91395158e+01] [ 2.68529102e-02 2.89805356e-04 9.99639354e-01 1.34607997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.38, Y:19.15, Z:1.35 [[ 8.68394978e-01 -4.95335354e-01 -2.30878404e-02 5.83771008e+01] [ 4.95153646e-01 8.68701812e-01 -1.34174701e-02 1.91517191e+01] [ 2.67025961e-02 2.19635281e-04 9.99643398e-01 1.34714993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.40, Y:19.17, Z:1.35 [[ 8.68287043e-01 -4.95499431e-01 -2.36204285e-02 5.84015960e+01] [ 4.95309092e-01 8.68608233e-01 -1.37346819e-02 1.91656485e+01] [ 2.73224257e-02 2.26233349e-04 9.99626647e-01 1.34750033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:19.18, Z:1.35 [[ 8.68688822e-01 -4.94773239e-01 -2.40659845e-02 5.84260005e+01] [ 4.94575160e-01 8.69022079e-01 -1.40013316e-02 1.91801631e+01] [ 2.78413561e-02 2.60362170e-04 9.99612320e-01 1.34677269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:19.20, Z:1.35 [[ 8.70240953e-01 -4.91957765e-01 -2.56562212e-02 5.84488873e+01] [ 4.91731321e-01 8.70618984e-01 -1.49295868e-02 1.91955661e+01] [ 2.96815194e-02 3.76370309e-04 9.99559336e-01 1.34606664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.47, Y:19.21, Z:1.35 [[ 8.71140040e-01 -4.90341447e-01 -2.60824986e-02 5.84729433e+01] [ 4.90106554e-01 8.71530303e-01 -1.51820976e-02 1.92121373e+01] [ 3.01760996e-02 4.42529642e-04 9.99544500e-01 1.34590670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.50, Y:19.23, Z:1.35 [[ 8.72460375e-01 -4.87999546e-01 -2.58715588e-02 5.84966557e+01] [ 4.87767163e-01 8.72843724e-01 -1.50674629e-02 1.92285664e+01] [ 2.99347428e-02 5.26467489e-04 9.99551717e-01 1.34637340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:19.25, Z:1.35 [[ 8.74019314e-01 -4.85232383e-01 -2.52937271e-02 5.85202091e+01] [ 4.85008874e-01 8.74385016e-01 -1.47389035e-02 1.92455964e+01] [ 2.92682493e-02 6.14404263e-04 9.99571404e-01 1.34837950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:19.26, Z:1.35 [[ 8.74608240e-01 -4.84183770e-01 -2.50300420e-02 5.85447702e+01] [ 4.83964239e-01 8.74966088e-01 -1.45931730e-02 1.92617642e+01] [ 2.89662154e-02 6.49664119e-04 9.99580180e-01 1.34953747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:19.28, Z:1.35 [[ 8.76060329e-01 -4.81560234e-01 -2.48604376e-02 5.85662994e+01] [ 4.81342424e-01 8.76412687e-01 -1.45008079e-02 1.92793560e+01] [ 2.87710153e-02 7.37199196e-04 9.99585757e-01 1.34987729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:19.29, Z:1.35 [[ 8.76613066e-01 -4.80549705e-01 -2.49301604e-02 5.85911031e+01] [ 4.80330129e-01 8.76967147e-01 -1.45461188e-02 1.92938652e+01] [ 2.88530648e-02 7.76610627e-04 9.99583362e-01 1.35086929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.61, Y:19.31, Z:1.35 [[ 8.77141806e-01 -4.79606409e-01 -2.44937755e-02 5.86139592e+01] [ 4.79393887e-01 8.77483363e-01 -1.42985566e-02 1.93094145e+01] [ 2.83505598e-02 7.99695496e-04 9.99597722e-01 1.35124771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:19.32, Z:1.35 [[ 8.77065206e-01 -4.79762308e-01 -2.41816641e-02 5.86378163e+01] [ 4.79555081e-01 8.77398145e-01 -1.41215954e-02 1.93236003e+01] [ 2.79919564e-02 7.89120068e-04 9.99607837e-01 1.35190744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:19.34, Z:1.35 [[ 8.77507018e-01 -4.78950100e-01 -2.42535440e-02 5.86629394e+01] [ 4.78741079e-01 8.77841740e-01 -1.41724539e-02 1.93380021e+01] [ 2.80786715e-02 8.25259952e-04 9.99605376e-01 1.35288686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:19.35, Z:1.35 [[ 8.77637514e-01 -4.78722843e-01 -2.40173617e-02 5.86871049e+01] [ 4.78517599e-01 8.77965688e-01 -1.40412762e-02 1.93527810e+01] [ 2.78082992e-02 8.30420504e-04 9.99612930e-01 1.35366140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:19.37, Z:1.35 [[ 8.77685950e-01 -4.78634939e-01 -2.39993318e-02 5.87116033e+01] [ 4.78429861e-01 8.78013608e-01 -1.40346575e-02 1.93676252e+01] [ 2.77892173e-02 8.36024678e-04 9.99613456e-01 1.35448298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:19.38, Z:1.35 [[ 8.78153361e-01 -4.77736718e-01 -2.47851250e-02 5.87358465e+01] [ 4.77517391e-01 8.78502600e-01 -1.45025393e-02 1.93836088e+01] [ 2.87021923e-02 9.00125446e-04 9.99587602e-01 1.35390072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:19.40, Z:1.35 [[ 8.78464338e-01 -4.77127943e-01 -2.54820046e-02 5.87589504e+01] [ 4.76895639e-01 8.78833328e-01 -1.49174549e-02 1.93990483e+01] [ 2.95119695e-02 9.52195236e-04 9.99563973e-01 1.35307615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:19.41, Z:1.35 [[ 8.78374342e-01 -4.77261135e-01 -2.60830156e-02 5.87841560e+01] [ 4.77017660e-01 8.78760980e-01 -1.52739059e-02 1.94135761e+01] [ 3.02103780e-02 9.74147954e-04 9.99543088e-01 1.35346175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:19.43, Z:1.35 [[ 8.78437261e-01 -4.77111965e-01 -2.66861571e-02 5.88086991e+01] [ 4.76856754e-01 8.78841939e-01 -1.56359529e-02 1.94280304e+01] [ 3.09130143e-02 1.00972939e-03 9.99521569e-01 1.35433561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:19.44, Z:1.35 [[ 8.76446687e-01 -4.80693007e-01 -2.78467049e-02 5.88343431e+01] [ 4.80416631e-01 8.76888459e-01 -1.63245787e-02 1.94410955e+01] [ 3.22655650e-02 9.29602777e-04 9.99478899e-01 1.35215795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:19.45, Z:1.35 [[ 8.74678690e-01 -4.83936220e-01 -2.72566471e-02 5.88603018e+01] [ 4.83672790e-01 8.75102907e-01 -1.59854730e-02 1.94534572e+01] [ 3.15883204e-02 7.98854021e-04 9.99500645e-01 1.35288897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:19.47, Z:1.36 [[ 8.73276274e-01 -4.86527254e-01 -2.60725927e-02 5.88867081e+01] [ 4.86287162e-01 8.73665135e-01 -1.52979791e-02 1.94652778e+01] [ 3.02215990e-02 6.80595114e-04 9.99542991e-01 1.35598026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.91, Y:19.48, Z:1.36 [[ 8.70978146e-01 -4.90711156e-01 -2.44873472e-02 5.89135508e+01] [ 4.90500830e-01 8.71322158e-01 -1.43747541e-02 1.94763791e+01] [ 2.83902204e-02 5.09032507e-04 9.99596787e-01 1.35937511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:19.49, Z:1.36 [[ 8.69842932e-01 -4.92751326e-01 -2.38621862e-02 5.89388411e+01] [ 4.92552196e-01 8.70170064e-01 -1.40140664e-02 1.94899090e+01] [ 2.76696099e-02 4.36664417e-04 9.99617028e-01 1.36065515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.96, Y:19.50, Z:1.36 [[ 8.68966497e-01 -4.94331698e-01 -2.30954624e-02 5.89639061e+01] [ 4.94145523e-01 8.69273276e-01 -1.35710790e-02 1.95039065e+01] [ 2.67848828e-02 3.80293577e-04 9.99641148e-01 1.36165738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.99, Y:19.52, Z:1.36 [[ 8.68429448e-01 -4.95287641e-01 -2.28132887e-02 5.89881285e+01] [ 4.95106140e-01 8.68728973e-01 -1.34119813e-02 1.95183840e+01] [ 2.64613534e-02 3.52360231e-04 9.99649775e-01 1.36267962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.01, Y:19.53, Z:1.36 [[ 8.68506853e-01 -4.95127692e-01 -2.33326879e-02 5.90124616e+01] [ 4.94937645e-01 8.68820138e-01 -1.37220716e-02 1.95334741e+01] [ 2.70660868e-02 3.69487597e-04 9.99633578e-01 1.36281858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:19.55, Z:1.36 [[ 8.68603299e-01 -4.94942795e-01 -2.36630165e-02 5.90370548e+01] [ 4.94747051e-01 8.68925474e-01 -1.39239092e-02 1.95489335e+01] [ 2.74529363e-02 3.87145805e-04 9.99623022e-01 1.36261772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:19.57, Z:1.36 [[ 8.69529634e-01 -4.93258686e-01 -2.47807132e-02 5.90593095e+01] [ 4.93043118e-01 8.69882550e-01 -1.45887999e-02 1.95654087e+01] [ 2.87523623e-02 4.67433748e-04 9.99586456e-01 1.36111723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:19.58, Z:1.36 [[ 8.69926253e-01 -4.92520775e-01 -2.55264724e-02 5.90839622e+01] [ 4.92291558e-01 8.70300537e-01 -1.50331986e-02 1.95806006e+01] [ 2.96198653e-02 5.11307256e-04 9.99561105e-01 1.36144284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:19.60, Z:1.36 [[ 8.70344061e-01 -4.91759957e-01 -2.59491621e-02 5.91087669e+01] [ 4.91522494e-01 8.70730635e-01 -1.52905089e-02 1.95955837e+01] [ 3.01139904e-02 5.53406687e-04 9.99546318e-01 1.36203032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:19.61, Z:1.36 [[ 8.70680050e-01 -4.91178073e-01 -2.56973140e-02 5.91320822e+01] [ 4.90944740e-01 8.71058994e-01 -1.51489400e-02 1.96109116e+01] [ 2.98247037e-02 5.73918649e-04 9.99554980e-01 1.36277612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:19.63, Z:1.36 [[ 8.71727101e-01 -4.89415256e-01 -2.37606700e-02 5.91558169e+01] [ 4.89215020e-01 8.72050663e-01 -1.40108746e-02 1.96275800e+01] [ 2.75776438e-02 5.89582417e-04 9.99619491e-01 1.36457913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.18, Y:19.64, Z:1.37 [[ 8.71842684e-01 -4.89244478e-01 -2.30255155e-02 5.91780479e+01] [ 4.89056208e-01 8.72146491e-01 -1.35839618e-02 1.96426100e+01] [ 2.67275009e-02 5.82306433e-04 9.99642587e-01 1.36610451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:19.66, Z:1.37 [[ 8.71712297e-01 -4.89476852e-01 -2.30235230e-02 5.92017809e+01] [ 4.89288574e-01 8.72016098e-01 -1.35873382e-02 1.96567435e+01] [ 2.67275702e-02 5.79103010e-04 9.99642587e-01 1.36670577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.23, Y:19.67, Z:1.37 [[ 8.71607147e-01 -4.89694818e-01 -2.23599336e-02 5.92267365e+01] [ 4.89517105e-01 8.71893725e-01 -1.32036210e-02 1.96693227e+01] [ 2.59612306e-02 5.62800445e-04 9.99662792e-01 1.36891539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.25, Y:19.68, Z:1.37 [[ 8.71075849e-01 -4.90661611e-01 -2.18643376e-02 5.92514955e+01] [ 4.90491805e-01 8.71350047e-01 -1.29184042e-02 1.96829007e+01] [ 2.53900566e-02 5.28631536e-04 9.99677481e-01 1.36937606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.28, Y:19.70, Z:1.37 [[ 8.70652812e-01 -4.91407691e-01 -2.19581927e-02 5.92775262e+01] [ 4.91236550e-01 8.70929514e-01 -1.29781947e-02 1.96962875e+01] [ 2.55016228e-02 5.12834916e-04 9.99674649e-01 1.37045907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.30, Y:19.71, Z:1.37 [[ 8.70235879e-01 -4.92113858e-01 -2.26597708e-02 5.93019341e+01] [ 4.91931662e-01 8.70530693e-01 -1.33997392e-02 1.97105182e+01] [ 2.63202233e-02 5.13875166e-04 9.99653431e-01 1.37056754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.33, Y:19.72, Z:1.37 [[ 8.69324617e-01 -4.93703834e-01 -2.30485459e-02 5.93285658e+01] [ 4.93515795e-01 8.69629977e-01 -1.36331627e-02 1.97233531e+01] [ 2.67744512e-02 4.76822480e-04 9.99641386e-01 1.36981954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.35, Y:19.74, Z:1.37 [[ 8.68633492e-01 -4.94915262e-01 -2.31244449e-02 5.93540306e+01] [ 4.94726222e-01 8.68941128e-01 -1.36851076e-02 1.97369824e+01] [ 2.68667499e-02 4.47073539e-04 9.99638924e-01 1.36974498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:19.75, Z:1.37 [[ 8.67767704e-01 -4.96452885e-01 -2.26659393e-02 5.93797392e+01] [ 4.96271603e-01 8.68063578e-01 -1.34209255e-02 1.97499649e+01] [ 2.63383336e-02 3.97783667e-04 9.99653007e-01 1.37012218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:19.76, Z:1.37 [[ 8.66145288e-01 -4.99271042e-01 -2.28203345e-02 5.94074540e+01] [ 4.99088062e-01 8.66445800e-01 -1.35197014e-02 1.97605554e+01] [ 2.65225784e-02 3.20669150e-04 9.99648163e-01 1.37188977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.43, Y:19.77, Z:1.37 [[ 8.65496020e-01 -5.00389933e-01 -2.29467620e-02 5.94334937e+01] [ 5.00205115e-01 8.65800109e-01 -1.36020273e-02 1.97737977e+01] [ 2.66736266e-02 2.94412777e-04 9.99644152e-01 1.37336230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.46, Y:19.79, Z:1.37 [[ 8.64619215e-01 -5.01924129e-01 -2.24896102e-02 5.94589939e+01] [ 5.01746934e-01 8.64911618e-01 -1.33381565e-02 1.97871240e+01] [ 2.61462678e-02 2.48333460e-04 9.99658097e-01 1.37336901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.48, Y:19.80, Z:1.37 [[ 8.64415751e-01 -5.02289494e-01 -2.21511625e-02 5.94838121e+01] [ 5.02117528e-01 8.64699489e-01 -1.31446258e-02 1.98009900e+01] [ 2.57565063e-02 2.39934605e-04 9.99668217e-01 1.37436367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.51, Y:19.81, Z:1.37 [[ 8.64391559e-01 -5.02330658e-01 -2.21617509e-02 5.95083168e+01] [ 5.02158332e-01 8.64675575e-01 -1.31590324e-02 1.98145173e+01] [ 2.57729101e-02 2.45848664e-04 9.99667793e-01 1.37443906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.53, Y:19.83, Z:1.37 [[ 8.64408161e-01 -5.02301349e-01 -2.21785148e-02 5.95317452e+01] [ 5.02128558e-01 8.64692599e-01 -1.31765181e-02 1.98287574e+01] [ 2.57961804e-02 2.53424151e-04 9.99667191e-01 1.37462342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.55, Y:19.84, Z:1.37 [[ 8.64545048e-01 -5.02056095e-01 -2.23950407e-02 5.95547707e+01] [ 5.01879737e-01 8.64835017e-01 -1.33087744e-02 1.98430435e+01] [ 2.60497667e-02 2.66417884e-04 9.99660612e-01 1.37484544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.58, Y:19.86, Z:1.38 [[ 8.64739664e-01 -5.01696874e-01 -2.29250988e-02 5.95801955e+01] [ 5.01511826e-01 8.65043446e-01 -1.36280689e-02 1.98561264e+01] [ 2.66683660e-02 2.87523542e-04 9.99644295e-01 1.37613052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:19.87, Z:1.38 [[ 8.64784201e-01 -5.01609680e-01 -2.31519874e-02 5.96033916e+01] [ 5.01420734e-01 8.65094006e-01 -1.37698243e-02 1.98702998e+01] [ 2.69357227e-02 2.99040009e-04 9.99637123e-01 1.37668528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:19.88, Z:1.38 [[ 8.64897420e-01 -5.01418964e-01 -2.30537451e-02 5.96276809e+01] [ 5.01231427e-01 8.65204559e-01 -1.37159779e-02 1.98849307e+01] [ 2.68236567e-02 3.07652347e-04 9.99640134e-01 1.37736509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:19.90, Z:1.38 [[ 8.65191915e-01 -5.00923218e-01 -2.27789492e-02 5.96521845e+01] [ 5.00739741e-01 8.65491666e-01 -1.35605678e-02 1.98999856e+01] [ 2.65077939e-02 3.26168462e-04 9.99648553e-01 1.37782810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:19.92, Z:1.38 [[ 8.65722178e-01 -4.99994897e-01 -2.30263737e-02 5.96755548e+01] [ 4.99806907e-01 8.66028273e-01 -1.37144544e-02 1.99150859e+01] [ 2.67986478e-02 3.64166710e-04 9.99640785e-01 1.37782642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:19.93, Z:1.38 [[ 8.65896092e-01 -4.99707934e-01 -2.27142937e-02 5.96993086e+01] [ 4.99524813e-01 8.66193883e-01 -1.35321245e-02 1.99296806e+01] [ 2.64370923e-02 3.71060372e-04 9.99650410e-01 1.37807341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:19.94, Z:1.38 [[ 8.65871909e-01 -4.99743677e-01 -2.28493847e-02 5.97232577e+01] [ 4.99558163e-01 8.66173258e-01 -1.36208960e-02 1.99440752e+01] [ 2.65984826e-02 3.79354586e-04 9.99646126e-01 1.37825220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:19.96, Z:1.38 [[ 8.65941966e-01 -4.99637182e-01 -2.25210740e-02 5.97484201e+01] [ 4.99456714e-01 8.66234690e-01 -1.34332230e-02 1.99577126e+01] [ 2.62202733e-02 3.84089866e-04 9.99656116e-01 1.37828414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:19.97, Z:1.38 [[ 8.65720131e-01 -5.00002858e-01 -2.29302807e-02 5.97731083e+01] [ 4.99815675e-01 8.66023667e-01 -1.36857152e-02 1.99710891e+01] [ 2.67010625e-02 3.87085436e-04 9.99643388e-01 1.37926317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:19.98, Z:1.38 [[ 8.65721154e-01 -4.99995938e-01 -2.30422544e-02 5.97975996e+01] [ 4.99806695e-01 8.66027658e-01 -1.37609204e-02 1.99846602e+01] [ 2.68356339e-02 3.96446868e-04 9.99639781e-01 1.37988415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:20.00, Z:1.38 [[ 8.66172381e-01 -4.99183190e-01 -2.36970437e-02 5.98235163e+01] [ 4.98982496e-01 8.66496364e-01 -1.41605112e-02 1.99978138e+01] [ 2.76020914e-02 4.41033642e-04 9.99618892e-01 1.38044997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:20.01, Z:1.38 [[ 8.65655280e-01 -5.00083456e-01 -2.36108861e-02 5.98489699e+01] [ 4.99884345e-01 8.65977114e-01 -1.41166293e-02 2.00114146e+01] [ 2.75059797e-02 4.17422337e-04 9.99621552e-01 1.37952744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:20.02, Z:1.38 [[ 8.63104826e-01 -5.04448462e-01 -2.41206953e-02 5.98761887e+01] [ 5.04242156e-01 8.63441755e-01 -1.44285677e-02 2.00233512e+01] [ 2.81052842e-02 2.90695017e-04 9.99604926e-01 1.37848745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:20.03, Z:1.38 [[ 8.61001958e-01 -5.08034168e-01 -2.40190065e-02 5.99017481e+01] [ 5.07830887e-01 8.61336899e-01 -1.43714142e-02 2.00341263e+01] [ 2.79896260e-02 1.76222398e-04 9.99608198e-01 1.37910939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:20.05, Z:1.38 [[ 8.59058003e-01 -5.11318831e-01 -2.39249182e-02 5.99289663e+01] [ 5.11118304e-01 8.59391092e-01 -1.43189153e-02 2.00457811e+01] [ 2.78823926e-02 7.23151445e-05 9.99611208e-01 1.38025902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:20.06, Z:1.38 [[ 8.57465766e-01 -5.13962849e-01 -2.43854310e-02 5.99547976e+01] [ 5.13755360e-01 8.57812444e-01 -1.46027633e-02 2.00568961e+01] [ 2.84234040e-02 -6.77626555e-06 9.99595973e-01 1.38118833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:20.07, Z:1.38 [[ 8.57093979e-01 -5.14561656e-01 -2.48236329e-02 5.99785605e+01] [ 5.14346618e-01 8.57453382e-01 -1.48746328e-02 2.00711621e+01] [ 2.89390237e-02 -1.89933775e-05 9.99581179e-01 1.38054426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:20.09, Z:1.38 [[ 8.57438985e-01 -5.13975115e-01 -2.50592825e-02 6.00010898e+01] [ 5.13755446e-01 8.57805095e-01 -1.50253528e-02 2.00855568e+01] [ 2.92186377e-02 8.98038206e-06 9.99573044e-01 1.38026788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:20.10, Z:1.38 [[ 8.58226592e-01 -5.12715835e-01 -2.38660498e-02 6.00244774e+01] [ 5.12515865e-01 8.58558367e-01 -1.43184792e-02 2.01015855e+01] [ 2.78317078e-02 5.67704366e-05 9.99612621e-01 1.38240365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:20.12, Z:1.38 [[ 8.58387419e-01 -5.12459054e-01 -2.35957034e-02 6.00484554e+01] [ 5.12263251e-01 8.58711659e-01 -1.41650359e-02 2.01170891e+01] [ 2.75209065e-02 7.18768854e-05 9.99621226e-01 1.38440757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:20.13, Z:1.38 [[ 8.58704748e-01 -5.11927081e-01 -2.35970144e-02 6.00722373e+01] [ 5.11730811e-01 8.59028902e-01 -1.41747278e-02 2.01329268e+01] [ 2.75269444e-02 9.65867578e-05 9.99621057e-01 1.38489968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.09, Y:20.15, Z:1.38 [[ 8.60158094e-01 -5.09478509e-01 -2.36580268e-02 6.00934045e+01] [ 5.09280084e-01 8.60483362e-01 -1.42190172e-02 2.01513281e+01] [ 2.76016221e-02 1.82040868e-04 9.99618986e-01 1.38418556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:20.17, Z:1.38 [[ 8.60904357e-01 -5.08176218e-01 -2.45075452e-02 6.01172187e+01] [ 5.07962637e-01 8.61253085e-01 -1.47337390e-02 2.01686394e+01] [ 2.85945347e-02 2.35422860e-04 9.99591065e-01 1.38432234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:20.19, Z:1.38 [[ 8.61512385e-01 -5.07132512e-01 -2.47593599e-02 6.01409061e+01] [ 5.06913854e-01 8.61868051e-01 -1.48931894e-02 2.01859668e+01] [ 2.88921218e-02 2.79804579e-04 9.99582496e-01 1.38400197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:20.20, Z:1.38 [[ 8.62362472e-01 -5.05697568e-01 -2.45140001e-02 6.01627837e+01] [ 5.05482449e-01 8.62710763e-01 -1.47524021e-02 2.02027034e+01] [ 2.86087455e-02 3.30521167e-04 9.99590631e-01 1.38383873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters Centerline goodness [0,1] 0.9999750187359481 Centerline is valid? [True, True] Translation: X:60.18, Y:20.22, Z:1.38 [[ 8.63662863e-01 -5.03461193e-01 -2.47646055e-02 6.01837188e+01] [ 5.03240637e-01 8.64017741e-01 -1.49064997e-02 2.02212837e+01] [ 2.89019026e-02 4.11634394e-04 9.99582168e-01 1.38306644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.21, Y:20.24, Z:1.38 [[ 8.64199974e-01 -5.02524844e-01 -2.50436959e-02 6.02080212e+01] [ 5.02298772e-01 8.64562651e-01 -1.50786877e-02 2.02371468e+01] [ 2.92292593e-02 4.51583816e-04 9.99572632e-01 1.38452829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.23, Y:20.25, Z:1.39 [[ 8.64661196e-01 -5.01741414e-01 -2.48308342e-02 6.02303925e+01] [ 5.01518641e-01 8.65017527e-01 -1.49575915e-02 2.02532217e+01] [ 2.89839499e-02 4.80122721e-04 9.99579762e-01 1.38522912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.25, Y:20.27, Z:1.39 [[ 8.64668839e-01 -5.01730996e-01 -2.47751075e-02 6.02533423e+01] [ 5.01509060e-01 8.65023568e-01 -1.49294645e-02 2.02687863e+01] [ 2.89216270e-02 4.84101894e-04 9.99581565e-01 1.38586993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.28, Y:20.28, Z:1.39 [[ 8.64206736e-01 -5.02539957e-01 -2.45011986e-02 6.02784794e+01] [ 5.02322978e-01 8.64553862e-01 -1.47731228e-02 2.02827590e+01] [ 2.86066904e-02 4.59517258e-04 9.99590639e-01 1.38649425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:20.30, Z:1.39 [[ 8.63661521e-01 -5.03477917e-01 -2.44696618e-02 6.03033991e+01] [ 5.03261644e-01 8.64007985e-01 -1.47621027e-02 2.02970280e+01] [ 2.85743759e-02 4.34817829e-04 9.99591575e-01 1.38817227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:20.31, Z:1.39 [[ 8.63219644e-01 -5.04247549e-01 -2.42127173e-02 6.03286828e+01] [ 5.04035876e-01 8.63559054e-01 -1.46149248e-02 2.03115395e+01] [ 2.82786513e-02 4.11811966e-04 9.99599994e-01 1.38939189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.35, Y:20.33, Z:1.39 [[ 8.62795549e-01 -5.04945540e-01 -2.47758325e-02 6.03517454e+01] [ 5.04723983e-01 8.63151110e-01 -1.49620485e-02 2.03253052e+01] [ 2.89403069e-02 4.04231973e-04 9.99581060e-01 1.38911742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.38, Y:20.34, Z:1.39 [[ 8.62588042e-01 -5.05254293e-01 -2.56898529e-02 6.03758142e+01] [ 5.05016049e-01 8.62970410e-01 -1.55197389e-02 2.03396271e+01] [ 3.00109976e-02 4.13353210e-04 9.99549483e-01 1.38927318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.40, Y:20.35, Z:1.39 [[ 8.62493963e-01 -5.05385084e-01 -2.62693800e-02 6.04004283e+01] [ 5.05135725e-01 8.62893814e-01 -1.58796957e-02 2.03537871e+01] [ 3.06930469e-02 4.26539396e-04 9.99528766e-01 1.39052495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.43, Y:20.37, Z:1.39 [[ 8.62455583e-01 -5.05419210e-01 -2.68661333e-02 6.04258121e+01] [ 5.05158100e-01 8.62873818e-01 -1.62501681e-02 2.03680491e+01] [ 3.13952301e-02 4.43403342e-04 9.99506950e-01 1.39111394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:20.38, Z:1.39 [[ 8.62472920e-01 -5.05384716e-01 -2.69583170e-02 6.04485427e+01] [ 5.05121536e-01 8.62894016e-01 -1.63141330e-02 2.03826922e+01] [ 3.15070839e-02 4.53271462e-04 9.99503426e-01 1.39090343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters Centerline goodness [0,1] 0.9999749593088769 Centerline is valid? [True, True] Translation: X:60.47, Y:20.40, Z:1.39 [[ 8.62360342e-01 -5.05590248e-01 -2.67047093e-02 6.04734797e+01] [ 5.05331857e-01 8.62773609e-01 -1.61683298e-02 2.03963291e+01] [ 3.12146683e-02 4.48186125e-04 9.99512603e-01 1.39225807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.50, Y:20.41, Z:1.39 [[ 8.63069503e-01 -5.04425453e-01 -2.58068977e-02 6.04968774e+01] [ 5.04183400e-01 8.63455113e-01 -1.56322494e-02 2.04109452e+01] [ 3.01684022e-02 4.80308321e-04 9.99544715e-01 1.39470558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.52, Y:20.43, Z:1.40 [[ 8.63522310e-01 -5.03664653e-01 -2.55173938e-02 6.05213935e+01] [ 5.03427540e-01 8.63899104e-01 -1.54612234e-02 2.04256949e+01] [ 2.98317254e-02 5.04952594e-04 9.99554807e-01 1.39588985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:20.44, Z:1.40 [[ 8.64193651e-01 -5.02508496e-01 -2.55840926e-02 6.05443814e+01] [ 5.02269429e-01 8.64572095e-01 -1.55084976e-02 2.04418092e+01] [ 2.99124444e-02 5.52237583e-04 9.99552370e-01 1.39618198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:20.46, Z:1.40 [[ 8.65663583e-01 -4.99978818e-01 -2.54507744e-02 6.05684057e+01] [ 4.99741014e-01 8.66037396e-01 -1.54320175e-02 2.04578259e+01] [ 2.97570043e-02 6.40139791e-04 9.99556957e-01 1.39679766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:20.47, Z:1.40 [[ 8.66343062e-01 -4.98772919e-01 -2.59860329e-02 6.05931379e+01] [ 4.98524200e-01 8.66732416e-01 -1.57651811e-02 2.04736831e+01] [ 3.03861825e-02 7.03389035e-04 9.99537986e-01 1.39674857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:20.49, Z:1.40 [[ 8.67082681e-01 -4.97450131e-01 -2.66644207e-02 6.06167936e+01] [ 4.97187349e-01 8.67492227e-01 -1.61856976e-02 2.04899244e+01] [ 3.11827551e-02 7.77125452e-04 9.99513398e-01 1.39622262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:20.51, Z:1.39 [[ 8.68280668e-01 -4.95252498e-01 -2.85244733e-02 6.06395544e+01] [ 4.94950324e-01 8.68748590e-01 -1.73223668e-02 2.05063062e+01] [ 3.33595414e-02 9.22478920e-04 9.99442990e-01 1.39460820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.66, Y:20.52, Z:1.39 [[ 8.68558430e-01 -4.94692915e-01 -2.97518579e-02 6.06639895e+01] [ 4.94363642e-01 8.69067282e-01 -1.80734277e-02 2.05212880e+01] [ 3.47971629e-02 9.89591112e-04 9.99393905e-01 1.39397184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.69, Y:20.54, Z:1.39 [[ 8.68683085e-01 -4.94394418e-01 -3.10460516e-02 6.06882990e+01] [ 4.94035390e-01 8.69237052e-01 -1.88674665e-02 2.05359095e+01] [ 3.63143485e-02 1.05200081e-03 9.99339863e-01 1.39406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:20.55, Z:1.39 [[ 8.68632624e-01 -4.94456931e-01 -3.14596357e-02 6.07130880e+01] [ 4.94088073e-01 8.69201473e-01 -1.91252489e-02 2.05512787e+01] [ 3.68013735e-02 1.06898434e-03 9.99322028e-01 1.39390168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:20.57, Z:1.39 [[ 8.68496635e-01 -4.94696060e-01 -3.14547723e-02 6.07366482e+01] [ 4.94327070e-01 8.69065399e-01 -1.91332451e-02 2.05657294e+01] [ 3.68013952e-02 1.06821360e-03 9.99322028e-01 1.39450186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.76, Y:20.58, Z:1.40 [[ 8.67825467e-01 -4.95765153e-01 -3.31039613e-02 6.07621609e+01] [ 4.95356717e-01 8.68455946e-01 -2.01492769e-02 2.05785688e+01] [ 3.87386413e-02 1.08778601e-03 9.99248785e-01 1.39513837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.79, Y:20.59, Z:1.40 [[ 8.67355765e-01 -4.96591266e-01 -3.30316694e-02 6.07874236e+01] [ 4.96184753e-01 8.67983867e-01 -2.01170961e-02 2.05924692e+01] [ 3.86609303e-02 1.05886854e-03 9.99251826e-01 1.39569783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:20.61, Z:1.40 [[ 8.66655468e-01 -4.97860463e-01 -3.22995244e-02 6.08126813e+01] [ 4.97472255e-01 8.67256583e-01 -1.96818302e-02 2.06063670e+01] [ 3.78107802e-02 9.89248481e-04 9.99284427e-01 1.39690671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.84, Y:20.62, Z:1.40 [[ 8.65976011e-01 -4.99077605e-01 -3.17347319e-02 6.08385705e+01] [ 4.98703298e-01 8.66556797e-01 -1.93478438e-02 2.06203088e+01] [ 3.71560231e-02 9.28553146e-04 9.99309045e-01 1.39833922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:20.63, Z:1.40 [[ 8.65062898e-01 -5.00759873e-01 -3.00953873e-02 6.08639984e+01] [ 5.00423941e-01 8.65585858e-01 -1.83576177e-02 2.06328684e+01] [ 3.52428999e-02 8.20041641e-04 9.99378440e-01 1.40182784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:20.65, Z:1.40 [[ 8.64574200e-01 -5.01645191e-01 -2.93863213e-02 6.08901357e+01] [ 5.01325087e-01 8.65073121e-01 -1.79346959e-02 2.06461419e+01] [ 3.44181706e-02 7.73775309e-04 9.99407220e-01 1.40431267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:20.66, Z:1.41 [[ 8.63589854e-01 -5.03365343e-01 -2.89118734e-02 6.09152278e+01] [ 5.03056133e-01 8.64073399e-01 -1.76546968e-02 2.06600209e+01] [ 3.38687432e-02 7.02121791e-04 9.99426043e-01 1.40518858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:20.67, Z:1.41 [[ 8.61635076e-01 -5.06738315e-01 -2.83068247e-02 6.09410901e+01] [ 5.06443429e-01 8.62099739e-01 -1.72942967e-02 2.06719962e+01] [ 3.31669890e-02 5.65567300e-04 9.99449664e-01 1.40625791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:20.69, Z:1.41 [[ 8.60851573e-01 -5.08087364e-01 -2.79606934e-02 6.09663213e+01] [ 5.07800069e-01 8.61305385e-01 -1.70916267e-02 2.06860675e+01] [ 3.27667353e-02 5.14911670e-04 9.99462894e-01 1.40716200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.99, Y:20.70, Z:1.41 [[ 8.60325580e-01 -5.08977067e-01 -2.79686064e-02 6.09895502e+01] [ 5.08689778e-01 8.60779941e-01 -1.71056604e-02 2.07012398e+01] [ 3.27812043e-02 4.89093042e-04 9.99462432e-01 1.40583427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:20.71, Z:1.41 [[ 8.59647977e-01 -5.10075562e-01 -2.87798110e-02 6.10153745e+01] [ 5.09771634e-01 8.60129468e-01 -1.76119027e-02 2.07136644e+01] [ 3.37377647e-02 4.68905235e-04 9.99430610e-01 1.40667813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.04, Y:20.73, Z:1.41 [[ 8.59593209e-01 -5.10179002e-01 -2.85814815e-02 6.10390541e+01] [ 5.09878947e-01 8.60068116e-01 -1.75012920e-02 2.07283610e+01] [ 3.35108127e-02 4.70896063e-04 9.99438244e-01 1.40694256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.06, Y:20.74, Z:1.41 [[ 8.59541178e-01 -5.10294022e-01 -2.80886986e-02 6.10632083e+01] [ 5.10003943e-01 8.59999880e-01 -1.72100442e-02 2.07432844e+01] [ 3.29384601e-02 4.67394624e-04 9.99457272e-01 1.40783888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:20.76, Z:1.41 [[ 8.59809025e-01 -5.09876982e-01 -2.74573157e-02 6.10861110e+01] [ 5.09599316e-01 8.60247193e-01 -1.68316361e-02 2.07585396e+01] [ 3.22021426e-02 4.79763289e-04 9.99481261e-01 1.40875498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:20.78, Z:1.41 [[ 8.60448074e-01 -5.08899778e-01 -2.54975935e-02 6.11089345e+01] [ 5.08659750e-01 8.60825639e-01 -1.56357667e-02 2.07755826e+01] [ 2.99060205e-02 4.84165815e-04 9.99552598e-01 1.40959989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:20.79, Z:1.41 [[ 8.60938138e-01 -5.08080744e-01 -2.52879463e-02 6.11325381e+01] [ 5.07844025e-01 8.61309289e-01 -1.55162915e-02 2.07922777e+01] [ 2.96642720e-02 5.16234723e-04 9.99559785e-01 1.40966235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.16, Y:20.81, Z:1.41 [[ 8.61458253e-01 -5.07216478e-01 -2.49223307e-02 6.11553764e+01] [ 5.06985998e-01 8.61818513e-01 -1.52986778e-02 2.08092278e+01] [ 2.92382675e-02 5.43899517e-04 9.99572322e-01 1.40941251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:20.82, Z:1.41 [[ 8.61823210e-01 -5.06613541e-01 -2.45657220e-02 6.11801492e+01] [ 5.06389247e-01 8.62173072e-01 -1.50838801e-02 2.08246866e+01] [ 2.88216019e-02 5.59820483e-04 9.99584415e-01 1.41040517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:20.84, Z:1.41 [[ 8.62531282e-01 -5.05424141e-01 -2.42121020e-02 6.12026026e+01] [ 5.05205600e-01 8.62870837e-01 -1.48734895e-02 2.08418238e+01] [ 2.84093374e-02 5.96760439e-04 9.99596195e-01 1.41044177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:20.86, Z:1.41 [[ 8.62730627e-01 -5.05073181e-01 -2.44325068e-02 6.12265256e+01] [ 5.04850418e-01 8.63076301e-01 -1.50117762e-02 2.08570629e+01] [ 2.86691632e-02 6.16357776e-04 9.99588765e-01 1.41079902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:20.87, Z:1.41 [[ 8.62552503e-01 -5.05402378e-01 -2.39084984e-02 6.12502380e+01] [ 5.05189079e-01 8.62883585e-01 -1.46939726e-02 2.08726396e+01] [ 2.80566195e-02 5.96010598e-04 9.99606158e-01 1.41081922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.27, Y:20.89, Z:1.41 [[ 8.62006059e-01 -5.06349115e-01 -2.35823755e-02 6.12748868e+01] [ 5.06141712e-01 8.62328392e-01 -1.45021475e-02 2.08882626e+01] [ 2.76789015e-02 5.64915105e-04 9.99616706e-01 1.41072626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.30, Y:20.90, Z:1.41 [[ 8.61697716e-01 -5.06903633e-01 -2.29293103e-02 6.12984973e+01] [ 5.06707580e-01 8.62002563e-01 -1.41071178e-02 2.09032862e+01] [ 2.69160735e-02 5.37615909e-04 9.99637552e-01 1.41157901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:20.92, Z:1.41 [[ 8.61168945e-01 -5.07826678e-01 -2.23631961e-02 6.13232831e+01] [ 5.07640409e-01 8.61459120e-01 -1.37622351e-02 2.09183015e+01] [ 2.62538093e-02 4.99147452e-04 9.99655185e-01 1.41231107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:20.93, Z:1.41 [[ 8.60659033e-01 -5.08713137e-01 -2.18397243e-02 6.13476205e+01] [ 5.08535590e-01 8.60935959e-01 -1.34472305e-02 2.09332158e+01] [ 2.56433868e-02 4.67203269e-04 9.99671045e-01 1.41251622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:20.95, Z:1.41 [[ 8.58835720e-01 -5.11830630e-01 -2.07511812e-02 6.13729543e+01] [ 5.11671090e-01 8.59086303e-01 -1.27835840e-02 2.09478630e+01] [ 2.43700854e-02 3.61219048e-04 9.99702940e-01 1.41243424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:20.96, Z:1.41 [[ 8.56985865e-01 -5.14926707e-01 -2.06328326e-02 6.13980433e+01] [ 5.14769723e-01 8.57234162e-01 -1.27170248e-02 2.09605824e+01] [ 2.42355047e-02 2.77152939e-04 9.99706239e-01 1.41347042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.42, Y:20.97, Z:1.41 [[ 8.55192459e-01 -5.17923371e-01 -2.00309839e-02 6.14240867e+01] [ 5.17776173e-01 8.55426996e-01 -1.23486563e-02 2.09742386e+01] [ 2.35307021e-02 1.88911586e-04 9.99723097e-01 1.41405417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.45, Y:20.99, Z:1.41 [[ 8.53634000e-01 -5.20490703e-01 -1.99604993e-02 6.14498524e+01] [ 5.20345087e-01 8.53867328e-01 -1.23116783e-02 2.09872686e+01] [ 2.34517323e-02 1.23319424e-04 9.99724963e-01 1.41485220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:21.00, Z:1.41 [[ 8.51347561e-01 -5.24188064e-01 -2.08375398e-02 6.14752897e+01] [ 5.24030297e-01 8.51602532e-01 -1.28598203e-02 2.10001983e+01] [ 2.44862660e-02 2.86744941e-05 9.99700166e-01 1.41436224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:21.01, Z:1.41 [[ 8.50135660e-01 -5.26135829e-01 -2.12237943e-02 6.14994570e+01] [ 5.25972583e-01 8.50400546e-01 -1.31054619e-02 2.10138746e+01] [ 2.49439794e-02 -2.17134516e-05 9.99688850e-01 1.41421141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:21.03, Z:1.41 [[ 8.48737177e-01 -5.28399547e-01 -2.09552589e-02 6.15235001e+01] [ 5.28240908e-01 8.48995826e-01 -1.29472372e-02 2.10264451e+01] [ 2.46322416e-02 -8.06234006e-05 9.99696577e-01 1.41338463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:21.04, Z:1.41 [[ 8.48367502e-01 -5.28999632e-01 -2.07838875e-02 6.15479450e+01] [ 5.28843662e-01 8.48622048e-01 -1.28452761e-02 2.10405872e+01] [ 2.44328116e-02 -9.39123680e-05 9.99701470e-01 1.41452029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.57, Y:21.06, Z:1.42 [[ 8.48245942e-01 -5.29205924e-01 -2.04917516e-02 6.15722327e+01] [ 5.29054187e-01 8.48493418e-01 -1.26722522e-02 2.10553076e+01] [ 2.40933473e-02 -9.20605366e-05 9.99709709e-01 1.41539481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.60, Y:21.07, Z:1.42 [[ 8.48318799e-01 -5.29100401e-01 -2.01985522e-02 6.15958458e+01] [ 5.28952770e-01 8.48559226e-01 -1.24983109e-02 2.10700921e+01] [ 2.37525291e-02 -8.15280832e-05 9.99717866e-01 1.41636811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.62, Y:21.09, Z:1.42 [[ 8.49880113e-01 -5.26607883e-01 -1.96959787e-02 6.16184936e+01] [ 5.26466672e-01 8.50108310e-01 -1.21944618e-02 2.10876878e+01] [ 2.31654149e-02 -5.44574559e-06 9.99731646e-01 1.41760971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.64, Y:21.10, Z:1.42 [[ 8.51160831e-01 -5.24555727e-01 -1.91449223e-02 6.16412787e+01] [ 5.24421632e-01 8.51376113e-01 -1.18602683e-02 2.11047186e+01] [ 2.25209012e-02 5.49844322e-05 9.99746371e-01 1.41845500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.66, Y:21.12, Z:1.42 [[ 8.52559810e-01 -5.22307627e-01 -1.83442903e-02 6.16641297e+01] [ 5.22183851e-01 8.52757134e-01 -1.13708594e-02 2.11220083e+01] [ 2.15823110e-02 1.15245562e-04 9.99767068e-01 1.41955215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:21.14, Z:1.42 [[ 8.54228567e-01 -5.19571249e-01 -1.84193424e-02 6.16862706e+01] [ 5.19445688e-01 8.54427107e-01 -1.14235294e-02 2.11391610e+01] [ 2.16733229e-02 1.90457132e-04 9.99765088e-01 1.42023497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.71, Y:21.16, Z:1.42 [[ 8.57376706e-01 -5.14361112e-01 -1.83801610e-02 6.17083578e+01] [ 5.14234814e-01 8.57573636e-01 -1.14024213e-02 2.11587604e+01] [ 2.16273036e-02 3.24451753e-04 9.99766050e-01 1.42112049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.73, Y:21.18, Z:1.42 [[ 8.57576696e-01 -5.13983628e-01 -1.95714258e-02 6.17308751e+01] [ 5.13840169e-01 8.57799918e-01 -1.21482749e-02 2.11760577e+01] [ 2.30323818e-02 3.61492709e-04 9.99734654e-01 1.41981946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:21.19, Z:1.42 [[ 8.57599490e-01 -5.13925639e-01 -2.00886324e-02 6.17546382e+01] [ 5.13774386e-01 8.57834656e-01 -1.24733258e-02 2.11918586e+01] [ 2.36430870e-02 3.76093064e-04 9.99720392e-01 1.41909797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:21.20, Z:1.42 [[ 8.55594452e-01 -5.17238542e-01 -2.05529650e-02 6.17812675e+01] [ 5.17080981e-01 8.55841225e-01 -1.27693657e-02 2.12039539e+01] [ 2.41948828e-02 2.97851196e-04 9.99707217e-01 1.41988214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:21.22, Z:1.42 [[ 8.54701454e-01 -5.18740717e-01 -1.98366572e-02 6.18043858e+01] [ 5.18594204e-01 8.54931579e-01 -1.23307117e-02 2.12189842e+01] [ 2.33554268e-02 2.51901772e-04 9.99727193e-01 1.42092034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:21.23, Z:1.42 [[ 8.54029978e-01 -5.19856730e-01 -1.95391080e-02 6.18279132e+01] [ 5.19714794e-01 8.54253435e-01 -1.21491598e-02 2.12334080e+01] [ 2.30071726e-02 2.20983214e-04 9.99735276e-01 1.42225396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.85, Y:21.25, Z:1.42 [[ 8.53641938e-01 -5.20515409e-01 -1.89512607e-02 6.18521908e+01] [ 5.20381998e-01 8.53852253e-01 -1.17858713e-02 2.12483772e+01] [ 2.23163043e-02 1.99019071e-04 9.99750940e-01 1.42361941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.87, Y:21.26, Z:1.43 [[ 8.54241213e-01 -5.19517138e-01 -1.93363445e-02 6.18747620e+01] [ 5.19377827e-01 8.54459998e-01 -1.20326570e-02 2.12646366e+01] [ 2.27733044e-02 2.35922946e-04 9.99740627e-01 1.42510956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.926875 meters Centerline goodness [0,1] 0.9999753718845434 Centerline is valid? [True, True] Translation: X:61.90, Y:21.28, Z:1.43 [[ 8.54813363e-01 -5.18566285e-01 -1.95735067e-02 6.18984515e+01] [ 5.18423233e-01 8.55037389e-01 -1.21825670e-02 2.12803112e+01] [ 2.30535485e-02 2.66460469e-04 9.99734196e-01 1.42573742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.92, Y:21.30, Z:1.43 [[ 8.55806964e-01 -5.16916788e-01 -1.97856855e-02 6.19209137e+01] [ 5.16770122e-01 8.56035591e-01 -1.23169566e-02 2.12965250e+01] [ 2.33040926e-02 3.16286125e-04 9.99728373e-01 1.42577047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:21.32, Z:1.43 [[ 8.58030468e-01 -5.13240137e-01 -1.91905786e-02 6.19434740e+01] [ 5.13101188e-01 8.58244952e-01 -1.19487945e-02 2.13152189e+01] [ 2.26028181e-02 4.05721070e-04 9.99744441e-01 1.42616188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:21.33, Z:1.43 [[ 8.59207766e-01 -5.11291921e-01 -1.85091062e-02 6.19657374e+01] [ 5.11162087e-01 8.59406989e-01 -1.15303178e-02 2.13317009e+01] [ 2.18022136e-02 4.45785271e-04 9.99762204e-01 1.42752087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:21.35, Z:1.43 [[ 8.60515654e-01 -5.09080580e-01 -1.87022000e-02 6.19899077e+01] [ 5.08947427e-01 8.60718713e-01 -1.16538873e-02 2.13464557e+01] [ 2.20301013e-02 5.09915896e-04 9.99757178e-01 1.42950168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:21.37, Z:1.43 [[ 8.62166515e-01 -5.06276881e-01 -1.87781789e-02 6.20114071e+01] [ 5.06141928e-01 8.62370788e-01 -1.17035117e-02 2.13653248e+01] [ 2.21189704e-02 5.85952243e-04 9.99755174e-01 1.43020282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:21.38, Z:1.43 [[ 8.62541901e-01 -5.05628697e-01 -1.90023382e-02 6.20358408e+01] [ 5.05490292e-01 8.62750976e-01 -1.18455964e-02 2.13802113e+01] [ 2.23837593e-02 6.11825796e-04 9.99749265e-01 1.43026158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:21.40, Z:1.43 [[ 8.62868661e-01 -5.05048166e-01 -1.95965362e-02 6.20600424e+01] [ 5.04900660e-01 8.63090913e-01 -1.22228972e-02 2.13959065e+01] [ 2.30867441e-02 6.52450829e-04 9.99733253e-01 1.43087868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:21.41, Z:1.43 [[ 8.62050487e-01 -5.06380493e-01 -2.11602003e-02 6.20843088e+01] [ 5.06208712e-01 8.62309888e-01 -1.32058980e-02 2.14109726e+01] [ 2.49338591e-02 6.72673098e-04 9.99688877e-01 1.42828033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:21.43, Z:1.43 [[ 8.61374118e-01 -5.07534678e-01 -2.10518462e-02 6.21060646e+01] [ 5.07364832e-01 8.61631092e-01 -1.31449071e-02 2.14280489e+01] [ 2.48104214e-02 6.41716350e-04 9.99691968e-01 1.42748645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.13, Y:21.44, Z:1.43 [[ 8.60726646e-01 -5.08648068e-01 -2.06587265e-02 6.21324937e+01] [ 5.08484756e-01 8.60974321e-01 -1.29023853e-02 2.14401526e+01] [ 2.43494064e-02 6.00779363e-04 9.99703329e-01 1.43003430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:21.45, Z:1.43 [[ 8.59623395e-01 -5.10521118e-01 -2.03913619e-02 6.21567376e+01] [ 5.10362375e-01 8.59865042e-01 -1.27418883e-02 2.14544508e+01] [ 2.40388223e-02 5.46241367e-04 9.99710877e-01 1.43190976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:21.47, Z:1.43 [[ 8.58870612e-01 -5.11777826e-01 -2.06089740e-02 6.21821982e+01] [ 5.11615941e-01 8.59117679e-01 -1.28818733e-02 2.14684730e+01] [ 2.42981910e-02 5.19982815e-04 9.99704620e-01 1.43174757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:21.48, Z:1.43 [[ 8.58187737e-01 -5.12904807e-01 -2.10348830e-02 6.22059114e+01] [ 5.12736329e-01 8.58445342e-01 -1.31549347e-02 2.14831051e+01] [ 2.48045266e-02 5.04054984e-04 9.99692193e-01 1.43130664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:21.50, Z:1.43 [[ 8.57141842e-01 -5.14634577e-01 -2.14269626e-02 6.22308325e+01] [ 5.14460188e-01 8.57409491e-01 -1.34044764e-02 2.14968661e+01] [ 2.52700882e-02 4.66218403e-04 9.99680552e-01 1.43072495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:21.51, Z:1.43 [[ 8.56563021e-01 -5.15586194e-01 -2.16948610e-02 6.22538725e+01] [ 5.15407552e-01 8.56837601e-01 -1.35786639e-02 2.15128803e+01] [ 2.55899443e-02 4.49286202e-04 9.99672423e-01 1.43053177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.28, Y:21.53, Z:1.43 [[ 8.56432239e-01 -5.15803468e-01 -2.16933804e-02 6.22772142e+01] [ 5.15624836e-01 8.56706825e-01 -1.35810288e-02 2.15276393e+01] [ 2.55900088e-02 4.45585206e-04 9.99672423e-01 1.43113327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.30, Y:21.54, Z:1.43 [[ 8.56013433e-01 -5.16499278e-01 -2.16679191e-02 6.23032887e+01] [ 5.16321090e-01 8.56287516e-01 -1.35728230e-02 2.15392355e+01] [ 2.55643219e-02 4.30915203e-04 9.99673086e-01 1.43316427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:21.55, Z:1.43 [[ 8.55508954e-01 -5.17365685e-01 -2.09087946e-02 6.23274808e+01] [ 5.17199847e-01 8.55764331e-01 -1.31045299e-02 2.15534914e+01] [ 2.46728347e-02 3.97017246e-04 9.99695500e-01 1.43456094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:21.57, Z:1.44 [[ 8.54588728e-01 -5.18884581e-01 -2.09020908e-02 6.23539072e+01] [ 5.18719202e-01 8.54844234e-01 -1.31043896e-02 2.15650985e+01] [ 2.46676975e-02 3.56547781e-04 9.99695642e-01 1.43619701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:21.58, Z:1.44 [[ 8.53905120e-01 -5.20020981e-01 -2.05967370e-02 6.23798200e+01] [ 5.19860565e-01 8.54153425e-01 -1.29197241e-02 2.15791789e+01] [ 2.43113011e-02 3.24787223e-04 9.99704384e-01 1.43721056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:21.59, Z:1.44 [[ 8.53704505e-01 -5.20355083e-01 -2.04744982e-02 6.24034179e+01] [ 5.20196516e-01 8.53949932e-01 -1.28490934e-02 2.15923162e+01] [ 2.41702874e-02 3.18566278e-04 9.99707805e-01 1.43832026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:21.61, Z:1.44 [[ 8.53344080e-01 -5.20948567e-01 -2.04076201e-02 6.24268239e+01] [ 5.20791122e-01 8.53588014e-01 -1.28104991e-02 2.16059252e+01] [ 2.40933111e-02 3.03656234e-04 9.99709668e-01 1.43816686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.45, Y:21.62, Z:1.44 [[ 8.52436384e-01 -5.22407520e-01 -2.10379349e-02 6.24534843e+01] [ 5.22240546e-01 8.52695906e-01 -1.32100146e-02 2.16174282e+01] [ 2.48399719e-02 2.73834453e-04 9.99691403e-01 1.43868753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:21.63, Z:1.44 [[ 8.51931226e-01 -5.23256748e-01 -2.03853204e-02 6.24785765e+01] [ 5.23100057e-01 8.52175049e-01 -1.28068470e-02 2.16304074e+01] [ 2.40731305e-02 2.46990587e-04 9.99710170e-01 1.44041360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:21.64, Z:1.44 [[ 8.51465394e-01 -5.24047481e-01 -1.95171943e-02 6.25032409e+01] [ 5.23903895e-01 8.51689021e-01 -1.22686456e-02 2.16435981e+01] [ 2.30519329e-02 2.21193025e-04 9.99734244e-01 1.44160719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.53, Y:21.66, Z:1.44 [[ 8.50607563e-01 -5.25464773e-01 -1.88028225e-02 6.25287599e+01] [ 5.25331696e-01 8.50815338e-01 -1.18266332e-02 2.16563847e+01] [ 2.22122089e-02 1.82104989e-04 9.99753262e-01 1.44303450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.55, Y:21.67, Z:1.44 [[ 8.50437809e-01 -5.25747061e-01 -1.85892828e-02 6.25516527e+01] [ 5.25616922e-01 8.50640933e-01 -1.16984956e-02 2.16698767e+01] [ 2.19632545e-02 1.78001315e-04 9.99758763e-01 1.44431873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.58, Y:21.69, Z:1.44 [[ 8.50786946e-01 -5.25177853e-01 -1.87028160e-02 6.25756885e+01] [ 5.25045913e-01 8.50992470e-01 -1.17730801e-02 2.16854984e+01] [ 2.20989165e-02 1.96545729e-04 9.99755770e-01 1.44493996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.60, Y:21.70, Z:1.44 [[ 8.51454470e-01 -5.24085123e-01 -1.89754763e-02 6.25978633e+01] [ 5.23948894e-01 8.51665855e-01 -1.19510539e-02 2.17017752e+01] [ 2.24241348e-02 2.33598501e-04 9.99748520e-01 1.44486838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.62, Y:21.72, Z:1.44 [[ 8.52615259e-01 -5.22138848e-01 -2.04509988e-02 6.26218371e+01] [ 5.21979972e-01 8.52860438e-01 -1.28833809e-02 2.17184424e+01] [ 2.41687615e-02 3.09555335e-04 9.99707845e-01 1.44308917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.65, Y:21.73, Z:1.44 [[ 8.53084047e-01 -5.21335731e-01 -2.13696934e-02 6.26458086e+01] [ 5.21161817e-01 8.53351587e-01 -1.34695957e-02 2.17341905e+01] [ 2.52580433e-02 3.53628921e-04 9.99680902e-01 1.44294454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.67, Y:21.75, Z:1.44 [[ 8.53343385e-01 -5.20866749e-01 -2.24253871e-02 6.26694000e+01] [ 5.20674877e-01 8.53637907e-01 -1.41419890e-02 2.17496646e+01] [ 2.65092523e-02 3.91637091e-04 9.99648491e-01 1.44259146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.69, Y:21.76, Z:1.44 [[ 8.53469353e-01 -5.20637826e-01 -2.29415984e-02 6.26938235e+01] [ 5.20436833e-01 8.53777538e-01 -1.44712769e-02 2.17647322e+01] [ 2.71213156e-02 4.11138523e-04 9.99632065e-01 1.44269201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.72, Y:21.78, Z:1.44 [[ 8.53510634e-01 -5.20569696e-01 -2.29518839e-02 6.27168474e+01] [ 5.20368311e-01 8.53819077e-01 -1.44846707e-02 2.17789804e+01] [ 2.71370369e-02 4.19387397e-04 9.99631635e-01 1.44269044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:21.79, Z:1.44 [[ 8.52308149e-01 -5.22543510e-01 -2.27837532e-02 6.27412869e+01] [ 5.22345673e-01 8.52612546e-01 -1.43820982e-02 2.17917172e+01] [ 2.69409859e-02 3.56984613e-04 9.99636962e-01 1.44382427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:21.80, Z:1.44 [[ 8.50772618e-01 -5.25033995e-01 -2.29184868e-02 6.27662017e+01] [ 5.24834639e-01 8.51081209e-01 -1.44698446e-02 2.18042422e+01] [ 2.71026538e-02 2.82131818e-04 9.99632616e-01 1.44444866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.79, Y:21.82, Z:1.44 [[ 8.50387166e-01 -5.25656505e-01 -2.29544247e-02 6.27903214e+01] [ 5.25456648e-01 8.50696872e-01 -1.44963455e-02 2.18187532e+01] [ 2.71473556e-02 2.65951109e-04 9.99631407e-01 1.44479003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.81, Y:21.83, Z:1.44 [[ 8.50355597e-01 -5.25663100e-01 -2.39512910e-02 6.28147412e+01] [ 5.25445253e-01 8.50692791e-01 -1.51347788e-02 2.18339300e+01] [ 2.83309854e-02 2.84851677e-04 9.99598556e-01 1.44422002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.84, Y:21.85, Z:1.44 [[ 8.50315931e-01 -5.25674482e-01 -2.50829861e-02 6.28392178e+01] [ 5.25435313e-01 8.50685750e-01 -1.58583038e-02 2.18486224e+01] [ 2.96740445e-02 3.05081709e-04 9.99559582e-01 1.44352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.86, Y:21.86, Z:1.44 [[ 8.49963363e-01 -5.26253101e-01 -2.48989136e-02 6.28620636e+01] [ 5.26017470e-01 8.50327931e-01 -1.57489921e-02 2.18633535e+01] [ 2.94601976e-02 2.88802725e-04 9.99565912e-01 1.44336397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.89, Y:21.88, Z:1.45 [[ 8.49894116e-01 -5.26398350e-01 -2.41820073e-02 6.28861197e+01] [ 5.26176019e-01 8.50238025e-01 -1.53002761e-02 2.18788111e+01] [ 2.86145022e-02 2.79622239e-04 9.99590482e-01 1.44505014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.91, Y:21.89, Z:1.45 [[ 8.50103022e-01 -5.26052095e-01 -2.43730337e-02 6.29112422e+01] [ 5.25825857e-01 8.50452293e-01 -1.54293519e-02 2.18935994e+01] [ 2.88447453e-02 3.00567339e-04 9.99583859e-01 1.44753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:21.91, Z:1.45 [[ 8.50390147e-01 -5.25593931e-01 -2.42408323e-02 6.29331705e+01] [ 5.25369752e-01 8.50735515e-01 -1.53527390e-02 2.19104662e+01] [ 2.86918434e-02 3.20417880e-04 9.99588253e-01 1.44791078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.96, Y:21.93, Z:1.45 [[ 8.51167601e-01 -5.24330547e-01 -2.43144632e-02 6.29561284e+01] [ 5.24104385e-01 8.51514734e-01 -1.54029360e-02 2.19272290e+01] [ 2.87803536e-02 3.67163293e-04 9.99585692e-01 1.44923551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.98, Y:21.94, Z:1.45 [[ 8.52259370e-01 -5.22554850e-01 -2.42980523e-02 6.29796501e+01] [ 5.22328157e-01 8.52605562e-01 -1.53965252e-02 2.19446890e+01] [ 2.87621835e-02 4.30275981e-04 9.99586190e-01 1.45078283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:21.96, Z:1.45 [[ 8.51471715e-01 -5.23873657e-01 -2.35012539e-02 6.30036514e+01] [ 5.23661882e-01 8.51795895e-01 -1.48992118e-02 2.19601734e+01] [ 2.78235762e-02 3.79546620e-04 9.99612777e-01 1.45197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:21.97, Z:1.45 [[ 8.49673371e-01 -5.26806725e-01 -2.30181842e-02 6.30268655e+01] [ 5.26604465e-01 8.49985055e-01 -1.45994176e-02 2.19748408e+01] [ 2.72561840e-02 2.83257777e-04 9.99628441e-01 1.45441849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.05, Y:21.99, Z:1.45 [[ 8.48994963e-01 -5.27868237e-01 -2.37208342e-02 6.30505882e+01] [ 5.27653734e-01 8.49326237e-01 -1.50492805e-02 2.19905611e+01] [ 2.80907640e-02 2.60376611e-04 9.99605343e-01 1.45364232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:22.01, Z:1.45 [[ 8.48608333e-01 -5.28451378e-01 -2.45568328e-02 6.30742463e+01] [ 5.28221452e-01 8.48963529e-01 -1.55891949e-02 2.20067359e+01] [ 2.90859870e-02 2.57674792e-04 9.99576880e-01 1.45288372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:22.02, Z:1.45 [[ 8.48494143e-01 -5.28582020e-01 -2.56658810e-02 6.30969492e+01] [ 5.28330662e-01 8.48882191e-01 -1.63014736e-02 2.20234889e+01] [ 3.04039752e-02 2.71633025e-04 9.99537655e-01 1.45120483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:22.04, Z:1.45 [[ 8.48818050e-01 -5.27995428e-01 -2.69952945e-02 6.31196941e+01] [ 5.27716887e-01 8.49247155e-01 -1.71509734e-02 2.20413190e+01] [ 3.19813126e-02 3.12182949e-04 9.99488418e-01 1.45045262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.14, Y:22.06, Z:1.45 [[ 8.49296474e-01 -5.27222509e-01 -2.70541225e-02 6.31426346e+01] [ 5.26942073e-01 8.49727194e-01 -1.71973441e-02 2.20583623e+01] [ 3.20554505e-02 3.49688299e-04 9.99486031e-01 1.45169515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:22.08, Z:1.45 [[ 8.49833670e-01 -5.26347928e-01 -2.72138202e-02 6.31657725e+01] [ 5.26063428e-01 8.50269195e-01 -1.73079527e-02 2.20750991e+01] [ 3.22490780e-02 3.92685480e-04 9.99479786e-01 1.45288534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:22.09, Z:1.45 [[ 8.50356554e-01 -5.25506764e-01 -2.71361797e-02 6.31894405e+01] [ 5.25223166e-01 8.50789313e-01 -1.72676102e-02 2.20924776e+01] [ 3.21614176e-02 4.31075345e-04 9.99482595e-01 1.45414119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:22.11, Z:1.45 [[ 8.51266168e-01 -5.24017661e-01 -2.74117069e-02 6.32118874e+01] [ 5.23727202e-01 8.51707251e-01 -1.74521449e-02 2.21114519e+01] [ 3.24919817e-02 5.00164011e-04 9.99471871e-01 1.45424364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:22.13, Z:1.45 [[ 8.51799478e-01 -5.23178607e-01 -2.68662440e-02 6.32343129e+01] [ 5.22898953e-01 8.52222897e-01 -1.71119123e-02 2.21288688e+01] [ 3.18486148e-02 5.27587095e-04 9.99492565e-01 1.45471455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:22.15, Z:1.46 [[ 8.52765876e-01 -5.21706764e-01 -2.47469834e-02 6.32567042e+01] [ 5.21468758e-01 8.53124704e-01 -1.57662280e-02 2.21479741e+01] [ 2.93376106e-02 5.40122522e-04 9.99569414e-01 1.45742677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:22.16, Z:1.46 [[ 8.53097833e-01 -5.21196928e-01 -2.40384769e-02 6.32800963e+01] [ 5.20971931e-01 8.53436267e-01 -1.53227365e-02 2.21646312e+01] [ 2.85014711e-02 5.48421597e-04 9.99593600e-01 1.45900685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:22.18, Z:1.46 [[ 8.53453753e-01 -5.20629158e-01 -2.37059232e-02 6.33023669e+01] [ 5.20409926e-01 8.53782736e-01 -1.51178627e-02 2.21814529e+01] [ 2.81105081e-02 5.65598944e-04 9.99604662e-01 1.46026980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:22.20, Z:1.46 [[ 8.53545958e-01 -5.20516938e-01 -2.28344894e-02 6.33228754e+01] [ 5.20313384e-01 8.53851165e-01 -1.45660569e-02 2.21990399e+01] [ 2.70791347e-02 5.51708568e-04 9.99633141e-01 1.46139317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:22.21, Z:1.46 [[ 8.53319899e-01 -5.20886776e-01 -2.28498533e-02 6.33465796e+01] [ 5.20682952e-01 8.53625603e-01 -1.45806061e-02 2.22141566e+01] [ 2.71000647e-02 5.44392272e-04 9.99632578e-01 1.46333715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:22.23, Z:1.46 [[ 8.52832039e-01 -5.21643189e-01 -2.37885804e-02 6.33698788e+01] [ 5.21422300e-01 8.53163572e-01 -1.51889341e-02 2.22290828e+01] [ 2.82187543e-02 5.49713307e-04 9.99601621e-01 1.46378941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:22.24, Z:1.46 [[ 8.51837914e-01 -5.23259177e-01 -2.39165567e-02 6.33931661e+01] [ 5.23036323e-01 8.52173444e-01 -1.52783072e-02 2.22442716e+01] [ 2.83755689e-02 5.05413497e-04 9.99597205e-01 1.46389839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:22.26, Z:1.47 [[ 8.48831175e-01 -5.28112352e-01 -2.41449935e-02 6.34197376e+01] [ 5.27887062e-01 8.49174435e-01 -1.54281633e-02 2.22557870e+01] [ 2.86511149e-02 3.50076288e-04 9.99589411e-01 1.46620364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:22.27, Z:1.47 [[ 8.46723017e-01 -5.31480205e-01 -2.42677776e-02 6.34450043e+01] [ 5.31253778e-01 8.47070677e-01 -1.55142093e-02 2.22696380e+01] [ 2.88020179e-02 2.43889584e-04 9.99585106e-01 1.46674118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:22.28, Z:1.47 [[ 8.44622820e-01 -5.34785577e-01 -2.48329962e-02 6.34704706e+01] [ 5.34549653e-01 8.44987791e-01 -1.58840052e-02 2.22837072e+01] [ 2.94781155e-02 1.41523732e-04 9.99565416e-01 1.46701217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.50, Y:22.30, Z:1.47 [[ 8.40438560e-01 -5.41326523e-01 -2.50723307e-02 6.34962038e+01] [ 5.41088662e-01 8.40812458e-01 -1.60459085e-02 2.22957337e+01] [ 2.97672038e-02 -8.07536324e-05 9.99556855e-01 1.46832024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:22.31, Z:1.47 [[ 8.38600109e-01 -5.44186851e-01 -2.47088830e-02 6.35204087e+01] [ 5.43956844e-01 8.38964029e-01 -1.58211923e-02 2.23089499e+01] [ 2.93395489e-02 -1.72912448e-04 9.99569488e-01 1.46975912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.55, Y:22.32, Z:1.47 [[ 8.36865096e-01 -5.46862092e-01 -2.44676101e-02 6.35459909e+01] [ 5.46637574e-01 8.37222661e-01 -1.56709460e-02 2.23234235e+01] [ 2.90546839e-02 -2.60447308e-04 9.99577790e-01 1.47177198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.57, Y:22.34, Z:1.47 [[ 8.33860393e-01 -5.51397906e-01 -2.52427089e-02 6.35704464e+01] [ 5.51160790e-01 8.34242272e-01 -1.61745327e-02 2.23368895e+01] [ 2.99771382e-02 -4.25489193e-04 9.99550494e-01 1.47212917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters Centerline goodness [0,1] 0.9998782388466784 Centerline is valid? [True, True] Translation: X:63.59, Y:22.35, Z:1.47 [[ 8.32643538e-01 -5.53235265e-01 -2.52087261e-02 6.35947375e+01] [ 5.52999494e-01 8.33024912e-01 -1.61572116e-02 2.23531806e+01] [ 2.99382361e-02 -4.87214938e-04 9.99551632e-01 1.47259654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:22.37, Z:1.47 [[ 8.31738995e-01 -5.54610119e-01 -2.48567964e-02 6.36188225e+01] [ 5.54381257e-01 8.32110175e-01 -1.59398563e-02 2.23690693e+01] [ 2.95239988e-02 -5.22341939e-04 9.99563935e-01 1.47352864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters Centerline goodness [0,1] 0.999951567986439 Centerline is valid? [True, True] Translation: X:63.64, Y:22.39, Z:1.47 [[ 8.31455359e-01 -5.55000516e-01 -2.56205465e-02 6.36420263e+01] [ 5.54757290e-01 8.31849824e-01 -1.64383442e-02 2.23866971e+01] [ 3.04357366e-02 -5.45435553e-04 9.99536577e-01 1.47457799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:22.40, Z:1.47 [[ 8.31771749e-01 -5.54474553e-01 -2.67156789e-02 6.36646344e+01] [ 5.54209509e-01 8.32200504e-01 -1.71505554e-02 2.24038602e+01] [ 3.17423479e-02 -5.40735834e-04 9.99495938e-01 1.47402905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters Centerline goodness [0,1] 0.9999516359151694 Centerline is valid? [True, True] Translation: X:63.69, Y:22.42, Z:1.47 [[ 8.32419087e-01 -5.53485397e-01 -2.70624957e-02 6.36875345e+01] [ 5.53212580e-01 8.32858730e-01 -1.73832358e-02 2.24218551e+01] [ 3.21606030e-02 -5.01175795e-04 9.99482588e-01 1.47359268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.71, Y:22.44, Z:1.47 [[ 8.33326117e-01 -5.52113291e-01 -2.71753125e-02 6.37095073e+01] [ 5.51837166e-01 8.33768984e-01 -1.74649112e-02 2.24406402e+01] [ 3.23005423e-02 -4.42380802e-04 9.99478103e-01 1.47400064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.73, Y:22.46, Z:1.47 [[ 8.36500284e-01 -5.47267171e-01 -2.76752149e-02 6.37301412e+01] [ 5.46977883e-01 8.36957931e-01 -1.77937281e-02 2.24603019e+01] [ 3.29009138e-02 -2.53271864e-04 9.99458586e-01 1.47426542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.75, Y:22.48, Z:1.48 [[ 8.38173431e-01 -5.44714392e-01 -2.74140616e-02 6.37524163e+01] [ 5.44428997e-01 8.38621613e-01 -1.76311480e-02 2.24794640e+01] [ 3.25939646e-02 -1.47050220e-04 9.99468665e-01 1.47699261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.78, Y:22.49, Z:1.48 [[ 8.38021526e-01 -5.44948290e-01 -2.74095562e-02 6.37756072e+01] [ 5.44662792e-01 8.38469641e-01 -1.76381501e-02 2.24944742e+01] [ 3.25939605e-02 -1.47815961e-04 9.99468665e-01 1.47759250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.80, Y:22.51, Z:1.48 [[ 8.40159795e-01 -5.41682874e-01 -2.66680238e-02 6.37968209e+01] [ 5.41410713e-01 8.40582931e-01 -1.71690284e-02 2.25127813e+01] [ 3.17168542e-02 -1.36264094e-05 9.99496894e-01 1.47747293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.82, Y:22.54, Z:1.48 [[ 8.44747003e-01 -5.34574935e-01 -2.51423884e-02 6.38156850e+01] [ 5.34329734e-01 8.45121044e-01 -1.61912130e-02 2.25362316e+01] [ 2.99037782e-02 2.43152898e-04 9.99552752e-01 1.47772884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38687499999999 meters Centerline goodness [0,1] 0.9993881921076782 Centerline is valid? [True, True] Translation: X:63.84, Y:22.56, Z:1.48 [[ 8.46979675e-01 -5.31024415e-01 -2.52685913e-02 6.38375549e+01] [ 5.30774906e-01 8.47356435e-01 -1.62810118e-02 2.25558079e+01] [ 3.00571182e-02 3.77751942e-04 9.99548111e-01 1.47689978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters Centerline goodness [0,1] 0.9989923370749655 Centerline is valid? [True, True] Translation: X:63.86, Y:22.57, Z:1.48 [[ 8.49237175e-01 -5.27377602e-01 -2.58666758e-02 6.38597118e+01] [ 5.27114171e-01 8.49630854e-01 -1.66752293e-02 2.25749304e+01] [ 3.07712683e-02 5.26533251e-04 9.99526314e-01 1.47596250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44687499999999 meters Centerline goodness [0,1] 0.9989026127156833 Centerline is valid? [True, True] Translation: X:63.88, Y:22.59, Z:1.48 [[ 8.51067732e-01 -5.24398184e-01 -2.62728072e-02 6.38824184e+01] [ 5.24124711e-01 8.51472912e-01 -1.69460138e-02 2.25936909e+01] [ 3.12570425e-02 6.51978052e-04 9.99511167e-01 1.47586636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters Centerline goodness [0,1] 0.9990876766164499 Centerline is valid? [True, True] Translation: X:63.90, Y:22.61, Z:1.48 [[ 8.53634829e-01 -5.20191224e-01 -2.66208265e-02 6.39047498e+01] [ 5.19908124e-01 8.54049419e-01 -1.71794226e-02 2.26130267e+01] [ 3.16720863e-02 8.24569490e-04 9.99497974e-01 1.47612438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.506875 meters Centerline goodness [0,1] 0.9988330299211128 Centerline is valid? [True, True] Translation: X:63.93, Y:22.63, Z:1.48 [[ 8.54601732e-01 -5.18587030e-01 -2.68955872e-02 6.39268687e+01] [ 5.18297038e-01 8.55024376e-01 -1.73636455e-02 2.26300019e+01] [ 3.20009440e-02 8.99098301e-04 9.99487434e-01 1.47590658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters Centerline goodness [0,1] 0.9989466045553501 Centerline is valid? [True, True] Translation: X:63.95, Y:22.65, Z:1.48 [[ 8.55095497e-01 -5.17762203e-01 -2.70922947e-02 6.39501312e+01] [ 5.17467370e-01 8.55524059e-01 -1.74958745e-02 2.26468329e+01] [ 3.22368125e-02 9.41265029e-04 9.99479816e-01 1.47556900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.566875 meters Centerline goodness [0,1] 0.9989460864677503 Centerline is valid? [True, True] Translation: X:63.97, Y:22.66, Z:1.47 [[ 8.55554864e-01 -5.16969888e-01 -2.77129804e-02 6.39734088e+01] [ 5.16660656e-01 8.56002998e-01 -1.79062642e-02 2.26638748e+01] [ 3.29793937e-02 1.00158484e-03 9.99455530e-01 1.47218963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters Centerline goodness [0,1] 0.9989012273524255 Centerline is valid? [True, True] Translation: X:64.00, Y:22.68, Z:1.47 [[ 8.55472442e-01 -5.17092467e-01 -2.79692913e-02 6.39961203e+01] [ 5.16777289e-01 8.55928943e-01 -1.80797793e-02 2.26782654e+01] [ 3.32886437e-02 1.01285841e-03 9.99445266e-01 1.47156527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.626875 meters Centerline goodness [0,1] 0.9990185310681654 Centerline is valid? [True, True] Translation: X:64.02, Y:22.69, Z:1.47 [[ 8.55186405e-01 -5.17547275e-01 -2.83024779e-02 6.40204239e+01] [ 5.17224553e-01 8.55654014e-01 -1.83021685e-02 2.26923287e+01] [ 3.36893662e-02 1.01302918e-03 9.99431839e-01 1.47171871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters Centerline goodness [0,1] 0.9990853658536586 Centerline is valid? [True, True] Translation: X:64.04, Y:22.71, Z:1.47 [[ 8.54958360e-01 -5.17906390e-01 -2.86212110e-02 6.40439136e+01] [ 5.17576175e-01 8.55436691e-01 -1.85194801e-02 2.27069288e+01] [ 3.40749911e-02 1.01972743e-03 9.99418759e-01 1.47187143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.686875 meters Centerline goodness [0,1] 0.9990364730212445 Centerline is valid? [True, True] Translation: X:64.07, Y:22.72, Z:1.47 [[ 8.54736245e-01 -5.18322399e-01 -2.77099815e-02 6.40694734e+01] [ 5.18012766e-01 8.55184735e-01 -1.79400013e-02 2.27206086e+01] [ 3.29958577e-02 9.79845165e-04 9.99455008e-01 1.47269682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters Centerline goodness [0,1] 0.9989680082559339 Centerline is valid? [True, True] Translation: X:64.09, Y:22.74, Z:1.47 [[ 8.54825811e-01 -5.18204937e-01 -2.71380813e-02 6.40910761e+01] [ 5.17907585e-01 8.55255925e-01 -1.75794170e-02 2.27370469e+01] [ 3.23197455e-02 9.72321299e-04 9.99477108e-01 1.47401963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.746875 meters Centerline goodness [0,1] 0.9989385039983016 Centerline is valid? [True, True] Translation: X:64.11, Y:22.75, Z:1.48 [[ 8.54706758e-01 -5.18410747e-01 -2.69565336e-02 6.41142354e+01] [ 5.18117160e-01 8.55131197e-01 -1.74712480e-02 2.27515798e+01] [ 3.21086556e-02 9.66151110e-04 9.99483917e-01 1.47518327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters Centerline goodness [0,1] 0.9990822665662651 Centerline is valid? [True, True] Translation: X:64.14, Y:22.77, Z:1.48 [[ 8.54671043e-01 -5.18485705e-01 -2.66455058e-02 6.41395410e+01] [ 5.18198639e-01 8.55085759e-01 -1.72776248e-02 2.27650354e+01] [ 3.17423940e-02 9.59020807e-04 9.99495623e-01 1.47668359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80687499999999 meters Centerline goodness [0,1] 0.9991953805376751 Centerline is valid? [True, True] Translation: X:64.16, Y:22.78, Z:1.48 [[ 8.55006532e-01 -5.17954287e-01 -2.62142728e-02 6.41639056e+01] [ 5.17675890e-01 8.55407747e-01 -1.70076176e-02 2.27803270e+01] [ 3.12330605e-02 9.71127118e-04 9.99511657e-01 1.47734569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters Centerline goodness [0,1] 0.9992178612059158 Centerline is valid? [True, True] Translation: X:64.19, Y:22.80, Z:1.48 [[ 8.55116163e-01 -5.17778632e-01 -2.61081397e-02 6.41879308e+01] [ 5.17502131e-01 8.55514071e-01 -1.69475486e-02 2.27958514e+01] [ 3.11109594e-02 9.81104788e-04 9.99515455e-01 1.47808798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.866875 meters Centerline goodness [0,1] 0.9990792331664935 Centerline is valid? [True, True] Translation: X:64.21, Y:22.81, Z:1.48 [[ 8.55328422e-01 -5.17435315e-01 -2.59612402e-02 6.42124597e+01] [ 5.17161487e-01 8.55721745e-01 -1.68609670e-02 2.28112014e+01] [ 3.09400575e-02 9.95510736e-04 9.99520746e-01 1.47859397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters Centerline goodness [0,1] 0.999220558363645 Centerline is valid? [True, True] Translation: X:64.24, Y:22.83, Z:1.48 [[ 8.55877395e-01 -5.16533819e-01 -2.58205026e-02 6.42361374e+01] [ 5.16262274e-01 8.56266169e-01 -1.67783154e-02 2.28272059e+01] [ 3.07757902e-02 1.03002948e-03 9.99525782e-01 1.47832916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.926875 meters Centerline goodness [0,1] 0.9991524825199519 Centerline is valid? [True, True] Translation: X:64.26, Y:22.84, Z:1.48 [[ 8.56080202e-01 -5.16206408e-01 -2.56443394e-02 6.42601748e+01] [ 5.15938146e-01 8.56463577e-01 -1.66724751e-02 2.28432467e+01] [ 3.05698811e-02 1.04208297e-03 9.99532089e-01 1.47919136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters Centerline goodness [0,1] 0.9991971664698938 Centerline is valid? [True, True] Translation: X:64.28, Y:22.86, Z:1.48 [[ 8.56148717e-01 -5.16125625e-01 -2.49742345e-02 6.42842966e+01] [ 5.15870911e-01 8.56512281e-01 -1.62454671e-02 2.28574717e+01] [ 2.97754405e-02 1.02505472e-03 9.99556088e-01 1.48094448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.986875 meters Centerline goodness [0,1] 0.9993140640522258 Centerline is valid? [True, True] Translation: X:64.31, Y:22.87, Z:1.48 [[ 8.56186201e-01 -5.16108300e-01 -2.40294097e-02 6.43072944e+01] [ 5.15872228e-01 8.56522757e-01 -1.56400331e-02 2.28731669e+01] [ 2.86536871e-02 9.94675399e-04 9.99588904e-01 1.48299097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters Centerline goodness [0,1] 0.9992433199337905 Centerline is valid? [True, True] Translation: X:64.33, Y:22.89, Z:1.48 [[ 8.56072352e-01 -5.16334355e-01 -2.32155790e-02 6.43315731e+01] [ 5.16113844e-01 8.56386543e-01 -1.51191639e-02 2.28882168e+01] [ 2.76880532e-02 9.61216529e-04 9.99616150e-01 1.48483968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.046875 meters Centerline goodness [0,1] 0.9993350905939066 Centerline is valid? [True, True] Translation: X:64.36, Y:22.90, Z:1.48 [[ 8.55617368e-01 -5.17102675e-01 -2.28854230e-02 6.43559438e+01] [ 5.16888431e-01 8.55922869e-01 -1.49127976e-02 2.29042286e+01] [ 2.72996044e-02 9.30438219e-04 9.99626863e-01 1.48468206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters Centerline goodness [0,1] 0.9994072458270106 Centerline is valid? [True, True] Translation: X:64.38, Y:22.92, Z:1.48 [[ 8.55107465e-01 -5.17955897e-01 -2.26475428e-02 6.43791473e+01] [ 5.17746177e-01 8.55406849e-01 -1.47654405e-02 2.29206217e+01] [ 2.70207102e-02 9.00359701e-04 9.99634468e-01 1.48458421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.106875 meters Centerline goodness [0,1] 0.9994529930791733 Centerline is valid? [True, True] Translation: X:64.41, Y:22.93, Z:1.49 [[ 8.54319074e-01 -5.19283717e-01 -2.19850104e-02 6.44059151e+01] [ 5.19086353e-01 8.54601496e-01 -1.43401910e-02 2.29332666e+01] [ 2.62350505e-02 8.38979778e-04 9.99655450e-01 1.48538335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters Centerline goodness [0,1] 0.9994307670414116 Centerline is valid? [True, True] Translation: X:64.43, Y:22.95, Z:1.49 [[ 8.53897810e-01 -5.19962403e-01 -2.23076361e-02 6.44290665e+01] [ 5.19759329e-01 8.54188741e-01 -1.45545289e-02 2.29482920e+01] [ 2.66227394e-02 8.33478323e-04 9.99645205e-01 1.48544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16687499999999 meters Centerline goodness [0,1] 0.9994308345388574 Centerline is valid? [True, True] Translation: X:64.45, Y:22.96, Z:1.49 [[ 8.53423836e-01 -5.20717826e-01 -2.28188886e-02 6.44513567e+01] [ 5.20505528e-01 8.53728443e-01 -1.48909684e-02 2.29643213e+01] [ 2.72351270e-02 8.30949711e-04 9.99628710e-01 1.48613049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters Centerline goodness [0,1] 0.999429874572406 Centerline is valid? [True, True] Translation: X:64.48, Y:22.98, Z:1.49 [[ 8.52660553e-01 -5.21969123e-01 -2.27643312e-02 6.44772189e+01] [ 5.21758181e-01 8.52964012e-01 -1.48591471e-02 2.29780776e+01] [ 2.71731713e-02 7.92332526e-04 9.99630427e-01 1.48718178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22687499999999 meters Centerline goodness [0,1] 0.999476464708962 Centerline is valid? [True, True] Translation: X:64.50, Y:22.99, Z:1.49 [[ 8.51660499e-01 -5.23592022e-01 -2.29300890e-02 6.44999296e+01] [ 5.23378394e-01 8.51968796e-01 -1.49742411e-02 2.29935838e+01] [ 2.73761135e-02 7.51856490e-04 9.99624921e-01 1.48693848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters Centerline goodness [0,1] 0.9996202411468718 Centerline is valid? [True, True] Translation: X:64.52, Y:23.01, Z:1.49 [[ 8.51139106e-01 -5.24449538e-01 -2.26915109e-02 6.45245044e+01] [ 5.24240537e-01 8.51441228e-01 -1.48221221e-02 2.30094176e+01] [ 2.70939430e-02 7.19877896e-04 9.99632633e-01 1.48723317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.286875 meters Centerline goodness [0,1] 0.9995252901663858 Centerline is valid? [True, True] Translation: X:64.55, Y:23.02, Z:1.49 [[ 8.50351187e-01 -5.25728895e-01 -2.26271555e-02 6.45497188e+01] [ 5.25521328e-01 8.50651904e-01 -1.47875513e-02 2.30247135e+01] [ 2.70220759e-02 6.83559036e-04 9.99634603e-01 1.48774390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters Centerline goodness [0,1] 0.9995251661918328 Centerline is valid? [True, True] Translation: X:64.58, Y:23.04, Z:1.49 [[ 8.49313361e-01 -5.27412581e-01 -2.24228517e-02 6.45758679e+01] [ 5.27209143e-01 8.49609070e-01 -1.46610896e-02 2.30381707e+01] [ 2.67831013e-02 6.30326869e-04 9.99641070e-01 1.48887670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.346875 meters Centerline goodness [0,1] 0.9997145847207687 Centerline is valid? [True, True] Translation: X:64.60, Y:23.05, Z:1.49 [[ 8.47463405e-01 -5.30378675e-01 -2.24552526e-02 6.46020464e+01] [ 5.30175498e-01 8.47760677e-01 -1.46892958e-02 2.30519493e+01] [ 2.68275694e-02 5.43415934e-04 9.99639928e-01 1.48981485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters Centerline goodness [0,1] 0.9998810316931569 Centerline is valid? [True, True] Translation: X:64.63, Y:23.07, Z:1.49 [[ 8.46218969e-01 -5.32343075e-01 -2.28977396e-02 6.46269418e+01] [ 5.32132396e-01 8.46528562e-01 -1.49835580e-02 2.30663948e+01] [ 2.73599839e-02 4.94741965e-04 9.99625523e-01 1.49028084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.406875 meters Centerline goodness [0,1] 0.999952207990824 Centerline is valid? [True, True] Translation: X:64.65, Y:23.08, Z:1.49 [[ 8.45313079e-01 -5.33788251e-01 -2.27134598e-02 6.46521820e+01] [ 5.33581279e-01 8.45618058e-01 -1.48700241e-02 2.30813850e+01] [ 2.71443559e-02 4.50348908e-04 9.99631423e-01 1.49120550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters Centerline goodness [0,1] 0.99959408801127 Centerline is valid? [True, True] Translation: X:64.68, Y:23.09, Z:1.49 [[ 8.43996888e-01 -5.35873940e-01 -2.25471554e-02 6.46775797e+01] [ 5.35670602e-01 8.44297917e-01 -1.47659401e-02 2.30948062e+01] [ 2.69491989e-02 3.84559224e-04 9.99636730e-01 1.49232388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.466875 meters Centerline goodness [0,1] 0.9997850746268657 Centerline is valid? [True, True] Translation: X:64.70, Y:23.11, Z:1.49 [[ 8.43636373e-01 -5.36447215e-01 -2.24065919e-02 6.47007587e+01] [ 5.36246428e-01 8.43933794e-01 -1.46805832e-02 2.31094000e+01] [ 2.67850381e-02 3.69619109e-04 9.99641148e-01 1.49378120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters Centerline goodness [0,1] 0.9998321946542011 Centerline is valid? [True, True] Translation: X:64.73, Y:23.12, Z:1.49 [[ 8.43014176e-01 -5.37419548e-01 -2.25239659e-02 6.47261158e+01] [ 5.37216892e-01 8.43314954e-01 -1.47614105e-02 2.31241010e+01] [ 2.69278678e-02 3.43823281e-04 9.99637320e-01 1.49458338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52687499999999 meters Centerline goodness [0,1] 0.9996399337478096 Centerline is valid? [True, True] Translation: X:64.75, Y:23.14, Z:1.49 [[ 8.42107171e-01 -5.38822691e-01 -2.29264008e-02 6.47503601e+01] [ 5.38613058e-01 8.42419142e-01 -1.50320709e-02 2.31380397e+01] [ 2.74132597e-02 3.10155854e-04 9.99624138e-01 1.49477061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters Centerline goodness [0,1] 0.9997121473805411 Centerline is valid? [True, True] Translation: X:64.78, Y:23.15, Z:1.50 [[ 8.41460458e-01 -5.39839756e-01 -2.27450189e-02 6.47756195e+01] [ 5.39633697e-01 8.41767759e-01 -1.49168499e-02 2.31529284e+01] [ 2.71987322e-02 2.77960750e-04 9.99630007e-01 1.49530163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58687499999999 meters Centerline goodness [0,1] 0.9997358943577431 Centerline is valid? [True, True] Translation: X:64.80, Y:23.17, Z:1.50 [[ 8.40874433e-01 -5.40745098e-01 -2.29112666e-02 6.47991768e+01] [ 5.40536160e-01 8.41186468e-01 -1.50328458e-02 2.31668877e+01] [ 2.74015851e-02 2.56367585e-04 9.99624473e-01 1.49617613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters Centerline goodness [0,1] 0.999736160414468 Centerline is valid? [True, True] Translation: X:64.82, Y:23.18, Z:1.50 [[ 8.40004665e-01 -5.42064233e-01 -2.36332351e-02 6.48233716e+01] [ 5.41842295e-01 8.40337026e-01 -1.55116114e-02 2.31806850e+01] [ 2.82681723e-02 2.24339610e-04 9.99600350e-01 1.49655747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.646875 meters Centerline goodness [0,1] 0.9999036144578314 Centerline is valid? [True, True] Translation: X:64.85, Y:23.19, Z:1.50 [[ 8.38628312e-01 -5.44158798e-01 -2.43671202e-02 6.48493253e+01] [ 5.43923463e-01 8.38982226e-01 -1.60028632e-02 2.31928843e+01] [ 2.91516795e-02 1.66605821e-04 9.99574986e-01 1.49746866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters Centerline goodness [0,1] 0.9998553868402025 Centerline is valid? [True, True] Translation: X:64.87, Y:23.21, Z:1.50 [[ 8.37913086e-01 -5.45231726e-01 -2.49804972e-02 6.48741191e+01] [ 5.44984574e-01 8.38285360e-01 -1.64155203e-02 2.32068776e+01] [ 2.98910475e-02 1.40793622e-04 9.99553153e-01 1.49881890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.706875 meters Centerline goodness [0,1] 0.9997820928768583 Centerline is valid? [True, True] Translation: X:64.90, Y:23.22, Z:1.50 [[ 8.37056850e-01 -5.46541855e-01 -2.50565321e-02 6.48986924e+01] [ 5.46293491e-01 8.37431782e-01 -1.64751854e-02 2.32208783e+01] [ 2.99875147e-02 1.02446383e-04 9.99550268e-01 1.49983661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters Centerline goodness [0,1] 0.9997819133469031 Centerline is valid? [True, True] Translation: X:64.92, Y:23.23, Z:1.50 [[ 8.36559861e-01 -5.47328987e-01 -2.44658792e-02 6.49228419e+01] [ 5.47092262e-01 8.36917543e-01 -1.60960964e-02 2.32345349e+01] [ 2.92857837e-02 8.02549922e-05 9.99571076e-01 1.50132455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.766875 meters Centerline goodness [0,1] 0.9997818552003297 Centerline is valid? [True, True] Translation: X:64.95, Y:23.25, Z:1.50 [[ 8.36454504e-01 -5.47495859e-01 -2.43340928e-02 6.49466028e+01] [ 5.47261476e-01 8.36808388e-01 -1.60187141e-02 2.32496255e+01] [ 2.91331525e-02 8.18140048e-05 9.99575536e-01 1.50147749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters Centerline goodness [0,1] 0.9998055609566401 Centerline is valid? [True, True] Translation: X:64.97, Y:23.26, Z:1.50 [[ 8.36383967e-01 -5.47576259e-01 -2.49419522e-02 6.49700523e+01] [ 5.47329765e-01 8.36755779e-01 -1.64285101e-02 2.32649603e+01] [ 2.98661848e-02 8.90695778e-05 9.99553902e-01 1.50148414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.826875 meters Centerline goodness [0,1] 0.999879171600493 Centerline is valid? [True, True] Translation: X:64.99, Y:23.28, Z:1.50 [[ 8.36954306e-01 -5.46695337e-01 -2.51336161e-02 6.49935416e+01] [ 5.46444360e-01 8.37331590e-01 -1.65641064e-02 2.32806295e+01] [ 3.01006905e-02 1.29277456e-04 9.99546863e-01 1.50209543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters Centerline goodness [0,1] 0.9998055515045452 Centerline is valid? [True, True] Translation: X:65.02, Y:23.30, Z:1.50 [[ 8.37254053e-01 -5.46214757e-01 -2.55947329e-02 6.50173705e+01] [ 5.45953963e-01 8.37645160e-01 -1.68776814e-02 2.32970920e+01] [ 3.06581428e-02 1.57361293e-04 9.99529916e-01 1.50253751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88687499999999 meters Centerline goodness [0,1] 0.9998304140320275 Centerline is valid? [True, True] Translation: X:65.04, Y:23.31, Z:1.50 [[ 8.37981789e-01 -5.45077893e-01 -2.60117727e-02 6.50409308e+01] [ 5.44807705e-01 8.38385381e-01 -1.71615053e-02 2.33136512e+01] [ 3.11622471e-02 2.09614724e-04 9.99514317e-01 1.50339866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:23.33, Z:1.50 [[ 8.38391654e-01 -5.44397910e-01 -2.70250116e-02 6.50651013e+01] [ 5.44105603e-01 8.38827070e-01 -1.78392830e-02 2.33302078e+01] [ 3.23809796e-02 2.51845725e-04 9.99475567e-01 1.50463419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.09, Y:23.35, Z:1.51 [[ 8.39458990e-01 -5.42723667e-01 -2.75613196e-02 6.50883483e+01] [ 5.42418425e-01 8.39911253e-01 -1.82027546e-02 2.33474041e+01] [ 3.30281282e-02 3.30698472e-04 9.99454368e-01 1.50558478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:23.36, Z:1.51 [[ 8.39800363e-01 -5.42185589e-01 -2.77513659e-02 6.51120765e+01] [ 5.41875511e-01 8.40258684e-01 -1.83377857e-02 2.33639982e+01] [ 3.32608093e-02 3.62293554e-04 9.99446641e-01 1.50523201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:23.38, Z:1.51 [[ 8.39975916e-01 -5.41907410e-01 -2.78714814e-02 6.51360928e+01] [ 5.41594170e-01 8.40438108e-01 -1.84266904e-02 2.33802302e+01] [ 3.34098151e-02 3.82944380e-04 9.99441663e-01 1.50574433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.16, Y:23.40, Z:1.51 [[ 8.39739945e-01 -5.42251379e-01 -2.82889954e-02 6.51584780e+01] [ 5.41928606e-01 8.40216220e-01 -1.87107010e-02 2.33951223e+01] [ 3.39147762e-02 3.81507211e-04 9.99424656e-01 1.50612080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.066875 meters Centerline goodness [0,1] 0.999927039252882 Centerline is valid? [True, True] Translation: X:65.18, Y:23.41, Z:1.51 [[ 8.39424226e-01 -5.42742031e-01 -2.82498971e-02 6.51826186e+01] [ 5.42420190e-01 8.39899371e-01 -1.86918354e-02 2.34097242e+01] [ 3.38719155e-02 3.67064945e-04 9.99426115e-01 1.50818023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.21, Y:23.42, Z:1.51 [[ 8.39274659e-01 -5.43008748e-01 -2.75598910e-02 6.52059903e+01] [ 5.42702317e-01 8.39726964e-01 -1.82433753e-02 2.34248933e+01] [ 3.30490960e-02 3.54385905e-04 9.99453667e-01 1.50991180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:23.44, Z:1.51 [[ 8.38635981e-01 -5.44038499e-01 -2.66796404e-02 6.52304586e+01] [ 5.43751695e-01 8.39060198e-01 -1.76657266e-02 2.34406015e+01] [ 3.19966597e-02 3.08014226e-04 9.99487928e-01 1.51174808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters Centerline goodness [0,1] 0.9999757669752338 Centerline is valid? [True, True] Translation: X:65.25, Y:23.46, Z:1.51 [[ 8.38245230e-01 -5.44648180e-01 -2.65196993e-02 6.52545486e+01] [ 5.44364817e-01 8.38664578e-01 -1.75690486e-02 2.34560278e+01] [ 3.18100828e-02 2.90779908e-04 9.99493889e-01 1.51248198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:23.47, Z:1.51 [[ 8.38022624e-01 -5.44950690e-01 -2.73281384e-02 6.52783722e+01] [ 5.44649680e-01 8.38468043e-01 -1.81126195e-02 2.34714644e+01] [ 3.27842552e-02 2.94523033e-04 9.99462408e-01 1.51260248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:23.49, Z:1.51 [[ 8.37874265e-01 -5.45178902e-01 -2.73254686e-02 6.53013447e+01] [ 5.44877882e-01 8.38319677e-01 -1.81166464e-02 2.34868059e+01] [ 3.27842914e-02 2.90428293e-04 9.99462408e-01 1.51320415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.33, Y:23.50, Z:1.51 [[ 8.37584771e-01 -5.45512394e-01 -2.94614679e-02 6.53254949e+01] [ 5.45162257e-01 8.38102698e-01 -1.95443451e-02 2.35022975e+01] [ 3.53534182e-02 3.08765458e-04 9.99374825e-01 1.51254834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:23.52, Z:1.51 [[ 8.37560638e-01 -5.45516767e-01 -3.00605042e-02 6.53495180e+01] [ 5.45151870e-01 8.38099846e-01 -1.99520948e-02 2.35186179e+01] [ 3.60779062e-02 3.23549166e-04 9.99348928e-01 1.51277137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.37, Y:23.53, Z:1.51 [[ 8.37694767e-01 -5.45287854e-01 -3.04734832e-02 6.53732908e+01] [ 5.44912328e-01 8.38248791e-01 -2.02365921e-02 2.35345789e+01] [ 3.65791284e-02 3.46710618e-04 9.99330700e-01 1.51380895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters Centerline goodness [0,1] 0.9999755847453489 Centerline is valid? [True, True] Translation: X:65.40, Y:23.55, Z:1.51 [[ 8.37888787e-01 -5.44990555e-01 -3.04577598e-02 6.53968062e+01] [ 5.44614820e-01 8.38442103e-01 -2.02370685e-02 2.35507805e+01] [ 3.65660794e-02 3.68665370e-04 9.99331169e-01 1.51486143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.42, Y:23.57, Z:1.52 [[ 8.38549754e-01 -5.44008307e-01 -2.98206592e-02 6.54194814e+01] [ 5.43647099e-01 8.39079729e-01 -1.98252361e-02 2.35672176e+01] [ 3.58070037e-02 4.12531997e-04 9.99358638e-01 1.51578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:23.58, Z:1.52 [[ 8.38882261e-01 -5.43511834e-01 -2.95201391e-02 6.54416060e+01] [ 5.43157245e-01 8.39401391e-01 -1.96344515e-02 2.35832442e+01] [ 3.54508026e-02 4.36915617e-04 9.99371327e-01 1.51646812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.426875 meters Centerline goodness [0,1] 0.9999757228520794 Centerline is valid? [True, True] Translation: X:65.46, Y:23.60, Z:1.52 [[ 8.39056453e-01 -5.43262689e-01 -2.91533760e-02 6.54647380e+01] [ 5.42916452e-01 8.39562654e-01 -1.93978570e-02 2.35990254e+01] [ 3.50142176e-02 4.48049642e-04 9.99386714e-01 1.51704383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:23.61, Z:1.52 [[ 8.39380147e-01 -5.42803305e-01 -2.83820710e-02 6.54863316e+01] [ 5.42474595e-01 8.39859726e-01 -1.88932413e-02 2.36145064e+01] [ 3.40922722e-02 4.62059146e-04 9.99418583e-01 1.51827829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.486875 meters Centerline goodness [0,1] 0.9999756026153996 Centerline is valid? [True, True] Translation: X:65.51, Y:23.63, Z:1.52 [[ 8.39626750e-01 -5.42414143e-01 -2.85274946e-02 6.55103081e+01] [ 5.42081606e-01 8.40111101e-01 -1.89965939e-02 2.36302074e+01] [ 3.42702861e-02 4.85818289e-04 9.99412483e-01 1.52019097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:23.65, Z:1.52 [[ 8.39897780e-01 -5.42009573e-01 -2.82372351e-02 6.55333594e+01] [ 5.41683207e-01 8.40372160e-01 -1.88131749e-02 2.36467182e+01] [ 3.39267072e-02 5.05507757e-04 9.99424196e-01 1.52142893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:23.66, Z:1.52 [[ 8.40202791e-01 -5.41527404e-01 -2.84137460e-02 6.55573086e+01] [ 5.41196310e-01 8.40682926e-01 -1.89412808e-02 2.36624560e+01] [ 3.41441738e-02 5.37102493e-04 9.99416773e-01 1.52257953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters Centerline goodness [0,1] 0.9999756974822591 Centerline is valid? [True, True] Translation: X:65.58, Y:23.68, Z:1.52 [[ 8.40659604e-01 -5.40799954e-01 -2.87548350e-02 6.55809970e+01] [ 5.40460089e-01 8.41151040e-01 -1.91786708e-02 2.36797791e+01] [ 3.45589837e-02 5.81893133e-04 9.99402491e-01 1.52283440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.61, Y:23.70, Z:1.52 [[ 8.40712393e-01 -5.40711176e-01 -2.88807214e-02 6.56050907e+01] [ 5.40367926e-01 8.41208101e-01 -1.92726721e-02 2.36960275e+01] [ 3.47156460e-02 5.96558749e-04 9.99397052e-01 1.52342552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:23.71, Z:1.52 [[ 8.40596599e-01 -5.40868178e-01 -2.93082039e-02 6.56286494e+01] [ 5.40514421e-01 8.41107154e-01 -1.95682416e-02 2.37123136e+01] [ 3.52351792e-02 6.07490498e-04 9.99378864e-01 1.52309558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.65, Y:23.73, Z:1.52 [[ 8.40667405e-01 -5.40746470e-01 -2.95223341e-02 6.56509679e+01] [ 5.40387173e-01 8.41185393e-01 -1.97189494e-02 2.37286044e+01] [ 3.54967085e-02 6.23587404e-04 9.99369599e-01 1.52247321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:23.74, Z:1.52 [[ 8.40396434e-01 -5.41167430e-01 -2.95236618e-02 6.56744110e+01] [ 5.40808121e-01 8.40914644e-01 -1.97265809e-02 2.37438606e+01] [ 3.55022626e-02 6.11512222e-04 9.99369409e-01 1.52386684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.70, Y:23.76, Z:1.53 [[ 8.40252209e-01 -5.41395931e-01 -2.94392893e-02 6.56980205e+01] [ 5.41038402e-01 8.40767550e-01 -1.96818013e-02 2.37593290e+01] [ 3.54072463e-02 6.09890964e-04 9.99372781e-01 1.52535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters Centerline goodness [0,1] 0.999975581168197 Centerline is valid? [True, True] Translation: X:65.72, Y:23.78, Z:1.53 [[ 8.40000521e-01 -5.41802178e-01 -2.91465952e-02 6.57217198e+01] [ 5.41451572e-01 8.40505826e-01 -1.94974807e-02 2.37752859e+01] [ 3.50616606e-02 5.96424156e-04 9.99384973e-01 1.52697155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.74, Y:23.79, Z:1.53 [[ 8.40253576e-01 -5.41413499e-01 -2.90749399e-02 6.57441833e+01] [ 5.41064086e-01 8.40756232e-01 -1.94579954e-02 2.37920403e+01] [ 3.49797583e-02 6.18244494e-04 9.99387830e-01 1.52631100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:23.81, Z:1.53 [[ 8.40128570e-01 -5.41599473e-01 -2.92232266e-02 6.57666697e+01] [ 5.41246426e-01 8.40636443e-01 -1.95621410e-02 2.38080907e+01] [ 3.51609545e-02 6.17746616e-04 9.99381472e-01 1.52639141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.79, Y:23.82, Z:1.53 [[ 8.40032249e-01 -5.41756513e-01 -2.90809438e-02 6.57900262e+01] [ 5.41406688e-01 8.40535247e-01 -1.94755204e-02 2.38243872e+01] [ 3.49945483e-02 6.15447684e-04 9.99387314e-01 1.52688051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.81, Y:23.84, Z:1.53 [[ 8.40162697e-01 -5.41567478e-01 -2.88324185e-02 6.58126515e+01] [ 5.41223193e-01 8.40657050e-01 -1.93178846e-02 2.38399248e+01] [ 3.47001140e-02 6.25392434e-04 9.99397574e-01 1.52798313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.84, Y:23.85, Z:1.53 [[ 8.39848222e-01 -5.42023445e-01 -2.94202077e-02 6.58355131e+01] [ 5.41665076e-01 8.40363134e-01 -1.97167087e-02 2.38548707e+01] [ 3.54105763e-02 6.23143630e-04 9.99372655e-01 1.52928424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:23.87, Z:1.53 [[ 8.39691340e-01 -5.42302336e-01 -2.87511721e-02 6.58604018e+01] [ 5.41960029e-01 8.40183202e-01 -1.92746776e-02 2.38705203e+01] [ 3.46089546e-02 6.02793787e-04 9.99400749e-01 1.53130302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.88, Y:23.89, Z:1.53 [[ 8.39454665e-01 -5.42690314e-01 -2.83388170e-02 6.58836001e+01] [ 5.42357647e-01 8.39932664e-01 -1.90079885e-02 2.38861911e+01] [ 3.41181492e-02 5.86570520e-04 9.99417634e-01 1.53363346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:23.90, Z:1.53 [[ 8.39496830e-01 -5.42629913e-01 -2.82462465e-02 6.59054364e+01] [ 5.42299079e-01 8.39971681e-01 -1.89547961e-02 2.39026936e+01] [ 3.40114865e-02 5.94577810e-04 9.99421265e-01 1.53367940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.93, Y:23.92, Z:1.54 [[ 8.39458712e-01 -5.42709279e-01 -2.78515753e-02 6.59291885e+01] [ 5.42387442e-01 8.39920408e-01 -1.86968212e-02 2.39180650e+01] [ 3.35400449e-02 5.88864711e-04 9.99437201e-01 1.53570135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:23.93, Z:1.54 [[ 8.39633520e-01 -5.42434673e-01 -2.79316748e-02 6.59523818e+01] [ 5.42110477e-01 8.40097764e-01 -1.87610567e-02 2.39347313e+01] [ 3.36419852e-02 6.10358467e-04 9.99433762e-01 1.53680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:23.95, Z:1.54 [[ 8.40075527e-01 -5.41768056e-01 -2.75768338e-02 6.59746353e+01] [ 5.41451448e-01 8.40527792e-01 -1.85299562e-02 2.39514429e+01] [ 3.32180336e-02 6.35046146e-04 9.99447927e-01 1.53831787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.00, Y:23.97, Z:1.54 [[ 8.40066593e-01 -5.41791005e-01 -2.73975379e-02 6.59969078e+01] [ 5.41478325e-01 8.40513000e-01 -1.84152219e-02 2.39680893e+01] [ 3.30051884e-02 6.34839756e-04 9.99454979e-01 1.53842703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:23.98, Z:1.54 [[ 8.39929263e-01 -5.41997522e-01 -2.75230606e-02 6.60193895e+01] [ 5.41681729e-01 8.40379842e-01 -1.85101623e-02 2.39843608e+01] [ 3.31622874e-02 6.38487974e-04 9.99449776e-01 1.53818992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.04, Y:24.00, Z:1.54 [[ 8.39783908e-01 -5.42220104e-01 -2.75743781e-02 6.60421627e+01] [ 5.41902902e-01 8.40236246e-01 -1.85551931e-02 2.40006854e+01] [ 3.32299907e-02 6.39717083e-04 9.99447527e-01 1.53788653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:24.02, Z:1.54 [[ 8.39438387e-01 -5.42743624e-01 -2.77948164e-02 6.60646376e+01] [ 5.42421320e-01 8.39898184e-01 -1.87123437e-02 2.40163946e+01] [ 3.35008211e-02 6.31358624e-04 9.99438491e-01 1.53842762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.09, Y:24.03, Z:1.54 [[ 8.39074023e-01 -5.43308815e-01 -2.77545675e-02 6.60882800e+01] [ 5.42987521e-01 8.39532701e-01 -1.86921711e-02 2.40324914e+01] [ 3.34564884e-02 6.13731375e-04 9.99439987e-01 1.53914741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.11, Y:24.05, Z:1.54 [[ 8.38192205e-01 -5.44676121e-01 -2.75998361e-02 6.61121896e+01] [ 5.44358829e-01 8.38646293e-01 -1.85973423e-02 2.40482611e+01] [ 3.32760284e-02 5.63932893e-04 9.99446041e-01 1.53962946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.14, Y:24.06, Z:1.54 [[ 8.36388475e-01 -5.47453379e-01 -2.73700026e-02 6.61359211e+01] [ 5.47142605e-01 8.36836060e-01 -1.84493763e-02 2.40622915e+01] [ 3.30043785e-02 4.55551156e-04 9.99455103e-01 1.54087862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:24.08, Z:1.54 [[ 8.35267785e-01 -5.49172233e-01 -2.71585466e-02 6.61609108e+01] [ 5.48866989e-01 8.35709105e-01 -1.83117704e-02 2.40772455e+01] [ 3.27529605e-02 3.88802237e-04 9.99463402e-01 1.54250183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.19, Y:24.09, Z:1.54 [[ 8.33949829e-01 -5.51154055e-01 -2.75116521e-02 6.61856348e+01] [ 5.50841605e-01 8.34403442e-01 -1.85586170e-02 2.40924456e+01] [ 3.31844742e-02 3.22392889e-04 9.99449192e-01 1.54229873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:24.11, Z:1.54 [[ 8.32357179e-01 -5.53549766e-01 -2.76438511e-02 6.62105007e+01] [ 5.53235333e-01 8.32816067e-01 -1.86564868e-02 2.41069820e+01] [ 3.33495373e-02 2.35305554e-04 9.99443722e-01 1.54235408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:24.12, Z:1.54 [[ 8.29419104e-01 -5.57944489e-01 -2.76024848e-02 6.62352215e+01] [ 5.57633198e-01 8.29878270e-01 -1.86352632e-02 2.41200154e+01] [ 3.33041447e-02 6.43814591e-05 9.99445261e-01 1.54261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.26, Y:24.13, Z:1.54 [[ 8.28172281e-01 -5.59811753e-01 -2.72300229e-02 6.62587304e+01] [ 5.59509699e-01 8.28619817e-01 -1.83873967e-02 2.41343838e+01] [ 3.28568173e-02 -7.52963746e-06 9.99460069e-01 1.54330283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.28, Y:24.15, Z:1.55 [[ 8.26777827e-01 -5.61878286e-01 -2.70410144e-02 6.62824702e+01] [ 5.61581294e-01 8.27219913e-01 -1.82665124e-02 2.41498304e+01] [ 3.26324222e-02 -8.33804078e-05 9.99467417e-01 1.54704987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.31, Y:24.17, Z:1.55 [[ 8.25717457e-01 -5.63468601e-01 -2.63403922e-02 6.63055178e+01] [ 5.63187286e-01 8.26137469e-01 -1.78034686e-02 2.41653208e+01] [ 3.17924805e-02 -1.33939209e-04 9.99494482e-01 1.54849509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:24.18, Z:1.55 [[ 8.24332613e-01 -5.65544551e-01 -2.52012679e-02 6.63286964e+01] [ 5.65287723e-01 8.24717722e-01 -1.70431258e-02 2.41805180e+01] [ 3.04225792e-02 -1.96762900e-04 9.99537107e-01 1.55137819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:24.19, Z:1.55 [[ 8.23658634e-01 -5.66542009e-01 -2.48315486e-02 6.63518638e+01] [ 5.66292873e-01 8.24032828e-01 -1.68012013e-02 2.41938685e+01] [ 2.99805976e-02 -2.23474548e-04 9.99550456e-01 1.55003304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:24.21, Z:1.55 [[ 8.23409035e-01 -5.66902975e-01 -2.48712218e-02 6.63720297e+01] [ 5.66653034e-01 8.23784537e-01 -1.68337854e-02 2.42134350e+01] [ 3.00316510e-02 -2.32262309e-04 9.99548921e-01 1.55262388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:24.23, Z:1.55 [[ 8.23908659e-01 -5.66187696e-01 -2.46173435e-02 6.63941780e+01] [ 5.65942277e-01 8.24276321e-01 -1.66698892e-02 2.42307168e+01] [ 2.97297795e-02 -1.97529377e-04 9.99557953e-01 1.55239127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:24.25, Z:1.55 [[ 8.24828870e-01 -5.64863813e-01 -2.42117367e-02 6.64172126e+01] [ 5.64625715e-01 8.25184132e-01 -1.63997032e-02 2.42488035e+01] [ 2.92427398e-02 -1.43620462e-04 9.99572329e-01 1.55322863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:24.27, Z:1.55 [[ 8.27356657e-01 -5.61097611e-01 -2.55035823e-02 6.64377611e+01] [ 5.60831340e-01 8.27749643e-01 -1.72839934e-02 2.42694489e+01] [ 3.08085886e-02 -3.18126928e-06 9.99525303e-01 1.55476258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.46, Y:24.29, Z:1.55 [[ 8.28914227e-01 -5.58757021e-01 -2.63020221e-02 6.64587751e+01] [ 5.58472369e-01 8.29331407e-01 -1.78334039e-02 2.42886488e+01] [ 3.17776326e-02 9.34096169e-05 9.99494959e-01 1.55031288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:24.31, Z:1.55 [[ 8.30687587e-01 -5.56101396e-01 -2.66339941e-02 6.64788033e+01] [ 5.55808025e-01 8.31114431e-01 -1.80621581e-02 2.43081815e+01] [ 3.21802882e-02 2.00622849e-04 9.99482060e-01 1.55005380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:24.33, Z:1.55 [[ 8.34249473e-01 -5.50748545e-01 -2.65303115e-02 6.65004753e+01] [ 5.50454545e-01 8.34671116e-01 -1.79978468e-02 2.43280959e+01] [ 3.20563726e-02 4.10963628e-04 9.99485978e-01 1.55388276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.52, Y:24.35, Z:1.55 [[ 8.35924900e-01 -5.48218830e-01 -2.61854142e-02 6.65173232e+01] [ 5.47930954e-01 8.36334776e-01 -1.77710997e-02 2.43525830e+01] [ 3.16422240e-02 5.07505732e-04 9.99499131e-01 1.54957307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.54, Y:24.37, Z:1.56 [[ 8.37750541e-01 -5.45444527e-01 -2.57739789e-02 6.65433238e+01] [ 5.45164161e-01 8.38146705e-01 -1.74967901e-02 2.43653174e+01] [ 3.11459040e-02 6.06895787e-04 9.99514664e-01 1.55555460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:24.38, Z:1.56 [[ 8.39421774e-01 -5.42874656e-01 -2.56552778e-02 6.65647394e+01] [ 5.42595440e-01 8.39813438e-01 -1.74234806e-02 2.43838143e+01] [ 3.10044131e-02 7.05212315e-04 9.99518999e-01 1.55643670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:24.40, Z:1.56 [[ 8.42265361e-01 -5.38447935e-01 -2.57465234e-02 6.65860658e+01] [ 5.38164547e-01 8.42658328e-01 -1.74889585e-02 2.44036654e+01] [ 3.11124159e-02 8.74477823e-04 9.99515509e-01 1.55773777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:24.42, Z:1.56 [[ 8.43446542e-01 -5.36569886e-01 -2.62809705e-02 6.66077816e+01] [ 5.36273568e-01 8.43855333e-01 -1.78560207e-02 2.44217959e+01] [ 3.17583401e-02 9.66809073e-04 9.99495109e-01 1.55782618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:24.44, Z:1.56 [[ 8.44477754e-01 -5.34936598e-01 -2.64605206e-02 6.66287280e+01] [ 5.34635301e-01 8.44891566e-01 -1.79815609e-02 2.44395235e+01] [ 3.19752657e-02 1.03829976e-03 9.99488121e-01 1.55771718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.986875 meters Centerline goodness [0,1] 0.9999767517552425 Centerline is valid? [True, True] Translation: X:66.65, Y:24.46, Z:1.56 [[ 8.46347304e-01 -5.31965824e-01 -2.66195993e-02 6.66500094e+01] [ 5.31659247e-01 8.46765027e-01 -1.80951468e-02 2.44601352e+01] [ 3.21665455e-02 1.16222259e-03 9.99481847e-01 1.55649401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:24.48, Z:1.56 [[ 8.47211997e-01 -5.30582600e-01 -2.67195917e-02 6.66727047e+01] [ 5.30272804e-01 8.47632352e-01 -1.81700437e-02 2.44772164e+01] [ 3.22890993e-02 1.22520619e-03 9.99477820e-01 1.55736206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:24.49, Z:1.56 [[ 8.47606400e-01 -5.29944918e-01 -2.68658491e-02 6.66959359e+01] [ 5.29631224e-01 8.48031128e-01 -1.82749248e-02 2.44938206e+01] [ 3.24677798e-02 1.26095072e-03 9.99471987e-01 1.55793588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.72, Y:24.51, Z:1.56 [[ 8.48426339e-01 -5.28618022e-01 -2.71244119e-02 6.67161410e+01] [ 5.28297333e-01 8.48858772e-01 -1.84583931e-02 2.45130637e+01] [ 3.27822343e-02 1.33083242e-03 9.99461632e-01 1.55819772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.74, Y:24.53, Z:1.56 [[ 8.48282769e-01 -5.28848522e-01 -2.71216809e-02 6.67389250e+01] [ 5.28527822e-01 8.48715194e-01 -1.84624052e-02 2.45286940e+01] [ 3.27823983e-02 1.32677724e-03 9.99461632e-01 1.55879961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:24.55, Z:1.56 [[ 8.48342015e-01 -5.28754178e-01 -2.71080284e-02 6.67623009e+01] [ 5.28433415e-01 8.48773956e-01 -1.84634166e-02 2.45460290e+01] [ 3.27711971e-02 1.33850401e-03 9.99461984e-01 1.55947906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:24.56, Z:1.56 [[ 8.48214473e-01 -5.28995401e-01 -2.63831913e-02 6.67868752e+01] [ 5.28691396e-01 8.48623693e-01 -1.79787548e-02 2.45608006e+01] [ 3.19000799e-02 1.30127381e-03 9.99490216e-01 1.56100361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:24.58, Z:1.56 [[ 8.47763824e-01 -5.29734035e-01 -2.60451882e-02 6.68112373e+01] [ 5.29437829e-01 8.48162869e-01 -1.77576102e-02 2.45758102e+01] [ 3.14973720e-02 1.26495161e-03 9.99503034e-01 1.56244911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22687499999999 meters Centerline goodness [0,1] 0.9999768191195901 Centerline is valid? [True, True] Translation: X:66.84, Y:24.59, Z:1.56 [[ 8.46952141e-01 -5.31029417e-01 -2.60735301e-02 6.68352283e+01] [ 5.30732882e-01 8.47352497e-01 -1.77863146e-02 2.45919535e+01] [ 3.15385271e-02 1.22607749e-03 9.99501785e-01 1.56280804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:24.61, Z:1.56 [[ 8.46211179e-01 -5.32173300e-01 -2.67996032e-02 6.68573924e+01] [ 5.31860334e-01 8.46634563e-01 -1.82893847e-02 2.46084737e+01] [ 3.24225926e-02 1.22303587e-03 9.99473501e-01 1.56268798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:24.62, Z:1.56 [[ 8.45320427e-01 -5.33561866e-01 -2.72967327e-02 6.68831519e+01] [ 5.33237711e-01 8.45760193e-01 -1.86343562e-02 2.46216542e+01] [ 3.30290718e-02 1.19635470e-03 9.99453675e-01 1.56361194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:24.64, Z:1.56 [[ 8.44385265e-01 -5.35048685e-01 -2.71372140e-02 6.69055771e+01] [ 5.34728822e-01 8.44820460e-01 -1.85331429e-02 2.46384812e+01] [ 3.28422073e-02 1.13806236e-03 9.99459901e-01 1.56408112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.93, Y:24.65, Z:1.57 [[ 8.42621246e-01 -5.37855038e-01 -2.64838380e-02 6.69322016e+01] [ 5.37551614e-01 8.43036738e-01 -1.80920346e-02 2.46516135e+01] [ 3.20577404e-02 1.00830290e-03 9.99485510e-01 1.56748412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.96, Y:24.67, Z:1.57 [[ 8.41543451e-01 -5.39576647e-01 -2.57227907e-02 6.69560333e+01] [ 5.39290947e-01 8.41935978e-01 -1.75807887e-02 2.46673969e+01] [ 3.11431259e-02 9.22929456e-04 9.99514509e-01 1.56844364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:24.68, Z:1.57 [[ 8.40558058e-01 -5.41124917e-01 -2.54160505e-02 6.69791303e+01] [ 5.40846472e-01 8.40941783e-01 -1.73784907e-02 2.46835956e+01] [ 3.07773532e-02 8.61449165e-04 9.99525894e-01 1.56903719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:24.70, Z:1.57 [[ 8.39098821e-01 -5.43413384e-01 -2.48004749e-02 6.70030826e+01] [ 5.43149123e-01 8.39464897e-01 -1.69622282e-02 2.46987803e+01] [ 3.00366300e-02 7.62629482e-04 9.99548508e-01 1.57056312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:24.72, Z:1.57 [[ 8.38460914e-01 -5.44383237e-01 -2.51035245e-02 6.70266924e+01] [ 5.44112640e-01 8.38836299e-01 -1.71784100e-02 2.47151728e+01] [ 3.04093861e-02 7.44280395e-04 9.99537251e-01 1.57088122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:24.73, Z:1.57 [[ 8.37854382e-01 -5.45310790e-01 -2.52225655e-02 6.70490145e+01] [ 5.45037817e-01 8.38233634e-01 -1.72671259e-02 2.47312009e+01] [ 3.05583528e-02 7.20085040e-04 9.99532725e-01 1.57071464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.07, Y:24.75, Z:1.57 [[ 8.37264794e-01 -5.46195131e-01 -2.56621005e-02 6.70727299e+01] [ 5.45912819e-01 8.37657677e-01 -1.75730140e-02 2.47472807e+01] [ 3.10943501e-02 7.03996292e-04 9.99516206e-01 1.57071145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:24.76, Z:1.57 [[ 8.36729490e-01 -5.46990247e-01 -2.61807269e-02 6.70961324e+01] [ 5.46696485e-01 8.37138689e-01 -1.79378891e-02 2.47637024e+01] [ 3.17287498e-02 6.96249425e-04 9.99496274e-01 1.57111004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:24.78, Z:1.57 [[ 8.36238578e-01 -5.47713338e-01 -2.67421177e-02 6.71188081e+01] [ 5.47406935e-01 8.36665778e-01 -1.83309654e-02 2.47804208e+01] [ 3.24143289e-02 6.90239809e-04 9.99474279e-01 1.56989019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.14, Y:24.80, Z:1.57 [[ 8.35740174e-01 -5.48467684e-01 -2.68618912e-02 6.71430116e+01] [ 5.48158745e-01 8.36171486e-01 -1.84183972e-02 2.47970902e+01] [ 3.25630431e-02 6.68413904e-04 9.99469460e-01 1.57073087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:24.81, Z:1.57 [[ 8.35605429e-01 -5.48680337e-01 -2.67105615e-02 6.71667128e+01] [ 5.48374662e-01 8.36031965e-01 -1.83244184e-02 2.48125679e+01] [ 3.23851313e-02 6.64588374e-04 9.99475243e-01 1.57208125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:24.83, Z:1.57 [[ 8.35769933e-01 -5.48454479e-01 -2.61973934e-02 6.71882486e+01] [ 5.48160054e-01 8.36180147e-01 -1.79810125e-02 2.48288894e+01] [ 3.17675072e-02 6.67625048e-04 9.99495062e-01 1.57321893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:24.85, Z:1.57 [[ 8.35969655e-01 -5.48182429e-01 -2.55100124e-02 6.72108079e+01] [ 5.47902939e-01 8.36358525e-01 -1.75153408e-02 2.48459439e+01] [ 3.09371184e-02 6.65282587e-04 9.99521111e-01 1.57449879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.23, Y:24.86, Z:1.58 [[ 8.37092230e-01 -5.46491863e-01 -2.49647997e-02 6.72332744e+01] [ 5.46223153e-01 8.37464103e-01 -1.71505789e-02 2.48637256e+01] [ 3.02797754e-02 7.20264708e-04 9.99541203e-01 1.57587818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.26, Y:24.88, Z:1.58 [[ 8.37825195e-01 -5.45379881e-01 -2.46926496e-02 6.72565152e+01] [ 5.45116253e-01 8.38188647e-01 -1.69723953e-02 2.48813441e+01] [ 2.99535015e-02 7.59535752e-04 9.99551005e-01 1.57646503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.28, Y:24.90, Z:1.58 [[ 8.39712450e-01 -5.42472477e-01 -2.46295180e-02 6.72778005e+01] [ 5.42208729e-01 8.40073127e-01 -1.69361957e-02 2.49009778e+01] [ 2.98780163e-02 8.67194678e-04 9.99553176e-01 1.57657958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:24.92, Z:1.58 [[ 8.40565035e-01 -5.41145969e-01 -2.47277581e-02 6.73013751e+01] [ 5.40879404e-01 8.40928172e-01 -1.70082217e-02 2.49184456e+01] [ 2.99981990e-02 9.21781435e-04 9.99549528e-01 1.57700120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:24.94, Z:1.58 [[ 8.41313462e-01 -5.39962653e-01 -2.51394596e-02 6.73246645e+01] [ 5.39686327e-01 8.41688397e-01 -1.73006105e-02 2.49361901e+01] [ 3.05012750e-02 9.87813887e-04 9.99534240e-01 1.57653594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:24.95, Z:1.58 [[ 8.41975970e-01 -5.38918425e-01 -2.53652911e-02 6.73476413e+01] [ 5.38636391e-01 8.42357315e-01 -1.74640274e-02 2.49528990e+01] [ 3.07783246e-02 1.04162259e-03 9.99525692e-01 1.57675228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:24.97, Z:1.58 [[ 8.42977589e-01 -5.37311123e-01 -2.61828426e-02 6.73685026e+01] [ 5.37009681e-01 8.43383339e-01 -1.80317689e-02 2.49709289e+01] [ 3.17708432e-02 1.13993714e-03 9.99494529e-01 1.57667178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:24.99, Z:1.58 [[ 8.43002332e-01 -5.37273348e-01 -2.61613902e-02 6.73941258e+01] [ 5.36972200e-01 8.43407397e-01 -1.80227420e-02 2.49850503e+01] [ 3.17478489e-02 1.14527432e-03 9.99495254e-01 1.57781276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.42, Y:25.00, Z:1.58 [[ 8.43040513e-01 -5.37200948e-01 -2.64165567e-02 6.74158040e+01] [ 5.36893611e-01 8.43453486e-01 -1.82062379e-02 2.50034136e+01] [ 3.20615451e-02 1.16571558e-03 9.99485217e-01 1.57735866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:25.02, Z:1.58 [[ 8.42438721e-01 -5.38152106e-01 -2.62547562e-02 6.74423570e+01] [ 5.37848816e-01 8.42846985e-01 -1.81000340e-02 2.50154885e+01] [ 3.18693135e-02 1.12707996e-03 9.99491409e-01 1.57909692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:25.03, Z:1.58 [[ 8.42110479e-01 -5.38700585e-01 -2.55268683e-02 6.74645736e+01] [ 5.38413893e-01 8.42496593e-01 -1.76059921e-02 2.50328893e+01] [ 3.09906578e-02 1.08216990e-03 9.99519088e-01 1.57944105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:25.05, Z:1.58 [[ 8.41518291e-01 -5.39627464e-01 -2.54787562e-02 6.74905355e+01] [ 5.39342086e-01 8.41903258e-01 -1.75789345e-02 2.50457620e+01] [ 3.09367237e-02 1.05122941e-03 9.99520792e-01 1.58125547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.52, Y:25.06, Z:1.58 [[ 8.40837366e-01 -5.40702530e-01 -2.51654288e-02 6.75156245e+01] [ 5.40424335e-01 8.41213267e-01 -1.73717573e-02 2.50608977e+01] [ 3.05624456e-02 1.00681251e-03 9.99532352e-01 1.58224376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.54, Y:25.07, Z:1.58 [[ 8.40397218e-01 -5.41423775e-01 -2.43477265e-02 6.75405674e+01] [ 5.41163462e-01 8.40749299e-01 -1.68143790e-02 2.50744292e+01] [ 2.95740386e-02 9.54657409e-04 9.99562137e-01 1.58446575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:25.09, Z:1.59 [[ 8.40260060e-01 -5.41656039e-01 -2.39116575e-02 6.75637185e+01] [ 5.41404975e-01 8.40599707e-01 -1.65162261e-02 2.50890500e+01] [ 2.90462458e-02 9.32034772e-04 9.99577634e-01 1.58624923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:25.10, Z:1.59 [[ 8.40333602e-01 -5.41598555e-01 -2.25929651e-02 6.75874972e+01] [ 5.41374294e-01 8.40636795e-01 -1.56093780e-02 2.51033487e+01] [ 2.74464943e-02 8.85834352e-04 9.99622882e-01 1.58804832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:25.12, Z:1.59 [[ 8.40432957e-01 -5.41455603e-01 -2.23220787e-02 6.76118696e+01] [ 5.41236404e-01 8.40728876e-01 -1.54308774e-02 2.51192837e+01] [ 2.71219512e-02 8.87096278e-04 9.99631739e-01 1.58876131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.64, Y:25.13, Z:1.59 [[ 8.40387374e-01 -5.41521943e-01 -2.24287285e-02 6.76366264e+01] [ 5.41300442e-01 8.40686138e-01 -1.55128648e-02 2.51328893e+01] [ 2.72560778e-02 8.96135019e-04 9.99628082e-01 1.58919625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:25.15, Z:1.59 [[ 8.40572195e-01 -5.41167490e-01 -2.40027651e-02 6.76601072e+01] [ 5.40913401e-01 8.40914258e-01 -1.66103350e-02 2.51486660e+01] [ 2.91732407e-02 9.78768421e-04 9.99573891e-01 1.58673688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:25.16, Z:1.59 [[ 8.40506066e-01 -5.41250051e-01 -2.44527307e-02 6.76861840e+01] [ 5.40986238e-01 8.40861098e-01 -1.69264296e-02 2.51619033e+01] [ 2.97227809e-02 9.98175910e-04 9.99557682e-01 1.58680068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:25.18, Z:1.59 [[ 8.40699493e-01 -5.40922196e-01 -2.50507545e-02 6.77102636e+01] [ 5.40644941e-01 8.41071991e-01 -1.73479941e-02 2.51769661e+01] [ 3.04534030e-02 1.04088611e-03 9.99535646e-01 1.58716004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:25.19, Z:1.59 [[ 8.40818573e-01 -5.40723097e-01 -2.53507294e-02 6.77323030e+01] [ 5.40438968e-01 8.41199977e-01 -1.75590569e-02 2.51936990e+01] [ 3.08196206e-02 1.06345912e-03 9.99524397e-01 1.58712698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:25.21, Z:1.59 [[ 8.41190327e-01 -5.40153812e-01 -2.51533953e-02 6.77579031e+01] [ 5.39873685e-01 8.41565620e-01 -1.74273229e-02 2.52074003e+01] [ 3.05816676e-02 1.08003921e-03 9.99531688e-01 1.58920176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:25.22, Z:1.59 [[ 8.41117082e-01 -5.40309144e-01 -2.42504215e-02 6.77807427e+01] [ 5.40048573e-01 8.41465947e-01 -1.68106613e-02 2.52229583e+01] [ 2.94888579e-02 1.04332885e-03 9.99564565e-01 1.59008579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:25.24, Z:1.59 [[ 8.40846336e-01 -5.40773637e-01 -2.32661347e-02 6.78046275e+01] [ 5.40533749e-01 8.41167575e-01 -1.61361968e-02 2.52368973e+01] [ 2.82967479e-02 9.91930910e-04 9.99599075e-01 1.59128446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:25.25, Z:1.59 [[ 8.40393100e-01 -5.41499012e-01 -2.27652823e-02 6.78298483e+01] [ 5.41269496e-01 8.40700849e-01 -1.57928783e-02 2.52504961e+01] [ 2.76906201e-02 9.50073083e-04 9.99616090e-01 1.59211541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:25.27, Z:1.59 [[ 8.40087552e-01 -5.41980221e-01 -2.25908147e-02 6.78520750e+01] [ 5.41754188e-01 8.40390724e-01 -1.56789765e-02 2.52665469e+01] [ 2.74828062e-02 9.33044506e-04 9.99621841e-01 1.59286940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:25.28, Z:1.59 [[ 8.39781689e-01 -5.42468161e-01 -2.22487909e-02 6.78774770e+01] [ 5.42248988e-01 8.40075873e-01 -1.54454580e-02 2.52814381e+01] [ 2.70693416e-02 9.06428443e-04 9.99633147e-01 1.59421132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:25.30, Z:1.59 [[ 8.39052000e-01 -5.43626727e-01 -2.14877537e-02 6.79018435e+01] [ 5.43422497e-01 8.39326675e-01 -1.49238730e-02 2.52958677e+01] [ 2.61482611e-02 8.44976724e-04 9.99657719e-01 1.59471174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:25.31, Z:1.60 [[ 8.38436092e-01 -5.44579509e-01 -2.14027408e-02 6.79270042e+01] [ 5.44377109e-01 8.38708825e-01 -1.48683963e-02 2.53097871e+01] [ 2.60476916e-02 8.15037954e-04 9.99660369e-01 1.59568734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:25.32, Z:1.60 [[ 8.37977628e-01 -5.45279253e-01 -2.15414042e-02 6.79499876e+01] [ 5.45074267e-01 8.38254072e-01 -1.49717802e-02 2.53247820e+01] [ 2.62209709e-02 8.04351774e-04 9.99655848e-01 1.59616701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.98, Y:25.34, Z:1.60 [[ 8.37196558e-01 -5.46458160e-01 -2.20318552e-02 6.79751844e+01] [ 5.46244036e-01 8.37486034e-01 -1.53165127e-02 2.53385686e+01] [ 2.68212044e-02 7.88162243e-04 9.99639936e-01 1.59643566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:25.35, Z:1.59 [[ 8.36114565e-01 -5.48050127e-01 -2.35264187e-02 6.80014664e+01] [ 5.47806330e-01 8.36445113e-01 -1.63645156e-02 2.53517766e+01] [ 2.86471328e-02 7.94688792e-04 9.99589271e-01 1.59420112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:25.37, Z:1.59 [[ 8.35579629e-01 -5.48854428e-01 -2.37802693e-02 6.80259234e+01] [ 5.48605414e-01 8.35917583e-01 -1.65497856e-02 2.53672745e+01] [ 2.89617684e-02 7.82679213e-04 9.99580214e-01 1.59347017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:25.38, Z:1.59 [[ 8.34988636e-01 -5.49749077e-01 -2.38732243e-02 6.80507181e+01] [ 5.49498224e-01 8.35329499e-01 -1.66231821e-02 2.53815680e+01] [ 2.90805875e-02 7.61873789e-04 9.99576780e-01 1.59412128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:25.40, Z:1.60 [[ 8.34700606e-01 -5.50220456e-01 -2.30726893e-02 6.80742478e+01] [ 5.49986119e-01 8.35019115e-01 -1.60731753e-02 2.53962526e+01] [ 2.81099264e-02 7.26630262e-04 9.99604574e-01 1.59572785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:25.41, Z:1.60 [[ 8.34439605e-01 -5.50639176e-01 -2.25176332e-02 6.80979538e+01] [ 5.50415987e-01 8.34743079e-01 -1.56918170e-02 2.54110437e+01] [ 2.74369676e-02 6.99808253e-04 9.99623291e-01 1.59748190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:25.43, Z:1.60 [[ 8.34274653e-01 -5.50897121e-01 -2.23196141e-02 6.81220497e+01] [ 5.50677686e-01 8.34572874e-01 -1.55628941e-02 2.54254173e+01] [ 2.72008980e-02 6.92814587e-04 9.99629747e-01 1.59924874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:25.44, Z:1.60 [[ 8.34027674e-01 -5.51306868e-01 -2.14143833e-02 6.81455102e+01] [ 5.51104806e-01 8.34302286e-01 -1.49395113e-02 2.54400058e+01] [ 2.61023242e-02 6.58396320e-04 9.99659059e-01 1.60138173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:25.46, Z:1.60 [[ 8.34030593e-01 -5.51310846e-01 -2.11971935e-02 6.81674042e+01] [ 5.51112760e-01 8.34299660e-01 -1.47919951e-02 2.54550914e+01] [ 2.58397986e-02 6.54932658e-04 9.99665882e-01 1.60165361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:25.47, Z:1.60 [[ 8.33710242e-01 -5.51784085e-01 -2.14838344e-02 6.81919617e+01] [ 5.51580639e-01 8.33986749e-01 -1.49967122e-02 2.54697786e+01] [ 2.61921803e-02 6.52845430e-04 9.99656713e-01 1.60144888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:25.49, Z:1.60 [[ 8.33698673e-01 -5.51808523e-01 -2.13043929e-02 6.82143163e+01] [ 5.51608256e-01 8.33970579e-01 -1.48796712e-02 2.54855189e+01] [ 2.59779662e-02 6.53483098e-04 9.99662302e-01 1.60242774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:25.50, Z:1.60 [[ 8.33348107e-01 -5.52343519e-01 -2.11558294e-02 6.82388845e+01] [ 5.52146046e-01 8.33616357e-01 -1.47822133e-02 2.54996322e+01] [ 2.58007052e-02 6.37621899e-04 9.99666903e-01 1.60338973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:25.52, Z:1.60 [[ 8.33194629e-01 -5.52575166e-01 -2.11517152e-02 6.82614734e+01] [ 5.52377618e-01 8.33462824e-01 -1.47880982e-02 2.55155490e+01] [ 2.58007041e-02 6.37629926e-04 9.99666903e-01 1.60398936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:25.53, Z:1.60 [[ 8.32772845e-01 -5.53177714e-01 -2.19955958e-02 6.82855326e+01] [ 5.52964043e-01 8.33063018e-01 -1.53874862e-02 2.55298162e+01] [ 2.68357318e-02 6.51507060e-04 9.99639645e-01 1.60429555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:25.54, Z:1.60 [[ 8.32214312e-01 -5.54009646e-01 -2.21957519e-02 6.83099026e+01] [ 5.53792119e-01 8.32510003e-01 -1.55365207e-02 2.55449925e+01] [ 2.70855678e-02 6.37882442e-04 9.99632915e-01 1.60441511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:25.56, Z:1.60 [[ 8.31786721e-01 -5.54644420e-01 -2.23700459e-02 6.83328622e+01] [ 5.54423498e-01 8.32087239e-01 -1.56656313e-02 2.55609285e+01] [ 2.73026847e-02 6.27984979e-04 9.99627015e-01 1.60455223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:25.58, Z:1.61 [[ 8.31073575e-01 -5.55717134e-01 -2.22526507e-02 6.83585553e+01] [ 5.55498807e-01 8.31371226e-01 -1.55871593e-02 2.55755025e+01] [ 2.71622650e-02 5.92755255e-04 9.99630862e-01 1.60564514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:25.59, Z:1.61 [[ 8.30566806e-01 -5.56488168e-01 -2.19020373e-02 6.83832957e+01] [ 5.56276742e-01 8.30855342e-01 -1.53488343e-02 2.55905836e+01] [ 2.67388694e-02 5.64638386e-04 9.99642293e-01 1.60692514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:25.61, Z:1.60 [[ 8.29761661e-01 -5.57661707e-01 -2.25611888e-02 6.84065932e+01] [ 5.57437595e-01 8.30068141e-01 -1.58179660e-02 2.56062895e+01] [ 2.75483979e-02 5.48686897e-04 9.99620320e-01 1.60463138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:25.62, Z:1.60 [[ 8.29621977e-01 -5.57836286e-01 -2.33677850e-02 6.84308016e+01] [ 5.57595797e-01 8.29950816e-01 -1.63880983e-02 2.56206529e+01] [ 2.85359881e-02 5.66147772e-04 9.99592605e-01 1.60477498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:25.64, Z:1.61 [[ 8.29353422e-01 -5.58218224e-01 -2.37763552e-02 6.84525871e+01] [ 5.57969152e-01 8.29693973e-01 -1.66834031e-02 2.56366419e+01] [ 2.90400783e-02 5.69964672e-04 9.99578085e-01 1.60502804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:25.65, Z:1.61 [[ 8.28968738e-01 -5.58759711e-01 -2.44625594e-02 6.84774553e+01] [ 5.58496084e-01 8.29329403e-01 -1.71716645e-02 2.56500357e+01] [ 2.98823541e-02 5.72529431e-04 9.99553259e-01 1.60533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:25.66, Z:1.61 [[ 8.28826741e-01 -5.58950165e-01 -2.49188156e-02 6.85012907e+01] [ 5.58676383e-01 8.29201044e-01 -1.75022197e-02 2.56646351e+01] [ 3.04455765e-02 5.84753933e-04 9.99536255e-01 1.60582071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:25.68, Z:1.61 [[ 8.28607352e-01 -5.59268693e-01 -2.50676192e-02 6.85249955e+01] [ 5.58991457e-01 8.28986241e-01 -1.76171415e-02 2.56798863e+01] [ 3.06334271e-02 5.85108025e-04 9.99530515e-01 1.60629216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:25.69, Z:1.61 [[ 8.28053552e-01 -5.60132438e-01 -2.40617354e-02 6.85506167e+01] [ 5.59877100e-01 8.28402898e-01 -1.69195505e-02 2.56941618e+01] [ 2.94100004e-02 5.38679207e-04 9.99567287e-01 1.60878158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:25.71, Z:1.61 [[ 8.26679031e-01 -5.62162798e-01 -2.39743301e-02 6.85752423e+01] [ 5.61909910e-01 8.27026460e-01 -1.68667719e-02 2.57087313e+01] [ 2.93092771e-02 4.71992989e-04 9.99570279e-01 1.60951808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.60, Y:25.72, Z:1.61 [[ 8.24881829e-01 -5.64791677e-01 -2.40900203e-02 6.85983879e+01] [ 5.64537233e-01 8.25233429e-01 -1.69558625e-02 2.57241567e+01] [ 2.94564201e-02 3.86869537e-04 9.99565991e-01 1.60831356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:25.73, Z:1.61 [[ 8.19449856e-01 -5.72736881e-01 -2.17806938e-02 6.86282142e+01] [ 5.72531576e-01 8.19739261e-01 -1.53342175e-02 2.57327697e+01] [ 2.66369617e-02 9.54873365e-05 9.99645169e-01 1.61495265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:25.75, Z:1.62 [[ 8.16278971e-01 -5.77288056e-01 -2.06674412e-02 6.86545056e+01] [ 5.77104551e-01 8.16540568e-01 -1.45546717e-02 2.57458381e+01] [ 2.52780423e-02 -4.66019758e-05 9.99680458e-01 1.61942500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:25.76, Z:1.62 [[ 8.13969233e-01 -5.80523004e-01 -2.11454590e-02 6.86786742e+01] [ 5.80331803e-01 8.14243834e-01 -1.48988816e-02 2.57595478e+01] [ 2.58667031e-02 -1.44151079e-04 9.99665390e-01 1.61995125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:25.78, Z:1.61 [[ 8.11319565e-01 -5.84140803e-01 -2.32397194e-02 6.87028678e+01] [ 5.83911170e-01 8.11652292e-01 -1.63799224e-02 2.57760277e+01] [ 2.84307525e-02 -2.80580237e-04 9.99595725e-01 1.61451843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:25.79, Z:1.61 [[ 8.11190920e-01 -5.84261975e-01 -2.46421418e-02 6.87252961e+01] [ 5.84003573e-01 8.11565067e-01 -1.73772702e-02 2.57943870e+01] [ 3.01515797e-02 -2.94815091e-04 9.99545294e-01 1.61322172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:25.81, Z:1.61 [[ 8.11642244e-01 -5.83588175e-01 -2.57236967e-02 6.87479709e+01] [ 5.83305939e-01 8.12049732e-01 -1.81497869e-02 2.58117806e+01] [ 3.14809220e-02 -2.73651317e-04 9.99504315e-01 1.61248204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.77, Y:25.83, Z:1.61 [[ 8.13587911e-01 -5.80821155e-01 -2.68606826e-02 6.87695209e+01] [ 5.80511531e-01 8.14031178e-01 -1.89632435e-02 2.58306544e+01] [ 3.28796860e-02 -1.64670300e-04 9.99459303e-01 1.61366841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:25.85, Z:1.62 [[ 8.14819594e-01 -5.79103034e-01 -2.66215302e-02 6.87918438e+01] [ 5.78797652e-01 8.15254358e-01 -1.88045158e-02 2.58489186e+01] [ 3.25930706e-02 -8.61912683e-05 9.99468701e-01 1.61546473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:25.87, Z:1.62 [[ 8.16254122e-01 -5.77101956e-01 -2.61254916e-02 6.88123177e+01] [ 5.76806583e-01 8.16672108e-01 -1.84616757e-02 2.58667275e+01] [ 3.19902295e-02 6.33583185e-08 9.99488182e-01 1.61694349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:25.89, Z:1.62 [[ 8.18054983e-01 -5.74582094e-01 -2.53270963e-02 6.88331156e+01] [ 5.74303091e-01 8.18446948e-01 -1.79039898e-02 2.58857417e+01] [ 3.10161966e-02 1.01018387e-04 9.99518877e-01 1.61934657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.85, Y:25.91, Z:1.62 [[ 8.21771365e-01 -5.69309933e-01 -2.40421411e-02 6.88523586e+01] [ 5.69055994e-01 8.22122932e-01 -1.70047162e-02 2.59079360e+01] [ 2.94465493e-02 2.92664363e-04 9.99566313e-01 1.62163111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:25.93, Z:1.62 [[ 8.23369072e-01 -5.67012092e-01 -2.36782144e-02 6.88731020e+01] [ 5.66764619e-01 8.23709382e-01 -1.67547289e-02 2.59270378e+01] [ 2.90041012e-02 3.75351496e-04 9.99579222e-01 1.62174447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:25.95, Z:1.62 [[ 8.26403560e-01 -5.62588786e-01 -2.34736953e-02 6.88931355e+01] [ 5.62343625e-01 8.26736703e-01 -1.66154040e-02 2.59492253e+01] [ 2.87542054e-02 5.30746171e-04 9.99586371e-01 1.62114644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:25.97, Z:1.62 [[ 8.27773536e-01 -5.60564045e-01 -2.36415572e-02 6.89150583e+01] [ 5.60314331e-01 8.28110848e-01 -1.67413718e-02 2.59673643e+01] [ 2.89624411e-02 6.11361247e-04 9.99580314e-01 1.62136024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:25.99, Z:1.62 [[ 8.29232418e-01 -5.58402779e-01 -2.36628998e-02 6.89353394e+01] [ 5.58151631e-01 8.29569683e-01 -1.67599855e-02 2.59863903e+01] [ 2.89888468e-02 6.90437185e-04 9.99579497e-01 1.62158417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:26.01, Z:1.62 [[ 8.30235886e-01 -5.56873883e-01 -2.44918800e-02 6.89561470e+01] [ 5.56604012e-01 8.30596701e-01 -1.73520547e-02 2.60051795e+01] [ 3.00057808e-02 7.74019826e-04 9.99549425e-01 1.62080570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:26.02, Z:1.62 [[ 8.31758231e-01 -5.54568162e-01 -2.51475315e-02 6.89760930e+01] [ 5.54282448e-01 8.32137832e-01 -1.78212239e-02 2.60246451e+01] [ 3.08092957e-02 8.84114396e-04 9.99524890e-01 1.62066676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.00, Y:26.04, Z:1.62 [[ 8.32103871e-01 -5.54043788e-01 -2.52711086e-02 6.90009186e+01] [ 5.53754847e-01 8.32487026e-01 -1.79142652e-02 2.60398776e+01] [ 3.09631574e-02 9.12530545e-04 9.99520110e-01 1.62218416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:26.06, Z:1.62 [[ 8.32034993e-01 -5.54140227e-01 -2.54239878e-02 6.90225246e+01] [ 5.53847573e-01 8.32422826e-01 -1.80306923e-02 2.60569636e+01] [ 3.11550397e-02 9.21153024e-04 9.99514139e-01 1.62240183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:26.07, Z:1.62 [[ 8.31850834e-01 -5.54424967e-01 -2.52417487e-02 6.90446341e+01] [ 5.54136428e-01 8.32233218e-01 -1.79078340e-02 2.60736330e+01] [ 3.09355720e-02 9.09274243e-04 9.99520967e-01 1.62314661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:26.09, Z:1.62 [[ 8.31662095e-01 -5.54740712e-01 -2.45133150e-02 6.90670819e+01] [ 5.54468482e-01 8.32022819e-01 -1.73991805e-02 2.60905868e+01] [ 3.00476712e-02 8.78378387e-04 9.99548081e-01 1.62340407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:26.11, Z:1.62 [[ 8.31210273e-01 -5.55440248e-01 -2.39919376e-02 6.90892393e+01] [ 5.55179678e-01 8.31556029e-01 -1.70321783e-02 2.61078118e+01] [ 2.94109977e-02 8.37485404e-04 9.99567052e-01 1.62406372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:26.12, Z:1.63 [[ 8.30912057e-01 -5.55899791e-01 -2.36764803e-02 6.91138307e+01] [ 5.55646090e-01 8.31248915e-01 -1.68126100e-02 2.61235212e+01] [ 2.90271749e-02 8.14056680e-04 9.99578291e-01 1.62556568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:26.14, Z:1.63 [[ 8.30102314e-01 -5.57106219e-01 -2.37235804e-02 6.91378239e+01] [ 5.56851748e-01 8.30440878e-01 -1.68546464e-02 2.61397289e+01] [ 2.90908592e-02 7.80563821e-04 9.99576467e-01 1.62639015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:26.16, Z:1.63 [[ 8.29669692e-01 -5.57748631e-01 -2.37627069e-02 6.91618286e+01] [ 5.57493332e-01 8.30009564e-01 -1.68910639e-02 2.61555721e+01] [ 2.91442418e-02 7.66453131e-04 9.99574923e-01 1.62755131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:26.17, Z:1.63 [[ 8.29245930e-01 -5.58374524e-01 -2.38553643e-02 6.91836147e+01] [ 5.58117274e-01 8.29588647e-01 -1.69642278e-02 2.61723615e+01] [ 2.92625320e-02 7.53425981e-04 9.99571476e-01 1.62764667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:26.19, Z:1.63 [[ 8.28584045e-01 -5.59351518e-01 -2.39658087e-02 6.92073754e+01] [ 5.59092156e-01 8.28930246e-01 -1.70472540e-02 2.61887511e+01] [ 2.94013911e-02 7.25987018e-04 9.99567422e-01 1.62745078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:26.21, Z:1.63 [[ 8.28088262e-01 -5.60076354e-01 -2.41724609e-02 6.92318086e+01] [ 5.59812557e-01 8.28440685e-01 -1.72026667e-02 2.62052359e+01] [ 2.96602569e-02 7.13279270e-04 9.99559783e-01 1.62731368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:26.22, Z:1.63 [[ 8.27746072e-01 -5.60585553e-01 -2.40889444e-02 6.92555682e+01] [ 5.60323539e-01 8.28096219e-01 -1.71517669e-02 2.62208808e+01] [ 2.95629965e-02 6.99705111e-04 9.99562674e-01 1.62721841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:26.24, Z:1.63 [[ 8.27492223e-01 -5.60940662e-01 -2.45396749e-02 6.92785043e+01] [ 5.60668589e-01 8.27855707e-01 -1.74831568e-02 2.62369757e+01] [ 3.01223234e-02 7.08551370e-04 9.99545969e-01 1.62822182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:26.25, Z:1.63 [[ 8.27707259e-01 -5.60607635e-01 -2.48952490e-02 6.93005630e+01] [ 5.60327208e-01 8.28081237e-01 -1.77450227e-02 2.62548613e+01] [ 3.05632838e-02 7.38198769e-04 9.99532561e-01 1.62841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:26.27, Z:1.63 [[ 8.27823944e-01 -5.60415818e-01 -2.53303886e-02 6.93240366e+01] [ 5.60125250e-01 8.28211042e-01 -1.80602856e-02 2.62717087e+01] [ 3.11001772e-02 7.62546598e-04 9.99515982e-01 1.62971073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:26.29, Z:1.63 [[ 8.27694612e-01 -5.60605210e-01 -2.53658661e-02 6.93465117e+01] [ 5.60313618e-01 8.28082855e-01 -1.80951672e-02 2.62885056e+01] [ 3.11492839e-02 7.64432191e-04 9.99514451e-01 1.63033842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:26.31, Z:1.63 [[ 8.27487364e-01 -5.60966723e-01 -2.41039057e-02 6.93697950e+01] [ 5.60703307e-01 8.27838037e-01 -1.72042233e-02 2.63052470e+01] [ 2.96051267e-02 7.21137782e-04 9.99561412e-01 1.63300728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:26.32, Z:1.63 [[ 8.27093068e-01 -5.61565776e-01 -2.36841005e-02 6.93919333e+01] [ 5.61311495e-01 8.27431809e-01 -1.69117384e-02 2.63214597e+01] [ 2.90940317e-02 6.93423734e-04 9.99576439e-01 1.63425237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:26.34, Z:1.64 [[ 8.26727135e-01 -5.62129205e-01 -2.30868051e-02 6.94159353e+01] [ 5.61887695e-01 8.27049165e-01 -1.64892834e-02 2.63384199e+01] [ 2.83630307e-02 6.59946313e-04 9.99597470e-01 1.63517607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:26.35, Z:1.64 [[ 8.24308266e-01 -5.65670202e-01 -2.30890652e-02 6.94413528e+01] [ 5.65429804e-01 8.24631388e-01 -1.64988130e-02 2.63522613e+01] [ 2.83728548e-02 5.44862325e-04 9.99597261e-01 1.63532711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:26.36, Z:1.63 [[ 8.20336762e-01 -5.71386432e-01 -2.37727045e-02 6.94666118e+01] [ 5.71133742e-01 8.20681066e-01 -1.69952043e-02 2.63648589e+01] [ 2.92206376e-02 3.64397179e-04 9.99572920e-01 1.63490044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:26.38, Z:1.64 [[ 8.17218254e-01 -5.75835195e-01 -2.38359756e-02 6.94926638e+01] [ 5.75582873e-01 8.17565767e-01 -1.70462009e-02 2.63780741e+01] [ 2.93032801e-02 2.10887229e-04 9.99570544e-01 1.63628705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:26.39, Z:1.64 [[ 8.12424417e-01 -5.82590025e-01 -2.35675425e-02 6.95203527e+01] [ 5.82345939e-01 8.12766179e-01 -1.68625368e-02 2.63887481e+01] [ 2.89788472e-02 -2.49260732e-05 9.99580025e-01 1.63827730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:26.40, Z:1.64 [[ 8.10846929e-01 -5.84745134e-01 -2.45027850e-02 6.95451129e+01] [ 5.84482000e-01 8.11217060e-01 -1.75406139e-02 2.64043890e+01] [ 3.01338658e-02 -9.86838653e-05 9.99545867e-01 1.63774987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:26.42, Z:1.64 [[ 8.09878747e-01 -5.86083441e-01 -2.45482388e-02 6.95684606e+01] [ 5.85819710e-01 8.10250690e-01 -1.75808790e-02 2.64205746e+01] [ 3.01940895e-02 -1.42461882e-04 9.99544044e-01 1.63752721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:26.44, Z:1.64 [[ 8.10176478e-01 -5.85677797e-01 -2.44047576e-02 6.95905259e+01] [ 5.85416762e-01 8.10543955e-01 -1.74846007e-02 2.64375408e+01] [ 3.00214711e-02 -1.21341993e-04 9.99549247e-01 1.63748668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:26.46, Z:1.64 [[ 8.11160104e-01 -5.84345150e-01 -2.36649877e-02 6.96134896e+01] [ 5.84098874e-01 8.11505232e-01 -1.69636174e-02 2.64550470e+01] [ 2.91168689e-02 -6.24830198e-05 9.99576012e-01 1.63951898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:26.47, Z:1.64 [[ 8.12343308e-01 -5.82728658e-01 -2.29272923e-02 6.96352416e+01] [ 5.82496622e-01 8.12666790e-01 -1.64430433e-02 2.64724328e+01] [ 2.82140816e-02 2.32586979e-06 9.99601904e-01 1.64176727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:26.49, Z:1.64 [[ 8.14006552e-01 -5.80415060e-01 -2.26205932e-02 6.96566145e+01] [ 5.80188042e-01 8.14320791e-01 -1.62322581e-02 2.64906394e+01] [ 2.78418664e-02 8.89667457e-05 9.99612336e-01 1.64409315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:26.51, Z:1.64 [[ 8.17517623e-01 -5.75452631e-01 -2.27860885e-02 6.96762969e+01] [ 5.75220088e-01 8.17835067e-01 -1.63600980e-02 2.65122179e+01] [ 2.80497236e-02 2.67652634e-04 9.99606493e-01 1.64493846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.70, Y:26.53, Z:1.64 [[ 8.19525983e-01 -5.72577066e-01 -2.30795931e-02 6.96964794e+01] [ 5.72337139e-01 8.19850817e-01 -1.65782357e-02 2.65314384e+01] [ 2.84141408e-02 3.76986581e-04 9.99596166e-01 1.64488968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:26.55, Z:1.65 [[ 8.19372724e-01 -5.72796467e-01 -2.30769658e-02 6.97188494e+01] [ 5.72556524e-01 8.19697547e-01 -1.65818922e-02 2.65476444e+01] [ 2.84141815e-02 3.73882891e-04 9.99596166e-01 1.64549084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:26.57, Z:1.65 [[ 8.21437335e-01 -5.69825088e-01 -2.32394929e-02 6.97398763e+01] [ 5.69580323e-01 8.21765862e-01 -1.67069794e-02 2.65670292e+01] [ 2.86174779e-02 4.86978764e-04 9.99590317e-01 1.64556719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:26.59, Z:1.65 [[ 8.23307949e-01 -5.67121032e-01 -2.31895804e-02 6.97596608e+01] [ 5.66876123e-01 8.23634261e-01 -1.66753259e-02 2.65863423e+01] [ 2.85566610e-02 5.83308974e-04 9.99592005e-01 1.64584901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.78, Y:26.61, Z:1.65 [[ 8.25735135e-01 -5.63594348e-01 -2.28669523e-02 6.97811467e+01] [ 5.63354742e-01 8.26051405e-01 -1.64472420e-02 2.66053960e+01] [ 2.81588507e-02 6.98859630e-04 9.99603217e-01 1.64661546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:26.62, Z:1.65 [[ 8.26230356e-01 -5.62872297e-01 -2.27634788e-02 6.98046770e+01] [ 5.62634408e-01 8.26543557e-01 -1.63789876e-02 2.66229665e+01] [ 2.80342851e-02 7.25300297e-04 9.99606699e-01 1.64728919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:26.64, Z:1.65 [[ 8.26793350e-01 -5.62034600e-01 -2.30187893e-02 6.98256027e+01] [ 5.61790808e-01 8.27113365e-01 -1.65701638e-02 2.66407392e+01] [ 2.83521536e-02 7.68357018e-04 9.99597702e-01 1.64757588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.85, Y:26.66, Z:1.65 [[ 8.27299851e-01 -5.61319764e-01 -2.22503796e-02 6.98490502e+01] [ 5.61091601e-01 8.27598653e-01 -1.60214136e-02 2.66574526e+01] [ 2.74075203e-02 7.70011951e-04 9.99624047e-01 1.64984738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.87, Y:26.67, Z:1.65 [[ 8.27291263e-01 -5.61332445e-01 -2.22497625e-02 6.98699602e+01] [ 5.61104095e-01 8.27590046e-01 -1.60284239e-02 2.66739021e+01] [ 2.74109564e-02 7.75742230e-04 9.99623948e-01 1.65067328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:26.69, Z:1.65 [[ 8.27338222e-01 -5.61270874e-01 -2.20561133e-02 6.98934740e+01] [ 5.61046328e-01 8.27631805e-01 -1.58937826e-02 2.66906072e+01] [ 2.71750581e-02 7.75032401e-04 9.99630389e-01 1.65135561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:26.71, Z:1.65 [[ 8.27475495e-01 -5.61097989e-01 -2.12920783e-02 6.99144402e+01] [ 5.60888492e-01 8.27749038e-01 -1.53502140e-02 2.67086374e+01] [ 2.62374715e-02 7.59444220e-04 9.99655450e-01 1.65209736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:26.73, Z:1.65 [[ 8.27820928e-01 -5.60599176e-01 -2.10017901e-02 6.99380535e+01] [ 5.60395081e-01 8.28086936e-01 -1.51453018e-02 2.67253987e+01] [ 2.58817517e-02 7.68297949e-04 9.99664716e-01 1.65313580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:26.74, Z:1.65 [[ 8.28162007e-01 -5.60082984e-01 -2.13246568e-02 6.99593173e+01] [ 5.59872204e-01 8.28436121e-01 -1.53853180e-02 2.67430718e+01] [ 2.62831708e-02 8.02453256e-04 9.99654216e-01 1.65331197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:26.76, Z:1.65 [[ 8.28345566e-01 -5.59802446e-01 -2.15602732e-02 6.99825053e+01] [ 5.59586786e-01 8.28625695e-01 -1.55590933e-02 2.67600714e+01] [ 2.65754149e-02 8.23461946e-04 9.99646472e-01 1.65316678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.01, Y:26.78, Z:1.65 [[ 8.29092353e-01 -5.58657045e-01 -2.25427935e-02 7.00053108e+01] [ 5.58420620e-01 8.29398267e-01 -1.62765479e-02 2.67784044e+01] [ 2.77899620e-02 9.06400651e-04 9.99613373e-01 1.65222674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:26.80, Z:1.65 [[ 8.29180750e-01 -5.58504629e-01 -2.30621594e-02 7.00281951e+01] [ 5.58256892e-01 8.29500872e-01 -1.66596983e-02 2.67954233e+01] [ 2.84345999e-02 9.39291718e-04 9.99595214e-01 1.65227294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:26.81, Z:1.65 [[ 8.29123327e-01 -5.58587875e-01 -2.31104797e-02 7.00516079e+01] [ 5.58338878e-01 8.29444809e-01 -1.67034763e-02 2.68118949e+01] [ 2.84992267e-02 9.45762590e-04 9.99593367e-01 1.65214545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:26.83, Z:1.65 [[ 8.28811231e-01 -5.59054319e-01 -2.30263039e-02 7.00762570e+01] [ 5.58807042e-01 8.29130506e-01 -1.66521668e-02 2.68277512e+01] [ 2.84012767e-02 9.34242107e-04 9.99596166e-01 1.65345170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.10, Y:26.84, Z:1.65 [[ 8.28159164e-01 -5.60026511e-01 -2.28627695e-02 7.00990793e+01] [ 5.59782889e-01 8.28474197e-01 -1.65415036e-02 2.68430479e+01] [ 2.82048952e-02 9.00810580e-04 9.99601757e-01 1.65396164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:26.86, Z:1.66 [[ 8.27679211e-01 -5.60743977e-01 -2.26564663e-02 7.01239604e+01] [ 5.60504857e-01 8.27988786e-01 -1.63974068e-02 2.68587791e+01] [ 2.79540471e-02 8.72733291e-04 9.99608828e-01 1.65593533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:26.87, Z:1.66 [[ 8.26475345e-01 -5.62549482e-01 -2.18307985e-02 7.01482585e+01] [ 5.62327904e-01 8.26763242e-01 -1.58072712e-02 2.68739830e+01] [ 2.69412740e-02 7.88252771e-04 9.99636707e-01 1.65686544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:26.89, Z:1.66 [[ 8.26179159e-01 -5.62988543e-01 -2.17231918e-02 7.01713653e+01] [ 5.62769074e-01 8.26464335e-01 -1.57376040e-02 2.68895401e+01] [ 2.68135340e-02 7.76939863e-04 9.99640151e-01 1.65696211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:26.91, Z:1.66 [[ 8.25892872e-01 -5.63403431e-01 -2.18526546e-02 7.01931127e+01] [ 5.63181230e-01 8.26181561e-01 -1.58407603e-02 2.69061713e+01] [ 2.69789990e-02 7.75766139e-04 9.99635700e-01 1.65631483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:26.92, Z:1.66 [[ 8.26163067e-01 -5.62983967e-01 -2.24419127e-02 7.02171454e+01] [ 5.62749201e-01 8.26467412e-01 -1.62773750e-02 2.69221929e+01] [ 2.77114107e-02 8.18597641e-04 9.99615630e-01 1.65676426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:26.94, Z:1.66 [[ 8.26535678e-01 -5.62414054e-01 -2.30044597e-02 7.02411080e+01] [ 5.62166899e-01 8.26855297e-01 -1.66941924e-02 2.69386353e+01] [ 2.84104078e-02 8.65999919e-04 9.99595968e-01 1.65752969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:26.96, Z:1.66 [[ 8.26728018e-01 -5.62131091e-01 -2.30091460e-02 7.02640216e+01] [ 5.61883479e-01 8.27047675e-01 -1.67062658e-02 2.69560020e+01] [ 2.84207721e-02 8.83079022e-04 9.99595658e-01 1.65850316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:26.97, Z:1.66 [[ 8.27637580e-01 -5.60779874e-01 -2.32802027e-02 7.02858690e+01] [ 5.60525644e-01 8.27964393e-01 -1.69105363e-02 2.69740774e+01] [ 2.87582673e-02 9.46644687e-04 9.99585947e-01 1.65886609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:26.99, Z:1.66 [[ 8.27772292e-01 -5.60585985e-01 -2.31600146e-02 7.03085067e+01] [ 5.60334171e-01 8.28095675e-01 -1.68276504e-02 2.69915400e+01] [ 2.86120529e-02 9.52115202e-04 9.99590138e-01 1.65902036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:27.01, Z:1.66 [[ 8.27907169e-01 -5.60390399e-01 -2.30720570e-02 7.03313739e+01] [ 5.60140173e-01 8.28228033e-01 -1.67723514e-02 2.70088684e+01] [ 2.85079891e-02 9.62363989e-04 9.99593101e-01 1.65938870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:27.03, Z:1.66 [[ 8.27704499e-01 -5.60710446e-01 -2.25623335e-02 7.03542597e+01] [ 5.60471038e-01 8.28011423e-01 -1.64103252e-02 2.70255283e+01] [ 2.78833107e-02 9.37365522e-04 9.99610745e-01 1.65975566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:27.04, Z:1.66 [[ 8.27179641e-01 -5.61483131e-01 -2.25950155e-02 7.03779333e+01] [ 5.61243054e-01 8.27487671e-01 -1.64435000e-02 2.70412847e+01] [ 2.79298446e-02 9.20432981e-04 9.99609462e-01 1.66077300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:27.06, Z:1.66 [[ 8.26890828e-01 -5.61923546e-01 -2.22145554e-02 7.04024235e+01] [ 5.61691422e-01 8.27188687e-01 -1.61747845e-02 2.70575113e+01] [ 2.74646212e-02 8.97055758e-04 9.99622374e-01 1.66212258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:27.07, Z:1.66 [[ 8.26317955e-01 -5.62764112e-01 -2.22528860e-02 7.04251926e+01] [ 5.62531263e-01 8.26617072e-01 -1.62109224e-02 2.70744425e+01] [ 2.75175408e-02 8.77432139e-04 9.99620936e-01 1.66309486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:27.09, Z:1.66 [[ 8.25202358e-01 -5.64386308e-01 -2.25646475e-02 7.04508076e+01] [ 5.64147257e-01 8.25510379e-01 -1.64464609e-02 2.70884929e+01] [ 2.79095081e-02 8.41874379e-04 9.99610099e-01 1.66390320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:27.10, Z:1.66 [[ 8.24633078e-01 -5.65217717e-01 -2.25658863e-02 7.04762478e+01] [ 5.64978712e-01 8.24941367e-01 -1.64558680e-02 2.71033597e+01] [ 2.79166812e-02 8.20807741e-04 9.99609917e-01 1.66469229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:27.12, Z:1.66 [[ 8.23880053e-01 -5.66288961e-01 -2.32049619e-02 7.04974165e+01] [ 5.66036427e-01 8.24206377e-01 -1.69296163e-02 2.71220614e+01] [ 2.87127324e-02 8.13119411e-04 9.99587374e-01 1.66344084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:27.14, Z:1.66 [[ 8.22861341e-01 -5.67767836e-01 -2.32141794e-02 7.05239286e+01] [ 5.67515563e-01 8.23188374e-01 -1.69406829e-02 2.71355334e+01] [ 2.87280175e-02 7.65424973e-04 9.99586972e-01 1.66390669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:27.15, Z:1.66 [[ 8.20865770e-01 -5.70667850e-01 -2.27506552e-02 7.05496383e+01] [ 5.70426438e-01 8.21180719e-01 -1.66104110e-02 2.71489214e+01] [ 2.81614269e-02 6.57342577e-04 9.99603172e-01 1.66477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:27.16, Z:1.67 [[ 8.19437027e-01 -5.72742923e-01 -2.21021062e-02 7.05737172e+01] [ 5.72515611e-01 8.19734842e-01 -1.61450522e-02 2.71646272e+01] [ 2.73648309e-02 5.76052775e-04 9.99625347e-01 1.66629345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:27.18, Z:1.67 [[ 8.18285813e-01 -5.74418420e-01 -2.12557420e-02 7.05967476e+01] [ 5.74208566e-01 8.18561679e-01 -1.55338416e-02 2.71799703e+01] [ 2.63220606e-02 5.05893040e-04 9.99653387e-01 1.66793989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:27.19, Z:1.67 [[ 8.16332351e-01 -5.77212976e-01 -2.06560889e-02 7.06212232e+01] [ 5.77015575e-01 8.16593543e-01 -1.51000424e-02 2.71945625e+01] [ 2.55835693e-02 4.07768037e-04 9.99672604e-01 1.67089388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:27.21, Z:1.67 [[ 8.15091579e-01 -5.78970199e-01 -2.04750187e-02 7.06450576e+01] [ 5.78776612e-01 8.15348626e-01 -1.49750290e-02 2.72103936e+01] [ 2.53643738e-02 3.55558083e-04 9.99678209e-01 1.67111536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:27.23, Z:1.67 [[ 8.13878582e-01 -5.80655964e-01 -2.09834666e-02 7.06693313e+01] [ 5.80453000e-01 8.14148973e-01 -1.53546001e-02 2.72258394e+01] [ 2.59994079e-02 3.16864023e-04 9.99661908e-01 1.67190029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:27.24, Z:1.67 [[ 8.12503947e-01 -5.82594103e-01 -2.05291992e-02 7.06938175e+01] [ 5.82400263e-01 8.12763217e-01 -1.50295433e-02 2.72410775e+01] [ 2.54415013e-02 2.55352262e-04 9.99676280e-01 1.67286900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:27.26, Z:1.67 [[ 8.10342315e-01 -5.85602079e-01 -2.03847483e-02 7.07187937e+01] [ 5.85411717e-01 8.10598654e-01 -1.49312983e-02 2.72562347e+01] [ 2.52676489e-02 1.65992282e-04 9.99680708e-01 1.67361749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:27.27, Z:1.67 [[ 8.09352904e-01 -5.86952803e-01 -2.08394750e-02 7.07411712e+01] [ 5.86754111e-01 8.09621139e-01 -1.52716772e-02 2.72718682e+01] [ 2.58358332e-02 1.32528698e-04 9.99666190e-01 1.67301681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:27.29, Z:1.67 [[ 8.08554186e-01 -5.88025171e-01 -2.15992323e-02 7.07641118e+01] [ 5.87811957e-01 8.08842622e-01 -1.58340272e-02 2.72877192e+01] [ 2.67811863e-02 1.06381923e-04 9.99641314e-01 1.67244198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:27.30, Z:1.67 [[ 8.07561412e-01 -5.89326033e-01 -2.32248056e-02 7.07873560e+01] [ 5.89079766e-01 8.07895303e-01 -1.70355141e-02 2.73038588e+01] [ 2.88026833e-02 7.59607578e-05 9.99585114e-01 1.67099790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:27.32, Z:1.67 [[ 8.07088451e-01 -5.89971176e-01 -2.32861189e-02 7.08101539e+01] [ 5.89723612e-01 8.07424304e-01 -1.70895972e-02 2.73209108e+01] [ 2.88841481e-02 6.04423967e-05 9.99582764e-01 1.67104841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:27.34, Z:1.67 [[ 8.07087413e-01 -5.89997554e-01 -2.26449708e-02 7.08312427e+01] [ 5.89763217e-01 8.07405030e-01 -1.66272544e-02 2.73372679e+01] [ 2.80937027e-02 6.44769354e-05 9.99605292e-01 1.67147120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.85, Y:27.35, Z:1.67 [[ 8.07482890e-01 -5.89492031e-01 -2.16916339e-02 7.08532465e+01] [ 5.89276685e-01 8.07774188e-01 -1.59326799e-02 2.73545466e+01] [ 2.69141298e-02 8.29923167e-05 9.99637746e-01 1.67402967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:27.37, Z:1.68 [[ 8.07764949e-01 -5.89118336e-01 -2.13394898e-02 7.08758719e+01] [ 5.88909564e-01 8.08046766e-01 -1.56827591e-02 2.73720325e+01] [ 2.64823067e-02 1.00953493e-04 9.99649277e-01 1.67520915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.90, Y:27.39, Z:1.68 [[ 8.07985422e-01 -5.88831615e-01 -2.09018432e-02 7.08979951e+01] [ 5.88631001e-01 8.08255724e-01 -1.53697691e-02 2.73896167e+01] [ 2.59442404e-02 1.15076422e-04 9.99663385e-01 1.67653178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:27.41, Z:1.68 [[ 8.08738916e-01 -5.87808337e-01 -2.05602676e-02 7.09195463e+01] [ 5.87613679e-01 8.09000208e-01 -1.51270737e-02 2.74073830e+01] [ 2.55250808e-02 1.52358710e-04 9.99674170e-01 1.67764121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:27.43, Z:1.68 [[ 8.09319254e-01 -5.87010638e-01 -2.05147646e-02 7.09416159e+01] [ 5.86816370e-01 8.09579198e-01 -1.51020028e-02 2.74256534e+01] [ 2.54733630e-02 1.83941972e-04 9.99675484e-01 1.67798099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:27.45, Z:1.68 [[ 8.11129269e-01 -5.84498586e-01 -2.07536251e-02 7.09629704e+01] [ 5.84298744e-01 8.11394682e-01 -1.52855504e-02 2.74455441e+01] [ 2.57737636e-02 2.72240266e-04 9.99667764e-01 1.67716131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:27.46, Z:1.68 [[ 8.11850552e-01 -5.83492445e-01 -2.08625938e-02 7.09853488e+01] [ 5.83289967e-01 8.12118507e-01 -1.53735427e-02 2.74642066e+01] [ 2.59132445e-02 3.12077468e-04 9.99664147e-01 1.67766310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:27.48, Z:1.68 [[ 8.12318849e-01 -5.82824739e-01 -2.12934632e-02 7.10083098e+01] [ 5.82613368e-01 8.12597812e-01 -1.56990462e-02 2.74825250e+01] [ 2.64528141e-02 3.46774842e-04 9.99650003e-01 1.67830747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:27.50, Z:1.68 [[ 8.12954849e-01 -5.81884949e-01 -2.26786310e-02 7.10290887e+01] [ 5.81644587e-01 8.13271012e-01 -1.67282668e-02 2.75011784e+01] [ 2.81777999e-02 4.08422616e-04 9.99602844e-01 1.67659186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:27.52, Z:1.68 [[ 8.12799467e-01 -5.82096827e-01 -2.28103241e-02 7.10515718e+01] [ 5.81853587e-01 8.13119375e-01 -1.68310860e-02 2.75182936e+01] [ 2.83448382e-02 4.08028883e-04 9.99598121e-01 1.67636959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.07, Y:27.54, Z:1.68 [[ 8.12984062e-01 -5.81829270e-01 -2.30567935e-02 7.10749802e+01] [ 5.81580366e-01 8.13310836e-01 -1.70223944e-02 2.75353692e+01] [ 2.86564673e-02 4.29556899e-04 9.99589227e-01 1.67662825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:27.55, Z:1.68 [[ 8.13440225e-01 -5.81194103e-01 -2.29872796e-02 7.10974049e+01] [ 5.80946200e-01 8.13764834e-01 -1.69796205e-02 2.75534776e+01] [ 2.85746951e-02 4.57533625e-04 9.99591555e-01 1.67759039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:27.57, Z:1.68 [[ 8.13755162e-01 -5.80756899e-01 -2.28901874e-02 7.11200253e+01] [ 5.80510672e-01 8.14076898e-01 -1.69163794e-02 2.75712768e+01] [ 2.84586768e-02 4.77792971e-04 9.99594856e-01 1.67873525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:27.59, Z:1.68 [[ 8.14658579e-01 -5.79509965e-01 -2.23517095e-02 7.11410852e+01] [ 5.79274524e-01 8.14964990e-01 -1.65254549e-02 2.75903668e+01] [ 2.77925265e-02 5.14827732e-04 9.99613581e-01 1.67900023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.16, Y:27.61, Z:1.68 [[ 8.15584847e-01 -5.78213654e-01 -2.21433280e-02 7.11639304e+01] [ 5.77981995e-01 8.15885200e-01 -1.63754019e-02 2.76082997e+01] [ 2.75348946e-02 5.57084717e-04 9.99620688e-01 1.68046191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:27.62, Z:1.68 [[ 8.15424226e-01 -5.78440304e-01 -2.21392486e-02 7.11860833e+01] [ 5.78208578e-01 8.15724528e-01 -1.63809156e-02 2.76248156e+01] [ 2.75349099e-02 5.56291969e-04 9.99620688e-01 1.68106191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:27.64, Z:1.68 [[ 8.16471142e-01 -5.76980957e-01 -2.16298215e-02 7.12065943e+01] [ 5.76759039e-01 8.16757380e-01 -1.60123103e-02 2.76431371e+01] [ 2.69051145e-02 5.98394184e-04 9.99637813e-01 1.68165160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:27.66, Z:1.68 [[ 8.18730076e-01 -5.73774600e-01 -2.15353717e-02 7.12279440e+01] [ 5.73553356e-01 8.19012949e-01 -1.59479445e-02 2.76633701e+01] [ 2.67882737e-02 7.05377146e-04 9.99640881e-01 1.68182651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:27.68, Z:1.68 [[ 8.19698056e-01 -5.72373754e-01 -2.19859575e-02 7.12501223e+01] [ 5.72142422e-01 8.19992492e-01 -1.62899465e-02 2.76822573e+01] [ 2.73522579e-02 7.73738480e-04 9.99625558e-01 1.68140526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:27.70, Z:1.68 [[ 8.20569464e-01 -5.71116370e-01 -2.21775997e-02 7.12724682e+01] [ 5.70880293e-01 8.20868688e-01 -1.64404182e-02 2.77002174e+01] [ 2.75942892e-02 8.29750481e-04 9.99618861e-01 1.68109978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.29, Y:27.72, Z:1.68 [[ 8.20892191e-01 -5.70655245e-01 -2.21043518e-02 7.12939157e+01] [ 5.70420348e-01 8.21189303e-01 -1.63937467e-02 2.77179319e+01] [ 2.75070348e-02 8.48726582e-04 9.99621250e-01 1.68169053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.32, Y:27.73, Z:1.68 [[ 8.19154158e-01 -5.73153837e-01 -2.19349889e-02 7.13170534e+01] [ 5.72923307e-01 8.19447434e-01 -1.62722638e-02 2.77335400e+01] [ 2.73010809e-02 7.62426158e-04 9.99626965e-01 1.68253840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:27.75, Z:1.68 [[ 8.17224775e-01 -5.75902577e-01 -2.19063665e-02 7.13410129e+01] [ 5.75673524e-01 8.17518054e-01 -1.62550093e-02 2.77489910e+01] [ 2.72701519e-02 6.73081128e-04 9.99627874e-01 1.68369827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:27.76, Z:1.69 [[ 8.14824343e-01 -5.79304954e-01 -2.16115883e-02 7.13664866e+01] [ 5.79083006e-01 8.15110704e-01 -1.60441167e-02 2.77630625e+01] [ 2.69102732e-02 5.58233359e-04 9.99637697e-01 1.68530281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:27.78, Z:1.69 [[ 8.14004085e-01 -5.80467770e-01 -2.13194164e-02 7.13904151e+01] [ 5.80251977e-01 8.14283058e-01 -1.58348905e-02 2.77791692e+01] [ 2.65516832e-02 5.19032054e-04 9.99647307e-01 1.68549653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.41, Y:27.80, Z:1.68 [[ 8.13408957e-01 -5.81297187e-01 -2.14347590e-02 7.14135856e+01] [ 5.81079128e-01 8.13691176e-01 -1.59285067e-02 2.77958138e+01] [ 2.67004704e-02 5.01098938e-04 9.99643353e-01 1.68454530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:27.81, Z:1.68 [[ 8.12891238e-01 -5.82030921e-01 -2.11622809e-02 7.14373719e+01] [ 5.81818415e-01 8.13166514e-01 -1.57337876e-02 2.78130596e+01] [ 2.63660091e-02 4.77253339e-04 9.99652242e-01 1.68456447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:27.83, Z:1.69 [[ 8.12853261e-01 -5.82105513e-01 -2.05608312e-02 7.14602943e+01] [ 5.81904746e-01 8.13113125e-01 -1.52942335e-02 2.78293523e+01] [ 2.56211393e-02 4.67522372e-04 9.99671615e-01 1.68598005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:27.85, Z:1.69 [[ 8.13003518e-01 -5.81900975e-01 -2.04091836e-02 7.14835719e+01] [ 5.81702878e-01 8.13259508e-01 -1.51899295e-02 2.78457190e+01] [ 2.54369974e-02 4.77385289e-04 9.99676313e-01 1.68796338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:27.86, Z:1.69 [[ 8.13273128e-01 -5.81538346e-01 -1.99992831e-02 7.15049304e+01] [ 5.81347847e-01 8.13518849e-01 -1.48917403e-02 2.78628344e+01] [ 2.49299117e-02 4.84512032e-04 9.99689084e-01 1.68915400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:27.88, Z:1.69 [[ 8.13806113e-01 -5.80809483e-01 -1.94924314e-02 7.15271434e+01] [ 5.80628225e-01 8.14039371e-01 -1.45178187e-02 2.78809209e+01] [ 2.42996934e-02 4.96833715e-04 9.99704595e-01 1.68930148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:27.90, Z:1.69 [[ 8.13659074e-01 -5.81007263e-01 -1.97350120e-02 7.15496943e+01] [ 5.80821338e-01 8.13898216e-01 -1.47060170e-02 2.78971964e+01] [ 2.46065938e-02 5.03168100e-04 9.99697085e-01 1.68931820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:27.91, Z:1.69 [[ 8.13473575e-01 -5.81268666e-01 -1.96845245e-02 7.15724253e+01] [ 5.81083559e-01 8.13711550e-01 -1.46768733e-02 2.79143500e+01] [ 2.45487315e-02 5.00895050e-04 9.99698509e-01 1.68906843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:27.93, Z:1.69 [[ 8.12279947e-01 -5.82961843e-01 -1.88885344e-02 7.15961944e+01] [ 5.82791681e-01 8.12499414e-01 -1.40911114e-02 2.79303672e+01] [ 2.35615034e-02 4.37846477e-04 9.99722293e-01 1.68894524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:27.95, Z:1.69 [[ 8.11542272e-01 -5.83993277e-01 -1.87348124e-02 7.16206493e+01] [ 5.83825985e-01 8.11758390e-01 -1.39833803e-02 2.79466561e+01] [ 2.33743412e-02 4.10233888e-04 9.99726699e-01 1.69025465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:27.96, Z:1.69 [[ 8.10398702e-01 -5.85582302e-01 -1.86362746e-02 7.16448982e+01] [ 5.85417023e-01 8.10612874e-01 -1.39168014e-02 2.79626129e+01] [ 2.32562367e-02 3.68165401e-04 9.99729469e-01 1.69164878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:27.98, Z:1.69 [[ 8.08088498e-01 -5.88782862e-01 -1.81030678e-02 7.16689155e+01] [ 5.88627561e-01 8.08291202e-01 -1.35250774e-02 2.79772342e+01] [ 2.25958842e-02 2.73494882e-04 9.99744643e-01 1.69284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:27.99, Z:1.69 [[ 8.06412433e-01 -5.91099321e-01 -1.73372531e-02 7.16921123e+01] [ 5.90957369e-01 8.06598756e-01 -1.29551228e-02 2.79921529e+01] [ 2.16419710e-02 2.01594607e-04 9.99765765e-01 1.69429549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:28.01, Z:1.70 [[ 8.04746979e-01 -5.93381979e-01 -1.67369978e-02 7.17170662e+01] [ 5.93250138e-01 8.04920995e-01 -1.25086490e-02 2.80078769e+01] [ 2.08943678e-02 1.37071263e-04 9.99781679e-01 1.69568071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.74, Y:28.02, Z:1.70 [[ 8.00985996e-01 -5.98455980e-01 -1.64886050e-02 7.17431264e+01] [ 5.98329026e-01 8.01155690e-01 -1.23262634e-02 2.80216327e+01] [ 2.05866657e-02 7.55338667e-06 9.99788072e-01 1.69663754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:28.04, Z:1.70 [[ 7.99089115e-01 -6.00992381e-01 -1.62709594e-02 7.17664436e+01] [ 6.00869162e-01 7.99254750e-01 -1.21694319e-02 2.80370197e+01] [ 2.03183774e-02 -5.22571237e-05 9.99793559e-01 1.69738146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:28.05, Z:1.70 [[ 7.97283190e-01 -6.03385819e-01 -1.62808884e-02 7.17906327e+01] [ 6.03262807e-01 7.97449397e-01 -1.21837650e-02 2.80534843e+01] [ 2.03346957e-02 -1.07743351e-04 9.99793223e-01 1.69742473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:28.07, Z:1.70 [[ 7.95832516e-01 -6.05309529e-01 -1.58423386e-02 7.18142197e+01] [ 6.05193324e-01 7.95990171e-01 -1.18612092e-02 2.80695353e+01] [ 1.97900487e-02 -1.48141608e-04 9.99804147e-01 1.69829674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.84, Y:28.08, Z:1.70 [[ 7.94096007e-01 -6.07596145e-01 -1.54420022e-02 7.18380813e+01] [ 6.07486055e-01 7.94246112e-01 -1.15674819e-02 2.80845072e+01] [ 1.92931076e-02 -1.95109756e-04 9.99813852e-01 1.70065898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:28.10, Z:1.70 [[ 7.93797771e-01 -6.07974684e-01 -1.58708274e-02 7.18606480e+01] [ 6.07858436e-01 7.93956384e-01 -1.18903785e-02 2.81016930e+01] [ 1.98297939e-02 -2.08660350e-04 9.99803349e-01 1.70040286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:28.12, Z:1.70 [[ 7.93914748e-01 -6.07808137e-01 -1.63902765e-02 7.18821120e+01] [ 6.07683974e-01 7.94083891e-01 -1.22866129e-02 2.81191891e+01] [ 2.04831578e-02 -2.05585171e-04 9.99790177e-01 1.69959693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:28.14, Z:1.70 [[ 7.94523121e-01 -6.07004674e-01 -1.66833839e-02 7.19036301e+01] [ 6.06875702e-01 7.94698240e-01 -1.25136079e-02 2.81371514e+01] [ 2.08540743e-02 -1.82389512e-04 9.99782514e-01 1.69891420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:28.16, Z:1.70 [[ 7.97283092e-01 -6.03332602e-01 -1.81505179e-02 7.19234557e+01] [ 6.03178891e-01 7.97489663e-01 -1.36184577e-02 2.81589562e+01] [ 2.26913100e-02 -9.02431984e-05 9.99742515e-01 1.69677296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:28.18, Z:1.70 [[ 7.99370770e-01 -6.00537262e-01 -1.90096829e-02 7.19437339e+01] [ 6.00367692e-01 7.99596771e-01 -1.42701704e-02 2.81783042e+01] [ 2.37698502e-02 -5.64239076e-06 9.99717457e-01 1.69589340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:28.20, Z:1.70 [[ 8.01639531e-01 -5.97492051e-01 -1.94244904e-02 7.19635350e+01] [ 5.97313979e-01 8.01874828e-01 -1.45866484e-02 2.81978845e+01] [ 2.42914164e-02 9.07143485e-05 9.99704916e-01 1.69617464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:28.22, Z:1.70 [[ 8.06324759e-01 -5.91148116e-01 -1.96032572e-02 7.19829647e+01] [ 5.90964750e-01 8.06562968e-01 -1.47255603e-02 2.82205229e+01] [ 2.45162485e-02 2.88749880e-04 9.99699390e-01 1.69817495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.00, Y:28.24, Z:1.70 [[ 8.08532571e-01 -5.88130811e-01 -1.94224472e-02 7.20030407e+01] [ 5.87949772e-01 8.08765728e-01 -1.45966513e-02 2.82413030e+01] [ 2.42929500e-02 3.82444539e-04 9.99704810e-01 1.69895279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:28.26, Z:1.70 [[ 8.10616591e-01 -5.85261063e-01 -1.92413554e-02 7.20224239e+01] [ 5.85082478e-01 8.10844787e-01 -1.44646048e-02 2.82614268e+01] [ 2.40673227e-02 4.67468698e-04 9.99710231e-01 1.69948963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.04, Y:28.28, Z:1.70 [[ 8.13528866e-01 -5.81173874e-01 -2.01918913e-02 7.20404049e+01] [ 5.80975834e-01 8.13779173e-01 -1.51834732e-02 2.82831961e+01] [ 2.52559786e-02 6.21192855e-04 9.99680824e-01 1.69760667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:28.30, Z:1.70 [[ 8.14381311e-01 -5.79976999e-01 -2.02425839e-02 7.20613039e+01] [ 5.79777483e-01 8.14632580e-01 -1.52259521e-02 2.83016302e+01] [ 2.53209704e-02 6.63536543e-04 9.99679153e-01 1.69792682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:28.32, Z:1.70 [[ 8.14525615e-01 -5.79794555e-01 -1.96544262e-02 7.20842341e+01] [ 5.79606339e-01 8.14762449e-01 -1.47866010e-02 2.83194889e+01] [ 2.45868792e-02 6.52235234e-04 9.99697484e-01 1.69913212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:28.34, Z:1.70 [[ 8.14227917e-01 -5.80229494e-01 -1.91476774e-02 7.21078331e+01] [ 5.80050813e-01 8.14452785e-01 -1.44123014e-02 2.83353787e+01] [ 2.39573215e-02 6.28272302e-04 9.99712785e-01 1.70057092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters Centerline goodness [0,1] 0.9999755901091122 Centerline is valid? [True, True] Translation: X:72.13, Y:28.35, Z:1.70 [[ 8.13381837e-01 -5.81417270e-01 -1.90773438e-02 7.21295404e+01] [ 5.81240043e-01 8.13605311e-01 -1.43670035e-02 2.83526106e+01] [ 2.38746522e-02 5.97343529e-04 9.99714781e-01 1.70102025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:28.37, Z:1.70 [[ 8.12411943e-01 -5.82791481e-01 -1.84641364e-02 7.21555429e+01] [ 5.82625759e-01 8.12621558e-01 -1.39078375e-02 2.83663124e+01] [ 2.31097245e-02 5.41211795e-04 9.99732788e-01 1.70275502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.18, Y:28.38, Z:1.70 [[ 8.11412892e-01 -5.84173663e-01 -1.87149942e-02 7.21785699e+01] [ 5.84003610e-01 8.11628528e-01 -1.41037434e-02 2.83820758e+01] [ 2.34286586e-02 5.14334980e-04 9.99725379e-01 1.70344688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:28.40, Z:1.70 [[ 8.08626363e-01 -5.87982972e-01 -1.99857604e-02 7.22045068e+01] [ 5.87790109e-01 8.08873189e-01 -1.50649013e-02 2.83957313e+01] [ 2.50238512e-02 4.34444041e-04 9.99686760e-01 1.70269837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:28.41, Z:1.70 [[ 8.06976695e-01 -5.90223467e-01 -2.06124381e-02 7.22289736e+01] [ 5.90018843e-01 8.07239811e-01 -1.55451789e-02 2.84112840e+01] [ 2.58143100e-02 3.82870226e-04 9.99666682e-01 1.70181505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.246875 meters Centerline goodness [0,1] 0.9999754033844943 Centerline is valid? [True, True] Translation: X:72.25, Y:28.43, Z:1.70 [[ 8.05339191e-01 -5.92429278e-01 -2.13620899e-02 7.22522441e+01] [ 5.92210075e-01 8.05622394e-01 -1.61178337e-02 2.84266707e+01] [ 2.67584546e-02 3.29478278e-04 9.99641874e-01 1.70039414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.28, Y:28.44, Z:1.70 [[ 8.03646185e-01 -5.94701006e-01 -2.19891477e-02 7.22773747e+01] [ 5.94469478e-01 8.03946916e-01 -1.65950585e-02 2.84414918e+01] [ 2.75472054e-02 2.64678321e-04 9.99620469e-01 1.70054629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:28.45, Z:1.70 [[ 8.00359611e-01 -5.99086582e-01 -2.27982416e-02 7.23026890e+01] [ 5.98839257e-01 8.00684240e-01 -1.72131411e-02 2.84542862e+01] [ 2.85663546e-02 1.24220876e-04 9.99591891e-01 1.70007519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:28.47, Z:1.70 [[ 7.98633971e-01 -6.01366939e-01 -2.32719901e-02 7.23265177e+01] [ 6.01110051e-01 7.98972967e-01 -1.75756708e-02 2.84687154e+01] [ 2.91631183e-02 4.75006102e-05 9.99574665e-01 1.70084268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:28.48, Z:1.70 [[ 7.97393367e-01 -6.03014455e-01 -2.31815441e-02 7.23493559e+01] [ 6.02760003e-01 7.97730259e-01 -1.75160743e-02 2.84830945e+01] [ 2.90550652e-02 -5.70608166e-06 9.99577812e-01 1.70235043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:28.50, Z:1.70 [[ 7.95986262e-01 -6.04871643e-01 -2.31552416e-02 7.23734222e+01] [ 6.04618366e-01 7.96322981e-01 -1.75025925e-02 2.84985671e+01] [ 2.90258729e-02 -6.82611737e-05 9.99578658e-01 1.70353759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:28.51, Z:1.71 [[ 7.94673630e-01 -6.06620023e-01 -2.24937577e-02 7.23971041e+01] [ 6.06381453e-01 7.94991907e-01 -1.70117966e-02 2.85142150e+01] [ 2.82020518e-02 -1.20971341e-04 9.99602236e-01 1.70640749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:28.53, Z:1.71 [[ 7.94505461e-01 -6.06869503e-01 -2.16905289e-02 7.24197577e+01] [ 6.06647518e-01 7.94801480e-01 -1.64133036e-02 2.85313757e+01] [ 2.72003979e-02 -1.18046240e-04 9.99629994e-01 1.70888322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:28.55, Z:1.71 [[ 7.94337640e-01 -6.07128412e-01 -2.05622229e-02 7.24415562e+01] [ 6.06928800e-01 7.94603724e-01 -1.55676953e-02 2.85476604e+01] [ 2.57904090e-02 -1.13798899e-04 9.99667366e-01 1.71033312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.46, Y:28.56, Z:1.71 [[ 7.94399721e-01 -6.07098522e-01 -1.89860100e-02 7.24627701e+01] [ 6.06928213e-01 7.94626563e-01 -1.43794864e-02 2.85642895e+01] [ 2.38165528e-02 -1.00085120e-04 9.99716341e-01 1.71231771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:28.58, Z:1.71 [[ 7.94466433e-01 -6.07011820e-01 -1.89667555e-02 7.24844302e+01] [ 6.06841724e-01 7.94692797e-01 -1.43694067e-02 2.85814742e+01] [ 2.37951437e-02 -9.38073218e-05 9.99716851e-01 1.71325539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:28.60, Z:1.71 [[ 7.94897183e-01 -6.06453114e-01 -1.87906407e-02 7.25067249e+01] [ 6.06285821e-01 7.95119246e-01 -1.42438853e-02 2.85992773e+01] [ 2.35790487e-02 -7.00747239e-05 9.99721973e-01 1.71390693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.53, Y:28.62, Z:1.71 [[ 7.96206693e-01 -6.04683702e-01 -2.03106563e-02 7.25275408e+01] [ 6.04487431e-01 7.96465706e-01 -1.54053453e-02 2.86182826e+01] [ 2.54921024e-02 -1.16973773e-05 9.99675023e-01 1.71249943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:28.64, Z:1.71 [[ 7.96985649e-01 -6.03631913e-01 -2.10330321e-02 7.25492961e+01] [ 6.03420821e-01 7.97263139e-01 -1.59624489e-02 2.86369804e+01] [ 2.64043048e-02 3.00731549e-05 9.99651345e-01 1.71194971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:28.65, Z:1.71 [[ 7.97853710e-01 -6.02462580e-01 -2.16401768e-02 7.25697454e+01] [ 6.02238458e-01 7.98147125e-01 -1.64318382e-02 2.86548012e+01] [ 2.71716126e-02 7.76563100e-05 9.99630781e-01 1.71084454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.59, Y:28.67, Z:1.71 [[ 7.98929462e-01 -6.01024829e-01 -2.19287250e-02 7.25920323e+01] [ 6.00793984e-01 7.99230340e-01 -1.66569108e-02 2.86732845e+01] [ 2.75373193e-02 1.33050676e-04 9.99620767e-01 1.71105505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.61, Y:28.69, Z:1.71 [[ 7.98767200e-01 -6.01240608e-01 -2.19246712e-02 7.26139704e+01] [ 6.01009697e-01 7.99068028e-01 -1.66622453e-02 2.86900731e+01] [ 2.75373222e-02 1.32315018e-04 9.99620767e-01 1.71165490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:28.71, Z:1.71 [[ 8.00555987e-01 -5.98828056e-01 -2.26951688e-02 7.26353514e+01] [ 5.98579407e-01 8.00877585e-01 -1.72565156e-02 2.87085723e+01] [ 2.85097377e-02 2.29946179e-04 9.99593488e-01 1.71195774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:28.73, Z:1.71 [[ 8.01146266e-01 -5.98041146e-01 -2.26151998e-02 7.26579101e+01] [ 5.97793780e-01 8.01465357e-01 -1.72011010e-02 2.87262495e+01] [ 2.84122653e-02 2.61372034e-04 9.99596256e-01 1.71343871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:28.74, Z:1.71 [[ 8.01888210e-01 -5.97072040e-01 -2.19152416e-02 7.26792520e+01] [ 5.96839187e-01 8.02187567e-01 -1.66760728e-02 2.87443740e+01] [ 2.75369511e-02 2.92471190e-04 9.99620743e-01 1.71425121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:28.76, Z:1.72 [[ 8.03379853e-01 -5.95109435e-01 -2.06293804e-02 7.27004735e+01] [ 5.94902336e-01 8.03644600e-01 -1.57024707e-02 2.87634318e+01] [ 2.59233786e-02 3.42581944e-04 9.99663874e-01 1.71623823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:28.78, Z:1.72 [[ 8.03966672e-01 -5.94317157e-01 -2.06084563e-02 7.27236941e+01] [ 5.94110022e-01 8.04230674e-01 -1.56940778e-02 2.87809710e+01] [ 2.59012124e-02 3.73825025e-04 9.99664437e-01 1.71783469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:28.80, Z:1.72 [[ 8.04827547e-01 -5.93155995e-01 -2.04593571e-02 7.27450468e+01] [ 5.92951294e-01 8.05087445e-01 -1.55874686e-02 2.87989601e+01] [ 2.57173720e-02 4.13821824e-04 9.99669168e-01 1.71845433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:28.82, Z:1.72 [[ 8.05372747e-01 -5.92396047e-01 -2.10157386e-02 7.27677353e+01] [ 5.92179701e-01 8.05646770e-01 -1.60151292e-02 2.88174172e+01] [ 2.64185612e-02 4.53054795e-04 9.99650866e-01 1.71883176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.79, Y:28.84, Z:1.72 [[ 8.07168284e-01 -5.89931042e-01 -2.14645583e-02 7.27876675e+01] [ 5.89704286e-01 8.07453442e-01 -1.63643790e-02 2.88378207e+01] [ 2.69854867e-02 5.51065666e-04 9.99635674e-01 1.71810412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.81, Y:28.86, Z:1.72 [[ 8.07748707e-01 -5.89113953e-01 -2.20630266e-02 7.28102377e+01] [ 5.88873953e-01 8.08049747e-01 -1.68248297e-02 2.88563285e+01] [ 2.77397650e-02 5.97892739e-04 9.99615000e-01 1.71769274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:28.88, Z:1.72 [[ 8.08384634e-01 -5.88222168e-01 -2.25602500e-02 7.28322674e+01] [ 5.87970631e-01 8.08699115e-01 -1.72127282e-02 2.88752090e+01] [ 2.83693625e-02 6.49740606e-04 9.99597297e-01 1.71766951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:28.89, Z:1.72 [[ 8.09096706e-01 -5.87226022e-01 -2.29808527e-02 7.28533064e+01] [ 5.86964400e-01 8.09422698e-01 -1.75410701e-02 2.88942460e+01] [ 2.89017966e-02 7.03479651e-04 9.99582008e-01 1.71743458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:28.91, Z:1.72 [[ 8.08936221e-01 -5.87432632e-01 -2.33472251e-02 7.28758293e+01] [ 5.87162541e-01 8.09272758e-01 -1.78256662e-02 2.89106744e+01] [ 2.93656512e-02 7.11211064e-04 9.99568483e-01 1.71799435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:28.93, Z:1.72 [[ 8.08689976e-01 -5.87772326e-01 -2.33284407e-02 7.28984183e+01] [ 5.87502513e-01 8.09026077e-01 -1.78214245e-02 2.89267712e+01] [ 2.93482570e-02 7.06489792e-04 9.99568997e-01 1.71912268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:28.94, Z:1.72 [[ 8.08155262e-01 -5.88492964e-01 -2.36876408e-02 7.29202389e+01] [ 5.88214829e-01 8.08502038e-01 -1.81044110e-02 2.89436795e+01] [ 2.98058243e-02 6.97753418e-04 9.99555464e-01 1.71982695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:28.96, Z:1.72 [[ 8.07563277e-01 -5.89349193e-01 -2.25628655e-02 7.29435527e+01] [ 5.89097064e-01 8.07878161e-01 -1.72489684e-02 2.89613150e+01] [ 2.83937119e-02 6.37915573e-04 9.99596614e-01 1.72199302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.97, Y:28.98, Z:1.72 [[ 8.06944560e-01 -5.90211923e-01 -2.21441238e-02 7.29673452e+01] [ 5.89969162e-01 8.07248117e-01 -1.69371097e-02 2.89775346e+01] [ 2.78722863e-02 6.02958353e-04 9.99611311e-01 1.72340545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:28.99, Z:1.73 [[ 8.06525439e-01 -5.90792865e-01 -2.19204883e-02 7.29906099e+01] [ 5.90554965e-01 8.06823060e-01 -1.67744825e-02 2.89948287e+01] [ 2.75962000e-02 5.83793634e-04 9.99618982e-01 1.72523843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:29.01, Z:1.73 [[ 8.06444085e-01 -5.90916214e-01 -2.15862467e-02 7.30113910e+01] [ 5.90685345e-01 8.06732728e-01 -1.65266117e-02 2.90121949e+01] [ 2.71801745e-02 5.77108706e-04 9.99630384e-01 1.72612181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:29.03, Z:1.73 [[ 8.06080352e-01 -5.91405752e-01 -2.17647049e-02 7.30332119e+01] [ 5.91171030e-01 8.06373927e-01 -1.66704100e-02 2.90292328e+01] [ 2.74094670e-02 5.71026928e-04 9.99624127e-01 1.72656633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:29.05, Z:1.73 [[ 8.05686619e-01 -5.91924224e-01 -2.22437498e-02 7.30558953e+01] [ 5.91678979e-01 8.05993414e-01 -1.70470448e-02 2.90462916e+01] [ 2.80188746e-02 5.73416747e-04 9.99607230e-01 1.72616009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:29.06, Z:1.73 [[ 8.04707036e-01 -5.93211926e-01 -2.33708801e-02 7.30784870e+01] [ 5.92941479e-01 8.05046145e-01 -1.79194898e-02 2.90619782e+01] [ 2.94446919e-02 5.62375299e-04 9.99566253e-01 1.72557405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38687499999999 meters Centerline goodness [0,1] 0.9999757045675413 Centerline is valid? [True, True] Translation: X:73.10, Y:29.08, Z:1.73 [[ 8.04075227e-01 -5.94064536e-01 -2.34596509e-02 7.31020725e+01] [ 5.93792257e-01 8.04417204e-01 -1.79921555e-02 2.90789129e+01] [ 2.95598483e-02 5.36887485e-04 9.99562868e-01 1.72626211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:29.10, Z:1.73 [[ 8.03259729e-01 -5.95177732e-01 -2.31791878e-02 7.31262783e+01] [ 5.94912136e-01 8.03593940e-01 -1.77856429e-02 2.90954953e+01] [ 2.92122735e-02 4.96910615e-04 9.99573107e-01 1.72795316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:29.11, Z:1.73 [[ 8.02474677e-01 -5.96254956e-01 -2.26808342e-02 7.31484381e+01] [ 5.96000885e-01 8.02795006e-01 -1.74104364e-02 2.91120986e+01] [ 2.85891194e-02 4.53637130e-04 9.99591145e-01 1.72922665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:29.13, Z:1.73 [[ 8.01430712e-01 -5.97675506e-01 -2.21991670e-02 7.31717690e+01] [ 5.97432543e-01 8.01738006e-01 -1.70448158e-02 2.91286982e+01] [ 2.79851848e-02 3.97734129e-04 9.99608259e-01 1.73036401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:29.15, Z:1.73 [[ 8.01043765e-01 -5.98187587e-01 -2.23718052e-02 7.31946531e+01] [ 5.97940783e-01 8.01356012e-01 -1.71860876e-02 2.91458031e+01] [ 2.82082849e-02 3.89793562e-04 9.99601991e-01 1.73058217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:29.16, Z:1.73 [[ 8.00967179e-01 -5.98292388e-01 -2.23113496e-02 7.32156353e+01] [ 5.98046711e-01 8.01277770e-01 -1.71483958e-02 2.91626928e+01] [ 2.81373432e-02 3.92072958e-04 9.99603990e-01 1.73066069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:29.18, Z:1.73 [[ 8.00603947e-01 -5.98774303e-01 -2.24199537e-02 7.32383846e+01] [ 5.98526235e-01 8.00917716e-01 -1.72382954e-02 2.91798974e+01] [ 2.82783864e-02 3.82116806e-04 9.99600013e-01 1.73109195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.26, Y:29.20, Z:1.73 [[ 7.99877593e-01 -5.99735965e-01 -2.26408437e-02 7.32608709e+01] [ 5.99483087e-01 8.00197878e-01 -1.74179522e-02 2.91978218e+01] [ 2.85633275e-02 3.59426820e-04 9.99591920e-01 1.73034905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.626875 meters Centerline goodness [0,1] 0.9998289595855935 Centerline is valid? [True, True] Translation: X:73.28, Y:29.21, Z:1.73 [[ 7.99218286e-01 -6.00612912e-01 -2.26773406e-02 7.32828516e+01] [ 6.00359342e-01 7.99539879e-01 -1.74540208e-02 2.92144531e+01] [ 2.86145484e-02 3.35019311e-04 9.99590464e-01 1.73034933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:29.23, Z:1.73 [[ 7.98528007e-01 -6.01534745e-01 -2.25604055e-02 7.33065203e+01] [ 6.01284022e-01 7.98846580e-01 -1.73685716e-02 2.92313745e+01] [ 2.84701020e-02 3.04079546e-04 9.99594598e-01 1.73222760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:29.25, Z:1.73 [[ 7.96740271e-01 -6.03903548e-01 -2.24821146e-02 7.33299984e+01] [ 6.03655294e-01 7.97057372e-01 -1.73156638e-02 2.92472100e+01] [ 2.83765260e-02 2.24639202e-04 9.99597280e-01 1.73365159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:29.26, Z:1.73 [[ 7.95747554e-01 -6.05229957e-01 -2.19665545e-02 7.33523423e+01] [ 6.04993384e-01 7.96050669e-01 -1.69214858e-02 2.92637993e+01] [ 2.77278805e-02 1.75610734e-04 9.99615493e-01 1.73422503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:29.28, Z:1.74 [[ 7.94479812e-01 -6.06912060e-01 -2.14378029e-02 7.33758321e+01] [ 6.06687250e-01 7.94768984e-01 -1.65179575e-02 2.92802663e+01] [ 2.70630485e-02 1.17142085e-04 9.99633722e-01 1.73543462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:29.30, Z:1.74 [[ 7.91903532e-01 -6.10289614e-01 -2.08658380e-02 7.34004688e+01] [ 6.10077610e-01 7.92178381e-01 -1.60848517e-02 2.92950562e+01] [ 2.63458837e-02 7.87026046e-06 9.99652887e-01 1.73683506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80687499999999 meters Centerline goodness [0,1] 0.9999753761296201 Centerline is valid? [True, True] Translation: X:73.42, Y:29.31, Z:1.74 [[ 7.90569406e-01 -6.12025382e-01 -2.06142438e-02 7.34230827e+01] [ 6.11818845e-01 7.90838119e-01 -1.58987606e-02 2.93110233e+01] [ 2.60329748e-02 -4.31091524e-05 9.99661084e-01 1.73783709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:29.33, Z:1.74 [[ 7.89616290e-01 -6.13257716e-01 -2.05204128e-02 7.34450388e+01] [ 6.13053255e-01 7.89882882e-01 -1.58347544e-02 2.93268479e+01] [ 2.59195081e-02 -7.67258274e-05 9.99664030e-01 1.73854687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:29.34, Z:1.74 [[ 7.87913941e-01 -6.15445034e-01 -2.04702733e-02 7.34682578e+01] [ 6.15242181e-01 7.88179795e-01 -1.58009521e-02 2.93424130e+01] [ 2.58588733e-02 -1.44385111e-04 9.99665593e-01 1.73992867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:29.36, Z:1.74 [[ 7.87143372e-01 -6.16449635e-01 -1.98786148e-02 7.34905580e+01] [ 6.16258550e-01 7.87394323e-01 -1.53486426e-02 2.93587667e+01] [ 2.51139736e-02 -1.68784011e-04 9.99684580e-01 1.74089145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:29.38, Z:1.74 [[ 7.86438623e-01 -6.17351258e-01 -1.97918339e-02 7.35125295e+01] [ 6.17161920e-01 7.86687605e-01 -1.52897410e-02 2.93752008e+01] [ 2.50091313e-02 -1.90323356e-04 9.99687205e-01 1.74130817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:29.39, Z:1.74 [[ 7.85765507e-01 -6.18188862e-01 -2.03739799e-02 7.35347618e+01] [ 6.17988357e-01 7.86029569e-01 -1.57451016e-02 2.93936133e+01] [ 2.57479971e-02 -2.18924621e-04 9.99668441e-01 1.74007808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.56, Y:29.41, Z:1.74 [[ 7.85524343e-01 -6.18476306e-01 -2.09419545e-02 7.35567158e+01] [ 6.18264344e-01 7.85803415e-01 -1.61924243e-02 2.94117845e+01] [ 2.64708901e-02 -2.28120298e-04 9.99649559e-01 1.74008781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:29.43, Z:1.74 [[ 7.85539909e-01 -6.18441649e-01 -2.13770510e-02 7.35775932e+01] [ 6.18220538e-01 7.85830692e-01 -1.65375715e-02 2.94287559e+01] [ 2.70262658e-02 -2.24809565e-04 9.99634698e-01 1.73979922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.046875 meters Centerline goodness [0,1] 0.9998528004710385 Centerline is valid? [True, True] Translation: X:73.60, Y:29.45, Z:1.74 [[ 7.85616627e-01 -6.18326648e-01 -2.18785620e-02 7.35992919e+01] [ 6.18094819e-01 7.85921184e-01 -1.69318393e-02 2.94474350e+01] [ 2.76642328e-02 -2.21091336e-04 9.99617247e-01 1.74038450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:29.47, Z:1.74 [[ 7.85717078e-01 -6.18202296e-01 -2.17852032e-02 7.36202283e+01] [ 6.17972134e-01 7.86019006e-01 -1.68690072e-02 2.94663786e+01] [ 2.75520427e-02 -2.08381518e-04 9.99620349e-01 1.74181786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:29.48, Z:1.74 [[ 7.85586624e-01 -6.18391602e-01 -2.11064501e-02 7.36414565e+01] [ 6.18175389e-01 7.85870082e-01 -1.63524202e-02 2.94842956e+01] [ 2.66991270e-02 -2.01245440e-04 9.99643495e-01 1.74283926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:29.50, Z:1.74 [[ 7.85856075e-01 -6.18070750e-01 -2.04640439e-02 7.36625767e+01] [ 6.17867166e-01 7.86122456e-01 -1.58634650e-02 2.95024927e+01] [ 2.58919881e-02 -1.77660461e-04 9.99664730e-01 1.74403276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:29.52, Z:1.75 [[ 7.87771862e-01 -6.15652545e-01 -1.96834455e-02 7.36824223e+01] [ 6.15463237e-01 7.88017726e-01 -1.52665641e-02 2.95243865e+01] [ 2.49098030e-02 -8.78674432e-05 9.99689699e-01 1.74500698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:29.54, Z:1.75 [[ 7.89037817e-01 -6.14029389e-01 -1.96782651e-02 7.37024780e+01] [ 6.13839483e-01 7.89283162e-01 -1.52702150e-02 2.95444136e+01] [ 2.49080841e-02 -3.05189913e-05 9.99689745e-01 1.74506051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:29.56, Z:1.74 [[ 7.90992049e-01 -6.11507369e-01 -1.97564422e-02 7.37215344e+01] [ 6.11314960e-01 7.91238735e-01 -1.53390101e-02 2.95644740e+01] [ 2.50119800e-02 5.56263501e-05 9.99687150e-01 1.74430177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.74, Y:29.59, Z:1.74 [[ 7.95259180e-01 -6.05948184e-01 -1.97391638e-02 7.37394477e+01] [ 6.05754276e-01 7.95504081e-01 -1.53301534e-02 2.95876504e+01] [ 2.49918640e-02 2.34362378e-04 9.99687627e-01 1.74481291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:29.61, Z:1.75 [[ 7.97460047e-01 -6.03055373e-01 -1.95368989e-02 7.37598184e+01] [ 6.02864469e-01 7.97699262e-01 -1.51762905e-02 2.96082021e+01] [ 2.47367134e-02 3.24383125e-04 9.99693948e-01 1.74604574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:29.63, Z:1.75 [[ 7.99359040e-01 -6.00534348e-01 -1.95862796e-02 7.37804460e+01] [ 6.00341533e-01 7.99598855e-01 -1.52221732e-02 2.96289583e+01] [ 2.48026046e-02 4.09524626e-04 9.99692284e-01 1.74684175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:29.65, Z:1.75 [[ 8.01355119e-01 -5.97854022e-01 -2.00135368e-02 7.38003408e+01] [ 5.97651684e-01 8.01604834e-01 -1.55613341e-02 2.96494355e+01] [ 2.53463540e-02 5.09030753e-04 9.99678600e-01 1.74656135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:29.67, Z:1.75 [[ 8.04019826e-01 -5.94259929e-01 -2.01806075e-02 7.38202493e+01] [ 5.94052975e-01 8.04272801e-01 -1.56946996e-02 2.96716884e+01] [ 2.55574449e-02 6.30499713e-04 9.99673156e-01 1.74540479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.84, Y:29.69, Z:1.75 [[ 8.04766714e-01 -5.93249816e-01 -2.01293899e-02 7.38429239e+01] [ 5.93043403e-01 8.05018143e-01 -1.56624299e-02 2.96901463e+01] [ 2.54962577e-02 6.67000396e-04 9.99674695e-01 1.74571341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:29.71, Z:1.75 [[ 8.05060812e-01 -5.92871466e-01 -1.95067443e-02 7.38647662e+01] [ 5.92677332e-01 8.05296830e-01 -1.51853862e-02 2.97084892e+01] [ 2.47117015e-02 6.63954214e-04 9.99694399e-01 1.74650239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:29.73, Z:1.75 [[ 8.05638857e-01 -5.92114437e-01 -1.86152262e-02 7.38879190e+01] [ 5.91937278e-01 8.05853620e-01 -1.44983452e-02 2.97260540e+01] [ 2.35858269e-02 6.61383945e-04 9.99721597e-01 1.74914821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.91, Y:29.74, Z:1.75 [[ 8.05344417e-01 -5.92508742e-01 -1.88085511e-02 7.39108334e+01] [ 5.92327811e-01 8.05563748e-01 -1.46564590e-02 2.97426935e+01] [ 2.38355670e-02 6.62669523e-04 9.99715673e-01 1.75046625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52687499999999 meters Centerline goodness [0,1] 0.9998565588467331 Centerline is valid? [True, True] Translation: X:73.93, Y:29.76, Z:1.75 [[ 8.04385246e-01 -5.93824775e-01 -1.83442715e-02 7.39334444e+01] [ 5.93652829e-01 8.04594158e-01 -1.43024676e-02 2.97590828e+01] [ 2.32528533e-02 6.14565281e-04 9.99729427e-01 1.75117026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.96, Y:29.77, Z:1.75 [[ 8.03915956e-01 -5.94440440e-01 -1.89657182e-02 7.39582864e+01] [ 5.94256710e-01 8.04139402e-01 -1.47913443e-02 2.97744446e+01] [ 2.40436545e-02 6.20492372e-04 9.99710717e-01 1.75170968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:29.79, Z:1.75 [[ 8.03356344e-01 -5.95179119e-01 -1.95038879e-02 7.39807047e+01] [ 5.94984849e-01 8.03592826e-01 -1.52183738e-02 2.97914313e+01] [ 2.47308427e-02 6.21259352e-04 9.99693953e-01 1.75127185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.00, Y:29.81, Z:1.75 [[ 8.02933230e-01 -5.95723639e-01 -2.02872954e-02 7.40043095e+01] [ 5.95513520e-01 8.03189235e-01 -1.58335167e-02 2.98069274e+01] [ 2.57269374e-02 6.31898063e-04 9.99668808e-01 1.75100365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:29.82, Z:1.75 [[ 8.02768398e-01 -5.95945889e-01 -2.02829171e-02 7.40260279e+01] [ 5.95735700e-01 8.03024344e-01 -1.58391236e-02 2.98240036e+01] [ 2.57269368e-02 6.31890084e-04 9.99668808e-01 1.75160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:29.84, Z:1.75 [[ 8.02542101e-01 -5.96205619e-01 -2.15647126e-02 7.40460641e+01] [ 5.95967859e-01 8.02831496e-01 -1.68493413e-02 2.98428617e+01] [ 2.73585024e-02 6.70430164e-04 9.99625461e-01 1.74811868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.07, Y:29.86, Z:1.75 [[ 8.02482779e-01 -5.96257966e-01 -2.23120717e-02 7.40723907e+01] [ 5.96003273e-01 8.02792596e-01 -1.74397990e-02 2.98561671e+01] [ 2.83105850e-02 6.97070611e-04 9.99598932e-01 1.74862148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:29.87, Z:1.75 [[ 8.02690019e-01 -5.95972122e-01 -2.24936108e-02 7.40949966e+01] [ 5.95712930e-01 8.03004802e-01 -1.75895676e-02 2.98732909e+01] [ 2.85453695e-02 7.19235564e-04 9.99592239e-01 1.74932210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:29.89, Z:1.75 [[ 8.03155855e-01 -5.95356030e-01 -2.21781428e-02 7.41190523e+01] [ 5.95103675e-01 8.03461671e-01 -1.73481726e-02 2.98897881e+01] [ 2.81476268e-02 7.34992139e-04 9.99603507e-01 1.75108881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:29.91, Z:1.75 [[ 8.03198164e-01 -5.95309976e-01 -2.18801884e-02 7.41415627e+01] [ 5.95064100e-01 8.03495796e-01 -1.71237365e-02 2.99063816e+01] [ 2.77745705e-02 7.33639087e-04 9.99613943e-01 1.75203759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:29.92, Z:1.75 [[ 8.03203279e-01 -5.95310371e-01 -2.16807566e-02 7.41633179e+01] [ 5.95068697e-01 8.03495503e-01 -1.69771481e-02 2.99234456e+01] [ 2.75270628e-02 7.34561446e-04 9.99620789e-01 1.75263815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.19, Y:29.94, Z:1.75 [[ 8.03392810e-01 -5.95074850e-01 -2.11167255e-02 7.41860076e+01] [ 5.94845270e-01 8.03669950e-01 -1.65443526e-02 2.99410978e+01] [ 2.68160059e-02 7.30429629e-04 9.99640119e-01 1.75375144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:29.96, Z:1.75 [[ 8.03259840e-01 -5.95302871e-01 -1.97007936e-02 7.42101898e+01] [ 5.95102937e-01 8.03501107e-01 -1.54423159e-02 2.99564836e+01] [ 2.50224645e-02 6.80192121e-04 9.99686658e-01 1.75491461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:29.97, Z:1.76 [[ 8.02811572e-01 -5.95915605e-01 -1.94466258e-02 7.42320085e+01] [ 5.95720780e-01 8.03046797e-01 -1.52510535e-02 2.99745205e+01] [ 2.47048913e-02 6.58963158e-04 9.99694570e-01 1.75592069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:29.99, Z:1.76 [[ 8.02045403e-01 -5.96964308e-01 -1.88888269e-02 7.42562616e+01] [ 5.96780719e-01 8.02267563e-01 -1.48165817e-02 2.99909409e+01] [ 2.39988635e-02 6.11083532e-04 9.99711799e-01 1.75673398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:30.01, Z:1.76 [[ 8.01047593e-01 -5.98293342e-01 -1.91789437e-02 7.42811928e+01] [ 5.98104268e-01 8.01276940e-01 -1.50516081e-02 3.00064743e+01] [ 2.43729223e-02 5.86046338e-04 9.99702764e-01 1.75708201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:30.02, Z:1.76 [[ 8.00274092e-01 -5.99320352e-01 -1.94034575e-02 7.43048166e+01] [ 5.99126937e-01 8.00509084e-01 -1.52354702e-02 3.00236332e+01] [ 2.46635714e-02 5.67418061e-04 9.99695647e-01 1.75719243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:30.04, Z:1.76 [[ 7.99610266e-01 -6.00204998e-01 -1.94263774e-02 7.43284658e+01] [ 6.00011198e-01 7.99846024e-01 -1.52610683e-02 3.00406647e+01] [ 2.46978802e-02 5.46862895e-04 9.99694811e-01 1.75758608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:30.06, Z:1.76 [[ 7.98162025e-01 -6.02106409e-01 -2.01309242e-02 7.43526720e+01] [ 6.01898691e-01 7.98415687e-01 -1.58226389e-02 3.00565665e+01] [ 2.55997579e-02 5.12252539e-04 9.99672141e-01 1.75658639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:30.07, Z:1.76 [[ 7.97256231e-01 -6.03310793e-01 -1.99646997e-02 7.43754362e+01] [ 6.03106684e-01 7.97506026e-01 -1.56992271e-02 3.00731200e+01] [ 2.53934815e-02 4.75462844e-04 9.99677420e-01 1.75656367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:30.09, Z:1.76 [[ 7.96512318e-01 -6.04277170e-01 -2.04261915e-02 7.43980425e+01] [ 6.04063717e-01 7.96774053e-01 -1.60665681e-02 3.00892357e+01] [ 2.59837197e-02 4.58498275e-04 9.99662261e-01 1.75667878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:30.10, Z:1.76 [[ 7.95100707e-01 -6.06133971e-01 -2.04077323e-02 7.44238430e+01] [ 6.05921420e-01 7.95362464e-01 -1.60556426e-02 3.01038337e+01] [ 2.59634146e-02 4.00370604e-04 9.99662814e-01 1.75719291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:30.12, Z:1.76 [[ 7.94517023e-01 -6.06909554e-01 -2.00871340e-02 7.44462336e+01] [ 6.06703700e-01 7.94770818e-01 -1.58103671e-02 3.01206564e+01] [ 2.55601307e-02 3.74667293e-04 9.99673216e-01 1.75764439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:30.14, Z:1.76 [[ 7.93794541e-01 -6.07856026e-01 -2.00319125e-02 7.44704824e+01] [ 6.07651515e-01 7.94047185e-01 -1.57703810e-02 3.01364563e+01] [ 2.54924049e-02 3.46020394e-04 9.99674956e-01 1.75788282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:30.15, Z:1.76 [[ 7.93396708e-01 -6.08386236e-01 -1.96939432e-02 7.44927799e+01] [ 6.08188552e-01 7.93641027e-01 -1.55114435e-02 3.01530252e+01] [ 2.50668700e-02 3.29097409e-04 9.99685722e-01 1.75781019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:30.17, Z:1.76 [[ 7.93185868e-01 -6.08654188e-01 -1.99062462e-02 7.45162457e+01] [ 6.08452169e-01 7.93435550e-01 -1.56839279e-02 3.01694681e+01] [ 2.53404118e-02 3.28271227e-04 9.99678826e-01 1.75876005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:30.19, Z:1.76 [[ 7.92930329e-01 -6.08974044e-01 -2.03003922e-02 7.45378326e+01] [ 6.08763824e-01 7.93190080e-01 -1.60032188e-02 3.01852833e+01] [ 2.58476147e-02 3.31293182e-04 9.99665840e-01 1.75924340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:30.20, Z:1.76 [[ 7.92913208e-01 -6.09022778e-01 -1.94910194e-02 7.45607650e+01] [ 6.08828854e-01 7.93152667e-01 -1.53712039e-02 3.02022044e+01] [ 2.48207673e-02 3.21335598e-04 9.99691866e-01 1.76031910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:30.22, Z:1.76 [[ 7.93033059e-01 -6.08870540e-01 -1.93709209e-02 7.45826117e+01] [ 6.08678745e-01 7.93269535e-01 -1.52849443e-02 3.02195119e+01] [ 2.46729137e-02 3.30798338e-04 9.99695523e-01 1.76058181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:30.24, Z:1.76 [[ 7.93265599e-01 -6.08555504e-01 -1.97455983e-02 7.46054715e+01] [ 6.08355901e-01 7.93511231e-01 -1.55892570e-02 3.02379604e+01] [ 2.51552822e-02 3.54070046e-04 9.99683493e-01 1.76027166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:30.26, Z:1.76 [[ 7.93816783e-01 -6.07834275e-01 -1.98092946e-02 7.46262576e+01] [ 6.07632977e-01 7.94063817e-01 -1.56467012e-02 3.02561011e+01] [ 2.52404454e-02 3.83833379e-04 9.99681336e-01 1.75986178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:30.27, Z:1.76 [[ 7.94862555e-01 -6.06459644e-01 -2.00054638e-02 7.46485051e+01] [ 6.06253789e-01 7.95114149e-01 -1.58061106e-02 3.02742371e+01] [ 2.54923955e-02 4.35297218e-04 9.99674921e-01 1.76011161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:30.29, Z:1.76 [[ 7.95495514e-01 -6.05627410e-01 -2.00581048e-02 7.46707760e+01] [ 6.05420010e-01 7.95748214e-01 -1.58553255e-02 3.02922714e+01] [ 2.55636208e-02 4.69262250e-04 9.99673087e-01 1.76039150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:30.31, Z:1.76 [[ 7.95822105e-01 -6.05179977e-01 -2.06003111e-02 7.46932067e+01] [ 6.04960852e-01 7.96088526e-01 -1.62919047e-02 3.03106315e+01] [ 2.62592059e-02 5.03076172e-04 9.99655041e-01 1.76051745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:30.33, Z:1.76 [[ 7.95385112e-01 -6.05754942e-01 -2.05784848e-02 7.47160385e+01] [ 6.05536292e-01 7.95651124e-01 -1.62815289e-02 3.03268837e+01] [ 2.62359112e-02 4.89066345e-04 9.99655660e-01 1.76054735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:30.34, Z:1.76 [[ 7.94937076e-01 -6.06358578e-01 -2.01077122e-02 7.47392425e+01] [ 6.06149927e-01 7.95191211e-01 -1.59124029e-02 3.03445681e+01] [ 2.56380980e-02 4.61070792e-04 9.99671184e-01 1.76149241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:30.36, Z:1.76 [[ 7.94297514e-01 -6.07198622e-01 -2.00322819e-02 7.47635029e+01] [ 6.06991609e-01 7.94549962e-01 -1.58601933e-02 3.03602990e+01] [ 2.55469363e-02 4.38285146e-04 9.99673528e-01 1.76187581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:30.37, Z:1.76 [[ 7.90373632e-01 -6.12312029e-01 -1.95831901e-02 7.47896650e+01] [ 6.12115567e-01 7.90616155e-01 -1.55121786e-02 3.03738038e+01] [ 2.49810800e-02 2.73241474e-04 9.99687887e-01 1.76387796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:30.39, Z:1.76 [[ 7.89050276e-01 -6.14022445e-01 -1.93932533e-02 7.48123829e+01] [ 6.13830114e-01 7.89288532e-01 -1.53689326e-02 3.03900149e+01] [ 2.47437420e-02 2.22697602e-04 9.99693802e-01 1.76423488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:30.41, Z:1.76 [[ 7.86533175e-01 -6.17213123e-01 -2.03353448e-02 7.48372942e+01] [ 6.17002571e-01 7.86795999e-01 -1.61209154e-02 3.04058874e+01] [ 2.59498085e-02 1.32674775e-04 9.99663238e-01 1.76255166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:30.42, Z:1.76 [[ 7.84835734e-01 -6.19362626e-01 -2.05622998e-02 7.48602541e+01] [ 6.19147867e-01 7.85105046e-01 -1.63090706e-02 3.04223970e+01] [ 2.62447941e-02 6.88372988e-05 9.99655544e-01 1.76276635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:30.44, Z:1.76 [[ 7.84149689e-01 -6.20225623e-01 -2.07229788e-02 7.48823489e+01] [ 6.20007553e-01 7.84423466e-01 -1.64456523e-02 3.04397835e+01] [ 2.64556058e-02 4.74497687e-05 9.99649988e-01 1.76247224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:30.45, Z:1.76 [[ 7.79531414e-01 -6.26018068e-01 -2.07882811e-02 7.49071913e+01] [ 6.25800430e-01 7.79808540e-01 -1.65064612e-02 3.04543280e+01] [ 2.65442220e-02 -1.42010169e-04 9.99647630e-01 1.76352682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:30.47, Z:1.76 [[ 7.78195333e-01 -6.27683676e-01 -2.06209928e-02 7.49295643e+01] [ 6.27469916e-01 7.78468474e-01 -1.63810332e-02 3.04706527e+01] [ 2.63349000e-02 -1.91409087e-04 9.99653158e-01 1.76489199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:30.49, Z:1.77 [[ 7.76071453e-01 -6.30305677e-01 -2.06846053e-02 7.49524887e+01] [ 6.30091422e-01 7.76347007e-01 -1.64354534e-02 3.04873939e+01] [ 2.64177910e-02 -2.78106145e-04 9.99650951e-01 1.76546726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.98, Y:30.50, Z:1.77 [[ 7.73219079e-01 -6.33808731e-01 -2.04633279e-02 7.49759200e+01] [ 6.33600162e-01 7.73489716e-01 -1.62632848e-02 3.05043810e+01] [ 2.61359856e-02 -3.90485810e-04 9.99658321e-01 1.76683180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.00, Y:30.52, Z:1.77 [[ 7.71707476e-01 -6.35659294e-01 -2.01204585e-02 7.49977163e+01] [ 6.35458107e-01 7.71969603e-01 -1.59976899e-02 3.05219984e+01] [ 2.57014626e-02 -4.40171628e-04 9.99669566e-01 1.76710051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters Centerline goodness [0,1] 0.999974889513861 Centerline is valid? [True, True] Translation: X:75.02, Y:30.54, Z:1.77 [[ 7.70722467e-01 -6.36872590e-01 -1.94982644e-02 7.50184981e+01] [ 6.36683963e-01 7.70968929e-01 -1.55061818e-02 3.05428815e+01] [ 2.49080182e-02 -4.63269576e-04 9.99689640e-01 1.76670775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:30.56, Z:1.77 [[ 7.71284621e-01 -6.36196413e-01 -1.93431690e-02 7.50394350e+01] [ 6.36010379e-01 7.71527017e-01 -1.53902447e-02 3.05634168e+01] [ 2.47149960e-02 -4.32197196e-04 9.99694444e-01 1.76742777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:30.59, Z:1.77 [[ 7.73882183e-01 -6.33072956e-01 -1.80277267e-02 7.50584431e+01] [ 6.32910367e-01 7.74092075e-01 -1.43501818e-02 3.05865123e+01] [ 2.30398324e-02 -3.04585054e-04 9.99734501e-01 1.76945106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:30.61, Z:1.77 [[ 7.75564709e-01 -6.31011981e-01 -1.79795128e-02 7.50787974e+01] [ 6.30849546e-01 7.75773049e-01 -1.43187552e-02 3.06077328e+01] [ 2.29833275e-02 -2.37246299e-04 9.99735820e-01 1.77110429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:30.63, Z:1.77 [[ 7.77618992e-01 -6.28491518e-01 -1.75246778e-02 7.50980578e+01] [ 6.28336411e-01 7.77816423e-01 -1.39630368e-02 3.06283536e+01] [ 2.24066324e-02 -1.53470557e-04 9.99748928e-01 1.77256240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:30.65, Z:1.77 [[ 7.79691929e-01 -6.25921753e-01 -1.73912513e-02 7.51176232e+01] [ 6.25768304e-01 7.79885859e-01 -1.38591797e-02 3.06498085e+01] [ 2.22379531e-02 -7.70032640e-05 9.99752703e-01 1.77389394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:30.67, Z:1.77 [[ 7.83707027e-01 -6.20910694e-01 -1.65289402e-02 7.51337292e+01] [ 6.20770840e-01 7.83881308e-01 -1.31779654e-02 3.06742324e+01] [ 2.11390670e-02 6.69799933e-05 9.99776543e-01 1.77488606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:30.70, Z:1.77 [[ 7.85088082e-01 -6.19164694e-01 -1.64858827e-02 7.51539538e+01] [ 6.19025028e-01 7.85261146e-01 -1.31509718e-02 3.06952952e+01] [ 2.10883405e-02 1.19497255e-04 9.99777609e-01 1.77490192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:30.72, Z:1.77 [[ 7.86223156e-01 -6.17720335e-01 -1.65751997e-02 7.51746936e+01] [ 6.17578692e-01 7.86397839e-01 -1.32286732e-02 3.07158351e+01] [ 2.12063216e-02 1.64199018e-04 9.99775107e-01 1.77458762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:30.74, Z:1.77 [[ 7.87305476e-01 -6.16323262e-01 -1.71966687e-02 7.51930199e+01] [ 6.16170312e-01 7.87493232e-01 -1.37315503e-02 3.07370028e+01] [ 2.20053341e-02 2.14848050e-04 9.99757830e-01 1.77239690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:30.75, Z:1.77 [[ 7.87230921e-01 -6.16409436e-01 -1.75181375e-02 7.52148136e+01] [ 6.16250677e-01 7.87425781e-01 -1.39908494e-02 3.07547671e+01] [ 2.24183247e-02 2.18465198e-04 9.99748654e-01 1.77246974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.24, Y:30.77, Z:1.77 [[ 7.86965937e-01 -6.16743310e-01 -1.76721197e-02 7.52352429e+01] [ 6.16581654e-01 7.87164305e-01 -1.41216676e-02 3.07722270e+01] [ 2.26203059e-02 2.16966568e-04 9.99744105e-01 1.77289504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters Centerline goodness [0,1] 0.999975894320702 Centerline is valid? [True, True] Translation: X:75.26, Y:30.79, Z:1.77 [[ 7.86845414e-01 -6.16883969e-01 -1.81235529e-02 7.52575623e+01] [ 6.16713875e-01 7.87054077e-01 -1.44871255e-02 3.07900434e+01] [ 2.32010917e-02 2.22081737e-04 9.99730794e-01 1.77349908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:30.81, Z:1.77 [[ 7.86806366e-01 -6.16937834e-01 -1.79847609e-02 7.52774377e+01] [ 6.16770165e-01 7.87011854e-01 -1.43842055e-02 3.08082110e+01] [ 2.30283805e-02 2.25120492e-04 9.99734786e-01 1.77378153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.30, Y:30.83, Z:1.77 [[ 7.86920772e-01 -6.16785520e-01 -1.82022482e-02 7.52994930e+01] [ 6.16613538e-01 7.87131225e-01 -1.45663688e-02 3.08260742e+01] [ 2.33118833e-02 2.38825481e-04 9.99728213e-01 1.77411366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.32, Y:30.84, Z:1.77 [[ 7.88280868e-01 -6.15024823e-01 -1.89140357e-02 7.53195702e+01] [ 6.14838418e-01 7.88507686e-01 -1.51442413e-02 3.08448795e+01] [ 2.42279468e-02 3.08839884e-04 9.99706413e-01 1.77397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:30.86, Z:1.77 [[ 7.88853379e-01 -6.14304284e-01 -1.84551975e-02 7.53411702e+01] [ 6.14126539e-01 7.89069161e-01 -1.47801615e-02 3.08638115e+01] [ 2.36419437e-02 3.25553723e-04 9.99720437e-01 1.77359592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:30.88, Z:1.77 [[ 7.89564269e-01 -6.13391275e-01 -1.84230456e-02 7.53629218e+01] [ 6.13213734e-01 7.89779093e-01 -1.47614875e-02 3.08826093e+01] [ 2.36047039e-02 3.57878513e-04 9.99721306e-01 1.77369753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.38, Y:30.90, Z:1.78 [[ 7.91757846e-01 -6.10567585e-01 -1.80758821e-02 7.53847412e+01] [ 6.10395775e-01 7.91964034e-01 -1.44901973e-02 3.09011857e+01] [ 2.31626933e-02 4.39285397e-04 9.99731612e-01 1.77617478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:30.92, Z:1.78 [[ 7.92773192e-01 -6.09254754e-01 -1.78692848e-02 7.54065468e+01] [ 6.09086361e-01 7.92974411e-01 -1.43313901e-02 3.09193402e+01] [ 2.29013532e-02 4.77604217e-04 9.99737616e-01 1.77702177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:30.94, Z:1.78 [[ 7.92604012e-01 -6.09474888e-01 -1.78673310e-02 7.54280385e+01] [ 6.09306496e-01 7.92805232e-01 -1.43338256e-02 3.09366983e+01] [ 2.29014202e-02 4.74366789e-04 9.99737616e-01 1.77762300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:30.96, Z:1.78 [[ 7.94135750e-01 -6.07497546e-01 -1.71796892e-02 7.54502205e+01] [ 6.07341238e-01 7.94321386e-01 -1.37897106e-02 3.09552745e+01] [ 2.20234099e-02 5.16968507e-04 9.99757322e-01 1.77789349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.47, Y:30.97, Z:1.78 [[ 7.95143486e-01 -6.06181719e-01 -1.70458075e-02 7.54706442e+01] [ 6.06027387e-01 7.95325981e-01 -1.36890415e-02 3.09743726e+01] [ 2.18550202e-02 5.54526033e-04 9.99760997e-01 1.77863270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:30.99, Z:1.78 [[ 7.96177187e-01 -6.04819448e-01 -1.71849185e-02 7.54925352e+01] [ 6.04662215e-01 7.96362403e-01 -1.38032359e-02 3.09923289e+01] [ 2.20338885e-02 5.98750686e-04 9.99757045e-01 1.77951032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:31.01, Z:1.78 [[ 7.97303112e-01 -6.03312429e-01 -1.79404836e-02 7.55141995e+01] [ 6.03140622e-01 7.97504648e-01 -1.44127288e-02 3.10105757e+01] [ 2.30029974e-02 6.70679061e-04 9.99735171e-01 1.77935792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:31.03, Z:1.78 [[ 7.99477540e-01 -6.00377724e-01 -1.95512778e-02 7.55362340e+01] [ 6.00172718e-01 7.99716142e-01 -1.57098930e-02 3.10290325e+01] [ 2.50673422e-02 8.25563102e-04 9.99685424e-01 1.77775518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:31.05, Z:1.78 [[ 8.00448665e-01 -5.99058362e-01 -2.02734861e-02 7.55552323e+01] [ 5.98837397e-01 8.00704855e-01 -1.62943924e-02 3.10491639e+01] [ 2.59943708e-02 9.02303001e-04 9.99661682e-01 1.77690557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:31.07, Z:1.78 [[ 8.01420971e-01 -5.97746986e-01 -2.05661928e-02 7.55791245e+01] [ 5.97519047e-01 8.01684237e-01 -1.65339881e-02 3.10656267e+01] [ 2.63707341e-02 9.61992899e-04 9.99651769e-01 1.77721109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:31.08, Z:1.78 [[ 8.01978421e-01 -5.96983988e-01 -2.09935743e-02 7.56031338e+01] [ 5.96745984e-01 8.02252509e-01 -1.68861309e-02 3.10824710e+01] [ 2.69228974e-02 1.01448144e-03 9.99636998e-01 1.77656803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.63, Y:31.10, Z:1.78 [[ 8.00933214e-01 -5.98371505e-01 -2.13899085e-02 7.56259366e+01] [ 5.98124710e-01 8.01218171e-01 -1.72126014e-02 3.10983856e+01] [ 2.74375135e-02 9.92311331e-04 9.99623028e-01 1.77686476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:31.11, Z:1.78 [[ 7.99744220e-01 -5.99954574e-01 -2.15335087e-02 7.56507969e+01] [ 5.99704911e-01 8.00033506e-01 -1.73323024e-02 3.11144725e+01] [ 2.76261226e-02 9.47657738e-04 9.99617877e-01 1.77746896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:31.13, Z:1.78 [[ 7.97448966e-01 -6.03020421e-01 -2.10123621e-02 7.56770231e+01] [ 6.02783549e-01 7.97725321e-01 -1.69205585e-02 3.11280253e+01] [ 2.69655356e-02 8.27375638e-04 9.99636021e-01 1.78022884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:31.14, Z:1.78 [[ 7.96511719e-01 -6.04272293e-01 -2.05931378e-02 7.56998032e+01] [ 6.04045011e-01 7.96777507e-01 -1.65900341e-02 3.11437751e+01] [ 2.64330469e-02 7.74974384e-04 9.99650286e-01 1.78177466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:31.16, Z:1.78 [[ 7.95292629e-01 -6.05880852e-01 -2.04457132e-02 7.57243509e+01] [ 6.05657244e-01 7.95555074e-01 -1.64750478e-02 3.11589851e+01] [ 2.62476069e-02 7.19389822e-04 9.99655213e-01 1.78200095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:31.17, Z:1.78 [[ 7.93170552e-01 -6.08653840e-01 -2.05177486e-02 7.57477300e+01] [ 6.08429383e-01 7.93435630e-01 -1.65404803e-02 3.11742723e+01] [ 2.63469396e-02 6.35820787e-04 9.99652657e-01 1.78121521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:31.19, Z:1.78 [[ 7.89876286e-01 -6.12918438e-01 -2.06504714e-02 7.57748486e+01] [ 6.12692416e-01 7.90146023e-01 -1.66512598e-02 3.11876172e+01] [ 2.65227519e-02 5.00048000e-04 9.99648085e-01 1.78118992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:31.20, Z:1.78 [[ 7.88723578e-01 -6.14406391e-01 -2.04915838e-02 7.57991988e+01] [ 6.14184136e-01 7.88989596e-01 -1.65307313e-02 3.12031550e+01] [ 2.63242334e-02 4.52571835e-04 9.99653355e-01 1.78264730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:31.22, Z:1.78 [[ 7.86919088e-01 -6.16706627e-01 -2.07674104e-02 7.58242209e+01] [ 6.16478922e-01 7.87192979e-01 -1.67616077e-02 3.12181601e+01] [ 2.66849542e-02 3.87358235e-04 9.99643818e-01 1.78357065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:31.23, Z:1.78 [[ 7.85463135e-01 -6.18544748e-01 -2.12145736e-02 7.58479603e+01] [ 6.18307565e-01 7.85749502e-01 -1.71310831e-02 3.12346935e+01] [ 2.72656821e-02 3.38702879e-04 9.99628165e-01 1.78413732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:31.25, Z:1.78 [[ 7.84708442e-01 -6.19502408e-01 -2.11997139e-02 7.58696373e+01] [ 6.19265677e-01 7.84994694e-01 -1.71275101e-02 3.12523460e+01] [ 2.72521967e-02 3.11846562e-04 9.99628541e-01 1.78474682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:31.27, Z:1.79 [[ 7.80008855e-01 -6.25451657e-01 -1.99100718e-02 7.58962383e+01] [ 6.25244594e-01 7.80262913e-01 -1.60929503e-02 3.12661989e+01] [ 2.56004531e-02 1.03978989e-04 9.99672249e-01 1.78704805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:31.28, Z:1.79 [[ 7.76958965e-01 -6.29268767e-01 -1.88569625e-02 7.59207105e+01] [ 6.29083991e-01 7.77187763e-01 -1.52484025e-02 3.12814622e+01] [ 2.42507439e-02 -1.52302023e-05 9.99705907e-01 1.78997665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:31.30, Z:1.79 [[ 7.74442047e-01 -6.32367407e-01 -1.87344134e-02 7.59446621e+01] [ 6.32185753e-01 7.74668608e-01 -1.51565990e-02 3.12983881e+01] [ 2.40975012e-02 -1.05721659e-04 9.99709607e-01 1.79037686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:31.32, Z:1.79 [[ 7.72246035e-01 -6.35000236e-01 -2.02672530e-02 7.59666867e+01] [ 6.34788317e-01 7.72511917e-01 -1.64051955e-02 3.13166425e+01] [ 2.60739975e-02 -1.96568233e-04 9.99659996e-01 1.78737279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:31.34, Z:1.79 [[ 7.71751418e-01 -6.35558360e-01 -2.15712812e-02 7.59885252e+01] [ 6.35318256e-01 7.72052797e-01 -1.74697535e-02 3.13356773e+01] [ 2.77572159e-02 -2.22321680e-04 9.99614670e-01 1.78556742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:31.35, Z:1.78 [[ 7.71981681e-01 -6.35260177e-01 -2.21086406e-02 7.60100697e+01] [ 6.35007575e-01 7.72298170e-01 -1.79141133e-02 3.13544899e+01] [ 2.84545855e-02 -2.09786945e-04 9.99595064e-01 1.78460390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:31.37, Z:1.79 [[ 7.72527037e-01 -6.34566947e-01 -2.29513916e-02 7.60308453e+01] [ 6.34294098e-01 7.72867877e-01 -1.86075686e-02 3.13733174e+01] [ 2.95461413e-02 -1.83082407e-04 9.99563401e-01 1.78521234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:31.39, Z:1.79 [[ 7.74895434e-01 -6.31679797e-01 -2.27530222e-02 7.60506984e+01] [ 6.31410151e-01 7.75229404e-01 -1.84551431e-02 3.13936533e+01] [ 2.92965529e-02 -6.56830620e-05 9.99570762e-01 1.78836514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:31.41, Z:1.79 [[ 7.76140297e-01 -6.30156565e-01 -2.25597749e-02 7.60706621e+01] [ 6.29890695e-01 7.76468096e-01 -1.83032362e-02 3.14136554e+01] [ 2.90508499e-02 -4.31311232e-06 9.99577935e-01 1.78917401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:31.43, Z:1.79 [[ 7.77423190e-01 -6.28560314e-01 -2.29153973e-02 7.60900477e+01] [ 6.28284996e-01 7.77760842e-01 -1.86020396e-02 3.14337193e+01] [ 2.95152026e-02 6.42566873e-05 9.99564329e-01 1.78975167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:31.46, Z:1.79 [[ 7.80187310e-01 -6.25121763e-01 -2.30335316e-02 7.61087433e+01] [ 6.24841803e-01 7.80527220e-01 -1.87077859e-02 3.14571590e+01] [ 2.96729425e-02 2.03263697e-04 9.99559641e-01 1.78893640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.13, Y:31.48, Z:1.79 [[ 7.81314650e-01 -6.23711958e-01 -2.30393314e-02 7.61287768e+01] [ 6.23431015e-01 7.81654223e-01 -1.87202017e-02 3.14773699e+01] [ 2.96848043e-02 2.62934050e-04 9.99559275e-01 1.78885390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.15, Y:31.50, Z:1.79 [[ 7.82457949e-01 -6.22290378e-01 -2.26769431e-02 7.61499143e+01] [ 6.22017446e-01 7.82786424e-01 -1.84312582e-02 3.14970453e+01] [ 2.92207979e-02 3.16230288e-04 9.99572931e-01 1.79005274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.17, Y:31.52, Z:1.79 [[ 7.84101781e-01 -6.20232690e-01 -2.22667572e-02 7.61696003e+01] [ 6.19968465e-01 7.84417782e-01 -1.81065263e-02 3.15185755e+01] [ 2.86966998e-02 3.92672212e-04 9.99588088e-01 1.79110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:31.54, Z:1.79 [[ 7.84633367e-01 -6.19570343e-01 -2.19788472e-02 7.61909476e+01] [ 6.19312405e-01 7.84941026e-01 -1.78810168e-02 3.15381719e+01] [ 2.83306466e-02 4.18269725e-04 9.99598519e-01 1.79227307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.21, Y:31.56, Z:1.79 [[ 7.85008023e-01 -6.19099237e-01 -2.18755167e-02 7.62114693e+01] [ 6.18843318e-01 7.85312639e-01 -1.78046781e-02 3.15570596e+01] [ 2.82019824e-02 4.39297803e-04 9.99602148e-01 1.79344970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.23, Y:31.58, Z:1.79 [[ 7.86107206e-01 -6.17704940e-01 -2.18189574e-02 7.62317589e+01] [ 6.17449689e-01 7.86409795e-01 -1.77627558e-02 3.15771100e+01] [ 2.81307839e-02 4.91321897e-04 9.99604130e-01 1.79445818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.25, Y:31.60, Z:1.80 [[ 7.86454690e-01 -6.17259623e-01 -2.18992828e-02 7.62529419e+01] [ 6.17002222e-01 7.86759363e-01 -1.78314982e-02 3.15960699e+01] [ 2.82361297e-02 5.11759200e-04 9.99601150e-01 1.79528852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:31.62, Z:1.80 [[ 7.86723555e-01 -6.16917507e-01 -2.18823543e-02 7.62752521e+01] [ 6.16660222e-01 7.87027643e-01 -1.78230232e-02 3.16150679e+01] [ 2.82173528e-02 5.27814744e-04 9.99601672e-01 1.79570633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.30, Y:31.64, Z:1.80 [[ 7.87758798e-01 -6.15612311e-01 -2.13906128e-02 7.62955400e+01] [ 6.15365781e-01 7.88048958e-01 -1.74297237e-02 3.16351004e+01] [ 2.75868027e-02 5.67367032e-04 9.99619251e-01 1.79553979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.32, Y:31.65, Z:1.80 [[ 7.88152397e-01 -6.15096464e-01 -2.17287583e-02 7.63155540e+01] [ 6.14841792e-01 7.88451637e-01 -1.77083916e-02 3.16540900e+01] [ 2.80244441e-02 5.97162587e-04 9.99607060e-01 1.79605438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.34, Y:31.67, Z:1.80 [[ 7.88448280e-01 -6.14715240e-01 -2.17826675e-02 7.63354229e+01] [ 6.14459062e-01 7.88748880e-01 -1.77556898e-02 3.16732868e+01] [ 2.80957477e-02 6.14885603e-04 9.99605047e-01 1.79613270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:31.69, Z:1.80 [[ 7.88965693e-01 -6.14039790e-01 -2.20968622e-02 7.63583275e+01] [ 6.13775747e-01 7.89274801e-01 -1.80172681e-02 3.16907401e+01] [ 2.85038160e-02 6.52488284e-04 9.99593471e-01 1.79767374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:31.71, Z:1.80 [[ 7.89222717e-01 -6.13706483e-01 -2.21778166e-02 7.63795954e+01] [ 6.13440143e-01 7.89533976e-01 -1.80911851e-02 3.17090673e+01] [ 2.86128173e-02 6.73211315e-04 9.99590343e-01 1.79761023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.40, Y:31.73, Z:1.80 [[ 7.89527996e-01 -6.13293065e-01 -2.27411632e-02 7.64018727e+01] [ 6.13012677e-01 7.89855121e-01 -1.85565626e-02 3.17276682e+01] [ 2.93428354e-02 7.10304331e-04 9.99569154e-01 1.79818805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.42, Y:31.75, Z:1.80 [[ 7.89740743e-01 -6.12983919e-01 -2.36701174e-02 7.64244894e+01] [ 6.12679717e-01 7.90095019e-01 -1.93242238e-02 3.17456154e+01] [ 3.05470803e-02 7.58926046e-04 9.99533041e-01 1.79693805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:31.76, Z:1.80 [[ 7.90059034e-01 -6.12558649e-01 -2.40546056e-02 7.64459857e+01] [ 6.12244040e-01 7.90424741e-01 -1.96459856e-02 3.17635226e+01] [ 3.10476738e-02 7.94199486e-04 9.99517589e-01 1.79698989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:31.78, Z:1.80 [[ 7.91502144e-01 -6.10703543e-01 -2.37810628e-02 7.64685644e+01] [ 6.10395056e-01 7.91858852e-01 -1.94276888e-02 3.17820366e+01] [ 3.06958034e-02 8.61214173e-04 9.99528402e-01 1.79940687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:31.80, Z:1.80 [[ 7.92286359e-01 -6.09687949e-01 -2.37261303e-02 7.64895856e+01] [ 6.09380196e-01 7.92641020e-01 -1.93904945e-02 3.18011622e+01] [ 3.06284549e-02 9.04590351e-04 9.99530429e-01 1.79984877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:31.82, Z:1.80 [[ 7.92993598e-01 -6.08759137e-01 -2.39471570e-02 7.65114947e+01] [ 6.08445035e-01 7.93354526e-01 -1.95763856e-02 3.18203922e+01] [ 3.09158890e-02 9.53419660e-04 9.99521535e-01 1.79932336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:31.84, Z:1.80 [[ 7.94146355e-01 -6.07286583e-01 -2.31208385e-02 7.65343549e+01] [ 6.06992892e-01 7.94482246e-01 -1.89100521e-02 3.18378929e+01] [ 2.98529167e-02 9.83164345e-04 9.99553819e-01 1.80112932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:31.86, Z:1.80 [[ 7.94435939e-01 -6.06921317e-01 -2.27608083e-02 7.65546935e+01] [ 6.06636313e-01 7.94761310e-01 -1.86237567e-02 3.18574437e+01] [ 2.93925647e-02 9.87848788e-04 9.99567457e-01 1.80224931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:31.87, Z:1.80 [[ 7.94313907e-01 -6.07080040e-01 -2.27868862e-02 7.65771597e+01] [ 6.06794262e-01 7.94640075e-01 -1.86514100e-02 3.18740337e+01] [ 2.94302717e-02 9.88122551e-04 9.99566347e-01 1.80393170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:31.89, Z:1.81 [[ 7.93730492e-01 -6.07873185e-01 -2.19567067e-02 7.65987906e+01] [ 6.07607882e-01 7.94033578e-01 -1.79815948e-02 3.18924209e+01] [ 2.83648916e-02 9.31472028e-04 9.99597202e-01 1.80518234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.62, Y:31.91, Z:1.81 [[ 7.92385140e-01 -6.09668233e-01 -2.07469464e-02 7.66237991e+01] [ 6.09431766e-01 7.92656271e-01 -1.69987982e-02 3.19082789e+01] [ 2.68088244e-02 8.25746900e-04 9.99640238e-01 1.80862945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:31.93, Z:1.81 [[ 7.91311468e-01 -6.11070148e-01 -2.04801218e-02 7.66458005e+01] [ 6.10840012e-01 7.91576071e-01 -1.67870016e-02 3.19255976e+01] [ 2.64696099e-02 7.73669014e-04 9.99649319e-01 1.80998414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:31.94, Z:1.81 [[ 7.90135502e-01 -6.12583708e-01 -2.06661477e-02 7.66703835e+01] [ 6.12349781e-01 7.90405379e-01 -1.69435042e-02 3.19417957e+01] [ 2.67139490e-02 7.32753162e-04 9.99642850e-01 1.80983410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:31.96, Z:1.81 [[ 7.88042287e-01 -6.15242495e-01 -2.15876370e-02 7.66943307e+01] [ 6.14987976e-01 7.88337625e-01 -1.77081302e-02 3.19574751e+01] [ 2.79131407e-02 6.78618206e-04 9.99610122e-01 1.80849030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:31.97, Z:1.81 [[ 7.86924455e-01 -6.16651204e-01 -2.21629147e-02 7.67179315e+01] [ 6.16383230e-01 7.87236220e-01 -1.81892271e-02 3.19742550e+01] [ 2.86638579e-02 6.52698665e-04 9.99588894e-01 1.80824227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:31.99, Z:1.81 [[ 7.85603920e-01 -6.18326403e-01 -2.23369719e-02 7.67406499e+01] [ 6.18054612e-01 7.85921177e-01 -1.83412158e-02 3.19913641e+01] [ 2.88959573e-02 6.03462539e-04 9.99582242e-01 1.80864659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:32.01, Z:1.81 [[ 7.84927018e-01 -6.19180833e-01 -2.24649078e-02 7.67636165e+01] [ 6.18906005e-01 7.85248214e-01 -1.84553640e-02 3.20082776e+01] [ 2.90677364e-02 5.82447555e-04 9.99577274e-01 1.80908123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:32.03, Z:1.81 [[ 7.84183964e-01 -6.20125674e-01 -2.23530433e-02 7.67865641e+01] [ 6.19853701e-01 7.84502290e-01 -1.83724110e-02 3.20257759e+01] [ 2.89292174e-02 5.51733499e-04 9.99581310e-01 1.80979495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:32.04, Z:1.81 [[ 7.83631190e-01 -6.20819603e-01 -2.24761869e-02 7.68089267e+01] [ 6.20544635e-01 7.83953272e-01 -1.84830721e-02 3.20427195e+01] [ 2.90949337e-02 5.36434608e-04 9.99576509e-01 1.81129751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:32.06, Z:1.81 [[ 7.83101818e-01 -6.21518854e-01 -2.15837114e-02 7.68308370e+01] [ 6.21265329e-01 7.83399047e-01 -1.77573505e-02 3.20605327e+01] [ 2.79451871e-02 4.96601852e-04 9.99609334e-01 1.81283106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:32.08, Z:1.81 [[ 7.82933403e-01 -6.21731073e-01 -2.15814652e-02 7.68521065e+01] [ 6.21477553e-01 7.83230637e-01 -1.77600799e-02 3.20781623e+01] [ 2.79452583e-02 4.92563590e-04 9.99609334e-01 1.81343274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:32.10, Z:1.81 [[ 7.82558744e-01 -6.22215652e-01 -2.12013009e-02 7.68735205e+01] [ 6.21970903e-01 7.82845743e-01 -1.74567597e-02 3.20959973e+01] [ 2.74592172e-02 4.74347643e-04 9.99622812e-01 1.81375777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:32.11, Z:1.81 [[ 7.82444550e-01 -6.22379216e-01 -2.06067518e-02 7.68938519e+01] [ 6.22147835e-01 7.82715720e-01 -1.69756771e-02 3.21136850e+01] [ 2.66945372e-02 4.62079989e-04 9.99643531e-01 1.81416190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:32.13, Z:1.82 [[ 7.82108657e-01 -6.22860094e-01 -1.87443824e-02 7.69161465e+01] [ 6.22668680e-01 7.82333136e-01 -1.54460114e-02 3.21315790e+01] [ 2.42850556e-02 4.08919370e-04 9.99704991e-01 1.81669725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:32.15, Z:1.82 [[ 7.81705398e-01 -6.23376052e-01 -1.84110950e-02 7.69378929e+01] [ 6.23191351e-01 7.81922083e-01 -1.51788074e-02 3.21494900e+01] [ 2.38581468e-02 3.91720486e-04 9.99715277e-01 1.81821374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:32.17, Z:1.82 [[ 7.81241831e-01 -6.23970645e-01 -1.79397643e-02 7.69595093e+01] [ 6.23795249e-01 7.81447693e-01 -1.47983101e-02 3.21671923e+01] [ 2.32526986e-02 3.70319140e-04 9.99729551e-01 1.82008941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:32.19, Z:1.82 [[ 7.80530783e-01 -6.24854697e-01 -1.81191971e-02 7.69818862e+01] [ 6.24675815e-01 7.80740983e-01 -1.49547041e-02 3.21856552e+01] [ 2.34909169e-02 3.53982698e-04 9.99723988e-01 1.82022430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:32.20, Z:1.82 [[ 7.79369428e-01 -6.26257215e-01 -1.96264008e-02 7.70041605e+01] [ 6.26047571e-01 7.79616433e-01 -1.62066896e-02 3.22026362e+01] [ 2.54506209e-02 3.43937870e-04 9.99676021e-01 1.81863568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:32.22, Z:1.82 [[ 7.78590695e-01 -6.27200747e-01 -2.03900182e-02 7.70265789e+01] [ 6.26974639e-01 7.78857570e-01 -1.68430427e-02 3.22204007e+01] [ 2.64448890e-02 3.29811979e-04 9.99650218e-01 1.81852477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:32.24, Z:1.82 [[ 7.77937321e-01 -6.28008840e-01 -2.04553593e-02 7.70481773e+01] [ 6.27781337e-01 7.78206143e-01 -1.69053899e-02 3.22376548e+01] [ 2.65352205e-02 3.09840918e-04 9.99647831e-01 1.81813321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:32.25, Z:1.82 [[ 7.77121726e-01 -6.29016663e-01 -2.04905030e-02 7.70719462e+01] [ 6.28788597e-01 7.77391767e-01 -1.69392984e-02 3.22549293e+01] [ 2.65842493e-02 2.79702209e-04 9.99646537e-01 1.81921184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:32.27, Z:1.82 [[ 7.77231918e-01 -6.28871974e-01 -2.07505615e-02 7.70938683e+01] [ 6.28637798e-01 7.77508812e-01 -1.71629103e-02 3.22729401e+01] [ 2.69270176e-02 2.94974394e-04 9.99637359e-01 1.82013853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:32.29, Z:1.82 [[ 7.77624736e-01 -6.28384660e-01 -2.07963562e-02 7.71151070e+01] [ 6.28149045e-01 7.77902704e-01 -1.72092957e-02 3.22917801e+01] [ 2.69915991e-02 3.19162724e-04 9.99635609e-01 1.82071544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.14, Y:32.31, Z:1.82 [[ 7.78219189e-01 -6.27644061e-01 -2.09242976e-02 7.71364163e+01] [ 6.27405131e-01 7.78500359e-01 -1.73203057e-02 3.23107890e+01] [ 2.71605602e-02 3.50982609e-04 9.99631022e-01 1.82066793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:32.33, Z:1.82 [[ 7.80391092e-01 -6.24948417e-01 -2.07176069e-02 7.71556577e+01] [ 6.24713037e-01 7.80665919e-01 -1.71564693e-02 3.23318925e+01] [ 2.68954379e-02 4.46196722e-04 9.99638153e-01 1.81958279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.906875 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:77.18, Y:32.35, Z:1.82 [[ 7.81274780e-01 -6.23841581e-01 -2.07701872e-02 7.71773134e+01] [ 6.23604506e-01 7.81550666e-01 -1.72039680e-02 3.23508247e+01] [ 2.69655042e-02 4.88643985e-04 9.99636245e-01 1.82021288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:32.37, Z:1.82 [[ 7.83706993e-01 -6.20799546e-01 -2.02798426e-02 7.71978909e+01] [ 6.20572311e-01 7.83969120e-01 -1.68055489e-02 3.23708314e+01] [ 2.63316475e-02 5.85517445e-04 9.99653091e-01 1.82250840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:32.39, Z:1.82 [[ 7.84622415e-01 -6.19656763e-01 -1.98283207e-02 7.72209629e+01] [ 6.19438982e-01 7.84872676e-01 -1.64386897e-02 3.23889803e+01] [ 2.57490524e-02 6.15729608e-04 9.99668249e-01 1.82429298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.24, Y:32.41, Z:1.82 [[ 7.85290570e-01 -6.18820568e-01 -1.94891310e-02 7.72408055e+01] [ 6.18609734e-01 7.85532112e-01 -1.61647400e-02 3.24084310e+01] [ 2.53124119e-02 6.37851760e-04 9.99679386e-01 1.82453540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:32.43, Z:1.82 [[ 7.86391400e-01 -6.17414794e-01 -1.96860176e-02 7.72629401e+01] [ 6.17199144e-01 7.86637459e-01 -1.63316868e-02 3.24274450e+01] [ 2.55691839e-02 6.92904803e-04 9.99672815e-01 1.82437772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:32.44, Z:1.82 [[ 7.86091888e-01 -6.17786437e-01 -1.99865287e-02 7.72857924e+01] [ 6.17564055e-01 7.86345618e-01 -1.65893473e-02 3.24444653e+01] [ 2.59649931e-02 6.97789654e-04 9.99662609e-01 1.82447425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.31, Y:32.46, Z:1.82 [[ 7.85304613e-01 -6.18765523e-01 -2.06371621e-02 7.73091705e+01] [ 6.18528501e-01 7.85575423e-01 -1.71390947e-02 3.24612731e+01] [ 2.68171282e-02 6.94737189e-04 9.99640115e-01 1.82358653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:32.48, Z:1.82 [[ 7.84752094e-01 -6.19451291e-01 -2.10772118e-02 7.73328934e+01] [ 6.19204057e-01 7.85034788e-01 -1.75133718e-02 3.24785561e+01] [ 2.73950253e-02 6.92560093e-04 9.99624446e-01 1.82382282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:32.50, Z:1.82 [[ 7.84026524e-01 -6.20360771e-01 -2.13289252e-02 7.73561789e+01] [ 6.20107682e-01 7.84316299e-01 -1.77314923e-02 3.24957426e+01] [ 2.77285460e-02 6.75729906e-04 9.99615262e-01 1.82387424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:32.51, Z:1.82 [[ 7.83270172e-01 -6.21305379e-01 -2.16209217e-02 7.73797424e+01] [ 6.21045414e-01 7.83568244e-01 -1.79833557e-02 3.25133853e+01] [ 2.81146233e-02 6.58251845e-04 9.99604489e-01 1.82441744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.40, Y:32.53, Z:1.83 [[ 7.81899688e-01 -6.23032942e-01 -2.15135161e-02 7.74023912e+01] [ 6.22775993e-01 7.82195368e-01 -1.79016399e-02 3.25300424e+01] [ 2.79810840e-02 5.99185322e-04 9.99608273e-01 1.82524960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:32.55, Z:1.83 [[ 7.80897184e-01 -6.24305515e-01 -2.10288454e-02 7.74268638e+01] [ 6.24060361e-01 7.81180087e-01 -1.75025040e-02 3.25458558e+01] [ 2.73542250e-02 5.44387183e-04 9.99625655e-01 1.82697610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:32.56, Z:1.83 [[ 7.79727665e-01 -6.25777117e-01 -2.06825711e-02 7.74496899e+01] [ 6.25540290e-01 7.80001769e-01 -1.72216816e-02 3.25624960e+01] [ 2.69093763e-02 4.90440072e-04 9.99637757e-01 1.82864682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:32.58, Z:1.83 [[ 7.77926694e-01 -6.28033290e-01 -2.01058504e-02 7.74750540e+01] [ 6.27810160e-01 7.78186368e-01 -1.67445493e-02 3.25778012e+01] [ 2.61622331e-02 4.03374766e-04 9.99657629e-01 1.83034975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:32.59, Z:1.83 [[ 7.77271663e-01 -6.28867481e-01 -1.93508038e-02 7.74979001e+01] [ 6.28660943e-01 7.77512417e-01 -1.61202147e-02 3.25948871e+01] [ 2.51829690e-02 3.64691574e-04 9.99682792e-01 1.83194128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:32.61, Z:1.83 [[ 7.76503061e-01 -6.29821062e-01 -1.91944340e-02 7.75210355e+01] [ 6.29617945e-01 7.76740186e-01 -1.59977204e-02 3.26128600e+01] [ 2.49847894e-02 3.37118805e-04 9.99687775e-01 1.83341416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.54, Y:32.63, Z:1.84 [[ 7.76216160e-01 -6.30191986e-01 -1.86154265e-02 7.75431966e+01] [ 6.30000867e-01 7.76439281e-01 -1.55225788e-02 3.26300726e+01] [ 2.42359531e-02 3.21141698e-04 9.99706215e-01 1.83541115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.56, Y:32.65, Z:1.83 [[ 7.76151315e-01 -6.30269482e-01 -1.86953541e-02 7.75645193e+01] [ 6.30076526e-01 7.76376373e-01 -1.55980099e-02 3.26482218e+01] [ 2.43455808e-02 3.26912104e-04 9.99703549e-01 1.83470557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:32.67, Z:1.83 [[ 7.75486701e-01 -6.31066099e-01 -1.93895724e-02 7.75863847e+01] [ 6.30858556e-01 7.75728997e-01 -1.61866098e-02 3.26661082e+01] [ 2.52558742e-02 3.20423047e-04 9.99680968e-01 1.83402254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:32.68, Z:1.83 [[ 7.74558049e-01 -6.32165093e-01 -2.06669746e-02 7.76074837e+01] [ 6.31929440e-01 7.74833658e-01 -1.72622385e-02 3.26831079e+01] [ 2.69260522e-02 3.10536059e-04 9.99637380e-01 1.83248408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:32.70, Z:1.83 [[ 7.73904858e-01 -6.32959672e-01 -2.08164279e-02 7.76299727e+01] [ 6.32720727e-01 7.74184713e-01 -1.73928923e-02 3.27003157e+01] [ 2.71247597e-02 2.89458401e-04 9.99632014e-01 1.83317656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:32.72, Z:1.83 [[ 7.72421911e-01 -6.34773331e-01 -2.06690711e-02 7.76535457e+01] [ 6.34538150e-01 7.72698366e-01 -1.72792136e-02 3.27173653e+01] [ 2.69393415e-02 2.31529029e-04 9.99637043e-01 1.83422008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:32.73, Z:1.83 [[ 7.71547395e-01 -6.35841234e-01 -2.05071203e-02 7.76744572e+01] [ 6.35609892e-01 7.71819853e-01 -1.71516691e-02 3.27349807e+01] [ 2.67335410e-02 1.98797105e-04 9.99642575e-01 1.83392958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:32.75, Z:1.83 [[ 7.70568978e-01 -6.37035418e-01 -2.02318043e-02 7.76963139e+01] [ 6.36810519e-01 7.70834515e-01 -1.69266765e-02 3.27524650e+01] [ 2.63782655e-02 1.59346015e-04 9.99652020e-01 1.83452105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:32.77, Z:1.84 [[ 7.68964520e-01 -6.38999764e-01 -1.93098309e-02 7.77198893e+01] [ 6.38795304e-01 7.69206925e-01 -1.61637553e-02 3.27695915e+01] [ 2.51818915e-02 9.43250345e-05 9.99682881e-01 1.83666063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:32.79, Z:1.84 [[ 7.68069370e-01 -6.40077808e-01 -1.92312942e-02 7.77415569e+01] [ 6.39875146e-01 7.68310091e-01 -1.61059642e-02 3.27869648e+01] [ 2.50846676e-02 6.48706089e-05 9.99685328e-01 1.83738498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:32.80, Z:1.84 [[ 7.67538046e-01 -6.40717407e-01 -1.91455235e-02 7.77622250e+01] [ 6.40516540e-01 7.67776791e-01 -1.60424746e-02 3.28041091e+01] [ 2.49781813e-02 5.01851331e-05 9.99687995e-01 1.83846501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:32.82, Z:1.84 [[ 7.67320638e-01 -6.40963605e-01 -1.96136767e-02 7.77833876e+01] [ 6.40752727e-01 7.67571270e-01 -1.64404287e-02 3.28231389e+01] [ 2.55926112e-02 4.75633832e-05 9.99672454e-01 1.83870524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:32.84, Z:1.84 [[ 7.67280113e-01 -6.40990552e-01 -2.03061408e-02 7.78044254e+01] [ 6.40764271e-01 7.67548766e-01 -1.70305515e-02 3.28417129e+01] [ 2.65023759e-02 5.57539424e-05 9.99648749e-01 1.83873269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:32.86, Z:1.84 [[ 7.67366002e-01 -6.40881996e-01 -2.04862219e-02 7.78238764e+01] [ 6.40651405e-01 7.67639409e-01 -1.71905507e-02 3.28600187e+01] [ 2.67431457e-02 6.69172823e-05 9.99642336e-01 1.83812001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:32.88, Z:1.84 [[ 7.67668289e-01 -6.40507230e-01 -2.08778717e-02 7.78444646e+01] [ 6.40267422e-01 7.67952134e-01 -1.75256245e-02 3.28793915e+01] [ 2.72584954e-02 8.64451150e-05 9.99628414e-01 1.83795683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:32.90, Z:1.84 [[ 7.68134876e-01 -6.39943335e-01 -2.10081091e-02 7.78643944e+01] [ 6.39700043e-01 7.68422094e-01 -1.76448357e-02 3.28999079e+01] [ 2.74347902e-02 1.14725380e-04 9.99623589e-01 1.83781055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:32.92, Z:1.84 [[ 7.68394766e-01 -6.39635888e-01 -2.08665755e-02 7.78836501e+01] [ 6.39395505e-01 7.68678030e-01 -1.75349549e-02 3.29185113e+01] [ 2.72556646e-02 1.31772995e-04 9.99628487e-01 1.83793923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:32.94, Z:1.84 [[ 7.69466104e-01 -6.38339435e-01 -2.10874484e-02 7.79041159e+01] [ 6.38093274e-01 7.69754982e-01 -1.77268516e-02 3.29390955e+01] [ 2.75479169e-02 1.84452474e-04 9.99620467e-01 1.83940525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:32.96, Z:1.84 [[ 7.70229668e-01 -6.37407992e-01 -2.13848360e-02 7.79237858e+01] [ 6.37154257e-01 7.70526444e-01 -1.79847983e-02 3.29582752e+01] [ 2.79412358e-02 2.26985958e-04 9.99609542e-01 1.84069259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:32.98, Z:1.84 [[ 7.71251101e-01 -6.36165623e-01 -2.15647503e-02 7.79434522e+01] [ 6.35906995e-01 7.71552476e-01 -1.81403223e-02 3.29783721e+01] [ 2.81785859e-02 2.77567998e-04 9.99602866e-01 1.84117017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:33.00, Z:1.84 [[ 7.73989703e-01 -6.32827892e-01 -2.16517810e-02 7.79616091e+01] [ 6.32565735e-01 7.74292384e-01 -1.82179846e-02 3.30012797e+01] [ 2.82936579e-02 4.04357705e-04 9.99599573e-01 1.84117044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:33.02, Z:1.84 [[ 7.75434637e-01 -6.31037369e-01 -2.22027354e-02 7.79807429e+01] [ 6.30760737e-01 7.75752280e-01 -1.86893506e-02 3.30222524e+01] [ 2.90175013e-02 4.87756051e-04 9.99578785e-01 1.84070859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:33.04, Z:1.84 [[ 7.76535671e-01 -6.29673650e-01 -2.24375860e-02 7.80011323e+01] [ 6.29390424e-01 7.76859572e-01 -1.88918150e-02 3.30429028e+01] [ 2.93265316e-02 5.48166445e-04 9.99569734e-01 1.84088678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:33.07, Z:1.84 [[ 7.78604825e-01 -6.27082911e-01 -2.32712284e-02 7.80203616e+01] [ 6.26776789e-01 7.78952222e-01 -1.96033773e-02 3.30651264e+01] [ 3.04201180e-02 6.77418353e-04 9.99536972e-01 1.83999815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:33.08, Z:1.84 [[ 7.79244680e-01 -6.26272729e-01 -2.36684808e-02 7.80418348e+01] [ 6.25955393e-01 7.79603705e-01 -1.99476533e-02 3.30845899e+01] [ 3.09447066e-02 7.28689541e-04 9.99520832e-01 1.84024676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:33.10, Z:1.84 [[ 7.79541165e-01 -6.25893150e-01 -2.39444638e-02 7.80624109e+01] [ 6.25567942e-01 7.79908450e-01 -2.01881110e-02 3.31039349e+01] [ 3.13100900e-02 7.58574570e-04 9.99509431e-01 1.84051503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:33.12, Z:1.84 [[ 7.79913879e-01 -6.25461550e-01 -2.30692560e-02 7.80821693e+01] [ 6.25159379e-01 7.80254629e-01 -1.94541772e-02 3.31230212e+01] [ 3.01677336e-02 7.50621101e-04 9.99544568e-01 1.84174690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:33.14, Z:1.84 [[ 7.80005061e-01 -6.25352387e-01 -2.29455188e-02 7.81053502e+01] [ 6.25053194e-01 7.80342117e-01 -1.93567844e-02 3.31399024e+01] [ 3.00101661e-02 7.56220014e-04 9.99549307e-01 1.84399604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:33.16, Z:1.84 [[ 7.80325388e-01 -6.24954894e-01 -2.28838139e-02 7.81256498e+01] [ 6.24656891e-01 7.80660476e-01 -1.93129510e-02 3.31593010e+01] [ 2.99342123e-02 7.75853886e-04 9.99551570e-01 1.84409216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:33.18, Z:1.84 [[ 7.80205308e-01 -6.25094404e-01 -2.31660069e-02 7.81475417e+01] [ 6.24788864e-01 7.80548762e-01 -1.95577620e-02 3.31763086e+01] [ 3.03076456e-02 7.85206601e-04 9.99540309e-01 1.84496561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:33.20, Z:1.84 [[ 7.79744965e-01 -6.25667671e-01 -2.31895303e-02 7.81683225e+01] [ 6.25361437e-01 7.80089334e-01 -1.95883642e-02 3.31957830e+01] [ 3.03457115e-02 7.72090352e-04 9.99539165e-01 1.84499050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:33.21, Z:1.85 [[ 7.79447092e-01 -6.26037244e-01 -2.32293046e-02 7.81897850e+01] [ 6.25729816e-01 7.79792781e-01 -1.96320057e-02 3.32145977e+01] [ 3.04044108e-02 7.66841228e-04 9.99537385e-01 1.84571671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:33.23, Z:1.85 [[ 7.79276561e-01 -6.26249703e-01 -2.32239506e-02 7.82108157e+01] [ 6.25942181e-01 7.79622166e-01 -1.96383378e-02 3.32325163e+01] [ 3.04044099e-02 7.66846105e-04 9.99537385e-01 1.84631636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:33.25, Z:1.85 [[ 7.79009202e-01 -6.26576796e-01 -2.33705552e-02 7.82327214e+01] [ 6.26265187e-01 7.79359307e-01 -1.97733497e-02 3.32501812e+01] [ 3.06035818e-02 7.67456240e-04 9.99531306e-01 1.84720975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:33.27, Z:1.85 [[ 7.78436209e-01 -6.27291631e-01 -2.32868650e-02 7.82527501e+01] [ 6.26982278e-01 7.78784088e-01 -1.97120983e-02 3.32698654e+01] [ 3.05006742e-02 7.44159383e-04 9.99534469e-01 1.84612726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:33.29, Z:1.85 [[ 7.77884805e-01 -6.27974050e-01 -2.33200259e-02 7.82756774e+01] [ 6.27663912e-01 7.78233942e-01 -1.97470301e-02 3.32882115e+01] [ 3.05490581e-02 7.23776006e-04 9.99533007e-01 1.84628681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:33.31, Z:1.85 [[ 7.77208554e-01 -6.28825240e-01 -2.29277405e-02 7.82982209e+01] [ 6.28525538e-01 7.77546363e-01 -1.94242223e-02 3.33067087e+01] [ 3.00418225e-02 6.86001322e-04 9.99548407e-01 1.84728349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:33.32, Z:1.85 [[ 7.75599317e-01 -6.30815311e-01 -2.27539724e-02 7.83204775e+01] [ 6.30520759e-01 7.75932774e-01 -1.92847636e-02 3.33236971e+01] [ 2.98206770e-02 6.10397501e-04 9.99555078e-01 1.84897734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:33.34, Z:1.85 [[ 7.74517868e-01 -6.32146979e-01 -2.26333604e-02 7.83433967e+01] [ 6.31855965e-01 7.74848297e-01 -1.91874169e-02 3.33420529e+01] [ 2.96666884e-02 5.59973483e-04 9.99559690e-01 1.84979451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:33.36, Z:1.85 [[ 7.72493628e-01 -6.34663161e-01 -2.13604040e-02 7.83656444e+01] [ 6.34404692e-01 7.72788765e-01 -1.81166131e-02 3.33603693e+01] [ 2.80050272e-02 4.43827666e-04 9.99607684e-01 1.85120886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:33.38, Z:1.85 [[ 7.71764589e-01 -6.35584537e-01 -2.02907840e-02 7.83864418e+01] [ 6.35351443e-01 7.72031178e-01 -1.72163884e-02 3.33790174e+01] [ 2.66075881e-02 3.95219971e-04 9.99645877e-01 1.85229940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:33.40, Z:1.85 [[ 7.71036408e-01 -6.36493129e-01 -1.94770131e-02 7.84094509e+01] [ 6.36278561e-01 7.71282292e-01 -1.65293556e-02 3.33969288e+01] [ 2.55430965e-02 3.51929135e-04 9.99673660e-01 1.85424361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.43, Y:33.42, Z:1.85 [[ 7.70686154e-01 -6.36919443e-01 -1.94029512e-02 7.84309402e+01] [ 6.36706437e-01 7.70930286e-01 -1.64744720e-02 3.34155233e+01] [ 2.54512343e-02 3.42663564e-04 9.99676006e-01 1.85485377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:33.44, Z:1.85 [[ 7.71086109e-01 -6.36430006e-01 -1.95718902e-02 7.84519588e+01] [ 6.36212887e-01 7.71334370e-01 -1.66268364e-02 3.34358202e+01] [ 2.56782892e-02 3.68833811e-04 9.99670190e-01 1.85462152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:33.46, Z:1.85 [[ 7.71608073e-01 -6.35780847e-01 -2.00921963e-02 7.84728182e+01] [ 6.35551590e-01 7.71869515e-01 -1.70771010e-02 3.34558518e+01] [ 2.63658475e-02 4.07201675e-04 9.99652278e-01 1.85416801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:33.48, Z:1.85 [[ 7.72381524e-01 -6.34846184e-01 -1.99274616e-02 7.84938327e+01] [ 6.34620153e-01 7.72638420e-01 -1.69450298e-02 3.34758307e+01] [ 2.61542099e-02 4.41659237e-04 9.99657823e-01 1.85413774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.766875 meters Centerline goodness [0,1] 0.999951751423333 Centerline is valid? [True, True] Translation: X:78.51, Y:33.50, Z:1.85 [[ 7.73785874e-01 -6.33156251e-01 -1.91985043e-02 7.85139222e+01] [ 6.32945745e-01 7.74023853e-01 -1.63327415e-02 3.34966531e+01] [ 2.52012776e-02 4.86433040e-04 9.99682279e-01 1.85434354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:33.52, Z:1.86 [[ 7.74422725e-01 -6.32379350e-01 -1.91259094e-02 7.85336925e+01] [ 6.32170015e-01 7.74658694e-01 -1.62782074e-02 3.35160705e+01] [ 2.51100542e-02 5.15387319e-04 9.99684560e-01 1.85512883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.826875 meters Centerline goodness [0,1] 0.9998554147187816 Centerline is valid? [True, True] Translation: X:78.55, Y:33.53, Z:1.86 [[ 7.74459091e-01 -6.32332868e-01 -1.91901299e-02 7.85546325e+01] [ 6.32122018e-01 7.74696633e-01 -1.63365350e-02 3.35344553e+01] [ 2.51966570e-02 5.21474431e-04 9.99682378e-01 1.85542113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:33.55, Z:1.86 [[ 7.74786812e-01 -6.31922305e-01 -1.94832349e-02 7.85746057e+01] [ 6.31704612e-01 7.75031547e-01 -1.65947397e-02 3.35538646e+01] [ 2.55867078e-02 5.49736197e-04 9.99672455e-01 1.85551156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:33.57, Z:1.85 [[ 7.74837228e-01 -6.31846341e-01 -1.99366739e-02 7.85959972e+01] [ 6.31618226e-01 7.75093463e-01 -1.69864640e-02 3.35730676e+01] [ 2.61856207e-02 5.69378045e-04 9.99656936e-01 1.85397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:33.59, Z:1.85 [[ 7.74735664e-01 -6.31973115e-01 -1.98653668e-02 7.86154226e+01] [ 6.31746468e-01 7.74990102e-01 -1.69334408e-02 3.35914257e+01] [ 2.60969419e-02 5.69065180e-04 9.99659255e-01 1.85384638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:33.61, Z:1.86 [[ 7.74473659e-01 -6.32330708e-01 -1.86661820e-02 7.86364217e+01] [ 6.32130583e-01 7.74698391e-01 -1.59163000e-02 3.36103201e+01] [ 2.45250265e-02 5.27290586e-04 9.99699077e-01 1.85555317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:33.63, Z:1.86 [[ 7.73982706e-01 -6.32947358e-01 -1.81221703e-02 7.86580106e+01] [ 6.32758701e-01 7.74194674e-01 -1.54606944e-02 3.36292647e+01] [ 2.38158934e-02 4.99349168e-04 9.99716237e-01 1.85652184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:33.65, Z:1.86 [[ 7.73576847e-01 -6.33448512e-01 -1.79400023e-02 7.86787287e+01] [ 6.33263598e-01 7.73784691e-01 -1.53123459e-02 3.36473611e+01] [ 2.35812819e-02 4.84525876e-04 9.99721805e-01 1.85741668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.70, Y:33.67, Z:1.86 [[ 7.71812583e-01 -6.35605252e-01 -1.76436927e-02 7.87019854e+01] [ 6.35426885e-01 7.72014114e-01 -1.50626164e-02 3.36653774e+01] [ 2.31950579e-02 4.14240205e-04 9.99730873e-01 1.85783109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:33.68, Z:1.86 [[ 7.70752073e-01 -6.36901366e-01 -1.72595453e-02 7.87243864e+01] [ 6.36730859e-01 7.70945207e-01 -1.47411233e-02 3.36837911e+01] [ 2.26948053e-02 3.72066219e-04 9.99742371e-01 1.85847929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:33.70, Z:1.86 [[ 7.70045513e-01 -6.37767727e-01 -1.67998386e-02 7.87462443e+01] [ 6.37606241e-01 7.70228673e-01 -1.43552144e-02 3.37022158e+01] [ 2.20950098e-02 3.42486521e-04 9.99755817e-01 1.85852011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:33.72, Z:1.86 [[ 7.69033606e-01 -6.38990436e-01 -1.66893897e-02 7.87688148e+01] [ 6.38831205e-01 7.69214617e-01 -1.42675941e-02 3.37205150e+01] [ 2.19545787e-02 3.10556402e-04 9.99758921e-01 1.85878369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:33.74, Z:1.86 [[ 7.66761797e-01 -6.41700433e-01 -1.72308312e-02 7.87919085e+01] [ 6.41531219e-01 7.66955340e-01 -1.47377588e-02 3.37385845e+01] [ 2.26725042e-02 2.46234321e-04 9.99742915e-01 1.85810545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:33.76, Z:1.86 [[ 7.65440444e-01 -6.43264671e-01 -1.76490699e-02 7.88147413e+01] [ 6.43087384e-01 7.65643859e-01 -1.51028939e-02 3.37567020e+01] [ 2.32280601e-02 2.10471656e-04 9.99730170e-01 1.85837744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:33.77, Z:1.86 [[ 7.62659598e-01 -6.46546637e-01 -1.81048075e-02 7.88380395e+01] [ 6.46360815e-01 7.62874454e-01 -1.55005039e-02 3.37740243e+01] [ 2.38334938e-02 1.19369921e-04 9.99715935e-01 1.85808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:33.79, Z:1.86 [[ 7.61172281e-01 -6.48286300e-01 -1.84832718e-02 7.88597706e+01] [ 6.48092947e-01 7.61396656e-01 -1.58323698e-02 3.37913791e+01] [ 2.43370098e-02 7.22829143e-05 9.99703808e-01 1.85877715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:33.81, Z:1.86 [[ 7.59778673e-01 -6.49921675e-01 -1.83898161e-02 7.88820498e+01] [ 6.49730542e-01 7.60001195e-01 -1.57609312e-02 3.38093018e+01] [ 2.42196530e-02 2.63941942e-05 9.99706661e-01 1.85945328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:33.83, Z:1.86 [[ 7.58451429e-01 -6.51475769e-01 -1.81865946e-02 7.89030168e+01] [ 6.51289081e-01 7.58669442e-01 -1.55952108e-02 3.38265027e+01] [ 2.39575155e-02 -1.65205618e-05 9.99712977e-01 1.86110155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:33.85, Z:1.86 [[ 7.56811107e-01 -6.53392724e-01 -1.77453221e-02 7.89237041e+01] [ 6.53215376e-01 7.57019117e-01 -1.52226742e-02 3.38453850e+01] [ 2.33799326e-02 -7.08282908e-05 9.99726650e-01 1.86156391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:33.86, Z:1.86 [[ 7.56390040e-01 -6.53898808e-01 -1.70427732e-02 7.89437189e+01] [ 6.53735183e-01 7.56582013e-01 -1.46276350e-02 3.38638806e+01] [ 2.24592487e-02 -7.72630198e-05 9.99747756e-01 1.86248298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:33.88, Z:1.86 [[ 7.57160081e-01 -6.53008261e-01 -1.69948087e-02 7.89637553e+01] [ 6.52845208e-01 7.57350783e-01 -1.45919435e-02 3.38840050e+01] [ 2.23996913e-02 -4.65422503e-05 9.99749094e-01 1.86435374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:33.90, Z:1.87 [[ 7.57861351e-01 -6.52175325e-01 -1.77064742e-02 7.89841981e+01] [ 6.51997900e-01 7.58068167e-01 -1.52115876e-02 3.39040080e+01] [ 2.33433365e-02 -1.63097045e-05 9.99727507e-01 1.86508482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.00, Y:33.92, Z:1.86 [[ 7.58628369e-01 -6.51270605e-01 -1.81548080e-02 7.90041153e+01] [ 6.51083614e-01 7.58845570e-01 -1.56054330e-02 3.39244133e+01] [ 2.39400554e-02 1.84262022e-05 9.99713396e-01 1.86475728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.02, Y:33.95, Z:1.86 [[ 7.61274496e-01 -6.48147034e-01 -1.91458473e-02 7.90218731e+01] [ 6.47937843e-01 7.61515204e-01 -1.64665301e-02 3.39476958e+01] [ 2.52525865e-02 1.30230382e-04 9.99681094e-01 1.86377269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:33.97, Z:1.86 [[ 7.62838463e-01 -6.46307259e-01 -1.90894410e-02 7.90414930e+01] [ 6.46098525e-01 7.63077249e-01 -1.64258306e-02 3.39690825e+01] [ 2.51828517e-02 1.96595682e-04 9.99682842e-01 1.86363819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.546875 meters Centerline goodness [0,1] 0.9999527555335082 Centerline is valid? [True, True] Translation: X:79.06, Y:33.99, Z:1.86 [[ 7.64522721e-01 -6.44307497e-01 -1.93095647e-02 7.90611041e+01] [ 6.44093075e-01 7.64766485e-01 -1.66233136e-02 3.39903039e+01] [ 2.54778335e-02 2.71744012e-04 9.99675350e-01 1.86354503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:34.01, Z:1.86 [[ 7.67547284e-01 -6.40669475e-01 -2.03418501e-02 7.90797036e+01] [ 6.40429992e-01 7.67816675e-01 -1.75208054e-02 3.40126535e+01] [ 2.68438569e-02 4.20515651e-04 9.99639550e-01 1.86365127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:34.03, Z:1.86 [[ 7.68716454e-01 -6.39235685e-01 -2.12779792e-02 7.91005935e+01] [ 6.38972841e-01 7.69010721e-01 -1.83362667e-02 3.40326679e+01] [ 2.80841901e-02 4.99339140e-04 9.99605437e-01 1.86390240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:34.05, Z:1.86 [[ 7.71048428e-01 -6.36430998e-01 -2.09739429e-02 7.91202031e+01] [ 6.36174359e-01 7.71333408e-01 -1.80820131e-02 3.40532560e+01] [ 2.76858565e-02 5.99023123e-04 9.99616494e-01 1.86478664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:34.07, Z:1.87 [[ 7.71766812e-01 -6.35578721e-01 -2.03881568e-02 7.91399049e+01] [ 6.35335783e-01 7.72035822e-01 -1.75821740e-02 3.40730403e+01] [ 2.69152431e-02 6.16012845e-04 9.99637529e-01 1.86556743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:34.09, Z:1.87 [[ 7.72632642e-01 -6.34543854e-01 -1.98216311e-02 7.91613792e+01] [ 6.34313682e-01 7.72886594e-01 -1.71016384e-02 3.40921499e+01] [ 2.61716125e-02 6.40152266e-04 9.99657260e-01 1.86645531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:34.11, Z:1.87 [[ 7.73527118e-01 -6.33457303e-01 -1.96886415e-02 7.91831998e+01] [ 6.33229643e-01 7.73777348e-01 -1.69951256e-02 3.41111719e+01] [ 2.60003112e-02 6.78759087e-04 9.99661704e-01 1.86754770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:34.13, Z:1.87 [[ 7.75397843e-01 -6.31161430e-01 -1.98351909e-02 7.92038249e+01] [ 6.30929415e-01 7.75651120e-01 -1.71293063e-02 3.41304582e+01] [ 2.61965456e-02 7.67421773e-04 9.99656517e-01 1.86881791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:34.15, Z:1.87 [[ 7.76107567e-01 -6.30269435e-01 -2.04324207e-02 7.92261687e+01] [ 6.30022789e-01 7.76376042e-01 -1.76501306e-02 3.41483929e+01] [ 2.69875797e-02 8.25509258e-04 9.99635428e-01 1.86885171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:34.17, Z:1.87 [[ 7.76681660e-01 -6.29539419e-01 -2.11120682e-02 7.92463600e+01] [ 6.29275599e-01 7.76968041e-01 -1.82450986e-02 3.41672849e+01] [ 2.78894110e-02 8.85324148e-04 9.99610623e-01 1.86868222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:34.19, Z:1.87 [[ 7.78361268e-01 -6.27469507e-01 -2.08747264e-02 7.92679237e+01] [ 6.27210726e-01 7.78640553e-01 -1.80442337e-02 3.41866628e+01] [ 2.75761150e-02 9.52080296e-04 9.99619253e-01 1.86830846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:34.21, Z:1.87 [[ 7.79261188e-01 -6.26369858e-01 -2.03175297e-02 7.92886395e+01] [ 6.26124115e-01 7.79525405e-01 -1.75708747e-02 3.42067298e+01] [ 2.68438968e-02 9.71005403e-04 9.99639166e-01 1.86905891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:34.23, Z:1.87 [[ 7.80177119e-01 -6.25219596e-01 -2.05941526e-02 7.93085616e+01] [ 6.24966494e-01 7.80448201e-01 -1.78181902e-02 3.42256890e+01] [ 2.72129511e-02 1.03068898e-03 9.99629128e-01 1.87018776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:34.24, Z:1.87 [[ 7.81085403e-01 -6.24055237e-01 -2.14628626e-02 7.93289340e+01] [ 6.23779734e-01 7.81379425e-01 -1.85751914e-02 3.42441711e+01] [ 2.83625847e-02 1.12071216e-03 9.99597073e-01 1.87014467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:34.26, Z:1.87 [[ 7.80999279e-01 -6.24138439e-01 -2.21660697e-02 7.93510228e+01] [ 6.23844459e-01 7.81312912e-01 -1.91891723e-02 3.42631924e+01] [ 2.92953365e-02 1.15855002e-03 9.99570128e-01 1.86963192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:34.28, Z:1.87 [[ 7.80842552e-01 -6.24318987e-01 -2.25989296e-02 7.93725755e+01] [ 6.24013191e-01 7.81168615e-01 -1.95737627e-02 3.42815120e+01] [ 2.98738462e-02 1.18199659e-03 9.99552978e-01 1.86900189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:34.30, Z:1.87 [[ 7.80501910e-01 -6.24739575e-01 -2.27427424e-02 7.93934993e+01] [ 6.24429788e-01 7.80832294e-01 -1.97071003e-02 3.42993577e+01] [ 3.00700731e-02 1.18018361e-03 9.99547096e-01 1.86930749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:34.31, Z:1.87 [[ 7.78951405e-01 -6.26665899e-01 -2.29032629e-02 7.94196132e+01] [ 6.26352394e-01 7.79287240e-01 -1.98513485e-02 3.43136229e+01] [ 3.02883836e-02 1.11772225e-03 9.99540577e-01 1.87085540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:34.33, Z:1.87 [[ 7.78044410e-01 -6.27791519e-01 -2.29064326e-02 7.94416931e+01] [ 6.27478173e-01 7.78380782e-01 -1.98620462e-02 3.43308360e+01] [ 3.02991511e-02 1.08026750e-03 9.99540292e-01 1.87199207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:34.35, Z:1.87 [[ 7.76788843e-01 -6.29353397e-01 -2.26582509e-02 7.94650204e+01] [ 6.29047317e-01 7.77118574e-01 -1.96518666e-02 3.43482894e+01] [ 2.99761166e-02 1.01223882e-03 9.99550103e-01 1.87395471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:34.36, Z:1.88 [[ 7.74390952e-01 -6.32320999e-01 -2.21089916e-02 7.94917316e+01] [ 6.32030519e-01 7.74705993e-01 -1.91845699e-02 3.43618465e+01] [ 2.92587746e-02 8.82799907e-04 9.99571481e-01 1.87668054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:34.38, Z:1.88 [[ 7.72988249e-01 -6.34034479e-01 -2.21234307e-02 7.95150420e+01] [ 6.33744042e-01 7.73304337e-01 -1.92065480e-02 3.43788318e+01] [ 2.92857585e-02 8.25843522e-04 9.99570739e-01 1.87765862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:34.39, Z:1.88 [[ 7.69859386e-01 -6.37850120e-01 -2.15348451e-02 7.95396908e+01] [ 6.37576203e-01 7.70160228e-01 -1.87031423e-02 3.43926047e+01] [ 2.85150828e-02 6.68684809e-04 9.99593139e-01 1.87893079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters Centerline goodness [0,1] 0.9999759041950796 Centerline is valid? [True, True] Translation: X:79.56, Y:34.41, Z:1.88 [[ 7.68124703e-01 -6.39952170e-01 -2.11106964e-02 7.95633925e+01] [ 6.39689608e-01 7.68414524e-01 -1.83391367e-02 3.44086386e+01] [ 2.79579360e-02 5.82450840e-04 9.99608931e-01 1.88074173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.266875 meters Centerline goodness [0,1] 0.9999759041950796 Centerline is valid? [True, True] Translation: X:79.58, Y:34.43, Z:1.88 [[ 7.67951391e-01 -6.40160284e-01 -2.11062004e-02 7.95841809e+01] [ 6.39897659e-01 7.68241155e-01 -1.83443099e-02 3.44268275e+01] [ 2.79579504e-02 5.81730097e-04 9.99608931e-01 1.88134167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:34.44, Z:1.88 [[ 7.66105204e-01 -6.42383980e-01 -2.06309976e-02 7.96082290e+01] [ 6.42133597e-01 7.66382787e-01 -1.79406836e-02 3.44427636e+01] [ 2.73360492e-02 4.96594431e-04 9.99626177e-01 1.88286981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:34.46, Z:1.88 [[ 7.64286154e-01 -6.44545601e-01 -2.06795347e-02 7.96323541e+01] [ 6.44294590e-01 7.64565750e-01 -1.79915405e-02 3.44586892e+01] [ 2.74072322e-02 4.26973000e-04 9.99624260e-01 1.88444724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:34.47, Z:1.89 [[ 7.60787338e-01 -6.48663755e-01 -2.09274610e-02 7.96587033e+01] [ 6.48407993e-01 7.61075061e-01 -1.82160871e-02 3.44723815e+01] [ 2.77434841e-02 2.89035404e-04 9.99615034e-01 1.88547176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:34.49, Z:1.89 [[ 7.58969597e-01 -6.50791112e-01 -2.08825168e-02 7.96810639e+01] [ 6.50537041e-01 7.59256796e-01 -1.81844988e-02 3.44885982e+01] [ 2.76895030e-02 2.16631011e-04 9.99616549e-01 1.88509776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:34.51, Z:1.89 [[ 7.57554044e-01 -6.52438537e-01 -2.08764329e-02 7.97048336e+01] [ 6.52185121e-01 7.57841626e-01 -1.81834524e-02 3.45058399e+01] [ 2.76846149e-02 1.59648977e-04 9.99616695e-01 1.88529555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.73, Y:34.52, Z:1.88 [[ 7.55324359e-01 -6.54985349e-01 -2.18930457e-02 7.97287844e+01] [ 6.54707430e-01 7.55641573e-01 -1.90786232e-02 3.45213293e+01] [ 2.90395142e-02 7.70091103e-05 9.99578261e-01 1.88451826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:34.54, Z:1.88 [[ 7.54531843e-01 -6.55885430e-01 -2.22710896e-02 7.97508604e+01] [ 6.55597904e-01 7.54860451e-01 -1.94187568e-02 3.45385941e+01] [ 2.95480444e-02 5.11907015e-05 9.99563360e-01 1.88485558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:34.56, Z:1.89 [[ 7.54106158e-01 -6.56383636e-01 -2.20096318e-02 7.97720097e+01] [ 6.56102768e-01 7.54427280e-01 -1.91999413e-02 3.45550312e+01] [ 2.92071939e-02 3.82136289e-05 9.99573378e-01 1.88605695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:34.57, Z:1.89 [[ 7.54236985e-01 -6.56229470e-01 -2.21235814e-02 7.97931329e+01] [ 6.55945415e-01 7.54561382e-01 -1.93062779e-02 3.45736324e+01] [ 2.93629487e-02 4.96470295e-05 9.99568814e-01 1.88719535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.81, Y:34.59, Z:1.89 [[ 7.55939341e-01 -6.54202716e-01 -2.39691352e-02 7.98129869e+01] [ 6.53867935e-01 7.56319235e-01 -2.09269917e-02 3.45939493e+01] [ 3.18188128e-02 1.46887395e-04 9.99493643e-01 1.88528028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:34.61, Z:1.88 [[ 7.57111691e-01 -6.52831492e-01 -2.43501774e-02 7.98339030e+01] [ 6.52485038e-01 7.57503134e-01 -2.12668321e-02 3.46145953e+01] [ 3.23289935e-02 2.13240801e-04 9.99477259e-01 1.88435090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:34.63, Z:1.89 [[ 7.58541845e-01 -6.51150586e-01 -2.48431944e-02 7.98547975e+01] [ 6.50788704e-01 7.58948500e-01 -2.17079849e-02 3.46345484e+01] [ 3.29898722e-02 2.98744565e-04 9.99455641e-01 1.88507397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:34.65, Z:1.88 [[ 7.60332185e-01 -6.49069181e-01 -2.45798034e-02 7.98733688e+01] [ 6.48713567e-01 7.60729285e-01 -2.14863335e-02 3.46549803e+01] [ 3.26446932e-02 3.91498891e-04 9.99466943e-01 1.88470312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:34.68, Z:1.89 [[ 7.62141398e-01 -6.46947927e-01 -2.44718171e-02 7.98932326e+01] [ 6.46594200e-01 7.62534030e-01 -2.13961313e-02 3.46753538e+01] [ 3.25027761e-02 4.83542445e-04 9.99471528e-01 1.88546110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:34.70, Z:1.89 [[ 7.65822260e-01 -6.42600995e-01 -2.40878986e-02 7.99111679e+01] [ 6.42255946e-01 7.66200706e-01 -2.10660299e-02 3.46986469e+01] [ 3.19932167e-02 6.62238507e-04 9.99487867e-01 1.88590538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:34.72, Z:1.89 [[ 7.67273066e-01 -6.40885996e-01 -2.36047053e-02 7.99312926e+01] [ 6.40553540e-01 7.67635729e-01 -2.06530857e-02 3.47194100e+01] [ 3.13560886e-02 7.26478863e-04 9.99508013e-01 1.88674831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:34.74, Z:1.89 [[ 7.68563788e-01 -6.39356522e-01 -2.30855113e-02 7.99522357e+01] [ 6.39037605e-01 7.68910029e-01 -2.02065764e-02 3.47385769e+01] [ 3.06698876e-02 7.77533058e-04 9.99529266e-01 1.88894334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:34.76, Z:1.89 [[ 7.70968376e-01 -6.36472516e-01 -2.25942450e-02 7.99710278e+01] [ 6.36165675e-01 7.71298884e-01 -1.97804189e-02 3.47597439e+01] [ 3.00166090e-02 8.76394316e-04 9.99549016e-01 1.89070110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:34.78, Z:1.89 [[ 7.71495862e-01 -6.35825226e-01 -2.28126344e-02 7.99920192e+01] [ 6.35511947e-01 7.71832523e-01 -1.99780333e-02 3.47798718e+01] [ 3.03100707e-02 9.15268317e-04 9.99540125e-01 1.88972805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:34.80, Z:1.89 [[ 7.71818637e-01 -6.35421275e-01 -2.31472531e-02 8.00134623e+01] [ 6.35098249e-01 7.72165071e-01 -2.02809746e-02 3.47997603e+01] [ 3.07604631e-02 9.52454287e-04 9.99526331e-01 1.88971999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:34.82, Z:1.89 [[ 7.70037374e-01 -6.37558593e-01 -2.36956301e-02 8.00372530e+01] [ 6.37220810e-01 7.70401350e-01 -2.07701393e-02 3.48171012e+01] [ 3.14973262e-02 8.94434928e-04 9.99503436e-01 1.88847977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:34.83, Z:1.89 [[ 7.69276675e-01 -6.38480373e-01 -2.35841378e-02 8.00588286e+01] [ 6.38146026e-01 7.69637629e-01 -2.06777521e-02 3.48344847e+01] [ 3.13535788e-02 8.56788533e-04 9.99507988e-01 1.88931134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:34.85, Z:1.89 [[ 7.68055796e-01 -6.39945986e-01 -2.36522454e-02 8.00821731e+01] [ 6.39610178e-01 7.68419474e-01 -2.07444490e-02 3.48523728e+01] [ 3.14501728e-02 8.04677431e-04 9.99504997e-01 1.89076503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:34.87, Z:1.89 [[ 7.65645920e-01 -6.42796914e-01 -2.44633026e-02 8.01075148e+01] [ 6.42438797e-01 7.66036298e-01 -2.14658157e-02 3.48674593e+01] [ 3.25379379e-02 7.19039552e-04 9.99470242e-01 1.89152519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:34.88, Z:1.89 [[ 7.64330885e-01 -6.44355190e-01 -2.45903840e-02 8.01302056e+01] [ 6.43993805e-01 7.64726061e-01 -2.15877478e-02 3.48849864e+01] [ 3.27150848e-02 6.64127456e-04 9.99464498e-01 1.89153950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:34.90, Z:1.89 [[ 7.63160997e-01 -6.45744352e-01 -2.44852037e-02 8.01514809e+01] [ 6.45386500e-01 7.63553444e-01 -2.15035617e-02 3.49025075e+01] [ 3.25815651e-02 6.08259700e-04 9.99468895e-01 1.89116294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:34.92, Z:1.89 [[ 7.61616273e-01 -6.47583782e-01 -2.39978780e-02 8.01765245e+01] [ 6.47240768e-01 7.61994076e-01 -2.10811997e-02 3.49174005e+01] [ 3.19380839e-02 5.23379773e-04 9.99489712e-01 1.89376542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:34.93, Z:1.90 [[ 7.60972335e-01 -6.48341290e-01 -2.39724154e-02 8.02000810e+01] [ 6.47999055e-01 7.61349672e-01 -2.10689620e-02 3.49345725e+01] [ 3.19112686e-02 4.98794666e-04 9.99490581e-01 1.89501454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:34.95, Z:1.90 [[ 7.60592112e-01 -6.48775431e-01 -2.42915493e-02 8.02211360e+01] [ 6.48423946e-01 7.60979761e-01 -2.13586091e-02 3.49514770e+01] [ 3.23423182e-02 4.93967360e-04 9.99476728e-01 1.89566622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:34.97, Z:1.90 [[ 7.59045299e-01 -6.50592815e-01 -2.40670400e-02 8.02451315e+01] [ 6.50248466e-01 7.59426635e-01 -2.11688232e-02 3.49679032e+01] [ 3.20494355e-02 4.18539908e-04 9.99486197e-01 1.89582289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:34.99, Z:1.90 [[ 7.58484858e-01 -6.51242220e-01 -2.41721136e-02 8.02671304e+01] [ 6.50894837e-01 7.58869824e-01 -2.12720694e-02 3.49852898e+01] [ 3.21967573e-02 4.01038563e-04 9.99481470e-01 1.89651521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:35.00, Z:1.90 [[ 7.57108731e-01 -6.52849655e-01 -2.39519733e-02 8.02913643e+01] [ 6.52509032e-01 7.57487435e-01 -2.10891009e-02 3.50022474e+01] [ 3.19113311e-02 3.37863561e-04 9.99490647e-01 1.89813207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:35.02, Z:1.90 [[ 7.56755144e-01 -6.53257748e-01 -2.39993081e-02 8.03132819e+01] [ 6.52915657e-01 7.57135527e-01 -2.11409153e-02 3.50204518e+01] [ 3.19811955e-02 3.28972388e-04 9.99488417e-01 1.89891738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:35.04, Z:1.90 [[ 7.56519967e-01 -6.53523191e-01 -2.41863213e-02 8.03350064e+01] [ 6.53175503e-01 7.56906421e-01 -2.13174060e-02 3.50386635e+01] [ 3.22382011e-02 3.29130751e-04 9.99480160e-01 1.90023353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:35.06, Z:1.90 [[ 7.56189933e-01 -6.53896621e-01 -2.44130040e-02 8.03548101e+01] [ 6.53542203e-01 7.56583838e-01 -2.15286940e-02 3.50565576e+01] [ 3.25480246e-02 3.24853276e-04 9.99470120e-01 1.89993685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:35.07, Z:1.90 [[ 7.56015694e-01 -6.54111041e-01 -2.40627401e-02 8.03759987e+01] [ 6.53766488e-01 7.56398469e-01 -2.12305312e-02 3.50743335e+01] [ 3.20881446e-02 3.19201689e-04 9.99484992e-01 1.90105352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:35.09, Z:1.90 [[ 7.55579414e-01 -6.54630876e-01 -2.36255236e-02 8.03971892e+01] [ 6.54298631e-01 7.55948627e-01 -2.08560585e-02 3.50921497e+01] [ 3.15127020e-02 3.00260694e-04 9.99503306e-01 1.90290361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:35.11, Z:1.90 [[ 7.55066442e-01 -6.55226604e-01 -2.35109717e-02 8.04186144e+01] [ 6.54897507e-01 7.55432338e-01 -2.07662719e-02 3.51099772e+01] [ 3.13675621e-02 2.82638283e-04 9.99507877e-01 1.90442478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:35.13, Z:1.91 [[ 7.53562035e-01 -6.56963734e-01 -2.33004516e-02 8.04411576e+01] [ 6.56640996e-01 7.53922148e-01 -2.05911910e-02 3.51276845e+01] [ 3.10943922e-02 2.16708031e-04 9.99516429e-01 1.90574880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:35.15, Z:1.91 [[ 7.52708404e-01 -6.57944694e-01 -2.32129018e-02 8.04628308e+01] [ 6.57624521e-01 7.53066230e-01 -2.05241967e-02 3.51459379e+01] [ 3.09846387e-02 1.83361866e-04 9.99519844e-01 1.90668591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:35.16, Z:1.91 [[ 7.52524641e-01 -6.58155067e-01 -2.32071626e-02 8.04834669e+01] [ 6.57834795e-01 7.52882377e-01 -2.05306846e-02 3.51643165e+01] [ 3.09846378e-02 1.83367012e-04 9.99519844e-01 1.90728538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:35.18, Z:1.91 [[ 7.51755047e-01 -6.59052768e-01 -2.26671229e-02 8.05045662e+01] [ 6.58747349e-01 7.52096687e-01 -2.00625193e-02 3.51829728e+01] [ 3.02701269e-02 1.50193021e-04 9.99541743e-01 1.90886197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:35.20, Z:1.91 [[ 7.51527500e-01 -6.59314187e-01 -2.26101749e-02 8.05259119e+01] [ 6.59010196e-01 7.51867530e-01 -2.00194726e-02 3.52012830e+01] [ 3.01989786e-02 1.44848379e-04 9.99543896e-01 1.91027762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:35.22, Z:1.91 [[ 7.51099717e-01 -6.59776666e-01 -2.33230923e-02 8.05456188e+01] [ 6.59453096e-01 7.51461730e-01 -2.06611134e-02 3.52191631e+01] [ 3.11581318e-02 1.38070935e-04 9.99514458e-01 1.90999469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:35.24, Z:1.91 [[ 7.50626833e-01 -6.60331340e-01 -2.28446714e-02 8.05660207e+01] [ 6.60020929e-01 7.50974372e-01 -2.02451426e-02 3.52384261e+01] [ 3.05242649e-02 1.18586015e-04 9.99534019e-01 1.91131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:35.26, Z:1.91 [[ 7.50737123e-01 -6.60229534e-01 -2.21525364e-02 8.05853526e+01] [ 6.59937330e-01 7.51063876e-01 -1.96411389e-02 3.52573356e+01] [ 2.96056299e-02 1.26046392e-04 9.99561649e-01 1.91235472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:35.28, Z:1.91 [[ 7.50998386e-01 -6.59930678e-01 -2.22018918e-02 8.06045174e+01] [ 6.59636838e-01 7.51326480e-01 -1.96916882e-02 3.52769655e+01] [ 2.96760184e-02 1.43240336e-04 9.99559560e-01 1.91189145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:35.30, Z:1.91 [[ 7.51186678e-01 -6.59719259e-01 -2.21150452e-02 8.06245496e+01] [ 6.59427330e-01 7.51512125e-01 -1.96245339e-02 3.52963798e+01] [ 2.95664076e-02 1.58423229e-04 9.99562806e-01 1.91311727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:35.32, Z:1.91 [[ 7.52748994e-01 -6.57931056e-01 -2.22638291e-02 8.06430640e+01] [ 6.57634137e-01 7.53078130e-01 -1.97654280e-02 3.53182941e+01] [ 2.97706917e-02 2.36952050e-04 9.99556727e-01 1.91396368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:35.34, Z:1.91 [[ 7.53567229e-01 -6.56991233e-01 -2.23371928e-02 8.06624960e+01] [ 6.56691827e-01 7.53898164e-01 -1.98343785e-02 3.53389542e+01] [ 2.98709814e-02 2.77885761e-04 9.99553724e-01 1.91396627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:35.36, Z:1.91 [[ 7.54129543e-01 -6.56343514e-01 -2.24014440e-02 8.06817325e+01] [ 6.56041944e-01 7.54462124e-01 -1.98965163e-02 3.53595761e+01] [ 2.99599905e-02 3.08263858e-04 9.99551051e-01 1.91414466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:35.38, Z:1.91 [[ 7.56053862e-01 -6.54102735e-01 -2.30688105e-02 8.06999213e+01] [ 6.53781698e-01 7.56405607e-01 -2.04951141e-02 3.53817235e+01] [ 3.08552878e-02 4.13444059e-04 9.99523777e-01 1.91469319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:35.40, Z:1.91 [[ 7.56690219e-01 -6.53347506e-01 -2.35997648e-02 8.07192904e+01] [ 6.53010972e-01 7.57058007e-01 -2.09724750e-02 3.54023605e+01] [ 3.15687052e-02 4.58761341e-04 9.99501479e-01 1.91447756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:35.42, Z:1.92 [[ 7.57162837e-01 -6.52792586e-01 -2.37965980e-02 8.07396752e+01] [ 6.52449917e-01 7.57536533e-01 -2.11543815e-02 3.54226509e+01] [ 3.18362157e-02 4.91223136e-04 9.99492978e-01 1.91577187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:35.44, Z:1.92 [[ 7.57534913e-01 -6.52382238e-01 -2.32006757e-02 8.07588066e+01] [ 6.52056002e-01 7.57889940e-01 -2.06351480e-02 3.54432030e+01] [ 3.10455627e-02 5.03705204e-04 9.99517843e-01 1.91575948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:35.46, Z:1.92 [[ 7.57436078e-01 -6.52522035e-01 -2.24851510e-02 8.07795017e+01] [ 6.52215359e-01 7.57769591e-01 -2.00092839e-02 3.54615406e+01] [ 3.00950623e-02 4.90592683e-04 9.99546921e-01 1.91720627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:35.48, Z:1.92 [[ 7.56923740e-01 -6.53137539e-01 -2.18587977e-02 8.08007402e+01] [ 6.52847673e-01 7.57239158e-01 -1.94620893e-02 3.54810005e+01] [ 2.92637587e-02 4.60852175e-04 9.99571618e-01 1.91846780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:35.50, Z:1.92 [[ 7.55889796e-01 -6.54377090e-01 -2.05241340e-02 8.08210499e+01] [ 6.54121794e-01 7.56168281e-01 -1.82814182e-02 3.54997422e+01] [ 2.74826404e-02 3.93454172e-04 9.99622203e-01 1.91995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:35.52, Z:1.92 [[ 7.55249140e-01 -6.55119742e-01 -2.04171537e-02 8.08433582e+01] [ 6.54867209e-01 7.55524974e-01 -1.81920647e-02 3.55176092e+01] [ 2.73436503e-02 3.69016747e-04 9.99626024e-01 1.92131475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:35.54, Z:1.92 [[ 7.54510794e-01 -6.55968839e-01 -2.04534598e-02 8.08656011e+01] [ 6.55715463e-01 7.54787893e-01 -1.82337311e-02 3.55363665e+01] [ 2.73987833e-02 3.45897083e-04 9.99624523e-01 1.92151957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:35.55, Z:1.92 [[ 7.53470372e-01 -6.57144441e-01 -2.10613699e-02 8.08871010e+01] [ 6.56875998e-01 7.53764606e-01 -1.87840609e-02 3.55540826e+01] [ 2.82191564e-02 3.18524968e-04 9.99601710e-01 1.92108444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:35.57, Z:1.92 [[ 7.52902026e-01 -6.57778785e-01 -2.15779701e-02 8.09084479e+01] [ 6.57497121e-01 7.53211110e-01 -1.92499210e-02 3.55718412e+01] [ 2.89149565e-02 3.05851299e-04 9.99581828e-01 1.92173670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:35.59, Z:1.92 [[ 7.52725039e-01 -6.57981482e-01 -2.15727860e-02 8.09289936e+01] [ 6.57699734e-01 7.53034047e-01 -1.92557294e-02 3.55903043e+01] [ 2.89149557e-02 3.05854056e-04 9.99581828e-01 1.92233617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:35.61, Z:1.92 [[ 7.52423666e-01 -6.58307499e-01 -2.21328855e-02 8.09497911e+01] [ 6.58010745e-01 7.52749056e-01 -1.97665880e-02 3.56089719e+01] [ 2.96730018e-02 3.09172171e-04 9.99559612e-01 1.92192404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:35.63, Z:1.92 [[ 7.52627045e-01 -6.58067003e-01 -2.23685206e-02 8.09707573e+01] [ 6.57763503e-01 7.52959303e-01 -1.99865530e-02 3.56275685e+01] [ 2.99950767e-02 3.29223885e-04 9.99549992e-01 1.92198691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:35.65, Z:1.92 [[ 7.52803035e-01 -6.57866529e-01 -2.23432488e-02 8.09917670e+01] [ 6.57563415e-01 7.53134459e-01 -1.99710173e-02 3.56468376e+01] [ 2.99657344e-02 3.42139433e-04 9.99550868e-01 1.92300707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:35.67, Z:1.92 [[ 7.53178583e-01 -6.57428274e-01 -2.25850968e-02 8.10118991e+01] [ 6.57118037e-01 7.53517038e-01 -2.01980022e-02 3.56657647e+01] [ 3.02969930e-02 3.71628217e-04 9.99540872e-01 1.92362162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:35.68, Z:1.92 [[ 7.53430093e-01 -6.57134765e-01 -2.27375582e-02 8.10329634e+01] [ 6.56819864e-01 7.53773007e-01 -2.03450298e-02 3.56847670e+01] [ 3.05083840e-02 3.94077805e-04 9.99534433e-01 1.92357859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:35.70, Z:1.92 [[ 7.54362299e-01 -6.56045671e-01 -2.32722964e-02 8.10541614e+01] [ 6.55714919e-01 7.54721054e-01 -2.08344826e-02 3.57045177e+01] [ 3.12324641e-02 4.56756241e-04 9.99512043e-01 1.92354508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:35.72, Z:1.92 [[ 7.54614700e-01 -6.55769551e-01 -2.28680935e-02 8.10752815e+01] [ 6.55449751e-01 7.54960977e-01 -2.04828534e-02 3.57223425e+01] [ 3.06965498e-02 4.67776081e-04 9.99528640e-01 1.92482525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:35.74, Z:1.93 [[ 7.54996302e-01 -6.55360782e-01 -2.19733638e-02 8.10949088e+01] [ 6.55065059e-01 7.55315842e-01 -1.96912988e-02 3.57414564e+01] [ 2.95017348e-02 4.72874866e-04 9.99564617e-01 1.92702845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:35.76, Z:1.93 [[ 7.55861109e-01 -6.54425188e-01 -2.00413822e-02 8.11163327e+01] [ 6.54178681e-01 7.56126611e-01 -1.79666726e-02 3.57606378e+01] [ 2.69116654e-02 4.69664099e-04 9.99637705e-01 1.93105386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:35.78, Z:1.93 [[ 7.56132469e-01 -6.54127175e-01 -1.95276232e-02 8.11373976e+01] [ 6.53892830e-01 7.56384435e-01 -1.75143786e-02 3.57799449e+01] [ 2.62270212e-02 4.74217511e-04 9.99655900e-01 1.93250868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:35.80, Z:1.93 [[ 7.56347362e-01 -6.53874515e-01 -1.96668583e-02 8.11576182e+01] [ 6.53636520e-01 7.56602852e-01 -1.76472215e-02 3.57990081e+01] [ 2.64190695e-02 4.92452570e-04 9.99650834e-01 1.93307539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:35.82, Z:1.93 [[ 7.56621003e-01 -6.53558186e-01 -1.96559407e-02 8.11795173e+01] [ 6.53320198e-01 7.56876106e-01 -1.76430667e-02 3.58183115e+01] [ 2.64078825e-02 5.07491744e-04 9.99651122e-01 1.93346779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:35.84, Z:1.93 [[ 7.56075426e-01 -6.54205777e-01 -1.90984649e-02 8.12002015e+01] [ 6.53981120e-01 7.56316451e-01 -1.71499732e-02 3.58370611e+01] [ 2.56640947e-02 4.76637858e-04 9.99670509e-01 1.93339545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:35.86, Z:1.93 [[ 7.54510667e-01 -6.55940808e-01 -2.13379757e-02 8.12205539e+01] [ 6.55660911e-01 7.54812185e-01 -1.91659883e-02 3.58581985e+01] [ 2.86779179e-02 4.70466023e-04 9.99588593e-01 1.92905265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:35.88, Z:1.93 [[ 7.52866721e-01 -6.57803319e-01 -2.20565964e-02 8.12413540e+01] [ 6.57504804e-01 7.53189629e-01 -1.98195532e-02 3.58774476e+01] [ 2.96501675e-02 4.19163978e-04 9.99560249e-01 1.92675506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:35.89, Z:1.93 [[ 7.51154113e-01 -6.59791316e-01 -2.10456373e-02 8.12651441e+01] [ 6.59520197e-01 7.51448809e-01 -1.89155655e-02 3.58937461e+01] [ 2.82950449e-02 3.28481966e-04 9.99599561e-01 1.93147047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:35.91, Z:1.94 [[ 7.47464276e-01 -6.63971773e-01 -2.09437655e-02 8.12887717e+01] [ 6.63704651e-01 7.47757617e-01 -1.88330201e-02 3.59098050e+01] [ 2.81654539e-02 1.76535179e-04 9.99603259e-01 1.93667496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:35.93, Z:1.94 [[ 7.45437939e-01 -6.66224743e-01 -2.16072065e-02 8.13100104e+01] [ 6.65941085e-01 7.45751019e-01 -1.94393931e-02 3.59282413e+01] [ 2.90646009e-02 1.01734598e-04 9.99577530e-01 1.93617578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:35.95, Z:1.94 [[ 7.43478084e-01 -6.68404423e-01 -2.18143713e-02 8.13309749e+01] [ 6.68115918e-01 7.43798042e-01 -1.96365146e-02 3.59469319e+01] [ 2.93506199e-02 2.47895142e-05 9.99569177e-01 1.93596784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:35.97, Z:1.94 [[ 7.41868791e-01 -6.70207250e-01 -2.12823671e-02 8.13513140e+01] [ 6.69933096e-01 7.42173996e-01 -1.91678255e-02 3.59656403e+01] [ 2.86416351e-02 -3.77505206e-05 9.99589744e-01 1.93720723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:35.98, Z:1.94 [[ 7.41577317e-01 -6.70532982e-01 -2.11802495e-02 8.13711779e+01] [ 6.70261299e-01 7.41879720e-01 -1.90859191e-02 3.59843460e+01] [ 2.85109358e-02 -4.26168309e-05 9.99593480e-01 1.93655389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:36.00, Z:1.94 [[ 7.41414788e-01 -6.70717130e-01 -2.10390959e-02 8.13915059e+01] [ 6.70448866e-01 7.41713240e-01 -1.89680925e-02 3.60031517e+01] [ 2.83272006e-02 -4.24137486e-05 9.99598703e-01 1.93751028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:36.02, Z:1.94 [[ 7.41937858e-01 -6.70152150e-01 -2.05988069e-02 8.14119124e+01] [ 6.69894511e-01 7.42223750e-01 -1.85808742e-02 3.60225336e+01] [ 2.77409365e-02 -1.31736452e-05 9.99615146e-01 1.94108221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:36.04, Z:1.94 [[ 7.42141861e-01 -6.69894760e-01 -2.15978715e-02 8.14310841e+01] [ 6.69611105e-01 7.42456066e-01 -1.94925183e-02 3.60419313e+01] [ 2.90934065e-02 4.03922544e-06 9.99576697e-01 1.94067332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:36.06, Z:1.94 [[ 7.43349338e-01 -6.68562704e-01 -2.13464899e-02 8.14491673e+01] [ 6.68284802e-01 7.43655772e-01 -1.92747460e-02 3.60631058e+01] [ 2.87608167e-02 6.23348381e-05 9.99586320e-01 1.94060717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:36.08, Z:1.94 [[ 7.44168430e-01 -6.67683143e-01 -2.03117899e-02 8.14691005e+01] [ 6.67430971e-01 7.44445573e-01 -1.83490486e-02 3.60825200e+01] [ 2.73723725e-02 9.80649583e-05 9.99625302e-01 1.94298734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:36.10, Z:1.95 [[ 7.44713703e-01 -6.67092053e-01 -1.97406505e-02 8.14885888e+01] [ 6.66853412e-01 7.44975286e-01 -1.78423475e-02 3.61015414e+01] [ 2.66087850e-02 1.23320523e-04 9.99645916e-01 1.94536578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:36.12, Z:1.95 [[ 7.45153800e-01 -6.66584514e-01 -2.02706987e-02 8.15084780e+01] [ 6.66332442e-01 7.45429449e-01 -1.83306908e-02 3.61210289e+01] [ 2.73293304e-02 1.52159802e-04 9.99626473e-01 1.94558110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:36.14, Z:1.94 [[ 7.44567624e-01 -6.67201858e-01 -2.14646885e-02 8.15268508e+01] [ 6.66919165e-01 7.44876942e-01 -1.94208016e-02 3.61409470e+01] [ 2.89461465e-02 1.44887991e-04 9.99580962e-01 1.94249695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:36.16, Z:1.94 [[ 7.44138888e-01 -6.67683074e-01 -2.13688469e-02 8.15477403e+01] [ 6.67402823e-01 7.44445629e-01 -1.93436501e-02 3.61594023e+01] [ 2.88233725e-02 1.32733539e-04 9.99584511e-01 1.94397159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:36.18, Z:1.95 [[ 7.43618862e-01 -6.68274239e-01 -2.09887688e-02 8.15689655e+01] [ 6.68003816e-01 7.43915000e-01 -1.90098585e-02 3.61780337e+01] [ 2.83176587e-02 1.15511758e-04 9.99598968e-01 1.94550552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:36.20, Z:1.95 [[ 7.42111487e-01 -6.69936450e-01 -2.13469998e-02 8.15895873e+01] [ 6.69657108e-01 7.42418447e-01 -1.93444555e-02 3.61952844e+01] [ 2.88079623e-02 6.05724797e-05 9.99584963e-01 1.94599505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:36.21, Z:1.95 [[ 7.40502189e-01 -6.71693508e-01 -2.20077120e-02 8.16114407e+01] [ 6.71397120e-01 7.40829151e-01 -1.99518399e-02 3.62129479e+01] [ 2.97054759e-02 -1.53331278e-06 9.99558695e-01 1.94835451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:36.23, Z:1.95 [[ 7.38906048e-01 -6.73442217e-01 -2.22133331e-02 8.16334865e+01] [ 6.73140720e-01 7.39239864e-01 -2.01493304e-02 3.62312099e+01] [ 2.99903911e-02 -6.42368705e-05 9.99550185e-01 1.94888358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:36.25, Z:1.95 [[ 7.36968035e-01 -6.75558914e-01 -2.23219390e-02 8.16542607e+01] [ 6.75255150e-01 7.37305997e-01 -2.02570770e-02 3.62490765e+01] [ 3.01429485e-02 -1.44186041e-04 9.99545588e-01 1.94859301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:36.27, Z:1.95 [[ 7.33502480e-01 -6.79298425e-01 -2.29730663e-02 8.16766309e+01] [ 6.78978353e-01 7.33862084e-01 -2.08527577e-02 3.62662299e+01] [ 3.10243078e-02 -3.02665241e-04 9.99518584e-01 1.94774624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:36.28, Z:1.95 [[ 7.31556584e-01 -6.81394537e-01 -2.29444836e-02 8.16979913e+01] [ 6.81076113e-01 7.31916207e-01 -2.08325163e-02 3.62849041e+01] [ 3.09886022e-02 -3.86775277e-04 9.99519663e-01 1.94865442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:36.30, Z:1.95 [[ 7.28775877e-01 -6.84363985e-01 -2.30576685e-02 8.17204007e+01] [ 6.84043727e-01 7.29140366e-01 -2.09405378e-02 3.63009112e+01] [ 3.11432267e-02 -5.11494674e-04 9.99514801e-01 1.95084325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:36.32, Z:1.95 [[ 7.27081859e-01 -6.86166547e-01 -2.29660500e-02 8.17416412e+01] [ 6.85849541e-01 7.27444246e-01 -2.08632774e-02 3.63202366e+01] [ 3.10222040e-02 -5.81944342e-04 9.99518526e-01 1.95307858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:36.34, Z:1.95 [[ 7.25897548e-01 -6.87441275e-01 -2.22989508e-02 8.17628689e+01] [ 6.87142736e-01 7.26239712e-01 -2.02667274e-02 3.63398892e+01] [ 3.01265686e-02 -6.10994384e-04 9.99545905e-01 1.95490293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:36.36, Z:1.96 [[ 7.24974629e-01 -6.88428558e-01 -2.18610992e-02 8.17827675e+01] [ 6.88141802e-01 7.25303881e-01 -1.98781487e-02 3.63604482e+01] [ 2.95406253e-02 -6.32382689e-04 9.99563380e-01 1.95657480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:36.38, Z:1.96 [[ 7.24320440e-01 -6.89158747e-01 -2.04968704e-02 8.18014510e+01] [ 6.88906735e-01 7.24610132e-01 -1.86458375e-02 3.63808019e+01] [ 2.77021820e-02 -6.14870839e-04 9.99616032e-01 1.95796581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.82, Y:36.40, Z:1.96 [[ 7.24144933e-01 -6.89348857e-01 -2.03044154e-02 8.18214458e+01] [ 6.89101424e-01 7.24429279e-01 -1.84782939e-02 3.64011653e+01] [ 2.74471038e-02 -6.10838616e-04 9.99623071e-01 1.95854692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:36.42, Z:1.96 [[ 7.24704084e-01 -6.88750246e-01 -2.06661330e-02 8.18394097e+01] [ 6.88493392e-01 7.24998448e-01 -1.88175445e-02 3.64239782e+01] [ 2.79435027e-02 -5.91344677e-04 9.99609329e-01 1.95792653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:36.44, Z:1.96 [[ 7.25172087e-01 -6.88245258e-01 -2.10691524e-02 8.18585849e+01] [ 6.87977847e-01 7.25477865e-01 -1.91924357e-02 3.64444794e+01] [ 2.84943066e-02 -5.77291481e-04 9.99593788e-01 1.95772389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:36.47, Z:1.96 [[ 7.25484879e-01 -6.87900012e-01 -2.15699761e-02 8.18772076e+01] [ 6.87619428e-01 7.25805239e-01 -1.96539141e-02 3.64653758e+01] [ 2.91755294e-02 -5.73317167e-04 9.99574139e-01 1.95814181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:36.49, Z:1.96 [[ 7.26414097e-01 -6.86923524e-01 -2.14156993e-02 8.18951756e+01] [ 6.86646217e-01 7.26729523e-01 -1.95236448e-02 3.64884000e+01] [ 2.89746718e-02 -5.22758157e-04 9.99580009e-01 1.95956541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.91, Y:36.51, Z:1.96 [[ 7.26361157e-01 -6.86984781e-01 -2.12457027e-02 8.19146312e+01] [ 6.86711612e-01 7.26671622e-01 -1.93782195e-02 3.65093062e+01] [ 2.87511911e-02 -5.14084807e-04 9.99586467e-01 1.96044759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.93, Y:36.53, Z:1.96 [[ 7.25945813e-01 -6.87429341e-01 -2.10612979e-02 8.19337719e+01] [ 6.87160812e-01 7.26251079e-01 -1.92194597e-02 3.65283668e+01] [ 2.85078109e-02 -5.20212324e-04 9.99593434e-01 1.96088304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:36.55, Z:1.96 [[ 7.25048883e-01 -6.88365687e-01 -2.13728523e-02 8.19536654e+01] [ 6.88089355e-01 7.25363610e-01 -1.95108386e-02 3.65500563e+01] [ 2.89336811e-02 -5.60120428e-04 9.99581176e-01 1.96176500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:36.57, Z:1.96 [[ 7.24074631e-01 -6.89393401e-01 -2.12759687e-02 8.19739348e+01] [ 6.89119782e-01 7.24386904e-01 -1.94303763e-02 3.65695231e+01] [ 2.88072063e-02 -5.92648400e-04 9.99584811e-01 1.96215711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:36.59, Z:1.96 [[ 7.21601580e-01 -6.92003915e-01 -2.05363500e-02 8.19937804e+01] [ 6.91749938e-01 7.21893436e-01 -1.87587213e-02 3.65885897e+01] [ 2.78061649e-02 -6.69695914e-04 9.99613110e-01 1.96230221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:36.61, Z:1.96 [[ 7.20335236e-01 -6.93341408e-01 -1.98705727e-02 8.20135450e+01] [ 6.93103972e-01 7.20608917e-01 -1.81569101e-02 3.66101891e+01] [ 2.69078495e-02 -6.93310765e-04 9.99637678e-01 1.96313944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:36.63, Z:1.96 [[ 7.19068743e-01 -6.94664122e-01 -1.95422681e-02 8.20327658e+01] [ 6.94434757e-01 7.19333880e-01 -1.78644152e-02 3.66311499e+01] [ 2.64671838e-02 -7.25087617e-04 9.99649420e-01 1.96465576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:36.65, Z:1.97 [[ 7.17338051e-01 -6.96474530e-01 -1.86908785e-02 8.20519973e+01] [ 6.96265257e-01 7.17581116e-01 -1.70889946e-02 3.66516177e+01] [ 2.53142710e-02 -7.55223290e-04 9.99679257e-01 1.96598055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:36.67, Z:1.97 [[ 7.16834698e-01 -6.96983703e-01 -1.90193021e-02 8.20718464e+01] [ 6.96767102e-01 7.17086538e-01 -1.73926118e-02 3.66709726e+01] [ 2.57608525e-02 -7.84396442e-04 9.99667826e-01 1.96643188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:36.69, Z:1.97 [[ 7.16258732e-01 -6.97549910e-01 -1.99386961e-02 8.20912676e+01] [ 6.97311914e-01 7.16535706e-01 -1.82393965e-02 3.66929625e+01] [ 2.70096771e-02 -8.39363339e-04 9.99634820e-01 1.96645662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.11, Y:36.72, Z:1.96 [[ 7.16504718e-01 -6.97230433e-01 -2.21520102e-02 8.21076087e+01] [ 6.96936215e-01 7.16846490e-01 -2.02736679e-02 3.67154687e+01] [ 3.00150090e-02 -9.12359388e-04 9.99549032e-01 1.96327760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.13, Y:36.74, Z:1.96 [[ 7.16917942e-01 -6.96788066e-01 -2.26948591e-02 8.21264004e+01] [ 6.96478794e-01 7.17276490e-01 -2.07780305e-02 3.67384205e+01] [ 3.07563726e-02 -9.10345265e-04 9.99526496e-01 1.96212270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters Centerline goodness [0,1] 0.9999094858797972 Centerline is valid? [True, True] Translation: X:82.14, Y:36.76, Z:1.96 [[ 7.17229213e-01 -6.96461576e-01 -2.28807431e-02 8.21446913e+01] [ 6.96146739e-01 7.17593526e-01 -2.09582685e-02 3.67606447e+01] [ 3.10157018e-02 -8.96472251e-04 9.99518495e-01 1.96129873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:36.79, Z:1.96 [[ 7.18173503e-01 -6.95518677e-01 -2.19223499e-02 8.21608034e+01] [ 6.95228951e-01 7.18507556e-01 -2.00897493e-02 3.67858894e+01] [ 2.97241699e-02 -8.13126730e-04 9.99557809e-01 1.96339505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:36.81, Z:1.96 [[ 7.18350135e-01 -6.95358927e-01 -2.11907380e-02 8.21795413e+01] [ 6.95087927e-01 7.18662205e-01 -1.94270402e-02 3.68062318e+01] [ 2.87377483e-02 -7.74009193e-04 9.99586686e-01 1.96410464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:36.83, Z:1.97 [[ 7.18318790e-01 -6.95397909e-01 -2.09729570e-02 8.21978647e+01] [ 6.95132326e-01 7.18624495e-01 -1.92323844e-02 3.68276979e+01] [ 2.84458405e-02 -7.63997336e-04 9.99595043e-01 1.96564123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:36.85, Z:1.97 [[ 7.18127291e-01 -6.95595825e-01 -2.09676581e-02 8.22181638e+01] [ 6.95330158e-01 7.18432923e-01 -1.92381600e-02 3.68464238e+01] [ 2.84458397e-02 -7.63997314e-04 9.99595043e-01 1.96624088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:36.87, Z:1.97 [[ 7.18642800e-01 -6.95081863e-01 -2.03403596e-02 8.22353249e+01] [ 6.94831414e-01 7.18930242e-01 -1.86711853e-02 3.68688181e+01] [ 2.76013019e-02 -7.15207887e-04 9.99618756e-01 1.96673252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:36.89, Z:1.97 [[ 7.19569479e-01 -6.94140321e-01 -1.97225781e-02 8.22526767e+01] [ 6.93904397e-01 7.19839416e-01 -1.81080646e-02 3.68934099e+01] [ 2.67666269e-02 -6.55573022e-04 9.99641495e-01 1.96775809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:36.92, Z:1.97 [[ 7.21030229e-01 -6.92629302e-01 -1.94950994e-02 8.22707360e+01] [ 6.92398022e-01 7.21293495e-01 -1.79073471e-02 3.69163279e+01] [ 2.64648417e-02 -5.86629660e-04 9.99649573e-01 1.96830742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:36.94, Z:1.97 [[ 7.22436440e-01 -6.91186387e-01 -1.86270970e-02 8.22895094e+01] [ 6.90974564e-01 7.22676362e-01 -1.71180375e-02 3.69394293e+01] [ 2.52931172e-02 -5.04156117e-04 9.99679951e-01 1.96940714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:36.97, Z:1.97 [[ 7.26835856e-01 -6.86585103e-01 -1.76219941e-02 8.23035189e+01] [ 6.86394009e-01 7.27049375e-01 -1.62009582e-02 3.69652136e+01] [ 2.39353963e-02 -3.20193840e-04 9.99713456e-01 1.97019365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:82.32, Y:36.99, Z:1.97 [[ 7.29147068e-01 -6.84141156e-01 -1.71881375e-02 8.23209084e+01] [ 6.83958613e-01 7.29349590e-01 -1.58047603e-02 3.69872719e+01] [ 2.33488480e-02 -2.31980045e-04 9.99727352e-01 1.97064287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.34, Y:37.01, Z:1.97 [[ 7.30695325e-01 -6.82489523e-01 -1.70994942e-02 8.23386842e+01] [ 6.82308336e-01 7.30895355e-01 -1.57262293e-02 3.70105612e+01] [ 2.32309276e-02 -1.76045156e-04 9.99730110e-01 1.97141509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:37.03, Z:1.97 [[ 7.32334969e-01 -6.80723874e-01 -1.73349559e-02 8.23568892e+01] [ 6.80536986e-01 7.32540097e-01 -1.59504183e-02 3.70323304e+01] [ 2.35563808e-02 -1.16029567e-04 9.99722503e-01 1.97180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:37.06, Z:1.97 [[ 7.35911388e-01 -6.76862021e-01 -1.70948535e-02 8.23727915e+01] [ 6.76679120e-01 7.36109913e-01 -1.57341873e-02 3.70573186e+01] [ 2.32335649e-02 1.12372116e-05 9.99730064e-01 1.97298949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:37.08, Z:1.97 [[ 7.38056768e-01 -6.74517789e-01 -1.72614975e-02 8.23904556e+01] [ 6.74330480e-01 7.38258589e-01 -1.58952839e-02 3.70787802e+01] [ 2.34651005e-02 9.16679524e-05 9.99724652e-01 1.97337639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.406875 meters Centerline goodness [0,1] 0.9999365683476055 Centerline is valid? [True, True] Translation: X:82.40, Y:37.10, Z:1.97 [[ 7.42950937e-01 -6.69099336e-01 -1.81654784e-02 8.24042169e+01] [ 6.68890184e-01 7.43172928e-01 -1.67308284e-02 3.71047000e+01] [ 2.46946779e-02 2.79474434e-04 9.99695001e-01 1.97275611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:37.13, Z:1.97 [[ 7.45299128e-01 -6.66470865e-01 -1.85955800e-02 8.24220993e+01] [ 6.66250776e-01 7.45530980e-01 -1.71306790e-02 3.71279889e+01] [ 2.52806795e-02 3.78160499e-04 9.99680321e-01 1.97233447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:37.15, Z:1.97 [[ 7.47274326e-01 -6.64233557e-01 -1.93613878e-02 8.24417947e+01] [ 6.63993980e-01 7.47524951e-01 -1.78449369e-02 3.71497242e+01] [ 2.63263264e-02 4.79218225e-04 9.99653287e-01 1.97179325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters Centerline goodness [0,1] 0.9998949954848059 Centerline is valid? [True, True] Translation: X:82.46, Y:37.17, Z:1.97 [[ 7.51534880e-01 -6.59383185e-01 -2.02272151e-02 8.24576207e+01] [ 6.59119690e-01 7.51806721e-01 -1.86517430e-02 3.71733584e+01] [ 2.75056019e-02 6.85279641e-04 9.99621414e-01 1.97171965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52687499999999 meters Centerline goodness [0,1] 0.9999789336198361 Centerline is valid? [True, True] Translation: X:82.48, Y:37.19, Z:1.97 [[ 7.53089318e-01 -6.57612231e-01 -2.00657162e-02 8.24781129e+01] [ 6.57352129e-01 7.53356220e-01 -1.85090414e-02 3.71942280e+01] [ 2.72884041e-02 7.48720086e-04 9.99627322e-01 1.97324627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters Centerline goodness [0,1] 0.9999788958298159 Centerline is valid? [True, True] Translation: X:82.50, Y:37.22, Z:1.97 [[ 7.54494072e-01 -6.56018174e-01 -1.94640984e-02 8.24960180e+01] [ 6.55772694e-01 7.54744682e-01 -1.79621811e-02 3.72150675e+01] [ 2.64739420e-02 7.88334920e-04 9.99649193e-01 1.97459138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58687499999999 meters Centerline goodness [0,1] 0.999957955811558 Centerline is valid? [True, True] Translation: X:82.52, Y:37.24, Z:1.98 [[ 7.56730758e-01 -6.53454362e-01 -1.88668271e-02 8.25164719e+01] [ 6.53222798e-01 7.56965433e-01 -1.74158092e-02 3.72351033e+01] [ 2.56619724e-02 8.54836936e-04 9.99670312e-01 1.97636401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:37.26, Z:1.98 [[ 7.57659723e-01 -6.52382548e-01 -1.86750029e-02 8.25369168e+01] [ 6.52155257e-01 7.57889325e-01 -1.72421466e-02 3.72553116e+01] [ 2.54020609e-02 8.84678691e-04 9.99676924e-01 1.97662740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.646875 meters Centerline goodness [0,1] 0.9999369734658291 Centerline is valid? [True, True] Translation: X:82.56, Y:37.28, Z:1.98 [[ 7.58421526e-01 -6.51495989e-01 -1.87020185e-02 8.25571703e+01] [ 6.51267572e-01 7.58651519e-01 -1.72748816e-02 3.72751015e+01] [ 2.54428308e-02 9.21623899e-04 9.99675854e-01 1.97694606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:37.29, Z:1.98 [[ 7.59059000e-01 -6.50741427e-01 -1.91057451e-02 8.25788318e+01] [ 6.50502696e-01 7.59298790e-01 -1.76518909e-02 3.72946449e+01] [ 2.59937858e-02 9.70487935e-04 9.99661633e-01 1.97711433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.706875 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:82.60, Y:37.31, Z:1.98 [[ 7.60622695e-01 -6.48900341e-01 -1.95310777e-02 8.25992696e+01] [ 6.48650041e-01 7.60872669e-01 -1.80528757e-02 3.73137944e+01] [ 2.65751804e-02 1.06259263e-03 9.99646253e-01 1.97708750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters Centerline goodness [0,1] 0.9999580360889635 Centerline is valid? [True, True] Translation: X:82.62, Y:37.33, Z:1.98 [[ 7.60927889e-01 -6.48555037e-01 -1.91078968e-02 8.26208313e+01] [ 6.48315265e-01 7.61167033e-01 -1.76653337e-02 3.73326113e+01] [ 2.60012423e-02 1.05410388e-03 9.99661355e-01 1.97890191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:37.35, Z:1.98 [[ 7.61366899e-01 -6.48073799e-01 -1.79107759e-02 8.26439476e+01] [ 6.47862815e-01 7.61576872e-01 -1.65662303e-02 3.73505390e+01] [ 2.43765725e-02 1.00925373e-03 9.99702338e-01 1.98217581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters Centerline goodness [0,1] 0.9999156865224906 Centerline is valid? [True, True] Translation: X:82.67, Y:37.37, Z:1.98 [[ 7.61617317e-01 -6.47794880e-01 -1.73451715e-02 8.26667417e+01] [ 6.47596761e-01 7.61814157e-01 -1.60507290e-02 3.73681456e+01] [ 2.36113773e-02 9.91836295e-04 9.99720721e-01 1.98430923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.826875 meters Centerline goodness [0,1] 0.9999157167239091 Centerline is valid? [True, True] Translation: X:82.69, Y:37.39, Z:1.99 [[ 7.61430320e-01 -6.48028457e-01 -1.68222220e-02 8.26883370e+01] [ 6.47841989e-01 7.61615517e-01 -1.55743902e-02 3.73864507e+01] [ 2.29047133e-02 9.60671140e-04 9.99737191e-01 1.98554736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters Centerline goodness [0,1] 0.9999367595598465 Centerline is valid? [True, True] Translation: X:82.71, Y:37.40, Z:1.99 [[ 7.61100980e-01 -6.48428759e-01 -1.62924499e-02 8.27114013e+01] [ 6.48253759e-01 7.61274779e-01 -1.50922175e-02 3.74026571e+01] [ 2.21892590e-02 9.25059620e-04 9.99753360e-01 1.98616214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:37.42, Z:1.99 [[ 7.60852329e-01 -6.48719518e-01 -1.63315467e-02 8.27338073e+01] [ 6.48543551e-01 7.61027023e-01 -1.51371169e-02 3.74202826e+01] [ 2.22484916e-02 9.25391295e-04 9.99752043e-01 1.98617934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:37.44, Z:1.99 [[ 7.60274520e-01 -6.49385826e-01 -1.67541930e-02 8.27568232e+01] [ 6.49200584e-01 7.60458528e-01 -1.55379853e-02 3.74379381e+01] [ 2.28310164e-02 9.36302431e-04 9.99738900e-01 1.98627101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94687499999999 meters Centerline goodness [0,1] 0.9999788050274475 Centerline is valid? [True, True] Translation: X:82.78, Y:37.46, Z:1.99 [[ 7.59581758e-01 -6.50159126e-01 -1.81290865e-02 8.27789959e+01] [ 6.49942234e-01 7.59797422e-01 -1.68217377e-02 3.74551805e+01] [ 2.47112395e-02 9.94626142e-04 9.99694136e-01 1.98593350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:37.47, Z:1.99 [[ 7.58915534e-01 -6.50920570e-01 -1.86982031e-02 8.28031263e+01] [ 6.50689939e-01 7.59145179e-01 -1.73551417e-02 3.74721917e+01] [ 2.54914695e-02 1.00435404e-03 9.99674535e-01 1.98663644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.83, Y:37.49, Z:1.99 [[ 7.58440067e-01 -6.51463417e-01 -1.90808988e-02 8.28266688e+01] [ 6.51223184e-01 7.58679372e-01 -1.77193289e-02 3.74893976e+01] [ 2.60197789e-02 1.01312527e-03 9.99660915e-01 1.98743372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:37.51, Z:1.99 [[ 7.58154764e-01 -6.51786033e-01 -1.93990071e-02 8.28499914e+01] [ 6.51537611e-01 7.58402213e-01 -1.80228818e-02 3.75052647e+01] [ 2.64593125e-02 1.02495093e-03 9.99649366e-01 1.98880851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:37.52, Z:1.99 [[ 7.58129269e-01 -6.51816035e-01 -1.93873121e-02 8.28701484e+01] [ 6.51567832e-01 7.58376427e-01 -1.80154306e-02 3.75227921e+01] [ 2.64456270e-02 1.02587639e-03 9.99649727e-01 1.98932846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:37.54, Z:1.99 [[ 7.57999651e-01 -6.51966951e-01 -1.93810159e-02 8.28944249e+01] [ 6.51718813e-01 7.58246692e-01 -1.80150635e-02 3.75373536e+01] [ 2.64408172e-02 1.02443914e-03 9.99649856e-01 1.99020238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.126875 meters Centerline goodness [0,1] 0.9999783610672321 Centerline is valid? [True, True] Translation: X:82.91, Y:37.56, Z:1.99 [[ 7.58193493e-01 -6.51752704e-01 -1.90010632e-02 8.29138525e+01] [ 6.51513904e-01 7.58430864e-01 -1.76708092e-02 3.75569242e+01] [ 2.59279905e-02 1.01843569e-03 9.99663294e-01 1.99082910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:37.57, Z:1.99 [[ 7.58418392e-01 -6.51494056e-01 -1.88954416e-02 8.29373399e+01] [ 6.51257721e-01 7.58653047e-01 -1.75765721e-02 3.75735294e+01] [ 2.57861166e-02 1.02459334e-03 9.99666958e-01 1.99219234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.186875 meters Centerline goodness [0,1] 0.9999564175201568 Centerline is valid? [True, True] Translation: X:82.96, Y:37.59, Z:1.99 [[ 7.58258112e-01 -6.51685116e-01 -1.87388938e-02 8.29594659e+01] [ 6.51452515e-01 7.58488943e-01 -1.74397280e-02 3.75911657e+01] [ 2.55784549e-02 1.01631574e-03 9.99672301e-01 1.99340543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:37.61, Z:2.00 [[ 7.57826627e-01 -6.52195337e-01 -1.84403414e-02 8.29847607e+01] [ 6.51970003e-01 7.58050303e-01 -1.71713136e-02 3.76068801e+01] [ 2.51777571e-02 9.90329233e-04 9.99682499e-01 1.99538199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:37.62, Z:2.00 [[ 7.57405181e-01 -6.52676110e-01 -1.87426464e-02 8.30082413e+01] [ 6.52443248e-01 7.57636391e-01 -1.74615785e-02 3.76241463e+01] [ 2.55968661e-02 9.96976881e-04 9.99671849e-01 1.99687967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:37.64, Z:2.00 [[ 7.56648888e-01 -6.53554409e-01 -1.86840685e-02 8.30304088e+01] [ 6.53323064e-01 7.56878916e-01 -1.74149665e-02 3.76409216e+01] [ 2.55232057e-02 9.70282159e-04 9.99673759e-01 1.99813697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:37.66, Z:2.00 [[ 7.56103404e-01 -6.54196161e-01 -1.83036897e-02 8.30515907e+01] [ 6.53974225e-01 7.56324344e-01 -1.70645613e-02 3.76589753e+01] [ 2.50070966e-02 9.32431553e-04 9.99686839e-01 1.99863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:37.67, Z:2.00 [[ 7.55080343e-01 -6.55413464e-01 -1.69371566e-02 8.30783836e+01] [ 6.55223674e-01 7.55269824e-01 -1.57933745e-02 3.76730938e+01] [ 2.31433136e-02 8.27640677e-04 9.99731815e-01 2.00164046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:37.69, Z:2.00 [[ 7.54408271e-01 -6.56184876e-01 -1.70167482e-02 8.31021903e+01] [ 6.55993311e-01 7.54599726e-01 -1.58754277e-02 3.76904929e+01] [ 2.32580491e-02 8.13681018e-04 9.99729164e-01 2.00253823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:37.71, Z:2.00 [[ 7.53975083e-01 -6.56672677e-01 -1.73944945e-02 8.31223722e+01] [ 6.56472457e-01 7.54175257e-01 -1.62355791e-02 3.77096941e+01] [ 2.37799586e-02 8.22215506e-04 9.99716879e-01 2.00220228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:37.72, Z:2.00 [[ 7.52772286e-01 -6.58042068e-01 -1.77347915e-02 8.31492989e+01] [ 6.57834231e-01 7.52980745e-01 -1.65566514e-02 3.77236143e+01] [ 2.42489296e-02 7.96835321e-04 9.99705634e-01 2.00270063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:37.74, Z:2.00 [[ 7.51545291e-01 -6.59436146e-01 -1.79901253e-02 8.31741243e+01] [ 6.59222477e-01 7.51760187e-01 -1.68031827e-02 3.77393369e+01] [ 2.46048860e-02 7.68857844e-04 9.99696958e-01 2.00389367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:37.76, Z:2.00 [[ 7.50590705e-01 -6.60516628e-01 -1.82038063e-02 8.31946147e+01] [ 6.60297959e-01 7.50811044e-01 -1.70111847e-02 3.77590660e+01] [ 2.49037892e-02 7.48500894e-04 9.99689572e-01 2.00388844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:37.77, Z:2.00 [[ 7.49811184e-01 -6.61396117e-01 -1.83947043e-02 8.32191748e+01] [ 6.61172890e-01 7.50036425e-01 -1.71979890e-02 3.77744984e+01] [ 2.51713814e-02 7.33164690e-04 9.99682882e-01 2.00443463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:37.79, Z:2.00 [[ 7.48833912e-01 -6.62481863e-01 -1.91194584e-02 8.32445990e+01] [ 6.62240814e-01 7.49077597e-01 -1.78845580e-02 3.77893769e+01] [ 2.61701533e-02 7.30877857e-04 9.99657236e-01 2.00452994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:37.81, Z:2.00 [[ 7.48349336e-01 -6.63013046e-01 -1.96716000e-02 8.32664120e+01] [ 6.62757798e-01 7.48607476e-01 -1.84105341e-02 3.78066349e+01] [ 2.69327311e-02 7.40004659e-04 9.99636974e-01 2.00472639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:37.82, Z:2.00 [[ 7.48023907e-01 -6.63366845e-01 -2.01162356e-02 8.32873430e+01] [ 6.63099787e-01 7.48293970e-01 -1.88363337e-02 3.78239552e+01] [ 2.75482571e-02 7.50956397e-04 9.99620193e-01 2.00445870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:37.84, Z:2.00 [[ 7.47299904e-01 -6.64150928e-01 -2.11281273e-02 8.33127867e+01] [ 6.63856431e-01 7.47598128e-01 -1.97908596e-02 3.78397613e+01] [ 2.89394662e-02 7.63664295e-04 9.99580874e-01 2.00393748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:37.86, Z:2.00 [[ 7.46698854e-01 -6.64827892e-01 -2.10877835e-02 8.33356136e+01] [ 6.64534515e-01 7.46996199e-01 -1.97625210e-02 3.78574807e+01] [ 2.88911693e-02 7.43091856e-04 9.99582287e-01 2.00398967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:37.87, Z:2.01 [[ 7.46326030e-01 -6.65248111e-01 -2.10335072e-02 8.33585781e+01] [ 6.64956132e-01 7.46622003e-01 -1.97212332e-02 3.78747953e+01] [ 2.88235924e-02 7.32110090e-04 9.99584246e-01 2.00536111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:37.89, Z:2.01 [[ 7.45874833e-01 -6.65759117e-01 -2.08693837e-02 8.33821678e+01] [ 6.65471597e-01 7.46166394e-01 -1.95771724e-02 3.78914174e+01] [ 2.86057138e-02 7.14138058e-04 9.99590518e-01 2.00701114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:37.91, Z:2.01 [[ 7.45799715e-01 -6.65841687e-01 -2.09197023e-02 8.34045376e+01] [ 6.65552561e-01 7.46092709e-01 -1.96330765e-02 3.79076749e+01] [ 2.86805581e-02 7.19181407e-04 9.99588369e-01 2.00842386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:37.93, Z:2.01 [[ 7.45911110e-01 -6.65718878e-01 -2.08564232e-02 8.34273553e+01] [ 6.65431257e-01 7.46202283e-01 -1.95804735e-02 3.79257589e+01] [ 2.85982015e-02 7.26776802e-04 9.99590724e-01 2.00930531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:37.94, Z:2.01 [[ 7.45880417e-01 -6.65753201e-01 -2.08585328e-02 8.34512460e+01] [ 6.65465260e-01 7.46171655e-01 -1.95920756e-02 3.79410478e+01] [ 2.86075330e-02 7.32716566e-04 9.99590452e-01 2.01000851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:37.96, Z:2.01 [[ 7.45615047e-01 -6.66042937e-01 -2.10952247e-02 8.34734466e+01] [ 6.65748219e-01 7.45913039e-01 -1.98254163e-02 3.79591004e+01] [ 2.89397817e-02 7.38020496e-04 9.99580884e-01 2.01017657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.49, Y:37.98, Z:2.01 [[ 7.45252901e-01 -6.66447327e-01 -2.11204681e-02 8.34949198e+01] [ 6.66151790e-01 7.45551760e-01 -1.98586294e-02 3.79764444e+01] [ 2.89811327e-02 7.30263534e-04 9.99579692e-01 2.01021448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:37.99, Z:2.01 [[ 7.44486092e-01 -6.67275057e-01 -2.20103815e-02 8.35208232e+01] [ 6.66954240e-01 7.44811024e-01 -2.07021727e-02 3.79916031e+01] [ 3.02076182e-02 7.32562432e-04 9.99543377e-01 2.00938067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.54, Y:38.01, Z:2.01 [[ 7.43941754e-01 -6.67859992e-01 -2.26649000e-02 8.35435729e+01] [ 6.67519733e-01 7.44286562e-01 -2.13288601e-02 3.80090707e+01] [ 3.11138729e-02 7.38161655e-04 9.99515574e-01 2.00874962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:38.03, Z:2.01 [[ 7.43755859e-01 -6.68067208e-01 -2.26589531e-02 8.35636251e+01] [ 6.67726852e-01 7.44100572e-01 -2.13351766e-02 3.80280829e+01] [ 3.11138718e-02 7.38171197e-04 9.99515574e-01 2.00934924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:38.04, Z:2.01 [[ 7.43279548e-01 -6.68589294e-01 -2.28881963e-02 8.35847683e+01] [ 6.68241944e-01 7.43631509e-01 -2.15611664e-02 3.80447470e+01] [ 3.14359490e-02 7.31121262e-04 9.99505501e-01 2.00919627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.61, Y:38.06, Z:2.01 [[ 7.42798525e-01 -6.69098384e-01 -2.36157361e-02 8.36084424e+01] [ 6.68728590e-01 7.43173471e-01 -2.22545603e-02 3.80602358e+01] [ 3.24410789e-02 7.38136715e-04 9.99473377e-01 2.00944440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:38.08, Z:2.01 [[ 7.43007354e-01 -6.68851290e-01 -2.40421220e-02 8.36294852e+01] [ 6.68467548e-01 7.43395829e-01 -2.26666885e-02 3.80785552e+01] [ 3.30334571e-02 7.70137857e-04 9.99453950e-01 2.00990155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.65, Y:38.10, Z:2.01 [[ 7.43174738e-01 -6.68657484e-01 -2.42585759e-02 8.36512048e+01] [ 6.68266432e-01 7.43570133e-01 -2.28786601e-02 3.80969225e+01] [ 3.33359398e-02 7.91650241e-04 9.99443890e-01 2.01030654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:38.12, Z:2.01 [[ 7.43404516e-01 -6.68396459e-01 -2.44110303e-02 8.36727343e+01] [ 6.67999924e-01 7.43804749e-01 -2.30346759e-02 3.81155247e+01] [ 3.35533361e-02 8.17515669e-04 9.99436594e-01 2.01046311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:38.13, Z:2.01 [[ 7.41713292e-01 -6.70227610e-01 -2.56191974e-02 8.36977986e+01] [ 6.69791460e-01 7.42155200e-01 -2.41880035e-02 3.81302949e+01] [ 3.52248883e-02 7.81044072e-04 9.99379106e-01 2.01119615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:38.15, Z:2.01 [[ 7.40307912e-01 -6.71774598e-01 -2.57504509e-02 8.37205059e+01] [ 6.71334445e-01 7.40755271e-01 -2.43247118e-02 3.81482730e+01] [ 3.54155057e-02 7.20611941e-04 9.99372414e-01 2.01190989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:38.17, Z:2.01 [[ 7.39121834e-01 -6.73088818e-01 -2.55021057e-02 8.37424363e+01] [ 6.72657486e-01 7.39561361e-01 -2.41018711e-02 3.81665056e+01] [ 3.50830719e-02 6.60036840e-04 9.99384182e-01 2.01241924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:38.18, Z:2.01 [[ 7.37775949e-01 -6.74571048e-01 -2.53090984e-02 8.37654534e+01] [ 6.74146689e-01 7.38209691e-01 -2.39310222e-02 3.81841995e+01] [ 3.48265964e-02 5.93687780e-04 9.99393194e-01 2.01432746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:38.20, Z:2.02 [[ 7.36206779e-01 -6.76324433e-01 -2.41834408e-02 8.37877497e+01] [ 6.75937574e-01 7.36603703e-01 -2.28775215e-02 3.82019094e+01] [ 3.32862388e-02 4.96090163e-04 9.99445736e-01 2.01667479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:38.22, Z:2.02 [[ 7.35185241e-01 -6.77458936e-01 -2.34957592e-02 8.38101129e+01] [ 6.77093999e-01 7.35560464e-01 -2.22378089e-02 3.82197256e+01] [ 3.23477539e-02 4.40071352e-04 9.99476578e-01 2.01905014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:38.24, Z:2.02 [[ 7.30974630e-01 -6.82013961e-01 -2.30878079e-02 8.38335544e+01] [ 6.81663559e-01 7.31339113e-01 -2.18607862e-02 3.82354254e+01] [ 3.17943783e-02 2.41562798e-04 9.99494402e-01 2.02025668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:38.25, Z:2.02 [[ 7.29873097e-01 -6.83198435e-01 -2.29163919e-02 8.38554233e+01] [ 6.82853605e-01 7.30232745e-01 -2.17046577e-02 3.82538370e+01] [ 3.15628879e-02 1.93104914e-04 9.99501749e-01 2.02174090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:38.27, Z:2.02 [[ 7.29032130e-01 -6.84076316e-01 -2.34893053e-02 8.38766143e+01] [ 6.83714081e-01 7.29410424e-01 -2.22595832e-02 3.82729283e+01] [ 3.23605978e-02 1.67982572e-04 9.99476245e-01 2.02169799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:38.29, Z:2.02 [[ 7.29054899e-01 -6.84002242e-01 -2.48975479e-02 8.38966426e+01] [ 6.83594842e-01 7.29479882e-01 -2.36049536e-02 3.82930041e+01] [ 3.43081015e-02 1.89471684e-04 9.99411286e-01 2.02008299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:38.31, Z:2.02 [[ 7.29386887e-01 -6.83617862e-01 -2.57174758e-02 8.39158881e+01] [ 6.83182721e-01 7.29840100e-01 -2.43884802e-02 3.83128595e+01] [ 3.54420458e-02 2.18902521e-04 9.99371709e-01 2.01951727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:38.33, Z:2.02 [[ 7.30082548e-01 -6.82863925e-01 -2.60064099e-02 8.39356563e+01] [ 6.82418173e-01 7.30545543e-01 -2.46707556e-02 3.83324683e+01] [ 3.58456358e-02 2.64441397e-04 9.99357304e-01 2.02076954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:38.35, Z:2.02 [[ 7.30630020e-01 -6.82246418e-01 -2.68253590e-02 8.39559475e+01] [ 6.81771266e-01 7.31122238e-01 -2.54600340e-02 3.83533185e+01] [ 3.69826335e-02 3.13106157e-04 9.99315859e-01 2.02117239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:38.37, Z:2.02 [[ 7.30949494e-01 -6.81911884e-01 -2.66274075e-02 8.39754582e+01] [ 6.81443034e-01 7.31434255e-01 -2.52848277e-02 3.83734650e+01] [ 3.67182225e-02 3.36870646e-04 9.99325602e-01 2.02188318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:38.39, Z:2.02 [[ 7.30973428e-01 -6.81887361e-01 -2.65983729e-02 8.39946271e+01] [ 6.81419081e-01 7.31457112e-01 -2.52691561e-02 3.83932085e+01] [ 3.66862872e-02 3.46442820e-04 9.99326772e-01 2.02173470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:38.41, Z:2.02 [[ 7.31502317e-01 -6.81310330e-01 -2.68438849e-02 8.40144685e+01] [ 6.80832568e-01 7.31994593e-01 -2.55133340e-02 3.84141548e+01] [ 3.70320766e-02 3.86871836e-04 9.99314003e-01 2.02217838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:38.43, Z:2.02 [[ 7.31311288e-01 -6.81535793e-01 -2.63203891e-02 8.40330810e+01] [ 6.81076197e-01 7.31784682e-01 -2.50278471e-02 3.84335914e+01] [ 3.63182312e-02 3.76956624e-04 9.99340204e-01 2.02204597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:38.45, Z:2.03 [[ 7.31554268e-01 -6.81307473e-01 -2.54652715e-02 8.40532804e+01] [ 6.80876722e-01 7.31997254e-01 -2.42262112e-02 3.84525885e+01] [ 3.51460076e-02 3.84077657e-04 9.99382114e-01 2.02550929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:38.47, Z:2.03 [[ 7.31680157e-01 -6.81200600e-01 -2.46959754e-02 8.40737503e+01] [ 6.80795004e-01 7.32096710e-01 -2.35067814e-02 3.84717272e+01] [ 3.40926760e-02 3.86548827e-04 9.99418601e-01 2.02841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:38.49, Z:2.03 [[ 7.31489326e-01 -6.81430852e-01 -2.39866695e-02 8.40934475e+01] [ 6.81047946e-01 7.31882405e-01 -2.28438400e-02 3.84913356e+01] [ 3.31219187e-02 3.73953152e-04 9.99451249e-01 2.02991083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:38.51, Z:2.03 [[ 7.31709194e-01 -6.81199694e-01 -2.38460123e-02 8.41115896e+01] [ 6.80820771e-01 7.32097551e-01 -2.27212074e-02 3.85108653e+01] [ 3.29352867e-02 3.90455860e-04 9.99457410e-01 2.03044816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:38.53, Z:2.03 [[ 7.31633091e-01 -6.81295380e-01 -2.34440804e-02 8.41307493e+01] [ 6.80928851e-01 7.32008508e-01 -2.23482680e-02 3.85309692e+01] [ 3.23870381e-02 3.86981660e-04 9.99475327e-01 2.03122435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:38.55, Z:2.03 [[ 7.30956548e-01 -6.82017136e-01 -2.35616496e-02 8.41516578e+01] [ 6.81646911e-01 7.31336101e-01 -2.24721104e-02 3.85500719e+01] [ 3.25578493e-02 3.65410624e-04 9.99469786e-01 2.03179994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:38.57, Z:2.03 [[ 7.30059761e-01 -6.82968766e-01 -2.37993647e-02 8.41717379e+01] [ 6.82591152e-01 7.30447501e-01 -2.27105113e-02 3.85688266e+01] [ 3.28947563e-02 3.34794698e-04 9.99458765e-01 2.03145346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:38.59, Z:2.03 [[ 7.27535149e-01 -6.85653973e-01 -2.39005773e-02 8.41945562e+01] [ 6.85274210e-01 7.27927593e-01 -2.28183339e-02 3.85855585e+01] [ 3.30433710e-02 2.22690739e-04 9.99453894e-01 2.03344995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:38.60, Z:2.04 [[ 7.26273906e-01 -6.86994647e-01 -2.37606658e-02 8.42162530e+01] [ 6.86619639e-01 7.26662457e-01 -2.26968102e-02 3.86043375e+01] [ 3.28585709e-02 1.69561221e-04 9.99459997e-01 2.03521304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:38.62, Z:2.04 [[ 7.25016626e-01 -6.88319722e-01 -2.38086676e-02 8.42362673e+01] [ 6.87943528e-01 7.25407435e-01 -2.27542639e-02 3.86227479e+01] [ 3.29331931e-02 1.18200790e-04 9.99457548e-01 2.03508996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:38.64, Z:2.04 [[ 7.23028778e-01 -6.90407102e-01 -2.38205460e-02 8.42579873e+01] [ 6.90031331e-01 7.23421061e-01 -2.27756414e-02 3.86414167e+01] [ 3.29567493e-02 3.05211155e-05 9.99456778e-01 2.03569528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:38.66, Z:2.04 [[ 7.22120549e-01 -6.91355510e-01 -2.38636196e-02 8.42785136e+01] [ 6.90978587e-01 7.22514746e-01 -2.28261635e-02 3.86601050e+01] [ 3.30228110e-02 -6.00840721e-06 9.99454598e-01 2.03681293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:38.68, Z:2.04 [[ 7.21458706e-01 -6.92067173e-01 -2.32457224e-02 8.42981061e+01] [ 6.91709547e-01 7.21833102e-01 -2.22458037e-02 3.86783911e+01] [ 3.21751224e-02 -2.98593823e-05 9.99482246e-01 2.03759736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:38.70, Z:2.04 [[ 7.20901837e-01 -6.92657093e-01 -2.29497897e-02 8.43181324e+01] [ 6.92308520e-01 7.21267044e-01 -2.19718919e-02 3.86983809e+01] [ 3.17719137e-02 -4.87577195e-05 9.99495144e-01 2.03859755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:38.72, Z:2.04 [[ 7.20715491e-01 -6.92848276e-01 -2.30314597e-02 8.43374968e+01] [ 6.92496937e-01 7.21083396e-01 -2.20619322e-02 3.87174985e+01] [ 3.18931749e-02 -4.88389802e-05 9.99491282e-01 2.03891947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:38.74, Z:2.04 [[ 7.20902417e-01 -6.92656209e-01 -2.29582699e-02 8.43565083e+01] [ 6.92306655e-01 7.21267894e-01 -2.20027150e-02 3.87362442e+01] [ 3.17993801e-02 -3.23526007e-05 9.99494271e-01 2.03893436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:38.76, Z:2.04 [[ 7.21655351e-01 -6.91880287e-01 -2.26985146e-02 8.43754655e+01] [ 6.91537874e-01 7.22012235e-01 -2.17646808e-02 3.87573128e+01] [ 3.14471589e-02 9.71579876e-06 9.99505416e-01 2.04126936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:38.78, Z:2.04 [[ 7.21927596e-01 -6.91589655e-01 -2.28975021e-02 8.43949487e+01] [ 6.91240684e-01 7.22290626e-01 -2.19674456e-02 3.87776261e+01] [ 3.17311093e-02 3.12201608e-05 9.99496441e-01 2.04164008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:38.80, Z:2.04 [[ 7.22190863e-01 -6.91315458e-01 -2.28756530e-02 8.44145470e+01] [ 6.90966636e-01 7.22553067e-01 -2.19584461e-02 3.87979653e+01] [ 3.17090865e-02 5.18761668e-05 9.99497139e-01 2.04227479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:38.82, Z:2.04 [[ 7.22798290e-01 -6.90645546e-01 -2.39031939e-02 8.44336689e+01] [ 6.90263886e-01 7.23193419e-01 -2.29574924e-02 3.88196813e+01] [ 3.31421224e-02 9.41247470e-05 9.99450645e-01 2.04089140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:38.84, Z:2.04 [[ 7.23315790e-01 -6.90086370e-01 -2.43940406e-02 8.44523500e+01] [ 6.89688130e-01 7.23727010e-01 -2.34413980e-02 3.88400189e+01] [ 3.38312154e-02 1.31253100e-04 9.99427552e-01 2.04015997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:38.86, Z:2.04 [[ 7.24055168e-01 -6.89303843e-01 -2.45830340e-02 8.44706979e+01] [ 6.88898536e-01 7.24472346e-01 -2.36352844e-02 3.88598140e+01] [ 3.41016207e-02 1.78033665e-04 9.99418355e-01 2.04059801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:38.88, Z:2.04 [[ 7.24572841e-01 -6.88770419e-01 -2.42797933e-02 8.44898757e+01] [ 6.88374355e-01 7.24979493e-01 -2.33555449e-02 3.88800522e+01] [ 3.36889607e-02 2.09206436e-04 9.99432344e-01 2.04231725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:38.90, Z:2.04 [[ 7.25580305e-01 -6.87714480e-01 -2.41249978e-02 8.45080091e+01] [ 6.87322451e-01 7.25981214e-01 -2.32190734e-02 3.89013497e+01] [ 3.34823882e-02 2.65649674e-04 9.99439272e-01 2.04336415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:38.92, Z:2.04 [[ 7.26047203e-01 -6.87225409e-01 -2.40144918e-02 8.45274488e+01] [ 6.86836287e-01 7.26444182e-01 -2.31249997e-02 3.89217094e+01] [ 3.33372752e-02 2.95816994e-04 9.99444115e-01 2.04447425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.406875 meters Centerline goodness [0,1] 0.9999750418049766 Centerline is valid? [True, True] Translation: X:84.55, Y:38.94, Z:2.04 [[ 7.26452767e-01 -6.86793701e-01 -2.40995836e-02 8.45458151e+01] [ 6.86401167e-01 7.26852328e-01 -2.32192104e-02 3.89417114e+01] [ 3.34636458e-02 3.25677327e-04 9.99439882e-01 2.04436945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:38.96, Z:2.05 [[ 7.27030418e-01 -6.86177234e-01 -2.42399538e-02 8.45650365e+01] [ 6.85779371e-01 7.27434307e-01 -2.33662780e-02 3.89619779e+01] [ 3.36663820e-02 3.64734567e-04 9.99433060e-01 2.04515804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:38.98, Z:2.05 [[ 7.28249903e-01 -6.84867064e-01 -2.46816437e-02 8.45848494e+01] [ 6.84453395e-01 7.28667900e-01 -2.38042317e-02 3.89836327e+01] [ 3.42874557e-02 4.41994601e-04 9.99411915e-01 2.04529441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters Centerline goodness [0,1] 0.9999254232232083 Centerline is valid? [True, True] Translation: X:84.60, Y:39.00, Z:2.05 [[ 7.28864377e-01 -6.84200985e-01 -2.50146220e-02 8.46038661e+01] [ 6.83775355e-01 7.29293340e-01 -2.41348110e-02 3.90043451e+01] [ 3.47560586e-02 4.86621984e-04 9.99395707e-01 2.04517077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:39.03, Z:2.05 [[ 7.29629705e-01 -6.83385846e-01 -2.49855841e-02 8.46235762e+01] [ 6.82960513e-01 7.30057194e-01 -2.41128871e-02 3.90252609e+01] [ 3.47193111e-02 5.29311380e-04 9.99396963e-01 2.04576763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:39.05, Z:2.05 [[ 7.31310239e-01 -6.81599498e-01 -2.46466802e-02 8.46434012e+01] [ 6.81184333e-01 7.31725187e-01 -2.37940105e-02 3.90468475e+01] [ 3.42525823e-02 6.11871126e-04 9.99413021e-01 2.04819800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:39.07, Z:2.05 [[ 7.31831160e-01 -6.81038682e-01 -2.46873978e-02 8.46638088e+01] [ 6.80621429e-01 7.32247154e-01 -2.38448151e-02 3.90674551e+01] [ 3.43165182e-02 6.47606666e-04 9.99410805e-01 2.04931662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.68, Y:39.09, Z:2.05 [[ 7.31901748e-01 -6.80972730e-01 -2.44125316e-02 8.46829438e+01] [ 6.80564298e-01 7.32308484e-01 -2.35906886e-02 3.90871223e+01] [ 3.39421196e-02 6.51768847e-04 9.99423588e-01 2.05011887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:39.11, Z:2.05 [[ 7.32147256e-01 -6.80716779e-01 -2.41880767e-02 8.47035213e+01] [ 6.80315284e-01 7.32546396e-01 -2.33857148e-02 3.91068397e+01] [ 3.36379369e-02 6.66268685e-04 9.99433862e-01 2.05202402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:39.13, Z:2.05 [[ 7.32522589e-01 -6.80316497e-01 -2.40856981e-02 8.47220627e+01] [ 6.79917768e-01 7.32918131e-01 -2.32989680e-02 3.91264601e+01] [ 3.35035171e-02 6.90726340e-04 9.99438361e-01 2.05288997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:39.15, Z:2.05 [[ 7.32615892e-01 -6.80214716e-01 -2.41225015e-02 8.47418959e+01] [ 6.79814316e-01 7.33012580e-01 -2.33463735e-02 3.91469932e+01] [ 3.35626439e-02 7.05102356e-04 9.99436367e-01 2.05245293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:39.17, Z:2.05 [[ 7.32542581e-01 -6.80283112e-01 -2.44183331e-02 8.47623372e+01] [ 6.79872432e-01 7.32949091e-01 -2.36454422e-02 3.91670916e+01] [ 3.39829900e-02 7.19941749e-04 9.99422152e-01 2.05291991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:39.19, Z:2.05 [[ 7.32561126e-01 -6.80276586e-01 -2.40408717e-02 8.47833640e+01] [ 6.79878085e-01 7.32955149e-01 -2.32924737e-02 3.91863405e+01] [ 3.34662052e-02 7.18299003e-04 9.99439592e-01 2.05475023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:39.20, Z:2.06 [[ 7.26729306e-01 -6.86540940e-01 -2.29358591e-02 8.48073980e+01] [ 6.86180952e-01 7.27091027e-01 -2.22337712e-02 3.92008667e+01] [ 3.19408515e-02 4.19783541e-04 9.99489673e-01 2.05809276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:39.22, Z:2.06 [[ 7.24399817e-01 -6.88986196e-01 -2.33007910e-02 8.48284361e+01] [ 6.88615549e-01 7.24774389e-01 -2.25988934e-02 3.92190132e+01] [ 3.24581422e-02 3.25347252e-04 9.99473043e-01 2.05820430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:39.24, Z:2.06 [[ 7.21130652e-01 -6.92370047e-01 -2.43782948e-02 8.48505744e+01] [ 6.91965879e-01 7.21542572e-01 -2.36545709e-02 3.92369271e+01] [ 3.39676939e-02 1.89087924e-04 9.99422913e-01 2.05565231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:39.26, Z:2.06 [[ 7.20945727e-01 -6.92562821e-01 -2.43720712e-02 8.48703277e+01] [ 6.92158547e-01 7.21357542e-01 -2.36609821e-02 3.92562401e+01] [ 3.39676939e-02 1.88946500e-04 9.99422914e-01 2.05625186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:39.27, Z:2.06 [[ 7.19893337e-01 -6.93658140e-01 -2.43303910e-02 8.48907270e+01] [ 6.93255438e-01 7.20304355e-01 -2.36333176e-02 3.92749758e+01] [ 3.39187297e-02 1.46292035e-04 9.99424584e-01 2.05653009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:39.29, Z:2.06 [[ 7.19223646e-01 -6.94349929e-01 -2.44033579e-02 8.49100436e+01] [ 6.93944773e-01 7.19637521e-01 -2.37168907e-02 3.92934982e+01] [ 3.40293934e-02 1.23165915e-04 9.99420825e-01 2.05611708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:39.31, Z:2.06 [[ 7.18972526e-01 -6.94622740e-01 -2.40365340e-02 8.49298607e+01] [ 6.94229434e-01 7.19374197e-01 -2.33721564e-02 3.93130979e+01] [ 3.35260937e-02 1.17068927e-04 9.99437836e-01 2.05739347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:39.33, Z:2.06 [[ 7.19692591e-01 -6.93902668e-01 -2.32736304e-02 8.49491082e+01] [ 6.93533179e-01 7.20068791e-01 -2.26421389e-02 3.93336398e+01] [ 3.24700555e-02 1.54344741e-04 9.99472697e-01 2.05999192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters Centerline goodness [0,1] 0.9999501855587934 Centerline is valid? [True, True] Translation: X:84.97, Y:39.35, Z:2.06 [[ 7.20154773e-01 -6.93430503e-01 -2.30486757e-02 8.49687699e+01] [ 6.93067498e-01 7.20523494e-01 -2.24351971e-02 3.93538533e+01] [ 3.21643624e-02 1.82526263e-04 9.99482576e-01 2.06115003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.99, Y:39.37, Z:2.06 [[ 7.20809967e-01 -6.92753895e-01 -2.29135833e-02 8.49878539e+01] [ 6.92394411e-01 7.21174038e-01 -2.23156254e-02 3.93739235e+01] [ 3.19839178e-02 2.20088190e-04 9.99488359e-01 2.06262790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:39.39, Z:2.06 [[ 7.21191246e-01 -6.92341504e-01 -2.33757922e-02 8.50075478e+01] [ 6.91966750e-01 7.21569940e-01 -2.27780287e-02 3.93942262e+01] [ 3.26374436e-02 2.52043965e-04 9.99467225e-01 2.06244567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:39.41, Z:2.06 [[ 7.22177425e-01 -6.91276632e-01 -2.44209723e-02 8.50271386e+01] [ 6.90866634e-01 7.22590143e-01 -2.38071475e-02 3.94148202e+01] [ 3.41036786e-02 3.21349619e-04 9.99418249e-01 2.06226047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:39.43, Z:2.06 [[ 7.22145145e-01 -6.91286757e-01 -2.50800476e-02 8.50464793e+01] [ 6.90854021e-01 7.22580450e-01 -2.44584209e-02 3.94342679e+01] [ 3.50301346e-02 3.35878204e-04 9.99386200e-01 2.06174615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:39.45, Z:2.06 [[ 7.21830567e-01 -6.91601908e-01 -2.54447116e-02 8.50672102e+01] [ 6.91156239e-01 7.22278817e-01 -2.48266731e-02 3.94536715e+01] [ 3.55483506e-02 3.34380391e-04 9.99367902e-01 2.06328030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:39.47, Z:2.07 [[ 7.20822789e-01 -6.92694690e-01 -2.42605100e-02 8.50884044e+01] [ 6.92289766e-01 7.21230885e-01 -2.36831147e-02 3.94734955e+01] [ 3.39025969e-02 2.76025972e-04 9.99425104e-01 2.06520576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:39.49, Z:2.07 [[ 7.19971499e-01 -6.93619370e-01 -2.30913238e-02 8.51086472e+01] [ 6.93252675e-01 7.20341667e-01 -2.25524310e-02 3.94928074e+01] [ 3.22764457e-02 2.28985611e-04 9.99478954e-01 2.06683427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:39.51, Z:2.07 [[ 7.18941048e-01 -6.94717667e-01 -2.21615154e-02 8.51295498e+01] [ 6.94380097e-01 7.19282511e-01 -2.16552741e-02 3.95122922e+01] [ 3.09846920e-02 1.80350179e-04 9.99519843e-01 2.06935979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:39.53, Z:2.07 [[ 7.17967539e-01 -6.95743388e-01 -2.15348717e-02 8.51502055e+01] [ 6.95424784e-01 7.18290414e-01 -2.10535340e-02 3.95311002e+01] [ 3.01161490e-02 1.39870531e-04 9.99546396e-01 2.07098412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:39.55, Z:2.07 [[ 7.16413266e-01 -6.97337503e-01 -2.17356725e-02 8.51707473e+01] [ 6.97013329e-01 7.16742911e-01 -2.12607448e-02 3.95496643e+01] [ 3.04048038e-02 8.14262054e-05 9.99537664e-01 2.07207804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:39.57, Z:2.07 [[ 7.15934827e-01 -6.97829171e-01 -2.17203068e-02 8.51909559e+01] [ 6.97505328e-01 7.16264227e-01 -2.12573234e-02 3.95695062e+01] [ 3.03914592e-02 6.88284139e-05 9.99538071e-01 2.07245343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:39.59, Z:2.07 [[ 7.15455408e-01 -6.98311660e-01 -2.20087428e-02 8.52101142e+01] [ 6.97979019e-01 7.15793840e-01 -2.15514921e-02 3.95890940e+01] [ 3.08033808e-02 5.74908755e-05 9.99525462e-01 2.07188438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:39.61, Z:2.07 [[ 7.15186844e-01 -6.98576842e-01 -2.23198190e-02 8.52299226e+01] [ 6.98234497e-01 7.15535040e-01 -2.18676516e-02 3.96093506e+01] [ 3.12468476e-02 5.49890984e-05 9.99511697e-01 2.07269355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:39.63, Z:2.07 [[ 7.15464657e-01 -6.98274987e-01 -2.28553597e-02 8.52485388e+01] [ 6.97915494e-01 7.15829614e-01 -2.24037223e-02 3.96290326e+01] [ 3.20045022e-02 7.79617998e-05 9.99487722e-01 2.07225437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:39.65, Z:2.07 [[ 7.15912108e-01 -6.97747179e-01 -2.48742413e-02 8.52681099e+01] [ 6.97320671e-01 7.16344093e-01 -2.43930548e-02 3.96511136e+01] [ 3.48387010e-02 1.17960614e-04 9.99392941e-01 2.07020821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:39.67, Z:2.07 [[ 7.16402473e-01 -6.97220548e-01 -2.55147780e-02 8.52877022e+01] [ 6.96771004e-01 7.16856669e-01 -2.50336674e-02 3.96721188e+01] [ 3.57444261e-02 1.56223794e-04 9.99360952e-01 2.07079169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:39.69, Z:2.07 [[ 7.16826497e-01 -6.96764330e-01 -2.60622716e-02 8.53057824e+01] [ 6.96294493e-01 7.17300099e-01 -2.55841181e-02 3.96922528e+01] [ 3.65205709e-02 1.92357612e-04 9.99332883e-01 2.07003376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.32, Y:39.71, Z:2.07 [[ 7.17305681e-01 -6.96282570e-01 -2.57515367e-02 8.53234094e+01] [ 6.95823119e-01 7.17767743e-01 -2.52913846e-02 3.97123053e+01] [ 3.60935727e-02 2.23139287e-04 9.99348390e-01 2.07014109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:39.73, Z:2.07 [[ 7.18461935e-01 -6.95154930e-01 -2.39180005e-02 8.53407199e+01] [ 6.94757590e-01 7.18859897e-01 -2.35019181e-02 3.97343286e+01] [ 3.35311656e-02 2.68021219e-04 9.99437636e-01 2.07286545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:39.76, Z:2.07 [[ 7.18918415e-01 -6.94706831e-01 -2.32105847e-02 8.53585461e+01] [ 6.94332047e-01 7.19292941e-01 -2.28182717e-02 3.97550096e+01] [ 3.25472189e-02 2.88622927e-04 9.99470157e-01 2.07429252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:39.78, Z:2.08 [[ 7.19708141e-01 -6.93910426e-01 -2.25502180e-02 8.53771326e+01] [ 6.93555934e-01 7.20061258e-01 -2.21799664e-02 3.97757370e+01] [ 3.16284483e-02 3.23264931e-04 9.99499643e-01 2.07665257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:39.80, Z:2.08 [[ 7.21191823e-01 -6.92369675e-01 -2.25075081e-02 8.53952273e+01] [ 6.92015408e-01 7.21542843e-01 -2.21494904e-02 3.97984354e+01] [ 3.15757669e-02 3.98489006e-04 9.99501282e-01 2.07764900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72687499999999 meters Centerline goodness [0,1] 0.9999754775742417 Centerline is valid? [True, True] Translation: X:85.41, Y:39.82, Z:2.08 [[ 7.21964104e-01 -6.91560617e-01 -2.26217942e-02 8.54146343e+01] [ 6.91202006e-01 7.22318293e-01 -2.22726443e-02 3.98200101e+01] [ 3.17430194e-02 4.43820132e-04 9.99495965e-01 2.07792131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:39.84, Z:2.08 [[ 7.22896877e-01 -6.90578363e-01 -2.28392159e-02 8.54319585e+01] [ 6.90212050e-01 7.23257407e-01 -2.24955455e-02 3.98414182e+01] [ 3.20535691e-02 4.98057605e-04 9.99486028e-01 2.07797268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:39.86, Z:2.08 [[ 7.23577381e-01 -6.89850851e-01 -2.32718039e-02 8.54515428e+01] [ 6.89469930e-01 7.23951315e-01 -2.29283457e-02 3.98633094e+01] [ 3.26647918e-02 5.45223298e-04 9.99466215e-01 2.07889210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:39.89, Z:2.08 [[ 7.24673705e-01 -6.88680991e-01 -2.38015505e-02 8.54689739e+01] [ 6.88281522e-01 7.25064210e-01 -2.34614020e-02 3.98864423e+01] [ 3.34150740e-02 6.19693696e-04 9.99441368e-01 2.07693603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:39.91, Z:2.08 [[ 7.24644732e-01 -6.88723460e-01 -2.34522642e-02 8.54883450e+01] [ 6.88335284e-01 7.25023872e-01 -2.31283810e-02 3.99072332e+01] [ 3.29325100e-02 6.16838550e-04 9.99457387e-01 2.07750102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:39.93, Z:2.08 [[ 7.24068706e-01 -6.89336316e-01 -2.32368858e-02 8.55078845e+01] [ 6.88955154e-01 7.24441228e-01 -2.29282200e-02 3.99277445e+01] [ 3.26390128e-02 5.92434416e-04 9.99467030e-01 2.07792852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:39.95, Z:2.08 [[ 7.22925912e-01 -6.90548200e-01 -2.28321827e-02 8.55293741e+01] [ 6.90180438e-01 7.23286178e-01 -2.25403571e-02 3.99471161e+01] [ 3.20794052e-02 5.36682375e-04 9.99485179e-01 2.07994517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:39.97, Z:2.08 [[ 7.21069830e-01 -6.92496959e-01 -2.25002644e-02 8.55500793e+01] [ 6.92140427e-01 7.21420653e-01 -2.22231930e-02 3.99666869e+01] [ 3.16216490e-02 4.51131417e-04 9.99499809e-01 2.08137421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:39.98, Z:2.08 [[ 7.15603705e-01 -6.98190791e-01 -2.09989631e-02 8.55728830e+01] [ 6.97882410e-01 7.15911713e-01 -2.07499485e-02 3.99842898e+01] [ 2.95208266e-02 1.93933024e-04 9.99564147e-01 2.08407889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:40.00, Z:2.09 [[ 7.12585892e-01 -7.01294450e-01 -2.01851893e-02 8.55944286e+01] [ 7.01010471e-01 7.12871721e-01 -1.99557007e-02 4.00035031e+01] [ 2.83842728e-02 7.01216597e-05 9.99597083e-01 2.08567683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.62, Y:40.02, Z:2.09 [[ 7.09760447e-01 -7.04176716e-01 -1.93716561e-02 8.56153964e+01] [ 7.03915986e-01 7.10024754e-01 -1.91607137e-02 4.00215605e+01] [ 2.72468838e-02 -3.65017349e-05 9.99628734e-01 2.08806105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:40.04, Z:2.09 [[ 7.04489313e-01 -7.09486524e-01 -1.79911182e-02 8.56378365e+01] [ 7.09263126e-01 7.04718969e-01 -1.78042990e-02 4.00399043e+01] [ 2.53105925e-02 -2.17498365e-04 9.99679612e-01 2.09015611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:40.06, Z:2.09 [[ 7.02295536e-01 -7.11656966e-01 -1.80372528e-02 8.56587039e+01] [ 7.11432927e-01 7.02527066e-01 -1.78581205e-02 4.00586715e+01] [ 2.53805141e-02 -2.90617183e-04 9.99677821e-01 2.09043801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:40.08, Z:2.09 [[ 7.00389243e-01 -7.13551021e-01 -1.73161687e-02 8.56780588e+01] [ 7.13345008e-01 7.00603186e-01 -1.71486318e-02 4.00794518e+01] [ 2.43681867e-02 -3.41685277e-04 9.99702993e-01 2.09121578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.146875 meters Centerline goodness [0,1] 0.999928154037743 Centerline is valid? [True, True] Translation: X:85.70, Y:40.10, Z:2.09 [[ 6.98393485e-01 -7.15526268e-01 -1.63920414e-02 8.56987898e+01] [ 7.15342106e-01 6.98585722e-01 -1.62376303e-02 4.00987439e+01] [ 2.30696971e-02 -3.85662199e-04 9.99733785e-01 2.09173693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:40.12, Z:2.09 [[ 6.98470633e-01 -7.15455760e-01 -1.61811901e-02 8.57157809e+01] [ 7.15276176e-01 6.98657939e-01 -1.60336157e-02 4.01215665e+01] [ 2.27764597e-02 -3.75010076e-04 9.99740512e-01 2.09326486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:40.14, Z:2.09 [[ 6.99222664e-01 -7.14733662e-01 -1.56031717e-02 8.57344785e+01] [ 7.14566318e-01 6.99396655e-01 -1.54691940e-02 4.01419802e+01] [ 2.19691598e-02 -3.33089900e-04 9.99758593e-01 2.09402835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:40.17, Z:2.09 [[ 7.00255676e-01 -7.13738471e-01 -1.48115971e-02 8.57517533e+01] [ 7.13587408e-01 7.00412246e-01 -1.46866247e-02 4.01651314e+01] [ 2.08566330e-02 -2.84976851e-04 9.99782436e-01 2.09475943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:40.19, Z:2.10 [[ 7.03406835e-01 -7.10622490e-01 -1.53134048e-02 8.57675913e+01] [ 7.10460111e-01 7.03573478e-01 -1.51918188e-02 4.01902863e+01] [ 2.15697535e-02 -1.93534091e-04 9.99767327e-01 2.09582042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:40.21, Z:2.10 [[ 7.04896291e-01 -7.09126627e-01 -1.61444985e-02 8.57854307e+01] [ 7.08945568e-01 7.05081133e-01 -1.60242814e-02 4.02119521e+01] [ 2.27464260e-02 -1.50114117e-04 9.99741255e-01 2.09612259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.326875 meters Centerline goodness [0,1] 0.9999765428913232 Centerline is valid? [True, True] Translation: X:85.80, Y:40.23, Z:2.10 [[ 7.05910850e-01 -7.08096073e-01 -1.70241861e-02 8.58029017e+01] [ 7.07894355e-01 7.06116093e-01 -1.69010319e-02 4.02345134e+01] [ 2.39886062e-02 -1.20703443e-04 9.99712225e-01 2.09504159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:40.26, Z:2.09 [[ 7.07918156e-01 -7.06059542e-01 -1.82155897e-02 8.58175327e+01] [ 7.05827656e-01 7.08152470e-01 -1.80941725e-02 4.02591576e+01] [ 2.56749780e-02 -4.78737353e-05 9.99670342e-01 2.09230069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:40.28, Z:2.09 [[ 7.08767137e-01 -7.05199358e-01 -1.85205573e-02 8.58350614e+01] [ 7.04959083e-01 7.09009073e-01 -1.84072242e-02 4.02810938e+01] [ 2.61120059e-02 -9.79953199e-06 9.99659023e-01 2.09277941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:40.30, Z:2.09 [[ 7.09251149e-01 -7.04705306e-01 -1.87946660e-02 8.58518795e+01] [ 7.04457432e-01 7.09500128e-01 -1.86894319e-02 4.03019122e+01] [ 2.65053597e-02 1.54588616e-05 9.99648671e-01 2.09255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:40.32, Z:2.09 [[ 7.09794534e-01 -7.04155249e-01 -1.88971982e-02 8.58702696e+01] [ 7.03904289e-01 7.10046043e-01 -1.87981224e-02 4.03235298e+01] [ 2.66546773e-02 4.09856802e-05 9.99644700e-01 2.09358318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:40.35, Z:2.09 [[ 7.10369907e-01 -7.03555392e-01 -1.96062543e-02 8.58864039e+01] [ 7.03284731e-01 7.10640419e-01 -1.95136524e-02 4.03452739e+01] [ 2.76619321e-02 7.31321441e-05 9.99617333e-01 2.09285259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:40.37, Z:2.09 [[ 7.10333053e-01 -7.03575664e-01 -2.02048961e-02 8.59045624e+01] [ 7.03288010e-01 7.10620347e-01 -2.01170865e-02 4.03662767e+01] [ 2.85119028e-02 7.99703392e-05 9.99593450e-01 2.09320346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:40.39, Z:2.09 [[ 7.10393831e-01 -7.03500962e-01 -2.06639997e-02 8.59229533e+01] [ 7.03199723e-01 7.10694300e-01 -2.05854807e-02 4.03876822e+01] [ 2.91676923e-02 9.28796094e-05 9.99574528e-01 2.09335224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:40.41, Z:2.09 [[ 7.10849362e-01 -7.03024258e-01 -2.12150049e-02 8.59401408e+01] [ 7.02706187e-01 7.11165858e-01 -2.11456134e-02 4.04108716e+01] [ 2.99532663e-02 1.23430601e-04 9.99551293e-01 2.09281274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:40.43, Z:2.09 [[ 7.11073551e-01 -7.02802510e-01 -2.10484538e-02 8.59588100e+01] [ 7.02489011e-01 7.11384996e-01 -2.09899013e-02 4.04319738e+01] [ 2.97253096e-02 1.39056168e-04 9.99558096e-01 2.09439685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:40.45, Z:2.10 [[ 7.11199321e-01 -7.02681153e-01 -2.08500238e-02 8.59774239e+01] [ 7.02373156e-01 7.11504866e-01 -2.08032230e-02 4.04526459e+01] [ 2.94529261e-02 1.50741059e-04 9.99566157e-01 2.09639664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:40.47, Z:2.10 [[ 7.11680248e-01 -7.02193076e-01 -2.08832183e-02 8.59957559e+01] [ 7.01883591e-01 7.11986553e-01 -2.08464172e-02 4.04732771e+01] [ 2.95067804e-02 1.78395140e-04 9.99564564e-01 2.09794185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:40.50, Z:2.10 [[ 7.13053701e-01 -7.00793116e-01 -2.10577181e-02 8.60131333e+01] [ 7.00477599e-01 7.13364527e-01 -2.10281941e-02 4.04971773e+01] [ 2.97582427e-02 2.43771850e-04 9.99557096e-01 2.09879754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:40.52, Z:2.10 [[ 7.13982666e-01 -6.99829194e-01 -2.16298904e-02 8.60316747e+01] [ 6.99495528e-01 7.14310163e-01 -2.16101027e-02 4.05191383e+01] [ 3.05738313e-02 2.99227150e-04 9.99532466e-01 2.09859532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:40.54, Z:2.10 [[ 7.14950425e-01 -6.98832436e-01 -2.18887283e-02 8.60509607e+01] [ 6.98489941e-01 7.15285328e-01 -2.18792530e-02 4.05409456e+01] [ 3.09466179e-02 3.53524710e-04 9.99520976e-01 2.09895386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:40.56, Z:2.10 [[ 7.14759365e-01 -6.99028020e-01 -2.18832734e-02 8.60704229e+01] [ 6.98685449e-01 7.15094192e-01 -2.18847079e-02 4.05605262e+01] [ 3.09466258e-02 3.52775244e-04 9.99520976e-01 2.09955370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:40.58, Z:2.10 [[ 7.15688342e-01 -6.98063726e-01 -2.22986884e-02 8.60895368e+01] [ 6.97707175e-01 7.16035520e-01 -2.23121421e-02 4.05829726e+01] [ 3.15419500e-02 4.10585119e-04 9.99502345e-01 2.09946864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:40.60, Z:2.10 [[ 7.16200096e-01 -6.97531246e-01 -2.25296245e-02 8.61079170e+01] [ 6.97166705e-01 7.16554229e-01 -2.25526789e-02 4.06046404e+01] [ 3.18748959e-02 4.45326704e-04 9.99491767e-01 2.09974038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:40.62, Z:2.10 [[ 7.16067673e-01 -6.97678254e-01 -2.21842713e-02 8.61275493e+01] [ 6.97324638e-01 7.16411099e-01 -2.22145725e-02 4.06246754e+01] [ 3.13916823e-02 4.37498297e-04 9.99507064e-01 2.10071235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:40.64, Z:2.10 [[ 7.15765637e-01 -6.97996851e-01 -2.19077283e-02 8.61469503e+01] [ 6.97651767e-01 7.16100701e-01 -2.19499035e-02 4.06445918e+01] [ 3.10091031e-02 4.27021299e-04 9.99519011e-01 2.10194675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:40.66, Z:2.10 [[ 7.15048113e-01 -6.98741790e-01 -2.15894981e-02 8.61664455e+01] [ 6.98406704e-01 7.15373856e-01 -2.16407511e-02 4.06646891e+01] [ 3.05658596e-02 3.95928048e-04 9.99532677e-01 2.10255985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:40.68, Z:2.10 [[ 7.14674836e-01 -6.99127836e-01 -2.14510316e-02 8.61865413e+01] [ 6.98797026e-01 7.14996590e-01 -2.15079811e-02 4.06844817e+01] [ 3.03742427e-02 3.81295825e-04 9.99538524e-01 2.10383994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:40.70, Z:2.11 [[ 7.14478405e-01 -6.99343261e-01 -2.09669199e-02 8.62065284e+01] [ 6.99026970e-01 7.14785887e-01 -2.10340471e-02 4.07038130e+01] [ 2.96968775e-02 3.71929921e-04 9.99558881e-01 2.10567347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:40.72, Z:2.11 [[ 7.14466910e-01 -6.99372763e-01 -2.03659924e-02 8.62252614e+01] [ 6.99074070e-01 7.14757025e-01 -2.04411571e-02 4.07236789e+01] [ 2.88527246e-02 3.67193123e-04 9.99583606e-01 2.10646091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.046875 meters Centerline goodness [0,1] 0.9999773939777556 Centerline is valid? [True, True] Translation: X:86.25, Y:40.74, Z:2.11 [[ 7.15084948e-01 -6.98760257e-01 -1.96880453e-02 8.62451066e+01] [ 6.98480707e-01 7.15355824e-01 -1.97673033e-02 4.07445189e+01] [ 2.78965639e-02 3.83581281e-04 9.99610742e-01 2.10713408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:40.77, Z:2.11 [[ 7.15498265e-01 -6.98338157e-01 -1.96481792e-02 8.62652075e+01] [ 6.98059312e-01 7.15767877e-01 -1.97368442e-02 4.07659706e+01] [ 2.78465269e-02 4.06083270e-04 9.99612128e-01 2.10759375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:40.79, Z:2.11 [[ 7.16261677e-01 -6.97551913e-01 -1.97620726e-02 8.62858936e+01] [ 6.97269254e-01 7.16534110e-01 -1.98609626e-02 4.07867107e+01] [ 2.80142515e-02 4.46160761e-04 9.99607424e-01 2.10776878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:40.81, Z:2.11 [[ 7.17498512e-01 -6.96281165e-01 -1.97085052e-02 8.63035972e+01] [ 6.95999321e-01 7.17768966e-01 -1.98155541e-02 4.08078806e+01] [ 2.79433505e-02 5.00524367e-04 9.99609383e-01 2.10772484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:40.83, Z:2.11 [[ 7.19866551e-01 -6.93837380e-01 -1.95406955e-02 8.63231947e+01] [ 6.93559284e-01 7.20131472e-01 -1.96515307e-02 4.08293626e+01] [ 2.77068364e-02 5.93848850e-04 9.99615916e-01 2.10875369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters Centerline goodness [0,1] 0.9999774754482386 Centerline is valid? [True, True] Translation: X:86.34, Y:40.85, Z:2.11 [[ 7.20784297e-01 -6.92893353e-01 -1.92041115e-02 8.63411751e+01] [ 6.92624205e-01 7.21039812e-01 -1.93209817e-02 4.08502118e+01] [ 2.72343087e-02 6.25027795e-04 9.99628882e-01 2.10854929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:40.87, Z:2.11 [[ 7.21874062e-01 -6.91750264e-01 -1.94784681e-02 8.63624202e+01] [ 6.91472823e-01 7.22136489e-01 -1.96017035e-02 4.08697044e+01] [ 2.76255962e-02 6.81130035e-04 9.99618108e-01 2.10939291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:40.89, Z:2.11 [[ 7.22788228e-01 -6.90783909e-01 -1.98687851e-02 8.63806771e+01] [ 6.90494630e-01 7.23060886e-01 -2.00030238e-02 4.08910131e+01] [ 2.81841083e-02 7.38660733e-04 9.99602476e-01 2.10887860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:40.91, Z:2.11 [[ 7.23848297e-01 -6.89658228e-01 -2.03757594e-02 8.64013960e+01] [ 6.89353399e-01 7.24134573e-01 -2.05185907e-02 4.09109540e+01] [ 2.89056067e-02 8.06247947e-04 9.99581820e-01 2.10885048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:40.93, Z:2.11 [[ 7.23944211e-01 -6.89549167e-01 -2.06573470e-02 8.64222455e+01] [ 6.89235514e-01 7.24238399e-01 -2.08122039e-02 4.09310551e+01] [ 2.93118818e-02 8.29097362e-04 9.99569971e-01 2.10938308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:40.95, Z:2.11 [[ 7.24228491e-01 -6.89246769e-01 -2.07842475e-02 8.64425579e+01] [ 6.88928828e-01 7.24526165e-01 -2.09501090e-02 4.09511968e+01] [ 2.94985260e-02 8.53798613e-04 9.99564459e-01 2.10941732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:40.97, Z:2.11 [[ 7.24345872e-01 -6.89118732e-01 -2.09387262e-02 8.64635977e+01] [ 6.88795692e-01 7.24647922e-01 -2.11159376e-02 4.09713859e+01] [ 2.97245926e-02 8.72737833e-04 9.99557746e-01 2.10952455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:40.99, Z:2.11 [[ 7.24905547e-01 -6.88514560e-01 -2.14394218e-02 8.64857159e+01] [ 6.88175297e-01 7.25221926e-01 -2.16314164e-02 4.09908106e+01] [ 3.04418839e-02 9.26653281e-04 9.99536109e-01 2.10968682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:41.01, Z:2.11 [[ 7.25287925e-01 -6.88089244e-01 -2.21499118e-02 8.65064554e+01] [ 6.87726570e-01 7.25625402e-01 -2.23593379e-02 4.10111990e+01] [ 3.14577585e-02 9.83874899e-04 9.99504598e-01 2.10940466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:41.03, Z:2.11 [[ 7.25860781e-01 -6.87476498e-01 -2.24096253e-02 8.65254557e+01] [ 6.87104696e-01 7.26205898e-01 -2.26302906e-02 4.10321285e+01] [ 3.18317950e-02 1.02868167e-03 9.99492711e-01 2.10944922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:41.05, Z:2.11 [[ 7.26225835e-01 -6.87091546e-01 -2.23884726e-02 8.65472685e+01] [ 6.86720071e-01 7.26570098e-01 -2.26149879e-02 4.10512720e+01] [ 3.18053617e-02 1.04897498e-03 9.99493531e-01 2.11037659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:41.07, Z:2.11 [[ 7.28105848e-01 -6.85117843e-01 -2.18040173e-02 8.65656103e+01] [ 6.84764364e-01 7.28431400e-01 -2.20331607e-02 4.10717930e+01] [ 3.09780424e-02 1.11185912e-03 9.99519447e-01 2.11188239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:41.09, Z:2.11 [[ 7.29161358e-01 -6.83993726e-01 -2.18242365e-02 8.65863681e+01] [ 6.83638896e-01 7.29486960e-01 -2.20597990e-02 4.10924796e+01] [ 3.10092601e-02 1.16525603e-03 9.99518418e-01 2.11276476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:41.11, Z:2.11 [[ 7.30172521e-01 -6.82914236e-01 -2.18228017e-02 8.66089088e+01] [ 6.82558706e-01 7.30497545e-01 -2.20669113e-02 4.11100898e+01] [ 3.10113109e-02 1.21730901e-03 9.99518292e-01 2.11361315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:41.13, Z:2.11 [[ 7.32675054e-01 -6.80198186e-01 -2.27528622e-02 8.66261129e+01] [ 6.79810232e-01 7.33026935e-01 -2.30121828e-02 4.11326037e+01] [ 3.23313059e-02 1.39282373e-03 9.99476236e-01 2.11236761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:41.15, Z:2.11 [[ 7.33630973e-01 -6.79159987e-01 -2.29631598e-02 8.66489618e+01] [ 6.78764063e-01 7.33988819e-01 -2.32327167e-02 4.11511515e+01] [ 3.26334342e-02 1.45767290e-03 9.99466325e-01 2.11382286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:41.17, Z:2.11 [[ 7.34737852e-01 -6.77961804e-01 -2.29800432e-02 8.66664014e+01] [ 6.77564410e-01 7.35095563e-01 -2.32590718e-02 4.11728908e+01] [ 3.26612900e-02 1.51886102e-03 9.99465324e-01 2.11393170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:41.19, Z:2.12 [[ 7.35351942e-01 -6.77305507e-01 -2.26885838e-02 8.66881216e+01] [ 6.76917605e-01 7.35700278e-01 -2.29707758e-02 4.11924234e+01] [ 3.22502303e-02 1.53330273e-03 9.99478650e-01 2.11604487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:41.21, Z:2.12 [[ 7.35723311e-01 -6.76921429e-01 -2.21040413e-02 8.67078105e+01] [ 6.76552751e-01 7.36053717e-01 -2.23897730e-02 4.12124436e+01] [ 3.14258789e-02 1.51812796e-03 9.99504932e-01 2.11758780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:41.23, Z:2.12 [[ 7.34912515e-01 -6.77805123e-01 -2.19957087e-02 8.67321351e+01] [ 6.77440099e-01 7.35240112e-01 -2.22910440e-02 4.12295052e+01] [ 3.12811111e-02 1.48119215e-03 9.99509529e-01 2.11903452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:41.25, Z:2.12 [[ 7.34158289e-01 -6.78638216e-01 -2.14890141e-02 8.67517037e+01] [ 6.78289907e-01 7.34471346e-01 -2.17863385e-02 4.12494589e+01] [ 3.05681070e-02 1.41883969e-03 9.99531679e-01 2.11985724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:41.26, Z:2.12 [[ 7.30942660e-01 -6.82136398e-01 -2.03165398e-02 8.67766266e+01] [ 6.81826277e-01 7.31223959e-01 -2.06022020e-02 4.12645935e+01] [ 2.89094526e-02 1.20667760e-03 9.99581306e-01 2.12308882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:41.28, Z:2.12 [[ 7.29447561e-01 -6.83748524e-01 -1.98547701e-02 8.67971060e+01] [ 6.83452747e-01 7.29716861e-01 -2.01406266e-02 4.12836211e+01] [ 2.82594843e-02 1.12173380e-03 9.99599992e-01 2.12442696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:41.30, Z:2.13 [[ 7.27631249e-01 -6.85693574e-01 -1.94187456e-02 8.68212094e+01] [ 6.85411205e-01 7.27889599e-01 -1.97030701e-02 4.13002812e+01] [ 2.76449715e-02 1.02674372e-03 9.99617277e-01 2.12530760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:41.32, Z:2.13 [[ 7.26277012e-01 -6.87128132e-01 -1.94070068e-02 8.68419882e+01] [ 6.86846343e-01 7.26535596e-01 -1.97009712e-02 4.13198325e+01] [ 2.76369728e-02 9.78730813e-04 9.99617547e-01 2.12628244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:41.34, Z:2.13 [[ 7.23913018e-01 -6.89594749e-01 -2.02243426e-02 8.68664837e+01] [ 6.89289376e-01 7.24194875e-01 -2.05411457e-02 4.13364870e+01] [ 2.88114314e-02 9.29578303e-04 9.99584432e-01 2.12643429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:41.36, Z:2.13 [[ 7.23122826e-01 -6.90409423e-01 -2.06931841e-02 8.68883415e+01] [ 6.90089744e-01 7.23418255e-01 -2.10278958e-02 4.13555548e+01] [ 2.94876846e-02 9.25597280e-04 9.99564715e-01 2.12642913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:41.38, Z:2.13 [[ 7.22266014e-01 -6.91292403e-01 -2.11333397e-02 8.69082006e+01] [ 6.90959029e-01 7.22574546e-01 -2.14859661e-02 4.13759603e+01] [ 3.01234984e-02 9.16311219e-04 9.99545764e-01 2.12535883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:41.39, Z:2.12 [[ 7.21890591e-01 -6.91660406e-01 -2.19056470e-02 8.69300154e+01] [ 6.91302017e-01 7.22222262e-01 -2.22828728e-02 4.13932983e+01] [ 3.12329268e-02 9.42378289e-04 9.99511689e-01 2.12472974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:41.41, Z:2.13 [[ 7.21758354e-01 -6.91809174e-01 -2.15625754e-02 8.69501614e+01] [ 6.91461615e-01 7.22079775e-01 -2.19461507e-02 4.14131143e+01] [ 3.07524479e-02 9.30124378e-04 9.99526599e-01 2.12559128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:41.43, Z:2.13 [[ 7.21936224e-01 -6.91641900e-01 -2.09659357e-02 8.69704397e+01] [ 6.91312895e-01 7.22240013e-01 -2.13505245e-02 4.14334625e+01] [ 2.99093550e-02 9.19695352e-04 9.99552192e-01 2.12740123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:41.45, Z:2.13 [[ 7.22072007e-01 -6.91512549e-01 -2.05526517e-02 8.69884613e+01] [ 6.91196050e-01 7.22363869e-01 -2.09394433e-02 4.14532138e+01] [ 2.93263808e-02 9.13874113e-04 9.99569471e-01 2.12795308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:41.47, Z:2.13 [[ 7.22936961e-01 -6.90620895e-01 -2.01228874e-02 8.70094379e+01] [ 6.90316939e-01 7.23216361e-01 -2.05089823e-02 4.14729178e+01] [ 2.87171331e-02 9.35531242e-04 9.99587140e-01 2.12932805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:41.49, Z:2.13 [[ 7.23446853e-01 -6.90084926e-01 -2.01852862e-02 8.70296531e+01] [ 6.89778584e-01 7.23727752e-01 -2.05826494e-02 4.14935790e+01] [ 2.88124279e-02 9.67074771e-04 9.99584368e-01 2.13017232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:41.52, Z:2.13 [[ 7.23995542e-01 -6.89510879e-01 -2.01296812e-02 8.70479821e+01] [ 6.89205714e-01 7.24274644e-01 -2.05359452e-02 4.15152883e+01] [ 2.87391752e-02 9.94441484e-04 9.99586450e-01 2.13043296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:41.54, Z:2.13 [[ 7.24587585e-01 -6.88886248e-01 -2.02131034e-02 8.70673725e+01] [ 6.88578016e-01 7.24868730e-01 -2.06310576e-02 4.15365537e+01] [ 2.88642984e-02 1.03070951e-03 9.99582808e-01 2.13062645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:41.56, Z:2.13 [[ 7.25993073e-01 -6.87414699e-01 -1.98768898e-02 8.70868848e+01] [ 6.87115813e-01 7.26264325e-01 -2.02975400e-02 4.15577556e+01] [ 2.83887033e-02 1.07814812e-03 9.99596378e-01 2.12986357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:41.58, Z:2.13 [[ 7.26349894e-01 -6.87043425e-01 -1.96764900e-02 8.71052541e+01] [ 6.86750165e-01 7.26615544e-01 -2.01012922e-02 4.15780681e+01] [ 2.81077041e-02 1.08773873e-03 9.99604309e-01 2.12982473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.13, Y:41.60, Z:2.13 [[ 7.26083222e-01 -6.87328993e-01 -1.95450517e-02 8.71251092e+01] [ 6.87039586e-01 7.26345443e-01 -1.99725905e-02 4.15974772e+01] [ 2.79241998e-02 1.07353867e-03 9.99609467e-01 2.13086782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.15, Y:41.62, Z:2.13 [[ 7.24903174e-01 -6.88562015e-01 -1.99434141e-02 8.71460970e+01] [ 6.88260881e-01 7.25176696e-01 -2.03891918e-02 4.16155775e+01] [ 2.85017222e-02 1.05391807e-03 9.99593188e-01 2.13146639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:41.63, Z:2.13 [[ 7.23927603e-01 -6.89586598e-01 -1.99787517e-02 8.71674857e+01] [ 6.89284643e-01 7.24202517e-01 -2.04302456e-02 4.16346858e+01] [ 2.85570859e-02 1.01897200e-03 9.99591644e-01 2.13195477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:41.65, Z:2.13 [[ 7.22968774e-01 -6.90588517e-01 -2.00910804e-02 8.71921116e+01] [ 6.90283259e-01 7.23247202e-01 -2.05549662e-02 4.16514787e+01] [ 2.87258413e-02 9.92062240e-04 9.99586836e-01 2.13353962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:41.67, Z:2.13 [[ 7.20928998e-01 -6.92701761e-01 -2.06312848e-02 8.72126957e+01] [ 6.92380453e-01 7.21223536e-01 -2.11168048e-02 4.16694243e+01] [ 2.95074160e-02 9.39018633e-04 9.99564120e-01 2.13282413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:41.69, Z:2.13 [[ 7.19900381e-01 -6.93773426e-01 -2.05395790e-02 8.72342346e+01] [ 6.93455228e-01 7.20192774e-01 -2.10289175e-02 4.16884907e+01] [ 2.93817605e-02 8.95447340e-04 9.99567862e-01 2.13300483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:41.71, Z:2.13 [[ 7.19227632e-01 -6.94471139e-01 -2.05292414e-02 8.72564767e+01] [ 6.94153241e-01 7.19520029e-01 -2.10286854e-02 4.17076174e+01] [ 2.93750155e-02 8.73972122e-04 9.99568079e-01 2.13364781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.28, Y:41.73, Z:2.13 [[ 7.18493501e-01 -6.95234516e-01 -2.03974646e-02 8.72754680e+01] [ 6.94920738e-01 7.18782482e-01 -2.09024559e-02 4.17274871e+01] [ 2.91934490e-02 8.43657530e-04 9.99573424e-01 2.13358772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:41.75, Z:2.13 [[ 7.18179212e-01 -6.95558736e-01 -2.04123611e-02 8.72967961e+01] [ 6.95244460e-01 7.18468751e-01 -2.09235285e-02 4.17462537e+01] [ 2.92191867e-02 8.35262219e-04 9.99572679e-01 2.13481554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:41.77, Z:2.14 [[ 7.18123383e-01 -6.95597164e-01 -2.10569109e-02 8.73170606e+01] [ 6.95262416e-01 7.18431509e-01 -2.15949097e-02 4.17650909e+01] [ 3.01493062e-02 8.67730828e-04 9.99545030e-01 2.13500980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:41.78, Z:2.14 [[ 7.18103335e-01 -6.95610128e-01 -2.13108193e-02 8.73369078e+01] [ 6.95267033e-01 7.18418938e-01 -2.18628091e-02 4.17845558e+01] [ 3.05180876e-02 8.83046062e-04 9.99533825e-01 2.13562401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:41.80, Z:2.14 [[ 7.17841423e-01 -6.95901652e-01 -2.06053957e-02 8.73574826e+01] [ 6.95580685e-01 7.18136595e-01 -2.11504500e-02 4.18044591e+01] [ 2.95161218e-02 8.49953842e-04 9.99563943e-01 2.13717513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:41.82, Z:2.14 [[ 7.17647925e-01 -6.96101367e-01 -2.05995480e-02 8.73766901e+01] [ 6.95780320e-01 7.17943009e-01 -2.11561442e-02 4.18243235e+01] [ 2.95161224e-02 8.49902955e-04 9.99563943e-01 2.13777485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:41.84, Z:2.14 [[ 7.17548739e-01 -6.96225079e-01 -1.98606940e-02 8.73954029e+01] [ 6.95926395e-01 7.17823073e-01 -2.04080788e-02 4.18439924e+01] [ 2.84650807e-02 8.22210067e-04 9.99594449e-01 2.13978499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:41.86, Z:2.14 [[ 7.17574335e-01 -6.96224147e-01 -1.89475672e-02 8.74141275e+01] [ 6.95952050e-01 7.17824011e-01 -1.94790669e-02 4.18634361e+01] [ 2.71628155e-02 7.91080270e-04 9.99630710e-01 2.14187483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:41.88, Z:2.14 [[ 7.17401348e-01 -6.96419078e-01 -1.83241389e-02 8.74346776e+01] [ 6.96164415e-01 7.17634924e-01 -1.88473977e-02 4.18825579e+01] [ 2.62757294e-02 7.64535070e-04 9.99654441e-01 2.14321249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:41.90, Z:2.14 [[ 7.15097916e-01 -6.98792765e-01 -1.79900296e-02 8.74551091e+01] [ 6.98547815e-01 7.15323857e-01 -1.85129847e-02 4.19005907e+01] [ 2.58054371e-02 6.71700895e-04 9.99666759e-01 2.14322644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:41.92, Z:2.14 [[ 7.10118614e-01 -7.03848134e-01 -1.81482377e-02 8.74770930e+01] [ 7.03600385e-01 7.10350307e-01 -1.86799278e-02 4.19171017e+01] [ 2.60394386e-02 4.95857435e-04 9.99660793e-01 2.14441109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:41.94, Z:2.14 [[ 7.08371550e-01 -7.05593421e-01 -1.86459320e-02 8.74992450e+01] [ 7.05332350e-01 7.08616768e-01 -1.91977452e-02 4.19364947e+01] [ 2.67586227e-02 4.47557495e-04 9.99641824e-01 2.14431820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:41.96, Z:2.14 [[ 7.06955013e-01 -7.06991022e-01 -1.94500633e-02 8.75188989e+01] [ 7.06707200e-01 7.07222398e-01 -2.00353306e-02 4.19552450e+01] [ 2.79203192e-02 4.18577618e-04 9.99610064e-01 2.14369275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:41.98, Z:2.14 [[ 7.05691403e-01 -7.08241648e-01 -1.98346209e-02 8.75391639e+01] [ 7.07946719e-01 7.05969986e-01 -2.04406967e-02 4.19750769e+01] [ 2.84795997e-02 3.82969183e-04 9.99594301e-01 2.14325367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:41.99, Z:2.14 [[ 7.04412721e-01 -7.09488198e-01 -2.07175190e-02 8.75602494e+01] [ 7.09166611e-01 7.04717227e-01 -2.13622921e-02 4.19938742e+01] [ 2.97562866e-02 3.55697532e-04 9.99557120e-01 2.14167798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:42.01, Z:2.14 [[ 7.04220423e-01 -7.09679350e-01 -2.07078849e-02 8.75789047e+01] [ 7.09357806e-01 7.04524730e-01 -2.13637246e-02 4.20132455e+01] [ 2.97506112e-02 3.55471401e-04 9.99557289e-01 2.14134033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:42.03, Z:2.14 [[ 7.05454439e-01 -7.08461061e-01 -2.04195861e-02 8.75981982e+01] [ 7.08147602e-01 7.05749785e-01 -2.10763977e-02 4.20345050e+01] [ 2.93429256e-02 4.08357343e-04 9.99569320e-01 2.14291031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:42.06, Z:2.14 [[ 7.06192577e-01 -7.07722099e-01 -2.05298230e-02 8.76177489e+01] [ 7.07404677e-01 7.06490785e-01 -2.11989099e-02 4.20550674e+01] [ 2.95070678e-02 4.47619979e-04 9.99564471e-01 2.14408099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:42.08, Z:2.14 [[ 7.07229310e-01 -7.06676787e-01 -2.08475927e-02 8.76362773e+01] [ 7.06348840e-01 7.07536335e-01 -2.15325308e-02 4.20758245e+01] [ 2.99669690e-02 5.02764000e-04 9.99550763e-01 2.14483904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:42.10, Z:2.15 [[ 7.08230102e-01 -7.05678246e-01 -2.06962802e-02 8.76552435e+01] [ 7.05354449e-01 7.08532227e-01 -2.13818853e-02 4.20970011e+01] [ 2.97527128e-02 5.45081439e-04 9.99557141e-01 2.14566648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:42.12, Z:2.15 [[ 7.10929868e-01 -7.02977374e-01 -2.00383224e-02 8.76729961e+01] [ 7.02672582e-01 7.11211923e-01 -2.07085112e-02 4.21198611e+01] [ 2.88091086e-02 6.41919365e-04 9.99584725e-01 2.14692418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:42.14, Z:2.15 [[ 7.12239378e-01 -7.01663146e-01 -1.95933241e-02 8.76914644e+01] [ 7.01370997e-01 7.12508498e-01 -2.02574679e-02 4.21414189e+01] [ 2.81743286e-02 6.85977065e-04 9.99602789e-01 2.14836002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:42.16, Z:2.15 [[ 7.13158852e-01 -7.00734542e-01 -1.93792237e-02 8.77108853e+01] [ 7.00448209e-01 7.13421744e-01 -2.00430095e-02 4.21634087e+01] [ 2.78703886e-02 7.19707059e-04 9.99611286e-01 2.14869276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:42.19, Z:2.15 [[ 7.14925661e-01 -6.98953670e-01 -1.85759703e-02 8.77274488e+01] [ 6.98689750e-01 7.15166544e-01 -1.92210423e-02 4.21864653e+01] [ 2.67195305e-02 7.62776334e-04 9.99642679e-01 2.14909544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:42.21, Z:2.15 [[ 7.15459597e-01 -6.98404280e-01 -1.86822878e-02 8.77456083e+01] [ 6.98136939e-01 7.15703034e-01 -1.93385900e-02 4.22080872e+01] [ 2.68771240e-02 7.93184598e-04 9.99638430e-01 2.14935393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:42.23, Z:2.15 [[ 7.15812031e-01 -6.98050573e-01 -1.83992726e-02 8.77658770e+01] [ 6.97791007e-01 7.16048015e-01 -1.90512765e-02 4.22291524e+01] [ 2.64735171e-02 7.98285992e-04 9.99649196e-01 2.15033729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:42.25, Z:2.15 [[ 7.15783703e-01 -6.98072314e-01 -1.86744732e-02 8.77835586e+01] [ 6.97804674e-01 7.16026800e-01 -1.93457683e-02 4.22494154e+01] [ 2.68761685e-02 8.16250981e-04 9.99638437e-01 2.15044529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:42.27, Z:2.15 [[ 7.15217876e-01 -6.98639208e-01 -1.91480229e-02 8.78025078e+01] [ 6.98357738e-01 7.15473676e-01 -1.98466605e-02 4.22700934e+01] [ 2.75655615e-02 8.22516412e-04 9.99619659e-01 2.15064262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:42.29, Z:2.15 [[ 7.14354090e-01 -6.99512538e-01 -1.95049616e-02 8.78222001e+01] [ 6.99220484e-01 7.14619865e-01 -2.02277903e-02 4.22901854e+01] [ 2.80882260e-02 8.11536048e-04 9.99605119e-01 2.15083809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:42.31, Z:2.15 [[ 7.13584062e-01 -7.00285175e-01 -1.99614649e-02 8.78426004e+01] [ 6.99979263e-01 7.13862747e-01 -2.07125504e-02 4.23098879e+01] [ 2.87544382e-02 8.07534411e-04 9.99586179e-01 2.15123764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:42.33, Z:2.15 [[ 7.12442217e-01 -7.01435998e-01 -2.03378817e-02 8.78604515e+01] [ 7.01118570e-01 7.12732016e-01 -2.11145281e-02 4.23321487e+01] [ 2.93059495e-02 7.83614699e-04 9.99570181e-01 2.15004986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:42.35, Z:2.15 [[ 7.09301015e-01 -7.04591724e-01 -2.10374357e-02 8.78841825e+01] [ 7.04253120e-01 7.09612595e-01 -2.18519570e-02 4.23485402e+01] [ 3.03251374e-02 6.83935593e-04 9.99539853e-01 2.15063937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:42.37, Z:2.15 [[ 7.07405661e-01 -7.06493874e-01 -2.10626667e-02 8.79033950e+01] [ 7.06155013e-01 7.07718895e-01 -2.18875445e-02 4.23687436e+01] [ 3.03698633e-02 6.09865256e-04 9.99538543e-01 2.15076255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:42.39, Z:2.15 [[ 7.05140533e-01 -7.08761335e-01 -2.08374551e-02 8.79257300e+01] [ 7.08430513e-01 7.05448162e-01 -2.16586928e-02 4.23880636e+01] [ 3.00505884e-02 5.10533230e-04 9.99548249e-01 2.15217501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:42.40, Z:2.15 [[ 7.01037640e-01 -7.12845285e-01 -1.99455794e-02 8.79497144e+01] [ 7.12543566e-01 7.01321247e-01 -2.07406533e-02 4.24044355e+01] [ 2.87731356e-02 3.27884356e-04 9.99585914e-01 2.15485639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:42.42, Z:2.15 [[ 6.99871985e-01 -7.14000813e-01 -1.95459269e-02 8.79683820e+01] [ 7.13711234e-01 7.00144813e-01 -2.03350646e-02 4.24238919e+01] [ 2.82042321e-02 2.81794418e-04 9.99602142e-01 2.15490801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:42.44, Z:2.16 [[ 6.98855222e-01 -7.14996917e-01 -1.95137929e-02 8.79894654e+01] [ 7.14708418e-01 6.99127562e-01 -2.03108196e-02 4.24429578e+01] [ 2.81648038e-02 2.47650331e-04 9.99603263e-01 2.15686577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:42.46, Z:2.16 [[ 6.98297048e-01 -7.15540633e-01 -1.95661888e-02 8.80075473e+01] [ 7.15250494e-01 6.98571076e-01 -2.03760289e-02 4.24637151e+01] [ 2.82482502e-02 2.33794633e-04 9.99600911e-01 2.15637594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:42.48, Z:2.16 [[ 6.98510023e-01 -7.15361530e-01 -1.84831771e-02 8.80274398e+01] [ 7.15102323e-01 6.98754482e-01 -1.92572539e-02 4.24840199e+01] [ 2.66911015e-02 2.34022030e-04 9.99643702e-01 2.15838389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:42.51, Z:2.16 [[ 6.99158518e-01 -7.14740204e-01 -1.79946257e-02 8.80461971e+01] [ 7.14494056e-01 6.99390001e-01 -1.87582119e-02 4.25050301e+01] [ 2.59925095e-02 2.57910561e-04 9.99662104e-01 2.15939582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:42.53, Z:2.16 [[ 7.00139981e-01 -7.13795546e-01 -1.73183421e-02 8.80636713e+01] [ 7.13567032e-01 7.00354078e-01 -1.80625667e-02 4.25261712e+01] [ 2.50219511e-02 2.88527129e-04 9.99686860e-01 2.16045583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:42.55, Z:2.16 [[ 7.02380388e-01 -7.11599226e-01 -1.69803374e-02 8.80812081e+01] [ 7.11378696e-01 7.02585517e-01 -1.77184422e-02 4.25495435e+01] [ 2.45385689e-02 3.65636092e-04 9.99698817e-01 2.16144623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.10, Y:42.57, Z:2.16 [[ 7.03476835e-01 -7.10515890e-01 -1.69562274e-02 8.81005663e+01] [ 7.10295468e-01 7.03681038e-01 -1.77015634e-02 4.25711985e+01] [ 2.45090177e-02 4.08708339e-04 9.99699525e-01 2.16219850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:42.59, Z:2.16 [[ 7.04660904e-01 -7.09338326e-01 -1.70923648e-02 8.81182839e+01] [ 7.09113801e-01 7.04868022e-01 -1.78518540e-02 4.25929764e+01] [ 2.47108656e-02 4.59071764e-04 9.99694535e-01 2.16198820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:42.62, Z:2.16 [[ 7.07212242e-01 -7.06776102e-01 -1.78434055e-02 8.81355079e+01] [ 7.06530441e-01 7.07437071e-01 -1.86420919e-02 4.26158417e+01] [ 2.57988715e-02 5.77006450e-04 9.99666987e-01 2.16097521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:42.64, Z:2.16 [[ 7.08133318e-01 -7.05839753e-01 -1.83697447e-02 8.81541223e+01] [ 7.05578828e-01 7.08371258e-01 -1.92009829e-02 4.26382216e+01] [ 2.65654162e-02 6.35552739e-04 9.99646875e-01 2.15991431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:42.66, Z:2.16 [[ 7.09079129e-01 -7.04865223e-01 -1.92822687e-02 8.81714993e+01] [ 7.04577109e-01 7.09340899e-01 -2.01639894e-02 4.26599408e+01] [ 2.78905967e-02 7.12018946e-04 9.99610728e-01 2.15882192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:42.68, Z:2.16 [[ 7.09496626e-01 -7.04423400e-01 -2.00552115e-02 8.81923927e+01] [ 7.04111321e-01 7.09779606e-01 -2.09799578e-02 4.26804165e+01] [ 2.90135533e-02 7.64107820e-04 9.99578726e-01 2.15878110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:42.70, Z:2.16 [[ 7.10206188e-01 -7.03702595e-01 -2.02442348e-02 8.82121237e+01] [ 7.03384007e-01 7.10494197e-01 -2.11880824e-02 4.27014062e+01] [ 2.92935199e-02 8.08436283e-04 9.99570526e-01 2.15857208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:42.72, Z:2.16 [[ 7.09942454e-01 -7.03975212e-01 -2.00153128e-02 8.82315141e+01] [ 7.03663593e-01 7.10224097e-01 -2.09590264e-02 4.27211811e+01] [ 2.89699925e-02 7.95655724e-04 9.99579965e-01 2.15996392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:42.74, Z:2.16 [[ 7.09602125e-01 -7.04341752e-01 -1.91708171e-02 8.82498927e+01] [ 7.04055725e-01 7.09860638e-01 -2.00850861e-02 4.27418262e+01] [ 2.77553732e-02 7.55096276e-04 9.99614460e-01 2.16185217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:42.76, Z:2.16 [[ 7.08989714e-01 -7.04982224e-01 -1.82660517e-02 8.82717108e+01] [ 7.04722550e-01 7.09224627e-01 -1.91456373e-02 4.27611366e+01] [ 2.64520677e-02 7.01561431e-04 9.99649837e-01 2.16482832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:42.78, Z:2.17 [[ 7.07706245e-01 -7.06285532e-01 -1.76809977e-02 8.82921382e+01] [ 7.06042423e-01 7.07926790e-01 -1.85406683e-02 4.27800867e+01] [ 2.56118577e-02 6.37812294e-04 9.99671759e-01 2.16654089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:42.80, Z:2.17 [[ 7.06945344e-01 -7.07049229e-01 -1.75973969e-02 8.83123147e+01] [ 7.06808499e-01 7.07164064e-01 -1.84589440e-02 4.28000522e+01] [ 2.54956289e-02 6.11474788e-04 9.99674747e-01 2.16660737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:42.82, Z:2.17 [[ 7.06061761e-01 -7.07927147e-01 -1.77747928e-02 8.83328496e+01] [ 7.07681553e-01 7.06285213e-01 -1.86552077e-02 4.28201486e+01] [ 2.57606013e-02 5.92835797e-04 9.99667965e-01 2.16608367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:42.84, Z:2.17 [[ 7.04604065e-01 -7.09386603e-01 -1.74287008e-02 8.83548460e+01] [ 7.09150683e-01 7.04819381e-01 -1.83016164e-02 4.28394982e+01] [ 2.52670076e-02 5.35818273e-04 9.99680595e-01 2.16634579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:42.86, Z:2.17 [[ 7.03975035e-01 -7.10003388e-01 -1.77296223e-02 8.83738468e+01] [ 7.09759209e-01 7.04198061e-01 -1.86267447e-02 4.28588053e+01] [ 2.57102175e-02 5.29000581e-04 9.99669298e-01 2.16685281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:42.88, Z:2.17 [[ 7.03152481e-01 -7.10803810e-01 -1.82902109e-02 8.83946188e+01] [ 7.10543960e-01 7.03390127e-01 -1.92252360e-02 4.28776211e+01] [ 2.65305248e-02 5.22273461e-04 9.99647867e-01 2.16655169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:42.90, Z:2.17 [[ 7.02705846e-01 -7.11235701e-01 -1.86620380e-02 8.84139122e+01] [ 7.10965040e-01 7.02953415e-01 -1.96267153e-02 4.28961969e+01] [ 2.70777640e-02 5.23751025e-04 9.99633193e-01 2.16728864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters Centerline goodness [0,1] 0.9999757122386029 Centerline is valid? [True, True] Translation: X:88.43, Y:42.92, Z:2.17 [[ 7.02516764e-01 -7.11422714e-01 -1.86525923e-02 8.84336313e+01] [ 7.11152127e-01 7.02764149e-01 -1.96265952e-02 4.29165603e+01] [ 2.70711788e-02 5.23181484e-04 9.99633372e-01 2.16784721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:42.94, Z:2.17 [[ 7.02636266e-01 -7.11306036e-01 -1.86011060e-02 8.84532065e+01] [ 7.11036618e-01 7.02882237e-01 -1.95828848e-02 4.29367842e+01] [ 2.70038111e-02 5.33577541e-04 9.99635188e-01 2.16863765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:42.96, Z:2.17 [[ 7.03401427e-01 -7.10540670e-01 -1.89311474e-02 8.84745434e+01] [ 7.10261037e-01 7.03655896e-01 -1.99409232e-02 4.29570079e+01] [ 2.74898504e-02 5.80417504e-04 9.99621914e-01 2.16807434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:42.98, Z:2.17 [[ 7.03830542e-01 -7.10110420e-01 -1.91248110e-02 8.84932515e+01] [ 7.09824632e-01 7.04090065e-01 -2.01537272e-02 4.29777225e+01] [ 2.77769611e-02 6.09546766e-04 9.99613960e-01 2.16771895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:43.00, Z:2.17 [[ 7.04899521e-01 -7.09047210e-01 -1.92020683e-02 8.85118974e+01] [ 7.08758568e-01 7.05160706e-01 -2.02403205e-02 4.29981400e+01] [ 2.78918869e-02 6.57761810e-04 9.99610729e-01 2.16839758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:43.02, Z:2.17 [[ 7.07123628e-01 -7.06818131e-01 -1.96036872e-02 8.85305961e+01] [ 7.06516228e-01 7.07394898e-01 -2.06706936e-02 4.30202302e+01] [ 2.84779693e-02 7.66412723e-04 9.99594127e-01 2.16835728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:43.04, Z:2.17 [[ 7.08472831e-01 -7.05458557e-01 -1.98613252e-02 8.85512636e+01] [ 7.05147843e-01 7.08750676e-01 -2.09523211e-02 4.30403434e+01] [ 2.88577218e-02 8.38979618e-04 9.99583177e-01 2.16939786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:43.06, Z:2.17 [[ 7.09683191e-01 -7.04234614e-01 -2.00842498e-02 8.85689121e+01] [ 7.03916118e-01 7.09966752e-01 -2.11969361e-02 4.30617800e+01] [ 2.91867657e-02 9.05482127e-04 9.99573565e-01 2.16969203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:43.08, Z:2.17 [[ 7.11669118e-01 -7.02224798e-01 -2.01841389e-02 8.85881250e+01] [ 7.01902060e-01 7.11954588e-01 -2.13111103e-02 4.30832996e+01] [ 2.93353804e-02 9.99170430e-04 9.99569126e-01 2.16968492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:43.10, Z:2.17 [[ 7.11472505e-01 -7.02424155e-01 -2.01787549e-02 8.86070515e+01] [ 7.02101353e-01 7.11757901e-01 -2.13162073e-02 4.31034420e+01] [ 2.93354072e-02 9.98364308e-04 9.99569126e-01 2.17028513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:43.12, Z:2.17 [[ 7.10168277e-01 -7.03742338e-01 -2.01925468e-02 8.86287661e+01] [ 7.03419285e-01 7.10454653e-01 -2.13423702e-02 4.31227527e+01] [ 2.93654183e-02 9.52847416e-04 9.99568289e-01 2.17037272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.65, Y:43.14, Z:2.17 [[ 7.04988362e-01 -7.08945615e-01 -1.96856680e-02 8.86516568e+01] [ 7.08640316e-01 7.05262781e-01 -2.08161784e-02 4.31381491e+01] [ 2.86411073e-02 7.25105514e-04 9.99589496e-01 2.17280216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:43.15, Z:2.18 [[ 7.00981554e-01 -7.12928684e-01 -1.89090744e-02 8.86739059e+01] [ 7.12648236e-01 7.01236333e-01 -2.00024342e-02 4.31545440e+01] [ 2.75200391e-02 5.45818852e-04 9.99621103e-01 2.17553090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:43.17, Z:2.18 [[ 6.95366506e-01 -7.18432204e-01 -1.79050202e-02 8.86989282e+01] [ 7.18182386e-01 6.95596915e-01 -1.89470956e-02 4.31698583e+01] [ 2.60668805e-02 3.16105521e-04 9.99660151e-01 2.17768041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:43.19, Z:2.18 [[ 6.93368735e-01 -7.20355282e-01 -1.81125861e-02 8.87201541e+01] [ 7.20100028e-01 6.93605222e-01 -1.91767076e-02 4.31894430e+01] [ 2.63770269e-02 2.53655696e-04 9.99652034e-01 2.17695102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:43.21, Z:2.17 [[ 6.92086610e-01 -7.21563264e-01 -1.90415195e-02 8.87400445e+01] [ 7.21281317e-01 6.92348471e-01 -2.01707087e-02 4.32088260e+01] [ 2.77378093e-02 2.25585181e-04 9.99615207e-01 2.17482555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:43.23, Z:2.17 [[ 6.91163815e-01 -7.22441573e-01 -1.92549606e-02 8.87594261e+01] [ 7.22153321e-01 6.91431944e-01 -2.04070521e-02 4.32273653e+01] [ 2.80563977e-02 1.99582295e-04 9.99606322e-01 2.17265702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:43.25, Z:2.17 [[ 6.91586187e-01 -7.22034815e-01 -1.93461067e-02 8.87790159e+01] [ 7.21743434e-01 6.91856688e-01 -2.05119089e-02 4.32480037e+01] [ 2.81950457e-02 2.22827416e-04 9.99602416e-01 2.17379412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:43.27, Z:2.18 [[ 6.92730512e-01 -7.20939804e-01 -1.92415662e-02 8.87981859e+01] [ 7.20650843e-01 6.92997637e-01 -2.04117176e-02 4.32687087e+01] [ 2.80499795e-02 2.73368662e-04 9.99606485e-01 2.17546447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:43.29, Z:2.18 [[ 6.93811113e-01 -7.19895984e-01 -1.93884355e-02 8.88175117e+01] [ 7.19601894e-01 6.94081887e-01 -2.05778534e-02 4.32897939e+01] [ 2.82710759e-02 3.25188438e-04 9.99600240e-01 2.17714963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:43.31, Z:2.18 [[ 6.96323772e-01 -7.17494799e-01 -1.82870874e-02 8.88355458e+01] [ 7.17232112e-01 6.96563744e-01 -1.94177347e-02 4.33127778e+01] [ 2.66702457e-02 4.04943999e-04 9.99644204e-01 2.17895086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:43.34, Z:2.18 [[ 6.97619083e-01 -7.16234117e-01 -1.83385860e-02 8.88540319e+01] [ 7.15969261e-01 6.97859926e-01 -1.94817988e-02 4.33353874e+01] [ 2.67512933e-02 4.61010763e-04 9.99642014e-01 2.17990654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:43.36, Z:2.18 [[ 6.98755457e-01 -7.15134355e-01 -1.79907056e-02 8.88729934e+01] [ 7.14878854e-01 6.98986841e-01 -1.91212194e-02 4.33574235e+01] [ 2.62495073e-02 4.99881415e-04 9.99655297e-01 2.18030283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:43.38, Z:2.18 [[ 6.99887632e-01 -7.14033552e-01 -1.77027856e-02 8.88906867e+01] [ 7.13785596e-01 7.00111274e-01 -1.88235796e-02 4.33794736e+01] [ 2.58345872e-02 5.38397184e-04 9.99666086e-01 2.18067764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.91, Y:43.40, Z:2.18 [[ 7.01704092e-01 -7.12237447e-01 -1.81434917e-02 8.89071077e+01] [ 7.11976238e-01 7.01938338e-01 -1.92978148e-02 4.34016608e+01] [ 2.64802388e-02 6.23620646e-04 9.99649142e-01 2.17967709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.93, Y:43.42, Z:2.18 [[ 7.02116150e-01 -7.11817037e-01 -1.86927192e-02 8.89277046e+01] [ 7.11539423e-01 7.02364624e-01 -1.98893012e-02 4.34219984e+01] [ 2.72866482e-02 6.63992941e-04 9.99627430e-01 2.18011435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters Centerline goodness [0,1] 0.9998760473994744 Centerline is valid? [True, True] Translation: X:88.95, Y:43.44, Z:2.18 [[ 7.03567210e-01 -7.10387469e-01 -1.85155428e-02 8.89454654e+01] [ 7.10114366e-01 7.03810435e-01 -1.97093834e-02 4.34436959e+01] [ 2.70327312e-02 7.18722985e-04 9.99634291e-01 2.18142711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:43.46, Z:2.18 [[ 7.04110590e-01 -7.09852520e-01 -1.83759807e-02 8.89665490e+01] [ 7.09583172e-01 7.04349952e-01 -1.95670072e-02 4.34640907e+01] [ 2.68328105e-02 7.38050306e-04 9.99639663e-01 2.18238040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:43.49, Z:2.18 [[ 7.04632562e-01 -7.09339829e-01 -1.81648131e-02 8.89854633e+01] [ 7.09076237e-01 7.04866255e-01 -1.93507608e-02 4.34852594e+01] [ 2.65300291e-02 7.54938861e-04 9.99647732e-01 2.18273864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:43.51, Z:2.18 [[ 7.04771653e-01 -7.09197441e-01 -1.83277964e-02 8.90027502e+01] [ 7.08928913e-01 7.05009501e-01 -1.95294472e-02 4.35058312e+01] [ 2.67715046e-02 7.70696020e-04 9.99641282e-01 2.18268596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:43.53, Z:2.18 [[ 7.03586914e-01 -7.10374626e-01 -1.82577364e-02 8.90242162e+01] [ 7.10108389e-01 7.03823388e-01 -1.94605902e-02 4.35250174e+01] [ 2.66745314e-02 7.27244848e-04 9.99643907e-01 2.18347152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:43.54, Z:2.18 [[ 7.02481501e-01 -7.11468349e-01 -1.82353847e-02 8.90454817e+01] [ 7.11202879e-01 7.02717803e-01 -1.94462168e-02 4.35443252e+01] [ 2.66496973e-02 6.91549450e-04 9.99644595e-01 2.18380109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:43.56, Z:2.18 [[ 7.01184041e-01 -7.12752316e-01 -1.80298964e-02 8.90653540e+01] [ 7.12493000e-01 7.01415515e-01 -1.92353918e-02 4.35638554e+01] [ 2.63565191e-02 6.41374746e-04 9.99652401e-01 2.18450738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:43.58, Z:2.19 [[ 6.99685631e-01 -7.14225235e-01 -1.79536206e-02 8.90873468e+01] [ 7.13968480e-01 6.99915688e-01 -1.91582571e-02 4.35835247e+01] [ 2.62493314e-02 5.86438003e-04 9.99655255e-01 2.18574550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:43.60, Z:2.19 [[ 6.97786001e-01 -7.16077112e-01 -1.81181213e-02 8.91083735e+01] [ 7.15816042e-01 6.98020982e-01 -1.93417408e-02 4.36020907e+01] [ 2.64970067e-02 5.27154124e-04 9.99648754e-01 2.18693279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:43.62, Z:2.19 [[ 6.97009343e-01 -7.16827978e-01 -1.83200876e-02 8.91290647e+01] [ 7.16561184e-01 6.97249878e-01 -1.95621280e-02 4.36219492e+01] [ 2.67963595e-02 5.07522339e-04 9.99640784e-01 2.18772001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:43.64, Z:2.19 [[ 6.96194222e-01 -7.17618471e-01 -1.83666817e-02 8.91492923e+01] [ 7.17350306e-01 6.96436281e-01 -1.96225547e-02 4.36413704e+01] [ 2.68727312e-02 4.85764505e-04 9.99638745e-01 2.18863456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:43.66, Z:2.19 [[ 6.95231135e-01 -7.18535774e-01 -1.89739416e-02 8.91688524e+01] [ 7.18249627e-01 6.95489840e-01 -2.02818949e-02 4.36607889e+01] [ 2.77694507e-02 4.72578368e-04 9.99614243e-01 2.18816425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:43.68, Z:2.19 [[ 6.95033055e-01 -7.18723203e-01 -1.91314013e-02 8.91881100e+01] [ 7.18432125e-01 6.95296147e-01 -2.04584989e-02 4.36813735e+01] [ 2.80059874e-02 4.74719679e-04 9.99607643e-01 2.18802691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:43.70, Z:2.19 [[ 6.95053701e-01 -7.18705413e-01 -1.90494768e-02 8.92080156e+01] [ 7.18416507e-01 6.95314532e-01 -2.03819698e-02 4.37018118e+01] [ 2.78940101e-02 4.81104987e-04 9.99610771e-01 2.18854904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:43.72, Z:2.19 [[ 6.93722015e-01 -7.19981604e-01 -1.93973106e-02 8.92289002e+01] [ 7.19682216e-01 6.93993005e-01 -2.07657618e-02 4.37211299e+01] [ 2.84125644e-02 4.45766635e-04 9.99596182e-01 2.18957631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:43.74, Z:2.19 [[ 6.93382981e-01 -7.20311726e-01 -1.92629151e-02 8.92472339e+01] [ 7.20016292e-01 6.93650364e-01 -2.06327902e-02 4.37410332e+01] [ 2.82237688e-02 4.36812861e-04 9.99601535e-01 2.19078654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:43.76, Z:2.19 [[ 6.93676480e-01 -7.20033848e-01 -1.90839893e-02 8.92660679e+01] [ 7.19743487e-01 6.93938797e-01 -2.04513806e-02 4.37616873e+01] [ 2.79688069e-02 4.51064690e-04 9.99608695e-01 2.19225864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:43.78, Z:2.19 [[ 6.94067179e-01 -7.19631251e-01 -2.00402968e-02 8.92852669e+01] [ 7.19310540e-01 6.94356258e-01 -2.14879872e-02 4.37829420e+01] [ 2.93785326e-02 4.98909972e-04 9.99568233e-01 2.19209060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:43.80, Z:2.19 [[ 6.94172741e-01 -7.19512368e-01 -2.06435680e-02 8.93041869e+01] [ 7.19171658e-01 6.94479427e-01 -2.21461511e-02 4.38038263e+01] [ 3.02709630e-02 5.26985374e-04 9.99541590e-01 2.19261452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:43.82, Z:2.19 [[ 6.94190075e-01 -7.19488475e-01 -2.08919880e-02 8.93231636e+01] [ 7.19139127e-01 6.94504169e-01 -2.24248929e-02 4.38248215e+01] [ 3.06440247e-02 5.42892030e-04 9.99530214e-01 2.19285180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:43.85, Z:2.19 [[ 6.94569266e-01 -7.19102402e-01 -2.15701276e-02 8.93414417e+01] [ 7.18729468e-01 6.94903873e-01 -2.31637346e-02 4.38464092e+01] [ 3.16462624e-02 5.85731765e-04 9.99498960e-01 2.19230641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:43.87, Z:2.19 [[ 6.95227738e-01 -7.18452640e-01 -2.20044707e-02 8.93604414e+01] [ 7.18063954e-01 6.95575592e-01 -2.36379811e-02 4.38676889e+01] [ 3.22885426e-02 6.33162863e-04 9.99478389e-01 2.19304010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:43.89, Z:2.19 [[ 6.95200601e-01 -7.18492250e-01 -2.15641245e-02 8.93796894e+01] [ 7.18118622e-01 6.95534682e-01 -2.31765100e-02 4.38886514e+01] [ 3.16507393e-02 6.26724333e-04 9.99498793e-01 2.19417271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:43.91, Z:2.20 [[ 6.95211004e-01 -7.18492417e-01 -2.12204384e-02 8.93981009e+01] [ 7.18130214e-01 6.95534511e-01 -2.28197191e-02 4.39092566e+01] [ 3.11553424e-02 6.25481876e-04 9.99514359e-01 2.19579082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.42, Y:43.93, Z:2.20 [[ 6.95143136e-01 -7.18584412e-01 -2.03091946e-02 8.94165365e+01] [ 7.18252344e-01 6.95439487e-01 -2.18515631e-02 4.39304207e+01] [ 2.98260084e-02 6.02837465e-04 9.99554924e-01 2.19796827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:43.95, Z:2.20 [[ 6.94651825e-01 -7.19071844e-01 -1.98626759e-02 8.94349307e+01] [ 7.18754096e-01 6.94935501e-01 -2.13822097e-02 4.39509494e+01] [ 2.91786236e-02 5.76811324e-04 9.99574047e-01 2.19887660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:43.97, Z:2.20 [[ 6.93159235e-01 -7.20516090e-01 -1.96682085e-02 8.94546263e+01] [ 7.20204864e-01 6.93438026e-01 -2.11815373e-02 4.39708456e+01] [ 2.89003221e-02 5.17038747e-04 9.99582165e-01 2.19933301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:43.99, Z:2.20 [[ 6.89064173e-01 -7.24444111e-01 -1.92690400e-02 8.94764078e+01] [ 7.24146723e-01 6.89333451e-01 -2.07585286e-02 4.39894911e+01] [ 2.83211877e-02 3.50346137e-04 9.99598813e-01 2.20068840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters Centerline goodness [0,1] 0.9999750380669479 Centerline is valid? [True, True] Translation: X:89.50, Y:44.01, Z:2.20 [[ 6.87376634e-01 -7.26030002e-01 -1.98443707e-02 8.94965561e+01] [ 7.25714912e-01 6.87662959e-01 -2.13897529e-02 4.40095796e+01] [ 2.91758410e-02 3.01460599e-04 9.99574249e-01 2.20075403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:44.03, Z:2.20 [[ 6.86043435e-01 -7.27265678e-01 -2.07132437e-02 8.95160157e+01] [ 7.26922570e-01 6.86356002e-01 -2.23386602e-02 4.40293222e+01] [ 3.04628000e-02 2.68366820e-04 9.99535865e-01 2.20058649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:44.05, Z:2.20 [[ 6.84916454e-01 -7.28281983e-01 -2.22442017e-02 8.95344302e+01] [ 7.27886402e-01 6.85277529e-01 -2.40019570e-02 4.40501669e+01] [ 3.27236444e-02 2.48083284e-04 9.99464407e-01 2.19854948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:44.07, Z:2.20 [[ 6.84570814e-01 -7.28587520e-01 -2.28697741e-02 8.95532685e+01] [ 7.28169191e-01 6.84952673e-01 -2.46873493e-02 4.40716995e+01] [ 3.36516075e-02 2.47173906e-04 9.99433594e-01 2.19852126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:44.09, Z:2.20 [[ 6.84906861e-01 -7.28260210e-01 -2.32305399e-02 8.95719846e+01] [ 7.27827921e-01 6.85300656e-01 -2.50903925e-02 4.40932107e+01] [ 3.41922388e-02 2.76746346e-04 9.99415236e-01 2.19959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:44.11, Z:2.20 [[ 6.85900395e-01 -7.27303686e-01 -2.38745964e-02 8.95893789e+01] [ 7.26846103e-01 6.86315694e-01 -2.57974838e-02 4.41149470e+01] [ 3.51481153e-02 3.41347015e-04 9.99382056e-01 2.19969075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:44.14, Z:2.20 [[ 6.88387334e-01 -7.24966242e-01 -2.33842917e-02 8.96048112e+01] [ 7.24525684e-01 6.88784247e-01 -2.52743613e-02 4.41386716e+01] [ 3.44297905e-02 4.56030271e-04 9.99407015e-01 2.20104075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:44.16, Z:2.20 [[ 6.89694265e-01 -7.23726095e-01 -2.32886145e-02 8.96230903e+01] [ 7.23288124e-01 6.90087144e-01 -2.51798109e-02 4.41607034e+01] [ 3.42944597e-02 5.21992888e-04 9.99411636e-01 2.20313975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:44.18, Z:2.20 [[ 6.91225125e-01 -7.22281036e-01 -2.27581144e-02 8.96399873e+01] [ 7.21861684e-01 6.91599422e-01 -2.46160339e-02 4.41838052e+01] [ 3.35191933e-02 5.87010333e-04 9.99437902e-01 2.20420113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:44.21, Z:2.21 [[ 6.94540322e-01 -7.19123570e-01 -2.17952214e-02 8.96550364e+01] [ 7.18737156e-01 6.94881847e-01 -2.35821697e-02 4.42096393e+01] [ 3.21035978e-02 7.13732335e-04 9.99484292e-01 2.20639783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:44.23, Z:2.21 [[ 6.96134028e-01 -7.17598032e-01 -2.12245189e-02 8.96715084e+01] [ 7.17230581e-01 6.96457085e-01 -2.29743823e-02 4.42329536e+01] [ 3.12683381e-02 7.70375241e-04 9.99510729e-01 2.20748596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:44.26, Z:2.21 [[ 6.96873219e-01 -7.16889983e-01 -2.08918365e-02 8.96904752e+01] [ 7.16533391e-01 6.97185857e-01 -2.26225793e-02 4.42552940e+01] [ 3.07833935e-02 7.95371208e-04 9.99525763e-01 2.20971843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:44.28, Z:2.21 [[ 6.94155434e-01 -7.19484947e-01 -2.21278869e-02 8.97095026e+01] [ 7.19085813e-01 6.94507652e-01 -2.39731950e-02 4.42772330e+01] [ 3.26163397e-02 7.29274025e-04 9.99467680e-01 2.20644923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:44.30, Z:2.21 [[ 6.91605581e-01 -7.21989070e-01 -2.03347811e-02 8.97272477e+01] [ 7.21652785e-01 6.91904227e-01 -2.20408692e-02 4.42984708e+01] [ 2.99829877e-02 5.68936711e-04 9.99550247e-01 2.21047152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:44.32, Z:2.21 [[ 6.90085036e-01 -7.23450353e-01 -2.00556679e-02 8.97467809e+01] [ 7.23123528e-01 6.90376224e-01 -2.17493052e-02 4.43201975e+01] [ 2.95804988e-02 5.06144743e-04 9.99562273e-01 2.21255683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:44.34, Z:2.21 [[ 6.88742317e-01 -7.24719332e-01 -2.03938767e-02 8.97656529e+01] [ 7.24381614e-01 6.89044028e-01 -2.21270145e-02 4.43417516e+01] [ 3.00881541e-02 4.66861903e-04 9.99547140e-01 2.21319135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:44.36, Z:2.21 [[ 6.87677933e-01 -7.25716335e-01 -2.08533243e-02 8.97834219e+01] [ 7.25363303e-01 6.87993900e-01 -2.26378538e-02 4.43635953e+01] [ 3.07756202e-02 4.41316368e-04 9.99526221e-01 2.21240972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:44.39, Z:2.21 [[ 6.85929832e-01 -7.27340856e-01 -2.18069794e-02 8.98009019e+01] [ 7.26955179e-01 6.86276273e-01 -2.36863668e-02 4.43853346e+01] [ 3.21936749e-02 3.94488983e-04 9.99481571e-01 2.21150357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.82, Y:44.41, Z:2.21 [[ 6.85751021e-01 -7.27500930e-01 -2.20892360e-02 8.98188536e+01] [ 7.27104857e-01 6.86106578e-01 -2.40060305e-02 4.44063759e+01] [ 3.26199796e-02 4.00969186e-04 9.99467746e-01 2.21206570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:44.43, Z:2.21 [[ 6.85554152e-01 -7.27686649e-01 -2.20827141e-02 8.98374872e+01] [ 7.27290480e-01 6.85909601e-01 -2.40120290e-02 4.44267662e+01] [ 3.26199785e-02 4.00998436e-04 9.99467746e-01 2.21266519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:44.45, Z:2.21 [[ 6.85940057e-01 -7.27323568e-01 -2.20605247e-02 8.98553890e+01] [ 7.26927584e-01 6.86294577e-01 -2.40008603e-02 4.44489454e+01] [ 3.25964098e-02 4.26747540e-04 9.99468505e-01 2.21267674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:44.47, Z:2.21 [[ 6.86645568e-01 -7.26658645e-01 -2.20244754e-02 8.98731244e+01] [ 7.26263200e-01 6.86998541e-01 -2.39743409e-02 4.44713525e+01] [ 3.25519445e-02 4.66308919e-04 9.99469936e-01 2.21352398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:44.50, Z:2.21 [[ 6.88287064e-01 -7.25081642e-01 -2.27492880e-02 8.98899361e+01] [ 7.24658437e-01 6.88662683e-01 -2.47761807e-02 4.44953310e+01] [ 3.36313395e-02 5.67661232e-04 9.99434145e-01 2.21414205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:44.52, Z:2.21 [[ 6.89001969e-01 -7.24388045e-01 -2.32001356e-02 8.99077477e+01] [ 7.23947079e-01 6.89392177e-01 -2.52794974e-02 4.45186162e+01] [ 3.43061577e-02 6.21953130e-04 9.99411177e-01 2.21372666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:44.54, Z:2.22 [[ 6.91166312e-01 -7.22361939e-01 -2.19626384e-02 8.99243667e+01] [ 7.21965388e-01 6.91514823e-01 -2.39421777e-02 4.45423896e+01] [ 3.24824079e-02 6.91761946e-04 9.99472068e-01 2.21665235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:44.56, Z:2.22 [[ 6.92256192e-01 -7.21344746e-01 -2.10504376e-02 8.99414358e+01] [ 7.20979698e-01 6.92575805e-01 -2.29571164e-02 4.45644312e+01] [ 3.11390190e-02 7.15267806e-04 9.99514807e-01 2.21912212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:44.59, Z:2.22 [[ 6.93112419e-01 -7.20521199e-01 -2.10802394e-02 8.99605397e+01] [ 7.20154492e-01 6.93432496e-01 -2.29974224e-02 4.45866655e+01] [ 3.11878534e-02 7.58769968e-04 9.99513253e-01 2.22109852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:44.61, Z:2.22 [[ 6.93724028e-01 -7.19929444e-01 -2.11794369e-02 8.99799291e+01] [ 7.19558653e-01 6.94046800e-01 -2.31167371e-02 4.46081004e+01] [ 3.13419401e-02 7.96788889e-04 9.99508403e-01 2.22193749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:44.63, Z:2.22 [[ 6.94783272e-01 -7.18928902e-01 -2.04313298e-02 8.99957844e+01] [ 7.18583136e-01 6.95083135e-01 -2.23094713e-02 4.46309621e+01] [ 3.02403964e-02 8.18638418e-04 9.99542319e-01 2.22190382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:44.65, Z:2.22 [[ 6.95235405e-01 -7.18499340e-01 -2.01601149e-02 9.00144021e+01] [ 7.18162299e-01 6.95527143e-01 -2.20205627e-02 4.46530049e+01] [ 2.98436669e-02 8.31240402e-04 9.99554233e-01 2.22236211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:44.68, Z:2.22 [[ 6.96144678e-01 -7.17635752e-01 -1.95323884e-02 9.00307461e+01] [ 7.17318779e-01 6.96418128e-01 -2.13438604e-02 4.46752485e+01] [ 2.89198267e-02 8.47465898e-04 9.99581375e-01 2.22322871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:44.70, Z:2.23 [[ 6.97939167e-01 -7.15903450e-01 -1.90570218e-02 9.00494990e+01] [ 7.15600892e-01 6.98198709e-01 -2.08308977e-02 4.46964634e+01] [ 2.82184996e-02 9.01477606e-04 9.99601372e-01 2.22575104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:44.72, Z:2.23 [[ 6.99107519e-01 -7.14752046e-01 -1.94470749e-02 9.00692790e+01] [ 7.14436250e-01 6.99377268e-01 -2.12669125e-02 4.47170514e+01] [ 2.88014113e-02 9.74163145e-04 9.99584679e-01 2.22686517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:44.74, Z:2.23 [[ 7.00443061e-01 -7.13430659e-01 -1.99051118e-02 9.00873933e+01] [ 7.13098992e-01 7.00725033e-01 -2.17774087e-02 4.47397765e+01] [ 2.94846812e-02 1.05951960e-03 9.99564671e-01 2.22652234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:44.76, Z:2.22 [[ 7.03692078e-01 -7.10188406e-01 -2.12105654e-02 9.01013011e+01] [ 7.09810005e-01 7.04010502e-01 -2.32157418e-02 4.47641610e+01] [ 3.14200115e-02 1.28126209e-03 9.99505448e-01 2.22327656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:44.79, Z:2.22 [[ 7.05310245e-01 -7.08567017e-01 -2.16850233e-02 9.01171028e+01] [ 7.08170487e-01 7.05642156e-01 -2.37425623e-02 4.47872795e+01] [ 3.21250632e-02 1.38917896e-03 9.99482892e-01 2.22232518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:44.81, Z:2.22 [[ 7.06560636e-01 -7.07317736e-01 -2.17643933e-02 9.01373401e+01] [ 7.06917311e-01 7.06894256e-01 -2.38416774e-02 4.48071612e+01] [ 3.22487659e-02 1.45996431e-03 9.99478807e-01 2.22346794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:44.83, Z:2.22 [[ 7.08867233e-01 -7.05002859e-01 -2.18681199e-02 9.01542931e+01] [ 7.04597200e-01 7.09202703e-01 -2.39648110e-02 4.48291775e+01] [ 3.24041900e-02 1.57965323e-03 9.99473598e-01 2.22466830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:44.85, Z:2.22 [[ 7.09326995e-01 -7.04537117e-01 -2.19696360e-02 9.01715515e+01] [ 7.04127266e-01 7.09665309e-01 -2.40819795e-02 4.48512134e+01] [ 3.25577370e-02 1.61257845e-03 9.99468555e-01 2.22425597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:44.87, Z:2.22 [[ 7.09571461e-01 -7.04281903e-01 -2.22563132e-02 9.01918107e+01] [ 7.03860857e-01 7.09918497e-01 -2.44053714e-02 4.48716821e+01] [ 3.29884298e-02 1.65200731e-03 9.99454368e-01 2.22478647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:44.89, Z:2.23 [[ 7.09231180e-01 -7.04639411e-01 -2.17814831e-02 9.02109323e+01] [ 7.04235925e-01 7.09563747e-01 -2.38966778e-02 4.48917679e+01] [ 3.22938918e-02 1.60896614e-03 9.99477121e-01 2.22540060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:44.91, Z:2.23 [[ 7.08502310e-01 -7.05387567e-01 -2.12804300e-02 9.02315037e+01] [ 7.05002391e-01 7.08820137e-01 -2.33589958e-02 4.49121652e+01] [ 3.15611425e-02 1.54714850e-03 9.99500626e-01 2.22744032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:44.93, Z:2.23 [[ 7.07861945e-01 -7.06042173e-01 -2.08785963e-02 9.02538550e+01] [ 7.05671351e-01 7.08168206e-01 -2.29289429e-02 4.49306112e+01] [ 3.09743588e-02 1.49709885e-03 9.99519058e-01 2.22854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:44.95, Z:2.23 [[ 7.06711394e-01 -7.07204234e-01 -2.05226087e-02 9.02764982e+01] [ 7.06846145e-01 7.07007872e-01 -2.25476454e-02 4.49498038e+01] [ 3.04554362e-02 1.42835102e-03 9.99535105e-01 2.22980313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:44.97, Z:2.23 [[ 7.04316799e-01 -7.09580067e-01 -2.08320821e-02 9.02988681e+01] [ 7.09211872e-01 7.04623518e-01 -2.28958275e-02 4.49677270e+01] [ 3.09251978e-02 1.35155601e-03 9.99520788e-01 2.23025419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:44.99, Z:2.23 [[ 7.03115600e-01 -7.10771268e-01 -2.08004520e-02 9.03202769e+01] [ 7.10404342e-01 7.03421993e-01 -2.28729307e-02 4.49880665e+01] [ 3.08889173e-02 1.30558295e-03 9.99521971e-01 2.23017706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:45.01, Z:2.23 [[ 7.01893490e-01 -7.11980801e-01 -2.07091190e-02 9.03388111e+01] [ 7.11617351e-01 7.02197813e-01 -2.27810686e-02 4.50085962e+01] [ 3.07615816e-02 1.25291533e-03 9.99525965e-01 2.22977651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:45.03, Z:2.23 [[ 6.99672438e-01 -7.14146728e-01 -2.12821689e-02 9.03631135e+01] [ 7.13763660e-01 6.99995017e-01 -2.34182384e-02 4.50250379e+01] [ 3.16214705e-02 1.19465718e-03 9.99499202e-01 2.22933955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:45.05, Z:2.23 [[ 6.98702888e-01 -7.15088655e-01 -2.15055728e-02 9.03846025e+01] [ 7.14697549e-01 6.99032789e-01 -2.36764276e-02 4.50451104e+01] [ 3.19638453e-02 1.17280821e-03 9.99488338e-01 2.23009397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:45.07, Z:2.23 [[ 6.97598285e-01 -7.16166289e-01 -2.15053150e-02 9.04061655e+01] [ 7.15775385e-01 6.97928770e-01 -2.36860585e-02 4.50652379e+01] [ 3.19723346e-02 1.13037865e-03 9.99488115e-01 2.23065294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:45.08, Z:2.23 [[ 6.96300085e-01 -7.17421075e-01 -2.17529894e-02 9.04289970e+01] [ 7.17021456e-01 6.96638938e-01 -2.39670691e-02 4.50836414e+01] [ 3.23484599e-02 1.09091207e-03 9.99476056e-01 2.23059104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:45.10, Z:2.23 [[ 6.95754646e-01 -7.17950580e-01 -2.17356189e-02 9.04502821e+01] [ 7.17551464e-01 6.96093249e-01 -2.39600583e-02 4.51024640e+01] [ 3.23321553e-02 1.07389671e-03 9.99476602e-01 2.23164192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:45.12, Z:2.23 [[ 6.95300096e-01 -7.18401869e-01 -2.13665854e-02 9.04699887e+01] [ 7.18016022e-01 6.95627534e-01 -2.35653640e-02 4.51218427e+01] [ 3.17925866e-02 1.04344914e-03 9.99493943e-01 2.23240657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:45.14, Z:2.23 [[ 6.93796152e-01 -7.19864350e-01 -2.10289703e-02 9.04923396e+01] [ 7.19490941e-01 6.94114097e-01 -2.32035743e-02 4.51400438e+01] [ 3.12999306e-02 9.68396967e-04 9.99509568e-01 2.23346660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:45.16, Z:2.23 [[ 6.92811618e-01 -7.20817328e-01 -2.08432646e-02 9.05139237e+01] [ 7.20450570e-01 6.93124465e-01 -2.30098139e-02 4.51593519e+01] [ 3.10328492e-02 9.24924565e-04 9.99517937e-01 2.23460410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:45.18, Z:2.24 [[ 6.92013093e-01 -7.21585631e-01 -2.07859534e-02 9.05342246e+01] [ 7.21220876e-01 6.92324616e-01 -2.29581053e-02 4.51793844e+01] [ 3.09568661e-02 8.96045989e-04 9.99520320e-01 2.23594220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:45.20, Z:2.24 [[ 6.87484053e-01 -7.25901788e-01 -2.07911393e-02 9.05572377e+01] [ 7.25538420e-01 6.87798000e-01 -2.29763366e-02 4.51960435e+01] [ 3.09786678e-02 7.11094675e-04 9.99519793e-01 2.23615116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:45.22, Z:2.24 [[ 6.85000436e-01 -7.28240424e-01 -2.09830327e-02 9.05792583e+01] [ 7.27871019e-01 6.85321458e-01 -2.32008312e-02 4.52152767e+01] [ 3.12759057e-02 6.19638033e-04 9.99510597e-01 2.23672073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:45.24, Z:2.24 [[ 6.83295817e-01 -7.29843139e-01 -2.08762747e-02 9.06004430e+01] [ 7.29477887e-01 6.83614430e-01 -2.30938020e-02 4.52351505e+01] [ 3.11261756e-02 5.51117605e-04 9.99515311e-01 2.23780215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:45.26, Z:2.24 [[ 6.81506254e-01 -7.31515458e-01 -2.08413065e-02 9.06211458e+01] [ 7.31151865e-01 6.81824686e-01 -2.30661582e-02 4.52557596e+01] [ 3.10833686e-02 4.81571001e-04 9.99516679e-01 2.23718643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:45.28, Z:2.24 [[ 6.81679473e-01 -7.31362590e-01 -2.05391903e-02 9.06399853e+01] [ 7.31009051e-01 6.81988653e-01 -2.27429980e-02 4.52767270e+01] [ 3.06408726e-02 4.89100935e-04 9.99530339e-01 2.23825852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:45.30, Z:2.24 [[ 6.82004931e-01 -7.31063460e-01 -2.03836271e-02 9.06574885e+01] [ 7.30714758e-01 6.82309285e-01 -2.25827665e-02 4.52978467e+01] [ 3.04173734e-02 5.06940946e-04 9.99537156e-01 2.23900745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:45.32, Z:2.24 [[ 6.82752441e-01 -7.30365579e-01 -2.03770921e-02 9.06759885e+01] [ 7.30016452e-01 6.83056238e-01 -2.25866273e-02 4.53202976e+01] [ 3.04151950e-02 5.45462449e-04 9.99537202e-01 2.23984697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.826875 meters Centerline goodness [0,1] 0.999950175630901 Centerline is valid? [True, True] Translation: X:90.69, Y:45.34, Z:2.24 [[ 6.85233861e-01 -7.28055924e-01 -1.97263343e-02 9.06921320e+01] [ 7.27727499e-01 6.85517447e-01 -2.18750399e-02 4.53440536e+01] [ 2.94489987e-02 6.34122111e-04 9.99566083e-01 2.24064767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters Centerline goodness [0,1] 0.9999501408520929 Centerline is valid? [True, True] Translation: X:90.71, Y:45.37, Z:2.24 [[ 6.85708362e-01 -7.27609771e-01 -1.96993231e-02 9.07111479e+01] [ 7.27281792e-01 6.85990952e-01 -2.18542564e-02 4.53653635e+01] [ 2.94149279e-02 6.58687309e-04 9.99567070e-01 2.24149399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:45.39, Z:2.24 [[ 6.85998967e-01 -7.27320026e-01 -2.02730545e-02 9.07286498e+01] [ 7.26972237e-01 6.86298108e-01 -2.25005120e-02 4.53871899e+01] [ 3.02784319e-02 6.97380237e-04 9.99541260e-01 2.24134446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters Centerline goodness [0,1] 0.9998512716275841 Centerline is valid? [True, True] Translation: X:90.75, Y:45.41, Z:2.24 [[ 6.86857699e-01 -7.26498442e-01 -2.06522350e-02 9.07470979e+01] [ 7.26136919e-01 6.87167700e-01 -2.29287309e-02 4.54097250e+01] [ 3.08492361e-02 7.52425051e-04 9.99523766e-01 2.24119363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:45.43, Z:2.24 [[ 6.88100553e-01 -7.25315743e-01 -2.08495061e-02 9.07651814e+01] [ 7.24946384e-01 6.88415862e-01 -2.31590348e-02 4.54326529e+01] [ 3.11507433e-02 8.20970639e-04 9.99514361e-01 2.24078791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:45.45, Z:2.24 [[ 6.88416393e-01 -7.25020697e-01 -2.06847462e-02 9.07841919e+01] [ 7.24656664e-01 6.88726572e-01 -2.29875714e-02 4.54542919e+01] [ 3.09125994e-02 8.35681842e-04 9.99521742e-01 2.24154469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:45.48, Z:2.24 [[ 6.88855507e-01 -7.24600279e-01 -2.07972683e-02 9.08031882e+01] [ 7.24231702e-01 6.89168835e-01 -2.31248530e-02 4.54763060e+01] [ 3.10891041e-02 8.67641319e-04 9.99516240e-01 2.24244462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:45.50, Z:2.24 [[ 6.89289866e-01 -7.24175499e-01 -2.11973560e-02 9.08198595e+01] [ 7.23792080e-01 6.89615122e-01 -2.35798161e-02 4.54984156e+01] [ 3.16939423e-02 9.10849936e-04 9.99497206e-01 2.24221263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:45.52, Z:2.24 [[ 6.89571657e-01 -7.23901998e-01 -2.13735248e-02 9.08396362e+01] [ 7.23511787e-01 6.89902182e-01 -2.37838889e-02 4.55190357e+01] [ 3.19628461e-02 9.36698575e-04 9.99488619e-01 2.24226038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.86, Y:45.54, Z:2.24 [[ 6.89509785e-01 -7.23964462e-01 -2.12535863e-02 9.08583135e+01] [ 7.23578259e-01 6.89836633e-01 -2.36626918e-02 4.55403629e+01] [ 3.17924504e-02 9.37024549e-04 9.99494053e-01 2.24352454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:45.56, Z:2.24 [[ 6.86579549e-01 -7.26758441e-01 -2.07531170e-02 9.08785416e+01] [ 7.26391156e-01 6.86892666e-01 -2.31160829e-02 4.55589716e+01] [ 3.10549723e-02 7.96149166e-04 9.99517361e-01 2.24430285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:45.57, Z:2.25 [[ 6.77354886e-01 -7.35406290e-01 -1.91819672e-02 9.09022834e+01] [ 7.35095776e-01 6.77626334e-01 -2.13717670e-02 4.55748060e+01] [ 2.87151380e-02 3.75687699e-04 9.99587565e-01 2.24923637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:45.59, Z:2.25 [[ 6.74027277e-01 -7.38477578e-01 -1.83874343e-02 9.09234832e+01] [ 7.38193138e-01 6.74277991e-01 -2.04959058e-02 4.55947574e+01] [ 2.75340091e-02 2.41321766e-04 9.99620838e-01 2.25173886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:45.61, Z:2.25 [[ 6.71448674e-01 -7.40817737e-01 -1.85945687e-02 9.09431672e+01] [ 7.40527458e-01 6.71706079e-01 -2.07371166e-02 4.56149106e+01] [ 2.78525086e-02 1.54120726e-04 9.99612032e-01 2.25201749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:45.64, Z:2.25 [[ 6.69273358e-01 -7.42773052e-01 -1.90096239e-02 9.09614498e+01] [ 7.42470121e-01 6.69543267e-01 -2.12116363e-02 4.56358426e+01] [ 2.84831975e-02 8.23053365e-05 9.99594268e-01 2.25115123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:45.66, Z:2.25 [[ 6.66883860e-01 -7.44894305e-01 -1.99597727e-02 9.09778610e+01] [ 7.44560929e-01 6.67182490e-01 -2.22833663e-02 4.56574092e+01] [ 2.99155635e-02 -8.49557532e-07 9.99552429e-01 2.24850296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:45.68, Z:2.25 [[ 6.66566677e-01 -7.45177525e-01 -1.99830280e-02 9.09956334e+01] [ 7.44843221e-01 6.66866146e-01 -2.23186050e-02 4.56787807e+01] [ 2.99573277e-02 -7.38453026e-06 9.99551179e-01 2.24980760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:45.70, Z:2.25 [[ 6.67164541e-01 -7.44656274e-01 -1.94552764e-02 9.10126066e+01] [ 7.44338840e-01 6.67448150e-01 -2.17407102e-02 4.57009989e+01] [ 2.91747445e-02 2.33130847e-05 9.99574326e-01 2.25311687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:45.72, Z:2.26 [[ 6.67277954e-01 -7.44565529e-01 -1.90343021e-02 9.10305478e+01] [ 7.44261326e-01 6.67549378e-01 -2.12816158e-02 4.57232643e+01] [ 2.85518941e-02 3.42581522e-05 9.99592311e-01 2.25519373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.05, Y:45.74, Z:2.26 [[ 6.67077361e-01 -7.44745399e-01 -1.90285477e-02 9.10488879e+01] [ 7.44441122e-01 6.67348702e-01 -2.12867601e-02 4.57439198e+01] [ 2.85518933e-02 3.42823148e-05 9.99592311e-01 2.25579315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:45.77, Z:2.26 [[ 6.67331364e-01 -7.44513428e-01 -1.91991270e-02 9.10664780e+01] [ 7.44203236e-01 6.67607485e-01 -2.14893132e-02 4.57664149e+01] [ 2.88165631e-02 5.24403024e-05 9.99584715e-01 2.25685740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:45.79, Z:2.26 [[ 6.68032948e-01 -7.43879937e-01 -1.93550905e-02 9.10829584e+01] [ 7.43564074e-01 6.68313274e-01 -2.16757101e-02 4.57888470e+01] [ 2.90593897e-02 8.83385968e-05 9.99577683e-01 2.25635147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:45.81, Z:2.26 [[ 6.69973533e-01 -7.42121108e-01 -1.97920639e-02 9.10988077e+01] [ 7.41789686e-01 6.70265790e-01 -2.21772746e-02 4.58132820e+01] [ 2.97241669e-02 1.76638152e-04 9.99558124e-01 2.25537931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:45.83, Z:2.26 [[ 6.70931554e-01 -7.41254474e-01 -1.98155120e-02 9.11148988e+01] [ 7.40921543e-01 6.71224072e-01 -2.22151489e-02 4.58349745e+01] [ 2.97677272e-02 2.23104638e-04 9.99556818e-01 2.25574898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:45.86, Z:2.26 [[ 6.71942293e-01 -7.40346340e-01 -1.95153897e-02 9.11324586e+01] [ 7.40022716e-01 6.72225576e-01 -2.18896131e-02 4.58575491e+01] [ 2.93246390e-02 2.66725159e-04 9.99569905e-01 2.25710877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:45.88, Z:2.26 [[ 6.72898887e-01 -7.39481926e-01 -1.93279375e-02 9.11496564e+01] [ 7.39163801e-01 6.73176341e-01 -2.16907719e-02 4.58798312e+01] [ 2.90510441e-02 3.09184533e-04 9.99577882e-01 2.25824847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:45.90, Z:2.26 [[ 6.74777232e-01 -7.37771549e-01 -1.92049180e-02 9.11662233e+01] [ 7.37456448e-01 6.75050362e-01 -2.15637915e-02 4.59036498e+01] [ 2.88734387e-02 3.87964932e-04 9.99583000e-01 2.25960048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:45.93, Z:2.26 [[ 6.76021435e-01 -7.36623378e-01 -1.95196686e-02 9.11827455e+01] [ 7.36297102e-01 6.76303035e-01 -2.19267411e-02 4.59262569e+01] [ 2.93529613e-02 4.50671573e-04 9.99569007e-01 2.25955295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:45.95, Z:2.26 [[ 6.77008556e-01 -7.35720015e-01 -1.93771797e-02 9.12006896e+01] [ 7.35397912e-01 6.77285625e-01 -2.17736641e-02 4.59494881e+01] [ 2.91432058e-02 4.91019431e-04 9.99575126e-01 2.25979158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:45.97, Z:2.26 [[ 6.79561767e-01 -7.33361622e-01 -1.94045544e-02 9.12156012e+01] [ 7.33037363e-01 6.79838489e-01 -2.18140565e-02 4.59730472e+01] [ 2.91895548e-02 5.99735338e-04 9.99573714e-01 2.25885080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:46.00, Z:2.26 [[ 6.80879850e-01 -7.32123856e-01 -1.99321063e-02 9.12326842e+01] [ 7.31780975e-01 6.81171199e-01 -2.24143173e-02 4.59954313e+01] [ 2.99872332e-02 6.75520782e-04 9.99550054e-01 2.25880515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:46.02, Z:2.26 [[ 6.81503202e-01 -7.31532635e-01 -2.03319595e-02 9.12515037e+01] [ 7.31175355e-01 6.81806045e-01 -2.28717400e-02 4.60169247e+01] [ 3.05938771e-02 7.20936335e-04 9.99531638e-01 2.25869675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:46.04, Z:2.26 [[ 6.82356561e-01 -7.30731811e-01 -2.05071562e-02 9.12694159e+01] [ 7.30367635e-01 6.82664211e-01 -2.30801213e-02 4.60396705e+01] [ 3.08648804e-02 7.71108996e-04 9.99523269e-01 2.25854317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:46.06, Z:2.26 [[ 6.83576835e-01 -7.29581440e-01 -2.08238383e-02 9.12865846e+01] [ 7.29205062e-01 6.83893421e-01 -2.34470905e-02 4.60622396e+01] [ 3.13478481e-02 8.43039574e-04 9.99508180e-01 2.25868764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:46.08, Z:2.26 [[ 6.84023146e-01 -7.29168613e-01 -2.06268957e-02 9.13062105e+01] [ 7.28798855e-01 6.84333540e-01 -2.32343412e-02 4.60828309e+01] [ 3.10574289e-02 8.59969171e-04 9.99517232e-01 2.26045452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:46.10, Z:2.26 [[ 6.84093306e-01 -7.29114530e-01 -2.02076868e-02 9.13237944e+01] [ 7.28759295e-01 6.84391171e-01 -2.27731224e-02 4.61028031e+01] [ 3.04341769e-02 8.52401086e-04 9.99536410e-01 2.26175597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:46.12, Z:2.26 [[ 6.84191447e-01 -7.29032321e-01 -1.98478890e-02 9.13428622e+01] [ 7.28689249e-01 6.84478746e-01 -2.23790895e-02 4.61232786e+01] [ 2.99005377e-02 8.48638277e-04 9.99552519e-01 2.26298471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:46.14, Z:2.26 [[ 6.84265919e-01 -7.28972983e-01 -1.94561743e-02 9.13601437e+01] [ 7.28642955e-01 6.84541949e-01 -2.19491260e-02 4.61438807e+01] [ 2.93188873e-02 8.42434539e-04 9.99569754e-01 2.26282845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:46.16, Z:2.26 [[ 6.84227510e-01 -7.29009918e-01 -1.94230181e-02 9.13805784e+01] [ 7.28680697e-01 6.84502609e-01 -2.19230316e-02 4.61638732e+01] [ 2.92772140e-02 8.47162955e-04 9.99570971e-01 2.26336885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:46.18, Z:2.26 [[ 6.84067465e-01 -7.29160242e-01 -1.94176582e-02 9.14008521e+01] [ 7.28830901e-01 6.84342474e-01 -2.19293568e-02 4.61831544e+01] [ 2.92783433e-02 8.48970140e-04 9.99570937e-01 2.26424211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02687499999999 meters Centerline goodness [0,1] 0.9999760536398468 Centerline is valid? [True, True] Translation: X:91.42, Y:46.20, Z:2.26 [[ 6.84109913e-01 -7.29109589e-01 -1.98200530e-02 9.14191558e+01] [ 7.28766051e-01 6.84396404e-01 -2.23965583e-02 4.62028925e+01] [ 2.98943184e-02 8.77525796e-04 9.99552680e-01 2.26425449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:46.22, Z:2.26 [[ 6.84195622e-01 -7.29026510e-01 -1.99172874e-02 9.14367587e+01] [ 7.28679234e-01 6.84484880e-01 -2.25171764e-02 4.62237694e+01] [ 3.00487006e-02 8.92839829e-04 9.99548037e-01 2.26412698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:46.24, Z:2.27 [[ 6.84136550e-01 -7.29082159e-01 -1.99094746e-02 9.14567330e+01] [ 7.28734895e-01 6.84425600e-01 -2.25177814e-02 4.62432137e+01] [ 3.00438667e-02 8.96508390e-04 9.99548179e-01 2.26509075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:46.26, Z:2.26 [[ 6.83648017e-01 -7.29555356e-01 -1.93486686e-02 9.14746980e+01] [ 7.29227241e-01 6.83921227e-01 -2.18948899e-02 4.62632145e+01] [ 2.92064994e-02 8.58821877e-04 9.99573030e-01 2.26492737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:46.28, Z:2.27 [[ 6.82742093e-01 -7.30416111e-01 -1.88557211e-02 9.14972404e+01] [ 7.30104561e-01 6.83001941e-01 -2.13466192e-02 4.62812914e+01] [ 2.84704087e-02 8.07587525e-04 9.99594310e-01 2.26713969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:46.30, Z:2.27 [[ 6.81807875e-01 -7.31291142e-01 -1.87426494e-02 9.15146067e+01] [ 7.30983355e-01 6.82065003e-01 -2.12289234e-02 4.63018277e+01] [ 2.83082288e-02 7.73482383e-04 9.99598943e-01 2.26735871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:46.32, Z:2.27 [[ 6.80686071e-01 -7.32335342e-01 -1.87461707e-02 9.15358968e+01] [ 7.32027570e-01 6.80943760e-01 -2.12422333e-02 4.63213863e+01] [ 2.83215262e-02 7.36578557e-04 9.99598594e-01 2.26845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:46.34, Z:2.27 [[ 6.79412002e-01 -7.33515762e-01 -1.88137812e-02 9.15563678e+01] [ 7.33205917e-01 6.79672084e-01 -2.13293671e-02 4.63416595e+01] [ 2.84326289e-02 6.97052306e-04 9.99595468e-01 2.26922677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:46.36, Z:2.27 [[ 6.77458113e-01 -7.35323765e-01 -1.86940264e-02 9.15762883e+01] [ 7.35018273e-01 6.77715702e-01 -2.12029777e-02 4.63609429e+01] [ 2.82602886e-02 6.23678306e-04 9.99600404e-01 2.26835451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:46.38, Z:2.27 [[ 6.76071725e-01 -7.36599200e-01 -1.86719660e-02 9.15981492e+01] [ 7.36294715e-01 6.76329276e-01 -2.11849830e-02 4.63806654e+01] [ 2.82332388e-02 5.74498073e-04 9.99601198e-01 2.26903139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:46.40, Z:2.27 [[ 6.74889077e-01 -7.37682591e-01 -1.86849851e-02 9.16184203e+01] [ 7.37377797e-01 6.75147471e-01 -2.12103060e-02 4.64004501e+01] [ 2.82615939e-02 5.36710739e-04 9.99600417e-01 2.26959200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:46.42, Z:2.27 [[ 6.72584171e-01 -7.39795022e-01 -1.82717788e-02 9.16412475e+01] [ 7.39504043e-01 6.72832168e-01 -2.07519741e-02 4.64187155e+01] [ 2.76460477e-02 4.45394959e-04 9.99617676e-01 2.27045003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:46.44, Z:2.27 [[ 6.71669457e-01 -7.40633952e-01 -1.79301246e-02 9.16602394e+01] [ 7.40353791e-01 6.71908611e-01 -2.03735582e-02 4.64381826e+01] [ 2.71367540e-02 4.09661084e-04 9.99631647e-01 2.27172262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:46.46, Z:2.27 [[ 6.70430983e-01 -7.41770477e-01 -1.72874590e-02 9.16807722e+01] [ 7.41510192e-01 6.70653735e-01 -1.96520397e-02 4.64582564e+01] [ 2.61712019e-02 3.56509247e-04 9.99657412e-01 2.27310827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:46.48, Z:2.27 [[ 6.69266613e-01 -7.42839540e-01 -1.64808302e-02 9.17021924e+01] [ 7.42603067e-01 6.69469434e-01 -1.87446301e-02 4.64772240e+01] [ 2.49576645e-02 3.06440038e-04 9.99688462e-01 2.27468234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.72, Y:46.50, Z:2.28 [[ 6.68693286e-01 -7.43364077e-01 -1.60977507e-02 9.17218155e+01] [ 7.43138389e-01 6.68886961e-01 -1.83185514e-02 4.64980910e+01] [ 2.43849286e-02 2.86635823e-04 9.99702602e-01 2.27536882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:46.52, Z:2.28 [[ 6.68771621e-01 -7.43291137e-01 -1.62112329e-02 9.17410839e+01] [ 7.43061994e-01 6.68968008e-01 -1.84574193e-02 4.65188854e+01] [ 2.45640323e-02 2.97847182e-04 9.99698214e-01 2.27518060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.76, Y:46.54, Z:2.27 [[ 6.69072270e-01 -7.43007886e-01 -1.67802977e-02 9.17598226e+01] [ 7.42762004e-01 6.69282582e-01 -1.91162471e-02 4.65405865e+01] [ 2.54342833e-02 3.26383323e-04 9.99676443e-01 2.27444723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:46.56, Z:2.28 [[ 6.66479319e-01 -7.45328637e-01 -1.70452399e-02 9.17818347e+01] [ 7.45075413e-01 6.66697204e-01 -1.94285258e-02 4.65600807e+01] [ 2.58446504e-02 2.48721533e-04 9.99665940e-01 2.27507492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:46.58, Z:2.28 [[ 6.63305198e-01 -7.48157607e-01 -1.69236571e-02 9.18034564e+01] [ 7.47908661e-01 6.63521043e-01 -1.92992402e-02 4.65791900e+01] [ 2.56680760e-02 1.43936593e-04 9.99670510e-01 2.27717109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:46.60, Z:2.28 [[ 6.60911002e-01 -7.50275545e-01 -1.68301536e-02 9.18230727e+01] [ 7.50029793e-01 6.61125255e-01 -1.92017553e-02 4.65986672e+01] [ 2.55334470e-02 6.75346819e-05 9.99673966e-01 2.27753441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:46.62, Z:2.28 [[ 6.59389363e-01 -7.51607287e-01 -1.70925133e-02 9.18427084e+01] [ 7.51354015e-01 6.59610859e-01 -1.95104852e-02 4.66194661e+01] [ 2.59386302e-02 2.24779626e-05 9.99663537e-01 2.27841862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:46.64, Z:2.28 [[ 6.58476291e-01 -7.52392356e-01 -1.77402877e-02 9.18597734e+01] [ 7.52119505e-01 6.58715222e-01 -2.02609615e-02 4.66407251e+01] [ 2.69299901e-02 -1.45366587e-06 9.99637322e-01 2.27520690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.88, Y:46.66, Z:2.27 [[ 6.58495750e-01 -7.52371435e-01 -1.79044978e-02 9.18774225e+01] [ 7.52093269e-01 6.58739116e-01 -2.04570559e-02 4.66631375e+01] [ 2.71856975e-02 5.03211535e-06 9.99630401e-01 2.27454016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:46.69, Z:2.27 [[ 6.60132766e-01 -7.50920207e-01 -1.85357750e-02 9.18933539e+01] [ 7.50621176e-01 6.60392942e-01 -2.11899005e-02 4.66855683e+01] [ 2.81528194e-02 7.48023953e-05 9.99603628e-01 2.27445549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:46.71, Z:2.28 [[ 6.61199757e-01 -7.49980778e-01 -1.85394973e-02 9.19108699e+01] [ 7.49680957e-01 6.61459611e-01 -2.12048403e-02 4.67070483e+01] [ 2.81663513e-02 1.21927156e-04 9.99603242e-01 2.27687426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:46.73, Z:2.28 [[ 6.62043851e-01 -7.49241534e-01 -1.83047213e-02 9.19282667e+01] [ 7.48948656e-01 6.62296836e-01 -2.09478527e-02 4.67286837e+01] [ 2.78181603e-02 1.59100626e-04 9.99612987e-01 2.27873710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:46.75, Z:2.28 [[ 6.62956501e-01 -7.48434561e-01 -1.82862146e-02 9.19449600e+01] [ 7.48141645e-01 6.63208615e-01 -2.09382782e-02 4.67506894e+01] [ 2.77985061e-02 2.00488965e-04 9.99613527e-01 2.28025958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:46.77, Z:2.28 [[ 6.65102561e-01 -7.46537663e-01 -1.78913801e-02 9.19609971e+01] [ 7.46256321e-01 6.65343099e-01 -2.04954610e-02 4.67742124e+01] [ 2.72045398e-02 2.80028086e-04 9.99629849e-01 2.28224376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:46.80, Z:2.28 [[ 6.66049296e-01 -7.45695494e-01 -1.77923184e-02 9.19779962e+01] [ 7.45416791e-01 6.66286823e-01 -2.03881824e-02 4.67966418e+01] [ 2.70581631e-02 3.16841624e-04 9.99633811e-01 2.28296289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:46.82, Z:2.28 [[ 6.67178238e-01 -7.44689434e-01 -1.76307982e-02 9.19952610e+01] [ 7.44415139e-01 6.67411055e-01 -2.02134740e-02 4.68194770e+01] [ 2.68197501e-02 3.61356898e-04 9.99640220e-01 2.28314060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:46.84, Z:2.28 [[ 6.68461453e-01 -7.43537344e-01 -1.76494709e-02 9.20117031e+01] [ 7.43261825e-01 6.68694285e-01 -2.02438358e-02 4.68422546e+01] [ 2.68541482e-02 4.14045930e-04 9.99639277e-01 2.28318848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:46.87, Z:2.28 [[ 6.69332704e-01 -7.42742062e-01 -1.81096829e-02 9.20302362e+01] [ 7.42451513e-01 6.69577490e-01 -2.07782505e-02 4.68651019e+01] [ 2.75587166e-02 4.62001120e-04 9.99620080e-01 2.28365186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:46.89, Z:2.29 [[ 6.71604929e-01 -7.40684395e-01 -1.82605068e-02 9.20466925e+01] [ 7.40387936e-01 6.71852898e-01 -2.09615888e-02 4.68895732e+01] [ 2.77942961e-02 5.58047480e-04 9.99613508e-01 2.28551954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:46.91, Z:2.29 [[ 6.72611680e-01 -7.39763267e-01 -1.85428367e-02 9.20641960e+01] [ 7.39456920e-01 6.72866951e-01 -2.12962143e-02 4.69127948e+01] [ 2.82310191e-02 6.12453542e-04 9.99601238e-01 2.28555201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:46.94, Z:2.29 [[ 6.75144796e-01 -7.37448001e-01 -1.87069661e-02 9.20783776e+01] [ 7.37135041e-01 6.75403527e-01 -2.14943467e-02 4.69374405e+01] [ 2.84857139e-02 7.22236030e-04 9.99593939e-01 2.28551313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:46.96, Z:2.29 [[ 6.76133154e-01 -7.36538904e-01 -1.88255160e-02 9.20975059e+01] [ 7.36221401e-01 6.76394743e-01 -2.16379378e-02 4.69595016e+01] [ 2.86706631e-02 7.70379400e-04 9.99588615e-01 2.28679330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:46.98, Z:2.29 [[ 6.77039016e-01 -7.35713694e-01 -1.85345912e-02 9.21127626e+01] [ 7.35405349e-01 6.77292198e-01 -2.13131497e-02 4.69827962e+01] [ 2.82337101e-02 7.99396391e-04 9.99601030e-01 2.28748288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:47.00, Z:2.29 [[ 6.77715846e-01 -7.35093169e-01 -1.84191580e-02 9.21316611e+01] [ 7.34788225e-01 6.77965598e-01 -2.11875325e-02 4.70044279e+01] [ 2.80623659e-02 8.24946099e-04 9.99605834e-01 2.28902513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:47.03, Z:2.29 [[ 6.78377659e-01 -7.34489600e-01 -1.81322532e-02 9.21479604e+01] [ 7.34193612e-01 6.78619420e-01 -2.08667909e-02 4.70272677e+01] [ 2.76313400e-02 8.42980241e-04 9.99617826e-01 2.29001772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:47.05, Z:2.29 [[ 6.78121440e-01 -7.34730911e-01 -1.79388162e-02 9.21669423e+01] [ 7.34441104e-01 6.78358166e-01 -2.06509889e-02 4.70483376e+01] [ 2.73418624e-02 8.28874347e-04 9.99625798e-01 2.29175798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:47.07, Z:2.29 [[ 6.77159178e-01 -7.35616592e-01 -1.79910176e-02 9.21850522e+01] [ 7.35325130e-01 6.77397657e-01 -2.07211857e-02 4.70691570e+01] [ 2.74299212e-02 8.02293731e-04 9.99623407e-01 2.29233911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:47.09, Z:2.29 [[ 6.74427343e-01 -7.38124540e-01 -1.78864063e-02 9.22025435e+01] [ 7.37837218e-01 6.74664120e-01 -2.06049694e-02 4.70902407e+01] [ 2.72763501e-02 6.99298448e-04 9.99627687e-01 2.29215139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:47.11, Z:2.29 [[ 6.74234339e-01 -7.38300934e-01 -1.78825746e-02 9.22205561e+01] [ 7.38013586e-01 6.74471085e-01 -2.06082944e-02 4.71111822e+01] [ 2.72764025e-02 6.97236773e-04 9.99627687e-01 2.29275209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:47.13, Z:2.30 [[ 6.69497155e-01 -7.42598660e-01 -1.79106074e-02 9.22449354e+01] [ 7.42311635e-01 6.69736477e-01 -2.06515993e-02 4.71271900e+01] [ 2.73312370e-02 5.30934754e-04 9.99626291e-01 2.29511140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:47.15, Z:2.30 [[ 6.67604169e-01 -7.44294687e-01 -1.81684354e-02 9.22655552e+01] [ 7.43999648e-01 6.67851175e-01 -2.09602310e-02 4.71479950e+01] [ 2.77343995e-02 4.75828043e-04 9.99615214e-01 2.29500700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:47.17, Z:2.29 [[ 6.65988532e-01 -7.45734230e-01 -1.84318414e-02 9.22831198e+01] [ 7.45430834e-01 6.66243404e-01 -2.12743635e-02 4.71684558e+01] [ 2.81451139e-02 4.28819257e-04 9.99603756e-01 2.29468955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:47.19, Z:2.29 [[ 6.63955243e-01 -7.47528017e-01 -1.91128062e-02 9.23034982e+01] [ 7.47202230e-01 6.64230175e-01 -2.20703930e-02 4.71886897e+01] [ 2.91935397e-02 3.72621693e-04 9.99573708e-01 2.29386740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:47.21, Z:2.29 [[ 6.63262122e-01 -7.48145610e-01 -1.90132494e-02 9.23223886e+01] [ 7.47823118e-01 6.63534493e-01 -2.19672620e-02 4.72092444e+01] [ 2.90506574e-02 3.51505308e-04 9.99577879e-01 2.29441266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:47.23, Z:2.29 [[ 6.63282443e-01 -7.48116782e-01 -1.94340164e-02 9.23396551e+01] [ 7.47779470e-01 6.63566986e-01 -2.24659561e-02 4.72299538e+01] [ 2.97029304e-02 3.68915742e-04 9.99558703e-01 2.29465676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:47.25, Z:2.30 [[ 6.63769507e-01 -7.47690280e-01 -1.92168484e-02 9.23577909e+01] [ 7.47359950e-01 6.64047508e-01 -2.22264072e-02 4.72510423e+01] [ 2.93793689e-02 3.91308472e-04 9.99568257e-01 2.29610299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:47.28, Z:2.30 [[ 6.65781276e-01 -7.45904021e-01 -1.90390136e-02 9.23748966e+01] [ 7.45578706e-01 6.66053276e-01 -2.20323824e-02 4.72750358e+01] [ 2.91150401e-02 4.73664548e-04 9.99575955e-01 2.29757128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:47.30, Z:2.30 [[ 6.67193252e-01 -7.44639140e-01 -1.91236750e-02 9.23914039e+01] [ 7.44310123e-01 6.67467049e-01 -2.21399699e-02 4.72972789e+01] [ 2.92507111e-02 5.37693644e-04 9.99571962e-01 2.29797350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:47.32, Z:2.30 [[ 6.68712161e-01 -7.43271465e-01 -1.92762817e-02 9.24085565e+01] [ 7.42936413e-01 6.68989657e-01 -2.23232047e-02 4.73199445e+01] [ 2.94878342e-02 6.06746895e-04 9.99564955e-01 2.29832094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:47.34, Z:2.30 [[ 6.72076297e-01 -7.40244323e-01 -1.87561814e-02 9.24229833e+01] [ 7.39925709e-01 6.72337577e-01 -2.17285205e-02 4.73448567e+01] [ 2.86948995e-02 7.25042797e-04 9.99587954e-01 2.29827980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:47.37, Z:2.30 [[ 6.73649709e-01 -7.38814702e-01 -1.86790154e-02 9.24408266e+01] [ 7.38497857e-01 6.73908163e-01 -2.16495625e-02 4.73674349e+01] [ 2.85829560e-02 7.89808633e-04 9.99591112e-01 2.29890759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:47.39, Z:2.30 [[ 6.74910403e-01 -7.37673177e-01 -1.82820334e-02 9.24586850e+01] [ 7.37368952e-01 6.75157463e-01 -2.11997179e-02 4.73905014e+01] [ 2.79817146e-02 8.27306331e-04 9.99608093e-01 2.29993357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:47.41, Z:2.30 [[ 6.77071914e-01 -7.35698418e-01 -1.79293315e-02 9.24755711e+01] [ 7.35404850e-01 6.77308667e-01 -2.08008568e-02 4.74137502e+01] [ 2.74468491e-02 8.98358551e-04 9.99622861e-01 2.29997726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:47.44, Z:2.30 [[ 6.77906574e-01 -7.34925401e-01 -1.80923014e-02 9.24911123e+01] [ 7.34625926e-01 6.78147301e-01 -2.09996796e-02 4.74367027e+01] [ 2.77024433e-02 9.44747136e-04 9.99615767e-01 2.29997409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:47.46, Z:2.30 [[ 6.78483256e-01 -7.34390464e-01 -1.81966596e-02 9.25106000e+01] [ 7.34087143e-01 6.78726523e-01 -2.11275663e-02 4.74574617e+01] [ 2.78664387e-02 9.76766106e-04 9.99611178e-01 2.30035301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.826875 meters Centerline goodness [0,1] 0.9999515855725006 Centerline is valid? [True, True] Translation: X:92.53, Y:47.48, Z:2.30 [[ 6.79117684e-01 -7.33800130e-01 -1.83450500e-02 9.25284460e+01] [ 7.33491425e-01 6.79364660e-01 -2.13070187e-02 4.74804133e+01] [ 2.80980717e-02 1.01403628e-03 9.99604657e-01 2.30070650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:47.50, Z:2.30 [[ 6.80090214e-01 -7.32895348e-01 -1.84853976e-02 9.25468856e+01] [ 7.32581261e-01 6.80340555e-01 -2.14808141e-02 4.75026697e+01] [ 2.83195544e-02 1.06683554e-03 9.99598352e-01 2.30037693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:47.52, Z:2.30 [[ 6.80659731e-01 -7.32363812e-01 -1.85897065e-02 9.25648209e+01] [ 7.32045659e-01 6.80912645e-01 -2.16130246e-02 4.75248955e+01] [ 2.84865634e-02 1.10260155e-03 9.99593567e-01 2.30081802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:47.55, Z:2.30 [[ 6.80931805e-01 -7.32104618e-01 -1.88336380e-02 9.25818696e+01] [ 7.31777674e-01 6.81191266e-01 -2.19064959e-02 4.75469727e+01] [ 2.88671565e-02 1.13479399e-03 9.99582613e-01 2.30076600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:47.57, Z:2.30 [[ 6.81450442e-01 -7.31617744e-01 -1.89939934e-02 9.25985552e+01] [ 7.31284845e-01 6.81714097e-01 -2.20990080e-02 4.75698474e+01] [ 2.91164995e-02 1.16935928e-03 9.99575341e-01 2.30007331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:47.59, Z:2.30 [[ 6.81621336e-01 -7.31457905e-01 -1.90181055e-02 9.26191928e+01] [ 7.31123876e-01 6.81885573e-01 -2.21346754e-02 4.75901378e+01] [ 2.91587550e-02 1.18287599e-03 9.99574093e-01 2.30102839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:47.61, Z:2.30 [[ 6.81494550e-01 -7.31572788e-01 -1.91424469e-02 9.26377706e+01] [ 7.31234083e-01 6.81762298e-01 -2.22909083e-02 4.76108449e+01] [ 2.93580205e-02 1.19352290e-03 9.99568248e-01 2.30108910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:47.63, Z:2.30 [[ 6.81226412e-01 -7.31824315e-01 -1.90721667e-02 9.26573151e+01] [ 7.31487821e-01 6.81492306e-01 -2.22217338e-02 4.76313414e+01] [ 2.92599400e-02 1.18697434e-03 9.99571132e-01 2.30098534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:47.65, Z:2.30 [[ 6.80616216e-01 -7.32389329e-01 -1.91686725e-02 9.26753211e+01] [ 7.32049266e-01 6.80885075e-01 -2.23469615e-02 4.76524782e+01] [ 2.94183392e-02 1.17729173e-03 9.99566494e-01 2.30167853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:47.67, Z:2.30 [[ 6.79931191e-01 -7.33032839e-01 -1.88794235e-02 9.26941692e+01] [ 7.32702862e-01 6.80192294e-01 -2.20217964e-02 4.76734210e+01] [ 2.89843383e-02 1.14029860e-03 9.99579215e-01 2.30328506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:47.69, Z:2.30 [[ 6.79260608e-01 -7.33668666e-01 -1.83116399e-02 9.27135722e+01] [ 7.33358159e-01 6.79506517e-01 -2.13706410e-02 4.76948836e+01] [ 2.81218483e-02 1.08724408e-03 9.99603911e-01 2.30480481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:47.71, Z:2.31 [[ 6.79085356e-01 -7.33836046e-01 -1.81034739e-02 9.27332989e+01] [ 7.33532323e-01 6.79325769e-01 -2.11383777e-02 4.77149369e+01] [ 2.78102598e-02 1.07527946e-03 9.99612642e-01 2.30631661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:47.74, Z:2.31 [[ 6.78744186e-01 -7.34155283e-01 -1.79541310e-02 9.27496019e+01] [ 7.33856340e-01 6.78980776e-01 -2.09756645e-02 4.77370085e+01] [ 2.75899047e-02 1.06135743e-03 9.99618763e-01 2.30621887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:47.76, Z:2.31 [[ 6.78333996e-01 -7.34535224e-01 -1.79163266e-02 9.27691450e+01] [ 7.34237374e-01 6.78569746e-01 -2.09422564e-02 4.77574536e+01] [ 2.75403022e-02 1.05100789e-03 9.99620141e-01 2.30720218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:47.78, Z:2.31 [[ 6.77586643e-01 -7.35215626e-01 -1.82845423e-02 9.27886327e+01] [ 7.34905304e-01 6.77832483e-01 -2.13850344e-02 4.77785745e+01] [ 2.81164681e-02 1.05280657e-03 9.99604100e-01 2.30686778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:47.80, Z:2.31 [[ 6.76711818e-01 -7.36016100e-01 -1.84774575e-02 9.28079231e+01] [ 7.35699153e-01 6.76963235e-01 -2.16225351e-02 4.78000880e+01] [ 2.84230934e-02 1.03837520e-03 9.99595443e-01 2.30678771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:47.82, Z:2.31 [[ 6.76114609e-01 -7.36557391e-01 -1.87681742e-02 9.28270855e+01] [ 7.36230262e-01 6.76374252e-01 -2.19743487e-02 4.78206490e+01] [ 2.88796788e-02 1.03948039e-03 9.99582355e-01 2.30702355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:47.84, Z:2.31 [[ 6.75121790e-01 -7.37462530e-01 -1.89627538e-02 9.28479627e+01] [ 7.37128579e-01 6.75387280e-01 -2.22144084e-02 4.78406969e+01] [ 2.91894965e-02 1.01944343e-03 9.99573376e-01 2.30748791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:47.86, Z:2.31 [[ 6.74532279e-01 -7.37998778e-01 -1.90789753e-02 9.28656927e+01] [ 7.37660605e-01 6.74801292e-01 -2.23617751e-02 4.78617837e+01] [ 2.93774799e-02 1.00993065e-03 9.99567878e-01 2.30791523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:47.88, Z:2.31 [[ 6.74130162e-01 -7.38369333e-01 -1.89539399e-02 9.28856655e+01] [ 7.38035411e-01 6.74395832e-01 -2.22259572e-02 4.78820854e+01] [ 2.91934232e-02 9.94509324e-04 9.99573286e-01 2.30902260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:47.90, Z:2.31 [[ 6.69787100e-01 -7.42327917e-01 -1.82894931e-02 9.29061773e+01] [ 7.42018128e-01 6.70036284e-01 -2.14586976e-02 4.79006732e+01] [ 2.81840143e-02 8.01623348e-04 9.99602430e-01 2.31073002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:47.92, Z:2.32 [[ 6.61632989e-01 -7.49639347e-01 -1.68118198e-02 9.29326329e+01] [ 7.49379681e-01 6.61846387e-01 -1.97345941e-02 4.79152009e+01] [ 2.59206705e-02 4.58622314e-04 9.99663898e-01 2.31654851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:47.94, Z:2.32 [[ 6.58935778e-01 -7.51997920e-01 -1.74002761e-02 9.29528175e+01] [ 7.51720376e-01 6.59165368e-01 -2.04326699e-02 4.79355427e+01] [ 2.68349847e-02 3.83675141e-04 9.99639803e-01 2.31610988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:47.96, Z:2.31 [[ 6.56785497e-01 -7.53854982e-01 -1.83160448e-02 9.29698377e+01] [ 7.53547868e-01 6.57040757e-01 -2.15186874e-02 4.79571741e+01] [ 2.82563576e-02 3.31145295e-04 9.99600655e-01 2.31258742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:47.98, Z:2.31 [[ 6.53327038e-01 -7.56813060e-01 -1.99442451e-02 9.29916198e+01] [ 7.56449928e-01 6.53631348e-01 -2.34428629e-02 4.79757847e+01] [ 3.07780487e-02 2.29033411e-04 9.99526217e-01 2.30866655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.01, Y:48.00, Z:2.31 [[ 6.51642998e-01 -7.58247253e-01 -2.05549799e-02 9.30112042e+01] [ 7.57861821e-01 6.51967080e-01 -2.41740949e-02 4.79960392e+01] [ 3.17311113e-02 1.75045170e-04 9.99496426e-01 2.30840034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:48.02, Z:2.31 [[ 6.50553244e-01 -7.59183393e-01 -2.05195360e-02 9.30308354e+01] [ 7.58799332e-01 6.50876760e-01 -2.41457586e-02 4.80161767e+01] [ 3.16867480e-02 1.37891378e-04 9.99497839e-01 2.30993150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:48.04, Z:2.32 [[ 6.50570863e-01 -7.59198774e-01 -1.93590757e-02 9.30498984e+01] [ 7.58856600e-01 6.50858820e-01 -2.27916162e-02 4.80355410e+01] [ 2.99033922e-02 1.36799057e-04 9.99552784e-01 2.31580330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:48.06, Z:2.32 [[ 6.51395033e-01 -7.58504733e-01 -1.88436100e-02 9.30673541e+01] [ 7.58179956e-01 6.51667508e-01 -2.21948926e-02 4.80574006e+01] [ 2.91146995e-02 1.70795350e-04 9.99576063e-01 2.31860997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:48.08, Z:2.32 [[ 6.52730400e-01 -7.57368469e-01 -1.83310380e-02 9.30842384e+01] [ 7.57060363e-01 6.52987712e-01 -2.16021987e-02 4.80801285e+01] [ 2.83307667e-02 2.22709473e-04 9.99598578e-01 2.31986964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:48.10, Z:2.32 [[ 6.54418830e-01 -7.55909066e-01 -1.83706135e-02 9.31002981e+01] [ 7.55598719e-01 6.54676560e-01 -2.16604943e-02 4.81031556e+01] [ 2.84001740e-02 2.94223254e-04 9.99596590e-01 2.31941787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:48.13, Z:2.32 [[ 6.58305655e-01 -7.52515195e-01 -1.88293949e-02 9.31154007e+01] [ 7.52187429e-01 6.58574727e-01 -2.22126261e-02 4.81287697e+01] [ 2.91159023e-02 4.59463233e-04 9.99575937e-01 2.31782950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:48.15, Z:2.32 [[ 6.60434411e-01 -7.50652043e-01 -1.86520472e-02 9.31324310e+01] [ 7.50329371e-01 6.60697521e-01 -2.20141115e-02 4.81520676e+01] [ 2.88482991e-02 5.43697924e-04 9.99583653e-01 2.31934881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:48.18, Z:2.32 [[ 6.62100785e-01 -7.49188771e-01 -1.84047569e-02 9.31497512e+01] [ 7.48873730e-01 6.62356262e-01 -2.17329024e-02 4.81752581e+01] [ 2.84725524e-02 6.06532750e-04 9.99594391e-01 2.32084121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:48.20, Z:2.32 [[ 6.63874511e-01 -7.47618425e-01 -1.83664087e-02 9.31655592e+01] [ 7.47303816e-01 6.64128173e-01 -2.16974002e-02 4.81981442e+01] [ 2.84190257e-02 6.79063658e-04 9.99595867e-01 2.32190415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:48.22, Z:2.32 [[ 6.66585926e-01 -7.45207600e-01 -1.81338302e-02 9.31809859e+01] [ 7.44899816e-01 6.66832085e-01 -2.14297682e-02 4.82227860e+01] [ 2.80618460e-02 7.76895078e-04 9.99605887e-01 2.32356416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:48.25, Z:2.32 [[ 6.66599121e-01 -7.45202812e-01 -1.78432540e-02 9.31981999e+01] [ 7.44904523e-01 6.66837442e-01 -2.10968712e-02 4.82455258e+01] [ 2.76199976e-02 7.71635202e-04 9.99618197e-01 2.32411488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:48.27, Z:2.33 [[ 6.65086191e-01 -7.46552364e-01 -1.78864993e-02 9.32183480e+01] [ 7.46252794e-01 6.65326268e-01 -2.11595318e-02 4.82665070e+01] [ 2.76970562e-02 7.25062334e-04 9.99616100e-01 2.32541227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:48.29, Z:2.33 [[ 6.62961632e-01 -7.48445237e-01 -1.76522527e-02 9.32384517e+01] [ 7.48153851e-01 6.63196285e-01 -2.08926491e-02 4.82876776e+01] [ 2.73439121e-02 6.44423906e-04 9.99625878e-01 2.32646140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:48.31, Z:2.33 [[ 6.61921263e-01 -7.49355089e-01 -1.80884414e-02 9.32571166e+01] [ 7.49049150e-01 6.62168071e-01 -2.14200087e-02 4.83090256e+01] [ 2.80287809e-02 6.29227575e-04 9.99606919e-01 2.32624844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:48.33, Z:2.33 [[ 6.60931726e-01 -7.50216750e-01 -1.85494595e-02 9.32751309e+01] [ 7.49894996e-01 6.61191688e-01 -2.19783277e-02 4.83308556e+01] [ 2.87532580e-02 6.16027168e-04 9.99586350e-01 2.32578658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:48.35, Z:2.33 [[ 6.59972156e-01 -7.51056154e-01 -1.87458531e-02 9.32935356e+01] [ 7.50727528e-01 6.60238064e-01 -2.22233557e-02 4.83524626e+01] [ 2.90677138e-02 5.93768044e-04 9.99577268e-01 2.32541283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:48.37, Z:2.32 [[ 6.59765838e-01 -7.51230663e-01 -1.90139545e-02 9.33093615e+01] [ 7.50892278e-01 6.60039490e-01 -2.25534682e-02 4.83741755e+01] [ 2.94928177e-02 6.02576258e-04 9.99564811e-01 2.32476564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:48.40, Z:2.33 [[ 6.60032897e-01 -7.50990668e-01 -1.92247538e-02 9.33275822e+01] [ 7.50644282e-01 6.60312518e-01 -2.28153504e-02 4.83953761e+01] [ 2.98284608e-02 6.27930317e-04 9.99554835e-01 2.32579846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:48.42, Z:2.33 [[ 6.60679718e-01 -7.50417515e-01 -1.93872010e-02 9.33443739e+01] [ 7.50064677e-01 6.60963773e-01 -2.30189331e-02 4.84181725e+01] [ 3.00880481e-02 6.66487543e-04 9.99547030e-01 2.32593905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:48.44, Z:2.33 [[ 6.62175623e-01 -7.49071797e-01 -2.03688069e-02 9.33615690e+01] [ 7.48681434e-01 6.62488378e-01 -2.41921264e-02 4.84407481e+01] [ 3.16157374e-02 7.69688774e-04 9.99499801e-01 2.32616865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:48.46, Z:2.33 [[ 6.61967673e-01 -7.49255722e-01 -2.03632812e-02 9.33792851e+01] [ 7.48865304e-01 6.62280358e-01 -2.41967769e-02 4.84619550e+01] [ 3.16157748e-02 7.68129335e-04 9.99499801e-01 2.32676910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:48.48, Z:2.33 [[ 6.62661267e-01 -7.48636096e-01 -2.05922582e-02 9.33966723e+01] [ 7.48236120e-01 6.62980641e-01 -2.44822043e-02 4.84848715e+01] [ 3.19805304e-02 8.15537117e-04 9.99488159e-01 2.32682955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:48.51, Z:2.33 [[ 6.63675303e-01 -7.47722096e-01 -2.11367005e-02 9.34143211e+01] [ 7.47299808e-01 6.64011200e-01 -2.51420541e-02 4.85079959e+01] [ 3.28342753e-02 8.90708094e-04 9.99460413e-01 2.32732013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:48.53, Z:2.33 [[ 6.65806105e-01 -7.45832414e-01 -2.08863919e-02 9.34286393e+01] [ 7.45418755e-01 6.66132907e-01 -2.48561930e-02 4.85326814e+01] [ 3.24516674e-02 9.80296768e-04 9.99472825e-01 2.32710453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:48.55, Z:2.33 [[ 6.66546940e-01 -7.45181246e-01 -2.04960197e-02 9.34476818e+01] [ 7.44782239e-01 6.66861237e-01 -2.44030234e-02 4.85542050e+01] [ 3.18526765e-02 1.00068918e-03 9.99492074e-01 2.32880837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:48.58, Z:2.33 [[ 6.67645284e-01 -7.44219395e-01 -1.96791031e-02 9.34650116e+01] [ 7.43850810e-01 6.67934478e-01 -2.34415108e-02 4.85775391e+01] [ 3.05899784e-02 1.01229734e-03 9.99531504e-01 2.33045838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:48.60, Z:2.33 [[ 6.68341625e-01 -7.43610620e-01 -1.90451604e-02 9.34836868e+01] [ 7.43264836e-01 6.68612158e-01 -2.26972620e-02 4.85997199e+01] [ 2.96117509e-02 1.01392699e-03 9.99560962e-01 2.33253968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:48.62, Z:2.33 [[ 6.69232179e-01 -7.42825974e-01 -1.83810712e-02 9.35007174e+01] [ 7.42503286e-01 6.69483782e-01 -2.19165541e-02 4.86237274e+01] [ 2.85860147e-02 1.01925744e-03 9.99590817e-01 2.33343443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:48.65, Z:2.33 [[ 6.69871896e-01 -7.42253211e-01 -1.82157796e-02 9.35179259e+01] [ 7.41935782e-01 6.70118711e-01 -2.17303771e-02 4.86470588e+01] [ 2.83361769e-02 1.04163024e-03 9.99597907e-01 2.33383981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:48.67, Z:2.33 [[ 6.71483674e-01 -7.40786245e-01 -1.85853310e-02 9.35330514e+01] [ 7.40454913e-01 6.71739871e-01 -2.21826060e-02 4.86713155e+01] [ 2.89170773e-02 1.13365814e-03 9.99581171e-01 2.33272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:48.69, Z:2.33 [[ 6.72014448e-01 -7.40299371e-01 -1.87995476e-02 9.35493108e+01] [ 7.39959869e-01 6.72276328e-01 -2.24484150e-02 4.86935964e+01] [ 2.92570383e-02 1.17474842e-03 9.99571231e-01 2.33282316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:48.72, Z:2.33 [[ 6.72264810e-01 -7.40065138e-01 -1.90687449e-02 9.35651034e+01] [ 7.39715512e-01 6.72534113e-01 -2.27777891e-02 4.87167303e+01] [ 2.96814291e-02 1.20725964e-03 9.99558680e-01 2.33268078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.58, Y:48.74, Z:2.33 [[ 6.72555058e-01 -7.39793583e-01 -1.93687616e-02 9.35844531e+01] [ 7.39432403e-01 6.72832744e-01 -2.31477936e-02 4.87377877e+01] [ 3.01565262e-02 1.24627576e-03 9.99544412e-01 2.33314857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:48.76, Z:2.33 [[ 6.71529357e-01 -7.40743733e-01 -1.86291197e-02 9.36027056e+01] [ 7.40409664e-01 6.71786696e-01 -2.22747614e-02 4.87603898e+01] [ 2.90146847e-02 1.16497595e-03 9.99578307e-01 2.33388274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:48.79, Z:2.34 [[ 6.71592848e-01 -7.40717835e-01 -1.73244232e-02 9.36167780e+01] [ 7.40428648e-01 6.71815375e-01 -2.07248383e-02 4.87853042e+01] [ 2.69900713e-02 1.09115392e-03 9.99635106e-01 2.33930854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:48.82, Z:2.34 [[ 6.79677829e-01 -7.33332459e-01 -1.61726036e-02 9.36155594e+01] [ 7.33078098e-01 6.79868967e-01 -1.93568833e-02 4.88214609e+01] [ 2.51902821e-02 1.30066296e-03 9.99681828e-01 2.33900351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.686875 meters Centerline goodness [0,1] 0.9990861529323067 Centerline is valid? [True, True] Translation: X:93.60, Y:48.87, Z:2.34 [[ 6.97488424e-01 -7.16403174e-01 -1.66250190e-02 9.36002058e+01] [ 7.16129310e-01 6.97683724e-01 -1.99055873e-02 4.88708356e+01] [ 2.58594311e-02 1.97825335e-03 9.99663632e-01 2.33660233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters Centerline goodness [0,1] 0.9971421499133644 Centerline is valid? [True, True] Translation: X:93.60, Y:48.91, Z:2.34 [[ 7.07221945e-01 -7.06768510e-01 -1.77593374e-02 9.36042627e+01] [ 7.06452778e-01 7.07440485e-01 -2.12704730e-02 4.89052036e+01] [ 2.75969748e-02 2.49681200e-03 9.99616013e-01 2.33568115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74687499999999 meters Centerline goodness [0,1] 0.8523698352568055 Centerline is valid? [True, False] Translation: X:93.55, Y:48.85, Z:2.35 [[ 7.17449184e-01 -6.94815909e-01 -4.99751976e-02 9.35471647e+01] [ 6.95858500e-01 7.18161009e-01 5.07089355e-03 4.88492233e+01] [ 3.23669008e-02 -3.84137745e-02 9.98737586e-01 2.35171585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters Centerline goodness [0,1] 0.7237133399396993 Centerline is valid? [False, False] Translation: X:93.47, Y:48.80, Z:2.36 [[ 7.43537334e-01 -6.64647193e-01 -7.34597970e-02 9.34673025e+01] [ 6.67411455e-01 7.44420975e-01 1.99840266e-02 4.87993769e+01] [ 4.14026865e-02 -6.38867799e-02 9.97097937e-01 2.36211133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80687499999999 meters Centerline goodness [0,1] 0.678956312691702 Centerline is valid? [False, False] Translation: X:93.40, Y:48.75, Z:2.36 [[ 7.57718160e-01 -6.47562790e-01 -8.07813246e-02 9.34037513e+01] [ 6.50985552e-01 7.58704265e-01 2.42001910e-02 4.87511523e+01] [ 4.56179923e-02 -7.09243994e-02 9.96438020e-01 2.36345736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters Centerline goodness [0,1] 0.4831277398307676 Centerline is valid? [False, False] Translation: X:93.35, Y:48.72, Z:2.36 [[ 7.72077731e-01 -6.30162058e-01 -8.24121211e-02 9.33472140e+01] [ 6.33537885e-01 7.73415805e-01 2.13948807e-02 4.87160368e+01] [ 5.02565949e-02 -6.87297119e-02 9.96368657e-01 2.36217515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.866875 meters Centerline goodness [0,1] 0.40807284754690787 Centerline is valid? [False, False] Translation: X:93.29, Y:48.68, Z:2.36 [[ 7.85586006e-01 -6.13469770e-01 -8.06812739e-02 9.32899539e+01] [ 6.16420074e-01 7.87254016e-01 1.60439144e-02 4.86832838e+01] [ 5.36742004e-02 -6.23374314e-02 9.96610819e-01 2.35796988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters Centerline goodness [0,1] 0.2953129123277104 Centerline is valid? [False, False] Translation: X:93.23, Y:48.68, Z:2.35 [[ 8.07656485e-01 -5.84774517e-01 -7.56952257e-02 9.32250920e+01] [ 5.86931791e-01 8.09596561e-01 8.02995166e-03 4.86785954e+01] [ 5.65868834e-02 -5.09133769e-02 9.97098667e-01 2.34893010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.926875 meters Centerline goodness [0,1] 0.2743986673167561 Centerline is valid? [False, False] Translation: X:93.18, Y:48.66, Z:2.35 [[ 8.16176202e-01 -5.72787802e-01 -7.59640734e-02 9.31819551e+01] [ 5.74706123e-01 8.18348946e-01 4.22788093e-03 4.86572518e+01] [ 5.97434407e-02 -4.71077139e-02 9.97101592e-01 2.34751660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters Centerline goodness [0,1] 0.25994641117245854 Centerline is valid? [False, False] Translation: X:93.14, Y:48.64, Z:2.35 [[ 8.21581001e-01 -5.64846432e-01 -7.71567689e-02 9.31445594e+01] [ 5.66622141e-01 8.23976621e-01 1.37034572e-03 4.86391741e+01] [ 6.28013388e-02 -4.48445836e-02 9.97018032e-01 2.34752835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.986875 meters Centerline goodness [0,1] 0.28975552258824966 Centerline is valid? [False, False] Translation: X:93.10, Y:48.64, Z:2.35 [[ 8.22089317e-01 -5.64200794e-01 -7.64631887e-02 9.31049981e+01] [ 5.65665391e-01 8.24629425e-01 -2.99623815e-03 4.86398612e+01] [ 6.47442753e-02 -4.07894041e-02 9.97067903e-01 2.34663935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters Centerline goodness [0,1] 0.2756926824317467 Centerline is valid? [False, False] Translation: X:93.08, Y:48.63, Z:2.35 [[ 8.17513398e-01 -5.69425651e-01 -8.61758195e-02 9.30835042e+01] [ 5.71911350e-01 8.20299117e-01 5.17351745e-03 4.86307247e+01] [ 6.77440152e-02 -5.35143491e-02 9.96266512e-01 2.34925712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.046875 meters Centerline goodness [0,1] 0.32307504675176846 Centerline is valid? [False, False] Translation: X:93.06, Y:48.62, Z:2.35 [[ 8.12013980e-01 -5.76721845e-01 -8.95835361e-02 9.30571020e+01] [ 5.79793225e-01 8.14694957e-01 1.05803439e-02 4.86160134e+01] [ 6.68813396e-02 -6.05313144e-02 9.95923113e-01 2.34991059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters Centerline goodness [0,1] 0.35407563964476596 Centerline is valid? [False, False] Translation: X:93.03, Y:48.60, Z:2.35 [[ 8.05261691e-01 -5.85812853e-01 -9.15254653e-02 9.30315295e+01] [ 5.89359870e-01 8.07722775e-01 1.54551754e-02 4.86015971e+01] [ 6.48733624e-02 -6.63868970e-02 9.95682794e-01 2.35036056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10687499999999 meters Centerline goodness [0,1] 0.46106052272403186 Centerline is valid? [False, False] Translation: X:93.00, Y:48.59, Z:2.35 [[ 7.89143964e-01 -6.07156716e-01 -9.28036931e-02 9.29978213e+01] [ 6.11151763e-01 7.91256983e-01 2.01471852e-02 4.85881470e+01] [ 6.11990714e-02 -7.26161702e-02 9.95480570e-01 2.35149582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters Centerline goodness [0,1] 0.6042103976033748 Centerline is valid? [False, False] Translation: X:92.97, Y:48.56, Z:2.35 [[ 7.78936775e-01 -6.18960859e-01 -1.00722165e-01 9.29661565e+01] [ 6.24044109e-01 7.80917713e-01 2.71380864e-02 4.85586201e+01] [ 6.18583095e-02 -8.39939272e-02 9.94544403e-01 2.35367841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16687499999999 meters Centerline goodness [0,1] 0.66278928136419 Centerline is valid? [False, False] Translation: X:92.94, Y:48.53, Z:2.36 [[ 7.67882694e-01 -6.31357721e-01 -1.08367874e-01 9.29366410e+01] [ 6.37601882e-01 7.69606384e-01 3.42031114e-02 4.85300348e+01] [ 6.18062090e-02 -9.53595376e-02 9.93522295e-01 2.35525904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters Centerline goodness [0,1] 0.9383141917941642 Centerline is valid? [False, False] Translation: X:92.90, Y:48.50, Z:2.36 [[ 7.44428698e-01 -6.57409766e-01 -1.16783193e-01 9.29048338e+01] [ 6.64876917e-01 7.45924842e-01 3.91767153e-02 4.85012873e+01] [ 6.13563298e-02 -1.06810721e-01 9.92384437e-01 2.35752840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22687499999999 meters Centerline goodness [0,1] 0.9965970453387671 Centerline is valid? [False, True] Translation: X:92.86, Y:48.44, Z:2.36 [[ 7.32102022e-01 -6.69553324e-01 -1.25399264e-01 9.28555171e+01] [ 6.78453181e-01 7.33194011e-01 4.61283288e-02 4.84434016e+01] [ 6.10566138e-02 -1.18848173e-01 9.91033401e-01 2.35629812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters Centerline goodness [0,1] 0.9990590353066318 Centerline is valid? [True, True] Translation: X:92.86, Y:48.48, Z:2.34 [[ 7.20433754e-01 -6.92831424e-01 -3.09810272e-02 9.28625830e+01] [ 6.91911770e-01 7.21085707e-01 -3.59653451e-02 4.84767872e+01] [ 4.72578971e-02 4.47451126e-03 9.98872700e-01 2.34233499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.286875 meters Centerline goodness [0,1] 0.9997963381601189 Centerline is valid? [True, True] Translation: X:92.89, Y:48.49, Z:2.34 [[ 7.07659426e-01 -7.05872250e-01 -3.10242377e-02 9.28866811e+01] [ 7.04961825e-01 7.08329910e-01 -3.60217243e-02 4.84929253e+01] [ 4.74021310e-02 3.62020954e-03 9.98869327e-01 2.34307553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.92, Y:48.50, Z:2.34 [[ 6.84150690e-01 -7.28668519e-01 -3.13053213e-02 9.29213937e+01] [ 7.27764054e-01 6.84863363e-01 -3.63545933e-02 4.85019283e+01] [ 4.79303152e-02 2.08913253e-03 9.98848497e-01 2.34409435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.94, Y:48.52, Z:2.35 [[ 6.74027357e-01 -7.38052239e-01 -3.10807704e-02 9.29449135e+01] [ 7.37170151e-01 6.74742078e-01 -3.61011998e-02 4.85187657e+01] [ 4.76160750e-02 1.42138013e-03 9.98864700e-01 2.34575377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:48.54, Z:2.35 [[ 6.64899727e-01 -7.46305128e-01 -3.06106129e-02 9.29697401e+01] [ 7.45457864e-01 6.65603467e-01 -3.55611803e-02 4.85353849e+01] [ 4.69140213e-02 8.25696943e-04 9.98898590e-01 2.34758735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:48.55, Z:2.35 [[ 6.50106385e-01 -7.59264140e-01 -2.96589394e-02 9.29966848e+01] [ 7.58481210e-01 6.50782573e-01 -3.44716845e-02 4.85507258e+01] [ 4.54746348e-02 -8.54860259e-05 9.98965490e-01 2.34977065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:48.57, Z:2.35 [[ 6.44384270e-01 -7.64161837e-01 -2.87332570e-02 9.30178472e+01] [ 7.63431196e-01 6.45024435e-01 -3.34108742e-02 4.85690958e+01] [ 4.40649678e-02 -4.06422981e-04 9.99028585e-01 2.35126842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:48.59, Z:2.35 [[ 6.39588767e-01 -7.68179460e-01 -2.87493667e-02 9.30386308e+01] [ 7.67451768e-01 6.40234220e-01 -3.34354303e-02 4.85872549e+01] [ 4.40907392e-02 -6.78826640e-04 9.99027300e-01 2.35223903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:48.60, Z:2.35 [[ 6.33695280e-01 -7.73039436e-01 -2.89883032e-02 9.30610361e+01] [ 7.72304311e-01 6.34357147e-01 -3.37203392e-02 4.86047047e+01] [ 4.44560894e-02 -1.01937171e-03 9.99010819e-01 2.35194641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:48.62, Z:2.35 [[ 6.32584569e-01 -7.73936005e-01 -2.93227499e-02 9.30805897e+01] [ 7.73184525e-01 6.33262876e-01 -3.41148209e-02 4.86244744e+01] [ 4.49716971e-02 -1.09138714e-03 9.98987665e-01 2.35252493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:48.64, Z:2.35 [[ 6.32559936e-01 -7.73940456e-01 -2.97337709e-02 9.30985740e+01] [ 7.73167482e-01 6.33257414e-01 -3.45990259e-02 4.86447941e+01] [ 4.56067168e-02 -1.10322716e-03 9.98958863e-01 2.35226262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:48.67, Z:2.35 [[ 6.33858837e-01 -7.72842891e-01 -3.06078488e-02 9.31170057e+01] [ 7.72021982e-01 6.34596540e-01 -3.56271070e-02 4.86672579e+01] [ 4.69577914e-02 -1.04737551e-03 9.98896325e-01 2.35227253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:48.69, Z:2.35 [[ 6.40104172e-01 -7.67627393e-01 -3.18564708e-02 9.31295263e+01] [ 7.66730718e-01 6.40896034e-01 -3.70982576e-02 4.86948920e+01] [ 4.88943245e-02 -6.78585212e-04 9.98803727e-01 2.35277451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:48.72, Z:2.35 [[ 6.44736075e-01 -7.63744284e-01 -3.17814733e-02 9.31470329e+01] [ 7.62846226e-01 6.45518808e-01 -3.70284307e-02 4.87172839e+01] [ 4.87957911e-02 -3.70811905e-04 9.98808707e-01 2.35345805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:48.74, Z:2.36 [[ 6.49894814e-01 -7.59374448e-01 -3.14193977e-02 9.31622017e+01] [ 7.58490730e-01 6.50653861e-01 -3.66246694e-02 4.87425776e+01] [ 4.82549905e-02 -2.91391762e-05 9.98835049e-01 2.35553335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:48.77, Z:2.36 [[ 6.61001409e-01 -7.49754425e-01 -3.07480118e-02 9.31726791e+01] [ 7.48896775e-01 6.61715836e-01 -3.58576814e-02 4.87700448e+01] [ 4.72309016e-02 6.74891041e-04 9.98883770e-01 2.35829965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:48.79, Z:2.36 [[ 6.66473613e-01 -7.44922638e-01 -3.00530623e-02 9.31917365e+01] [ 7.44097792e-01 6.67150099e-01 -3.50602554e-02 4.87919067e+01] [ 4.61670814e-02 1.00431785e-03 9.98933227e-01 2.36081857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:48.81, Z:2.36 [[ 6.71496874e-01 -7.40413207e-01 -2.96686797e-02 9.32107722e+01] [ 7.39604661e-01 6.72150717e-01 -3.46173191e-02 4.88140964e+01] [ 4.55729446e-02 1.30232783e-03 9.98960165e-01 2.36243462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters Centerline goodness [0,1] 0.9999795597162888 Centerline is valid? [True, True] Translation: X:93.22, Y:48.84, Z:2.36 [[ 6.79230813e-01 -7.33328107e-01 -2.95870068e-02 9.32197485e+01] [ 7.32517031e-01 6.79872580e-01 -3.45264334e-02 4.88435165e+01] [ 4.54345987e-02 1.77843111e-03 9.98965732e-01 2.36226488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:48.86, Z:2.36 [[ 6.81652252e-01 -7.31052348e-01 -3.02104369e-02 9.32484957e+01] [ 7.30204235e-01 6.82318521e-01 -3.52591939e-02 4.88571987e+01] [ 4.63894571e-02 1.97472001e-03 9.98921478e-01 2.36287914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:48.88, Z:2.36 [[ 6.82813151e-01 -7.29951377e-01 -3.06135269e-02 9.32709710e+01] [ 7.29078871e-01 6.83495898e-01 -3.57401337e-02 4.88758614e+01] [ 4.70127799e-02 2.08415773e-03 9.98892114e-01 2.36281267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:48.89, Z:2.36 [[ 6.83415648e-01 -7.29371511e-01 -3.09879121e-02 9.32927655e+01] [ 7.28476084e-01 6.84114408e-01 -3.61949147e-02 4.88945345e+01] [ 4.75988168e-02 2.16221827e-03 9.98864194e-01 2.36324829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:48.91, Z:2.36 [[ 6.82876026e-01 -7.29886184e-01 -3.07651035e-02 9.33190754e+01] [ 7.29003811e-01 6.83565420e-01 -3.59410750e-02 4.89082656e+01] [ 4.72628550e-02 2.11542074e-03 9.98880247e-01 2.36458651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:48.92, Z:2.37 [[ 6.82065296e-01 -7.30648335e-01 -3.06584828e-02 9.33446007e+01] [ 7.29772503e-01 6.82750881e-01 -3.58235723e-02 4.89246288e+01] [ 4.71065396e-02 2.06029771e-03 9.98887746e-01 2.36670023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters Centerline goodness [0,1] 0.999979548011044 Centerline is valid? [True, True] Translation: X:93.37, Y:48.94, Z:2.37 [[ 6.81124592e-01 -7.31554657e-01 -2.99511916e-02 9.33693666e+01] [ 7.30718883e-01 6.81779972e-01 -3.50140595e-02 4.89419677e+01] [ 4.60348208e-02 1.96303573e-03 9.98937907e-01 2.36916096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:48.96, Z:2.37 [[ 6.79423397e-01 -7.33169036e-01 -2.91034670e-02 9.33936085e+01] [ 7.32381011e-01 6.80044042e-01 -3.40316902e-02 4.89573855e+01] [ 4.47426209e-02 1.80709998e-03 9.98996913e-01 2.37206617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:48.97, Z:2.37 [[ 6.78799169e-01 -7.33758389e-01 -2.88151990e-02 9.34214013e+01] [ 7.32986169e-01 6.79408234e-01 -3.37005738e-02 4.89717960e+01] [ 4.43053622e-02 1.75477915e-03 9.99016494e-01 2.37394072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:48.99, Z:2.38 [[ 6.78060356e-01 -7.34442905e-01 -2.87710438e-02 9.34454334e+01] [ 7.33672914e-01 6.78668302e-01 -3.36658781e-02 4.89890192e+01] [ 4.42516608e-02 1.71896176e-03 9.99018937e-01 2.37539208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters Centerline goodness [0,1] 0.9998171512159444 Centerline is valid? [True, True] Translation: X:93.47, Y:49.00, Z:2.37 [[ 6.77174220e-01 -7.35236230e-01 -2.93727956e-02 9.34723325e+01] [ 7.34433623e-01 6.77808784e-01 -3.43875629e-02 4.90025990e+01] [ 4.51921210e-02 1.71400241e-03 9.98976844e-01 2.37468245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.126875 meters Centerline goodness [0,1] 0.9998171512159444 Centerline is valid? [True, True] Translation: X:93.49, Y:49.02, Z:2.38 [[ 6.76969701e-01 -7.35424672e-01 -2.93696297e-02 9.34901535e+01] [ 7.34622126e-01 6.77604340e-01 -3.43902666e-02 4.90235981e+01] [ 4.51924391e-02 1.70558874e-03 9.98976844e-01 2.37590436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters Centerline goodness [0,1] 0.9997767857142857 Centerline is valid? [True, True] Translation: X:93.51, Y:49.04, Z:2.38 [[ 6.76628199e-01 -7.35701743e-01 -3.02857359e-02 9.35120626e+01] [ 7.34847662e-01 6.77303382e-01 -3.54829857e-02 4.90405284e+01] [ 4.66175258e-02 1.75338645e-03 9.98911273e-01 2.37548519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.186875 meters Centerline goodness [0,1] 0.9996533088610177 Centerline is valid? [True, True] Translation: X:93.54, Y:49.06, Z:2.38 [[ 6.76293463e-01 -7.35973820e-01 -3.11398113e-02 9.35365977e+01] [ 7.35070696e-01 6.77007631e-01 -3.64930042e-02 4.90565360e+01] [ 4.79397856e-02 1.79001739e-03 9.98848624e-01 2.37524946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters Centerline goodness [0,1] 0.999877222779267 Centerline is valid? [True, True] Translation: X:93.56, Y:49.07, Z:2.37 [[ 6.75882379e-01 -7.36302540e-01 -3.22734879e-02 9.35588918e+01] [ 7.35331673e-01 6.76649954e-01 -3.78440427e-02 4.90743900e+01] [ 4.97025188e-02 1.84640377e-03 9.98762359e-01 2.37485326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24687499999999 meters Centerline goodness [0,1] 0.9997549369983867 Centerline is valid? [True, True] Translation: X:93.59, Y:49.09, Z:2.37 [[ 6.75709283e-01 -7.36410121e-01 -3.34230361e-02 9.35881824e+01] [ 7.35367763e-01 6.76532667e-01 -3.92148329e-02 4.90875556e+01] [ 5.14899756e-02 1.91960330e-03 9.98671667e-01 2.37445645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters Centerline goodness [0,1] 0.9997964749460658 Centerline is valid? [True, True] Translation: X:93.61, Y:49.11, Z:2.37 [[ 6.75399011e-01 -7.36693347e-01 -3.34527773e-02 9.36077738e+01] [ 7.35648466e-01 6.76224263e-01 -3.92693467e-02 4.91063798e+01] [ 5.15510461e-02 1.91299367e-03 9.98668529e-01 2.37473051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30687499999999 meters Centerline goodness [0,1] 0.9996943827550376 Centerline is valid? [True, True] Translation: X:93.63, Y:49.12, Z:2.38 [[ 6.75138632e-01 -7.36938265e-01 -3.33139891e-02 9.36305435e+01] [ 7.35901492e-01 6.75957390e-01 -3.91228990e-02 4.91239516e+01] [ 5.13499984e-02 1.89756620e-03 9.98678916e-01 2.37662025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters Centerline goodness [0,1] 0.9997757984632004 Centerline is valid? [True, True] Translation: X:93.66, Y:49.14, Z:2.38 [[ 6.75240394e-01 -7.36852974e-01 -3.31376833e-02 9.36588711e+01] [ 7.35825952e-01 6.76050333e-01 -3.89373311e-02 4.91372981e+01] [ 5.10938300e-02 1.90849140e-03 9.98692034e-01 2.37892607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.366875 meters Centerline goodness [0,1] 0.9999388104756466 Centerline is valid? [True, True] Translation: X:93.68, Y:49.16, Z:2.38 [[ 6.75822125e-01 -7.36348422e-01 -3.24877788e-02 9.36786408e+01] [ 7.35359839e-01 6.76599817e-01 -3.81915397e-02 4.91565188e+01] [ 5.01035052e-02 1.92047972e-03 9.98742184e-01 2.38021701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters Centerline goodness [0,1] 0.9998160299257988 Centerline is valid? [True, True] Translation: X:93.70, Y:49.17, Z:2.38 [[ 6.76385682e-01 -7.35833485e-01 -3.24267092e-02 9.37027448e+01] [ 7.34847470e-01 6.77159679e-01 -3.81308960e-02 4.91743330e+01] [ 5.00160501e-02 1.96250696e-03 9.98746486e-01 2.38202176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.426875 meters Centerline goodness [0,1] 0.9997553716312635 Centerline is valid? [True, True] Translation: X:93.73, Y:49.19, Z:2.38 [[ 6.77160827e-01 -7.35115690e-01 -3.25290135e-02 9.37261649e+01] [ 7.34121652e-01 6.77938627e-01 -3.82703380e-02 4.91923981e+01] [ 5.01858007e-02 2.03492059e-03 9.98737826e-01 2.38350176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters Centerline goodness [0,1] 0.9997546865098024 Centerline is valid? [True, True] Translation: X:93.75, Y:49.21, Z:2.38 [[ 6.78855608e-01 -7.33558211e-01 -3.23638028e-02 9.37513065e+01] [ 7.32571570e-01 6.79623220e-01 -3.80942613e-02 4.92071955e+01] [ 4.99395500e-02 2.15170107e-03 9.98749924e-01 2.38415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.486875 meters Centerline goodness [0,1] 0.9998358873366566 Centerline is valid? [True, True] Translation: X:93.78, Y:49.23, Z:2.39 [[ 6.79448137e-01 -7.33026132e-01 -3.19831012e-02 9.37752526e+01] [ 7.32061389e-01 6.80197006e-01 -3.76584137e-02 4.92250670e+01] [ 4.93594110e-02 2.17334554e-03 9.98778717e-01 2.38557054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters Centerline goodness [0,1] 0.9998779892630552 Centerline is valid? [True, True] Translation: X:93.80, Y:49.24, Z:2.39 [[ 6.79986760e-01 -7.32560914e-01 -3.11851466e-02 9.37961301e+01] [ 7.31642420e-01 6.80698042e-01 -3.67361502e-02 4.92437254e+01] [ 4.81391360e-02 2.16371958e-03 9.98838296e-01 2.38675009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:49.26, Z:2.39 [[ 6.80688667e-01 -7.31942009e-01 -3.03946371e-02 9.38189116e+01] [ 7.31068578e-01 6.81363520e-01 -3.58118530e-02 4.92618175e+01] [ 4.69219966e-02 2.15615837e-03 9.98896229e-01 2.38908352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters Centerline goodness [0,1] 0.9999385359257514 Centerline is valid? [True, True] Translation: X:93.85, Y:49.27, Z:2.39 [[ 6.81691327e-01 -7.31041543e-01 -2.95837162e-02 9.38479440e+01] [ 7.30212518e-01 6.82329504e-01 -3.48730016e-02 4.92742280e+01] [ 4.56794553e-02 2.17022283e-03 9.98953791e-01 2.39077782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60687499999999 meters Centerline goodness [0,1] 0.9999794022533934 Centerline is valid? [True, True] Translation: X:93.87, Y:49.29, Z:2.39 [[ 6.81565371e-01 -7.31147034e-01 -2.98774200e-02 9.38705468e+01] [ 7.30301232e-01 6.82216404e-01 -3.52262576e-02 4.92912999e+01] [ 4.61384398e-02 2.18948074e-03 9.98932656e-01 2.39101165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters Centerline goodness [0,1] 0.9998343479521266 Centerline is valid? [True, True] Translation: X:93.89, Y:49.31, Z:2.39 [[ 6.81422219e-01 -7.31278430e-01 -2.99268654e-02 9.38933002e+01] [ 7.30428995e-01 6.82075528e-01 -3.53052129e-02 4.93093106e+01] [ 4.62303232e-02 2.19830632e-03 9.98928388e-01 2.39175465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66687499999999 meters Centerline goodness [0,1] 0.9998748096062762 Centerline is valid? [True, True] Translation: X:93.92, Y:49.32, Z:2.39 [[ 6.81294471e-01 -7.31429031e-01 -2.91447602e-02 9.39167528e+01] [ 7.30622704e-01 6.81914200e-01 -3.44018680e-02 4.93248380e+01] [ 4.50367508e-02 2.14397896e-03 9.98983030e-01 2.39295968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters Centerline goodness [0,1] 0.9999371266897202 Centerline is valid? [True, True] Translation: X:93.94, Y:49.34, Z:2.39 [[ 6.81079718e-01 -7.31639600e-01 -2.88775443e-02 9.39398517e+01] [ 7.30847716e-01 6.81688353e-01 -3.40970048e-02 4.93426137e+01] [ 4.46322046e-02 2.11769109e-03 9.99001242e-01 2.39418343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72687499999999 meters Centerline goodness [0,1] 0.9999576997102431 Centerline is valid? [True, True] Translation: X:93.96, Y:49.36, Z:2.39 [[ 6.80895609e-01 -7.31803543e-01 -2.90644610e-02 9.39634793e+01] [ 7.31000650e-01 6.81512304e-01 -3.43369915e-02 4.93590748e+01] [ 4.49357199e-02 2.13376685e-03 9.98987602e-01 2.39494440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:49.37, Z:2.39 [[ 6.81177325e-01 -7.31496990e-01 -3.01596537e-02 9.39916481e+01] [ 7.30631134e-01 6.81840958e-01 -3.56518448e-02 4.93729957e+01] [ 4.66433043e-02 2.24964631e-03 9.98909076e-01 2.39381979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.786875 meters Centerline goodness [0,1] 0.9999137652258273 Centerline is valid? [True, True] Translation: X:94.01, Y:49.39, Z:2.39 [[ 6.81324434e-01 -7.31326438e-01 -3.09621911e-02 9.40111077e+01] [ 7.30412809e-01 6.82023602e-01 -3.66187677e-02 4.93927686e+01] [ 4.78972181e-02 2.33408019e-03 9.98849543e-01 2.39298477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:49.41, Z:2.39 [[ 6.81214040e-01 -7.31384392e-01 -3.20047423e-02 9.40338480e+01] [ 7.30407812e-01 6.81961174e-01 -3.78600792e-02 4.94114679e+01] [ 4.95162627e-02 2.41430371e-03 9.98770399e-01 2.39265380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:49.43, Z:2.39 [[ 6.80987051e-01 -7.31572826e-01 -3.25243992e-02 9.40581091e+01] [ 7.30563473e-01 6.81758889e-01 -3.84945343e-02 4.94280713e+01] [ 5.03353535e-02 2.45314141e-03 9.98729360e-01 2.39273514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:49.44, Z:2.39 [[ 6.80408114e-01 -7.32087760e-01 -3.30501134e-02 9.40822036e+01] [ 7.31045020e-01 6.81205856e-01 -3.91377280e-02 4.94446892e+01] [ 5.11661824e-02 2.46850691e-03 9.98687102e-01 2.39254886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:49.46, Z:2.39 [[ 6.79731814e-01 -7.32707878e-01 -3.32238963e-02 9.41034474e+01] [ 7.31654442e-01 6.80538912e-01 -3.93518343e-02 4.94627556e+01] [ 5.14435533e-02 2.44028238e-03 9.98672922e-01 2.39392865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:49.48, Z:2.40 [[ 6.79132819e-01 -7.33281048e-01 -3.28255741e-02 9.41302385e+01] [ 7.32252603e-01 6.79921500e-01 -3.88957510e-02 4.94785239e+01] [ 5.08403307e-02 2.37876895e-03 9.98703961e-01 2.39691112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:49.49, Z:2.40 [[ 6.78433711e-01 -7.33997333e-01 -3.12348211e-02 9.41552037e+01] [ 7.33066207e-01 6.79148712e-01 -3.70265023e-02 4.94935561e+01] [ 4.83904425e-02 2.22283552e-03 9.98826023e-01 2.40038821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:49.51, Z:2.40 [[ 6.78466454e-01 -7.33998754e-01 -3.04811414e-02 9.41772842e+01] [ 7.33111711e-01 6.79147336e-01 -3.61402184e-02 4.95116907e+01] [ 4.72280613e-02 2.17384415e-03 9.98881767e-01 2.40296971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:49.53, Z:2.40 [[ 6.78927895e-01 -7.33600365e-01 -2.97895548e-02 9.41968310e+01] [ 7.32751880e-01 6.79577677e-01 -3.53392634e-02 4.95322066e+01] [ 4.61692130e-02 2.16445944e-03 9.98931288e-01 2.40446900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:49.55, Z:2.41 [[ 6.79239419e-01 -7.33319298e-01 -2.96077481e-02 9.42183761e+01] [ 7.32480421e-01 6.79880922e-01 -3.51335288e-02 4.95524232e+01] [ 4.58938377e-02 2.17698196e-03 9.98943951e-01 2.40562905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:49.57, Z:2.41 [[ 6.80741094e-01 -7.31937856e-01 -2.93008147e-02 9.42450949e+01] [ 7.31114276e-01 6.81367652e-01 -3.47856120e-02 4.95675988e+01] [ 4.54255336e-02 2.25775167e-03 9.98965176e-01 2.40691203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:49.59, Z:2.41 [[ 6.81239337e-01 -7.31466989e-01 -2.94789946e-02 9.42658132e+01] [ 7.30632444e-01 6.81872941e-01 -3.50074906e-02 4.95877642e+01] [ 4.57077525e-02 2.31016979e-03 9.98952183e-01 2.40780056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:49.61, Z:2.41 [[ 6.81526182e-01 -7.31198710e-01 -2.95043950e-02 9.42854972e+01] [ 7.30361678e-01 6.82160510e-01 -3.50550773e-02 4.96079010e+01] [ 4.57589604e-02 2.34207356e-03 9.98949765e-01 2.40877018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters Centerline goodness [0,1] 0.9999532098072244 Centerline is valid? [True, True] Translation: X:94.30, Y:49.63, Z:2.41 [[ 6.81474322e-01 -7.31240661e-01 -2.96621745e-02 9.43038044e+01] [ 7.30394229e-01 6.82115483e-01 -3.52524839e-02 4.96284878e+01] [ 4.60110782e-02 2.35858147e-03 9.98938145e-01 2.40975277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:49.64, Z:2.41 [[ 6.78380710e-01 -7.34067900e-01 -3.07234414e-02 9.43314649e+01] [ 7.33161717e-01 6.79072322e-01 -3.65332528e-02 4.96430129e+01] [ 4.76813269e-02 2.25820291e-03 9.98860046e-01 2.40882197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:49.66, Z:2.41 [[ 6.74708835e-01 -7.37409590e-01 -3.15449690e-02 9.43562509e+01] [ 7.36456915e-01 6.75442617e-01 -3.75297671e-02 4.96599274e+01] [ 4.89816266e-02 2.09015490e-03 9.98797493e-01 2.40874444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:49.68, Z:2.41 [[ 6.71894764e-01 -7.39982701e-01 -3.13532827e-02 9.43791483e+01] [ 7.39043738e-01 6.72623217e-01 -3.73143596e-02 4.96777545e+01] [ 4.87009265e-02 1.89987562e-03 9.98811599e-01 2.41059862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:49.69, Z:2.41 [[ 6.67476243e-01 -7.43988662e-01 -3.09246739e-02 9.44055527e+01] [ 7.43078537e-01 6.68190327e-01 -3.68235660e-02 4.96921499e+01] [ 4.80598835e-02 1.59939405e-03 9.98843176e-01 2.41365863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:49.71, Z:2.41 [[ 6.65502178e-01 -7.45740005e-01 -3.12841109e-02 9.44281273e+01] [ 7.44809520e-01 6.66235381e-01 -3.72719149e-02 4.97105230e+01] [ 4.86377395e-02 1.50383694e-03 9.98815353e-01 2.41466475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:49.73, Z:2.42 [[ 6.62487006e-01 -7.48422009e-01 -3.12323913e-02 9.44494094e+01] [ 7.47496700e-01 6.63221503e-01 -3.72279669e-02 4.97286005e+01] [ 4.85762233e-02 1.31693487e-03 9.98818610e-01 2.41506973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:49.74, Z:2.42 [[ 6.55856029e-01 -7.54268767e-01 -3.05204291e-02 9.44740028e+01] [ 7.53391036e-01 6.56565204e-01 -3.63879084e-02 4.97434475e+01] [ 4.74849146e-02 8.71411372e-04 9.98871575e-01 2.41812073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:49.76, Z:2.42 [[ 6.47590717e-01 -7.61363913e-01 -3.08424108e-02 9.45013144e+01] [ 7.60474523e-01 6.48324651e-01 -3.67919408e-02 4.97570514e+01] [ 4.80079513e-02 3.71251697e-04 9.98846885e-01 2.41976473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:49.78, Z:2.42 [[ 6.45497628e-01 -7.63127311e-01 -3.11371048e-02 9.45220825e+01] [ 7.62221874e-01 6.46248127e-01 -3.71641245e-02 4.97768501e+01] [ 4.84832541e-02 2.55971783e-04 9.98823963e-01 2.41939265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:49.80, Z:2.42 [[ 6.44044895e-01 -7.64331982e-01 -3.16669304e-02 9.45412370e+01] [ 7.63395911e-01 6.44822912e-01 -3.78165942e-02 4.97967298e+01] [ 4.93239947e-02 1.81179283e-04 9.98782815e-01 2.41819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.56, Y:49.82, Z:2.42 [[ 6.43229364e-01 -7.65007922e-01 -3.19196464e-02 9.45611681e+01] [ 7.64056922e-01 6.44020853e-01 -3.81334638e-02 4.98166454e+01] [ 4.97293198e-02 1.40136923e-04 9.98762722e-01 2.41887581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:49.84, Z:2.42 [[ 6.44116279e-01 -7.64263945e-01 -3.18565810e-02 9.45799767e+01] [ 7.63314767e-01 6.44903542e-01 -3.80787229e-02 4.98356581e+01] [ 4.96466169e-02 2.10526592e-04 9.98766824e-01 2.41990041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:49.86, Z:2.42 [[ 6.45403410e-01 -7.63210752e-01 -3.10449087e-02 9.45981142e+01] [ 7.62307441e-01 6.46149566e-01 -3.71228166e-02 4.98566625e+01] [ 4.83921871e-02 2.93427473e-04 9.98828369e-01 2.42252649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:49.88, Z:2.43 [[ 6.45131105e-01 -7.63475596e-01 -3.01806572e-02 9.46176675e+01] [ 7.62621283e-01 6.45836618e-01 -3.61087525e-02 4.98763377e+01] [ 4.70599249e-02 2.78467898e-04 9.98892029e-01 2.42674795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:49.90, Z:2.43 [[ 6.45138954e-01 -7.63496647e-01 -2.94720226e-02 9.46354306e+01] [ 7.62681136e-01 6.45811730e-01 -3.52802355e-02 4.98967272e+01] [ 4.59697194e-02 2.82898506e-04 9.98942794e-01 2.43019855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:49.92, Z:2.43 [[ 6.46154041e-01 -7.62621743e-01 -2.98836398e-02 9.46514884e+01] [ 7.61781490e-01 6.46844608e-01 -3.57912781e-02 4.99193032e+01] [ 4.66252782e-02 3.61875347e-04 9.98912385e-01 2.43042506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:49.94, Z:2.43 [[ 6.46926483e-01 -7.61943930e-01 -3.04560806e-02 9.46678040e+01] [ 7.61069531e-01 6.47642851e-01 -3.64953058e-02 4.99426245e+01] [ 4.75320395e-02 4.30584841e-04 9.98869621e-01 2.42978930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:49.97, Z:2.43 [[ 6.47881468e-01 -7.61109724e-01 -3.10095253e-02 9.46845446e+01] [ 7.60201288e-01 6.48622944e-01 -3.71790121e-02 4.99658047e+01] [ 4.84107973e-02 5.14111873e-04 9.98827378e-01 2.42837469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:49.99, Z:2.43 [[ 6.49901384e-01 -7.59365003e-01 -3.15116437e-02 9.46992338e+01] [ 7.58423839e-01 6.50664542e-01 -3.78012336e-02 4.99898098e+01] [ 4.92084431e-02 6.67892263e-04 9.98788307e-01 2.42759857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:50.01, Z:2.43 [[ 6.50945755e-01 -7.58480603e-01 -3.12537899e-02 9.47161369e+01] [ 7.57552841e-01 6.51695194e-01 -3.75108901e-02 5.00130268e+01] [ 4.88192272e-02 7.41157329e-04 9.98807356e-01 2.42857062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:50.04, Z:2.43 [[ 6.52060945e-01 -7.57516295e-01 -3.13940471e-02 9.47323911e+01] [ 7.56578081e-01 6.52815727e-01 -3.76992603e-02 5.00361388e+01] [ 4.90523317e-02 8.30167356e-04 9.98795865e-01 2.42962577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:50.06, Z:2.43 [[ 6.53374277e-01 -7.56381237e-01 -3.14559810e-02 9.47493912e+01] [ 7.55437024e-01 6.54130383e-01 -3.77934391e-02 5.00594103e+01] [ 4.91625612e-02 9.30248288e-04 9.98790357e-01 2.43123277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:50.08, Z:2.43 [[ 6.56525601e-01 -7.53641794e-01 -3.15940154e-02 9.47643576e+01] [ 7.52685163e-01 6.57284350e-01 -3.79780100e-02 5.00837633e+01] [ 4.93880675e-02 1.15318923e-03 9.98778999e-01 2.43287527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:50.11, Z:2.43 [[ 6.58192452e-01 -7.52194088e-01 -3.14125809e-02 9.47795870e+01] [ 7.51245879e-01 6.58940399e-01 -3.77780433e-02 5.01069872e+01] [ 4.91154394e-02 1.26665097e-03 9.98792305e-01 2.43404567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:50.13, Z:2.44 [[ 6.59556036e-01 -7.51019576e-01 -3.09100704e-02 9.47960625e+01] [ 7.50099527e-01 6.60278575e-01 -3.71874010e-02 5.01302050e+01] [ 4.83377233e-02 1.34154558e-03 9.98830148e-01 2.43522373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:50.15, Z:2.44 [[ 6.59099228e-01 -7.51515436e-01 -2.85088915e-02 9.48121166e+01] [ 7.50732835e-01 6.59714395e-01 -3.43092814e-02 5.01536024e+01] [ 4.45916806e-02 1.21065996e-03 9.99004563e-01 2.44154257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:50.18, Z:2.45 [[ 6.56761457e-01 -7.53631714e-01 -2.65259849e-02 9.48313923e+01] [ 7.52955286e-01 6.57296153e-01 -3.19390699e-02 5.01752192e+01] [ 4.15057238e-02 1.00346957e-03 9.99137762e-01 2.44878620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:50.20, Z:2.45 [[ 6.56552354e-01 -7.53814161e-01 -2.65182502e-02 9.48489543e+01] [ 7.53137622e-01 6.57086910e-01 -3.19454904e-02 5.01965242e+01] [ 4.15057581e-02 1.00199504e-03 9.99137762e-01 2.45000639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:50.22, Z:2.45 [[ 6.54669232e-01 -7.55466676e-01 -2.60441494e-02 9.48654871e+01] [ 7.54814671e-01 6.55186464e-01 -3.13928250e-02 5.02184084e+01] [ 4.07800073e-02 8.93410614e-04 9.99167750e-01 2.45304296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:50.24, Z:2.45 [[ 6.51515507e-01 -7.58061511e-01 -2.95006669e-02 9.48798628e+01] [ 7.57227161e-01 6.52182528e-01 -3.55665028e-02 5.02419575e+01] [ 4.62014164e-02 8.33421843e-04 9.98931797e-01 2.44544150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:50.27, Z:2.44 [[ 6.49834744e-01 -7.59426435e-01 -3.14053262e-02 9.48963825e+01] [ 7.58481624e-01 6.50592698e-01 -3.78783292e-02 5.02657989e+01] [ 4.91978804e-02 7.94291556e-04 9.98788735e-01 2.44055301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:50.29, Z:2.44 [[ 6.47999887e-01 -7.60925698e-01 -3.29883245e-02 9.49130670e+01] [ 7.59883962e-01 6.48838617e-01 -3.98097192e-02 5.02894810e+01] [ 5.16963371e-02 7.29394822e-04 9.98662584e-01 2.43639446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:50.31, Z:2.44 [[ 6.45886315e-01 -7.62686150e-01 -3.37743146e-02 9.49317483e+01] [ 7.61595379e-01 6.46768471e-01 -4.07801902e-02 5.03114816e+01] [ 5.29466482e-02 6.17004853e-04 9.98597152e-01 2.43547576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:50.33, Z:2.44 [[ 6.41777580e-01 -7.66144687e-01 -3.38209359e-02 9.49534292e+01] [ 7.65054587e-01 6.42668031e-01 -4.08568286e-02 5.03313744e+01] [ 5.30378765e-02 3.46134433e-04 9.98592441e-01 2.43957348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:50.35, Z:2.44 [[ 6.39735602e-01 -7.67874285e-01 -3.32782551e-02 9.49731074e+01] [ 7.66820231e-01 6.40600529e-01 -4.02205957e-02 5.03518695e+01] [ 5.22024290e-02 2.12107741e-04 9.98636501e-01 2.44398387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:50.37, Z:2.45 [[ 6.37629103e-01 -7.69692029e-01 -3.16750327e-02 9.49909281e+01] [ 7.68738407e-01 6.38415363e-01 -3.83025674e-02 5.03733751e+01] [ 4.97030083e-02 7.30174947e-05 9.98764039e-01 2.44945865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:50.40, Z:2.45 [[ 6.38035909e-01 -7.69366392e-01 -3.13932061e-02 9.50061483e+01] [ 7.68428286e-01 6.38807751e-01 -3.79819315e-02 5.03953987e+01] [ 4.92762450e-02 1.10408638e-04 9.98785182e-01 2.45055158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:50.42, Z:2.45 [[ 6.39188666e-01 -7.68420867e-01 -3.11001730e-02 9.50216195e+01] [ 7.67498164e-01 6.39944790e-01 -3.76461599e-02 5.04189520e+01] [ 4.88304885e-02 1.93673054e-04 9.98807061e-01 2.45093843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:50.44, Z:2.45 [[ 6.40761823e-01 -7.67115159e-01 -3.09615596e-02 9.50375677e+01] [ 7.66198148e-01 6.41509345e-01 -3.74987731e-02 5.04428660e+01] [ 4.86280071e-02 3.05092606e-04 9.98816912e-01 2.45137425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:50.47, Z:2.45 [[ 6.44367405e-01 -7.64087630e-01 -3.09958271e-02 9.50523949e+01] [ 7.63164119e-01 6.45112234e-01 -3.75597332e-02 5.04673407e+01] [ 4.86947148e-02 5.47364736e-04 9.98813559e-01 2.45296246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:50.49, Z:2.46 [[ 6.45571949e-01 -7.63085872e-01 -3.06073725e-02 9.50699706e+01] [ 7.62183669e-01 6.46296808e-01 -3.71010836e-02 5.04905259e+01] [ 4.80927599e-02 6.22979380e-04 9.98842679e-01 2.45579019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:50.51, Z:2.46 [[ 6.46521083e-01 -7.62271426e-01 -3.08668524e-02 9.50873608e+01] [ 7.61352075e-01 6.47257122e-01 -3.74330734e-02 5.05128594e+01] [ 4.85129523e-02 7.00729048e-04 9.98822308e-01 2.45784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:50.54, Z:2.46 [[ 6.47033220e-01 -7.61836638e-01 -3.08698568e-02 9.51038327e+01] [ 7.60916111e-01 6.47768777e-01 -3.74470803e-02 5.05356138e+01] [ 4.85250871e-02 7.40133618e-04 9.98821690e-01 2.45853040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:50.56, Z:2.46 [[ 6.47264554e-01 -7.61650141e-01 -3.06212216e-02 9.51192702e+01] [ 7.60743237e-01 6.47988027e-01 -3.71650840e-02 5.05574567e+01] [ 4.81489765e-02 7.60754291e-04 9.98839876e-01 2.45828171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:50.58, Z:2.46 [[ 6.46792348e-01 -7.62052814e-01 -3.05805039e-02 9.51373053e+01] [ 7.61147862e-01 6.47514446e-01 -3.71345437e-02 5.05784220e+01] [ 4.80998016e-02 7.42053568e-04 9.98842259e-01 2.45944777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:50.60, Z:2.46 [[ 6.45654606e-01 -7.63022335e-01 -3.04474372e-02 9.51561515e+01] [ 7.62125353e-01 6.46371761e-01 -3.69931352e-02 5.05995526e+01] [ 4.79069520e-02 6.80024352e-04 9.98851571e-01 2.46090158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:50.62, Z:2.46 [[ 6.44454055e-01 -7.64047416e-01 -3.01747751e-02 9.51752938e+01] [ 7.63166635e-01 6.45159804e-01 -3.66812485e-02 5.06205633e+01] [ 4.74937651e-02 6.10997753e-04 9.98871348e-01 2.46222115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters Centerline goodness [0,1] 0.9999288104221542 Centerline is valid? [True, True] Translation: X:95.20, Y:50.64, Z:2.46 [[ 6.40982422e-01 -7.66950458e-01 -3.04717904e-02 9.51971968e+01] [ 7.66054557e-01 6.41706182e-01 -3.70619857e-02 5.06403918e+01] [ 4.79786432e-02 4.13027452e-04 9.98848276e-01 2.46327381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:50.66, Z:2.47 [[ 6.39288214e-01 -7.68360373e-01 -3.05436939e-02 9.52165269e+01] [ 7.67460967e-01 6.40017371e-01 -3.71675731e-02 5.06606266e+01] [ 4.81065850e-02 3.19698601e-04 9.98842157e-01 2.46529162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters Centerline goodness [0,1] 0.9998808275336066 Centerline is valid? [True, True] Translation: X:95.24, Y:50.68, Z:2.47 [[ 6.37656306e-01 -7.69724369e-01 -3.03122353e-02 9.52355945e+01] [ 7.68839145e-01 6.38376334e-01 -3.69056185e-02 5.06803275e+01] [ 4.77577676e-02 2.27867296e-04 9.98858921e-01 2.46714830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.706875 meters Centerline goodness [0,1] 0.9998326279798198 Centerline is valid? [True, True] Translation: X:95.26, Y:50.70, Z:2.47 [[ 6.35712084e-01 -7.71337574e-01 -3.01412126e-02 9.52557961e+01] [ 7.70463309e-01 6.36426220e-01 -3.67145354e-02 5.07006402e+01] [ 4.75019587e-02 1.17175443e-04 9.98871138e-01 2.46961083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters Centerline goodness [0,1] 0.9999282296650718 Centerline is valid? [True, True] Translation: X:95.28, Y:50.72, Z:2.47 [[ 6.33720475e-01 -7.72968036e-01 -3.03112929e-02 9.52756016e+01] [ 7.72084753e-01 6.34444966e-01 -3.69421134e-02 5.07206667e+01] [ 4.77859200e-02 8.08657632e-06 9.98857600e-01 2.47100386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:50.74, Z:2.47 [[ 6.29881218e-01 -7.76115284e-01 -2.99118264e-02 9.52973234e+01] [ 7.75257741e-01 6.30591008e-01 -3.64748561e-02 5.07393180e+01] [ 4.71708221e-02 -2.14548199e-04 9.98886814e-01 2.47321674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters Centerline goodness [0,1] 0.9999277474049276 Centerline is valid? [True, True] Translation: X:95.32, Y:50.76, Z:2.47 [[ 6.27769915e-01 -7.77820557e-01 -3.00019161e-02 9.53168663e+01] [ 7.76958823e-01 6.28486334e-01 -3.66048452e-02 5.07595821e+01] [ 4.73277953e-02 -3.30832803e-04 9.98879357e-01 2.47414126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:50.78, Z:2.48 [[ 6.26090025e-01 -7.79183328e-01 -2.97425962e-02 9.53363617e+01] [ 7.78337077e-01 6.26795953e-01 -3.63074097e-02 5.07803772e+01] [ 4.69326673e-02 -4.18058307e-04 9.98897968e-01 2.47529933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters Centerline goodness [0,1] 0.9999517467670334 Centerline is valid? [True, True] Translation: X:95.36, Y:50.80, Z:2.48 [[ 6.24563376e-01 -7.80414757e-01 -2.95532660e-02 9.53557856e+01] [ 7.79579738e-01 6.25261994e-01 -3.60953070e-02 5.08016964e+01] [ 4.66478443e-02 -4.95320512e-04 9.98911274e-01 2.47660360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88687499999999 meters Centerline goodness [0,1] 0.9999274801779153 Centerline is valid? [True, True] Translation: X:95.37, Y:50.82, Z:2.48 [[ 6.23307120e-01 -7.81451010e-01 -2.86801738e-02 9.53747104e+01] [ 7.80664907e-01 6.23966363e-01 -3.50468335e-02 5.08221339e+01] [ 4.52828472e-02 -5.44664342e-04 9.98974057e-01 2.47908173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters Centerline goodness [0,1] 0.9999758925773246 Centerline is valid? [True, True] Translation: X:95.39, Y:50.84, Z:2.48 [[ 6.23356637e-01 -7.81411784e-01 -2.86727664e-02 9.53921216e+01] [ 7.80625203e-01 6.24015499e-01 -3.50563827e-02 5.08436932e+01] [ 4.52857211e-02 -5.30055235e-04 9.98973935e-01 2.48173109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:50.87, Z:2.48 [[ 6.23994082e-01 -7.80882437e-01 -2.92233652e-02 9.54092729e+01] [ 7.80063830e-01 6.24677822e-01 -3.57496811e-02 5.08655136e+01] [ 4.61714862e-02 -4.88500739e-04 9.98933409e-01 2.48412737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters Centerline goodness [0,1] 0.9999517176447867 Centerline is valid? [True, True] Translation: X:95.43, Y:50.89, Z:2.49 [[ 6.25205337e-01 -7.79900561e-01 -2.95533708e-02 9.54260543e+01] [ 7.79061312e-01 6.25903306e-01 -3.61735227e-02 5.08865569e+01] [ 4.67093031e-02 -4.08008336e-04 9.98908442e-01 2.48547473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.006875 meters Centerline goodness [0,1] 0.9999276777319737 Centerline is valid? [True, True] Translation: X:95.44, Y:50.91, Z:2.49 [[ 6.28534874e-01 -7.77153930e-01 -3.12358933e-02 9.54410579e+01] [ 7.76212014e-01 6.29310518e-01 -3.82515625e-02 5.09109281e+01] [ 4.93844283e-02 -2.03234591e-04 9.98779824e-01 2.48519672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:50.93, Z:2.49 [[ 6.30484910e-01 -7.75558564e-01 -3.15862590e-02 9.54568785e+01] [ 7.74592335e-01 6.31275621e-01 -3.87014861e-02 5.09338800e+01] [ 4.99549043e-02 -6.57711093e-05 9.98751472e-01 2.48549065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.066875 meters Centerline goodness [0,1] 0.999975907678223 Centerline is valid? [True, True] Translation: X:95.47, Y:50.96, Z:2.49 [[ 6.32366489e-01 -7.73992360e-01 -3.23797893e-02 9.54731560e+01] [ 7.72973752e-01 6.33194932e-01 -3.96958088e-02 5.09574562e+01] [ 5.12269712e-02 7.35719477e-05 9.98687034e-01 2.48561324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters Centerline goodness [0,1] 0.9999759546022892 Centerline is valid? [True, True] Translation: X:95.49, Y:50.98, Z:2.48 [[ 6.35297069e-01 -7.71539820e-01 -3.35252309e-02 9.54891437e+01] [ 7.70443181e-01 6.36180964e-01 -4.11228129e-02 5.09809622e+01] [ 5.30560013e-02 2.95916950e-04 9.98591495e-01 2.48485911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:51.00, Z:2.49 [[ 6.35934269e-01 -7.70993054e-01 -3.40193389e-02 9.55072590e+01] [ 7.69861869e-01 6.36843450e-01 -4.17507161e-02 5.10032123e+01] [ 5.38545052e-02 3.60519294e-04 9.98548728e-01 2.48562172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:51.03, Z:2.49 [[ 6.35879711e-01 -7.71015375e-01 -3.45294811e-02 9.55258400e+01] [ 7.69848770e-01 6.36816416e-01 -4.23995678e-02 5.10250419e+01] [ 5.46796591e-02 3.78546323e-04 9.98503877e-01 2.48679944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.186875 meters Centerline goodness [0,1] 0.9999035075022917 Centerline is valid? [True, True] Translation: X:95.55, Y:51.04, Z:2.49 [[ 6.35462771e-01 -7.71341416e-01 -3.49211563e-02 9.55451378e+01] [ 7.70147364e-01 6.36421467e-01 -4.29039977e-02 5.10449642e+01] [ 5.53182039e-02 3.69456751e-04 9.98468707e-01 2.48794468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:51.07, Z:2.49 [[ 6.34842373e-01 -7.71851932e-01 -3.49250104e-02 9.55643843e+01] [ 7.70657083e-01 6.35802233e-01 -4.29322818e-02 5.10658775e+01] [ 5.53427643e-02 3.40025016e-04 9.98467357e-01 2.48987237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:51.09, Z:2.49 [[ 6.34311267e-01 -7.72280862e-01 -3.50925346e-02 9.55835211e+01] [ 7.71073850e-01 6.35281172e-01 -4.31619097e-02 5.10867862e+01] [ 5.56267434e-02 3.19149913e-04 9.98451583e-01 2.49107708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:51.11, Z:2.49 [[ 6.33665624e-01 -7.72791596e-01 -3.55109372e-02 9.56024436e+01] [ 7.71555045e-01 6.34659802e-01 -4.37006634e-02 5.11076237e+01] [ 5.63088697e-02 2.92965404e-04 9.98413354e-01 2.49269708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30687499999999 meters Centerline goodness [0,1] 0.9999513464859999 Centerline is valid? [True, True] Translation: X:95.62, Y:51.13, Z:2.49 [[ 6.33415256e-01 -7.73027733e-01 -3.48315711e-02 9.56217329e+01] [ 7.71837159e-01 6.34372166e-01 -4.28877061e-02 5.11282712e+01] [ 5.52495654e-02 2.81426461e-04 9.98472537e-01 2.49494334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters Centerline goodness [0,1] 0.999951231406974 Centerline is valid? [True, True] Translation: X:95.64, Y:51.15, Z:2.50 [[ 6.33622974e-01 -7.72863090e-01 -3.47069391e-02 9.56396120e+01] [ 7.71679501e-01 6.34572729e-01 -4.27574370e-02 5.11496617e+01] [ 5.50697219e-02 3.09460908e-04 9.98482464e-01 2.49644789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:51.17, Z:2.50 [[ 6.34563958e-01 -7.72111253e-01 -3.42461183e-02 9.56562656e+01] [ 7.70956640e-01 6.35487267e-01 -4.22112921e-02 5.11708518e+01] [ 5.43547858e-02 3.83492302e-04 9.98521612e-01 2.49749344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:51.19, Z:2.50 [[ 6.35351056e-01 -7.71471726e-01 -3.40648139e-02 9.56737928e+01] [ 7.70327480e-01 6.36263449e-01 -4.20047227e-02 5.11925528e+01] [ 5.40796519e-02 4.46682643e-04 9.98536525e-01 2.49927746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:51.22, Z:2.50 [[ 6.37666786e-01 -7.69569699e-01 -3.38163925e-02 9.56908531e+01] [ 7.68438200e-01 6.38562523e-01 -4.17209413e-02 5.12152983e+01] [ 5.37010531e-02 6.18250772e-04 9.98556866e-01 2.49974004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:51.24, Z:2.50 [[ 6.38920478e-01 -7.68523798e-01 -3.39380946e-02 9.57067629e+01] [ 7.67381486e-01 6.39820795e-01 -4.18927738e-02 5.12373850e+01] [ 5.39098923e-02 7.22685623e-04 9.98545543e-01 2.50032716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:51.26, Z:2.50 [[ 6.40346626e-01 -7.67328294e-01 -3.41099472e-02 9.57241169e+01] [ 7.66171532e-01 6.41253914e-01 -4.21260121e-02 5.12596254e+01] [ 5.41976181e-02 8.41179166e-04 9.98529875e-01 2.50080472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:51.28, Z:2.50 [[ 6.43144036e-01 -7.64934529e-01 -3.52266395e-02 9.57419476e+01] [ 7.63695856e-01 6.44107114e-01 -4.35277525e-02 5.12823451e+01] [ 5.59856100e-02 1.09217583e-03 9.98430978e-01 2.50098238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:51.30, Z:2.50 [[ 6.43996088e-01 -7.64186607e-01 -3.58868817e-02 9.57591476e+01] [ 7.62898664e-01 6.44994114e-01 -4.43646423e-02 5.13043579e+01] [ 5.70496929e-02 1.19260192e-03 9.98370628e-01 2.50089765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:51.33, Z:2.50 [[ 6.44756490e-01 -7.63530060e-01 -3.62065655e-02 9.57774520e+01] [ 7.62216670e-01 6.45771025e-01 -4.47831697e-02 5.13258853e+01] [ 5.75744471e-02 1.27699156e-03 9.98340399e-01 2.50210396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:51.35, Z:2.50 [[ 6.45306000e-01 -7.63054973e-01 -3.64317842e-02 9.57969203e+01] [ 7.61723080e-01 6.46332194e-01 -4.50848519e-02 5.13474170e+01] [ 5.79492555e-02 1.34259461e-03 9.98318627e-01 2.50393275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:51.37, Z:2.51 [[ 6.46344043e-01 -7.62200519e-01 -3.59130547e-02 9.58101549e+01] [ 7.60903763e-01 6.47339457e-01 -4.44644881e-02 5.13718687e+01] [ 5.71387932e-02 1.41297859e-03 9.98365245e-01 2.50606844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:51.40, Z:2.51 [[ 6.51584137e-01 -7.57811548e-01 -3.40553879e-02 9.58166745e+01] [ 7.56638440e-01 6.52471226e-01 -4.21849508e-02 5.14028423e+01] [ 5.41884036e-02 1.71942918e-03 9.98529249e-01 2.50885749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:51.44, Z:2.51 [[ 6.58549231e-01 -7.51798606e-01 -3.33431718e-02 9.58220986e+01] [ 7.50665185e-01 6.59389175e-01 -4.13242844e-02 5.14355786e+01] [ 5.30536660e-02 2.18451744e-03 9.98589273e-01 2.50849795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72687499999999 meters Centerline goodness [0,1] 0.9999768470283161 Centerline is valid? [True, True] Translation: X:95.82, Y:51.47, Z:2.51 [[ 6.65997126e-01 -7.45194299e-01 -3.36642957e-02 9.58225415e+01] [ 7.44029321e-01 6.66841715e-01 -4.17432233e-02 5.14711662e+01] [ 5.35555688e-02 2.75364368e-03 9.98561074e-01 2.50718755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters Centerline goodness [0,1] 0.998788422705856 Centerline is valid? [True, True] Translation: X:95.81, Y:51.52, Z:2.51 [[ 6.84489996e-01 -7.28199880e-01 -3.46176133e-02 9.58077465e+01] [ 7.26945085e-01 6.85351787e-01 -4.29391577e-02 5.15194030e+01] [ 5.49935327e-02 4.22632008e-03 9.98477766e-01 2.50675253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.786875 meters Centerline goodness [0,1] 0.96006952083425 Centerline is valid? [True, True] Translation: X:95.80, Y:51.56, Z:2.51 [[ 6.95266929e-01 -7.17904550e-01 -3.48848655e-02 9.57999065e+01] [ 7.16616628e-01 6.96122905e-01 -4.32840672e-02 5.15608459e+01] [ 5.53579827e-02 5.09490583e-03 9.98453572e-01 2.50669827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters Centerline goodness [0,1] 0.7959568561802038 Centerline is valid? [True, False] Translation: X:95.72, Y:51.51, Z:2.52 [[ 7.15699001e-01 -6.94769224e-01 -7.12086053e-02 9.57245916e+01] [ 6.95655313e-01 7.18207083e-01 -1.55650517e-02 5.15055574e+01] [ 6.19566436e-02 -3.83967527e-02 9.97339994e-01 2.52340948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.846875 meters Centerline goodness [0,1] 0.7241537914741485 Centerline is valid? [False, False] Translation: X:95.67, Y:51.45, Z:2.53 [[ 7.21486320e-01 -6.86033263e-01 -9.38927746e-02 9.56679994e+01] [ 6.89256234e-01 7.24512807e-01 2.65257890e-03 5.14500305e+01] [ 6.62067604e-02 -6.66299796e-02 9.95578782e-01 2.53208676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters Centerline goodness [0,1] 0.7227583058374318 Centerline is valid? [False, False] Translation: X:95.62, Y:51.40, Z:2.54 [[ 7.24975093e-01 -6.80552336e-01 -1.06111419e-01 9.56153154e+01] [ 6.85312586e-01 7.28147199e-01 1.21785110e-02 5.14003948e+01] [ 6.89766180e-02 -8.15486078e-02 9.94279664e-01 2.53594121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.906875 meters Centerline goodness [0,1] 0.7107330652644602 Centerline is valid? [False, False] Translation: X:95.56, Y:51.35, Z:2.54 [[ 7.25776949e-01 -6.78638242e-01 -1.12685211e-01 9.55626126e+01] [ 6.84357428e-01 7.28927954e-01 1.78591386e-02 5.13511256e+01] [ 7.00195056e-02 -9.00787120e-02 9.93470228e-01 2.53622251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters Centerline goodness [0,1] 0.7107330652644602 Centerline is valid? [False, False] Translation: X:95.52, Y:51.29, Z:2.53 [[ 7.25419760e-01 -6.78510413e-01 -1.15714264e-01 9.55153641e+01] [ 6.84711377e-01 7.28520526e-01 2.06923470e-02 5.12914052e+01] [ 7.02602434e-02 -9.42415102e-02 9.93066985e-01 2.53487018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96687499999999 meters Centerline goodness [0,1] 0.7732005246761764 Centerline is valid? [False, False] Translation: X:95.45, Y:51.25, Z:2.53 [[ 7.22716641e-01 -6.80732573e-01 -1.19514940e-01 9.54534214e+01] [ 6.87265091e-01 7.26129574e-01 2.00633015e-02 5.12472619e+01] [ 7.31255896e-02 -9.66385278e-02 9.92629661e-01 2.53274297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters Centerline goodness [0,1] 0.7480960987794725 Centerline is valid? [False, False] Translation: X:95.41, Y:51.20, Z:2.53 [[ 7.18624807e-01 -6.84708215e-01 -1.21462122e-01 9.54062546e+01] [ 6.91546783e-01 7.22016342e-01 2.13412473e-02 5.12031124e+01] [ 7.30851100e-02 -9.93330898e-02 9.92366618e-01 2.52938257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02687499999999 meters Centerline goodness [0,1] 0.81225328612705 Centerline is valid? [False, False] Translation: X:95.35, Y:51.15, Z:2.53 [[ 7.12812945e-01 -6.89488743e-01 -1.28463922e-01 9.53526030e+01] [ 6.97469275e-01 7.16124174e-01 2.65099416e-02 5.11475088e+01] [ 7.37178135e-02 -1.08496268e-01 9.91359795e-01 2.52796020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters Centerline goodness [0,1] 0.876147912330109 Centerline is valid? [False, False] Translation: X:95.30, Y:51.10, Z:2.53 [[ 7.06951237e-01 -6.95467649e-01 -1.28626197e-01 9.53028622e+01] [ 7.03349035e-01 7.10420222e-01 2.45610068e-02 5.10962698e+01] [ 7.42972660e-02 -1.07832546e-01 9.91388954e-01 2.52654157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08687499999999 meters Centerline goodness [0,1] 0.9881714928885705 Centerline is valid? [False, True] Translation: X:95.25, Y:51.04, Z:2.53 [[ 6.93158093e-01 -7.08835762e-01 -1.30704707e-01 9.52496186e+01] [ 7.17235528e-01 6.96284351e-01 2.75916790e-02 5.10424068e+01] [ 7.14496731e-02 -1.12871455e-01 9.91037325e-01 2.52801774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters Centerline goodness [0,1] 0.9976569344552882 Centerline is valid? [True, True] Translation: X:95.25, Y:51.08, Z:2.50 [[ 6.87177344e-01 -7.25489534e-01 -3.81081794e-02 9.52539370e+01] [ 7.23965746e-01 6.88215901e-01 -4.72490457e-02 5.10779234e+01] [ 6.05053432e-02 4.87945723e-03 9.98155947e-01 2.49640185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.146875 meters Centerline goodness [0,1] 0.9985164712337675 Centerline is valid? [True, True] Translation: X:95.27, Y:51.10, Z:2.50 [[ 6.78687682e-01 -7.33446246e-01 -3.79425146e-02 9.52723233e+01] [ 7.31947124e-01 6.79734706e-01 -4.70546238e-02 5.10987628e+01] [ 6.03028812e-02 4.16347914e-03 9.98171442e-01 2.49823283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters Centerline goodness [0,1] 0.9985556188461225 Centerline is valid? [True, True] Translation: X:95.30, Y:51.11, Z:2.50 [[ 6.62775696e-01 -7.47928560e-01 -3.64862491e-02 9.52972065e+01] [ 7.46563053e-01 6.63773507e-01 -4.52585827e-02 5.11149707e+01] [ 5.80687921e-02 2.75700311e-03 9.98308777e-01 2.50220376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.206875 meters Centerline goodness [0,1] 0.9982688391038697 Centerline is valid? [True, True] Translation: X:95.31, Y:51.14, Z:2.50 [[ 6.55615205e-01 -7.54261966e-01 -3.54625095e-02 9.53145188e+01] [ 7.52980459e-01 6.56570090e-01 -4.40016494e-02 5.11363638e+01] [ 5.64723937e-02 2.14557373e-03 9.98401856e-01 2.50424442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters Centerline goodness [0,1] 0.9979129153707644 Centerline is valid? [True, True] Translation: X:95.33, Y:51.16, Z:2.51 [[ 6.48662695e-01 -7.60312901e-01 -3.40734662e-02 9.53348164e+01] [ 7.59137518e-01 6.49555112e-01 -4.22892958e-02 5.11565082e+01] [ 5.42856913e-02 1.56504198e-03 9.98524218e-01 2.50732750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.266875 meters Centerline goodness [0,1] 0.9973832692779458 Centerline is valid? [True, True] Translation: X:95.36, Y:51.18, Z:2.51 [[ 6.42320800e-01 -7.65711358e-01 -3.33182607e-02 9.53551500e+01] [ 7.64593594e-01 6.43183416e-01 -4.13730557e-02 5.11772571e+01] [ 5.31095714e-02 1.09984550e-03 9.98588085e-01 2.51042039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters Centerline goodness [0,1] 0.996466791928764 Centerline is valid? [True, True] Translation: X:95.38, Y:51.20, Z:2.51 [[ 6.32560386e-01 -7.73838102e-01 -3.22792629e-02 9.53754159e+01] [ 7.72798399e-01 6.33383308e-01 -4.01026185e-02 5.11965265e+01] [ 5.14780805e-02 4.21965201e-04 9.98674035e-01 2.51305028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.326875 meters Centerline goodness [0,1] 0.995734693877551 Centerline is valid? [True, True] Translation: X:95.39, Y:51.22, Z:2.51 [[ 6.29058571e-01 -7.76680559e-01 -3.24441642e-02 9.53944170e+01] [ 7.75632969e-01 6.29894649e-01 -4.03265236e-02 5.12184260e+01] [ 5.17572323e-02 2.02981943e-04 9.98659676e-01 2.51435537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters Centerline goodness [0,1] 0.9956423432682425 Centerline is valid? [True, True] Translation: X:95.41, Y:51.24, Z:2.52 [[ 6.26313224e-01 -7.78868060e-01 -3.31102793e-02 9.54120759e+01] [ 7.77778895e-01 6.27187806e-01 -4.11757946e-02 5.12400888e+01] [ 5.28368746e-02 3.64682272e-05 9.98603156e-01 2.51516855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38687499999999 meters Centerline goodness [0,1] 0.9949456865102818 Centerline is valid? [True, True] Translation: X:95.43, Y:51.26, Z:2.51 [[ 6.24820886e-01 -7.80047437e-01 -3.35388897e-02 9.54284815e+01] [ 7.78930364e-01 6.25720380e-01 -4.17312090e-02 5.12616702e+01] [ 5.35382894e-02 -4.99285566e-05 9.98565796e-01 2.51362457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters Centerline goodness [0,1] 0.9947843161318034 Centerline is valid? [True, True] Translation: X:95.45, Y:51.28, Z:2.51 [[ 6.23801401e-01 -7.80839604e-01 -3.40782207e-02 9.54460529e+01] [ 7.79686616e-01 6.24731543e-01 -4.24179189e-02 5.12847005e+01] [ 5.44113304e-02 -1.09975356e-04 9.98518600e-01 2.51445190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44687499999999 meters Centerline goodness [0,1] 0.9946685258473968 Centerline is valid? [True, True] Translation: X:95.46, Y:51.31, Z:2.52 [[ 6.24104623e-01 -7.80581807e-01 -3.44305432e-02 9.54630376e+01] [ 7.79403220e-01 6.25053628e-01 -4.28787007e-02 5.13067270e+01] [ 5.49912696e-02 -7.44809363e-05 9.98486833e-01 2.51535921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters Centerline goodness [0,1] 0.994705628860479 Centerline is valid? [True, True] Translation: X:95.48, Y:51.33, Z:2.52 [[ 6.24582223e-01 -7.80204757e-01 -3.43159572e-02 9.54799706e+01] [ 7.79032171e-01 6.25524210e-01 -4.27590891e-02 5.13272024e+01] [ 5.48263067e-02 -2.66677261e-05 9.98495907e-01 2.51678484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.506875 meters Centerline goodness [0,1] 0.9949250005115927 Centerline is valid? [True, True] Translation: X:95.50, Y:51.35, Z:2.52 [[ 6.25231076e-01 -7.79710912e-01 -3.37193579e-02 9.54979099e+01] [ 7.78577102e-01 6.26139675e-01 -4.20333707e-02 5.13489351e+01] [ 5.38869056e-02 2.74496360e-05 9.98547045e-01 2.51835731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters Centerline goodness [0,1] 0.9945813920075532 Centerline is valid? [True, True] Translation: X:95.52, Y:51.37, Z:2.52 [[ 6.25952927e-01 -7.79131938e-01 -3.37098892e-02 9.55161781e+01] [ 7.77996632e-01 6.26859964e-01 -4.20455261e-02 5.13708380e+01] [ 5.38903922e-02 9.23398395e-05 9.98546853e-01 2.51964130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.566875 meters Centerline goodness [0,1] 0.9949673390575572 Centerline is valid? [True, True] Translation: X:95.53, Y:51.39, Z:2.52 [[ 6.26636528e-01 -7.78594811e-01 -3.34182832e-02 9.55340410e+01] [ 7.77477042e-01 6.27526969e-01 -4.17055378e-02 5.13926660e+01] [ 5.34425893e-02 1.52265431e-04 9.98570912e-01 2.52095486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters Centerline goodness [0,1] 0.995240138097281 Centerline is valid? [True, True] Translation: X:95.55, Y:51.41, Z:2.52 [[ 6.28381714e-01 -7.77173746e-01 -3.37252176e-02 9.55506100e+01] [ 7.76032092e-01 6.29286012e-01 -4.21106638e-02 5.14147992e+01] [ 5.39501100e-02 2.89719963e-04 9.98543590e-01 2.51997942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.626875 meters Centerline goodness [0,1] 0.9953852780113625 Centerline is valid? [True, True] Translation: X:95.57, Y:51.44, Z:2.52 [[ 6.29348814e-01 -7.76396299e-01 -3.35984505e-02 9.55675178e+01] [ 7.75261402e-01 6.30244916e-01 -4.19655204e-02 5.14371163e+01] [ 5.37571273e-02 3.63368670e-04 9.98553974e-01 2.52150970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters Centerline goodness [0,1] 0.995811625293697 Centerline is valid? [True, True] Translation: X:95.58, Y:51.46, Z:2.52 [[ 6.30807284e-01 -7.75218756e-01 -3.34372636e-02 9.55848924e+01] [ 7.74091826e-01 6.31692689e-01 -4.17874618e-02 5.14601015e+01] [ 5.35164991e-02 4.76322813e-04 9.98566852e-01 2.52306373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.686875 meters Centerline goodness [0,1] 0.9963296356291906 Centerline is valid? [True, True] Translation: X:95.60, Y:51.48, Z:2.53 [[ 6.35093131e-01 -7.71716911e-01 -3.33125152e-02 9.56004019e+01] [ 7.70592428e-01 6.35965719e-01 -4.16522980e-02 5.14844360e+01] [ 5.33294005e-02 7.82716380e-04 9.98576668e-01 2.52544983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters Centerline goodness [0,1] 0.9966310029402157 Centerline is valid? [True, True] Translation: X:95.62, Y:51.51, Z:2.53 [[ 6.37677053e-01 -7.69586180e-01 -3.32428483e-02 9.56152286e+01] [ 7.68462512e-01 6.38542221e-01 -4.15836515e-02 5.15082126e+01] [ 5.32291657e-02 9.71057607e-04 9.98581851e-01 2.52669425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74687499999999 meters Centerline goodness [0,1] 0.9967670649860861 Centerline is valid? [True, True] Translation: X:95.63, Y:51.53, Z:2.53 [[ 6.40388276e-01 -7.67346331e-01 -3.29008330e-02 9.56312493e+01] [ 7.66242220e-01 6.41231848e-01 -4.11652418e-02 5.15327270e+01] [ 5.26850591e-02 1.15173089e-03 9.98610514e-01 2.52847908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters Centerline goodness [0,1] 0.997763414383913 Centerline is valid? [True, True] Translation: X:95.65, Y:51.56, Z:2.53 [[ 6.45698660e-01 -7.62917480e-01 -3.20960919e-02 9.56456317e+01] [ 7.61860254e-01 6.46494159e-01 -4.01778030e-02 5.15579401e+01] [ 5.14022842e-02 1.49001680e-03 9.98676917e-01 2.53000465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80687499999999 meters Centerline goodness [0,1] 0.9973394457860915 Centerline is valid? [True, True] Translation: X:95.66, Y:51.58, Z:2.53 [[ 6.47879444e-01 -7.61063548e-01 -3.21636795e-02 9.56634941e+01] [ 7.59998517e-01 6.48675219e-01 -4.02829373e-02 5.15811757e+01] [ 5.15216570e-02 1.65413828e-03 9.98670508e-01 2.53069555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters Centerline goodness [0,1] 0.9978134706555501 Centerline is valid? [True, True] Translation: X:95.68, Y:51.60, Z:2.53 [[ 6.49658555e-01 -7.59536911e-01 -3.23642173e-02 9.56789375e+01] [ 7.58455691e-01 6.50461718e-01 -4.05526654e-02 5.16045171e+01] [ 5.18529306e-02 1.79856121e-03 9.98653112e-01 2.53043946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.866875 meters Centerline goodness [0,1] 0.9981197244987635 Centerline is valid? [True, True] Translation: X:95.70, Y:51.63, Z:2.53 [[ 6.50809101e-01 -7.58536819e-01 -3.27018143e-02 9.56986481e+01] [ 7.57431054e-01 6.51627396e-01 -4.09870031e-02 5.16257317e+01] [ 5.23995491e-02 1.90534499e-03 9.98624382e-01 2.53068644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters Centerline goodness [0,1] 0.9982470087038057 Centerline is valid? [True, True] Translation: X:95.72, Y:51.65, Z:2.53 [[ 6.52221031e-01 -7.57257650e-01 -3.41844608e-02 9.57196539e+01] [ 7.56046345e-01 6.53112842e-01 -4.28665296e-02 5.16455484e+01] [ 5.47873178e-02 2.11341550e-03 9.98495810e-01 2.52938146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.926875 meters Centerline goodness [0,1] 0.998421225293201 Centerline is valid? [True, True] Translation: X:95.74, Y:51.67, Z:2.53 [[ 6.52478702e-01 -7.57025082e-01 -3.44175559e-02 9.57397858e+01] [ 7.55795882e-01 6.53382248e-01 -4.31766500e-02 5.16665918e+01] [ 5.51736271e-02 2.15919754e-03 9.98474441e-01 2.53002768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters Centerline goodness [0,1] 0.9982991803278689 Centerline is valid? [True, True] Translation: X:95.76, Y:51.69, Z:2.53 [[ 6.52522707e-01 -7.56992018e-01 -3.43103661e-02 9.57601388e+01] [ 7.55769242e-01 6.53420522e-01 -4.30636066e-02 5.16873424e+01] [ 5.50179038e-02 2.16926177e-03 9.98483012e-01 2.53047473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.986875 meters Centerline goodness [0,1] 0.9981216056188493 Centerline is valid? [True, True] Translation: X:95.78, Y:51.71, Z:2.53 [[ 6.52592392e-01 -7.56941719e-01 -3.40940525e-02 9.57809895e+01] [ 7.55733091e-01 6.53478775e-01 -4.28133751e-02 5.17079678e+01] [ 5.46869694e-02 2.17367918e-03 9.98501182e-01 2.53268023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters Centerline goodness [0,1] 0.9985467793765479 Centerline is valid? [True, True] Translation: X:95.80, Y:51.73, Z:2.54 [[ 6.52861067e-01 -7.56766360e-01 -3.28192671e-02 9.58039456e+01] [ 7.55645191e-01 6.53682020e-01 -4.12330147e-02 5.17252886e+01] [ 5.26571233e-02 2.11970860e-03 9.98610402e-01 2.53716010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.046875 meters Centerline goodness [0,1] 0.9986086956521739 Centerline is valid? [True, True] Translation: X:95.82, Y:51.74, Z:2.54 [[ 6.52974802e-01 -7.56705891e-01 -3.19390219e-02 9.58235944e+01] [ 7.55642877e-01 6.53752138e-01 -4.01495147e-02 5.17447381e+01] [ 5.12615781e-02 2.08212699e-03 9.98683091e-01 2.54069081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters Centerline goodness [0,1] 0.9984734067455068 Centerline is valid? [True, True] Translation: X:95.84, Y:51.76, Z:2.54 [[ 6.53233251e-01 -7.56545963e-01 -3.04059985e-02 9.58420563e+01] [ 7.55581465e-01 6.53937441e-01 -3.82422852e-02 5.17646037e+01] [ 4.88156674e-02 2.00692338e-03 9.98805788e-01 2.54368089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10687499999999 meters Centerline goodness [0,1] 0.9980839006889803 Centerline is valid? [True, True] Translation: X:95.87, Y:51.78, Z:2.55 [[ 6.54559504e-01 -7.55462256e-01 -2.87860336e-02 9.58655531e+01] [ 7.54596284e-01 6.55189167e-01 -3.62160605e-02 5.17823632e+01] [ 4.62201642e-02 1.98373259e-03 9.98929307e-01 2.54737527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters Centerline goodness [0,1] 0.9984302052965282 Centerline is valid? [True, True] Translation: X:95.89, Y:51.80, Z:2.55 [[ 6.55018312e-01 -7.55080831e-01 -2.83540053e-02 9.58852185e+01] [ 7.54239524e-01 6.55628684e-01 -3.56898882e-02 5.18028534e+01] [ 4.55384497e-02 1.99181889e-03 9.98960601e-01 2.54890742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16687499999999 meters Centerline goodness [0,1] 0.9990819511598017 Centerline is valid? [True, True] Translation: X:95.90, Y:51.83, Z:2.55 [[ 6.55658941e-01 -7.54540297e-01 -2.79337445e-02 9.59017439e+01] [ 7.53722989e-01 6.56250659e-01 -3.51671569e-02 5.18252971e+01] [ 4.48665752e-02 2.00335547e-03 9.98990979e-01 2.55009058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters Centerline goodness [0,1] 0.9986931574541074 Centerline is valid? [True, True] Translation: X:95.93, Y:51.84, Z:2.55 [[ 6.56737230e-01 -7.53561616e-01 -2.90017533e-02 9.59282077e+01] [ 7.52679278e-01 6.57373752e-01 -3.65192374e-02 5.18409581e+01] [ 4.65844869e-02 2.15452407e-03 9.98912030e-01 2.54928575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22687499999999 meters Centerline goodness [0,1] 0.9989812550937245 Centerline is valid? [True, True] Translation: X:95.95, Y:51.86, Z:2.55 [[ 6.57310551e-01 -7.53027872e-01 -2.98640834e-02 9.59454310e+01] [ 7.52090799e-01 6.57984704e-01 -3.76239300e-02 5.18627256e+01] [ 4.79819780e-02 2.27010378e-03 9.98845622e-01 2.54895333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters Centerline goodness [0,1] 0.9991229859269835 Centerline is valid? [True, True] Translation: X:95.97, Y:51.88, Z:2.55 [[ 6.57605350e-01 -7.52748905e-01 -3.04021417e-02 9.59657573e+01] [ 7.51777035e-01 6.58303595e-01 -3.83101308e-02 5.18840459e+01] [ 4.88517482e-02 2.33731502e-03 9.98803306e-01 2.54952677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.286875 meters Centerline goodness [0,1] 0.9990993941378745 Centerline is valid? [True, True] Translation: X:95.99, Y:51.90, Z:2.55 [[ 6.57881398e-01 -7.52487312e-01 -3.09016389e-02 9.59883656e+01] [ 7.51481963e-01 6.58602342e-01 -3.89591338e-02 5.19033107e+01] [ 4.96681456e-02 2.40846516e-03 9.98762872e-01 2.55023846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters Centerline goodness [0,1] 0.999138302455838 Centerline is valid? [True, True] Translation: X:96.01, Y:51.92, Z:2.55 [[ 6.58195770e-01 -7.52193007e-01 -3.13689100e-02 9.60082229e+01] [ 7.51155734e-01 6.58938184e-01 -3.95668239e-02 5.19236788e+01] [ 5.04320608e-02 2.47977952e-03 9.98724415e-01 2.55069613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.346875 meters Centerline goodness [0,1] 0.9991312262121463 Centerline is valid? [True, True] Translation: X:96.03, Y:51.94, Z:2.55 [[ 6.58582456e-01 -7.51850700e-01 -3.14590671e-02 9.60322402e+01] [ 7.50806617e-01 6.59328582e-01 -3.96893561e-02 5.19411051e+01] [ 5.05823323e-02 2.51903786e-03 9.98716718e-01 2.55266157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters Centerline goodness [0,1] 0.9995034345775056 Centerline is valid? [True, True] Translation: X:96.05, Y:51.96, Z:2.55 [[ 6.58556506e-01 -7.51872339e-01 -3.14851429e-02 9.60517809e+01] [ 7.50825587e-01 6.59303856e-01 -3.97411998e-02 5.19599839e+01] [ 5.06385849e-02 2.53197480e-03 9.98713834e-01 2.55391739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.406875 meters Centerline goodness [0,1] 0.9996460324400858 Centerline is valid? [True, True] Translation: X:96.07, Y:51.98, Z:2.55 [[ 6.58715449e-01 -7.51722375e-01 -3.17400227e-02 9.60739573e+01] [ 7.50657762e-01 6.59474679e-01 -4.00758310e-02 5.19782724e+01] [ 5.10576402e-02 2.57267458e-03 9.98692394e-01 2.55458414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters Centerline goodness [0,1] 0.9992235373121799 Centerline is valid? [True, True] Translation: X:96.10, Y:52.00, Z:2.56 [[ 6.58835108e-01 -7.51618758e-01 -3.17103080e-02 9.60977432e+01] [ 7.50555430e-01 6.59592720e-01 -4.00498609e-02 5.19967843e+01] [ 5.10181150e-02 2.58591059e-03 9.98694380e-01 2.55616634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46687499999999 meters Centerline goodness [0,1] 0.999284331060032 Centerline is valid? [True, True] Translation: X:96.12, Y:52.02, Z:2.56 [[ 6.58974176e-01 -7.51494665e-01 -3.17616735e-02 9.61187264e+01] [ 7.50426744e-01 6.59733994e-01 -4.01342535e-02 5.20169228e+01] [ 5.11149331e-02 2.61262736e-03 9.98689360e-01 2.55725174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters Centerline goodness [0,1] 0.9994256296800544 Centerline is valid? [True, True] Translation: X:96.14, Y:52.04, Z:2.56 [[ 6.58993091e-01 -7.51485486e-01 -3.15859352e-02 9.61392178e+01] [ 7.50428356e-01 6.59744453e-01 -3.99316823e-02 5.20363305e+01] [ 5.08467252e-02 2.61172126e-03 9.98703054e-01 2.55893714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52687499999999 meters Centerline goodness [0,1] 0.9995910636649304 Centerline is valid? [True, True] Translation: X:96.16, Y:52.05, Z:2.56 [[ 6.59090552e-01 -7.51454719e-01 -3.02563869e-02 9.61622487e+01] [ 7.50483785e-01 6.59779866e-01 -3.82703297e-02 5.20523922e+01] [ 4.87209747e-02 2.51668498e-03 9.98809258e-01 2.56240895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters Centerline goodness [0,1] 0.9996325198331207 Centerline is valid? [True, True] Translation: X:96.18, Y:52.07, Z:2.57 [[ 6.59027531e-01 -7.51524625e-01 -2.98906567e-02 9.61827925e+01] [ 7.50576207e-01 6.59700326e-01 -3.78263949e-02 5.20720799e+01] [ 4.81463432e-02 2.49341989e-03 9.98837180e-01 2.56520456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58687499999999 meters Centerline goodness [0,1] 0.9994570057122999 Centerline is valid? [True, True] Translation: X:96.20, Y:52.09, Z:2.57 [[ 6.59051219e-01 -7.51516966e-01 -2.95591067e-02 9.62034018e+01] [ 7.50588525e-01 6.59709104e-01 -3.74267913e-02 5.20922586e+01] [ 4.76272805e-02 2.47944617e-03 9.98862100e-01 2.56742396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters Centerline goodness [0,1] 0.9995199022346368 Centerline is valid? [True, True] Translation: X:96.22, Y:52.11, Z:2.57 [[ 6.59396304e-01 -7.51229051e-01 -2.91792208e-02 9.62241682e+01] [ 7.50323162e-01 6.60036938e-01 -3.69647448e-02 5.21131206e+01] [ 4.70283537e-02 2.48057091e-03 9.98890475e-01 2.56961833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.646875 meters Centerline goodness [0,1] 0.9994302868286697 Centerline is valid? [True, True] Translation: X:96.25, Y:52.13, Z:2.57 [[ 6.60267299e-01 -7.50453089e-01 -2.94492125e-02 9.62450697e+01] [ 7.49528781e-01 6.60918720e-01 -3.73236179e-02 5.21315147e+01] [ 4.74731602e-02 2.57053205e-03 9.98869206e-01 2.56962339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters Centerline goodness [0,1] 0.9995160474273521 Centerline is valid? [True, True] Translation: X:96.26, Y:52.15, Z:2.57 [[ 6.60883503e-01 -7.49885753e-01 -3.00724691e-02 9.62641587e+01] [ 7.48920878e-01 6.61561952e-01 -3.81222127e-02 5.21537400e+01] [ 4.84821056e-02 2.67244151e-03 9.98820476e-01 2.56944812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.706875 meters Centerline goodness [0,1] 0.9993826616103713 Centerline is valid? [True, True] Translation: X:96.28, Y:52.18, Z:2.57 [[ 6.61512080e-01 -7.49301062e-01 -3.08169848e-02 9.62835507e+01] [ 7.48286246e-01 6.62223608e-01 -3.90843585e-02 5.21757642e+01] [ 4.96936862e-02 2.79484946e-03 9.98760595e-01 2.56824630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters Centerline goodness [0,1] 0.9992895362003508 Centerline is valid? [True, True] Translation: X:96.30, Y:52.19, Z:2.57 [[ 6.62718849e-01 -7.48180632e-01 -3.20853290e-02 9.63039861e+01] [ 7.47078233e-01 6.63488267e-01 -4.07115718e-02 5.21942910e+01] [ 5.17478489e-02 3.01007507e-03 9.98655646e-01 2.56703926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.766875 meters Centerline goodness [0,1] 0.9990605918271489 Centerline is valid? [True, True] Translation: X:96.32, Y:52.22, Z:2.57 [[ 6.62672803e-01 -7.48188701e-01 -3.28393660e-02 9.63232218e+01] [ 7.47033018e-01 6.63478797e-01 -4.16840027e-02 5.22152802e+01] [ 5.29757229e-02 3.09076420e-03 9.98591017e-01 2.56735990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters Centerline goodness [0,1] 0.9993262212240315 Centerline is valid? [True, True] Translation: X:96.34, Y:52.24, Z:2.57 [[ 6.62658617e-01 -7.48174433e-01 -3.34451044e-02 9.63430208e+01] [ 7.46974529e-01 6.63494546e-01 -4.24740002e-02 5.22357296e+01] [ 5.39686054e-02 3.16312110e-03 9.98537623e-01 2.56742203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.826875 meters Centerline goodness [0,1] 0.9993262212240315 Centerline is valid? [True, True] Translation: X:96.36, Y:52.26, Z:2.57 [[ 6.62471274e-01 -7.48340777e-01 -3.34349031e-02 9.63599989e+01] [ 7.47140681e-01 6.63306927e-01 -4.24820294e-02 5.22575054e+01] [ 5.39686377e-02 3.16254786e-03 9.98537623e-01 2.56863017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters Centerline goodness [0,1] 0.9988086675058443 Centerline is valid? [True, True] Translation: X:96.38, Y:52.28, Z:2.57 [[ 6.61793682e-01 -7.48925938e-01 -3.37499970e-02 9.63787239e+01] [ 7.47702709e-01 6.62646184e-01 -4.29033047e-02 5.22779084e+01] [ 5.44957044e-02 3.15817178e-03 9.98509011e-01 2.56887253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88687499999999 meters Centerline goodness [0,1] 0.9990956977821989 Centerline is valid? [True, True] Translation: X:96.40, Y:52.29, Z:2.57 [[ 6.59846658e-01 -7.50636935e-01 -3.38611818e-02 9.64032974e+01] [ 7.49406952e-01 6.60707926e-01 -4.30610757e-02 5.22944936e+01] [ 5.46955851e-02 3.03790179e-03 9.98498455e-01 2.56984585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters Centerline goodness [0,1] 0.9992027698054758 Centerline is valid? [True, True] Translation: X:96.42, Y:52.31, Z:2.57 [[ 6.58105745e-01 -7.52162244e-01 -3.38937517e-02 9.64234969e+01] [ 7.50930712e-01 6.58971459e-01 -4.31240430e-02 5.23135870e+01] [ 5.47712920e-02 2.92832141e-03 9.98494632e-01 2.57128589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94687499999999 meters Centerline goodness [0,1] 0.999429874572406 Centerline is valid? [True, True] Translation: X:96.44, Y:52.33, Z:2.57 [[ 6.56216687e-01 -7.53831242e-01 -3.34382816e-02 9.64445311e+01] [ 7.52633598e-01 6.57062257e-01 -4.25659122e-02 5.23321235e+01] [ 5.40585472e-02 2.76568765e-03 9.98533938e-01 2.57290351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters Centerline goodness [0,1] 0.9996999076638966 Centerline is valid? [True, True] Translation: X:96.47, Y:52.35, Z:2.57 [[ 6.54451375e-01 -7.55364406e-01 -3.34366855e-02 9.64658740e+01] [ 7.54167673e-01 6.55299606e-01 -4.25857609e-02 5.23514824e+01] [ 5.40788148e-02 2.65344246e-03 9.98533145e-01 2.57495958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.006875 meters Centerline goodness [0,1] 0.999515615629469 Centerline is valid? [True, True] Translation: X:96.50, Y:52.36, Z:2.58 [[ 6.49702849e-01 -7.59495041e-01 -3.24575323e-02 9.65011904e+01] [ 7.58371484e-01 6.50509181e-01 -4.13581684e-02 5.23590360e+01] [ 5.25252466e-02 2.25565295e-03 9.98617049e-01 2.58108332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters Centerline goodness [0,1] 0.9995358228700072 Centerline is valid? [True, True] Translation: X:96.52, Y:52.38, Z:2.58 [[ 6.46866564e-01 -7.61930816e-01 -3.20168678e-02 9.65228018e+01] [ 7.60839392e-01 6.47655195e-01 -4.08187276e-02 5.23773450e+01] [ 5.18369372e-02 2.04457591e-03 9.98653469e-01 2.58357270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.066875 meters Centerline goodness [0,1] 0.9998125893129056 Centerline is valid? [True, True] Translation: X:96.54, Y:52.40, Z:2.58 [[ 6.43345705e-01 -7.64912428e-01 -3.18634844e-02 9.65370928e+01] [ 7.63833899e-01 6.44131740e-01 -4.06457571e-02 5.24015629e+01] [ 5.16147264e-02 1.81086374e-03 9.98665430e-01 2.58314957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters Centerline goodness [0,1] 0.9993143073321826 Centerline is valid? [True, True] Translation: X:96.57, Y:52.41, Z:2.59 [[ 6.35980212e-01 -7.71068542e-01 -3.13444179e-02 9.65717564e+01] [ 7.70031153e-01 6.36750812e-01 -4.00053297e-02 5.24096603e+01] [ 5.08054348e-02 1.30641982e-03 9.98707716e-01 2.58730647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.126875 meters Centerline goodness [0,1] 0.9995254140762185 Centerline is valid? [True, True] Translation: X:96.59, Y:52.43, Z:2.59 [[ 6.31785373e-01 -7.74499378e-01 -3.15904468e-02 9.65895632e+01] [ 7.73448800e-01 6.32573794e-01 -4.03404197e-02 5.24301551e+01] [ 5.12269188e-02 1.05289397e-03 9.98686484e-01 2.58656421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters Centerline goodness [0,1] 0.9992157235544359 Centerline is valid? [True, True] Translation: X:96.61, Y:52.45, Z:2.59 [[ 6.27563978e-01 -7.77916370e-01 -3.17738069e-02 9.66127423e+01] [ 7.76857041e-01 6.28367327e-01 -4.05911224e-02 5.24470595e+01] [ 5.15421207e-02 7.89820634e-04 9.98670509e-01 2.58740377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.186875 meters Centerline goodness [0,1] 0.9988474559992316 Centerline is valid? [True, True] Translation: X:96.64, Y:52.46, Z:2.59 [[ 6.19805349e-01 -7.84088083e-01 -3.23605731e-02 9.66431209e+01] [ 7.82996444e-01 6.20649489e-01 -4.13615695e-02 5.24584974e+01] [ 5.25156869e-02 2.97908316e-04 9.98620055e-01 2.58950686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters Centerline goodness [0,1] 0.9988417547415666 Centerline is valid? [True, True] Translation: X:96.66, Y:52.48, Z:2.59 [[ 6.15986245e-01 -7.87084150e-01 -3.25497507e-02 9.66646449e+01] [ 7.85982651e-01 6.16845635e-01 -4.16261401e-02 5.24772643e+01] [ 5.28414467e-02 5.75903707e-05 9.98602913e-01 2.58982236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24687499999999 meters Centerline goodness [0,1] 0.9986948009571459 Centerline is valid? [True, True] Translation: X:96.69, Y:52.50, Z:2.59 [[ 6.12340762e-01 -7.89907170e-01 -3.29462206e-02 9.66859364e+01] [ 7.88781474e-01 6.13226412e-01 -4.21562996e-02 5.24960385e+01] [ 5.35030560e-02 -1.73347874e-04 9.98567671e-01 2.58981497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters Centerline goodness [0,1] 0.998883847329726 Centerline is valid? [True, True] Translation: X:96.71, Y:52.51, Z:2.59 [[ 6.08846527e-01 -7.92594518e-01 -3.31637715e-02 9.67071357e+01] [ 7.91456632e-01 6.09748941e-01 -4.24573776e-02 5.25145393e+01] [ 5.38730593e-02 -3.97659965e-04 9.98547713e-01 2.59010893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30687499999999 meters Centerline goodness [0,1] 0.9989510148321624 Centerline is valid? [True, True] Translation: X:96.73, Y:52.53, Z:2.59 [[ 6.02921131e-01 -7.97107583e-01 -3.32507197e-02 9.67316178e+01] [ 7.95969369e-01 6.03836798e-01 -4.25897238e-02 5.25303345e+01] [ 5.40266000e-02 -7.88309907e-04 9.98539186e-01 2.59112046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters Centerline goodness [0,1] 0.9988770901989503 Centerline is valid? [True, True] Translation: X:96.75, Y:52.55, Z:2.59 [[ 6.00654762e-01 -7.98820930e-01 -3.31508572e-02 9.67522989e+01] [ 7.97690968e-01 6.01568171e-01 -4.24835813e-02 5.25508091e+01] [ 5.38792745e-02 -9.26173970e-04 9.98547027e-01 2.59263991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.366875 meters Centerline goodness [0,1] 0.9989449665088206 Centerline is valid? [True, True] Translation: X:96.77, Y:52.57, Z:2.60 [[ 5.98505133e-01 -8.00433839e-01 -3.31251409e-02 9.67699308e+01] [ 7.99307036e-01 5.99420177e-01 -4.24701450e-02 5.25725502e+01] [ 5.38504191e-02 -1.05855842e-03 9.98548452e-01 2.59547639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters Centerline goodness [0,1] 0.9990401181393059 Centerline is valid? [True, True] Translation: X:96.79, Y:52.59, Z:2.60 [[ 5.96608002e-01 -8.01841859e-01 -3.32945239e-02 9.67889396e+01] [ 8.00704801e-01 5.97535134e-01 -4.27034528e-02 5.25937410e+01] [ 5.41360638e-02 -1.18186344e-03 9.98532869e-01 2.59757212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.426875 meters Centerline goodness [0,1] 0.9991140424275238 Centerline is valid? [True, True] Translation: X:96.81, Y:52.61, Z:2.60 [[ 5.93706192e-01 -8.04011119e-01 -3.28493193e-02 9.68086680e+01] [ 8.02906406e-01 5.94612734e-01 -4.21544607e-02 5.26132179e+01] [ 5.34252787e-02 -1.34756458e-03 9.98570941e-01 2.59920847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters Centerline goodness [0,1] 0.9991895675237604 Centerline is valid? [True, True] Translation: X:96.83, Y:52.63, Z:2.60 [[ 5.92736068e-01 -8.04734045e-01 -3.26660486e-02 9.68274040e+01] [ 8.03641526e-01 5.93633878e-01 -4.19418250e-02 5.26332171e+01] [ 5.31436876e-02 -1.39136067e-03 9.98585906e-01 2.59959602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.486875 meters Centerline goodness [0,1] 0.9990387459331559 Centerline is valid? [True, True] Translation: X:96.84, Y:52.66, Z:2.60 [[ 5.92109334e-01 -8.05200169e-01 -3.25457333e-02 9.68435989e+01] [ 8.04115284e-01 5.93001420e-01 -4.18082086e-02 5.26563038e+01] [ 5.29636427e-02 -1.41549100e-03 9.98595438e-01 2.60088647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters Centerline goodness [0,1] 0.9991181873851807 Centerline is valid? [True, True] Translation: X:96.86, Y:52.68, Z:2.60 [[ 5.91899797e-01 -8.05348722e-01 -3.26812703e-02 9.68598938e+01] [ 8.04253761e-01 5.92799643e-01 -4.20056103e-02 5.26782592e+01] [ 5.32026099e-02 -1.42092235e-03 9.98582727e-01 2.60203701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.546875 meters Centerline goodness [0,1] 0.9994368680067576 Centerline is valid? [True, True] Translation: X:96.88, Y:52.70, Z:2.60 [[ 5.91659947e-01 -8.05527362e-01 -3.26217183e-02 9.68766801e+01] [ 8.04435393e-01 5.92556877e-01 -4.19528976e-02 5.27013412e+01] [ 5.31244305e-02 -1.42021559e-03 9.98586890e-01 2.60372809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters Centerline goodness [0,1] 0.9993408524974366 Centerline is valid? [True, True] Translation: X:96.89, Y:52.72, Z:2.60 [[ 5.91909595e-01 -8.05336581e-01 -3.28027829e-02 9.68925141e+01] [ 8.04230929e-01 5.92816193e-01 -4.22086904e-02 5.27230996e+01] [ 5.34382233e-02 -1.39728371e-03 9.98570180e-01 2.60472208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60687499999999 meters Centerline goodness [0,1] 0.9993930713019834 Centerline is valid? [True, True] Translation: X:96.91, Y:52.75, Z:2.61 [[ 5.92428390e-01 -8.04948371e-01 -3.29654862e-02 9.69067460e+01] [ 8.03829850e-01 5.93343311e-01 -4.24415786e-02 5.27477511e+01] [ 5.37231302e-02 -1.35504573e-03 9.98554950e-01 2.60615601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters Centerline goodness [0,1] 0.9994425188452869 Centerline is valid? [True, True] Translation: X:96.92, Y:52.77, Z:2.61 [[ 5.92712195e-01 -8.04730764e-01 -3.31760600e-02 9.69223820e+01] [ 8.03596335e-01 5.93638465e-01 -4.27352695e-02 5.27717556e+01] [ 5.40849714e-02 -1.33044490e-03 9.98535450e-01 2.60676484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66687499999999 meters Centerline goodness [0,1] 0.9995171764478671 Centerline is valid? [True, True] Translation: X:96.94, Y:52.79, Z:2.61 [[ 5.92885272e-01 -8.04603563e-01 -3.31686794e-02 9.69375236e+01] [ 8.03468215e-01 5.93810916e-01 -4.27483767e-02 5.27945452e+01] [ 5.40914201e-02 -1.30509673e-03 9.98535135e-01 2.60739849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters Centerline goodness [0,1] 0.9994711029906722 Centerline is valid? [True, True] Translation: X:96.95, Y:52.82, Z:2.61 [[ 5.93002618e-01 -8.04518005e-01 -3.31462561e-02 9.69529181e+01] [ 8.03382809e-01 5.93926876e-01 -4.27425731e-02 5.28181859e+01] [ 5.40736220e-02 -1.28267459e-03 9.98536128e-01 2.60844882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72687499999999 meters Centerline goodness [0,1] 0.999567442866412 Centerline is valid? [True, True] Translation: X:96.97, Y:52.84, Z:2.61 [[ 5.92811082e-01 -8.04663769e-01 -3.30339144e-02 9.69659317e+01] [ 8.03535286e-01 5.93729387e-01 -4.26199393e-02 5.28433263e+01] [ 5.39079267e-02 -1.27834353e-03 9.98545092e-01 2.61030321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters Centerline goodness [0,1] 0.9996653359787727 Centerline is valid? [True, True] Translation: X:96.98, Y:52.87, Z:2.61 [[ 5.92566987e-01 -8.04837076e-01 -3.31910667e-02 9.69795634e+01] [ 8.03696813e-01 5.93494420e-01 -4.28463014e-02 5.28677820e+01] [ 5.41830048e-02 -1.28625076e-03 9.98530194e-01 2.61155484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.786875 meters Centerline goodness [0,1] 0.9997851618447436 Centerline is valid? [True, True] Translation: X:97.00, Y:52.89, Z:2.61 [[ 5.91917649e-01 -8.05315808e-01 -3.31654260e-02 9.69953373e+01] [ 8.04176778e-01 5.92844600e-01 -4.28367839e-02 5.28916398e+01] [ 5.41590829e-02 -1.31501705e-03 9.98531454e-01 2.61355864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters Centerline goodness [0,1] 0.9996911160215743 Centerline is valid? [True, True] Translation: X:97.01, Y:52.91, Z:2.61 [[ 5.91453055e-01 -8.05663374e-01 -3.30122921e-02 9.70141164e+01] [ 8.04534101e-01 5.92372153e-01 -4.26627791e-02 5.29120203e+01] [ 5.39274012e-02 -1.32648373e-03 9.98543978e-01 2.61297444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.846875 meters Centerline goodness [0,1] 0.9998340012805615 Centerline is valid? [True, True] Translation: X:97.03, Y:52.94, Z:2.62 [[ 5.90838187e-01 -8.06131451e-01 -3.25932480e-02 9.70262021e+01] [ 8.05030105e-01 5.91734987e-01 -4.21454137e-02 5.29383644e+01] [ 5.32613087e-02 -1.33742602e-03 9.98579714e-01 2.61735658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters Centerline goodness [0,1] 0.9997400326140903 Centerline is valid? [True, True] Translation: X:97.04, Y:52.96, Z:2.62 [[ 5.89590340e-01 -8.07078055e-01 -3.17528550e-02 9.70410697e+01] [ 8.06033017e-01 5.90443163e-01 -4.10809875e-02 5.29622620e+01] [ 5.19038196e-02 -1.37289607e-03 9.98651145e-01 2.62011945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.906875 meters Centerline goodness [0,1] 0.9997167473150006 Centerline is valid? [True, True] Translation: X:97.06, Y:52.99, Z:2.62 [[ 5.89125886e-01 -8.07429004e-01 -3.14498468e-02 9.70566171e+01] [ 8.06403220e-01 5.89963139e-01 -4.07104626e-02 5.29861021e+01] [ 5.14250586e-02 -1.37767035e-03 9.98675906e-01 2.62187257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters Centerline goodness [0,1] 0.9999295129343766 Centerline is valid? [True, True] Translation: X:97.07, Y:53.01, Z:2.62 [[ 5.88786197e-01 -8.07688604e-01 -3.11437468e-02 9.70722325e+01] [ 8.06681928e-01 5.89607693e-01 -4.03365214e-02 5.30097680e+01] [ 5.09419414e-02 -1.37351067e-03 9.98700672e-01 2.62336663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96687499999999 meters Centerline goodness [0,1] 0.9999529456051195 Centerline is valid? [True, True] Translation: X:97.09, Y:53.03, Z:2.62 [[ 5.89128384e-01 -8.07451355e-01 -3.08229876e-02 9.70870749e+01] [ 8.06463890e-01 5.89932667e-01 -3.99429918e-02 5.30333918e+01] [ 5.04355101e-02 -1.32607634e-03 9.98726439e-01 2.62396043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters Centerline goodness [0,1] 0.9998604845835465 Centerline is valid? [True, True] Translation: X:97.10, Y:53.06, Z:2.62 [[ 5.91017287e-01 -8.06071870e-01 -3.07685960e-02 9.70997233e+01] [ 8.05084921e-01 5.91816455e-01 -3.98942757e-02 5.30592744e+01] [ 5.03670148e-02 -1.19312610e-03 9.98730064e-01 2.62427466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02687499999999 meters Centerline goodness [0,1] 0.9998839934108258 Centerline is valid? [True, True] Translation: X:97.11, Y:53.08, Z:2.62 [[ 5.92645324e-01 -8.04857873e-01 -3.12301655e-02 9.71149407e+01] [ 8.03838297e-01 5.93466602e-01 -4.05140092e-02 5.30839903e+01] [ 5.11420795e-02 -1.09356496e-03 9.98690789e-01 2.62488803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters Centerline goodness [0,1] 0.9998605785988149 Centerline is valid? [True, True] Translation: X:97.13, Y:53.11, Z:2.63 [[ 5.94865547e-01 -8.03190927e-01 -3.19267205e-02 9.71293124e+01] [ 8.02121835e-01 5.95720920e-01 -4.14384697e-02 5.31090081e+01] [ 5.23024182e-02 -9.58801657e-04 9.98630832e-01 2.62534394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08687499999999 meters Centerline goodness [0,1] 0.9998842753321298 Centerline is valid? [True, True] Translation: X:97.14, Y:53.13, Z:2.63 [[ 5.97549883e-01 -8.01181902e-01 -3.22753459e-02 9.71425612e+01] [ 8.00085276e-01 5.98420382e-01 -4.19117812e-02 5.31328204e+01] [ 5.28931854e-02 -7.78649042e-04 9.98599872e-01 2.62630202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters Centerline goodness [0,1] 0.9999308468950255 Centerline is valid? [True, True] Translation: X:97.15, Y:53.16, Z:2.63 [[ 6.03807582e-01 -7.96487786e-01 -3.19939216e-02 9.71519731e+01] [ 7.95402842e-01 6.04654514e-01 -4.15600473e-02 5.31594536e+01] [ 5.24473391e-02 -3.53784478e-04 9.98623629e-01 2.62791945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.146875 meters Centerline goodness [0,1] 0.9999770673760492 Centerline is valid? [True, True] Translation: X:97.17, Y:53.18, Z:2.63 [[ 6.07282950e-01 -7.93862062e-01 -3.14713423e-02 9.71654476e+01] [ 7.92808060e-01 6.08097865e-01 -4.08945913e-02 5.31849243e+01] [ 5.16023206e-02 -1.16145738e-04 9.98667706e-01 2.62976323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters Centerline goodness [0,1] 0.999977117752048 Centerline is valid? [True, True] Translation: X:97.18, Y:53.21, Z:2.63 [[ 6.10108598e-01 -7.91704352e-01 -3.11723923e-02 9.71784286e+01] [ 7.90666353e-01 6.10904422e-01 -4.05278215e-02 5.32092215e+01] [ 5.11294049e-02 7.94106102e-05 9.98692033e-01 2.63072194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:53.23, Z:2.63 [[ 6.12571670e-01 -7.89828958e-01 -3.04329876e-02 9.71925301e+01] [ 7.88836241e-01 6.13327122e-01 -3.95882191e-02 5.32333448e+01] [ 4.99332985e-02 2.43977968e-04 9.98752525e-01 2.63297296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:53.26, Z:2.63 [[ 6.15467932e-01 -7.87595445e-01 -2.98770791e-02 9.72060361e+01] [ 7.86635070e-01 6.16192527e-01 -3.88849183e-02 5.32574647e+01] [ 4.90356174e-02 4.30062014e-04 9.98796938e-01 2.63489094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:53.28, Z:2.64 [[ 6.16290672e-01 -7.86950343e-01 -2.99159733e-02 9.72226326e+01] [ 7.85985797e-01 6.17016138e-01 -3.89539805e-02 5.32800849e+01] [ 4.91134866e-02 4.93444668e-04 9.98793083e-01 2.63596533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:53.30, Z:2.64 [[ 6.16955242e-01 -7.86420227e-01 -3.01571943e-02 9.72391935e+01] [ 7.85438400e-01 6.17691607e-01 -3.92886587e-02 5.33029352e+01] [ 4.95252417e-02 5.52725476e-04 9.98772719e-01 2.63694028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:53.32, Z:2.64 [[ 6.17329778e-01 -7.86132601e-01 -2.99913161e-02 9.72558184e+01] [ 7.85160213e-01 6.18057595e-01 -3.90928117e-02 5.33245224e+01] [ 4.92684945e-02 5.85168632e-04 9.98785399e-01 2.63729527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.27, Y:53.35, Z:2.64 [[ 6.16564508e-01 -7.86722041e-01 -3.02760317e-02 9.72747259e+01] [ 7.85730719e-01 6.17307153e-01 -3.94856471e-02 5.33457791e+01] [ 4.97538398e-02 5.56640461e-04 9.98761356e-01 2.63822160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:53.37, Z:2.64 [[ 6.15868212e-01 -7.87250712e-01 -3.07027861e-02 9.72927393e+01] [ 7.86230790e-01 6.16632816e-01 -4.00638914e-02 5.33668032e+01] [ 5.04726725e-02 5.34601402e-04 9.98725299e-01 2.63872277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:53.39, Z:2.64 [[ 6.14278991e-01 -7.88464758e-01 -3.13790965e-02 9.73118964e+01] [ 7.87399809e-01 6.15079764e-01 -4.09685801e-02 5.33879185e+01] [ 5.16029288e-02 4.58243465e-04 9.98667576e-01 2.63915841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:53.41, Z:2.64 [[ 6.09750097e-01 -7.91963588e-01 -3.15989618e-02 9.73360751e+01] [ 7.90887179e-01 6.10568296e-01 -4.12774375e-02 5.34054780e+01] [ 5.19835518e-02 1.77707766e-04 9.98647925e-01 2.64157477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:53.42, Z:2.64 [[ 6.06680168e-01 -7.94308828e-01 -3.18223075e-02 9.73553974e+01] [ 7.93219282e-01 6.07514186e-01 -4.15894888e-02 5.34243881e+01] [ 5.23674013e-02 -1.05498214e-05 9.98627886e-01 2.64105559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:53.44, Z:2.64 [[ 6.03517044e-01 -7.96705209e-01 -3.20622561e-02 9.73757165e+01] [ 7.95601598e-01 6.04368072e-01 -4.19205299e-02 5.34437740e+01] [ 5.27757084e-02 -2.09027914e-04 9.98606369e-01 2.64193292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters Centerline goodness [0,1] 0.9999766785606008 Centerline is valid? [True, True] Translation: X:97.40, Y:53.46, Z:2.64 [[ 6.00310039e-01 -7.99130986e-01 -3.18986435e-02 9.73956285e+01] [ 7.98040915e-01 6.01156802e-01 -4.17276550e-02 5.34626342e+01] [ 5.25219486e-02 -4.06892399e-04 9.98619687e-01 2.64213499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:53.48, Z:2.64 [[ 5.94080480e-01 -8.03764003e-01 -3.21218084e-02 9.74193167e+01] [ 8.02664267e-01 5.94947707e-01 -4.20392865e-02 5.34793189e+01] [ 5.29004614e-02 -8.08308281e-04 9.98599463e-01 2.64284878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:53.50, Z:2.65 [[ 5.91378433e-01 -8.05762708e-01 -3.19062230e-02 9.74369454e+01] [ 8.04679477e-01 5.92237724e-01 -4.17781988e-02 5.35023403e+01] [ 5.25593836e-02 -9.67557104e-04 9.98617332e-01 2.64671767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.46, Y:53.52, Z:2.65 [[ 5.88672581e-01 -8.07749626e-01 -3.17038542e-02 9.74598513e+01] [ 8.06681881e-01 5.89524619e-01 -4.15339249e-02 5.35191491e+01] [ 5.22392149e-02 -1.12504201e-03 9.98633966e-01 2.64654535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:53.54, Z:2.65 [[ 5.86396831e-01 -8.09400938e-01 -3.17628396e-02 9.74750147e+01] [ 8.08330448e-01 5.87255082e-01 -4.16335873e-02 5.35428897e+01] [ 5.23511536e-02 -1.26106670e-03 9.98627942e-01 2.64989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:53.56, Z:2.65 [[ 5.82707464e-01 -8.12047404e-01 -3.21095670e-02 9.74948704e+01] [ 8.10956267e-01 5.83589545e-01 -4.21091048e-02 5.35626252e+01] [ 5.29333968e-02 -1.50216492e-03 9.98596915e-01 2.65069466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:53.58, Z:2.65 [[ 5.81272730e-01 -8.13066420e-01 -3.23266016e-02 9.75129517e+01] [ 8.11961169e-01 5.82168746e-01 -4.24100469e-02 5.35845400e+01] [ 5.33017221e-02 -1.59614142e-03 9.98577177e-01 2.65126429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:53.61, Z:2.65 [[ 5.81056885e-01 -8.13221113e-01 -3.23159048e-02 9.75296128e+01] [ 8.12115647e-01 5.81952637e-01 -4.24181965e-02 5.36065572e+01] [ 5.33016990e-02 -1.59686680e-03 9.98577177e-01 2.65247099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:53.63, Z:2.65 [[ 5.80256421e-01 -8.13797306e-01 -3.21936257e-02 9.75456700e+01] [ 8.12699850e-01 5.81146528e-01 -4.22808169e-02 5.36296136e+01] [ 5.31172287e-02 -1.63003928e-03 9.98586953e-01 2.65359571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:53.65, Z:2.65 [[ 5.79783037e-01 -8.14131057e-01 -3.22839257e-02 9.75623436e+01] [ 8.13026728e-01 5.80678821e-01 -4.24222442e-02 5.36522980e+01] [ 5.32838584e-02 -1.65199690e-03 9.98578040e-01 2.65471397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters Centerline goodness [0,1] 0.999952802359882 Centerline is valid? [True, True] Translation: X:97.58, Y:53.68, Z:2.66 [[ 5.80775257e-01 -8.13463260e-01 -3.12669914e-02 9.75763090e+01] [ 8.12425363e-01 5.81614297e-01 -4.11076554e-02 5.36769650e+01] [ 5.16248966e-02 -1.52778770e-03 9.98665377e-01 2.65625366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.866875 meters Centerline goodness [0,1] 0.9998819808336874 Centerline is valid? [True, True] Translation: X:97.59, Y:53.70, Z:2.66 [[ 5.81997392e-01 -8.12594508e-01 -3.11319912e-02 9.75914793e+01] [ 8.11563247e-01 5.82827688e-01 -4.09509667e-02 5.36997799e+01] [ 5.14211171e-02 -1.43222401e-03 9.98676032e-01 2.65816566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:53.73, Z:2.66 [[ 5.83587930e-01 -8.11463695e-01 -3.08512558e-02 9.76057557e+01] [ 8.10448657e-01 5.84401361e-01 -4.05958597e-02 5.37250745e+01] [ 5.09715822e-02 -1.31210515e-03 9.98699242e-01 2.65984503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.926875 meters Centerline goodness [0,1] 0.9999529012810852 Centerline is valid? [True, True] Translation: X:97.62, Y:53.75, Z:2.66 [[ 5.85845412e-01 -8.09840073e-01 -3.07279836e-02 9.76195222e+01] [ 8.08830179e-01 5.86649568e-01 -4.04478145e-02 5.37502317e+01] [ 5.07828194e-02 -1.15755389e-03 9.98709049e-01 2.66128828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:53.78, Z:2.66 [[ 5.91984293e-01 -8.05367698e-01 -3.06180758e-02 9.76281330e+01] [ 8.04357932e-01 5.92775082e-01 -4.03239309e-02 5.37774021e+01] [ 5.06252238e-02 -7.56758367e-04 9.98717435e-01 2.66280188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:53.80, Z:2.66 [[ 5.94927393e-01 -8.03191730e-01 -3.07317670e-02 9.76408262e+01] [ 8.02170818e-01 5.95720342e-01 -4.04877006e-02 5.38030590e+01] [ 5.08269251e-02 -5.64884502e-04 9.98707317e-01 2.66321854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:53.83, Z:2.66 [[ 5.97814641e-01 -8.01038919e-01 -3.08918467e-02 9.76534812e+01] [ 8.00003347e-01 5.98612156e-01 -4.07201633e-02 5.38292511e+01] [ 5.11106705e-02 -3.70471018e-04 9.98692927e-01 2.66385471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.046875 meters Centerline goodness [0,1] 0.999977129265392 Centerline is valid? [True, True] Translation: X:97.66, Y:53.86, Z:2.66 [[ 6.01697758e-01 -7.98139009e-01 -3.05602812e-02 9.76640689e+01] [ 7.97120798e-01 6.02473327e-01 -4.03029021e-02 5.38550331e+01] [ 5.05790727e-02 -1.10069916e-04 9.98720054e-01 2.66407640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.68, Y:53.88, Z:2.67 [[ 6.02703727e-01 -7.97385004e-01 -3.04199539e-02 9.76786085e+01] [ 7.96374261e-01 6.03470923e-01 -4.01358040e-02 5.38787867e+01] [ 5.03612459e-02 -3.56696659e-05 9.98731067e-01 2.66525244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:53.90, Z:2.67 [[ 6.03066084e-01 -7.97108140e-01 -3.04944655e-02 9.76931896e+01] [ 7.96090961e-01 6.03836579e-01 -4.02562893e-02 5.39011459e+01] [ 5.05022895e-02 8.34393437e-07 9.98723945e-01 2.66632768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:53.92, Z:2.67 [[ 6.02792348e-01 -7.97309357e-01 -3.06459353e-02 9.77085083e+01] [ 7.96281266e-01 6.03570865e-01 -4.04766124e-02 5.39234163e+01] [ 5.07693755e-02 -3.79199005e-06 9.98710404e-01 2.66718315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:53.95, Z:2.67 [[ 6.01747010e-01 -7.98131322e-01 -2.97813542e-02 9.77239724e+01] [ 7.97160499e-01 6.02483518e-01 -3.93541401e-02 5.39472758e+01] [ 4.93525469e-02 -5.92830335e-05 9.98781419e-01 2.67024241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:53.97, Z:2.67 [[ 6.01213571e-01 -7.98536472e-01 -2.96942006e-02 9.77391423e+01] [ 7.97570713e-01 6.01946424e-01 -3.92614516e-02 5.39693282e+01] [ 4.92260189e-02 -7.87072348e-05 9.98787662e-01 2.67132846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:53.99, Z:2.67 [[ 6.00487253e-01 -7.99088026e-01 -2.95530915e-02 9.77551189e+01] [ 7.98131103e-01 6.01214033e-01 -3.90951281e-02 5.39918321e+01] [ 4.90081821e-02 -1.11115406e-04 9.98798371e-01 2.67159551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters Centerline goodness [0,1] 0.9999321497229448 Centerline is valid? [True, True] Translation: X:97.77, Y:54.02, Z:2.67 [[ 6.00010845e-01 -7.99440898e-01 -2.96856244e-02 9.77713769e+01] [ 7.98474791e-01 6.00744733e-01 -3.92908856e-02 5.40152991e+01] [ 4.92442234e-02 -1.28265297e-04 9.98786759e-01 2.67246604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:54.04, Z:2.67 [[ 5.99683382e-01 -7.99683702e-01 -2.97626927e-02 9.77868521e+01] [ 7.98711772e-01 6.00421484e-01 -3.94150615e-02 5.40392804e+01] [ 4.93897424e-02 -1.35255692e-04 9.98779573e-01 2.67301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:54.06, Z:2.67 [[ 5.99668474e-01 -7.99689301e-01 -2.99122640e-02 9.78026944e+01] [ 7.98706463e-01 6.00414030e-01 -3.96355669e-02 5.40618949e+01] [ 4.96558818e-02 -1.22918732e-04 9.98766378e-01 2.67416968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:54.09, Z:2.68 [[ 5.99857244e-01 -7.99545308e-01 -2.99764490e-02 9.78185179e+01] [ 7.98556949e-01 6.00605770e-01 -3.97430289e-02 5.40850560e+01] [ 4.97803805e-02 -9.77578825e-05 9.98760184e-01 2.67571319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:54.11, Z:2.68 [[ 6.00862406e-01 -7.98813377e-01 -2.93522996e-02 9.78318278e+01] [ 7.97863822e-01 6.01578913e-01 -3.89375617e-02 5.41087371e+01] [ 4.87615697e-02 -2.30208865e-05 9.98810447e-01 2.67597839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:54.13, Z:2.68 [[ 6.01966388e-01 -7.97997299e-01 -2.89271084e-02 9.78473291e+01] [ 7.97073182e-01 6.02661022e-01 -3.83931589e-02 5.41326582e+01] [ 4.80708778e-02 5.43688486e-05 9.98843926e-01 2.67747979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:54.16, Z:2.68 [[ 6.02922984e-01 -7.97277019e-01 -2.88657255e-02 9.78626654e+01] [ 7.96354966e-01 6.03613568e-01 -3.83331328e-02 5.41556786e+01] [ 4.79858695e-02 1.24562959e-04 9.98848007e-01 2.67872180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:54.18, Z:2.68 [[ 6.04068977e-01 -7.96412236e-01 -2.87788271e-02 9.78773809e+01] [ 7.95493724e-01 6.04754089e-01 -3.82390775e-02 5.41779778e+01] [ 4.78581826e-02 2.05664055e-04 9.98854120e-01 2.68016993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:54.20, Z:2.68 [[ 6.06859884e-01 -7.94298498e-01 -2.84776524e-02 9.78926361e+01] [ 7.93395878e-01 6.07527572e-01 -3.78580221e-02 5.42028133e+01] [ 4.73715291e-02 3.80462816e-04 9.98877266e-01 2.68210649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:54.23, Z:2.68 [[ 6.08380431e-01 -7.93135629e-01 -2.84451199e-02 9.79077832e+01] [ 7.92232929e-01 6.09044860e-01 -3.78331241e-02 5.42265068e+01] [ 4.73311528e-02 4.81771668e-04 9.98879137e-01 2.68299920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:54.25, Z:2.68 [[ 6.09981507e-01 -7.91907116e-01 -2.83845065e-02 9.79240066e+01] [ 7.91006406e-01 6.10641286e-01 -3.77635452e-02 5.42498540e+01] [ 4.72379717e-02 5.82737769e-04 9.98883494e-01 2.68412560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:54.27, Z:2.69 [[ 6.11854996e-01 -7.90464093e-01 -2.82839235e-02 9.79389574e+01] [ 7.89567696e-01 6.12507983e-01 -3.76407219e-02 5.42734967e+01] [ 4.70777680e-02 6.98591432e-04 9.98890983e-01 2.68526865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:54.30, Z:2.68 [[ 6.15503149e-01 -7.87615464e-01 -2.85963911e-02 9.79540898e+01] [ 7.86695492e-01 6.16166379e-01 -3.80683096e-02 5.42981079e+01] [ 4.76033241e-02 9.34512506e-04 9.98865882e-01 2.68489884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:54.32, Z:2.69 [[ 6.16899485e-01 -7.86498199e-01 -2.92507740e-02 9.79695921e+01] [ 7.85533427e-01 6.17591667e-01 -3.89585415e-02 5.43211996e+01] [ 4.87058570e-02 1.05604344e-03 9.98812607e-01 2.68544841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:54.34, Z:2.69 [[ 6.17721798e-01 -7.85840721e-01 -2.95658920e-02 9.79875424e+01] [ 7.84853599e-01 6.18427917e-01 -3.93921278e-02 5.43434176e+01] [ 4.92403111e-02 1.12847929e-03 9.98786323e-01 2.68610170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:54.37, Z:2.69 [[ 6.19207165e-01 -7.84677070e-01 -2.94003841e-02 9.80056593e+01] [ 7.83698703e-01 6.19903534e-01 -3.91912131e-02 5.43662599e+01] [ 4.89778483e-02 1.22643707e-03 9.98799112e-01 2.68700358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:54.39, Z:2.69 [[ 6.19159279e-01 -7.84718399e-01 -2.93056457e-02 9.80235439e+01] [ 7.83745398e-01 6.19851206e-01 -3.90849656e-02 5.43875394e+01] [ 4.88358315e-02 1.23165420e-03 9.98806060e-01 2.68847145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:54.41, Z:2.69 [[ 6.18986420e-01 -7.84861294e-01 -2.91300634e-02 9.80397325e+01] [ 7.83898983e-01 6.19670270e-01 -3.88733887e-02 5.44089316e+01] [ 4.85612524e-02 1.22707259e-03 9.98819453e-01 2.68954583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:54.43, Z:2.69 [[ 6.18398880e-01 -7.85319651e-01 -2.92552573e-02 9.80581409e+01] [ 7.84348533e-01 6.19089317e-01 -3.90614412e-02 5.44301420e+01] [ 4.87873347e-02 1.20923333e-03 9.98808457e-01 2.69109037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:54.45, Z:2.69 [[ 6.16030409e-01 -7.87216444e-01 -2.82277404e-02 9.80799041e+01] [ 7.86313373e-01 6.16675927e-01 -3.77104738e-02 5.44495935e+01] [ 4.70936731e-02 1.03494883e-03 9.98889941e-01 2.69356381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:54.47, Z:2.70 [[ 6.13975134e-01 -7.88816983e-01 -2.83249458e-02 9.80989826e+01] [ 7.87908454e-01 6.14627454e-01 -3.78597410e-02 5.44708232e+01] [ 4.72736960e-02 9.27475300e-04 9.98881543e-01 2.69509392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88687499999999 meters Centerline goodness [0,1] 0.9999315709039484 Centerline is valid? [True, True] Translation: X:98.12, Y:54.49, Z:2.70 [[ 6.11399389e-01 -7.90834591e-01 -2.77747580e-02 9.81199008e+01] [ 7.89962251e-01 6.12029460e-01 -3.71427373e-02 5.44917763e+01] [ 4.63727316e-02 7.68036535e-04 9.98923911e-01 2.69685370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:54.51, Z:2.70 [[ 6.06441562e-01 -7.94685987e-01 -2.65106156e-02 9.81443273e+01] [ 7.93894236e-01 6.07020566e-01 -3.54679343e-02 5.45094397e+01] [ 4.42783593e-02 4.62604558e-04 9.99019125e-01 2.70221797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:54.53, Z:2.70 [[ 6.03537062e-01 -7.96922215e-01 -2.56514675e-02 9.81643280e+01] [ 7.96182270e-01 6.04081860e-01 -3.43351196e-02 5.45294858e+01] [ 4.28580058e-02 2.99273562e-04 9.99081129e-01 2.70480894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:54.55, Z:2.71 [[ 6.00643896e-01 -7.99113583e-01 -2.53848742e-02 9.81847771e+01] [ 7.98390113e-01 6.01180055e-01 -3.39966055e-02 5.45496731e+01] [ 4.24280293e-02 1.52820947e-04 9.99099514e-01 2.70656674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:54.57, Z:2.71 [[ 5.97740006e-01 -8.01301510e-01 -2.49554652e-02 9.82039169e+01] [ 8.00603444e-01 5.98260721e-01 -3.34400126e-02 5.45685752e+01] [ 4.17254072e-02 9.00191579e-06 9.99129116e-01 2.70811759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:54.59, Z:2.71 [[ 5.92040654e-01 -8.05510555e-01 -2.53102732e-02 9.82264770e+01] [ 8.04795558e-01 5.92581360e-01 -3.39328905e-02 5.45872490e+01] [ 4.23316976e-02 -2.79944753e-04 9.99103573e-01 2.70719949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:54.61, Z:2.71 [[ 5.89667944e-01 -8.07237636e-01 -2.56732130e-02 9.82463055e+01] [ 8.06502758e-01 5.90226431e-01 -3.44392347e-02 5.46074879e+01] [ 4.29536553e-02 -3.97804406e-04 9.99076987e-01 2.70738493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:54.63, Z:2.71 [[ 5.87767824e-01 -8.08598836e-01 -2.63990069e-02 9.82654489e+01] [ 8.07822740e-01 5.88360150e-01 -3.54225105e-02 5.46280562e+01] [ 4.41747245e-02 -5.05506188e-04 9.99023693e-01 2.70835877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:54.65, Z:2.71 [[ 5.84742571e-01 -8.10756649e-01 -2.73821422e-02 9.82845040e+01] [ 8.09923129e-01 5.85382944e-01 -3.67604905e-02 5.46491625e+01] [ 4.58328511e-02 -6.82006615e-04 9.98948890e-01 2.70928022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:54.67, Z:2.71 [[ 5.83701023e-01 -8.11500925e-01 -2.75565659e-02 9.83018963e+01] [ 8.10656656e-01 5.84350674e-01 -3.70145323e-02 5.46716533e+01] [ 4.61400251e-02 -7.33493172e-04 9.98934713e-01 2.70990286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:54.69, Z:2.71 [[ 5.83046557e-01 -8.11979174e-01 -2.73227588e-02 9.83190442e+01] [ 8.11148793e-01 5.83685921e-01 -3.67203172e-02 5.46930234e+01] [ 4.57640425e-02 -7.53168281e-04 9.98951993e-01 2.71084367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:54.72, Z:2.71 [[ 5.82474740e-01 -8.12386886e-01 -2.73993483e-02 9.83355206e+01] [ 8.11551413e-01 5.83118294e-01 -3.68423559e-02 5.47162374e+01] [ 4.59073080e-02 -7.76238162e-04 9.98945402e-01 2.71209595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:54.74, Z:2.71 [[ 5.81815023e-01 -8.12832833e-01 -2.81791487e-02 9.83514390e+01] [ 8.11948580e-01 5.82496446e-01 -3.79129633e-02 5.47392259e+01] [ 4.72311553e-02 -8.21688137e-04 9.98883648e-01 2.71238184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:54.76, Z:2.71 [[ 5.81792840e-01 -8.12818605e-01 -2.90345877e-02 9.83675042e+01] [ 8.11878705e-01 5.82516285e-01 -3.90863851e-02 5.47606226e+01] [ 4.86832611e-02 -8.32384467e-04 9.98813920e-01 2.71242190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:54.78, Z:2.71 [[ 5.81312103e-01 -8.13146739e-01 -2.94723511e-02 9.83827448e+01] [ 8.12177635e-01 5.82058108e-01 -3.96969584e-02 5.47842655e+01] [ 4.94340732e-02 -8.60462032e-04 9.98777018e-01 2.71249125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:54.81, Z:2.71 [[ 5.81202548e-01 -8.13205826e-01 -2.99980422e-02 9.83993998e+01] [ 8.12200720e-01 5.81975543e-01 -4.04284291e-02 5.48062238e+01] [ 5.03347610e-02 -8.67325497e-04 9.98732026e-01 2.71230502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:54.83, Z:2.71 [[ 5.81671817e-01 -8.12862107e-01 -3.02174228e-02 9.84143182e+01] [ 8.11840669e-01 5.82455582e-01 -4.07458256e-02 5.48301057e+01] [ 5.07210442e-02 -8.31034367e-04 9.98712514e-01 2.71334385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:54.85, Z:2.71 [[ 5.82496863e-01 -8.12264988e-01 -3.03808174e-02 9.84299790e+01] [ 8.11230478e-01 5.83288091e-01 -4.09891934e-02 5.48534449e+01] [ 5.10148556e-02 -7.69768460e-04 9.98697598e-01 2.71484331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.44, Y:54.88, Z:2.71 [[ 5.84537915e-01 -8.10772592e-01 -3.10359347e-02 9.84433809e+01] [ 8.09689620e-01 5.85360910e-01 -4.18966020e-02 5.48789222e+01] [ 5.21358396e-02 -6.39321808e-04 9.98639798e-01 2.71482021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:54.90, Z:2.72 [[ 5.85571518e-01 -8.10016793e-01 -3.12856616e-02 9.84575767e+01] [ 8.08913995e-01 5.86406410e-01 -4.22572011e-02 5.49029936e+01] [ 5.25751550e-02 -5.62796144e-04 9.98616812e-01 2.71593824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:54.93, Z:2.72 [[ 5.87116876e-01 -8.08882409e-01 -3.16705308e-02 9.84726287e+01] [ 8.07749387e-01 5.87970274e-01 -4.28005214e-02 5.49255212e+01] [ 5.32419195e-02 -4.52943423e-04 9.98581540e-01 2.71529877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:54.95, Z:2.72 [[ 5.88735279e-01 -8.07704732e-01 -3.16833979e-02 9.84866373e+01] [ 8.06568131e-01 5.89587104e-01 -4.28356998e-02 5.49496878e+01] [ 5.32787202e-02 -3.35931348e-04 9.98579624e-01 2.71680966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:54.97, Z:2.72 [[ 5.92954491e-01 -8.04630759e-01 -3.12139898e-02 9.84995281e+01] [ 8.03522132e-01 5.93775496e-01 -4.22237305e-02 5.49745197e+01] [ 5.25086147e-02 -4.43810422e-05 9.98620470e-01 2.71784827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:55.00, Z:2.72 [[ 5.95060572e-01 -8.03086986e-01 -3.08902494e-02 9.85145402e+01] [ 8.01998187e-01 5.95861798e-01 -4.18046098e-02 5.49982124e+01] [ 5.19790576e-02 1.02351056e-04 9.98648170e-01 2.71945475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:55.02, Z:2.72 [[ 5.97001336e-01 -8.01644043e-01 -3.09230201e-02 9.85295946e+01] [ 8.00549767e-01 5.97801614e-01 -4.18724448e-02 5.50216542e+01] [ 5.20526272e-02 2.42488928e-04 9.98644314e-01 2.72125640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:55.04, Z:2.72 [[ 5.96785695e-01 -8.01805018e-01 -3.09119414e-02 9.85459051e+01] [ 8.00710534e-01 5.97585688e-01 -4.18806223e-02 5.50439051e+01] [ 5.20526269e-02 2.42239207e-04 9.98644314e-01 2.72246231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:55.07, Z:2.72 [[ 5.98932955e-01 -8.00208039e-01 -3.07637794e-02 9.85615355e+01] [ 7.99120708e-01 5.99722386e-01 -4.17031780e-02 5.50676447e+01] [ 5.18209454e-02 3.93434482e-04 9.98656315e-01 2.72426022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:55.09, Z:2.73 [[ 6.03290461e-01 -7.96934458e-01 -3.05955855e-02 9.85753980e+01] [ 7.95853595e-01 6.04065394e-01 -4.14976531e-02 5.50916900e+01] [ 5.15526441e-02 6.85531593e-04 9.98670043e-01 2.72510417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:55.12, Z:2.73 [[ 6.05037501e-01 -7.95609941e-01 -3.05686747e-02 9.85920586e+01] [ 7.94528139e-01 6.05808685e-01 -4.14834063e-02 5.51151448e+01] [ 5.15233791e-02 8.11344253e-04 9.98671459e-01 2.72621870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.61, Y:55.14, Z:2.73 [[ 6.06805433e-01 -7.94262278e-01 -3.05712357e-02 9.86085211e+01] [ 7.93177510e-01 6.07574318e-01 -4.15076547e-02 5.51390943e+01] [ 5.15422621e-02 9.38653760e-04 9.98670373e-01 2.72693891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:55.16, Z:2.73 [[ 6.09754065e-01 -7.91996148e-01 -3.06933496e-02 9.86264823e+01] [ 7.90898733e-01 6.10525007e-01 -4.16942512e-02 5.51619447e+01] [ 5.17607438e-02 1.14790784e-03 9.98658855e-01 2.72845391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:55.18, Z:2.73 [[ 6.10402449e-01 -7.91513707e-01 -3.02473369e-02 9.86437748e+01] [ 7.90446325e-01 6.11150267e-01 -4.11091016e-02 5.51840597e+01] [ 5.10240854e-02 1.18419997e-03 9.98696721e-01 2.73004926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:55.21, Z:2.73 [[ 6.10847711e-01 -7.91184986e-01 -2.98561949e-02 9.86618080e+01] [ 7.90143537e-01 6.11575715e-01 -4.05996946e-02 5.52062878e+01] [ 5.03811926e-02 1.20955101e-03 9.98729329e-01 2.73222229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:55.23, Z:2.73 [[ 6.11041805e-01 -7.91045646e-01 -2.95752912e-02 9.86807100e+01] [ 7.90022427e-01 6.11755907e-01 -4.02402283e-02 5.52270708e+01] [ 4.99247165e-02 1.22331841e-03 9.98752235e-01 2.73453985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:55.25, Z:2.74 [[ 6.12060085e-01 -7.90283120e-01 -2.88971075e-02 9.86980812e+01] [ 7.89304410e-01 6.12740548e-01 -3.93391689e-02 5.52486672e+01] [ 4.87955106e-02 1.26932072e-03 9.98807983e-01 2.73619719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:55.27, Z:2.74 [[ 6.12787257e-01 -7.89725819e-01 -2.87212082e-02 9.87166482e+01] [ 7.88757797e-01 6.13458561e-01 -3.91117816e-02 5.52714470e+01] [ 4.85068548e-02 1.31312443e-03 9.98821987e-01 2.73739868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:55.29, Z:2.74 [[ 6.13726867e-01 -7.88984834e-01 -2.90217848e-02 9.87341646e+01] [ 7.87994608e-01 6.14411080e-01 -3.95414028e-02 5.52940473e+01] [ 4.90288732e-02 1.39861132e-03 9.98796382e-01 2.73768748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:55.32, Z:2.74 [[ 6.15580439e-01 -7.87503039e-01 -2.99947750e-02 9.87526849e+01] [ 7.86442412e-01 6.16308741e-01 -4.08884883e-02 5.53168182e+01] [ 5.06858508e-02 1.58099039e-03 9.98713395e-01 2.73587869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:55.34, Z:2.74 [[ 6.16021067e-01 -7.87144861e-01 -3.03481847e-02 9.87704714e+01] [ 7.86057550e-01 6.16765976e-01 -4.13915360e-02 5.53393678e+01] [ 5.12988626e-02 1.64263852e-03 9.98681996e-01 2.73587864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:55.36, Z:2.74 [[ 6.16544102e-01 -7.86719690e-01 -3.07489875e-02 9.87887718e+01] [ 7.85601808e-01 6.17308022e-01 -4.19595700e-02 5.53619133e+01] [ 5.19920165e-02 1.71346519e-03 9.98646031e-01 2.73652852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:55.38, Z:2.74 [[ 6.17979923e-01 -7.85582447e-01 -3.10005341e-02 9.88077910e+01] [ 7.84443757e-01 6.18754271e-01 -4.23219000e-02 5.53832380e+01] [ 5.24290546e-02 1.83590908e-03 9.98622964e-01 2.73808555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:55.41, Z:2.74 [[ 6.18604510e-01 -7.85104811e-01 -3.06414053e-02 9.88257898e+01] [ 7.83991066e-01 6.19360125e-01 -4.18454860e-02 5.54061055e+01] [ 5.18311569e-02 1.86321838e-03 9.98654124e-01 2.73929424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:55.43, Z:2.74 [[ 6.18854991e-01 -7.84910317e-01 -3.05662390e-02 9.88409085e+01] [ 7.83800771e-01 6.19606515e-01 -4.17626328e-02 5.54283092e+01] [ 5.17189621e-02 1.88717207e-03 9.98659896e-01 2.74051998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:55.45, Z:2.74 [[ 6.19024736e-01 -7.84778693e-01 -3.05086753e-02 9.88572289e+01] [ 7.83672523e-01 6.19773171e-01 -4.16964441e-02 5.54500879e+01] [ 5.16309394e-02 1.90231971e-03 9.98664422e-01 2.74010188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:55.47, Z:2.74 [[ 6.18419439e-01 -7.85266693e-01 -3.02261128e-02 9.88774491e+01] [ 7.84180424e-01 6.19154884e-01 -4.13314983e-02 5.54704224e+01] [ 5.11708943e-02 1.85747601e-03 9.98688184e-01 2.74255442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:55.49, Z:2.74 [[ 6.17627594e-01 -7.85897026e-01 -3.00336424e-02 9.88956563e+01] [ 7.84824120e-01 6.18354749e-01 -4.10914333e-02 5.54923361e+01] [ 5.08650806e-02 1.80807611e-03 9.98703897e-01 2.74466097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:55.51, Z:2.75 [[ 6.16117422e-01 -7.87100966e-01 -2.95193484e-02 9.89139553e+01] [ 7.86064771e-01 6.16821857e-01 -4.04100658e-02 5.55137204e+01] [ 5.00149811e-02 1.69322577e-03 9.98747032e-01 2.74685832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:55.53, Z:2.75 [[ 6.11991660e-01 -7.90327605e-01 -2.91287819e-02 9.89353572e+01] [ 7.89321200e-01 6.12682827e-01 -3.98973301e-02 5.55323377e+01] [ 4.93786658e-02 1.42486818e-03 9.98779113e-01 2.74976478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:55.55, Z:2.75 [[ 6.09975608e-01 -7.91901244e-01 -2.86736549e-02 9.89545084e+01] [ 7.90926666e-01 6.10647814e-01 -3.92970269e-02 5.55532842e+01] [ 4.86288691e-02 1.29146957e-03 9.98816082e-01 2.75211446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:55.57, Z:2.75 [[ 6.08431820e-01 -7.93085168e-01 -2.87512882e-02 9.89712942e+01] [ 7.92105575e-01 6.09109551e-01 -3.94247728e-02 5.55747834e+01] [ 4.87798868e-02 1.21323057e-03 9.98808816e-01 2.75325255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:55.59, Z:2.75 [[ 6.05554567e-01 -7.95274680e-01 -2.90146459e-02 9.89899682e+01] [ 7.94278792e-01 6.06248355e-01 -3.98011640e-02 5.55944895e+01] [ 4.92429393e-02 1.05605872e-03 9.98786272e-01 2.75391082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:55.61, Z:2.76 [[ 6.04037756e-01 -7.96424806e-01 -2.90846762e-02 9.90095938e+01] [ 7.95424639e-01 6.04736785e-01 -3.99132062e-02 5.56147236e+01] [ 4.93764411e-02 9.74415465e-04 9.98779764e-01 2.75616539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:55.64, Z:2.76 [[ 6.02739888e-01 -7.97428703e-01 -2.84972265e-02 9.90273771e+01] [ 7.96468617e-01 6.03412526e-01 -3.91288379e-02 5.56364901e+01] [ 4.83980418e-02 8.87364790e-04 9.98827734e-01 2.75816037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:55.66, Z:2.76 [[ 6.00510991e-01 -7.99124829e-01 -2.80366979e-02 9.90447909e+01] [ 7.98196389e-01 6.01164655e-01 -3.85172909e-02 5.56576778e+01] [ 4.76347953e-02 7.51265489e-04 9.98864536e-01 2.75984708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:55.68, Z:2.76 [[ 5.99609035e-01 -7.99793234e-01 -2.82805174e-02 9.90605238e+01] [ 7.98848564e-01 6.00275165e-01 -3.88676975e-02 5.56794113e+01] [ 4.80622137e-02 7.13571820e-04 9.98844089e-01 2.76093427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:55.70, Z:2.76 [[ 5.98671645e-01 -8.00494474e-01 -2.82994611e-02 9.90792980e+01] [ 7.99548211e-01 5.99339759e-01 -3.89167185e-02 5.57003736e+01] [ 4.81136103e-02 6.71552340e-04 9.98841644e-01 2.76292656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:55.72, Z:2.76 [[ 5.97798247e-01 -8.01160370e-01 -2.79162381e-02 9.90967108e+01] [ 8.00239270e-01 5.98449391e-01 -3.84114279e-02 5.57222065e+01] [ 4.74801695e-02 6.22614289e-04 9.98871987e-01 2.76458286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:55.74, Z:2.77 [[ 5.95357665e-01 -8.02992777e-01 -2.74198932e-02 9.91149566e+01] [ 8.02105120e-01 5.95988565e-01 -3.77492697e-02 5.57426945e+01] [ 4.66543337e-02 4.80680370e-04 9.98910978e-01 2.76697655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:55.76, Z:2.77 [[ 5.93710908e-01 -8.04225329e-01 -2.69995777e-02 9.91329563e+01] [ 8.03365274e-01 5.94324381e-01 -3.71855646e-02 5.57642471e+01] [ 4.59520803e-02 3.86952221e-04 9.98943570e-01 2.76938236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:55.79, Z:2.77 [[ 5.92199447e-01 -8.05353505e-01 -2.65621300e-02 9.91506974e+01] [ 8.04521302e-01 5.92794768e-01 -3.66037970e-02 5.57853905e+01] [ 4.52248879e-02 3.06948941e-04 9.98976784e-01 2.77149984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:55.81, Z:2.77 [[ 5.88800030e-01 -8.07857753e-01 -2.60840052e-02 9.91703015e+01] [ 8.07056760e-01 5.89377498e-01 -3.59659796e-02 5.58057902e+01] [ 4.44287212e-02 1.25497132e-04 9.99012549e-01 2.77364157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:55.83, Z:2.77 [[ 5.86950098e-01 -8.09205042e-01 -2.60150362e-02 9.91874950e+01] [ 8.08408705e-01 5.87526338e-01 -3.58910514e-02 5.58270156e+01] [ 4.43277387e-02 3.54743939e-05 9.99017042e-01 2.77455056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:55.85, Z:2.78 [[ 5.85380841e-01 -8.10338766e-01 -2.60836268e-02 9.92055390e+01] [ 8.09538367e-01 5.85961674e-01 -3.60076277e-02 5.58492610e+01] [ 4.44623822e-02 -3.75212437e-05 9.99011059e-01 2.77576191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:55.87, Z:2.78 [[ 5.84089724e-01 -8.11268138e-01 -2.61381274e-02 9.92226107e+01] [ 8.10464387e-01 5.84674267e-01 -3.61037142e-02 5.58709406e+01] [ 4.45720835e-02 -9.62129018e-05 9.99006166e-01 2.77594638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80687499999999 meters Centerline goodness [0,1] 0.9999509575537627 Centerline is valid? [True, True] Translation: X:99.24, Y:55.89, Z:2.78 [[ 5.82928516e-01 -8.12084564e-01 -2.67021736e-02 9.92390087e+01] [ 8.11245851e-01 5.83539748e-01 -3.68989399e-02 5.58924511e+01] [ 4.55468392e-02 -1.52583228e-04 9.98962193e-01 2.77540431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:55.92, Z:2.78 [[ 5.83160899e-01 -8.11895286e-01 -2.73753412e-02 9.92550184e+01] [ 8.11012438e-01 5.83803073e-01 -3.78523188e-02 5.59154723e+01] [ 4.67139276e-02 -1.27749915e-04 9.98908300e-01 2.77647658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:55.94, Z:2.78 [[ 5.83798066e-01 -8.11411883e-01 -2.81171440e-02 9.92703924e+01] [ 8.10478871e-01 5.84474764e-01 -3.89005210e-02 5.59380883e+01] [ 4.79981061e-02 -7.83021717e-05 9.98847424e-01 2.77638765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:55.96, Z:2.78 [[ 5.85134704e-01 -8.10426057e-01 -2.87573327e-02 9.92852197e+01] [ 8.09447985e-01 5.85840939e-01 -3.98039516e-02 5.59615275e+01] [ 4.91053823e-02 1.31084436e-05 9.98793603e-01 2.77682424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.30, Y:55.99, Z:2.77 [[ 5.88663927e-01 -8.07799581e-01 -3.05715070e-02 9.92979761e+01] [ 8.06689257e-01 5.89457181e-01 -4.23399941e-02 5.59870343e+01] [ 5.22228238e-02 2.62320893e-04 9.98635423e-01 2.77450356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:56.01, Z:2.77 [[ 5.90761618e-01 -8.06236306e-01 -3.13644496e-02 9.93121098e+01] [ 8.05064144e-01 5.91593473e-01 -4.34613267e-02 5.60115486e+01] [ 5.35951032e-02 4.24889912e-04 9.98562659e-01 2.77434021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:56.04, Z:2.77 [[ 5.95389763e-01 -8.02795684e-01 -3.20954907e-02 9.93248613e+01] [ 8.01561834e-01 5.96253722e-01 -4.44986015e-02 5.60379205e+01] [ 5.48603410e-02 7.67491394e-04 9.98493743e-01 2.77494746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:56.06, Z:2.78 [[ 5.97342447e-01 -8.01339102e-01 -3.22124969e-02 9.93397646e+01] [ 8.00092782e-01 5.98209661e-01 -4.46849052e-02 5.60620959e+01] [ 5.50775887e-02 9.19204389e-04 9.98481654e-01 2.77579134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:56.09, Z:2.78 [[ 5.99225384e-01 -7.99920932e-01 -3.24875686e-02 9.93540070e+01] [ 7.98649748e-01 6.00104449e-01 -4.50913473e-02 5.60859563e+01] [ 5.55654470e-02 1.07369140e-03 9.98454470e-01 2.77667160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:56.11, Z:2.78 [[ 6.00918534e-01 -7.98646665e-01 -3.25640881e-02 9.93692738e+01] [ 7.97366216e-01 6.01799004e-01 -4.52225145e-02 5.61096030e+01] [ 5.57138462e-02 1.20954342e-03 9.98446045e-01 2.77801165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.38, Y:56.13, Z:2.78 [[ 6.01063992e-01 -7.98545670e-01 -3.23556958e-02 9.93846555e+01] [ 7.97280042e-01 6.01932978e-01 -4.49580286e-02 5.61331570e+01] [ 5.53769994e-02 1.22610164e-03 9.98464764e-01 2.77924306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:56.16, Z:2.78 [[ 6.00569961e-01 -7.98937256e-01 -3.18588125e-02 9.94016903e+01] [ 7.97709393e-01 6.01413213e-01 -4.42930196e-02 5.61556939e+01] [ 5.45476543e-02 1.18698307e-03 9.98510463e-01 2.78164925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:56.18, Z:2.78 [[ 6.00048628e-01 -7.99353589e-01 -3.12327299e-02 9.94168592e+01] [ 7.98172780e-01 6.00859831e-01 -4.34474081e-02 5.61783055e+01] [ 5.34963345e-02 1.14144276e-03 9.98567393e-01 2.78385119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:56.20, Z:2.79 [[ 6.00179311e-01 -7.99258289e-01 -3.11605826e-02 9.94345347e+01] [ 7.98081415e-01 6.00986551e-01 -4.33730395e-02 5.62002757e+01] [ 5.33933525e-02 1.16291914e-03 9.98572880e-01 2.78701798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:56.22, Z:2.79 [[ 6.00543711e-01 -7.98981980e-01 -3.12257371e-02 9.94495243e+01] [ 7.97798463e-01 6.01353759e-01 -4.34887215e-02 5.62227884e+01] [ 5.35244192e-02 1.20503311e-03 9.98565814e-01 2.78780508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:56.25, Z:2.79 [[ 6.00771938e-01 -7.98805211e-01 -3.13578155e-02 9.94651728e+01] [ 7.97610168e-01 6.01588478e-01 -4.36958032e-02 5.62457832e+01] [ 5.37689358e-02 1.23989991e-03 9.98552635e-01 2.78826041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:56.27, Z:2.79 [[ 6.01242017e-01 -7.98457772e-01 -3.11965123e-02 9.94813081e+01] [ 7.97273196e-01 6.02049457e-01 -4.34960020e-02 5.62688621e+01] [ 5.35115641e-02 1.27948093e-03 9.98566410e-01 2.78974030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:56.29, Z:2.79 [[ 6.01782137e-01 -7.98067550e-01 -3.07643429e-02 9.94980661e+01] [ 7.96913788e-01 6.02566567e-01 -4.29179169e-02 5.62911908e+01] [ 5.27889613e-02 1.31070673e-03 9.98604831e-01 2.79171650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:56.31, Z:2.79 [[ 6.02180069e-01 -7.97777202e-01 -3.05073807e-02 9.95143036e+01] [ 7.96640983e-01 6.02950861e-01 -4.25840801e-02 5.63140999e+01] [ 5.23670598e-02 1.33985455e-03 9.98627005e-01 2.79368600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:56.34, Z:2.80 [[ 6.02533185e-01 -7.97509223e-01 -3.05417810e-02 9.95317794e+01] [ 7.96368799e-01 6.03305176e-01 -4.26567756e-02 5.63369058e+01] [ 5.24451866e-02 1.37960139e-03 9.98622851e-01 2.79537988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:56.36, Z:2.80 [[ 6.02603087e-01 -7.97447018e-01 -3.07859261e-02 9.95487861e+01] [ 7.96286898e-01 6.03387325e-01 -4.30222361e-02 5.63597645e+01] [ 5.28837914e-02 1.41090273e-03 9.98599677e-01 2.79649725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:56.38, Z:2.80 [[ 6.03007963e-01 -7.97125779e-01 -3.11751361e-02 9.95659262e+01] [ 7.95934323e-01 6.03811497e-01 -4.35916373e-02 5.63825337e+01] [ 5.35719234e-02 1.47274358e-03 9.98562907e-01 2.79681410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:56.40, Z:2.80 [[ 6.01379285e-01 -7.98334520e-01 -3.17009358e-02 9.95837441e+01] [ 7.97102810e-01 6.02212607e-01 -4.43518546e-02 5.64047110e+01] [ 5.44983197e-02 1.40338163e-03 9.98512876e-01 2.79705417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:56.43, Z:2.80 [[ 6.00145781e-01 -7.99242830e-01 -3.21860143e-02 9.96022165e+01] [ 7.97972972e-01 6.01006703e-01 -4.50563982e-02 5.64259811e+01] [ 5.53550135e-02 1.35683784e-03 9.98465814e-01 2.79824544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:56.45, Z:2.80 [[ 5.98958318e-01 -8.00141902e-01 -3.19666982e-02 9.96184091e+01] [ 7.98889225e-01 5.99809385e-01 -4.47739607e-02 5.64477240e+01] [ 5.49994477e-02 1.27988539e-03 9.98485565e-01 2.79865273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:56.47, Z:2.80 [[ 5.98738339e-01 -8.00306912e-01 -3.19569840e-02 9.96343615e+01] [ 7.99054100e-01 5.99589207e-01 -4.47808934e-02 5.64702626e+01] [ 5.49995212e-02 1.27667867e-03 9.98485565e-01 2.79986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.65, Y:56.49, Z:2.80 [[ 5.97495533e-01 -8.01205665e-01 -3.26889964e-02 9.96540422e+01] [ 7.99894554e-01 5.98387793e-01 -4.58339517e-02 5.64911271e+01] [ 5.62831182e-02 1.23783121e-03 9.98414082e-01 2.80129818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.67, Y:56.51, Z:2.80 [[ 5.96928909e-01 -8.01620515e-01 -3.28698559e-02 9.96692440e+01] [ 8.00294003e-01 5.97831966e-01 -4.61134306e-02 5.65136498e+01] [ 5.66161226e-02 1.22089122e-03 9.98395274e-01 2.80089562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:56.54, Z:2.80 [[ 5.96189276e-01 -8.02165881e-01 -3.29885745e-02 9.96877301e+01] [ 8.00829362e-01 5.97100068e-01 -4.63016352e-02 5.65351862e+01] [ 5.68390721e-02 1.18631923e-03 9.98382648e-01 2.80293936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:56.56, Z:2.80 [[ 5.94857309e-01 -8.03169806e-01 -3.26043667e-02 9.97053035e+01] [ 8.01864293e-01 5.95749165e-01 -4.57885144e-02 5.65570797e+01] [ 5.61999764e-02 1.09335502e-03 9.98418934e-01 2.80466190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:56.58, Z:2.81 [[ 5.93948983e-01 -8.03850941e-01 -3.23770034e-02 9.97231251e+01] [ 8.02563169e-01 5.94829883e-01 -4.54947267e-02 5.65793832e+01] [ 5.58297880e-02 1.03695616e-03 9.98439763e-01 2.80672347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:56.60, Z:2.81 [[ 5.92683203e-01 -8.04803100e-01 -3.19153647e-02 9.97408778e+01] [ 8.03551789e-01 5.93541127e-01 -4.48715114e-02 5.66016713e+01] [ 5.50558130e-02 9.48942737e-04 9.98482828e-01 2.80911193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:56.62, Z:2.81 [[ 5.90987403e-01 -8.06055534e-01 -3.17547748e-02 9.97605344e+01] [ 8.04817350e-01 5.91839309e-01 -4.46683925e-02 5.66229858e+01] [ 5.47989290e-02 8.41663543e-04 9.98497055e-01 2.81165885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:56.65, Z:2.81 [[ 5.90011670e-01 -8.06762189e-01 -3.19530853e-02 9.97780753e+01] [ 8.05508549e-01 5.90875744e-01 -4.49648016e-02 5.66453545e+01] [ 5.51562048e-02 7.91274333e-04 9.98477424e-01 2.81210274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.80, Y:56.67, Z:2.81 [[ 5.87859432e-01 -8.08313839e-01 -3.24040938e-02 9.97963899e+01] [ 8.07025378e-01 5.88751464e-01 -4.56262297e-02 5.66672447e+01] [ 5.59582706e-02 6.70883463e-04 9.98432883e-01 2.81216466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:56.69, Z:2.81 [[ 5.85805166e-01 -8.09783021e-01 -3.29206106e-02 9.98150280e+01] [ 8.08453898e-01 5.86729198e-01 -4.63804199e-02 5.66890603e+01] [ 5.68735599e-02 5.55093598e-04 9.98381235e-01 2.81363762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:56.71, Z:2.81 [[ 5.84450262e-01 -8.10750789e-01 -3.31820658e-02 9.98320787e+01] [ 8.09400590e-01 5.85391261e-01 -4.67734607e-02 5.67099982e+01] [ 5.73461115e-02 4.79177701e-04 9.98354243e-01 2.81410943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:56.73, Z:2.82 [[ 5.82847867e-01 -8.11919949e-01 -3.27774406e-02 9.98499580e+01] [ 8.10603140e-01 5.83768668e-01 -4.62243653e-02 5.67318883e+01] [ 5.66649271e-02 3.72276441e-04 9.98393183e-01 2.81541906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:56.75, Z:2.82 [[ 5.82762105e-01 -8.11986236e-01 -3.26600972e-02 9.98658421e+01] [ 8.10677454e-01 5.83676459e-01 -4.60853251e-02 5.67546581e+01] [ 5.64835795e-02 3.79976612e-04 9.98403456e-01 2.81704010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:56.78, Z:2.82 [[ 5.83552970e-01 -8.11453145e-01 -3.17761623e-02 9.98805609e+01] [ 8.10212108e-01 5.84417321e-01 -4.48635240e-02 5.67777164e+01] [ 5.49751873e-02 4.34811237e-04 9.98487626e-01 2.81950164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:56.80, Z:2.82 [[ 5.83956848e-01 -8.11167543e-01 -3.16483316e-02 9.98963502e+01] [ 8.09934599e-01 5.84813638e-01 -4.47096759e-02 5.68006865e+01] [ 5.47754139e-02 4.75442659e-04 9.98498587e-01 2.82186395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:56.82, Z:2.82 [[ 5.84114033e-01 -8.11072410e-01 -3.11824038e-02 9.99117969e+01] [ 8.09874036e-01 5.84945556e-01 -4.40765552e-02 5.68242942e+01] [ 5.39892863e-02 4.91915228e-04 9.98541394e-01 2.82383705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:56.85, Z:2.83 [[ 5.84551484e-01 -8.10772036e-01 -3.07939676e-02 9.99262026e+01] [ 8.09601680e-01 5.85361793e-01 -4.35510125e-02 5.68471706e+01] [ 5.33355551e-02 5.26961101e-04 9.98576507e-01 2.82531427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:56.87, Z:2.83 [[ 5.84663215e-01 -8.10707073e-01 -3.03803629e-02 9.99414901e+01] [ 8.09566885e-01 5.85451751e-01 -4.29849545e-02 5.68701042e+01] [ 5.26344433e-02 5.36785922e-04 9.98613703e-01 2.82799727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:56.89, Z:2.83 [[ 5.84960953e-01 -8.10491722e-01 -3.03949432e-02 9.99571290e+01] [ 8.09348847e-01 5.85749813e-01 -4.30302275e-02 5.68932281e+01] [ 5.26794755e-02 5.70890590e-04 9.98611309e-01 2.82897935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:56.92, Z:2.83 [[ 5.83600180e-01 -8.11473450e-01 -3.03590163e-02 9.99741286e+01] [ 8.10333296e-01 5.84389077e-01 -4.30041333e-02 5.69161636e+01] [ 5.26381899e-02 4.96298226e-04 9.98613526e-01 2.83040642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:56.94, Z:2.83 [[ 5.81611225e-01 -8.12901781e-01 -3.03162892e-02 9.99913122e+01] [ 8.11765439e-01 5.82400677e-01 -4.29688682e-02 5.69384173e+01] [ 5.25856968e-02 3.81460203e-04 9.98616342e-01 2.83229404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters Centerline goodness [0,1] 0.9999750187359481 Centerline is valid? [True, True] Translation: X:100.01, Y:56.96, Z:2.83 [[ 5.79645263e-01 -8.14301769e-01 -3.03973332e-02 1.00007965e+02] [ 8.13159919e-01 5.80441690e-01 -4.31090645e-02 5.69616671e+01] [ 5.27476669e-02 2.70071973e-04 9.98607836e-01 2.83331571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:56.98, Z:2.83 [[ 5.79123003e-01 -8.14651906e-01 -3.09648153e-02 1.00022688e+02] [ 8.13466139e-01 5.79950175e-01 -4.39389999e-02 5.69844806e+01] [ 5.37530400e-02 2.57256840e-04 9.98554227e-01 2.83280882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:57.01, Z:2.83 [[ 5.78448964e-01 -8.15099115e-01 -3.17840991e-02 1.00038342e+02] [ 8.13848840e-01 5.79321479e-01 -4.51297008e-02 5.70081850e+01] [ 5.51983905e-02 2.37776537e-04 9.98475378e-01 2.83246846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:57.03, Z:2.83 [[ 5.77309565e-01 -8.15890621e-01 -3.21894490e-02 1.00053408e+02] [ 8.14607966e-01 5.78206246e-01 -4.57318235e-02 5.70324408e+01] [ 5.59243063e-02 1.79637558e-04 9.98434995e-01 2.83132188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:57.06, Z:2.83 [[ 5.76573361e-01 -8.16398275e-01 -3.25117783e-02 1.00069035e+02] [ 8.15089038e-01 5.77489250e-01 -4.62171678e-02 5.70552188e+01] [ 5.65068186e-02 1.47593696e-04 9.98402202e-01 2.83242884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:57.08, Z:2.83 [[ 5.76178651e-01 -8.16672314e-01 -3.26265974e-02 1.00085247e+02] [ 8.15352614e-01 5.77101649e-01 -4.64090596e-02 5.70786365e+01] [ 5.67298572e-02 1.37727856e-04 9.98389555e-01 2.83413281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:57.10, Z:2.84 [[ 5.75969515e-01 -8.16812241e-01 -3.28158542e-02 1.00100126e+02] [ 8.15475925e-01 5.76903582e-01 -4.67040938e-02 5.71015857e+01] [ 5.70800593e-02 1.39595210e-04 9.98369595e-01 2.83532312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:57.12, Z:2.84 [[ 5.75890610e-01 -8.16866136e-01 -3.28591029e-02 1.00115347e+02] [ 8.15525139e-01 5.76827265e-01 -4.67873201e-02 5.71246311e+01] [ 5.71730039e-02 1.46953866e-04 9.98364275e-01 2.83752777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:57.15, Z:2.84 [[ 5.76085207e-01 -8.16735100e-01 -3.27049081e-02 1.00130822e+02] [ 8.15404912e-01 5.77012778e-01 -4.65948836e-02 5.71485750e+01] [ 5.69268268e-02 1.74880472e-04 9.98378338e-01 2.83959818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:57.17, Z:2.84 [[ 5.76518665e-01 -8.16433996e-01 -3.25846253e-02 1.00145162e+02] [ 8.15111535e-01 5.77438725e-01 -4.64511043e-02 5.71715084e+01] [ 5.67398852e-02 2.19824762e-04 9.98388971e-01 2.84041248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:57.20, Z:2.84 [[ 5.77878796e-01 -8.15481931e-01 -3.23313714e-02 1.00157619e+02] [ 8.14176872e-01 5.78782441e-01 -4.61184022e-02 5.71954125e+01] [ 5.63215537e-02 3.27391883e-04 9.98412628e-01 2.84094787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:57.22, Z:2.84 [[ 5.78698933e-01 -8.14909442e-01 -3.20959044e-02 1.00172543e+02] [ 8.13620919e-01 5.79588168e-01 -4.58099979e-02 5.72196404e+01] [ 5.59334063e-02 3.96297635e-04 9.98434423e-01 2.84171009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:57.24, Z:2.84 [[ 5.79549298e-01 -8.14311555e-01 -3.19265252e-02 1.00187844e+02] [ 8.13034246e-01 5.80427837e-01 -4.55943049e-02 5.72435925e+01] [ 5.56590133e-02 4.66789034e-04 9.98449726e-01 2.84436547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60687499999999 meters Centerline goodness [0,1] 0.999926124750671 Centerline is valid? [True, True] Translation: X:100.20, Y:57.27, Z:2.85 [[ 5.80436450e-01 -8.13690569e-01 -3.16414941e-02 1.00202627e+02] [ 8.12433613e-01 5.81298003e-01 -4.52134381e-02 5.72678558e+01] [ 5.51828855e-02 5.36914114e-04 9.98476119e-01 2.84576851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:57.29, Z:2.85 [[ 5.82580454e-01 -8.12153302e-01 -3.17337037e-02 1.00216010e+02] [ 8.10885276e-01 5.83443677e-01 -4.53711906e-02 5.72929161e+01] [ 5.53631910e-02 6.99975738e-04 9.98466037e-01 2.84644658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:57.32, Z:2.85 [[ 5.83496733e-01 -8.11499846e-01 -3.16158673e-02 1.00230022e+02] [ 8.10238929e-01 5.84352122e-01 -4.52269261e-02 5.73162494e+01] [ 5.51764427e-02 7.73357127e-04 9.98476320e-01 2.84708799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:57.34, Z:2.85 [[ 5.84305755e-01 -8.10913044e-01 -3.17304115e-02 1.00245724e+02] [ 8.09640779e-01 5.85166061e-01 -4.54146408e-02 5.73399477e+01] [ 5.53948846e-02 8.45800899e-04 9.98464166e-01 2.84840155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:57.36, Z:2.85 [[ 5.86830777e-01 -8.09075947e-01 -3.20273442e-02 1.00258371e+02] [ 8.07775543e-01 5.87703174e-01 -4.58655728e-02 5.73645998e+01] [ 5.59313036e-02 1.04442437e-03 9.98434073e-01 2.84851020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:57.39, Z:2.85 [[ 5.87910905e-01 -8.08281086e-01 -3.22870630e-02 1.00272257e+02] [ 8.06956912e-01 5.88795702e-01 -4.62618977e-02 5.73880983e+01] [ 5.64031008e-02 1.14360546e-03 9.98407423e-01 2.84918486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:57.41, Z:2.85 [[ 5.89002323e-01 -8.07480870e-01 -3.24177086e-02 1.00287164e+02] [ 8.06143691e-01 5.89892461e-01 -4.64675590e-02 5.74118587e+01] [ 5.66446269e-02 1.23616897e-03 9.98393639e-01 2.84995059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:57.44, Z:2.85 [[ 5.89475597e-01 -8.07135142e-01 -3.24250283e-02 1.00302994e+02] [ 8.05795411e-01 5.90365321e-01 -4.65031603e-02 5.74352435e+01] [ 5.66769471e-02 1.28453916e-03 9.98391744e-01 2.85096973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:57.46, Z:2.85 [[ 5.88752242e-01 -8.07673869e-01 -3.21514992e-02 1.00319280e+02] [ 8.06355997e-01 5.89628179e-01 -4.61369313e-02 5.74582461e+01] [ 5.62210238e-02 1.23766757e-03 9.98417580e-01 2.85245530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:57.48, Z:2.85 [[ 5.87818123e-01 -8.08376787e-01 -3.15725437e-02 1.00336469e+02] [ 8.07105669e-01 5.88664265e-01 -4.53301439e-02 5.74811033e+01] [ 5.52294643e-02 1.16350110e-03 9.98473010e-01 2.85427759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:57.50, Z:2.86 [[ 5.86362315e-01 -8.09434460e-01 -3.15450612e-02 1.00353681e+02] [ 8.08166059e-01 5.87209249e-01 -4.53091622e-02 5.75028156e+01] [ 5.51983489e-02 1.07393746e-03 9.98474831e-01 2.85629320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:57.52, Z:2.86 [[ 5.83041686e-01 -8.11855949e-01 -3.08595384e-02 1.00373443e+02] [ 8.10644106e-01 5.83857183e-01 -4.43500034e-02 5.75232917e+01] [ 5.40233772e-02 8.41797781e-04 9.98539316e-01 2.85932413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:57.54, Z:2.86 [[ 5.80803471e-01 -8.13480713e-01 -3.02730494e-02 1.00390724e+02] [ 8.12315471e-01 5.81591482e-01 -4.35307222e-02 5.75447870e+01] [ 5.30179506e-02 6.91528167e-04 9.98593320e-01 2.86075281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:57.57, Z:2.86 [[ 5.78104124e-01 -8.15412717e-01 -2.99620356e-02 1.00409213e+02] [ 8.14272978e-01 5.78879808e-01 -4.31008815e-02 5.75663721e+01] [ 5.24894243e-02 5.19521384e-04 9.98621345e-01 2.86250135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.43, Y:57.59, Z:2.87 [[ 5.71316742e-01 -8.20205755e-01 -2.93206335e-02 1.00431633e+02] [ 8.19119376e-01 5.72068624e-01 -4.22011646e-02 5.75850623e+01] [ 5.13870525e-02 9.31328329e-05 9.98678808e-01 2.86565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:57.61, Z:2.87 [[ 5.67349295e-01 -8.22970779e-01 -2.88768711e-02 1.00451223e+02] [ 8.21919448e-01 5.68083688e-01 -4.15853911e-02 5.76061681e+01] [ 5.06280412e-02 -1.41019644e-04 9.98717568e-01 2.86877741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:57.63, Z:2.87 [[ 5.63228523e-01 -8.25809774e-01 -2.84929274e-02 1.00470642e+02] [ 8.24788654e-01 5.63948645e-01 -4.10560829e-02 5.76277041e+01] [ 4.99730624e-02 -3.76686292e-04 9.98750495e-01 2.87125499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:57.65, Z:2.87 [[ 5.59148818e-01 -8.28588223e-01 -2.81807710e-02 1.00489497e+02] [ 8.27591768e-01 5.59858188e-01 -4.06284912e-02 5.76492326e+01] [ 4.94415247e-02 -6.04801263e-04 9.98776837e-01 2.87341978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:57.67, Z:2.87 [[ 5.51098471e-01 -8.33979818e-01 -2.77153055e-02 1.00509519e+02] [ 8.33021715e-01 5.51793937e-01 -3.99784055e-02 5.76681727e+01] [ 4.86343209e-02 -1.05541320e-03 9.98816094e-01 2.87475465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.53, Y:57.69, Z:2.88 [[ 5.47124847e-01 -8.36597494e-01 -2.75505809e-02 1.00527227e+02] [ 8.35653227e-01 5.47816592e-01 -3.97575952e-02 5.76896870e+01] [ 4.83537698e-02 -1.27036365e-03 9.98829464e-01 2.87555650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:57.71, Z:2.88 [[ 5.43395533e-01 -8.39029094e-01 -2.74130478e-02 1.00544071e+02] [ 8.38096578e-01 5.44084569e-01 -3.95740887e-02 5.77120048e+01] [ 4.81188280e-02 -1.47039856e-03 9.98840536e-01 2.87723280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.56, Y:57.73, Z:2.88 [[ 5.39438128e-01 -8.41577496e-01 -2.74558707e-02 1.00562944e+02] [ 8.40644196e-01 5.40133755e-01 -3.96593281e-02 5.77322285e+01] [ 4.82062405e-02 -1.68686461e-03 9.98835979e-01 2.87831572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:57.75, Z:2.88 [[ 5.33151953e-01 -8.45557977e-01 -2.79410521e-02 1.00580099e+02] [ 8.44595571e-01 5.33879604e-01 -4.03842880e-02 5.77539717e+01] [ 4.90644147e-02 -2.06792677e-03 9.98793476e-01 2.88002211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:57.78, Z:2.88 [[ 5.30620178e-01 -8.47148271e-01 -2.79648684e-02 1.00596012e+02] [ 8.46185308e-01 5.31351999e-01 -4.04410375e-02 5.77754050e+01] [ 4.91187437e-02 -2.20463022e-03 9.98790513e-01 2.88141931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:57.80, Z:2.88 [[ 5.28143389e-01 -8.48680003e-01 -2.84044627e-02 1.00608741e+02] [ 8.47687948e-01 5.28901322e-01 -4.10917872e-02 5.78003233e+01] [ 4.98969360e-02 -2.37576496e-03 9.98751546e-01 2.88269409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:57.83, Z:2.88 [[ 5.25748518e-01 -8.50161374e-01 -2.85330479e-02 1.00621907e+02] [ 8.49161641e-01 5.26516186e-01 -4.12942208e-02 5.78254646e+01] [ 5.01298630e-02 -2.51879438e-03 9.98739532e-01 2.88404852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.386875 meters Centerline goodness [0,1] 0.9999754589182291 Centerline is valid? [True, True] Translation: X:100.63, Y:57.85, Z:2.89 [[ 5.25080289e-01 -8.50585591e-01 -2.81929497e-02 1.00634835e+02] [ 8.49609010e-01 5.25830600e-01 -4.08253639e-02 5.78512707e+01] [ 4.95501819e-02 -2.51639023e-03 9.98768465e-01 2.88525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:57.88, Z:2.89 [[ 5.25214698e-01 -8.50506223e-01 -2.80835521e-02 1.00648307e+02] [ 8.49535999e-01 5.25959103e-01 -4.06891753e-02 5.78754758e+01] [ 4.93771967e-02 -2.48743549e-03 9.98777105e-01 2.88608928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:57.90, Z:2.89 [[ 5.26034334e-01 -8.49999215e-01 -2.80929442e-02 1.00659375e+02] [ 8.49026480e-01 5.26778357e-01 -4.07259125e-02 5.79025575e+01] [ 4.94157486e-02 -2.42842524e-03 9.98775343e-01 2.88716871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:57.93, Z:2.89 [[ 5.25806169e-01 -8.50140724e-01 -2.80824197e-02 1.00674994e+02] [ 8.49167804e-01 5.26549950e-01 -4.07331686e-02 5.79253609e+01] [ 4.94157221e-02 -2.42893530e-03 9.98775343e-01 2.88837619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.506875 meters Centerline goodness [0,1] 0.9999759852068875 Centerline is valid? [True, True] Translation: X:100.68, Y:57.95, Z:2.89 [[ 5.28698944e-01 -8.48339258e-01 -2.82476477e-02 1.00680973e+02] [ 8.47351096e-01 5.29448195e-01 -4.09966847e-02 5.79538520e+01] [ 4.97347632e-02 -2.26077137e-03 9.98759902e-01 2.88864323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.69, Y:57.98, Z:2.89 [[ 5.31001985e-01 -8.46898574e-01 -2.82789293e-02 1.00691555e+02] [ 8.45904946e-01 5.31750255e-01 -4.10668753e-02 5.79797340e+01] [ 4.98168060e-02 -2.11469390e-03 9.98756133e-01 2.88931830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:58.01, Z:2.89 [[ 5.33126346e-01 -8.45562495e-01 -2.82907413e-02 1.00701226e+02] [ 8.44564983e-01 5.33872789e-01 -4.11075892e-02 5.80074563e+01] [ 4.98626927e-02 -1.97783066e-03 9.98754124e-01 2.89027867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:58.04, Z:2.89 [[ 5.35068920e-01 -8.44332723e-01 -2.83461343e-02 1.00710627e+02] [ 8.43328405e-01 5.35816027e-01 -4.12114743e-02 5.80352627e+01] [ 4.99845094e-02 -1.85412122e-03 9.98748272e-01 2.89192381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:58.07, Z:2.89 [[ 5.38876874e-01 -8.41901627e-01 -2.85195663e-02 1.00716099e+02] [ 8.40880353e-01 5.39628586e-01 -4.14875990e-02 5.80655101e+01] [ 5.03184503e-02 -1.62483529e-03 9.98731903e-01 2.89316049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:58.09, Z:2.89 [[ 5.40270360e-01 -8.41012360e-01 -2.83927588e-02 1.00727000e+02] [ 8.39997761e-01 5.41013764e-01 -4.13263766e-02 5.80924354e+01] [ 5.01168668e-02 -1.52243742e-03 9.98742200e-01 2.89447104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.686875 meters Centerline goodness [0,1] 0.9999770810414375 Centerline is valid? [True, True] Translation: X:100.74, Y:58.12, Z:2.90 [[ 5.41594773e-01 -8.40153248e-01 -2.85940951e-02 1.00738397e+02] [ 8.39121829e-01 5.42347163e-01 -4.16426506e-02 5.81190269e+01] [ 5.04941345e-02 -1.44048750e-03 9.98723319e-01 2.89539414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:58.15, Z:2.90 [[ 5.43615928e-01 -8.38839735e-01 -2.88031516e-02 1.00745310e+02] [ 8.37790197e-01 5.44376861e-01 -4.19692520e-02 5.81471437e+01] [ 5.08852455e-02 -1.31584420e-03 9.98703640e-01 2.89516566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:58.17, Z:2.90 [[ 5.43863706e-01 -8.38686196e-01 -2.85960512e-02 1.00757028e+02] [ 8.37650716e-01 5.44613456e-01 -4.16828676e-02 5.81736230e+01] [ 5.05326399e-02 -1.28370389e-03 9.98721585e-01 2.89610244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:58.20, Z:2.90 [[ 5.43696034e-01 -8.38790722e-01 -2.87184168e-02 1.00769380e+02] [ 8.37745279e-01 5.44452451e-01 -4.18852620e-02 5.81988049e+01] [ 5.07687815e-02 -1.28586726e-03 9.98709606e-01 2.89713776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:58.22, Z:2.90 [[ 5.43007636e-01 -8.39244786e-01 -2.84762389e-02 1.00781759e+02] [ 8.38216325e-01 5.43752231e-01 -4.15560290e-02 5.82241695e+01] [ 5.03596991e-02 -1.30400727e-03 9.98730294e-01 2.89836331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:58.25, Z:2.90 [[ 5.40007279e-01 -8.41184425e-01 -2.83002199e-02 1.00793851e+02] [ 8.40170178e-01 5.40746357e-01 -4.13212967e-02 5.82486035e+01] [ 5.00620720e-02 -1.46319986e-03 9.98745037e-01 2.89965604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:58.27, Z:2.90 [[ 5.37563305e-01 -8.42759249e-01 -2.79739422e-02 1.00807849e+02] [ 8.41769770e-01 5.38288342e-01 -4.08572667e-02 5.82737830e+01] [ 4.94908864e-02 -1.58425149e-03 9.98773319e-01 2.90148574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:58.30, Z:2.90 [[ 5.35135472e-01 -8.44307748e-01 -2.78290068e-02 1.00822105e+02] [ 8.43329530e-01 5.35855870e-01 -4.06668137e-02 5.82978567e+01] [ 4.92476426e-02 -1.70676871e-03 9.98785140e-01 2.90299865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:58.32, Z:2.91 [[ 5.33017483e-01 -8.45665818e-01 -2.72339134e-02 1.00835122e+02] [ 8.44730067e-01 5.33709788e-01 -3.98117666e-02 5.83242324e+01] [ 4.82024563e-02 -1.78493790e-03 9.98835991e-01 2.90539128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.85, Y:58.35, Z:2.91 [[ 5.29512898e-01 -8.47903607e-01 -2.59915994e-02 1.00847876e+02] [ 8.47053107e-01 5.30147066e-01 -3.80147486e-02 5.83504633e+01] [ 4.60122127e-02 -1.88696530e-03 9.98939095e-01 2.90737547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:58.37, Z:2.91 [[ 5.28326745e-01 -8.48649106e-01 -2.57981741e-02 1.00864547e+02] [ 8.47811225e-01 5.28952722e-01 -3.77511038e-02 5.83727225e+01] [ 4.56834549e-02 -1.92706375e-03 9.98954107e-01 2.90878722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:58.40, Z:2.91 [[ 5.27801050e-01 -8.48968574e-01 -2.60463409e-02 1.00876547e+02] [ 8.48114213e-01 5.28439680e-01 -3.81285598e-02 5.83993647e+01] [ 4.61338690e-02 -1.96597798e-03 9.98933332e-01 2.90970392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:58.43, Z:2.91 [[ 5.27703010e-01 -8.48996910e-01 -2.70883635e-02 1.00886796e+02] [ 8.48071722e-01 5.28393891e-01 -3.96768143e-02 5.84256680e+01] [ 4.79988185e-02 -2.03530075e-03 9.98845319e-01 2.90864765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:100.90, Y:58.45, Z:2.91 [[ 5.27825010e-01 -8.48908730e-01 -2.74723116e-02 1.00897047e+02] [ 8.47955947e-01 5.28535512e-01 -4.02607005e-02 5.84527290e+01] [ 4.86977524e-02 -2.04470540e-03 9.98811468e-01 2.90862551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.106875 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:100.91, Y:58.48, Z:2.91 [[ 5.28218921e-01 -8.48650972e-01 -2.78621469e-02 1.00909373e+02] [ 8.47669386e-01 5.28949316e-01 -4.08562637e-02 5.84781440e+01] [ 4.94103714e-02 -2.03683745e-03 9.98776485e-01 2.90874948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:100.92, Y:58.50, Z:2.91 [[ 5.29761571e-01 -8.47669162e-01 -2.84547071e-02 1.00919693e+02] [ 8.46642807e-01 5.30521529e-01 -4.17476292e-02 5.85049109e+01] [ 5.04840125e-02 -1.97468348e-03 9.98722917e-01 2.90863852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:58.53, Z:2.91 [[ 5.31216615e-01 -8.46743497e-01 -2.88852651e-02 1.00933242e+02] [ 8.45684055e-01 5.31997931e-01 -4.23872691e-02 5.85296526e+01] [ 5.12580458e-02 -1.91098656e-03 9.98683614e-01 2.90960843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.94, Y:58.56, Z:2.91 [[ 5.32897596e-01 -8.45702928e-01 -2.84026175e-02 1.00943620e+02] [ 8.44676667e-01 5.33651014e-01 -4.16884166e-02 5.85574943e+01] [ 5.04131016e-02 -1.77537129e-03 9.98726873e-01 2.91149662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.226875 meters Centerline goodness [0,1] 0.9999578477037536 Centerline is valid? [True, True] Translation: X:100.96, Y:58.58, Z:2.91 [[ 5.35072280e-01 -8.44334852e-01 -2.82190071e-02 1.00955502e+02] [ 8.43318911e-01 5.35813417e-01 -4.14390710e-02 5.85826083e+01] [ 5.01085745e-02 -1.62472409e-03 9.98742455e-01 2.91304196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters Centerline goodness [0,1] 0.999937822545545 Centerline is valid? [True, True] Translation: X:100.96, Y:58.61, Z:2.92 [[ 5.39664578e-01 -8.41442044e-01 -2.71556468e-02 1.00963824e+02] [ 8.40497119e-01 5.40345815e-01 -3.98872457e-02 5.86094662e+01] [ 4.82362457e-02 -1.29850927e-03 9.98835111e-01 2.91516881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28687499999998 meters Centerline goodness [0,1] 0.9999378959135511 Centerline is valid? [True, True] Translation: X:100.98, Y:58.64, Z:2.92 [[ 5.41347616e-01 -8.40365918e-01 -2.69792999e-02 1.00976633e+02] [ 8.39431077e-01 5.42018191e-01 -3.96452732e-02 5.86361536e+01] [ 4.79398078e-02 -1.18538864e-03 9.98849523e-01 2.91677282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters Centerline goodness [0,1] 0.999917532574633 Centerline is valid? [True, True] Translation: X:100.99, Y:58.66, Z:2.92 [[ 5.42669928e-01 -8.39519553e-01 -2.67632080e-02 1.00989749e+02] [ 8.38597757e-01 5.43328380e-01 -3.93455689e-02 5.86606912e+01] [ 4.75725848e-02 -1.09190918e-03 9.98867187e-01 2.91788210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34687499999998 meters Centerline goodness [0,1] 0.9998965488703137 Centerline is valid? [True, True] Translation: X:101.00, Y:58.69, Z:2.92 [[ 5.43515210e-01 -8.38969728e-01 -2.68516621e-02 1.01000709e+02] [ 8.38040745e-01 5.44177093e-01 -3.94841897e-02 5.86878969e+01] [ 4.77380993e-02 -1.04252924e-03 9.98859343e-01 2.91943443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters Centerline goodness [0,1] 0.999835786275838 Centerline is valid? [True, True] Translation: X:101.01, Y:58.71, Z:2.92 [[ 5.45444196e-01 -8.37702052e-01 -2.73111678e-02 1.01012310e+02] [ 8.36738285e-01 5.46126723e-01 -4.01826513e-02 5.87134516e+01] [ 4.85764480e-02 -9.34905799e-04 9.98819030e-01 2.91948920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40687499999999 meters Centerline goodness [0,1] 0.9999385107298776 Centerline is valid? [True, True] Translation: X:101.03, Y:58.74, Z:2.92 [[ 5.46137402e-01 -8.37234061e-01 -2.78040515e-02 1.01025238e+02] [ 8.36234084e-01 5.46843953e-01 -4.09175704e-02 5.87383062e+01] [ 4.94620610e-02 -9.04079969e-04 9.98775594e-01 2.91991351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters Centerline goodness [0,1] 0.9999383730484799 Centerline is valid? [True, True] Translation: X:101.04, Y:58.76, Z:2.92 [[ 5.46555351e-01 -8.36951652e-01 -2.80923535e-02 1.01038272e+02] [ 8.35929227e-01 5.47276135e-01 -4.13661675e-02 5.87631579e+01] [ 4.99957568e-02 -8.74319127e-04 9.98749047e-01 2.92036890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.466875 meters Centerline goodness [0,1] 0.9999178897670122 Centerline is valid? [True, True] Translation: X:101.05, Y:58.79, Z:2.92 [[ 5.47512786e-01 -8.36311770e-01 -2.85021497e-02 1.01049392e+02] [ 8.35257132e-01 5.48253556e-01 -4.19947914e-02 5.87896776e+01] [ 5.07471432e-02 -8.13938590e-04 9.98711202e-01 2.92076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters Centerline goodness [0,1] 0.9999386264601788 Centerline is valid? [True, True] Translation: X:101.06, Y:58.81, Z:2.92 [[ 5.47904560e-01 -8.36042369e-01 -2.88747457e-02 1.01063551e+02] [ 8.34958333e-01 5.48664324e-01 -4.25680769e-02 5.88128084e+01] [ 5.14312586e-02 -7.85966081e-04 9.98676228e-01 2.92073207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.526875 meters Centerline goodness [0,1] 0.9998978528672701 Centerline is valid? [True, True] Translation: X:101.08, Y:58.84, Z:2.92 [[ 5.48125083e-01 -8.35895931e-01 -2.89289753e-02 1.01077576e+02] [ 8.34806650e-01 5.48887429e-01 -4.26666894e-02 5.88371293e+01] [ 5.15436630e-02 -7.63418289e-04 9.98670450e-01 2.92164960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters Centerline goodness [0,1] 0.9999183673469387 Centerline is valid? [True, True] Translation: X:101.09, Y:58.86, Z:2.92 [[ 5.48229290e-01 -8.35824167e-01 -2.90276859e-02 1.01091687e+02] [ 8.34726036e-01 5.48996726e-01 -4.28373617e-02 5.88614032e+01] [ 5.17406066e-02 -7.45468772e-04 9.98660280e-01 2.92273647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.586875 meters Centerline goodness [0,1] 0.9997536136662286 Centerline is valid? [True, True] Translation: X:101.10, Y:58.89, Z:2.92 [[ 5.49146886e-01 -8.35220766e-01 -2.90511433e-02 1.01104064e+02] [ 8.34118711e-01 5.49914371e-01 -4.28971005e-02 5.88874376e+01] [ 5.18041903e-02 -6.75293025e-04 9.98657033e-01 2.92435422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters Centerline goodness [0,1] 0.999897477957761 Centerline is valid? [True, True] Translation: X:101.12, Y:58.91, Z:2.93 [[ 5.49850203e-01 -8.34762157e-01 -2.89291288e-02 1.01118504e+02] [ 8.33667414e-01 5.50610354e-01 -4.27420280e-02 5.89118684e+01] [ 5.16081053e-02 -6.15559238e-04 9.98667224e-01 2.92629928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.646875 meters Centerline goodness [0,1] 0.9998565661947011 Centerline is valid? [True, True] Translation: X:101.13, Y:58.94, Z:2.93 [[ 5.51037019e-01 -8.33980176e-01 -2.89010250e-02 1.01132171e+02] [ 8.32885180e-01 5.51794152e-01 -4.27257642e-02 5.89368003e+01] [ 5.15798570e-02 -5.27757660e-04 9.98668734e-01 2.92817464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters Centerline goodness [0,1] 0.9999794796027252 Centerline is valid? [True, True] Translation: X:101.15, Y:58.96, Z:2.93 [[ 5.52725801e-01 -8.32869670e-01 -2.86758105e-02 1.01145922e+02] [ 8.31788899e-01 5.53469012e-01 -4.24179273e-02 5.89617457e+01] [ 5.11997776e-02 -4.06737973e-04 9.98688348e-01 2.92993409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.706875 meters Centerline goodness [0,1] 0.9999591820074288 Centerline is valid? [True, True] Translation: X:101.16, Y:58.99, Z:2.93 [[ 5.57265267e-01 -8.29857338e-01 -2.81464263e-02 1.01157225e+02] [ 8.28811083e-01 5.57975614e-01 -4.16581680e-02 5.89874420e+01] [ 5.02753559e-02 -1.13419987e-04 9.98735388e-01 2.93173233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters Centerline goodness [0,1] 0.999897942521228 Centerline is valid? [True, True] Translation: X:101.17, Y:59.01, Z:2.93 [[ 5.59791162e-01 -8.28162799e-01 -2.79326524e-02 1.01170415e+02] [ 8.27129411e-01 5.60487623e-01 -4.13589419e-02 5.90122770e+01] [ 4.99078430e-02 4.84518614e-05 9.98753826e-01 2.93329330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.766875 meters Centerline goodness [0,1] 0.9998563306857131 Centerline is valid? [True, True] Translation: X:101.18, Y:59.04, Z:2.93 [[ 5.62695979e-01 -8.26187356e-01 -2.80657593e-02 1.01182792e+02] [ 8.25140446e-01 5.63395416e-01 -4.15794380e-02 5.90362879e+01] [ 5.01645261e-02 2.38389413e-04 9.98740939e-01 2.93391159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters Centerline goodness [0,1] 0.9998565750112691 Centerline is valid? [True, True] Translation: X:101.19, Y:59.06, Z:2.93 [[ 5.68556259e-01 -8.22164816e-01 -2.80854950e-02 1.01194938e+02] [ 8.21110842e-01 5.69249200e-01 -4.16213135e-02 5.90633018e+01] [ 5.02072251e-02 6.02753905e-04 9.98738640e-01 2.93492035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.826875 meters Centerline goodness [0,1] 0.9998362769375602 Centerline is valid? [True, True] Translation: X:101.21, Y:59.09, Z:2.94 [[ 5.71535798e-01 -8.20093242e-01 -2.81763470e-02 1.01209456e+02] [ 8.19028794e-01 5.72229355e-01 -4.17779982e-02 5.90884800e+01] [ 5.03851868e-02 8.00381995e-04 9.98729539e-01 2.93643282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters Centerline goodness [0,1] 0.9999184854598439 Centerline is valid? [True, True] Translation: X:101.22, Y:59.11, Z:2.94 [[ 5.74121918e-01 -8.18284960e-01 -2.81735363e-02 1.01222449e+02] [ 8.17217468e-01 5.74811953e-01 -4.17950946e-02 5.91127433e+01] [ 5.03947827e-02 9.71573912e-04 9.98728903e-01 2.93676076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.886875 meters Centerline goodness [0,1] 0.9998773106494356 Centerline is valid? [True, True] Translation: X:101.24, Y:59.14, Z:2.94 [[ 5.76658882e-01 -8.16494226e-01 -2.83145251e-02 1.01237561e+02] [ 8.15413024e-01 5.77352466e-01 -4.20205963e-02 5.91373132e+01] [ 5.06570352e-02 1.14351756e-03 9.98715454e-01 2.93725064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters Centerline goodness [0,1] 0.9998366146556654 Centerline is valid? [True, True] Translation: X:101.25, Y:59.16, Z:2.94 [[ 5.81513401e-01 -8.13037529e-01 -2.84981004e-02 1.01251070e+02] [ 8.11936910e-01 5.82209430e-01 -4.23158742e-02 5.91623346e+01] [ 5.09962566e-02 1.46858832e-03 9.98697765e-01 2.93768482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.946875 meters Centerline goodness [0,1] 0.9999589423550665 Centerline is valid? [True, True] Translation: X:101.27, Y:59.19, Z:2.94 [[ 5.83363299e-01 -8.11706745e-01 -2.86255532e-02 1.01266611e+02] [ 8.10593409e-01 5.84062993e-01 -4.25293406e-02 5.91864857e+01] [ 5.12404789e-02 1.60637163e-03 9.98685052e-01 2.93869363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters Centerline goodness [0,1] 0.999857300118237 Centerline is valid? [True, True] Translation: X:101.28, Y:59.21, Z:2.94 [[ 5.84934716e-01 -8.10564305e-01 -2.89289782e-02 1.01282498e+02] [ 8.09424626e-01 5.85647066e-01 -4.30033543e-02 5.92106746e+01] [ 5.17991552e-02 1.73832750e-03 9.98656010e-01 2.93917548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.006875 meters Centerline goodness [0,1] 0.9998572069682999 Centerline is valid? [True, True] Translation: X:101.30, Y:59.23, Z:2.94 [[ 5.86253256e-01 -8.09617902e-01 -2.87397440e-02 1.01299855e+02] [ 8.08490792e-01 5.86954451e-01 -4.27447289e-02 5.92336357e+01] [ 5.14758184e-02 1.82341814e-03 9.98672577e-01 2.94049635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters Centerline goodness [0,1] 0.9999387880024485 Centerline is valid? [True, True] Translation: X:101.32, Y:59.26, Z:2.94 [[ 5.86319243e-01 -8.09581033e-01 -2.84305566e-02 1.01315194e+02] [ 8.08476931e-01 5.87005316e-01 -4.23061608e-02 5.92553511e+01] [ 5.09391532e-02 1.81946700e-03 9.98700101e-01 2.94186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06687499999998 meters Centerline goodness [0,1] 0.9998367213650093 Centerline is valid? [True, True] Translation: X:101.33, Y:59.28, Z:2.94 [[ 5.85692497e-01 -8.10052456e-01 -2.79162531e-02 1.01334357e+02] [ 8.08987737e-01 5.86354788e-01 -4.15560393e-02 5.92772355e+01] [ 5.00314004e-02 1.75515396e-03 9.98746103e-01 2.94408926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters Centerline goodness [0,1] 0.9998367146997591 Centerline is valid? [True, True] Translation: X:101.36, Y:59.30, Z:2.95 [[ 5.83193056e-01 -8.11900626e-01 -2.65185494e-02 1.01355107e+02] [ 8.10940845e-01 5.83793660e-01 -3.94956793e-02 5.92976152e+01] [ 4.75479278e-02 1.52863106e-03 9.98867788e-01 2.94778777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12687499999998 meters Centerline goodness [0,1] 0.9998977379637584 Centerline is valid? [True, True] Translation: X:101.37, Y:59.32, Z:2.95 [[ 5.81405868e-01 -8.13200293e-01 -2.59325933e-02 1.01374899e+02] [ 8.12282754e-01 5.81982227e-01 -3.86447327e-02 5.93190113e+01] [ 4.65182164e-02 1.40367606e-03 9.98916456e-01 2.95003285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters Centerline goodness [0,1] 0.9999390305863225 Centerline is valid? [True, True] Translation: X:101.39, Y:59.34, Z:2.95 [[ 5.79060601e-01 -8.14868503e-01 -2.60411749e-02 1.01393038e+02] [ 8.13943956e-01 5.79644430e-01 -3.88274599e-02 5.93410777e+01] [ 4.67338961e-02 1.28739534e-03 9.98906545e-01 2.95089660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.186875 meters Centerline goodness [0,1] 0.9998161652062013 Centerline is valid? [True, True] Translation: X:101.41, Y:59.36, Z:2.95 [[ 5.76491715e-01 -8.16689006e-01 -2.60071183e-02 1.01413508e+02] [ 8.15767739e-01 5.77076896e-01 -3.87975776e-02 5.93616968e+01] [ 4.66936622e-02 1.15071395e-03 9.98908593e-01 2.95248079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters Centerline goodness [0,1] 0.9998764415156507 Centerline is valid? [True, True] Translation: X:101.44, Y:59.38, Z:2.96 [[ 5.70628191e-01 -8.20800470e-01 -2.58854238e-02 1.01438698e+02] [ 8.19891018e-01 5.71214416e-01 -3.86368998e-02 5.93794220e+01] [ 4.64993128e-02 8.24077820e-04 9.98917982e-01 2.95512874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.246875 meters Centerline goodness [0,1] 0.9999587611860283 Centerline is valid? [True, True] Translation: X:101.46, Y:59.40, Z:2.96 [[ 5.66932828e-01 -8.23359675e-01 -2.58072424e-02 1.01459642e+02] [ 8.22457337e-01 5.67519563e-01 -3.85418471e-02 5.94004155e+01] [ 4.63799176e-02 6.25282512e-04 9.98923677e-01 2.95679233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters Centerline goodness [0,1] 0.9999792823402669 Centerline is valid? [True, True] Translation: X:101.48, Y:59.42, Z:2.96 [[ 5.63524002e-01 -8.25690212e-01 -2.60071827e-02 1.01480699e+02] [ 8.24775340e-01 5.64123632e-01 -3.88608414e-02 5.94215804e+01] [ 4.67582827e-02 4.48933847e-04 9.98906132e-01 2.95819101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.306875 meters Centerline goodness [0,1] 0.9999376558603491 Centerline is valid? [True, True] Translation: X:101.51, Y:59.44, Z:2.96 [[ 5.56346451e-01 -8.30519268e-01 -2.67651230e-02 1.01505523e+02] [ 8.29555146e-01 5.56989894e-01 -4.00064740e-02 5.94392000e+01] [ 4.81340505e-02 5.43142715e-05 9.98840883e-01 2.95847864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters Centerline goodness [0,1] 0.9999582463465553 Centerline is valid? [True, True] Translation: X:101.53, Y:59.46, Z:2.96 [[ 5.52892982e-01 -8.32821020e-01 -2.68048195e-02 1.01525788e+02] [ 8.31855686e-01 5.53542347e-01 -4.00872428e-02 5.94592098e+01] [ 4.82231012e-02 -1.33786311e-04 9.98836581e-01 2.95988648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.366875 meters Centerline goodness [0,1] 0.9999582463465553 Centerline is valid? [True, True] Translation: X:101.54, Y:59.48, Z:2.96 [[ 5.52667702e-01 -8.32970885e-01 -2.67939576e-02 1.01541031e+02] [ 8.32005375e-01 5.53316805e-01 -4.00945017e-02 5.94821780e+01] [ 4.82230996e-02 -1.33780682e-04 9.98836581e-01 2.96109223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:59.50, Z:2.96 [[ 5.49285421e-01 -8.35197969e-01 -2.70162783e-02 1.01561670e+02] [ 8.34217886e-01 5.49949318e-01 -4.04508028e-02 5.95033762e+01] [ 4.86420121e-02 -3.18426281e-04 9.98816226e-01 2.96261047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.426875 meters Centerline goodness [0,1] 0.9999789229634314 Centerline is valid? [True, True] Translation: X:101.58, Y:59.52, Z:2.96 [[ 5.46733670e-01 -8.36861587e-01 -2.72942946e-02 1.01581265e+02] [ 8.35862225e-01 5.47414353e-01 -4.08884679e-02 5.95249264e+01] [ 4.91592767e-02 -4.59167717e-04 9.98790846e-01 2.96388953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters Centerline goodness [0,1] 0.9999151859547941 Centerline is valid? [True, True] Translation: X:101.60, Y:59.55, Z:2.97 [[ 5.43126207e-01 -8.39197318e-01 -2.76004488e-02 1.01602900e+02] [ 8.38177293e-01 5.43826644e-01 -4.13691488e-02 5.95455626e+01] [ 4.97267382e-02 -6.65400601e-04 9.98762639e-01 2.96514026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:59.57, Z:2.97 [[ 5.41706984e-01 -8.40123716e-01 -2.73072483e-02 1.01621388e+02] [ 8.39125421e-01 5.42394328e-01 -4.09502277e-02 5.95664585e+01] [ 4.92145540e-02 -7.31181886e-04 9.98787962e-01 2.96556537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:101.64, Y:59.59, Z:2.97 [[ 5.40492192e-01 -8.40912269e-01 -2.71062067e-02 1.01638201e+02] [ 8.39929015e-01 5.41170889e-01 -4.06610111e-02 5.95893130e+01] [ 4.88614331e-02 -7.90330465e-04 9.98805254e-01 2.96695103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.546875 meters Centerline goodness [0,1] 0.9999359603808222 Centerline is valid? [True, True] Translation: X:101.66, Y:59.61, Z:2.97 [[ 5.39467712e-01 -8.41579568e-01 -2.68033296e-02 1.01655141e+02] [ 8.40617897e-01 5.40132524e-01 -4.02294315e-02 5.96123029e+01] [ 4.83336177e-02 -8.28879171e-04 9.98830904e-01 2.96850381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:59.63, Z:2.97 [[ 5.38532047e-01 -8.42189781e-01 -2.64500894e-02 1.01671803e+02] [ 8.41252952e-01 5.39180521e-01 -3.97219941e-02 5.96345764e+01] [ 4.77148305e-02 -8.59649032e-04 9.98860629e-01 2.97025932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:59.66, Z:2.97 [[ 5.37933458e-01 -8.42565280e-01 -2.66710352e-02 1.01687843e+02] [ 8.41612032e-01 5.38593503e-01 -4.00777422e-02 5.96574472e+01] [ 4.81329604e-02 -8.87505714e-04 9.98840543e-01 2.97150334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.70, Y:59.68, Z:2.97 [[ 5.37807978e-01 -8.42641450e-01 -2.67948909e-02 1.01702991e+02] [ 8.41678244e-01 5.38474329e-01 -4.02880910e-02 5.96806027e+01] [ 4.83767763e-02 -8.85420005e-04 9.98828766e-01 2.97212928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.666875 meters Centerline goodness [0,1] 0.999957471239926 Centerline is valid? [True, True] Translation: X:101.72, Y:59.70, Z:2.97 [[ 5.38835827e-01 -8.41959794e-01 -2.75618922e-02 1.01716802e+02] [ 8.40938468e-01 5.39539628e-01 -4.14666512e-02 5.97043245e+01] [ 4.97839861e-02 -8.34138117e-04 9.98759660e-01 2.97098437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:59.73, Z:2.97 [[ 5.39587482e-01 -8.41457261e-01 -2.81962275e-02 1.01731180e+02] [ 8.40386556e-01 5.40323095e-01 -4.24427851e-02 5.97285104e+01] [ 5.09488626e-02 -7.94135002e-04 9.98700948e-01 2.97059947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.75, Y:59.75, Z:2.97 [[ 5.40522212e-01 -8.40827086e-01 -2.90783242e-02 1.01745843e+02] [ 8.39685970e-01 5.41303296e-01 -4.37974103e-02 5.97531653e+01] [ 5.25662416e-02 -7.43187721e-04 9.98617163e-01 2.96981023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:59.78, Z:2.97 [[ 5.42914620e-01 -8.39234970e-01 -3.04693189e-02 1.01758972e+02] [ 8.37978015e-01 5.43768610e-01 -4.59188932e-02 5.97768742e+01] [ 5.51050002e-02 -6.02580919e-04 9.98480383e-01 2.96756322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78687499999998 meters Centerline goodness [0,1] 0.999978754594319 Centerline is valid? [True, True] Translation: X:101.77, Y:59.80, Z:2.97 [[ 5.43750035e-01 -8.38671503e-01 -3.10806744e-02 1.01773329e+02] [ 8.37361245e-01 5.44637324e-01 -4.68650318e-02 5.98007413e+01] [ 5.62320620e-02 -5.42889504e-04 9.98417578e-01 2.96800543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:101.79, Y:59.82, Z:2.97 [[ 5.44761701e-01 -8.38000827e-01 -3.14531875e-02 1.01787327e+02] [ 8.36656337e-01 5.45668762e-01 -4.74528744e-02 5.98235152e+01] [ 5.69285699e-02 -4.65000094e-04 9.98378146e-01 2.96774355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:59.85, Z:2.97 [[ 5.45444571e-01 -8.37552800e-01 -3.15519752e-02 1.01801720e+02] [ 8.36197887e-01 5.46356240e-01 -4.76230205e-02 5.98471450e+01] [ 5.71254127e-02 -4.07976963e-04 9.98366927e-01 2.96879768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.82, Y:59.87, Z:2.97 [[ 5.46390065e-01 -8.36943201e-01 -3.13683726e-02 1.01816680e+02] [ 8.35601459e-01 5.47289660e-01 -4.73733149e-02 5.98709585e+01] [ 5.68163598e-02 -3.27149268e-04 9.98384592e-01 2.97122743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90687499999999 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:101.83, Y:59.89, Z:2.97 [[ 5.46742667e-01 -8.36731658e-01 -3.08640329e-02 1.01832417e+02] [ 8.35430915e-01 5.47613048e-01 -4.66383476e-02 5.98937136e+01] [ 5.59253290e-02 -2.85592745e-04 9.98434913e-01 2.97289345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:59.92, Z:2.98 [[ 5.46851489e-01 -8.36687949e-01 -3.01118665e-02 1.01847680e+02] [ 8.35448401e-01 5.47679841e-01 -4.55275783e-02 5.99171847e+01] [ 5.45840383e-02 -2.60086713e-04 9.98509146e-01 2.97688481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.966875 meters Centerline goodness [0,1] 0.9999574875119567 Centerline is valid? [True, True] Translation: X:101.86, Y:59.94, Z:2.98 [[ 5.47163761e-01 -8.36520439e-01 -2.90753139e-02 1.01862651e+02] [ 8.35363283e-01 5.47935677e-01 -4.39850021e-02 5.99392762e+01] [ 5.27257551e-02 -2.21450455e-04 9.98609005e-01 2.97963813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:101.88, Y:59.96, Z:2.98 [[ 5.47289510e-01 -8.36453329e-01 -2.86360012e-02 1.01877207e+02] [ 8.35329724e-01 5.48038127e-01 -4.33412549e-02 5.99622800e+01] [ 5.19465574e-02 -2.00288802e-04 9.98649846e-01 2.98112174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:59.99, Z:2.98 [[ 5.47871338e-01 -8.36089116e-01 -2.81422652e-02 1.01891548e+02] [ 8.35002334e-01 5.48593627e-01 -4.26161422e-02 5.99855158e+01] [ 5.10695600e-02 -1.50694232e-04 9.98695087e-01 2.98235656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters Centerline goodness [0,1] 0.9999361946488579 Centerline is valid? [True, True] Translation: X:101.91, Y:60.01, Z:2.98 [[ 5.48588396e-01 -8.35626946e-01 -2.78994269e-02 1.01906211e+02] [ 8.34557132e-01 5.49297367e-01 -4.22705113e-02 6.00092142e+01] [ 5.06474600e-02 -9.45536872e-05 9.98716589e-01 2.98391887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:60.03, Z:2.99 [[ 5.49951593e-01 -8.34746709e-01 -2.74076023e-02 1.01921363e+02] [ 8.33712003e-01 5.50634118e-01 -4.15495316e-02 6.00333995e+01] [ 4.97748957e-02 1.84055352e-07 9.98760462e-01 2.98615414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:60.06, Z:2.99 [[ 5.52882002e-01 -8.32832313e-01 -2.66801353e-02 1.01933980e+02] [ 8.31848539e-01 5.53525343e-01 -4.04685321e-02 6.00570707e+01] [ 4.84716322e-02 1.80491474e-04 9.98824543e-01 2.98827161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.146875 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:101.95, Y:60.08, Z:2.99 [[ 5.54320773e-01 -8.31878578e-01 -2.65803113e-02 1.01948598e+02] [ 8.30900223e-01 5.54957618e-01 -4.03343803e-02 6.00814159e+01] [ 4.83042531e-02 2.72598236e-04 9.98832631e-01 2.98945603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:60.11, Z:2.99 [[ 5.56107377e-01 -8.30679908e-01 -2.67483843e-02 1.01963467e+02] [ 8.29686545e-01 5.56750156e-01 -4.06140523e-02 6.01059198e+01] [ 4.86294444e-02 3.92999576e-04 9.98816811e-01 2.99048957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:60.13, Z:2.99 [[ 5.59551114e-01 -8.28354531e-01 -2.70429670e-02 1.01977137e+02] [ 8.27335276e-01 5.60203885e-01 -4.10846363e-02 6.01298765e+01] [ 4.91822198e-02 6.15353468e-04 9.98789633e-01 2.99052489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:60.15, Z:2.99 [[ 5.60873503e-01 -8.27456877e-01 -2.71298682e-02 1.01992369e+02] [ 8.26429237e-01 5.61528823e-01 -4.12322257e-02 6.01548065e+01] [ 4.93520917e-02 7.05146618e-04 9.98781194e-01 2.99084711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.01, Y:60.18, Z:2.99 [[ 5.62660883e-01 -8.26227133e-01 -2.75944963e-02 1.02007390e+02] [ 8.25161367e-01 5.63336507e-01 -4.19606771e-02 6.01794142e+01] [ 5.02140371e-02 8.39719329e-04 9.98738127e-01 2.99068666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:60.20, Z:2.99 [[ 5.66237901e-01 -8.23740033e-01 -2.87575532e-02 1.02023240e+02] [ 8.22578000e-01 5.66966582e-01 -4.37530354e-02 6.02035390e+01] [ 5.23456984e-02 1.11929636e-03 9.98628397e-01 2.99002182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.326875 meters Centerline goodness [0,1] 0.9999357491647392 Centerline is valid? [True, True] Translation: X:102.04, Y:60.23, Z:2.99 [[ 5.68153010e-01 -8.22418302e-01 -2.88148079e-02 1.02037707e+02] [ 8.21248812e-01 5.68881850e-01 -4.38614862e-02 6.02267529e+01] [ 5.24647102e-02 1.25590868e-03 9.98621989e-01 2.99007614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:60.25, Z:2.99 [[ 5.69706134e-01 -8.21333777e-01 -2.90817489e-02 1.02053620e+02] [ 8.20140480e-01 5.70446261e-01 -4.42792995e-02 6.02503253e+01] [ 5.29576592e-02 1.37506901e-03 9.98595812e-01 2.99082548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:60.27, Z:2.99 [[ 5.71216015e-01 -8.20294033e-01 -2.88091072e-02 1.02069487e+02] [ 8.19120733e-01 5.71940158e-01 -4.38825694e-02 6.02743475e+01] [ 5.24736952e-02 1.46828936e-03 9.98621227e-01 2.99225261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:102.09, Y:60.30, Z:2.99 [[ 5.73365992e-01 -8.18805443e-01 -2.84444477e-02 1.02087243e+02] [ 8.17658652e-01 5.74068893e-01 -4.33501358e-02 6.02969754e+01] [ 5.18243998e-02 1.59764482e-03 9.98654935e-01 2.99444743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:60.32, Z:3.00 [[ 5.73861669e-01 -8.18458335e-01 -2.84383255e-02 1.02104139e+02] [ 8.17310405e-01 5.74563536e-01 -4.33640864e-02 6.03203812e+01] [ 5.18313228e-02 1.64204760e-03 9.98654504e-01 2.99619056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:102.12, Y:60.34, Z:3.00 [[ 5.73800699e-01 -8.18496210e-01 -2.85781768e-02 1.02120820e+02] [ 8.17335748e-01 5.74509527e-01 -4.36013486e-02 6.03427238e+01] [ 5.21059734e-02 1.66051873e-03 9.98640181e-01 2.99689852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:60.36, Z:3.00 [[ 5.73396736e-01 -8.18794967e-01 -2.81244573e-02 1.02138440e+02] [ 8.17670154e-01 5.74083768e-01 -4.29342205e-02 6.03641733e+01] [ 5.13001181e-02 1.62181257e-03 9.98681965e-01 2.99767701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:60.39, Z:3.00 [[ 5.72695158e-01 -8.19295948e-01 -2.78281456e-02 1.02155972e+02] [ 8.18194217e-01 5.73368709e-01 -4.25034885e-02 6.03865771e+01] [ 5.07787238e-02 1.57271424e-03 9.98708690e-01 2.99944570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.18, Y:60.41, Z:3.00 [[ 5.72082545e-01 -8.19745650e-01 -2.71777670e-02 1.02175211e+02] [ 8.18694173e-01 5.72725753e-01 -4.15338794e-02 6.04079370e+01] [ 4.96126240e-02 1.51052797e-03 9.98767393e-01 3.00167579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:60.43, Z:3.00 [[ 5.71612107e-01 -8.20085286e-01 -2.68276486e-02 1.02191302e+02] [ 8.19059938e-01 5.72239413e-01 -4.10228113e-02 6.04303019e+01] [ 4.89940418e-02 1.47568337e-03 9.98797981e-01 3.00342706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:60.45, Z:3.01 [[ 5.70167117e-01 -8.21094555e-01 -2.67056222e-02 1.02211683e+02] [ 8.20078595e-01 5.70790492e-01 -4.08572068e-02 6.04511649e+01] [ 4.87909453e-02 1.39472667e-03 9.98808039e-01 3.00542001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:60.47, Z:3.01 [[ 5.69297476e-01 -8.21694328e-01 -2.68107483e-02 1.02230651e+02] [ 8.20669928e-01 5.69926819e-01 -4.10401061e-02 6.04727556e+01] [ 4.90025869e-02 1.36125394e-03 9.98797724e-01 3.00687377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:60.49, Z:3.01 [[ 5.68068035e-01 -8.22549209e-01 -2.66740623e-02 1.02247414e+02] [ 8.21535055e-01 5.68692469e-01 -4.08537606e-02 6.04949105e+01] [ 4.87735669e-02 1.29403825e-03 9.98809023e-01 3.00736133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.27, Y:60.51, Z:3.01 [[ 5.65199222e-01 -8.24527259e-01 -2.65450456e-02 1.02268113e+02] [ 8.23524653e-01 5.65821119e-01 -4.06645805e-02 6.05135322e+01] [ 4.85488025e-02 1.12308977e-03 9.98820180e-01 3.00911546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:60.54, Z:3.01 [[ 5.63261285e-01 -8.25851653e-01 -2.65663817e-02 1.02287346e+02] [ 8.24848144e-01 5.63886522e-01 -4.07127671e-02 6.05351512e+01] [ 4.86031306e-02 1.01869484e-03 9.98817650e-01 3.01057568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:60.56, Z:3.01 [[ 5.61209007e-01 -8.27245502e-01 -2.66332701e-02 1.02306605e+02] [ 8.26237352e-01 5.61839875e-01 -4.08386134e-02 6.05561599e+01] [ 4.87471924e-02 9.13595090e-04 9.98810731e-01 3.01187320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:60.58, Z:3.01 [[ 5.58974382e-01 -8.28756769e-01 -2.66431564e-02 1.02325593e+02] [ 8.27748478e-01 5.59608422e-01 -4.08762992e-02 6.05768389e+01] [ 4.87862444e-02 7.94971913e-04 9.98808926e-01 3.01276331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:60.59, Z:3.01 [[ 5.53808908e-01 -8.32197513e-01 -2.72578840e-02 1.02350629e+02] [ 8.31145371e-01 5.54479066e-01 -4.18370274e-02 6.05938177e+01] [ 4.99305962e-02 5.14454393e-04 9.98752557e-01 3.01338458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:60.61, Z:3.01 [[ 5.51245585e-01 -8.33887915e-01 -2.75545016e-02 1.02369743e+02] [ 8.32813611e-01 5.51933693e-01 -4.23165163e-02 6.06134637e+01] [ 5.04954894e-02 3.79028762e-04 9.98724217e-01 3.01440217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:60.63, Z:3.02 [[ 5.48849372e-01 -8.35461477e-01 -2.77216154e-02 1.02389569e+02] [ 8.34375050e-01 5.49548960e-01 -4.25936073e-02 6.06346306e+01] [ 5.08197029e-02 2.47250362e-04 9.98707813e-01 3.01524377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:60.66, Z:3.02 [[ 5.47247735e-01 -8.36504218e-01 -2.79393758e-02 1.02408686e+02] [ 8.35400694e-01 5.47960459e-01 -4.29536443e-02 6.06562731e+01] [ 5.12405779e-02 1.65710609e-04 9.98686325e-01 3.01638672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:60.68, Z:3.02 [[ 5.45437155e-01 -8.37668596e-01 -2.84540586e-02 1.02429600e+02] [ 8.36524210e-01 5.46178834e-01 -4.37713159e-02 6.06754758e+01] [ 5.22068613e-02 7.19931770e-05 9.98636289e-01 3.01688084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:60.70, Z:3.02 [[ 5.44996759e-01 -8.37953341e-01 -2.85084143e-02 1.02447153e+02] [ 8.36803541e-01 5.45741875e-01 -4.38821034e-02 6.06976397e+01] [ 5.23293906e-02 5.96620853e-05 9.98629877e-01 3.01847371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:60.72, Z:3.02 [[ 5.45409094e-01 -8.37667724e-01 -2.90121253e-02 1.02464936e+02] [ 8.36475047e-01 5.46180165e-01 -4.46847067e-02 6.07183908e+01] [ 5.32767840e-02 1.03526485e-04 9.98579778e-01 3.01886796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:60.74, Z:3.02 [[ 5.45994666e-01 -8.37287751e-01 -2.89663198e-02 1.02480915e+02] [ 8.36096831e-01 5.46762470e-01 -4.46418111e-02 6.07409373e+01] [ 5.32157381e-02 1.55542484e-04 9.98583027e-01 3.01993034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:60.76, Z:3.02 [[ 5.46432655e-01 -8.36998156e-01 -2.90764539e-02 1.02497223e+02] [ 8.35796330e-01 5.47205672e-01 -4.48380107e-02 6.07642303e+01] [ 5.34401328e-02 1.98959805e-04 9.98571035e-01 3.02093332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:60.79, Z:3.02 [[ 5.47015214e-01 -8.36623570e-01 -2.89025615e-02 1.02512542e+02] [ 8.35434155e-01 5.47778186e-01 -4.45963108e-02 6.07860615e+01] [ 5.31425175e-02 2.48673457e-04 9.98586907e-01 3.02220165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:60.81, Z:3.02 [[ 5.47325714e-01 -8.36434482e-01 -2.84942124e-02 1.02528076e+02] [ 8.35276857e-01 5.48066858e-01 -4.39919544e-02 6.08081987e+01] [ 5.24131210e-02 2.77371736e-04 9.98625449e-01 3.02357022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:60.83, Z:3.02 [[ 5.48457064e-01 -8.35693030e-01 -2.84957697e-02 1.02544339e+02] [ 8.34533230e-01 5.49196714e-01 -4.40142810e-02 6.08306798e+01] [ 5.24322109e-02 3.59276601e-04 9.98624421e-01 3.02490303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:60.85, Z:3.03 [[ 5.48971501e-01 -8.35355969e-01 -2.84727150e-02 1.02560385e+02] [ 8.34196251e-01 5.49709232e-01 -4.40042581e-02 6.08537601e+01] [ 5.24109339e-02 4.05251506e-04 9.98625520e-01 3.02575750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:60.88, Z:3.03 [[ 5.49239189e-01 -8.35165657e-01 -2.88901144e-02 1.02576597e+02] [ 8.33969997e-01 5.49998299e-01 -4.46756783e-02 6.08772810e+01] [ 5.32011059e-02 4.44144728e-04 9.98583720e-01 3.02641386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:60.90, Z:3.03 [[ 5.50224969e-01 -8.34503538e-01 -2.92630946e-02 1.02593848e+02] [ 8.33274471e-01 5.51002328e-01 -4.52779203e-02 6.08999782e+01] [ 5.39086179e-02 5.28852557e-04 9.98545733e-01 3.02738578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:60.92, Z:3.03 [[ 5.49996099e-01 -8.34654818e-01 -2.92510736e-02 1.02608750e+02] [ 8.33425553e-01 5.50773143e-01 -4.52856854e-02 6.09232086e+01] [ 5.39086212e-02 5.28358090e-04 9.98545733e-01 3.02859188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:60.95, Z:3.03 [[ 5.50591233e-01 -8.34259733e-01 -2.93256321e-02 1.02623444e+02] [ 8.33022196e-01 5.51371343e-01 -4.54275506e-02 6.09453524e+01] [ 5.40676894e-02 5.83108669e-04 9.98537102e-01 3.02963961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:60.97, Z:3.03 [[ 5.51268733e-01 -8.33809501e-01 -2.94023824e-02 1.02639352e+02] [ 8.32563574e-01 5.52051904e-01 -4.55696292e-02 6.09688371e+01] [ 5.42280310e-02 6.41759246e-04 9.98528372e-01 3.03113479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:60.99, Z:3.03 [[ 5.53104097e-01 -8.32594470e-01 -2.93650575e-02 1.02653737e+02] [ 8.31348620e-01 5.53882523e-01 -4.55370441e-02 6.09926803e+01] [ 5.41786833e-02 7.74125685e-04 9.98530956e-01 3.03063972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:61.02, Z:3.03 [[ 5.53749426e-01 -8.32166391e-01 -2.93371970e-02 1.02670214e+02] [ 8.30921286e-01 5.54525397e-01 -4.55126396e-02 6.10158805e+01] [ 5.41423098e-02 8.25696552e-04 9.98532888e-01 3.03271596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:61.04, Z:3.03 [[ 5.54197295e-01 -8.31874761e-01 -2.91503138e-02 1.02686057e+02] [ 8.30643619e-01 5.54962734e-01 -4.52497658e-02 6.10389754e+01] [ 5.38194759e-02 8.63775620e-04 9.98550308e-01 3.03434751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:61.06, Z:3.04 [[ 5.54633388e-01 -8.31583921e-01 -2.91545449e-02 1.02700988e+02] [ 8.30350543e-01 5.55398379e-01 -4.52837389e-02 6.10611194e+01] [ 5.38496161e-02 9.07381322e-04 9.98548645e-01 3.03595803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:61.09, Z:3.04 [[ 5.55553299e-01 -8.30979390e-01 -2.88753546e-02 1.02716771e+02] [ 8.29767250e-01 5.56302354e-01 -4.48776440e-02 6.10850460e+01] [ 5.33558250e-02 9.72099594e-04 9.98575090e-01 3.03710348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:61.11, Z:3.04 [[ 5.55957587e-01 -8.30716798e-01 -2.86489481e-02 1.02732637e+02] [ 8.29521919e-01 5.56694345e-01 -4.45510054e-02 6.11076622e+01] [ 5.29579760e-02 1.00353905e-03 9.98596238e-01 3.03878243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:61.13, Z:3.04 [[ 5.56498745e-01 -8.30364770e-01 -2.83460172e-02 1.02747440e+02] [ 8.29193189e-01 5.57219226e-01 -4.41065636e-02 6.11303988e+01] [ 5.24194823e-02 1.04092291e-03 9.98624611e-01 3.04021363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:61.15, Z:3.04 [[ 5.58081116e-01 -8.29320145e-01 -2.78130360e-02 1.02762781e+02] [ 8.28189573e-01 5.58772596e-01 -4.33037747e-02 6.11535113e+01] [ 5.14538550e-02 1.13255244e-03 9.98674731e-01 3.04232965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:61.18, Z:3.04 [[ 5.58342478e-01 -8.29143037e-01 -2.78478324e-02 1.02778681e+02] [ 8.28008184e-01 5.59035303e-01 -4.33817554e-02 6.11764946e+01] [ 5.15376018e-02 1.16364368e-03 9.98670377e-01 3.04340626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:61.20, Z:3.04 [[ 5.59110924e-01 -8.28620347e-01 -2.79874160e-02 1.02794768e+02] [ 8.27472079e-01 5.59809612e-01 -4.36251732e-02 6.11995329e+01] [ 5.18163306e-02 1.23250561e-03 9.98655871e-01 3.04425730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:61.22, Z:3.04 [[ 5.60369980e-01 -8.27767414e-01 -2.80462756e-02 1.02809375e+02] [ 8.26612010e-01 5.61069823e-01 -4.37405932e-02 6.12230082e+01] [ 5.19429566e-02 1.32752708e-03 9.98649171e-01 3.04367752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:61.25, Z:3.04 [[ 5.61358203e-01 -8.27096453e-01 -2.80789060e-02 1.02824626e+02] [ 8.25936605e-01 5.62058266e-01 -4.38090155e-02 6.12468172e+01] [ 5.20162625e-02 1.40115392e-03 9.98645255e-01 3.04433976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:61.27, Z:3.05 [[ 5.62081661e-01 -8.26599669e-01 -2.82346287e-02 1.02842835e+02] [ 8.25425002e-01 5.62788441e-01 -4.40764759e-02 6.12692286e+01] [ 5.23237231e-02 1.46901031e-03 9.98629095e-01 3.04637739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:61.29, Z:3.05 [[ 5.60554084e-01 -8.27612082e-01 -2.89371952e-02 1.02861229e+02] [ 8.26378096e-01 5.61298686e-01 -4.51998593e-02 6.12909421e+01] [ 5.36503593e-02 1.42390148e-03 9.98558767e-01 3.04637469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:61.31, Z:3.05 [[ 5.59068789e-01 -8.28607780e-01 -2.91759560e-02 1.02878060e+02] [ 8.27353219e-01 5.59827931e-01 -4.55997631e-02 6.13134239e+01] [ 5.41178336e-02 1.35458326e-03 9.98533637e-01 3.04702668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.89, Y:61.34, Z:3.05 [[ 5.58153830e-01 -8.29219012e-01 -2.93280022e-02 1.02892919e+02] [ 8.27950772e-01 5.58922264e-01 -4.58630827e-02 6.13365958e+01] [ 5.44226135e-02 1.31651327e-03 9.98517124e-01 3.04688626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:61.36, Z:3.05 [[ 5.56018079e-01 -8.30636925e-01 -2.97690112e-02 1.02911381e+02] [ 8.29331030e-01 5.56813109e-01 -4.65747092e-02 6.13588577e+01] [ 5.52624490e-02 1.20801562e-03 9.98471132e-01 3.04694229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:61.38, Z:3.05 [[ 5.54766955e-01 -8.31477950e-01 -2.96318160e-02 1.02929673e+02] [ 8.30183813e-01 5.55556598e-01 -4.63864566e-02 6.13809353e+01] [ 5.50314668e-02 1.13381927e-03 9.98483977e-01 3.04919063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:61.40, Z:3.05 [[ 5.53631639e-01 -8.32237051e-01 -2.95550059e-02 1.02946005e+02] [ 8.30949153e-01 5.54418924e-01 -4.62943103e-02 6.14036869e+01] [ 5.49136949e-02 1.07128784e-03 9.98490530e-01 3.05083070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:61.43, Z:3.05 [[ 5.52381842e-01 -8.33074573e-01 -2.93437582e-02 1.02962474e+02] [ 8.31804693e-01 5.53159798e-01 -4.59911975e-02 6.14260876e+01] [ 5.45458846e-02 9.96426548e-04 9.98510768e-01 3.05256855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters Centerline goodness [0,1] 0.999975072290358 Centerline is valid? [True, True] Translation: X:102.98, Y:61.45, Z:3.05 [[ 5.47268062e-01 -8.36437991e-01 -2.94814430e-02 1.02981406e+02] [ 8.35159433e-01 5.48061149e-01 -4.62352614e-02 6.14466650e+01] [ 5.48305626e-02 6.81376668e-04 9.98495441e-01 3.05324539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:61.47, Z:3.05 [[ 5.44306878e-01 -8.38360760e-01 -2.96859894e-02 1.02999032e+02] [ 8.37065659e-01 5.45115564e-01 -4.65843707e-02 6.14688973e+01] [ 5.52368033e-02 5.07071066e-04 9.98473154e-01 3.05425171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:61.49, Z:3.06 [[ 5.41629492e-01 -8.40098575e-01 -2.95275782e-02 1.03015888e+02] [ 8.38818285e-01 5.42433652e-01 -4.63639704e-02 6.14910055e+01] [ 5.49670575e-02 3.43821268e-04 9.98488109e-01 3.05575343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:61.51, Z:3.06 [[ 5.34236258e-01 -8.44815027e-01 -2.96511597e-02 1.03036203e+02] [ 8.43529589e-01 5.35058459e-01 -4.65862407e-02 6.15119735e+01] [ 5.52218600e-02 -1.23571636e-04 9.98474101e-01 3.05665596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.05, Y:61.53, Z:3.06 [[ 5.30788568e-01 -8.47011413e-01 -2.88991689e-02 1.03052840e+02] [ 8.45792231e-01 5.31574602e-01 -4.54306619e-02 6.15329609e+01] [ 5.38423534e-02 -3.28616543e-04 9.98549394e-01 3.05938523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:61.56, Z:3.06 [[ 5.28515463e-01 -8.48454766e-01 -2.82119630e-02 1.03069647e+02] [ 8.47293509e-01 5.29267709e-01 -4.43779465e-02 6.15551834e+01] [ 5.25843613e-02 -4.49382138e-04 9.98616384e-01 3.06327318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:61.58, Z:3.07 [[ 5.26427069e-01 -8.49776997e-01 -2.74517197e-02 1.03085748e+02] [ 8.48678012e-01 5.27142059e-01 -4.32074231e-02 6.15784017e+01] [ 5.11876303e-02 -5.52113850e-04 9.98688901e-01 3.06598802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:61.60, Z:3.07 [[ 5.24081906e-01 -8.51232368e-01 -2.72325316e-02 1.03101128e+02] [ 8.50151547e-01 5.24788528e-01 -4.28876208e-02 6.16024319e+01] [ 5.07986513e-02 -6.75152801e-04 9.98708687e-01 3.06790381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:61.63, Z:3.07 [[ 5.23482217e-01 -8.51602255e-01 -2.72023544e-02 1.03115822e+02] [ 8.50523089e-01 5.24188051e-01 -4.28644517e-02 6.16268883e+01] [ 5.07626129e-02 -6.97452331e-04 9.98710504e-01 3.06835878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:61.65, Z:3.07 [[ 5.23758160e-01 -8.51437050e-01 -2.70617830e-02 1.03129604e+02] [ 8.50367508e-01 5.24456393e-01 -4.26684078e-02 6.16501966e+01] [ 5.05221884e-02 -6.64534244e-04 9.98722718e-01 3.06824135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:61.68, Z:3.07 [[ 5.25408647e-01 -8.50418747e-01 -2.70870583e-02 1.03141047e+02] [ 8.49344502e-01 5.26106120e-01 -4.27348475e-02 6.16760290e+01] [ 5.05931826e-02 -5.52985612e-04 9.98719192e-01 3.06832076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:61.70, Z:3.07 [[ 5.26119325e-01 -8.49976563e-01 -2.71716509e-02 1.03155314e+02] [ 8.48893705e-01 5.26820268e-01 -4.28938622e-02 6.17005957e+01] [ 5.07733540e-02 -4.98553540e-04 9.98710077e-01 3.06966508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:61.72, Z:3.07 [[ 5.26907723e-01 -8.49483647e-01 -2.73090668e-02 1.03169507e+02] [ 8.48387827e-01 5.27614765e-01 -4.31364783e-02 6.17245861e+01] [ 5.10523997e-02 -4.39736249e-04 9.98695879e-01 3.07083482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.18, Y:61.75, Z:3.07 [[ 5.26891217e-01 -8.49489830e-01 -2.74348905e-02 1.03183300e+02] [ 8.48382560e-01 5.27604818e-01 -4.33611348e-02 6.17488301e+01] [ 5.13096235e-02 -4.28681552e-04 9.98682702e-01 3.07271678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:61.77, Z:3.07 [[ 5.25998911e-01 -8.50060231e-01 -2.68839823e-02 1.03197496e+02] [ 8.48996482e-01 5.26685286e-01 -4.25156824e-02 6.17735437e+01] [ 5.03002887e-02 -4.61203728e-04 9.98734033e-01 3.07412984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:61.80, Z:3.08 [[ 5.24761498e-01 -8.50842784e-01 -2.63044851e-02 1.03211733e+02] [ 8.49824248e-01 5.25420112e-01 -4.16227516e-02 6.17959483e+01] [ 4.92353234e-02 -5.12171762e-04 9.98787075e-01 3.07564700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:61.82, Z:3.08 [[ 5.23631201e-01 -8.51561608e-01 -2.55576359e-02 1.03227275e+02] [ 8.50600202e-01 5.24254251e-01 -4.04570917e-02 6.18192687e+01] [ 4.78504053e-02 -5.54734792e-04 9.98854359e-01 3.07849838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.24, Y:61.84, Z:3.08 [[ 5.21231741e-01 -8.53067447e-01 -2.43598820e-02 1.03242031e+02] [ 8.52194733e-01 5.21800259e-01 -3.85827148e-02 6.18417696e+01] [ 4.56246508e-02 -6.48827523e-04 9.98958443e-01 3.08228204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters Centerline goodness [0,1] 0.9999255287459041 Centerline is valid? [True, True] Translation: X:103.26, Y:61.87, Z:3.08 [[ 5.20128665e-01 -8.53751736e-01 -2.39613475e-02 1.03256157e+02] [ 8.52907196e-01 5.20679846e-01 -3.79712029e-02 6.18654908e+01] [ 4.48941711e-02 -6.86894704e-04 9.98991512e-01 3.08332499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:61.89, Z:3.08 [[ 5.19258969e-01 -8.54290335e-01 -2.36251092e-02 1.03270112e+02] [ 8.53469198e-01 5.19795645e-01 -3.74541814e-02 6.18898439e+01] [ 4.42769740e-02 -7.14883339e-04 9.99019038e-01 3.08460638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:61.92, Z:3.09 [[ 5.18131080e-01 -8.54981421e-01 -2.33870427e-02 1.03282884e+02] [ 8.54176526e-01 5.18658076e-01 -3.70980216e-02 6.19150065e+01] [ 4.38479978e-02 -7.55024948e-04 9.99037929e-01 3.08542257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:61.94, Z:3.08 [[ 5.16746765e-01 -8.55796946e-01 -2.41737187e-02 1.03295411e+02] [ 8.54936783e-01 5.17311205e-01 -3.83694445e-02 6.19406230e+01] [ 4.53417890e-02 -8.39714973e-04 9.98971179e-01 3.08376187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:61.97, Z:3.08 [[ 5.15781674e-01 -8.56352077e-01 -2.51074789e-02 1.03309750e+02] [ 8.55423701e-01 5.16391606e-01 -3.98748160e-02 6.19653134e+01] [ 4.71121728e-02 -9.10833149e-04 9.98889190e-01 3.08398494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:61.99, Z:3.08 [[ 5.14663769e-01 -8.56994884e-01 -2.60954919e-02 1.03324184e+02] [ 8.55991596e-01 5.15323955e-01 -4.14681580e-02 6.19893583e+01] [ 4.89856314e-02 -9.95363303e-04 9.98798987e-01 3.08389906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:62.01, Z:3.08 [[ 5.12822178e-01 -8.58068800e-01 -2.70434593e-02 1.03336697e+02] [ 8.56991520e-01 5.13533512e-01 -4.29984462e-02 6.20146440e+01] [ 5.07833478e-02 -1.12545848e-03 9.98709059e-01 3.08294051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:62.04, Z:3.08 [[ 5.11997260e-01 -8.58557909e-01 -2.71499927e-02 1.03350725e+02] [ 8.57471554e-01 5.12715279e-01 -4.31923262e-02 6.20396156e+01] [ 5.10033294e-02 -1.16599378e-03 9.98697803e-01 3.08325627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters Centerline goodness [0,1] 0.9999756679157137 Centerline is valid? [True, True] Translation: X:103.36, Y:62.06, Z:3.08 [[ 5.11847524e-01 -8.58657792e-01 -2.68124586e-02 1.03363724e+02] [ 8.57597173e-01 5.12548024e-01 -4.26803524e-02 6.20646397e+01] [ 5.03904898e-02 -1.14845600e-03 9.98728932e-01 3.08483689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:62.09, Z:3.09 [[ 5.13637406e-01 -8.57613066e-01 -2.60085451e-02 1.03374192e+02] [ 8.56612617e-01 5.14294493e-01 -4.14246109e-02 6.20915852e+01] [ 4.89023390e-02 -1.00201825e-03 9.98803062e-01 3.08736188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:62.12, Z:3.09 [[ 5.14961234e-01 -8.56809906e-01 -2.63004161e-02 1.03385875e+02] [ 8.55784620e-01 5.15631585e-01 -4.19136338e-02 6.21172989e+01] [ 4.94733419e-02 -9.23594971e-04 9.98775017e-01 3.08752036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:62.14, Z:3.09 [[ 5.16936099e-01 -8.55617838e-01 -2.63663352e-02 1.03397374e+02] [ 8.54584642e-01 5.17607454e-01 -4.20429962e-02 6.21431593e+01] [ 4.96201492e-02 -7.98722689e-04 9.98767842e-01 3.08838057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:62.17, Z:3.09 [[ 5.21881900e-01 -8.52613965e-01 -2.62432557e-02 1.03404602e+02] [ 8.51585381e-01 5.22541079e-01 -4.18707479e-02 6.21711265e+01] [ 4.94127635e-02 -4.96787471e-04 9.98778320e-01 3.08917128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.41, Y:62.20, Z:3.09 [[ 5.24461074e-01 -8.51032337e-01 -2.61637751e-02 1.03414840e+02] [ 8.50006789e-01 5.25113179e-01 -4.17685022e-02 6.21981411e+01] [ 4.92852892e-02 -3.33432952e-04 9.98784686e-01 3.09094921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:62.22, Z:3.09 [[ 5.27210834e-01 -8.49336832e-01 -2.59938972e-02 1.03425377e+02] [ 8.48321260e-01 5.27851229e-01 -4.15225106e-02 6.22240546e+01] [ 4.89875082e-02 -1.60058147e-04 9.98799378e-01 3.09195800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:62.25, Z:3.09 [[ 5.30057807e-01 -8.47565808e-01 -2.59021891e-02 1.03436078e+02] [ 8.46554009e-01 5.30690307e-01 -4.14017944e-02 6.22507746e+01] [ 4.88367860e-02 1.77423465e-05 9.98806772e-01 3.09371550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:62.28, Z:3.09 [[ 5.36259134e-01 -8.43665715e-01 -2.55793347e-02 1.03442124e+02] [ 8.42673380e-01 5.36868712e-01 -4.09091695e-02 6.22800281e+01] [ 4.82464082e-02 3.82891307e-04 9.98835391e-01 3.09492709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:62.31, Z:3.10 [[ 5.38398743e-01 -8.42302949e-01 -2.55447891e-02 1.03454093e+02] [ 8.41310982e-01 5.39004155e-01 -4.08699438e-02 6.23065771e+01] [ 4.81936216e-02 5.13214747e-04 9.98837880e-01 3.09557330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:62.33, Z:3.10 [[ 5.41543805e-01 -8.40284207e-01 -2.55491347e-02 1.03463845e+02] [ 8.39288511e-01 5.42145693e-01 -4.09004014e-02 6.23337800e+01] [ 4.82193147e-02 7.06263730e-04 9.98836523e-01 3.09700251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.086875 meters Centerline goodness [0,1] 0.9999768443477053 Centerline is valid? [True, True] Translation: X:103.48, Y:62.36, Z:3.10 [[ 5.42579102e-01 -8.39618148e-01 -2.54810514e-02 1.03477385e+02] [ 8.38625908e-01 5.43176549e-01 -4.08144856e-02 6.23593634e+01] [ 4.81092924e-02 7.76017045e-04 9.98841776e-01 3.09786278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:62.38, Z:3.10 [[ 5.43216528e-01 -8.39205532e-01 -2.54927410e-02 1.03490536e+02] [ 8.38210787e-01 5.43813749e-01 -4.08568657e-02 6.23844644e+01] [ 4.81506108e-02 8.25834253e-04 9.98839745e-01 3.09851422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.50, Y:62.41, Z:3.10 [[ 5.43578336e-01 -8.38969308e-01 -2.55556960e-02 1.03504298e+02] [ 8.37968219e-01 5.44178057e-01 -4.09817725e-02 6.24086827e+01] [ 4.82892983e-02 8.61942638e-04 9.98833019e-01 3.09891622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:62.43, Z:3.10 [[ 5.43350219e-01 -8.39117404e-01 -2.55445257e-02 1.03518815e+02] [ 8.38116152e-01 5.43949667e-01 -4.09887342e-02 6.24321462e+01] [ 4.82892964e-02 8.61958118e-04 9.98833020e-01 3.10012215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.53, Y:62.46, Z:3.10 [[ 5.44289328e-01 -8.38491426e-01 -2.61008730e-02 1.03533034e+02] [ 8.37444072e-01 5.44913959e-01 -4.19070890e-02 6.24562247e+01] [ 4.93614649e-02 9.51559921e-04 9.98780527e-01 3.10007004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.55, Y:62.48, Z:3.10 [[ 5.45005855e-01 -8.38011391e-01 -2.65617737e-02 1.03547758e+02] [ 8.36924976e-01 5.45651774e-01 -4.26699651e-02 6.24800325e+01] [ 5.02513957e-02 1.02516893e-03 9.98736074e-01 3.09979615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:62.50, Z:3.10 [[ 5.45389331e-01 -8.37737960e-01 -2.73054664e-02 1.03562166e+02] [ 8.36588589e-01 5.46071355e-01 -4.38817542e-02 6.25038936e+01] [ 5.16721442e-02 1.08919897e-03 9.98663508e-01 3.09916916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:62.53, Z:3.10 [[ 5.46047524e-01 -8.37295971e-01 -2.77048576e-02 1.03578765e+02] [ 8.36111163e-01 5.46748678e-01 -4.45421953e-02 6.25272026e+01] [ 5.24425949e-02 1.15781471e-03 9.98623269e-01 3.09962231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.59, Y:62.55, Z:3.10 [[ 5.47535753e-01 -8.36311373e-01 -2.80693060e-02 1.03593310e+02] [ 8.35092577e-01 5.48253265e-01 -4.51524570e-02 6.25499738e+01] [ 5.31506020e-02 1.28211550e-03 9.98585685e-01 3.09946318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:62.57, Z:3.10 [[ 5.48337205e-01 -8.35783814e-01 -2.81376135e-02 1.03607921e+02] [ 8.34557611e-01 5.49057017e-01 -4.52767582e-02 6.25731852e+01] [ 5.32907358e-02 1.34447160e-03 9.98578134e-01 3.10026894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:62.60, Z:3.10 [[ 5.49196519e-01 -8.35237329e-01 -2.76004996e-02 1.03624726e+02] [ 8.34055562e-01 5.49887886e-01 -4.44368216e-02 6.25962249e+01] [ 5.22924726e-02 1.38419751e-03 9.98630853e-01 3.10226021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:62.62, Z:3.11 [[ 5.51630028e-01 -8.33653008e-01 -2.69624770e-02 1.03640466e+02] [ 8.32522155e-01 5.52286497e-01 -4.34337036e-02 6.26183000e+01] [ 5.10996496e-02 1.51247570e-03 9.98692414e-01 3.10516677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:62.64, Z:3.11 [[ 5.53148524e-01 -8.32658074e-01 -2.65940327e-02 1.03655776e+02] [ 8.31555813e-01 5.53785151e-01 -4.28594893e-02 6.26424654e+01] [ 5.04146802e-02 1.59324078e-03 9.98727101e-01 3.10706395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:62.67, Z:3.11 [[ 5.54639218e-01 -8.31675676e-01 -2.62851269e-02 1.03670664e+02] [ 8.30596638e-01 5.55259184e-01 -4.23847045e-02 6.26660836e+01] [ 4.98453859e-02 1.67588130e-03 9.98755540e-01 3.10844929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:62.69, Z:3.11 [[ 5.56119115e-01 -8.30694046e-01 -2.60563348e-02 1.03685695e+02] [ 8.29631821e-01 5.56726425e-01 -4.20324817e-02 6.26900523e+01] [ 4.94223824e-02 1.75790200e-03 9.98776420e-01 3.10985199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:62.71, Z:3.11 [[ 5.58917931e-01 -8.28828775e-01 -2.55657397e-02 1.03702315e+02] [ 8.27803110e-01 5.59499107e-01 -4.12645100e-02 6.27132746e+01] [ 4.85052218e-02 1.90007569e-03 9.98821122e-01 3.11116171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:62.74, Z:3.11 [[ 5.59978413e-01 -8.28120877e-01 -2.52980313e-02 1.03715434e+02] [ 8.27114702e-01 5.60546156e-01 -4.08567784e-02 6.27374528e+01] [ 4.80150653e-02 1.95454031e-03 9.98844699e-01 3.11269903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:62.76, Z:3.11 [[ 5.60767258e-01 -8.27596487e-01 -2.49827376e-02 1.03731613e+02] [ 8.26613592e-01 5.61319965e-01 -4.03715989e-02 6.27608547e+01] [ 4.74347029e-02 1.98800031e-03 9.98872363e-01 3.11444197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:62.78, Z:3.12 [[ 5.61875127e-01 -8.26844659e-01 -2.49850154e-02 1.03747814e+02] [ 8.25859722e-01 5.62426568e-01 -4.03989394e-02 6.27838515e+01] [ 4.74558838e-02 2.06504133e-03 9.98871200e-01 3.11501593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:62.81, Z:3.12 [[ 5.62132877e-01 -8.26667922e-01 -2.50354824e-02 1.03764802e+02] [ 8.25677640e-01 5.62686186e-01 -4.05054348e-02 6.28066951e+01] [ 4.75716637e-02 2.09819853e-03 9.98865624e-01 3.11554985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:62.83, Z:3.12 [[ 5.62058655e-01 -8.26707404e-01 -2.53956021e-02 1.03783779e+02] [ 8.25687232e-01 5.62628023e-01 -4.11132869e-02 6.28284047e+01] [ 4.82769361e-02 2.13925439e-03 9.98831698e-01 3.11635994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:62.85, Z:3.11 [[ 5.61137377e-01 -8.27282577e-01 -2.69885450e-02 1.03798399e+02] [ 8.26129490e-01 5.61781568e-01 -4.37211153e-02 6.28511313e+01] [ 5.13313841e-02 2.23751905e-03 9.98679169e-01 3.11354439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:62.87, Z:3.11 [[ 5.60102312e-01 -8.27971896e-01 -2.73485003e-02 1.03815696e+02] [ 8.26787344e-01 5.60765212e-01 -4.43290526e-02 6.28741076e+01] [ 5.20392973e-02 2.21741094e-03 9.98642576e-01 3.11380968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:62.90, Z:3.12 [[ 5.58377575e-01 -8.29137138e-01 -2.73146546e-02 1.03834289e+02] [ 8.27955549e-01 5.59041241e-01 -4.43001242e-02 6.28962150e+01] [ 5.20008965e-02 2.12087610e-03 9.98644786e-01 3.11581517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:62.91, Z:3.12 [[ 5.51626067e-01 -8.33658819e-01 -2.68636305e-02 1.03859894e+02] [ 8.32519951e-01 5.52277232e-01 -4.35934605e-02 6.29140924e+01] [ 5.11782443e-02 1.68278087e-03 9.98688117e-01 3.11840968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:62.94, Z:3.12 [[ 5.48573312e-01 -8.35701349e-01 -2.58954867e-02 1.03875598e+02] [ 8.34644259e-01 5.49182254e-01 -4.20453589e-02 6.29357576e+01] [ 4.93587049e-02 1.45144251e-03 9.98780062e-01 3.12098178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:62.96, Z:3.12 [[ 5.44990749e-01 -8.38076058e-01 -2.47710499e-02 1.03895588e+02] [ 8.37110613e-01 5.45552109e-01 -4.02333007e-02 6.29570837e+01] [ 4.72324645e-02 1.19066794e-03 9.98883215e-01 3.12447564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:62.98, Z:3.13 [[ 5.38204997e-01 -8.42488120e-01 -2.34339185e-02 1.03919503e+02] [ 8.41627335e-01 5.38714367e-01 -3.80822745e-02 6.29750656e+01] [ 4.47080524e-02 7.73444064e-04 9.98999796e-01 3.12915868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:63.00, Z:3.13 [[ 5.34612422e-01 -8.44785706e-01 -2.29492561e-02 1.03939387e+02] [ 8.43961298e-01 5.35104449e-01 -3.73169660e-02 6.29967174e+01] [ 4.38050886e-02 5.81829646e-04 9.99039927e-01 3.13143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:63.02, Z:3.13 [[ 5.31592740e-01 -8.46697571e-01 -2.26358697e-02 1.03958039e+02] [ 8.45896394e-01 5.32074280e-01 -3.68273262e-02 6.30189236e+01] [ 4.32255717e-02 4.29538666e-04 9.99065246e-01 3.13310366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:63.04, Z:3.13 [[ 5.27158331e-01 -8.49468355e-01 -2.25301373e-02 1.03977921e+02] [ 8.48676223e-01 5.27639524e-01 -3.66769832e-02 6.30387216e+01] [ 4.30437275e-02 2.13785461e-04 9.99073166e-01 3.13414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:63.06, Z:3.13 [[ 5.25651872e-01 -8.50392240e-01 -2.28724190e-02 1.03994710e+02] [ 8.49576070e-01 5.26149234e-01 -3.72489540e-02 6.30611066e+01] [ 4.37105272e-02 1.48122555e-04 9.99044227e-01 3.13481984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:63.08, Z:3.14 [[ 5.24593210e-01 -8.51033078e-01 -2.33380683e-02 1.04011357e+02] [ 8.50182897e-01 5.25112073e-01 -3.80309377e-02 6.30842449e+01] [ 4.46206874e-02 1.09145151e-04 9.99003995e-01 3.13558513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:63.11, Z:3.14 [[ 5.23682319e-01 -8.51584514e-01 -2.36779385e-02 1.04027444e+02] [ 8.50708927e-01 5.24217331e-01 -3.86071331e-02 6.31074535e+01] [ 4.52896224e-02 7.48393486e-05 9.98973896e-01 3.13633475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:63.13, Z:3.14 [[ 5.23304737e-01 -8.51782132e-01 -2.48867920e-02 1.04043758e+02] [ 8.50813777e-01 5.23896168e-01 -4.06044646e-02 6.31305603e+01] [ 4.76242523e-02 7.44831923e-05 9.98865319e-01 3.13710711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:63.15, Z:3.14 [[ 5.22936595e-01 -8.51998219e-01 -2.52260007e-02 1.04057625e+02] [ 8.51002274e-01 5.23544677e-01 -4.11837418e-02 6.31533141e+01] [ 4.82954131e-02 6.91017637e-05 9.98833093e-01 3.13779120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:63.18, Z:3.14 [[ 5.23324025e-01 -8.51759721e-01 -2.52456476e-02 1.04071576e+02] [ 8.50760649e-01 5.23932598e-01 -4.12425816e-02 6.31774154e+01] [ 4.83557875e-02 1.05230298e-04 9.98830169e-01 3.13889253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:63.20, Z:3.14 [[ 5.23518830e-01 -8.51634671e-01 -2.54248377e-02 1.04085797e+02] [ 8.50619963e-01 5.24135832e-01 -4.15609063e-02 6.32021434e+01] [ 4.87207773e-02 1.31042520e-04 9.98812429e-01 3.14014181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:63.23, Z:3.14 [[ 5.24404954e-01 -8.51075559e-01 -2.58812274e-02 1.04097906e+02] [ 8.50022047e-01 5.25043192e-01 -4.23339852e-02 6.32264582e+01] [ 4.96181823e-02 2.00537706e-04 9.98768239e-01 3.13952368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:63.25, Z:3.14 [[ 5.24358074e-01 -8.51088789e-01 -2.63909620e-02 1.04112167e+02] [ 8.49991911e-01 5.25021738e-01 -4.31963701e-02 6.32507125e+01] [ 5.06197750e-02 2.18261227e-04 9.98717974e-01 3.14151790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:63.28, Z:3.14 [[ 5.23836626e-01 -8.51400294e-01 -2.66970015e-02 1.04125835e+02] [ 8.50276804e-01 5.24516442e-01 -4.37248084e-02 6.32757713e+01] [ 5.12303310e-02 2.04815026e-04 9.98686843e-01 3.14326202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:63.30, Z:3.14 [[ 5.22855341e-01 -8.52001420e-01 -2.67557931e-02 1.04139688e+02] [ 8.50872338e-01 5.23539449e-01 -4.38487156e-02 6.32994678e+01] [ 5.13668811e-02 1.60770912e-04 9.98679837e-01 3.14474443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:63.32, Z:3.15 [[ 5.21267720e-01 -8.52970906e-01 -2.68439417e-02 1.04154618e+02] [ 8.51834180e-01 5.21958453e-01 -4.40216271e-02 6.33233846e+01] [ 5.15605894e-02 8.04660563e-05 9.98669865e-01 3.14672325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters Centerline goodness [0,1] 0.9999505293361037 Centerline is valid? [True, True] Translation: X:104.17, Y:63.35, Z:3.15 [[ 5.13804414e-01 -8.57490625e-01 -2.67367316e-02 1.04171212e+02] [ 8.56367695e-01 5.14499468e-01 -4.38710468e-02 6.33451951e+01] [ 5.13750455e-02 -3.55335734e-04 9.98679367e-01 3.14811604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:63.37, Z:3.15 [[ 5.09941967e-01 -8.59805032e-01 -2.63533098e-02 1.04186928e+02] [ 8.58716284e-01 5.10622151e-01 -4.32592486e-02 6.33687278e+01] [ 5.06511034e-02 -5.70309979e-04 9.98716246e-01 3.15106787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.20, Y:63.39, Z:3.15 [[ 5.01991513e-01 -8.64487982e-01 -2.57885577e-02 1.04203093e+02] [ 8.63450303e-01 5.02652484e-01 -4.23562787e-02 6.33916528e+01] [ 4.95791764e-02 -1.00464551e-03 9.98769691e-01 3.15381937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:63.41, Z:3.15 [[ 4.98107739e-01 -8.66736149e-01 -2.56345104e-02 1.04217968e+02] [ 8.65712579e-01 4.98765464e-01 -4.21276985e-02 6.34141781e+01] [ 4.92992076e-02 -1.20798545e-03 9.98783324e-01 3.15498348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:63.44, Z:3.16 [[ 4.94163448e-01 -8.68999021e-01 -2.53611401e-02 1.04232697e+02] [ 8.67999472e-01 4.94811793e-01 -4.16917935e-02 6.34384020e+01] [ 4.87791190e-02 -1.41089582e-03 9.98808594e-01 3.15636969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:63.46, Z:3.16 [[ 4.90500989e-01 -8.71061328e-01 -2.57087925e-02 1.04247014e+02] [ 8.70035755e-01 4.91171580e-01 -4.22878695e-02 6.34625430e+01] [ 4.94627560e-02 -1.62532691e-03 9.98774646e-01 3.15709998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.26, Y:63.49, Z:3.16 [[ 4.85678862e-01 -8.73742609e-01 -2.62658715e-02 1.04260018e+02] [ 8.72674646e-01 4.86384770e-01 -4.32298168e-02 6.34873670e+01] [ 5.05470528e-02 -1.92575187e-03 9.98719824e-01 3.15883127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:63.51, Z:3.16 [[ 4.84634569e-01 -8.74326429e-01 -2.61271883e-02 1.04272997e+02] [ 8.73269663e-01 4.85334344e-01 -4.30194193e-02 6.35128754e+01] [ 5.02934370e-02 -1.96738322e-03 9.98732547e-01 3.16054071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:63.54, Z:3.16 [[ 4.84787747e-01 -8.74248173e-01 -2.59031254e-02 1.04284666e+02] [ 8.73208160e-01 4.85475441e-01 -4.26744022e-02 6.35386074e+01] [ 4.98833494e-02 -1.93079317e-03 9.98753184e-01 3.16276779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.29, Y:63.57, Z:3.16 [[ 4.86627204e-01 -8.73232599e-01 -2.56669631e-02 1.04289161e+02] [ 8.72208835e-01 4.87300315e-01 -4.23101854e-02 6.35693113e+01] [ 4.94541524e-02 -1.79766472e-03 9.98774777e-01 3.16360054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:63.60, Z:3.16 [[ 4.88773473e-01 -8.72025068e-01 -2.59378566e-02 1.04298346e+02] [ 8.70976619e-01 4.89458329e-01 -4.27816962e-02 6.35966404e+01] [ 5.00022115e-02 -1.68070848e-03 9.98747693e-01 3.16435281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:63.63, Z:3.16 [[ 4.93708118e-01 -8.69235155e-01 -2.61254683e-02 1.04303418e+02] [ 8.68166190e-01 4.94396909e-01 -4.31179993e-02 6.36254916e+01] [ 5.03960316e-02 -1.39354199e-03 9.98728340e-01 3.16452118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:63.65, Z:3.17 [[ 4.96283502e-01 -8.67762738e-01 -2.62776616e-02 1.04312716e+02] [ 8.66677782e-01 4.96977163e-01 -4.33972494e-02 6.36529595e+01] [ 5.07179137e-02 -1.23692658e-03 9.98712252e-01 3.16666989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.32, Y:63.68, Z:3.17 [[ 4.98192769e-01 -8.66669999e-01 -2.62121669e-02 1.04322818e+02] [ 8.65587634e-01 4.98880628e-01 -4.33147391e-02 6.36806587e+01] [ 5.06163272e-02 -1.10983775e-03 9.98717556e-01 3.16780346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:63.71, Z:3.17 [[ 5.00243085e-01 -8.65480222e-01 -2.64733970e-02 1.04332304e+02] [ 8.64373252e-01 5.00942124e-01 -4.37706589e-02 6.37081745e+01] [ 5.11442793e-02 -9.86926814e-04 9.98690787e-01 3.16867024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:63.74, Z:3.17 [[ 5.04577604e-01 -8.62950806e-01 -2.67833654e-02 1.04337107e+02] [ 8.61812777e-01 5.05287425e-01 -4.43097723e-02 6.37378687e+01] [ 5.17704515e-02 -7.24527746e-04 9.98658748e-01 3.16847447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:63.76, Z:3.17 [[ 5.06510287e-01 -8.61823548e-01 -2.65989002e-02 1.04346710e+02] [ 8.60698273e-01 5.07207869e-01 -4.40302319e-02 6.37639273e+01] [ 5.14374622e-02 -5.91862021e-04 9.98676042e-01 3.16928543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:63.79, Z:3.17 [[ 5.08491354e-01 -8.60658987e-01 -2.65075686e-02 1.04356578e+02] [ 8.59538800e-01 5.09181593e-01 -4.38993867e-02 6.37909608e+01] [ 5.12795677e-02 -4.61825158e-04 9.98684231e-01 3.17015470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:63.82, Z:3.17 [[ 5.13045050e-01 -8.57953363e-01 -2.64726985e-02 1.04362645e+02] [ 8.56831119e-01 5.13727550e-01 -4.38684212e-02 6.38205306e+01] [ 5.12368140e-02 -1.76155495e-04 9.98686516e-01 3.17061651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.37, Y:63.85, Z:3.17 [[ 5.15343782e-01 -8.56564617e-01 -2.67925788e-02 1.04373479e+02] [ 8.55411791e-01 5.16039781e-01 -4.44253563e-02 6.38473443e+01] [ 5.18792249e-02 -2.43566596e-05 9.98653366e-01 3.17155260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:63.87, Z:3.17 [[ 5.17767676e-01 -8.55093663e-01 -2.70455417e-02 1.04383617e+02] [ 8.53915457e-01 5.18473537e-01 -4.48729740e-02 6.38728514e+01] [ 5.23929933e-02 1.39169357e-04 9.98626534e-01 3.17178101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.006875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.39, Y:63.90, Z:3.17 [[ 5.22866842e-01 -8.51983645e-01 -2.70949078e-02 1.04391127e+02] [ 8.50795404e-01 5.23568189e-01 -4.49836797e-02 6.39013976e+01] [ 5.25113912e-02 4.68251498e-04 9.98620215e-01 3.17263737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:63.93, Z:3.17 [[ 5.24961597e-01 -8.50691133e-01 -2.72014216e-02 1.04402497e+02] [ 8.49490401e-01 5.25665501e-01 -4.51867162e-02 6.39273469e+01] [ 5.27387877e-02 6.13944132e-04 9.98608153e-01 3.17381462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.42, Y:63.95, Z:3.18 [[ 5.24728831e-01 -8.50835107e-01 -2.71896122e-02 1.04416644e+02] [ 8.49634200e-01 5.25432436e-01 -4.51938214e-02 6.39510269e+01] [ 5.27387940e-02 6.13276680e-04 9.98608153e-01 3.17502078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:63.98, Z:3.18 [[ 5.26993907e-01 -8.49429585e-01 -2.73276833e-02 1.04428407e+02] [ 8.48213057e-01 5.27701414e-01 -4.54513711e-02 6.39770708e+01] [ 5.30285964e-02 7.72897853e-04 9.98592695e-01 3.17658152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:64.00, Z:3.18 [[ 5.30457432e-01 -8.47286768e-01 -2.68336681e-02 1.04438918e+02] [ 8.46109754e-01 5.31134790e-01 -4.46555490e-02 6.40040026e+01] [ 5.20883504e-02 9.83639508e-04 9.98641996e-01 3.17953494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:64.03, Z:3.18 [[ 5.31724542e-01 -8.46510292e-01 -2.62552359e-02 1.04450999e+02] [ 8.45381282e-01 5.32371320e-01 -4.37180242e-02 6.40285135e+01] [ 5.09852921e-02 1.05026140e-03 9.98698852e-01 3.18176300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:64.05, Z:3.18 [[ 5.32532499e-01 -8.46015377e-01 -2.58286606e-02 1.04463144e+02] [ 8.44921003e-01 5.33157377e-01 -4.30315022e-02 6.40532660e+01] [ 5.01760535e-02 1.09249556e-03 9.98739791e-01 3.18338777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.48, Y:64.08, Z:3.19 [[ 5.33532841e-01 -8.45405620e-01 -2.51405259e-02 1.04475980e+02] [ 8.44367024e-01 5.34123636e-01 -4.19078887e-02 6.40785309e+01] [ 4.88573137e-02 1.13140392e-03 9.98805128e-01 3.18514481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:64.10, Z:3.19 [[ 5.33602132e-01 -8.45367916e-01 -2.49369428e-02 1.04488198e+02] [ 8.44344854e-01 5.34183292e-01 -4.15929956e-02 6.41026556e+01] [ 4.84822822e-02 1.13873181e-03 9.98823394e-01 3.18590124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:64.13, Z:3.19 [[ 5.33606458e-01 -8.45356910e-01 -2.52159091e-02 1.04503350e+02] [ 8.44309607e-01 5.34200651e-01 -4.20826753e-02 6.41268751e+01] [ 4.90452355e-02 1.16555300e-03 9.98795878e-01 3.18696552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.52, Y:64.15, Z:3.19 [[ 5.33716864e-01 -8.45280376e-01 -2.54439600e-02 1.04518307e+02] [ 8.44212628e-01 5.34321675e-01 -4.24898469e-02 6.41512230e+01] [ 4.95110931e-02 1.19743553e-03 9.98772856e-01 3.18761571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:64.18, Z:3.19 [[ 5.35351351e-01 -8.44218404e-01 -2.63479840e-02 1.04530616e+02] [ 8.43070719e-01 5.35997618e-01 -4.40263127e-02 6.41757602e+01] [ 5.12902801e-02 1.35633221e-03 9.98682866e-01 3.18705603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:64.20, Z:3.19 [[ 5.36121242e-01 -8.43723428e-01 -2.65478909e-02 1.04545306e+02] [ 8.42556692e-01 5.36776256e-01 -4.43787458e-02 6.42001831e+01] [ 5.16936650e-02 1.42428525e-03 9.98661973e-01 3.18780967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:64.23, Z:3.19 [[ 5.36885632e-01 -8.43222935e-01 -2.69981428e-02 1.04559882e+02] [ 8.42014288e-01 5.37561901e-01 -4.51568478e-02 6.42256524e+01] [ 5.25904628e-02 1.51124077e-03 9.98615021e-01 3.18835161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:64.25, Z:3.19 [[ 5.37692844e-01 -8.42700636e-01 -2.72404721e-02 1.04574066e+02] [ 8.41468254e-01 5.38380081e-01 -4.55858019e-02 6.42499997e+01] [ 5.30809118e-02 1.58916693e-03 9.98588950e-01 3.18816761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:64.27, Z:3.19 [[ 5.37395790e-01 -8.42891893e-01 -2.71849430e-02 1.04591137e+02] [ 8.41663854e-01 5.38080636e-01 -4.55102783e-02 6.42729838e+01] [ 5.29879361e-02 1.57644809e-03 9.98593908e-01 3.19005198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:64.30, Z:3.19 [[ 5.36958881e-01 -8.43176765e-01 -2.69833780e-02 1.04603894e+02] [ 8.41965818e-01 5.37634202e-01 -4.51998499e-02 6.42969866e+01] [ 5.26186501e-02 1.55137890e-03 9.98613474e-01 3.19087399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:64.32, Z:3.19 [[ 5.35179153e-01 -8.44316860e-01 -2.66892203e-02 1.04625867e+02] [ 8.43132577e-01 5.35842312e-01 -4.47266662e-02 6.43171942e+01] [ 5.20646919e-02 1.43422816e-03 9.98642684e-01 3.19459252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.64, Y:64.34, Z:3.20 [[ 5.33716205e-01 -8.45242063e-01 -2.66995729e-02 1.04644398e+02] [ 8.44056691e-01 5.34381896e-01 -4.47693165e-02 6.43396985e+01] [ 5.21086778e-02 1.35815656e-03 9.98640496e-01 3.19621547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:64.36, Z:3.20 [[ 5.31593236e-01 -8.46590900e-01 -2.63150212e-02 1.04660405e+02] [ 8.45439874e-01 5.32242762e-01 -4.41481855e-02 6.43627350e+01] [ 5.13814316e-02 1.22110860e-03 9.98678355e-01 3.19606542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:64.38, Z:3.20 [[ 5.30661026e-01 -8.47171346e-01 -2.64496836e-02 1.04678096e+02] [ 8.46008340e-01 5.31318471e-01 -4.43910996e-02 6.43846321e+01] [ 5.16600731e-02 1.17997352e-03 9.98664030e-01 3.19761086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:64.41, Z:3.20 [[ 5.30369727e-01 -8.47352314e-01 -2.64954394e-02 1.04693972e+02] [ 8.46184037e-01 5.31029815e-01 -4.44961976e-02 6.44079801e+01] [ 5.17738243e-02 1.17941827e-03 9.98658140e-01 3.19863331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:64.43, Z:3.20 [[ 5.31293376e-01 -8.46784143e-01 -2.61527087e-02 1.04709742e+02] [ 8.45643894e-01 5.31935237e-01 -4.39466501e-02 6.44308877e+01] [ 5.11248737e-02 1.23268563e-03 9.98691508e-01 3.19968781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:64.45, Z:3.20 [[ 5.31535715e-01 -8.46623209e-01 -2.64371859e-02 1.04724614e+02] [ 8.45457021e-01 5.32191252e-01 -4.44398170e-02 6.44540479e+01] [ 5.16934196e-02 1.26984548e-03 9.98662194e-01 3.20087195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:64.48, Z:3.20 [[ 5.31897834e-01 -8.46389691e-01 -2.66305453e-02 1.04740131e+02] [ 8.45204730e-01 5.32562447e-01 -4.47906804e-02 6.44777197e+01] [ 5.20927985e-02 1.31580305e-03 9.98641382e-01 3.20190314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:64.50, Z:3.20 [[ 5.32752141e-01 -8.45855761e-01 -2.65176670e-02 1.04756654e+02] [ 8.44678784e-01 5.33409914e-01 -4.46275234e-02 6.45013711e+01] [ 5.18932343e-02 1.37649789e-03 9.98651690e-01 3.20218601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.77, Y:64.53, Z:3.20 [[ 5.32819271e-01 -8.45815452e-01 -2.64545986e-02 1.04772031e+02] [ 8.44642644e-01 5.33473791e-01 -4.45479359e-02 6.45250334e+01] [ 5.17921675e-02 1.39131659e-03 9.98656916e-01 3.20329690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:64.55, Z:3.20 [[ 5.32947076e-01 -8.45737809e-01 -2.63623505e-02 1.04787553e+02] [ 8.44571654e-01 5.33596828e-01 -4.44201089e-02 6.45487740e+01] [ 5.16346322e-02 1.40867315e-03 9.98665049e-01 3.20458036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.80, Y:64.57, Z:3.21 [[ 5.32815748e-01 -8.45816791e-01 -2.64827091e-02 1.04803820e+02] [ 8.44638602e-01 5.33471585e-01 -4.46508734e-02 6.45715887e+01] [ 5.18942313e-02 1.42237010e-03 9.98651574e-01 3.20569639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:64.59, Z:3.21 [[ 5.31522046e-01 -8.46632701e-01 -2.64080340e-02 1.04822762e+02] [ 8.45460720e-01 5.32175946e-01 -4.45525935e-02 6.45935117e+01] [ 5.17734030e-02 1.35373019e-03 9.98657941e-01 3.20700644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.84, Y:64.62, Z:3.21 [[ 5.30720620e-01 -8.47145041e-01 -2.60941387e-02 1.04839980e+02] [ 8.46000053e-01 5.31360127e-01 -4.40491189e-02 6.46165392e+01] [ 5.11813775e-02 1.30213296e-03 9.98688526e-01 3.20881479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:64.64, Z:3.21 [[ 5.29028570e-01 -8.48189054e-01 -2.65349058e-02 1.04862620e+02] [ 8.47004952e-01 5.29692176e-01 -4.48197528e-02 6.46371618e+01] [ 5.20709557e-02 1.23573313e-03 9.98642623e-01 3.21046113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:64.66, Z:3.21 [[ 5.27959067e-01 -8.48848047e-01 -2.67622389e-02 1.04877698e+02] [ 8.47643050e-01 5.28635571e-01 -4.52293433e-02 6.46593881e+01] [ 5.25403111e-02 1.19441605e-03 9.98618090e-01 3.21072830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.89, Y:64.68, Z:3.21 [[ 5.26808698e-01 -8.49570731e-01 -2.64984439e-02 1.04894577e+02] [ 8.48389067e-01 5.27473515e-01 -4.48071684e-02 6.46819056e+01] [ 5.20440861e-02 1.12381597e-03 9.98644156e-01 3.21108024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:64.70, Z:3.21 [[ 5.26144891e-01 -8.49992670e-01 -2.61536524e-02 1.04911021e+02] [ 8.48840689e-01 5.26793402e-01 -4.42515032e-02 6.47049312e+01] [ 5.13910250e-02 1.08241799e-03 9.98678022e-01 3.21226692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.93, Y:64.73, Z:3.21 [[ 5.25471826e-01 -8.50424433e-01 -2.56445634e-02 1.04929133e+02] [ 8.49316057e-01 5.26096202e-01 -4.34168280e-02 6.47259608e+01] [ 5.04142388e-02 1.03398037e-03 9.98727859e-01 3.21492551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:64.75, Z:3.22 [[ 5.25158922e-01 -8.50625299e-01 -2.53910973e-02 1.04943914e+02] [ 8.49537649e-01 5.25771399e-01 -4.30141760e-02 6.47490039e+01] [ 4.99388591e-02 1.01858521e-03 9.98751757e-01 3.21617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:64.77, Z:3.22 [[ 5.25504430e-01 -8.50420341e-01 -2.51065224e-02 1.04962260e+02] [ 8.49355739e-01 5.26102812e-01 -4.25518400e-02 6.47703762e+01] [ 4.93955623e-02 1.03681155e-03 9.98778756e-01 3.21806224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:64.79, Z:3.22 [[ 5.25720147e-01 -8.50284486e-01 -2.51916630e-02 1.04978599e+02] [ 8.49211188e-01 5.26322292e-01 -4.27223941e-02 6.47932506e+01] [ 4.95851227e-02 1.06698123e-03 9.98769331e-01 3.21927328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:64.82, Z:3.22 [[ 5.25875184e-01 -8.50187669e-01 -2.52233589e-02 1.04993673e+02] [ 8.49110234e-01 5.26478618e-01 -4.28027358e-02 6.48165407e+01] [ 4.96699174e-02 1.09148439e-03 9.98765091e-01 3.22032881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:64.84, Z:3.22 [[ 5.26425786e-01 -8.49831235e-01 -2.57442166e-02 1.05011845e+02] [ 8.48707066e-01 5.27053623e-01 -4.37126311e-02 6.48385648e+01] [ 5.07169419e-02 1.16215758e-03 9.98712392e-01 3.22094176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.03, Y:64.86, Z:3.22 [[ 5.26458044e-01 -8.49804690e-01 -2.59599056e-02 1.05025790e+02] [ 8.48660148e-01 5.27096362e-01 -4.41064512e-02 6.48619019e+01] [ 5.11652409e-02 1.18905868e-03 9.98689493e-01 3.22084384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:64.89, Z:3.22 [[ 5.26317741e-01 -8.49885405e-01 -2.61617022e-02 1.05041012e+02] [ 8.48721528e-01 5.26966170e-01 -4.44794787e-02 6.48854415e+01] [ 5.15887918e-02 1.20633891e-03 9.98667683e-01 3.22096701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.06, Y:64.91, Z:3.22 [[ 5.27230573e-01 -8.49306587e-01 -2.65752327e-02 1.05057305e+02] [ 8.48103376e-01 5.27898319e-01 -4.52109201e-02 6.49082920e+01] [ 5.24269529e-02 1.29803472e-03 9.98623918e-01 3.22166524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:64.93, Z:3.22 [[ 5.27556209e-01 -8.49096287e-01 -2.68317147e-02 1.05073207e+02] [ 8.47868044e-01 5.28236390e-01 -4.56737961e-02 6.49313375e+01] [ 5.29549389e-02 1.34574124e-03 9.98595996e-01 3.22306799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:64.95, Z:3.22 [[ 5.27880984e-01 -8.48891561e-01 -2.69218310e-02 1.05087186e+02] [ 8.47653375e-01 5.28565228e-01 -4.58536330e-02 6.49548299e+01] [ 5.31547059e-02 1.38488000e-03 9.98585329e-01 3.22362944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:64.98, Z:3.22 [[ 5.25404045e-01 -8.50400776e-01 -2.77328268e-02 1.05105612e+02] [ 8.49087362e-01 5.26133889e-01 -4.72629057e-02 6.49765884e+01] [ 5.47835917e-02 1.28452909e-03 9.98497425e-01 3.22306139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:65.00, Z:3.22 [[ 5.23692138e-01 -8.51449839e-01 -2.79233977e-02 1.05122941e+02] [ 8.50118179e-01 5.24434682e-01 -4.76166641e-02 6.49994071e+01] [ 5.51871992e-02 1.19828466e-03 9.98475306e-01 3.22468497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:65.02, Z:3.23 [[ 5.21425335e-01 -8.52843007e-01 -2.78285039e-02 1.05139537e+02] [ 8.51520780e-01 5.22166331e-01 -4.74835155e-02 6.50219631e+01] [ 5.50270919e-02 1.06255860e-03 9.98484296e-01 3.22557500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:65.04, Z:3.23 [[ 5.19805893e-01 -8.53844778e-01 -2.74030901e-02 1.05156511e+02] [ 8.52562581e-01 5.20526830e-01 -4.67853020e-02 6.50445136e+01] [ 5.42114294e-02 9.56426419e-04 9.98529021e-01 3.22791999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.506875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:65.07, Z:3.23 [[ 5.16579655e-01 -8.55832760e-01 -2.63770158e-02 1.05174765e+02] [ 8.54646115e-01 5.17252113e-01 -4.50585060e-02 6.50654146e+01] [ 5.22061127e-02 7.33293371e-04 9.98636062e-01 3.23106151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:65.09, Z:3.23 [[ 5.14916869e-01 -8.56848976e-01 -2.58930571e-02 1.05191206e+02] [ 8.55705786e-01 5.15567103e-01 -4.42512134e-02 6.50881220e+01] [ 5.12662153e-02 6.28857511e-04 9.98684825e-01 3.23343506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56687499999998 meters Centerline goodness [0,1] 0.9999507352760056 Centerline is valid? [True, True] Translation: X:105.21, Y:65.11, Z:3.24 [[ 5.11956835e-01 -8.58637491e-01 -2.53348969e-02 1.05209926e+02] [ 8.57543943e-01 5.12583117e-01 -4.33235975e-02 6.51100262e+01] [ 5.01855055e-02 4.54024502e-04 9.98739810e-01 3.23689616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:65.13, Z:3.24 [[ 5.10785319e-01 -8.59345605e-01 -2.49697558e-02 1.05225543e+02] [ 8.58282936e-01 5.11395128e-01 -4.27249866e-02 6.51337307e+01] [ 4.94849409e-02 3.92180571e-04 9.98774793e-01 3.23870479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:65.16, Z:3.24 [[ 5.09017250e-01 -8.60400366e-01 -2.47517505e-02 1.05240896e+02] [ 8.59356115e-01 5.09618602e-01 -4.23786193e-02 6.51558197e+01] [ 4.90765321e-02 3.00880132e-04 9.98794976e-01 3.23968412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:65.18, Z:3.24 [[ 5.08070821e-01 -8.60951813e-01 -2.50203173e-02 1.05255990e+02] [ 8.59884046e-01 5.08686451e-01 -4.28663219e-02 6.51793451e+01] [ 4.96333340e-02 2.64555689e-04 9.98767472e-01 3.24049388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:65.20, Z:3.24 [[ 5.07360155e-01 -8.61368389e-01 -2.51032318e-02 1.05270885e+02] [ 8.60292760e-01 5.07980750e-01 -4.30340024e-02 6.52031046e+01] [ 4.98200878e-02 2.37609577e-04 9.98758180e-01 3.24157212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:65.23, Z:3.24 [[ 5.06821102e-01 -8.61673747e-01 -2.55093125e-02 1.05285565e+02] [ 8.60561978e-01 5.07462613e-01 -4.37581891e-02 6.52267317e+01] [ 5.06503051e-02 2.25229207e-04 9.98716424e-01 3.24230244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:65.25, Z:3.24 [[ 5.06408879e-01 -8.61912723e-01 -2.56223583e-02 1.05299923e+02] [ 8.60789945e-01 5.07056615e-01 -4.39802221e-02 6.52511100e+01] [ 5.08990993e-02 2.16506613e-04 9.98703777e-01 3.24352860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:65.27, Z:3.24 [[ 5.06483479e-01 -8.61861049e-01 -2.58846915e-02 1.05313126e+02] [ 8.60713662e-01 5.07144433e-01 -4.44580300e-02 6.52746874e+01] [ 5.14439215e-02 2.37950132e-04 9.98675856e-01 3.24389841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:65.30, Z:3.24 [[ 5.07422758e-01 -8.61298670e-01 -2.62058465e-02 1.05325445e+02] [ 8.60120699e-01 5.08098913e-01 -4.50319707e-02 6.53002058e+01] [ 5.21011385e-02 3.10055793e-04 9.98641765e-01 3.24474412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:65.32, Z:3.25 [[ 5.07824190e-01 -8.61063292e-01 -2.61648378e-02 1.05337843e+02] [ 8.59887188e-01 5.08497675e-01 -4.49904241e-02 6.53246298e+01] [ 5.20443619e-02 3.48416939e-04 9.98644713e-01 3.24525893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:65.35, Z:3.25 [[ 5.09010438e-01 -8.60353483e-01 -2.64623962e-02 1.05349863e+02] [ 8.59147913e-01 5.09697645e-01 -4.55321135e-02 6.53498239e+01] [ 5.26615334e-02 4.41208570e-04 9.98612321e-01 3.24574578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:65.37, Z:3.25 [[ 5.09356734e-01 -8.60143108e-01 -2.66373860e-02 1.05363601e+02] [ 8.58919839e-01 5.10052549e-01 -4.58596396e-02 6.53744658e+01] [ 5.30323196e-02 4.79536948e-04 9.98592681e-01 3.24768915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:65.40, Z:3.25 [[ 5.09528868e-01 -8.60048495e-01 -2.63992157e-02 1.05376660e+02] [ 8.58845372e-01 5.10212050e-01 -4.54784605e-02 6.53990792e+01] [ 5.25828794e-02 4.99744277e-04 9.98616438e-01 3.24899490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:65.42, Z:3.25 [[ 5.09593993e-01 -8.60018228e-01 -2.61267769e-02 1.05389818e+02] [ 8.58838302e-01 5.10263054e-01 -4.50376220e-02 6.54237041e+01] [ 5.20647049e-02 5.12224943e-04 9.98643582e-01 3.25037075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:65.45, Z:3.25 [[ 5.09357913e-01 -8.60158449e-01 -2.61143472e-02 1.05403582e+02] [ 8.58978337e-01 5.10026646e-01 -4.50448284e-02 6.54476380e+01] [ 5.20647026e-02 5.12281249e-04 9.98643582e-01 3.25157653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:65.47, Z:3.25 [[ 5.09406347e-01 -8.60136366e-01 -2.58960474e-02 1.05416252e+02] [ 8.58974431e-01 5.10063875e-01 -4.46964220e-02 6.54729390e+01] [ 5.16536563e-02 5.24598488e-04 9.98664921e-01 3.25305067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:65.50, Z:3.25 [[ 5.09764134e-01 -8.59932079e-01 -2.56387814e-02 1.05428433e+02] [ 8.58791496e-01 5.10408183e-01 -4.42792725e-02 6.54974923e+01] [ 5.11634107e-02 5.53617562e-04 9.98690142e-01 3.25399458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.44, Y:65.52, Z:3.26 [[ 5.10100081e-01 -8.59738004e-01 -2.54651203e-02 1.05441412e+02] [ 8.58611500e-01 5.10734988e-01 -4.40007324e-02 6.55225626e+01] [ 5.08350298e-02 5.80132004e-04 9.98706896e-01 3.25569110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:65.55, Z:3.26 [[ 5.11098389e-01 -8.59162166e-01 -2.48758953e-02 1.05452834e+02] [ 8.58085226e-01 5.11703008e-01 -4.30090219e-02 6.55480783e+01] [ 4.96807948e-02 6.36203500e-04 9.98764944e-01 3.25763048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:65.57, Z:3.26 [[ 5.11123321e-01 -8.59148027e-01 -2.48519274e-02 1.05466042e+02] [ 8.58071807e-01 5.11726728e-01 -4.29945295e-02 6.55727221e+01] [ 4.96560607e-02 6.50768401e-04 9.98766165e-01 3.25885700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:65.60, Z:3.26 [[ 5.11097574e-01 -8.59150742e-01 -2.52838454e-02 1.05479289e+02] [ 8.58035366e-01 5.11722137e-01 -4.37694480e-02 6.55979471e+01] [ 5.05428571e-02 6.76025126e-04 9.98721664e-01 3.25934368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:65.62, Z:3.26 [[ 5.10751120e-01 -8.59361720e-01 -2.51142957e-02 1.05491318e+02] [ 8.58260221e-01 5.11367767e-01 -4.35017120e-02 6.56222439e+01] [ 5.02263474e-02 6.63947141e-04 9.98737640e-01 3.26036286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:65.65, Z:3.26 [[ 5.10590920e-01 -8.59451114e-01 -2.53119493e-02 1.05504559e+02] [ 8.58330833e-01 5.11217494e-01 -4.38731766e-02 6.56473300e+01] [ 5.06467618e-02 6.75219099e-04 9.98716401e-01 3.26112178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:65.67, Z:3.26 [[ 5.10517057e-01 -8.59484695e-01 -2.56591804e-02 1.05517737e+02] [ 8.58332058e-01 5.11161007e-01 -4.45028397e-02 6.56718690e+01] [ 5.13654821e-02 6.95361662e-04 9.98679680e-01 3.26187854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:65.70, Z:3.26 [[ 5.10688968e-01 -8.59373497e-01 -2.59609615e-02 1.05531318e+02] [ 8.58191963e-01 5.11347887e-01 -4.50543406e-02 6.56967702e+01] [ 5.19935890e-02 7.29266226e-04 9.98647152e-01 3.26218356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:65.72, Z:3.26 [[ 5.11008093e-01 -8.59152545e-01 -2.69746807e-02 1.05541632e+02] [ 8.57874948e-01 5.11718937e-01 -4.68433860e-02 6.57227593e+01] [ 5.40490692e-02 7.96446502e-04 9.98537963e-01 3.26058674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:65.75, Z:3.26 [[ 5.10820124e-01 -8.59252733e-01 -2.73412103e-02 1.05554128e+02] [ 8.57938757e-01 5.11550665e-01 -4.75079546e-02 6.57465683e+01] [ 5.48077541e-02 8.10935294e-04 9.98496596e-01 3.26144753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:65.77, Z:3.27 [[ 5.09511666e-01 -8.60053234e-01 -2.65762379e-02 1.05569847e+02] [ 8.58811293e-01 5.10203798e-01 -4.62087360e-02 6.57695458e+01] [ 5.33012704e-02 7.19916769e-04 9.98578217e-01 3.26604845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:65.79, Z:3.27 [[ 5.08668726e-01 -8.60573604e-01 -2.58688698e-02 1.05582894e+02] [ 8.59396168e-01 5.09325665e-01 -4.50065880e-02 6.57937436e+01] [ 5.19071609e-02 6.61836230e-04 9.98651695e-01 3.26799003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:65.82, Z:3.27 [[ 5.07782452e-01 -8.61108157e-01 -2.54896749e-02 1.05596747e+02] [ 8.59964197e-01 5.08421446e-01 -4.43758248e-02 6.58176517e+01] [ 5.11718821e-02 6.13057359e-04 9.98689673e-01 3.27015751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.466875 meters Centerline goodness [0,1] 0.9999758062565021 Centerline is valid? [True, True] Translation: X:105.61, Y:65.84, Z:3.27 [[ 5.06833157e-01 -8.61673834e-01 -2.52656709e-02 1.05609785e+02] [ 8.60549149e-01 5.07462199e-01 -4.40145235e-02 6.58415507e+01] [ 5.07475362e-02 5.65668270e-04 9.98711353e-01 3.27143494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.63, Y:65.87, Z:3.27 [[ 5.05004705e-01 -8.62748727e-01 -2.51968653e-02 1.05625127e+02] [ 8.61629996e-01 5.05632684e-01 -4.39242371e-02 6.58653043e+01] [ 5.06359383e-02 4.71571461e-04 9.98717067e-01 3.27265355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:65.89, Z:3.27 [[ 5.04295204e-01 -8.63162665e-01 -2.52301418e-02 1.05639298e+02] [ 8.62040060e-01 5.04925752e-01 -4.40104565e-02 6.58895740e+01] [ 5.07275313e-02 4.44869174e-04 9.98712431e-01 3.27372784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:65.91, Z:3.27 [[ 5.03824771e-01 -8.63439870e-01 -2.51434165e-02 1.05652771e+02] [ 8.62323900e-01 5.04451590e-01 -4.38871753e-02 6.59136003e+01] [ 5.05775733e-02 4.29677097e-04 9.98720043e-01 3.27465888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:65.94, Z:3.28 [[ 5.03736198e-01 -8.63482431e-01 -2.54545389e-02 1.05666942e+02] [ 8.62337177e-01 5.04378719e-01 -4.44601106e-02 6.59379697e+01] [ 5.12292522e-02 4.45771856e-04 9.98686820e-01 3.27662481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.68, Y:65.96, Z:3.28 [[ 5.04183074e-01 -8.63212835e-01 -2.57493486e-02 1.05679969e+02] [ 8.62039059e-01 5.04839933e-01 -4.50033684e-02 6.59625319e+01] [ 5.18467847e-02 4.92992383e-04 9.98654929e-01 3.27741421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:65.99, Z:3.28 [[ 5.04583389e-01 -8.62965960e-01 -2.61792947e-02 1.05693745e+02] [ 8.61750760e-01 5.05261772e-01 -4.57839310e-02 6.59874526e+01] [ 5.27373708e-02 5.41783941e-04 9.98608270e-01 3.27785751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:66.01, Z:3.28 [[ 5.05818607e-01 -8.62208522e-01 -2.72763873e-02 1.05705815e+02] [ 8.60886441e-01 5.06553083e-01 -4.77337412e-02 6.60122130e+01] [ 5.49733765e-02 6.62742522e-04 9.98487601e-01 3.27599125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:66.04, Z:3.28 [[ 5.05891838e-01 -8.62163355e-01 -2.73458912e-02 1.05719814e+02] [ 8.60832877e-01 5.06629926e-01 -4.78839751e-02 6.60366677e+01] [ 5.51380555e-02 6.83870005e-04 9.98478506e-01 3.27707932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:66.06, Z:3.28 [[ 5.06066484e-01 -8.62050603e-01 -2.76671568e-02 1.05732473e+02] [ 8.60686748e-01 5.06821704e-01 -4.84776552e-02 6.60603433e+01] [ 5.58125075e-02 7.20161389e-04 9.98441007e-01 3.27717479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:66.08, Z:3.28 [[ 5.05403755e-01 -8.62444832e-01 -2.74946430e-02 1.05747541e+02] [ 8.61096778e-01 5.06150607e-01 -4.82068685e-02 6.60836962e+01] [ 5.54921949e-02 6.88383845e-04 9.98458884e-01 3.27923978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.76, Y:66.11, Z:3.28 [[ 5.04298806e-01 -8.63091812e-01 -2.74815893e-02 1.05762336e+02] [ 8.61744317e-01 5.05046655e-01 -4.82141960e-02 6.61074729e+01] [ 5.54927626e-02 6.32258146e-04 9.98458889e-01 3.28122462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.78, Y:66.13, Z:3.28 [[ 5.02930821e-01 -8.63903589e-01 -2.70403115e-02 1.05777479e+02] [ 8.62598626e-01 5.03656915e-01 -4.74691662e-02 6.61313049e+01] [ 5.46278229e-02 5.48771157e-04 9.98506635e-01 3.28425354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters Centerline goodness [0,1] 0.9999023246727876 Centerline is valid? [True, True] Translation: X:105.80, Y:66.15, Z:3.29 [[ 4.99351988e-01 -8.66001658e-01 -2.62434865e-02 1.05795299e+02] [ 8.64773929e-01 5.00041022e-01 -4.60980272e-02 6.61540644e+01] [ 5.30437878e-02 3.24458610e-04 9.98592135e-01 3.28832708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:66.18, Z:3.29 [[ 4.96935141e-01 -8.67404599e-01 -2.57822911e-02 1.05811241e+02] [ 8.66220130e-01 4.97603483e-01 -4.53151244e-02 6.61769499e+01] [ 5.21359052e-02 1.85538245e-04 9.98639982e-01 3.29112124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:66.20, Z:3.29 [[ 4.93845968e-01 -8.69170557e-01 -2.56651996e-02 1.05827207e+02] [ 8.67997730e-01 4.94512429e-01 -4.51375588e-02 6.61996279e+01] [ 5.19239973e-02 1.36663838e-05 9.98651039e-01 3.29288933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.85, Y:66.22, Z:3.30 [[ 4.87728204e-01 -8.72631974e-01 -2.51920001e-02 1.05846090e+02] [ 8.71505179e-01 4.88378262e-01 -4.43327799e-02 6.62214725e+01] [ 5.09894265e-02 -3.32611456e-04 9.98699138e-01 3.29514687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:66.24, Z:3.30 [[ 4.84648331e-01 -8.74349678e-01 -2.50726314e-02 1.05862192e+02] [ 8.73234432e-01 4.85296192e-01 -4.41501104e-02 6.62445850e+01] [ 5.07702874e-02 -4.97007777e-04 9.98710234e-01 3.29686022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:66.27, Z:3.30 [[ 4.82023267e-01 -8.75802223e-01 -2.49807230e-02 1.05877415e+02] [ 8.74695798e-01 4.82669725e-01 -4.40136031e-02 6.62670083e+01] [ 5.06046501e-02 -6.34952660e-04 9.98718562e-01 3.29794194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:66.29, Z:3.30 [[ 4.77983149e-01 -8.77997256e-01 -2.55524399e-02 1.05893232e+02] [ 8.76841557e-01 4.78664863e-01 -4.50425771e-02 6.62909948e+01] [ 5.17783143e-02 -8.75848377e-04 9.98658219e-01 3.29830160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:66.31, Z:3.30 [[ 4.76856664e-01 -8.78606155e-01 -2.56699537e-02 1.05907920e+02] [ 8.77439280e-01 4.77546179e-01 -4.52764408e-02 6.63144033e+01] [ 5.20387479e-02 -9.33453157e-04 9.98644630e-01 3.29884338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:66.34, Z:3.30 [[ 4.76086449e-01 -8.79019658e-01 -2.58095741e-02 1.05921035e+02] [ 8.77839280e-01 4.76784539e-01 -4.55488809e-02 6.63396866e+01] [ 5.23439676e-02 -9.71452976e-04 9.98628642e-01 3.30049895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:66.36, Z:3.30 [[ 4.76607179e-01 -8.78735802e-01 -2.58647934e-02 1.05933585e+02] [ 8.77548440e-01 4.77307583e-01 -4.56750135e-02 6.63648160e+01] [ 5.24817316e-02 -9.28569709e-04 9.98621453e-01 3.30107322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:66.39, Z:3.30 [[ 4.77551182e-01 -8.78214009e-01 -2.61729320e-02 1.05945618e+02] [ 8.76995833e-01 4.78267081e-01 -4.62483301e-02 6.63901593e+01] [ 5.31335832e-02 -8.67607652e-04 9.98587037e-01 3.30141320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:66.42, Z:3.30 [[ 4.78380337e-01 -8.77759305e-01 -2.62841322e-02 1.05957566e+02] [ 8.76528504e-01 4.79101191e-01 -4.64739667e-02 6.64153137e+01] [ 5.33857158e-02 -8.06559213e-04 9.98573640e-01 3.30115770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:66.44, Z:3.30 [[ 4.79826534e-01 -8.76946674e-01 -2.70375321e-02 1.05968934e+02] [ 8.75641259e-01 4.80587151e-01 -4.78369720e-02 6.64403044e+01] [ 5.49443640e-02 -7.21730170e-04 9.98489157e-01 3.30132949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:66.47, Z:3.30 [[ 4.80175696e-01 -8.76767325e-01 -2.66525432e-02 1.05981267e+02] [ 8.75496946e-01 4.80914337e-01 -4.71857929e-02 6.64661042e+01] [ 5.41885515e-02 -6.76749196e-04 9.98530492e-01 3.30343903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:66.49, Z:3.31 [[ 4.80530635e-01 -8.76578981e-01 -2.64499335e-02 1.05993569e+02] [ 8.75326063e-01 4.81257607e-01 -4.68550808e-02 6.64913934e+01] [ 5.38014107e-02 -6.37014403e-04 9.98551452e-01 3.30527220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:66.52, Z:3.31 [[ 4.82093659e-01 -8.75728718e-01 -2.61709089e-02 1.06004354e+02] [ 8.74499293e-01 4.82803210e-01 -4.63901672e-02 6.65167342e+01] [ 5.32606005e-02 -5.22035845e-04 9.98580510e-01 3.30698498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:66.54, Z:3.31 [[ 4.83268501e-01 -8.75087279e-01 -2.59578454e-02 1.06016382e+02] [ 8.73875319e-01 4.83964943e-01 -4.60419549e-02 6.65427024e+01] [ 5.28534162e-02 -4.33293860e-04 9.98602187e-01 3.30823071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:66.57, Z:3.31 [[ 4.84763055e-01 -8.74259405e-01 -2.59860231e-02 1.06027703e+02] [ 8.73042066e-01 4.85458942e-01 -4.61212054e-02 6.65681729e+01] [ 5.29370449e-02 -3.29034867e-04 9.98597797e-01 3.30862503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:66.60, Z:3.31 [[ 4.88405967e-01 -8.72213946e-01 -2.65036437e-02 1.06037481e+02] [ 8.70942915e-01 4.89124547e-01 -4.70703320e-02 6.65950893e+01] [ 5.40189828e-02 -9.37296985e-05 9.98539904e-01 3.30892030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:66.62, Z:3.31 [[ 4.89887974e-01 -8.71368735e-01 -2.69499502e-02 1.06049695e+02] [ 8.70051518e-01 4.90628706e-01 -4.78939391e-02 6.66209768e+01] [ 5.49557003e-02 1.48197441e-05 9.98488794e-01 3.30958915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:66.65, Z:3.31 [[ 4.91851470e-01 -8.70253253e-01 -2.72287748e-02 1.06061821e+02] [ 8.68905176e-01 4.92604558e-01 -4.84204954e-02 6.66466932e+01] [ 5.55511122e-02 1.56468506e-04 9.98455832e-01 3.31123274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:66.67, Z:3.31 [[ 4.93553801e-01 -8.69292351e-01 -2.71192479e-02 1.06073636e+02] [ 8.67951950e-01 4.94298220e-01 -4.82564163e-02 6.66723740e+01] [ 5.53539296e-02 2.78933618e-04 9.98466757e-01 3.31275236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:66.70, Z:3.32 [[ 4.97507503e-01 -8.67049809e-01 -2.66629529e-02 1.06084354e+02] [ 8.65749299e-01 4.98221178e-01 -4.74742969e-02 6.66994299e+01] [ 5.44466279e-02 5.35386132e-04 9.98516539e-01 3.31505950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:66.72, Z:3.32 [[ 4.99267161e-01 -8.66053357e-01 -2.61512007e-02 1.06095702e+02] [ 8.64799423e-01 4.99951163e-01 -4.65917637e-02 6.67242437e+01] [ 5.34252766e-02 6.46194317e-04 9.98571641e-01 3.31700465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.11, Y:66.75, Z:3.32 [[ 5.00766349e-01 -8.65197940e-01 -2.57990108e-02 1.06108326e+02] [ 8.63974830e-01 5.01429928e-01 -4.59947854e-02 6.67498998e+01] [ 5.27309897e-02 7.42944767e-04 9.98608477e-01 3.31917899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:66.77, Z:3.32 [[ 5.01210922e-01 -8.64953067e-01 -2.53732745e-02 1.06120890e+02] [ 8.63768284e-01 5.01852168e-01 -4.52631532e-02 6.67746546e+01] [ 5.18841360e-02 7.69756976e-04 9.98652814e-01 3.32088755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:66.80, Z:3.32 [[ 5.01014342e-01 -8.65085179e-01 -2.47439210e-02 1.06132682e+02] [ 8.63957204e-01 5.01624429e-01 -4.41687883e-02 6.67986662e+01] [ 5.06219194e-02 7.51507634e-04 9.98717606e-01 3.32295358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:66.82, Z:3.33 [[ 5.00792789e-01 -8.65229178e-01 -2.41878613e-02 1.06146164e+02] [ 8.64150108e-01 5.01376036e-01 -4.32048677e-02 6.68231040e+01] [ 4.95093262e-02 7.34743198e-04 9.98773391e-01 3.32590664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:66.85, Z:3.33 [[ 5.01681732e-01 -8.64738668e-01 -2.32911041e-02 1.06158353e+02] [ 8.63736420e-01 5.02221512e-01 -4.16287158e-02 6.68479797e+01] [ 4.76952538e-02 7.66991370e-04 9.98861639e-01 3.32963027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:66.87, Z:3.33 [[ 5.02294752e-01 -8.64381891e-01 -2.33222600e-02 1.06170771e+02] [ 8.63375294e-01 5.02835242e-01 -4.17111594e-02 6.68728469e+01] [ 4.77816251e-02 8.15433383e-04 9.98857473e-01 3.33089259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:66.90, Z:3.33 [[ 5.04193085e-01 -8.63259780e-01 -2.39141067e-02 1.06181918e+02] [ 8.62198785e-01 5.04758983e-01 -4.27974779e-02 6.68988851e+01] [ 4.90162016e-02 9.59478645e-04 9.98797523e-01 3.33093129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:66.92, Z:3.33 [[ 5.05172871e-01 -8.62678004e-01 -2.42287424e-02 1.06194735e+02] [ 8.61586896e-01 5.05752483e-01 -4.33871826e-02 6.69240321e+01] [ 4.96829147e-02 1.04286066e-03 9.98764497e-01 3.33082069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:66.95, Z:3.33 [[ 5.06428966e-01 -8.61930045e-01 -2.46231689e-02 1.06205674e+02] [ 8.60800883e-01 5.07025917e-01 -4.41198390e-02 6.69499031e+01] [ 5.05127996e-02 1.14791894e-03 9.98722754e-01 3.33004778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:66.98, Z:3.33 [[ 5.07103075e-01 -8.61517381e-01 -2.51847730e-02 1.06218936e+02] [ 8.60334547e-01 5.07726597e-01 -4.51460845e-02 6.69754800e+01] [ 5.16811156e-02 1.22638795e-03 9.98662885e-01 3.32998920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:67.00, Z:3.33 [[ 5.06867027e-01 -8.61656624e-01 -2.51729741e-02 1.06232294e+02] [ 8.60473636e-01 5.07490255e-01 -4.51526628e-02 6.69996372e+01] [ 5.16811301e-02 1.22571543e-03 9.98662885e-01 3.33119565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:67.03, Z:3.33 [[ 5.08952769e-01 -8.60393314e-01 -2.62759182e-02 1.06244396e+02] [ 8.59100942e-01 5.09628591e-01 -4.71621624e-02 6.70258390e+01] [ 5.39689684e-02 1.42964704e-03 9.98541590e-01 3.32939673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:67.05, Z:3.33 [[ 5.10007647e-01 -8.59736367e-01 -2.73053070e-02 1.06256959e+02] [ 8.58338012e-01 5.10735648e-01 -4.90403359e-02 6.70516341e+01] [ 5.61075539e-02 1.57376334e-03 9.98423490e-01 3.32879928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:67.08, Z:3.33 [[ 5.10591552e-01 -8.59372795e-01 -2.78328372e-02 1.06270396e+02] [ 8.57917546e-01 5.11346890e-01 -5.00184277e-02 6.70767164e+01] [ 5.72167107e-02 1.66070730e-03 9.98360401e-01 3.32905822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:67.10, Z:3.33 [[ 5.10984742e-01 -8.59117298e-01 -2.84966878e-02 1.06283526e+02] [ 8.57589643e-01 5.11775756e-01 -5.12404098e-02 6.71014480e+01] [ 5.86054364e-02 1.74460321e-03 9.98279700e-01 3.32963446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:67.13, Z:3.33 [[ 5.11482786e-01 -8.58814093e-01 -2.87003961e-02 1.06297702e+02] [ 8.57262630e-01 5.12284196e-01 -5.16302796e-02 6.71261905e+01] [ 5.90435711e-02 1.80422224e-03 9.98253776e-01 3.33105529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:67.15, Z:3.33 [[ 5.11306488e-01 -8.58930173e-01 -2.83660727e-02 1.06311160e+02] [ 8.57413021e-01 5.12089610e-01 -5.10601810e-02 6.71511678e+01] [ 5.83831012e-02 1.78596166e-03 9.98292654e-01 3.33294256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:67.17, Z:3.34 [[ 5.11318413e-01 -8.58951289e-01 -2.74984389e-02 1.06325393e+02] [ 8.57523881e-01 5.12054332e-01 -4.95293219e-02 6.71749532e+01] [ 5.66239697e-02 1.74468617e-03 9.98394052e-01 3.33666932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:67.20, Z:3.34 [[ 5.11218022e-01 -8.59033920e-01 -2.67742220e-02 1.06340013e+02] [ 8.57679201e-01 5.11915830e-01 -4.82552618e-02 6.71984349e+01] [ 5.51590548e-02 1.70526618e-03 9.98476124e-01 3.33985581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:67.22, Z:3.34 [[ 5.12164281e-01 -8.58507897e-01 -2.55331013e-02 1.06352656e+02] [ 8.57273773e-01 5.12797540e-01 -4.60473766e-02 6.72231402e+01] [ 5.26253480e-02 1.69496342e-03 9.98612888e-01 3.34444232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:67.25, Z:3.35 [[ 5.12450785e-01 -8.58351739e-01 -2.50296865e-02 1.06366377e+02] [ 8.57164142e-01 5.13058894e-01 -4.51686213e-02 6.72473807e+01] [ 5.16122679e-02 1.69214564e-03 9.98665765e-01 3.34760070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:67.27, Z:3.35 [[ 5.12468237e-01 -8.58354250e-01 -2.45822676e-02 1.06379915e+02] [ 8.57207303e-01 5.13054746e-01 -4.43899590e-02 6.72724110e+01] [ 5.07143590e-02 1.67634480e-03 9.98711792e-01 3.35021968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.39, Y:67.30, Z:3.35 [[ 5.12402377e-01 -8.58392269e-01 -2.46275495e-02 1.06393771e+02] [ 8.57239647e-01 5.12991085e-01 -4.45009513e-02 6.72971233e+01] [ 5.08329859e-02 1.69068144e-03 9.98705737e-01 3.35131321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:67.32, Z:3.35 [[ 5.12331586e-01 -8.58424274e-01 -2.49822237e-02 1.06406216e+02] [ 8.57236659e-01 5.12937405e-01 -4.51722047e-02 6.73218840e+01] [ 5.15912340e-02 1.72746928e-03 9.98666791e-01 3.35091313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.42, Y:67.35, Z:3.35 [[ 5.12317763e-01 -8.58412721e-01 -2.56536478e-02 1.06420108e+02] [ 8.57158627e-01 5.12956518e-01 -4.64187270e-02 6.73468727e+01] [ 5.30056316e-02 1.79189280e-03 9.98592606e-01 3.35117339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:67.37, Z:3.35 [[ 5.11938284e-01 -8.58609796e-01 -2.66159956e-02 1.06435650e+02] [ 8.57258305e-01 5.12626355e-01 -4.81914880e-02 6.73707975e+01] [ 5.50217445e-02 1.85428438e-03 9.98483435e-01 3.35129998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:67.39, Z:3.35 [[ 5.10214486e-01 -8.59585072e-01 -2.81900972e-02 1.06449123e+02] [ 8.58068199e-01 5.10989236e-01 -5.10780425e-02 6.73941462e+01] [ 5.83107592e-02 1.87173124e-03 9.98296725e-01 3.34880379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:67.42, Z:3.35 [[ 5.08742388e-01 -8.60445987e-01 -2.85286966e-02 1.06465607e+02] [ 8.58891616e-01 5.09538435e-01 -5.17278897e-02 6.74168900e+01] [ 5.90455225e-02 1.81311182e-03 9.98253645e-01 3.35036307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.48, Y:67.44, Z:3.35 [[ 5.06980292e-01 -8.61486148e-01 -2.85061617e-02 1.06478866e+02] [ 8.59934047e-01 5.07778205e-01 -5.17177843e-02 6.74409095e+01] [ 5.90289624e-02 1.70647840e-03 9.98254812e-01 3.35035530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:67.46, Z:3.35 [[ 5.04721793e-01 -8.62817784e-01 -2.83086948e-02 1.06495033e+02] [ 8.61287766e-01 5.05512670e-01 -5.13840830e-02 6.74641856e+01] [ 5.86455046e-02 1.55273400e-03 9.98277664e-01 3.35223428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:67.48, Z:3.36 [[ 4.99008341e-01 -8.66161288e-01 -2.74826999e-02 1.06512189e+02] [ 8.64722658e-01 4.99763262e-01 -4.99140019e-02 6.74848874e+01] [ 5.69684199e-02 1.14258999e-03 9.98375327e-01 3.35524935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:67.51, Z:3.36 [[ 4.95986136e-01 -8.67916233e-01 -2.68172668e-02 1.06528774e+02] [ 8.66547832e-01 4.96709723e-01 -4.87268379e-02 6.75084328e+01] [ 5.56112107e-02 9.29391648e-04 9.98452067e-01 3.35853662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:67.53, Z:3.36 [[ 4.92735230e-01 -8.69779566e-01 -2.63723233e-02 1.06545559e+02] [ 8.68457773e-01 4.93439957e-01 -4.79385666e-02 6.75312631e+01] [ 5.47091437e-02 7.17771458e-04 9.98502075e-01 3.36172483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:67.55, Z:3.36 [[ 4.86467501e-01 -8.73310848e-01 -2.60294762e-02 1.06564715e+02] [ 8.72026640e-01 4.87163271e-01 -4.73443332e-02 6.75529692e+01] [ 5.40269245e-02 3.33082759e-04 9.98539424e-01 3.36493880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:67.58, Z:3.37 [[ 4.83461361e-01 -8.74972139e-01 -2.62463006e-02 1.06579534e+02] [ 8.73667158e-01 4.84173242e-01 -4.77699563e-02 6.75758655e+01] [ 5.45051373e-02 1.64397198e-04 9.98513477e-01 3.36635802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:67.60, Z:3.37 [[ 4.80970816e-01 -8.76339783e-01 -2.63753457e-02 1.06594358e+02] [ 8.75022180e-01 4.81693454e-01 -4.80374969e-02 6.75994080e+01] [ 5.48020010e-02 2.56215719e-05 9.98497241e-01 3.36697728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.61, Y:67.62, Z:3.37 [[ 4.78449674e-01 -8.77719318e-01 -2.63573281e-02 1.06608384e+02] [ 8.76403884e-01 4.79175110e-01 -4.80358949e-02 6.76240862e+01] [ 5.47918085e-02 -1.16906410e-04 9.98497794e-01 3.36873995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:67.65, Z:3.37 [[ 4.77759329e-01 -8.78090479e-01 -2.65166984e-02 1.06621730e+02] [ 8.76757904e-01 4.78494608e-01 -4.83579035e-02 6.76486764e+01] [ 5.51507118e-02 -1.45285443e-04 9.98478031e-01 3.36981799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:67.67, Z:3.37 [[ 4.76813165e-01 -8.78584653e-01 -2.71700831e-02 1.06635027e+02] [ 8.77184637e-01 4.77586610e-01 -4.95796498e-02 6.76725480e+01] [ 5.65359873e-02 -1.92949769e-04 9.98400543e-01 3.36987367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:67.70, Z:3.37 [[ 4.75914987e-01 -8.79034799e-01 -2.83327991e-02 1.06647813e+02] [ 8.77511900e-01 4.76757550e-01 -5.17214041e-02 6.76964181e+01] [ 5.89727899e-02 -2.47377010e-04 9.98259560e-01 3.36802209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:67.72, Z:3.37 [[ 4.75874411e-01 -8.79041886e-01 -2.87907534e-02 1.06660925e+02] [ 8.77468131e-01 4.76744485e-01 -5.25773269e-02 6.77212518e+01] [ 5.99435055e-02 -2.42764156e-04 9.98201742e-01 3.36927640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:67.75, Z:3.37 [[ 4.76268079e-01 -8.78830368e-01 -2.87384860e-02 1.06673642e+02] [ 8.77260061e-01 4.77134303e-01 -5.25132456e-02 6.77453351e+01] [ 5.98623525e-02 -2.00743404e-04 9.98206621e-01 3.37046699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:67.77, Z:3.37 [[ 4.77356995e-01 -8.78243433e-01 -2.86142037e-02 1.06686448e+02] [ 8.76684025e-01 4.78213823e-01 -5.23130951e-02 6.77707918e+01] [ 5.96273400e-02 -1.13593369e-04 9.98220701e-01 3.37247243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:67.80, Z:3.37 [[ 4.81330760e-01 -8.76075642e-01 -2.84985725e-02 1.06696263e+02] [ 8.74523010e-01 4.82173661e-01 -5.21350616e-02 6.77972176e+01] [ 5.94155186e-02 1.71551421e-04 9.98233323e-01 3.37310357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:67.82, Z:3.37 [[ 4.83431299e-01 -8.74919104e-01 -2.84735141e-02 1.06707526e+02] [ 8.73365197e-01 4.84268988e-01 -5.21227339e-02 6.78227945e+01] [ 5.93920155e-02 3.29984678e-04 9.98234682e-01 3.37479466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:67.85, Z:3.38 [[ 4.88008029e-01 -8.72394389e-01 -2.78602428e-02 1.06717836e+02] [ 8.70900725e-01 4.88802229e-01 -5.10324225e-02 6.78491639e+01] [ 5.81385479e-02 6.40726293e-04 9.98308318e-01 3.37790199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:67.88, Z:3.38 [[ 4.90033047e-01 -8.71272856e-01 -2.74084465e-02 1.06729528e+02] [ 8.69823761e-01 4.90798336e-01 -5.02356290e-02 6.78751263e+01] [ 5.72209599e-02 7.76600355e-04 9.98361237e-01 3.37979525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:67.90, Z:3.38 [[ 4.92293912e-01 -8.70007177e-01 -2.70964233e-02 1.06739684e+02] [ 8.68587274e-01 4.93038183e-01 -4.96940386e-02 6.79003957e+01] [ 5.65937415e-02 9.28464142e-04 9.98396858e-01 3.38071812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:67.93, Z:3.38 [[ 4.94361424e-01 -8.68843307e-01 -2.67972118e-02 1.06751719e+02] [ 8.67451270e-01 4.95086028e-01 -4.91743815e-02 6.79263639e+01] [ 5.59917573e-02 1.06464189e-03 9.98430663e-01 3.38236658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:67.95, Z:3.39 [[ 4.97979730e-01 -8.66784701e-01 -2.64664051e-02 1.06762225e+02] [ 8.65422283e-01 4.98680863e-01 -4.85970079e-02 6.79523674e+01] [ 5.53214327e-02 1.29570813e-03 9.98467756e-01 3.38520833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:67.98, Z:3.39 [[ 4.99252074e-01 -8.66045036e-01 -2.67088376e-02 1.06774182e+02] [ 8.64654732e-01 4.99964018e-01 -4.90731716e-02 6.79786370e+01] [ 5.58530344e-02 1.40595992e-03 9.98438011e-01 3.38554737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:68.00, Z:3.39 [[ 5.00653895e-01 -8.65228428e-01 -2.69340832e-02 1.06786605e+02] [ 8.63811752e-01 5.01375552e-01 -4.95157816e-02 6.80047043e+01] [ 5.63465527e-02 1.52429136e-03 9.98410107e-01 3.38607044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:68.03, Z:3.39 [[ 5.01763153e-01 -8.64569327e-01 -2.74520723e-02 1.06800633e+02] [ 8.63094782e-01 5.02510867e-01 -5.04997611e-02 6.80294561e+01] [ 5.74555092e-02 1.64517898e-03 9.98346712e-01 3.38713303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:68.06, Z:3.39 [[ 5.02844726e-01 -8.63935754e-01 -2.76078632e-02 1.06810947e+02] [ 8.62441591e-01 5.03599019e-01 -5.08186052e-02 6.80554634e+01] [ 5.78073028e-02 1.74369819e-03 9.98326237e-01 3.38728898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:68.08, Z:3.39 [[ 5.03877658e-01 -8.63322694e-01 -2.79505179e-02 1.06823891e+02] [ 8.61788319e-01 5.04648880e-01 -5.14820506e-02 6.80804164e+01] [ 5.85508202e-02 1.85322530e-03 9.98282709e-01 3.38878531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:68.11, Z:3.39 [[ 5.05225843e-01 -8.62506997e-01 -2.87841693e-02 1.06835873e+02] [ 8.60876271e-01 5.06041092e-01 -5.30514774e-02 6.81065324e+01] [ 6.03232429e-02 2.02336901e-03 9.98176844e-01 3.38803626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.85, Y:68.13, Z:3.39 [[ 5.05478584e-01 -8.62360601e-01 -2.87331687e-02 1.06848655e+02] [ 8.60733406e-01 5.06290405e-01 -5.29908415e-02 6.81315309e+01] [ 6.02445416e-02 2.05413737e-03 9.98181534e-01 3.38864717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:68.16, Z:3.39 [[ 5.05986118e-01 -8.62064277e-01 -2.86920051e-02 1.06860786e+02] [ 8.60439207e-01 5.06794590e-01 -5.29491735e-02 6.81562994e+01] [ 6.01865439e-02 2.10382064e-03 9.98184930e-01 3.38993432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:68.18, Z:3.39 [[ 5.05808963e-01 -8.62176886e-01 -2.84307909e-02 1.06874892e+02] [ 8.60579558e-01 5.06603058e-01 -5.24991997e-02 6.81805847e+01] [ 5.96667221e-02 2.08760824e-03 9.98216171e-01 3.39159909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:68.20, Z:3.39 [[ 5.05361109e-01 -8.62443067e-01 -2.83214861e-02 1.06887889e+02] [ 8.60856333e-01 5.06149867e-01 -5.23324576e-02 6.82038237e+01] [ 5.94686817e-02 2.06605816e-03 9.98228034e-01 3.39314123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:68.23, Z:3.39 [[ 5.04540903e-01 -8.62927845e-01 -2.81782190e-02 1.06901768e+02] [ 8.61355785e-01 5.05323132e-01 -5.21032010e-02 6.82277456e+01] [ 5.92004088e-02 2.01672411e-03 9.98244081e-01 3.39484148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40687499999999 meters Centerline goodness [0,1] 0.9999274749184093 Centerline is valid? [True, True] Translation: X:106.92, Y:68.25, Z:3.40 [[ 5.02783503e-01 -8.63956809e-01 -2.80603115e-02 1.06918415e+02] [ 8.62397519e-01 5.03562314e-01 -5.19183542e-02 6.82515209e+01] [ 5.89853311e-02 1.90454898e-03 9.98257033e-01 3.39693895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:68.28, Z:3.40 [[ 5.01710758e-01 -8.64587876e-01 -2.78230278e-02 1.06933458e+02] [ 8.63054207e-01 5.02478319e-01 -5.15070330e-02 6.82760759e+01] [ 5.85128245e-02 1.82885134e-03 9.98284982e-01 3.39872583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:68.30, Z:3.40 [[ 5.00942341e-01 -8.65040558e-01 -2.75971669e-02 1.06947723e+02] [ 8.63531235e-01 5.01698808e-01 -5.11088198e-02 6.83007720e+01] [ 5.80566678e-02 1.77155618e-03 9.98311717e-01 3.40092346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.96, Y:68.32, Z:3.40 [[ 4.99952011e-01 -8.65625995e-01 -2.71960288e-02 1.06962049e+02] [ 8.64159799e-01 5.00688306e-01 -5.03891131e-02 6.83248094e+01] [ 5.72348598e-02 1.69042363e-03 9.98359311e-01 3.40360117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:68.35, Z:3.41 [[ 4.97622100e-01 -8.66981328e-01 -2.67511024e-02 1.06975358e+02] [ 8.65563092e-01 4.98338293e-01 -4.95931386e-02 6.83480690e+01] [ 5.63274239e-02 1.52387493e-03 9.98411187e-01 3.40527122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:68.37, Z:3.41 [[ 4.96486775e-01 -8.67642500e-01 -2.64078523e-02 1.06991374e+02] [ 8.66260197e-01 4.97186500e-01 -4.89781110e-02 6.83716306e+01] [ 5.56251183e-02 1.44091304e-03 9.98450685e-01 3.40811678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:68.40, Z:3.41 [[ 4.95148277e-01 -8.68414541e-01 -2.61604479e-02 1.07006148e+02] [ 8.67057422e-01 4.95837014e-01 -4.85497964e-02 6.83956596e+01] [ 5.51326675e-02 1.35673753e-03 9.98478116e-01 3.40899477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:68.42, Z:3.41 [[ 4.93484671e-01 -8.69364294e-01 -2.60500162e-02 1.07020780e+02] [ 8.68018249e-01 4.94170147e-01 -4.83754581e-02 6.84194598e+01] [ 5.49290364e-02 1.26065761e-03 9.98489465e-01 3.40928733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:68.44, Z:3.41 [[ 4.92618201e-01 -8.69846522e-01 -2.63502766e-02 1.07035492e+02] [ 8.68468189e-01 4.93320889e-01 -4.89643282e-02 6.84430378e+01] [ 5.55905925e-02 1.23634223e-03 9.98452882e-01 3.41078517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:68.47, Z:3.41 [[ 4.91789112e-01 -8.70306653e-01 -2.66420542e-02 1.07050109e+02] [ 8.68896440e-01 4.92508738e-01 -4.95390740e-02 6.84672977e+01] [ 5.62356302e-02 1.21359118e-03 9.98416787e-01 3.41155522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:68.49, Z:3.41 [[ 4.91029697e-01 -8.70723322e-01 -2.70320778e-02 1.07064708e+02] [ 8.69270210e-01 4.91771754e-01 -5.02975520e-02 6.84910492e+01] [ 5.70888639e-02 1.19941181e-03 9.98368380e-01 3.41282806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.08, Y:68.51, Z:3.41 [[ 4.89760628e-01 -8.71437689e-01 -2.70348246e-02 1.07080485e+02] [ 8.69983472e-01 4.90504915e-01 -5.03357368e-02 6.85140855e+01] [ 5.71251725e-02 1.13261145e-03 9.98366382e-01 3.41457701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:68.54, Z:3.42 [[ 4.88816224e-01 -8.71971928e-01 -2.69008625e-02 1.07094062e+02] [ 8.70531033e-01 4.89554684e-01 -5.01191785e-02 6.85379172e+01] [ 5.68719600e-02 1.08103193e-03 9.98380895e-01 3.41535985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:68.56, Z:3.42 [[ 4.88582588e-01 -8.72103288e-01 -2.68869693e-02 1.07107020e+02] [ 8.70662182e-01 4.89320636e-01 -5.01266312e-02 6.85622939e+01] [ 5.68719488e-02 1.08153188e-03 9.98380895e-01 3.41656563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:68.59, Z:3.42 [[ 4.87868215e-01 -8.72509207e-01 -2.66887365e-02 1.07121532e+02] [ 8.71088088e-01 4.88596559e-01 -4.97890083e-02 6.85861002e+01] [ 5.64813930e-02 1.04223409e-03 9.98403108e-01 3.41769701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:68.61, Z:3.42 [[ 4.87380157e-01 -8.72781331e-01 -2.67082639e-02 1.07136711e+02] [ 8.71356699e-01 4.88110329e-01 -4.98578980e-02 6.86094035e+01] [ 5.65516220e-02 1.02732542e-03 9.98399148e-01 3.41794185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:68.63, Z:3.42 [[ 4.87416616e-01 -8.72756671e-01 -2.68483735e-02 1.07150946e+02] [ 8.71315118e-01 4.88154367e-01 -5.01525577e-02 6.86336189e+01] [ 5.68771301e-02 1.05179624e-03 9.98380632e-01 3.41886540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:68.66, Z:3.42 [[ 4.87885518e-01 -8.72493222e-01 -2.68942095e-02 1.07164502e+02] [ 8.71044440e-01 4.88624975e-01 -5.02714485e-02 6.86580982e+01] [ 5.70026806e-02 1.10066004e-03 9.98373419e-01 3.41977407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:68.68, Z:3.42 [[ 4.89201085e-01 -8.71739941e-01 -2.74184967e-02 1.07176131e+02] [ 8.70231078e-01 4.89967315e-01 -5.12825574e-02 6.86829760e+01] [ 5.81392208e-02 1.22705477e-03 9.98307731e-01 3.41931922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:68.71, Z:3.42 [[ 4.89397910e-01 -8.71624499e-01 -2.75757080e-02 1.07188699e+02] [ 8.70096668e-01 4.90172568e-01 -5.16007999e-02 6.87078772e+01] [ 5.84933769e-02 1.25979198e-03 9.98287002e-01 3.41974025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:68.73, Z:3.42 [[ 4.88157060e-01 -8.72316665e-01 -2.76825093e-02 1.07202519e+02] [ 8.70776081e-01 4.88939875e-01 -5.18345032e-02 6.87319576e+01] [ 5.87511836e-02 1.19811176e-03 9.98271938e-01 3.42072897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:68.76, Z:3.42 [[ 4.85497870e-01 -8.73792450e-01 -2.79029262e-02 1.07217082e+02] [ 8.72227608e-01 4.86297916e-01 -5.22813169e-02 6.87553511e+01] [ 5.92521548e-02 1.04476545e-03 9.98242501e-01 3.42200577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:68.78, Z:3.42 [[ 4.84160232e-01 -8.74555083e-01 -2.72447579e-02 1.07230683e+02] [ 8.73062592e-01 4.84925267e-01 -5.10802848e-02 6.87790275e+01] [ 5.78841942e-02 9.44663578e-04 9.98322857e-01 3.42462736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.24, Y:68.80, Z:3.43 [[ 4.83969468e-01 -8.74662923e-01 -2.71721426e-02 1.07242918e+02] [ 8.73176637e-01 4.84730727e-01 -5.09772728e-02 6.88028607e+01] [ 5.77591029e-02 9.45363571e-04 9.98330102e-01 3.42635152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:68.83, Z:3.43 [[ 4.83555988e-01 -8.74901592e-01 -2.68479084e-02 1.07255935e+02] [ 8.73448962e-01 4.84299858e-01 -5.04039456e-02 6.88278886e+01] [ 5.71009305e-02 9.22852022e-04 9.98367984e-01 3.42816329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:68.85, Z:3.43 [[ 4.83290366e-01 -8.75056329e-01 -2.65865352e-02 1.07268823e+02] [ 8.73630262e-01 4.84020238e-01 -4.99457151e-02 6.88532021e+01] [ 5.65737352e-02 9.11481155e-04 9.98398008e-01 3.43000291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:68.88, Z:3.43 [[ 4.83380859e-01 -8.75023543e-01 -2.60143137e-02 1.07280446e+02] [ 8.73656425e-01 4.84079507e-01 -4.89027914e-02 6.88781244e+01] [ 5.53840899e-02 9.11100964e-04 9.98464708e-01 3.43077589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:68.90, Z:3.43 [[ 4.83631456e-01 -8.74888945e-01 -2.58833550e-02 1.07292930e+02] [ 8.73533546e-01 4.84322675e-01 -4.86897360e-02 6.89027837e+01] [ 5.51340075e-02 9.37909066e-04 9.98478523e-01 3.43300308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:68.92, Z:3.44 [[ 4.79078810e-01 -8.77407517e-01 -2.52891962e-02 1.07308255e+02] [ 8.76115520e-01 4.79745379e-01 -4.76021770e-02 6.89249943e+01] [ 5.38988829e-02 6.48937046e-04 9.98546188e-01 3.43629672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:68.95, Z:3.44 [[ 4.77138454e-01 -8.78461438e-01 -2.53849832e-02 1.07322313e+02] [ 8.77159505e-01 4.77812938e-01 -4.78121181e-02 6.89493039e+01] [ 5.41303754e-02 5.46320752e-04 9.98533727e-01 3.43844147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:68.97, Z:3.44 [[ 4.75945945e-01 -8.79106738e-01 -2.54322966e-02 1.07333962e+02] [ 8.77799237e-01 4.76624701e-01 -4.79311342e-02 6.89733282e+01] [ 5.42582437e-02 4.88178402e-04 9.98526817e-01 3.43841198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:69.00, Z:3.44 [[ 4.74154992e-01 -8.80045821e-01 -2.63893184e-02 1.07345936e+02] [ 8.78637927e-01 4.74888604e-01 -4.97615107e-02 6.89984368e+01] [ 5.63243962e-02 4.08012704e-04 9.98412438e-01 3.43687087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:69.02, Z:3.44 [[ 4.73398668e-01 -8.80435788e-01 -2.69541269e-02 1.07357473e+02] [ 8.78965523e-01 4.74165240e-01 -5.08619141e-02 6.90233582e+01] [ 5.75613595e-02 3.86214122e-04 9.98341896e-01 3.43508303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.37, Y:69.05, Z:3.44 [[ 4.72348458e-01 -8.80989070e-01 -2.72982062e-02 1.07370453e+02] [ 8.79479793e-01 4.73136494e-01 -5.15475596e-02 6.90488765e+01] [ 5.83286142e-02 3.40189569e-04 9.98297379e-01 3.43544800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:69.07, Z:3.44 [[ 4.71572332e-01 -8.81402886e-01 -2.73585210e-02 1.07383696e+02] [ 8.79885623e-01 4.72365176e-01 -5.16955500e-02 6.90738862e+01] [ 5.84878195e-02 3.05821828e-04 9.98288075e-01 3.43659030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:69.10, Z:3.44 [[ 4.70106025e-01 -8.82193120e-01 -2.71223982e-02 1.07397587e+02] [ 8.80701320e-01 4.70887726e-01 -5.12828811e-02 6.90979787e+01] [ 5.80130093e-02 2.21659454e-04 9.98315803e-01 3.43983782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:69.12, Z:3.44 [[ 4.69504125e-01 -8.82531804e-01 -2.65234214e-02 1.07410129e+02] [ 8.81103911e-01 4.70252676e-01 -5.01828651e-02 6.91220281e+01] [ 5.67606843e-02 1.91171926e-04 9.98387794e-01 3.44209592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:69.15, Z:3.44 [[ 4.68988766e-01 -8.82827913e-01 -2.57762212e-02 1.07422851e+02] [ 8.81478080e-01 4.69696549e-01 -4.88010892e-02 6.91471397e+01] [ 5.51899659e-02 1.65988568e-04 9.98475859e-01 3.44468733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:69.17, Z:3.45 [[ 4.69350886e-01 -8.82666214e-01 -2.47002125e-02 1.07434774e+02] [ 8.81425029e-01 4.70000338e-01 -4.67931698e-02 6.91723618e+01] [ 5.29118583e-02 1.91030147e-04 9.98599168e-01 3.44815735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:69.20, Z:3.45 [[ 4.70137667e-01 -8.82258209e-01 -2.43110313e-02 1.07446392e+02] [ 8.81053744e-01 4.70765749e-01 -4.60858908e-02 6.91965315e+01] [ 5.21044563e-02 2.47388031e-04 9.98641610e-01 3.44992165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:69.22, Z:3.45 [[ 4.71609835e-01 -8.81480881e-01 -2.39920886e-02 1.07458204e+02] [ 8.80305247e-01 4.72219587e-01 -4.55119127e-02 6.92224793e+01] [ 5.14474151e-02 3.43504141e-04 9.98675646e-01 3.45138334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:69.25, Z:3.45 [[ 4.73431096e-01 -8.80503650e-01 -2.40066604e-02 1.07469658e+02] [ 8.79323813e-01 4.74039140e-01 -4.55689117e-02 6.92487264e+01] [ 5.15036897e-02 4.64111625e-04 9.98672696e-01 3.45279367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:69.28, Z:3.45 [[ 4.78121264e-01 -8.77949448e-01 -2.45931509e-02 1.07477920e+02] [ 8.76706241e-01 4.78752722e-01 -4.67118545e-02 6.92753835e+01] [ 5.27846848e-02 7.72961970e-04 9.98605618e-01 3.45202135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:69.30, Z:3.45 [[ 4.80139695e-01 -8.76845178e-01 -2.46659174e-02 1.07489726e+02] [ 8.75591547e-01 4.80771986e-01 -4.68800629e-02 6.93013559e+01] [ 5.29652392e-02 9.11710338e-04 9.98595940e-01 3.45290445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:69.33, Z:3.45 [[ 4.82373449e-01 -8.75609785e-01 -2.49671762e-02 1.07499914e+02] [ 8.74322051e-01 4.83017959e-01 -4.74826482e-02 6.93274805e+01] [ 5.36358658e-02 1.07501605e-03 9.98559982e-01 3.45286731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:69.35, Z:3.45 [[ 4.84342811e-01 -8.74519825e-01 -2.50423055e-02 1.07510426e+02] [ 8.73221255e-01 4.84988249e-01 -4.76554179e-02 6.93541692e+01] [ 5.38208316e-02 1.21408561e-03 9.98549871e-01 3.45340557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:69.38, Z:3.45 [[ 4.87263591e-01 -8.72886412e-01 -2.53673783e-02 1.07521806e+02] [ 8.71550102e-01 4.87921382e-01 -4.83026349e-02 6.93807572e+01] [ 5.45399999e-02 1.42717416e-03 9.98510567e-01 3.45460615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters Centerline goodness [0,1] 0.9999758663963703 Centerline is valid? [True, True] Translation: X:107.53, Y:69.41, Z:3.46 [[ 4.87968406e-01 -8.72484568e-01 -2.56420193e-02 1.07532742e+02] [ 8.71116875e-01 4.88639354e-01 -4.88566536e-02 6.94060012e+01] [ 5.51563761e-02 1.50330770e-03 9.98476597e-01 3.45514211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84687499999998 meters Centerline goodness [0,1] 0.9999757963016749 Centerline is valid? [True, True] Translation: X:107.54, Y:69.43, Z:3.45 [[ 4.87757720e-01 -8.72589394e-01 -2.60798194e-02 1.07541578e+02] [ 8.71173045e-01 4.88452049e-01 -4.97204381e-02 6.94326050e+01] [ 5.61242682e-02 1.53149179e-03 9.98422616e-01 3.45351954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters Centerline goodness [0,1] 0.999951754914968 Centerline is valid? [True, True] Translation: X:107.56, Y:69.45, Z:3.46 [[ 4.83929470e-01 -8.74718039e-01 -2.60886794e-02 1.07562282e+02] [ 8.73302302e-01 4.84630441e-01 -4.97636957e-02 6.94534662e+01] [ 5.61725705e-02 1.29881513e-03 9.98420230e-01 3.45748314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90687499999999 meters Centerline goodness [0,1] 0.999975851243661 Centerline is valid? [True, True] Translation: X:107.58, Y:69.48, Z:3.46 [[ 4.82221278e-01 -8.75668157e-01 -2.58441137e-02 1.07575952e+02] [ 8.74278522e-01 4.82911854e-01 -4.93275457e-02 6.94768797e+01] [ 5.56749899e-02 1.19183854e-03 9.98448234e-01 3.45985273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters Centerline goodness [0,1] 0.9999274257928732 Centerline is valid? [True, True] Translation: X:107.59, Y:69.50, Z:3.46 [[ 4.80296700e-01 -8.76733115e-01 -2.55758545e-02 1.07590777e+02] [ 8.75372472e-01 4.80975991e-01 -4.88378197e-02 6.95016147e+01] [ 5.51191057e-02 1.06824464e-03 9.98479215e-01 3.46196617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.966875 meters Centerline goodness [0,1] 0.9999038808122072 Centerline is valid? [True, True] Translation: X:107.60, Y:69.53, Z:3.46 [[ 4.78991221e-01 -8.77455263e-01 -2.52917157e-02 1.07604661e+02] [ 8.76124125e-01 4.79657465e-01 -4.83242508e-02 6.95258629e+01] [ 5.45337285e-02 9.88209577e-04 9.98511440e-01 3.46312072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters Centerline goodness [0,1] 0.9999275274791641 Centerline is valid? [True, True] Translation: X:107.62, Y:69.55, Z:3.46 [[ 4.77365354e-01 -8.78352991e-01 -2.48664869e-02 1.07619335e+02] [ 8.77065826e-01 4.78011756e-01 -4.75425899e-02 6.95504721e+01] [ 5.36456491e-02 8.85639453e-04 9.98559643e-01 3.46466559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.026875 meters Centerline goodness [0,1] 0.9998069591235944 Centerline is valid? [True, True] Translation: X:107.63, Y:69.57, Z:3.47 [[ 4.77062245e-01 -8.78521411e-01 -2.47334679e-02 1.07631244e+02] [ 8.77246561e-01 4.77702168e-01 -4.73192371e-02 6.95743470e+01] [ 5.33861942e-02 8.76871778e-04 9.98573555e-01 3.46555449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:69.60, Z:3.47 [[ 4.77087882e-01 -8.78516988e-01 -2.43937539e-02 1.07644056e+02] [ 8.77275224e-01 4.77710296e-01 -4.67017715e-02 6.95991657e+01] [ 5.26814470e-02 8.80813383e-04 9.98610980e-01 3.46737086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.086875 meters Centerline goodness [0,1] 0.9999273467015403 Centerline is valid? [True, True] Translation: X:107.66, Y:69.62, Z:3.47 [[ 4.77500824e-01 -8.78296822e-01 -2.42415900e-02 1.07656947e+02] [ 8.77068624e-01 4.78114899e-01 -4.64410596e-02 6.96236658e+01] [ 5.23793004e-02 9.14106294e-04 9.98626844e-01 3.46956692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters Centerline goodness [0,1] 0.9998799116149486 Centerline is valid? [True, True] Translation: X:107.67, Y:69.65, Z:3.47 [[ 4.79152907e-01 -8.77403746e-01 -2.39824587e-02 1.07668521e+02] [ 8.76199017e-01 4.79751640e-01 -4.59744142e-02 6.96486021e+01] [ 5.18437471e-02 1.01536746e-03 9.98654693e-01 3.47188760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.146875 meters Centerline goodness [0,1] 0.9999036005205572 Centerline is valid? [True, True] Translation: X:107.68, Y:69.67, Z:3.47 [[ 4.79908028e-01 -8.76991922e-01 -2.39468701e-02 1.07679274e+02] [ 8.75788803e-01 4.80503922e-01 -4.59342241e-02 6.96732958e+01] [ 5.17905085e-02 1.07180221e-03 9.98657396e-01 3.47323703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:69.70, Z:3.47 [[ 4.83030674e-01 -8.75277574e-01 -2.38859175e-02 1.07688199e+02] [ 8.74076902e-01 4.83619232e-01 -4.58476607e-02 6.96986652e+01] [ 5.16811183e-02 1.26769766e-03 9.98662833e-01 3.47432161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:69.72, Z:3.48 [[ 4.84459336e-01 -8.74482291e-01 -2.40805912e-02 1.07698920e+02] [ 8.73259653e-01 4.85055492e-01 -4.62465986e-02 6.97249872e+01] [ 5.21222545e-02 1.37598778e-03 9.98639763e-01 3.47503453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:69.75, Z:3.48 [[ 4.85956777e-01 -8.73644797e-01 -2.43059675e-02 1.07710295e+02] [ 8.72396517e-01 4.86561955e-01 -4.67095471e-02 6.97505815e+01] [ 5.26339119e-02 1.49437957e-03 9.98612757e-01 3.47532671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:69.78, Z:3.48 [[ 4.87388648e-01 -8.72850141e-01 -2.41854501e-02 1.07722262e+02] [ 8.71611664e-01 4.87985770e-01 -4.65080277e-02 6.97759221e+01] [ 5.23966940e-02 1.58716430e-03 9.98625088e-01 3.47630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:69.80, Z:3.48 [[ 4.87061824e-01 -8.73027901e-01 -2.43529027e-02 1.07731316e+02] [ 8.71770883e-01 4.87667659e-01 -4.68591757e-02 6.98021471e+01] [ 5.27854909e-02 1.59316408e-03 9.98604603e-01 3.47662004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:69.83, Z:3.48 [[ 4.84725088e-01 -8.74319797e-01 -2.46268412e-02 1.07744593e+02] [ 8.73034718e-01 4.85348019e-01 -4.74097136e-02 6.98257081e+01] [ 5.34038398e-02 1.48059022e-03 9.98571899e-01 3.47754097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:69.85, Z:3.48 [[ 4.83364067e-01 -8.75071825e-01 -2.46673727e-02 1.07758651e+02] [ 8.73782223e-01 4.83991021e-01 -4.75112361e-02 6.98504201e+01] [ 5.35145310e-02 1.41131254e-03 9.98566074e-01 3.47919761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:69.88, Z:3.48 [[ 4.81904797e-01 -8.75883897e-01 -2.43960093e-02 1.07772383e+02] [ 8.74622029e-01 4.82520108e-01 -4.70175625e-02 6.98754982e+01] [ 5.29534909e-02 1.32070173e-03 9.98596106e-01 3.48114285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:69.90, Z:3.48 [[ 4.80507813e-01 -8.76659229e-01 -2.41005911e-02 1.07786152e+02] [ 8.75427293e-01 4.81110253e-01 -4.64755784e-02 6.98997146e+01] [ 5.23382862e-02 1.23356326e-03 9.98628651e-01 3.48344163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:69.92, Z:3.48 [[ 4.79056070e-01 -8.77458511e-01 -2.39132203e-02 1.07799443e+02] [ 8.76245174e-01 4.79651160e-01 -4.61428095e-02 6.99241502e+01] [ 5.19584048e-02 1.15114910e-03 9.98648586e-01 3.48484854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:69.95, Z:3.49 [[ 4.77610608e-01 -8.78251423e-01 -2.37180499e-02 1.07815860e+02] [ 8.77057338e-01 4.78197966e-01 -4.57944482e-02 6.99474948e+01] [ 5.15609625e-02 1.06982459e-03 9.98669276e-01 3.48773820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:69.97, Z:3.49 [[ 4.76178919e-01 -8.79052500e-01 -2.28109554e-02 1.07828406e+02] [ 8.77947666e-01 4.76724013e-01 -4.40693912e-02 6.99719371e+01] [ 4.96138387e-02 9.58090031e-04 9.98768016e-01 3.49037066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:70.00, Z:3.49 [[ 4.75026285e-01 -8.79682528e-01 -2.25538872e-02 1.07842051e+02] [ 8.78602190e-01 4.75560568e-01 -4.35928625e-02 6.99966700e+01] [ 4.90736190e-02 8.91860855e-04 9.98794766e-01 3.49206895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:70.02, Z:3.49 [[ 4.74229940e-01 -8.80115796e-01 -2.24086752e-02 1.07854949e+02] [ 8.79048407e-01 4.74758311e-01 -4.33410324e-02 7.00213380e+01] [ 4.87838320e-02 8.55304982e-04 9.98808994e-01 3.49382723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:70.05, Z:3.50 [[ 4.74161377e-01 -8.80157717e-01 -2.22121992e-02 1.07866194e+02] [ 8.79107612e-01 4.74680585e-01 -4.29900977e-02 7.00462975e+01] [ 4.83817660e-02 8.57330551e-04 9.98828549e-01 3.49513311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:70.07, Z:3.50 [[ 4.74061150e-01 -8.80214893e-01 -2.20854852e-02 1.07878775e+02] [ 8.79175340e-01 4.74574547e-01 -4.27752241e-02 7.00718512e+01] [ 4.81325985e-02 8.61057950e-04 9.98840584e-01 3.49703506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.89, Y:70.10, Z:3.50 [[ 4.74544598e-01 -8.79941346e-01 -2.25976206e-02 1.07890824e+02] [ 8.78851205e-01 4.75081440e-01 -4.37970863e-02 7.00976844e+01] [ 4.92745772e-02 9.23724590e-04 9.98784843e-01 3.49779697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:70.12, Z:3.50 [[ 4.74304217e-01 -8.80071233e-01 -2.25861544e-02 1.07903384e+02] [ 8.78980958e-01 4.74840787e-01 -4.38029989e-02 7.01222645e+01] [ 4.92745865e-02 9.23147501e-04 9.98784843e-01 3.49900321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:70.15, Z:3.50 [[ 4.74437774e-01 -8.79991760e-01 -2.28757817e-02 1.07915665e+02] [ 8.78871727e-01 4.74987985e-01 -4.43948483e-02 7.01476753e+01] [ 4.99328221e-02 9.57715225e-04 9.98752119e-01 3.49935166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:70.17, Z:3.50 [[ 4.74406889e-01 -8.80003564e-01 -2.30614653e-02 1.07927417e+02] [ 8.78863750e-01 4.74966072e-01 -4.47854905e-02 7.01730981e+01] [ 5.03648049e-02 9.78659362e-04 9.98730408e-01 3.49958179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:70.20, Z:3.50 [[ 4.74533893e-01 -8.79934920e-01 -2.30677367e-02 1.07939392e+02] [ 8.78792890e-01 4.75093186e-01 -4.48276869e-02 7.01988619e+01] [ 5.04047716e-02 1.00049381e-03 9.98728370e-01 3.50025230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:70.22, Z:3.50 [[ 4.75309878e-01 -8.79508448e-01 -2.33540151e-02 1.07951534e+02] [ 8.78335800e-01 4.75882063e-01 -4.54145826e-02 7.02249968e+01] [ 5.10562660e-02 1.07333219e-03 9.98695202e-01 3.50177922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:70.25, Z:3.50 [[ 4.75682997e-01 -8.79312695e-01 -2.31272675e-02 1.07962071e+02] [ 8.78161038e-01 4.76243614e-01 -4.50023605e-02 7.02503091e+01] [ 5.05853603e-02 1.09739245e-03 9.98719138e-01 3.50352274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:70.28, Z:3.51 [[ 4.76204739e-01 -8.79026855e-01 -2.32558509e-02 1.07975741e+02] [ 8.77860391e-01 4.76770875e-01 -4.52842907e-02 7.02752648e+01] [ 5.08938201e-02 1.14920346e-03 9.98703409e-01 3.50502971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:70.30, Z:3.51 [[ 4.77010435e-01 -8.78591044e-01 -2.32125371e-02 1.07986758e+02] [ 8.77426934e-01 4.77573365e-01 -4.52289268e-02 7.03007405e+01] [ 5.08234195e-02 1.20736474e-03 9.98706925e-01 3.50656394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:70.33, Z:3.51 [[ 4.79160374e-01 -8.77413113e-01 -2.34854099e-02 1.07999485e+02] [ 8.76218581e-01 4.79733649e-01 -4.57889225e-02 7.03261683e+01] [ 5.14425424e-02 1.36188465e-03 9.98675027e-01 3.50847664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.01, Y:70.35, Z:3.51 [[ 4.80435466e-01 -8.76710189e-01 -2.36855949e-02 1.08009139e+02] [ 8.75492783e-01 4.81016737e-01 -4.62091390e-02 7.03521862e+01] [ 5.19051906e-02 1.46394183e-03 9.98650944e-01 3.50852438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:70.38, Z:3.51 [[ 4.82008890e-01 -8.75843237e-01 -2.37918964e-02 1.08021968e+02] [ 8.74612236e-01 4.82593131e-01 -4.64468074e-02 7.03771783e+01] [ 5.21619279e-02 1.57909038e-03 9.98637392e-01 3.51007051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:70.40, Z:3.51 [[ 4.85455816e-01 -8.73937529e-01 -2.37875093e-02 1.08031077e+02] [ 8.72703048e-01 4.86034933e-01 -4.64697025e-02 7.04041292e+01] [ 5.21731775e-02 1.79955546e-03 9.98636431e-01 3.51184772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:70.43, Z:3.51 [[ 4.86296189e-01 -8.73467264e-01 -2.38946697e-02 1.08042481e+02] [ 8.72219349e-01 4.86879272e-01 -4.67116942e-02 7.04306874e+01] [ 5.24349551e-02 1.87432565e-03 9.98622583e-01 3.51262824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:70.46, Z:3.51 [[ 4.86947276e-01 -8.73098841e-01 -2.40990505e-02 1.08055412e+02] [ 8.71827383e-01 4.87539361e-01 -4.71421738e-02 7.04559467e+01] [ 5.29090130e-02 1.94554094e-03 9.98597442e-01 3.51359425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:70.48, Z:3.51 [[ 4.88261769e-01 -8.72366780e-01 -2.40134548e-02 1.08063558e+02] [ 8.71101802e-01 4.88847694e-01 -4.70062073e-02 7.04831505e+01] [ 5.27455756e-02 2.03317024e-03 9.98605913e-01 3.51412820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:70.51, Z:3.52 [[ 4.88616682e-01 -8.72169920e-01 -2.39451215e-02 1.08077358e+02] [ 8.70910229e-01 4.89198702e-01 -4.69041808e-02 7.05078928e+01] [ 5.26223380e-02 2.06411396e-03 9.98612352e-01 3.51636303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:70.53, Z:3.52 [[ 4.88402817e-01 -8.72285453e-01 -2.40993261e-02 1.08087640e+02] [ 8.71007982e-01 4.88992600e-01 -4.72369787e-02 7.05327009e+01] [ 5.29885215e-02 2.07996806e-03 9.98592955e-01 3.51677425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:70.56, Z:3.52 [[ 4.88276350e-01 -8.72356270e-01 -2.40986278e-02 1.08099149e+02] [ 8.71077081e-01 4.88866211e-01 -4.72709870e-02 7.05575197e+01] [ 5.30181467e-02 2.08954266e-03 9.98591363e-01 3.51780773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:70.58, Z:3.52 [[ 4.87922800e-01 -8.72549697e-01 -2.42562928e-02 1.08112008e+02] [ 8.71252084e-01 4.88520850e-01 -4.76149632e-02 7.05825844e+01] [ 5.33961264e-02 2.09908052e-03 9.98571203e-01 3.51922881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:70.61, Z:3.52 [[ 4.87485400e-01 -8.72794798e-01 -2.42327185e-02 1.08124642e+02] [ 8.71498254e-01 4.88082869e-01 -4.76015330e-02 7.06075192e+01] [ 5.33739452e-02 2.08628045e-03 9.98572416e-01 3.52093473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:70.63, Z:3.52 [[ 4.87228881e-01 -8.72941937e-01 -2.40913115e-02 1.08137166e+02] [ 8.71658939e-01 4.87819713e-01 -4.73563274e-02 7.06326806e+01] [ 5.30915409e-02 2.07396346e-03 9.98587496e-01 3.52241712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:70.66, Z:3.52 [[ 4.87136651e-01 -8.72989002e-01 -2.42504905e-02 1.08147909e+02] [ 8.71687353e-01 4.87735381e-01 -4.77006937e-02 7.06572214e+01] [ 5.34700032e-02 2.09791028e-03 9.98567252e-01 3.52301806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.16, Y:70.68, Z:3.52 [[ 4.86458056e-01 -8.73367311e-01 -2.42507672e-02 1.08161380e+02] [ 8.72064731e-01 4.87057758e-01 -4.77267779e-02 7.06816724e+01] [ 5.34945320e-02 2.06883680e-03 9.98565999e-01 3.52407904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:70.71, Z:3.52 [[ 4.85551826e-01 -8.73865967e-01 -2.44478063e-02 1.08172576e+02] [ 8.72540916e-01 4.86162608e-01 -4.81484058e-02 7.07063293e+01] [ 5.39608625e-02 2.04683511e-03 9.98540953e-01 3.52408822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:70.73, Z:3.53 [[ 4.85093935e-01 -8.74108736e-01 -2.48554082e-02 1.08188091e+02] [ 8.72737475e-01 4.85725878e-01 -4.89864391e-02 7.07294142e+01] [ 5.48923893e-02 2.07077828e-03 9.98490129e-01 3.52576019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.20, Y:70.75, Z:3.53 [[ 4.83174710e-01 -8.75161587e-01 -2.51872198e-02 1.08199646e+02] [ 8.73752882e-01 4.83826640e-01 -4.96757806e-02 7.07548218e+01] [ 5.56605829e-02 1.99467497e-03 9.98447756e-01 3.52511936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:70.78, Z:3.53 [[ 4.82358078e-01 -8.75608500e-01 -2.53069028e-02 1.08212716e+02] [ 8.74185065e-01 4.83017472e-01 -4.99459124e-02 7.07793780e+01] [ 5.59567416e-02 1.96889790e-03 9.98431253e-01 3.52648242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:70.80, Z:3.53 [[ 4.81446685e-01 -8.76101551e-01 -2.55961301e-02 1.08227018e+02] [ 8.74644063e-01 4.82122668e-01 -5.05519123e-02 7.08033547e+01] [ 5.66290834e-02 1.95054734e-03 9.98393381e-01 3.52881457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:70.83, Z:3.53 [[ 4.81041206e-01 -8.76330830e-01 -2.53699531e-02 1.08238752e+02] [ 8.74897480e-01 4.81705908e-01 -5.01379817e-02 7.08276381e+01] [ 5.61583154e-02 1.92232719e-03 9.98420026e-01 3.53031535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:70.85, Z:3.53 [[ 4.80583441e-01 -8.76582910e-01 -2.53368908e-02 1.08250138e+02] [ 8.75152214e-01 4.81247110e-01 -5.00981195e-02 7.08522938e+01] [ 5.61084609e-02 1.90269053e-03 9.98422867e-01 3.53062479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.26, Y:70.88, Z:3.53 [[ 4.79169171e-01 -8.77373129e-01 -2.47648740e-02 1.08264263e+02] [ 8.76005980e-01 4.79805397e-01 -4.89929000e-02 7.08768127e+01] [ 5.48673742e-02 1.78170952e-03 9.98492061e-01 3.53299792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.28, Y:70.90, Z:3.53 [[ 4.78119592e-01 -8.77951038e-01 -2.45689175e-02 1.08277941e+02] [ 8.76604475e-01 4.78747352e-01 -4.86371072e-02 7.09019041e+01] [ 5.44633029e-02 1.71713082e-03 9.98514296e-01 3.53464746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:70.93, Z:3.54 [[ 4.76848809e-01 -8.78642838e-01 -2.45352027e-02 1.08290779e+02] [ 8.77299247e-01 4.77476742e-01 -4.86003298e-02 7.09256854e+01] [ 5.44173204e-02 1.65029455e-03 9.98516916e-01 3.53541028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:70.95, Z:3.54 [[ 4.75574799e-01 -8.79334807e-01 -2.44725920e-02 1.08305816e+02] [ 8.77997710e-01 4.76201434e-01 -4.84996459e-02 7.09501861e+01] [ 5.43013102e-02 1.57832967e-03 9.98523348e-01 3.53693767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.32, Y:70.97, Z:3.54 [[ 4.72410914e-01 -8.81047463e-01 -2.41515217e-02 1.08322377e+02] [ 8.79745770e-01 4.73025862e-01 -4.78948270e-02 7.09739818e+01] [ 5.36219102e-02 1.37883990e-03 9.98560358e-01 3.53839998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:71.00, Z:3.54 [[ 4.70851707e-01 -8.81880913e-01 -2.41811180e-02 1.08335081e+02] [ 8.80575546e-01 4.71470431e-01 -4.79827030e-02 7.09981275e+01] [ 5.37157120e-02 1.29943645e-03 9.98555423e-01 3.53865417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:71.02, Z:3.54 [[ 4.69713791e-01 -8.82490991e-01 -2.40542060e-02 1.08348847e+02] [ 8.81198877e-01 4.70327681e-01 -4.77536526e-02 7.10224332e+01] [ 5.34555272e-02 1.23400990e-03 9.98569469e-01 3.53941363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:71.05, Z:3.54 [[ 4.69080130e-01 -8.82832206e-01 -2.38982645e-02 1.08363302e+02] [ 8.81555567e-01 4.69686970e-01 -4.74755906e-02 7.10469804e+01] [ 5.31376838e-02 1.20220808e-03 9.98586472e-01 3.54024335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:71.07, Z:3.54 [[ 4.68476409e-01 -8.83152797e-01 -2.38954265e-02 1.08376269e+02] [ 8.81875141e-01 4.69083940e-01 -4.75025492e-02 7.10709759e+01] [ 5.31609700e-02 1.18104112e-03 9.98585257e-01 3.53932598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.39, Y:71.10, Z:3.54 [[ 4.68577490e-01 -8.83090857e-01 -2.42007062e-02 1.08389935e+02] [ 8.81778389e-01 4.69200439e-01 -4.81437595e-02 7.10951318e+01] [ 5.38702958e-02 1.21942225e-03 9.98547197e-01 3.54077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:71.12, Z:3.54 [[ 4.69002760e-01 -8.82870407e-01 -2.40053096e-02 1.08402953e+02] [ 8.81577054e-01 4.69615036e-01 -4.77872014e-02 7.11203029e+01] [ 5.34631603e-02 1.24979924e-03 9.98569040e-01 3.54179442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:71.14, Z:3.54 [[ 4.69510610e-01 -8.82604062e-01 -2.38716954e-02 1.08413988e+02] [ 8.81323114e-01 4.70115319e-01 -4.75515996e-02 7.11444799e+01] [ 5.31916847e-02 1.28730359e-03 9.98583491e-01 3.54252897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:71.17, Z:3.54 [[ 4.70028621e-01 -8.82325105e-01 -2.39896647e-02 1.08428129e+02] [ 8.81029818e-01 4.70638526e-01 -4.78104427e-02 7.11688887e+01] [ 5.34748143e-02 1.33666657e-03 9.98568304e-01 3.54440128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:71.19, Z:3.54 [[ 4.71362886e-01 -8.81612812e-01 -2.39974753e-02 1.08438882e+02] [ 8.80314050e-01 4.71971181e-01 -4.78578940e-02 7.11940899e+01] [ 5.35182492e-02 1.43312036e-03 9.98565843e-01 3.54471493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.45, Y:71.22, Z:3.55 [[ 4.71561123e-01 -8.81508648e-01 -2.39292791e-02 1.08449891e+02] [ 8.80215429e-01 4.72165632e-01 -4.77536957e-02 7.12184385e+01] [ 5.33938790e-02 1.45586572e-03 9.98572468e-01 3.54528058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:71.24, Z:3.55 [[ 4.70860285e-01 -8.81894942e-01 -2.34926080e-02 1.08463943e+02] [ 8.80647235e-01 4.71443894e-01 -4.69159142e-02 7.12424915e+01] [ 5.24503540e-02 1.40214047e-03 9.98622548e-01 3.54660504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:71.27, Z:3.55 [[ 4.70372757e-01 -8.82161836e-01 -2.32371185e-02 1.08475482e+02] [ 8.80939832e-01 4.70944383e-01 -4.64370705e-02 7.12667712e+01] [ 5.19084018e-02 1.37222966e-03 9.98650907e-01 3.54815067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:71.29, Z:3.55 [[ 4.69154563e-01 -8.82822158e-01 -2.27823117e-02 1.08489376e+02] [ 8.81647093e-01 4.69705638e-01 -4.55523556e-02 7.12918046e+01] [ 5.09156091e-02 1.28513660e-03 9.98702132e-01 3.55005954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:71.32, Z:3.55 [[ 4.68054140e-01 -8.83417492e-01 -2.23351143e-02 1.08503183e+02] [ 8.82287387e-01 4.68585181e-01 -4.46866255e-02 7.13166521e+01] [ 4.99428502e-02 1.20977049e-03 9.98751345e-01 3.55212065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.52, Y:71.34, Z:3.55 [[ 4.67160596e-01 -8.83901248e-01 -2.18988729e-02 1.08515381e+02] [ 8.82814047e-01 4.67672176e-01 -4.38416952e-02 7.13402804e+01] [ 4.89932227e-02 1.14847988e-03 9.98798451e-01 3.55413997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:71.36, Z:3.55 [[ 4.65977264e-01 -8.84521928e-01 -2.20487674e-02 1.08530091e+02] [ 8.83419324e-01 4.66497316e-01 -4.41650555e-02 7.13642837e+01] [ 4.93506509e-02 1.10160453e-03 9.98780907e-01 3.55452202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:71.39, Z:3.55 [[ 4.65634326e-01 -8.84700950e-01 -2.21111567e-02 1.08543006e+02] [ 8.83590784e-01 4.66157719e-01 -4.43204996e-02 7.13891645e+01] [ 4.95176745e-02 1.09993165e-03 9.98772642e-01 3.55480468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:71.41, Z:3.55 [[ 4.65454873e-01 -8.84788005e-01 -2.24041700e-02 1.08555634e+02] [ 8.83646725e-01 4.65992416e-01 -4.49392175e-02 7.14144936e+01] [ 5.02018539e-02 1.11980634e-03 9.98738464e-01 3.55487730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:71.44, Z:3.55 [[ 4.65219595e-01 -8.84910270e-01 -2.24620316e-02 1.08569080e+02] [ 8.83761660e-01 4.65760187e-01 -4.50863337e-02 7.14391397e+01] [ 5.03592798e-02 1.12396355e-03 9.98730534e-01 3.55486839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.58, Y:71.46, Z:3.56 [[ 4.64588534e-01 -8.85240624e-01 -2.25062368e-02 1.08582505e+02] [ 8.84086297e-01 4.65132042e-01 -4.52062290e-02 7.14637177e+01] [ 5.04867623e-02 1.10484012e-03 9.98724119e-01 3.55552406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:71.49, Z:3.56 [[ 4.63319136e-01 -8.85892060e-01 -2.30355632e-02 1.08595914e+02] [ 8.84681868e-01 4.63890188e-01 -4.63021172e-02 7.14869620e+01] [ 5.17046497e-02 1.07351187e-03 9.98661843e-01 3.55658528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:71.51, Z:3.56 [[ 4.62392976e-01 -8.86370812e-01 -2.32275578e-02 1.08609756e+02] [ 8.85139206e-01 4.62974830e-01 -4.67214365e-02 7.15110892e+01] [ 5.21662923e-02 1.04404196e-03 9.98637866e-01 3.55704912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:71.54, Z:3.56 [[ 4.62555769e-01 -8.86287388e-01 -2.31695284e-02 1.08622392e+02] [ 8.85060168e-01 4.63134463e-01 -4.66365468e-02 7.15363505e+01] [ 5.20639903e-02 1.06557703e-03 9.98643182e-01 3.55805060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:71.56, Z:3.56 [[ 4.62527581e-01 -8.86303522e-01 -2.31149915e-02 1.08635837e+02] [ 8.85080443e-01 4.63103561e-01 -4.65585761e-02 7.15613260e+01] [ 5.19696649e-02 1.07599874e-03 9.98648084e-01 3.55940368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:71.59, Z:3.56 [[ 4.62565469e-01 -8.86291348e-01 -2.28217647e-02 1.08647717e+02] [ 8.85097460e-01 4.63126854e-01 -4.60000482e-02 7.15851478e+01] [ 5.13388168e-02 1.07854791e-03 9.98680711e-01 3.56112704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:71.61, Z:3.56 [[ 4.62040620e-01 -8.86567426e-01 -2.27302558e-02 1.08659336e+02] [ 8.85381700e-01 4.62598180e-01 -4.58494227e-02 7.16094459e+01] [ 5.11635797e-02 1.05934314e-03 9.98689725e-01 3.56187506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:71.63, Z:3.56 [[ 4.61194554e-01 -8.87008395e-01 -2.27088308e-02 1.08674451e+02] [ 8.85823749e-01 4.61752161e-01 -4.58391556e-02 7.16327840e+01] [ 5.11455675e-02 1.02474725e-03 9.98690683e-01 3.56339007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:71.66, Z:3.57 [[ 4.60749035e-01 -8.87243260e-01 -2.25770636e-02 1.08687923e+02] [ 8.86071016e-01 4.61300751e-01 -4.56045088e-02 7.16577703e+01] [ 5.08771094e-02 1.00735169e-03 9.98704413e-01 3.56508884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:71.68, Z:3.57 [[ 4.60931438e-01 -8.87154298e-01 -2.23486164e-02 1.08699553e+02] [ 8.86003993e-01 4.61471785e-01 -4.51742870e-02 7.16824931e+01] [ 5.03898188e-02 1.02128573e-03 9.98729104e-01 3.56620069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:71.71, Z:3.57 [[ 4.60689740e-01 -8.87280161e-01 -2.23356095e-02 1.08711698e+02] [ 8.86129692e-01 4.61229739e-01 -4.51807174e-02 7.17072859e+01] [ 5.03898015e-02 1.02204623e-03 9.98729104e-01 3.56740627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:71.73, Z:3.57 [[ 4.60404831e-01 -8.87432064e-01 -2.21748425e-02 1.08723505e+02] [ 8.86296748e-01 4.60937422e-01 -4.48861697e-02 7.17323787e+01] [ 5.00546410e-02 1.01231855e-03 9.98745968e-01 3.56841200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:71.76, Z:3.57 [[ 4.54700444e-01 -8.90380305e-01 -2.16891553e-02 1.08738082e+02] [ 8.89296051e-01 4.55216914e-01 -4.39328482e-02 7.17554461e+01] [ 4.89902131e-02 6.88205449e-04 9.98799022e-01 3.57075603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:71.78, Z:3.57 [[ 4.47395952e-01 -8.94090045e-01 -2.09726661e-02 1.08754606e+02] [ 8.93078908e-01 4.47887159e-01 -4.25106570e-02 7.17784506e+01] [ 4.74017431e-02 2.88850179e-04 9.98875864e-01 3.57444562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:71.80, Z:3.57 [[ 4.45330715e-01 -8.95108064e-01 -2.14966839e-02 1.08767558e+02] [ 8.94045410e-01 4.45849205e-01 -4.36038007e-02 7.18037545e+01] [ 4.86143931e-02 1.99100194e-04 9.98817602e-01 3.57407296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:71.83, Z:3.57 [[ 4.43531384e-01 -8.95978149e-01 -2.24291901e-02 1.08779074e+02] [ 8.94820706e-01 4.44098122e-01 -4.55276043e-02 7.18289218e+01] [ 5.07524998e-02 1.22817680e-04 9.98711254e-01 3.57185162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:71.86, Z:3.57 [[ 4.41808658e-01 -8.96789238e-01 -2.39619141e-02 1.08789311e+02] [ 8.95467295e-01 4.42457977e-01 -4.86750771e-02 7.18557259e+01] [ 5.42534253e-02 4.79600806e-05 9.98527197e-01 3.56748545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:71.88, Z:3.57 [[ 4.41631431e-01 -8.96867663e-01 -2.42914571e-02 1.08800362e+02] [ 8.95507375e-01 4.42298985e-01 -4.93776199e-02 7.18816609e+01] [ 5.50292774e-02 5.35299966e-05 9.98484740e-01 3.56761572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.81, Y:71.91, Z:3.57 [[ 4.42434614e-01 -8.96476193e-01 -2.41256397e-02 1.08811750e+02] [ 8.95131997e-01 4.43091888e-01 -4.90743031e-02 7.19068802e+01] [ 5.46838197e-02 1.16538356e-04 9.98503714e-01 3.56947436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:71.93, Z:3.57 [[ 4.45230375e-01 -8.95103395e-01 -2.36606295e-02 1.08822169e+02] [ 8.93806852e-01 4.45858526e-01 -4.81610349e-02 7.19331316e+01] [ 5.36583992e-02 2.94722809e-04 9.98559307e-01 3.57484976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:71.96, Z:3.58 [[ 4.46965582e-01 -8.94250835e-01 -2.31778461e-02 1.08831600e+02] [ 8.93003971e-01 4.47565953e-01 -4.72083208e-02 7.19580468e+01] [ 5.25896950e-02 4.02586003e-04 9.98616123e-01 3.57685840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.84, Y:71.99, Z:3.58 [[ 4.48768492e-01 -8.93347678e-01 -2.31682169e-02 1.08841637e+02] [ 8.92099449e-01 4.49365839e-01 -4.72113918e-02 7.19852444e+01] [ 5.25871925e-02 5.18631573e-04 9.98616202e-01 3.57814514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:72.01, Z:3.58 [[ 4.50390740e-01 -8.92531463e-01 -2.31466692e-02 1.08851836e+02] [ 8.91282863e-01 4.50984693e-01 -4.71981370e-02 7.20121208e+01] [ 5.25646158e-02 6.27374275e-04 9.98617328e-01 3.57890748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:72.04, Z:3.58 [[ 4.52200695e-01 -8.91622541e-01 -2.28861319e-02 1.08861055e+02] [ 8.90399248e-01 4.52778863e-01 -4.66956161e-02 7.20379474e+01] [ 5.19972207e-02 7.37995404e-04 9.98646957e-01 3.57898548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:72.06, Z:3.58 [[ 4.54963719e-01 -8.90217968e-01 -2.28031595e-02 1.08871134e+02] [ 8.89000649e-01 4.55533917e-01 -4.65477917e-02 7.20647004e+01] [ 5.18252931e-02 9.05532786e-04 9.98655756e-01 3.57937170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.88, Y:72.09, Z:3.58 [[ 4.55585545e-01 -8.89898998e-01 -2.28382228e-02 1.08883917e+02] [ 8.88675960e-01 4.56156615e-01 -4.66495491e-02 7.20899266e+01] [ 5.19311934e-02 9.57080718e-04 9.98650207e-01 3.58108924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.90, Y:72.11, Z:3.58 [[ 4.55466756e-01 -8.89960854e-01 -2.27972004e-02 1.08895864e+02] [ 8.88740756e-01 4.56035913e-01 -4.65952332e-02 7.21143186e+01] [ 5.18642757e-02 9.61778598e-04 9.98653680e-01 3.58242692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:72.14, Z:3.58 [[ 4.55505535e-01 -8.89947622e-01 -2.25374643e-02 1.08909123e+02] [ 8.88753930e-01 4.56061730e-01 -4.60884958e-02 7.21388526e+01] [ 5.12948223e-02 9.63304935e-04 9.98683089e-01 3.58452865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:72.16, Z:3.59 [[ 4.55577344e-01 -8.89917745e-01 -2.22640906e-02 1.08921609e+02] [ 8.88751247e-01 4.56120014e-01 -4.55604340e-02 7.21635771e+01] [ 5.07001360e-02 9.69063260e-04 9.98713451e-01 3.58534977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:72.19, Z:3.59 [[ 4.55546586e-01 -8.89933753e-01 -2.22536054e-02 1.08931922e+02] [ 8.88766767e-01 4.56088755e-01 -4.55706177e-02 7.21884168e+01] [ 5.07044500e-02 9.81274432e-04 9.98713220e-01 3.58532878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:72.21, Z:3.59 [[ 4.56431928e-01 -8.89490716e-01 -2.18211341e-02 1.08946943e+02] [ 8.88366599e-01 4.56952094e-01 -4.47165512e-02 7.22122444e+01] [ 4.97461701e-02 1.02489500e-03 9.98761367e-01 3.58834931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.96, Y:72.24, Z:3.59 [[ 4.57171448e-01 -8.89121087e-01 -2.13999909e-02 1.08957656e+02] [ 8.88038207e-01 4.57670815e-01 -4.38812830e-02 7.22374072e+01] [ 4.88099253e-02 1.05726015e-03 9.98807526e-01 3.59012435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:72.26, Z:3.59 [[ 4.58165687e-01 -8.88616207e-01 -2.11054714e-02 1.08970401e+02] [ 8.87561333e-01 4.58650209e-01 -4.32997144e-02 7.22621472e+01] [ 4.81568568e-02 1.10604307e-03 9.98839173e-01 3.59300967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:72.29, Z:3.59 [[ 4.59045914e-01 -8.88159622e-01 -2.11975269e-02 1.08980767e+02] [ 8.87093578e-01 4.59533580e-01 -4.35186470e-02 7.22867953e+01] [ 4.83924804e-02 1.17286712e-03 9.98827709e-01 3.59393667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.99, Y:72.31, Z:3.60 [[ 4.59790741e-01 -8.87771021e-01 -2.13327980e-02 1.08994597e+02] [ 8.86689364e-01 4.60283701e-01 -4.38279212e-02 7.23113248e+01] [ 4.87282976e-02 1.23610724e-03 9.98811306e-01 3.59638052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:72.34, Z:3.60 [[ 4.58592176e-01 -8.88382739e-01 -2.16639316e-02 1.09005917e+02] [ 8.87266411e-01 4.59102017e-01 -4.45382384e-02 7.23362633e+01] [ 4.95129569e-02 1.20320878e-03 9.98772757e-01 3.59543605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:72.36, Z:3.60 [[ 4.58501850e-01 -8.88439618e-01 -2.12390592e-02 1.09017755e+02] [ 8.87365253e-01 4.58991976e-01 -4.36952371e-02 7.23615808e+01] [ 4.85691375e-02 1.18754389e-03 9.98819117e-01 3.59669202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.03, Y:72.39, Z:3.60 [[ 4.57800460e-01 -8.88790939e-01 -2.16657744e-02 1.09030734e+02] [ 8.87671784e-01 4.58311309e-01 -4.46043436e-02 7.23863975e+01] [ 4.95736058e-02 1.18779235e-03 9.98769767e-01 3.59657833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:72.41, Z:3.60 [[ 4.57090032e-01 -8.89154075e-01 -2.17654191e-02 1.09044603e+02] [ 8.88023453e-01 4.57606453e-01 -4.48406185e-02 7.24112031e+01] [ 4.98302149e-02 1.16799712e-03 9.98757020e-01 3.59741170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:72.44, Z:3.60 [[ 4.55997687e-01 -8.89717878e-01 -2.16380905e-02 1.09055304e+02] [ 8.88599522e-01 4.56509425e-01 -4.46098046e-02 7.24360263e+01] [ 4.95681330e-02 1.11437081e-03 9.98770123e-01 3.59791704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:72.46, Z:3.60 [[ 4.55056477e-01 -8.90196482e-01 -2.17675323e-02 1.09069366e+02] [ 8.89063631e-01 4.55575514e-01 -4.49089243e-02 7.24601630e+01] [ 4.98945212e-02 1.08337562e-03 9.98753905e-01 3.60023041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:72.49, Z:3.60 [[ 4.54790455e-01 -8.90333456e-01 -2.17250615e-02 1.09080519e+02] [ 8.89203725e-01 4.55307776e-01 -4.48504671e-02 7.24851856e+01] [ 4.98234608e-02 1.07955876e-03 9.98757457e-01 3.60157645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:72.51, Z:3.60 [[ 4.54740732e-01 -8.90360705e-01 -2.16490750e-02 1.09093751e+02] [ 8.89237293e-01 4.55254471e-01 -4.47258734e-02 7.25100215e+01] [ 4.96779983e-02 1.08751157e-03 9.98764694e-01 3.60347354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:72.54, Z:3.60 [[ 4.54620441e-01 -8.90417980e-01 -2.18191415e-02 1.09103400e+02] [ 8.89275307e-01 4.55142397e-01 -4.51090498e-02 7.25357535e+01] [ 5.00967254e-02 1.10427238e-03 9.98743760e-01 3.60369600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:72.56, Z:3.61 [[ 4.53819608e-01 -8.90818491e-01 -2.21399864e-02 1.09117488e+02] [ 8.89640696e-01 4.54358036e-01 -4.58061964e-02 7.25596716e+01] [ 5.08644875e-02 1.09111723e-03 9.98704968e-01 3.60508735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:72.58, Z:3.61 [[ 4.53061168e-01 -8.91201537e-01 -2.22575298e-02 1.09129719e+02] [ 8.90010004e-01 4.53606303e-01 -4.60815949e-02 7.25849323e+01] [ 5.11641440e-02 1.06835705e-03 9.98689686e-01 3.60633627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.14, Y:72.61, Z:3.61 [[ 4.52085424e-01 -8.91704384e-01 -2.19558765e-02 1.09142052e+02] [ 8.90543950e-01 4.52617131e-01 -4.54885338e-02 7.26101025e+01] [ 5.04999308e-02 1.01203009e-03 9.98723552e-01 3.60739210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:72.64, Z:3.61 [[ 4.51145570e-01 -8.92182382e-01 -2.18694444e-02 1.09154178e+02] [ 8.91030034e-01 4.51674284e-01 -4.53411550e-02 7.26356906e+01] [ 5.03304453e-02 9.69129468e-04 9.98732150e-01 3.60919239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.746875 meters Centerline goodness [0,1] 0.9999759493975324 Centerline is valid? [True, True] Translation: X:109.17, Y:72.66, Z:3.61 [[ 4.48902336e-01 -8.93326396e-01 -2.13223267e-02 1.09167360e+02] [ 8.92230824e-01 4.49407671e-01 -4.42368844e-02 7.26608532e+01] [ 4.91003937e-02 8.33603681e-04 9.98793500e-01 3.61208374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:72.69, Z:3.61 [[ 4.47515845e-01 -8.94021982e-01 -2.13134837e-02 1.09180614e+02] [ 8.92926639e-01 4.48022435e-01 -4.42483371e-02 7.26857347e+01] [ 4.91079049e-02 7.70454618e-04 9.98793182e-01 3.61383344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:72.71, Z:3.61 [[ 4.45837974e-01 -8.94856971e-01 -2.14360283e-02 1.09192666e+02] [ 8.93748387e-01 4.46352458e-01 -4.45342967e-02 7.27097342e+01] [ 4.94198498e-02 6.96664895e-04 9.98777850e-01 3.61428955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:72.73, Z:3.61 [[ 4.42393249e-01 -8.96559078e-01 -2.16802285e-02 1.09207212e+02] [ 8.95425478e-01 4.42923854e-01 -4.50740734e-02 7.27346117e+01] [ 5.00142601e-02 5.27436800e-04 9.98748365e-01 3.61434744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:72.76, Z:3.62 [[ 4.41042516e-01 -8.97223081e-01 -2.17311351e-02 1.09220467e+02] [ 8.96083429e-01 4.41577316e-01 -4.52102117e-02 7.27594722e+01] [ 5.01596217e-02 4.66715452e-04 9.98741105e-01 3.61576285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:72.78, Z:3.62 [[ 4.39785557e-01 -8.97840778e-01 -2.16933366e-02 1.09233246e+02] [ 8.96704271e-01 4.40320076e-01 -4.51628275e-02 7.27843394e+01] [ 5.01010398e-02 4.09451683e-04 9.98744070e-01 3.61670369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.25, Y:72.81, Z:3.62 [[ 4.38741588e-01 -8.98350715e-01 -2.17212195e-02 1.09246064e+02] [ 8.97210333e-01 4.39278794e-01 -4.52521709e-02 7.28091299e+01] [ 5.01939912e-02 3.65506725e-04 9.98739420e-01 3.61785701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:72.83, Z:3.62 [[ 4.38422056e-01 -8.98510469e-01 -2.15647247e-02 1.09259238e+02] [ 8.97385128e-01 4.38951943e-01 -4.49569018e-02 7.28342159e+01] [ 4.98601247e-02 3.58234067e-04 9.98756146e-01 3.62036708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.27, Y:72.86, Z:3.62 [[ 4.38723557e-01 -8.98363086e-01 -2.15732905e-02 1.09271113e+02] [ 8.97235162e-01 4.39253475e-01 -4.50049750e-02 7.28600257e+01] [ 4.99069510e-02 3.88427938e-04 9.98753796e-01 3.62185096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:72.88, Z:3.62 [[ 4.39817777e-01 -8.97827297e-01 -2.15978636e-02 1.09281102e+02] [ 8.96694536e-01 4.40347509e-01 -4.50885826e-02 7.28849796e+01] [ 4.99923257e-02 4.64073829e-04 9.98749494e-01 3.62251496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:72.91, Z:3.62 [[ 4.42253672e-01 -8.96629339e-01 -2.16221848e-02 1.09291365e+02] [ 8.95490980e-01 4.42781494e-01 -4.51713871e-02 7.29116852e+01] [ 5.00758942e-02 6.14740387e-04 9.98745226e-01 3.62311319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:72.94, Z:3.62 [[ 4.44062383e-01 -8.95735994e-01 -2.15784428e-02 1.09301869e+02] [ 8.94599690e-01 4.44585762e-01 -4.51098000e-02 7.29378388e+01] [ 4.99999400e-02 7.27497021e-04 9.98748956e-01 3.62414535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:72.96, Z:3.62 [[ 4.45769468e-01 -8.94887587e-01 -2.15821342e-02 1.09312687e+02] [ 8.93748945e-01 4.46290842e-01 -4.51365530e-02 7.29643388e+01] [ 5.00240498e-02 8.31487577e-04 9.98747667e-01 3.62497779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:72.99, Z:3.63 [[ 4.48878328e-01 -8.93324930e-01 -2.18818619e-02 1.09322796e+02] [ 8.92150994e-01 4.49410169e-01 -4.57941427e-02 7.29907344e+01] [ 5.07429806e-02 1.03407333e-03 9.98711210e-01 3.62527390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:73.02, Z:3.63 [[ 4.48633936e-01 -8.93447996e-01 -2.18693721e-02 1.09334600e+02] [ 8.92273916e-01 4.49165458e-01 -4.58001068e-02 7.30156897e+01] [ 5.07429802e-02 1.03401192e-03 9.98711210e-01 3.62647992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:73.04, Z:3.63 [[ 4.50488673e-01 -8.92507718e-01 -2.21343276e-02 1.09346603e+02] [ 8.91302177e-01 4.51030605e-01 -4.63877341e-02 7.30417275e+01] [ 5.13846699e-02 1.16877438e-03 9.98678251e-01 3.62697026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.36, Y:73.07, Z:3.63 [[ 4.50273122e-01 -8.92614234e-01 -2.22248638e-02 1.09358770e+02] [ 8.91397314e-01 4.50819750e-01 -4.66088068e-02 7.30672014e+01] [ 5.16230919e-02 1.17550906e-03 9.98665947e-01 3.62754881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters Centerline goodness [0,1] 0.9999756939380682 Centerline is valid? [True, True] Translation: X:109.37, Y:73.09, Z:3.63 [[ 4.50963129e-01 -8.92263385e-01 -2.23228387e-02 1.09369676e+02] [ 8.91033570e-01 4.51513593e-01 -4.68471144e-02 7.30920000e+01] [ 5.18790299e-02 1.23592260e-03 9.98652612e-01 3.62764017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:73.12, Z:3.63 [[ 4.51305302e-01 -8.92086829e-01 -2.24636017e-02 1.09380934e+02] [ 8.90839635e-01 4.51862209e-01 -4.71729600e-02 7.31176703e+01] [ 5.22328290e-02 1.27794018e-03 9.98634116e-01 3.62806831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:73.14, Z:3.63 [[ 4.51153486e-01 -8.92161726e-01 -2.25385473e-02 1.09392818e+02] [ 8.90904594e-01 4.51714285e-01 -4.73625325e-02 7.31428619e+01] [ 5.24360226e-02 1.28807629e-03 9.98623455e-01 3.62868017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:73.17, Z:3.63 [[ 4.51662415e-01 -8.91895161e-01 -2.28929005e-02 1.09403951e+02] [ 8.90596041e-01 4.52240186e-01 -4.81404813e-02 7.31669917e+01] [ 5.32893519e-02 1.35491951e-03 9.98578194e-01 3.62928879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.42, Y:73.19, Z:3.63 [[ 4.51515615e-01 -8.91969920e-01 -2.28760000e-02 1.09416240e+02] [ 8.90671294e-01 4.52092709e-01 -4.81334402e-02 7.31923797e+01] [ 5.32756536e-02 1.35800333e-03 9.98578921e-01 3.63033883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:73.22, Z:3.63 [[ 4.51359693e-01 -8.92049415e-01 -2.28531874e-02 1.09429561e+02] [ 8.90751683e-01 4.51935819e-01 -4.81191694e-02 7.32166156e+01] [ 5.32528509e-02 1.36253840e-03 9.98580131e-01 3.63217490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:73.24, Z:3.63 [[ 4.48096927e-01 -8.93701023e-01 -2.25305283e-02 1.09443681e+02] [ 8.92439993e-01 4.48661478e-01 -4.74735337e-02 7.32409832e+01] [ 5.25357258e-02 1.16560002e-03 9.98618365e-01 3.63414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:73.27, Z:3.64 [[ 4.46590398e-01 -8.94464977e-01 -2.21228801e-02 1.09457395e+02] [ 8.93248432e-01 4.47136734e-01 -4.66473934e-02 7.32657220e+01] [ 5.16164120e-02 1.07105001e-03 9.98666410e-01 3.63680821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:73.29, Z:3.64 [[ 4.46338522e-01 -8.94591004e-01 -2.21101702e-02 1.09469140e+02] [ 8.93374316e-01 4.46884538e-01 -4.66534172e-02 7.32907116e+01] [ 5.16164206e-02 1.07055910e-03 9.98666410e-01 3.63801448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:73.32, Z:3.64 [[ 4.44938786e-01 -8.95296485e-01 -2.17642165e-02 1.09479561e+02] [ 8.94116755e-01 4.45469671e-01 -4.59565010e-02 7.33160296e+01] [ 5.08399922e-02 9.88079157e-04 9.98706323e-01 3.63924268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.49, Y:73.34, Z:3.64 [[ 4.44003044e-01 -8.95761340e-01 -2.17466833e-02 1.09492554e+02] [ 8.94582365e-01 4.44534274e-01 -4.59529235e-02 7.33410666e+01] [ 5.08299984e-02 9.49038542e-04 9.98706869e-01 3.64098573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:73.37, Z:3.64 [[ 4.42210118e-01 -8.96643438e-01 -2.19261448e-02 1.09505216e+02] [ 8.95444300e-01 4.42752514e-01 -4.63650355e-02 7.33657697e+01] [ 5.12807606e-02 8.69446472e-04 9.98683898e-01 3.64150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:73.39, Z:3.64 [[ 4.41439936e-01 -8.97018545e-01 -2.21023407e-02 1.09517905e+02] [ 8.95798786e-01 4.41992095e-01 -4.67709596e-02 7.33906541e+01] [ 5.17234781e-02 8.47319405e-04 9.98661086e-01 3.64244465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:73.42, Z:3.64 [[ 4.40972037e-01 -8.97257556e-01 -2.17379885e-02 1.09528179e+02] [ 8.96076321e-01 4.41506743e-01 -4.60328421e-02 7.34154559e+01] [ 5.09007839e-02 8.20299386e-04 9.98703378e-01 3.64282163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.54, Y:73.44, Z:3.64 [[ 4.40688264e-01 -8.97398967e-01 -2.16551963e-02 1.09539796e+02] [ 8.96225157e-01 4.41219251e-01 -4.58916103e-02 7.34411134e+01] [ 5.07377731e-02 8.15962350e-04 9.98711676e-01 3.64490287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:73.47, Z:3.65 [[ 4.40610345e-01 -8.97442254e-01 -2.14458646e-02 1.09551433e+02] [ 8.96289480e-01 4.41131197e-01 -4.54800522e-02 7.34667362e+01] [ 5.02761605e-02 8.17278657e-04 9.98735020e-01 3.64699958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:73.49, Z:3.65 [[ 4.40813898e-01 -8.97349089e-01 -2.11594091e-02 1.09561763e+02] [ 8.96225295e-01 4.41320658e-01 -4.49031948e-02 7.34917532e+01] [ 4.96319252e-02 8.30354669e-04 9.98767231e-01 3.64828765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.57, Y:73.52, Z:3.65 [[ 4.41847557e-01 -8.96838671e-01 -2.12399138e-02 1.09568955e+02] [ 8.95704481e-01 4.42356851e-01 -4.50987730e-02 7.35186274e+01] [ 4.98419451e-02 9.02096726e-04 9.98756710e-01 3.64764139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:73.54, Z:3.65 [[ 4.42424566e-01 -8.96546471e-01 -2.15621992e-02 1.09580637e+02] [ 8.95375585e-01 4.42948639e-01 -4.58155623e-02 7.35442055e+01] [ 5.06267275e-02 9.63663614e-04 9.98717180e-01 3.64819100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:73.57, Z:3.65 [[ 4.42753681e-01 -8.96380248e-01 -2.17170214e-02 1.09591987e+02] [ 8.95191228e-01 4.43284845e-01 -4.61650522e-02 7.35702861e+01] [ 5.10082674e-02 9.98859749e-04 9.98697732e-01 3.64903569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:73.60, Z:3.65 [[ 4.42971874e-01 -8.96268334e-01 -2.18858894e-02 1.09601684e+02] [ 8.95058868e-01 4.43510995e-01 -4.65577075e-02 7.35952438e+01] [ 5.14348316e-02 1.03459555e-03 9.98675817e-01 3.64899188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:73.62, Z:3.65 [[ 4.43238384e-01 -8.96139212e-01 -2.17772376e-02 1.09613156e+02] [ 8.94939815e-01 4.43771777e-01 -4.63609413e-02 7.36206959e+01] [ 5.12099808e-02 1.05963176e-03 9.98687346e-01 3.65103476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:73.65, Z:3.65 [[ 4.42944357e-01 -8.96296362e-01 -2.12868252e-02 1.09623089e+02] [ 8.95149039e-01 4.43454358e-01 -4.53478727e-02 7.36463031e+01] [ 5.00848688e-02 1.03170318e-03 9.98744433e-01 3.65222314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:73.67, Z:3.65 [[ 4.42693778e-01 -8.96425380e-01 -2.10655400e-02 1.09634927e+02] [ 8.95300745e-01 4.43193528e-01 -4.49006987e-02 7.36714705e+01] [ 4.95862369e-02 1.01726627e-03 9.98769328e-01 3.65442662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:73.70, Z:3.66 [[ 4.42246665e-01 -8.96665481e-01 -2.02213551e-02 1.09645922e+02] [ 8.95628080e-01 4.42707677e-01 -4.31306717e-02 7.36969346e+01] [ 4.76259336e-02 9.63582277e-04 9.98864777e-01 3.65745509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00687499999998 meters Centerline goodness [0,1] 0.9999760628111835 Centerline is valid? [True, True] Translation: X:109.66, Y:73.72, Z:3.66 [[ 4.41877357e-01 -8.96847686e-01 -2.02145724e-02 1.09657846e+02] [ 8.95809712e-01 4.42338458e-01 -4.31468131e-02 7.37222030e+01] [ 4.76378023e-02 9.57189475e-04 9.98864217e-01 3.65819959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:73.75, Z:3.66 [[ 4.41492336e-01 -8.97041288e-01 -2.00360701e-02 1.09668231e+02] [ 8.96020314e-01 4.41945743e-01 -4.27967005e-02 7.37472297e+01] [ 4.72452632e-02 9.41689481e-04 9.98882875e-01 3.65922178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.68, Y:73.77, Z:3.66 [[ 4.40895184e-01 -8.97335889e-01 -1.99934497e-02 1.09679638e+02] [ 8.96318030e-01 4.41347313e-01 -4.27380123e-02 7.37728542e+01] [ 4.71744075e-02 9.22494352e-04 9.98886242e-01 3.65986161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:73.80, Z:3.66 [[ 4.39965092e-01 -8.97782362e-01 -2.04339799e-02 1.09691283e+02] [ 8.96718089e-01 4.40438424e-01 -4.37111357e-02 7.37985257e+01] [ 4.82429966e-02 9.07854445e-04 9.98835216e-01 3.66030397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:73.82, Z:3.66 [[ 4.39226557e-01 -8.98140097e-01 -2.06009160e-02 1.09703046e+02] [ 8.97057224e-01 4.39708511e-01 -4.40994518e-02 7.38238294e+01] [ 4.86658840e-02 8.89449812e-04 9.98814718e-01 3.66150797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:73.85, Z:3.66 [[ 4.38580499e-01 -8.98448203e-01 -2.09277809e-02 1.09714856e+02] [ 8.97329455e-01 4.39078634e-01 -4.48308194e-02 7.38488365e+01] [ 4.94671106e-02 8.82808890e-04 9.98775363e-01 3.66222811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.186875 meters Centerline goodness [0,1] 0.9999036794451936 Centerline is valid? [True, True] Translation: X:109.73, Y:73.87, Z:3.66 [[ 4.37319628e-01 -8.99058571e-01 -2.11004536e-02 1.09728138e+02] [ 8.97920384e-01 4.37827579e-01 -4.52326682e-02 7.38731129e+01] [ 4.99051786e-02 8.34606177e-04 9.98753612e-01 3.66416371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:73.90, Z:3.66 [[ 4.36281842e-01 -8.99571196e-01 -2.07320726e-02 1.09738286e+02] [ 8.98471479e-01 4.36773467e-01 -4.44740345e-02 7.38977935e+01] [ 4.90627796e-02 7.76037714e-04 9.98795395e-01 3.66460942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:73.92, Z:3.67 [[ 4.35360607e-01 -9.00020776e-01 -2.05850695e-02 1.09750318e+02] [ 8.98935927e-01 4.35846383e-01 -4.41829101e-02 7.39231545e+01] [ 4.87374650e-02 7.30840043e-04 9.98811356e-01 3.66574612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:73.95, Z:3.67 [[ 4.34808744e-01 -9.00286970e-01 -2.06089331e-02 1.09761958e+02] [ 8.99198373e-01 4.35296290e-01 -4.42653987e-02 7.39484531e+01] [ 4.88225538e-02 7.15463276e-04 9.98807212e-01 3.66692586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:73.97, Z:3.67 [[ 4.35103432e-01 -9.00141109e-01 -2.07602275e-02 1.09772170e+02] [ 8.99034720e-01 4.35597773e-01 -4.46223307e-02 7.39742788e+01] [ 4.92095031e-02 7.51163928e-04 9.98788196e-01 3.66631853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:74.00, Z:3.67 [[ 4.35715960e-01 -8.99844586e-01 -2.07683321e-02 1.09781702e+02] [ 8.98735428e-01 4.36209907e-01 -4.46715403e-02 7.40001661e+01] [ 4.92567959e-02 7.98867222e-04 9.98785828e-01 3.66694897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:74.03, Z:3.67 [[ 4.36389016e-01 -8.99515625e-01 -2.08869895e-02 1.09794594e+02] [ 8.98391716e-01 4.36887752e-01 -4.49601694e-02 7.40258346e+01] [ 4.95676448e-02 8.55425719e-04 9.98770402e-01 3.66887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:74.05, Z:3.67 [[ 4.37103743e-01 -8.99166336e-01 -2.09813645e-02 1.09804790e+02] [ 8.98030300e-01 4.37606064e-01 -4.51941648e-02 7.40515941e+01] [ 4.98186439e-02 9.12637537e-04 9.98757863e-01 3.66959710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:74.08, Z:3.67 [[ 4.39810027e-01 -8.97837636e-01 -2.13241403e-02 1.09814455e+02] [ 8.96660984e-01 4.40325312e-01 -4.59641116e-02 7.40780834e+01] [ 5.06578680e-02 1.09495257e-03 9.98715466e-01 3.67024780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:74.10, Z:3.67 [[ 4.40951036e-01 -8.97269115e-01 -2.16868245e-02 1.09824427e+02] [ 8.96049633e-01 4.41482396e-01 -4.67797934e-02 7.41035815e+01] [ 5.15484151e-02 1.19512728e-03 9.98669782e-01 3.67064320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:74.13, Z:3.67 [[ 4.41745483e-01 -8.96868684e-01 -2.20792272e-02 1.09836679e+02] [ 8.95602265e-01 4.42295065e-01 -4.76619124e-02 7.41294492e+01] [ 5.25120099e-02 1.28022862e-03 9.98619472e-01 3.67119993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:74.15, Z:3.67 [[ 4.43133113e-01 -8.96167158e-01 -2.27479677e-02 1.09849751e+02] [ 8.94820022e-01 4.43714333e-01 -4.91398018e-02 7.41542809e+01] [ 5.41310758e-02 1.42013637e-03 9.98532829e-01 3.67158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:74.18, Z:3.67 [[ 4.42314142e-01 -8.96555407e-01 -2.33795408e-02 1.09860320e+02] [ 8.95130823e-01 4.42929300e-01 -5.05415212e-02 7.41798742e+01] [ 5.56687577e-02 1.42748196e-03 9.98448272e-01 3.67043649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:74.20, Z:3.67 [[ 4.41240634e-01 -8.97082203e-01 -2.34568528e-02 1.09871603e+02] [ 8.95646661e-01 4.41861525e-01 -5.07488937e-02 7.42042427e+01] [ 5.58906101e-02 1.38342214e-03 9.98435940e-01 3.67055899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:74.23, Z:3.67 [[ 4.40472164e-01 -8.97466124e-01 -2.32126997e-02 1.09884482e+02] [ 8.96058799e-01 4.41081362e-01 -5.02579428e-02 7.42293281e+01] [ 5.53434903e-02 1.33728096e-03 9.98466479e-01 3.67229740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:74.25, Z:3.68 [[ 4.39448468e-01 -8.97981527e-01 -2.26764224e-02 1.09898912e+02] [ 8.96637334e-01 4.40031355e-01 -4.91314332e-02 7.42532428e+01] [ 5.40974563e-02 1.25820610e-03 9.98534868e-01 3.67692986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.666875 meters Centerline goodness [0,1] 0.9999760914263855 Centerline is valid? [True, True] Translation: X:109.91, Y:74.28, Z:3.68 [[ 4.38610745e-01 -8.98397796e-01 -2.24056776e-02 1.09911099e+02] [ 8.97084271e-01 4.39180991e-01 -4.85784784e-02 7.42782056e+01] [ 5.34829456e-02 1.20726163e-03 9.98568033e-01 3.67894504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:74.30, Z:3.68 [[ 4.37748724e-01 -8.98819561e-01 -2.23483904e-02 1.09923168e+02] [ 8.97511445e-01 4.38317273e-01 -4.84889143e-02 7.43031364e+01] [ 5.33784702e-02 1.16802429e-03 9.98573670e-01 3.68029946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:74.33, Z:3.68 [[ 4.36786356e-01 -8.99299539e-01 -2.18636388e-02 1.09936441e+02] [ 8.98046446e-01 4.37331830e-01 -4.74705282e-02 7.43283352e+01] [ 5.22518893e-02 1.09991585e-03 9.98633331e-01 3.68198790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:74.35, Z:3.68 [[ 4.36334185e-01 -8.99525664e-01 -2.15884055e-02 1.09947785e+02] [ 8.98302471e-01 4.36866600e-01 -4.69067578e-02 7.43534127e+01] [ 5.16250857e-02 1.07410389e-03 9.98665959e-01 3.68347273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:74.38, Z:3.69 [[ 4.35781749e-01 -8.99800849e-01 -2.12767385e-02 1.09960189e+02] [ 8.98611316e-01 4.36299608e-01 -4.62639657e-02 7.43783324e+01] [ 5.09113882e-02 1.04147389e-03 9.98702631e-01 3.68590789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:74.40, Z:3.69 [[ 4.34404293e-01 -9.00480410e-01 -2.06867460e-02 1.09971971e+02] [ 8.99355223e-01 4.34895541e-01 -4.50116787e-02 7.44027909e+01] [ 4.95287085e-02 9.48533365e-04 9.98772250e-01 3.68898228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:74.43, Z:3.69 [[ 4.33876823e-01 -9.00738897e-01 -2.05022552e-02 1.09984922e+02] [ 8.99632797e-01 4.34359979e-01 -4.46345087e-02 7.44278537e+01] [ 4.91093972e-02 9.21377643e-04 9.98792981e-01 3.69111469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:74.45, Z:3.69 [[ 4.32165737e-01 -9.01566387e-01 -2.02688361e-02 1.09997350e+02] [ 9.00484726e-01 4.32639987e-01 -4.41576705e-02 7.44533448e+01] [ 4.85801804e-02 8.31654901e-04 9.98818940e-01 3.69253766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:74.48, Z:3.69 [[ 4.31058336e-01 -9.02097549e-01 -2.02169099e-02 1.10008164e+02] [ 9.01020504e-01 4.31531458e-01 -4.40755361e-02 7.44779046e+01] [ 4.84846657e-02 7.83276877e-04 9.98823620e-01 3.69313024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:74.50, Z:3.69 [[ 4.30193313e-01 -9.02512599e-01 -2.01177101e-02 1.10019170e+02] [ 9.01444974e-01 4.30662804e-01 -4.38920108e-02 7.45031819e+01] [ 4.82770422e-02 7.47040898e-04 9.98833704e-01 3.69404981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:74.53, Z:3.70 [[ 4.27975250e-01 -9.03566486e-01 -2.01194308e-02 1.10032417e+02] [ 9.02498256e-01 4.28447421e-01 -4.39284111e-02 7.45282551e+01] [ 4.83123583e-02 6.42521502e-04 9.98832070e-01 3.69506917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:74.55, Z:3.70 [[ 4.26845086e-01 -9.04097410e-01 -2.02767460e-02 1.10043411e+02] [ 9.03011448e-01 4.27326003e-01 -4.43036296e-02 7.45526038e+01] [ 4.87195776e-02 6.00652819e-04 9.98812316e-01 3.69643314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:74.58, Z:3.70 [[ 4.25352066e-01 -9.04802084e-01 -2.02190013e-02 1.10055868e+02] [ 9.03721456e-01 4.25832014e-01 -4.42111462e-02 7.45779505e+01] [ 4.86122353e-02 5.32957022e-04 9.98817584e-01 3.69765214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:74.60, Z:3.70 [[ 4.24236863e-01 -9.05323685e-01 -2.03004655e-02 1.10067294e+02] [ 9.04233326e-01 4.24722010e-01 -4.44219107e-02 7.46038368e+01] [ 4.88382624e-02 4.89054612e-04 9.98806580e-01 3.69845904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:74.63, Z:3.70 [[ 4.22641791e-01 -9.06059638e-01 -2.07328044e-02 1.10078250e+02] [ 9.04921504e-01 4.23149797e-01 -4.54017746e-02 7.46296025e+01] [ 4.99097975e-02 4.27126790e-04 9.98753638e-01 3.69805640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.09, Y:74.66, Z:3.70 [[ 4.22184379e-01 -9.06276714e-01 -2.05637739e-02 1.10087746e+02] [ 9.05155755e-01 4.22684692e-01 -4.50634011e-02 7.46555687e+01] [ 4.95319035e-02 4.11645715e-04 9.98772457e-01 3.69778712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:74.68, Z:3.70 [[ 4.21835525e-01 -9.06435811e-01 -2.07101548e-02 1.10099034e+02] [ 9.05297745e-01 4.22343410e-01 -4.54096612e-02 7.46808253e+01] [ 4.99077404e-02 4.06551838e-04 9.98753750e-01 3.69915785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:74.71, Z:3.70 [[ 4.21333524e-01 -9.06668389e-01 -2.07483376e-02 1.10109400e+02] [ 9.05524731e-01 4.21843901e-01 -4.55267424e-02 7.47059647e+01] [ 5.00302179e-02 3.93810003e-04 9.98747627e-01 3.70005787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.12, Y:74.73, Z:3.70 [[ 4.21098611e-01 -9.06778071e-01 -2.07241466e-02 1.10119218e+02] [ 9.05635470e-01 4.21608082e-01 -4.55084687e-02 7.47317117e+01] [ 5.00035491e-02 3.95030708e-04 9.98748962e-01 3.70157726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:74.76, Z:3.70 [[ 4.21695413e-01 -9.06505743e-01 -2.05016495e-02 1.10128752e+02] [ 9.05385559e-01 4.22193259e-01 -4.50537705e-02 7.47571270e+01] [ 4.94971599e-02 4.37070940e-04 9.98774169e-01 3.70294249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:74.78, Z:3.70 [[ 4.22294349e-01 -9.06230458e-01 -2.03430464e-02 1.10139048e+02] [ 9.05125598e-01 4.22783782e-01 -4.47384222e-02 7.47827906e+01] [ 4.91440309e-02 4.79770815e-04 9.98791587e-01 3.70410425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:74.81, Z:3.71 [[ 4.24441845e-01 -9.05237695e-01 -1.98452832e-02 1.10145860e+02] [ 9.04183712e-01 4.24905122e-01 -4.36743925e-02 7.48098295e+01] [ 4.79680689e-02 5.93457944e-04 9.98848693e-01 3.70602185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:74.84, Z:3.71 [[ 4.25703179e-01 -9.04649508e-01 -1.96486664e-02 1.10153943e+02] [ 9.03614403e-01 4.26155869e-01 -4.32687668e-02 7.48353602e+01] [ 4.75164631e-02 6.64833613e-04 9.98870234e-01 3.70676529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:74.86, Z:3.71 [[ 4.27588646e-01 -9.03759420e-01 -1.96687737e-02 1.10164087e+02] [ 9.02720210e-01 4.28040082e-01 -4.33348613e-02 7.48620855e+01] [ 4.75833126e-02 7.74095145e-04 9.98866973e-01 3.70777970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:74.89, Z:3.71 [[ 4.29704697e-01 -9.02753981e-01 -1.97262204e-02 1.10171462e+02] [ 9.01706188e-01 4.30156295e-01 -4.34915158e-02 7.48885351e+01] [ 4.77474969e-02 9.01253630e-04 9.98859031e-01 3.70845466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:74.92, Z:3.71 [[ 4.34117851e-01 -9.00634333e-01 -1.99872374e-02 1.10176705e+02] [ 8.99554865e-01 4.34576165e-01 -4.40976362e-02 7.49165679e+01] [ 4.84018222e-02 1.16395437e-03 9.98827267e-01 3.70957398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:74.94, Z:3.71 [[ 4.33877209e-01 -9.00750553e-01 -1.99751939e-02 1.10188002e+02] [ 8.99670958e-01 4.34335222e-01 -4.41030912e-02 7.49417460e+01] [ 4.84018141e-02 1.16422427e-03 9.98827267e-01 3.71077991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:74.97, Z:3.71 [[ 4.35857608e-01 -8.99790249e-01 -2.01408205e-02 1.10197812e+02] [ 8.98690087e-01 4.36320787e-01 -4.45005406e-02 7.49686490e+01] [ 4.88290112e-02 1.29554344e-03 9.98806312e-01 3.71207683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:75.00, Z:3.71 [[ 4.37509852e-01 -8.98980063e-01 -2.04933194e-02 1.10207324e+02] [ 8.97838581e-01 4.37987236e-01 -4.53107509e-02 7.49952449e+01] [ 4.97092740e-02 1.42420712e-03 9.98762714e-01 3.71242046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:75.02, Z:3.71 [[ 4.39220881e-01 -8.98138495e-01 -2.07908867e-02 1.10216548e+02] [ 8.96960981e-01 4.39709928e-01 -4.60019393e-02 7.50223686e+01] [ 5.04580718e-02 1.55639815e-03 9.98724967e-01 3.71258859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:75.05, Z:3.71 [[ 4.42153069e-01 -8.96681376e-01 -2.15214452e-02 1.10222328e+02] [ 8.95416075e-01 4.42672873e-01 -4.76527055e-02 7.50499890e+01] [ 5.22562536e-02 1.79914199e-03 9.98632088e-01 3.71250899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:75.08, Z:3.71 [[ 4.43032581e-01 -8.96244951e-01 -2.16129769e-02 1.10230392e+02] [ 8.94966478e-01 4.43555493e-01 -4.78907982e-02 7.50763621e+01] [ 5.25084407e-02 1.87429414e-03 9.98618721e-01 3.71264475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:75.10, Z:3.71 [[ 4.44248121e-01 -8.95636091e-01 -2.18997607e-02 1.10241905e+02] [ 8.94320906e-01 4.44783142e-01 -4.85600123e-02 7.51018694e+01] [ 5.32327439e-02 1.98728036e-03 9.98580155e-01 3.71495810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:75.13, Z:3.72 [[ 4.44702982e-01 -8.95404922e-01 -2.21197389e-02 1.10251308e+02] [ 8.94060959e-01 4.45248041e-01 -4.90834445e-02 7.51284350e+01] [ 5.37983282e-02 2.05115919e-03 9.98549715e-01 3.71617823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:75.15, Z:3.72 [[ 4.43934693e-01 -8.95783505e-01 -2.22238727e-02 1.10261161e+02] [ 8.94425414e-01 4.44485984e-01 -4.93496706e-02 7.51541410e+01] [ 5.40848208e-02 2.03043435e-03 9.98534281e-01 3.71679014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:75.18, Z:3.72 [[ 4.42605610e-01 -8.96436873e-01 -2.23876449e-02 1.10273910e+02] [ 8.95057454e-01 4.43167017e-01 -4.97508776e-02 7.51799464e+01] [ 5.45199870e-02 1.98178911e-03 9.98510713e-01 3.71759844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:75.20, Z:3.72 [[ 4.39314840e-01 -8.98045163e-01 -2.27454727e-02 1.10287733e+02] [ 8.96621357e-01 4.39899471e-01 -5.05825898e-02 7.52043432e+01] [ 5.54311715e-02 1.82760574e-03 9.98460838e-01 3.71875685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:75.23, Z:3.72 [[ 4.37060433e-01 -8.99139414e-01 -2.29454260e-02 1.10301323e+02] [ 8.97689861e-01 4.37658949e-01 -5.10642497e-02 7.52298220e+01] [ 5.59561505e-02 1.72028680e-03 9.98431745e-01 3.71979168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:75.25, Z:3.72 [[ 4.34892260e-01 -9.00190576e-01 -2.29270240e-02 1.10314303e+02] [ 8.98742891e-01 4.35493249e-01 -5.10572925e-02 7.52547575e+01] [ 5.59458577e-02 1.59892145e-03 9.98432524e-01 3.72125450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:75.28, Z:3.72 [[ 4.32740797e-01 -9.01223767e-01 -2.30461243e-02 1.10327466e+02] [ 8.99760404e-01 4.33351479e-01 -5.13586510e-02 7.52799100e+01] [ 5.62727089e-02 1.48899344e-03 9.98414325e-01 3.72290692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:75.30, Z:3.73 [[ 4.29011924e-01 -9.03010885e-01 -2.28059415e-02 1.10342866e+02] [ 9.01578425e-01 4.29615829e-01 -5.08584527e-02 7.53043694e+01] [ 5.57235298e-02 1.25753785e-03 9.98445445e-01 3.72507257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:75.33, Z:3.73 [[ 4.27018899e-01 -9.03962096e-01 -2.25252909e-02 1.10357025e+02] [ 9.02564144e-01 4.27611088e-01 -5.02665246e-02 7.53295509e+01] [ 5.50710970e-02 1.13423608e-03 9.98481791e-01 3.72703406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.37, Y:75.35, Z:3.73 [[ 4.25346160e-01 -9.04752501e-01 -2.24400412e-02 1.10368613e+02] [ 9.03364455e-01 4.25936411e-01 -5.01082259e-02 7.53539302e+01] [ 5.48935734e-02 1.04180589e-03 9.98491668e-01 3.72835321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:75.38, Z:3.73 [[ 4.23776798e-01 -9.05488102e-01 -2.24615940e-02 1.10382839e+02] [ 9.04096819e-01 4.24370565e-01 -5.01853156e-02 7.53777997e+01] [ 5.49742455e-02 9.59916642e-04 9.98487311e-01 3.73127531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:75.40, Z:3.73 [[ 4.22863063e-01 -9.05908947e-01 -2.27114508e-02 1.10392857e+02] [ 9.04484902e-01 4.23471499e-01 -5.07833731e-02 7.54030401e+01] [ 5.56227642e-02 9.32248315e-04 9.98451420e-01 3.73056977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:75.43, Z:3.73 [[ 4.22413065e-01 -9.06116653e-01 -2.27994347e-02 1.10404033e+02] [ 9.04679576e-01 4.23026896e-01 -5.10206755e-02 7.54283037e+01] [ 5.58754578e-02 9.25616979e-04 9.98437317e-01 3.73158875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:75.45, Z:3.73 [[ 4.22338656e-01 -9.06148273e-01 -2.29208962e-02 1.10415198e+02] [ 9.04693773e-01 4.22959123e-01 -5.13298841e-02 7.54539557e+01] [ 5.62070879e-02 9.42202194e-04 9.98418687e-01 3.73231526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:75.48, Z:3.73 [[ 4.22802522e-01 -9.05924038e-01 -2.32306986e-02 1.10425862e+02] [ 9.04427431e-01 4.23439058e-01 -5.20613700e-02 7.54799770e+01] [ 5.70004316e-02 1.00119752e-03 9.98373652e-01 3.73280111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:75.51, Z:3.73 [[ 4.23064286e-01 -9.05799255e-01 -2.33306471e-02 1.10437253e+02] [ 9.04287441e-01 4.23705832e-01 -5.23219953e-02 7.55052613e+01] [ 5.72785556e-02 1.03795640e-03 9.98357696e-01 3.73420690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:75.53, Z:3.74 [[ 4.23468513e-01 -9.05609679e-01 -2.33565153e-02 1.10447050e+02] [ 9.04091967e-01 4.24110762e-01 -5.24192365e-02 7.55309554e+01] [ 5.73771175e-02 1.08145833e-03 9.98351990e-01 3.73504099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:75.56, Z:3.74 [[ 4.24041621e-01 -9.05339921e-01 -2.34164842e-02 1.10458452e+02] [ 9.03811680e-01 4.24686158e-01 -5.25938537e-02 7.55574011e+01] [ 5.75599720e-02 1.13789104e-03 9.98341402e-01 3.73701639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:75.58, Z:3.74 [[ 4.25088894e-01 -9.04854490e-01 -2.31901810e-02 1.10468616e+02] [ 9.03352895e-01 4.25719267e-01 -5.21215085e-02 7.55841092e+01] [ 5.70348879e-02 1.20735728e-03 9.98371456e-01 3.73898763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:75.61, Z:3.74 [[ 4.25792347e-01 -9.04518599e-01 -2.33876353e-02 1.10478924e+02] [ 9.02988841e-01 4.26432259e-01 -5.25992512e-02 7.56100732e+01] [ 5.75502431e-02 1.27758493e-03 9.98341794e-01 3.74020838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:75.64, Z:3.74 [[ 4.26022066e-01 -9.04402771e-01 -2.36817819e-02 1.10490416e+02] [ 9.02832458e-01 4.26677726e-01 -5.32885691e-02 7.56357785e+01] [ 5.82988184e-02 1.32142502e-03 9.98298303e-01 3.74111747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:75.66, Z:3.74 [[ 4.25923801e-01 -9.04441567e-01 -2.39659481e-02 1.10502454e+02] [ 9.02831075e-01 4.26595397e-01 -5.39668222e-02 7.56613339e+01] [ 5.90336004e-02 1.34855137e-03 9.98255085e-01 3.74282997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:75.69, Z:3.74 [[ 4.25382990e-01 -9.04685663e-01 -2.43549211e-02 1.10514116e+02] [ 9.03020326e-01 4.26077479e-01 -5.48841771e-02 7.56870102e+01] [ 6.00300115e-02 1.35380659e-03 9.98195655e-01 3.74332248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:75.71, Z:3.74 [[ 4.24925446e-01 -9.04895386e-01 -2.45500706e-02 1.10525488e+02] [ 9.03201021e-01 4.25631896e-01 -5.53660922e-02 7.57116942e+01] [ 6.05498144e-02 1.35281256e-03 9.98164260e-01 3.74379801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:75.74, Z:3.74 [[ 4.24202663e-01 -9.05228363e-01 -2.47731929e-02 1.10537506e+02] [ 9.03500932e-01 4.24923318e-01 -5.59127827e-02 7.57369011e+01] [ 6.11405441e-02 1.33574841e-03 9.98128273e-01 3.74494015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:75.76, Z:3.75 [[ 4.23631249e-01 -9.05494736e-01 -2.48162748e-02 1.10550606e+02] [ 9.03759219e-01 4.24355450e-01 -5.60511022e-02 7.57617095e+01] [ 6.12848995e-02 1.31706129e-03 9.98119445e-01 3.74694149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:75.79, Z:3.75 [[ 4.24027192e-01 -9.05310726e-01 -2.47674985e-02 1.10563655e+02] [ 9.03579184e-01 4.24747741e-01 -5.59822700e-02 7.57860476e+01] [ 6.12012886e-02 1.35860866e-03 9.98124520e-01 3.75022195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:75.81, Z:3.75 [[ 4.24262874e-01 -9.05202975e-01 -2.46695700e-02 1.10574905e+02] [ 9.03482371e-01 4.24977236e-01 -5.58028122e-02 7.58107361e+01] [ 6.09968773e-02 1.38653982e-03 9.98136994e-01 3.75182733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:75.84, Z:3.75 [[ 4.24876635e-01 -9.04914462e-01 -2.46913111e-02 1.10587130e+02] [ 9.03187736e-01 4.25591026e-01 -5.58944783e-02 7.58366884e+01] [ 6.10881222e-02 1.44736848e-03 9.98131327e-01 3.75335656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:75.86, Z:3.75 [[ 4.25490832e-01 -9.04620594e-01 -2.48823717e-02 1.10598682e+02] [ 9.02864071e-01 4.26215059e-01 -5.63665919e-02 7.58626744e+01] [ 6.15956213e-02 1.51806866e-03 9.98100033e-01 3.75402049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:75.89, Z:3.76 [[ 4.27331150e-01 -9.03741542e-01 -2.52846502e-02 1.10610697e+02] [ 9.01923645e-01 4.28075195e-01 -5.73181145e-02 7.58886658e+01] [ 6.26244928e-02 1.68899195e-03 9.98035731e-01 3.75528911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:75.91, Z:3.76 [[ 4.28203339e-01 -9.03328956e-01 -2.52724488e-02 1.10623466e+02] [ 9.01509576e-01 4.28944843e-01 -5.73306724e-02 7.59136922e+01] [ 6.26289430e-02 1.76583077e-03 9.98035319e-01 3.75767109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:75.94, Z:3.76 [[ 4.28917213e-01 -9.02986952e-01 -2.53887599e-02 1.10632982e+02] [ 9.01147574e-01 4.29664022e-01 -5.76357392e-02 7.59395627e+01] [ 6.29529572e-02 1.84194128e-03 9.98014796e-01 3.75779472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:75.97, Z:3.76 [[ 4.29460032e-01 -9.02722820e-01 -2.56045154e-02 1.10644715e+02] [ 9.00848959e-01 4.30218370e-01 -5.81662018e-02 7.59653279e+01] [ 6.35234906e-02 1.91425787e-03 9.97978508e-01 3.75909113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:75.99, Z:3.76 [[ 4.30224965e-01 -9.02356087e-01 -2.56899180e-02 1.10657521e+02] [ 9.00466410e-01 4.30986683e-01 -5.84013965e-02 7.59909181e+01] [ 6.37708682e-02 1.99283054e-03 9.97962577e-01 3.76035469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:76.02, Z:3.76 [[ 4.29961811e-01 -9.02477562e-01 -2.58281223e-02 1.10668613e+02] [ 9.00564912e-01 4.30732207e-01 -5.87588763e-02 7.60157254e+01] [ 6.41535715e-02 2.00417216e-03 9.97938025e-01 3.76132513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:76.04, Z:3.76 [[ 4.29608595e-01 -9.02645627e-01 -2.58326878e-02 1.10681140e+02] [ 9.00729654e-01 4.30379921e-01 -5.88150815e-02 7.60409441e+01] [ 6.42070462e-02 1.99919654e-03 9.97934596e-01 3.76294132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:76.07, Z:3.77 [[ 4.28699061e-01 -9.03076120e-01 -2.58966448e-02 1.10695165e+02] [ 9.01148563e-01 4.29476058e-01 -5.90049394e-02 7.60654448e+01] [ 6.44079406e-02 1.95863786e-03 9.97921731e-01 3.76513189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:76.09, Z:3.77 [[ 4.28143481e-01 -9.03341489e-01 -2.58324398e-02 1.10709851e+02] [ 9.01421083e-01 4.28917728e-01 -5.89034303e-02 7.60899421e+01] [ 6.42899038e-02 1.93321377e-03 9.97929392e-01 3.76862830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:76.12, Z:3.77 [[ 4.27408686e-01 -9.03696492e-01 -2.55825260e-02 1.10719774e+02] [ 9.01810857e-01 4.28169490e-01 -5.83786355e-02 7.61157381e+01] [ 6.37102253e-02 1.88093621e-03 9.97966667e-01 3.76817808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:76.14, Z:3.77 [[ 4.26654443e-01 -9.04055447e-01 -2.54899093e-02 1.10731155e+02] [ 9.02181251e-01 4.27411236e-01 -5.82119060e-02 7.61400871e+01] [ 6.35214643e-02 1.83985012e-03 9.97978777e-01 3.76952424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:76.16, Z:3.77 [[ 4.25322662e-01 -9.04682111e-01 -2.55129440e-02 1.10745438e+02] [ 9.02802842e-01 4.26083508e-01 -5.83084170e-02 7.61642544e+01] [ 6.36212265e-02 1.76673283e-03 9.97972554e-01 3.77152821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:76.19, Z:3.77 [[ 4.24593962e-01 -9.05017057e-01 -2.57700269e-02 1.10758134e+02] [ 9.03097501e-01 4.25371667e-01 -5.89393670e-02 7.61897189e+01] [ 6.43029718e-02 1.75245250e-03 9.97928884e-01 3.77295549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:76.22, Z:3.77 [[ 4.23701901e-01 -9.05441690e-01 -2.55351703e-02 1.10770326e+02] [ 9.03555316e-01 4.24467305e-01 -5.84405528e-02 7.62151781e+01] [ 6.37533579e-02 1.68893443e-03 9.97964256e-01 3.77428690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:76.24, Z:3.78 [[ 4.22883240e-01 -9.05829248e-01 -2.53601977e-02 1.10782726e+02] [ 9.03967333e-01 4.23639833e-01 -5.80719606e-02 7.62400426e+01] [ 6.33468703e-02 1.63286859e-03 9.97990234e-01 3.77665662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:76.26, Z:3.78 [[ 4.21069301e-01 -9.06679577e-01 -2.51552847e-02 1.10796205e+02] [ 9.04846472e-01 4.21817332e-01 -5.76454720e-02 7.62645666e+01] [ 6.28769072e-02 1.51106803e-03 9.98020146e-01 3.77872294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.81, Y:76.29, Z:3.78 [[ 4.20274676e-01 -9.07046297e-01 -2.52232514e-02 1.10808279e+02] [ 9.05201424e-01 4.21028306e-01 -5.78407081e-02 7.62893054e+01] [ 6.30839029e-02 1.47686172e-03 9.98007134e-01 3.78001696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:76.31, Z:3.78 [[ 4.19140875e-01 -9.07565104e-01 -2.54265293e-02 1.10821212e+02] [ 9.05689041e-01 4.19908979e-01 -5.83421821e-02 7.63138906e+01] [ 6.36261565e-02 1.42506430e-03 9.97972786e-01 3.78152974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:76.34, Z:3.78 [[ 4.17995022e-01 -9.08089483e-01 -2.55666205e-02 1.10833263e+02] [ 9.06190768e-01 4.18773936e-01 -5.87084562e-02 7.63388250e+01] [ 6.40191659e-02 1.37160695e-03 9.97947727e-01 3.78245646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.85, Y:76.36, Z:3.78 [[ 4.16126354e-01 -9.08947888e-01 -2.55459331e-02 1.10847158e+02] [ 9.07050859e-01 4.16907848e-01 -5.87076312e-02 7.63630834e+01] [ 6.40124773e-02 1.25833201e-03 9.97948305e-01 3.78440068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:76.39, Z:3.78 [[ 4.15165292e-01 -9.09391011e-01 -2.54119761e-02 1.10857253e+02] [ 9.07511887e-01 4.15940553e-01 -5.84433980e-02 7.63878481e+01] [ 6.37177722e-02 1.20200003e-03 9.97967234e-01 3.78398337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:76.41, Z:3.79 [[ 4.14194410e-01 -9.09837712e-01 -2.52651689e-02 1.10870440e+02] [ 9.07978312e-01 4.14962682e-01 -5.81494428e-02 7.64127850e+01] [ 6.33906582e-02 1.14494875e-03 9.97988133e-01 3.78678541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:76.44, Z:3.79 [[ 4.12692039e-01 -9.10528643e-01 -2.49573802e-02 1.10883749e+02] [ 9.08712922e-01 4.13444677e-01 -5.74832587e-02 7.64377341e+01] [ 6.26586496e-02 1.04378935e-03 9.98034470e-01 3.78912361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.90, Y:76.46, Z:3.79 [[ 4.11867172e-01 -9.10900448e-01 -2.50161286e-02 1.10895904e+02] [ 9.09074142e-01 4.12624962e-01 -5.76614644e-02 7.64631252e+01] [ 6.28461329e-02 1.00734862e-03 9.98022720e-01 3.79154910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:76.49, Z:3.79 [[ 4.11016377e-01 -9.11289956e-01 -2.48224429e-02 1.10907785e+02] [ 9.09489891e-01 4.11764129e-01 -5.72576751e-02 7.64881539e+01] [ 6.23993358e-02 9.58081226e-04 9.98050803e-01 3.79362931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:76.51, Z:3.79 [[ 4.10768066e-01 -9.11402338e-01 -2.48067443e-02 1.10918672e+02] [ 9.09602066e-01 4.11515322e-01 -5.72644764e-02 7.65135255e+01] [ 6.23993330e-02 9.58152335e-04 9.98050803e-01 3.79483531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:76.54, Z:3.80 [[ 4.10080282e-01 -9.11717934e-01 -2.45880216e-02 1.10929613e+02] [ 9.09947251e-01 4.10815729e-01 -5.68017312e-02 7.65393048e+01] [ 6.18883030e-02 9.19467255e-04 9.98082658e-01 3.79599532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.94, Y:76.57, Z:3.80 [[ 4.09348147e-01 -9.12053689e-01 -2.43344057e-02 1.10940842e+02] [ 9.10317422e-01 4.10069873e-01 -5.62573562e-02 7.65653398e+01] [ 6.12885359e-02 8.76811086e-04 9.98119706e-01 3.79723010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:76.59, Z:3.80 [[ 4.08584449e-01 -9.12404206e-01 -2.40273459e-02 1.10953033e+02] [ 9.10709612e-01 4.09289475e-01 -5.55889132e-02 7.65910574e+01] [ 6.05536980e-02 8.30830552e-04 9.98164595e-01 3.80013499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:76.62, Z:3.80 [[ 4.07671129e-01 -9.12816416e-01 -2.38839156e-02 1.10963174e+02] [ 9.11140131e-01 4.08369414e-01 -5.52999490e-02 7.66165945e+01] [ 6.02321619e-02 7.82598606e-04 9.98184088e-01 3.80108388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.98, Y:76.64, Z:3.80 [[ 4.03218398e-01 -9.14788102e-01 -2.40343842e-02 1.10975241e+02] [ 9.13091421e-01 4.03933742e-01 -5.56919061e-02 7.66420501e+01] [ 6.06545919e-02 5.10411104e-04 9.98158685e-01 3.80114159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:76.67, Z:3.80 [[ 4.01873000e-01 -9.15384707e-01 -2.38522654e-02 1.10986637e+02] [ 9.13712469e-01 4.02579995e-01 -5.53070621e-02 7.66663196e+01] [ 6.02296837e-02 4.32302633e-04 9.98184451e-01 3.80296148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:76.69, Z:3.81 [[ 4.00564488e-01 -9.15960087e-01 -2.37741312e-02 1.10998282e+02] [ 9.14297825e-01 4.01269224e-01 -5.51588384e-02 7.66916346e+01] [ 6.00631217e-02 3.58035417e-04 9.98194517e-01 3.80515777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.546875 meters Centerline goodness [0,1] 0.9999516873203372 Centerline is valid? [True, True] Translation: X:111.01, Y:76.72, Z:3.81 [[ 3.99550292e-01 -9.16393742e-01 -2.41262025e-02 1.11009003e+02] [ 9.14680077e-01 4.00277917e-01 -5.60173695e-02 7.67171622e+01] [ 6.09911530e-02 3.13999608e-04 9.98138257e-01 3.80610301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:76.74, Z:3.81 [[ 3.98686988e-01 -9.16762747e-01 -2.43875320e-02 1.11018394e+02] [ 9.15009793e-01 3.99432084e-01 -5.66664710e-02 7.67434442e+01] [ 6.16908723e-02 2.77354075e-04 9.98095266e-01 3.80802415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:76.77, Z:3.81 [[ 3.98546953e-01 -9.16820875e-01 -2.44910129e-02 1.11027856e+02] [ 9.15050363e-01 3.99298636e-01 -5.69511366e-02 7.67690624e+01] [ 6.19932189e-02 2.87191673e-04 9.98076529e-01 3.80785767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:76.79, Z:3.81 [[ 3.98606244e-01 -9.16796269e-01 -2.44471590e-02 1.11038161e+02] [ 9.15029270e-01 3.99355113e-01 -5.68940101e-02 7.67948403e+01] [ 6.19233141e-02 3.08441633e-04 9.98080862e-01 3.80900655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:76.82, Z:3.81 [[ 3.99629512e-01 -9.16356335e-01 -2.42347160e-02 1.11047873e+02] [ 9.14616526e-01 4.00363479e-01 -5.64419510e-02 7.68216180e+01] [ 6.14236346e-02 3.90397614e-04 9.98111710e-01 3.81168827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:76.85, Z:3.81 [[ 4.00138483e-01 -9.16140558e-01 -2.39931705e-02 1.11057062e+02] [ 9.14432308e-01 4.00856942e-01 -5.59219720e-02 7.68470498e+01] [ 6.08502156e-02 4.36402825e-04 9.98146813e-01 3.81303654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.07, Y:76.87, Z:3.82 [[ 4.00801381e-01 -9.15853646e-01 -2.38820451e-02 1.11066995e+02] [ 9.14158034e-01 4.01511959e-01 -5.57066844e-02 7.68736302e+01] [ 6.06080968e-02 4.95352619e-04 9.98161517e-01 3.81506604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters Centerline goodness [0,1] 0.9999283616304893 Centerline is valid? [True, True] Translation: X:111.08, Y:76.90, Z:3.82 [[ 4.01875494e-01 -9.15384541e-01 -2.38165617e-02 1.11075985e+02] [ 9.13694821e-01 4.02580182e-01 -5.55965056e-02 7.68995749e+01] [ 6.04802575e-02 5.81804049e-04 9.98169224e-01 3.81626035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:76.93, Z:3.82 [[ 4.04999068e-01 -9.14007524e-01 -2.37907933e-02 1.11082765e+02] [ 9.12316465e-01 4.05696437e-01 -5.55793944e-02 7.69274191e+01] [ 6.04518247e-02 8.04870490e-04 9.98170792e-01 3.81818616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:76.95, Z:3.82 [[ 4.07229199e-01 -9.13026493e-01 -2.33880746e-02 1.11090372e+02] [ 9.11388544e-01 4.07899157e-01 -5.46735738e-02 7.69540733e+01] [ 5.94583973e-02 9.49052371e-04 9.98230333e-01 3.81934553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.10, Y:76.98, Z:3.82 [[ 4.09132394e-01 -9.12179768e-01 -2.32110893e-02 1.11099009e+02] [ 9.10563485e-01 4.09788863e-01 -5.42883703e-02 7.69807068e+01] [ 5.90323989e-02 1.07596046e-03 9.98255487e-01 3.82141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:77.01, Z:3.82 [[ 4.10579837e-01 -9.11534271e-01 -2.30102162e-02 1.11107556e+02] [ 9.09942657e-01 4.11222438e-01 -5.38559933e-02 7.70074803e+01] [ 5.85539008e-02 1.17420765e-03 9.98283558e-01 3.82287709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:77.04, Z:3.82 [[ 4.12949291e-01 -9.10467521e-01 -2.28424127e-02 1.11114710e+02] [ 9.08895138e-01 4.13578430e-01 -5.35024330e-02 7.70358250e+01] [ 5.81593567e-02 1.33243387e-03 9.98306423e-01 3.82297879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:77.06, Z:3.82 [[ 4.13436082e-01 -9.10251248e-01 -2.26554914e-02 1.11124525e+02] [ 9.08701971e-01 4.14054097e-01 -5.31030328e-02 7.70616629e+01] [ 5.77177009e-02 1.36762013e-03 9.98332007e-01 3.82370215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.13, Y:77.09, Z:3.82 [[ 4.13882723e-01 -9.10056334e-01 -2.23284764e-02 1.11133390e+02] [ 9.08548992e-01 4.14482250e-01 -5.23755069e-02 7.70869636e+01] [ 5.69194189e-02 1.39080272e-03 9.98377807e-01 3.82447155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:77.11, Z:3.83 [[ 4.13734646e-01 -9.10131254e-01 -2.20169039e-02 1.11144503e+02] [ 9.08664093e-01 4.14317769e-01 -5.16754567e-02 7.71130583e+01] [ 5.61534427e-02 1.37395681e-03 9.98421205e-01 3.82598788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:77.14, Z:3.83 [[ 4.13360047e-01 -9.10314387e-01 -2.14752878e-02 1.11154882e+02] [ 9.08916774e-01 4.13915383e-01 -5.04415928e-02 7.71388665e+01] [ 5.48066597e-02 1.33128984e-03 9.98496098e-01 3.82722538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:77.17, Z:3.83 [[ 4.12962179e-01 -9.10503995e-01 -2.10882537e-02 1.11165811e+02] [ 9.09154603e-01 4.13498236e-01 -4.95693061e-02 7.71651479e+01] [ 5.38530069e-02 1.29776572e-03 9.98548031e-01 3.82827279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:77.19, Z:3.83 [[ 4.11899674e-01 -9.10989321e-01 -2.09073214e-02 1.11177292e+02] [ 9.09661646e-01 4.12428081e-01 -4.91809638e-02 7.71902175e+01] [ 5.34260993e-02 1.23903450e-03 9.98571037e-01 3.82858088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:77.22, Z:3.83 [[ 4.11193378e-01 -9.11307127e-01 -2.09601221e-02 1.11190813e+02] [ 9.09971107e-01 4.11725444e-01 -4.93431241e-02 7.72150143e+01] [ 5.35965562e-02 1.21646035e-03 9.98561931e-01 3.83040984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.20, Y:77.24, Z:3.83 [[ 4.10827362e-01 -9.11480092e-01 -2.06135834e-02 1.11201792e+02] [ 9.10186163e-01 4.11342468e-01 -4.85646212e-02 7.72398847e+01] [ 5.27449277e-02 1.18947682e-03 9.98607309e-01 3.83162527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:77.26, Z:3.83 [[ 4.10208060e-01 -9.11760085e-01 -2.05643970e-02 1.11212590e+02] [ 9.10470733e-01 4.10721545e-01 -4.84856412e-02 7.72645125e+01] [ 5.26535132e-02 1.16591915e-03 9.98612161e-01 3.83241429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:77.29, Z:3.83 [[ 4.09093030e-01 -9.12266827e-01 -2.03009731e-02 1.11226369e+02] [ 9.11009498e-01 4.09594960e-01 -4.78922088e-02 7.72890841e+01] [ 5.20056496e-02 1.09798948e-03 9.98646187e-01 3.83339556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.24, Y:77.31, Z:3.83 [[ 4.08474138e-01 -9.12550250e-01 -2.00229833e-02 1.11238196e+02] [ 9.11325680e-01 4.08963219e-01 -4.72714558e-02 7.73141680e+01] [ 5.13262425e-02 1.06170831e-03 9.98681375e-01 3.83450165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:77.34, Z:3.84 [[ 4.08338637e-01 -9.12615308e-01 -1.98206126e-02 1.11249687e+02] [ 9.11413687e-01 4.08818030e-01 -4.68285011e-02 7.73403028e+01] [ 5.08394307e-02 1.05710870e-03 9.98706281e-01 3.83535083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.26, Y:77.36, Z:3.84 [[ 4.07709271e-01 -9.12898104e-01 -1.97535405e-02 1.11262212e+02] [ 9.11703234e-01 4.08186216e-01 -4.67035969e-02 7.73642043e+01] [ 5.06987480e-02 1.03212263e-03 9.98713458e-01 3.83648925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:77.39, Z:3.84 [[ 4.07381199e-01 -9.13044212e-01 -1.97693386e-02 1.11275439e+02] [ 9.11846221e-01 4.07859308e-01 -4.67680801e-02 7.73893788e+01] [ 5.07644335e-02 1.02583985e-03 9.98710128e-01 3.83778896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:77.41, Z:3.84 [[ 4.07085438e-01 -9.13178622e-01 -1.96532471e-02 1.11286310e+02] [ 9.11993013e-01 4.07558300e-01 -4.65292937e-02 7.74146082e+01] [ 5.04994003e-02 1.01777382e-03 9.98723573e-01 3.83859107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.30, Y:77.44, Z:3.84 [[ 4.06058805e-01 -9.13636270e-01 -1.96217517e-02 1.11295897e+02] [ 9.12453105e-01 4.06531446e-01 -4.64920898e-02 7.74400181e+01] [ 5.04537186e-02 9.74594164e-04 9.98725925e-01 3.83855472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:77.46, Z:3.84 [[ 4.05618472e-01 -9.13838858e-01 -1.92923724e-02 1.11308675e+02] [ 9.12693615e-01 4.06075908e-01 -4.57462800e-02 7.74646814e+01] [ 4.96388959e-02 9.47511136e-04 9.98766781e-01 3.83998396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:77.49, Z:3.84 [[ 4.05386145e-01 -9.13943958e-01 -1.91967258e-02 1.11320006e+02] [ 9.12808280e-01 4.05839312e-01 -4.55576276e-02 7.74906601e+01] [ 4.94279045e-02 9.45500774e-04 9.98777247e-01 3.84105931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:77.52, Z:3.84 [[ 4.05473770e-01 -9.13908768e-01 -1.90206460e-02 1.11331150e+02] [ 9.12792138e-01 4.05918528e-01 -4.51736746e-02 7.75169776e+01] [ 4.90054499e-02 9.54843969e-04 9.98798055e-01 3.84175397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:77.54, Z:3.84 [[ 4.05511186e-01 -9.13891683e-01 -1.90439185e-02 1.11342569e+02] [ 9.12770606e-01 4.05956953e-01 -4.52633722e-02 7.75426885e+01] [ 4.90968305e-02 9.72074708e-04 9.98793550e-01 3.84320573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:77.57, Z:3.84 [[ 4.04929611e-01 -9.14158369e-01 -1.86141340e-02 1.11354498e+02] [ 9.13086029e-01 4.05356148e-01 -4.42752350e-02 7.75684824e+01] [ 4.80199303e-02 9.32047949e-04 9.98845943e-01 3.84420628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:77.59, Z:3.85 [[ 4.04603842e-01 -9.14307504e-01 -1.83717113e-02 1.11365810e+02] [ 9.13261480e-01 4.05019690e-01 -4.37323723e-02 7.75946690e+01] [ 4.74257409e-02 9.16109588e-04 9.98874346e-01 3.84558274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:77.62, Z:3.85 [[ 4.04199868e-01 -9.14479683e-01 -1.86915988e-02 1.11376436e+02] [ 9.13395353e-01 4.04630759e-01 -4.45295049e-02 7.76196310e+01] [ 4.82845233e-02 9.26000458e-04 9.98833193e-01 3.84539274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:77.64, Z:3.85 [[ 4.03846275e-01 -9.14632289e-01 -1.88669804e-02 1.11387179e+02] [ 9.13525889e-01 4.04285679e-01 -4.49837837e-02 7.76448902e+01] [ 4.87712710e-02 9.31058420e-04 9.98809540e-01 3.84571277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:77.67, Z:3.85 [[ 4.03522158e-01 -9.14776397e-01 -1.88151938e-02 1.11398432e+02] [ 9.13674956e-01 4.03959520e-01 -4.48863065e-02 7.76703520e+01] [ 4.86615104e-02 9.21647860e-04 9.98814902e-01 3.84654096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:77.70, Z:3.85 [[ 4.02784755e-01 -9.15106734e-01 -1.85501180e-02 1.11410063e+02] [ 9.14034882e-01 4.03210722e-01 -4.42871177e-02 7.76962036e+01] [ 4.80070461e-02 8.82720930e-04 9.98846607e-01 3.84772640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:77.72, Z:3.85 [[ 4.01855305e-01 -9.15521725e-01 -1.82286772e-02 1.11421435e+02] [ 9.14485601e-01 4.02267671e-01 -4.35523375e-02 7.77220036e+01] [ 4.72059187e-02 8.31875072e-04 9.98884833e-01 3.84895803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:77.75, Z:3.85 [[ 4.00513241e-01 -9.16109750e-01 -1.82227631e-02 1.11433511e+02] [ 9.15073342e-01 4.00926831e-01 -4.35712552e-02 7.77471560e+01] [ 4.72220463e-02 7.75699903e-04 9.98884116e-01 3.84975129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:77.77, Z:3.85 [[ 3.99637750e-01 -9.16496462e-01 -1.79973428e-02 1.11445286e+02] [ 9.15484437e-01 4.00042119e-01 -4.30644658e-02 7.77725294e+01] [ 4.66681257e-02 7.33899030e-04 9.98910180e-01 3.85101452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:77.80, Z:3.85 [[ 3.99507534e-01 -9.16551357e-01 -1.80925334e-02 1.11456399e+02] [ 9.15527136e-01 3.99916311e-01 -4.33244413e-02 7.77978993e+01] [ 4.69445747e-02 7.44235371e-04 9.98897218e-01 3.85262940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:77.82, Z:3.85 [[ 3.99498432e-01 -9.16558602e-01 -1.79257527e-02 1.11467250e+02] [ 9.15552222e-01 3.99899706e-01 -4.29459364e-02 7.78241493e+01] [ 4.65309707e-02 7.44871509e-04 9.98916570e-01 3.85385175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:77.85, Z:3.85 [[ 4.01000321e-01 -9.15904068e-01 -1.78460366e-02 1.11477809e+02] [ 9.14904465e-01 4.01396374e-01 -4.27875191e-02 7.78506820e+01] [ 4.63525972e-02 8.30390292e-04 9.98924796e-01 3.85462681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:77.88, Z:3.85 [[ 4.02059256e-01 -9.15439169e-01 -1.78740453e-02 1.11485707e+02] [ 9.14434483e-01 4.02455364e-01 -4.28865577e-02 7.78769846e+01] [ 4.64535402e-02 8.98294171e-04 9.98920048e-01 3.85476152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:77.90, Z:3.85 [[ 4.05147051e-01 -9.14083796e-01 -1.75123077e-02 1.11495044e+02] [ 9.13116794e-01 4.05524010e-01 -4.20475573e-02 7.79043011e+01] [ 4.55366521e-02 1.04466159e-03 9.98962122e-01 3.85476832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:77.93, Z:3.86 [[ 4.06334873e-01 -9.13553546e-01 -1.76603760e-02 1.11503562e+02] [ 9.12568173e-01 4.06716916e-01 -4.24344227e-02 7.79306143e+01] [ 4.59488910e-02 1.12628865e-03 9.98943157e-01 3.85536791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:77.96, Z:3.86 [[ 4.07634273e-01 -9.12968341e-01 -1.79752102e-02 1.11513494e+02] [ 9.11945407e-01 4.08028557e-01 -4.32235054e-02 7.79564902e+01] [ 4.67960911e-02 1.22697179e-03 9.98903709e-01 3.85548423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:77.98, Z:3.86 [[ 4.08469337e-01 -9.12591206e-01 -1.81684433e-02 1.11524720e+02] [ 9.11544050e-01 4.08871134e-01 -4.37245954e-02 7.79830924e+01] [ 4.73312333e-02 1.29882011e-03 9.98878405e-01 3.85582594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:78.01, Z:3.86 [[ 4.05685401e-01 -9.13824828e-01 -1.85347961e-02 1.11536973e+02] [ 9.12734677e-01 4.06106836e-01 -4.46390830e-02 7.80076463e+01] [ 4.83194098e-02 1.19207316e-03 9.98831224e-01 3.85618889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:78.03, Z:3.86 [[ 4.04915740e-01 -9.14168976e-01 -1.83936584e-02 1.11545463e+02] [ 9.13094697e-01 4.05331664e-01 -4.43206071e-02 7.80330127e+01] [ 4.79720562e-02 1.15095943e-03 9.98848015e-01 3.85758385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:78.06, Z:3.86 [[ 4.04749882e-01 -9.14245756e-01 -1.82271841e-02 1.11559407e+02] [ 9.13189516e-01 4.05158475e-01 -4.39490422e-02 7.80571291e+01] [ 4.75651234e-02 1.14349625e-03 9.98867484e-01 3.85978847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:78.08, Z:3.86 [[ 4.04469297e-01 -9.14368000e-01 -1.83234377e-02 1.11569523e+02] [ 9.13299018e-01 4.04882501e-01 -4.42161115e-02 7.80819889e+01] [ 4.78486368e-02 1.14928188e-03 9.98853937e-01 3.85999513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:78.11, Z:3.86 [[ 4.03803175e-01 -9.14659888e-01 -1.84468215e-02 1.11581676e+02] [ 9.13574986e-01 4.04222707e-01 -4.45505148e-02 7.81078554e+01] [ 4.82051930e-02 1.13708465e-03 9.98836807e-01 3.86000502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:78.13, Z:3.86 [[ 4.03543043e-01 -9.14771040e-01 -1.86267769e-02 1.11592615e+02] [ 9.13663245e-01 4.03971068e-01 -4.50205564e-02 7.81333869e+01] [ 4.87081802e-02 1.14913094e-03 9.98812391e-01 3.86099134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:78.16, Z:3.86 [[ 4.03089858e-01 -9.14968914e-01 -1.87203742e-02 1.11602824e+02] [ 9.13848458e-01 4.03522707e-01 -4.52815674e-02 7.81586284e+01] [ 4.89853226e-02 1.14495552e-03 9.98798842e-01 3.86200470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:78.18, Z:3.86 [[ 4.02840930e-01 -9.15078734e-01 -1.87108252e-02 1.11613273e+02] [ 9.13958214e-01 4.03273612e-01 -4.52855129e-02 7.81841817e+01] [ 4.89853919e-02 1.14194581e-03 9.98798842e-01 3.86321231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:78.21, Z:3.86 [[ 4.01892561e-01 -9.15495433e-01 -1.87211691e-02 1.11623321e+02] [ 9.14372396e-01 4.02326844e-01 -4.53456902e-02 7.82098566e+01] [ 4.90458012e-02 1.10597536e-03 9.98795918e-01 3.86407057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:78.23, Z:3.87 [[ 4.01276306e-01 -9.15767511e-01 -1.86331050e-02 1.11636247e+02] [ 9.14653569e-01 4.01707226e-01 -4.51680615e-02 7.82348939e+01] [ 4.88484961e-02 1.08203692e-03 9.98805614e-01 3.86582717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:78.26, Z:3.87 [[ 4.00199698e-01 -9.16233151e-01 -1.88948541e-02 1.11648086e+02] [ 9.15086423e-01 4.00644110e-01 -4.58381563e-02 7.82605717e+01] [ 4.95685504e-02 1.05399182e-03 9.98770168e-01 3.86706620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:78.29, Z:3.87 [[ 3.99297338e-01 -9.16624262e-01 -1.90157388e-02 1.11659657e+02] [ 9.15461468e-01 3.99748557e-01 -4.61669971e-02 7.82862887e+01] [ 4.99193038e-02 1.02618289e-03 9.98752727e-01 3.86806500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:78.31, Z:3.87 [[ 3.97058907e-01 -9.17601026e-01 -1.87771605e-02 1.11672099e+02] [ 9.16466622e-01 3.97501618e-01 -4.56223018e-02 7.83119033e+01] [ 4.93270226e-02 9.06100384e-04 9.98782270e-01 3.86807587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:78.34, Z:3.87 [[ 3.95891909e-01 -9.18106485e-01 -1.87103687e-02 1.11683281e+02] [ 9.16979016e-01 3.96332881e-01 -4.54943010e-02 7.83374643e+01] [ 4.91841472e-02 8.53810165e-04 9.98789363e-01 3.86948356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:78.36, Z:3.87 [[ 3.94761366e-01 -9.18597672e-01 -1.84873145e-02 1.11693968e+02] [ 9.17495820e-01 3.95193221e-01 -4.49859869e-02 7.83623256e+01] [ 4.86300842e-02 7.96695819e-04 9.98816540e-01 3.87103472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.71, Y:78.39, Z:3.87 [[ 3.92084387e-01 -9.19745188e-01 -1.84016786e-02 1.11706618e+02] [ 9.18653497e-01 3.92515413e-01 -4.48040417e-02 7.83870657e+01] [ 4.84312443e-02 6.62198826e-04 9.98826299e-01 3.87346944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.526875 meters Centerline goodness [0,1] 0.9999752720079129 Centerline is valid? [True, True] Translation: X:111.72, Y:78.41, Z:3.88 [[ 3.90935039e-01 -9.20237574e-01 -1.82373772e-02 1.11718454e+02] [ 9.19164192e-01 3.91359727e-01 -4.44381850e-02 7.84130300e+01] [ 4.80310625e-02 6.09299473e-04 9.98845657e-01 3.87524427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:78.44, Z:3.88 [[ 3.89823800e-01 -9.20709034e-01 -1.82285522e-02 1.11729249e+02] [ 9.19635536e-01 3.90249352e-01 -4.44513702e-02 7.84374250e+01] [ 4.80404588e-02 5.64577629e-04 9.98845231e-01 3.87646251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:78.46, Z:3.88 [[ 3.88813105e-01 -9.21136993e-01 -1.81936881e-02 1.11740388e+02] [ 9.20066364e-01 3.89238186e-01 -4.44017996e-02 7.84637179e+01] [ 4.79818183e-02 5.24601097e-04 9.98848071e-01 3.87776985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:78.49, Z:3.88 [[ 3.88534519e-01 -9.21242591e-01 -1.87886933e-02 1.11750952e+02] [ 9.20099178e-01 3.88988167e-01 -4.58879984e-02 7.84901215e+01] [ 4.95825579e-02 5.41610116e-04 9.98769882e-01 3.87837117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.76, Y:78.52, Z:3.88 [[ 3.89053288e-01 -9.21027474e-01 -1.85992477e-02 1.11760521e+02] [ 9.19905056e-01 3.89497189e-01 -4.54601685e-02 7.85164536e+01] [ 4.91144188e-02 5.76886003e-04 9.98792992e-01 3.87999464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.77, Y:78.54, Z:3.88 [[ 3.89870039e-01 -9.20678965e-01 -1.87508905e-02 1.11770040e+02] [ 9.19536006e-01 3.90320169e-01 -4.58661016e-02 7.85426526e+01] [ 4.95468057e-02 6.39699860e-04 9.98771598e-01 3.88151830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:78.57, Z:3.88 [[ 3.92026183e-01 -9.19765369e-01 -1.86316502e-02 1.11775759e+02] [ 9.18634353e-01 3.92467941e-01 -4.56052745e-02 7.85699535e+01] [ 4.92584775e-02 7.62787767e-04 9.98785773e-01 3.88170076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:78.60, Z:3.88 [[ 3.93014102e-01 -9.19338859e-01 -1.88673898e-02 1.11785756e+02] [ 9.18177153e-01 3.93465833e-01 -4.62099005e-02 7.85963908e+01] [ 4.99062304e-02 8.37536255e-04 9.98753557e-01 3.88242810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:78.62, Z:3.88 [[ 3.94471018e-01 -9.18713072e-01 -1.89448528e-02 1.11793415e+02] [ 9.17539272e-01 3.94924572e-01 -4.64356242e-02 7.86222270e+01] [ 5.01428029e-02 9.34861495e-04 9.98741621e-01 3.88273727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:78.65, Z:3.88 [[ 3.95579371e-01 -9.18233295e-01 -1.90938901e-02 1.11802057e+02] [ 9.17038464e-01 3.96038606e-01 -4.68388434e-02 7.86489396e+01] [ 5.05709032e-02 1.01864853e-03 9.98719954e-01 3.88344986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:78.68, Z:3.89 [[ 3.99113256e-01 -9.16701019e-01 -1.91794203e-02 1.11811015e+02] [ 9.15491849e-01 3.99571920e-01 -4.70845573e-02 7.86755414e+01] [ 5.08260195e-02 1.23346803e-03 9.98706761e-01 3.88569464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:78.70, Z:3.89 [[ 4.00376705e-01 -9.16146707e-01 -1.93314567e-02 1.11818625e+02] [ 9.14915770e-01 4.00840922e-01 -4.74940898e-02 7.87012568e+01] [ 5.12603929e-02 1.32887257e-03 9.98684438e-01 3.88658733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:78.73, Z:3.89 [[ 4.01400496e-01 -9.15696462e-01 -1.94327679e-02 1.11828670e+02] [ 9.14450569e-01 4.01868157e-01 -4.77717550e-02 7.87277009e+01] [ 5.15538377e-02 1.40530043e-03 9.98669228e-01 3.88729499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:78.75, Z:3.89 [[ 4.02596958e-01 -9.15168226e-01 -1.95654802e-02 1.11837572e+02] [ 9.13902750e-01 4.03069319e-01 -4.81340599e-02 7.87547291e+01] [ 5.19370070e-02 1.49767995e-03 9.98649240e-01 3.88810952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:78.78, Z:3.89 [[ 4.04425881e-01 -9.14355091e-01 -1.98614055e-02 1.11845224e+02] [ 9.13048070e-01 4.04909957e-01 -4.88993650e-02 7.87820126e+01] [ 5.27534642e-02 1.64175081e-03 9.98606217e-01 3.88907172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:78.81, Z:3.89 [[ 4.04791600e-01 -9.14193225e-01 -1.98622365e-02 1.11854332e+02] [ 9.12883850e-01 4.05275128e-01 -4.89402396e-02 7.88083517e+01] [ 5.27905059e-02 1.67868292e-03 9.98604198e-01 3.88956731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:78.83, Z:3.89 [[ 4.04469211e-01 -9.14334001e-01 -1.99497330e-02 1.11864732e+02] [ 9.13011147e-01 4.04957406e-01 -4.91949653e-02 7.88345788e+01] [ 5.30594216e-02 1.68352020e-03 9.98589938e-01 3.89105423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:78.86, Z:3.89 [[ 4.03500604e-01 -9.14760698e-01 -2.00032057e-02 1.11874451e+02] [ 9.13429138e-01 4.03992760e-01 -4.93665933e-02 7.88601871e+01] [ 5.32397696e-02 1.64793927e-03 9.98580398e-01 3.89212070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:78.89, Z:3.89 [[ 4.02508165e-01 -9.15198693e-01 -1.99631874e-02 1.11883913e+02] [ 9.13870853e-01 4.02999729e-01 -4.93080301e-02 7.88855636e+01] [ 5.31718038e-02 1.60310963e-03 9.98584092e-01 3.89349116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:78.91, Z:3.90 [[ 4.01117465e-01 -9.15808624e-01 -1.99835911e-02 1.11895045e+02] [ 9.14476676e-01 4.01611992e-01 -4.93985400e-02 7.89109961e+01] [ 5.32652588e-02 1.54008919e-03 9.98579211e-01 3.89517930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:78.94, Z:3.90 [[ 3.99869732e-01 -9.16352034e-01 -2.00785269e-02 1.11907240e+02] [ 9.15005865e-01 4.00370736e-01 -4.96743425e-02 7.89358961e+01] [ 5.35580393e-02 1.49129618e-03 9.98563625e-01 3.89706347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:78.96, Z:3.90 [[ 3.97671493e-01 -9.17301807e-01 -2.03661127e-02 1.11917243e+02] [ 9.15915796e-01 3.98190202e-01 -5.04263663e-02 7.89614568e+01] [ 5.43657834e-02 1.39948410e-03 9.98520106e-01 3.89689999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.93, Y:78.99, Z:3.90 [[ 3.96481777e-01 -9.17812126e-01 -2.05694291e-02 1.11927001e+02] [ 9.16396752e-01 3.97012662e-01 -5.09699752e-02 7.89865239e+01] [ 5.49471851e-02 1.35890828e-03 9.98488338e-01 3.89677785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:79.01, Z:3.90 [[ 3.94982443e-01 -9.18449207e-01 -2.09743382e-02 1.11937787e+02] [ 9.16976029e-01 3.95536763e-01 -5.20156748e-02 7.90120614e+01] [ 5.60698772e-02 1.31231296e-03 9.98425985e-01 3.89733624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:79.04, Z:3.90 [[ 3.93917547e-01 -9.18903211e-01 -2.11152706e-02 1.11947467e+02] [ 9.17408466e-01 3.94481012e-01 -5.24064622e-02 7.90371124e+01] [ 5.64860397e-02 1.27249699e-03 9.98402578e-01 3.89781929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:79.06, Z:3.90 [[ 3.91117492e-01 -9.20096599e-01 -2.11980001e-02 1.11960716e+02] [ 9.18589457e-01 3.91689916e-01 -5.26537744e-02 7.90622254e+01] [ 5.67496017e-02 1.12155280e-03 9.98387813e-01 3.90111056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.97, Y:79.09, Z:3.90 [[ 3.89380943e-01 -9.20841370e-01 -2.08243053e-02 1.11972993e+02] [ 9.19385793e-01 3.89936083e-01 -5.17650002e-02 7.90873859e+01] [ 5.57875018e-02 1.01073411e-03 9.98442153e-01 3.90420816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:79.11, Z:3.91 [[ 3.85847668e-01 -9.22338011e-01 -2.03511637e-02 1.11986325e+02] [ 9.20947854e-01 3.86383185e-01 -5.06269111e-02 7.91122572e+01] [ 5.45584720e-02 7.91915082e-04 9.98510263e-01 3.90963743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:79.14, Z:3.91 [[ 3.84306351e-01 -9.22986726e-01 -2.01030656e-02 1.11996241e+02] [ 9.21629043e-01 3.84831138e-01 -5.00489982e-02 7.91375199e+01] [ 5.39308466e-02 7.06578708e-04 9.98544423e-01 3.91109674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:79.16, Z:3.91 [[ 3.82890972e-01 -9.23584923e-01 -1.96314351e-02 1.12006938e+02] [ 9.22288967e-01 3.83393404e-01 -4.89137882e-02 7.91633894e+01] [ 5.27026000e-02 6.22791937e-04 9.98610058e-01 3.91321379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:79.19, Z:3.92 [[ 3.81727020e-01 -9.24072668e-01 -1.93438856e-02 1.12017812e+02] [ 9.22813106e-01 3.82216415e-01 -4.82346693e-02 7.91892159e+01] [ 5.19658902e-02 5.61685407e-04 9.98648702e-01 3.91530261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:79.21, Z:3.92 [[ 3.80506483e-01 -9.24581251e-01 -1.90873474e-02 1.12027405e+02] [ 9.23353576e-01 3.80984593e-01 -4.76331035e-02 7.92143753e+01] [ 5.13126597e-02 5.00334260e-04 9.98682512e-01 3.91777040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:79.24, Z:3.92 [[ 3.80110831e-01 -9.24743896e-01 -1.90914097e-02 1.12036966e+02] [ 9.23513862e-01 3.80589651e-01 -4.76829498e-02 7.92402676e+01] [ 5.13605098e-02 4.93624174e-04 9.98680056e-01 3.91903903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:79.27, Z:3.92 [[ 3.79981116e-01 -9.24801100e-01 -1.89017574e-02 1.12047828e+02] [ 9.23593514e-01 3.80450626e-01 -4.72476695e-02 7.92661727e+01] [ 5.08858822e-02 4.95681623e-04 9.98704351e-01 3.92159968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:79.29, Z:3.92 [[ 3.79787444e-01 -9.24886392e-01 -1.86187861e-02 1.12058355e+02] [ 9.23713009e-01 3.80243240e-01 -4.65763378e-02 7.92924538e+01] [ 5.01574885e-02 4.90693348e-04 9.98741200e-01 3.92404812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:79.32, Z:3.93 [[ 3.79722072e-01 -9.24917601e-01 -1.84005407e-02 1.12068302e+02] [ 9.23769845e-01 3.80167315e-01 -4.60661063e-02 7.93190376e+01] [ 4.96026367e-02 4.94452664e-04 9.98768909e-01 3.92621508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:79.35, Z:3.93 [[ 3.79926929e-01 -9.24831697e-01 -1.84894892e-02 1.12078157e+02] [ 9.23670893e-01 3.80376209e-01 -4.63251619e-02 7.93450709e+01] [ 4.98759399e-02 5.21973493e-04 9.98755284e-01 3.92742395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:79.37, Z:3.93 [[ 3.79992719e-01 -9.24802154e-01 -1.86147518e-02 1.12087439e+02] [ 9.23623656e-01 3.80447999e-01 -4.66761361e-02 7.93700693e+01] [ 5.02481363e-02 5.43566717e-04 9.98736617e-01 3.92782700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:79.40, Z:3.93 [[ 3.80784076e-01 -9.24467332e-01 -1.90693496e-02 1.12097084e+02] [ 9.23228038e-01 3.81260765e-01 -4.78562245e-02 7.93962364e+01] [ 5.15119110e-02 6.17530002e-04 9.98672189e-01 3.92887959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:79.42, Z:3.93 [[ 3.81202687e-01 -9.24298112e-01 -1.89079473e-02 1.12105867e+02] [ 9.23077614e-01 3.81670772e-01 -4.74883228e-02 7.94211252e+01] [ 5.11099779e-02 6.49173394e-04 9.98692820e-01 3.92981912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:79.45, Z:3.93 [[ 3.81597281e-01 -9.24136540e-01 -1.88459847e-02 1.12115343e+02] [ 9.22921663e-01 3.82061758e-01 -4.73752731e-02 7.94467169e+01] [ 5.09815510e-02 6.84907856e-04 9.98699360e-01 3.93170010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:79.47, Z:3.93 [[ 3.81380096e-01 -9.24228272e-01 -1.87436404e-02 1.12126085e+02] [ 9.23024664e-01 3.81839802e-01 -4.71575645e-02 7.94728570e+01] [ 5.07414222e-02 6.84114115e-04 9.98711590e-01 3.93315042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:79.50, Z:3.94 [[ 3.82047592e-01 -9.23957776e-01 -1.84841964e-02 1.12136355e+02] [ 9.22785166e-01 3.82493796e-01 -4.65406592e-02 7.94990745e+01] [ 5.00716944e-02 7.23804546e-04 9.98745364e-01 3.93517275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:79.53, Z:3.94 [[ 3.82074400e-01 -9.23950074e-01 -1.83142901e-02 1.12146518e+02] [ 9.22797124e-01 3.82512385e-01 -4.61491514e-02 7.95251871e+01] [ 4.96449547e-02 7.32035130e-04 9.98766661e-01 3.93671695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:79.55, Z:3.94 [[ 3.82138963e-01 -9.23922666e-01 -1.83499444e-02 1.12156009e+02] [ 9.22763351e-01 3.82578545e-01 -4.62758507e-02 7.95501547e+01] [ 4.97756024e-02 7.51149366e-04 9.98760144e-01 3.93799600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:79.58, Z:3.94 [[ 3.82525159e-01 -9.23763032e-01 -1.83402478e-02 1.12165747e+02] [ 9.22602851e-01 3.82963763e-01 -4.62896963e-02 7.95766947e+01] [ 4.97843605e-02 7.86208490e-04 9.98759680e-01 3.93935213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:79.60, Z:3.94 [[ 3.82831450e-01 -9.23636594e-01 -1.83172984e-02 1.12175131e+02] [ 9.22477355e-01 3.83268545e-01 -4.62682701e-02 7.96035190e+01] [ 4.97555116e-02 8.15655991e-04 9.98761094e-01 3.94018459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:79.63, Z:3.94 [[ 3.83296514e-01 -9.23444142e-01 -1.82947819e-02 1.12183923e+02] [ 9.22285705e-01 3.83731922e-01 -4.62481303e-02 7.96297891e+01] [ 4.97278568e-02 8.53731338e-04 9.98762440e-01 3.94118670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:79.66, Z:3.94 [[ 3.83940398e-01 -9.23176638e-01 -1.82938527e-02 1.12194471e+02] [ 9.22016183e-01 3.84374921e-01 -4.62825949e-02 7.96558498e+01] [ 4.97587086e-02 9.02529690e-04 9.98760860e-01 3.94347168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:79.68, Z:3.94 [[ 3.86385008e-01 -9.22147244e-01 -1.87373193e-02 1.12200465e+02] [ 9.20926713e-01 3.86837570e-01 -4.74413782e-02 7.96824115e+01] [ 5.09962352e-02 1.07493941e-03 9.98698267e-01 3.94394320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:79.71, Z:3.94 [[ 3.87087620e-01 -9.21850680e-01 -1.88280992e-02 1.12208753e+02] [ 9.20616925e-01 3.87543614e-01 -4.76909378e-02 7.97093730e+01] [ 5.12606331e-02 1.12710478e-03 9.98684674e-01 3.94379217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:79.74, Z:3.94 [[ 3.88134579e-01 -9.21403859e-01 -1.91435691e-02 1.12217986e+02] [ 9.20125892e-01 3.88604475e-01 -4.85273568e-02 7.97361727e+01] [ 5.21525705e-02 1.22065162e-03 9.98638383e-01 3.94425292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:79.76, Z:3.94 [[ 3.88929259e-01 -9.21066891e-01 -1.92305437e-02 1.12226304e+02] [ 9.19774913e-01 3.89402270e-01 -4.87850514e-02 7.97621513e+01] [ 5.24227130e-02 1.28616222e-03 9.98624156e-01 3.94473597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:79.79, Z:3.95 [[ 3.88676634e-01 -9.21173782e-01 -1.92181672e-02 1.12236336e+02] [ 9.19881694e-01 3.89149345e-01 -4.87899268e-02 7.97878694e+01] [ 5.24227385e-02 1.28506429e-03 9.98624156e-01 3.94594263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:79.82, Z:3.95 [[ 3.89807339e-01 -9.20692844e-01 -1.93630133e-02 1.12245376e+02] [ 9.19378510e-01 3.90285531e-01 -4.91971568e-02 7.98150383e+01] [ 5.28525741e-02 1.37547441e-03 9.98601379e-01 3.94713411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:79.84, Z:3.95 [[ 3.89725228e-01 -9.20729949e-01 -1.92511738e-02 1.12255076e+02] [ 9.19428819e-01 3.90197981e-01 -4.89508161e-02 7.98399825e+01] [ 5.25822516e-02 1.37728402e-03 9.98615647e-01 3.94901742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:79.87, Z:3.95 [[ 3.88986733e-01 -9.21044575e-01 -1.91366871e-02 1.12265481e+02] [ 9.19757111e-01 3.89454860e-01 -4.87008090e-02 7.98664249e+01] [ 5.23084918e-02 1.34286455e-03 9.98630071e-01 3.95097473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:79.89, Z:3.95 [[ 3.87699733e-01 -9.21590370e-01 -1.89765146e-02 1.12277073e+02] [ 9.20323043e-01 3.88161782e-01 -4.83314325e-02 7.98921153e+01] [ 5.19077405e-02 1.27355980e-03 9.98651072e-01 3.95315663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:79.92, Z:3.95 [[ 3.87021459e-01 -9.21873037e-01 -1.90917221e-02 1.12287357e+02] [ 9.20588566e-01 3.87490025e-01 -4.86638704e-02 7.99178495e+01] [ 5.22597619e-02 1.25834097e-03 9.98632732e-01 3.95392021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:79.94, Z:3.95 [[ 3.86109621e-01 -9.22252756e-01 -1.92149607e-02 1.12297846e+02] [ 9.20950039e-01 3.86585490e-01 -4.90171856e-02 7.99439619e+01] [ 5.26344595e-02 1.22998811e-03 9.98613089e-01 3.95452228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:79.97, Z:3.96 [[ 3.85776367e-01 -9.22387129e-01 -1.94570879e-02 1.12309688e+02] [ 9.21049363e-01 3.86264727e-01 -4.96752523e-02 7.99698744e+01] [ 5.33354001e-02 1.24259997e-03 9.98575881e-01 3.95617351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:79.99, Z:3.96 [[ 3.84522861e-01 -9.22906775e-01 -1.96279149e-02 1.12320423e+02] [ 9.21543947e-01 3.85021629e-01 -5.01507680e-02 7.99945693e+01] [ 5.38416553e-02 1.19613057e-03 9.98548770e-01 3.95712292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:80.02, Z:3.96 [[ 3.83241964e-01 -9.23435209e-01 -1.98245135e-02 1.12331838e+02] [ 9.22043877e-01 3.83752657e-01 -5.06851672e-02 8.00201449e+01] [ 5.44121778e-02 1.14561174e-03 9.98517903e-01 3.95885670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.34, Y:80.05, Z:3.96 [[ 3.81622381e-01 -9.24102536e-01 -1.99715214e-02 1.12342912e+02] [ 9.22689198e-01 3.82143103e-01 -5.11008141e-02 8.00450117e+01] [ 5.48543710e-02 1.07370735e-03 9.98493788e-01 3.95979495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:80.07, Z:3.96 [[ 3.78405949e-01 -9.25419726e-01 -2.01808761e-02 1.12355856e+02] [ 9.23976044e-01 3.78942612e-01 -5.16794615e-02 8.00697791e+01] [ 5.54725870e-02 9.09169579e-04 9.98459797e-01 3.96057754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:80.09, Z:3.96 [[ 3.76372424e-01 -9.26245966e-01 -2.03029255e-02 1.12367032e+02] [ 9.24783598e-01 3.76918767e-01 -5.20340343e-02 8.00947402e+01] [ 5.58488680e-02 8.08363074e-04 9.98438907e-01 3.96111283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:80.12, Z:3.96 [[ 3.74337791e-01 -9.27064398e-01 -2.05625998e-02 1.12379542e+02] [ 9.25563121e-01 3.74901448e-01 -5.27428978e-02 8.01204416e+01] [ 5.66050112e-02 7.11675838e-04 9.98396397e-01 3.96292883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:80.15, Z:3.96 [[ 3.72859877e-01 -9.27660553e-01 -2.05282749e-02 1.12390196e+02] [ 9.26162763e-01 3.73424013e-01 -5.26976542e-02 8.01451034e+01] [ 5.65512858e-02 6.36317110e-04 9.98399493e-01 3.96366282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:80.17, Z:3.97 [[ 3.69817172e-01 -9.28877591e-01 -2.05348777e-02 1.12403328e+02] [ 9.27378428e-01 3.70386561e-01 -5.27545902e-02 8.01706393e+01] [ 5.66083994e-02 4.65950725e-04 9.98396350e-01 3.96548474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:80.20, Z:3.97 [[ 3.68488155e-01 -9.29407124e-01 -2.04664837e-02 1.12414892e+02] [ 9.27917136e-01 3.69055879e-01 -5.26074710e-02 8.01968067e+01] [ 5.64470345e-02 3.94028946e-04 9.98405517e-01 3.96691916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62687499999998 meters Centerline goodness [0,1] 0.9998548340269041 Centerline is valid? [True, True] Translation: X:112.43, Y:80.22, Z:3.97 [[ 3.66966609e-01 -9.30011263e-01 -2.03607082e-02 1.12426257e+02] [ 9.28535467e-01 3.67530886e-01 -5.23730305e-02 8.02229968e+01] [ 5.61906973e-02 3.13513748e-04 9.98420005e-01 3.96908757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:80.25, Z:3.97 [[ 3.65828262e-01 -9.30468222e-01 -1.99642427e-02 1.12436874e+02] [ 9.29047912e-01 3.66372521e-01 -5.13921483e-02 8.02488032e+01] [ 5.51331107e-02 2.52962301e-04 9.98478981e-01 3.97149522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:80.27, Z:3.97 [[ 3.63993898e-01 -9.31194598e-01 -1.96230299e-02 1.12447134e+02] [ 9.29821337e-01 3.64522423e-01 -5.05537709e-02 8.02749428e+01] [ 5.42284328e-02 1.55352195e-04 9.98528544e-01 3.97341238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:80.30, Z:3.98 [[ 3.63464556e-01 -9.31398937e-01 -1.97366643e-02 1.12457418e+02] [ 9.30007781e-01 3.64000000e-01 -5.08874079e-02 8.03013663e+01] [ 5.45806234e-02 1.40517757e-04 9.98509357e-01 3.97540170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:80.33, Z:3.98 [[ 3.63030483e-01 -9.31563002e-01 -1.99810160e-02 1.12467299e+02] [ 9.30135053e-01 3.63579916e-01 -5.15599491e-02 8.03275256e+01] [ 5.52960371e-02 1.32789878e-04 9.98469995e-01 3.97641063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:80.35, Z:3.98 [[ 3.63085259e-01 -9.31531085e-01 -2.04678359e-02 1.12475824e+02] [ 9.30030077e-01 3.63661674e-01 -5.28605950e-02 8.03533904e+01] [ 5.66846549e-02 1.57199789e-04 9.98392120e-01 3.97649126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:80.38, Z:3.98 [[ 3.62923275e-01 -9.31594633e-01 -2.04483666e-02 1.12484984e+02] [ 9.30094036e-01 3.63498848e-01 -5.28551934e-02 8.03799650e+01] [ 5.66725722e-02 1.63476042e-04 9.98392805e-01 3.97804259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:80.41, Z:3.98 [[ 3.63199130e-01 -9.31489815e-01 -2.03252678e-02 1.12493846e+02] [ 9.30004722e-01 3.63767353e-01 -5.25787992e-02 8.04062941e+01] [ 5.63702848e-02 1.93979073e-04 9.98409912e-01 3.97940628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:80.43, Z:3.98 [[ 3.63436551e-01 -9.31400979e-01 -2.01516585e-02 1.12503251e+02] [ 9.29938700e-01 3.63994735e-01 -5.21713258e-02 8.04331395e+01] [ 5.59275216e-02 2.21159582e-04 9.98434807e-01 3.98197404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.51, Y:80.46, Z:3.98 [[ 3.63885912e-01 -9.31239404e-01 -1.94991048e-02 1.12510074e+02] [ 9.29867922e-01 3.64407887e-01 -5.05226597e-02 8.04596965e+01] [ 5.41543191e-02 2.52891998e-04 9.98532546e-01 3.98366720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:80.49, Z:3.99 [[ 3.64211522e-01 -9.31118059e-01 -1.92126687e-02 1.12518478e+02] [ 9.29784177e-01 3.64717808e-01 -4.98227237e-02 8.04856043e+01] [ 5.33980403e-02 2.82374653e-04 9.98573267e-01 3.98514106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:80.51, Z:3.99 [[ 3.64710029e-01 -9.30922926e-01 -1.92119687e-02 1.12527975e+02] [ 9.29586556e-01 3.65215551e-01 -4.98641900e-02 8.05124351e+01] [ 5.34362274e-02 3.26782373e-04 9.98571211e-01 3.98782969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:80.54, Z:3.99 [[ 3.65741034e-01 -9.30518898e-01 -1.91853239e-02 1.12534826e+02] [ 9.29183483e-01 3.66243662e-01 -4.98360759e-02 8.05379788e+01] [ 5.33999137e-02 4.00411828e-04 9.98573126e-01 3.98892917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:80.56, Z:3.99 [[ 3.66489963e-01 -9.30222580e-01 -1.92629102e-02 1.12541974e+02] [ 9.28873396e-01 3.66995556e-01 -5.00846928e-02 8.05629789e+01] [ 5.36593146e-02 4.62732426e-04 9.98559194e-01 3.98949506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:80.59, Z:3.99 [[ 3.67527563e-01 -9.29812946e-01 -1.92711272e-02 1.12550142e+02] [ 9.28459599e-01 3.68032056e-01 -5.01515576e-02 8.05895461e+01] [ 5.37239601e-02 5.39616675e-04 9.98555679e-01 3.99039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:80.62, Z:3.99 [[ 3.70527830e-01 -9.28621636e-01 -1.92609719e-02 1.12555884e+02] [ 9.27265779e-01 3.71027393e-01 -5.01681976e-02 8.06160164e+01] [ 5.37336219e-02 7.28673276e-04 9.98555039e-01 3.99159127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.106875 meters Centerline goodness [0,1] 0.9999288104221542 Centerline is valid? [True, True] Translation: X:112.56, Y:80.64, Z:3.99 [[ 3.71825194e-01 -9.28104992e-01 -1.91610984e-02 1.12563878e+02] [ 9.26760340e-01 3.72317687e-01 -4.99480915e-02 8.06430529e+01] [ 5.34910889e-02 8.14212797e-04 9.98567995e-01 3.99293340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:80.67, Z:4.00 [[ 3.73506227e-01 -9.27430197e-01 -1.91397058e-02 1.12574982e+02] [ 9.26085633e-01 3.73995155e-01 -4.99301982e-02 8.06694781e+01] [ 5.34649308e-02 9.24233341e-04 9.98569300e-01 3.99622875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:80.70, Z:4.00 [[ 3.74789846e-01 -9.26912576e-01 -1.91219075e-02 1.12582469e+02] [ 9.25567856e-01 3.75275970e-01 -4.99208475e-02 8.06954883e+01] [ 5.34482537e-02 1.01120378e-03 9.98570109e-01 3.99691382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:80.72, Z:4.00 [[ 3.76520903e-01 -9.26210631e-01 -1.91279074e-02 1.12590931e+02] [ 9.24862490e-01 3.77004782e-01 -4.99676825e-02 8.07226569e+01] [ 5.34919112e-02 1.12319291e-03 9.98567651e-01 3.99780016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:80.75, Z:4.00 [[ 3.76846523e-01 -9.26081433e-01 -1.89704384e-02 1.12600549e+02] [ 9.24753216e-01 3.77321964e-01 -4.95945965e-02 8.07485833e+01] [ 5.30865981e-02 1.14657733e-03 9.98589254e-01 3.99951058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:80.77, Z:4.00 [[ 3.76950245e-01 -9.26037335e-01 -1.90621884e-02 1.12610646e+02] [ 9.24693984e-01 3.77430095e-01 -4.98754308e-02 8.07746737e+01] [ 5.33811545e-02 1.17386493e-03 9.98573520e-01 4.00078702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:80.80, Z:4.00 [[ 3.76762753e-01 -9.26108762e-01 -1.92973618e-02 1.12621410e+02] [ 9.24729864e-01 3.77254735e-01 -5.05325975e-02 8.08002684e+01] [ 5.40787024e-02 1.19395380e-03 9.98535963e-01 4.00263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:80.83, Z:4.00 [[ 3.76241816e-01 -9.26316326e-01 -1.94977124e-02 1.12633230e+02] [ 9.24906570e-01 3.76744799e-01 -5.10998421e-02 8.08259132e+01] [ 5.46802797e-02 1.19233504e-03 9.98503202e-01 4.00395199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:80.85, Z:4.00 [[ 3.75573070e-01 -9.26584200e-01 -1.96618679e-02 1.12641640e+02] [ 9.25148529e-01 3.76085533e-01 -5.15739402e-02 8.08516414e+01] [ 5.51821422e-02 1.17963486e-03 9.98475608e-01 4.00373559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:80.88, Z:4.00 [[ 3.74975071e-01 -9.26824997e-01 -1.97261642e-02 1.12652805e+02] [ 9.25377828e-01 3.75491771e-01 -5.17861460e-02 8.08778340e+01] [ 5.54037069e-02 1.16435879e-03 9.98463356e-01 4.00460190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:80.90, Z:4.01 [[ 3.73611972e-01 -9.27370103e-01 -1.99696322e-02 1.12664547e+02] [ 9.25885430e-01 3.74143628e-01 -5.24663419e-02 8.09025977e+01] [ 5.61272276e-02 1.11246197e-03 9.98423005e-01 4.00575848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:80.93, Z:4.01 [[ 3.73265437e-01 -9.27512691e-01 -1.98272922e-02 1.12675175e+02] [ 9.26047466e-01 3.73790058e-01 -5.21256526e-02 8.09281760e+01] [ 5.57584490e-02 1.09569083e-03 9.98443686e-01 4.00735847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:80.95, Z:4.01 [[ 3.73207027e-01 -9.27536922e-01 -1.97932532e-02 1.12686621e+02] [ 9.26074396e-01 3.73729895e-01 -5.20785813e-02 8.09541049e+01] [ 5.57021375e-02 1.10606748e-03 9.98446818e-01 4.00927572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:80.98, Z:4.01 [[ 3.73406530e-01 -9.27457599e-01 -1.97475677e-02 1.12696399e+02] [ 9.25999419e-01 3.73926629e-01 -5.19995392e-02 8.09798554e+01] [ 5.56115091e-02 1.13073128e-03 9.98451842e-01 4.01123204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.526875 meters Centerline goodness [0,1] 0.9999046211073489 Centerline is valid? [True, True] Translation: X:112.70, Y:81.01, Z:4.01 [[ 3.74552419e-01 -9.27000853e-01 -1.94911465e-02 1.12704516e+02] [ 9.25578037e-01 3.75057319e-01 -5.13546982e-02 8.10065356e+01] [ 5.49161462e-02 1.19444928e-03 9.98490255e-01 4.01262202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:81.03, Z:4.01 [[ 3.75339131e-01 -9.26679090e-01 -1.96570798e-02 1.12713795e+02] [ 9.25229804e-01 3.75851390e-01 -5.18222160e-02 8.10332333e+01] [ 5.54107047e-02 1.26358944e-03 9.98462847e-01 4.01396917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:81.06, Z:4.02 [[ 3.76454959e-01 -9.26220990e-01 -1.99083412e-02 1.12724882e+02] [ 9.24731348e-01 3.76978536e-01 -5.25272982e-02 8.10589560e+01] [ 5.61569035e-02 1.36429466e-03 9.98421024e-01 4.01528407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:81.09, Z:4.01 [[ 3.77760667e-01 -9.25676967e-01 -2.04702270e-02 1.12731939e+02] [ 9.24098650e-01 3.78311900e-01 -5.40535943e-02 8.10855575e+01] [ 5.77802977e-02 1.50281270e-03 9.98328192e-01 4.01401916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:81.11, Z:4.02 [[ 3.77875161e-01 -9.25625832e-01 -2.06683912e-02 1.12742467e+02] [ 9.24014084e-01 3.78436839e-01 -5.46217081e-02 8.11122923e+01] [ 5.83809446e-02 1.54230219e-03 9.98293187e-01 4.01555809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:81.14, Z:4.02 [[ 3.77621036e-01 -9.25726855e-01 -2.07880632e-02 1.12751773e+02] [ 9.24094093e-01 3.78189614e-01 -5.49793035e-02 8.11381112e+01] [ 5.87576473e-02 1.55121513e-03 9.98271072e-01 4.01603952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:81.16, Z:4.02 [[ 3.77345629e-01 -9.25838737e-01 -2.08064762e-02 1.12761814e+02] [ 9.24201095e-01 3.77915644e-01 -5.50645202e-02 8.11639843e+01] [ 5.88439587e-02 1.54898790e-03 9.98265991e-01 4.01740848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:81.19, Z:4.02 [[ 3.77016156e-01 -9.25971531e-01 -2.08696539e-02 1.12771356e+02] [ 9.24321382e-01 3.77590149e-01 -5.52780356e-02 8.11892601e+01] [ 5.90660630e-02 1.55044512e-03 9.98252872e-01 4.01785408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:81.21, Z:4.02 [[ 3.76371863e-01 -9.26232678e-01 -2.09104583e-02 1.12780973e+02] [ 9.24573617e-01 3.76949180e-01 -5.54341271e-02 8.12145431e+01] [ 5.92270801e-02 1.53058767e-03 9.98243362e-01 4.01981531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:81.24, Z:4.02 [[ 3.75789144e-01 -9.26466483e-01 -2.10327090e-02 1.12791176e+02] [ 9.24785390e-01 3.76374205e-01 -5.58071704e-02 8.12399341e+01] [ 5.96196420e-02 1.52098685e-03 9.98220008e-01 4.02133111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:81.26, Z:4.02 [[ 3.74841372e-01 -9.26853245e-01 -2.09047515e-02 1.12799867e+02] [ 9.25190135e-01 3.75420967e-01 -5.55185787e-02 8.12643455e+01] [ 5.93056568e-02 1.46979029e-03 9.98238788e-01 4.02195046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:81.29, Z:4.02 [[ 3.74418323e-01 -9.27027144e-01 -2.07748396e-02 1.12809045e+02] [ 9.25381839e-01 3.74991418e-01 -5.52257847e-02 8.12894420e+01] [ 5.89861880e-02 1.45288642e-03 9.98257742e-01 4.02293347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:81.31, Z:4.02 [[ 3.74138755e-01 -9.27143443e-01 -2.06210493e-02 1.12818943e+02] [ 9.25519616e-01 3.74703821e-01 -5.48678999e-02 8.13147993e+01] [ 5.85971996e-02 1.44302214e-03 9.98280665e-01 4.02429602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:81.34, Z:4.03 [[ 3.74431526e-01 -9.27027875e-01 -2.05024734e-02 1.12827768e+02] [ 9.25419631e-01 3.74989539e-01 -5.46017657e-02 8.13396238e+01] [ 5.83055719e-02 1.47123111e-03 9.98297699e-01 4.02710258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:81.37, Z:4.03 [[ 3.74564165e-01 -9.26973966e-01 -2.05171475e-02 1.12837109e+02] [ 9.25360364e-01 3.75122670e-01 -5.46916817e-02 8.13652141e+01] [ 5.83942122e-02 1.49978896e-03 9.98292475e-01 4.02893065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:81.39, Z:4.03 [[ 3.74964043e-01 -9.26818532e-01 -2.02330281e-02 1.12849625e+02] [ 9.25246433e-01 3.75506454e-01 -5.39809330e-02 8.13906876e+01] [ 5.76281617e-02 1.52037179e-03 9.98336959e-01 4.03279604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:81.42, Z:4.03 [[ 3.74853100e-01 -9.26868938e-01 -1.99781284e-02 1.12854670e+02] [ 9.25333747e-01 3.75382060e-01 -5.33457133e-02 8.14178959e+01] [ 5.69439157e-02 1.51036959e-03 9.98376236e-01 4.03190603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:81.44, Z:4.03 [[ 3.74588664e-01 -9.26976173e-01 -1.99626660e-02 1.12863906e+02] [ 9.25440827e-01 3.75117172e-01 -5.33514996e-02 8.14430323e+01] [ 5.69439077e-02 1.51060083e-03 9.98376236e-01 4.03307551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:81.47, Z:4.04 [[ 3.74867819e-01 -9.26868104e-01 -1.97392066e-02 1.12877430e+02] [ 9.25364269e-01 3.75384052e-01 -5.27994580e-02 8.14682978e+01] [ 5.63479169e-02 1.52686114e-03 9.98410026e-01 4.03667078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:81.49, Z:4.04 [[ 3.74222356e-01 -9.27131324e-01 -1.96248698e-02 1.12888326e+02] [ 9.25642774e-01 3.74733602e-01 -5.25374373e-02 8.14940007e+01] [ 5.60632019e-02 1.49506459e-03 9.98426103e-01 4.03864148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:81.52, Z:4.04 [[ 3.73273348e-01 -9.27518367e-01 -1.94083956e-02 1.12899001e+02] [ 9.26060595e-01 3.73774814e-01 -5.20015556e-02 8.15197428e+01] [ 5.54867675e-02 1.43744435e-03 9.98458388e-01 4.04084689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:81.55, Z:4.04 [[ 3.72379719e-01 -9.27879827e-01 -1.92969317e-02 1.12909472e+02] [ 9.26436819e-01 3.72876774e-01 -5.17468089e-02 8.15450346e+01] [ 5.52101978e-02 1.39207415e-03 9.98473783e-01 4.04254790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:81.57, Z:4.04 [[ 3.70020563e-01 -9.28831098e-01 -1.89096218e-02 1.12918929e+02] [ 9.27444370e-01 3.70501350e-01 -5.07512678e-02 8.15710418e+01] [ 5.41453962e-02 1.24139039e-03 9.98532290e-01 4.04308284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:81.60, Z:4.05 [[ 3.68925987e-01 -9.29268146e-01 -1.88236251e-02 1.12932653e+02] [ 9.27892306e-01 3.69403982e-01 -5.05624954e-02 8.15958244e+01] [ 5.39396385e-02 1.18752160e-03 9.98543492e-01 4.04627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:81.62, Z:4.05 [[ 3.67671479e-01 -9.29765331e-01 -1.88179001e-02 1.12942715e+02] [ 9.28388788e-01 3.68150994e-01 -5.05875907e-02 8.16212079e+01] [ 5.39624166e-02 1.12928682e-03 9.98542329e-01 4.04714158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:81.65, Z:4.05 [[ 3.65574523e-01 -9.30586233e-01 -1.90926870e-02 1.12956641e+02] [ 9.29168379e-01 3.66071290e-01 -5.13608191e-02 8.16457672e+01] [ 5.47849557e-02 1.03588591e-03 9.98497639e-01 4.04869188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:81.67, Z:4.05 [[ 3.64450738e-01 -9.31026142e-01 -1.91306667e-02 1.12965759e+02] [ 9.29600787e-01 3.64951156e-01 -5.15075724e-02 8.16710396e+01] [ 5.49366554e-02 9.88089982e-04 9.98489353e-01 4.04863317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:81.70, Z:4.05 [[ 3.63652293e-01 -9.31340555e-01 -1.90205118e-02 1.12977626e+02] [ 9.29929545e-01 3.64148135e-01 -5.12559940e-02 8.16962810e+01] [ 5.46630698e-02 9.51623893e-04 9.98504403e-01 4.05060068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:81.72, Z:4.05 [[ 3.62582132e-01 -9.31761285e-01 -1.88442407e-02 1.12987140e+02] [ 9.30374530e-01 3.63070386e-01 -5.08244784e-02 8.17217224e+01] [ 5.41980671e-02 8.95846157e-04 9.98529803e-01 4.05144424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:81.75, Z:4.05 [[ 3.62001783e-01 -9.31990332e-01 -1.86742874e-02 1.12999550e+02] [ 9.30626454e-01 3.62482088e-01 -5.04097172e-02 8.17468640e+01] [ 5.37504638e-02 8.69621630e-04 9.98554020e-01 4.05418325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:81.77, Z:4.06 [[ 3.61565087e-01 -9.32161092e-01 -1.86114901e-02 1.13010349e+02] [ 9.30804337e-01 3.62042768e-01 -5.02824039e-02 8.17730730e+01] [ 5.36094559e-02 8.56706049e-04 9.98561612e-01 4.05562509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:81.80, Z:4.06 [[ 3.61434061e-01 -9.32210486e-01 -1.86823222e-02 1.13020560e+02] [ 9.30841107e-01 3.61915536e-01 -5.05171142e-02 8.17987963e+01] [ 5.38540063e-02 8.68332264e-04 9.98548442e-01 4.05712450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.486875 meters Centerline goodness [0,1] 0.9999034282955094 Centerline is valid? [True, True] Translation: X:113.03, Y:81.82, Z:4.06 [[ 3.61072084e-01 -9.32348651e-01 -1.87867759e-02 1.13029678e+02] [ 9.30961701e-01 3.61559454e-01 -5.08436188e-02 8.18246184e+01] [ 5.41965158e-02 8.68442534e-04 9.98529911e-01 4.05672393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:81.85, Z:4.06 [[ 3.60125236e-01 -9.32715895e-01 -1.87316031e-02 1.13041459e+02] [ 9.31335097e-01 3.60611112e-01 -5.07401589e-02 8.18491504e+01] [ 5.40809770e-02 8.27412377e-04 9.98536210e-01 4.05831985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:81.87, Z:4.06 [[ 3.59483521e-01 -9.32966052e-01 -1.85995733e-02 1.13052379e+02] [ 9.31602481e-01 3.59963476e-01 -5.04292844e-02 8.18744356e+01] [ 5.37439774e-02 8.01088105e-04 9.98554427e-01 4.06011653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters Centerline goodness [0,1] 0.9999757263878438 Centerline is valid? [True, True] Translation: X:113.06, Y:81.90, Z:4.06 [[ 3.58418163e-01 -9.33380473e-01 -1.83660894e-02 1.13063005e+02] [ 9.32049047e-01 3.58887637e-01 -4.98421218e-02 8.19001528e+01] [ 5.31130256e-02 7.46225615e-04 9.98588228e-01 4.06087550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:81.93, Z:4.06 [[ 3.57113312e-01 -9.33883492e-01 -1.82128006e-02 1.13075074e+02] [ 9.32572571e-01 3.57576788e-01 -4.94695848e-02 8.19252032e+01] [ 5.27113033e-02 6.81488972e-04 9.98609560e-01 4.06339025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters Centerline goodness [0,1] 0.9999754673470389 Centerline is valid? [True, True] Translation: X:113.09, Y:81.95, Z:4.06 [[ 3.56745192e-01 -9.34023226e-01 -1.82614745e-02 1.13086542e+02] [ 9.32703161e-01 3.57211637e-01 -4.96453481e-02 8.19512773e+01] [ 5.28931194e-02 6.78204294e-04 9.98599949e-01 4.06484596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:81.98, Z:4.07 [[ 3.56487351e-01 -9.34121239e-01 -1.82833077e-02 1.13096746e+02] [ 9.32795886e-01 3.56955248e-01 -4.97472190e-02 8.19775331e+01] [ 5.29962565e-02 6.79660059e-04 9.98594480e-01 4.06607927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:82.00, Z:4.07 [[ 3.56540092e-01 -9.34098751e-01 -1.84034128e-02 1.13106432e+02] [ 9.32753580e-01 3.57014046e-01 -5.01171564e-02 8.20039403e+01] [ 5.33846500e-02 7.02926424e-04 9.98573775e-01 4.06689422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:82.03, Z:4.07 [[ 3.56338995e-01 -9.34172346e-01 -1.85619987e-02 1.13115540e+02] [ 9.32801593e-01 3.56821409e-01 -5.05931745e-02 8.20295096e+01] [ 5.38860630e-02 7.13659000e-04 9.98546836e-01 4.06787204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:82.06, Z:4.07 [[ 3.56185988e-01 -9.34226688e-01 -1.87626337e-02 1.13124957e+02] [ 9.32823681e-01 3.56679075e-01 -5.11861146e-02 8.20558955e+01] [ 5.45116732e-02 7.29547745e-04 9.98512867e-01 4.06873347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:82.08, Z:4.07 [[ 3.55692547e-01 -9.34413116e-01 -1.88398367e-02 1.13134794e+02] [ 9.32996384e-01 3.56190413e-01 -5.14406191e-02 8.20821778e+01] [ 5.47773584e-02 7.19545389e-04 9.98498334e-01 4.07001988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:82.11, Z:4.07 [[ 3.54254202e-01 -9.34958837e-01 -1.88662034e-02 1.13143763e+02] [ 9.33536385e-01 3.54755617e-01 -5.15584238e-02 8.21067978e+01] [ 5.48978955e-02 6.52500946e-04 9.98491760e-01 4.07036114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:82.13, Z:4.07 [[ 3.53540620e-01 -9.35228285e-01 -1.88967039e-02 1.13154403e+02] [ 9.33798817e-01 3.54044713e-01 -5.16924622e-02 8.21329267e+01] [ 5.50345309e-02 6.29665353e-04 9.98484253e-01 4.07254782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:82.16, Z:4.07 [[ 3.53003829e-01 -9.35432547e-01 -1.88214426e-02 1.13163059e+02] [ 9.34012255e-01 3.53504704e-01 -5.15318485e-02 8.21575847e+01] [ 5.48580368e-02 6.11481758e-04 9.98493977e-01 4.07383058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:82.18, Z:4.08 [[ 3.52326500e-01 -9.35690748e-01 -1.86778258e-02 1.13172486e+02] [ 9.34289670e-01 3.52820750e-01 -5.11891709e-02 8.21836459e+01] [ 5.44871582e-02 5.84801746e-04 9.98514300e-01 4.07505425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:82.21, Z:4.08 [[ 3.52679729e-01 -9.35554498e-01 -1.88358776e-02 1.13181183e+02] [ 9.34126723e-01 3.53181804e-01 -5.16708606e-02 8.22106286e+01] [ 5.49933953e-02 6.28168431e-04 9.98486521e-01 4.07606603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:82.24, Z:4.08 [[ 3.53078359e-01 -9.35405423e-01 -1.87714302e-02 1.13189301e+02] [ 9.33984749e-01 3.53576374e-01 -5.15386816e-02 8.22366854e+01] [ 5.48466965e-02 6.64963574e-04 9.98494566e-01 4.07686220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:82.26, Z:4.08 [[ 3.53892773e-01 -9.35099679e-01 -1.86680282e-02 1.13198197e+02] [ 9.33691592e-01 3.54384062e-01 -5.13025076e-02 8.22629341e+01] [ 5.45886100e-02 7.25405670e-04 9.98508667e-01 4.07905473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:82.29, Z:4.08 [[ 3.54644666e-01 -9.34818297e-01 -1.84908448e-02 1.13205672e+02] [ 9.33434068e-01 3.55125537e-01 -5.08595550e-02 8.22891015e+01] [ 5.41110138e-02 7.77085415e-04 9.98534623e-01 4.08078944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:82.32, Z:4.08 [[ 3.57984766e-01 -9.33550087e-01 -1.81973291e-02 1.13211382e+02] [ 9.32205575e-01 3.58445667e-01 -5.00946108e-02 8.23163313e+01] [ 5.32885820e-02 9.69455891e-04 9.98578684e-01 4.08285760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:82.34, Z:4.08 [[ 3.59146503e-01 -9.33105665e-01 -1.80999333e-02 1.13218795e+02] [ 9.31773175e-01 3.59600796e-01 -4.98599826e-02 8.23430176e+01] [ 5.30333826e-02 1.04200611e-03 9.98592196e-01 4.08413943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:82.37, Z:4.09 [[ 3.60594032e-01 -9.32550179e-01 -1.79473445e-02 1.13225511e+02] [ 9.31237028e-01 3.61038620e-01 -4.94844690e-02 8.23693044e+01] [ 5.26264349e-02 1.13057248e-03 9.98613629e-01 4.08544847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:82.40, Z:4.09 [[ 3.61909836e-01 -9.32042366e-01 -1.78409063e-02 1.13233376e+02] [ 9.30741827e-01 3.62347285e-01 -4.92351186e-02 8.23959457e+01] [ 5.23538204e-02 1.21339593e-03 9.98627861e-01 4.08705153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:82.42, Z:4.09 [[ 3.64606485e-01 -9.30991810e-01 -1.77865223e-02 1.13240007e+02] [ 9.29695733e-01 3.65037472e-01 -4.91272669e-02 8.24228080e+01] [ 5.22298303e-02 1.37606620e-03 9.98634143e-01 4.08904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:82.45, Z:4.09 [[ 3.65736276e-01 -9.30546790e-01 -1.78787257e-02 1.13245351e+02] [ 9.29234283e-01 3.66170082e-01 -4.94279128e-02 8.24496530e+01] [ 5.25416401e-02 1.46405588e-03 9.98617661e-01 4.08921461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:82.48, Z:4.09 [[ 3.66347296e-01 -9.30303048e-01 -1.80526423e-02 1.13255412e+02] [ 9.28962124e-01 3.66788627e-01 -4.99547378e-02 8.24756988e+01] [ 5.30945487e-02 1.53056217e-03 9.98588317e-01 4.09106208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:82.50, Z:4.09 [[ 3.66997792e-01 -9.30045319e-01 -1.81197710e-02 1.13263584e+02] [ 9.28691743e-01 3.67441393e-01 -5.01843532e-02 8.25028074e+01] [ 5.33316767e-02 1.58986506e-03 9.98575588e-01 4.09204450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:82.53, Z:4.09 [[ 3.67822527e-01 -9.29716970e-01 -1.82467815e-02 1.13271430e+02] [ 9.28341548e-01 3.68271072e-01 -5.05805008e-02 8.25295507e+01] [ 5.37453118e-02 1.66540222e-03 9.98553287e-01 4.09271979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:82.56, Z:4.09 [[ 3.67587648e-01 -9.29809967e-01 -1.82413354e-02 1.13280593e+02] [ 9.28433096e-01 3.68036200e-01 -5.06097073e-02 8.25561587e+01] [ 5.37708820e-02 1.66764375e-03 9.98551907e-01 4.09382451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:82.58, Z:4.10 [[ 3.66558166e-01 -9.30217218e-01 -1.81944734e-02 1.13290819e+02] [ 9.28845563e-01 3.67005864e-01 -5.05234257e-02 8.25828436e+01] [ 5.36752389e-02 1.61991836e-03 9.98557131e-01 4.09545631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:82.61, Z:4.10 [[ 3.62559992e-01 -9.31785749e-01 -1.80435810e-02 1.13300655e+02] [ 9.30436440e-01 3.63006032e-01 -5.01463055e-02 8.26084768e+01] [ 5.32755415e-02 1.39263885e-03 9.98578879e-01 4.09581295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:82.63, Z:4.10 [[ 3.56894466e-01 -9.33978213e-01 -1.76362501e-02 1.13313787e+02] [ 9.32689524e-01 3.57328385e-01 -4.90578949e-02 8.26331163e+01] [ 5.21209378e-02 1.05934547e-03 9.98640218e-01 4.09938302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:82.66, Z:4.10 [[ 3.54534889e-01 -9.34875701e-01 -1.76758676e-02 1.13323182e+02] [ 9.33579958e-01 3.54973984e-01 -4.92131287e-02 8.26589107e+01] [ 5.22826313e-02 9.45935393e-04 9.98631880e-01 4.10049582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:82.69, Z:4.10 [[ 3.52875444e-01 -9.35499249e-01 -1.78906657e-02 1.13332733e+02] [ 9.34170305e-01 3.53327584e-01 -4.98543829e-02 8.26858362e+01] [ 5.29600034e-02 8.79458900e-04 9.98596247e-01 4.10123897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:82.71, Z:4.10 [[ 3.51085794e-01 -9.36165093e-01 -1.82669980e-02 1.13339865e+02] [ 9.34778173e-01 3.51559754e-01 -5.09461117e-02 8.27119295e+01] [ 5.41159127e-02 8.10865051e-04 9.98534331e-01 4.09959403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:82.74, Z:4.10 [[ 3.50557783e-01 -9.36362880e-01 -1.82701137e-02 1.13348116e+02] [ 9.34973097e-01 3.51032648e-01 -5.10038065e-02 8.27384233e+01] [ 5.41714776e-02 7.97716557e-04 9.98531329e-01 4.10000176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:82.76, Z:4.10 [[ 3.50579298e-01 -9.36350339e-01 -1.84986276e-02 1.13357392e+02] [ 9.34922838e-01 3.51066033e-01 -5.16906866e-02 8.27649556e+01] [ 5.48948317e-02 8.26895164e-04 9.98491800e-01 4.10181629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:82.79, Z:4.10 [[ 3.51557859e-01 -9.35987058e-01 -1.83111426e-02 1.13364470e+02] [ 9.34585446e-01 3.52033285e-01 -5.12114249e-02 8.27910201e+01] [ 5.43793626e-02 8.90451507e-04 9.98519951e-01 4.10446592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:82.82, Z:4.11 [[ 3.51698104e-01 -9.35934661e-01 -1.82962730e-02 1.13372941e+02] [ 9.34532730e-01 3.52172506e-01 -5.12162415e-02 8.28175481e+01] [ 5.43785000e-02 9.14189028e-04 9.98519976e-01 4.10658603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:82.85, Z:4.11 [[ 3.52553769e-01 -9.35608252e-01 -1.85213146e-02 1.13380731e+02] [ 9.34168722e-01 3.53038546e-01 -5.18901203e-02 8.28451384e+01] [ 5.50875627e-02 9.92024690e-04 9.98481035e-01 4.10723658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.686875 meters Centerline goodness [0,1] 0.9999045323277406 Centerline is valid? [True, True] Translation: X:113.39, Y:82.87, Z:4.11 [[ 3.52422946e-01 -9.35660060e-01 -1.83934289e-02 1.13388254e+02] [ 9.34238158e-01 3.52901215e-01 -5.15732178e-02 8.28711552e+01] [ 5.47460635e-02 9.91742221e-04 9.98499817e-01 4.10710771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:82.90, Z:4.11 [[ 3.52869767e-01 -9.35494167e-01 -1.82644950e-02 1.13396463e+02] [ 9.34089336e-01 3.53340641e-01 -5.12591744e-02 8.28973149e+01] [ 5.44062470e-02 1.02714294e-03 9.98518355e-01 4.10850762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:82.92, Z:4.11 [[ 3.53037425e-01 -9.35433887e-01 -1.81113247e-02 1.13405831e+02] [ 9.34049986e-01 3.53500147e-01 -5.08750491e-02 8.29240609e+01] [ 5.39926008e-02 1.04391374e-03 9.98540790e-01 4.11010119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:82.95, Z:4.11 [[ 3.52427637e-01 -9.35660719e-01 -1.82696407e-02 1.13415766e+02] [ 9.34250383e-01 3.52899349e-01 -5.13641118e-02 8.29503037e+01] [ 5.45067261e-02 1.03371373e-03 9.98512868e-01 4.11179481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:82.98, Z:4.11 [[ 3.51921750e-01 -9.35850472e-01 -1.83023655e-02 1.13425007e+02] [ 9.34432879e-01 3.52395872e-01 -5.15009089e-02 8.29768637e+01] [ 5.46468279e-02 1.02195795e-03 9.98505223e-01 4.11315367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:83.00, Z:4.11 [[ 3.51417133e-01 -9.36043825e-01 -1.81095790e-02 1.13432575e+02] [ 9.34653807e-01 3.51882031e-01 -5.10029070e-02 8.30026433e+01] [ 5.41133916e-02 9.97108384e-04 9.98534299e-01 4.11410670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:83.03, Z:4.12 [[ 3.50734430e-01 -9.36304586e-01 -1.78628332e-02 1.13443347e+02] [ 9.34950146e-01 3.51187700e-01 -5.03529879e-02 8.30290124e+01] [ 5.34189408e-02 9.59667995e-04 9.98571728e-01 4.11639137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:83.05, Z:4.12 [[ 3.50057159e-01 -9.36570550e-01 -1.71927466e-02 1.13451280e+02] [ 9.35314067e-01 3.50477955e-01 -4.85056546e-02 8.30544452e+01] [ 5.14546462e-02 8.99133917e-04 9.98674928e-01 4.11933666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:83.08, Z:4.12 [[ 3.49800218e-01 -9.36666795e-01 -1.71791574e-02 1.13460412e+02] [ 9.35410192e-01 3.50220655e-01 -4.85104673e-02 8.30804935e+01] [ 5.14546396e-02 8.99413129e-04 9.98674928e-01 4.12054244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:83.11, Z:4.12 [[ 3.49186283e-01 -9.36899663e-01 -1.69694326e-02 1.13469704e+02] [ 9.35671738e-01 3.49597293e-01 -4.79596791e-02 8.31071337e+01] [ 5.08658749e-02 8.69043631e-04 9.98705115e-01 4.12190342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:83.13, Z:4.12 [[ 3.48374431e-01 -9.37200270e-01 -1.70560653e-02 1.13479176e+02] [ 9.35957964e-01 3.48790684e-01 -4.82467535e-02 8.31340771e+01] [ 5.11658671e-02 8.44175123e-04 9.98689812e-01 4.12306334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:83.16, Z:4.12 [[ 3.47539271e-01 -9.37510007e-01 -1.70716523e-02 1.13488939e+02] [ 9.36263629e-01 3.47957358e-01 -4.83331584e-02 8.31605736e+01] [ 5.12530267e-02 8.14103502e-04 9.98685368e-01 4.12368419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:83.19, Z:4.12 [[ 3.46975506e-01 -9.37718265e-01 -1.71012983e-02 1.13497223e+02] [ 9.36465569e-01 3.47395764e-01 -4.84605153e-02 8.31861556e+01] [ 5.13832289e-02 7.99834747e-04 9.98678689e-01 4.12435259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:83.21, Z:4.13 [[ 3.46430280e-01 -9.37918764e-01 -1.71596501e-02 1.13506514e+02] [ 9.36655405e-01 3.46854106e-01 -4.86711544e-02 8.32122121e+01] [ 5.16014841e-02 7.88482619e-04 9.98667445e-01 4.12520489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:83.24, Z:4.13 [[ 3.46056280e-01 -9.38057214e-01 -1.71380846e-02 1.13516456e+02] [ 9.36795029e-01 3.46479512e-01 -4.86520505e-02 8.32389814e+01] [ 5.15764022e-02 7.81475169e-04 9.98668746e-01 4.12536895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:83.26, Z:4.13 [[ 3.46190578e-01 -9.38007709e-01 -1.71353864e-02 1.13525647e+02] [ 9.36743769e-01 3.46613464e-01 -4.86848759e-02 8.32649596e+01] [ 5.16061445e-02 8.02778888e-04 9.98667193e-01 4.12653912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.54, Y:83.29, Z:4.13 [[ 3.46101857e-01 -9.38042247e-01 -1.70366427e-02 1.13536917e+02] [ 9.36791212e-01 3.46519978e-01 -4.84368625e-02 8.32911431e+01] [ 5.13393604e-02 8.04310872e-04 9.98680942e-01 4.12821215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:83.32, Z:4.13 [[ 3.46159678e-01 -9.38021027e-01 -1.70302982e-02 1.13546011e+02] [ 9.36768618e-01 3.46577375e-01 -4.84631682e-02 8.33169100e+01] [ 5.13617869e-02 8.22545764e-04 9.98679774e-01 4.12908760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:83.34, Z:4.13 [[ 3.46811490e-01 -9.37781949e-01 -1.69353410e-02 1.13554156e+02] [ 9.36540973e-01 3.47223648e-01 -4.82363390e-02 8.33422177e+01] [ 5.11155189e-02 8.68275821e-04 9.98692370e-01 4.12948826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters Centerline goodness [0,1] 0.9999761336515514 Centerline is valid? [True, True] Translation: X:113.56, Y:83.37, Z:4.13 [[ 3.48306032e-01 -9.37238813e-01 -1.63191872e-02 1.13563379e+02] [ 9.36084554e-01 3.48686901e-01 -4.65097033e-02 8.33690872e+01] [ 4.92809859e-02 9.23471136e-04 9.98784527e-01 4.13091457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:83.40, Z:4.13 [[ 3.49396840e-01 -9.36838433e-01 -1.59874491e-02 1.13572785e+02] [ 9.35728337e-01 3.49761065e-01 -4.56034839e-02 8.33955679e+01] [ 4.83148837e-02 9.73804004e-04 9.98831679e-01 4.13333012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:83.42, Z:4.14 [[ 3.50061015e-01 -9.36598432e-01 -1.55133290e-02 1.13582154e+02] [ 9.35551225e-01 3.50403192e-01 -4.42889204e-02 8.34222017e+01] [ 4.69168534e-02 9.90310518e-04 9.98898307e-01 4.13576552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:83.45, Z:4.14 [[ 3.52238702e-01 -9.35790796e-01 -1.49493149e-02 1.13590604e+02] [ 9.34816013e-01 3.52554163e-01 -4.27151369e-02 8.34481996e+01] [ 4.52428752e-02 1.07106547e-03 9.98975443e-01 4.13830096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:83.47, Z:4.14 [[ 3.52854337e-01 -9.35562412e-01 -1.47237644e-02 1.13601424e+02] [ 9.34614917e-01 3.53159692e-01 -4.21092528e-02 8.34743642e+01] [ 4.45956743e-02 1.09738261e-03 9.99004515e-01 4.13917623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:83.50, Z:4.14 [[ 3.53593606e-01 -9.35284152e-01 -1.46668824e-02 1.13610417e+02] [ 9.34342109e-01 3.53895823e-01 -4.19829669e-02 8.35017346e+01] [ 4.44565520e-02 1.14102282e-03 9.99010667e-01 4.14007634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:83.53, Z:4.14 [[ 3.55284827e-01 -9.34638725e-01 -1.49380220e-02 1.13619264e+02] [ 9.33659254e-01 3.55596500e-01 -4.27963336e-02 8.35274189e+01] [ 4.53110190e-02 1.25786555e-03 9.98972136e-01 4.13965258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:83.55, Z:4.14 [[ 3.52676832e-01 -9.35624203e-01 -1.50467193e-02 1.13630197e+02] [ 9.34629989e-01 3.52995791e-01 -4.31364582e-02 8.35527715e+01] [ 4.56709428e-02 1.15011434e-03 9.98955876e-01 4.13973388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:83.58, Z:4.14 [[ 3.49388949e-01 -9.36856518e-01 -1.50740271e-02 1.13642058e+02] [ 9.35858036e-01 3.49712530e-01 -4.32537105e-02 8.35781985e+01] [ 4.57940968e-02 1.00521905e-03 9.98950394e-01 4.14156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:83.60, Z:4.14 [[ 3.47337207e-01 -9.37621061e-01 -1.49536467e-02 1.13652416e+02] [ 9.36637435e-01 3.47657759e-01 -4.29464524e-02 8.36038139e+01] [ 4.54662495e-02 9.10755552e-04 9.98965460e-01 4.14310169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:83.63, Z:4.14 [[ 3.45842201e-01 -9.38169038e-01 -1.52324412e-02 1.13662635e+02] [ 9.37147070e-01 3.46176403e-01 -4.37866149e-02 8.36289918e+01] [ 4.63523581e-02 8.68221615e-04 9.98924774e-01 4.14239792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:83.66, Z:4.14 [[ 3.45524149e-01 -9.38281440e-01 -1.55242016e-02 1.13671344e+02] [ 9.37217926e-01 3.45871588e-01 -4.46699391e-02 8.36555146e+01] [ 4.72823550e-02 8.84982644e-04 9.98881172e-01 4.14136508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:83.68, Z:4.14 [[ 3.45804997e-01 -9.38175182e-01 -1.56918010e-02 1.13680247e+02] [ 9.37086523e-01 3.46159611e-01 -4.51926207e-02 8.36817655e+01] [ 4.78304629e-02 9.23258823e-04 9.98855042e-01 4.14127626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:83.71, Z:4.14 [[ 3.46394381e-01 -9.37953183e-01 -1.59612067e-02 1.13688261e+02] [ 9.36824508e-01 3.46760518e-01 -4.60107014e-02 8.37077228e+01] [ 4.86906001e-02 9.84998790e-04 9.98813424e-01 4.14142247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:83.73, Z:4.14 [[ 3.48341647e-01 -9.37225843e-01 -1.63038958e-02 1.13696926e+02] [ 9.36045105e-01 3.48721166e-01 -4.70437025e-02 8.37342706e+01] [ 4.97760873e-02 1.12609895e-03 9.98759767e-01 4.14304790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:83.76, Z:4.14 [[ 3.49592445e-01 -9.36758779e-01 -1.63741107e-02 1.13704374e+02] [ 9.35565180e-01 3.49973596e-01 -4.72892870e-02 8.37603898e+01] [ 5.00291611e-02 1.21292968e-03 9.98747021e-01 4.14466127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:83.79, Z:4.15 [[ 3.50991823e-01 -9.36240871e-01 -1.60552335e-02 1.13711969e+02] [ 9.35090684e-01 3.51356514e-01 -4.64113501e-02 8.37876735e+01] [ 4.90933137e-02 1.27690518e-03 9.98793380e-01 4.14674584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:83.82, Z:4.15 [[ 3.53829103e-01 -9.35176784e-01 -1.57907630e-02 1.13717600e+02] [ 9.34061202e-01 3.54178455e-01 -4.56868960e-02 8.38155793e+01] [ 4.83180725e-02 1.41581438e-03 9.98830996e-01 4.14872082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:83.84, Z:4.15 [[ 3.54616323e-01 -9.34880904e-01 -1.56511735e-02 1.13724656e+02] [ 9.33782760e-01 3.54958549e-01 -4.53231309e-02 8.38429016e+01] [ 4.79272475e-02 1.45752606e-03 9.98849766e-01 4.14954556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:83.87, Z:4.15 [[ 3.55334498e-01 -9.34606778e-01 -1.57341879e-02 1.13734421e+02] [ 9.33494713e-01 3.55679447e-01 -4.56042877e-02 8.38697180e+01] [ 4.82184037e-02 1.51699548e-03 9.98835664e-01 4.15043146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:83.90, Z:4.15 [[ 3.55802687e-01 -9.34430135e-01 -1.56451227e-02 1.13740979e+02] [ 9.33328612e-01 3.56143134e-01 -4.53846815e-02 8.38964064e+01] [ 4.79807171e-02 1.54595094e-03 9.98847066e-01 4.15147492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:83.92, Z:4.15 [[ 3.55982274e-01 -9.34358807e-01 -1.58189646e-02 1.13748299e+02] [ 9.33231017e-01 3.56330056e-01 -4.59212341e-02 8.39235997e+01] [ 4.85436820e-02 1.58439688e-03 9.98819804e-01 4.15219645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:83.95, Z:4.15 [[ 3.55651687e-01 -9.34485596e-01 -1.57653866e-02 1.13757371e+02] [ 9.33363564e-01 3.55997451e-01 -4.58069030e-02 8.39498664e+01] [ 4.84183285e-02 1.57646488e-03 9.98825901e-01 4.15358188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:83.98, Z:4.15 [[ 3.54918581e-01 -9.34763746e-01 -1.57968426e-02 1.13766700e+02] [ 9.33635469e-01 3.55266543e-01 -4.59401239e-02 8.39760939e+01] [ 4.85552520e-02 1.55651107e-03 9.98819285e-01 4.15482594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:84.00, Z:4.16 [[ 3.53663116e-01 -9.35237216e-01 -1.59295550e-02 1.13776296e+02] [ 9.34088289e-01 3.54018421e-01 -4.63683666e-02 8.40029888e+01] [ 4.90047780e-02 1.51917019e-03 9.98797389e-01 4.15597382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:84.03, Z:4.16 [[ 3.50479206e-01 -9.36437717e-01 -1.57710984e-02 1.13787076e+02] [ 9.35310848e-01 3.50831260e-01 -4.59461106e-02 8.40283009e+01] [ 4.85586653e-02 1.35227695e-03 9.98819417e-01 4.15724157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:84.05, Z:4.16 [[ 3.48878021e-01 -9.37038417e-01 -1.55926416e-02 1.13796118e+02] [ 9.35935532e-01 3.49223989e-01 -4.54674038e-02 8.40542015e+01] [ 4.80500286e-02 1.26887054e-03 9.98844124e-01 4.15887143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:84.08, Z:4.16 [[ 3.46899178e-01 -9.37776036e-01 -1.53969823e-02 1.13806271e+02] [ 9.36699541e-01 3.47238747e-01 -4.49357515e-02 8.40808973e+01] [ 4.74860997e-02 1.16582899e-03 9.98871219e-01 4.15977133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:84.11, Z:4.16 [[ 3.44168057e-01 -9.38778589e-01 -1.55919426e-02 1.13818003e+02] [ 9.37673809e-01 3.44519446e-01 -4.55431684e-02 8.41067939e+01] [ 4.81266788e-02 1.05434759e-03 9.98840684e-01 4.16111471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:84.13, Z:4.16 [[ 3.42840625e-01 -9.39263990e-01 -1.56033042e-02 1.13828833e+02] [ 9.38156123e-01 3.43194048e-01 -4.56172471e-02 8.41325352e+01] [ 4.82015987e-02 1.00111009e-03 9.98837126e-01 4.16275575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters Centerline goodness [0,1] 0.9999758663963703 Centerline is valid? [True, True] Translation: X:113.84, Y:84.16, Z:4.16 [[ 3.41634908e-01 -9.39701390e-01 -1.57126473e-02 1.13838835e+02] [ 9.38576324e-01 3.41994700e-01 -4.59794356e-02 8.41584002e+01] [ 4.85805816e-02 9.60661463e-04 9.98818804e-01 4.16410373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:84.19, Z:4.16 [[ 3.40354771e-01 -9.40164999e-01 -1.57608625e-02 1.13844889e+02] [ 9.39031407e-01 3.40718275e-01 -4.61635436e-02 8.41854790e+01] [ 4.87713618e-02 9.12037408e-04 9.98809553e-01 4.16399445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:84.21, Z:4.16 [[ 3.39521455e-01 -9.40464002e-01 -1.58947511e-02 1.13856579e+02] [ 9.39309197e-01 3.39892140e-01 -4.66000638e-02 8.42112069e+01] [ 4.92281835e-02 8.91635623e-04 9.98787160e-01 4.16469108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:84.24, Z:4.16 [[ 3.37897584e-01 -9.41045091e-01 -1.61046338e-02 1.13865877e+02] [ 9.39858147e-01 3.38280127e-01 -4.72569544e-02 8.42367021e+01] [ 4.99188026e-02 8.31939458e-04 9.98752933e-01 4.16451720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:84.26, Z:4.17 [[ 3.37181516e-01 -9.41301247e-01 -1.61427134e-02 1.13875064e+02] [ 9.40107311e-01 3.37566749e-01 -4.74018263e-02 8.42621970e+01] [ 5.00686415e-02 8.07136701e-04 9.98745453e-01 4.16574310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:84.29, Z:4.17 [[ 3.36299293e-01 -9.41619656e-01 -1.59752776e-02 1.13883105e+02] [ 9.40448402e-01 3.36677642e-01 -4.69570828e-02 8.42874652e+01] [ 4.95942309e-02 7.67709429e-04 9.98769154e-01 4.16644175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:84.31, Z:4.17 [[ 3.35703941e-01 -9.41834325e-01 -1.58419961e-02 1.13893506e+02] [ 9.40680422e-01 3.36076700e-01 -4.66132624e-02 8.43141097e+01] [ 4.92260963e-02 7.46000353e-04 9.98787382e-01 4.16756807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:84.34, Z:4.17 [[ 3.35395461e-01 -9.41940793e-01 -1.60445271e-02 1.13901047e+02] [ 9.40755095e-01 3.35778160e-01 -4.72533512e-02 8.43398366e+01] [ 4.98972609e-02 7.54588933e-04 9.98754071e-01 4.16926704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:84.37, Z:4.17 [[ 3.35329144e-01 -9.41966688e-01 -1.59098606e-02 1.13909954e+02] [ 9.40798627e-01 3.35705498e-01 -4.69016217e-02 8.43659313e+01] [ 4.95207929e-02 7.59505604e-04 9.98772804e-01 4.17153419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:84.39, Z:4.17 [[ 3.35241595e-01 -9.41998954e-01 -1.58443382e-02 1.13917772e+02] [ 9.40838431e-01 3.35614933e-01 -4.67510772e-02 8.43934241e+01] [ 4.93570623e-02 7.65943422e-04 9.98780904e-01 4.17327267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:84.42, Z:4.17 [[ 3.35235374e-01 -9.42004454e-01 -1.56477495e-02 1.13924376e+02] [ 9.40870526e-01 3.35599487e-01 -4.62129695e-02 8.44195662e+01] [ 4.87841998e-02 7.69715786e-04 9.98809046e-01 4.17386641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:84.45, Z:4.17 [[ 3.35251133e-01 -9.41995581e-01 -1.58430954e-02 1.13930903e+02] [ 9.40830859e-01 3.35624332e-01 -4.68359121e-02 8.44456583e+01] [ 4.94365505e-02 7.96119549e-04 9.98776949e-01 4.17487794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:84.47, Z:4.18 [[ 3.34710404e-01 -9.42188042e-01 -1.58315721e-02 1.13938351e+02] [ 9.41022778e-01 3.35083689e-01 -4.68513932e-02 8.44709012e+01] [ 4.94477240e-02 7.83778743e-04 9.98776406e-01 4.17572854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:84.50, Z:4.18 [[ 3.34122050e-01 -9.42395294e-01 -1.59237118e-02 1.13947197e+02] [ 9.41214212e-01 3.34500389e-01 -4.71730457e-02 8.44970175e+01] [ 4.97821441e-02 7.73930852e-04 9.98759801e-01 4.17762170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:84.52, Z:4.18 [[ 3.32321148e-01 -9.43030685e-01 -1.59931853e-02 1.13956041e+02] [ 9.41837862e-01 3.32705039e-01 -4.74215010e-02 8.45240219e+01] [ 5.00409439e-02 6.96180218e-04 9.98746925e-01 4.17954988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:84.55, Z:4.18 [[ 3.30955324e-01 -9.43507842e-01 -1.61717505e-02 1.13964096e+02] [ 9.42286534e-01 3.31349566e-01 -4.79953397e-02 8.45493376e+01] [ 5.06424819e-02 6.45890422e-04 9.98716637e-01 4.17967644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:84.58, Z:4.18 [[ 3.29506952e-01 -9.44011735e-01 -1.63405334e-02 1.13973769e+02] [ 9.42762804e-01 3.29911344e-01 -4.85468816e-02 8.45755263e+01] [ 5.12197533e-02 5.91287894e-04 9.98687232e-01 4.18058482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:84.60, Z:4.18 [[ 3.28196043e-01 -9.44467822e-01 -1.63673806e-02 1.13982779e+02] [ 9.43213051e-01 3.28603480e-01 -4.86712795e-02 8.46023162e+01] [ 5.13468355e-02 5.35794386e-04 9.98680737e-01 4.18170518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:84.63, Z:4.18 [[ 3.25855370e-01 -9.45271440e-01 -1.67386355e-02 1.13991689e+02] [ 9.43957650e-01 3.26284716e-01 -4.98220743e-02 8.46285494e+01] [ 5.25569449e-02 4.34227389e-04 9.98617834e-01 4.18249958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:84.65, Z:4.18 [[ 3.24661500e-01 -9.45679334e-01 -1.68969984e-02 1.13999790e+02] [ 9.44338585e-01 3.25100674e-01 -5.03407201e-02 8.46540598e+01] [ 5.30994042e-02 3.87206147e-04 9.98589156e-01 4.18316517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters Centerline goodness [0,1] 0.9998817295865267 Centerline is valid? [True, True] Translation: X:114.01, Y:84.68, Z:4.18 [[ 3.23566139e-01 -9.46051294e-01 -1.70851294e-02 1.14008434e+02] [ 9.44678347e-01 3.24016710e-01 -5.09508747e-02 8.46805731e+01] [ 5.37380084e-02 3.46026051e-04 9.98555009e-01 4.18450847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:84.71, Z:4.19 [[ 3.22988535e-01 -9.46246866e-01 -1.71835429e-02 1.14014795e+02] [ 9.44855722e-01 3.23445140e-01 -5.12923629e-02 8.47066725e+01] [ 5.40931710e-02 3.30876358e-04 9.98535838e-01 4.18581830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:84.73, Z:4.19 [[ 3.23125509e-01 -9.46200551e-01 -1.71587759e-02 1.14022492e+02] [ 9.44810686e-01 3.23580581e-01 -5.12676710e-02 8.47340741e+01] [ 5.40617452e-02 3.54097408e-04 9.98537532e-01 4.18793571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:84.76, Z:4.19 [[ 3.22864841e-01 -9.46289783e-01 -1.71446829e-02 1.14031160e+02] [ 9.44899795e-01 3.23319533e-01 -5.12723839e-02 8.47602775e+01] [ 5.40617439e-02 3.54042738e-04 9.98537532e-01 4.18914150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:84.79, Z:4.19 [[ 3.23058609e-01 -9.46228223e-01 -1.68903876e-02 1.14037767e+02] [ 9.44876664e-01 3.23499630e-01 -5.05576912e-02 8.47873120e+01] [ 5.33031485e-02 3.73764303e-04 9.98578307e-01 4.19018303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:84.82, Z:4.19 [[ 3.23789987e-01 -9.45983656e-01 -1.65821342e-02 1.14044676e+02] [ 9.44678350e-01 3.24214043e-01 -4.96796748e-02 8.48150585e+01] [ 5.23723212e-02 4.20998124e-04 9.98627540e-01 4.19271413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:84.84, Z:4.20 [[ 3.26085717e-01 -9.45200449e-01 -1.62547358e-02 1.14048309e+02] [ 9.43942972e-01 3.26490135e-01 -4.87427652e-02 8.48423784e+01] [ 5.13786944e-02 5.50775939e-04 9.98679091e-01 4.19540457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:84.87, Z:4.20 [[ 3.26895287e-01 -9.44920852e-01 -1.62497922e-02 1.14055002e+02] [ 9.43661405e-01 3.27298354e-01 -4.87743786e-02 8.48698102e+01] [ 5.14064576e-02 6.09812761e-04 9.98677628e-01 4.19684923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:84.90, Z:4.20 [[ 3.27797210e-01 -9.44608035e-01 -1.62680591e-02 1.14061390e+02] [ 9.43343076e-01 3.28199948e-01 -4.88736630e-02 8.48973685e+01] [ 5.15056309e-02 6.74289422e-04 9.98672477e-01 4.19826518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:84.93, Z:4.20 [[ 3.29998649e-01 -9.43842462e-01 -1.61956223e-02 1.14066174e+02] [ 9.42585574e-01 3.30394852e-01 -4.86998632e-02 8.49261603e+01] [ 5.13159490e-02 8.05129128e-04 9.98682144e-01 4.19983707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:84.95, Z:4.20 [[ 3.31169212e-01 -9.43433951e-01 -1.61038140e-02 1.14071694e+02] [ 9.42188652e-01 3.31559360e-01 -4.84658168e-02 8.49534979e+01] [ 5.10636673e-02 8.77555543e-04 9.98695014e-01 4.20075437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:84.98, Z:4.20 [[ 3.31918227e-01 -9.43169307e-01 -1.61848569e-02 1.14078456e+02] [ 9.41909003e-01 3.32311273e-01 -4.87508859e-02 8.49813024e+01] [ 5.13587496e-02 9.36645202e-04 9.98679829e-01 4.20175389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:85.01, Z:4.20 [[ 3.32521452e-01 -9.42953059e-01 -1.64015979e-02 1.14084670e+02] [ 9.41656197e-01 3.32924215e-01 -4.94476889e-02 8.50094094e+01] [ 5.20873386e-02 9.97751002e-04 9.98642035e-01 4.20253239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:85.04, Z:4.20 [[ 3.33328541e-01 -9.42662830e-01 -1.66994963e-02 1.14090252e+02] [ 9.41315655e-01 3.33744856e-01 -5.03905606e-02 8.50372040e+01] [ 5.30746795e-02 1.07711477e-03 9.98589965e-01 4.20306887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:85.06, Z:4.20 [[ 3.33325968e-01 -9.42660377e-01 -1.68882504e-02 1.14097533e+02] [ 9.41280178e-01 3.33751696e-01 -5.10042450e-02 8.50638169e+01] [ 5.37161630e-02 1.10446396e-03 9.98555634e-01 4.20417640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.206875 meters Centerline goodness [0,1] 0.9999771329262994 Centerline is valid? [True, True] Translation: X:114.10, Y:85.09, Z:4.20 [[ 3.32977863e-01 -9.42780283e-01 -1.70610656e-02 1.14103114e+02] [ 9.41369682e-01 3.33412817e-01 -5.15656338e-02 8.50910874e+01] [ 5.43034408e-02 1.10944467e-03 9.98523863e-01 4.20375015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.11, Y:85.12, Z:4.20 [[ 3.32184695e-01 -9.43061215e-01 -1.69962855e-02 1.14110404e+02] [ 9.41658930e-01 3.32617478e-01 -5.14205432e-02 8.51184209e+01] [ 5.41459815e-02 1.07641338e-03 9.98532450e-01 4.20499424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:85.15, Z:4.21 [[ 3.30337370e-01 -9.43708493e-01 -1.70734418e-02 1.14117697e+02] [ 9.42291693e-01 3.30776811e-01 -5.17017120e-02 8.51457693e+01] [ 5.44388433e-02 9.90845215e-04 9.98516615e-01 4.20618241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:85.17, Z:4.21 [[ 3.29122802e-01 -9.44133838e-01 -1.70140016e-02 1.14124438e+02] [ 9.42724819e-01 3.29560956e-01 -5.15702677e-02 8.51717632e+01] [ 5.42963854e-02 9.33429440e-04 9.98524427e-01 4.20710736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:85.20, Z:4.21 [[ 3.28256767e-01 -9.44435048e-01 -1.70274731e-02 1.14132516e+02] [ 9.43021505e-01 3.28696864e-01 -5.16605594e-02 8.51982284e+01] [ 5.43869199e-02 9.00654891e-04 9.98519530e-01 4.20898026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:85.22, Z:4.21 [[ 3.27224892e-01 -9.44792704e-01 -1.70474804e-02 1.14139055e+02] [ 9.43373657e-01 3.27667530e-01 -5.17700002e-02 8.52246027e+01] [ 5.44978243e-02 8.58288842e-04 9.98513520e-01 4.21000358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:85.25, Z:4.21 [[ 3.26428177e-01 -9.45068066e-01 -1.70586309e-02 1.14144660e+02] [ 9.43644803e-01 3.26872550e-01 -5.18538573e-02 8.52519004e+01] [ 5.45814228e-02 8.29271702e-04 9.98508979e-01 4.21206790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:85.28, Z:4.21 [[ 3.25978656e-01 -9.45227129e-01 -1.68401457e-02 1.14151331e+02] [ 9.43837798e-01 3.26412350e-01 -5.12366010e-02 8.52789752e+01] [ 5.39270568e-02 8.07672232e-04 9.98544551e-01 4.21322764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:85.31, Z:4.21 [[ 3.25862977e-01 -9.45266034e-01 -1.68951275e-02 1.14157036e+02] [ 9.43865047e-01 3.26299637e-01 -5.14521105e-02 8.53051852e+01] [ 5.41488064e-02 8.19617536e-04 9.98532541e-01 4.21430181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters Centerline goodness [0,1] 0.9999775477671254 Centerline is valid? [True, True] Translation: X:114.16, Y:85.33, Z:4.22 [[ 3.25619243e-01 -9.45351317e-01 -1.68224957e-02 1.14163669e+02] [ 9.43959806e-01 3.26052478e-01 -5.12802772e-02 8.53327245e+01] [ 5.39628940e-02 8.18085208e-04 9.98542606e-01 4.21528750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:85.36, Z:4.22 [[ 3.24991575e-01 -9.45565133e-01 -1.69426876e-02 1.14168848e+02] [ 9.44151528e-01 3.25431920e-01 -5.16909867e-02 8.53610710e+01] [ 5.43908861e-02 8.02670859e-04 9.98519398e-01 4.21629976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:85.39, Z:4.22 [[ 3.24525610e-01 -9.45725906e-01 -1.69008689e-02 1.14176512e+02] [ 9.44317721e-01 3.24964453e-01 -5.15959973e-02 8.53885957e+01] [ 5.42878529e-02 7.84432534e-04 9.98525019e-01 4.21810978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:85.42, Z:4.22 [[ 3.23822115e-01 -9.45967162e-01 -1.68927662e-02 1.14184014e+02] [ 9.44558149e-01 3.24261549e-01 -5.16173471e-02 8.54157991e+01] [ 5.43059900e-02 7.58638487e-04 9.98524053e-01 4.21972837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:85.44, Z:4.22 [[ 3.23475395e-01 -9.46085380e-01 -1.69151841e-02 1.14189524e+02] [ 9.44670062e-01 3.23916475e-01 -5.17357807e-02 8.54426672e+01] [ 5.44255726e-02 7.55984053e-04 9.98517544e-01 4.22007495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:85.47, Z:4.22 [[ 3.23082972e-01 -9.46221132e-01 -1.68214872e-02 1.14195177e+02] [ 9.44818872e-01 3.23519727e-01 -5.15003496e-02 8.54700656e+01] [ 5.41728020e-02 7.45627428e-04 9.98531297e-01 4.22178896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:85.50, Z:4.22 [[ 3.23121400e-01 -9.46207089e-01 -1.68732387e-02 1.14201179e+02] [ 9.44793421e-01 3.23560748e-01 -5.17091255e-02 8.54964922e+01] [ 5.43870588e-02 7.66600122e-04 9.98519634e-01 4.22294531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:85.52, Z:4.22 [[ 3.22972983e-01 -9.46257522e-01 -1.68865341e-02 1.14208994e+02] [ 9.44838842e-01 3.23413205e-01 -5.18021444e-02 8.55232642e+01] [ 5.44794969e-02 7.75639764e-04 9.98514588e-01 4.22445401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:85.55, Z:4.22 [[ 3.22862897e-01 -9.46292189e-01 -1.70482451e-02 1.14214083e+02] [ 9.44843352e-01 3.23311711e-01 -5.23505236e-02 8.55497702e+01] [ 5.50507889e-02 7.94120650e-04 9.98483240e-01 4.22461422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:85.58, Z:4.23 [[ 3.23777725e-01 -9.45976938e-01 -1.71935017e-02 1.14219032e+02] [ 9.44499871e-01 3.24232742e-01 -5.28500039e-02 8.55780038e+01] [ 5.55695811e-02 8.72393951e-04 9.98454436e-01 4.22559803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:85.61, Z:4.23 [[ 3.23904547e-01 -9.45934884e-01 -1.71184103e-02 1.14226048e+02] [ 9.44468026e-01 3.24355363e-01 -5.26663681e-02 8.56055057e+01] [ 5.53714029e-02 8.91084865e-04 9.98465429e-01 4.22683176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:85.63, Z:4.23 [[ 3.24027779e-01 -9.45892296e-01 -1.71395383e-02 1.14233718e+02] [ 9.44418968e-01 3.24479470e-01 -5.27814948e-02 8.56319915e+01] [ 5.54870376e-02 9.15765479e-04 9.98458988e-01 4.22897323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:85.66, Z:4.23 [[ 3.24524801e-01 -9.45727465e-01 -1.68290216e-02 1.14237767e+02] [ 9.44304111e-01 3.24959495e-01 -5.18755538e-02 8.56591619e+01] [ 5.45288863e-02 9.43189487e-04 9.98511748e-01 4.23006888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:85.69, Z:4.23 [[ 3.24443693e-01 -9.45757648e-01 -1.66961316e-02 1.14245918e+02] [ 9.44353920e-01 3.24871626e-01 -5.15179569e-02 8.56858015e+01] [ 5.41476012e-02 9.47618855e-04 9.98532493e-01 4.23247126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:85.71, Z:4.23 [[ 3.24188297e-01 -9.45847729e-01 -1.65535969e-02 1.14251916e+02] [ 9.44465317e-01 3.24609286e-01 -5.11280462e-02 8.57128349e+01] [ 5.37327976e-02 9.40816128e-04 9.98554907e-01 4.23303632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:85.74, Z:4.24 [[ 3.24192880e-01 -9.45849116e-01 -1.63837268e-02 1.14260520e+02] [ 9.44492238e-01 3.24605225e-01 -5.06543149e-02 8.57393522e+01] [ 5.32295823e-02 9.47465400e-04 9.98581851e-01 4.23556367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:85.77, Z:4.24 [[ 3.24515149e-01 -9.45740044e-01 -1.62998959e-02 1.14266680e+02] [ 9.44394342e-01 3.24922785e-01 -5.04431350e-02 8.57671240e+01] [ 5.30023003e-02 9.76032054e-04 9.98593913e-01 4.23655039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:85.79, Z:4.24 [[ 3.24637225e-01 -9.45698793e-01 -1.62624005e-02 1.14274291e+02] [ 9.44356663e-01 3.25042768e-01 -5.03755033e-02 8.57939099e+01] [ 5.29260283e-02 9.96257372e-04 9.98597939e-01 4.23757749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:85.82, Z:4.24 [[ 3.24855441e-01 -9.45622847e-01 -1.63209680e-02 1.14281951e+02] [ 9.44268300e-01 3.25263545e-01 -5.06063710e-02 8.58209126e+01] [ 5.31631565e-02 1.02838228e-03 9.98585310e-01 4.23905269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:85.85, Z:4.24 [[ 3.24939805e-01 -9.45593930e-01 -1.63169313e-02 1.14287624e+02] [ 9.44237341e-01 3.25347535e-01 -5.06441127e-02 8.58477879e+01] [ 5.31974389e-02 1.04923232e-03 9.98583463e-01 4.23933581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:85.88, Z:4.24 [[ 3.25946906e-01 -9.45247079e-01 -1.63271170e-02 1.14294499e+02] [ 9.43885616e-01 3.26353640e-01 -5.07271694e-02 8.58752107e+01] [ 5.32781227e-02 1.12343308e-03 9.98579080e-01 4.24072673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.30, Y:85.90, Z:4.24 [[ 3.26573324e-01 -9.45028946e-01 -1.64364169e-02 1.14302069e+02] [ 9.43646410e-01 3.26984548e-01 -5.11131910e-02 8.59029862e+01] [ 5.36778993e-02 1.18203891e-03 9.98557603e-01 4.24189429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:85.93, Z:4.24 [[ 3.27086313e-01 -9.44850534e-01 -1.64927904e-02 1.14309847e+02] [ 9.43455774e-01 3.27499548e-01 -5.13346752e-02 8.59298114e+01] [ 5.39049767e-02 1.23065132e-03 9.98545311e-01 4.24264765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:85.96, Z:4.24 [[ 3.28703829e-01 -9.44292572e-01 -1.62890024e-02 1.14316849e+02] [ 9.42929055e-01 3.29104536e-01 -5.07444772e-02 8.59572350e+01] [ 5.32784175e-02 1.32053033e-03 9.98578823e-01 4.24368866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:85.98, Z:4.24 [[ 3.29539153e-01 -9.43997489e-01 -1.65132664e-02 1.14323134e+02] [ 9.42593418e-01 3.29949658e-01 -5.14866113e-02 8.59836169e+01] [ 5.40517784e-02 1.40155806e-03 9.98537150e-01 4.24385474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:86.01, Z:4.24 [[ 3.30179535e-01 -9.43771939e-01 -1.66132897e-02 1.14331831e+02] [ 9.42349025e-01 3.30594020e-01 -5.18257557e-02 8.60110845e+01] [ 5.44039482e-02 1.45628659e-03 9.98517947e-01 4.24464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:86.04, Z:4.25 [[ 3.30565428e-01 -9.43635589e-01 -1.66845422e-02 1.14338752e+02] [ 9.42197907e-01 3.30982821e-01 -5.20910460e-02 8.60371009e+01] [ 5.46772617e-02 1.49935819e-03 9.98502954e-01 4.24543318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:86.06, Z:4.25 [[ 3.30613421e-01 -9.43621328e-01 -1.65394845e-02 1.14347333e+02] [ 9.42207049e-01 3.31023482e-01 -5.16655711e-02 8.60639961e+01] [ 5.42276926e-02 1.49771232e-03 9.98527473e-01 4.24634882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:86.09, Z:4.25 [[ 3.30041184e-01 -9.43822432e-01 -1.64934293e-02 1.14355480e+02] [ 9.42413570e-01 3.30449745e-01 -5.15715826e-02 8.60903252e+01] [ 5.41246661e-02 1.47711459e-03 9.98533093e-01 4.24730988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:86.12, Z:4.25 [[ 3.29326554e-01 -9.44072608e-01 -1.64599905e-02 1.14364071e+02] [ 9.42667133e-01 3.29734454e-01 -5.15156868e-02 8.61157679e+01] [ 5.40619748e-02 1.44919157e-03 9.98536530e-01 4.24854807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:86.14, Z:4.25 [[ 3.27612749e-01 -9.44670175e-01 -1.63751899e-02 1.14376022e+02] [ 9.43277865e-01 3.28018934e-01 -5.12878894e-02 8.61413299e+01] [ 5.38215118e-02 1.35621224e-03 9.98549651e-01 4.25061700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.39, Y:86.17, Z:4.25 [[ 3.26693947e-01 -9.44985868e-01 -1.65158777e-02 1.14385971e+02] [ 9.43567253e-01 3.27108447e-01 -5.17774389e-02 8.61678213e+01] [ 5.43314312e-02 1.33153454e-03 9.98522069e-01 4.25161680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:86.19, Z:4.25 [[ 3.25773024e-01 -9.45302852e-01 -1.65666627e-02 1.14395859e+02] [ 9.43873140e-01 3.26191400e-01 -5.19871671e-02 8.61943270e+01] [ 5.45475202e-02 1.29918869e-03 9.98510331e-01 4.25299415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:86.22, Z:4.25 [[ 3.24593924e-01 -9.45709338e-01 -1.65115891e-02 1.14404274e+02] [ 9.44286901e-01 3.25011235e-01 -5.18646825e-02 8.62199054e+01] [ 5.44153665e-02 1.24328353e-03 9.98517612e-01 4.25410233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:86.25, Z:4.25 [[ 3.23815931e-01 -9.45981470e-01 -1.61956901e-02 1.14414019e+02] [ 9.44610682e-01 3.24218507e-01 -5.09216917e-02 8.62466729e+01] [ 5.34219192e-02 1.19063314e-03 9.98571320e-01 4.25464047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:86.27, Z:4.26 [[ 3.23686462e-01 -9.46024817e-01 -1.62517661e-02 1.14422307e+02] [ 9.44641909e-01 3.24091958e-01 -5.11474943e-02 8.62729315e+01] [ 5.36538656e-02 1.20365212e-03 9.98558869e-01 4.25522042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:86.30, Z:4.26 [[ 3.23824244e-01 -9.45980260e-01 -1.60998940e-02 1.14431509e+02] [ 9.44620365e-01 3.24221944e-01 -5.07197825e-02 8.62995899e+01] [ 5.31998519e-02 1.21600741e-03 9.98583145e-01 4.25667714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:86.33, Z:4.26 [[ 3.24638400e-01 -9.45700478e-01 -1.61405034e-02 1.14442148e+02] [ 9.44330798e-01 3.25036869e-01 -5.08957597e-02 8.63260701e+01] [ 5.33784029e-02 1.28074355e-03 9.98573535e-01 4.25868660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:86.35, Z:4.26 [[ 3.25466260e-01 -9.45416005e-01 -1.61335088e-02 1.14451955e+02] [ 9.44044686e-01 3.25863124e-01 -5.09200820e-02 8.63531934e+01] [ 5.33979761e-02 1.34201543e-03 9.98572409e-01 4.26039812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:86.38, Z:4.26 [[ 3.26492482e-01 -9.45062842e-01 -1.60898768e-02 1.14460203e+02] [ 9.43696011e-01 3.26885657e-01 -5.08291775e-02 8.63801240e+01] [ 5.32963168e-02 1.41139177e-03 9.98577744e-01 4.26203011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:86.41, Z:4.26 [[ 3.29820986e-01 -9.43905139e-01 -1.61618343e-02 1.14467416e+02] [ 9.42522099e-01 3.30212744e-01 -5.11041747e-02 8.64072674e+01] [ 5.35743367e-02 1.62234330e-03 9.98562546e-01 4.26301001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:86.43, Z:4.26 [[ 3.31598984e-01 -9.43284706e-01 -1.60023956e-02 1.14476470e+02] [ 9.41925518e-01 3.31980417e-01 -5.06489973e-02 8.64345067e+01] [ 5.30889065e-02 1.72209129e-03 9.98588305e-01 4.26468560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:86.46, Z:4.27 [[ 3.31328151e-01 -9.43380104e-01 -1.59886058e-02 1.14484707e+02] [ 9.42020818e-01 3.31709235e-01 -5.06533504e-02 8.64608426e+01] [ 5.30889312e-02 1.72128143e-03 9.98588305e-01 4.26589233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:86.49, Z:4.27 [[ 3.33225663e-01 -9.42712718e-01 -1.59181542e-02 1.14486865e+02] [ 9.41362147e-01 3.33600601e-01 -5.04771943e-02 8.64892813e+01] [ 5.28957989e-02 1.83554873e-03 9.98598350e-01 4.26530589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:86.52, Z:4.27 [[ 3.34589643e-01 -9.42227708e-01 -1.60223654e-02 1.14498704e+02] [ 9.40857011e-01 3.34967455e-01 -5.08417955e-02 8.65151163e+01] [ 5.32715195e-02 1.93638338e-03 9.98578187e-01 4.26688184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:86.54, Z:4.27 [[ 3.35808610e-01 -9.41794063e-01 -1.60162547e-02 1.14508059e+02] [ 9.40421408e-01 3.36184267e-01 -5.08695869e-02 8.65417944e+01] [ 5.32930877e-02 2.02041651e-03 9.98576870e-01 4.26841246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:86.57, Z:4.27 [[ 3.37644540e-01 -9.41141000e-01 -1.58044947e-02 1.14515655e+02] [ 9.39801491e-01 3.38007642e-01 -5.02393367e-02 8.65676962e+01] [ 5.26243396e-02 2.10995004e-03 9.98612150e-01 4.27073463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.886875 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:114.52, Y:86.59, Z:4.27 [[ 3.38231397e-01 -9.40928972e-01 -1.58805285e-02 1.14524353e+02] [ 9.39574923e-01 3.38597098e-01 -5.05071215e-02 8.65948678e+01] [ 5.29007148e-02 2.16214789e-03 9.98597436e-01 4.27217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:86.62, Z:4.27 [[ 3.38534599e-01 -9.40820222e-01 -1.58629897e-02 1.14533106e+02] [ 9.39466558e-01 3.38898954e-01 -5.04983615e-02 8.66218087e+01] [ 5.28858303e-02 2.19269423e-03 9.98598158e-01 4.27326305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:86.65, Z:4.27 [[ 3.39298303e-01 -9.40547432e-01 -1.57222793e-02 1.14539018e+02] [ 9.39214956e-01 3.39655046e-01 -5.00970735e-02 8.66491926e+01] [ 5.24588253e-02 2.23125221e-03 9.98620595e-01 4.27341612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:86.68, Z:4.27 [[ 3.39203350e-01 -9.40581118e-01 -1.57559003e-02 1.14549373e+02] [ 9.39240524e-01 3.39561649e-01 -5.02506122e-02 8.66750692e+01] [ 5.26148765e-02 2.24659594e-03 9.98612351e-01 4.27472524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:86.70, Z:4.28 [[ 3.39029344e-01 -9.40643057e-01 -1.58032521e-02 1.14556903e+02] [ 9.39291933e-01 3.39389940e-01 -5.04493056e-02 8.67009001e+01] [ 5.28182539e-02 2.25992770e-03 9.98601585e-01 4.27588209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:86.73, Z:4.28 [[ 3.38352622e-01 -9.40885238e-01 -1.58893449e-02 1.14563671e+02] [ 9.39517535e-01 3.38718050e-01 -5.07630294e-02 8.67277253e+01] [ 5.31441929e-02 2.24748600e-03 9.98584320e-01 4.27619614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:86.75, Z:4.28 [[ 3.37964249e-01 -9.41025876e-01 -1.58261826e-02 1.14575271e+02] [ 9.39666609e-01 3.38327231e-01 -5.06097735e-02 8.67534224e+01] [ 5.29795349e-02 2.23295873e-03 9.98593102e-01 4.27797231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:86.78, Z:4.28 [[ 3.37392667e-01 -9.41229845e-01 -1.58923631e-02 1.14584353e+02] [ 9.39856765e-01 3.37759412e-01 -5.08708361e-02 8.67795304e+01] [ 5.32489444e-02 2.22690208e-03 9.98578785e-01 4.27919720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.59, Y:86.81, Z:4.28 [[ 3.37073534e-01 -9.41343054e-01 -1.59589153e-02 1.14593067e+02] [ 9.39955912e-01 3.37443712e-01 -5.11333896e-02 8.68059562e+01] [ 5.35192968e-02 2.23503555e-03 9.98564314e-01 4.28010461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters Centerline goodness [0,1] 0.9999780263244633 Centerline is valid? [True, True] Translation: X:114.60, Y:86.83, Z:4.28 [[ 3.36822713e-01 -9.41430398e-01 -1.61017580e-02 1.14601286e+02] [ 9.40015653e-01 3.37199803e-01 -5.16416959e-02 8.68322785e+01] [ 5.40465720e-02 2.25819150e-03 9.98535862e-01 4.28104036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:86.86, Z:4.28 [[ 3.36424725e-01 -9.41569160e-01 -1.63070725e-02 1.14609834e+02] [ 9.40115329e-01 3.36811976e-01 -5.23532350e-02 8.68591713e+01] [ 5.47866089e-02 2.28239389e-03 9.98495477e-01 4.28112409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:86.88, Z:4.28 [[ 3.35844525e-01 -9.41773826e-01 -1.64473745e-02 1.14619415e+02] [ 9.40292264e-01 3.36239255e-01 -5.28547112e-02 8.68849986e+01] [ 5.53074365e-02 2.28562637e-03 9.98466756e-01 4.28216906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:86.91, Z:4.28 [[ 3.35184894e-01 -9.42011312e-01 -1.63025836e-02 1.14628250e+02] [ 9.40553130e-01 3.35573614e-01 -5.24419551e-02 8.69103745e+01] [ 5.48716319e-02 2.24430513e-03 9.98490895e-01 4.28388363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:86.94, Z:4.29 [[ 3.34517242e-01 -9.42250503e-01 -1.61927341e-02 1.14636378e+02] [ 9.40809190e-01 3.34901645e-01 -5.21436195e-02 8.69355100e+01] [ 5.45553250e-02 2.20866671e-03 9.98508307e-01 4.28542506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:86.96, Z:4.29 [[ 3.34054320e-01 -9.42417650e-01 -1.60213592e-02 1.14645339e+02] [ 9.41003876e-01 3.34431209e-01 -5.16475739e-02 8.69610982e+01] [ 5.40316277e-02 2.17693404e-03 9.98536852e-01 4.28755837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:86.99, Z:4.29 [[ 3.33084561e-01 -9.42761683e-01 -1.59713512e-02 1.14661642e+02] [ 9.41354265e-01 3.33460437e-01 -5.15391536e-02 8.69859626e+01] [ 5.39149529e-02 2.13219679e-03 9.98543255e-01 4.29023940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:87.01, Z:4.29 [[ 3.32423891e-01 -9.42993570e-01 -1.60462638e-02 1.14664200e+02] [ 9.41570415e-01 3.32804185e-01 -5.18317323e-02 8.70140426e+01] [ 5.42172540e-02 2.12141887e-03 9.98526909e-01 4.28921634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:87.04, Z:4.29 [[ 3.32111875e-01 -9.43103682e-01 -1.60358272e-02 1.14680243e+02] [ 9.41679603e-01 3.32492032e-01 -5.18514505e-02 8.70380552e+01] [ 5.42330787e-02 2.11987109e-03 9.98526053e-01 4.29237308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.426875 meters Centerline goodness [0,1] 0.999977778271594 Centerline is valid? [True, True] Translation: X:114.68, Y:87.07, Z:4.29 [[ 3.31424716e-01 -9.43346308e-01 -1.59812754e-02 1.14682071e+02] [ 9.41929386e-01 3.31803217e-01 -5.17267603e-02 8.70658798e+01] [ 5.40988870e-02 2.09029391e-03 9.98533395e-01 4.29126379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:87.09, Z:4.29 [[ 3.31148174e-01 -9.43442271e-01 -1.60489433e-02 1.14697419e+02] [ 9.42010539e-01 3.31530191e-01 -5.19988194e-02 8.70908521e+01] [ 5.43785935e-02 2.10104042e-03 9.98518179e-01 4.29412114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:87.12, Z:4.30 [[ 3.31164488e-01 -9.43438369e-01 -1.59413141e-02 1.14709297e+02] [ 9.42023032e-01 3.31541272e-01 -5.17009839e-02 8.71164022e+01] [ 5.40618955e-02 2.10444484e-03 9.98535369e-01 4.29589024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:87.14, Z:4.30 [[ 3.30949929e-01 -9.43514899e-01 -1.58675505e-02 1.14715202e+02] [ 9.42109858e-01 3.31323445e-01 -5.15149515e-02 8.71427523e+01] [ 5.38624158e-02 2.09989382e-03 9.98546158e-01 4.29667958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:87.17, Z:4.30 [[ 3.30871195e-01 -9.43545309e-01 -1.57004173e-02 1.14722751e+02] [ 9.42166866e-01 3.31236893e-01 -5.10266430e-02 8.71687082e+01] [ 5.33465071e-02 2.09083336e-03 9.98573872e-01 4.29752754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:87.19, Z:4.30 [[ 3.31200507e-01 -9.43432108e-01 -1.55589877e-02 1.14733471e+02] [ 9.42075564e-01 3.31559072e-01 -5.06183213e-02 8.71949911e+01] [ 5.29136731e-02 2.10707155e-03 9.98596867e-01 4.29958258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.606875 meters Centerline goodness [0,1] 0.9998642902379444 Centerline is valid? [True, True] Translation: X:114.74, Y:87.22, Z:4.30 [[ 3.31923131e-01 -9.43181094e-01 -1.53772049e-02 1.14742175e+02] [ 9.41853340e-01 3.32272258e-01 -5.00742595e-02 8.72218509e+01] [ 5.23385134e-02 2.13773325e-03 9.98627113e-01 4.30069315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:87.25, Z:4.30 [[ 3.33088303e-01 -9.42766486e-01 -1.56056198e-02 1.14744537e+02] [ 9.41395891e-01 3.33446068e-01 -5.08674321e-02 8.72504059e+01] [ 5.31597428e-02 2.25228023e-03 9.98583481e-01 4.29959127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:87.28, Z:4.30 [[ 3.33667752e-01 -9.42562319e-01 -1.55597876e-02 1.14752186e+02] [ 9.41196907e-01 3.34022469e-01 -5.07678334e-02 8.72773540e+01] [ 5.30491655e-02 2.29476486e-03 9.98589265e-01 4.30003960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:87.30, Z:4.30 [[ 3.34095960e-01 -9.42409671e-01 -1.56173144e-02 1.14766397e+02] [ 9.41031411e-01 3.34452565e-01 -5.10035791e-02 8.73024549e+01] [ 5.32895171e-02 2.34370633e-03 9.98576354e-01 4.30222262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:87.33, Z:4.30 [[ 3.34498310e-01 -9.42265248e-01 -1.57188589e-02 1.14774533e+02] [ 9.40866198e-01 3.34858848e-01 -5.13843338e-02 8.73295315e+01] [ 5.36812711e-02 2.39862977e-03 9.98555240e-01 4.30301034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:87.36, Z:4.30 [[ 3.35582939e-01 -9.41878779e-01 -1.57624931e-02 1.14783530e+02] [ 9.40468872e-01 3.35943738e-01 -5.15762165e-02 8.73563692e+01] [ 5.38738547e-02 2.48396420e-03 9.98544660e-01 4.30352685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:87.38, Z:4.30 [[ 3.36235958e-01 -9.41648291e-01 -1.56165784e-02 1.14788253e+02] [ 9.40261805e-01 3.36589045e-01 -5.11424708e-02 8.73830969e+01] [ 5.34145894e-02 2.51226546e-03 9.98569262e-01 4.30407271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters Centerline goodness [0,1] 0.9999773827294522 Centerline is valid? [True, True] Translation: X:114.80, Y:87.41, Z:4.31 [[ 3.36557640e-01 -9.41533282e-01 -1.56215861e-02 1.14796979e+02] [ 9.40144330e-01 3.36910411e-01 -5.11860691e-02 8.74100308e+01] [ 5.34564626e-02 2.54051706e-03 9.98566949e-01 4.30532302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.81, Y:87.44, Z:4.31 [[ 3.36749977e-01 -9.41466819e-01 -1.54816794e-02 1.14806059e+02] [ 9.40100044e-01 3.37096063e-01 -5.07755012e-02 8.74370156e+01] [ 5.30222628e-02 2.54432140e-03 9.98590089e-01 4.30656817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:87.46, Z:4.31 [[ 3.36350457e-01 -9.41613621e-01 -1.52367768e-02 1.14817426e+02] [ 9.40287327e-01 3.36686129e-01 -5.00219250e-02 8.74626936e+01] [ 5.22313374e-02 2.49794921e-03 9.98631888e-01 4.30916319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:87.49, Z:4.31 [[ 3.35706076e-01 -9.41846116e-01 -1.50772755e-02 1.14826185e+02] [ 9.40545089e-01 3.36035529e-01 -4.95485493e-02 8.74891235e+01] [ 5.17336090e-02 2.45289159e-03 9.98657908e-01 4.31040486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:87.52, Z:4.31 [[ 3.34519746e-01 -9.42268974e-01 -1.50240125e-02 1.14831796e+02] [ 9.40975085e-01 3.34848390e-01 -4.94210936e-02 8.75163417e+01] [ 5.15987296e-02 2.39511020e-03 9.98665026e-01 4.31080766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.966875 meters Centerline goodness [0,1] 0.9999773072820932 Centerline is valid? [True, True] Translation: X:114.85, Y:87.54, Z:4.31 [[ 3.32282852e-01 -9.43064111e-01 -1.47712408e-02 1.14845373e+02] [ 9.41812493e-01 3.32603434e-01 -4.86228743e-02 8.75420689e+01] [ 5.07674531e-02 2.24480823e-03 9.98707979e-01 4.31170541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:87.57, Z:4.31 [[ 3.31045398e-01 -9.43498563e-01 -1.48123733e-02 1.14852143e+02] [ 9.42238101e-01 3.31369318e-01 -4.88030313e-02 8.75685341e+01] [ 5.09539559e-02 2.19923640e-03 9.98698582e-01 4.31225516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:87.59, Z:4.31 [[ 3.29516488e-01 -9.44034458e-01 -1.47589073e-02 1.14864192e+02] [ 9.42781883e-01 3.29840032e-01 -4.86608015e-02 8.75949531e+01] [ 5.08055518e-02 2.12010599e-03 9.98706314e-01 4.31443713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:87.62, Z:4.32 [[ 3.27984804e-01 -9.44568351e-01 -1.47172519e-02 1.14872999e+02] [ 9.43321226e-01 3.28308459e-01 -4.85656228e-02 8.76211919e+01] [ 5.07053485e-02 2.04569021e-03 9.98711561e-01 4.31518318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:87.65, Z:4.32 [[ 3.24698937e-01 -9.45702613e-01 -1.47365974e-02 1.14885431e+02] [ 9.44451680e-01 3.25027726e-01 -4.86621220e-02 8.76453778e+01] [ 5.08096987e-02 1.88253510e-03 9.98706579e-01 4.31683840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:87.67, Z:4.32 [[ 3.22751356e-01 -9.46369760e-01 -1.46915131e-02 1.14897554e+02] [ 9.45125064e-01 3.23080624e-01 -4.85543427e-02 8.76711733e+01] [ 5.06969049e-02 1.78566268e-03 9.98712489e-01 4.31869464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:87.70, Z:4.32 [[ 3.20989180e-01 -9.46968716e-01 -1.47036714e-02 1.14907928e+02] [ 9.45720160e-01 3.21321233e-01 -4.86420075e-02 8.76977726e+01] [ 5.07870612e-02 1.70799968e-03 9.98708044e-01 4.31911784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:87.72, Z:4.32 [[ 3.19135193e-01 -9.47595564e-01 -1.46756917e-02 1.14915789e+02] [ 9.46349993e-01 3.19468341e-01 -4.85970213e-02 8.77246061e+01] [ 5.07387407e-02 1.62067902e-03 9.98710646e-01 4.31913995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:87.75, Z:4.32 [[ 3.17193884e-01 -9.48242113e-01 -1.49978131e-02 1.14929044e+02] [ 9.46939413e-01 3.17544392e-01 -4.97122551e-02 8.77506899e+01] [ 5.19017253e-02 1.56640291e-03 9.98650969e-01 4.32043669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:87.78, Z:4.32 [[ 3.16356878e-01 -9.48519907e-01 -1.51099964e-02 1.14938480e+02] [ 9.47195537e-01 3.16713740e-01 -5.01300422e-02 8.77768322e+01] [ 5.23348864e-02 1.54686245e-03 9.98628393e-01 4.32217629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:87.80, Z:4.32 [[ 3.15463850e-01 -9.48817714e-01 -1.50832656e-02 1.14948320e+02] [ 9.47495755e-01 3.15820619e-01 -5.00912158e-02 8.78033168e+01] [ 5.22910391e-02 1.51063766e-03 9.98630745e-01 4.32372116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:87.83, Z:4.33 [[ 3.14234280e-01 -9.49227842e-01 -1.49438953e-02 1.14959207e+02] [ 9.47928125e-01 3.14586103e-01 -4.96775068e-02 8.78295662e+01] [ 5.18564144e-02 1.44463694e-03 9.98653506e-01 4.32574961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:87.86, Z:4.33 [[ 3.13294514e-01 -9.49540055e-01 -1.48401817e-02 1.14966647e+02] [ 9.48256202e-01 3.13642676e-01 -4.93806359e-02 8.78554422e+01] [ 5.15434060e-02 1.39838804e-03 9.98669776e-01 4.32625794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:87.88, Z:4.33 [[ 3.12543143e-01 -9.49787178e-01 -1.48694098e-02 1.14977179e+02] [ 9.48495917e-01 3.12893627e-01 -4.95285128e-02 8.78819868e+01] [ 5.16940900e-02 1.37622260e-03 9.98662018e-01 4.32805609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:87.91, Z:4.33 [[ 3.11300421e-01 -9.50197381e-01 -1.47303993e-02 1.14986481e+02] [ 9.48928113e-01 3.11645981e-01 -4.91143397e-02 8.79088947e+01] [ 5.12589867e-02 1.31122464e-03 9.98684533e-01 4.32872718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:87.94, Z:4.33 [[ 3.09348935e-01 -9.50834465e-01 -1.47328456e-02 1.14998991e+02] [ 9.49562965e-01 3.09697156e-01 -4.91715984e-02 8.79350547e+01] [ 5.13167709e-02 1.22141711e-03 9.98681680e-01 4.33061458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:87.96, Z:4.33 [[ 3.08038449e-01 -9.51262654e-01 -1.45491401e-02 1.15007062e+02] [ 9.50020752e-01 3.08379701e-01 -4.86058724e-02 8.79613663e+01] [ 5.07236107e-02 1.15049250e-03 9.98712066e-01 4.33265485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:87.99, Z:4.34 [[ 3.06966569e-01 -9.51611629e-01 -1.43816649e-02 1.15018045e+02] [ 9.50396247e-01 3.07301332e-01 -4.80922495e-02 8.79878017e+01] [ 5.01846487e-02 1.09443250e-03 9.98739357e-01 4.33504210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:88.01, Z:4.34 [[ 3.05713416e-01 -9.52018852e-01 -1.41213555e-02 1.15026355e+02] [ 9.50846016e-01 3.06037691e-01 -4.72523664e-02 8.80137683e+01] [ 4.93068107e-02 1.01844772e-03 9.98783160e-01 4.33754559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters Centerline goodness [0,1] 0.9999766180321736 Centerline is valid? [True, True] Translation: X:115.04, Y:88.04, Z:4.34 [[ 3.05189718e-01 -9.52187573e-01 -1.40734733e-02 1.15035191e+02] [ 9.51021051e-01 3.05512403e-01 -4.71288826e-02 8.80407579e+01] [ 4.91751569e-02 9.99081034e-04 9.98789670e-01 4.33911574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:88.07, Z:4.34 [[ 3.04206866e-01 -9.52500432e-01 -1.41813075e-02 1.15044704e+02] [ 9.51313932e-01 3.04535688e-01 -4.75375453e-02 8.80673198e+01] [ 4.95982467e-02 9.70372281e-04 9.98768778e-01 4.34049377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:88.09, Z:4.34 [[ 3.03689511e-01 -9.52664231e-01 -1.42669096e-02 1.15053403e+02] [ 9.51461125e-01 3.04022918e-01 -4.78726819e-02 8.80942040e+01] [ 4.99440591e-02 9.64021493e-04 9.98751551e-01 4.34111953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:88.12, Z:4.34 [[ 3.03156883e-01 -9.52828875e-01 -1.45958807e-02 1.15062245e+02] [ 9.51567256e-01 3.03506486e-01 -4.90262248e-02 8.81204486e+01] [ 5.11435471e-02 9.73675293e-04 9.98690838e-01 4.34085853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:88.15, Z:4.34 [[ 3.02898037e-01 -9.52911396e-01 -1.45825563e-02 1.15070025e+02] [ 9.51649682e-01 3.03247298e-01 -4.90301880e-02 8.81469261e+01] [ 5.11435457e-02 9.73662642e-04 9.98690838e-01 4.34206446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:88.17, Z:4.34 [[ 3.02464547e-01 -9.53045493e-01 -1.48150686e-02 1.15078795e+02] [ 9.51740732e-01 3.02825569e-01 -4.98623422e-02 8.81740384e+01] [ 5.20074621e-02 9.81486508e-04 9.98646214e-01 4.34202924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:88.20, Z:4.34 [[ 3.02308230e-01 -9.53093940e-01 -1.48887756e-02 1.15087213e+02] [ 9.51773570e-01 3.02673016e-01 -5.01609170e-02 8.82012907e+01] [ 5.23144967e-02 9.93314915e-04 9.98630165e-01 4.34270796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:88.23, Z:4.34 [[ 3.01368806e-01 -9.53390421e-01 -1.49515440e-02 1.15096132e+02] [ 9.52056587e-01 3.01737936e-01 -5.04229383e-02 8.82276222e+01] [ 5.25841944e-02 9.61184803e-04 9.98616032e-01 4.34390345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:88.25, Z:4.35 [[ 2.99905453e-01 -9.53847945e-01 -1.51926650e-02 1.15107289e+02] [ 9.52468511e-01 3.00288641e-01 -5.12880802e-02 8.82540204e+01] [ 5.34832146e-02 9.11039927e-04 9.98568333e-01 4.34561949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:88.28, Z:4.35 [[ 2.98908850e-01 -9.54158243e-01 -1.53475610e-02 1.15116641e+02] [ 9.52748095e-01 2.99301309e-01 -5.18632255e-02 8.82807380e+01] [ 5.40792692e-02 8.80017650e-04 9.98536258e-01 4.34696129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:88.31, Z:4.35 [[ 2.98443791e-01 -9.54304596e-01 -1.52984402e-02 1.15125696e+02] [ 9.52900808e-01 2.98834381e-01 -5.17500021e-02 8.83068153e+01] [ 5.39569647e-02 8.66570706e-04 9.98542886e-01 4.34882831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.866875 meters Centerline goodness [0,1] 0.9999763122986546 Centerline is valid? [True, True] Translation: X:115.13, Y:88.33, Z:4.35 [[ 2.97919985e-01 -9.54468677e-01 -1.52717570e-02 1.15134760e+02] [ 9.53066927e-01 2.98309935e-01 -5.17166783e-02 8.83329332e+01] [ 5.39176664e-02 8.52425461e-04 9.98545021e-01 4.35027281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:88.36, Z:4.35 [[ 2.98692731e-01 -9.54229094e-01 -1.51489075e-02 1.15142896e+02] [ 9.52846716e-01 2.99075274e-01 -5.13528619e-02 8.83590921e+01] [ 5.35330585e-02 9.04139794e-04 9.98565668e-01 4.35256077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:88.39, Z:4.35 [[ 2.99319503e-01 -9.54034852e-01 -1.50111689e-02 1.15150304e+02] [ 9.52674429e-01 2.99694185e-01 -5.09394494e-02 8.83859149e+01] [ 5.30967701e-02 9.46413901e-04 9.98588923e-01 4.35369412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:88.41, Z:4.36 [[ 2.99975363e-01 -9.53830264e-01 -1.49201061e-02 1.15158153e+02] [ 9.52483342e-01 3.00344542e-01 -5.06817473e-02 8.84123921e+01] [ 5.28229568e-02 9.92123101e-04 9.98603400e-01 4.35527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:88.44, Z:4.36 [[ 3.01161940e-01 -9.53454449e-01 -1.50366047e-02 1.15164868e+02] [ 9.52082942e-01 3.01535138e-01 -5.11334633e-02 8.84389360e+01] [ 5.32874928e-02 1.08335809e-03 9.98578625e-01 4.35613044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:88.47, Z:4.36 [[ 3.03552708e-01 -9.52691828e-01 -1.52981763e-02 1.15173376e+02] [ 9.51268118e-01 3.03935359e-01 -5.20794170e-02 8.84659144e+01] [ 5.42652917e-02 1.25618065e-03 9.98525763e-01 4.35753089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:88.49, Z:4.36 [[ 3.04557009e-01 -9.52372925e-01 -1.51933949e-02 1.15177786e+02] [ 9.50965793e-01 3.04932900e-01 -5.17685891e-02 8.84926769e+01] [ 5.39359686e-02 1.31808779e-03 9.98543526e-01 4.35799447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:88.52, Z:4.36 [[ 3.05209588e-01 -9.52162758e-01 -1.52705730e-02 1.15185927e+02] [ 9.50739409e-01 3.05588289e-01 -5.20612425e-02 8.85195340e+01] [ 5.42372845e-02 1.37125481e-03 9.98527134e-01 4.35943154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:88.55, Z:4.36 [[ 3.05764325e-01 -9.51983501e-01 -1.53490083e-02 1.15193855e+02] [ 9.50542336e-01 3.06146010e-01 -5.23821318e-02 8.85469375e+01] [ 5.45659628e-02 1.42670500e-03 9.98509149e-01 4.36107873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:88.57, Z:4.36 [[ 3.07123902e-01 -9.51545114e-01 -1.53884813e-02 1.15201344e+02] [ 9.50093031e-01 3.07505399e-01 -5.25705439e-02 8.85740030e+01] [ 5.47552852e-02 1.52518173e-03 9.98498639e-01 4.36188750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:88.60, Z:4.36 [[ 3.07666833e-01 -9.51365662e-01 -1.56364234e-02 1.15209795e+02] [ 9.49863048e-01 3.08059766e-01 -5.34730765e-02 8.86006384e+01] [ 5.56894018e-02 1.59943133e-03 9.98446860e-01 4.36277907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:88.63, Z:4.36 [[ 3.08211625e-01 -9.51185804e-01 -1.58480171e-02 1.15217573e+02] [ 9.49638753e-01 3.08614275e-01 -5.42537382e-02 8.86276133e+01] [ 5.64963099e-02 1.67174162e-03 9.98401408e-01 4.36356523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:88.65, Z:4.36 [[ 3.10029139e-01 -9.50589840e-01 -1.61520782e-02 1.15224195e+02] [ 9.48978591e-01 3.10444191e-01 -5.53537484e-02 8.86545587e+01] [ 5.76330296e-02 1.83329848e-03 9.98336152e-01 4.36367457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:88.68, Z:4.36 [[ 3.10835995e-01 -9.50329349e-01 -1.59722331e-02 1.15230643e+02] [ 9.48750073e-01 3.11240416e-01 -5.47969280e-02 8.86809756e+01] [ 5.70463334e-02 1.87920035e-03 9.98369763e-01 4.36461106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:88.71, Z:4.37 [[ 3.11829578e-01 -9.50004800e-01 -1.59120635e-02 1.15238987e+02] [ 9.48433634e-01 3.12229208e-01 -5.46494686e-02 8.87075025e+01] [ 5.68854685e-02 1.94978455e-03 9.98378807e-01 4.36707971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:88.73, Z:4.37 [[ 3.12637981e-01 -9.49741508e-01 -1.57657917e-02 1.15246624e+02] [ 9.48195628e-01 3.13028880e-01 -5.42030566e-02 8.87341305e+01] [ 5.64140408e-02 1.99687941e-03 9.98405463e-01 4.36915822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:88.76, Z:4.37 [[ 3.13030181e-01 -9.49614609e-01 -1.56269172e-02 1.15253742e+02] [ 9.48092604e-01 3.13413492e-01 -5.37810182e-02 8.87601160e+01] [ 5.59689272e-02 2.01931730e-03 9.98430469e-01 4.37098627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:88.79, Z:4.37 [[ 3.13069630e-01 -9.49604665e-01 -1.54397657e-02 1.15261787e+02] [ 9.48115818e-01 3.13443651e-01 -5.31927918e-02 8.87866637e+01] [ 5.53516198e-02 2.01436153e-03 9.98464892e-01 4.37277021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:88.81, Z:4.37 [[ 3.12230722e-01 -9.49881941e-01 -1.53712423e-02 1.15270406e+02] [ 9.48403228e-01 3.12602615e-01 -5.30181295e-02 8.88130247e+01] [ 5.51660543e-02 1.97575304e-03 9.98475239e-01 4.37410021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:88.84, Z:4.38 [[ 3.11454184e-01 -9.50138254e-01 -1.52836574e-02 1.15278215e+02] [ 9.48673313e-01 3.11822933e-01 -5.27769210e-02 8.88385861e+01] [ 5.49111664e-02 1.93839495e-03 9.98489362e-01 4.37566035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:88.86, Z:4.38 [[ 3.08777610e-01 -9.51012173e-01 -1.52392454e-02 1.15288582e+02] [ 9.49553573e-01 3.09148216e-01 -5.26819985e-02 8.88636815e+01] [ 5.48124074e-02 1.79654170e-03 9.98495054e-01 4.37718450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:88.89, Z:4.38 [[ 3.06825504e-01 -9.51644622e-01 -1.51863157e-02 1.15298121e+02] [ 9.50194162e-01 3.07196429e-01 -5.25490979e-02 8.88901723e+01] [ 5.46732483e-02 1.69345494e-03 9.98502863e-01 4.37856623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:88.91, Z:4.38 [[ 3.02868366e-01 -9.52905770e-01 -1.55353529e-02 1.15309307e+02] [ 9.51386424e-01 3.03262744e-01 -5.38105904e-02 8.89149904e+01] [ 5.59877158e-02 1.51740179e-03 9.98430305e-01 4.37839501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:88.94, Z:4.38 [[ 3.00506267e-01 -9.53651656e-01 -1.56365539e-02 1.15319068e+02] [ 9.52110642e-01 3.00909539e-01 -5.42104706e-02 8.89407310e+01] [ 5.64030933e-02 1.40285678e-03 9.98407093e-01 4.37925292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:88.97, Z:4.38 [[ 2.97898021e-01 -9.54468443e-01 -1.57085786e-02 1.15329328e+02] [ 9.52911331e-01 2.98309197e-01 -5.45125495e-02 8.89670163e+01] [ 5.67165218e-02 1.27029806e-03 9.98389514e-01 4.37999832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:88.99, Z:4.38 [[ 2.95566192e-01 -9.55192502e-01 -1.57451601e-02 1.15339776e+02] [ 9.53626146e-01 2.95983042e-01 -5.46919690e-02 8.89937566e+01] [ 5.69016591e-02 1.15010063e-03 9.98379126e-01 4.38091772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:89.02, Z:4.38 [[ 2.90998528e-01 -9.56592599e-01 -1.58258194e-02 1.15351958e+02] [ 9.55009172e-01 2.91427166e-01 -5.50244360e-02 8.90182076e+01] [ 5.72480420e-02 8.98227179e-04 9.98359582e-01 4.38110999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:89.04, Z:4.38 [[ 2.88758466e-01 -9.57270598e-01 -1.58603514e-02 1.15363459e+02] [ 9.55677780e-01 2.89192650e-01 -5.52050063e-02 8.90431476e+01] [ 5.74328264e-02 7.83527546e-04 9.98349065e-01 4.38411376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:89.07, Z:4.39 [[ 2.86821683e-01 -9.57854956e-01 -1.57227817e-02 1.15373288e+02] [ 9.56286986e-01 2.87251497e-01 -5.47884837e-02 8.90688371e+01] [ 5.69958132e-02 6.79033528e-04 9.98374186e-01 4.38585092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:89.09, Z:4.39 [[ 2.85248806e-01 -9.58325275e-01 -1.56775449e-02 1.15380208e+02] [ 9.56763620e-01 2.85678676e-01 -5.46906682e-02 8.90942201e+01] [ 5.68901900e-02 6.00743178e-04 9.98380261e-01 4.38506411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:89.12, Z:4.39 [[ 2.81695270e-01 -9.59376767e-01 -1.56203165e-02 1.15393533e+02] [ 9.57825233e-01 2.82127732e-01 -5.45414194e-02 8.91192262e+01] [ 5.67326950e-02 4.02526545e-04 9.98389323e-01 4.39034376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:89.14, Z:4.39 [[ 2.79792392e-01 -9.59934121e-01 -1.55788649e-02 1.15402232e+02] [ 9.58388557e-01 2.80225608e-01 -5.44516543e-02 8.91441945e+01] [ 5.66355977e-02 3.04552733e-04 9.98394870e-01 4.39099715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:89.17, Z:4.39 [[ 2.78415645e-01 -9.60335420e-01 -1.55116216e-02 1.15411516e+02] [ 9.58800867e-01 2.78847316e-01 -5.42685136e-02 8.91703269e+01] [ 5.64413498e-02 2.36646930e-04 9.98405888e-01 4.39245015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:89.19, Z:4.39 [[ 2.76602058e-01 -9.60862194e-01 -1.53344462e-02 1.15420265e+02] [ 9.59359866e-01 2.77026754e-01 -5.37105621e-02 8.91949425e+01] [ 5.58565004e-02 1.45199756e-04 9.98438796e-01 4.39192370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:89.22, Z:4.40 [[ 2.76253729e-01 -9.60962018e-01 -1.53582817e-02 1.15428923e+02] [ 9.59451600e-01 2.76680284e-01 -5.38576638e-02 8.92205391e+01] [ 5.60045031e-02 1.42852535e-04 9.98430506e-01 4.39501977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:89.25, Z:4.40 [[ 2.75841893e-01 -9.61078177e-01 -1.54915552e-02 1.15437284e+02] [ 9.59538177e-01 2.76276527e-01 -5.43853606e-02 8.92461427e+01] [ 5.65485362e-02 1.37022209e-04 9.98399842e-01 4.39759512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:89.27, Z:4.40 [[ 2.75980841e-01 -9.61039774e-01 -1.53989775e-02 1.15445222e+02] [ 9.59514623e-01 2.76410070e-01 -5.41217299e-02 8.92734606e+01] [ 5.62695676e-02 1.61016404e-04 9.98415600e-01 4.39895361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:89.30, Z:4.40 [[ 2.77410305e-01 -9.60630751e-01 -1.52342851e-02 1.15452118e+02] [ 9.59134227e-01 2.77828174e-01 -5.36007520e-02 8.92983685e+01] [ 5.57230443e-02 2.57676661e-04 9.98446231e-01 4.39962969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:89.32, Z:4.40 [[ 2.77950618e-01 -9.60476913e-01 -1.50848859e-02 1.15459171e+02] [ 9.59005848e-01 2.78359493e-01 -5.31392061e-02 8.93243228e+01] [ 5.52380018e-02 3.03581321e-04 9.98473170e-01 4.40089571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:89.35, Z:4.40 [[ 2.78837373e-01 -9.60217989e-01 -1.52030515e-02 1.15466286e+02] [ 9.58719974e-01 2.79251272e-01 -5.36165896e-02 8.93502016e+01] [ 5.57290853e-02 3.74839848e-04 9.98445857e-01 4.40214698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:89.38, Z:4.40 [[ 2.79467278e-01 -9.60037064e-01 -1.50623908e-02 1.15472624e+02] [ 9.58562857e-01 2.79872568e-01 -5.31845299e-02 8.93755291e+01] [ 5.52746700e-02 4.25087464e-04 9.98471096e-01 4.40310464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:89.40, Z:4.41 [[ 2.80999263e-01 -9.59589230e-01 -1.50971133e-02 1.15480322e+02] [ 9.58103973e-01 2.81404024e-01 -5.33718365e-02 8.94028212e+01] [ 5.54634280e-02 5.32842525e-04 9.98460577e-01 4.40510387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:89.43, Z:4.41 [[ 2.81536703e-01 -9.59431418e-01 -1.51141953e-02 1.15487634e+02] [ 9.57939369e-01 2.81941513e-01 -5.34897053e-02 8.94288012e+01] [ 5.55810229e-02 5.80832621e-04 9.98454011e-01 4.40714967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:89.45, Z:4.41 [[ 2.82183631e-01 -9.59242963e-01 -1.50112405e-02 1.15494111e+02] [ 9.57767471e-01 2.82581918e-01 -5.31877003e-02 8.94537897e+01] [ 5.52618324e-02 6.31420551e-04 9.98471698e-01 4.40864371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:89.48, Z:4.41 [[ 2.82144552e-01 -9.59253053e-01 -1.51007122e-02 1.15501742e+02] [ 9.57756341e-01 2.82547616e-01 -5.35689744e-02 8.94804610e+01] [ 5.56528725e-02 6.51391373e-04 9.98449965e-01 4.40894141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:89.51, Z:4.41 [[ 2.82097500e-01 -9.59268131e-01 -1.50217735e-02 1.15509608e+02] [ 9.57783792e-01 2.82496399e-01 -5.33478335e-02 8.95066868e+01] [ 5.54184734e-02 6.61679278e-04 9.98462996e-01 4.41020808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:89.53, Z:4.41 [[ 2.81915551e-01 -9.59323567e-01 -1.48968086e-02 1.15517003e+02] [ 9.57860528e-01 2.82308083e-01 -5.29656004e-02 8.95324980e+01] [ 5.50166382e-02 6.62761507e-04 9.98485218e-01 4.41159168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:89.56, Z:4.41 [[ 2.81708926e-01 -9.59384036e-01 -1.49115202e-02 1.15524003e+02] [ 9.57914743e-01 2.82102507e-01 -5.30803218e-02 8.95573852e+01] [ 5.51309906e-02 6.69235399e-04 9.98478906e-01 4.41254116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.53, Y:89.58, Z:4.41 [[ 2.81261737e-01 -9.59513547e-01 -1.50195962e-02 1.15533055e+02] [ 9.58019404e-01 2.81661690e-01 -5.35304937e-02 8.95827806e+01] [ 5.55936788e-02 6.67015012e-04 9.98453253e-01 4.41452246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:89.61, Z:4.41 [[ 2.80938089e-01 -9.59605359e-01 -1.52100445e-02 1.15539995e+02] [ 9.58069479e-01 2.81348714e-01 -5.42749917e-02 8.96085890e+01] [ 5.63618993e-02 6.75633012e-04 9.98410176e-01 4.41413748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:89.63, Z:4.42 [[ 2.80283595e-01 -9.59794877e-01 -1.53264656e-02 1.15548236e+02] [ 9.58231782e-01 2.80701543e-01 -5.47585191e-02 8.96347397e+01] [ 5.68591087e-02 6.61608171e-04 9.98381993e-01 4.41564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters Centerline goodness [0,1] 0.9999752143954791 Centerline is valid? [True, True] Translation: X:115.56, Y:89.66, Z:4.42 [[ 2.77988891e-01 -9.60463576e-01 -1.52281392e-02 1.15557705e+02] [ 9.58917805e-01 2.78405150e-01 -5.44721584e-02 8.96606439e+01] [ 5.65581164e-02 5.40121104e-04 9.98399163e-01 4.41679945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:89.68, Z:4.42 [[ 2.67665950e-01 -9.63393288e-01 -1.51100034e-02 1.15573368e+02] [ 9.61872369e-01 2.68092094e-01 -5.41126216e-02 8.96843993e+01] [ 5.61826089e-02 -4.97884780e-05 9.98420509e-01 4.42072507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:89.71, Z:4.42 [[ 2.63386442e-01 -9.64573851e-01 -1.49955985e-02 1.15583813e+02] [ 9.63074543e-01 2.63812824e-01 -5.37607435e-02 8.97090206e+01] [ 5.58122386e-02 -2.82028205e-04 9.98441242e-01 4.42163824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:89.73, Z:4.42 [[ 2.60026270e-01 -9.65486401e-01 -1.49113713e-02 1.15593500e+02] [ 9.64001749e-01 2.60453070e-01 -5.35240811e-02 8.97348469e+01] [ 5.55604848e-02 -4.56920808e-04 9.98455219e-01 4.42320267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:89.76, Z:4.42 [[ 2.55909889e-01 -9.66577677e-01 -1.54182846e-02 1.15603749e+02] [ 9.64988490e-01 2.56372983e-01 -5.54085548e-02 8.97615152e+01] [ 5.75095038e-02 -6.98870104e-04 9.98344714e-01 4.42108913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:89.79, Z:4.42 [[ 2.55619017e-01 -9.66654884e-01 -1.54030228e-02 1.15610804e+02] [ 9.65065582e-01 2.56081715e-01 -5.54127977e-02 8.97873683e+01] [ 5.75094840e-02 -7.00362290e-04 9.98344714e-01 4.42225924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:89.81, Z:4.42 [[ 2.54227012e-01 -9.67019067e-01 -1.55804543e-02 1.15618878e+02] [ 9.65389831e-01 2.54702814e-01 -5.61155075e-02 8.98148086e+01] [ 5.82331513e-02 -7.75134370e-04 9.98302709e-01 4.42235353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:89.84, Z:4.42 [[ 2.54002385e-01 -9.67078997e-01 -1.55242288e-02 1.15626412e+02] [ 9.65458138e-01 2.54475184e-01 -5.59728890e-02 8.98408113e+01] [ 5.80807363e-02 -7.70745786e-04 9.98311592e-01 4.42317765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:89.87, Z:4.43 [[ 2.55502126e-01 -9.66687156e-01 -1.53168232e-02 1.15634228e+02] [ 9.65105074e-01 2.55959979e-01 -5.52872914e-02 8.98679918e+01] [ 5.73660083e-02 -6.56323299e-04 9.98352999e-01 4.42672718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:89.90, Z:4.43 [[ 2.57101341e-01 -9.66266844e-01 -1.50760405e-02 1.15640767e+02] [ 9.64730263e-01 2.57542416e-01 -5.44740567e-02 8.98956011e+01] [ 5.65191947e-02 -5.38959486e-04 9.98401367e-01 4.42966460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:89.92, Z:4.43 [[ 2.59519679e-01 -9.65621654e-01 -1.49786032e-02 1.15646283e+02] [ 9.64100540e-01 2.59951299e-01 -5.41799831e-02 8.99222052e+01] [ 5.62110722e-02 -3.80107646e-04 9.98418835e-01 4.43126820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:89.95, Z:4.43 [[ 2.61960706e-01 -9.64961597e-01 -1.50234516e-02 1.15650791e+02] [ 9.63426595e-01 2.62391056e-01 -5.44070726e-02 8.99483295e+01] [ 5.64427551e-02 -2.21477664e-04 9.98405812e-01 4.43190624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:89.98, Z:4.43 [[ 2.65214491e-01 -9.64072265e-01 -1.50313797e-02 1.15654553e+02] [ 9.62530408e-01 2.65640111e-01 -5.45027066e-02 8.99752696e+01] [ 5.65374852e-02 -1.32524514e-05 9.98400477e-01 4.43238800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:90.00, Z:4.43 [[ 2.72578524e-01 -9.62020945e-01 -1.47190483e-02 1.15654152e+02] [ 9.60536050e-01 2.72975311e-01 -5.34319750e-02 9.00038394e+01] [ 5.54206158e-02 4.26232347e-04 9.98463006e-01 4.43220125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:90.03, Z:4.43 [[ 2.73914651e-01 -9.61639591e-01 -1.48344680e-02 1.15658873e+02] [ 9.60127396e-01 2.74315554e-01 -5.39106729e-02 9.00322436e+01] [ 5.59119627e-02 5.23944042e-04 9.98435565e-01 4.43159389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:90.06, Z:4.43 [[ 2.75103479e-01 -9.61300712e-01 -1.47992326e-02 1.15664305e+02] [ 9.59791985e-01 2.75500585e-01 -5.38402581e-02 9.00594708e+01] [ 5.58338757e-02 6.07457468e-04 9.98439888e-01 4.43280199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:90.08, Z:4.43 [[ 2.75891950e-01 -9.61077300e-01 -1.46306351e-02 1.15669273e+02] [ 9.59598979e-01 2.76278816e-01 -5.32899161e-02 9.00849196e+01] [ 5.52578632e-02 6.62716378e-04 9.98471897e-01 4.43478735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:90.11, Z:4.44 [[ 2.77930040e-01 -9.60492151e-01 -1.44817163e-02 1.15673807e+02] [ 9.59039547e-01 2.78305955e-01 -5.28104366e-02 9.01131891e+01] [ 5.47543577e-02 7.89068128e-04 9.98499543e-01 4.43759482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:90.14, Z:4.44 [[ 2.79376547e-01 -9.60073365e-01 -1.44180057e-02 1.15679951e+02] [ 9.58629926e-01 2.79746946e-01 -5.26337537e-02 9.01407204e+01] [ 5.45656581e-02 8.83104594e-04 9.98509794e-01 4.44033442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:90.17, Z:4.44 [[ 2.80740587e-01 -9.59675908e-01 -1.43831182e-02 1.15684209e+02] [ 9.58235951e-01 2.81107103e-01 -5.25609944e-02 9.01677792e+01] [ 5.44847168e-02 9.73583465e-04 9.98514130e-01 4.44127721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:90.20, Z:4.44 [[ 2.83898362e-01 -9.58750217e-01 -1.41330093e-02 1.15685527e+02] [ 9.57356425e-01 2.84247624e-01 -5.16910447e-02 9.01960265e+01] [ 5.35760746e-02 1.14467568e-03 9.98563115e-01 4.44180288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:90.22, Z:4.44 [[ 2.85133049e-01 -9.58383886e-01 -1.41234612e-02 1.15691081e+02] [ 9.56988390e-01 2.85479975e-01 -5.17146605e-02 9.02233148e+01] [ 5.35944626e-02 1.22957047e-03 9.98562027e-01 4.44246288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:90.25, Z:4.44 [[ 2.85540551e-01 -9.58262796e-01 -1.41070223e-02 1.15695535e+02] [ 9.56867363e-01 2.85886007e-01 -5.17111274e-02 9.02500298e+01] [ 5.35858498e-02 1.26707457e-03 9.98562442e-01 4.44257498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:90.28, Z:4.44 [[ 2.86131807e-01 -9.58084856e-01 -1.42126033e-02 1.15703439e+02] [ 9.56665009e-01 2.86481496e-01 -5.21575784e-02 9.02770708e+01] [ 5.40430339e-02 1.32724191e-03 9.98537725e-01 4.44448515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:90.30, Z:4.45 [[ 2.86300646e-01 -9.58034453e-01 -1.42101233e-02 1.15710374e+02] [ 9.56611933e-01 2.86649885e-01 -5.22058651e-02 9.03045333e+01] [ 5.40883476e-02 1.35299935e-03 9.98535237e-01 4.44615026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:90.33, Z:4.45 [[ 2.85363268e-01 -9.58314298e-01 -1.41954885e-02 1.15715730e+02] [ 9.56891794e-01 2.85713099e-01 -5.22122548e-02 9.03302771e+01] [ 5.40915873e-02 1.31591324e-03 9.98535111e-01 4.44630307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:90.36, Z:4.45 [[ 2.82432447e-01 -9.59184788e-01 -1.40162224e-02 1.15724931e+02] [ 9.57795570e-01 2.82777669e-01 -5.16181761e-02 9.03565606e+01] [ 5.34748440e-02 1.15397210e-03 9.98568530e-01 4.44902266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:90.38, Z:4.45 [[ 2.80068018e-01 -9.59878070e-01 -1.39998254e-02 1.15733759e+02] [ 9.58489954e-01 2.80415790e-01 -5.16138873e-02 9.03830311e+01] [ 5.34688107e-02 1.03670713e-03 9.98568982e-01 4.45057058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:90.41, Z:4.45 [[ 2.76856394e-01 -9.60805344e-01 -1.42698155e-02 1.15742878e+02] [ 9.59361159e-01 2.77222467e-01 -5.26675482e-02 9.04097117e+01] [ 5.45591752e-02 8.91440748e-04 9.98510141e-01 4.45095358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:90.44, Z:4.45 [[ 2.75728217e-01 -9.61127910e-01 -1.43906482e-02 1.15750499e+02] [ 9.59656587e-01 2.76102188e-01 -5.31678086e-02 9.04372790e+01] [ 5.50743542e-02 8.49784765e-04 9.98481894e-01 4.45111742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:90.46, Z:4.45 [[ 2.74408263e-01 -9.61502967e-01 -1.45653471e-02 1.15757338e+02] [ 9.59993753e-01 2.74793396e-01 -5.38570619e-02 9.04636150e+01] [ 5.57861860e-02 7.96180591e-04 9.98442421e-01 4.45091838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:90.49, Z:4.45 [[ 2.72005145e-01 -9.62185843e-01 -1.45466177e-02 1.15764925e+02] [ 9.60677749e-01 2.72393004e-01 -5.38545622e-02 9.04900303e+01] [ 5.57804942e-02 6.74106067e-04 9.98442829e-01 4.45187540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:90.52, Z:4.45 [[ 2.71021200e-01 -9.62465646e-01 -1.44010398e-02 1.15771696e+02] [ 9.60984348e-01 2.71402811e-01 -5.33816064e-02 9.05155020e+01] [ 5.52864449e-02 6.28373155e-04 9.98470337e-01 4.45358106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:90.54, Z:4.46 [[ 2.69928435e-01 -9.62773141e-01 -1.43707807e-02 1.15779990e+02] [ 9.61294809e-01 2.70310082e-01 -5.33362052e-02 9.05420390e+01] [ 5.52352327e-02 5.82401523e-04 9.98473199e-01 4.45720500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:90.57, Z:4.46 [[ 2.69156178e-01 -9.62990189e-01 -1.43124903e-02 1.15786594e+02] [ 9.61520852e-01 2.69535881e-01 -5.31795160e-02 9.05682245e+01] [ 5.50690818e-02 5.51837388e-04 9.98482394e-01 4.45905987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:90.59, Z:4.46 [[ 2.67291434e-01 -9.63511977e-01 -1.41407303e-02 1.15793107e+02] [ 9.62075089e-01 2.67664833e-01 -5.26028492e-02 9.05943051e+01] [ 5.44684514e-02 4.55846616e-04 9.98515388e-01 4.46077543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:90.62, Z:4.46 [[ 2.66843796e-01 -9.63638269e-01 -1.39883602e-02 1.15799465e+02] [ 9.62229088e-01 2.67209825e-01 -5.20969448e-02 9.06202251e+01] [ 5.39404370e-02 4.41739430e-04 9.98544057e-01 4.46231412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:90.65, Z:4.46 [[ 2.66456089e-01 -9.63745953e-01 -1.39603108e-02 1.15806267e+02] [ 9.62339824e-01 2.66821196e-01 -5.20433749e-02 9.06473458e+01] [ 5.38814988e-02 4.32711156e-04 9.98547243e-01 4.46370922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:90.67, Z:4.46 [[ 2.66526483e-01 -9.63726277e-01 -1.39748414e-02 1.15810709e+02] [ 9.62313957e-01 2.66892220e-01 -5.21573710e-02 9.06732161e+01] [ 5.39952054e-02 4.53135709e-04 9.98541092e-01 4.46359787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:90.70, Z:4.46 [[ 2.66989108e-01 -9.63597360e-01 -1.40337000e-02 1.15816549e+02] [ 9.62169242e-01 2.67357213e-01 -5.24449255e-02 9.06999149e+01] [ 5.42878027e-02 4.99429371e-04 9.98525205e-01 4.46421834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:90.73, Z:4.47 [[ 2.67298495e-01 -9.63511493e-01 -1.40398605e-02 1.15822895e+02] [ 9.62078619e-01 2.67666431e-01 -5.25301045e-02 9.07271794e+01] [ 5.43713588e-02 5.33768301e-04 9.98520641e-01 4.46604985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:90.75, Z:4.47 [[ 2.68826387e-01 -9.63085726e-01 -1.40803910e-02 1.15826867e+02] [ 9.61640886e-01 2.69194126e-01 -5.27383027e-02 9.07537479e+01] [ 5.45818651e-02 6.37167693e-04 9.98509096e-01 4.46668809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters Centerline goodness [0,1] 0.9999758009873198 Centerline is valid? [True, True] Translation: X:115.83, Y:90.78, Z:4.47 [[ 2.69293800e-01 -9.62954902e-01 -1.40962754e-02 1.15832901e+02] [ 9.61503267e-01 2.69661625e-01 -5.28590196e-02 9.07816899e+01] [ 5.47020766e-02 6.80991426e-04 9.98502488e-01 4.46747776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:90.81, Z:4.47 [[ 2.70127158e-01 -9.62722864e-01 -1.40002210e-02 1.15838374e+02] [ 9.61287503e-01 2.70488709e-01 -5.25565814e-02 9.08079340e+01] [ 5.43843243e-02 7.38722429e-04 9.98519804e-01 4.46895787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:90.84, Z:4.47 [[ 2.71911775e-01 -9.62220522e-01 -1.39876407e-02 1.15842423e+02] [ 9.60783383e-01 2.72269962e-01 -5.25771766e-02 9.08363793e+01] [ 5.43992527e-02 8.57260691e-04 9.98518896e-01 4.47013217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:90.86, Z:4.47 [[ 2.72726782e-01 -9.61989247e-01 -1.40282170e-02 1.15847718e+02] [ 9.60540206e-01 2.73085770e-01 -5.27889734e-02 9.08634073e+01] [ 5.46133312e-02 9.22300364e-04 9.98507152e-01 4.47131218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:90.89, Z:4.47 [[ 2.73331239e-01 -9.61816085e-01 -1.41369299e-02 1.15853714e+02] [ 9.60340793e-01 2.73694822e-01 -5.32607400e-02 9.08903231e+01] [ 5.50962409e-02 9.81553598e-04 9.98480566e-01 4.47309193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:90.92, Z:4.47 [[ 2.73941317e-01 -9.61643341e-01 -1.40797617e-02 1.15858339e+02] [ 9.60176295e-01 2.74300975e-01 -5.31079846e-02 9.09160017e+01] [ 5.49330321e-02 1.02941781e-03 9.98489510e-01 4.47373767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:90.94, Z:4.47 [[ 2.75146119e-01 -9.61295689e-01 -1.43252207e-02 1.15864835e+02] [ 9.59772649e-01 2.75516434e-01 -5.41032092e-02 9.09428059e+01] [ 5.59560155e-02 1.13733299e-03 9.98432587e-01 4.47467979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.87, Y:90.97, Z:4.48 [[ 2.75883614e-01 -9.61083824e-01 -1.43567196e-02 1.15871082e+02] [ 9.59550255e-01 2.76254308e-01 -5.42850354e-02 9.09698136e+01] [ 5.61385750e-02 1.20035775e-03 9.98422265e-01 4.47559495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:91.00, Z:4.48 [[ 2.76480271e-01 -9.60911610e-01 -1.44061785e-02 1.15877124e+02] [ 9.59363787e-01 2.76852487e-01 -5.45327832e-02 9.09960402e+01] [ 5.63895708e-02 1.25647269e-03 9.98408052e-01 4.47643677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:91.02, Z:4.48 [[ 2.77918942e-01 -9.60494996e-01 -1.45059845e-02 1.15883912e+02] [ 9.58921459e-01 2.78293891e-01 -5.49740491e-02 9.10232501e+01] [ 5.68392260e-02 1.36822975e-03 9.98382407e-01 4.47781530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:91.05, Z:4.48 [[ 2.78457194e-01 -9.60336587e-01 -1.46707678e-02 1.15890819e+02] [ 9.58723275e-01 2.78839711e-01 -5.56605584e-02 9.10507036e+01] [ 5.75436633e-02 1.43387633e-03 9.98341961e-01 4.47884591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:91.08, Z:4.48 [[ 2.79049547e-01 -9.60166935e-01 -1.45191720e-02 1.15897993e+02] [ 9.58583040e-01 2.79423142e-01 -5.51476552e-02 9.10772667e+01] [ 5.70079477e-02 1.47109617e-03 9.98372641e-01 4.48054171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters Centerline goodness [0,1] 0.9999760513459144 Centerline is valid? [True, True] Translation: X:115.90, Y:91.10, Z:4.48 [[ 2.79292207e-01 -9.60096568e-01 -1.45066906e-02 1.15904948e+02] [ 9.58511371e-01 2.79664657e-01 -5.51691076e-02 9.11034085e+01] [ 5.70246795e-02 1.50347390e-03 9.98371637e-01 4.48214578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:91.13, Z:4.48 [[ 2.79392495e-01 -9.60066425e-01 -1.45702967e-02 1.15911622e+02] [ 9.58463257e-01 2.79767942e-01 -5.54804860e-02 9.11303224e+01] [ 5.73412537e-02 1.53573731e-03 9.98353456e-01 4.48355580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:91.16, Z:4.49 [[ 2.79330726e-01 -9.60086541e-01 -1.44284252e-02 1.15920800e+02] [ 9.58510614e-01 2.79698901e-01 -5.50084403e-02 9.11564694e+01] [ 5.68484779e-02 1.53574880e-03 9.98381636e-01 4.48684405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:91.18, Z:4.49 [[ 2.78772258e-01 -9.60249307e-01 -1.43977904e-02 1.15926741e+02] [ 9.58676290e-01 2.79139680e-01 -5.49619007e-02 9.11819598e+01] [ 5.67961217e-02 1.51903292e-03 9.98384642e-01 4.48716678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:91.21, Z:4.49 [[ 2.78648500e-01 -9.60283466e-01 -1.45147387e-02 1.15935438e+02] [ 9.58680613e-01 2.79022002e-01 -5.54815752e-02 9.12077173e+01] [ 5.73279709e-02 1.54485913e-03 9.98354204e-01 4.48847534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:91.23, Z:4.49 [[ 2.78705985e-01 -9.60269919e-01 -1.43058198e-02 1.15945518e+02] [ 9.58709070e-01 2.79068627e-01 -5.47505293e-02 9.12342484e+01] [ 5.65675918e-02 1.54418100e-03 9.98397578e-01 4.49136323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:91.26, Z:4.49 [[ 2.78921106e-01 -9.60209174e-01 -1.41901067e-02 1.15951048e+02] [ 9.58669824e-01 2.79277467e-01 -5.43715447e-02 9.12609548e+01] [ 5.61710330e-02 1.56174434e-03 9.98419940e-01 4.49187382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.96, Y:91.29, Z:4.49 [[ 2.79327362e-01 -9.60091301e-01 -1.41745459e-02 1.15958423e+02] [ 9.58551468e-01 2.79682187e-01 -5.43779173e-02 9.12881872e+01] [ 5.61721334e-02 1.60220845e-03 9.98419814e-01 4.49378045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:91.31, Z:4.50 [[ 2.79408139e-01 -9.60068188e-01 -1.41479918e-02 1.15966668e+02] [ 9.58530599e-01 2.79761408e-01 -5.43382512e-02 9.13147070e+01] [ 5.61264885e-02 1.62126663e-03 9.98422350e-01 4.49536775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:91.34, Z:4.50 [[ 2.79308080e-01 -9.60095357e-01 -1.42794319e-02 1.15973685e+02] [ 9.58525295e-01 2.79667991e-01 -5.49096945e-02 9.13405627e+01] [ 5.67120427e-02 1.64952470e-03 9.98389214e-01 4.49533149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:91.37, Z:4.50 [[ 2.79089749e-01 -9.60157672e-01 -1.43581731e-02 1.15982200e+02] [ 9.58566041e-01 2.79453873e-01 -5.52872340e-02 9.13663996e+01] [ 5.70969089e-02 1.66684312e-03 9.98367249e-01 4.49695599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:91.39, Z:4.50 [[ 2.78217578e-01 -9.60410751e-01 -1.43585841e-02 1.15990253e+02] [ 9.58815301e-01 2.78583052e-01 -5.53597456e-02 9.13927012e+01] [ 5.71681530e-02 1.63482417e-03 9.98363225e-01 4.49821558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:91.42, Z:4.50 [[ 2.76671133e-01 -9.60856745e-01 -1.44013796e-02 1.15999371e+02] [ 9.59248371e-01 2.77041262e-01 -5.55940820e-02 9.14194021e+01] [ 5.74077251e-02 1.56677769e-03 9.98349587e-01 4.49908566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:91.45, Z:4.50 [[ 2.74375538e-01 -9.61519861e-01 -1.40578087e-02 1.16011240e+02] [ 9.59984814e-01 2.74731808e-01 -5.43285475e-02 9.14453850e+01] [ 5.61001046e-02 1.41114160e-03 9.98424152e-01 4.50246199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:91.47, Z:4.50 [[ 2.72963184e-01 -9.61923134e-01 -1.39636714e-02 1.16017776e+02] [ 9.60405508e-01 2.73316841e-01 -5.40292938e-02 9.14709658e+01] [ 5.57885342e-02 1.33722113e-03 9.98441712e-01 4.50397317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:91.50, Z:4.51 [[ 2.72674096e-01 -9.62005374e-01 -1.39462035e-02 1.16024330e+02] [ 9.60487626e-01 2.73027229e-01 -5.40338030e-02 9.14969447e+01] [ 5.57885022e-02 1.33846247e-03 9.98441712e-01 4.50514201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:91.52, Z:4.51 [[ 2.71563546e-01 -9.62321415e-01 -1.38106519e-02 1.16033060e+02] [ 9.60829790e-01 2.71911487e-01 -5.35747938e-02 9.15232375e+01] [ 5.53114463e-02 1.27927516e-03 9.98468331e-01 4.50722063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:91.55, Z:4.51 [[ 2.70023470e-01 -9.62755041e-01 -1.37861246e-02 1.16044007e+02] [ 9.61265626e-01 2.70372477e-01 -5.35454998e-02 9.15496209e+01] [ 5.52785885e-02 1.20641398e-03 9.98470241e-01 4.50962247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:91.58, Z:4.51 [[ 2.67480661e-01 -9.63468187e-01 -1.35332146e-02 1.16052848e+02] [ 9.62030537e-01 2.67820715e-01 -5.26242365e-02 9.15758437e+01] [ 5.43262529e-02 1.05659985e-03 9.98522680e-01 4.50980370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:91.60, Z:4.51 [[ 2.65760668e-01 -9.63943993e-01 -1.35368485e-02 1.16061405e+02] [ 9.62502754e-01 2.66103410e-01 -5.27012654e-02 9.16014385e+01] [ 5.44032698e-02 9.76669512e-04 9.98518568e-01 4.51067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:91.63, Z:4.51 [[ 2.64329565e-01 -9.64336301e-01 -1.36153870e-02 1.16070874e+02] [ 9.62875043e-01 2.64678394e-01 -5.30754176e-02 9.16273677e+01] [ 5.47862506e-02 9.19485749e-04 9.98497682e-01 4.51187645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:91.65, Z:4.51 [[ 2.62719747e-01 -9.64776430e-01 -1.35931832e-02 1.16079011e+02] [ 9.63316698e-01 2.63069812e-01 -5.30585886e-02 9.16521909e+01] [ 5.47656319e-02 8.44998618e-04 9.98498879e-01 4.51282348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:91.68, Z:4.51 [[ 2.59066808e-01 -9.65763334e-01 -1.36224340e-02 1.16091529e+02] [ 9.64294784e-01 2.59423880e-01 -5.32430245e-02 9.16780408e+01] [ 5.49541455e-02 6.57458369e-04 9.98488663e-01 4.51489123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:91.70, Z:4.52 [[ 2.57153193e-01 -9.66271280e-01 -1.38581434e-02 1.16100776e+02] [ 9.64748595e-01 2.57525691e-01 -5.42279189e-02 9.17034781e+01] [ 5.59677086e-02 5.75258075e-04 9.98432414e-01 4.51619890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:91.73, Z:4.52 [[ 2.55196651e-01 -9.66789067e-01 -1.39129093e-02 1.16109834e+02] [ 9.65251123e-01 2.55575170e-01 -5.45124019e-02 9.17296889e+01] [ 5.62577883e-02 4.81931093e-04 9.98416160e-01 4.51708064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:91.76, Z:4.52 [[ 2.53310641e-01 -9.67281652e-01 -1.41394874e-02 1.16119526e+02] [ 9.65689791e-01 2.53704648e-01 -5.54723339e-02 9.17552528e+01] [ 5.72446244e-02 3.97373851e-04 9.98360103e-01 4.51745744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:91.78, Z:4.52 [[ 2.52962087e-01 -9.67375260e-01 -1.39745762e-02 1.16126367e+02] [ 9.65816433e-01 2.53347497e-01 -5.48968476e-02 9.17808153e+01] [ 5.66462761e-02 3.89945795e-04 9.98394234e-01 4.51839096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:91.81, Z:4.52 [[ 2.52846821e-01 -9.67407366e-01 -1.38373907e-02 1.16133193e+02] [ 9.65874975e-01 2.53224861e-01 -5.44307103e-02 9.18075578e+01] [ 5.61606414e-02 3.97442701e-04 9.98421667e-01 4.51937969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:91.83, Z:4.52 [[ 2.53490871e-01 -9.67238857e-01 -1.38336998e-02 1.16139850e+02] [ 9.65703140e-01 2.53867659e-01 -5.44853772e-02 9.18342807e+01] [ 5.62123029e-02 4.52298408e-04 9.98418736e-01 4.52083502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:91.86, Z:4.52 [[ 2.56439469e-01 -9.66461706e-01 -1.38047046e-02 1.16144559e+02] [ 9.64927446e-01 2.56809972e-01 -5.44395321e-02 9.18621039e+01] [ 5.61589089e-02 6.39906372e-04 9.98421638e-01 4.52227349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:91.89, Z:4.52 [[ 2.57360509e-01 -9.66220431e-01 -1.35516812e-02 1.16149214e+02] [ 9.64738293e-01 2.57716115e-01 -5.35016725e-02 9.18884367e+01] [ 5.51868957e-02 6.95391888e-04 9.98475800e-01 4.52359733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:91.91, Z:4.52 [[ 2.57501985e-01 -9.66184659e-01 -1.34139069e-02 1.16154477e+02] [ 9.64729354e-01 2.57850150e-01 -5.30148338e-02 9.19145884e+01] [ 5.46808970e-02 7.10635206e-04 9.98503628e-01 4.52483808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:91.94, Z:4.53 [[ 2.57497055e-01 -9.66185259e-01 -1.34652052e-02 1.16161405e+02] [ 9.64714906e-01 2.57847843e-01 -5.32882773e-02 9.19419289e+01] [ 5.49583221e-02 7.31490349e-04 9.98488381e-01 4.52694902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00687499999998 meters Centerline goodness [0,1] 0.9999748661623143 Centerline is valid? [True, True] Translation: X:116.16, Y:91.97, Z:4.52 [[ 2.58040600e-01 -9.66037096e-01 -1.36885797e-02 1.16164290e+02] [ 9.64513631e-01 2.58402206e-01 -5.42379494e-02 9.19695490e+01] [ 5.59330304e-02 7.92771279e-04 9.98434208e-01 4.52365330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:92.00, Z:4.52 [[ 2.58797088e-01 -9.65832344e-01 -1.38546602e-02 1.16170531e+02] [ 9.64267515e-01 2.59166233e-01 -5.49638356e-02 9.19974529e+01] [ 5.66765103e-02 8.64881778e-04 9.98392220e-01 4.52430484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:92.02, Z:4.52 [[ 2.59678518e-01 -9.65592633e-01 -1.40689379e-02 1.16174974e+02] [ 9.63974813e-01 2.60057624e-01 -5.58801635e-02 9.20247767e+01] [ 5.76162087e-02 9.48776265e-04 9.98338356e-01 4.52372445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:92.05, Z:4.52 [[ 2.60264089e-01 -9.65434611e-01 -1.40930933e-02 1.16179777e+02] [ 9.63806981e-01 2.60643442e-01 -5.60455157e-02 9.20514576e+01] [ 5.77815530e-02 1.00361332e-03 9.98328746e-01 4.52368207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:92.08, Z:4.53 [[ 2.61743406e-01 -9.65034439e-01 -1.41039079e-02 1.16183679e+02] [ 9.63399658e-01 2.62120765e-01 -5.61587358e-02 9.20797077e+01] [ 5.78920412e-02 1.11147876e-03 9.98322231e-01 4.52513120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:92.11, Z:4.53 [[ 2.62049535e-01 -9.64953182e-01 -1.39784768e-02 1.16189431e+02] [ 9.63343509e-01 2.62419635e-01 -5.57244934e-02 9.21066068e+01] [ 5.74397540e-02 1.13650270e-03 9.98348327e-01 4.52685835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:92.13, Z:4.53 [[ 2.62036408e-01 -9.64958243e-01 -1.38748100e-02 1.16195223e+02] [ 9.63368305e-01 2.62400984e-01 -5.53826063e-02 9.21331485e+01] [ 5.70826662e-02 1.14570701e-03 9.98368798e-01 4.52850902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:92.16, Z:4.53 [[ 2.62415160e-01 -9.64857377e-01 -1.37304767e-02 1.16200829e+02] [ 9.63296224e-01 2.62771505e-01 -5.48773243e-02 9.21596644e+01] [ 5.65567692e-02 1.17412548e-03 9.98398695e-01 4.53004459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:92.19, Z:4.53 [[ 2.62910299e-01 -9.64724207e-01 -1.36154077e-02 1.16204250e+02] [ 9.63185192e-01 2.63259833e-01 -5.44843610e-02 9.21855518e+01] [ 5.61467719e-02 1.21034056e-03 9.98421792e-01 4.53001898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:92.21, Z:4.53 [[ 2.64257585e-01 -9.64358406e-01 -1.34459628e-02 1.16208271e+02] [ 9.62853957e-01 2.64596314e-01 -5.38613720e-02 9.22134142e+01] [ 5.54994190e-02 1.28677760e-03 9.98457890e-01 4.53102632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:92.24, Z:4.53 [[ 2.64703083e-01 -9.64237501e-01 -1.33536289e-02 1.16214177e+02] [ 9.62750038e-01 2.65036412e-01 -5.35543156e-02 9.22397745e+01] [ 5.51782774e-02 1.31978573e-03 9.98475646e-01 4.53278033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:92.27, Z:4.53 [[ 2.64709977e-01 -9.64236451e-01 -1.32926787e-02 1.16219248e+02] [ 9.62758713e-01 2.65040170e-01 -5.33794801e-02 9.22663198e+01] [ 5.49935343e-02 1.33243866e-03 9.98485822e-01 4.53351960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:92.29, Z:4.53 [[ 2.64396974e-01 -9.64322601e-01 -1.32725747e-02 1.16224271e+02] [ 9.62845619e-01 2.64726557e-01 -5.33681907e-02 9.22927530e+01] [ 5.49777554e-02 1.33094768e-03 9.98486692e-01 4.53486175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:92.32, Z:4.54 [[ 2.63856738e-01 -9.64471085e-01 -1.32343623e-02 1.16231399e+02] [ 9.62998964e-01 2.64185159e-01 -5.32841089e-02 9.23190917e+01] [ 5.48873044e-02 1.31469400e-03 9.98491690e-01 4.53658107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:92.34, Z:4.54 [[ 2.63461130e-01 -9.64579459e-01 -1.32173849e-02 1.16237154e+02] [ 9.63107309e-01 2.63789219e-01 -5.32875091e-02 9.23447150e+01] [ 5.48866404e-02 1.30942737e-03 9.98491734e-01 4.53829622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:92.37, Z:4.54 [[ 2.62525054e-01 -9.64836003e-01 -1.31180748e-02 1.16244491e+02] [ 9.63382301e-01 2.62849551e-01 -5.29590026e-02 9.23718986e+01] [ 5.45448325e-02 1.26534397e-03 9.98510521e-01 4.54036492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:92.40, Z:4.54 [[ 2.60933458e-01 -9.65268943e-01 -1.30229860e-02 1.16250161e+02] [ 9.63833369e-01 2.61255561e-01 -5.26380892e-02 9.23983171e+01] [ 5.42122402e-02 1.18305012e-03 9.98528734e-01 4.54118928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:92.42, Z:4.54 [[ 2.59340516e-01 -9.65699818e-01 -1.28980128e-02 1.16256474e+02] [ 9.64288856e-01 2.59658727e-01 -5.21952802e-02 9.24247855e+01] [ 5.37540542e-02 1.09894095e-03 9.98553601e-01 4.54202277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:92.45, Z:4.54 [[ 2.57720031e-01 -9.66133483e-01 -1.29026331e-02 1.16263212e+02] [ 9.64718620e-01 2.58040773e-01 -5.22775590e-02 9.24502679e+01] [ 5.38365056e-02 1.02556371e-03 9.98549237e-01 4.54333745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:92.48, Z:4.55 [[ 2.55475759e-01 -9.66729434e-01 -1.28972142e-02 1.16272697e+02] [ 9.65312844e-01 2.55799452e-01 -5.23235404e-02 9.24766660e+01] [ 5.38818069e-02 9.17549719e-04 9.98546899e-01 4.54545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:92.50, Z:4.55 [[ 2.50994487e-01 -9.67904972e-01 -1.27173863e-02 1.16281237e+02] [ 9.66525866e-01 2.51315560e-01 -5.16550101e-02 9.25026316e+01] [ 5.31932182e-02 6.73439895e-04 9.98584011e-01 4.54699300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:92.53, Z:4.55 [[ 2.48514089e-01 -9.68546469e-01 -1.25890421e-02 1.16288748e+02] [ 9.67192971e-01 2.48832151e-01 -5.11890422e-02 9.25293340e+01] [ 5.27115245e-02 5.45165195e-04 9.98609632e-01 4.54848285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:92.56, Z:4.55 [[ 2.44055679e-01 -9.69681150e-01 -1.24616345e-02 1.16298023e+02] [ 9.68353849e-01 2.44373424e-01 -5.07193584e-02 9.25560728e+01] [ 5.22268981e-02 3.11075770e-04 9.98635196e-01 4.55098989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:92.58, Z:4.55 [[ 2.41967480e-01 -9.70205099e-01 -1.24017504e-02 1.16305060e+02] [ 9.68888153e-01 2.42284998e-01 -5.05344117e-02 9.25814715e+01] [ 5.20335020e-02 2.11775241e-04 9.98645317e-01 4.55227651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:92.61, Z:4.55 [[ 2.40052839e-01 -9.70681825e-01 -1.23056650e-02 1.16312327e+02] [ 9.69383076e-01 2.40368010e-01 -5.01963278e-02 9.26076978e+01] [ 5.16825513e-02 1.20867564e-04 9.98663557e-01 4.55387516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:92.63, Z:4.55 [[ 2.38424201e-01 -9.71083354e-01 -1.22890201e-02 1.16319917e+02] [ 9.69785354e-01 2.38740690e-01 -5.01921300e-02 9.26344036e+01] [ 5.16746311e-02 4.93067802e-05 9.98663973e-01 4.55482287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:92.66, Z:4.56 [[ 2.36643073e-01 -9.71519749e-01 -1.22242824e-02 1.16327176e+02] [ 9.70232781e-01 2.36958596e-01 -4.99897357e-02 9.26610417e+01] [ 5.14626643e-02 -3.06748326e-05 9.98674919e-01 4.55721425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:92.69, Z:4.56 [[ 2.34939528e-01 -9.71934425e-01 -1.21199071e-02 1.16333631e+02] [ 9.70666986e-01 2.35251913e-01 -4.96199570e-02 9.26870794e+01] [ 5.10785757e-02 -1.06704448e-04 9.98694632e-01 4.55745128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:92.71, Z:4.56 [[ 2.34674637e-01 -9.71998975e-01 -1.20750318e-02 1.16339218e+02] [ 9.70737459e-01 2.34985065e-01 -4.95056099e-02 9.27137868e+01] [ 5.09568542e-02 -1.03974642e-04 9.98700850e-01 4.55999595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:92.74, Z:4.56 [[ 2.34663144e-01 -9.72001399e-01 -1.21032535e-02 1.16344696e+02] [ 9.70730538e-01 2.34975046e-01 -4.96885367e-02 9.27395921e+01] [ 5.11412897e-02 -8.89295796e-05 9.98691424e-01 4.56037939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:92.77, Z:4.56 [[ 2.35005905e-01 -9.71919360e-01 -1.20408302e-02 1.16350265e+02] [ 9.70657985e-01 2.35314160e-01 -4.95007304e-02 9.27660823e+01] [ 5.09440960e-02 -5.45640372e-05 9.98701505e-01 4.56101114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:92.79, Z:4.56 [[ 2.35262932e-01 -9.71855034e-01 -1.22124866e-02 1.16356103e+02] [ 9.70553844e-01 2.35579692e-01 -5.02737022e-02 9.27925020e+01] [ 5.17357645e-02 -2.53372174e-05 9.98660808e-01 4.56215569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:92.82, Z:4.56 [[ 2.36146405e-01 -9.71640023e-01 -1.22695399e-02 1.16360822e+02] [ 9.70322780e-01 2.36464933e-01 -5.05770496e-02 9.28186679e+01] [ 5.20440015e-02 3.81743188e-05 9.98644792e-01 4.56185882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:92.85, Z:4.56 [[ 2.35872284e-01 -9.71707401e-01 -1.22062372e-02 1.16366804e+02] [ 9.70400229e-01 2.36187901e-01 -5.03852210e-02 9.28456898e+01] [ 5.18426577e-02 3.95417570e-05 9.98655264e-01 4.56349680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:92.87, Z:4.56 [[ 2.36342724e-01 -9.71592307e-01 -1.22680816e-02 1.16372698e+02] [ 9.70268428e-01 2.36660902e-01 -5.07030090e-02 9.28718511e+01] [ 5.21660287e-02 7.99550345e-05 9.98638423e-01 4.56435620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:92.90, Z:4.57 [[ 2.36067537e-01 -9.71658132e-01 -1.23527930e-02 1.16379146e+02] [ 9.70312502e-01 2.36390497e-01 -5.11192826e-02 9.28981709e+01] [ 5.25905495e-02 8.15336567e-05 9.98616156e-01 4.56527839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:92.92, Z:4.57 [[ 2.36446574e-01 -9.71564174e-01 -1.24929480e-02 1.16385347e+02] [ 9.70184016e-01 2.36776353e-01 -5.17680660e-02 9.29238952e+01] [ 5.32540330e-02 1.19923328e-04 9.98580990e-01 4.56644793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters Centerline goodness [0,1] 0.9999506124061636 Centerline is valid? [True, True] Translation: X:116.39, Y:92.95, Z:4.57 [[ 2.36289353e-01 -9.71601839e-01 -1.25382656e-02 1.16391812e+02] [ 9.70207866e-01 2.36621745e-01 -5.20273692e-02 9.29500389e+01] [ 5.35167139e-02 1.28789499e-04 9.98566946e-01 4.56818141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:92.98, Z:4.57 [[ 2.36698644e-01 -9.71501455e-01 -1.25966437e-02 1.16398108e+02] [ 9.70090509e-01 2.37033531e-01 -5.23403264e-02 9.29763794e+01] [ 5.38345301e-02 1.68999768e-04 9.98549856e-01 4.56856718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:93.00, Z:4.57 [[ 2.36522246e-01 -9.71546610e-01 -1.24262445e-02 1.16404372e+02] [ 9.70170138e-01 2.36848379e-01 -5.16986369e-02 9.30020292e+01] [ 5.31707713e-02 1.72306384e-04 9.98585419e-01 4.56945333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:93.03, Z:4.57 [[ 2.35996365e-01 -9.71674746e-01 -1.24057853e-02 1.16411405e+02] [ 9.70299959e-01 2.36322160e-01 -5.16703695e-02 9.30282365e+01] [ 5.31385551e-02 1.56686392e-04 9.98587137e-01 4.57128870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:93.05, Z:4.57 [[ 2.36224110e-01 -9.71620850e-01 -1.22919826e-02 1.16418028e+02] [ 9.70267450e-01 2.36543631e-01 -5.12658438e-02 9.30541693e+01] [ 5.27185530e-02 1.83717702e-04 9.98609393e-01 4.57266411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:93.08, Z:4.57 [[ 2.35957829e-01 -9.71686884e-01 -1.21861769e-02 1.16424828e+02] [ 9.70353055e-01 2.36272228e-01 -5.08958013e-02 9.30801856e+01] [ 5.23340377e-02 1.84368768e-04 9.98629618e-01 4.57422600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:93.11, Z:4.58 [[ 2.36216871e-01 -9.71624444e-01 -1.21461775e-02 1.16431203e+02] [ 9.70295682e-01 2.36528844e-01 -5.07975915e-02 9.31059752e+01] [ 5.22291029e-02 2.13864494e-04 9.98635106e-01 4.57539127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:93.13, Z:4.58 [[ 2.37178589e-01 -9.71388089e-01 -1.23084294e-02 1.16437566e+02] [ 9.70019359e-01 2.37497575e-01 -5.15494342e-02 9.31322236e+01] [ 5.29977285e-02 2.87007276e-04 9.98594592e-01 4.57742578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:93.16, Z:4.58 [[ 2.36879492e-01 -9.71461270e-01 -1.22925445e-02 1.16443662e+02] [ 9.70092443e-01 2.37198056e-01 -5.15532223e-02 9.31583136e+01] [ 5.29977265e-02 2.86996566e-04 9.98594592e-01 4.57859491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:93.18, Z:4.58 [[ 2.38290988e-01 -9.71115480e-01 -1.23340941e-02 1.16448694e+02] [ 9.69733093e-01 2.38609678e-01 -5.17991276e-02 9.31843329e+01] [ 5.32459689e-02 3.82486041e-04 9.98581354e-01 4.57924262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:93.21, Z:4.58 [[ 2.39462318e-01 -9.70826122e-01 -1.24273862e-02 1.16454197e+02] [ 9.69418316e-01 2.39784116e-01 -5.22657274e-02 9.32110686e+01] [ 5.37208232e-02 4.68336368e-04 9.98555884e-01 4.57977370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:93.24, Z:4.58 [[ 2.40832999e-01 -9.70485974e-01 -1.25076536e-02 1.16459337e+02] [ 9.69055786e-01 2.41156912e-01 -5.26709317e-02 9.32375009e+01] [ 5.41327076e-02 5.64284404e-04 9.98533591e-01 4.57981385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:93.26, Z:4.58 [[ 2.42760836e-01 -9.70002267e-01 -1.27584922e-02 1.16464590e+02] [ 9.68510501e-01 2.43094866e-01 -5.37800649e-02 9.32641241e+01] [ 5.52683088e-02 6.98959791e-04 9.98471294e-01 4.57994355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:93.29, Z:4.58 [[ 2.43239951e-01 -9.69883090e-01 -1.26932068e-02 1.16470788e+02] [ 9.68402598e-01 2.43569795e-01 -5.35739038e-02 9.32906304e+01] [ 5.50521051e-02 7.39179247e-04 9.98483209e-01 4.58179686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:93.32, Z:4.58 [[ 2.43644920e-01 -9.69781899e-01 -1.26578634e-02 1.16476811e+02] [ 9.68305508e-01 2.43972260e-01 -5.34974721e-02 9.33176411e+01] [ 5.49690476e-02 7.77708459e-04 9.98487756e-01 4.58316026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:93.34, Z:4.59 [[ 2.44172059e-01 -9.69650643e-01 -1.25553441e-02 1.16483326e+02] [ 9.68193972e-01 2.44493275e-01 -5.31363434e-02 9.33437757e+01] [ 5.45933867e-02 8.18401894e-04 9.98508334e-01 4.58541205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:93.37, Z:4.59 [[ 2.44468705e-01 -9.69576797e-01 -1.24854493e-02 1.16489920e+02] [ 9.68132187e-01 2.44785854e-01 -5.29145977e-02 9.33694446e+01] [ 5.43610275e-02 8.48397820e-04 9.98520986e-01 4.58748309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:93.40, Z:4.59 [[ 2.43815749e-01 -9.69741828e-01 -1.24365448e-02 1.16495830e+02] [ 9.68304569e-01 2.44131323e-01 -5.27840728e-02 9.33952251e+01] [ 5.42230734e-02 8.27225105e-04 9.98528504e-01 4.58833785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:93.42, Z:4.59 [[ 2.43156640e-01 -9.69908833e-01 -1.23168096e-02 1.16503735e+02] [ 9.68495360e-01 2.43467071e-01 -5.23500037e-02 9.34210303e+01] [ 5.37734685e-02 8.00478054e-04 9.98552840e-01 4.58992607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:93.45, Z:4.59 [[ 2.42134969e-01 -9.70163854e-01 -1.23592918e-02 1.16511354e+02] [ 9.68737004e-01 2.42448987e-01 -5.26032840e-02 9.34474797e+01] [ 5.40303025e-02 7.64191274e-04 9.98539004e-01 4.59121836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:93.47, Z:4.59 [[ 2.40180656e-01 -9.70648732e-01 -1.24214431e-02 1.16520583e+02] [ 9.69204095e-01 2.40500690e-01 -5.29418509e-02 9.34729800e+01] [ 5.43753061e-02 6.76694964e-04 9.98520339e-01 4.59190720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:93.50, Z:4.59 [[ 2.38717198e-01 -9.71010044e-01 -1.23932726e-02 1.16528096e+02] [ 9.69568623e-01 2.39037909e-01 -5.28919905e-02 9.34986462e+01] [ 5.43211160e-02 6.10099498e-04 9.98523332e-01 4.59326203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:93.52, Z:4.59 [[ 2.37091072e-01 -9.71408024e-01 -1.24206964e-02 1.16536176e+02] [ 9.69957468e-01 2.37415594e-01 -5.30692605e-02 9.35247960e+01] [ 5.45007725e-02 5.34700659e-04 9.98513585e-01 4.59443213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:93.55, Z:4.60 [[ 2.34345825e-01 -9.72074097e-01 -1.24090626e-02 1.16546437e+02] [ 9.70623207e-01 2.34673800e-01 -5.30923568e-02 9.35507981e+01] [ 5.45217866e-02 3.97448054e-04 9.98512502e-01 4.59673951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:93.58, Z:4.60 [[ 2.33259677e-01 -9.72334042e-01 -1.25073704e-02 1.16554178e+02] [ 9.70856323e-01 2.33594486e-01 -5.35874593e-02 9.35773275e+01] [ 5.50265637e-02 3.56933848e-04 9.98484827e-01 4.59819909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:93.60, Z:4.60 [[ 2.32017197e-01 -9.72632024e-01 -1.24485127e-02 1.16561116e+02] [ 9.71164524e-01 2.32350713e-01 -5.34098729e-02 9.36042347e+01] [ 5.48405736e-02 3.02455110e-04 9.98495078e-01 4.59925308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:93.63, Z:4.60 [[ 2.31620037e-01 -9.72726097e-01 -1.24939128e-02 1.16567595e+02] [ 9.71243810e-01 2.31956570e-01 -5.36806457e-02 9.36311244e+01] [ 5.51146101e-02 2.98877718e-04 9.98479990e-01 4.60029159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:93.66, Z:4.60 [[ 2.30181680e-01 -9.73066558e-01 -1.25645791e-02 1.16574406e+02] [ 9.71563637e-01 2.30524226e-01 -5.40618202e-02 9.36560901e+01] [ 5.55021892e-02 2.36752444e-04 9.98458537e-01 4.60096367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:93.68, Z:4.60 [[ 2.29117275e-01 -9.73316430e-01 -1.26649915e-02 1.16581295e+02] [ 9.71785237e-01 2.29466967e-01 -5.45743969e-02 9.36822320e+01] [ 5.60243543e-02 1.96285363e-04 9.98429383e-01 4.60229711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:93.71, Z:4.60 [[ 2.27920568e-01 -9.73597464e-01 -1.26566998e-02 1.16588435e+02] [ 9.72064420e-01 2.28271672e-01 -5.46150785e-02 9.37089047e+01] [ 5.60622680e-02 1.44772137e-04 9.98427264e-01 4.60337246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:93.74, Z:4.61 [[ 2.26400311e-01 -9.73953555e-01 -1.25447965e-02 1.16595418e+02] [ 9.72443878e-01 2.26747585e-01 -5.42073481e-02 9.37350663e+01] [ 5.56399417e-02 7.34498717e-05 9.98450896e-01 4.60521697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:93.76, Z:4.61 [[ 2.23290844e-01 -9.74674929e-01 -1.22467065e-02 1.16603244e+02] [ 9.73233280e-01 2.23626419e-01 -5.29925262e-02 9.37607734e+01] [ 5.43891738e-02 -8.61564341e-05 9.98519810e-01 4.60744026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:93.79, Z:4.61 [[ 2.21923155e-01 -9.74987424e-01 -1.22326135e-02 1.16610331e+02] [ 9.73545496e-01 2.22259988e-01 -5.30062671e-02 9.37870439e+01] [ 5.43992644e-02 -1.45687785e-04 9.98519253e-01 4.60995056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:93.81, Z:4.61 [[ 2.20341851e-01 -9.75345498e-01 -1.22731001e-02 1.16616870e+02] [ 9.73890598e-01 2.20683285e-01 -5.32540243e-02 9.38126636e+01] [ 5.46495409e-02 -2.18566532e-04 9.98505573e-01 4.61102520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:93.84, Z:4.61 [[ 2.17279774e-01 -9.76034446e-01 -1.20937906e-02 1.16624318e+02] [ 9.74619609e-01 2.17615766e-01 -5.25356697e-02 9.38388019e+01] [ 5.39084228e-02 -3.71907033e-04 9.98545814e-01 4.61282680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:93.87, Z:4.61 [[ 2.14921692e-01 -9.76557819e-01 -1.19788572e-02 1.16631332e+02] [ 9.75166673e-01 2.15254720e-01 -5.21091614e-02 9.38650401e+01] [ 5.34661146e-02 -4.81993152e-04 9.98569548e-01 4.61408098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:93.89, Z:4.62 [[ 2.12674060e-01 -9.77049215e-01 -1.20239724e-02 1.16639186e+02] [ 9.75644440e-01 2.13012867e-01 -5.23779117e-02 9.38923901e+01] [ 5.37370583e-02 -5.91698745e-04 9.98554945e-01 4.61515797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:93.92, Z:4.62 [[ 2.10341109e-01 -9.77554234e-01 -1.20140378e-02 1.16646352e+02] [ 9.76149072e-01 2.10682751e-01 -5.24000678e-02 9.39194476e+01] [ 5.37550587e-02 -7.05603446e-04 9.98553902e-01 4.61653172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:93.95, Z:4.62 [[ 2.08282884e-01 -9.77994893e-01 -1.20095370e-02 1.16653258e+02] [ 9.76587949e-01 2.08627278e-01 -5.24465135e-02 9.39461732e+01] [ 5.37979394e-02 -8.04658079e-04 9.98551518e-01 4.61794140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:93.97, Z:4.62 [[ 2.06520494e-01 -9.78367997e-01 -1.20560707e-02 1.16659457e+02] [ 9.76946976e-01 2.06870177e-01 -5.27194033e-02 9.39730311e+01] [ 5.40730184e-02 -8.90504676e-04 9.98536587e-01 4.61928287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:94.00, Z:4.62 [[ 2.05887211e-01 -9.78500003e-01 -1.21737953e-02 1.16664355e+02] [ 9.77047390e-01 2.06244756e-01 -5.33056972e-02 9.39994937e+01] [ 5.46704063e-02 -9.19413589e-04 9.98504032e-01 4.62096751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:94.03, Z:4.62 [[ 2.04818259e-01 -9.78724193e-01 -1.21834126e-02 1.16670316e+02] [ 9.77265486e-01 2.05178033e-01 -5.34241961e-02 9.40255976e+01] [ 5.47873218e-02 -9.64177754e-04 9.98497581e-01 4.62142819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:94.05, Z:4.62 [[ 2.04384558e-01 -9.78812074e-01 -1.24046508e-02 1.16675633e+02] [ 9.77295485e-01 2.04758260e-01 -5.44756001e-02 9.40525328e+01] [ 5.58613299e-02 -9.89037771e-04 9.98438047e-01 4.62237740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:94.08, Z:4.62 [[ 2.03763614e-01 -9.78938172e-01 -1.26666461e-02 1.16680573e+02] [ 9.77352558e-01 2.04154342e-01 -5.57044180e-02 9.40790628e+01] [ 5.71171320e-02 -1.02924545e-03 9.98366954e-01 4.62149195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:94.11, Z:4.62 [[ 2.03603764e-01 -9.78969245e-01 -1.28344736e-02 1.16685984e+02] [ 9.77336937e-01 2.04005252e-01 -5.65187448e-02 9.41057642e+01] [ 5.79484130e-02 -1.03617587e-03 9.98319041e-01 4.62208987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:94.13, Z:4.62 [[ 2.03275900e-01 -9.79037482e-01 -1.28264671e-02 1.16691776e+02] [ 9.77402730e-01 2.03677516e-01 -5.65629971e-02 9.41309878e+01] [ 5.79897572e-02 -1.03872984e-03 9.98316638e-01 4.62233107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters Centerline goodness [0,1] 0.9999497462184029 Centerline is valid? [True, True] Translation: X:116.70, Y:94.16, Z:4.62 [[ 2.03442423e-01 -9.79004846e-01 -1.26764231e-02 1.16697266e+02] [ 9.77403522e-01 2.03834513e-01 -5.59807676e-02 9.41572194e+01] [ 5.73893353e-02 -1.00111756e-03 9.98351372e-01 4.62378251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:94.19, Z:4.63 [[ 2.04817108e-01 -9.78721833e-01 -1.23905735e-02 1.16699814e+02] [ 9.77187442e-01 2.05189642e-01 -5.47897203e-02 9.41856390e+01] [ 5.61663128e-02 -8.86040716e-04 9.98421034e-01 4.62768439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:94.21, Z:4.63 [[ 2.05419960e-01 -9.78598017e-01 -1.21885869e-02 1.16704476e+02] [ 9.77109305e-01 2.05779597e-01 -5.39644745e-02 9.42124021e+01] [ 5.53176902e-02 -8.24201491e-04 9.98468464e-01 4.62970953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:94.24, Z:4.63 [[ 2.06393548e-01 -9.78396215e-01 -1.19394391e-02 1.16708648e+02] [ 9.76963476e-01 2.06737275e-01 -5.29345420e-02 9.42394450e+01] [ 5.42592826e-02 -7.39048019e-04 9.98526607e-01 4.63206056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:94.27, Z:4.63 [[ 2.09776517e-01 -9.77678831e-01 -1.17438216e-02 1.16710985e+02] [ 9.76287919e-01 2.10104319e-01 -5.21351548e-02 9.42669077e+01] [ 5.34388648e-02 -5.28620026e-04 9.98570983e-01 4.63288870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:94.29, Z:4.63 [[ 2.11428792e-01 -9.77323321e-01 -1.17043879e-02 1.16714897e+02] [ 9.75938427e-01 2.11752085e-01 -5.20119369e-02 9.42943824e+01] [ 5.33109074e-02 -4.25940922e-04 9.98577872e-01 4.63354359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:94.32, Z:4.64 [[ 2.13665415e-01 -9.76835385e-01 -1.18203738e-02 1.16718934e+02] [ 9.75418152e-01 2.13991931e-01 -5.26011603e-02 9.43210935e+01] [ 5.39121393e-02 -2.90758379e-04 9.98545641e-01 4.63521653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:94.35, Z:4.64 [[ 2.15839871e-01 -9.76355621e-01 -1.19520617e-02 1.16722636e+02] [ 9.74901722e-01 2.16170482e-01 -5.32630661e-02 9.43480168e+01] [ 5.45873769e-02 -1.55792194e-04 9.98508985e-01 4.63597061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:94.37, Z:4.63 [[ 2.21313662e-01 -9.75127052e-01 -1.21447838e-02 1.16722942e+02] [ 9.73619576e-01 2.21646573e-01 -5.42007108e-02 9.43747614e+01] [ 5.55444290e-02 1.70958522e-04 9.98456202e-01 4.63431359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:94.40, Z:4.63 [[ 2.24215743e-01 -9.74462387e-01 -1.22620542e-02 1.16726808e+02] [ 9.72920175e-01 2.24550505e-01 -5.48033249e-02 9.44031523e+01] [ 5.61572292e-02 3.57768304e-04 9.98421874e-01 4.63467481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:94.43, Z:4.64 [[ 2.26189686e-01 -9.74005631e-01 -1.22986485e-02 1.16730459e+02] [ 9.72449629e-01 2.26523270e-01 -5.50356961e-02 9.44297239e+01] [ 5.63910080e-02 4.88690627e-04 9.98408641e-01 4.63535816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:94.46, Z:4.64 [[ 2.28528161e-01 -9.73458042e-01 -1.24225490e-02 1.16734479e+02] [ 9.71865421e-01 2.28864633e-01 -5.56649246e-02 9.44578423e+01] [ 5.70305506e-02 6.47957076e-04 9.98372223e-01 4.63559100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:94.49, Z:4.64 [[ 2.31861319e-01 -9.72670068e-01 -1.23801562e-02 1.16737496e+02] [ 9.71083293e-01 2.32190023e-01 -5.55430565e-02 9.44851034e+01] [ 5.68996173e-02 8.56123480e-04 9.98379537e-01 4.63655639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:94.51, Z:4.64 [[ 2.33158989e-01 -9.72361616e-01 -1.22381990e-02 1.16742258e+02] [ 9.70806479e-01 2.33478066e-01 -5.49797418e-02 9.45122690e+01] [ 5.63175416e-02 9.38098135e-04 9.98412467e-01 4.63830252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:94.54, Z:4.64 [[ 2.34117951e-01 -9.72131720e-01 -1.21944601e-02 1.16748883e+02] [ 9.70583288e-01 2.34433158e-01 -5.48559465e-02 9.45392778e+01] [ 5.61859914e-02 1.00702263e-03 9.98419812e-01 4.64108474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:94.57, Z:4.64 [[ 2.34424139e-01 -9.72059245e-01 -1.20891341e-02 1.16753056e+02] [ 9.70533324e-01 2.34733376e-01 -5.44546446e-02 9.45655023e+01] [ 5.57708640e-02 1.03257560e-03 9.98443060e-01 4.64125020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:94.59, Z:4.64 [[ 2.35113547e-01 -9.71894356e-01 -1.19574706e-02 1.16758124e+02] [ 9.70396843e-01 2.35414946e-01 -5.39422850e-02 9.45919732e+01] [ 5.52411696e-02 1.07907030e-03 9.98472458e-01 4.64152568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:94.62, Z:4.64 [[ 2.35028450e-01 -9.71915293e-01 -1.19285892e-02 1.16764918e+02] [ 9.70420709e-01 2.35328442e-01 -5.38903686e-02 9.46183953e+01] [ 5.51840097e-02 1.09001980e-03 9.98475607e-01 4.64269060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:94.64, Z:4.64 [[ 2.34313023e-01 -9.72089097e-01 -1.18403779e-02 1.16770128e+02] [ 9.70612413e-01 2.34609598e-01 -5.35712615e-02 9.46446538e+01] [ 5.48539055e-02 1.06002648e-03 9.98493828e-01 4.64332574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:94.67, Z:4.65 [[ 2.33427223e-01 -9.72301972e-01 -1.18578082e-02 1.16778591e+02] [ 9.70816660e-01 2.33725936e-01 -5.37326629e-02 9.46704272e+01] [ 5.50158514e-02 1.03090851e-03 9.98484949e-01 4.64590409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:94.70, Z:4.65 [[ 2.32018045e-01 -9.72639723e-01 -1.18150929e-02 1.16784572e+02] [ 9.71161085e-01 2.32316671e-01 -5.36200667e-02 9.46961318e+01] [ 5.48978499e-02 9.66464597e-04 9.98491508e-01 4.64593379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:94.72, Z:4.65 [[ 2.29533196e-01 -9.73228216e-01 -1.18891696e-02 1.16793634e+02] [ 9.71727191e-01 2.29839329e-01 -5.40383977e-02 9.47229846e+01] [ 5.53242921e-02 8.50576806e-04 9.98468076e-01 4.64713150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:94.75, Z:4.65 [[ 2.28350249e-01 -9.73505207e-01 -1.19906625e-02 1.16801673e+02] [ 9.71974628e-01 2.28663422e-01 -5.45743653e-02 9.47496313e+01] [ 5.58702547e-02 8.07450185e-04 9.98437711e-01 4.64821825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:94.78, Z:4.65 [[ 2.26104261e-01 -9.74029991e-01 -1.19348076e-02 1.16808450e+02] [ 9.72509709e-01 2.26417964e-01 -5.44037786e-02 9.47754954e+01] [ 5.56931669e-02 6.94209867e-04 9.98447690e-01 4.64941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:94.80, Z:4.65 [[ 2.21944395e-01 -9.74985447e-01 -1.20026346e-02 1.16817548e+02] [ 9.73444548e-01 2.22268192e-01 -5.47956354e-02 9.48007405e+01] [ 5.60927510e-02 4.77684946e-04 9.98425448e-01 4.64967826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:94.83, Z:4.65 [[ 2.19412443e-01 -9.75558755e-01 -1.19706265e-02 1.16825676e+02] [ 9.74023233e-01 2.19738474e-01 -5.47151199e-02 9.48273653e+01] [ 5.60082215e-02 3.45509783e-04 9.98430248e-01 4.65110667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:94.85, Z:4.65 [[ 2.19116744e-01 -9.75625409e-01 -1.19546722e-02 1.16831262e+02] [ 9.74089796e-01 2.19442344e-01 -5.47186061e-02 9.48535703e+01] [ 5.60082237e-02 3.44838527e-04 9.98430248e-01 4.65227620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:94.88, Z:4.65 [[ 2.16944602e-01 -9.76110655e-01 -1.19594601e-02 1.16839239e+02] [ 9.74570043e-01 2.17273865e-01 -5.48206032e-02 9.48799269e+01] [ 5.61094530e-02 2.37702387e-04 9.98424595e-01 4.65426597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:94.91, Z:4.66 [[ 2.13588013e-01 -9.76851532e-01 -1.18846749e-02 1.16847187e+02] [ 9.75326789e-01 2.13918398e-01 -5.45579849e-02 9.49066117e+01] [ 5.58374018e-02 6.14897990e-05 9.98439873e-01 4.65500045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:94.93, Z:4.66 [[ 2.12282092e-01 -9.77137918e-01 -1.17389033e-02 1.16853790e+02] [ 9.75646407e-01 2.12606416e-01 -5.39685088e-02 9.49327139e+01] [ 5.52304425e-02 3.52914869e-06 9.98473634e-01 4.65577983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:94.96, Z:4.66 [[ 2.10602393e-01 -9.77502368e-01 -1.16513024e-02 1.16860734e+02] [ 9.76029236e-01 2.10924430e-01 -5.36452817e-02 9.49587363e+01] [ 5.48959342e-02 -7.41870885e-05 9.98492079e-01 4.65745182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:94.99, Z:4.66 [[ 2.09097958e-01 -9.77826991e-01 -1.15073918e-02 1.16867826e+02] [ 9.76386246e-01 2.09414318e-01 -5.30616742e-02 9.49852705e+01] [ 5.42949498e-02 -1.40571372e-04 9.98524931e-01 4.65964067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:95.01, Z:4.66 [[ 2.07633384e-01 -9.78139814e-01 -1.14403460e-02 1.16874620e+02] [ 9.76711967e-01 2.07948219e-01 -5.28324860e-02 9.50103002e+01] [ 5.40565577e-02 -2.04135026e-04 9.98537855e-01 4.66103423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:95.04, Z:4.66 [[ 2.05955526e-01 -9.78496921e-01 -1.12292606e-02 1.16882388e+02] [ 9.77117593e-01 2.06261240e-01 -5.19375684e-02 9.50363698e+01] [ 5.31369120e-02 -2.75478912e-04 9.98587198e-01 4.66353005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:95.06, Z:4.67 [[ 2.05504326e-01 -9.78592954e-01 -1.11266356e-02 1.16888585e+02] [ 9.77234852e-01 2.05805127e-01 -5.15392365e-02 9.50632254e+01] [ 5.27258524e-02 -2.81800031e-04 9.98608985e-01 4.66507555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:95.09, Z:4.67 [[ 2.05363090e-01 -9.78624053e-01 -1.09983595e-02 1.16894797e+02] [ 9.77293195e-01 2.05657213e-01 -5.10207943e-02 9.50897111e+01] [ 5.21920685e-02 -2.70833932e-04 9.98637028e-01 4.66564961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:95.12, Z:4.67 [[ 2.05547842e-01 -9.78585507e-01 -1.09768366e-02 1.16900991e+02] [ 9.77255845e-01 2.05840585e-01 -5.09967417e-02 9.51163555e+01] [ 5.21641508e-02 -2.44907510e-04 9.98638494e-01 4.66610582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:95.14, Z:4.67 [[ 2.06174653e-01 -9.78453274e-01 -1.10092421e-02 1.16906087e+02] [ 9.77111682e-01 2.06468284e-01 -5.12211756e-02 9.51416635e+01] [ 5.23905862e-02 -1.96751014e-04 9.98626651e-01 4.66629603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:95.17, Z:4.67 [[ 2.05381481e-01 -9.78618732e-01 -1.11276793e-02 1.16912898e+02] [ 9.77244985e-01 2.05682585e-01 -5.18354494e-02 9.51681290e+01] [ 5.30159116e-02 -2.28427445e-04 9.98593642e-01 4.66701265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:95.19, Z:4.67 [[ 2.04665901e-01 -9.78771097e-01 -1.09090606e-02 1.16919179e+02] [ 9.77447190e-01 2.04956282e-01 -5.08911949e-02 9.51946531e+01] [ 5.20467112e-02 -2.47338359e-04 9.98644621e-01 4.66860462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:95.22, Z:4.67 [[ 2.04805614e-01 -9.78744076e-01 -1.07095601e-02 1.16924238e+02] [ 9.77464494e-01 2.05085311e-01 -5.00317631e-02 9.52199970e+01] [ 5.11646653e-02 -2.21428823e-04 9.98690206e-01 4.66937245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:95.25, Z:4.67 [[ 2.04805721e-01 -9.78744991e-01 -1.06235336e-02 1.16928993e+02] [ 9.77482880e-01 2.05080959e-01 -4.96892311e-02 9.52468900e+01] [ 5.08117705e-02 -2.07683469e-04 9.98708226e-01 4.67070326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:95.27, Z:4.67 [[ 2.04680833e-01 -9.78770500e-01 -1.06801510e-02 1.16933982e+02] [ 9.77491073e-01 2.04959189e-01 -5.00293158e-02 9.52733124e+01] [ 5.11562135e-02 -1.99710258e-04 9.98690644e-01 4.67168851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:95.30, Z:4.67 [[ 2.02268214e-01 -9.79273569e-01 -1.05283428e-02 1.16941062e+02] [ 9.78027172e-01 2.02541804e-01 -4.93930048e-02 9.52983638e+01] [ 5.05016937e-02 -3.06370477e-04 9.98723928e-01 4.67202857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:95.33, Z:4.67 [[ 1.98875636e-01 -9.79966942e-01 -1.06430229e-02 1.16948056e+02] [ 9.78690193e-01 1.99159662e-01 -5.00093528e-02 9.53254714e+01] [ 5.11271734e-02 -4.70580261e-04 9.98692040e-01 4.67318327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:95.35, Z:4.67 [[ 1.98352832e-01 -9.80072549e-01 -1.06748525e-02 1.16954176e+02] [ 9.78784759e-01 1.98639277e-01 -5.02278041e-02 9.53512323e+01] [ 5.13473370e-02 -4.85555802e-04 9.98680737e-01 4.67315256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:95.38, Z:4.67 [[ 1.98252062e-01 -9.80092737e-01 -1.06933287e-02 1.16958376e+02] [ 9.78796448e-01 1.98539671e-01 -5.03935822e-02 9.53783685e+01] [ 5.15134338e-02 -4.75960594e-04 9.98672188e-01 4.67460266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90687499999999 meters Centerline goodness [0,1] 0.9999493183315594 Centerline is valid? [True, True] Translation: X:116.96, Y:95.41, Z:4.67 [[ 1.97887501e-01 -9.80166079e-01 -1.07235288e-02 1.16962949e+02] [ 9.78858617e-01 1.98177258e-01 -5.06120723e-02 9.54055584e+01] [ 5.17333960e-02 -4.81322053e-04 9.98660815e-01 4.67460483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:95.43, Z:4.68 [[ 2.00247040e-01 -9.79686323e-01 -1.07625012e-02 1.16965654e+02] [ 9.78364662e-01 2.00535760e-01 -5.08723534e-02 9.54325269e+01] [ 5.19972152e-02 -3.42612686e-04 9.98647171e-01 4.67540877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:95.46, Z:4.68 [[ 2.01645872e-01 -9.79398875e-01 -1.08067627e-02 1.16969327e+02] [ 9.78061842e-01 2.01935087e-01 -5.11590943e-02 9.54592268e+01] [ 5.22874240e-02 -2.53662041e-04 9.98632045e-01 4.67652563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:95.49, Z:4.68 [[ 2.03547307e-01 -9.79004548e-01 -1.08898418e-02 1.16972955e+02] [ 9.77642252e-01 2.03838357e-01 -5.16289811e-02 9.54854357e+01] [ 5.27647748e-02 -1.37429418e-04 9.98606960e-01 4.67708601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:95.51, Z:4.68 [[ 2.05643048e-01 -9.78565196e-01 -1.10042912e-02 1.16976498e+02] [ 9.77169950e-01 2.05937266e-01 -5.22372549e-02 9.55129709e+01] [ 5.33837532e-02 -1.08343466e-05 9.98574071e-01 4.67800650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:95.54, Z:4.68 [[ 2.09531260e-01 -9.77739741e-01 -1.10294972e-02 1.16977737e+02] [ 9.76332601e-01 2.09821235e-01 -5.24375964e-02 9.55404389e+01] [ 5.35845446e-02 2.18857930e-04 9.98563292e-01 4.67948670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:95.57, Z:4.68 [[ 2.10790436e-01 -9.77469597e-01 -1.09808200e-02 1.16981379e+02] [ 9.76070196e-01 2.11076039e-01 -5.22865006e-02 9.55673566e+01] [ 5.34262527e-02 3.03443064e-04 9.98571752e-01 4.68115760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters Centerline goodness [0,1] 0.9999751219026769 Centerline is valid? [True, True] Translation: X:116.99, Y:95.59, Z:4.68 [[ 2.11478265e-01 -9.77321400e-01 -1.09464656e-02 1.16985207e+02] [ 9.75926247e-01 2.11761078e-01 -5.22035118e-02 9.55947565e+01] [ 5.33376446e-02 3.56964968e-04 9.98576471e-01 4.68167814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:95.62, Z:4.68 [[ 2.12260655e-01 -9.77151877e-01 -1.09372908e-02 1.16989048e+02] [ 9.75754506e-01 2.12541847e-01 -5.22408576e-02 9.56215008e+01] [ 5.33718840e-02 4.16567920e-04 9.98574618e-01 4.68292413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:95.65, Z:4.68 [[ 2.10903968e-01 -9.77442964e-01 -1.11699779e-02 1.16994176e+02] [ 9.75981255e-01 2.11199234e-01 -5.34366351e-02 9.56483641e+01] [ 5.45903538e-02 3.68309358e-04 9.98508767e-01 4.68279124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:95.68, Z:4.68 [[ 2.09513066e-01 -9.77743842e-01 -1.10115964e-02 1.16999440e+02] [ 9.76319339e-01 2.09802022e-01 -5.27603936e-02 9.56750489e+01] [ 5.38964052e-02 3.03157332e-04 9.98546486e-01 4.68387156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:95.70, Z:4.69 [[ 2.08741503e-01 -9.77912005e-01 -1.07282490e-02 1.17004643e+02] [ 9.76556022e-01 2.09016836e-01 -5.14810384e-02 9.57021673e+01] [ 5.25863101e-02 2.69493206e-04 9.98616346e-01 4.68613397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:95.73, Z:4.69 [[ 2.07594275e-01 -9.78160492e-01 -1.03280624e-02 1.17009655e+02] [ 9.76900346e-01 2.07850923e-01 -4.96357568e-02 9.57292616e+01] [ 5.06984335e-02 2.14611266e-04 9.98713984e-01 4.68868743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:95.75, Z:4.69 [[ 2.06559443e-01 -9.78380945e-01 -1.01942895e-02 1.17014930e+02] [ 9.77149699e-01 2.06810775e-01 -4.90690145e-02 9.57548417e+01] [ 5.01164776e-02 1.74321426e-04 9.98743365e-01 4.69035408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:95.78, Z:4.69 [[ 2.05821116e-01 -9.78538156e-01 -1.00371992e-02 1.17020726e+02] [ 9.77340931e-01 2.06065656e-01 -4.83905921e-02 9.57819586e+01] [ 4.94203628e-02 1.50040009e-04 9.98778056e-01 4.69266594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:95.81, Z:4.69 [[ 2.05422249e-01 -9.78622513e-01 -9.98382636e-03 1.17025910e+02] [ 9.77434408e-01 2.05664669e-01 -4.82081163e-02 9.58084747e+01] [ 4.92308682e-02 1.44484230e-04 9.98787415e-01 4.69388596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:95.84, Z:4.69 [[ 2.06181789e-01 -9.78463331e-01 -9.92871025e-03 1.17029249e+02] [ 9.77284480e-01 2.06420616e-01 -4.80163881e-02 9.58352803e+01] [ 4.90317655e-02 1.96930361e-04 9.98797200e-01 4.69461957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:95.86, Z:4.70 [[ 2.06918022e-01 -9.78308645e-01 -9.85535618e-03 1.17033197e+02] [ 9.77143354e-01 2.07152443e-01 -4.77360612e-02 9.58619910e+01] [ 4.87421624e-02 2.47355557e-04 9.98811364e-01 4.69563359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:95.89, Z:4.70 [[ 2.07673214e-01 -9.78148536e-01 -9.86291635e-03 1.17037248e+02] [ 9.76977578e-01 2.07907071e-01 -4.78483155e-02 9.58890351e+01] [ 4.88533298e-02 3.00965306e-04 9.98805918e-01 4.69632880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:95.92, Z:4.70 [[ 2.08304112e-01 -9.78012863e-01 -1.00118760e-02 1.17041354e+02] [ 9.76802242e-01 2.08544277e-01 -4.86483856e-02 9.59155331e+01] [ 4.96666663e-02 3.54035854e-04 9.98765787e-01 4.69700299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:95.94, Z:4.70 [[ 2.09191243e-01 -9.77820303e-01 -1.03188219e-02 1.17044637e+02] [ 9.76529772e-01 2.09445147e-01 -5.02228552e-02 9.59423631e+01] [ 5.12701546e-02 4.29544681e-04 9.98684728e-01 4.69647117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:95.97, Z:4.70 [[ 2.09146353e-01 -9.77828970e-01 -1.04070950e-02 1.17050191e+02] [ 9.76512349e-01 2.09404644e-01 -5.07279742e-02 9.59689292e+01] [ 5.17825768e-02 4.46914018e-04 9.98658282e-01 4.69790254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:96.00, Z:4.70 [[ 2.09441113e-01 -9.77768932e-01 -1.01161444e-02 1.17054640e+02] [ 9.76520985e-01 2.09684763e-01 -4.93868990e-02 9.59955286e+01] [ 5.04101768e-02 4.65019760e-04 9.98728491e-01 4.70011795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:96.02, Z:4.70 [[ 2.09079479e-01 -9.77847514e-01 -1.00005386e-02 1.17058786e+02] [ 9.76624177e-01 2.09318012e-01 -4.88997570e-02 9.60210928e+01] [ 4.99097987e-02 4.57167893e-04 9.98753625e-01 4.70107915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:96.05, Z:4.70 [[ 2.08100928e-01 -9.78058528e-01 -9.77345632e-03 1.17065355e+02] [ 9.76886676e-01 2.08329897e-01 -4.78651934e-02 9.60480018e+01] [ 4.88510637e-02 4.13231897e-04 9.98805989e-01 4.70330200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:96.07, Z:4.70 [[ 2.07110793e-01 -9.78270302e-01 -9.60911971e-03 1.17070548e+02] [ 9.77135272e-01 2.07333259e-01 -4.71124230e-02 9.60732814e+01] [ 4.80809744e-02 3.68081482e-04 9.98843373e-01 4.70488081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:96.10, Z:4.71 [[ 2.06027904e-01 -9.78500304e-01 -9.46882440e-03 1.17076865e+02] [ 9.77395743e-01 2.06245127e-01 -4.64812824e-02 9.60985608e+01] [ 4.74348479e-02 3.21652554e-04 9.98874282e-01 4.70659232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:96.13, Z:4.71 [[ 2.05467731e-01 -9.78618246e-01 -9.45197929e-03 1.17082955e+02] [ 9.77514993e-01 2.05684795e-01 -4.64564713e-02 9.61252335e+01] [ 4.74072789e-02 3.05854291e-04 9.98875596e-01 4.70823155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:96.15, Z:4.71 [[ 2.04941067e-01 -9.78728855e-01 -9.43336274e-03 1.17088805e+02] [ 9.77626601e-01 2.05157848e-01 -4.64379904e-02 9.61519234e+01] [ 4.73855296e-02 2.94744957e-04 9.98876631e-01 4.70936096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:96.18, Z:4.71 [[ 2.04320886e-01 -9.78859308e-01 -9.35045078e-03 1.17093559e+02] [ 9.77773044e-01 2.04534541e-01 -4.61031020e-02 9.61779863e+01] [ 4.70409407e-02 2.77207932e-04 9.98892924e-01 4.70934861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:96.20, Z:4.71 [[ 2.04338794e-01 -9.78857308e-01 -9.16667566e-03 1.17098035e+02] [ 9.77809919e-01 2.04544098e-01 -4.52711251e-02 9.62037036e+01] [ 4.61889610e-02 2.87380720e-04 9.98932679e-01 4.70945572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:96.23, Z:4.71 [[ 2.03908039e-01 -9.78946093e-01 -9.27673699e-03 1.17104016e+02] [ 9.77870072e-01 2.04118752e-01 -4.58874456e-02 9.62301541e+01] [ 4.68148915e-02 2.85375572e-04 9.98903541e-01 4.70999967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:96.26, Z:4.71 [[ 2.04135390e-01 -9.78898798e-01 -9.26743218e-03 1.17110732e+02] [ 9.77821490e-01 2.04345409e-01 -4.59139136e-02 9.62574842e+01] [ 4.68388320e-02 3.10760331e-04 9.98902411e-01 4.71187480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:96.28, Z:4.71 [[ 2.04071227e-01 -9.78911014e-01 -9.38942316e-03 1.17117317e+02] [ 9.77801838e-01 2.04286858e-01 -4.65880295e-02 9.62831793e+01] [ 4.75236709e-02 3.26281112e-04 9.98870059e-01 4.71303749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:96.31, Z:4.71 [[ 2.04090754e-01 -9.78906349e-01 -9.45110001e-03 1.17122932e+02] [ 9.77778639e-01 2.04309175e-01 -4.69754534e-02 9.63096412e+01] [ 4.79155161e-02 3.46171970e-04 9.98851332e-01 4.71335357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:96.34, Z:4.71 [[ 2.03919261e-01 -9.78941610e-01 -9.50045069e-03 1.17128077e+02] [ 9.77798364e-01 2.04140140e-01 -4.72986551e-02 9.63352550e+01] [ 4.82420449e-02 3.55581632e-04 9.98835611e-01 4.71386388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:96.36, Z:4.71 [[ 2.04637888e-01 -9.78791236e-01 -9.54207691e-03 1.17133776e+02] [ 9.77633824e-01 2.04859827e-01 -4.75873666e-02 9.63621634e+01] [ 4.85328856e-02 4.09521036e-04 9.98821501e-01 4.71433657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:96.39, Z:4.72 [[ 2.04665629e-01 -9.78785719e-01 -9.51300401e-03 1.17138859e+02] [ 9.77631626e-01 2.04886154e-01 -4.75191354e-02 9.63882696e+01] [ 4.84601339e-02 4.25320147e-04 9.98825027e-01 4.71500913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:96.41, Z:4.72 [[ 2.04080724e-01 -9.78909169e-01 -9.37533943e-03 1.17145148e+02] [ 9.77784703e-01 2.04295556e-01 -4.69084327e-02 9.64140466e+01] [ 4.78344351e-02 4.06043432e-04 9.98855196e-01 4.71657175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:96.44, Z:4.72 [[ 2.04052362e-01 -9.78914714e-01 -9.41366342e-03 1.17151009e+02] [ 9.77778177e-01 2.04268960e-01 -4.71596056e-02 9.64403722e+01] [ 4.80881511e-02 4.18554249e-04 9.98843008e-01 4.71880866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:96.47, Z:4.72 [[ 2.04190306e-01 -9.78887595e-01 -9.24100326e-03 1.17155731e+02] [ 9.77788906e-01 2.04398851e-01 -4.63677136e-02 9.64657769e+01] [ 4.72776301e-02 4.32087155e-04 9.98881694e-01 4.72059256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:96.49, Z:4.72 [[ 2.03819178e-01 -9.78966156e-01 -9.11093281e-03 1.17160738e+02] [ 9.77894749e-01 2.04022271e-01 -4.57905347e-02 9.64921828e+01] [ 4.66862169e-02 4.23455771e-04 9.98909514e-01 4.72225243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:96.52, Z:4.72 [[ 2.03428095e-01 -9.79047663e-01 -9.09308758e-03 1.17164875e+02] [ 9.77977158e-01 2.03630790e-01 -4.57731407e-02 9.65184111e+01] [ 4.66657190e-02 4.18710867e-04 9.98910474e-01 4.72176406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:96.54, Z:4.72 [[ 2.03138078e-01 -9.79108011e-01 -9.07871850e-03 1.17169939e+02] [ 9.78037439e-01 2.03340419e-01 -4.57759906e-02 9.65447157e+01] [ 4.66657096e-02 4.19520187e-04 9.98910474e-01 4.72293273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:96.57, Z:4.72 [[ 2.02231157e-01 -9.79295548e-01 -9.09886147e-03 1.17175310e+02] [ 9.78217049e-01 2.02435364e-01 -4.59492019e-02 9.65715930e+01] [ 4.68397802e-02 3.91698849e-04 9.98902338e-01 4.72306345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:96.60, Z:4.72 [[ 2.01690481e-01 -9.79407136e-01 -9.08904795e-03 1.17181170e+02] [ 9.78327716e-01 2.01894816e-01 -4.59713245e-02 9.65980335e+01] [ 4.68596750e-02 3.79911034e-04 9.98901410e-01 4.72375296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:96.62, Z:4.72 [[ 2.00788219e-01 -9.79591615e-01 -9.18466405e-03 1.17185855e+02] [ 9.78485941e-01 2.00997862e-01 -4.65308834e-02 9.66235926e+01] [ 4.74273611e-02 3.55788565e-04 9.98874626e-01 4.72457744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:96.65, Z:4.72 [[ 1.96101407e-01 -9.80536831e-01 -9.57919806e-03 1.17194019e+02] [ 9.79331084e-01 1.96335172e-01 -4.86120108e-02 9.66492679e+01] [ 4.95466005e-02 1.51677272e-04 9.98771801e-01 4.72355507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:96.68, Z:4.73 [[ 1.92936759e-01 -9.81164317e-01 -9.59111872e-03 1.17201653e+02] [ 9.79953325e-01 1.93175005e-01 -4.87329248e-02 9.66753787e+01] [ 4.96677713e-02 3.52391384e-06 9.98765795e-01 4.72566622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:96.70, Z:4.73 [[ 1.90225181e-01 -9.81693313e-01 -9.62386375e-03 1.17209296e+02] [ 9.80470722e-01 1.90468433e-01 -4.89789723e-02 9.67018011e+01] [ 4.99153718e-02 -1.18882761e-04 9.98753444e-01 4.72791856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:96.73, Z:4.73 [[ 1.84907438e-01 -9.82709824e-01 -9.52056349e-03 1.17218213e+02] [ 9.81510788e-01 1.85152003e-01 -4.85315201e-02 9.67282486e+01] [ 4.94551530e-02 -3.70696744e-04 9.98776276e-01 4.72959089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:96.75, Z:4.73 [[ 1.82576781e-01 -9.83146331e-01 -9.43451050e-03 1.17224838e+02] [ 9.81965921e-01 1.82819773e-01 -4.81649359e-02 9.67542175e+01] [ 4.90779951e-02 -4.70568846e-04 9.98794838e-01 4.73056702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:96.78, Z:4.73 [[ 1.80887515e-01 -9.83460377e-01 -9.24087258e-03 1.17230883e+02] [ 9.82324459e-01 1.81122629e-01 -4.72572705e-02 9.67812371e+01] [ 4.81493842e-02 -5.29284934e-04 9.98840006e-01 4.73256456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:96.81, Z:4.73 [[ 1.79393698e-01 -9.83734940e-01 -9.13610179e-03 1.17236431e+02] [ 9.82621412e-01 1.79625244e-01 -4.67967043e-02 9.68083129e+01] [ 4.76766276e-02 -5.82295392e-04 9.98862653e-01 4.73449460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:96.83, Z:4.74 [[ 1.79044438e-01 -9.83798925e-01 -9.09744329e-03 1.17241957e+02] [ 9.82691223e-01 1.79274467e-01 -4.66757574e-02 9.68338706e+01] [ 4.75504993e-02 -5.82942889e-04 9.98868665e-01 4.73537578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:96.86, Z:4.74 [[ 1.78790410e-01 -9.83844581e-01 -9.15589897e-03 1.17247138e+02] [ 9.82718722e-01 1.79023741e-01 -4.70575638e-02 9.68601837e+01] [ 4.79364524e-02 -5.84232211e-04 9.98850217e-01 4.73684373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:96.89, Z:4.74 [[ 1.78557028e-01 -9.83886380e-01 -9.21839600e-03 1.17252179e+02] [ 9.82741404e-01 1.78793871e-01 -4.74561300e-02 9.68871336e+01] [ 4.83396326e-02 -5.85673884e-04 9.98830785e-01 4.73730230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters Centerline goodness [0,1] 0.9998989950002525 Centerline is valid? [True, True] Translation: X:117.26, Y:96.91, Z:4.74 [[ 1.78272319e-01 -9.83936722e-01 -9.35458107e-03 1.17257039e+02] [ 9.82753821e-01 1.78516595e-01 -4.82364125e-02 9.69138557e+01] [ 4.91315256e-02 -5.94033195e-04 9.98792141e-01 4.73757616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:96.94, Z:4.74 [[ 1.78219585e-01 -9.83946272e-01 -9.35484761e-03 1.17261790e+02] [ 9.82759455e-01 1.78463985e-01 -4.83162446e-02 9.69410981e+01] [ 4.92100922e-02 -5.82663883e-04 9.98788280e-01 4.73815461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:96.97, Z:4.74 [[ 1.78530228e-01 -9.83890009e-01 -9.34919957e-03 1.17266840e+02] [ 9.82700646e-01 1.78774004e-01 -4.83662622e-02 9.69671298e+01] [ 4.92584760e-02 -5.52624635e-04 9.98785912e-01 4.73903389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:96.99, Z:4.74 [[ 1.80499127e-01 -9.83531341e-01 -9.28252834e-03 1.17269979e+02] [ 9.82354544e-01 1.80737129e-01 -4.81003116e-02 9.69947645e+01] [ 4.89858615e-02 -4.36669628e-04 9.98799377e-01 4.74032833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:97.02, Z:4.74 [[ 1.82726016e-01 -9.83119873e-01 -9.30146882e-03 1.17272361e+02] [ 9.81934900e-01 1.82962331e-01 -4.82559492e-02 9.70221242e+01] [ 4.91432011e-02 -3.15819493e-04 9.98791693e-01 4.74131302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:97.05, Z:4.74 [[ 1.83925055e-01 -9.82895561e-01 -9.37500944e-03 1.17275937e+02] [ 9.81687430e-01 1.84163671e-01 -4.87189028e-02 9.70496046e+01] [ 4.96121295e-02 -2.42702047e-04 9.98768531e-01 4.74192248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:97.08, Z:4.74 [[ 1.85326452e-01 -9.82629222e-01 -9.69119423e-03 1.17280112e+02] [ 9.81333363e-01 1.85579598e-01 -5.04484236e-02 9.70770615e+01] [ 5.13705831e-02 -1.60864887e-04 9.98679647e-01 4.74211410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:97.10, Z:4.74 [[ 1.85623833e-01 -9.82571929e-01 -9.80801537e-03 1.17284752e+02] [ 9.81239994e-01 1.85882725e-01 -5.11437756e-02 9.71031674e+01] [ 5.20755788e-02 -1.30513292e-04 9.98643138e-01 4.74225724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:97.13, Z:4.74 [[ 1.86142506e-01 -9.82474094e-01 -9.77867220e-03 1.17289381e+02] [ 9.81145375e-01 1.86399162e-01 -5.10794100e-02 9.71299504e+01] [ 5.20069334e-02 -8.62496214e-05 9.98646720e-01 4.74343392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:97.16, Z:4.74 [[ 1.87550449e-01 -9.82206227e-01 -9.78548643e-03 1.17293180e+02] [ 9.80870895e-01 1.87805555e-01 -5.11992239e-02 9.71565744e+01] [ 5.21259653e-02 4.13859514e-06 9.98640518e-01 4.74450126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:97.18, Z:4.75 [[ 1.88229453e-01 -9.82077253e-01 -9.69241769e-03 1.17297443e+02] [ 9.80762772e-01 1.88478824e-01 -5.07948709e-02 9.71835978e+01] [ 5.17113027e-02 5.51283353e-05 9.98662074e-01 4.74523097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:97.21, Z:4.75 [[ 1.88671068e-01 -9.81992585e-01 -9.68462367e-03 1.17301305e+02] [ 9.80675758e-01 1.88919440e-01 -5.08380006e-02 9.72103996e+01] [ 5.17521533e-02 9.41841895e-05 9.98659955e-01 4.74662213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters Centerline goodness [0,1] 0.9999501632154694 Centerline is valid? [True, True] Translation: X:117.30, Y:97.24, Z:4.75 [[ 1.90427115e-01 -9.81653327e-01 -9.70873903e-03 1.17303502e+02] [ 9.80324967e-01 1.90674340e-01 -5.10515022e-02 9.72363658e+01] [ 5.19660844e-02 2.03871005e-04 9.98648829e-01 4.74666181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:97.26, Z:4.75 [[ 1.90577367e-01 -9.81623619e-01 -9.76410416e-03 1.17307877e+02] [ 9.80275249e-01 1.90827193e-01 -5.14336297e-02 9.72630196e+01] [ 5.23517223e-02 2.30576084e-04 9.98628682e-01 4.74803102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:97.29, Z:4.75 [[ 1.91286880e-01 -9.81485719e-01 -9.75254492e-03 1.17311755e+02] [ 9.80135757e-01 1.91535118e-01 -5.14606282e-02 9.72886894e+01] [ 5.23758265e-02 2.84924991e-04 9.98627404e-01 4.74891916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:97.32, Z:4.75 [[ 1.91691126e-01 -9.81407468e-01 -9.68993043e-03 1.17316791e+02] [ 9.80070016e-01 1.91935612e-01 -5.12199717e-02 9.73157894e+01] [ 5.21275055e-02 3.21603792e-04 9.98640386e-01 4.75141897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:97.34, Z:4.75 [[ 1.92346545e-01 -9.81279103e-01 -9.70198194e-03 1.17319689e+02] [ 9.79933511e-01 1.92590711e-01 -5.13724885e-02 9.73421094e+01] [ 5.22792610e-02 3.74023429e-04 9.98632434e-01 4.75257195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:97.37, Z:4.75 [[ 1.92305280e-01 -9.81288110e-01 -9.60859474e-03 1.17324377e+02] [ 9.79963668e-01 1.92544793e-01 -5.09677632e-02 9.73694574e+01] [ 5.18641449e-02 3.85296218e-04 9.98654075e-01 4.75372211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:97.40, Z:4.75 [[ 1.92322092e-01 -9.81284826e-01 -9.60742361e-03 1.17328985e+02] [ 9.79956215e-01 1.92561490e-01 -5.10479179e-02 9.73961344e+01] [ 5.19425670e-02 4.02787876e-04 9.98649992e-01 4.75476267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:97.42, Z:4.76 [[ 1.92324753e-01 -9.81283362e-01 -9.70321339e-03 1.17333461e+02] [ 9.79923394e-01 1.92568904e-01 -5.16464871e-02 9.74230790e+01] [ 5.25483757e-02 4.24492060e-04 9.98618289e-01 4.75518415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:97.45, Z:4.76 [[ 1.92815714e-01 -9.81186320e-01 -9.77274321e-03 1.17338286e+02] [ 9.79801881e-01 1.93062642e-01 -5.21065220e-02 9.74502723e+01] [ 5.30129582e-02 4.71604090e-04 9.98593713e-01 4.75576127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:97.48, Z:4.76 [[ 1.92759471e-01 -9.81196698e-01 -9.84000873e-03 1.17343491e+02] [ 9.79788285e-01 1.93009844e-01 -5.25558459e-02 9.74772694e+01] [ 5.34668410e-02 4.89511771e-04 9.98569505e-01 4.75683089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:97.50, Z:4.76 [[ 1.93796848e-01 -9.80991644e-01 -9.90841351e-03 1.17348444e+02] [ 9.79558393e-01 1.94049150e-01 -5.30121017e-02 9.75044670e+01] [ 5.39271480e-02 5.67708589e-04 9.98544711e-01 4.75888837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:97.53, Z:4.76 [[ 1.94448154e-01 -9.80862172e-01 -9.96568252e-03 1.17351851e+02] [ 9.79407315e-01 1.94702362e-01 -5.34069386e-02 9.75306029e+01] [ 5.43251877e-02 6.24418271e-04 9.98523101e-01 4.75876506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:97.56, Z:4.76 [[ 1.94913102e-01 -9.80769862e-01 -9.96793464e-03 1.17355910e+02] [ 9.79310151e-01 1.95166684e-01 -5.34938574e-02 9.75576700e+01] [ 5.44105719e-02 6.64954074e-04 9.98518426e-01 4.75937034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:97.59, Z:4.76 [[ 1.95776577e-01 -9.80597316e-01 -1.00217257e-02 1.17359969e+02] [ 9.79116660e-01 1.96031537e-01 -5.38720925e-02 9.75852520e+01] [ 5.47914037e-02 7.34455248e-04 9.98497553e-01 4.75998152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:97.61, Z:4.76 [[ 1.95528189e-01 -9.80647017e-01 -1.00077390e-02 1.17364962e+02] [ 9.79166017e-01 1.95782753e-01 -5.38797329e-02 9.76124669e+01] [ 5.47963420e-02 7.35768700e-04 9.98497281e-01 4.76135978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:97.64, Z:4.76 [[ 1.95223936e-01 -9.80708299e-01 -9.94223710e-03 1.17370325e+02] [ 9.79241789e-01 1.95475569e-01 -5.36173469e-02 9.76395591e+01] [ 5.45264415e-02 7.31535444e-04 9.98512059e-01 4.76337273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:97.67, Z:4.77 [[ 1.94628977e-01 -9.80826143e-01 -9.98193606e-03 1.17376195e+02] [ 9.79342985e-01 1.94883453e-01 -5.39236183e-02 9.76662106e+01] [ 5.48350087e-02 7.19359623e-04 9.98495170e-01 4.76518533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:97.69, Z:4.77 [[ 1.93858374e-01 -9.80979741e-01 -9.88322308e-03 1.17381206e+02] [ 9.79520958e-01 1.94108925e-01 -5.34828800e-02 9.76924462e+01] [ 5.43840436e-02 6.87279998e-04 9.98519856e-01 4.76639090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:97.72, Z:4.77 [[ 1.89558758e-01 -9.81820522e-01 -9.79485650e-03 1.17389417e+02] [ 9.80383863e-01 1.89811086e-01 -5.30964408e-02 9.77200359e+01] [ 5.39903476e-02 4.62176115e-04 9.98541351e-01 4.76850654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:97.75, Z:4.77 [[ 1.88634961e-01 -9.82000637e-01 -9.57076839e-03 1.17393369e+02] [ 9.80625396e-01 1.88877145e-01 -5.19543822e-02 9.77460601e+01] [ 5.28269358e-02 4.15074307e-04 9.98603596e-01 4.77033019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:97.77, Z:4.77 [[ 1.82444764e-01 -9.83168463e-01 -9.67895022e-03 1.17401920e+02] [ 9.81759526e-01 1.82701299e-01 -5.26162400e-02 9.77720271e+01] [ 5.34989846e-02 9.71559376e-05 9.98567899e-01 4.77120459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:97.80, Z:4.77 [[ 1.78508155e-01 -9.83891114e-01 -9.64962401e-03 1.17409265e+02] [ 9.82486924e-01 1.78768751e-01 -5.25469135e-02 9.77979327e+01] [ 5.34254925e-02 -1.00576848e-04 9.98571833e-01 4.77155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:97.82, Z:4.77 [[ 1.74510158e-01 -9.84608733e-01 -9.58375499e-03 1.17416237e+02] [ 9.83219855e-01 1.74772864e-01 -5.22796628e-02 9.78241780e+01] [ 5.31499928e-02 -2.99605970e-04 9.98586495e-01 4.77316223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:97.85, Z:4.78 [[ 1.67781268e-01 -9.85778140e-01 -9.53441833e-03 1.17424731e+02] [ 9.84400734e-01 1.68050717e-01 -5.20975244e-02 9.78512454e+01] [ 5.29588665e-02 -6.44699690e-04 9.98596486e-01 4.77561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:97.88, Z:4.78 [[ 1.64502181e-01 -9.86330708e-01 -9.52716587e-03 1.17432364e+02] [ 9.84952174e-01 1.64775856e-01 -5.21357030e-02 9.78775208e+01] [ 5.29928917e-02 -8.07365876e-04 9.98594563e-01 4.77731438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:97.90, Z:4.78 [[ 1.61779210e-01 -9.86781606e-01 -9.46304447e-03 1.17439190e+02] [ 9.85419011e-01 1.62053028e-01 -5.18477407e-02 9.79036305e+01] [ 5.26959118e-02 -9.37177395e-04 9.98610165e-01 4.77891336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:97.93, Z:4.78 [[ 1.58368744e-01 -9.87334747e-01 -9.45712924e-03 1.17445606e+02] [ 9.85970392e-01 1.58647013e-01 -5.18990457e-02 9.79307997e+01] [ 5.27420764e-02 -1.10526273e-03 9.98607556e-01 4.78163728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:97.96, Z:4.78 [[ 1.57119246e-01 -9.87534982e-01 -9.39163066e-03 1.17451290e+02] [ 9.86185576e-01 1.57395472e-01 -5.16204952e-02 9.79574838e+01] [ 5.24552449e-02 -1.15131743e-03 9.98622612e-01 4.78271962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:97.98, Z:4.78 [[ 1.56468702e-01 -9.87639078e-01 -9.30578979e-03 1.17456878e+02] [ 9.86309796e-01 1.56740881e-01 -5.12375155e-02 9.79834755e+01] [ 5.20627703e-02 -1.16132407e-03 9.98643139e-01 4.78361074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:98.01, Z:4.79 [[ 1.56636579e-01 -9.87612164e-01 -9.33788053e-03 1.17460074e+02] [ 9.86268736e-01 1.56910518e-01 -5.15079540e-02 9.80104337e+01] [ 5.23350936e-02 -1.14162990e-03 9.98628927e-01 4.78516908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:98.04, Z:4.79 [[ 1.57678734e-01 -9.87445542e-01 -9.41903437e-03 1.17464047e+02] [ 9.86073419e-01 1.57956112e-01 -5.20488213e-02 9.80361491e+01] [ 5.28831706e-02 -1.08086715e-03 9.98600121e-01 4.78515499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:98.06, Z:4.79 [[ 1.58579194e-01 -9.87301788e-01 -9.37118235e-03 1.17467993e+02] [ 9.85938356e-01 1.58852619e-01 -5.18787405e-02 9.80627548e+01] [ 5.27086101e-02 -1.01251925e-03 9.98609422e-01 4.78616006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:98.09, Z:4.79 [[ 1.59337915e-01 -9.87179496e-01 -9.38468262e-03 1.17470850e+02] [ 9.85807183e-01 1.59611164e-01 -5.20429954e-02 9.80896374e+01] [ 5.28736780e-02 -9.59065168e-04 9.98600748e-01 4.78766474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:98.12, Z:4.79 [[ 1.60662169e-01 -9.86964899e-01 -9.37847419e-03 1.17474034e+02] [ 9.85589181e-01 1.60933299e-01 -5.21002795e-02 9.81165438e+01] [ 5.29304559e-02 -8.72778788e-04 9.98597819e-01 4.78899669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:98.14, Z:4.79 [[ 1.64495097e-01 -9.86332893e-01 -9.42267468e-03 1.17477675e+02] [ 9.84938433e-01 1.64763448e-01 -5.24336646e-02 9.81435718e+01] [ 5.32695605e-02 -6.55673691e-04 9.98579954e-01 4.78892469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:98.17, Z:4.79 [[ 1.66694592e-01 -9.85963931e-01 -9.38289200e-03 1.17478969e+02] [ 9.84577165e-01 1.66957634e-01 -5.22776775e-02 9.81712519e+01] [ 5.31104499e-02 -5.23775054e-04 9.98588507e-01 4.79075696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:98.20, Z:4.79 [[ 1.69146788e-01 -9.85546203e-01 -9.38325232e-03 1.17481167e+02] [ 9.84153814e-01 1.69406434e-01 -5.23710811e-02 9.81981552e+01] [ 5.32037035e-02 -3.76163409e-04 9.98583609e-01 4.79152496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.22, Z:4.79 [[ 1.68845934e-01 -9.85597943e-01 -9.36725930e-03 1.17485763e+02] [ 9.84205475e-01 1.69105155e-01 -5.23739420e-02 9.82245531e+01] [ 5.32037013e-02 -3.76180737e-04 9.98583609e-01 4.79269410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.25, Z:4.79 [[ 1.74108909e-01 -9.84681179e-01 -9.43735818e-03 1.17485664e+02] [ 9.83261342e-01 1.74364475e-01 -5.28598462e-02 9.82524214e+01] [ 5.36956357e-02 -7.60193329e-05 9.98557346e-01 4.79241314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.28, Z:4.79 [[ 1.76915959e-01 -9.84180289e-01 -9.48169230e-03 1.17487787e+02] [ 9.82741223e-01 1.77169834e-01 -5.32028068e-02 9.82796028e+01] [ 5.40410236e-02 9.43756922e-05 9.98538712e-01 4.79287369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.31, Z:4.79 [[ 1.79184455e-01 -9.83769598e-01 -9.50310789e-03 1.17490037e+02] [ 9.82318277e-01 1.79436122e-01 -5.34179826e-02 9.83072500e+01] [ 5.42561881e-02 2.36595536e-04 9.98527020e-01 4.79384782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.33, Z:4.80 [[ 1.83678308e-01 -9.82940771e-01 -9.47209138e-03 1.17491516e+02] [ 9.81492660e-01 1.83921698e-01 -5.33382315e-02 9.83349425e+01] [ 5.41704455e-02 5.00287938e-04 9.98531578e-01 4.79615167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:98.36, Z:4.80 [[ 1.84485840e-01 -9.82788867e-01 -9.54035190e-03 1.17494624e+02] [ 9.81314525e-01 1.84731489e-01 -5.38152296e-02 9.83623533e+01] [ 5.46514119e-02 5.66061944e-04 9.98505334e-01 4.79626108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:98.39, Z:4.80 [[ 1.85238530e-01 -9.82647030e-01 -9.56561470e-03 1.17497240e+02] [ 9.81159501e-01 1.85484287e-01 -5.40519424e-02 9.83888765e+01] [ 5.48882519e-02 6.27108600e-04 9.98492307e-01 4.79656770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:98.42, Z:4.80 [[ 1.85753416e-01 -9.82550624e-01 -9.48362550e-03 1.17502025e+02] [ 9.81082943e-01 1.85994150e-01 -5.36883198e-02 9.84160592e+01] [ 5.45153910e-02 6.68565615e-04 9.98512707e-01 4.79802454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:98.44, Z:4.80 [[ 1.86195657e-01 -9.82467117e-01 -9.46260379e-03 1.17504928e+02] [ 9.81000439e-01 1.86434598e-01 -5.36682300e-02 9.84424263e+01] [ 5.44914280e-02 7.09972858e-04 9.98513986e-01 4.79805223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:98.47, Z:4.80 [[ 1.86293310e-01 -9.82448634e-01 -9.45961504e-03 1.17509954e+02] [ 9.80977270e-01 1.86531881e-01 -5.37536422e-02 9.84691284e+01] [ 5.45747122e-02 7.34276615e-04 9.98509420e-01 4.80021989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:98.50, Z:4.80 [[ 1.86095910e-01 -9.82486804e-01 -9.38042686e-03 1.17514688e+02] [ 9.81034775e-01 1.86330727e-01 -5.34006676e-02 9.84961945e+01] [ 5.42133130e-02 7.35120874e-04 9.98529106e-01 4.80215057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:98.52, Z:4.80 [[ 1.86234547e-01 -9.82462894e-01 -9.12994574e-03 1.17517350e+02] [ 9.81082635e-01 1.86456741e-01 -5.20648365e-02 9.85222983e+01] [ 5.28541098e-02 7.39039993e-04 9.98601971e-01 4.80346370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:98.55, Z:4.81 [[ 1.85629634e-01 -9.82577952e-01 -9.06677466e-03 1.17522322e+02] [ 9.81212853e-01 1.85849550e-01 -5.17811017e-02 9.85486373e+01] [ 5.25640248e-02 7.15671104e-04 9.98617300e-01 4.80532652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:98.58, Z:4.81 [[ 1.85061078e-01 -9.82686113e-01 -8.96660410e-03 1.17527446e+02] [ 9.81346391e-01 1.85276876e-01 -5.13004807e-02 9.85758373e+01] [ 5.20735743e-02 6.94377694e-04 9.98643010e-01 4.80692707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:98.60, Z:4.81 [[ 1.84791616e-01 -9.82737418e-01 -8.90087889e-03 1.17531544e+02] [ 9.81412531e-01 1.85004562e-01 -5.10172096e-02 9.86028786e+01] [ 5.17832240e-02 6.92118541e-04 9.98658109e-01 4.80786727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:98.63, Z:4.81 [[ 1.84164540e-01 -9.82856795e-01 -8.71446292e-03 1.17536624e+02] [ 9.81582446e-01 1.84369418e-01 -5.00381836e-02 9.86297320e+01] [ 5.07870493e-02 6.61295257e-04 9.98709286e-01 4.80984651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:98.66, Z:4.81 [[ 1.83604877e-01 -9.82961280e-01 -8.73907104e-03 1.17539785e+02] [ 9.81675046e-01 1.83811582e-01 -5.02733234e-02 9.86562391e+01] [ 5.10230728e-02 6.51499402e-04 9.98697262e-01 4.80999534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:98.68, Z:4.81 [[ 1.82969019e-01 -9.83079752e-01 -8.74865477e-03 1.17546567e+02] [ 9.81785845e-01 1.83176950e-01 -5.04257776e-02 9.86831188e+01] [ 5.11751129e-02 6.37049670e-04 9.98689492e-01 4.81207327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:98.71, Z:4.81 [[ 1.81553087e-01 -9.83341215e-01 -8.86183805e-03 1.17552010e+02] [ 9.82008936e-01 1.81768285e-01 -5.11736309e-02 9.87095432e+01] [ 5.19319415e-02 5.88326519e-04 9.98650453e-01 4.81229019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:98.74, Z:4.81 [[ 1.80993542e-01 -9.83443696e-01 -8.93499194e-03 1.17557099e+02] [ 9.82084381e-01 1.81213020e-01 -5.16924583e-02 9.87361615e+01] [ 5.24557591e-02 5.81085090e-04 9.98623080e-01 4.81235521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.686875 meters Centerline goodness [0,1] 0.9999257940041555 Centerline is valid? [True, True] Translation: X:117.56, Y:98.76, Z:4.81 [[ 1.78889881e-01 -9.83825965e-01 -9.21311606e-03 1.17563844e+02] [ 9.82375656e-01 1.79126264e-01 -5.34027265e-02 9.87628467e+01] [ 5.41893000e-02 5.02466455e-04 9.98530554e-01 4.81096398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:98.79, Z:4.81 [[ 1.78018446e-01 -9.83983553e-01 -9.26286671e-03 1.17569701e+02] [ 9.82512278e-01 1.78258638e-01 -5.37910919e-02 9.87890915e+01] [ 5.45807357e-02 4.74926297e-04 9.98509248e-01 4.81207508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:98.81, Z:4.81 [[ 1.76901204e-01 -9.84185489e-01 -9.21339761e-03 1.17575484e+02] [ 9.82724701e-01 1.77140450e-01 -5.36043206e-02 9.88148857e+01] [ 5.43886599e-02 4.28435429e-04 9.98519749e-01 4.81359657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:98.84, Z:4.82 [[ 1.76107215e-01 -9.84329306e-01 -9.05899428e-03 1.17582377e+02] [ 9.82912088e-01 1.76339617e-01 -5.28030900e-02 9.88401819e+01] [ 5.35730885e-02 3.94810111e-04 9.98563853e-01 4.81546912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:98.87, Z:4.82 [[ 1.75983677e-01 -9.84351735e-01 -9.02262594e-03 1.17587573e+02] [ 9.82941682e-01 1.76214364e-01 -5.26701715e-02 9.88669993e+01] [ 5.34358910e-02 4.00375346e-04 9.98571202e-01 4.81750849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:98.89, Z:4.82 [[ 1.76453562e-01 -9.84268518e-01 -8.92329101e-03 1.17591837e+02] [ 9.82884131e-01 1.76678501e-01 -5.21870802e-02 9.88929551e+01] [ 5.29426537e-02 4.38035048e-04 9.98597458e-01 4.81846810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:98.92, Z:4.82 [[ 1.75711525e-01 -9.84403792e-01 -8.63912495e-03 1.17597250e+02] [ 9.83101482e-01 1.75923316e-01 -5.06207813e-02 9.89192320e+01] [ 5.13511126e-02 4.01518143e-04 9.98680581e-01 4.82085084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:98.95, Z:4.82 [[ 1.75545949e-01 -9.84434963e-01 -8.45123793e-03 1.17601917e+02] [ 9.83184145e-01 1.75748808e-01 -4.96114212e-02 9.89463103e+01] [ 5.03245125e-02 3.99960867e-04 9.98732839e-01 4.82288938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:98.97, Z:4.82 [[ 1.75554684e-01 -9.84434793e-01 -8.28799255e-03 1.17605808e+02] [ 9.83227388e-01 1.75749740e-01 -4.87435371e-02 9.89724511e+01] [ 4.94414464e-02 4.08174971e-04 9.98776940e-01 4.82427313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:99.00, Z:4.83 [[ 1.75344152e-01 -9.84473016e-01 -8.20422748e-03 1.17610417e+02] [ 9.83285350e-01 1.75535503e-01 -4.83446799e-02 9.89994651e+01] [ 4.90341660e-02 4.09860193e-04 9.98797018e-01 4.82549889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:99.03, Z:4.82 [[ 1.74332358e-01 -9.84652090e-01 -8.27591287e-03 1.17614864e+02] [ 9.83439143e-01 1.74528273e-01 -4.88603502e-02 9.90266034e+01] [ 4.95548268e-02 3.79083404e-04 9.98771333e-01 4.82483545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:99.05, Z:4.83 [[ 1.74105532e-01 -9.84691867e-01 -8.31805860e-03 1.17619435e+02] [ 9.83461903e-01 1.74303693e-01 -4.92027172e-02 9.90534843e+01] [ 4.98993838e-02 3.85971482e-04 9.98754175e-01 4.82527258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:99.08, Z:4.83 [[ 1.73816178e-01 -9.84742179e-01 -8.41292078e-03 1.17624104e+02] [ 9.83479215e-01 1.74019214e-01 -4.98592710e-02 9.90799246e+01] [ 5.05625370e-02 3.92415197e-04 9.98720820e-01 4.82541971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:99.11, Z:4.83 [[ 1.73178310e-01 -9.84853986e-01 -8.47932025e-03 1.17628645e+02] [ 9.83566200e-01 1.73385357e-01 -5.03492567e-02 9.91063954e+01] [ 5.10568561e-02 3.79426395e-04 9.98695676e-01 4.82569953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.106875 meters Centerline goodness [0,1] 0.999950200443216 Centerline is valid? [True, True] Translation: X:117.63, Y:99.13, Z:4.83 [[ 1.72287112e-01 -9.85008789e-01 -8.65086794e-03 1.17634059e+02] [ 9.83663250e-01 1.72503793e-01 -5.14689428e-02 9.91323318e+01] [ 5.21896685e-02 3.57894638e-04 9.98637126e-01 4.82540059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:99.16, Z:4.83 [[ 1.71945594e-01 -9.85067638e-01 -8.74420713e-03 1.17639291e+02] [ 9.83687403e-01 1.72167411e-01 -5.21294048e-02 9.91594817e+01] [ 5.28564572e-02 3.61855048e-04 9.98602055e-01 4.82744433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:99.19, Z:4.83 [[ 1.71597242e-01 -9.85129612e-01 -8.60430564e-03 1.17643562e+02] [ 9.83788206e-01 1.71812462e-01 -5.13930229e-02 9.91855050e+01] [ 5.21071157e-02 3.54086594e-04 9.98641439e-01 4.82961926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:99.21, Z:4.83 [[ 1.71507661e-01 -9.85146499e-01 -8.45563596e-03 1.17647882e+02] [ 9.83846016e-01 1.71715597e-01 -5.06040521e-02 9.92128285e+01] [ 5.13043693e-02 3.59938876e-04 9.98682999e-01 4.83132970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:99.24, Z:4.83 [[ 1.70365153e-01 -9.85345864e-01 -8.32126439e-03 1.17652527e+02] [ 9.84081847e-01 1.70567968e-01 -4.98947483e-02 9.92396393e+01] [ 5.05829250e-02 3.11521202e-04 9.98719816e-01 4.83272056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:99.27, Z:4.83 [[ 1.69325751e-01 -9.85526534e-01 -8.13886776e-03 1.17657284e+02] [ 9.84312891e-01 1.69521029e-01 -4.88953244e-02 9.92657143e+01] [ 4.95673488e-02 2.68045052e-04 9.98770748e-01 4.83471304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:99.29, Z:4.84 [[ 1.68065680e-01 -9.85743415e-01 -7.99043796e-03 1.17662788e+02] [ 9.84569177e-01 1.68255379e-01 -4.81005456e-02 9.92909806e+01] [ 4.87592303e-02 2.16911951e-04 9.98810538e-01 4.83695309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:99.32, Z:4.84 [[ 1.67008327e-01 -9.85923736e-01 -7.91232544e-03 1.17667802e+02] [ 9.84768045e-01 1.67195557e-01 -4.77236227e-02 9.93181970e+01] [ 4.83747581e-02 1.78437129e-04 9.98829240e-01 4.83824169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:99.34, Z:4.84 [[ 1.66159639e-01 -9.86066714e-01 -7.96301348e-03 1.17672836e+02] [ 9.84891833e-01 1.66350268e-01 -4.81213610e-02 9.93449284e+01] [ 4.87755218e-02 1.53121037e-04 9.98809754e-01 4.83937612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:99.37, Z:4.84 [[ 1.64944040e-01 -9.86271286e-01 -7.90022992e-03 1.17678053e+02] [ 9.85110639e-01 1.65133093e-01 -4.78339785e-02 9.93704787e+01] [ 4.84818689e-02 1.07329112e-04 9.98824057e-01 4.84025547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:99.40, Z:4.84 [[ 1.64448439e-01 -9.86353527e-01 -7.96431263e-03 1.17682683e+02] [ 9.85169230e-01 1.64641154e-01 -4.83205895e-02 9.93978172e+01] [ 4.89724375e-02 1.00049802e-04 9.98800125e-01 4.84133264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:99.42, Z:4.84 [[ 1.63770877e-01 -9.86466366e-01 -7.95039909e-03 1.17687044e+02] [ 9.85281754e-01 1.63963723e-01 -4.83297311e-02 9.94242635e+01] [ 4.89792312e-02 8.16192815e-05 9.98799794e-01 4.84148583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:99.45, Z:4.84 [[ 1.63017469e-01 -9.86590731e-01 -8.00207913e-03 1.17691953e+02] [ 9.85385923e-01 1.63213740e-01 -4.87427665e-02 9.94509994e+01] [ 4.93952109e-02 6.07863112e-05 9.98779310e-01 4.84246367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:99.48, Z:4.84 [[ 1.62406222e-01 -9.86691101e-01 -8.05550057e-03 1.17696186e+02] [ 9.85465428e-01 1.62605872e-01 -4.91652381e-02 9.94768778e+01] [ 4.98207746e-02 4.63232362e-05 9.98758173e-01 4.84309482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:99.50, Z:4.84 [[ 1.62195402e-01 -9.86724937e-01 -8.15778224e-03 1.17699982e+02] [ 9.85462758e-01 1.62400416e-01 -4.98924572e-02 9.95027933e+01] [ 5.05549589e-02 5.31365515e-05 9.98721279e-01 4.84364116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:99.53, Z:4.84 [[ 1.62228776e-01 -9.86719027e-01 -8.20887690e-03 1.17704100e+02] [ 9.85435783e-01 1.62436315e-01 -5.03066780e-02 9.95295077e+01] [ 5.09719761e-02 7.18697652e-05 9.98700081e-01 4.84469926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.586875 meters Centerline goodness [0,1] 0.9999749254030742 Centerline is valid? [True, True] Translation: X:117.71, Y:99.56, Z:4.85 [[ 1.62150819e-01 -9.86731605e-01 -8.23724846e-03 1.17707993e+02] [ 9.85434454e-01 1.62359888e-01 -5.05786830e-02 9.95565632e+01] [ 5.12449838e-02 8.41064338e-05 9.98686109e-01 4.84531752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters Centerline goodness [0,1] 0.9999748611076196 Centerline is valid? [True, True] Translation: X:117.71, Y:99.58, Z:4.85 [[ 1.62420465e-01 -9.86687350e-01 -8.22597169e-03 1.17711954e+02] [ 9.85388624e-01 1.62628598e-01 -5.06082928e-02 9.95829579e+01] [ 5.12723405e-02 1.14043523e-04 9.98684702e-01 4.84684128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:99.61, Z:4.85 [[ 1.63261714e-01 -9.86548836e-01 -8.18578766e-03 1.17715149e+02] [ 9.85257399e-01 1.63466707e-01 -5.04627920e-02 9.96097338e+01] [ 5.11221124e-02 1.73534067e-04 9.98692395e-01 4.84820431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:99.64, Z:4.85 [[ 1.63177054e-01 -9.86563035e-01 -8.16258270e-03 1.17719027e+02] [ 9.85273922e-01 1.63380980e-01 -5.04177860e-02 9.96369170e+01] [ 5.10739347e-02 1.84645920e-04 9.98694858e-01 4.84963861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:99.66, Z:4.85 [[ 1.62436774e-01 -9.86686567e-01 -7.99462213e-03 1.17723740e+02] [ 9.85445381e-01 1.62633312e-01 -4.94753130e-02 9.96642327e+01] [ 5.01168186e-02 1.58346767e-04 9.98743350e-01 4.85119388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:99.69, Z:4.86 [[ 1.61113786e-01 -9.86905158e-01 -7.78186673e-03 1.17729820e+02] [ 9.85724928e-01 1.61301578e-01 -4.82510905e-02 9.96904175e+01] [ 4.88744774e-02 1.03135866e-04 9.98804923e-01 4.85530695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:99.72, Z:4.86 [[ 1.60287574e-01 -9.87040137e-01 -7.72404066e-03 1.17734907e+02] [ 9.85873054e-01 1.60473554e-01 -4.79849993e-02 9.97168331e+01] [ 4.86026246e-02 7.64755948e-05 9.98818191e-01 4.85680339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:99.74, Z:4.86 [[ 1.59364380e-01 -9.87189635e-01 -7.72134913e-03 1.17740217e+02] [ 9.86019220e-01 1.59551318e-01 -4.80569989e-02 9.97435988e+01] [ 4.86733226e-02 4.51752134e-05 9.98814750e-01 4.85831434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:99.77, Z:4.86 [[ 1.57908362e-01 -9.87422989e-01 -7.79683098e-03 1.17746176e+02] [ 9.86225122e-01 1.58100731e-01 -4.86227073e-02 9.97699844e+01] [ 4.92438636e-02 -1.14985430e-05 9.98786785e-01 4.85867531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:99.80, Z:4.86 [[ 1.56998621e-01 -9.87567318e-01 -7.88836013e-03 1.17751016e+02] [ 9.86336441e-01 1.57196665e-01 -4.92913040e-02 9.97968810e+01] [ 4.99185048e-02 -4.19102821e-05 9.98753293e-01 4.85893337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.886875 meters Centerline goodness [0,1] 0.9999748718464168 Centerline is valid? [True, True] Translation: X:117.76, Y:99.82, Z:4.86 [[ 1.55838815e-01 -9.87749980e-01 -8.01497830e-03 1.17756253e+02] [ 9.86474417e-01 1.56044765e-01 -5.01822206e-02 9.98239068e+01] [ 5.08181829e-02 -8.62332528e-05 9.98707918e-01 4.85873362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:99.85, Z:4.86 [[ 1.54608643e-01 -9.87942450e-01 -8.11682185e-03 1.17761577e+02] [ 9.86629307e-01 1.54821500e-01 -5.09206647e-02 9.98507060e+01] [ 5.15633448e-02 -1.35519458e-04 9.98669717e-01 4.85971589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:99.88, Z:4.86 [[ 1.54045592e-01 -9.88029836e-01 -8.18525300e-03 1.17765509e+02] [ 9.86689238e-01 1.54262828e-01 -5.14521835e-02 9.98776531e+01] [ 5.20989728e-02 -1.50318979e-04 9.98641915e-01 4.86064870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:99.90, Z:4.86 [[ 1.53745286e-01 -9.88076742e-01 -8.16944126e-03 1.17769590e+02] [ 9.86736076e-01 1.53962107e-01 -5.14546944e-02 9.99041362e+01] [ 5.20989711e-02 -1.50165697e-04 9.98641915e-01 4.86181770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:99.93, Z:4.86 [[ 1.51135089e-01 -9.88478623e-01 -8.25813857e-03 1.17775094e+02] [ 9.87103787e-01 1.51360287e-01 -5.21169668e-02 9.99313590e+01] [ 5.27664618e-02 -2.74937444e-04 9.98606842e-01 4.86221698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:99.96, Z:4.86 [[ 1.49474486e-01 -9.88730310e-01 -8.35175707e-03 1.17779715e+02] [ 9.87318779e-01 1.49707216e-01 -5.28145691e-02 9.99572764e+01] [ 5.34696836e-02 -3.51415995e-04 9.98569411e-01 4.86306056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:99.98, Z:4.87 [[ 1.49173568e-01 -9.88776515e-01 -8.26132786e-03 1.17781778e+02] [ 9.87389767e-01 1.49401746e-01 -5.23504156e-02 9.99849154e+01] [ 5.29971183e-02 -3.47852328e-04 9.98594605e-01 4.86550313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:100.01, Z:4.87 [[ 1.49275817e-01 -9.88761832e-01 -8.17130036e-03 1.17784851e+02] [ 9.87399718e-01 1.49498947e-01 -5.18831605e-02 1.00011325e+02] [ 5.25216896e-02 -3.23438490e-04 9.98619731e-01 4.86666625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:100.04, Z:4.87 [[ 1.48754279e-01 -9.88841250e-01 -8.07130815e-03 1.17787249e+02] [ 9.87506948e-01 1.48972722e-01 -5.13532551e-02 1.00038390e+02] [ 5.19826217e-02 -3.31456419e-04 9.98647935e-01 4.86768048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:100.07, Z:4.87 [[ 1.48582700e-01 -9.88868272e-01 -7.91975249e-03 1.17788362e+02] [ 9.87578635e-01 1.48793276e-01 -5.04876354e-02 1.00066272e+02] [ 5.11040266e-02 -3.19789159e-04 9.98693284e-01 4.86905764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:100.09, Z:4.87 [[ 1.48237356e-01 -9.88920891e-01 -7.82028430e-03 1.17791532e+02] [ 9.87658555e-01 1.48443150e-01 -4.99520824e-02 1.00093355e+02] [ 5.05595255e-02 -3.19006048e-04 9.98720998e-01 4.87033529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:100.12, Z:4.87 [[ 1.47571003e-01 -9.89020941e-01 -7.77024614e-03 1.17794785e+02] [ 9.87769839e-01 1.47775048e-01 -4.97320781e-02 1.00120118e+02] [ 5.03343152e-02 -3.36202128e-04 9.98732368e-01 4.87213478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:100.15, Z:4.87 [[ 1.47736220e-01 -9.88997143e-01 -7.65896541e-03 1.17797763e+02] [ 9.87776656e-01 1.47934293e-01 -4.91194753e-02 1.00146567e+02] [ 4.97120444e-02 -3.08621635e-04 9.98763544e-01 4.87297343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:100.17, Z:4.87 [[ 1.47823478e-01 -9.88984508e-01 -7.60672412e-03 1.17801198e+02] [ 9.87775501e-01 1.48018784e-01 -4.88876197e-02 1.00173396e+02] [ 4.94750366e-02 -2.86997747e-04 9.98775319e-01 4.87430099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:100.20, Z:4.88 [[ 1.48232844e-01 -9.88923358e-01 -7.59058831e-03 1.17803003e+02] [ 9.87714582e-01 1.48426850e-01 -4.88812283e-02 1.00200290e+02] [ 4.94664355e-02 -2.51531287e-04 9.98775755e-01 4.87508717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:100.23, Z:4.88 [[ 1.48898116e-01 -9.88823028e-01 -7.64004935e-03 1.17805902e+02] [ 9.87593332e-01 1.49093855e-01 -4.92994250e-02 1.00227622e+02] [ 4.98874911e-02 -2.04670278e-04 9.98754823e-01 4.87557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:100.26, Z:4.88 [[ 1.49713320e-01 -9.88699581e-01 -7.68507379e-03 1.17808533e+02] [ 9.87450134e-01 1.49910361e-01 -4.96902113e-02 1.00255150e+02] [ 5.02807633e-02 -1.49340617e-04 9.98735111e-01 4.87533652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:100.28, Z:4.88 [[ 1.50484361e-01 -9.88582163e-01 -7.73068515e-03 1.17810974e+02] [ 9.87312510e-01 1.50682770e-01 -5.00870347e-02 1.00282261e+02] [ 5.06800301e-02 -9.52867697e-05 9.98714937e-01 4.87582134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:100.31, Z:4.88 [[ 1.51280579e-01 -9.88460381e-01 -7.76286903e-03 1.17813703e+02] [ 9.87174669e-01 1.51479616e-01 -5.03993897e-02 1.00308495e+02] [ 5.09937164e-02 -3.88588017e-05 9.98698973e-01 4.87642959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:100.34, Z:4.88 [[ 1.52933574e-01 -9.88205879e-01 -7.77580203e-03 1.17816075e+02] [ 9.86910022e-01 1.53131111e-01 -5.05912234e-02 1.00335548e+02] [ 5.11852616e-02 6.30796651e-05 9.98689173e-01 4.87780816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:100.36, Z:4.88 [[ 1.53517823e-01 -9.88115762e-01 -7.71490792e-03 1.17819296e+02] [ 9.86834719e-01 1.53711515e-01 -5.02991701e-02 1.00362142e+02] [ 5.08872729e-02 1.08480070e-04 9.98704398e-01 4.87892553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:100.39, Z:4.88 [[ 1.55403551e-01 -9.87822992e-01 -7.44799990e-03 1.17822014e+02] [ 9.86623755e-01 1.55581782e-01 -4.86608192e-02 1.00389557e+02] [ 4.92270491e-02 2.13690484e-04 9.98787591e-01 4.88187478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:100.42, Z:4.88 [[ 1.56121022e-01 -9.87710407e-01 -7.37422352e-03 1.17825610e+02] [ 9.86529946e-01 1.56294862e-01 -4.82760986e-02 1.00416560e+02] [ 4.88353582e-02 2.62021510e-04 9.98806808e-01 4.88391548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:100.44, Z:4.89 [[ 1.56686627e-01 -9.87621114e-01 -7.33726817e-03 1.17828550e+02] [ 9.86447534e-01 1.56858032e-01 -4.81333608e-02 1.00442504e+02] [ 4.86884329e-02 3.04023875e-04 9.98813969e-01 4.88548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:100.47, Z:4.89 [[ 1.57265980e-01 -9.87529354e-01 -7.29294758e-03 1.17832223e+02] [ 9.86364851e-01 1.57434607e-01 -4.79450324e-02 1.00469898e+02] [ 4.84952892e-02 3.46615359e-04 9.98823351e-01 4.88639401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters Centerline goodness [0,1] 0.9999264759944122 Centerline is valid? [True, True] Translation: X:117.83, Y:100.50, Z:4.89 [[ 1.58255947e-01 -9.87370948e-01 -7.32569574e-03 1.17834680e+02] [ 9.86190991e-01 1.58424873e-01 -4.82585542e-02 1.00495793e+02] [ 4.88096668e-02 4.12668056e-04 9.98808013e-01 4.88561026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:100.52, Z:4.89 [[ 1.58790689e-01 -9.87285695e-01 -7.24382256e-03 1.17838530e+02] [ 9.86128136e-01 1.58955203e-01 -4.77968985e-02 1.00522652e+02] [ 4.83406375e-02 4.46365220e-04 9.98830808e-01 4.88728808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:100.55, Z:4.89 [[ 1.58626412e-01 -9.87312393e-01 -7.20420942e-03 1.17842767e+02] [ 9.86162818e-01 1.58789280e-01 -4.76325538e-02 1.00549362e+02] [ 4.81721619e-02 4.51257638e-04 9.98838946e-01 4.88857020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:100.58, Z:4.89 [[ 1.57967036e-01 -9.87417727e-01 -7.25589434e-03 1.17847797e+02] [ 9.86246860e-01 1.58132984e-01 -4.80738024e-02 1.00576347e+02] [ 4.86163209e-02 4.37973086e-04 9.98817432e-01 4.88932914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:100.60, Z:4.89 [[ 1.57964623e-01 -9.87416957e-01 -7.41149456e-03 1.17851700e+02] [ 9.86190161e-01 1.58137715e-01 -4.92080143e-02 1.00602091e+02] [ 4.97608646e-02 4.63982396e-04 9.98761053e-01 4.88932985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:100.63, Z:4.89 [[ 1.57951847e-01 -9.87418196e-01 -7.51797061e-03 1.17855728e+02] [ 9.86151542e-01 1.58129921e-01 -5.00006481e-02 1.00628821e+02] [ 5.05603658e-02 4.83836424e-04 9.98720890e-01 4.88986852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:100.66, Z:4.89 [[ 1.57808328e-01 -9.87440518e-01 -7.59967182e-03 1.17859314e+02] [ 9.86140682e-01 1.57990425e-01 -5.06515559e-02 1.00655320e+02] [ 5.12160740e-02 4.98891787e-04 9.98687471e-01 4.89022002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:100.68, Z:4.89 [[ 1.57537944e-01 -9.87482290e-01 -7.77970481e-03 1.17864136e+02] [ 9.86114066e-01 1.57729078e-01 -5.19671763e-02 1.00682397e+02] [ 5.25437519e-02 5.15125752e-04 9.98618490e-01 4.89045237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:100.71, Z:4.89 [[ 1.56712380e-01 -9.87613258e-01 -7.82825681e-03 1.17868643e+02] [ 9.86222086e-01 1.56907010e-01 -5.24040731e-02 1.00708714e+02] [ 5.29832657e-02 4.91967265e-04 9.98595279e-01 4.89149929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:100.73, Z:4.89 [[ 1.55666890e-01 -9.87778384e-01 -7.85387378e-03 1.17873133e+02] [ 9.86372020e-01 1.55864224e-01 -5.26932820e-02 1.00734594e+02] [ 5.32734229e-02 4.55757997e-04 9.98579859e-01 4.89215822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:100.76, Z:4.89 [[ 1.54486622e-01 -9.87963981e-01 -7.81387964e-03 1.17878484e+02] [ 9.86566067e-01 1.54683570e-01 -5.25394098e-02 1.00761722e+02] [ 5.31157232e-02 4.07727421e-04 9.98588280e-01 4.89376167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:100.79, Z:4.90 [[ 1.52130336e-01 -9.88330209e-01 -7.73035706e-03 1.17885316e+02] [ 9.86956738e-01 1.52326330e-01 -5.20872935e-02 1.00788234e+02] [ 5.26569826e-02 2.94529460e-04 9.98612615e-01 4.89679591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:100.81, Z:4.90 [[ 1.50728577e-01 -9.88545358e-01 -7.67933231e-03 1.17889744e+02] [ 9.87184362e-01 1.50923890e-01 -5.18557081e-02 1.00813748e+02] [ 5.24207142e-02 2.35220314e-04 9.98625061e-01 4.89734547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:100.84, Z:4.90 [[ 1.49456525e-01 -9.88739220e-01 -7.58299546e-03 1.17894599e+02] [ 9.87406516e-01 1.49648660e-01 -5.13191153e-02 1.00840643e+02] [ 5.18760071e-02 1.82477511e-04 9.98653517e-01 4.89981130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:100.87, Z:4.90 [[ 1.48314944e-01 -9.88911402e-01 -7.54428325e-03 1.17899088e+02] [ 9.87586873e-01 1.48506632e-01 -5.11658952e-02 1.00867545e+02] [ 5.17189133e-02 1.38031790e-04 9.98661672e-01 4.90118840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:100.89, Z:4.90 [[ 1.47230164e-01 -9.89074425e-01 -7.42028992e-03 1.17903673e+02] [ 9.87787894e-01 1.47417003e-01 -5.04311792e-02 1.00894738e+02] [ 5.09740664e-02 9.53182340e-05 9.98699973e-01 4.90283625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:100.92, Z:4.90 [[ 1.46562865e-01 -9.89174907e-01 -7.23393392e-03 1.17907603e+02] [ 9.87947232e-01 1.46741261e-01 -4.92673185e-02 1.00921619e+02] [ 4.97955118e-02 7.40143496e-05 9.98759431e-01 4.90449861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:100.95, Z:4.91 [[ 1.46165335e-01 -9.89233984e-01 -7.19866586e-03 1.17911857e+02] [ 9.88013126e-01 1.46342479e-01 -4.91318896e-02 1.00949051e+02] [ 4.96564055e-02 6.90027162e-05 9.98766357e-01 4.90566728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:100.97, Z:4.91 [[ 1.45951516e-01 -9.89264946e-01 -7.28160720e-03 1.17915754e+02] [ 9.88010336e-01 1.46133025e-01 -4.98067764e-02 1.00974969e+02] [ 5.03361813e-02 7.50713344e-05 9.98732328e-01 4.90716524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:101.00, Z:4.91 [[ 1.46070275e-01 -9.89247139e-01 -7.31930401e-03 1.17919756e+02] [ 9.87973727e-01 1.46253505e-01 -5.01779468e-02 1.01002452e+02] [ 5.07088642e-02 9.82264104e-05 9.98713473e-01 4.90843069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:101.03, Z:4.91 [[ 1.46233703e-01 -9.89222588e-01 -7.37401475e-03 1.17922774e+02] [ 9.87924336e-01 1.46419454e-01 -5.06640887e-02 1.01028666e+02] [ 5.11977602e-02 1.23828658e-04 9.98688527e-01 4.90787819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:101.06, Z:4.91 [[ 1.45975113e-01 -9.89260341e-01 -7.43262543e-03 1.17926454e+02] [ 9.87935397e-01 1.46164158e-01 -5.11829189e-02 1.01055242e+02] [ 5.17196153e-02 1.28478624e-04 9.98661637e-01 4.90946748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:101.08, Z:4.91 [[ 1.45889719e-01 -9.89272636e-01 -7.47274977e-03 1.17930234e+02] [ 9.87927516e-01 1.46080910e-01 -5.15712126e-02 1.01082688e+02] [ 5.21096156e-02 1.41174621e-04 9.98641361e-01 4.91023456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:101.11, Z:4.91 [[ 1.46017141e-01 -9.89253429e-01 -7.52652234e-03 1.17933905e+02] [ 9.87882858e-01 1.46210897e-01 -5.20560413e-02 1.01109291e+02] [ 5.25970769e-02 1.65751908e-04 9.98615802e-01 4.91103923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:101.14, Z:4.91 [[ 1.45951534e-01 -9.89262365e-01 -7.62383040e-03 1.17937584e+02] [ 9.87849879e-01 1.46150402e-01 -5.28457862e-02 1.01136653e+02] [ 5.33925733e-02 1.81723618e-04 9.98573583e-01 4.91230694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:101.16, Z:4.91 [[ 1.46037210e-01 -9.89249680e-01 -7.62912924e-03 1.17941104e+02] [ 9.87829007e-01 1.46236209e-01 -5.29983327e-02 1.01163558e+02] [ 5.35442386e-02 2.03453474e-04 9.98565458e-01 4.91355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:101.19, Z:4.92 [[ 1.46019373e-01 -9.89252583e-01 -7.59410534e-03 1.17944443e+02] [ 9.87838734e-01 1.46216552e-01 -5.28711144e-02 1.01189583e+02] [ 5.34132703e-02 2.18455558e-04 9.98572468e-01 4.91503206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:101.22, Z:4.92 [[ 1.46237028e-01 -9.89220822e-01 -7.54304234e-03 1.17947367e+02] [ 9.87819755e-01 1.46431231e-01 -5.26310323e-02 1.01216930e+02] [ 5.31682500e-02 2.45439495e-04 9.98585538e-01 4.91757421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:101.24, Z:4.92 [[ 1.46597274e-01 -9.89167603e-01 -7.52941418e-03 1.17950329e+02] [ 9.87765305e-01 1.46790237e-01 -5.26529029e-02 1.01244132e+02] [ 5.31877903e-02 2.81477967e-04 9.98584488e-01 4.91857523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:101.27, Z:4.92 [[ 1.47237794e-01 -9.89072372e-01 -7.54151608e-03 1.17952964e+02] [ 9.87659205e-01 1.47430428e-01 -5.28541705e-02 1.01271275e+02] [ 5.33884488e-02 3.33683673e-04 9.98573764e-01 4.92020110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:101.30, Z:4.92 [[ 1.47423538e-01 -9.89044869e-01 -7.51981086e-03 1.17956505e+02] [ 9.87633574e-01 1.47614761e-01 -5.28186096e-02 1.01298506e+02] [ 5.33500099e-02 3.59888614e-04 9.98575809e-01 4.92210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:101.32, Z:4.92 [[ 1.47614405e-01 -9.89016597e-01 -7.49395765e-03 1.17959290e+02] [ 9.87608709e-01 1.47804001e-01 -5.27542856e-02 1.01324162e+02] [ 5.32825009e-02 3.86194611e-04 9.98579404e-01 4.92373795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:101.35, Z:4.93 [[ 1.47759653e-01 -9.88995067e-01 -7.47282195e-03 1.17962655e+02] [ 9.87588634e-01 1.47947928e-01 -5.27266674e-02 1.01350978e+02] [ 5.32520025e-02 4.10800079e-04 9.98581021e-01 4.92545018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:101.38, Z:4.93 [[ 1.47386767e-01 -9.89051469e-01 -7.37110989e-03 1.17966600e+02] [ 9.87677108e-01 1.47570426e-01 -5.21238888e-02 1.01378320e+02] [ 5.26409666e-02 4.02094964e-04 9.98613422e-01 4.92768702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:101.40, Z:4.93 [[ 1.46304011e-01 -9.89211932e-01 -7.40872541e-03 1.17970916e+02] [ 9.87817658e-01 1.46491027e-01 -5.25038471e-02 1.01404426e+02] [ 5.30227439e-02 3.63053660e-04 9.98593239e-01 4.92888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:101.43, Z:4.93 [[ 1.44916764e-01 -9.89416302e-01 -7.38327630e-03 1.17975274e+02] [ 9.88026765e-01 1.45104412e-01 -5.24196614e-02 1.01429910e+02] [ 5.29362135e-02 3.01613126e-04 9.98597850e-01 4.92986478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:101.46, Z:4.93 [[ 1.43447190e-01 -9.89629741e-01 -7.47525810e-03 1.17979910e+02] [ 9.88198930e-01 1.43641625e-01 -5.31973616e-02 1.01456762e+02] [ 5.37194494e-02 2.43969998e-04 9.98556038e-01 4.93090920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:101.48, Z:4.93 [[ 1.41473066e-01 -9.89913126e-01 -7.57453499e-03 1.17985132e+02] [ 9.88438085e-01 1.41675608e-01 -5.40201311e-02 1.01482709e+02] [ 5.45483637e-02 1.55434733e-04 9.98511118e-01 4.93152489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:101.51, Z:4.93 [[ 1.40204575e-01 -9.90093399e-01 -7.59863453e-03 1.17989738e+02] [ 9.88603765e-01 1.40410300e-01 -5.42912821e-02 1.01509901e+02] [ 5.48203666e-02 9.98474458e-05 9.98496228e-01 4.93323727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:101.54, Z:4.93 [[ 1.39344601e-01 -9.90214619e-01 -7.62176167e-03 1.17993527e+02] [ 9.88709239e-01 1.39552872e-01 -5.45805553e-02 1.01535653e+02] [ 5.51101025e-02 6.97995215e-05 9.98480281e-01 4.93348788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:101.56, Z:4.93 [[ 1.38606622e-01 -9.90317461e-01 -7.71555138e-03 1.17996940e+02] [ 9.88767680e-01 1.38821192e-01 -5.53818693e-02 1.01562316e+02] [ 5.59167143e-02 4.74060013e-05 9.98435435e-01 4.93409071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:101.59, Z:4.94 [[ 1.38701610e-01 -9.90303812e-01 -7.76034521e-03 1.18000253e+02] [ 9.88728996e-01 1.38918518e-01 -5.58266684e-02 1.01588378e+02] [ 5.63634182e-02 7.03704684e-05 9.98410317e-01 4.93522833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:101.61, Z:4.94 [[ 1.38410825e-01 -9.90344630e-01 -7.74317847e-03 1.18003794e+02] [ 9.88769745e-01 1.38627228e-01 -5.58290499e-02 1.01614931e+02] [ 5.63634151e-02 7.11242705e-05 9.98410317e-01 4.93639703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:101.64, Z:4.94 [[ 1.38693660e-01 -9.90304833e-01 -7.77213182e-03 1.18007016e+02] [ 9.88711132e-01 1.38911217e-01 -5.61602221e-02 1.01641601e+02] [ 5.66953757e-02 1.04673485e-04 9.98391518e-01 4.93766591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:101.67, Z:4.94 [[ 1.39109313e-01 -9.90245829e-01 -7.86114168e-03 1.18010276e+02] [ 9.88607949e-01 1.39331176e-01 -5.69310639e-02 1.01668282e+02] [ 5.74710507e-02 1.48054066e-04 9.98347162e-01 4.93897249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:101.69, Z:4.94 [[ 1.40969134e-01 -9.89983117e-01 -7.81868080e-03 1.18011866e+02] [ 9.88355026e-01 1.41185530e-01 -5.67537573e-02 1.01694173e+02] [ 5.72891462e-02 2.72895542e-04 9.98357591e-01 4.93997903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:101.72, Z:4.94 [[ 1.42108446e-01 -9.89820343e-01 -7.80239021e-03 1.18014520e+02] [ 9.88191081e-01 1.42322030e-01 -5.67699507e-02 1.01721742e+02] [ 5.73025042e-02 3.57237087e-04 9.98356798e-01 4.94161221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:101.75, Z:4.94 [[ 1.44430342e-01 -9.89484581e-01 -7.75505383e-03 1.18015754e+02] [ 9.87867260e-01 1.44637504e-01 -5.65532338e-02 1.01748680e+02] [ 5.70802244e-02 5.07039141e-04 9.98369466e-01 4.94251318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:101.78, Z:4.94 [[ 1.45449500e-01 -9.89335697e-01 -7.70209127e-03 1.18018425e+02] [ 9.87733280e-01 1.45652132e-01 -5.62887560e-02 1.01776135e+02] [ 5.68103017e-02 5.79559558e-04 9.98384822e-01 4.94381869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:101.80, Z:4.94 [[ 1.46004667e-01 -9.89254178e-01 -7.66864616e-03 1.18020977e+02] [ 9.87658400e-01 1.46204575e-01 -5.61703436e-02 1.01803000e+02] [ 5.66879383e-02 6.27129521e-04 9.98391749e-01 4.94438538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:101.83, Z:4.95 [[ 1.45869591e-01 -9.89273417e-01 -7.75682114e-03 1.18025507e+02] [ 9.87633267e-01 1.46074258e-01 -5.69459502e-02 1.01829781e+02] [ 5.74681867e-02 6.45787883e-04 9.98347129e-01 4.94559177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:101.86, Z:4.95 [[ 1.45409036e-01 -9.89340912e-01 -7.79557901e-03 1.18029293e+02] [ 9.87676721e-01 1.45616439e-01 -5.73632942e-02 1.01856671e+02] [ 5.78870183e-02 6.41629415e-04 9.98322934e-01 4.94650158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:101.88, Z:4.95 [[ 1.45414894e-01 -9.89340030e-01 -7.79835121e-03 1.18032875e+02] [ 9.87666910e-01 1.45622347e-01 -5.75170191e-02 1.01883265e+02] [ 5.80395036e-02 6.61657805e-04 9.98314068e-01 4.94736897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:101.91, Z:4.95 [[ 1.45517622e-01 -9.89325256e-01 -7.75622463e-03 1.18035819e+02] [ 9.87662323e-01 1.45722579e-01 -5.73416581e-02 1.01909665e+02] [ 5.78598076e-02 6.83690911e-04 9.98324484e-01 4.94738979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:101.94, Z:4.95 [[ 1.45181453e-01 -9.89374340e-01 -7.79487571e-03 1.18039364e+02] [ 9.87686768e-01 1.45388932e-01 -5.77659615e-02 1.01936918e+02] [ 5.82854488e-02 6.87650662e-04 9.98299721e-01 4.94888914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:101.96, Z:4.95 [[ 1.44558593e-01 -9.89465466e-01 -7.80420310e-03 1.18044206e+02] [ 9.87766482e-01 1.44767548e-01 -5.79632146e-02 1.01964124e+02] [ 5.84823944e-02 6.70350487e-04 9.98288215e-01 4.95143738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:101.99, Z:4.95 [[ 1.43875418e-01 -9.89565266e-01 -7.77491945e-03 1.18048480e+02] [ 9.87871176e-01 1.44083886e-01 -5.78824174e-02 1.01990983e+02] [ 5.83986704e-02 6.47238163e-04 9.98293131e-01 4.95287500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:102.02, Z:4.95 [[ 1.40851862e-01 -9.90001231e-01 -7.63648661e-03 1.18054972e+02] [ 9.88360172e-01 1.41057911e-01 -5.69810224e-02 1.02018544e+02] [ 5.74884692e-02 4.78283882e-04 9.98346056e-01 4.95468030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:102.04, Z:4.96 [[ 1.37123582e-01 -9.90525031e-01 -7.56879362e-03 1.18060968e+02] [ 9.88906723e-01 1.37332032e-01 -5.65986374e-02 1.02044601e+02] [ 5.71018048e-02 2.76176997e-04 9.98368323e-01 4.95568181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:102.07, Z:4.96 [[ 1.33726230e-01 -9.90990033e-01 -7.48660300e-03 1.18067461e+02] [ 9.89399721e-01 1.33935597e-01 -5.61199462e-02 1.02071485e+02] [ 5.66170300e-02 9.74659038e-05 9.98395965e-01 4.95931954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:102.10, Z:4.96 [[ 1.31293440e-01 -9.91315680e-01 -7.43331252e-03 1.18072741e+02] [ 9.89741083e-01 1.31503692e-01 -5.58512970e-02 1.02097238e+02] [ 5.63437746e-02 -2.41458544e-05 9.98411427e-01 4.96072117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:102.12, Z:4.96 [[ 1.27286002e-01 -9.91838127e-01 -7.44342654e-03 1.18077103e+02] [ 9.90252470e-01 1.27503238e-01 -5.60622023e-02 1.02123941e+02] [ 5.65536907e-02 -2.34937943e-04 9.98399532e-01 4.96142965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:102.15, Z:4.96 [[ 1.25321483e-01 -9.92088155e-01 -7.45782610e-03 1.18080377e+02] [ 9.90489377e-01 1.25542756e-01 -5.63010604e-02 1.02150784e+02] [ 5.67918912e-02 -3.31165121e-04 9.98385983e-01 4.96301994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:102.18, Z:4.96 [[ 1.24157803e-01 -9.92234312e-01 -7.47736447e-03 1.18084241e+02] [ 9.90619659e-01 1.24382174e-01 -5.65841573e-02 1.02176943e+02] [ 5.70747932e-02 -3.81859590e-04 9.98369832e-01 4.96371507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:102.20, Z:4.97 [[ 1.21221778e-01 -9.92597626e-01 -7.43193047e-03 1.18087544e+02] [ 9.90995394e-01 1.21448225e-01 -5.63778096e-02 1.02203724e+02] [ 5.68630748e-02 -5.30790515e-04 9.98381845e-01 4.96552241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.586875 meters Centerline goodness [0,1] 0.9998748780060559 Centerline is valid? [True, True] Translation: X:118.09, Y:102.23, Z:4.97 [[ 1.19384496e-01 -9.92821153e-01 -7.31443254e-03 1.18090901e+02] [ 9.91262336e-01 1.19606796e-01 -5.56165097e-02 1.02230620e+02] [ 5.60921031e-02 -6.10772515e-04 9.98425412e-01 4.96658121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.26, Z:4.97 [[ 1.17867647e-01 -9.93002700e-01 -7.27021527e-03 1.18095013e+02] [ 9.91455612e-01 1.18089713e-01 -5.54128960e-02 1.02256985e+02] [ 5.58836929e-02 -6.76708082e-04 9.98437056e-01 4.96863414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.28, Z:4.97 [[ 1.16281866e-01 -9.93189984e-01 -7.22387079e-03 1.18098738e+02] [ 9.91655404e-01 1.16503652e-01 -5.51947427e-02 1.02284434e+02] [ 5.56604729e-02 -7.45442849e-04 9.98449476e-01 4.96959225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.31, Z:4.97 [[ 1.15066022e-01 -9.93332547e-01 -7.08949708e-03 1.18101029e+02] [ 9.91847954e-01 1.15281547e-01 -5.42936503e-02 1.02311305e+02] [ 5.47489382e-02 -7.84348832e-04 9.98499844e-01 4.97197125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.34, Z:4.97 [[ 1.14981514e-01 -9.93342441e-01 -7.07432128e-03 1.18103796e+02] [ 9.91857201e-01 1.15196344e-01 -5.43055791e-02 1.02338671e+02] [ 5.47589724e-02 -7.72578795e-04 9.98499303e-01 4.97384724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.37, Z:4.97 [[ 1.15723399e-01 -9.93256507e-01 -7.04311767e-03 1.18105701e+02] [ 9.91777186e-01 1.15935332e-01 -5.41942064e-02 1.02365241e+02] [ 5.46452943e-02 -7.13665666e-04 9.98505575e-01 4.97495449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.39, Z:4.98 [[ 1.18677254e-01 -9.92907264e-01 -7.13267405e-03 1.18103979e+02] [ 9.91381849e-01 1.18890169e-01 -5.50196026e-02 1.02393176e+02] [ 5.54773679e-02 -5.41628210e-04 9.98459798e-01 4.97540048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.42, Z:4.98 [[ 1.20307603e-01 -9.92711523e-01 -7.06490820e-03 1.18104530e+02] [ 9.91207556e-01 1.20514093e-01 -5.46254066e-02 1.02420361e+02] [ 5.50786916e-02 -4.30938664e-04 9.98481924e-01 4.97609249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.45, Z:4.98 [[ 1.24303972e-01 -9.92219195e-01 -7.04210340e-03 1.18103047e+02] [ 9.90717073e-01 1.24503139e-01 -5.45770106e-02 1.02449084e+02] [ 5.50291215e-02 -1.92592846e-04 9.98484731e-01 4.97783097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.48, Z:4.98 [[ 1.26481407e-01 -9.91944146e-01 -7.01882628e-03 1.18104135e+02] [ 9.90444642e-01 1.26675993e-01 -5.45215926e-02 1.02475709e+02] [ 5.49714914e-02 -5.57911171e-05 9.98487923e-01 4.97816988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.50, Z:4.98 [[ 1.28356631e-01 -9.91703221e-01 -7.02122343e-03 1.18104939e+02] [ 9.90194476e-01 1.28548504e-01 -5.46825477e-02 1.02502006e+02] [ 5.51314265e-02 6.64909591e-05 9.98479104e-01 4.97860852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:102.53, Z:4.98 [[ 1.32520806e-01 -9.91155963e-01 -6.93491084e-03 1.18104079e+02] [ 9.89675936e-01 1.32701769e-01 -5.41459410e-02 1.02529578e+02] [ 5.45873472e-02 3.12149354e-04 9.98508950e-01 4.98084557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.56, Z:4.98 [[ 1.34526422e-01 -9.90885780e-01 -6.92908615e-03 1.18105567e+02] [ 9.89400634e-01 1.34704034e-01 -5.42329156e-02 1.02556781e+02] [ 5.46720007e-02 4.40117882e-04 9.98504271e-01 4.98256897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.58, Z:4.98 [[ 1.35684807e-01 -9.90728088e-01 -6.89126889e-03 1.18107221e+02] [ 9.89251665e-01 1.35858701e-01 -5.40699299e-02 1.02584401e+02] [ 5.45048371e-02 5.19268757e-04 9.98513372e-01 4.98310854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.61, Z:4.98 [[ 1.37412881e-01 -9.90490941e-01 -6.73768213e-03 1.18108366e+02] [ 9.89072442e-01 1.37576576e-01 -5.29942421e-02 1.02610622e+02] [ 5.34172640e-02 6.18035764e-04 9.98572088e-01 4.98389149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.64, Z:4.99 [[ 1.37663303e-01 -9.90455959e-01 -6.76810572e-03 1.18111283e+02] [ 9.89017182e-01 1.37828028e-01 -5.33708552e-02 1.02637763e+02] [ 5.37943162e-02 6.53435381e-04 9.98551824e-01 4.98542050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:102.67, Z:4.99 [[ 1.37988787e-01 -9.90411077e-01 -6.70775005e-03 1.18114837e+02] [ 9.88990906e-01 1.38150038e-01 -5.30240945e-02 1.02665269e+02] [ 5.34423264e-02 6.82826683e-04 9.98570704e-01 4.98708474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:102.69, Z:4.99 [[ 1.38018017e-01 -9.90406895e-01 -6.72381725e-03 1.18117393e+02] [ 9.88972693e-01 1.38179906e-01 -5.32853324e-02 1.02691853e+02] [ 5.37032570e-02 7.04664286e-04 9.98556690e-01 4.98818312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:102.72, Z:4.99 [[ 1.37844467e-01 -9.90430883e-01 -6.75042990e-03 1.18121303e+02] [ 9.88977779e-01 1.38007793e-01 -5.36358196e-02 1.02718553e+02] [ 5.40541841e-02 7.17375813e-04 9.98537746e-01 4.98951506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:102.75, Z:4.99 [[ 1.37744181e-01 -9.90444822e-01 -6.75238777e-03 1.18124702e+02] [ 9.88983587e-01 1.37907651e-01 -5.37860993e-02 1.02745420e+02] [ 5.42033695e-02 7.30721517e-04 9.98529649e-01 4.99000796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:102.77, Z:4.99 [[ 1.37132279e-01 -9.90529686e-01 -6.75856553e-03 1.18128502e+02] [ 9.89058550e-01 1.37296857e-01 -5.39699729e-02 1.02772864e+02] [ 5.43867901e-02 7.16408369e-04 9.98519686e-01 4.99006590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:102.80, Z:4.99 [[ 1.36427858e-01 -9.90626232e-01 -6.86347039e-03 1.18131622e+02] [ 9.89101395e-01 1.36598561e-01 -5.49478322e-02 1.02798816e+02] [ 5.53703042e-02 7.07746918e-04 9.98465637e-01 4.98995468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:102.83, Z:4.99 [[ 1.35775619e-01 -9.90716138e-01 -6.82025595e-03 1.18135550e+02] [ 9.89202743e-01 1.35945076e-01 -5.47436629e-02 1.02825448e+02] [ 5.51626105e-02 6.86238831e-04 9.98477148e-01 4.99140625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:102.85, Z:4.99 [[ 1.35271553e-01 -9.90784424e-01 -6.91609173e-03 1.18139064e+02] [ 9.89220146e-01 1.35446495e-01 -5.56574349e-02 1.02851937e+02] [ 5.60812800e-02 6.87330400e-04 9.98425970e-01 4.99188006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:102.88, Z:4.99 [[ 1.34807740e-01 -9.90847470e-01 -6.93999387e-03 1.18142625e+02] [ 9.89264102e-01 1.34984529e-01 -5.59974453e-02 1.02879427e+02] [ 5.64217188e-02 6.83402226e-04 9.98406792e-01 4.99258965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:102.91, Z:4.99 [[ 1.34377235e-01 -9.90905663e-01 -6.98032513e-03 1.18146087e+02] [ 9.89295860e-01 1.34556684e-01 -5.64641414e-02 1.02905987e+02] [ 5.68898869e-02 6.81888418e-04 9.98380226e-01 4.99417306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:102.93, Z:5.00 [[ 1.33791704e-01 -9.90985162e-01 -6.94183311e-03 1.18149085e+02] [ 9.89385121e-01 1.33970029e-01 -5.62948824e-02 1.02931931e+02] [ 5.67173908e-02 6.63641824e-04 9.98390053e-01 4.99514953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:102.96, Z:5.00 [[ 1.32834196e-01 -9.91114520e-01 -6.86179845e-03 1.18153024e+02] [ 9.89543255e-01 1.33009859e-01 -5.57899893e-02 1.02958604e+02] [ 5.62069553e-02 6.20772025e-04 9.98418947e-01 4.99665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:102.99, Z:5.00 [[ 1.30811746e-01 -9.91384584e-01 -6.70029314e-03 1.18156790e+02] [ 9.89879595e-01 1.30982234e-01 -5.46080766e-02 1.02985225e+02] [ 5.50152247e-02 5.10894373e-04 9.98485385e-01 4.99866485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:103.01, Z:5.00 [[ 1.29850638e-01 -9.91511287e-01 -6.64678497e-03 1.18161059e+02] [ 9.90023687e-01 1.30019795e-01 -5.42950411e-02 1.03011712e+02] [ 5.46983597e-02 4.69771146e-04 9.98502814e-01 5.00098898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:103.04, Z:5.00 [[ 1.28343510e-01 -9.91707461e-01 -6.65239987e-03 1.18164824e+02] [ 9.90210194e-01 1.28515164e-01 -5.44759071e-02 1.03038493e+02] [ 5.48790978e-02 4.04354959e-04 9.98492925e-01 5.00216230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:103.07, Z:5.01 [[ 1.26374038e-01 -9.91961736e-01 -6.44330092e-03 1.18169495e+02] [ 9.90550622e-01 1.26537831e-01 -5.28927523e-02 1.03065656e+02] [ 5.32829077e-02 3.01854977e-04 9.98579411e-01 5.00534161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:103.09, Z:5.01 [[ 1.25036609e-01 -9.92131502e-01 -6.39751220e-03 1.18172746e+02] [ 9.90733429e-01 1.25199927e-01 -5.26521782e-02 1.03092177e+02] [ 5.30388527e-02 2.45220628e-04 9.98592419e-01 5.00698495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:103.12, Z:5.01 [[ 1.23401208e-01 -9.92336613e-01 -6.33938429e-03 1.18176495e+02] [ 9.90956809e-01 1.23563812e-01 -5.23123956e-02 1.03119019e+02] [ 5.26948240e-02 1.73356763e-04 9.98610648e-01 5.00740887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:103.15, Z:5.01 [[ 1.20497045e-01 -9.92693469e-01 -6.33549266e-03 1.18181934e+02] [ 9.91308723e-01 1.20663479e-01 -5.24150766e-02 1.03145463e+02] [ 5.27965668e-02 3.54327124e-05 9.98605288e-01 5.00913860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:103.17, Z:5.01 [[ 1.18318341e-01 -9.92955829e-01 -6.28427624e-03 1.18186233e+02] [ 9.91586603e-01 1.18485096e-01 -5.21276478e-02 1.03171300e+02] [ 5.25050448e-02 -6.37473199e-05 9.98620657e-01 5.01026347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:103.20, Z:5.01 [[ 1.16481257e-01 -9.93173096e-01 -6.27039387e-03 1.18190711e+02] [ 9.91802806e-01 1.16649820e-01 -5.21537455e-02 1.03198383e+02] [ 5.25291372e-02 -1.44060380e-04 9.98619381e-01 5.01125275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:103.23, Z:5.01 [[ 1.13592044e-01 -9.93507108e-01 -6.36192978e-03 1.18195729e+02] [ 9.92089722e-01 1.13769702e-01 -5.30512906e-02 1.03226361e+02] [ 5.34306291e-02 -2.85400635e-04 9.98571523e-01 5.01174045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:103.25, Z:5.01 [[ 1.11989341e-01 -9.93689209e-01 -6.33594882e-03 1.18199556e+02] [ 9.92277055e-01 1.12167865e-01 -5.29586289e-02 1.03253008e+02] [ 5.33351079e-02 -3.56214683e-04 9.98576607e-01 5.01199591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:103.28, Z:5.01 [[ 1.09882768e-01 -9.93924288e-01 -6.34718920e-03 1.18203959e+02] [ 9.92500138e-01 1.10064993e-01 -5.31899677e-02 1.03280230e+02] [ 5.35654041e-02 -4.54925264e-04 9.98564240e-01 5.01299997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:103.31, Z:5.01 [[ 1.09582404e-01 -9.93957552e-01 -6.33104426e-03 1.18207002e+02] [ 9.92533347e-01 1.09764195e-01 -5.31918898e-02 1.03306848e+02] [ 5.35654025e-02 -4.54877370e-04 9.98564240e-01 5.01416909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:103.33, Z:5.02 [[ 1.08614647e-01 -9.94063884e-01 -6.31288830e-03 1.18210917e+02] [ 9.92640741e-01 1.08796844e-01 -5.31752397e-02 1.03333377e+02] [ 5.35464076e-02 -4.90820236e-04 9.98565241e-01 5.01566040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:103.36, Z:5.02 [[ 1.07133296e-01 -9.94225021e-01 -6.25018504e-03 1.18214848e+02] [ 9.92823341e-01 1.07314045e-01 -5.27779222e-02 1.03360036e+02] [ 5.31438635e-02 -5.51056835e-04 9.98586714e-01 5.01741422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:103.39, Z:5.02 [[ 1.04626885e-01 -9.94491620e-01 -6.29538053e-03 1.18220645e+02] [ 9.93062488e-01 1.04813936e-01 -5.33004166e-02 1.03386481e+02] [ 5.36666612e-02 -6.75049696e-04 9.98558678e-01 5.01794762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:103.41, Z:5.02 [[ 1.03365389e-01 -9.94623871e-01 -6.24120393e-03 1.18224348e+02] [ 9.93212485e-01 1.03551113e-01 -5.29728908e-02 1.03413167e+02] [ 5.33343853e-02 -7.23278208e-04 9.98576447e-01 5.01954334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:103.44, Z:5.02 [[ 1.01927949e-01 -9.94772487e-01 -6.19613805e-03 1.18227732e+02] [ 9.93374451e-01 1.02113120e-01 -5.27267541e-02 1.03440358e+02] [ 5.30838313e-02 -7.80755361e-04 9.98589754e-01 5.02105153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:103.47, Z:5.02 [[ 9.98584901e-02 -9.94982719e-01 -6.13768865e-03 1.18233199e+02] [ 9.93604210e-01 1.00043158e-01 -5.23644947e-02 1.03467097e+02] [ 5.27158011e-02 -8.69393906e-04 9.98609177e-01 5.02228180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:103.49, Z:5.02 [[ 9.92977107e-02 -9.95039186e-01 -6.08143451e-03 1.18236027e+02] [ 9.93679467e-01 9.94798830e-02 -5.20083619e-02 1.03493961e+02] [ 5.23553385e-02 -8.78685326e-04 9.98628132e-01 5.02386923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:103.52, Z:5.03 [[ 9.86261057e-02 -9.95105949e-01 -6.08621310e-03 1.18238470e+02] [ 9.93736923e-01 9.88096095e-02 -5.21880199e-02 1.03521368e+02] [ 5.25339854e-02 -9.00993511e-04 9.98618730e-01 5.02504561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:103.55, Z:5.03 [[ 9.79756405e-02 -9.95170079e-01 -6.10632764e-03 1.18240652e+02] [ 9.93784689e-01 9.81613902e-02 -5.25007991e-02 1.03548841e+02] [ 5.28466300e-02 -9.24575490e-04 9.98602213e-01 5.02664142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:103.57, Z:5.03 [[ 9.75380051e-02 -9.95213056e-01 -6.10818796e-03 1.18244746e+02] [ 9.93819318e-01 9.77246124e-02 -5.26598899e-02 1.03574933e+02] [ 5.30047303e-02 -9.34094583e-04 9.98593824e-01 5.02694811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters Centerline goodness [0,1] 0.9999754257489003 Centerline is valid? [True, True] Translation: X:118.25, Y:103.60, Z:5.03 [[ 9.62832342e-02 -9.95335024e-01 -6.14232867e-03 1.18248228e+02] [ 9.93918067e-01 9.64738554e-02 -5.31005728e-02 1.03602468e+02] [ 5.34454341e-02 -9.92276551e-04 9.98570278e-01 5.02871627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.63, Z:5.03 [[ 9.54668084e-02 -9.95413529e-01 -6.16406895e-03 1.18250859e+02] [ 9.93979778e-01 9.56600838e-02 -5.34167495e-02 1.03629557e+02] [ 5.37614105e-02 -1.02743329e-03 9.98553281e-01 5.03059312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.66, Z:5.03 [[ 9.51500522e-02 -9.95443637e-01 -6.19945250e-03 1.18253598e+02] [ 9.93985638e-01 9.53461634e-02 -5.38670595e-02 1.03656326e+02] [ 5.42127157e-02 -1.03671322e-03 9.98528871e-01 5.03150881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:103.68, Z:5.03 [[ 9.51613558e-02 -9.95442846e-01 -6.15274088e-03 1.18255674e+02] [ 9.93999102e-01 9.53546531e-02 -5.36029474e-02 1.03683420e+02] [ 5.39453630e-02 -1.01488976e-03 9.98543373e-01 5.03263232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters Centerline goodness [0,1] 0.999975482384093 Centerline is valid? [True, True] Translation: X:118.25, Y:103.71, Z:5.03 [[ 9.61676204e-02 -9.95346690e-01 -6.06260617e-03 1.18254977e+02] [ 9.93937338e-01 9.63540128e-02 -5.29572706e-02 1.03710810e+02] [ 5.32950005e-02 -9.33075940e-04 9.98578376e-01 5.03398817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:103.74, Z:5.04 [[ 9.71699461e-02 -9.95249795e-01 -5.98726456e-03 1.18256352e+02] [ 9.93867633e-01 9.73504746e-02 -5.24405645e-02 1.03737543e+02] [ 5.27743241e-02 -8.54901624e-04 9.98606098e-01 5.03518669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:103.77, Z:5.04 [[ 1.00326977e-01 -9.94937555e-01 -5.81031574e-03 1.18255604e+02] [ 9.93628325e-01 1.00492958e-01 -5.10285916e-02 1.03765832e+02] [ 5.13541580e-02 -6.53749960e-04 9.98680291e-01 5.03796131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:103.79, Z:5.04 [[ 1.02085569e-01 -9.94759063e-01 -5.73968996e-03 1.18256270e+02] [ 9.93475001e-01 1.02245351e-01 -5.05303017e-02 1.03793109e+02] [ 5.08523321e-02 -5.43823886e-04 9.98706035e-01 5.03998603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:103.82, Z:5.04 [[ 1.04239024e-01 -9.94535634e-01 -5.75309356e-03 1.18256943e+02] [ 9.93238044e-01 1.04396819e-01 -5.07886933e-02 1.03819264e+02] [ 5.11117699e-02 -4.20027596e-04 9.98692851e-01 5.04096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.85, Z:5.04 [[ 1.09589951e-01 -9.93960768e-01 -5.65986394e-03 1.18253277e+02] [ 9.92697080e-01 1.09735934e-01 -5.01052061e-02 1.03848055e+02] [ 5.04236996e-02 -1.27503324e-04 9.98727908e-01 5.04223924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.87, Z:5.04 [[ 1.11950695e-01 -9.93697927e-01 -5.61000476e-03 1.18253053e+02] [ 9.92449841e-01 1.12091170e-01 -4.97883727e-02 1.03874192e+02] [ 5.01034347e-02 6.19460841e-06 9.98744034e-01 5.04314914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.90, Z:5.04 [[ 1.13990122e-01 -9.93466095e-01 -5.60085811e-03 1.18253212e+02] [ 9.92214582e-01 1.14127569e-01 -4.98509971e-02 1.03901369e+02] [ 5.01644878e-02 1.25268175e-04 9.98740962e-01 5.04407613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters Centerline goodness [0,1] 0.9999521439509954 Centerline is valid? [True, True] Translation: X:118.25, Y:103.93, Z:5.04 [[ 1.15730688e-01 -9.93264947e-01 -5.58146579e-03 1.18253361e+02] [ 9.92015110e-01 1.15864977e-01 -4.98129314e-02 1.03928090e+02] [ 5.01241351e-02 2.27986409e-04 9.98742969e-01 5.04417466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.96, Z:5.04 [[ 1.17502101e-01 -9.93056630e-01 -5.63789006e-03 1.18254412e+02] [ 9.91775344e-01 1.17636805e-01 -5.04306306e-02 1.03955288e+02] [ 5.07436955e-02 3.34184697e-04 9.98711653e-01 5.04477575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:103.98, Z:5.05 [[ 1.19294163e-01 -9.92842321e-01 -5.74702549e-03 1.18254623e+02] [ 9.91503233e-01 1.19431662e-01 -5.15501446e-02 1.03982345e+02] [ 5.18675421e-02 4.51437018e-04 9.98653871e-01 5.04520307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:104.01, Z:5.05 [[ 1.20109577e-01 -9.92743778e-01 -5.78623801e-03 1.18256282e+02] [ 9.91379032e-01 1.20247772e-01 -5.20392860e-02 1.04009952e+02] [ 5.23574597e-02 5.14061571e-04 9.98628275e-01 5.04633375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:104.04, Z:5.05 [[ 1.20455154e-01 -9.92702034e-01 -5.76429188e-03 1.18258363e+02] [ 9.91339941e-01 1.20591754e-01 -5.19879877e-02 1.04036868e+02] [ 5.23037072e-02 5.47848316e-04 9.98631074e-01 5.04715354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:104.06, Z:5.05 [[ 1.20191957e-01 -9.92734357e-01 -5.69121908e-03 1.18260925e+02] [ 9.91399134e-01 1.20325393e-01 -5.14738511e-02 1.04063610e+02] [ 5.17846587e-02 5.44473245e-04 9.98658126e-01 5.04855267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:104.09, Z:5.05 [[ 1.20424053e-01 -9.92707393e-01 -5.48439217e-03 1.18262530e+02] [ 9.91460560e-01 1.20547609e-01 -4.97416626e-02 1.04090029e+02] [ 5.00400466e-02 5.52534107e-04 9.98747059e-01 5.05156684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:104.12, Z:5.05 [[ 1.20532631e-01 -9.92694524e-01 -5.42841557e-03 1.18264599e+02] [ 9.91465758e-01 1.20653463e-01 -4.93800879e-02 1.04117433e+02] [ 4.96743000e-02 5.69823749e-04 9.98765307e-01 5.05276415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:104.14, Z:5.05 [[ 1.20966828e-01 -9.92641640e-01 -5.44066270e-03 1.18267734e+02] [ 9.91400360e-01 1.21087582e-01 -4.96298663e-02 1.04144497e+02] [ 4.99234686e-02 6.09692514e-04 9.98752860e-01 5.05447524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:104.17, Z:5.06 [[ 1.21534886e-01 -9.92572565e-01 -5.38276324e-03 1.18268775e+02] [ 9.91350486e-01 1.21652299e-01 -4.92435904e-02 1.04171246e+02] [ 4.95326623e-02 6.48609171e-04 9.98772294e-01 5.05520645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:104.20, Z:5.06 [[ 1.22807271e-01 -9.92416261e-01 -5.32349740e-03 1.18270682e+02] [ 9.91213707e-01 1.22920479e-01 -4.88461180e-02 1.04199477e+02] [ 4.91300486e-02 7.21934863e-04 9.98792129e-01 5.05708946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:104.23, Z:5.06 [[ 1.23275680e-01 -9.92358180e-01 -5.32447485e-03 1.18273215e+02] [ 9.91148985e-01 1.23388268e-01 -4.89798492e-02 1.04226348e+02] [ 4.92625317e-02 7.60676359e-04 9.98785575e-01 5.05784451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:104.25, Z:5.06 [[ 1.23442754e-01 -9.92337435e-01 -5.31993656e-03 1.18275609e+02] [ 9.91123380e-01 1.23554838e-01 -4.90779795e-02 1.04253980e+02] [ 4.93592202e-02 7.85607421e-04 9.98780782e-01 5.05808454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:104.28, Z:5.06 [[ 1.23404047e-01 -9.92341612e-01 -5.43752882e-03 1.18279022e+02] [ 9.91065874e-01 1.23521067e-01 -5.03088346e-02 1.04280958e+02] [ 5.05951994e-02 8.19364510e-04 9.98718907e-01 5.05788000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:104.31, Z:5.06 [[ 1.22838300e-01 -9.92411813e-01 -5.43548036e-03 1.18283522e+02] [ 9.91129774e-01 1.22955844e-01 -5.04344205e-02 1.04307513e+02] [ 5.07200388e-02 8.08012071e-04 9.98712584e-01 5.05950188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:104.33, Z:5.06 [[ 1.21762072e-01 -9.92544649e-01 -5.39600833e-03 1.18287003e+02] [ 9.91273880e-01 1.21879175e-01 -5.02151469e-02 1.04333921e+02] [ 5.04984364e-02 7.65378222e-04 9.98723847e-01 5.06017778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:104.36, Z:5.06 [[ 1.20749058e-01 -9.92668408e-01 -5.39419827e-03 1.18291190e+02] [ 9.91390793e-01 1.20867266e-01 -5.03527518e-02 1.04359488e+02] [ 5.06355680e-02 7.32288843e-04 9.98716928e-01 5.06182755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:104.39, Z:5.06 [[ 1.18935237e-01 -9.92887812e-01 -5.31064874e-03 1.18295798e+02] [ 9.91642569e-01 1.19051986e-01 -4.97155845e-02 1.04386838e+02] [ 4.99942411e-02 6.46669470e-04 9.98749297e-01 5.06312181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:104.41, Z:5.07 [[ 1.16215226e-01 -9.93211173e-01 -5.05837804e-03 1.18301655e+02] [ 9.92077323e-01 1.16324203e-01 -4.74474896e-02 1.04414523e+02] [ 4.77137886e-02 4.95818604e-04 9.98860926e-01 5.06508267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.046875 meters Centerline goodness [0,1] 0.9999288829888109 Centerline is valid? [True, True] Translation: X:118.31, Y:104.44, Z:5.07 [[ 1.15037936e-01 -9.93348720e-01 -4.95930275e-03 1.18305231e+02] [ 9.92253335e-01 1.15143927e-01 -4.66389903e-02 1.04440816e+02] [ 4.68998149e-02 4.44368468e-04 9.98899499e-01 5.06645384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:104.47, Z:5.07 [[ 1.14004078e-01 -9.93468352e-01 -4.86872991e-03 1.18309573e+02] [ 9.92406314e-01 1.14107279e-01 -4.59264313e-02 1.04467509e+02] [ 4.61820135e-02 4.04042161e-04 9.98932960e-01 5.06799338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:104.49, Z:5.07 [[ 1.12382146e-01 -9.93653357e-01 -4.82270096e-03 1.18315370e+02] [ 9.92605532e-01 1.12485064e-01 -4.56220109e-02 1.04494463e+02] [ 4.58749462e-02 3.40059856e-04 9.98947133e-01 5.06979669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters Centerline goodness [0,1] 0.9999759609606 Centerline is valid? [True, True] Translation: X:118.32, Y:104.52, Z:5.07 [[ 1.11655163e-01 -9.93735139e-01 -4.85777866e-03 1.18319389e+02] [ 9.92665837e-01 1.11760318e-01 -4.60886932e-02 1.04520129e+02] [ 4.63428608e-02 3.23889640e-04 9.98925540e-01 5.07021683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:104.55, Z:5.07 [[ 1.10535387e-01 -9.93859516e-01 -5.01911942e-03 1.18324813e+02] [ 9.92710896e-01 1.10648880e-01 -4.77692688e-02 1.04547248e+02] [ 4.80313023e-02 2.97660071e-04 9.98845787e-01 5.06891492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters Centerline goodness [0,1] 0.9999757880974287 Centerline is valid? [True, True] Translation: X:118.33, Y:104.57, Z:5.07 [[ 1.09934010e-01 -9.93926037e-01 -5.05437460e-03 1.18328562e+02] [ 9.92754305e-01 1.10049767e-01 -4.82487221e-02 1.04573819e+02] [ 4.85118939e-02 2.86423345e-04 9.98822564e-01 5.06953767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:104.60, Z:5.07 [[ 1.08936602e-01 -9.94035951e-01 -5.03430899e-03 1.18332309e+02] [ 9.92866638e-01 1.09052573e-01 -4.82014142e-02 1.04600996e+02] [ 4.84629430e-02 2.52500837e-04 9.98824949e-01 5.07000618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:104.63, Z:5.07 [[ 1.08139081e-01 -9.94123096e-01 -5.02096516e-03 1.18335992e+02] [ 9.92952999e-01 1.08255339e-01 -4.82195259e-02 1.04626780e+02] [ 4.84796907e-02 2.28832784e-04 9.98824142e-01 5.07008554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28687499999998 meters Centerline goodness [0,1] 0.9999757210838108 Centerline is valid? [True, True] Translation: X:118.34, Y:104.65, Z:5.07 [[ 1.08052244e-01 -9.94132655e-01 -4.99770503e-03 1.18340748e+02] [ 9.92966061e-01 1.08167495e-01 -4.81476308e-02 1.04652491e+02] [ 4.84057213e-02 2.39908097e-04 9.98827727e-01 5.07142905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters Centerline goodness [0,1] 0.999902422364794 Centerline is valid? [True, True] Translation: X:118.34, Y:104.68, Z:5.07 [[ 1.08417201e-01 -9.94092687e-01 -5.04376318e-03 1.18343885e+02] [ 9.92896886e-01 1.08534107e-01 -4.87454679e-02 1.04679244e+02] [ 4.90049335e-02 2.76910439e-04 9.98798498e-01 5.07294434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34687499999998 meters Centerline goodness [0,1] 0.9999511957052221 Centerline is valid? [True, True] Translation: X:118.35, Y:104.71, Z:5.07 [[ 1.08727657e-01 -9.94059145e-01 -4.97111384e-03 1.18345903e+02] [ 9.92890685e-01 1.08840817e-01 -4.81846790e-02 1.04706580e+02] [ 4.84394810e-02 3.03234636e-04 9.98826073e-01 5.07462715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters Centerline goodness [0,1] 0.9999755865335319 Centerline is valid? [True, True] Translation: X:118.35, Y:104.73, Z:5.08 [[ 1.11279662e-01 -9.93777309e-01 -4.84729254e-03 1.18345991e+02] [ 9.92659552e-01 1.11384347e-01 -4.71226148e-02 1.04733821e+02] [ 4.73692978e-02 4.32077394e-04 9.98877351e-01 5.07652865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40687499999999 meters Centerline goodness [0,1] 0.9999270037471409 Centerline is valid? [True, True] Translation: X:118.35, Y:104.76, Z:5.08 [[ 1.13126700e-01 -9.93569066e-01 -4.78130062e-03 1.18346529e+02] [ 9.92474821e-01 1.13226462e-01 -4.66207800e-02 1.04760954e+02] [ 4.68623346e-02 5.28734532e-04 9.98901217e-01 5.07788531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters Centerline goodness [0,1] 0.9997806376133372 Centerline is valid? [True, True] Translation: X:118.35, Y:104.79, Z:5.08 [[ 1.14381534e-01 -9.93424927e-01 -4.87632405e-03 1.18348013e+02] [ 9.92281838e-01 1.14483800e-01 -4.76467508e-02 1.04788818e+02] [ 4.78917301e-02 6.11220680e-04 9.98852346e-01 5.07902273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.466875 meters Centerline goodness [0,1] 0.999877795429549 Centerline is valid? [True, True] Translation: X:118.35, Y:104.82, Z:5.08 [[ 1.15416341e-01 -9.93305296e-01 -4.86379217e-03 1.18350050e+02] [ 9.92161875e-01 1.15516812e-01 -4.76516524e-02 1.04816348e+02] [ 4.78944885e-02 6.74110229e-04 9.98852173e-01 5.08026772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters Centerline goodness [0,1] 0.9996842130832949 Centerline is valid? [True, True] Translation: X:118.35, Y:104.84, Z:5.08 [[ 1.17588861e-01 -9.93050852e-01 -4.78169878e-03 1.18349517e+02] [ 9.91939162e-01 1.17683449e-01 -4.69819645e-02 1.04843918e+02] [ 4.72182067e-02 7.81401398e-04 9.98884293e-01 5.07994792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.526875 meters Centerline goodness [0,1] 0.9998789023710916 Centerline is valid? [True, True] Translation: X:118.35, Y:104.87, Z:5.08 [[ 1.18573981e-01 -9.92933753e-01 -4.77217814e-03 1.18350837e+02] [ 9.91819981e-01 1.18666981e-01 -4.70241837e-02 1.04871782e+02] [ 4.72581992e-02 8.42703013e-04 9.98882352e-01 5.08122535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters Centerline goodness [0,1] 0.9998303153710033 Centerline is valid? [True, True] Translation: X:118.35, Y:104.90, Z:5.08 [[ 1.18886398e-01 -9.92896402e-01 -4.77071539e-03 1.18352623e+02] [ 9.91777190e-01 1.18978880e-01 -4.71384383e-02 1.04899356e+02] [ 4.73712001e-02 8.72632409e-04 9.98876973e-01 5.08192501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.586875 meters Centerline goodness [0,1] 0.9998300682154735 Centerline is valid? [True, True] Translation: X:118.36, Y:104.93, Z:5.08 [[ 1.20469398e-01 -9.92705333e-01 -4.82141080e-03 1.18355036e+02] [ 9.91555040e-01 1.20561890e-01 -4.77852739e-02 1.04926986e+02] [ 4.80179746e-02 9.75968979e-04 9.98845995e-01 5.08374066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters Centerline goodness [0,1] 0.9998055751330596 Centerline is valid? [True, True] Translation: X:118.36, Y:104.95, Z:5.08 [[ 1.20526891e-01 -9.92698402e-01 -4.81147811e-03 1.18358594e+02] [ 9.91546474e-01 1.20618806e-01 -4.78193763e-02 1.04953790e+02] [ 4.80505732e-02 9.92716600e-04 9.98844411e-01 5.08492447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.646875 meters Centerline goodness [0,1] 0.9997806964107313 Centerline is valid? [True, True] Translation: X:118.36, Y:104.98, Z:5.08 [[ 1.20642707e-01 -9.92684340e-01 -4.81023180e-03 1.18359594e+02] [ 9.91525599e-01 1.20734285e-01 -4.79606014e-02 1.04979910e+02] [ 4.81904978e-02 1.01662883e-03 9.98837646e-01 5.08491937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters Centerline goodness [0,1] 0.999975514201763 Centerline is valid? [True, True] Translation: X:118.36, Y:105.01, Z:5.09 [[ 1.21078563e-01 -9.92631234e-01 -4.81814609e-03 1.18363270e+02] [ 9.91460835e-01 1.21169763e-01 -4.82006457e-02 1.05007123e+02] [ 4.84292800e-02 1.05906177e-03 9.98826053e-01 5.08659105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.706875 meters Centerline goodness [0,1] 0.999975514201763 Centerline is valid? [True, True] Translation: X:118.37, Y:105.03, Z:5.09 [[ 1.20764990e-01 -9.92669507e-01 -4.80284186e-03 1.18365810e+02] [ 9.91499078e-01 1.20855816e-01 -4.82021708e-02 1.05033798e+02] [ 4.84292765e-02 1.05912139e-03 9.98826053e-01 5.08776035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters Centerline goodness [0,1] 0.9995850824953627 Centerline is valid? [True, True] Translation: X:118.37, Y:105.06, Z:5.09 [[ 1.16409742e-01 -9.93188892e-01 -4.95944659e-03 1.18369689e+02] [ 9.91933158e-01 1.16511912e-01 -4.99358027e-02 1.05060474e+02] [ 5.01735192e-02 8.93574388e-04 9.98740116e-01 5.08647582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.766875 meters Centerline goodness [0,1] 0.9994871794871795 Centerline is valid? [True, True] Translation: X:118.37, Y:105.09, Z:5.09 [[ 1.13333614e-01 -9.93544773e-01 -4.92704372e-03 1.18374142e+02] [ 9.92299005e-01 1.13438192e-01 -4.97439483e-02 1.05087126e+02] [ 4.99817548e-02 7.48560838e-04 9.98749850e-01 5.08735267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters Centerline goodness [0,1] 0.9998535549535037 Centerline is valid? [True, True] Translation: X:118.38, Y:105.11, Z:5.09 [[ 1.10556751e-01 -9.93857588e-01 -4.92939690e-03 1.18379073e+02] [ 9.92604259e-01 1.10664831e-01 -4.99006988e-02 1.05114501e+02] [ 5.01396990e-02 6.23918783e-04 9.98742019e-01 5.08935166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.826875 meters Centerline goodness [0,1] 0.9997064866451424 Centerline is valid? [True, True] Translation: X:118.38, Y:105.14, Z:5.09 [[ 1.06932008e-01 -9.94253362e-01 -5.07920406e-03 1.18384573e+02] [ 9.92916950e-01 1.07051549e-01 -5.15353809e-02 1.05141719e+02] [ 5.17829624e-02 4.67553978e-04 9.98658253e-01 5.08944735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters Centerline goodness [0,1] 0.9996820271989042 Centerline is valid? [True, True] Translation: X:118.39, Y:105.17, Z:5.09 [[ 1.05192278e-01 -9.94438488e-01 -5.16512902e-03 1.18388067e+02] [ 9.93047810e-01 1.05318246e-01 -5.25748484e-02 1.05169298e+02] [ 5.28264351e-02 4.01247995e-04 9.98603628e-01 5.08923654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.886875 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:118.39, Y:105.20, Z:5.09 [[ 1.03290185e-01 -9.94637934e-01 -5.14963123e-03 1.18390489e+02] [ 9.93247375e-01 1.03417993e-01 -5.25772915e-02 1.05195086e+02] [ 5.28279331e-02 3.15860450e-04 9.98603580e-01 5.08941384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters Centerline goodness [0,1] 0.9997792656905305 Centerline is valid? [True, True] Translation: X:118.39, Y:105.22, Z:5.09 [[ 1.02432049e-01 -9.94726727e-01 -5.13946793e-03 1.18394463e+02] [ 9.93334585e-01 1.02560510e-01 -5.26093571e-02 1.05222261e+02] [ 5.28590400e-02 2.83672973e-04 9.98601943e-01 5.09146211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.946875 meters Centerline goodness [0,1] 0.9998276031918037 Centerline is valid? [True, True] Translation: X:118.40, Y:105.25, Z:5.09 [[ 1.01512064e-01 -9.94821361e-01 -5.07543091e-03 1.18398248e+02] [ 9.93455518e-01 1.01638564e-01 -5.21127232e-02 1.05248150e+02] [ 5.23587097e-02 2.47855265e-04 9.98628311e-01 5.09305048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters Centerline goodness [0,1] 0.9998518262415726 Centerline is valid? [True, True] Translation: X:118.40, Y:105.28, Z:5.10 [[ 9.96141449e-02 -9.95014071e-01 -4.90107087e-03 1.18403970e+02] [ 9.93734333e-01 9.97345191e-02 -5.04489989e-02 1.05275096e+02] [ 5.06862698e-02 1.55071497e-04 9.98714613e-01 5.09673931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00687499999998 meters Centerline goodness [0,1] 0.9995041035431802 Centerline is valid? [True, True] Translation: X:118.41, Y:105.30, Z:5.10 [[ 9.86265872e-02 -9.95112524e-01 -4.88476088e-03 1.18407961e+02] [ 9.93833287e-01 9.87474057e-02 -5.04415346e-02 1.05302238e+02] [ 5.06773603e-02 1.20238451e-04 9.98715070e-01 5.09797489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:105.33, Z:5.10 [[ 9.77003554e-02 -9.95203970e-01 -4.86803929e-03 1.18411571e+02] [ 9.93925482e-01 9.78215182e-02 -5.04290277e-02 1.05329235e+02] [ 5.06633676e-02 8.84656363e-05 9.98715783e-01 5.09918359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06687499999998 meters Centerline goodness [0,1] 0.9997535245982451 Centerline is valid? [True, True] Translation: X:118.41, Y:105.36, Z:5.10 [[ 9.73070680e-02 -9.95242317e-01 -4.90557483e-03 1.18414456e+02] [ 9.93935678e-01 9.74306057e-02 -5.09818105e-02 1.05356172e+02] [ 5.12172084e-02 8.50646641e-05 9.98687534e-01 5.09910232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters Centerline goodness [0,1] 0.9998268269754095 Centerline is valid? [True, True] Translation: X:118.42, Y:105.38, Z:5.10 [[ 9.77020854e-02 -9.95203690e-01 -4.89065485e-03 1.18416719e+02] [ 9.93896493e-01 9.78243390e-02 -5.09917544e-02 1.05383767e+02] [ 5.12256072e-02 1.21196037e-04 9.98687099e-01 5.09971595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12687499999998 meters Centerline goodness [0,1] 0.9997042659634768 Centerline is valid? [True, True] Translation: X:118.42, Y:105.41, Z:5.10 [[ 9.85391205e-02 -9.95121284e-01 -4.86530186e-03 1.18418373e+02] [ 9.93819338e-01 9.86589952e-02 -5.08873922e-02 1.05410226e+02] [ 5.11191329e-02 1.79167802e-04 9.98692546e-01 5.10016930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters Centerline goodness [0,1] 0.9998025617611491 Centerline is valid? [True, True] Translation: X:118.42, Y:105.44, Z:5.10 [[ 9.95683078e-02 -9.95018411e-01 -4.95118030e-03 1.18420522e+02] [ 9.93662703e-01 9.96910202e-02 -5.19242962e-02 1.05437044e+02] [ 5.21592189e-02 2.50211109e-04 9.98638750e-01 5.10057848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.186875 meters Centerline goodness [0,1] 0.9995061118656624 Centerline is valid? [True, True] Translation: X:118.42, Y:105.46, Z:5.10 [[ 9.96878166e-02 -9.95006144e-01 -5.01126941e-03 1.18422998e+02] [ 9.93608272e-01 9.98133107e-02 -5.27247945e-02 1.05464328e+02] [ 5.29616858e-02 2.76780908e-04 9.98596507e-01 5.10088965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters Centerline goodness [0,1] 0.9996791391055385 Centerline is valid? [True, True] Translation: X:118.43, Y:105.49, Z:5.10 [[ 9.95901056e-02 -9.95016061e-01 -4.98481878e-03 1.18425334e+02] [ 9.93624000e-01 9.97143681e-02 -5.26155142e-02 1.05491626e+02] [ 5.28503398e-02 2.86949043e-04 9.98602403e-01 5.10175223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.246875 meters Centerline goodness [0,1] 0.9996806995136808 Centerline is valid? [True, True] Translation: X:118.43, Y:105.52, Z:5.10 [[ 9.95679036e-02 -9.95018616e-01 -4.91793139e-03 1.18427357e+02] [ 9.93654706e-01 9.96888366e-02 -5.20813020e-02 1.05517588e+02] [ 5.23121279e-02 2.98900397e-04 9.98630739e-01 5.10278739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters Centerline goodness [0,1] 0.9999261901832944 Centerline is valid? [True, True] Translation: X:118.43, Y:105.54, Z:5.10 [[ 9.96098354e-02 -9.95014919e-01 -4.81578910e-03 1.18429358e+02] [ 9.93698234e-01 9.97256932e-02 -5.11723212e-02 1.05544674e+02] [ 5.13974810e-02 3.11825374e-04 9.98678227e-01 5.10479675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.306875 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:118.43, Y:105.57, Z:5.11 [[ 9.98297845e-02 -9.94993344e-01 -4.71797495e-03 1.18431219e+02] [ 9.93721303e-01 9.99406543e-02 -5.02974984e-02 1.05570709e+02] [ 5.05171936e-02 3.32836214e-04 9.98723136e-01 5.10635977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters Centerline goodness [0,1] 0.9996316216017093 Centerline is valid? [True, True] Translation: X:118.43, Y:105.60, Z:5.11 [[ 9.98853723e-02 -9.94987568e-01 -4.75940371e-03 1.18433649e+02] [ 9.93684009e-01 9.99980622e-02 -5.09163898e-02 1.05597603e+02] [ 5.11371060e-02 3.56459192e-04 9.98691579e-01 5.10765476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.366875 meters Centerline goodness [0,1] 0.9997547216090262 Centerline is valid? [True, True] Translation: X:118.44, Y:105.62, Z:5.11 [[ 1.00194801e-01 -9.94956459e-01 -4.75891136e-03 1.18435399e+02] [ 9.93644421e-01 1.00306998e-01 -5.10810194e-02 1.05624603e+02] [ 5.13007423e-02 3.89386876e-04 9.98683174e-01 5.10804994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters Centerline goodness [0,1] 0.9995571410997662 Centerline is valid? [True, True] Translation: X:118.44, Y:105.65, Z:5.11 [[ 1.00447914e-01 -9.94930384e-01 -4.87303446e-03 1.18437639e+02] [ 9.93545213e-01 1.00565127e-01 -5.24839566e-02 1.05651959e+02] [ 5.27079405e-02 4.30323933e-04 9.98609878e-01 5.10892601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.426875 meters Centerline goodness [0,1] 0.9996567449615064 Centerline is valid? [True, True] Translation: X:118.44, Y:105.68, Z:5.11 [[ 1.01615654e-01 -9.94811390e-01 -4.95551543e-03 1.18438960e+02] [ 9.93369113e-01 1.01735091e-01 -5.35516274e-02 1.05680573e+02] [ 5.37779187e-02 5.19027647e-04 9.98552786e-01 5.10845755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters Centerline goodness [0,1] 0.9994128727646354 Centerline is valid? [True, True] Translation: X:118.44, Y:105.71, Z:5.11 [[ 1.02243746e-01 -9.94746857e-01 -4.99061449e-03 1.18439729e+02] [ 9.93275349e-01 1.02363866e-01 -5.40899321e-02 1.05707393e+02] [ 5.43166486e-02 5.73302903e-04 9.98523597e-01 5.10794424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.486875 meters Centerline goodness [0,1] 0.9994113029827315 Centerline is valid? [True, True] Translation: X:118.44, Y:105.74, Z:5.11 [[ 1.03112155e-01 -9.94656850e-01 -5.06302770e-03 1.18442449e+02] [ 9.93133916e-01 1.03234365e-01 -5.50244505e-02 1.05735801e+02] [ 5.52531250e-02 6.45425148e-04 9.98472171e-01 5.10895127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters Centerline goodness [0,1] 0.99938863347354 Centerline is valid? [True, True] Translation: X:118.44, Y:105.76, Z:5.11 [[ 1.04324970e-01 -9.94530202e-01 -5.09687071e-03 1.18443777e+02] [ 9.92977297e-01 1.04446814e-01 -5.55603359e-02 1.05764177e+02] [ 5.57887840e-02 7.35253496e-04 9.98442322e-01 5.10945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.546875 meters Centerline goodness [0,1] 0.99958420975395 Centerline is valid? [True, True] Translation: X:118.44, Y:105.79, Z:5.11 [[ 1.05107139e-01 -9.94448171e-01 -5.03227743e-03 1.18444924e+02] [ 9.92924911e-01 1.05224594e-01 -5.50264151e-02 1.05791617e+02] [ 5.52504372e-02 7.86995469e-04 9.98472218e-01 5.11110206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters Centerline goodness [0,1] 0.9995093830491844 Centerline is valid? [True, True] Translation: X:118.45, Y:105.82, Z:5.11 [[ 1.05814598e-01 -9.94373583e-01 -4.94461112e-03 1.18445565e+02] [ 9.92892779e-01 1.05926801e-01 -5.42535056e-02 1.05817488e+02] [ 5.44720196e-02 8.31344196e-04 9.98514951e-01 5.11271140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.606875 meters Centerline goodness [0,1] 0.9994168529497521 Centerline is valid? [True, True] Translation: X:118.45, Y:105.85, Z:5.12 [[ 1.07623320e-01 -9.94180108e-01 -4.80985978e-03 1.18446175e+02] [ 9.92769004e-01 1.07726780e-01 -5.29589140e-02 1.05845035e+02] [ 5.31688495e-02 9.24534466e-04 9.98585108e-01 5.11648056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters Centerline goodness [0,1] 0.9994154041019145 Centerline is valid? [True, True] Translation: X:118.45, Y:105.87, Z:5.12 [[ 1.08971254e-01 -9.94033563e-01 -4.74776451e-03 1.18447229e+02] [ 9.92649890e-01 1.09070034e-01 -5.24397097e-02 1.05873143e+02] [ 5.26446704e-02 1.00155299e-03 9.98612806e-01 5.11834298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.666875 meters Centerline goodness [0,1] 0.9994413814878682 Centerline is valid? [True, True] Translation: X:118.45, Y:105.90, Z:5.12 [[ 1.10230190e-01 -9.93894884e-01 -4.71863456e-03 1.18448661e+02] [ 9.92519569e-01 1.10325859e-01 -5.22791482e-02 1.05900737e+02] [ 5.24805653e-02 1.07940330e-03 9.98621362e-01 5.11962690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters Centerline goodness [0,1] 0.9994681494016681 Centerline is valid? [True, True] Translation: X:118.45, Y:105.93, Z:5.12 [[ 1.08727326e-01 -9.94060138e-01 -4.77601878e-03 1.18447744e+02] [ 9.92641570e-01 1.08827277e-01 -5.30974262e-02 1.05927256e+02] [ 5.33017959e-02 1.03226639e-03 9.98577915e-01 5.11788641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72687499999998 meters Centerline goodness [0,1] 0.9996846344185144 Centerline is valid? [True, True] Translation: X:118.45, Y:105.95, Z:5.12 [[ 1.02589296e-01 -9.94712314e-01 -4.77995698e-03 1.18452269e+02] [ 9.93281729e-01 1.02698043e-01 -5.33340350e-02 1.05954850e+02] [ 5.35429136e-02 7.23657190e-04 9.98565287e-01 5.11855379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters Centerline goodness [0,1] 0.9996856714541322 Centerline is valid? [True, True] Translation: X:118.46, Y:105.98, Z:5.12 [[ 1.00504890e-01 -9.94925548e-01 -4.68201716e-03 1.18455487e+02] [ 9.93544776e-01 1.00612008e-01 -5.24023038e-02 1.05980671e+02] [ 5.26074580e-02 6.14894116e-04 9.98615080e-01 5.12231174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78687499999998 meters Centerline goodness [0,1] 0.9997831795514226 Centerline is valid? [True, True] Translation: X:118.46, Y:106.01, Z:5.12 [[ 9.88570108e-02 -9.95090184e-01 -4.77666034e-03 1.18458212e+02] [ 9.93644784e-01 9.89707936e-02 -5.36174051e-02 1.06008216e+02] [ 5.38269034e-02 5.54152762e-04 9.98550128e-01 5.12385965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters Centerline goodness [0,1] 0.9998066044577673 Centerline is valid? [True, True] Translation: X:118.46, Y:106.04, Z:5.12 [[ 9.74450515e-02 -9.95228810e-01 -4.90697151e-03 1.18459385e+02] [ 9.93692730e-01 9.75671871e-02 -5.52757020e-02 1.06035234e+02] [ 5.54907305e-02 5.10321713e-04 9.98459072e-01 5.12266340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84687499999998 meters Centerline goodness [0,1] 0.9999275292298773 Centerline is valid? [True, True] Translation: X:118.46, Y:106.06, Z:5.12 [[ 9.54314921e-02 -9.95423341e-01 -5.02017659e-03 1.18460974e+02] [ 9.93804257e-01 9.55624904e-02 -5.67530529e-02 1.06062344e+02] [ 5.69730541e-02 4.26955656e-04 9.98375625e-01 5.12205671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters Centerline goodness [0,1] 0.9998312683796944 Centerline is valid? [True, True] Translation: X:118.46, Y:106.09, Z:5.12 [[ 9.25195228e-02 -9.95697742e-01 -5.11323714e-03 1.18462733e+02] [ 9.94006067e-01 9.26602719e-02 -5.80173420e-02 1.06089177e+02] [ 5.82415303e-02 2.85148056e-04 9.98302481e-01 5.12035818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90687499999999 meters Centerline goodness [0,1] 0.99983123990453 Centerline is valid? [True, True] Translation: X:118.47, Y:106.12, Z:5.12 [[ 9.17681471e-02 -9.95767491e-01 -5.07051592e-03 1.18465358e+02] [ 9.94091888e-01 9.19077591e-02 -5.77432353e-02 1.06116735e+02] [ 5.79648563e-02 2.58430965e-04 9.98318591e-01 5.12179362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters Centerline goodness [0,1] 0.9998794221911399 Centerline is valid? [True, True] Translation: X:118.47, Y:106.14, Z:5.12 [[ 9.14767161e-02 -9.95795095e-01 -4.91308545e-03 1.18468580e+02] [ 9.94211060e-01 9.16082137e-02 -5.61453744e-02 1.06143136e+02] [ 5.63593674e-02 2.51350580e-04 9.98410516e-01 5.12497747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.966875 meters Centerline goodness [0,1] 0.9996622436670688 Centerline is valid? [True, True] Translation: X:118.47, Y:106.17, Z:5.13 [[ 9.08723996e-02 -9.95850585e-01 -4.88049257e-03 1.18471692e+02] [ 9.94276104e-01 9.10030623e-02 -5.59774286e-02 1.06169884e+02] [ 5.61892948e-02 2.34246128e-04 9.98420106e-01 5.12855977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters Centerline goodness [0,1] 0.9998549358090956 Centerline is valid? [True, True] Translation: X:118.47, Y:106.20, Z:5.13 [[ 9.00809694e-02 -9.95922647e-01 -4.84762952e-03 1.18473626e+02] [ 9.94358892e-01 9.02110773e-02 -5.57884918e-02 1.06195865e+02] [ 5.59983323e-02 2.05197914e-04 9.98430841e-01 5.12997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.026875 meters Centerline goodness [0,1] 0.9997830279652845 Centerline is valid? [True, True] Translation: X:118.48, Y:106.22, Z:5.13 [[ 8.99625957e-02 -9.95933464e-01 -4.82363994e-03 1.18475203e+02] [ 9.94376131e-01 9.00915709e-02 -5.56742280e-02 1.06223384e+02] [ 5.58823961e-02 2.12085646e-04 9.98437335e-01 5.13093920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters Centerline goodness [0,1] 0.9999030303030303 Centerline is valid? [True, True] Translation: X:118.48, Y:106.25, Z:5.13 [[ 9.01727767e-02 -9.95915154e-01 -4.67731021e-03 1.18476389e+02] [ 9.94440760e-01 9.02937004e-02 -5.41721510e-02 1.06250665e+02] [ 5.43731977e-02 2.33545353e-04 9.98520656e-01 5.13264903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.086875 meters Centerline goodness [0,1] 0.9997575404907381 Centerline is valid? [True, True] Translation: X:118.48, Y:106.28, Z:5.13 [[ 9.02896266e-02 -9.95905103e-01 -4.56170060e-03 1.18479081e+02] [ 9.94492860e-01 9.04044416e-02 -5.30187601e-02 1.06277702e+02] [ 5.32140517e-02 2.50465383e-04 9.98583097e-01 5.13474555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters Centerline goodness [0,1] 0.9998544254658385 Centerline is valid? [True, True] Translation: X:118.48, Y:106.30, Z:5.14 [[ 9.01890153e-02 -9.95914415e-01 -4.51880360e-03 1.18481511e+02] [ 9.94518677e-01 9.03017753e-02 -5.27085423e-02 1.06304390e+02] [ 5.29012530e-02 2.59696944e-04 9.98599715e-01 5.13640998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.146875 meters Centerline goodness [0,1] 0.9999516347455988 Centerline is valid? [True, True] Translation: X:118.48, Y:106.33, Z:5.14 [[ 9.00397471e-02 -9.95928126e-01 -4.47342277e-03 1.18483436e+02] [ 9.94550393e-01 9.01504117e-02 -5.23681116e-02 1.06330566e+02] [ 5.25581562e-02 2.66167152e-04 9.98617829e-01 5.13762639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters Centerline goodness [0,1] 0.9999757528732846 Centerline is valid? [True, True] Translation: X:118.49, Y:106.36, Z:5.14 [[ 8.94541520e-02 -9.95980835e-01 -4.48667729e-03 1.18485139e+02] [ 9.94584433e-01 8.95662387e-02 -5.27228144e-02 1.06357532e+02] [ 5.29127675e-02 2.53895265e-04 9.98599106e-01 5.13840777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.206875 meters Centerline goodness [0,1] 0.9997330939266736 Centerline is valid? [True, True] Translation: X:118.49, Y:106.38, Z:5.14 [[ 8.92801910e-02 -9.95996453e-01 -4.48484615e-03 1.18486934e+02] [ 9.94590862e-01 8.93923805e-02 -5.28963141e-02 1.06384698e+02] [ 5.30854523e-02 2.62006032e-04 9.98589939e-01 5.13899390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters Centerline goodness [0,1] 0.9998785965764234 Centerline is valid? [True, True] Translation: X:118.49, Y:106.41, Z:5.14 [[ 8.88527241e-02 -9.96034951e-01 -4.42378243e-03 1.18489348e+02] [ 9.94657598e-01 8.89624228e-02 -5.23636355e-02 1.06412359e+02] [ 5.25495616e-02 2.52502860e-04 9.98618285e-01 5.14074986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.266875 meters Centerline goodness [0,1] 0.9997821034282394 Centerline is valid? [True, True] Translation: X:118.49, Y:106.44, Z:5.14 [[ 8.75760778e-02 -9.96148089e-01 -4.40624919e-03 1.18492105e+02] [ 9.94772359e-01 8.76866260e-02 -5.23355419e-02 1.06438715e+02] [ 5.25203192e-02 2.00126588e-04 9.98619836e-01 5.14309443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters Centerline goodness [0,1] 0.9999032273673005 Centerline is valid? [True, True] Translation: X:118.49, Y:106.47, Z:5.14 [[ 8.65071939e-02 -9.96241308e-01 -4.44545065e-03 1.18494406e+02] [ 9.94830393e-01 8.66211878e-02 -5.30024496e-02 1.06465194e+02] [ 5.31882999e-02 1.62623772e-04 9.98584487e-01 5.14385780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.326875 meters Centerline goodness [0,1] 0.9999273449419971 Centerline is valid? [True, True] Translation: X:118.50, Y:106.49, Z:5.14 [[ 8.51947364e-02 -9.96354318e-01 -4.46420799e-03 1.18496430e+02] [ 9.94922919e-01 8.53115516e-02 -5.33884300e-02 1.06492593e+02] [ 5.35746412e-02 1.06870370e-04 9.98563842e-01 5.14473771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters Centerline goodness [0,1] 0.9997821930737397 Centerline is valid? [True, True] Translation: X:118.50, Y:106.52, Z:5.14 [[ 8.27351045e-02 -9.96561479e-01 -4.48559973e-03 1.18498025e+02] [ 9.95105802e-01 8.28566114e-02 -5.38444571e-02 1.06520286e+02] [ 5.40309734e-02 -8.81953025e-06 9.98539260e-01 5.14456597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.386875 meters Centerline goodness [0,1] 0.9998307748096217 Centerline is valid? [True, True] Translation: X:118.50, Y:106.55, Z:5.14 [[ 8.14410238e-02 -9.96667918e-01 -4.51897953e-03 1.18500155e+02] [ 9.95179217e-01 8.15662776e-02 -5.44542730e-02 1.06546796e+02] [ 5.46414233e-02 -6.23827638e-05 9.98506040e-01 5.14482892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters Centerline goodness [0,1] 0.9997824825986079 Centerline is valid? [True, True] Translation: X:118.50, Y:106.57, Z:5.15 [[ 8.03249957e-02 -9.96758771e-01 -4.45510014e-03 1.18502661e+02] [ 9.95300755e-01 8.04483797e-02 -5.38930879e-02 1.06573535e+02] [ 5.40768136e-02 -1.05202478e-04 9.98536773e-01 5.14684292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.446875 meters Centerline goodness [0,1] 0.9998558558558559 Centerline is valid? [True, True] Translation: X:118.50, Y:106.60, Z:5.15 [[ 7.79034215e-02 -9.96951152e-01 -4.41106965e-03 1.18504644e+02] [ 9.95511590e-01 7.80278966e-02 -5.35567157e-02 1.06600288e+02] [ 5.37376159e-02 -2.19019563e-04 9.98555066e-01 5.14889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:106.63, Z:5.15 [[ 7.68615105e-02 -9.97031956e-01 -4.42563846e-03 1.18506186e+02] [ 9.95572006e-01 7.69883775e-02 -5.39367301e-02 1.06627760e+02] [ 5.41173662e-02 -2.60383218e-04 9.98534548e-01 5.15003764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:106.65, Z:5.15 [[ 7.58156786e-02 -9.97112227e-01 -4.38056361e-03 1.18507678e+02] [ 9.95671250e-01 7.59415379e-02 -5.35877250e-02 1.06654718e+02] [ 5.37656426e-02 -2.98811512e-04 9.98553537e-01 5.15079968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters Centerline goodness [0,1] 0.9999041985007066 Centerline is valid? [True, True] Translation: X:118.51, Y:106.68, Z:5.15 [[ 7.52405567e-02 -9.97156098e-01 -4.30994697e-03 1.18509265e+02] [ 9.95750835e-01 7.53632605e-02 -5.29211929e-02 1.06682250e+02] [ 5.30955019e-02 -3.09813279e-04 9.98589391e-01 5.15262326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56687499999998 meters Centerline goodness [0,1] 0.9997619217674928 Centerline is valid? [True, True] Translation: X:118.51, Y:106.71, Z:5.15 [[ 7.47014992e-02 -9.97196973e-01 -4.22879484e-03 1.18510796e+02] [ 9.95834001e-01 7.48204234e-02 -5.21205063e-02 1.06708884e+02] [ 5.22908113e-02 -3.17697722e-04 9.98631849e-01 5.15439448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters Centerline goodness [0,1] 0.9997619217674928 Centerline is valid? [True, True] Translation: X:118.51, Y:106.74, Z:5.16 [[ 7.44028924e-02 -9.97219367e-01 -4.21232675e-03 1.18512828e+02] [ 9.95856355e-01 7.45213640e-02 -5.21218376e-02 1.06735589e+02] [ 5.22908142e-02 -3.16856893e-04 9.98631849e-01 5.15556313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62687499999998 meters Centerline goodness [0,1] 0.9998805998662719 Centerline is valid? [True, True] Translation: X:118.51, Y:106.76, Z:5.16 [[ 7.51519076e-02 -9.97163431e-01 -4.15724862e-03 1.18512423e+02] [ 9.95825815e-01 7.52663573e-02 -5.16325664e-02 1.06763160e+02] [ 5.17990080e-02 -2.59609633e-04 9.98657497e-01 5.15804502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters Centerline goodness [0,1] 0.9997863400042732 Centerline is valid? [True, True] Translation: X:118.51, Y:106.79, Z:5.16 [[ 7.56241518e-02 -9.97127788e-01 -4.14282688e-03 1.18512976e+02] [ 9.95788954e-01 7.57372259e-02 -5.16549353e-02 1.06789929e+02] [ 5.18203376e-02 -2.19020575e-04 9.98656400e-01 5.15914462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.686875 meters Centerline goodness [0,1] 0.9998818274207653 Centerline is valid? [True, True] Translation: X:118.51, Y:106.82, Z:5.16 [[ 7.86710436e-02 -9.96892044e-01 -4.13751612e-03 1.18510442e+02] [ 9.95545408e-01 7.87797576e-02 -5.17985464e-02 1.06817501e+02] [ 5.19635114e-02 -4.40394669e-05 9.98648983e-01 5.15994492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters Centerline goodness [0,1] 0.9999052850918735 Centerline is valid? [True, True] Translation: X:118.51, Y:106.85, Z:5.16 [[ 8.08810081e-02 -9.96715194e-01 -4.13334781e-03 1.18509835e+02] [ 9.95360670e-01 8.09865077e-02 -5.19453736e-02 1.06845727e+02] [ 5.21094885e-02 8.72223332e-05 9.98641374e-01 5.16054161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:106.87, Z:5.16 [[ 8.34798984e-02 -9.96501010e-01 -4.10401321e-03 1.18508574e+02] [ 9.95156107e-01 8.35803833e-02 -5.17556064e-02 1.06872270e+02] [ 5.19175291e-02 2.36418956e-04 9.98651348e-01 5.16055941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters Centerline goodness [0,1] 0.9998350379412735 Centerline is valid? [True, True] Translation: X:118.51, Y:106.90, Z:5.16 [[ 8.94805786e-02 -9.95979749e-01 -4.19111322e-03 1.18505789e+02] [ 9.94567435e-01 8.95768230e-02 -5.30246131e-02 1.06900373e+02] [ 5.31868675e-02 5.76328337e-04 9.98584411e-01 5.16205314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.806875 meters Centerline goodness [0,1] 0.9999059664300155 Centerline is valid? [True, True] Translation: X:118.51, Y:106.93, Z:5.16 [[ 9.19884840e-02 -9.95751290e-01 -4.18168419e-03 1.18505543e+02] [ 9.94335154e-01 9.20806212e-02 -5.30919965e-02 1.06928934e+02] [ 5.32514761e-02 7.25856675e-04 9.98580870e-01 5.16278165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters Centerline goodness [0,1] 0.9998826786803698 Centerline is valid? [True, True] Translation: X:118.51, Y:106.96, Z:5.16 [[ 9.41041780e-02 -9.95553666e-01 -4.15948107e-03 1.18505170e+02] [ 9.94142325e-01 9.41922035e-02 -5.29987380e-02 1.06956522e+02] [ 5.31548786e-02 8.52286489e-04 9.98585916e-01 5.16322508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.866875 meters Centerline goodness [0,1] 0.9997880807177 Centerline is valid? [True, True] Translation: X:118.51, Y:106.98, Z:5.16 [[ 9.57417208e-02 -9.95397366e-01 -4.19612499e-03 1.18506670e+02] [ 9.93950094e-01 9.58287472e-02 -5.36662040e-02 1.06984987e+02] [ 5.38213075e-02 9.67355892e-04 9.98550114e-01 5.16363830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters Centerline goodness [0,1] 0.9998120079896604 Centerline is valid? [True, True] Translation: X:118.51, Y:107.01, Z:5.17 [[ 9.76956866e-02 -9.95207869e-01 -4.10492164e-03 1.18507890e+02] [ 9.93812811e-01 9.77760574e-02 -5.26871744e-02 1.07012304e+02] [ 5.28360536e-02 1.06778596e-03 9.98602629e-01 5.16510401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.926875 meters Centerline goodness [0,1] 0.9998346990341701 Centerline is valid? [True, True] Translation: X:118.51, Y:107.04, Z:5.17 [[ 9.80415660e-02 -9.95173874e-01 -4.10012456e-03 1.18509961e+02] [ 9.93771362e-01 9.81210442e-02 -5.28274666e-02 1.07039317e+02] [ 5.29748231e-02 1.10470118e-03 9.98595237e-01 5.16623847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters Centerline goodness [0,1] 0.9998589960518894 Centerline is valid? [True, True] Translation: X:118.51, Y:107.07, Z:5.17 [[ 9.81585018e-02 -9.95162404e-01 -4.08626372e-03 1.18512548e+02] [ 9.93758233e-01 9.82370456e-02 -5.28588497e-02 1.07066862e+02] [ 5.30045624e-02 1.12778728e-03 9.98593633e-01 5.16762375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:107.09, Z:5.17 [[ 9.71244626e-02 -9.95263734e-01 -4.11556349e-03 1.18517128e+02] [ 9.93827942e-01 9.72053811e-02 -5.34521799e-02 1.07093658e+02] [ 5.35990711e-02 1.10135226e-03 9.98561929e-01 5.16821888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters Centerline goodness [0,1] 0.9998575870499158 Centerline is valid? [True, True] Translation: X:118.52, Y:107.12, Z:5.17 [[ 9.60604607e-02 -9.95366925e-01 -4.13182401e-03 1.18523402e+02] [ 9.93908337e-01 9.61433402e-02 -5.38764782e-02 1.07121425e+02] [ 5.40241118e-02 1.06874499e-03 9.98539059e-01 5.16999442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.046875 meters Centerline goodness [0,1] 0.9998342135802761 Centerline is valid? [True, True] Translation: X:118.53, Y:107.15, Z:5.17 [[ 9.52724683e-02 -9.95442551e-01 -4.15742560e-03 1.18525344e+02] [ 9.93955277e-01 9.53573429e-02 -5.44048154e-02 1.07148415e+02] [ 5.45533092e-02 1.05098594e-03 9.98510306e-01 5.16927707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters Centerline goodness [0,1] 0.9997373824189467 Centerline is valid? [True, True] Translation: X:118.53, Y:107.18, Z:5.17 [[ 9.42220410e-02 -9.95542335e-01 -4.20322242e-03 1.18530270e+02] [ 9.94012854e-01 9.43102265e-02 -5.51727016e-02 1.07175668e+02] [ 5.53231670e-02 1.02042744e-03 9.98467979e-01 5.17056649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.106875 meters Centerline goodness [0,1] 0.9998088136889399 Centerline is valid? [True, True] Translation: X:118.53, Y:107.20, Z:5.17 [[ 9.29549021e-02 -9.95661533e-01 -4.18293224e-03 1.18534988e+02] [ 9.94134333e-01 9.30439492e-02 -5.51339411e-02 1.07202369e+02] [ 5.52839409e-02 9.66573544e-04 9.98470206e-01 5.17159400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters Centerline goodness [0,1] 0.9996886451272963 Centerline is valid? [True, True] Translation: X:118.54, Y:107.23, Z:5.17 [[ 9.24806272e-02 -9.95705986e-01 -4.11384204e-03 1.18538913e+02] [ 9.94216742e-01 9.25672555e-02 -5.44460570e-02 1.07229002e+02] [ 5.45930719e-02 9.45154867e-04 9.98508239e-01 5.17378800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.166875 meters Centerline goodness [0,1] 0.999544702978601 Centerline is valid? [True, True] Translation: X:118.54, Y:107.26, Z:5.17 [[ 9.21851085e-02 -9.95733518e-01 -4.08251788e-03 1.18540954e+02] [ 9.94254463e-01 9.22706457e-02 -5.42603996e-02 1.07255121e+02] [ 5.44055951e-02 9.42939209e-04 9.98518474e-01 5.17457948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters Centerline goodness [0,1] 0.9997841157139773 Centerline is valid? [True, True] Translation: X:118.54, Y:107.28, Z:5.18 [[ 9.12986937e-02 -9.95815531e-01 -3.99705750e-03 1.18544640e+02] [ 9.94385574e-01 9.13817492e-02 -5.33545278e-02 1.07281022e+02] [ 5.34965255e-02 8.96582376e-04 9.98567633e-01 5.17647857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22687499999998 meters Centerline goodness [0,1] 0.9996889580093312 Centerline is valid? [True, True] Translation: X:118.55, Y:107.31, Z:5.18 [[ 9.07408759e-02 -9.95866683e-01 -3.95514881e-03 1.18548320e+02] [ 9.94454691e-01 9.08227899e-02 -5.30196988e-02 1.07307722e+02] [ 5.31597692e-02 8.77837628e-04 9.98585634e-01 5.17895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters Centerline goodness [0,1] 0.9997597713022798 Centerline is valid? [True, True] Translation: X:118.55, Y:107.33, Z:5.18 [[ 9.03199821e-02 -9.95905185e-01 -3.89404405e-03 1.18551796e+02] [ 9.94525310e-01 9.03997832e-02 -5.24145679e-02 1.07334930e+02] [ 5.25519607e-02 8.61357477e-04 9.98617820e-01 5.18088099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28687499999998 meters Centerline goodness [0,1] 0.9994952165761262 Centerline is valid? [True, True] Translation: X:118.55, Y:107.36, Z:5.18 [[ 8.96806763e-02 -9.95963087e-01 -3.86066372e-03 1.18554432e+02] [ 9.94595308e-01 8.97598039e-02 -5.21857345e-02 1.07361088e+02] [ 5.23215977e-02 8.40253940e-04 9.98629934e-01 5.18266565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters Centerline goodness [0,1] 0.999591277378405 Centerline is valid? [True, True] Translation: X:118.56, Y:107.39, Z:5.18 [[ 8.92458240e-02 -9.96002202e-01 -3.84657640e-03 1.18557811e+02] [ 9.94632379e-01 8.93247784e-02 -5.22256184e-02 1.07387718e+02] [ 5.23604255e-02 8.34988905e-04 9.98627903e-01 5.18442428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34687499999998 meters Centerline goodness [0,1] 0.9995908839313647 Centerline is valid? [True, True] Translation: X:118.56, Y:107.41, Z:5.18 [[ 8.86150960e-02 -9.96058684e-01 -3.80305966e-03 1.18559302e+02] [ 9.94708293e-01 8.86929467e-02 -5.18553150e-02 1.07413992e+02] [ 5.19882414e-02 8.12228739e-04 9.98647367e-01 5.18484398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters Centerline goodness [0,1] 0.999759001301393 Centerline is valid? [True, True] Translation: X:118.56, Y:107.44, Z:5.18 [[ 8.72425043e-02 -9.96179743e-01 -3.82938128e-03 1.18562156e+02] [ 9.94798348e-01 8.73231439e-02 -5.24491702e-02 1.07441070e+02] [ 5.25831945e-02 7.66334790e-04 9.98616253e-01 5.18487697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40687499999999 meters Centerline goodness [0,1] 0.9997354497354497 Centerline is valid? [True, True] Translation: X:118.56, Y:107.47, Z:5.18 [[ 8.60300020e-02 -9.96284980e-01 -3.88288673e-03 1.18564553e+02] [ 9.94852426e-01 8.61144698e-02 -5.34130055e-02 1.07468193e+02] [ 5.35489478e-02 7.32221689e-04 9.98564957e-01 5.18496645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters Centerline goodness [0,1] 0.9998062297146733 Centerline is valid? [True, True] Translation: X:118.57, Y:107.50, Z:5.19 [[ 8.48462499e-02 -9.96386367e-01 -3.91421260e-03 1.18567459e+02] [ 9.94918118e-01 8.49336553e-02 -5.40759915e-02 1.07495026e+02] [ 5.42130291e-02 6.93824052e-04 9.98529151e-01 5.18563692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.466875 meters Centerline goodness [0,1] 0.9996601776785281 Centerline is valid? [True, True] Translation: X:118.57, Y:107.52, Z:5.19 [[ 8.20126654e-02 -9.96623328e-01 -3.98300319e-03 1.18571812e+02] [ 9.95089778e-01 8.21073532e-02 -5.52694857e-02 1.07521254e+02] [ 5.54098927e-02 5.69352078e-04 9.98463529e-01 5.18641982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters Centerline goodness [0,1] 0.9994674799699852 Centerline is valid? [True, True] Translation: X:118.57, Y:107.55, Z:5.19 [[ 7.99816985e-02 -9.96788492e-01 -3.95342294e-03 1.18574966e+02] [ 9.95264317e-01 8.00779513e-02 -5.51040868e-02 1.07548751e+02] [ 5.52437016e-02 4.72617677e-04 9.98472789e-01 5.18786462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.526875 meters Centerline goodness [0,1] 0.9997091966557615 Centerline is valid? [True, True] Translation: X:118.58, Y:107.58, Z:5.19 [[ 7.79208326e-02 -9.96951841e-01 -3.92045201e-03 1.18577984e+02] [ 9.95440254e-01 7.80185005e-02 -5.48799964e-02 1.07575198e+02] [ 5.50185813e-02 3.73719270e-04 9.98485261e-01 5.18953650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters Centerline goodness [0,1] 0.9997340554131812 Centerline is valid? [True, True] Translation: X:118.58, Y:107.60, Z:5.19 [[ 7.55401106e-02 -9.97135315e-01 -3.85432510e-03 1.18581314e+02] [ 9.95661587e-01 7.56379437e-02 -5.41932311e-02 1.07602700e+02] [ 5.43295178e-02 2.56159227e-04 9.98523028e-01 5.19180958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.586875 meters Centerline goodness [0,1] 0.9997083839611178 Centerline is valid? [True, True] Translation: X:118.59, Y:107.63, Z:5.19 [[ 7.16777337e-02 -9.97420813e-01 -3.74489032e-03 1.18585667e+02] [ 9.96018105e-01 7.17754699e-02 -5.28792667e-02 1.07629907e+02] [ 5.30116724e-02 6.02874376e-05 9.98593891e-01 5.19381713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters Centerline goodness [0,1] 0.9997811071115867 Centerline is valid? [True, True] Translation: X:118.59, Y:107.66, Z:5.19 [[ 6.96927899e-02 -9.97561565e-01 -3.72014680e-03 1.18588564e+02] [ 9.96165239e-01 6.97920027e-02 -5.27626148e-02 1.07655688e+02] [ 5.28935931e-02 -2.87070942e-05 9.98600154e-01 5.19472757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.646875 meters Centerline goodness [0,1] 0.9999270552191991 Centerline is valid? [True, True] Translation: X:118.59, Y:107.68, Z:5.20 [[ 6.62191746e-02 -9.97798311e-01 -3.68111704e-03 1.18592914e+02] [ 9.96418975e-01 6.63211258e-02 -5.24474403e-02 1.07683089e+02] [ 5.25761032e-02 -1.94908662e-04 9.98616901e-01 5.19683819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters Centerline goodness [0,1] 0.9998782269849001 Centerline is valid? [True, True] Translation: X:118.60, Y:107.71, Z:5.20 [[ 6.49313866e-02 -9.97883081e-01 -3.64292140e-03 1.18595295e+02] [ 9.96520450e-01 6.50330353e-02 -5.21315339e-02 1.07709370e+02] [ 5.22580859e-02 -2.45272890e-04 9.98633583e-01 5.19815373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.706875 meters Centerline goodness [0,1] 0.9997563234075735 Centerline is valid? [True, True] Translation: X:118.60, Y:107.74, Z:5.20 [[ 6.42492427e-02 -9.97927248e-01 -3.63915057e-03 1.18597349e+02] [ 9.96554940e-01 6.43516763e-02 -5.23174230e-02 1.07736950e+02] [ 5.24431673e-02 -2.65258675e-04 9.98623875e-01 5.20039716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters Centerline goodness [0,1] 0.9998780279559925 Centerline is valid? [True, True] Translation: X:118.60, Y:107.76, Z:5.20 [[ 6.42517737e-02 -9.97927161e-01 -3.61813131e-03 1.18599098e+02] [ 9.96558664e-01 6.43530836e-02 -5.22447053e-02 1.07763683e+02] [ 5.23692484e-02 -2.48865123e-04 9.98627758e-01 5.20179864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.766875 meters Centerline goodness [0,1] 0.9998053338524431 Centerline is valid? [True, True] Translation: X:118.60, Y:107.79, Z:5.20 [[ 6.53093627e-02 -9.97858546e-01 -3.60692094e-03 1.18599860e+02] [ 9.96486252e-01 6.54086477e-02 -5.23149905e-02 1.07790529e+02] [ 5.24388841e-02 -1.77588447e-04 9.98624119e-01 5.20266149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters Centerline goodness [0,1] 0.9999269824271041 Centerline is valid? [True, True] Translation: X:118.60, Y:107.82, Z:5.20 [[ 6.60990410e-02 -9.97806446e-01 -3.63491258e-03 1.18600718e+02] [ 9.96399919e-01 6.61988001e-02 -5.29614982e-02 1.07817504e+02] [ 5.30859512e-02 -1.21122364e-04 9.98589939e-01 5.20310832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.826875 meters Centerline goodness [0,1] 0.9997812401254224 Centerline is valid? [True, True] Translation: X:118.60, Y:107.84, Z:5.20 [[ 6.70184958e-02 -9.97745084e-01 -3.64257429e-03 1.18601629e+02] [ 9.96319374e-01 6.71173898e-02 -5.33194252e-02 1.07843993e+02] [ 5.34436744e-02 -5.57796663e-05 9.98570864e-01 5.20222532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters Centerline goodness [0,1] 0.999707623711717 Centerline is valid? [True, True] Translation: X:118.60, Y:107.87, Z:5.20 [[ 6.96926666e-02 -9.97561626e-01 -3.70590645e-03 1.18601719e+02] [ 9.96071240e-01 6.97910449e-02 -5.45095807e-02 1.07871504e+02] [ 5.46353051e-02 1.07571204e-04 9.98506370e-01 5.20269219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.886875 meters Centerline goodness [0,1] 0.9997569452883844 Centerline is valid? [True, True] Translation: X:118.60, Y:107.90, Z:5.20 [[ 7.10259994e-02 -9.97467544e-01 -3.71554321e-03 1.18602716e+02] [ 9.95955443e-01 7.11228392e-02 -5.49026096e-02 1.07898529e+02] [ 5.50278312e-02 1.98997237e-04 9.98484801e-01 5.20349634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters Centerline goodness [0,1] 0.9998543229659844 Centerline is valid? [True, True] Translation: X:118.60, Y:107.93, Z:5.21 [[ 7.26568039e-02 -9.97350138e-01 -3.70021758e-03 1.18603660e+02] [ 9.95836491e-01 7.27503202e-02 -5.49279069e-02 1.07926113e+02] [ 5.50515475e-02 3.06074474e-04 9.98483467e-01 5.20511016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.946875 meters Centerline goodness [0,1] 0.9998783366182447 Centerline is valid? [True, True] Translation: X:118.60, Y:107.95, Z:5.21 [[ 7.44710126e-02 -9.97216520e-01 -3.64436941e-03 1.18604292e+02] [ 9.95734623e-01 7.45589571e-02 -5.43463151e-02 1.07952930e+02] [ 5.44667636e-02 4.18400320e-04 9.98515496e-01 5.20665944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters Centerline goodness [0,1] 0.9998067025877692 Centerline is valid? [True, True] Translation: X:118.60, Y:107.98, Z:5.21 [[ 7.88791592e-02 -9.96877752e-01 -3.58118702e-03 1.18603569e+02] [ 9.95433574e-01 7.89575983e-02 -5.36441689e-02 1.07981134e+02] [ 5.37594405e-02 6.66573144e-04 9.98553693e-01 5.20930408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00687499999998 meters Centerline goodness [0,1] 0.999709267110842 Centerline is valid? [True, True] Translation: X:118.60, Y:108.01, Z:5.21 [[ 8.09231145e-02 -9.96714027e-01 -3.54947909e-03 1.18603234e+02] [ 9.95283173e-01 8.09970879e-02 -5.33935983e-02 1.08008901e+02] [ 5.35056458e-02 7.88039460e-04 9.98567236e-01 5.21027782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters Centerline goodness [0,1] 0.9997335852164014 Centerline is valid? [True, True] Translation: X:118.60, Y:108.04, Z:5.21 [[ 8.25069394e-02 -9.96584234e-01 -3.53109261e-03 1.18602598e+02] [ 9.95155433e-01 8.25776910e-02 -5.33534367e-02 1.08035960e+02] [ 5.34627833e-02 8.88042775e-04 9.98569448e-01 5.21046274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06687499999998 meters Centerline goodness [0,1] 0.9996607294317218 Centerline is valid? [True, True] Translation: X:118.60, Y:108.06, Z:5.21 [[ 8.32592290e-02 -9.96521850e-01 -3.47892772e-03 1.18603660e+02] [ 9.95122515e-01 8.33266436e-02 -5.28001033e-02 1.08062758e+02] [ 5.29063440e-02 9.34136593e-04 9.98599042e-01 5.21198579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters Centerline goodness [0,1] 0.9998301877638155 Centerline is valid? [True, True] Translation: X:118.60, Y:108.09, Z:5.21 [[ 8.40684194e-02 -9.96454035e-01 -3.44337454e-03 1.18601052e+02] [ 9.95070150e-01 8.41331100e-02 -5.25072959e-02 1.08089027e+02] [ 5.26108087e-02 9.87806157e-04 9.98614604e-01 5.21162831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12687499999998 meters Centerline goodness [0,1] 0.9997090768037238 Centerline is valid? [True, True] Translation: X:118.61, Y:108.12, Z:5.22 [[ 8.32413249e-02 -9.96523466e-01 -3.44449094e-03 1.18607948e+02] [ 9.95125449e-01 8.33069663e-02 -5.27758470e-02 1.08115927e+02] [ 5.28793200e-02 9.65430837e-04 9.98600443e-01 5.21525310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters Centerline goodness [0,1] 0.9998550724637681 Centerline is valid? [True, True] Translation: X:118.61, Y:108.14, Z:5.22 [[ 8.03978376e-02 -9.96756922e-01 -3.43903966e-03 1.18610189e+02] [ 9.95350050e-01 8.04670377e-02 -5.29465195e-02 1.08142873e+02] [ 5.30515392e-02 8.33737380e-04 9.98591427e-01 5.21558927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.186875 meters Centerline goodness [0,1] 0.9998785700408005 Centerline is valid? [True, True] Translation: X:118.61, Y:108.17, Z:5.22 [[ 7.82278642e-02 -9.96929621e-01 -3.42519530e-03 1.18613761e+02] [ 9.95522088e-01 7.82993809e-02 -5.29620588e-02 1.08170525e+02] [ 5.30676359e-02 7.33251172e-04 9.98590651e-01 5.21667391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters Centerline goodness [0,1] 0.9998783691738834 Centerline is valid? [True, True] Translation: X:118.62, Y:108.20, Z:5.22 [[ 7.56726392e-02 -9.97126697e-01 -3.46449980e-03 1.18616002e+02] [ 9.95673291e-01 7.57493405e-02 -5.38213176e-02 1.08197088e+02] [ 5.39291062e-02 6.23291230e-04 9.98544572e-01 5.21671327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.246875 meters Centerline goodness [0,1] 0.9998050634762056 Centerline is valid? [True, True] Translation: X:118.62, Y:108.22, Z:5.22 [[ 7.29482592e-02 -9.97329781e-01 -3.44380508e-03 1.18620650e+02] [ 9.95879626e-01 7.30278426e-02 -5.37652662e-02 1.08224641e+02] [ 5.38731948e-02 4.92467254e-04 9.98547664e-01 5.21838944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters Centerline goodness [0,1] 0.9999271773958637 Centerline is valid? [True, True] Translation: X:118.62, Y:108.25, Z:5.22 [[ 6.96149467e-02 -9.97568011e-01 -3.43833760e-03 1.18624131e+02] [ 9.96109204e-01 6.96990277e-02 -5.39304967e-02 1.08251591e+02] [ 5.40389871e-02 3.29408918e-04 9.98538772e-01 5.21919537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.306875 meters Centerline goodness [0,1] 0.9998544254658385 Centerline is valid? [True, True] Translation: X:118.63, Y:108.28, Z:5.22 [[ 6.31233850e-02 -9.97999600e-01 -3.49804332e-03 1.18630035e+02] [ 9.96474979e-01 6.32202342e-02 -5.51436221e-02 1.08277442e+02] [ 5.52544600e-02 -4.86055296e-06 9.98472305e-01 5.21867806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:118.63, Y:108.30, Z:5.22 [[ 5.92401658e-02 -9.98237692e-01 -3.48029377e-03 1.18634023e+02] [ 9.96713483e-01 5.93419651e-02 -5.51431282e-02 1.08304228e+02] [ 5.52524765e-02 -2.02167662e-04 9.98472395e-01 5.22017663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.366875 meters Centerline goodness [0,1] 0.9998285784253704 Centerline is valid? [True, True] Translation: X:118.64, Y:108.33, Z:5.22 [[ 5.58698242e-02 -9.98432098e-01 -3.45071881e-03 1.18637849e+02] [ 9.96919476e-01 5.59750601e-02 -5.49395217e-02 1.08330898e+02] [ 5.50465362e-02 -3.70627362e-04 9.98483721e-01 5.22149811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters Centerline goodness [0,1] 0.9999511516010062 Centerline is valid? [True, True] Translation: X:118.64, Y:108.36, Z:5.22 [[ 4.91691672e-02 -9.98784744e-01 -3.38063494e-03 1.18643153e+02] [ 9.97319936e-01 4.92800962e-02 -5.40778903e-02 1.08358932e+02] [ 5.41787698e-02 -7.12609790e-04 9.98530998e-01 5.22320720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.426875 meters Centerline goodness [0,1] 0.9999266001174398 Centerline is valid? [True, True] Translation: X:118.65, Y:108.39, Z:5.23 [[ 4.65202120e-02 -9.98911750e-01 -3.34449407e-03 1.18646155e+02] [ 9.97465925e-01 4.66327803e-02 -5.37318598e-02 1.08386670e+02] [ 5.38293491e-02 -8.36401358e-04 9.98549799e-01 5.22512850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters Centerline goodness [0,1] 0.9999264868043813 Centerline is valid? [True, True] Translation: X:118.65, Y:108.41, Z:5.23 [[ 4.45631147e-02 -9.99001113e-01 -3.30218954e-03 1.18649075e+02] [ 9.97579441e-01 4.46758315e-02 -5.32853622e-02 1.08413712e+02] [ 5.33796642e-02 -9.19634688e-04 9.98573866e-01 5.22724339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.486875 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:118.65, Y:108.44, Z:5.23 [[ 4.32598916e-02 -9.99058788e-01 -3.18127960e-03 1.18650390e+02] [ 9.97727449e-01 4.33664515e-02 -5.15682883e-02 1.08440952e+02] [ 5.16577124e-02 -9.43211413e-04 9.98664404e-01 5.23093192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:118.65, Y:108.47, Z:5.23 [[ 4.29604809e-02 -9.99071757e-01 -3.16578081e-03 1.18651908e+02] [ 9.97740386e-01 4.30666400e-02 -5.15692401e-02 1.08467702e+02] [ 5.16577108e-02 -9.43188010e-04 9.98664404e-01 5.23210115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.546875 meters Centerline goodness [0,1] 0.9999267685397647 Centerline is valid? [True, True] Translation: X:118.65, Y:108.50, Z:5.23 [[ 4.30463325e-02 -9.99068153e-01 -3.13655209e-03 1.18652063e+02] [ 9.97748370e-01 4.31506612e-02 -5.13440468e-02 1.08495404e+02] [ 5.14315464e-02 -9.19316816e-04 9.98676099e-01 5.23387957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters Centerline goodness [0,1] 0.9998054143458274 Centerline is valid? [True, True] Translation: X:118.65, Y:108.52, Z:5.24 [[ 4.40148348e-02 -9.99026029e-01 -3.11266026e-03 1.18651155e+02] [ 9.97713283e-01 4.41165369e-02 -5.12048397e-02 1.08522863e+02] [ 5.12922875e-02 -8.51769928e-04 9.98683321e-01 5.23535434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.606875 meters Centerline goodness [0,1] 0.9999517001545595 Centerline is valid? [True, True] Translation: X:118.65, Y:108.55, Z:5.24 [[ 4.82642611e-02 -9.98829854e-01 -3.07966278e-03 1.18645587e+02] [ 9.97531672e-01 4.83585070e-02 -5.09118568e-02 1.08551443e+02] [ 5.10012104e-02 -6.14838017e-04 9.98698402e-01 5.23579597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters Centerline goodness [0,1] 0.9998549463301422 Centerline is valid? [True, True] Translation: X:118.64, Y:108.58, Z:5.24 [[ 5.12698102e-02 -9.98680111e-01 -3.07274217e-03 1.18643327e+02] [ 9.97375667e-01 5.13598490e-02 -5.10288688e-02 1.08579438e+02] [ 5.11193320e-02 -4.48437852e-04 9.98692452e-01 5.23620844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.666875 meters Centerline goodness [0,1] 0.9999040399193936 Centerline is valid? [True, True] Translation: X:118.64, Y:108.61, Z:5.24 [[ 5.74908872e-02 -9.98341308e-01 -3.07105772e-03 1.18636298e+02] [ 9.97025846e-01 5.75727361e-02 -5.12332123e-02 1.08607862e+02] [ 5.13250414e-02 -1.16481093e-04 9.98681995e-01 5.23633758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters Centerline goodness [0,1] 0.9998810854519942 Centerline is valid? [True, True] Translation: X:118.63, Y:108.63, Z:5.24 [[ 6.06013241e-02 -9.98157349e-01 -3.06357618e-03 1.18633712e+02] [ 9.96835522e-01 6.06786833e-02 -5.13521084e-02 1.08634470e+02] [ 5.14433782e-02 5.81242044e-05 9.98675911e-01 5.23733822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:108.66, Z:5.24 [[ 6.35540830e-02 -9.97973733e-01 -3.05069256e-03 1.18631181e+02] [ 9.96648407e-01 6.36268542e-02 -5.14157150e-02 1.08661794e+02] [ 5.15056390e-02 2.27210734e-04 9.98672678e-01 5.23879495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters Centerline goodness [0,1] 0.9999761547082529 Centerline is valid? [True, True] Translation: X:118.63, Y:108.69, Z:5.24 [[ 6.63684573e-02 -9.97790537e-01 -3.04497764e-03 1.18629029e+02] [ 9.96456152e-01 6.64371300e-02 -5.15872595e-02 1.08689733e+02] [ 5.16755789e-02 3.89580127e-04 9.98663849e-01 5.23976341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:108.72, Z:5.24 [[ 6.86489028e-02 -9.97636409e-01 -2.98729145e-03 1.18627135e+02] [ 9.96339747e-01 6.87119428e-02 -5.08505311e-02 1.08718240e+02] [ 5.09356038e-02 5.14475954e-04 9.98701807e-01 5.24111008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters Centerline goodness [0,1] 0.9998587238050388 Centerline is valid? [True, True] Translation: X:118.62, Y:108.75, Z:5.24 [[ 7.26530567e-02 -9.97352840e-01 -2.97425418e-03 1.18621185e+02] [ 9.96054489e-01 7.27102061e-02 -5.08790872e-02 1.08746122e+02] [ 5.09606607e-02 7.34001978e-04 9.98700392e-01 5.24084244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:108.77, Z:5.24 [[ 7.37476465e-02 -9.97272522e-01 -2.96685127e-03 1.18620050e+02] [ 9.95967292e-01 7.38028864e-02 -5.10126087e-02 1.08774170e+02] [ 5.10924351e-02 8.07173007e-04 9.98693602e-01 5.24173314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:108.80, Z:5.24 [[ 7.55407117e-02 -9.97138468e-01 -2.91136216e-03 1.18619135e+02] [ 9.95869824e-01 7.55914391e-02 -5.02914296e-02 1.08802078e+02] [ 5.03675931e-02 8.99712664e-04 9.98730342e-01 5.24279517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90687499999999 meters Centerline goodness [0,1] 0.9999532928538066 Centerline is valid? [True, True] Translation: X:118.62, Y:108.83, Z:5.24 [[ 7.54846977e-02 -9.97142639e-01 -2.93566577e-03 1.18618508e+02] [ 9.95839648e-01 7.55361124e-02 -5.09675511e-02 1.08828516e+02] [ 5.10436672e-02 9.23817817e-04 9.98695995e-01 5.24358806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters Centerline goodness [0,1] 0.9999766447906205 Centerline is valid? [True, True] Translation: X:118.62, Y:108.86, Z:5.24 [[ 7.49882170e-02 -9.97180030e-01 -2.95884007e-03 1.18619078e+02] [ 9.95841154e-01 7.50408339e-02 -5.16649683e-02 1.08856111e+02] [ 5.17413085e-02 9.27729143e-04 9.98660090e-01 5.24394002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.966875 meters Centerline goodness [0,1] 0.9999766376974114 Centerline is valid? [True, True] Translation: X:118.62, Y:108.88, Z:5.25 [[ 7.44535352e-02 -9.97220119e-01 -2.95032958e-03 1.18621471e+02] [ 9.95874948e-01 7.45063180e-02 -5.17870271e-02 1.08884210e+02] [ 5.18628835e-02 9.17567927e-04 9.98653794e-01 5.24561795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters Centerline goodness [0,1] 0.9999767485119048 Centerline is valid? [True, True] Translation: X:118.62, Y:108.91, Z:5.25 [[ 7.34768553e-02 -9.97292636e-01 -2.92414343e-03 1.18620804e+02] [ 9.95957893e-01 7.35297745e-02 -5.15872862e-02 1.08910181e+02] [ 5.16626322e-02 8.78147837e-04 9.98664208e-01 5.24558540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.026875 meters Centerline goodness [0,1] 0.9999064174250755 Centerline is valid? [True, True] Translation: X:118.62, Y:108.94, Z:5.25 [[ 7.28553434e-02 -9.97338382e-01 -2.87238571e-03 1.18622738e+02] [ 9.96035875e-01 7.29069683e-02 -5.09618520e-02 1.08938523e+02] [ 5.10356279e-02 8.51844012e-04 9.98696470e-01 5.24757018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters Centerline goodness [0,1] 0.9999070588782006 Centerline is valid? [True, True] Translation: X:118.62, Y:108.96, Z:5.25 [[ 7.25432876e-02 -9.97361097e-01 -2.88338898e-03 1.18623163e+02] [ 9.96035636e-01 7.25955048e-02 -5.14091881e-02 1.08964550e+02] [ 5.14828453e-02 8.57433342e-04 9.98673511e-01 5.24807309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.086875 meters Centerline goodness [0,1] 0.9998596556886228 Centerline is valid? [True, True] Translation: X:118.62, Y:108.99, Z:5.25 [[ 7.20351542e-02 -9.97397924e-01 -2.88408833e-03 1.18624388e+02] [ 9.96059708e-01 7.20878748e-02 -5.16565196e-02 1.08992197e+02] [ 5.17300132e-02 8.48361168e-04 9.98660746e-01 5.24898606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:109.02, Z:5.25 [[ 7.13676415e-02 -9.97445918e-01 -2.88102053e-03 1.18624890e+02] [ 9.96095494e-01 7.14209040e-02 -5.18923963e-02 1.09019600e+02] [ 5.19656240e-02 8.33666366e-04 9.98648526e-01 5.24983997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:109.05, Z:5.25 [[ 7.08969007e-02 -9.97479477e-01 -2.88495334e-03 1.18625394e+02] [ 9.96110633e-01 7.09507157e-02 -5.22456003e-02 1.09046145e+02] [ 5.23186036e-02 8.30318444e-04 9.98630099e-01 5.25009617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters Centerline goodness [0,1] 0.9999534190422955 Centerline is valid? [True, True] Translation: X:118.63, Y:109.07, Z:5.25 [[ 6.99320651e-02 -9.97547693e-01 -2.84713288e-03 1.18626957e+02] [ 9.96202552e-01 6.99855888e-02 -5.17927944e-02 1.09073049e+02] [ 5.18650409e-02 7.85656035e-04 9.98653794e-01 5.25074872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.206875 meters Centerline goodness [0,1] 0.9999533669091587 Centerline is valid? [True, True] Translation: X:118.63, Y:109.10, Z:5.25 [[ 6.82802776e-02 -9.97662325e-01 -2.77296817e-03 1.18630066e+02] [ 9.96372374e-01 6.83329724e-02 -5.07217559e-02 1.09099723e+02] [ 5.07926701e-02 7.00386690e-04 9.98708974e-01 5.25325307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters Centerline goodness [0,1] 0.9998840068667935 Centerline is valid? [True, True] Translation: X:118.63, Y:109.13, Z:5.26 [[ 6.70498924e-02 -9.97745928e-01 -2.71578030e-03 1.18631280e+02] [ 9.96495093e-01 6.71017909e-02 -4.99487623e-02 1.09126292e+02] [ 5.00184079e-02 6.42797394e-04 9.98748089e-01 5.25506145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.266875 meters Centerline goodness [0,1] 0.9999768158950224 Centerline is valid? [True, True] Translation: X:118.63, Y:109.15, Z:5.26 [[ 6.57858181e-02 -9.97830227e-01 -2.65789213e-03 1.18633729e+02] [ 9.96621341e-01 6.58369199e-02 -4.91060380e-02 1.09153337e+02] [ 4.91744764e-02 5.81568863e-04 9.98790034e-01 5.25678708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.18, Z:5.26 [[ 6.49859822e-02 -9.97882693e-01 -2.63693796e-03 1.18635353e+02] [ 9.96679416e-01 6.50370860e-02 -4.89930594e-02 1.09179381e+02] [ 4.90608248e-02 5.55680298e-04 9.98795638e-01 5.25837357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.21, Z:5.26 [[ 6.40157330e-02 -9.97945546e-01 -2.58331980e-03 1.18636487e+02] [ 9.96780235e-01 6.40657937e-02 -4.82155311e-02 1.09206312e+02] [ 4.82819769e-02 5.11550451e-04 9.98833614e-01 5.25961218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.23, Z:5.26 [[ 6.38608119e-02 -9.97955577e-01 -2.54216755e-03 1.18636547e+02] [ 9.96813896e-01 6.39093268e-02 -4.77247894e-02 1.09232473e+02] [ 4.77896880e-02 5.13675862e-04 9.98857288e-01 5.26052395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.386875 meters Centerline goodness [0,1] 0.9999536414630754 Centerline is valid? [True, True] Translation: X:118.64, Y:109.26, Z:5.26 [[ 6.36097344e-02 -9.97971752e-01 -2.48693765e-03 1.18637359e+02] [ 9.96865871e-01 6.36562990e-02 -4.69713908e-02 1.09259801e+02] [ 4.70344304e-02 5.08694431e-04 9.98893139e-01 5.26139842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.29, Z:5.26 [[ 6.33214652e-02 -9.97990130e-01 -2.46809783e-03 1.18638282e+02] [ 9.96888357e-01 6.33675075e-02 -4.68845759e-02 1.09285787e+02] [ 4.69467412e-02 5.08382045e-04 9.98897265e-01 5.26301875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.31, Z:5.26 [[ 6.29240535e-02 -9.98015277e-01 -2.46396391e-03 1.18639890e+02] [ 9.96903779e-01 6.29702368e-02 -4.70914409e-02 1.09313026e+02] [ 4.71531338e-02 5.06849408e-04 9.98887544e-01 5.26440787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.34, Z:5.26 [[ 6.23274978e-02 -9.98052771e-01 -2.43892454e-03 1.18640762e+02] [ 9.96951003e-01 6.23732673e-02 -4.68857382e-02 1.09340164e+02] [ 4.69465646e-02 4.90782482e-04 9.98897282e-01 5.26494524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:109.37, Z:5.27 [[ 6.15808818e-02 -9.98099137e-01 -2.43070954e-03 1.18642275e+02] [ 9.96991889e-01 6.16270348e-02 -4.70029934e-02 1.09367064e+02] [ 4.70634445e-02 4.71088084e-04 9.98891791e-01 5.26560811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:109.39, Z:5.27 [[ 5.95252814e-02 -9.98223766e-01 -2.46055102e-03 1.18645340e+02] [ 9.97075451e-01 5.95747983e-02 -4.78684567e-02 1.09394072e+02] [ 4.79300179e-02 3.96028339e-04 9.98850618e-01 5.26585429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:109.42, Z:5.27 [[ 5.80742767e-02 -9.98309217e-01 -2.46705911e-03 1.18647857e+02] [ 9.97140882e-01 5.81256361e-02 -4.82853128e-02 1.09422596e+02] [ 4.83470722e-02 3.44129118e-04 9.98830537e-01 5.26638588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:109.45, Z:5.27 [[ 5.66103172e-02 -9.98393261e-01 -2.48375637e-03 1.18649479e+02] [ 9.97196449e-01 5.66640366e-02 -4.88715545e-02 1.09449869e+02] [ 4.89337703e-02 2.89841164e-04 9.98801983e-01 5.26681618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:109.48, Z:5.27 [[ 5.56266030e-02 -9.98448607e-01 -2.46160541e-03 1.18650942e+02] [ 9.97259151e-01 5.56804565e-02 -4.87223971e-02 1.09475658e+02] [ 4.87838728e-02 2.55402914e-04 9.98809325e-01 5.26754147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:109.50, Z:5.27 [[ 5.36101444e-02 -9.98558956e-01 -2.44226491e-03 1.18653382e+02] [ 9.97373162e-01 5.36654690e-02 -4.86497030e-02 1.09503732e+02] [ 4.87106619e-02 1.72268127e-04 9.98812916e-01 5.26910101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.686875 meters Centerline goodness [0,1] 0.9999301562172608 Centerline is valid? [True, True] Translation: X:118.65, Y:109.53, Z:5.27 [[ 5.35096957e-02 -9.98564412e-01 -2.41397116e-03 1.18654861e+02] [ 9.97393239e-01 5.35638178e-02 -4.83491916e-02 1.09530462e+02] [ 4.84090836e-02 1.79472012e-04 9.98827577e-01 5.27063987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters Centerline goodness [0,1] 0.999953503510485 Centerline is valid? [True, True] Translation: X:118.66, Y:109.56, Z:5.27 [[ 5.34611362e-02 -9.98567182e-01 -2.34289848e-03 1.18655412e+02] [ 9.97454831e-01 5.35121395e-02 -4.71201729e-02 1.09558914e+02] [ 4.71780318e-02 1.82162569e-04 9.98886480e-01 5.27289930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.59, Z:5.27 [[ 5.39184325e-02 -9.98542628e-01 -2.32870251e-03 1.18656224e+02] [ 9.97431143e-01 5.39682607e-02 -4.71014081e-02 1.09586216e+02] [ 4.71584399e-02 2.16913690e-04 9.98887398e-01 5.27443634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.61, Z:5.28 [[ 5.45305358e-02 -9.98509448e-01 -2.30262797e-03 1.18657103e+02] [ 9.97408992e-01 5.45785155e-02 -4.68667105e-02 1.09614278e+02] [ 4.69225272e-02 2.59004995e-04 9.98898498e-01 5.27568313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.806875 meters Centerline goodness [0,1] 0.9999768185822245 Centerline is valid? [True, True] Translation: X:118.66, Y:109.64, Z:5.28 [[ 5.60166789e-02 -9.98427216e-01 -2.28609916e-03 1.18655740e+02] [ 9.97329836e-01 5.60622680e-02 -4.67997815e-02 1.09641246e+02] [ 4.68543395e-02 3.41573432e-04 9.98901674e-01 5.27534496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.67, Z:5.28 [[ 5.66471041e-02 -9.98391710e-01 -2.25807982e-03 1.18656439e+02] [ 9.97307893e-01 5.66908011e-02 -4.65093404e-02 1.09668445e+02] [ 4.65625522e-02 3.82618621e-04 9.98915303e-01 5.27586771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.866875 meters Centerline goodness [0,1] 0.9999767057234038 Centerline is valid? [True, True] Translation: X:118.66, Y:109.70, Z:5.28 [[ 5.71993250e-02 -9.98360190e-01 -2.27325367e-03 1.18657357e+02] [ 9.97247537e-01 5.72428766e-02 -4.71232669e-02 1.09695544e+02] [ 4.71761213e-02 4.28422437e-04 9.98886495e-01 5.27701515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.72, Z:5.28 [[ 5.85966396e-02 -9.98278982e-01 -2.34696398e-03 1.18658953e+02] [ 9.97077256e-01 5.86412322e-02 -4.89709259e-02 1.09723438e+02] [ 4.90242749e-02 5.29427283e-04 9.98797447e-01 5.27687038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.75, Z:5.28 [[ 5.90854695e-02 -9.98250132e-01 -2.36241426e-03 1.18659805e+02] [ 9.97017815e-01 5.91298864e-02 -4.95896419e-02 1.09749849e+02] [ 4.96425558e-02 5.74658168e-04 9.98766883e-01 5.27711327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.78, Z:5.28 [[ 5.97597094e-02 -9.98209928e-01 -2.39076990e-03 1.18660674e+02] [ 9.96930108e-01 5.98041258e-02 -5.05353900e-02 1.09776713e+02] [ 5.05879059e-02 6.36549725e-04 9.98719409e-01 5.27743804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.80, Z:5.28 [[ 6.02619537e-02 -9.98179740e-01 -2.38805252e-03 1.18662371e+02] [ 9.96885982e-01 6.03054040e-02 -5.08094117e-02 1.09804844e+02] [ 5.08609378e-02 6.81258336e-04 9.98705513e-01 5.27775077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters Centerline goodness [0,1] 0.9999532928538066 Centerline is valid? [True, True] Translation: X:118.66, Y:109.83, Z:5.28 [[ 6.25520713e-02 -9.98038721e-01 -2.43908432e-03 1.18662411e+02] [ 9.96671881e-01 6.25940290e-02 -5.22221138e-02 1.09832140e+02] [ 5.22723638e-02 8.35634634e-04 9.98632516e-01 5.27764282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:109.86, Z:5.28 [[ 6.35890131e-02 -9.97973231e-01 -2.42250355e-03 1.18662496e+02] [ 9.96608230e-01 6.36287163e-02 -5.21864160e-02 1.09859375e+02] [ 5.22347870e-02 9.04195712e-04 9.98634422e-01 5.27812792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:109.89, Z:5.28 [[ 6.45522007e-02 -9.97911394e-01 -2.42121684e-03 1.18665441e+02] [ 9.96534687e-01 6.45903045e-02 -5.24090729e-02 1.09886865e+02] [ 5.24559981e-02 9.70294432e-04 9.98622765e-01 5.27994754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.106875 meters Centerline goodness [0,1] 0.9999529798989067 Centerline is valid? [True, True] Translation: X:118.67, Y:109.91, Z:5.28 [[ 6.60328251e-02 -9.97814576e-01 -2.39549526e-03 1.18665217e+02] [ 9.96449256e-01 6.60677695e-02 -5.21912898e-02 1.09913771e+02] [ 5.22354947e-02 1.05934884e-03 9.98634233e-01 5.28112997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters Centerline goodness [0,1] 0.9998359464716773 Centerline is valid? [True, True] Translation: X:118.67, Y:109.94, Z:5.28 [[ 6.65442161e-02 -9.97780672e-01 -2.36606435e-03 1.18666476e+02] [ 9.96431259e-01 6.65772608e-02 -5.18865570e-02 1.09941067e+02] [ 5.19289298e-02 1.09512978e-03 9.98650182e-01 5.28259939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:109.97, Z:5.28 [[ 6.70580038e-02 -9.97746344e-01 -2.33610508e-03 1.18668428e+02] [ 9.96413074e-01 6.70891533e-02 -5.15754981e-02 1.09968718e+02] [ 5.16159920e-02 1.13082430e-03 9.98666366e-01 5.28425680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters Centerline goodness [0,1] 0.9998591813743898 Centerline is valid? [True, True] Translation: X:118.67, Y:110.00, Z:5.28 [[ 6.80536790e-02 -9.97678971e-01 -2.31661045e-03 1.18671103e+02] [ 9.96349952e-01 6.80825908e-02 -5.14930444e-02 1.09996717e+02] [ 5.15312484e-02 1.19613641e-03 9.98670666e-01 5.28484228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22687499999998 meters Centerline goodness [0,1] 0.9999290813673113 Centerline is valid? [True, True] Translation: X:118.67, Y:110.02, Z:5.29 [[ 6.81853595e-02 -9.97670012e-01 -2.30315172e-03 1.18674098e+02] [ 9.96340268e-01 6.82133850e-02 -5.15073222e-02 1.10023328e+02] [ 5.15444165e-02 1.21732247e-03 9.98669961e-01 5.28667179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters Centerline goodness [0,1] 0.9998114852605038 Centerline is valid? [True, True] Translation: X:118.68, Y:110.05, Z:5.29 [[ 6.79520748e-02 -9.97685919e-01 -2.30718982e-03 1.18675034e+02] [ 9.96336589e-01 6.79801596e-02 -5.18854429e-02 1.10049658e+02] [ 5.19222189e-02 1.22698586e-03 9.98650378e-01 5.28717743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28687499999998 meters Centerline goodness [0,1] 0.9998824773768951 Centerline is valid? [True, True] Translation: X:118.68, Y:110.08, Z:5.29 [[ 6.72162770e-02 -9.97735775e-01 -2.30112439e-03 1.18677801e+02] [ 9.96378049e-01 6.72448476e-02 -5.20472289e-02 1.10076384e+02] [ 5.20841210e-02 1.20563113e-03 9.98641973e-01 5.28831514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters Centerline goodness [0,1] 0.9999053635223697 Centerline is valid? [True, True] Translation: X:118.68, Y:110.10, Z:5.29 [[ 6.56265742e-02 -9.97841663e-01 -2.27357643e-03 1.18682635e+02] [ 9.96498156e-01 6.56561837e-02 -5.17753825e-02 1.10104096e+02] [ 5.18129081e-02 1.13222626e-03 9.98656167e-01 5.28897988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:110.13, Z:5.29 [[ 6.44932271e-02 -9.97915559e-01 -2.27163217e-03 1.18686467e+02] [ 9.96557153e-01 6.45239499e-02 -5.20624666e-02 1.10131496e+02] [ 5.21005201e-02 1.09386519e-03 9.98641247e-01 5.29062399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters Centerline goodness [0,1] 0.9999283342490624 Centerline is valid? [True, True] Translation: X:118.69, Y:110.16, Z:5.29 [[ 6.26342700e-02 -9.98033990e-01 -2.25885612e-03 1.18692311e+02] [ 9.96671492e-01 6.26667766e-02 -5.21422366e-02 1.10157662e+02] [ 5.21812797e-02 1.01455343e-03 9.98637114e-01 5.29183692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40687499999999 meters Centerline goodness [0,1] 0.9999283342490624 Centerline is valid? [True, True] Translation: X:118.69, Y:110.18, Z:5.29 [[ 6.23314869e-02 -9.98052984e-01 -2.24215824e-03 1.18693331e+02] [ 9.96690474e-01 6.23635348e-02 -5.21429550e-02 1.10184427e+02] [ 5.21812608e-02 1.01541016e-03 9.98637114e-01 5.29300579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters Centerline goodness [0,1] 0.9998803713273997 Centerline is valid? [True, True] Translation: X:118.70, Y:110.21, Z:5.29 [[ 6.11496085e-02 -9.98126112e-01 -2.23365581e-03 1.18697517e+02] [ 9.96754510e-01 6.11826570e-02 -5.23175729e-02 1.10211772e+02] [ 5.23561967e-02 9.72792604e-04 9.98628000e-01 5.29456192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.466875 meters Centerline goodness [0,1] 0.9999519623384734 Centerline is valid? [True, True] Translation: X:118.70, Y:110.24, Z:5.30 [[ 6.06370453e-02 -9.98157402e-01 -2.22470196e-03 1.18700344e+02] [ 9.96777575e-01 6.06701783e-02 -5.24747195e-02 1.10237687e+02] [ 5.25130028e-02 9.64378924e-04 9.98619775e-01 5.29508999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters Centerline goodness [0,1] 0.999903544731131 Centerline is valid? [True, True] Translation: X:118.70, Y:110.26, Z:5.30 [[ 5.99166114e-02 -9.98200926e-01 -2.21618606e-03 1.18704078e+02] [ 9.96815302e-01 5.99501890e-02 -5.25854494e-02 1.10264594e+02] [ 5.26237051e-02 9.41613763e-04 9.98613969e-01 5.29623289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.526875 meters Centerline goodness [0,1] 0.9997821561698214 Centerline is valid? [True, True] Translation: X:118.71, Y:110.29, Z:5.30 [[ 5.95030061e-02 -9.98225604e-01 -2.24395884e-03 1.18708511e+02] [ 9.96783341e-01 5.95376353e-02 -5.36492451e-02 1.10291333e+02] [ 5.36876501e-02 9.55550572e-04 9.98557321e-01 5.29661409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters Centerline goodness [0,1] 0.9999514539540755 Centerline is valid? [True, True] Translation: X:118.71, Y:110.32, Z:5.30 [[ 5.90013112e-02 -9.98255393e-01 -2.23955173e-03 1.18711127e+02] [ 9.96797052e-01 5.90361469e-02 -5.39478548e-02 1.10317953e+02] [ 5.39859515e-02 9.50615605e-04 9.98541243e-01 5.29715409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.586875 meters Centerline goodness [0,1] 0.9998294430096 Centerline is valid? [True, True] Translation: X:118.72, Y:110.34, Z:5.30 [[ 5.89876738e-02 -9.98256142e-01 -2.26467032e-03 1.18715094e+02] [ 9.96741060e-01 5.90228912e-02 -5.49868948e-02 1.10344718e+02] [ 5.50246729e-02 9.86259126e-04 9.98484508e-01 5.29842305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:118.72, Y:110.37, Z:5.30 [[ 5.87030837e-02 -9.98272935e-01 -2.25716251e-03 1.18717849e+02] [ 9.96744660e-01 5.87380839e-02 -5.52260837e-02 1.10372141e+02] [ 5.52632860e-02 9.92126730e-04 9.98471324e-01 5.30009686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.646875 meters Centerline goodness [0,1] 0.9999754703559252 Centerline is valid? [True, True] Translation: X:118.72, Y:110.40, Z:5.30 [[ 5.84599196e-02 -9.98287348e-01 -2.19283239e-03 1.18722477e+02] [ 9.96823143e-01 5.84929175e-02 -5.40573793e-02 1.10399241e+02] [ 5.40930629e-02 9.74323971e-04 9.98535423e-01 5.30216671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters Centerline goodness [0,1] 0.999703659801452 Centerline is valid? [True, True] Translation: X:118.72, Y:110.43, Z:5.30 [[ 5.82507086e-02 -9.98299622e-01 -2.17262362e-03 1.18723890e+02] [ 9.96839689e-01 5.82829973e-02 -5.39789447e-02 1.10425918e+02] [ 5.40137870e-02 9.78554322e-04 9.98539710e-01 5.30301636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.706875 meters Centerline goodness [0,1] 0.999777969655853 Centerline is valid? [True, True] Translation: X:118.73, Y:110.45, Z:5.31 [[ 5.77181959e-02 -9.98330639e-01 -2.13203038e-03 1.18727043e+02] [ 9.96902022e-01 5.77496372e-02 -5.33979151e-02 1.10453475e+02] [ 5.34318987e-02 9.56605932e-04 9.98571038e-01 5.30524136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters Centerline goodness [0,1] 0.9997036085657125 Centerline is valid? [True, True] Translation: X:118.73, Y:110.48, Z:5.31 [[ 5.69384912e-02 -9.98375513e-01 -2.08406348e-03 1.18731060e+02] [ 9.96989477e-01 5.69692387e-02 -5.25974123e-02 1.10480204e+02] [ 5.26306960e-02 9.17027938e-04 9.98613623e-01 5.30727707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.766875 meters Centerline goodness [0,1] 0.9997523526498266 Centerline is valid? [True, True] Translation: X:118.73, Y:110.51, Z:5.31 [[ 5.66634262e-02 -9.98391178e-01 -2.07630503e-03 1.18732340e+02] [ 9.96993310e-01 5.66939413e-02 -5.28217402e-02 1.10506793e+02] [ 5.28544733e-02 9.22998548e-04 9.98601799e-01 5.30839595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters Centerline goodness [0,1] 0.9995787700084247 Centerline is valid? [True, True] Translation: X:118.73, Y:110.53, Z:5.31 [[ 5.66130082e-02 -9.98394063e-01 -2.06455949e-03 1.18734883e+02] [ 9.96988793e-01 5.66428420e-02 -5.29616418e-02 1.10533680e+02] [ 5.29935313e-02 9.39975186e-04 9.98594413e-01 5.30993413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.826875 meters Centerline goodness [0,1] 0.9999502029230884 Centerline is valid? [True, True] Translation: X:118.74, Y:110.56, Z:5.31 [[ 5.72151012e-02 -9.98359745e-01 -2.06218299e-03 1.18736839e+02] [ 9.96935477e-01 5.72436101e-02 -5.33181340e-02 1.10561854e+02] [ 5.33487255e-02 9.94739046e-04 9.98575447e-01 5.31119948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters Centerline goodness [0,1] 0.999900773963088 Centerline is valid? [True, True] Translation: X:118.74, Y:110.59, Z:5.31 [[ 5.68704933e-02 -9.98379505e-01 -2.02747933e-03 1.18737248e+02] [ 9.96982489e-01 5.68981531e-02 -5.28064007e-02 1.10588351e+02] [ 5.28361881e-02 9.81764671e-04 9.98602710e-01 5.31175330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.886875 meters Centerline goodness [0,1] 0.9998016217422571 Centerline is valid? [True, True] Translation: X:118.74, Y:110.62, Z:5.31 [[ 5.68626116e-02 -9.98379975e-01 -2.01737598e-03 1.18738935e+02] [ 9.96973188e-01 5.68895644e-02 -5.29909385e-02 1.10615542e+02] [ 5.30198595e-02 1.00193340e-03 9.98592955e-01 5.31220497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters Centerline goodness [0,1] 0.9997504429637394 Centerline is valid? [True, True] Translation: X:118.74, Y:110.64, Z:5.31 [[ 5.68605459e-02 -9.98380121e-01 -2.00332200e-03 1.18741032e+02] [ 9.96969933e-01 5.68866909e-02 -5.30552354e-02 1.10642322e+02] [ 5.30832546e-02 1.01949784e-03 9.98589570e-01 5.31352477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.946875 meters Centerline goodness [0,1] 0.9997260478669091 Centerline is valid? [True, True] Translation: X:118.74, Y:110.67, Z:5.31 [[ 5.66296120e-02 -9.98393292e-01 -1.98030429e-03 1.18742689e+02] [ 9.96993167e-01 5.66550554e-02 -5.28661456e-02 1.10668688e+02] [ 5.28933993e-02 1.01943946e-03 9.98599644e-01 5.31474635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters Centerline goodness [0,1] 0.9995017314830963 Centerline is valid? [True, True] Translation: X:118.74, Y:110.69, Z:5.32 [[ 5.61111704e-02 -9.98422589e-01 -1.96734306e-03 1.18743528e+02] [ 9.97021647e-01 5.61366392e-02 -5.28820668e-02 1.10694793e+02] [ 5.29090900e-02 1.00579104e-03 9.98598827e-01 5.31568913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00687499999998 meters Centerline goodness [0,1] 0.9997764863656683 Centerline is valid? [True, True] Translation: X:118.74, Y:110.72, Z:5.32 [[ 5.57378513e-02 -9.98443522e-01 -1.95565853e-03 1.18744941e+02] [ 9.97034875e-01 5.57630797e-02 -5.30277060e-02 1.10722345e+02] [ 5.30542231e-02 1.00579064e-03 9.98591126e-01 5.31748153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters Centerline goodness [0,1] 0.9997508160773467 Centerline is valid? [True, True] Translation: X:118.75, Y:110.75, Z:5.32 [[ 5.39509053e-02 -9.98541661e-01 -1.96251524e-03 1.18748585e+02] [ 9.97098827e-01 5.39784276e-02 -5.36680402e-02 1.10749334e+02] [ 5.36957075e-02 9.38617705e-04 9.98556904e-01 5.31815046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06687499999998 meters Centerline goodness [0,1] 0.9997246902765611 Centerline is valid? [True, True] Translation: X:118.75, Y:110.78, Z:5.32 [[ 5.15816577e-02 -9.98666836e-01 -1.97050725e-03 1.18750511e+02] [ 9.97186525e-01 5.16124619e-02 -5.43616357e-02 1.10775688e+02] [ 5.43908655e-02 8.39100011e-04 9.98519369e-01 5.31855599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters Centerline goodness [0,1] 0.999950031230481 Centerline is valid? [True, True] Translation: X:118.75, Y:110.80, Z:5.32 [[ 4.80180542e-02 -9.98844512e-01 -1.97683118e-03 1.18754183e+02] [ 9.97327972e-01 4.80540492e-02 -5.50247690e-02 1.10803360e+02] [ 5.50561833e-02 6.70633311e-04 9.98483033e-01 5.31876852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12687499999998 meters Centerline goodness [0,1] 0.9998007174172977 Centerline is valid? [True, True] Translation: X:118.76, Y:110.83, Z:5.32 [[ 4.43607193e-02 -9.99013703e-01 -1.93592869e-03 1.18758306e+02] [ 9.97536257e-01 4.44003661e-02 -5.43141156e-02 1.10831025e+02] [ 5.43465017e-02 4.78254180e-04 9.98522022e-01 5.32045940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters Centerline goodness [0,1] 0.9997995439625147 Centerline is valid? [True, True] Translation: X:118.76, Y:110.86, Z:5.32 [[ 4.29505700e-02 -9.99075378e-01 -1.90721778e-03 1.18760215e+02] [ 9.97619069e-01 4.29909059e-02 -5.39256497e-02 1.10857863e+02] [ 5.39577819e-02 4.13460563e-04 9.98543132e-01 5.32254524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.186875 meters Centerline goodness [0,1] 0.9997989040269468 Centerline is valid? [True, True] Translation: X:118.76, Y:110.88, Z:5.32 [[ 4.16724380e-02 -9.99129526e-01 -1.89679713e-03 1.18761776e+02] [ 9.97663747e-01 4.17140115e-02 -5.41016520e-02 1.10884816e+02] [ 5.41336810e-02 3.62182005e-04 9.98533632e-01 5.32357484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters Centerline goodness [0,1] 0.9999496323159062 Centerline is valid? [True, True] Translation: X:118.76, Y:110.91, Z:5.32 [[ 4.07624478e-02 -9.99167085e-01 -1.88657438e-03 1.18763220e+02] [ 9.97691141e-01 4.08047413e-02 -5.42895904e-02 1.10912078e+02] [ 5.43213529e-02 3.30758051e-04 9.98523451e-01 5.32489413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.246875 meters Centerline goodness [0,1] 0.9998744160345607 Centerline is valid? [True, True] Translation: X:118.76, Y:110.94, Z:5.33 [[ 4.00523978e-02 -9.99195841e-01 -1.86450443e-03 1.18764083e+02] [ 9.97728322e-01 4.00945894e-02 -5.41351905e-02 1.10939690e+02] [ 5.41664138e-02 3.07975311e-04 9.98531875e-01 5.32594766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:110.97, Z:5.33 [[ 4.09131730e-02 -9.99161006e-01 -1.84309306e-03 1.18764951e+02] [ 9.97700823e-01 4.09529914e-02 -5.39992555e-02 1.10966427e+02] [ 5.40294306e-02 3.70425422e-04 9.98539275e-01 5.32842733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.306875 meters Centerline goodness [0,1] 0.9999245472837022 Centerline is valid? [True, True] Translation: X:118.77, Y:110.99, Z:5.33 [[ 4.16777465e-02 -9.99129414e-01 -1.83856897e-03 1.18765026e+02] [ 9.97647973e-01 4.17160368e-02 -5.43902071e-02 1.10993128e+02] [ 5.44195536e-02 4.32616658e-04 9.98518064e-01 5.32933276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters Centerline goodness [0,1] 0.9999246287968243 Centerline is valid? [True, True] Translation: X:118.77, Y:111.02, Z:5.33 [[ 4.22693311e-02 -9.99104566e-01 -1.83566761e-03 1.18765200e+02] [ 9.97598988e-01 4.23063758e-02 -5.48309168e-02 1.11020470e+02] [ 5.48594798e-02 4.86406023e-04 9.98493966e-01 5.33011043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.366875 meters Centerline goodness [0,1] 0.9997999599919984 Centerline is valid? [True, True] Translation: X:118.76, Y:111.05, Z:5.33 [[ 4.26981926e-02 -9.99086289e-01 -1.85789502e-03 1.18764230e+02] [ 9.97515052e-01 4.27352032e-02 -5.60127026e-02 1.11047996e+02] [ 5.60409207e-02 5.38362913e-04 9.98428328e-01 5.32843172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters Centerline goodness [0,1] 0.9998494882600842 Centerline is valid? [True, True] Translation: X:118.76, Y:111.08, Z:5.33 [[ 4.25043208e-02 -9.99094553e-01 -1.85951226e-03 1.18764599e+02] [ 9.97492974e-01 4.25414374e-02 -5.65508043e-02 1.11075350e+02] [ 5.65787068e-02 5.48803112e-04 9.98397991e-01 5.32919962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.426875 meters Centerline goodness [0,1] 0.9997740453415681 Centerline is valid? [True, True] Translation: X:118.76, Y:111.10, Z:5.33 [[ 4.24805799e-02 -9.99095601e-01 -1.83883781e-03 1.18764780e+02] [ 9.97498892e-01 4.25166134e-02 -5.64650114e-02 1.11101691e+02] [ 5.64921257e-02 5.64427751e-04 9.98402885e-01 5.33013884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters Centerline goodness [0,1] 0.999724379854673 Centerline is valid? [True, True] Translation: X:118.77, Y:111.13, Z:5.33 [[ 4.18390346e-02 -9.99122755e-01 -1.79323230e-03 1.18765855e+02] [ 9.97574395e-01 4.18739957e-02 -5.56048181e-02 1.11129171e+02] [ 5.56311288e-02 5.37569280e-04 9.98451245e-01 5.33207809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.486875 meters Centerline goodness [0,1] 0.9999247384661699 Centerline is valid? [True, True] Translation: X:118.77, Y:111.16, Z:5.34 [[ 4.09762786e-02 -9.99158564e-01 -1.76298035e-03 1.18767592e+02] [ 9.97633939e-01 4.10111122e-02 -5.51780024e-02 1.11156098e+02] [ 5.52038755e-02 5.02180172e-04 9.98474977e-01 5.33530878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters Centerline goodness [0,1] 0.9999748869914615 Centerline is valid? [True, True] Translation: X:118.77, Y:111.18, Z:5.34 [[ 4.00618101e-02 -9.99195694e-01 -1.73692206e-03 1.18768287e+02] [ 9.97686763e-01 4.00967346e-02 -5.48942101e-02 1.11183169e+02] [ 5.49197033e-02 4.66257269e-04 9.98490665e-01 5.33668787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.546875 meters Centerline goodness [0,1] 0.9999499949995 Centerline is valid? [True, True] Translation: X:118.77, Y:111.21, Z:5.34 [[ 3.91149376e-02 -9.99233245e-01 -1.71553054e-03 1.18768633e+02] [ 9.97732134e-01 3.91501786e-02 -5.47526472e-02 1.11210684e+02] [ 5.47778287e-02 4.30006436e-04 9.98498475e-01 5.33758011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters Centerline goodness [0,1] 0.9999750305875302 Centerline is valid? [True, True] Translation: X:118.77, Y:111.24, Z:5.34 [[ 3.83965712e-02 -9.99261136e-01 -1.69852835e-03 1.18768774e+02] [ 9.97760119e-01 3.84319605e-02 -5.47515209e-02 1.11238040e+02] [ 5.47763448e-02 4.07546822e-04 9.98498566e-01 5.33852145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.26, Z:5.34 [[ 3.80511591e-02 -9.99274413e-01 -1.66052225e-03 1.18768726e+02] [ 9.97812462e-01 3.80852816e-02 -5.40351867e-02 1.11264565e+02] [ 5.40592209e-02 3.99211697e-04 9.98537651e-01 5.33984976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.29, Z:5.34 [[ 3.78246049e-02 -9.99283024e-01 -1.65442463e-03 1.18768664e+02] [ 9.97807977e-01 3.78586330e-02 -5.42767487e-02 1.11292058e+02] [ 5.43004678e-02 4.02198481e-04 9.98524560e-01 5.34115193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.32, Z:5.34 [[ 3.73410113e-02 -9.99301248e-01 -1.63256149e-03 1.18767829e+02] [ 9.97836433e-01 3.73746403e-02 -5.40887231e-02 1.11317969e+02] [ 5.41119449e-02 3.90698287e-04 9.98534799e-01 5.34170510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters Centerline goodness [0,1] 0.9999751107571307 Centerline is valid? [True, True] Translation: X:118.77, Y:111.35, Z:5.34 [[ 3.70505594e-02 -9.99312040e-01 -1.64378434e-03 1.18767984e+02] [ 9.97794207e-01 3.70848507e-02 -5.50584651e-02 1.11345467e+02] [ 5.50815466e-02 3.99788443e-04 9.98481779e-01 5.34169423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.37, Z:5.34 [[ 3.62803802e-02 -9.99340347e-01 -1.61393711e-03 1.18768145e+02] [ 9.97846647e-01 3.63143638e-02 -5.46199195e-02 1.11373030e+02] [ 5.46424984e-02 3.71169716e-04 9.98505914e-01 5.34320363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.40, Z:5.34 [[ 3.64841851e-02 -9.99332998e-01 -1.56951441e-03 1.18767305e+02] [ 9.97891783e-01 3.65158329e-02 -5.36524395e-02 1.11399367e+02] [ 5.36739653e-02 3.91260002e-04 9.98558437e-01 5.34474594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78687499999998 meters Centerline goodness [0,1] 0.9999753512447621 Centerline is valid? [True, True] Translation: X:118.77, Y:111.43, Z:5.35 [[ 3.66260188e-02 -9.99327867e-01 -1.53244330e-03 1.18767162e+02] [ 9.97930198e-01 3.66558163e-02 -5.28362629e-02 1.11426323e+02] [ 5.28569229e-02 4.05910513e-04 9.98602013e-01 5.34691879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters Centerline goodness [0,1] 0.9999506891195542 Centerline is valid? [True, True] Translation: X:118.77, Y:111.45, Z:5.35 [[ 3.71423141e-02 -9.99308875e-01 -1.49006291e-03 1.18766539e+02] [ 9.97959001e-01 3.71695678e-02 -5.19254733e-02 1.11452363e+02] [ 5.19449713e-02 4.41610541e-04 9.98649851e-01 5.34886156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:111.48, Z:5.35 [[ 3.81471987e-02 -9.99271044e-01 -1.47359585e-03 1.18765601e+02] [ 9.97920643e-01 3.81722345e-02 -5.19352567e-02 1.11479701e+02] [ 5.19536486e-02 5.10652840e-04 9.98649367e-01 5.34990328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters Centerline goodness [0,1] 0.999975580571903 Centerline is valid? [True, True] Translation: X:118.76, Y:111.51, Z:5.35 [[ 4.13826771e-02 -9.99142274e-01 -1.47985676e-03 1.18761855e+02] [ 9.97750139e-01 4.14031171e-02 -5.27298874e-02 1.11507626e+02] [ 5.27459303e-02 7.05576614e-04 9.98607715e-01 5.34944122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90687499999999 meters Centerline goodness [0,1] 0.9999755321751896 Centerline is valid? [True, True] Translation: X:118.76, Y:111.54, Z:5.35 [[ 4.34992475e-02 -9.99052381e-01 -1.46789273e-03 1.18760241e+02] [ 9.97655292e-01 4.35160296e-02 -5.28230404e-02 1.11536034e+02] [ 5.28368611e-02 8.33311555e-04 9.98602810e-01 5.35004380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:111.56, Z:5.35 [[ 4.57169995e-02 -9.98953345e-01 -1.47358102e-03 1.18757954e+02] [ 9.97516444e-01 4.57302615e-02 -5.35694623e-02 1.11563887e+02] [ 5.35807808e-02 9.79113785e-04 9.98563038e-01 5.35009957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:111.59, Z:5.35 [[ 4.77457353e-02 -9.98858444e-01 -1.46717768e-03 1.18755605e+02] [ 9.97404450e-01 4.77553858e-02 -5.38867949e-02 1.11591459e+02] [ 5.38953458e-02 1.10949510e-03 9.98545973e-01 5.35060166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:111.62, Z:5.35 [[ 5.13228375e-02 -9.98681060e-01 -1.45163678e-03 1.18753458e+02] [ 9.97226970e-01 5.13264407e-02 -5.38884622e-02 1.11619799e+02] [ 5.38918939e-02 1.31809744e-03 9.98545906e-01 5.35269219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.026875 meters Centerline goodness [0,1] 0.9999756992539671 Centerline is valid? [True, True] Translation: X:118.75, Y:111.65, Z:5.35 [[ 5.18754573e-02 -9.98652534e-01 -1.43267215e-03 1.18752491e+02] [ 9.97206305e-01 5.18774323e-02 -5.37430633e-02 1.11647248e+02] [ 5.37449698e-02 1.35927628e-03 9.98553770e-01 5.35402007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters Centerline goodness [0,1] 0.9999758039149266 Centerline is valid? [True, True] Translation: X:118.75, Y:111.68, Z:5.35 [[ 5.02746579e-02 -9.98734437e-01 -1.40838675e-03 1.18753078e+02] [ 9.97306130e-01 5.02780761e-02 -5.34097201e-02 1.11675140e+02] [ 5.34129377e-02 1.28056267e-03 9.98571689e-01 5.35497595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.086875 meters Centerline goodness [0,1] 0.9999270800418074 Centerline is valid? [True, True] Translation: X:118.75, Y:111.70, Z:5.36 [[ 4.89164419e-02 -9.98801997e-01 -1.32348674e-03 1.18753480e+02] [ 9.97515552e-01 4.89206063e-02 -5.06902236e-02 1.11702848e+02] [ 5.06942424e-02 1.15938677e-03 9.98713547e-01 5.35888657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters Centerline goodness [0,1] 0.9999758296473545 Centerline is valid? [True, True] Translation: X:118.75, Y:111.73, Z:5.36 [[ 4.84738810e-02 -9.98823633e-01 -1.27821695e-03 1.18753229e+02] [ 9.97598476e-01 4.84777296e-02 -4.94690760e-02 1.11729248e+02] [ 4.94728472e-02 1.12281081e-03 9.98774838e-01 5.36158557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:111.76, Z:5.36 [[ 4.72428959e-02 -9.98882672e-01 -1.23110820e-03 1.18755131e+02] [ 9.97718306e-01 4.72472658e-02 -4.82273591e-02 1.11756361e+02] [ 4.82316398e-02 1.05010092e-03 9.98835625e-01 5.36342268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:111.78, Z:5.36 [[ 4.66176960e-02 -9.98912033e-01 -1.24162193e-03 1.18755255e+02] [ 9.97697709e-01 4.66222429e-02 -4.92508652e-02 1.11783816e+02] [ 4.92551691e-02 1.05719851e-03 9.98785668e-01 5.36382859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.206875 meters Centerline goodness [0,1] 0.9999757775409359 Centerline is valid? [True, True] Translation: X:118.75, Y:111.81, Z:5.36 [[ 4.61984971e-02 -9.98931496e-01 -1.25089227e-03 1.18753983e+02] [ 9.97667780e-01 4.62029678e-02 -5.02422876e-02 1.11809846e+02] [ 5.02463985e-02 1.07314327e-03 9.98736275e-01 5.36315121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters Centerline goodness [0,1] 0.9999516768145356 Centerline is valid? [True, True] Translation: X:118.75, Y:111.84, Z:5.36 [[ 4.59381591e-02 -9.98943484e-01 -1.26568856e-03 1.18753774e+02] [ 9.97622165e-01 4.59424884e-02 -5.13741601e-02 1.11836704e+02] [ 5.13780313e-02 1.09735538e-03 9.98678674e-01 5.36263361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:111.86, Z:5.36 [[ 4.58459380e-02 -9.98947700e-01 -1.28189228e-03 1.18754235e+02] [ 9.97555306e-01 4.58497098e-02 -5.27372401e-02 1.11863877e+02] [ 5.27405190e-02 1.13902979e-03 9.98607601e-01 5.36250966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters Centerline goodness [0,1] 0.9999275484821407 Centerline is valid? [True, True] Translation: X:118.75, Y:111.89, Z:5.36 [[ 4.58887383e-02 -9.98945699e-01 -1.30927249e-03 1.18753635e+02] [ 9.97455301e-01 4.58917838e-02 -5.45606781e-02 1.11891824e+02] [ 5.45632396e-02 1.19777989e-03 9.98509598e-01 5.36163107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.326875 meters Centerline goodness [0,1] 0.9999275484821407 Centerline is valid? [True, True] Translation: X:118.75, Y:111.92, Z:5.36 [[ 4.55818187e-02 -9.98959771e-01 -1.29399708e-03 1.18754135e+02] [ 9.97469372e-01 4.55844882e-02 -5.45610408e-02 1.11918610e+02] [ 5.45632710e-02 1.19626902e-03 9.98509599e-01 5.36280124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters Centerline goodness [0,1] 0.9999759869368937 Centerline is valid? [True, True] Translation: X:118.75, Y:111.94, Z:5.36 [[ 4.47362106e-02 -9.98998001e-01 -1.29071300e-03 1.18754473e+02] [ 9.97475161e-01 4.47392725e-02 -5.51516227e-02 1.11944591e+02] [ 5.51541064e-02 1.17982045e-03 9.98477157e-01 5.36388189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.386875 meters Centerline goodness [0,1] 0.9997835497835498 Centerline is valid? [True, True] Translation: X:118.76, Y:111.97, Z:5.37 [[ 4.33711723e-02 -9.99058212e-01 -1.27724765e-03 1.18755693e+02] [ 9.97525422e-01 4.33753698e-02 -5.53318226e-02 1.11971901e+02] [ 5.53351128e-02 1.12571901e-03 9.98467204e-01 5.36521263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters Centerline goodness [0,1] 0.9999036539248982 Centerline is valid? [True, True] Translation: X:118.76, Y:112.00, Z:5.37 [[ 4.18410539e-02 -9.99123489e-01 -1.25724902e-03 1.18758378e+02] [ 9.97598243e-01 4.18466361e-02 -5.51960492e-02 1.11999166e+02] [ 5.52002809e-02 1.05523146e-03 9.98474745e-01 5.36734435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.03, Z:5.37 [[ 3.81463037e-02 -9.99271445e-01 -1.19966535e-03 1.18761638e+02] [ 9.97845669e-01 3.81559464e-02 -5.33680160e-02 1.12027132e+02] [ 5.33749089e-02 8.38711673e-04 9.98574191e-01 5.37068458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.05, Z:5.37 [[ 3.59152322e-02 -9.99354159e-01 -1.16621811e-03 1.18763660e+02] [ 9.97973259e-01 3.59268973e-02 -5.25226854e-02 1.12054048e+02] [ 5.25306627e-02 7.22509958e-04 9.98619050e-01 5.37295856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50687499999998 meters Centerline goodness [0,1] 0.9998550794647602 Centerline is valid? [True, True] Translation: X:118.77, Y:112.08, Z:5.37 [[ 3.30582690e-02 -9.99452786e-01 -1.13114993e-03 1.18765661e+02] [ 9.98121249e-01 3.30725997e-02 -5.15768826e-02 1.12081802e+02] [ 5.15860691e-02 5.76017683e-04 9.98668386e-01 5.37485878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters Centerline goodness [0,1] 0.9999516709760047 Centerline is valid? [True, True] Translation: X:118.77, Y:112.11, Z:5.38 [[ 2.72055796e-02 -9.99629237e-01 -1.11595126e-03 1.18769523e+02] [ 9.98298473e-01 2.72269263e-02 -5.15640762e-02 1.12109688e+02] [ 5.15753421e-02 2.88778139e-04 9.98669065e-01 5.37571967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:112.14, Z:5.38 [[ 2.36328434e-02 -9.99720108e-01 -1.09315720e-03 1.18771724e+02] [ 9.98409085e-01 2.36578173e-02 -5.11820973e-02 1.12135809e+02] [ 5.11936335e-02 1.18160417e-04 9.98688739e-01 5.37601181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:112.16, Z:5.38 [[ 1.97554268e-02 -9.99804266e-01 -1.07335455e-03 1.18774832e+02] [ 9.98501335e-01 1.97844616e-02 -5.10260551e-02 1.12163086e+02] [ 5.10373033e-02 -6.37044519e-05 9.98696746e-01 5.37764298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62687499999998 meters Centerline goodness [0,1] 0.9999757658006979 Centerline is valid? [True, True] Translation: X:118.78, Y:112.19, Z:5.38 [[ 1.60262687e-02 -9.99871020e-01 -1.04958853e-03 1.18777725e+02] [ 9.98589003e-01 1.60588543e-02 -5.06173432e-02 1.12190360e+02] [ 5.06276697e-02 -2.36900421e-04 9.98717569e-01 5.38027071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.22, Z:5.38 [[ 9.26797863e-03 -9.99956529e-01 -1.02244377e-03 1.18781717e+02] [ 9.98703321e-01 9.30753941e-03 -5.00504344e-02 1.12217481e+02] [ 5.00577751e-02 -5.57251631e-04 9.98746168e-01 5.38194566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.25, Z:5.38 [[ 6.51615506e-03 -9.99978268e-01 -1.00145677e-03 1.18782202e+02] [ 9.98741410e-01 6.55789399e-03 -4.97251375e-02 1.12245383e+02] [ 4.97306243e-02 -6.76179639e-04 9.98762438e-01 5.38308878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.27, Z:5.38 [[ 4.21630956e-03 -9.99990619e-01 -9.91987394e-04 1.18783394e+02] [ 9.98742629e-01 4.26059789e-03 -4.99500600e-02 1.12272115e+02] [ 4.99538179e-02 -7.80135183e-04 9.98751224e-01 5.38346910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.30, Z:5.38 [[ 2.74543894e-03 -9.99995745e-01 -9.86033912e-04 1.18782821e+02] [ 9.98725784e-01 2.79163743e-03 -5.03886313e-02 1.12300685e+02] [ 5.03911695e-02 -8.46438582e-04 9.98729199e-01 5.38393509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.33, Z:5.38 [[ 1.19406686e-03 -9.99998804e-01 -9.82780829e-04 1.18782238e+02] [ 9.98700558e-01 1.24258699e-03 -5.09475357e-02 1.12327839e+02] [ 5.09486960e-02 -9.20668998e-04 9.98700847e-01 5.38418316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.36, Z:5.39 [[ 1.69319106e-03 -9.99998094e-01 -9.72487060e-04 1.18780618e+02] [ 9.98687414e-01 1.74075355e-03 -5.11900231e-02 1.12355321e+02] [ 5.11916183e-02 -8.84536098e-04 9.98688458e-01 5.38602067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.38, Z:5.39 [[ 3.84631725e-03 -9.99992150e-01 -9.51536930e-04 1.18777698e+02] [ 9.98696707e-01 3.88975829e-03 -5.08896501e-02 1.12382101e+02] [ 5.08929519e-02 -7.54559060e-04 9.98703829e-01 5.38882308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:112.41, Z:5.39 [[ 5.63999931e-03 -9.99983657e-01 -9.36114232e-04 1.18775131e+02] [ 9.98692204e-01 5.68027976e-03 -5.08096013e-02 1.12409182e+02] [ 5.08140883e-02 -6.48323870e-04 9.98707919e-01 5.39002607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:112.44, Z:5.39 [[ 7.67806075e-03 -9.99970089e-01 -9.31624522e-04 1.18772172e+02] [ 9.98647128e-01 7.71581152e-03 -5.14235274e-02 1.12436147e+02] [ 5.14291775e-02 -5.35531187e-04 9.98676501e-01 5.39072872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:112.46, Z:5.39 [[ 9.88746101e-03 -9.99950687e-01 -9.27871732e-04 1.18769417e+02] [ 9.98592395e-01 9.92237803e-03 -5.21034969e-02 1.12463241e+02] [ 5.21101342e-02 -4.11394361e-04 9.98641259e-01 5.39070390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.49, Z:5.39 [[ 1.57184851e-02 -9.99876052e-01 -8.99732752e-04 1.18763748e+02] [ 9.98555115e-01 1.57439526e-02 -5.13790886e-02 1.12491670e+02] [ 5.13868856e-02 -9.08313042e-05 9.98678817e-01 5.39201861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.986875 meters Centerline goodness [0,1] 0.9999762380001901 Centerline is valid? [True, True] Translation: X:118.76, Y:112.52, Z:5.39 [[ 1.84843701e-02 -9.99828766e-01 -8.75247100e-04 1.18761202e+02] [ 9.98538873e-01 1.85049678e-02 -5.07709133e-02 1.12518579e+02] [ 5.07784160e-02 6.45000973e-05 9.98709942e-01 5.39388429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.55, Z:5.40 [[ 2.12520935e-02 -9.99773786e-01 -8.51608807e-04 1.18758658e+02] [ 9.98508062e-01 2.12680273e-02 -5.02923482e-02 1.12546197e+02] [ 5.02990834e-02 2.18479427e-04 9.98734176e-01 5.39568244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.57, Z:5.40 [[ 2.45386316e-02 -9.99698538e-01 -8.29748366e-04 1.18755916e+02] [ 9.98452687e-01 2.45494640e-02 -4.98954555e-02 1.12574188e+02] [ 4.99007838e-02 3.95901716e-04 9.98754101e-01 5.39723997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters Centerline goodness [0,1] 0.999976483314912 Centerline is valid? [True, True] Translation: X:118.75, Y:112.60, Z:5.40 [[ 3.10355941e-02 -9.99517934e-01 -8.31316563e-04 1.18749032e+02] [ 9.98223081e-01 3.10376942e-02 -5.08659261e-02 1.12601171e+02] [ 5.08672075e-02 7.48814853e-04 9.98705145e-01 5.39723376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:112.63, Z:5.40 [[ 3.40606161e-02 -9.99419439e-01 -8.11573694e-04 1.18746894e+02] [ 9.98140307e-01 3.40580770e-02 -5.05566485e-02 1.12629100e+02] [ 5.05549380e-02 9.11926181e-04 9.98720865e-01 5.39826809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.66, Z:5.40 [[ 3.66440105e-02 -9.99328064e-01 -7.97548523e-04 1.18744520e+02] [ 9.98049722e-01 3.66374719e-02 -5.05415560e-02 1.12657211e+02] [ 5.05368155e-02 1.05605223e-03 9.98721640e-01 5.39988852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.68, Z:5.40 [[ 4.08793509e-02 -9.99163777e-01 -7.90752337e-04 1.18740563e+02] [ 9.97861682e-01 4.08664474e-02 -5.10097651e-02 1.12684839e+02] [ 5.09994248e-02 1.29618463e-03 9.98697841e-01 5.39977343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.71, Z:5.40 [[ 4.22885331e-02 -9.99105127e-01 -7.90189214e-04 1.18742331e+02] [ 9.97753654e-01 4.22724315e-02 -5.19681302e-02 1.12712862e+02] [ 5.19550286e-02 1.40924182e-03 9.98648431e-01 5.40060976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.74, Z:5.40 [[ 4.30863301e-02 -9.99071042e-01 -7.88404329e-04 1.18739408e+02] [ 9.97672021e-01 4.30677206e-02 -5.28744778e-02 1.12739875e+02] [ 5.28593144e-02 1.49159827e-03 9.98600855e-01 5.40002557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.77, Z:5.40 [[ 4.33855309e-02 -9.99058101e-01 -7.78294317e-04 1.18738770e+02] [ 9.97637845e-01 4.33653566e-02 -5.32745262e-02 1.12766931e+02] [ 5.32580980e-02 1.53488774e-03 9.98579601e-01 5.40023984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28687499999998 meters Centerline goodness [0,1] 0.9999532185628742 Centerline is valid? [True, True] Translation: X:118.74, Y:112.79, Z:5.40 [[ 4.34008394e-02 -9.99057444e-01 -7.68593704e-04 1.18740840e+02] [ 9.97614096e-01 4.33794549e-02 -5.37060332e-02 1.12794503e+02] [ 5.36887534e-02 1.56412701e-03 9.98556494e-01 5.40107076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.82, Z:5.40 [[ 4.23809403e-02 -9.99101238e-01 -7.56862853e-04 1.18741075e+02] [ 9.97636829e-01 4.23598018e-02 -5.40962518e-02 1.12820826e+02] [ 5.40796926e-02 1.53757576e-03 9.98535439e-01 5.40195835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:112.85, Z:5.40 [[ 4.06214397e-02 -9.99174340e-01 -7.33053208e-04 1.18744206e+02] [ 9.97735683e-01 4.06022889e-02 -5.36186585e-02 1.12849163e+02] [ 5.36041514e-02 1.44667376e-03 9.98561216e-01 5.40401709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters Centerline goodness [0,1] 0.999929375205989 Centerline is valid? [True, True] Translation: X:118.75, Y:112.88, Z:5.40 [[ 3.88536777e-02 -9.99244659e-01 -7.10052534e-04 1.18745263e+02] [ 9.97838876e-01 3.88366798e-02 -5.30027374e-02 1.12876159e+02] [ 5.29902783e-02 1.35083326e-03 9.98594115e-01 5.40484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40687499999999 meters Centerline goodness [0,1] 0.9999762543632608 Centerline is valid? [True, True] Translation: X:118.75, Y:112.90, Z:5.41 [[ 3.43707020e-02 -9.99408912e-01 -6.94568816e-04 1.18751094e+02] [ 9.98007719e-01 3.43592887e-02 -5.29153244e-02 1.12904593e+02] [ 5.29079117e-02 1.12555181e-03 9.98598761e-01 5.40763608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:112.93, Z:5.41 [[ 3.17450525e-02 -9.99495772e-01 -6.72858616e-04 1.18754928e+02] [ 9.98127114e-01 3.17367891e-02 -5.22976096e-02 1.12932687e+02] [ 5.22925941e-02 9.88591933e-04 9.98631317e-01 5.40995986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:112.96, Z:5.41 [[ 2.96359048e-02 -9.99560546e-01 -6.54678786e-04 1.18756451e+02] [ 9.98207613e-01 2.96298477e-02 -5.19964849e-02 1.12959993e+02] [ 5.19930329e-02 8.87457529e-04 9.98647053e-01 5.41075505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters Centerline goodness [0,1] 0.9999762193526908 Centerline is valid? [True, True] Translation: X:118.76, Y:112.99, Z:5.41 [[ 2.58930242e-02 -9.99664523e-01 -6.26635319e-04 1.18760715e+02] [ 9.98370157e-01 2.58913788e-02 -5.08592849e-02 1.12987664e+02] [ 5.08584472e-02 6.91286694e-04 9.98705633e-01 5.41316880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:113.02, Z:5.42 [[ 2.35247589e-02 -9.99723068e-01 -6.10158805e-04 1.18763437e+02] [ 9.98440066e-01 2.35254726e-02 -5.06358333e-02 1.13015376e+02] [ 5.06361649e-02 5.81988771e-04 9.98716997e-01 5.41514891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.04, Z:5.42 [[ 2.12850158e-02 -9.99773270e-01 -5.97686682e-04 1.18765591e+02] [ 9.98479672e-01 2.12878714e-02 -5.08445878e-02 1.13042874e+02] [ 5.08457833e-02 4.85449854e-04 9.98706399e-01 5.41614150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.07, Z:5.42 [[ 1.91233881e-02 -9.99816958e-01 -5.89163844e-04 1.18767568e+02] [ 9.98490264e-01 1.91283546e-02 -5.14907560e-02 1.13070554e+02] [ 5.14926007e-02 3.96403345e-04 9.98673297e-01 5.41638013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.10, Z:5.42 [[ 1.50614621e-02 -9.99886399e-01 -5.84417410e-04 1.18772092e+02] [ 9.98507545e-01 1.50713736e-02 -5.24931950e-02 1.13098271e+02] [ 5.24960397e-02 2.07079071e-04 9.98621111e-01 5.41831347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.12, Z:5.42 [[ 1.28702703e-02 -9.99917013e-01 -5.67960478e-04 1.18773853e+02] [ 9.98544496e-01 1.28823524e-02 -5.23730326e-02 1.13124350e+02] [ 5.23760030e-02 1.06921275e-04 9.98627429e-01 5.41883741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:113.15, Z:5.42 [[ 1.10230406e-02 -9.99939092e-01 -5.52677450e-04 1.18775378e+02] [ 9.98557029e-01 1.10368530e-02 -5.25551926e-02 1.13151574e+02] [ 5.25580914e-02 2.74380700e-05 9.98617868e-01 5.42037695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:113.18, Z:5.42 [[ 9.27564379e-03 -9.99956837e-01 -5.34473737e-04 1.18776464e+02] [ 9.98587404e-01 9.29090315e-03 -5.23151628e-02 1.13178245e+02] [ 5.23178705e-02 -4.84619262e-05 9.98630481e-01 5.42137336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:113.21, Z:5.42 [[ 6.70306956e-03 -9.99977408e-01 -5.02283653e-04 1.18777313e+02] [ 9.98708516e-01 6.71985954e-03 -5.03601363e-02 1.13205489e+02] [ 5.03623739e-02 -1.64067465e-04 9.98730997e-01 5.42364375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:113.23, Z:5.43 [[ 6.26794307e-03 -9.99980242e-01 -4.78389680e-04 1.18777306e+02] [ 9.98755492e-01 6.28393604e-03 -4.94770585e-02 1.13231870e+02] [ 4.94790871e-02 -1.67674934e-04 9.98775146e-01 5.42535031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:113.26, Z:5.43 [[ 6.36062399e-03 -9.99979668e-01 -4.53700435e-04 1.18776649e+02] [ 9.98803023e-01 6.37514282e-03 -4.84961736e-02 1.13258900e+02] [ 4.84980800e-02 -1.44691441e-04 9.98823265e-01 5.42802341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.29, Z:5.43 [[ 8.93766468e-03 -9.99959965e-01 -4.32244480e-04 1.18773951e+02] [ 9.98819982e-01 8.94810926e-03 -4.77344224e-02 1.13286346e+02] [ 4.77363791e-02 -5.10016263e-06 9.98859969e-01 5.43054452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters Centerline goodness [0,1] 0.9998800153580342 Centerline is valid? [True, True] Translation: X:118.77, Y:113.31, Z:5.43 [[ 1.05301665e-02 -9.99944471e-01 -4.13737390e-04 1.18771490e+02] [ 9.98826981e-01 1.05379533e-02 -4.72611208e-02 1.13312266e+02] [ 4.72628564e-02 8.44154020e-05 9.98882483e-01 5.43143223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:113.34, Z:5.43 [[ 1.28343731e-02 -9.99917556e-01 -3.99799179e-04 1.18768309e+02] [ 9.98815114e-01 1.28389916e-02 -4.69417575e-02 1.13339041e+02] [ 4.69430205e-02 2.03142568e-04 9.98897548e-01 5.43200549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:113.37, Z:5.43 [[ 1.53831300e-02 -9.99881597e-01 -3.89933527e-04 1.18764967e+02] [ 9.98770642e-01 1.53844148e-02 -4.71224388e-02 1.13366596e+02] [ 4.71228582e-02 3.35436442e-04 9.98889045e-01 5.43249966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:113.39, Z:5.43 [[ 2.12823261e-02 -9.99773433e-01 -3.81864295e-04 1.18757901e+02] [ 9.98623323e-01 2.12761564e-02 -4.79456270e-02 1.13393862e+02] [ 4.79428887e-02 6.39055878e-04 9.98849874e-01 5.43116971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.42, Z:5.43 [[ 2.38233664e-02 -9.99716114e-01 -3.71393159e-04 1.18754122e+02] [ 9.98544017e-01 2.38134165e-02 -4.84021348e-02 1.13421416e+02] [ 4.83972383e-02 7.82249378e-04 9.98827861e-01 5.43103831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.45, Z:5.43 [[ 2.59926896e-02 -9.99662068e-01 -3.61089174e-04 1.18753103e+02] [ 9.98465809e-01 2.59792480e-02 -4.88989475e-02 1.13449185e+02] [ 4.88918038e-02 9.10479973e-04 9.98803666e-01 5.43173189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.48, Z:5.43 [[ 2.98421011e-02 -9.99554562e-01 -3.55529515e-04 1.18748172e+02] [ 9.98299622e-01 2.98224489e-02 -5.00847928e-02 1.13476589e+02] [ 5.00730858e-02 1.13971047e-03 9.98744906e-01 5.43096834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.50, Z:5.43 [[ 3.14034571e-02 -9.99506732e-01 -3.40650872e-04 1.18746002e+02] [ 9.98257820e-01 3.13812468e-02 -4.99654033e-02 1.13503236e+02] [ 4.99514471e-02 1.22902900e-03 9.98750891e-01 5.43199394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.53, Z:5.43 [[ 3.24122615e-02 -9.99474531e-01 -3.26662162e-04 1.18745074e+02] [ 9.98251392e-01 3.23887573e-02 -4.94482189e-02 1.13531602e+02] [ 4.94328156e-02 1.27663764e-03 9.98776635e-01 5.43332380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:113.56, Z:5.43 [[ 3.34138617e-02 -9.99441552e-01 -3.14185824e-04 1.18743158e+02] [ 9.98209392e-01 3.33882696e-02 -4.96309795e-02 1.13558590e+02] [ 4.96137532e-02 1.34473944e-03 9.98767574e-01 5.43430110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:113.59, Z:5.44 [[ 3.37755434e-02 -9.99429399e-01 -2.98831258e-04 1.18743644e+02] [ 9.98211262e-01 3.37491320e-02 -4.93484704e-02 1.13585612e+02] [ 4.93303974e-02 1.36847468e-03 9.98781577e-01 5.43516549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:113.61, Z:5.44 [[ 3.33241552e-02 -9.99444556e-01 -2.81523197e-04 1.18744995e+02] [ 9.98244311e-01 3.32979340e-02 -4.89851361e-02 1.13612548e+02] [ 4.89673017e-02 1.35135935e-03 9.98799468e-01 5.43657082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.64, Z:5.44 [[ 3.30089468e-02 -9.99455021e-01 -2.66070448e-04 1.18745027e+02] [ 9.98254784e-01 3.29823473e-02 -4.89852203e-02 1.13639337e+02] [ 4.89673000e-02 1.35134443e-03 9.98799468e-01 5.43774031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:113.67, Z:5.44 [[ 3.27308623e-02 -9.99464171e-01 -2.47987002e-04 1.18744800e+02] [ 9.98290369e-01 3.27044419e-02 -4.84433476e-02 1.13666148e+02] [ 4.84255005e-02 1.33802950e-03 9.98825901e-01 5.43881561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:113.69, Z:5.44 [[ 3.21095747e-02 -9.99484328e-01 -2.31738970e-04 1.18744787e+02] [ 9.98321123e-01 3.20833866e-02 -4.82243819e-02 1.13693053e+02] [ 4.82069489e-02 1.31711448e-03 9.98836501e-01 5.43977345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.72, Z:5.44 [[ 3.07272225e-02 -9.99527784e-01 -2.16529475e-04 1.18745072e+02] [ 9.98364139e-01 3.07018989e-02 -4.82331800e-02 1.13719671e+02] [ 4.82170514e-02 1.26589639e-03 9.98836079e-01 5.44054523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.75, Z:5.44 [[ 2.94454474e-02 -9.99566369e-01 -1.99090082e-04 1.18745659e+02] [ 9.98422335e-01 2.94212718e-02 -4.78249893e-02 1.13747125e+02] [ 4.78101084e-02 1.20945222e-03 9.98855711e-01 5.44128666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.78, Z:5.44 [[ 2.82183964e-02 -9.99601765e-01 -1.84926120e-04 1.18749183e+02] [ 9.98453352e-01 2.81948416e-02 -4.79161228e-02 1.13775208e+02] [ 4.79022548e-02 1.16747604e-03 9.98851346e-01 5.44328580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.80, Z:5.44 [[ 2.65677610e-02 -9.99647000e-01 -1.70620418e-04 1.18749879e+02] [ 9.98507627e-01 2.65456258e-02 -4.77268221e-02 1.13803368e+02] [ 4.77145037e-02 1.09762902e-03 9.98860411e-01 5.44400047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.83, Z:5.45 [[ 2.29350251e-02 -9.99736945e-01 -1.56990936e-04 1.18751084e+02] [ 9.98599715e-01 2.29164233e-02 -4.76806671e-02 1.13830709e+02] [ 4.76717221e-02 9.36786193e-04 9.98862618e-01 5.44524871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.86, Z:5.45 [[ 2.06705280e-02 -9.99786331e-01 -1.44336464e-04 1.18753027e+02] [ 9.98645481e-01 2.06538353e-02 -4.77558631e-02 1.13858418e+02] [ 4.77486403e-02 8.42997947e-04 9.98859027e-01 5.44648931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:113.89, Z:5.45 [[ 1.83044744e-02 -9.99832450e-01 -1.31145862e-04 1.18754718e+02] [ 9.98696369e-01 1.82899264e-02 -4.76554467e-02 1.13886171e+02] [ 4.76498607e-02 7.41333006e-04 9.98863825e-01 5.44765374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:113.91, Z:5.45 [[ 1.47443979e-02 -9.99891288e-01 -1.19241108e-04 1.18758459e+02] [ 9.98720827e-01 1.47329066e-02 -4.83699463e-02 1.13914722e+02] [ 4.83664447e-02 5.94097158e-04 9.98829482e-01 5.44965765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:113.94, Z:5.45 [[ 1.31076438e-02 -9.99914085e-01 -1.07088036e-04 1.18759111e+02] [ 9.98730468e-01 1.30973373e-02 -4.86406345e-02 1.13941738e+02] [ 4.86378582e-02 5.30612026e-04 9.98816338e-01 5.45068540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters Centerline goodness [0,1] 0.9999056091747882 Centerline is valid? [True, True] Translation: X:118.76, Y:113.97, Z:5.45 [[ 1.14942232e-02 -9.99933935e-01 -9.24555483e-05 1.18760212e+02] [ 9.98737207e-01 1.14849891e-02 -4.89089652e-02 1.13969125e+02] [ 4.89067958e-02 4.69831768e-04 9.98803236e-01 5.45192294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.00, Z:5.45 [[ 9.84298160e-03 -9.99951554e-01 -7.74786164e-05 1.18760805e+02] [ 9.98739168e-01 9.83486180e-03 -4.92275273e-02 1.13996255e+02] [ 4.92259044e-02 4.07164717e-04 9.98787587e-01 5.45307241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.02, Z:5.45 [[ 8.31061408e-03 -9.99965464e-01 -6.28263065e-05 1.18761118e+02] [ 9.98714585e-01 8.30335971e-03 -5.00023103e-02 1.14023733e+02] [ 5.00011051e-02 3.52804355e-04 9.98749100e-01 5.45344590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.05, Z:5.45 [[ 5.80177308e-03 -9.99983168e-01 -4.72377675e-05 1.18762126e+02] [ 9.98727472e-01 5.79685426e-03 -5.00982434e-02 1.14051146e+02] [ 5.00976740e-02 2.43480984e-04 9.98744293e-01 5.45453572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.08, Z:5.46 [[ 4.48851316e-03 -9.99989926e-01 -3.12458075e-05 1.18762280e+02] [ 9.98775811e-01 4.48460279e-03 -4.92622244e-02 1.14077312e+02] [ 4.92618683e-02 1.89906586e-04 9.98785879e-01 5.45623213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.10, Z:5.46 [[ 3.64164557e-03 -9.99993369e-01 -1.52254983e-05 1.18762045e+02] [ 9.98817616e-01 3.63810198e-03 -4.84781846e-02 1.14104435e+02] [ 4.84779185e-02 1.61332870e-04 9.98824241e-01 5.45804656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.13, Z:5.46 [[ 4.09097742e-03 -9.99991632e-01 -6.02278849e-07 1.18759941e+02] [ 9.98868406e-01 4.08641083e-03 -4.73836305e-02 1.14131015e+02] [ 4.73832365e-02 1.93243765e-04 9.98876765e-01 5.46105676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.16, Z:5.46 [[ 5.36152762e-03 -9.99985627e-01 1.43488235e-05 1.18758491e+02] [ 9.98882824e-01 5.35494112e-03 -4.69513514e-02 1.14158607e+02] [ 4.69505998e-02 2.66063761e-04 9.98897177e-01 5.46325160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:114.19, Z:5.46 [[ 6.88760111e-03 -9.99976280e-01 2.89358446e-05 1.18756638e+02] [ 9.98874135e-01 6.87865158e-03 -4.69376814e-02 1.14185650e+02] [ 4.69363690e-02 3.52191293e-04 9.98897819e-01 5.46470803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:114.21, Z:5.47 [[ 9.20077868e-03 -9.99957671e-01 4.34267345e-05 1.18754096e+02] [ 9.98851402e-01 9.18855744e-03 -4.70260327e-02 1.14213496e+02] [ 4.70236431e-02 4.76052974e-04 9.98893663e-01 5.46655088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:114.24, Z:5.47 [[ 1.46959843e-02 -9.99892007e-01 5.73682699e-05 1.18747847e+02] [ 9.98753011e-01 1.46765061e-02 -4.77181612e-02 1.14241143e+02] [ 4.77121660e-02 7.58562081e-04 9.98860838e-01 5.46651072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.27, Z:5.47 [[ 1.69743208e-02 -9.99855923e-01 7.27798227e-05 1.18743755e+02] [ 9.98676718e-01 1.69507674e-02 -4.85539381e-02 1.14268532e+02] [ 4.85457089e-02 8.96853634e-04 9.98820559e-01 5.46574454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.30, Z:5.47 [[ 1.94955104e-02 -9.99809941e-01 8.88672643e-05 1.18741911e+02] [ 9.98570700e-01 1.94669219e-02 -4.97754593e-02 1.14296092e+02] [ 4.97642690e-02 1.05913823e-03 9.98760430e-01 5.46623177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.966875 meters Centerline goodness [0,1] 0.999976780904616 Centerline is valid? [True, True] Translation: X:118.74, Y:114.32, Z:5.47 [[ 2.16718735e-02 -9.99765132e-01 1.00871970e-04 1.18739370e+02] [ 9.98480077e-01 2.16389031e-02 -5.06882101e-02 1.14323076e+02] [ 5.06741223e-02 1.19922713e-03 9.98714521e-01 5.46681502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters Centerline goodness [0,1] 0.9999767630998024 Centerline is valid? [True, True] Translation: X:118.74, Y:114.35, Z:5.47 [[ 2.45961746e-02 -9.99697462e-01 1.16176187e-04 1.18736400e+02] [ 9.98313783e-01 2.45560186e-02 -5.25984105e-02 1.14351422e+02] [ 5.25796446e-02 1.40969998e-03 9.98615739e-01 5.46679322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.38, Z:5.47 [[ 2.51829523e-02 -9.99682850e-01 1.32396664e-04 1.18736388e+02] [ 9.98264835e-01 2.51401792e-02 -5.32474559e-02 1.14379447e+02] [ 5.32272400e-02 1.47309508e-03 9.98581339e-01 5.46790799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.41, Z:5.47 [[ 2.50572269e-02 -9.99686007e-01 1.48650748e-04 1.18733134e+02] [ 9.98252066e-01 2.50133229e-02 -5.35457371e-02 1.14405829e+02] [ 5.35252059e-02 1.49009860e-03 9.98565387e-01 5.46771962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.43, Z:5.47 [[ 2.38867289e-02 -9.99714658e-01 1.63322872e-04 1.18734899e+02] [ 9.98321768e-01 2.38448262e-02 -5.27737839e-02 1.14433507e+02] [ 5.27548309e-02 1.42364185e-03 9.98606480e-01 5.47048361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.46, Z:5.47 [[ 2.24132649e-02 -9.99748776e-01 1.76154979e-04 1.18735063e+02] [ 9.98387436e-01 2.23735524e-02 -5.21723217e-02 1.14459443e+02] [ 5.21552736e-02 1.34522299e-03 9.98638081e-01 5.47235667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.49, Z:5.47 [[ 2.08445815e-02 -9.99782711e-01 1.84707051e-04 1.18736122e+02] [ 9.98477591e-01 2.08079334e-02 -5.10835691e-02 1.14487282e+02] [ 5.10686258e-02 1.24924147e-03 9.98694365e-01 5.47478081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.51, Z:5.48 [[ 1.89549514e-02 -9.99820320e-01 1.96251201e-04 1.18736764e+02] [ 9.98543626e-01 1.89208303e-02 -5.05235411e-02 1.14513978e+02] [ 5.05107498e-02 1.15363665e-03 9.98722851e-01 5.47630016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.206875 meters Centerline goodness [0,1] 0.999976786833492 Centerline is valid? [True, True] Translation: X:118.74, Y:114.54, Z:5.48 [[ 1.61837018e-02 -9.99869013e-01 2.09480947e-04 1.18738343e+02] [ 9.98595697e-01 1.61525213e-02 -5.04552233e-02 1.14542039e+02] [ 5.04452306e-02 1.02573906e-03 9.98726302e-01 5.47797671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.57, Z:5.48 [[ 1.48394163e-02 -9.99889865e-01 2.23411962e-04 1.18739373e+02] [ 9.98615947e-01 1.48092339e-02 -5.04665981e-02 1.14569014e+02] [ 5.04577314e-02 9.71997607e-04 9.98725724e-01 5.47950011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.59, Z:5.48 [[ 1.36479224e-02 -9.99906835e-01 2.37707239e-04 1.18739474e+02] [ 9.98646662e-01 1.36187896e-02 -5.01933502e-02 1.14594995e+02] [ 5.01854367e-02 9.22420490e-04 9.98739491e-01 5.48046065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters Centerline goodness [0,1] 0.9999767209069534 Centerline is valid? [True, True] Translation: X:118.74, Y:114.62, Z:5.48 [[ 1.29054924e-02 -9.99916688e-01 2.56168728e-04 1.18741541e+02] [ 9.98633089e-01 1.28759476e-02 -5.06573077e-02 1.14623534e+02] [ 5.06497889e-02 9.09576067e-04 9.98716062e-01 5.48173657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.65, Z:5.48 [[ 1.17736012e-02 -9.99930650e-01 2.77534722e-04 1.18741247e+02] [ 9.98583816e-01 1.17433410e-02 -5.18888783e-02 1.14650444e+02] [ 5.18820207e-02 8.88060641e-04 9.98652826e-01 5.48148147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.68, Z:5.48 [[ 1.17520480e-02 -9.99930899e-01 2.94983666e-04 1.18740675e+02] [ 9.98562313e-01 1.17205327e-02 -5.23061697e-02 1.14676353e+02] [ 5.22990979e-02 9.09264190e-04 9.98631052e-01 5.48254232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.70, Z:5.48 [[ 1.18947289e-02 -9.99929208e-01 3.05676090e-04 1.18740619e+02] [ 9.98580936e-01 1.18628195e-02 -5.19171328e-02 1.14703174e+02] [ 5.19098313e-02 9.22782536e-04 9.98651350e-01 5.48344636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.73, Z:5.48 [[ 1.35383750e-02 -9.99908296e-01 3.34382369e-04 1.18739641e+02] [ 9.98451488e-01 1.35006034e-02 -5.39662799e-02 1.14731124e+02] [ 5.39568166e-02 1.06448031e-03 9.98542703e-01 5.48334166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.76, Z:5.48 [[ 1.43712183e-02 -9.99896666e-01 3.54838403e-04 1.18738028e+02] [ 9.98394781e-01 1.43301867e-02 -5.47951393e-02 1.14758365e+02] [ 5.47843922e-02 1.14174172e-03 9.98497555e-01 5.48312639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters Centerline goodness [0,1] 0.9999535369961668 Centerline is valid? [True, True] Translation: X:118.74, Y:114.79, Z:5.48 [[ 1.55494009e-02 -9.99879031e-01 3.72197594e-04 1.18737703e+02] [ 9.98363802e-01 1.55053492e-02 -5.50391095e-02 1.14786235e+02] [ 5.50266804e-02 1.22741378e-03 9.98484130e-01 5.48419270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.81, Z:5.49 [[ 1.64774345e-02 -9.99864161e-01 3.91152420e-04 1.18736204e+02] [ 9.98319695e-01 1.64302436e-02 -5.55682726e-02 1.14814390e+02] [ 5.55542975e-02 1.30611774e-03 9.98454813e-01 5.48518752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.84, Z:5.49 [[ 1.83400021e-02 -9.99831725e-01 4.06506121e-04 1.18734799e+02] [ 9.98287360e-01 1.82890809e-02 -5.55684864e-02 1.14842054e+02] [ 5.55517010e-02 1.42493608e-03 9.98454795e-01 5.48625649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.87, Z:5.49 [[ 1.87469966e-02 -9.99824172e-01 4.19746471e-04 1.18734727e+02] [ 9.98301741e-01 1.86952876e-02 -5.51735391e-02 1.14869269e+02] [ 5.51559907e-02 1.45337178e-03 9.98476692e-01 5.48802765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters Centerline goodness [0,1] 0.9999766207654361 Centerline is valid? [True, True] Translation: X:118.73, Y:114.90, Z:5.49 [[ 1.89383025e-02 -9.99820561e-01 4.31265230e-04 1.18734481e+02] [ 9.98335377e-01 1.88866643e-02 -5.44955918e-02 1.14896526e+02] [ 5.44776680e-02 1.46260134e-03 9.98513918e-01 5.48984178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.92, Z:5.49 [[ 1.84343512e-02 -9.99829976e-01 4.41166514e-04 1.18734234e+02] [ 9.98390515e-01 1.83841382e-02 -5.36507476e-02 1.14922378e+02] [ 5.36335152e-02 1.42947318e-03 9.98559664e-01 5.49218813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:114.95, Z:5.49 [[ 1.77816311e-02 -9.99841794e-01 4.47556413e-04 1.18732913e+02] [ 9.98464822e-01 1.77336537e-02 -5.24739576e-02 1.14948788e+02] [ 5.24577191e-02 1.37994189e-03 9.98622193e-01 5.49382972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:114.98, Z:5.50 [[ 1.56030048e-02 -9.99878165e-01 4.47652037e-04 1.18735552e+02] [ 9.98574156e-01 1.55597941e-02 -5.10641618e-02 1.14976879e+02] [ 5.10509750e-02 1.24376812e-03 9.98695274e-01 5.49729608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.00, Z:5.50 [[ 1.33715746e-02 -9.99910490e-01 4.60889520e-04 1.18736909e+02] [ 9.98610447e-01 1.33306888e-02 -5.09849700e-02 1.15004787e+02] [ 5.09742624e-02 1.14199842e-03 9.98699314e-01 5.49876875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.03, Z:5.50 [[ 1.08790631e-02 -9.99940711e-01 4.69024924e-04 1.18738169e+02] [ 9.98671677e-01 1.08416292e-02 -5.03720238e-02 1.15032937e+02] [ 5.03639523e-02 1.01640233e-03 9.98730414e-01 5.50020149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.06, Z:5.50 [[ 6.15712068e-03 -9.99980927e-01 4.85306369e-04 1.18741757e+02] [ 9.98698043e-01 6.12464384e-03 -5.06429469e-02 1.15061518e+02] [ 5.06390086e-02 7.96489256e-04 9.98716705e-01 5.50228433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.09, Z:5.50 [[ 3.86253995e-03 -9.99992417e-01 4.96374548e-04 1.18741705e+02] [ 9.98723436e-01 3.83263746e-03 -5.03667389e-02 1.15087484e+02] [ 5.03644546e-02 6.90284436e-04 9.98730667e-01 5.50294098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.11, Z:5.50 [[ 1.49805013e-03 -9.99998746e-01 5.14468474e-04 1.18741708e+02] [ 9.98719766e-01 1.47012079e-03 -5.05635013e-02 1.15114166e+02] [ 5.05626816e-02 5.89556494e-04 9.98720716e-01 5.50364749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.14, Z:5.50 [[-5.71221054e-04 -9.99999696e-01 5.30651996e-04 1.18742062e+02] [ 9.98703901e-01 -5.97487681e-04 -5.08936265e-02 1.15141248e+02] [ 5.08939281e-02 5.00892708e-04 9.98703939e-01 5.50415936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.17, Z:5.51 [[-4.08281153e-03 -9.99991511e-01 5.54992866e-04 1.18741973e+02] [ 9.98656366e-01 -4.10603069e-03 -5.16585292e-02 1.15168789e+02] [ 5.16603695e-02 3.43335120e-04 9.98664653e-01 5.50512036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.20, Z:5.51 [[-5.41732929e-03 -9.99985157e-01 5.81431645e-04 1.18741599e+02] [ 9.98602312e-01 -5.44040538e-03 -5.25720867e-02 1.15196462e+02] [ 5.25744696e-02 2.95818680e-04 9.98616962e-01 5.50585890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.22, Z:5.51 [[-6.62632173e-03 -9.99977863e-01 6.04595611e-04 1.18740588e+02] [ 9.98564851e-01 -6.64908833e-03 -5.31415772e-02 1.15222728e+02] [ 5.31444208e-02 2.51594739e-04 9.98586805e-01 5.50666330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.25, Z:5.51 [[-7.60220421e-03 -9.99970905e-01 6.28766469e-04 1.18739630e+02] [ 9.98526951e-01 -7.62500467e-03 -5.37195228e-02 1.15249539e+02] [ 5.37227541e-02 2.19453483e-04 9.98555866e-01 5.50760404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.28, Z:5.51 [[-8.18479523e-03 -9.99966294e-01 6.47356800e-04 1.18737799e+02] [ 9.98515473e-01 -8.20777945e-03 -5.38468505e-02 1.15275479e+02] [ 5.38503489e-02 2.05670336e-04 9.98548996e-01 5.50761671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:115.30, Z:5.51 [[-8.17962751e-03 -9.99966324e-01 6.66274467e-04 1.18735209e+02] [ 9.98509705e-01 -8.20366211e-03 -5.39543160e-02 1.15302763e+02] [ 5.39579650e-02 2.23955313e-04 9.98543183e-01 5.50931411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:115.33, Z:5.51 [[-7.48317403e-03 -9.99971772e-01 6.76585478e-04 1.18732968e+02] [ 9.98543527e-01 -7.50863488e-03 -5.34270071e-02 1.15329475e+02] [ 5.34305792e-02 2.75796457e-04 9.98571528e-01 5.51003555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:115.36, Z:5.51 [[-6.51671882e-03 -9.99978526e-01 6.93338427e-04 1.18730824e+02] [ 9.98552750e-01 -6.54443942e-03 -5.33814118e-02 1.15357015e+02] [ 5.33848029e-02 3.44463343e-04 9.98573955e-01 5.51189608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:115.38, Z:5.51 [[-6.82581473e-03 -9.99976452e-01 7.09865786e-04 1.18730353e+02] [ 9.98550685e-01 -6.85397686e-03 -5.33811924e-02 1.15383788e+02] [ 5.33848008e-02 3.44466838e-04 9.98573955e-01 5.51306517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:115.41, Z:5.51 [[-5.48429806e-03 -9.99984698e-01 7.25801772e-04 1.18727621e+02] [ 9.98561261e-01 -5.51520513e-03 -5.33384559e-02 1.15410847e+02] [ 5.33416427e-02 4.32233542e-04 9.98576228e-01 5.51448891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:115.44, Z:5.52 [[-1.22729929e-03 -9.99998971e-01 7.42982991e-04 1.18721936e+02] [ 9.98572844e-01 -1.26521818e-03 -5.33917070e-02 1.15438323e+02] [ 5.33925921e-02 6.76395034e-04 9.98573369e-01 5.51623458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:115.47, Z:5.52 [[ 8.47941785e-04 -9.99999356e-01 7.54258412e-04 1.18717453e+02] [ 9.98590634e-01 8.06721099e-04 -5.30668869e-02 1.15465722e+02] [ 5.30662443e-02 7.98193017e-04 9.98590675e-01 5.51670036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:115.49, Z:5.52 [[ 2.75834145e-03 -9.99995897e-01 7.73520648e-04 1.18714728e+02] [ 9.98573797e-01 2.71317460e-03 -5.33198899e-02 1.15493367e+02] [ 5.33175724e-02 9.19491914e-04 9.98577183e-01 5.51799583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:115.52, Z:5.52 [[ 4.51596672e-03 -9.99989490e-01 7.90658218e-04 1.18712120e+02] [ 9.98558758e-01 4.46721815e-03 -5.34831833e-02 1.15521289e+02] [ 5.34790891e-02 1.03104696e-03 9.98568437e-01 5.51905352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:115.55, Z:5.52 [[ 7.63124050e-03 -9.99970557e-01 8.05775581e-04 1.18706558e+02] [ 9.98539821e-01 7.57722245e-03 -5.34865636e-02 1.15548675e+02] [ 5.34788833e-02 1.21276783e-03 9.98568244e-01 5.51875344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.58, Z:5.52 [[ 8.48636038e-03 -9.99963654e-01 8.20081546e-04 1.18704330e+02] [ 9.98537205e-01 8.43045435e-03 -5.34076579e-02 1.15576830e+02] [ 5.33988030e-02 1.27211857e-03 9.98572456e-01 5.52011004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:115.61, Z:5.52 [[ 8.84935309e-03 -9.99960493e-01 8.37545295e-04 1.18705131e+02] [ 9.98524617e-01 8.79176484e-03 -5.35844501e-02 1.15605263e+02] [ 5.35749696e-02 1.31049731e-03 9.98562970e-01 5.52216978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.63, Z:5.52 [[ 8.87381870e-03 -9.99960259e-01 8.57760834e-04 1.18701573e+02] [ 9.98508590e-01 8.81471961e-03 -5.38785289e-02 1.15632337e+02] [ 5.38688268e-02 1.33458986e-03 9.98547129e-01 5.52256438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.66, Z:5.52 [[ 8.67513253e-03 -9.99961985e-01 8.77955229e-04 1.18702359e+02] [ 9.98496730e-01 8.61489519e-03 -5.41300650e-02 1.15660576e+02] [ 5.41204437e-02 1.34622091e-03 9.98533507e-01 5.52478510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.69, Z:5.52 [[ 8.27592789e-03 -9.99965353e-01 8.95135772e-04 1.18699039e+02] [ 9.98494982e-01 8.21521893e-03 -5.42243632e-02 1.15687770e+02] [ 5.42151308e-02 1.34254550e-03 9.98528376e-01 5.52453884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.71, Z:5.53 [[ 7.72623071e-03 -9.99969739e-01 9.08594212e-04 1.18697903e+02] [ 9.98508749e-01 7.66583049e-03 -5.40510232e-02 1.15714706e+02] [ 5.40424224e-02 1.32484994e-03 9.98537762e-01 5.52538074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.74, Z:5.53 [[ 7.04392845e-03 -9.99974756e-01 9.33497644e-04 1.18697311e+02] [ 9.98488104e-01 6.98255801e-03 -5.45229270e-02 1.15742444e+02] [ 5.45150324e-02 1.31614189e-03 9.98512083e-01 5.52631084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.77, Z:5.53 [[ 6.24332612e-03 -9.99980061e-01 9.47394543e-04 1.18696333e+02] [ 9.98502299e-01 6.18259905e-03 -5.43593022e-02 1.15769955e+02] [ 5.43523610e-02 1.28535848e-03 9.98520991e-01 5.52725967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.80, Z:5.53 [[ 4.58376924e-03 -9.99989031e-01 9.62935851e-04 1.18696715e+02] [ 9.98513484e-01 4.52470113e-03 -5.43171188e-02 1.15798432e+02] [ 5.43121660e-02 1.21048157e-03 9.98523271e-01 5.52853820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.82, Z:5.53 [[ 3.36070000e-03 -9.99993876e-01 9.76066752e-04 1.18696043e+02] [ 9.98525358e-01 3.30287454e-03 -5.41867140e-02 1.15824826e+02] [ 5.41831584e-02 1.15673269e-03 9.98530344e-01 5.52984216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.85, Z:5.53 [[ 2.00925390e-03 -9.99997483e-01 9.98319227e-04 1.18696209e+02] [ 9.98514899e-01 1.95192204e-03 -5.44443342e-02 1.15851906e+02] [ 5.44422486e-02 1.10622911e-03 9.98516308e-01 5.53145832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.88, Z:5.53 [[ 8.66154124e-04 -9.99999104e-01 1.02081890e-03 1.18696290e+02] [ 9.98499457e-01 8.08959565e-04 -5.47556310e-02 1.15879406e+02] [ 5.47547561e-02 1.06671393e-03 9.98499263e-01 5.53300968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.91, Z:5.53 [[-1.34519211e-03 -9.99998554e-01 1.04022769e-03 1.18696999e+02] [ 9.98489939e-01 -1.40028903e-03 -5.49170383e-02 1.15907365e+02] [ 5.49184155e-02 9.64782915e-04 9.98490379e-01 5.53387505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.93, Z:5.53 [[-2.52127817e-03 -9.99996264e-01 1.05608767e-03 1.18696510e+02] [ 9.98486244e-01 -2.57549442e-03 -5.49416761e-02 1.15934911e+02] [ 5.49441908e-02 9.15965767e-04 9.98489007e-01 5.53496205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.96, Z:5.54 [[-3.65765626e-03 -9.99992730e-01 1.07744534e-03 1.18695611e+02] [ 9.98470466e-01 -3.71152381e-03 -5.51629637e-02 1.15960882e+02] [ 5.51665616e-02 8.74030187e-04 9.98476783e-01 5.53594797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:115.99, Z:5.54 [[-4.70068018e-03 -9.99988349e-01 1.09772150e-03 1.18695857e+02] [ 9.98457981e-01 -4.75420064e-03 -5.53087531e-02 1.15988634e+02] [ 5.53133275e-02 8.36040030e-04 9.98468696e-01 5.53748904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.01, Z:5.54 [[-5.49789138e-03 -9.99984276e-01 1.10482030e-03 1.18694195e+02] [ 9.98479174e-01 -5.55021682e-03 -5.48500996e-02 1.16014972e+02] [ 5.48553692e-02 8.01580173e-04 9.98493989e-01 5.53950122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.04, Z:5.54 [[-5.49042857e-03 -9.99984313e-01 1.10871262e-03 1.18694500e+02] [ 9.98514481e-01 -5.54245643e-03 -5.42043575e-02 1.16042958e+02] [ 5.42096522e-02 8.09460456e-04 9.98529248e-01 5.54269541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.07, Z:5.54 [[-5.32923002e-03 -9.99985176e-01 1.11648771e-03 1.18692384e+02] [ 9.98535206e-01 -5.38161252e-03 -5.38375340e-02 1.16070046e+02] [ 5.38427444e-02 8.27939681e-04 9.98549084e-01 5.54390038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.10, Z:5.55 [[-4.36806277e-03 -9.99989861e-01 1.09470725e-03 1.18690484e+02] [ 9.98633919e-01 -4.41913640e-03 -5.20650228e-02 1.16097588e+02] [ 5.20693326e-02 8.65788507e-04 9.98643097e-01 5.54654959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.12, Z:5.55 [[-3.71145638e-03 -9.99992504e-01 1.10296643e-03 1.18687025e+02] [ 9.98652732e-01 -3.76356804e-03 -5.17547660e-02 1.16124881e+02] [ 5.17585292e-02 9.09394886e-04 9.98659215e-01 5.54709772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:116.15, Z:5.55 [[-3.06354873e-03 -9.99994688e-01 1.11306002e-03 1.18686143e+02] [ 9.98667451e-01 -3.11682022e-03 -5.15131893e-02 1.16153280e+02] [ 5.15163849e-02 9.53763648e-04 9.98671694e-01 5.54856992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.18, Z:5.55 [[-2.00072118e-03 -9.99997363e-01 1.12741260e-03 1.18684757e+02] [ 9.98670534e-01 -2.05613598e-03 -5.15066680e-02 1.16181771e+02] [ 5.15088503e-02 1.02286326e-03 9.98672014e-01 5.54977864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.21, Z:5.55 [[-2.38437172e-03 -9.99996506e-01 1.14138438e-03 1.18683967e+02] [ 9.98669821e-01 -2.43999416e-03 -5.15037310e-02 1.16210303e+02] [ 5.15063360e-02 1.01706210e-03 9.98672150e-01 5.55114888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.24, Z:5.55 [[-2.77547955e-03 -9.99995482e-01 1.15458782e-03 1.18681359e+02] [ 9.98672483e-01 -2.83119066e-03 -5.14320514e-02 1.16237067e+02] [ 5.14350878e-02 1.01030647e-03 9.98675829e-01 5.55193856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.26, Z:5.55 [[-3.18162573e-03 -9.99994260e-01 1.16531932e-03 1.18681020e+02] [ 9.98682041e-01 -3.23714115e-03 -5.12220831e-02 1.16264135e+02] [ 5.12255613e-02 1.00081398e-03 9.98686608e-01 5.55342525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.29, Z:5.55 [[-3.46386686e-03 -9.99993305e-01 1.17998789e-03 1.18677869e+02] [ 9.98684245e-01 -3.51970152e-03 -5.11604409e-02 1.16290338e+02] [ 5.11642515e-02 1.00122236e-03 9.98689750e-01 5.55373445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:116.32, Z:5.56 [[-3.26324920e-03 -9.99993951e-01 1.20346190e-03 1.18678074e+02] [ 9.98669626e-01 -3.32085597e-03 -5.14582417e-02 1.16318376e+02] [ 5.14619270e-02 1.03393978e-03 9.98674422e-01 5.55505905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:116.35, Z:5.56 [[-2.48581915e-03 -9.99996139e-01 1.24172911e-03 1.18674793e+02] [ 9.98620946e-01 -2.54751437e-03 -5.24377346e-02 1.16345885e+02] [ 5.24406955e-02 1.10966598e-03 9.98623424e-01 5.55503108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:116.37, Z:5.55 [[-1.56067813e-03 -9.99997960e-01 1.28242322e-03 1.18671309e+02] [ 9.98568208e-01 -1.62701620e-03 -5.34685598e-02 1.16372937e+02] [ 5.34705372e-02 1.19713984e-03 9.98568710e-01 5.55461257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:116.40, Z:5.56 [[-3.22564095e-04 -9.99999073e-01 1.32252621e-03 1.18671777e+02] [ 9.98514913e-01 -3.94133523e-04 -5.44776336e-02 1.16401674e+02] [ 5.44781044e-02 1.30298961e-03 9.98514115e-01 5.55626977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:116.43, Z:5.56 [[ 9.92015929e-04 -9.99998608e-01 1.34180171e-03 1.18667386e+02] [ 9.98502862e-01 9.17146462e-04 -5.46918062e-02 1.16428695e+02] [ 5.46904994e-02 1.39404799e-03 9.98502382e-01 5.55607822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.46, Z:5.56 [[ 3.93767482e-03 -9.99991313e-01 1.36731200e-03 1.18663020e+02] [ 9.98466845e-01 3.85617025e-03 -5.52185648e-02 1.16456131e+02] [ 5.52128125e-02 1.58264845e-03 9.98473355e-01 5.55679802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.48, Z:5.56 [[ 4.76434148e-03 -9.99987716e-01 1.36673070e-03 1.18660401e+02] [ 9.98499653e-01 4.68268550e-03 -5.45574420e-02 1.16484344e+02] [ 5.45503719e-02 1.62461041e-03 9.98509698e-01 5.55776298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.51, Z:5.56 [[ 5.81072797e-03 -9.99982173e-01 1.37426319e-03 1.18658328e+02] [ 9.98510588e-01 5.72761238e-03 -5.42568045e-02 1.16512776e+02] [ 5.42479660e-02 1.68748788e-03 9.98526069e-01 5.55947762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters Centerline goodness [0,1] 0.9999776221272406 Centerline is valid? [True, True] Translation: X:118.66, Y:116.54, Z:5.56 [[ 7.55620837e-03 -9.99970517e-01 1.36718660e-03 1.18655450e+02] [ 9.98543874e-01 7.47238313e-03 -5.34255971e-02 1.16539898e+02] [ 5.34138058e-02 1.76889075e-03 9.98570897e-01 5.56187008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.426875 meters Centerline goodness [0,1] 0.9999776546299607 Centerline is valid? [True, True] Translation: X:118.66, Y:116.57, Z:5.56 [[ 7.95525751e-03 -9.99967409e-01 1.37635166e-03 1.18655684e+02] [ 9.98545759e-01 7.87054003e-03 -5.33331214e-02 1.16567518e+02] [ 5.33205506e-02 1.79862882e-03 9.98575828e-01 5.56386421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.59, Z:5.57 [[ 8.33511154e-03 -9.99964306e-01 1.38317995e-03 1.18651917e+02] [ 9.98559590e-01 8.25006958e-03 -5.30158558e-02 1.16594593e+02] [ 5.30025521e-02 1.82308067e-03 9.98592713e-01 5.56505753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.62, Z:5.57 [[ 8.41561787e-03 -9.99963621e-01 1.39085543e-03 1.18652339e+02] [ 9.98575250e-01 8.33062240e-03 -5.27074082e-02 1.16621855e+02] [ 5.26939040e-02 1.83243921e-03 9.98609030e-01 5.56694318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.65, Z:5.57 [[ 8.31869866e-03 -9.99964428e-01 1.39339912e-03 1.18653520e+02] [ 9.98602774e-01 8.23463503e-03 -5.21985732e-02 1.16649609e+02] [ 5.21852423e-02 1.82567643e-03 9.98635753e-01 5.56847237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.68, Z:5.57 [[ 8.00416174e-03 -9.99966958e-01 1.41975724e-03 1.18651397e+02] [ 9.98583638e-01 7.91839039e-03 -5.26119474e-02 1.16676896e+02] [ 5.25989668e-02 1.83886089e-03 9.98614023e-01 5.56876961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.70, Z:5.57 [[ 7.63456814e-03 -9.99969804e-01 1.45055412e-03 1.18650361e+02] [ 9.98558010e-01 7.54668974e-03 -5.31502486e-02 1.16703692e+02] [ 5.31376968e-02 1.85424163e-03 9.98585473e-01 5.56938950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.73, Z:5.57 [[ 7.56723848e-03 -9.99970274e-01 1.47912358e-03 1.18650991e+02] [ 9.98535406e-01 7.47712197e-03 -5.35829743e-02 1.16730950e+02] [ 5.35703219e-02 1.88243241e-03 9.98562305e-01 5.57005150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.76, Z:5.57 [[ 7.71138854e-03 -9.99969157e-01 1.49004898e-03 1.18649145e+02] [ 9.98545844e-01 7.62088942e-03 -5.33677810e-02 1.16757124e+02] [ 5.33547794e-02 1.89942191e-03 9.98573813e-01 5.57086065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.78, Z:5.57 [[ 7.97519713e-03 -9.99967058e-01 1.50971924e-03 1.18648132e+02] [ 9.98539095e-01 7.88310243e-03 -5.34558870e-02 1.16784684e+02] [ 5.34422248e-02 1.93383492e-03 9.98569071e-01 5.57178502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.81, Z:5.57 [[ 7.90853296e-03 -9.99967539e-01 1.54124900e-03 1.18649069e+02] [ 9.98509904e-01 7.81376161e-03 -5.40084825e-02 1.16812063e+02] [ 5.39946864e-02 1.96608026e-03 9.98539287e-01 5.57338663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.84, Z:5.58 [[ 7.25059225e-03 -9.99972500e-01 1.55794840e-03 1.18650668e+02] [ 9.98514587e-01 7.15586933e-03 -5.40130754e-02 1.16839662e+02] [ 5.40004416e-02 1.94726099e-03 9.98539013e-01 5.57514481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.87, Z:5.58 [[ 6.50881112e-03 -9.99977584e-01 1.57070004e-03 1.18650423e+02] [ 9.98525766e-01 6.41469959e-03 -5.38994114e-02 1.16866228e+02] [ 5.38881276e-02 1.91920555e-03 9.98545135e-01 5.57653931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:116.89, Z:5.58 [[ 5.36331928e-03 -9.99984420e-01 1.54715116e-03 1.18654793e+02] [ 9.98598940e-01 5.27442500e-03 -5.26529877e-02 1.16894422e+02] [ 5.26440070e-02 1.82737829e-03 9.98611671e-01 5.57975294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.92, Z:5.58 [[ 4.63970304e-03 -9.99988033e-01 1.55143251e-03 1.18656391e+02] [ 9.98620990e-01 4.55221784e-03 -5.23010069e-02 1.16922775e+02] [ 5.22933185e-02 1.79195421e-03 9.98630161e-01 5.58205556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.95, Z:5.58 [[ 3.76620383e-03 -9.99991698e-01 1.55579499e-03 1.18656762e+02] [ 9.98642662e-01 3.68029154e-03 -5.19546828e-02 1.16950939e+02] [ 5.19485257e-02 1.74935518e-03 9.98648232e-01 5.58338601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:116.98, Z:5.58 [[ 3.28220562e-03 -9.99993385e-01 1.56758043e-03 1.18655821e+02] [ 9.98648759e-01 3.19648221e-03 -5.18694296e-02 1.16977495e+02] [ 5.18640757e-02 1.73570839e-03 9.98652645e-01 5.58381028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90687499999999 meters Centerline goodness [0,1] 0.9999543264290118 Centerline is valid? [True, True] Translation: X:118.66, Y:117.01, Z:5.58 [[ 1.81947546e-03 -9.99997058e-01 1.60450882e-03 1.18657104e+02] [ 9.98612108e-01 1.73249570e-03 -5.26389258e-02 1.17005278e+02] [ 5.26359911e-02 1.69805716e-03 9.98612322e-01 5.58335100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.03, Z:5.58 [[ 1.12022325e-03 -9.99998070e-01 1.61426826e-03 1.18656994e+02] [ 9.98624466e-01 1.03406056e-03 -5.24223802e-02 1.17032679e+02] [ 5.24206097e-02 1.67077255e-03 9.98623697e-01 5.58383597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.06, Z:5.58 [[ 2.64098502e-04 -9.99998636e-01 1.63021994e-03 1.18656568e+02] [ 9.98625848e-01 1.78302597e-04 -5.24059572e-02 1.17059327e+02] [ 5.24055951e-02 1.64182010e-03 9.98624533e-01 5.58455339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.09, Z:5.59 [[-1.12197417e-04 -9.99998639e-01 1.64606234e-03 1.18656370e+02] [ 9.98627646e-01 -1.98250653e-04 -5.23716140e-02 1.17086527e+02] [ 5.23718691e-02 1.63792739e-03 9.98626309e-01 5.58582856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.11, Z:5.59 [[-4.15348276e-04 -9.99998533e-01 1.66196051e-03 1.18655393e+02] [ 9.98627566e-01 -5.01817691e-04 -5.23711099e-02 1.17113286e+02] [ 5.23718670e-02 1.63792733e-03 9.98626309e-01 5.58699819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.14, Z:5.59 [[-1.61185511e-03 -9.99997278e-01 1.68692255e-03 1.18659458e+02] [ 9.98611249e-01 -1.69844842e-03 -5.26563329e-02 1.17141912e+02] [ 5.26590547e-02 1.59970546e-03 9.98611268e-01 5.58927300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.17, Z:5.59 [[-2.60206623e-03 -9.99995176e-01 1.69616184e-03 1.18656439e+02] [ 9.98618540e-01 -2.68749327e-03 -5.24765470e-02 1.17168685e+02] [ 5.24808523e-02 1.55727121e-03 9.98620716e-01 5.58928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.20, Z:5.59 [[-3.31354129e-03 -9.99993018e-01 1.72741313e-03 1.18659154e+02] [ 9.98590694e-01 -3.40038395e-03 -5.29628459e-02 1.17196849e+02] [ 5.29683500e-02 1.54948410e-03 9.98594989e-01 5.59100831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.22, Z:5.59 [[-4.52622073e-03 -9.99988212e-01 1.75752759e-03 1.18658362e+02] [ 9.98561894e-01 -4.61363928e-03 -5.34121600e-02 1.17223607e+02] [ 5.34196389e-02 1.51324485e-03 9.98571005e-01 5.59134143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.25, Z:5.59 [[-6.37996779e-03 -9.99978014e-01 1.80746313e-03 1.18662281e+02] [ 9.98497669e-01 -6.46887110e-03 -5.44110152e-02 1.17251487e+02] [ 5.44215112e-02 1.45760719e-03 9.98516988e-01 5.59281219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.28, Z:5.59 [[-7.39418292e-03 -9.99970950e-01 1.85065266e-03 1.18663131e+02] [ 9.98445565e-01 -7.48511937e-03 -5.52306674e-02 1.17280092e+02] [ 5.52429153e-02 1.43939028e-03 9.98471907e-01 5.59359966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.31, Z:5.59 [[-8.26219830e-03 -9.99964081e-01 1.88993323e-03 1.18661565e+02] [ 9.98400504e-01 -8.35496105e-03 -5.59162598e-02 1.17307545e+02] [ 5.59300417e-02 1.42491906e-03 9.98433673e-01 5.59338197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.33, Z:5.59 [[-9.17374907e-03 -9.99956076e-01 1.92037655e-03 1.18662482e+02] [ 9.98370342e-01 -9.26734178e-03 -5.63096488e-02 1.17334944e+02] [ 5.63249723e-02 1.40067640e-03 9.98411506e-01 5.59427790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.36, Z:5.59 [[-1.01492990e-02 -9.99946664e-01 1.91339733e-03 1.18661907e+02] [ 9.98400809e-01 -1.02399926e-02 -5.55964591e-02 1.17360852e+02] [ 5.56130870e-02 1.34607236e-03 9.98451487e-01 5.59491434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.39, Z:5.60 [[-1.11900924e-02 -9.99935633e-01 1.87390951e-03 1.18666444e+02] [ 9.98479344e-01 -1.12749213e-02 -5.39617941e-02 1.17388785e+02] [ 5.39794489e-02 1.26722247e-03 9.98541243e-01 5.59900121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.42, Z:5.60 [[-1.16661711e-02 -9.99930224e-01 1.85690042e-03 1.18665029e+02] [ 9.98523087e-01 -1.17482576e-02 -5.30435915e-02 1.17416354e+02] [ 5.30617057e-02 1.23534233e-03 9.98590471e-01 5.60021215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:117.44, Z:5.60 [[-1.20692528e-02 -9.99925445e-01 1.85415895e-03 1.18664869e+02] [ 9.98545194e-01 -1.21500075e-02 -5.25344925e-02 1.17442334e+02] [ 5.25531038e-02 1.21740944e-03 9.98617389e-01 5.60158614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.47, Z:5.60 [[-1.29700631e-02 -9.99914126e-01 1.87588949e-03 1.18667881e+02] [ 9.98526719e-01 -1.30508773e-02 -5.26693961e-02 1.17469404e+02] [ 5.26893551e-02 1.19000039e-03 9.98610242e-01 5.60297653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.446875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.50, Z:5.60 [[-1.33195595e-02 -9.99909447e-01 1.92000712e-03 1.18667152e+02] [ 9.98481640e-01 -1.34031354e-02 -5.34300476e-02 1.17495528e+02] [ 5.34509435e-02 1.20542716e-03 9.98569749e-01 5.60348131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.52, Z:5.60 [[-1.33367574e-02 -9.99909194e-01 1.93235312e-03 1.18666779e+02] [ 9.98488594e-01 -1.34208045e-02 -5.32954876e-02 1.17522533e+02] [ 5.33165818e-02 1.21864356e-03 9.98576916e-01 5.60390983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.55, Z:5.60 [[-1.29944246e-02 -9.99913655e-01 1.95633408e-03 1.18667604e+02] [ 9.98481884e-01 -1.30805014e-02 -5.35053954e-02 1.17549977e+02] [ 5.35263654e-02 1.25809231e-03 9.98565644e-01 5.60371019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.58, Z:5.60 [[-1.28222115e-02 -9.99915795e-01 1.99849357e-03 1.18668192e+02] [ 9.98445282e-01 -1.29117313e-02 -5.42245894e-02 1.17577683e+02] [ 5.42458275e-02 1.30010732e-03 9.98526765e-01 5.60456744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.60, Z:5.60 [[-1.30332481e-02 -9.99913000e-01 2.03155717e-03 1.18668249e+02] [ 9.98411811e-01 -1.31249931e-02 -5.47867670e-02 1.17603502e+02] [ 5.48086647e-02 1.31428115e-03 9.98496010e-01 5.60498341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.63, Z:5.60 [[-1.29017937e-02 -9.99914665e-01 2.05090659e-03 1.18665977e+02] [ 9.98405956e-01 -1.29949812e-02 -5.49242850e-02 1.17629948e+02] [ 5.49462496e-02 1.33901556e-03 9.98488416e-01 5.60455319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.66, Z:5.61 [[-1.31566600e-02 -9.99911291e-01 2.07645388e-03 1.18670210e+02] [ 9.98390956e-01 -1.32511518e-02 -5.51353406e-02 1.17657783e+02] [ 5.51579650e-02 1.34771584e-03 9.98476731e-01 5.60559163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.68, Z:5.61 [[-1.36864398e-02 -9.99904153e-01 2.08947047e-03 1.18670652e+02] [ 9.98389694e-01 -1.37807013e-02 -5.50282826e-02 1.17684103e+02] [ 5.50518027e-02 1.33296450e-03 9.98482610e-01 5.60647010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.71, Z:5.61 [[-1.46551394e-02 -9.99890409e-01 2.09707512e-03 1.18673584e+02] [ 9.98390298e-01 -1.47480136e-02 -5.47659485e-02 1.17711821e+02] [ 5.47908743e-02 1.29109684e-03 9.98497017e-01 5.60894183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.74, Z:5.61 [[-1.56414920e-02 -9.99875441e-01 2.10877352e-03 1.18673450e+02] [ 9.98383463e-01 -1.57333397e-02 -5.46161377e-02 1.17738236e+02] [ 5.46425128e-02 1.25108673e-03 9.98505198e-01 5.60979279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.77, Z:5.61 [[-1.74390425e-02 -9.99845837e-01 2.04479653e-03 1.18676439e+02] [ 9.98465174e-01 -1.75224078e-02 -5.25381903e-02 1.17765340e+02] [ 5.25659206e-02 1.12544239e-03 9.98616822e-01 5.61250395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.79, Z:5.61 [[-1.85304782e-02 -9.99826288e-01 2.00364198e-03 1.18677392e+02] [ 9.98518500e-01 -1.86087088e-02 -5.11323862e-02 1.17792381e+02] [ 5.11607891e-02 1.05316601e-03 9.98689874e-01 5.61459178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.82, Z:5.62 [[-1.92565394e-02 -9.99812604e-01 1.98548398e-03 1.18677255e+02] [ 9.98548279e-01 -1.93320279e-02 -5.02753227e-02 1.17818751e+02] [ 5.03042847e-02 1.01447288e-03 9.98733423e-01 5.61625400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.85, Z:5.62 [[-2.00840126e-02 -9.99796312e-01 1.99148125e-03 1.18676010e+02] [ 9.98544819e-01 -2.01585042e-02 -5.00187900e-02 1.17845281e+02] [ 5.00487470e-02 9.84005276e-04 9.98746291e-01 5.61739179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.87, Z:5.62 [[-2.04419841e-02 -9.99788953e-01 2.04310709e-03 1.18678341e+02] [ 9.98492623e-01 -2.05195075e-02 -5.09061100e-02 1.17872389e+02] [ 5.09372900e-02 9.99405460e-04 9.98701354e-01 5.61889311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.90, Z:5.62 [[-2.08013976e-02 -9.99781492e-01 2.06632308e-03 1.18678395e+02] [ 9.98475569e-01 -2.08798259e-02 -5.10937521e-02 1.17900100e+02] [ 5.11257322e-02 1.00035166e-03 9.98691724e-01 5.61962355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.93, Z:5.62 [[-2.09593755e-02 -9.99778132e-01 2.09555119e-03 1.18677948e+02] [ 9.98455607e-01 -2.10394216e-02 -5.14173439e-02 1.17927412e+02] [ 5.14500252e-02 1.01463942e-03 9.98675055e-01 5.62082428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:117.95, Z:5.62 [[-2.10707488e-02 -9.99775747e-01 2.11657944e-03 1.18674221e+02] [ 9.98447364e-01 -2.11518468e-02 -5.15311670e-02 1.17954003e+02] [ 5.15643806e-02 1.02749289e-03 9.98669144e-01 5.62045879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:117.98, Z:5.62 [[-2.13500825e-02 -9.99769783e-01 2.13413136e-03 1.18675023e+02] [ 9.98440443e-01 -2.14317335e-02 -5.15496147e-02 1.17981735e+02] [ 5.15834852e-02 1.03021453e-03 9.98668154e-01 5.62174354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.01, Z:5.62 [[-2.23738890e-02 -9.99747327e-01 2.16572930e-03 1.18676257e+02] [ 9.98398578e-01 -2.24561842e-02 -5.19230090e-02 1.18008945e+02] [ 5.19585235e-02 1.00054141e-03 9.98648742e-01 5.62316749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.04, Z:5.62 [[-2.39916103e-02 -9.99709758e-01 2.19122927e-03 1.18675508e+02] [ 9.98349855e-01 -2.40732472e-02 -5.21348813e-02 1.18035474e+02] [ 5.21724996e-02 9.36813664e-04 9.98637648e-01 5.62324097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.06, Z:5.62 [[-2.76758549e-02 -9.99614469e-01 2.22708615e-03 1.18677169e+02] [ 9.98230887e-01 -2.77546961e-02 -5.25811112e-02 1.18063292e+02] [ 5.26226517e-02 7.67918983e-04 9.98614173e-01 5.62404261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.09, Z:5.63 [[-3.04009950e-02 -9.99535249e-01 2.25064687e-03 1.18677280e+02] [ 9.98140016e-01 -3.04774438e-02 -5.27980544e-02 1.18089486e+02] [ 5.28421104e-02 6.41347316e-04 9.98602674e-01 5.62504901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.12, Z:5.63 [[-3.40890983e-02 -9.99416306e-01 2.23178506e-03 1.18680938e+02] [ 9.98059657e-01 -3.41590754e-02 -5.20584171e-02 1.18117551e+02] [ 5.21042666e-02 4.52830129e-04 9.98641547e-01 5.62853786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.14, Z:5.63 [[-3.57280693e-02 -9.99358995e-01 2.25936030e-03 1.18680832e+02] [ 9.97986644e-01 -3.57973746e-02 -5.23565292e-02 1.18143887e+02] [ 5.24038475e-02 3.84213702e-04 9.98625900e-01 5.62983752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.17, Z:5.63 [[-3.71697639e-02 -9.99306346e-01 2.28819055e-03 1.18679952e+02] [ 9.97919443e-01 -3.72386915e-02 -5.26314058e-02 1.18170355e+02] [ 5.26801071e-02 3.27132913e-04 9.98611386e-01 5.62980783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.20, Z:5.63 [[-4.04847799e-02 -9.99177324e-01 2.37857060e-03 1.18679067e+02] [ 9.97700562e-01 -4.05542170e-02 -5.43041820e-02 1.18197230e+02] [ 5.43559683e-02 1.74608373e-04 9.98521606e-01 5.62823355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.22, Z:5.63 [[-4.42198829e-02 -9.99018748e-01 2.47863497e-03 1.18678198e+02] [ 9.97437865e-01 -4.42892937e-02 -5.61797393e-02 1.18224923e+02] [ 5.62343898e-02 -1.19771165e-05 9.98417595e-01 5.62662628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.25, Z:5.63 [[-4.84092996e-02 -9.98824744e-01 2.38125791e-03 1.18679648e+02] [ 9.97384478e-01 -4.84673290e-02 -5.36201468e-02 1.18252341e+02] [ 5.36725426e-02 -2.20684070e-04 9.98558566e-01 5.63176223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.28, Z:5.64 [[-4.87292067e-02 -9.98809258e-01 2.35179782e-03 1.18678378e+02] [ 9.97423154e-01 -4.87854406e-02 -5.26025945e-02 1.18279596e+02] [ 5.26546919e-02 -2.17545105e-04 9.98612756e-01 5.63611895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:118.31, Z:5.64 [[-4.89071198e-02 -9.98800543e-01 2.35967959e-03 1.18676103e+02] [ 9.97423882e-01 -4.89635604e-02 -5.24229821e-02 1.18306959e+02] [ 5.24756413e-02 -2.10256287e-04 9.98622182e-01 5.63779534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:118.33, Z:5.64 [[-4.92872889e-02 -9.98781787e-01 2.38838366e-03 1.18672717e+02] [ 9.97390379e-01 -4.93446534e-02 -5.27023354e-02 1.18334471e+02] [ 5.27559867e-02 -2.15404337e-04 9.98607410e-01 5.63864383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:118.36, Z:5.64 [[-4.91845103e-02 -9.98786764e-01 2.42579933e-03 1.18668875e+02] [ 9.97370807e-01 -4.92439067e-02 -5.31649494e-02 1.18361310e+02] [ 5.32199036e-02 -1.95470564e-04 9.98582798e-01 5.63882376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:118.39, Z:5.64 [[-4.48212620e-02 -9.98991973e-01 2.46844363e-03 1.18661012e+02] [ 9.97546158e-01 -4.48891501e-02 -5.37273424e-02 1.18387594e+02] [ 5.37839901e-02 5.42591652e-05 9.98552592e-01 5.63872857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:118.41, Z:5.64 [[-4.16675951e-02 -9.99128470e-01 2.47238840e-03 1.18656090e+02] [ 9.97698305e-01 -4.17401917e-02 -5.34401439e-02 1.18414648e+02] [ 5.34967671e-02 2.39975439e-04 9.98567994e-01 5.64023232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:118.44, Z:5.64 [[-3.55095033e-02 -9.99366286e-01 2.47006011e-03 1.18648064e+02] [ 9.97957513e-01 -3.55905621e-02 -5.30482307e-02 1.18442145e+02] [ 5.31025242e-02 5.81298714e-04 9.98588896e-01 5.64284966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:118.47, Z:5.64 [[-3.38512439e-02 -9.99423685e-01 2.52823757e-03 1.18643421e+02] [ 9.97965326e-01 -3.39383907e-02 -5.39758620e-02 1.18469691e+02] [ 5.40305592e-02 6.95943356e-04 9.98539040e-01 5.64362569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:118.50, Z:5.64 [[-3.21749448e-02 -9.99478872e-01 2.59962928e-03 1.18638585e+02] [ 9.97954107e-01 -3.22694166e-02 -5.51931567e-02 1.18497075e+02] [ 5.52482825e-02 8.18473947e-04 9.98472312e-01 5.64299443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:118.52, Z:5.64 [[-3.11368016e-02 -9.99511665e-01 2.63286546e-03 1.18634881e+02] [ 9.97961902e-01 -3.12351019e-02 -5.56454050e-02 1.18524760e+02] [ 5.57004692e-02 8.94879484e-04 9.98447123e-01 5.64308080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:118.55, Z:5.64 [[-3.04014158e-02 -9.99534253e-01 2.65148436e-03 1.18632512e+02] [ 9.97980896e-01 -3.05019563e-02 -5.57114185e-02 1.18551606e+02] [ 5.57663465e-02 9.52424743e-04 9.98443392e-01 5.64409329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:118.58, Z:5.65 [[-3.03760743e-02 -9.99535056e-01 2.63921255e-03 1.18630917e+02] [ 9.98015569e-01 -3.04753890e-02 -5.51014921e-02 1.18578992e+02] [ 5.51563040e-02 9.60208197e-04 9.98477271e-01 5.64666749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:118.60, Z:5.65 [[-3.07421419e-02 -9.99523945e-01 2.60841868e-03 1.18629046e+02] [ 9.98058575e-01 -3.08382851e-02 -5.41117477e-02 1.18604724e+02] [ 5.41664267e-02 9.39843608e-04 9.98531479e-01 5.65015944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:118.63, Z:5.65 [[-3.14143489e-02 -9.99503105e-01 2.58499971e-03 1.18626420e+02] [ 9.98082626e-01 -3.15074906e-02 -5.32761587e-02 1.18632352e+02] [ 5.33311329e-02 9.06407460e-04 9.98576471e-01 5.65157764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.66, Z:5.65 [[-3.17833439e-02 -9.99491458e-01 2.57762692e-03 1.18624535e+02] [ 9.98096547e-01 -3.18751401e-02 -5.27944853e-02 1.18659769e+02] [ 5.28497993e-02 8.94735253e-04 9.98602072e-01 5.65277852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.69, Z:5.65 [[-3.23417301e-02 -9.99473545e-01 2.57782152e-03 1.18623248e+02] [ 9.98095698e-01 -3.24324745e-02 -5.24701122e-02 1.18687333e+02] [ 5.25260942e-02 8.75938361e-04 9.98619168e-01 5.65414524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.71, Z:5.66 [[-3.28960962e-02 -9.99455449e-01 2.57938228e-03 1.18621670e+02] [ 9.98092976e-01 -3.29859071e-02 -5.21760572e-02 1.18714843e+02] [ 5.22327279e-02 8.58074737e-04 9.98634571e-01 5.65612328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.74, Z:5.66 [[-3.31182909e-02 -9.99448049e-01 2.60325202e-03 1.18620155e+02] [ 9.98077425e-01 -3.32091809e-02 -5.23316794e-02 1.18741870e+02] [ 5.23892468e-02 8.65111292e-04 9.98626366e-01 5.65687636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.77, Z:5.66 [[-3.37080289e-02 -9.99428209e-01 2.65006345e-03 1.18618422e+02] [ 9.98025493e-01 -3.38010926e-02 -5.29396038e-02 1.18767904e+02] [ 5.29989085e-02 8.60341187e-04 9.98594200e-01 5.65732013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.80, Z:5.66 [[-3.42081839e-02 -9.99411123e-01 2.68459370e-03 1.18618096e+02] [ 9.97989961e-01 -3.43026746e-02 -5.32856914e-02 1.18795673e+02] [ 5.33464015e-02 8.56390833e-04 9.98575700e-01 5.65894935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:118.82, Z:5.66 [[-3.47924705e-02 -9.99390689e-01 2.78107398e-03 1.18617203e+02] [ 9.97884386e-01 -3.48926840e-02 -5.48566545e-02 1.18824158e+02] [ 5.49202689e-02 8.66591770e-04 9.98490367e-01 5.65945620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.946875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:118.85, Z:5.66 [[-3.50675478e-02 -9.99380991e-01 2.81109708e-03 1.18614649e+02] [ 9.97858329e-01 -3.51692558e-02 -5.51532212e-02 1.18850931e+02] [ 5.52179451e-02 8.70988415e-04 9.98473946e-01 5.65937534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:118.88, Z:5.66 [[-3.53749422e-02 -9.99370122e-01 2.82376334e-03 1.18613160e+02] [ 9.97847476e-01 -3.54768807e-02 -5.51525730e-02 1.18877672e+02] [ 5.52180119e-02 8.66666034e-04 9.98473946e-01 5.66054673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:118.90, Z:5.66 [[-3.56544126e-02 -9.99360087e-01 2.86010639e-03 1.18612370e+02] [ 9.97816781e-01 -3.57582606e-02 -5.55249266e-02 1.18904940e+02] [ 5.55916679e-02 8.74153513e-04 9.98453205e-01 5.66210939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters Centerline goodness [0,1] 0.9999529256696323 Centerline is valid? [True, True] Translation: X:118.61, Y:118.93, Z:5.66 [[-3.59098256e-02 -9.99350824e-01 2.90081501e-03 1.18610302e+02] [ 9.97782624e-01 -3.60159405e-02 -5.59704143e-02 1.18931516e+02] [ 5.60385552e-02 8.84494998e-04 9.98428214e-01 5.66260436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:118.96, Z:5.66 [[-3.57698034e-02 -9.99355814e-01 2.91180996e-03 1.18609436e+02] [ 9.97795192e-01 -3.58766319e-02 -5.58356673e-02 1.18958449e+02] [ 5.59041646e-02 9.08159139e-04 9.98435726e-01 5.66412549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:118.99, Z:5.67 [[-3.56238579e-02 -9.99361049e-01 2.90428288e-03 1.18607032e+02] [ 9.97826805e-01 -3.57300590e-02 -5.53627198e-02 1.18985007e+02] [ 5.54311159e-02 9.25737644e-04 9.98462085e-01 5.66545936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:119.01, Z:5.67 [[-3.53255865e-02 -9.99371668e-01 2.89347477e-03 1.18605483e+02] [ 9.97867213e-01 -3.54311387e-02 -5.48238967e-02 1.19011891e+02] [ 5.48919682e-02 9.50617299e-04 9.98491847e-01 5.66712109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.04, Z:5.67 [[-3.47007818e-02 -9.99393608e-01 2.87621614e-03 1.18604642e+02] [ 9.97924073e-01 -3.48057017e-02 -5.41858697e-02 1.19038706e+02] [ 5.42531205e-02 9.89953279e-04 9.98526724e-01 5.66912605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.06, Z:5.67 [[-3.37835204e-02 -9.99425106e-01 2.85164098e-03 1.18601012e+02] [ 9.97997100e-01 -3.38876643e-02 -5.34173598e-02 1.19064316e+02] [ 5.34832859e-02 1.04130297e-03 9.98568202e-01 5.67065856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.09, Z:5.67 [[-3.36695798e-02 -9.99428865e-01 2.88144372e-03 1.18599068e+02] [ 9.97986735e-01 -3.37757640e-02 -5.36812320e-02 1.19091421e+02] [ 5.37478958e-02 1.06821808e-03 9.98553966e-01 5.67127701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.12, Z:5.67 [[-3.37394345e-02 -9.99426378e-01 2.92665996e-03 1.18598789e+02] [ 9.97955434e-01 -3.38485361e-02 -5.42146483e-02 1.19118226e+02] [ 5.42826127e-02 1.09150464e-03 9.98525015e-01 5.67240385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.15, Z:5.67 [[-3.36274826e-02 -9.99429947e-01 2.99555679e-03 1.18597362e+02] [ 9.97906950e-01 -3.37415842e-02 -5.51654223e-02 1.19145998e+02] [ 5.52350500e-02 1.13421267e-03 9.98472735e-01 5.67359303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:119.17, Z:5.67 [[-3.33177400e-02 -9.99440105e-01 3.06659441e-03 1.18597050e+02] [ 9.97860550e-01 -3.34374629e-02 -5.61805900e-02 1.19173740e+02] [ 5.62516739e-02 1.18822329e-03 9.98415914e-01 5.67329034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.20, Z:5.67 [[-3.32006741e-02 -9.99443818e-01 3.12553187e-03 1.18593130e+02] [ 9.97819912e-01 -3.33248706e-02 -5.69638229e-02 1.19200405e+02] [ 5.70362986e-02 1.22748061e-03 9.98371351e-01 5.67235583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.23, Z:5.67 [[-3.33669323e-02 -9.99438180e-01 3.15794591e-03 1.18591191e+02] [ 9.97794282e-01 -3.34931428e-02 -5.73130007e-02 1.19228107e+02] [ 5.73865706e-02 1.23862135e-03 9.98351264e-01 5.67310353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.25, Z:5.67 [[-3.37337902e-02 -9.99425722e-01 3.20269899e-03 1.18590244e+02] [ 9.97753517e-01 -3.38625816e-02 -5.78034979e-02 1.19254983e+02] [ 5.78787543e-02 1.24557311e-03 9.98322843e-01 5.67459141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.28, Z:5.68 [[-3.35172989e-02 -9.99432736e-01 3.28585652e-03 1.18588225e+02] [ 9.97691888e-01 -3.36528200e-02 -5.89778326e-02 1.19282003e+02] [ 5.90549549e-02 1.30149475e-03 9.98253885e-01 5.67540138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.31, Z:5.68 [[-3.36772553e-02 -9.99427190e-01 3.33682020e-03 1.18588334e+02] [ 9.97650815e-01 -3.38163061e-02 -5.95760787e-02 1.19309544e+02] [ 5.96547919e-02 1.32262258e-03 9.98218191e-01 5.67744512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.34, Z:5.68 [[-3.38508072e-02 -9.99421185e-01 3.37893398e-03 1.18586468e+02] [ 9.97619628e-01 -3.39926294e-02 -5.99964972e-02 1.19337159e+02] [ 6.00766292e-02 1.33996099e-03 9.98192869e-01 5.67833667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.36, Z:5.68 [[-3.42072318e-02 -9.99409016e-01 3.38871266e-03 1.18584979e+02] [ 9.97616560e-01 -3.43487962e-02 -5.98444664e-02 1.19364077e+02] [ 5.99254975e-02 1.33352233e-03 9.98201962e-01 5.67968778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.39, Z:5.68 [[-3.58691497e-02 -9.99350962e-01 3.32534738e-03 1.18585046e+02] [ 9.97642282e-01 -3.60022372e-02 -5.84270143e-02 1.19392737e+02] [ 5.85088129e-02 1.22177983e-03 9.98286144e-01 5.68140804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.42, Z:5.68 [[-3.71206004e-02 -9.99305220e-01 3.33745638e-03 1.18584716e+02] [ 9.97600021e-01 -3.72521845e-02 -5.83650052e-02 1.19420459e+02] [ 5.84487819e-02 1.16290252e-03 9.98289731e-01 5.68327374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.45, Z:5.69 [[-3.85693652e-02 -9.99250295e-01 3.35431641e-03 1.18585773e+02] [ 9.97544551e-01 -3.86994694e-02 -5.83713886e-02 1.19448258e+02] [ 5.84574376e-02 1.09473265e-03 9.98289302e-01 5.68551145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.48, Z:5.69 [[-4.15997715e-02 -9.99128859e-01 3.31380457e-03 1.18586200e+02] [ 9.97476690e-01 -4.17214988e-02 -5.74418827e-02 1.19475195e+02] [ 5.75300997e-02 9.15873612e-04 9.98343352e-01 5.68701462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:119.50, Z:5.69 [[-4.24465260e-02 -9.99093288e-01 3.30075462e-03 1.18585104e+02] [ 9.97469423e-01 -4.25656733e-02 -5.69465936e-02 1.19502297e+02] [ 5.70354583e-02 8.75216735e-04 9.98371770e-01 5.68900100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.53, Z:5.69 [[-4.27196600e-02 -9.99081757e-01 3.26713290e-03 1.18582469e+02] [ 9.97507629e-01 -4.28357023e-02 -5.60681046e-02 1.19528430e+02] [ 5.61565703e-02 8.63779635e-04 9.98421601e-01 5.68990223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.56, Z:5.69 [[-4.28371648e-02 -9.99076750e-01 3.25971723e-03 1.18581330e+02] [ 9.97526834e-01 -4.29522334e-02 -5.56356038e-02 1.19555445e+02] [ 5.57242503e-02 8.68383880e-04 9.98445819e-01 5.69209880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.58, Z:5.69 [[-4.32319744e-02 -9.99059717e-01 3.26783334e-03 1.18578766e+02] [ 9.97518608e-01 -4.33467463e-02 -5.54768905e-02 1.19581408e+02] [ 5.55663765e-02 8.61349058e-04 9.98454624e-01 5.69301258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.61, Z:5.69 [[-4.31391118e-02 -9.99063481e-01 3.34321783e-03 1.18577528e+02] [ 9.97468232e-01 -4.32591067e-02 -5.64426824e-02 1.19608922e+02] [ 5.65344474e-02 8.99866387e-04 9.98400244e-01 5.69497259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:119.64, Z:5.70 [[-4.30799658e-02 -9.99066004e-01 3.35204970e-03 1.18575248e+02] [ 9.97478994e-01 -4.32004212e-02 -5.62972539e-02 1.19636183e+02] [ 5.63894825e-02 9.18315384e-04 9.98408425e-01 5.69608563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:119.66, Z:5.70 [[-4.28219513e-02 -9.99076974e-01 3.38818698e-03 1.18572517e+02] [ 9.97472379e-01 -4.29451547e-02 -5.66088914e-02 1.19662941e+02] [ 5.67021461e-02 9.55519733e-04 9.98390682e-01 5.69696220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:119.69, Z:5.70 [[-4.27725434e-02 -9.99079004e-01 3.41383571e-03 1.18570014e+02] [ 9.97466719e-01 -4.28974138e-02 -5.67446580e-02 1.19689976e+02] [ 5.68388411e-02 9.78074162e-04 9.98382887e-01 5.69785966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:119.72, Z:5.70 [[-4.19518293e-02 -9.99113571e-01 3.48095615e-03 1.18567937e+02] [ 9.97454153e-01 -4.20827269e-02 -5.75695736e-02 1.19718328e+02] [ 5.76650303e-02 1.05694524e-03 9.98335428e-01 5.69959256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:119.74, Z:5.70 [[-4.19059278e-02 -9.99115394e-01 3.51025893e-03 1.18565341e+02] [ 9.97444014e-01 -4.20388167e-02 -5.77769560e-02 1.19744151e+02] [ 5.78734133e-02 1.08008981e-03 9.98323345e-01 5.70055951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.77, Z:5.70 [[-4.20049428e-02 -9.99111125e-01 3.54196293e-03 1.18562801e+02] [ 9.97427330e-01 -4.21397371e-02 -5.79910735e-02 1.19771237e+02] [ 5.80887840e-02 1.09693890e-03 9.98310818e-01 5.70218335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.80, Z:5.70 [[-4.20970171e-02 -9.99107365e-01 3.50913448e-03 1.18560124e+02] [ 9.97470053e-01 -4.22288814e-02 -5.71857878e-02 1.19797431e+02] [ 5.72829286e-02 1.09290547e-03 9.98357387e-01 5.70335083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.82, Z:5.71 [[-4.26752514e-02 -9.99082999e-01 3.46175583e-03 1.18558285e+02] [ 9.97502422e-01 -4.28024189e-02 -5.61860463e-02 1.19824914e+02] [ 5.62826952e-02 1.05535617e-03 9.98414315e-01 5.70513963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.85, Z:5.71 [[-4.44013357e-02 -9.99008018e-01 3.39139067e-03 1.18556385e+02] [ 9.97505207e-01 -4.45205210e-02 -5.47839915e-02 1.19852822e+02] [ 5.48806333e-02 9.50447453e-04 9.98492470e-01 5.70689685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.88, Z:5.71 [[-4.57453671e-02 -9.98947390e-01 3.38716276e-03 1.18556633e+02] [ 9.97461527e-01 -4.58620234e-02 -5.44718019e-02 1.19880336e+02] [ 5.45698065e-02 8.86731962e-04 9.98509564e-01 5.70952436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:119.91, Z:5.71 [[-4.74322857e-02 -9.98868769e-01 3.37041587e-03 1.18555304e+02] [ 9.97412221e-01 -4.75450887e-02 -5.39289052e-02 1.19906566e+02] [ 5.40281459e-02 8.03722733e-04 9.98539090e-01 5.71064668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:119.93, Z:5.71 [[-4.80021263e-02 -9.98841538e-01 3.37310274e-03 1.18553261e+02] [ 9.97397757e-01 -4.81140576e-02 -5.36912613e-02 1.19933248e+02] [ 5.37913557e-02 7.87030406e-04 9.98551887e-01 5.71150893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:119.96, Z:5.71 [[-4.82731572e-02 -9.98828446e-01 3.38205474e-03 1.18550877e+02] [ 9.97391684e-01 -4.83850754e-02 -5.35603610e-02 1.19960227e+02] [ 5.36612532e-02 7.87705542e-04 9.98558886e-01 5.71259305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:119.99, Z:5.71 [[-4.80596161e-02 -9.98838695e-01 3.39612922e-03 1.18549105e+02] [ 9.97403967e-01 -4.81725664e-02 -5.35231756e-02 1.19987667e+02] [ 5.36246192e-02 8.15009483e-04 9.98560832e-01 5.71405060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:120.02, Z:5.71 [[-4.67751875e-02 -9.98899598e-01 3.41684371e-03 1.18545395e+02] [ 9.97461317e-01 -4.68911559e-02 -5.35923502e-02 1.20015612e+02] [ 5.36935968e-02 9.01377201e-04 9.98557052e-01 5.71437348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:120.04, Z:5.71 [[-4.63866067e-02 -9.98917435e-01 3.49856728e-03 1.18543255e+02] [ 9.97422672e-01 -4.65085454e-02 -5.46348681e-02 1.20043310e+02] [ 5.47384356e-02 9.55224184e-04 9.98500271e-01 5.71466883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:120.07, Z:5.71 [[-4.57325938e-02 -9.98947388e-01 3.55604609e-03 1.18540271e+02] [ 9.97416700e-01 -4.58593343e-02 -5.52887732e-02 1.20070739e+02] [ 5.53936535e-02 1.01836075e-03 9.98464074e-01 5.71451552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:120.10, Z:5.71 [[-4.50506094e-02 -9.98978040e-01 3.64950178e-03 1.18538491e+02] [ 9.97380455e-01 -4.51849165e-02 -5.64849738e-02 1.20099157e+02] [ 5.65921509e-02 1.09525924e-03 9.98396779e-01 5.71475711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:120.13, Z:5.72 [[-4.36662246e-02 -9.99039216e-01 3.72913521e-03 1.18538547e+02] [ 9.97385774e-01 -4.38084633e-02 -5.74668263e-02 1.20127618e+02] [ 5.75749807e-02 1.21002706e-03 9.98340452e-01 5.71664053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:120.15, Z:5.72 [[-4.29132189e-02 -9.99071710e-01 3.76493082e-03 1.18536256e+02] [ 9.97401444e-01 -4.30591420e-02 -5.77604486e-02 1.20154338e+02] [ 5.78689448e-02 1.27646066e-03 9.98323372e-01 5.71742411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.18, Z:5.72 [[-4.21231966e-02 -9.99105299e-01 3.77317206e-03 1.18533292e+02] [ 9.97443066e-01 -4.22707350e-02 -5.76239135e-02 1.20181669e+02] [ 5.77318521e-02 1.33622087e-03 9.98331231e-01 5.71734697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.21, Z:5.72 [[-4.12753772e-02 -9.99140537e-01 3.81196296e-03 1.18533035e+02] [ 9.97459226e-01 -4.14270368e-02 -5.79559659e-02 1.20209686e+02] [ 5.80640732e-02 1.41012327e-03 9.98311863e-01 5.71871844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.24, Z:5.72 [[-3.90353198e-02 -9.99230831e-01 3.74044313e-03 1.18530470e+02] [ 9.97626205e-01 -3.91846045e-02 -5.66261530e-02 1.20236707e+02] [ 5.67291657e-02 1.52114409e-03 9.98388445e-01 5.72109936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.26, Z:5.72 [[-3.75887674e-02 -9.99286547e-01 3.67173251e-03 1.18528980e+02] [ 9.97754110e-01 -3.77344736e-02 -5.53429876e-02 1.20264465e+02] [ 5.54420539e-02 1.58321151e-03 9.98460651e-01 5.72426275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.29, Z:5.73 [[-3.65918393e-02 -9.99323811e-01 3.59975613e-03 1.18524987e+02] [ 9.97862606e-01 -3.67330168e-02 -5.40453903e-02 1.20291546e+02] [ 5.41410753e-02 1.61444180e-03 9.98531991e-01 5.72589128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.32, Z:5.73 [[-3.54809379e-02 -9.99364011e-01 3.56052489e-03 1.18523655e+02] [ 9.97943898e-01 -3.56203581e-02 -5.32838212e-02 1.20319231e+02] [ 5.33767604e-02 1.66264413e-03 9.98573060e-01 5.72844550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.35, Z:5.73 [[-3.54759359e-02 -9.99364401e-01 3.50042007e-03 1.18523495e+02] [ 9.98003257e-01 -3.56103401e-02 -5.21670731e-02 1.20346366e+02] [ 5.22585669e-02 1.64275489e-03 9.98632236e-01 5.73081691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.37, Z:5.73 [[-3.73263728e-02 -9.99296824e-01 3.54968833e-03 1.18523169e+02] [ 9.97909862e-01 -3.74616061e-02 -5.26548773e-02 1.20373741e+02] [ 5.27508286e-02 1.57685341e-03 9.98606461e-01 5.73029271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.40, Z:5.73 [[-3.86465043e-02 -9.99246697e-01 3.53357234e-03 1.18522466e+02] [ 9.97883319e-01 -3.87783757e-02 -5.22026709e-02 1.20401844e+02] [ 5.23003727e-02 1.50864215e-03 9.98630259e-01 5.73179511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.43, Z:5.73 [[-3.99853948e-02 -9.99193987e-01 3.54193232e-03 1.18522508e+02] [ 9.97835171e-01 -4.01157455e-02 -5.21123590e-02 1.20429730e+02] [ 5.22124430e-02 1.45053139e-03 9.98634947e-01 5.73296768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.46, Z:5.73 [[-4.20620681e-02 -9.99108608e-01 3.57364539e-03 1.18522234e+02] [ 9.97736852e-01 -4.21915828e-02 -5.23549868e-02 1.20457653e+02] [ 5.24590958e-02 1.36339868e-03 9.98622143e-01 5.73326977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.49, Z:5.73 [[-4.72774553e-02 -9.98875196e-01 3.63099091e-03 1.18525817e+02] [ 9.97469806e-01 -4.74035241e-02 -5.29801030e-02 1.20486018e+02] [ 5.30926326e-02 1.11703935e-03 9.98588967e-01 5.73390623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.51, Z:5.74 [[-5.02911322e-02 -9.98727935e-01 3.64890590e-03 1.18526846e+02] [ 9.97319766e-01 -5.04139555e-02 -5.30256386e-02 1.20513546e+02] [ 5.31421423e-02 9.72406581e-04 9.98586485e-01 5.73538924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.54, Z:5.74 [[-5.34287557e-02 -9.98565031e-01 3.63962410e-03 1.18528773e+02] [ 9.97174333e-01 -5.35463895e-02 -5.26890304e-02 1.20542040e+02] [ 5.28083120e-02 8.14230399e-04 9.98604336e-01 5.73742244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.57, Z:5.74 [[-5.37317065e-02 -9.98548722e-01 3.65415577e-03 1.18526785e+02] [ 9.97158054e-01 -5.38496850e-02 -5.26880229e-02 1.20568752e+02] [ 5.28083331e-02 8.12753469e-04 9.98604336e-01 5.73859242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.60, Z:5.74 [[-5.70050555e-02 -9.98367303e-01 3.62644334e-03 1.18528560e+02] [ 9.97009002e-01 -5.71166176e-02 -5.20647896e-02 1.20597223e+02] [ 5.21869138e-02 6.47640434e-04 9.98637125e-01 5.74127904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.62, Z:5.74 [[-6.28557715e-02 -9.98016480e-01 3.50117990e-03 1.18531512e+02] [ 9.96759534e-01 -6.29522760e-02 -5.00743663e-02 1.20624768e+02] [ 5.01954501e-02 3.42371523e-04 9.98739355e-01 5.74294004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.65, Z:5.74 [[-6.55843290e-02 -9.97840841e-01 3.51440739e-03 1.18532083e+02] [ 9.96583811e-01 -6.56780597e-02 -5.00709426e-02 1.20652510e+02] [ 5.01936510e-02 2.18532336e-04 9.98739480e-01 5.74441266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.68, Z:5.75 [[-6.81735407e-02 -9.97667322e-01 3.50478952e-03 1.18532021e+02] [ 9.96427794e-01 -6.82634940e-02 -4.97166555e-02 1.20680041e+02] [ 4.98399317e-02 1.02909252e-04 9.98757213e-01 5.74564353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.71, Z:5.75 [[-7.15159925e-02 -9.97433146e-01 3.54698103e-03 1.18533305e+02] [ 9.96174464e-01 -7.16038815e-02 -5.00931216e-02 1.20706109e+02] [ 5.02185175e-02 -4.90473744e-05 9.98738253e-01 5.74594066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.73, Z:5.75 [[-7.32092876e-02 -9.97310203e-01 3.57204686e-03 1.18532651e+02] [ 9.96045031e-01 -7.32962840e-02 -5.02190312e-02 1.20733628e+02] [ 5.03457699e-02 -1.18579971e-04 9.98731841e-01 5.74677670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.76, Z:5.75 [[-7.43701221e-02 -9.97224200e-01 3.60278128e-03 1.18531793e+02] [ 9.95948075e-01 -7.44571599e-02 -5.04337444e-02 1.20760838e+02] [ 5.05620033e-02 -1.62580655e-04 9.98720911e-01 5.74807231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.79, Z:5.75 [[-7.59934215e-02 -9.97101943e-01 3.56590828e-03 1.18530177e+02] [ 9.95862167e-01 -7.60767021e-02 -4.97079423e-02 1.20788333e+02] [ 4.98351683e-02 -2.26323464e-04 9.98757430e-01 5.74961125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.81, Z:5.75 [[-7.66711049e-02 -9.97050040e-01 3.57199369e-03 1.18528002e+02] [ 9.95816798e-01 -7.67538790e-02 -4.95756583e-02 1.20814179e+02] [ 4.97035764e-02 -2.43969179e-04 9.98763984e-01 5.75009263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:120.84, Z:5.75 [[-7.67655192e-02 -9.97042702e-01 3.59235791e-03 1.18525396e+02] [ 9.95806638e-01 -7.68491757e-02 -4.96320872e-02 1.20840758e+02] [ 4.97613801e-02 -2.32739086e-04 9.98761108e-01 5.75101637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.87, Z:5.75 [[-7.64156572e-02 -9.97069594e-01 3.58766587e-03 1.18522408e+02] [ 9.95847704e-01 -7.64995735e-02 -4.93473889e-02 1.20867842e+02] [ 4.94772359e-02 -1.98144334e-04 9.98775232e-01 5.75215895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:120.89, Z:5.75 [[-7.44703204e-02 -9.97216592e-01 3.63873828e-03 1.18517456e+02] [ 9.95970471e-01 -7.45591135e-02 -4.98373275e-02 1.20894864e+02] [ 4.99699110e-02 -8.73258726e-05 9.98750720e-01 5.75241213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:120.92, Z:5.75 [[-7.30600580e-02 -9.97320613e-01 3.71795000e-03 1.18513927e+02] [ 9.96030917e-01 -7.31545981e-02 -5.07032274e-02 1.20921203e+02] [ 5.08393589e-02 -1.18758062e-06 9.98706844e-01 5.75312208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:120.95, Z:5.75 [[-7.17638928e-02 -9.97414641e-01 3.73872123e-03 1.18509699e+02] [ 9.96121921e-01 -7.18611700e-02 -5.07650546e-02 1.20948075e+02] [ 5.09024776e-02 8.11242352e-05 9.98703625e-01 5.75358675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:120.98, Z:5.75 [[-7.02845015e-02 -9.97519745e-01 3.80088015e-03 1.18505291e+02] [ 9.96194981e-01 -7.03869836e-02 -5.13929273e-02 1.20975356e+02] [ 5.15329922e-02 1.74291452e-04 9.98671277e-01 5.75419373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:121.00, Z:5.76 [[-6.65455565e-02 -9.97776035e-01 3.83051768e-03 1.18498957e+02] [ 9.96441860e-01 -6.66546043e-02 -5.15827801e-02 1.21003152e+02] [ 5.17233834e-02 3.84283355e-04 9.98661376e-01 5.75526220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:121.03, Z:5.76 [[-6.51444966e-02 -9.97868356e-01 3.86500453e-03 1.18495179e+02] [ 9.96520150e-01 -6.52573336e-02 -5.18562586e-02 1.21028693e+02] [ 5.19979395e-02 4.73405030e-04 9.98647080e-01 5.75626043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:121.06, Z:5.76 [[-6.35407368e-02 -9.97971564e-01 3.91558018e-03 1.18491458e+02] [ 9.96597665e-01 -6.36586636e-02 -5.23514007e-02 1.21056911e+02] [ 5.24944698e-02 5.75811486e-04 9.98621049e-01 5.75798042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:121.09, Z:5.76 [[-6.11480023e-02 -9.98121129e-01 3.89029557e-03 1.18485779e+02] [ 9.96775012e-01 -6.12675304e-02 -5.18253315e-02 1.21085078e+02] [ 5.19663071e-02 7.08733926e-04 9.98648587e-01 5.75987208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:121.11, Z:5.76 [[-6.01208489e-02 -9.98183774e-01 3.82588937e-03 1.18481750e+02] [ 9.96891497e-01 -6.02376530e-02 -5.07815793e-02 1.21111640e+02] [ 5.09198110e-02 7.60964925e-04 9.98702455e-01 5.76171421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:121.14, Z:5.76 [[-5.91170143e-02 -9.98243803e-01 3.80623567e-03 1.18477711e+02] [ 9.96975306e-01 -5.92337404e-02 -5.03150483e-02 1.21138234e+02] [ 5.04521427e-02 8.20247541e-04 9.98726143e-01 5.76327705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:121.17, Z:5.76 [[-5.72185765e-02 -9.98354741e-01 3.72094643e-03 1.18473013e+02] [ 9.97152263e-01 -5.73322621e-02 -4.89936384e-02 1.21165677e+02] [ 4.91263615e-02 9.07003908e-04 9.98792160e-01 5.76489810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:121.19, Z:5.77 [[-5.61977153e-02 -9.98412754e-01 3.71346028e-03 1.18468946e+02] [ 9.97224011e-01 -5.63119963e-02 -4.87158226e-02 1.21192909e+02] [ 4.88476110e-02 9.65433821e-04 9.98805776e-01 5.76611618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:121.22, Z:5.77 [[-5.53987397e-02 -9.98457311e-01 3.73870222e-03 1.18466174e+02] [ 9.97261624e-01 -5.55153530e-02 -4.88599885e-02 1.21221078e+02] [ 4.89921681e-02 1.02168246e-03 9.98798640e-01 5.76718144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:121.25, Z:5.77 [[-5.44710959e-02 -9.98508067e-01 3.81301932e-03 1.18463389e+02] [ 9.97273474e-01 -5.45933475e-02 -4.96506249e-02 1.21249369e+02] [ 4.97847150e-02 1.09809907e-03 9.98759369e-01 5.76821456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:121.28, Z:5.77 [[-5.37816897e-02 -9.98545300e-01 3.84889945e-03 1.18460550e+02] [ 9.97296119e-01 -5.39069218e-02 -4.99449233e-02 1.21277358e+02] [ 5.00797508e-02 1.15237012e-03 9.98744557e-01 5.76901982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:121.30, Z:5.77 [[-5.23552487e-02 -9.98621029e-01 3.86900910e-03 1.18456456e+02] [ 9.97367847e-01 -5.24833764e-02 -5.00287292e-02 1.21304586e+02] [ 5.01627996e-02 1.23955871e-03 9.98740285e-01 5.76943265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:121.33, Z:5.77 [[-5.34740874e-02 -9.98561392e-01 3.95827122e-03 1.18455720e+02] [ 9.97257135e-01 -5.36065433e-02 -5.10347423e-02 1.21332351e+02] [ 5.11735126e-02 1.21837795e-03 9.98689034e-01 5.77010754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:121.36, Z:5.77 [[-5.41525906e-02 -9.98524689e-01 3.99267795e-03 1.18453338e+02] [ 9.97207890e-01 -5.42862161e-02 -5.12779848e-02 1.21358504e+02] [ 5.14190812e-02 1.20469424e-03 9.98676437e-01 5.77007907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:121.39, Z:5.77 [[-5.43201811e-02 -9.98515327e-01 4.05706773e-03 1.18451035e+02] [ 9.97164479e-01 -5.44577153e-02 -5.19360996e-02 1.21385650e+02] [ 5.20799301e-02 1.22438550e-03 9.98642169e-01 5.77029716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:121.41, Z:5.77 [[-5.39360663e-02 -9.98535637e-01 4.18115954e-03 1.18449041e+02] [ 9.97112170e-01 -5.40824199e-02 -5.33142696e-02 1.21413961e+02] [ 5.34623254e-02 1.29352309e-03 9.98569029e-01 5.76999830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:121.44, Z:5.77 [[-5.38933226e-02 -9.98537612e-01 4.25988616e-03 1.18446414e+02] [ 9.97070693e-01 -5.40450399e-02 -5.41217727e-02 1.21440924e+02] [ 5.42728514e-02 1.33060549e-03 9.98525256e-01 5.77037397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.47, Z:5.77 [[-5.35920182e-02 -9.98553917e-01 4.23916878e-03 1.18443879e+02] [ 9.97112534e-01 -5.37424215e-02 -5.36502325e-02 1.21468018e+02] [ 5.38004730e-02 1.35170409e-03 9.98550791e-01 5.77123563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.50, Z:5.77 [[-5.30839875e-02 -9.98581019e-01 4.24722916e-03 1.18440871e+02] [ 9.97145223e-01 -5.32354155e-02 -5.35480687e-02 1.21495812e+02] [ 5.36981881e-02 1.39255925e-03 9.98556240e-01 5.77234916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.52, Z:5.77 [[-5.31134075e-02 -9.98579532e-01 4.22902957e-03 1.18439357e+02] [ 9.97165994e-01 -5.32632393e-02 -5.31319802e-02 1.21523253e+02] [ 5.32817597e-02 1.39502396e-03 9.98578544e-01 5.77433568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.55, Z:5.78 [[-5.50391305e-02 -9.98475445e-01 4.18087936e-03 1.18437841e+02] [ 9.97104102e-01 -5.51826515e-02 -5.23286320e-02 1.21550697e+02] [ 5.24795661e-02 1.28864954e-03 9.98621167e-01 5.77595531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.58, Z:5.78 [[-5.65226291e-02 -9.98392891e-01 4.10210026e-03 1.18434870e+02] [ 9.97081423e-01 -5.66586272e-02 -5.11706510e-02 1.21578044e+02] [ 5.13208336e-02 1.19782823e-03 9.98681499e-01 5.77763273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.61, Z:5.78 [[-5.78094235e-02 -9.98319626e-01 3.99945582e-03 1.18435632e+02] [ 9.97081049e-01 -5.79369141e-02 -4.97262151e-02 1.21605862e+02] [ 4.98743726e-02 1.11313778e-03 9.98754879e-01 5.78062706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.63, Z:5.78 [[-6.15829868e-02 -9.98094255e-01 3.92346366e-03 1.18437151e+02] [ 9.96909887e-01 -6.17010238e-02 -4.86174851e-02 1.21633860e+02] [ 4.87669143e-02 9.17329767e-04 9.98809765e-01 5.78366196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:121.66, Z:5.78 [[-6.38302645e-02 -9.97952947e-01 3.95134662e-03 1.18435420e+02] [ 9.96759877e-01 -6.39471379e-02 -4.87904859e-02 1.21661152e+02] [ 4.89432865e-02 8.24234146e-04 9.98801219e-01 5.78465834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.69, Z:5.78 [[-6.56852054e-02 -9.97832403e-01 3.99355677e-03 1.18432966e+02] [ 9.96622075e-01 -6.58021924e-02 -4.91376751e-02 1.21687440e+02] [ 4.92939492e-02 7.52448555e-04 9.98784031e-01 5.78476416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.71, Z:5.79 [[-6.88821109e-02 -9.97616050e-01 4.17980174e-03 1.18434007e+02] [ 9.96300452e-01 -6.90058787e-02 -5.12210800e-02 1.21714624e+02] [ 5.13874024e-02 6.36122244e-04 9.98678592e-01 5.78503091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.74, Z:5.79 [[-7.07653484e-02 -9.97483943e-01 4.24833596e-03 1.18433519e+02] [ 9.96134790e-01 -7.08905315e-02 -5.18653325e-02 1.21741909e+02] [ 5.20360032e-02 5.61646920e-04 9.98645052e-01 5.78657267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.77, Z:5.79 [[-7.29616412e-02 -9.97325453e-01 4.30585854e-03 1.18432090e+02] [ 9.95949829e-01 -7.30870902e-02 -5.23661639e-02 1.21768588e+02] [ 5.25408108e-02 4.67697814e-04 9.98618668e-01 5.78735492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.80, Z:5.79 [[-7.51267544e-02 -9.97164563e-01 4.33643726e-03 1.18430834e+02] [ 9.95779978e-01 -7.52508858e-02 -5.25313135e-02 1.21795530e+02] [ 5.27086850e-02 3.71630312e-04 9.98609862e-01 5.78842454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.82, Z:5.79 [[-7.90310999e-02 -9.96862648e-01 4.35272314e-03 1.18430410e+02] [ 9.95477229e-01 -7.91506679e-02 -5.25381620e-02 1.21822213e+02] [ 5.27178522e-02 1.80888043e-04 9.98609431e-01 5.78950331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.85, Z:5.79 [[-8.08989352e-02 -9.96712792e-01 4.35573753e-03 1.18429033e+02] [ 9.95333621e-01 -8.10160547e-02 -5.24154787e-02 1.21849908e+02] [ 5.25960628e-02 9.50555996e-05 9.98615865e-01 5.79151884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:121.88, Z:5.79 [[-8.18068363e-02 -9.96638787e-01 4.33251713e-03 1.18426985e+02] [ 9.95284115e-01 -8.19214578e-02 -5.19461826e-02 1.21876978e+02] [ 5.21265065e-02 6.25326200e-05 9.98640488e-01 5.79317525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:121.90, Z:5.79 [[-8.22704634e-02 -9.96600826e-01 4.28529302e-03 1.18423291e+02] [ 9.95284980e-01 -8.23819766e-02 -5.11958802e-02 1.21903984e+02] [ 5.13748874e-02 5.31789840e-05 9.98679437e-01 5.79453370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:121.93, Z:5.80 [[-8.15951055e-02 -9.96656368e-01 4.28041003e-03 1.18419515e+02] [ 9.95353160e-01 -8.17072366e-02 -5.09510940e-02 1.21931498e+02] [ 5.11304728e-02 1.03159758e-04 9.98691977e-01 5.79568284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:121.96, Z:5.80 [[-8.06179661e-02 -9.96735737e-01 4.31439609e-03 1.18415418e+02] [ 9.95421668e-01 -8.07331508e-02 -5.11650373e-02 1.21957216e+02] [ 5.13463359e-02 1.69822112e-04 9.98680892e-01 5.79661221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:121.98, Z:5.80 [[-7.86348085e-02 -9.96894104e-01 4.32587075e-03 1.18410801e+02] [ 9.95583300e-01 -7.87531796e-02 -5.11060563e-02 1.21984266e+02] [ 5.12880023e-02 2.88049724e-04 9.98683863e-01 5.79758602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:122.01, Z:5.80 [[-7.30521854e-02 -9.97318355e-01 4.41322706e-03 1.18403018e+02] [ 9.95964724e-01 -7.31829058e-02 -5.19473774e-02 1.22011340e+02] [ 5.21310458e-02 6.00549031e-04 9.98640072e-01 5.79814396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:122.04, Z:5.80 [[-7.00459978e-02 -9.97533859e-01 4.44496984e-03 1.18397306e+02] [ 9.96170464e-01 -7.01826048e-02 -5.21421932e-02 1.22038934e+02] [ 5.23255628e-02 7.75595714e-04 9.98629778e-01 5.79902305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:122.07, Z:5.80 [[-6.71233564e-02 -9.97734369e-01 4.53698589e-03 1.18390720e+02] [ 9.96323683e-01 -6.72696683e-02 -5.30463006e-02 1.22065651e+02] [ 5.32313188e-02 9.59660750e-04 9.98581747e-01 5.79899003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:122.09, Z:5.80 [[-6.08011050e-02 -9.98139150e-01 4.63287379e-03 1.18383689e+02] [ 9.96679339e-01 -6.09627302e-02 -5.39800018e-02 1.22092708e+02] [ 5.41619857e-02 1.33544583e-03 9.98531269e-01 5.79891334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:122.12, Z:5.80 [[-5.83329970e-02 -9.98286460e-01 4.62658167e-03 1.18378950e+02] [ 9.96841233e-01 -5.84975041e-02 -5.37177671e-02 1.22119960e+02] [ 5.38963630e-02 1.47844903e-03 9.98545440e-01 5.80046681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:122.15, Z:5.80 [[-5.59092150e-02 -9.98425187e-01 4.61585821e-03 1.18374229e+02] [ 9.96996933e-01 -5.60761563e-02 -5.34095460e-02 1.22146437e+02] [ 5.35842756e-02 1.61591068e-03 9.98562023e-01 5.80194830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:122.17, Z:5.80 [[-5.40009274e-02 -9.98530266e-01 4.60528343e-03 1.18370260e+02] [ 9.97118440e-01 -5.41695136e-02 -5.31081957e-02 1.22174067e+02] [ 5.32796068e-02 1.72412121e-03 9.98578145e-01 5.80358324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:122.20, Z:5.81 [[-5.16018630e-02 -9.98657275e-01 4.57119242e-03 1.18369051e+02] [ 9.97275629e-01 -5.17709926e-02 -5.25460205e-02 1.22202277e+02] [ 5.27121208e-02 1.84726624e-03 9.98608041e-01 5.80708072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.23, Z:5.81 [[-5.10143837e-02 -9.98687517e-01 4.55808091e-03 1.18362939e+02] [ 9.97322656e-01 -5.11830393e-02 -5.22285067e-02 1.22229084e+02] [ 5.23932541e-02 1.88147228e-03 9.98624758e-01 5.80792871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.26, Z:5.81 [[-5.10832422e-02 -9.98683795e-01 4.60212276e-03 1.18361547e+02] [ 9.97299792e-01 -5.12548101e-02 -5.25934382e-02 1.22256397e+02] [ 5.27600954e-02 1.90305272e-03 9.98605403e-01 5.80935343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.28, Z:5.81 [[-5.14228051e-02 -9.98666115e-01 4.65680027e-03 1.18357763e+02] [ 9.97259461e-01 -5.15976136e-02 -5.30212656e-02 1.22282015e+02] [ 5.31908211e-02 1.91753592e-03 9.98582525e-01 5.80955625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.31, Z:5.81 [[-5.17336904e-02 -9.98649977e-01 4.67433003e-03 1.18355274e+02] [ 9.97243383e-01 -5.19089905e-02 -5.30197207e-02 1.22308695e+02] [ 5.31907826e-02 1.91853888e-03 9.98582525e-01 5.81072558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.34, Z:5.81 [[-5.25022922e-02 -9.98609600e-01 4.73035219e-03 1.18356278e+02] [ 9.97179116e-01 -5.26803481e-02 -5.34657930e-02 1.22337125e+02] [ 5.36406507e-02 1.90993173e-03 9.98558477e-01 5.81240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.36, Z:5.81 [[-5.41051307e-02 -9.98524002e-01 4.73830890e-03 1.18353067e+02] [ 9.97097839e-01 -5.42811601e-02 -5.33802877e-02 1.22364005e+02] [ 5.35586994e-02 1.83641012e-03 9.98563014e-01 5.81276620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.39, Z:5.81 [[-5.63263668e-02 -9.98400811e-01 4.81262564e-03 1.18353187e+02] [ 9.96938725e-01 -5.65043768e-02 -5.40410478e-02 1.22392254e+02] [ 5.42265603e-02 1.75395699e-03 9.98527117e-01 5.81487054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.42, Z:5.82 [[-5.84462863e-02 -9.98278805e-01 4.84335935e-03 1.18351308e+02] [ 9.96806976e-01 -5.86231466e-02 -5.42142016e-02 1.22419726e+02] [ 5.44048214e-02 1.65927564e-03 9.98517582e-01 5.81590143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.45, Z:5.82 [[-6.28247572e-02 -9.98012545e-01 4.89996839e-03 1.18350506e+02] [ 9.96514564e-01 -6.29989214e-02 -5.46796152e-02 1.22446598e+02] [ 5.48796347e-02 1.44765631e-03 9.98491928e-01 5.81689842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.47, Z:5.82 [[-6.45715387e-02 -9.97901101e-01 4.88976770e-03 1.18349867e+02] [ 9.96417424e-01 -6.47421603e-02 -5.44129543e-02 1.22474611e+02] [ 5.46153211e-02 1.35872155e-03 9.98506545e-01 5.81982276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.50, Z:5.82 [[-6.59055738e-02 -9.97813724e-01 4.92213359e-03 1.18348319e+02] [ 9.96319517e-01 -6.60762275e-02 -5.46017576e-02 1.22501546e+02] [ 5.48076191e-02 1.30545759e-03 9.98496079e-01 5.82186275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.53, Z:5.82 [[-6.74020431e-02 -9.97713592e-01 4.95509697e-03 1.18346048e+02] [ 9.96209450e-01 -6.75724836e-02 -5.47785632e-02 1.22528773e+02] [ 5.49881452e-02 1.24412735e-03 9.98486232e-01 5.82286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:122.56, Z:5.82 [[-6.95675260e-02 -9.97564047e-01 5.13134970e-03 1.18342557e+02] [ 9.95961854e-01 -6.97465658e-02 -5.65278848e-02 1.22555459e+02] [ 5.67480795e-02 1.17812347e-03 9.98387834e-01 5.82106132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:122.58, Z:5.82 [[-7.09693118e-02 -9.97464616e-01 5.26272290e-03 1.18339642e+02] [ 9.95790721e-01 -7.11550345e-02 -5.77737115e-02 1.22581178e+02] [ 5.80017022e-02 1.14041008e-03 9.98315833e-01 5.82060620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:122.61, Z:5.82 [[-7.20011548e-02 -9.97390144e-01 5.36053275e-03 1.18337967e+02] [ 9.95665267e-01 -7.21918178e-02 -5.86431427e-02 1.22608636e+02] [ 5.88770791e-02 1.11492228e-03 9.98264617e-01 5.82169121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:122.64, Z:5.82 [[-7.31683836e-02 -9.97304922e-01 5.41104821e-03 1.18335213e+02] [ 9.95559023e-01 -7.33603847e-02 -5.89956472e-02 1.22635232e+02] [ 5.92336060e-02 1.07040172e-03 9.98243575e-01 5.82230243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.66, Z:5.82 [[-7.45462155e-02 -9.97202370e-01 5.50411798e-03 1.18334375e+02] [ 9.95408109e-01 -7.47421668e-02 -5.98022115e-02 1.22662871e+02] [ 6.00462968e-02 1.02081512e-03 9.98195071e-01 5.82480543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.69, Z:5.83 [[-7.77929955e-02 -9.96954838e-01 5.41305016e-03 1.18332584e+02] [ 9.95229847e-01 -7.79767164e-02 -5.86274938e-02 1.22689973e+02] [ 5.88710555e-02 8.26420712e-04 9.98265253e-01 5.82757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.72, Z:5.83 [[-8.03708969e-02 -9.96750621e-01 5.35902001e-03 1.18330876e+02] [ 9.95068992e-01 -8.05464876e-02 -5.78788800e-02 1.22718239e+02] [ 5.81224598e-02 6.80817141e-04 9.98309229e-01 5.83027936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.75, Z:5.83 [[-8.30456767e-02 -9.96531701e-01 5.28995167e-03 1.18329871e+02] [ 9.94902275e-01 -8.32122876e-02 -5.69664605e-02 1.22746324e+02] [ 5.72090728e-02 5.32166686e-04 9.98362078e-01 5.83332274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.77, Z:5.84 [[-8.93640182e-02 -9.95986356e-01 5.02509918e-03 1.18330077e+02] [ 9.94523216e-01 -8.95050210e-02 -5.39668735e-02 1.22773569e+02] [ 5.42000412e-02 1.74881135e-04 9.98530082e-01 5.83762512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.80, Z:5.84 [[-9.29326556e-02 -9.95660228e-01 4.92262579e-03 1.18329100e+02] [ 9.94262389e-01 -9.30629394e-02 -5.27407899e-02 1.22799928e+02] [ 5.29700209e-02 -6.95998362e-06 9.98596103e-01 5.84061248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.83, Z:5.84 [[-9.68608956e-02 -9.95286235e-01 4.82464818e-03 1.18327708e+02] [ 9.93951997e-01 -9.69807838e-02 -5.15185035e-02 1.22826947e+02] [ 5.17435555e-02 -1.94659694e-04 9.98660386e-01 5.84378577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.85, Z:5.85 [[-1.00677266e-01 -9.94907640e-01 4.78294992e-03 1.18326289e+02] [ 9.93604564e-01 -1.00790127e-01 -5.09050167e-02 1.22853435e+02] [ 5.11278641e-02 -3.72617035e-04 9.98692046e-01 5.84548185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:122.88, Z:5.85 [[-1.04531559e-01 -9.94510040e-01 4.78887204e-03 1.18324137e+02] [ 9.93212169e-01 -1.04639734e-01 -5.07948259e-02 1.22880879e+02] [ 5.10170706e-02 -5.53296348e-04 9.98697628e-01 5.84750050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:122.91, Z:5.85 [[-1.11558335e-01 -9.93746668e-01 4.72206737e-03 1.18321670e+02] [ 9.92491715e-01 -1.11654730e-01 -4.99341186e-02 1.22907658e+02] [ 5.01491051e-02 -8.83954405e-04 9.98741351e-01 5.84831327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:122.94, Z:5.85 [[-1.14817618e-01 -9.93375018e-01 4.79454781e-03 1.18318567e+02] [ 9.92088808e-01 -1.14912911e-01 -5.05452200e-02 1.22935379e+02] [ 5.07613142e-02 -1.04686452e-03 9.98710265e-01 5.84967230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters Centerline goodness [0,1] 0.9999765406901729 Centerline is valid? [True, True] Translation: X:118.31, Y:122.96, Z:5.85 [[-1.19995184e-01 -9.92761969e-01 4.98280296e-03 1.18313897e+02] [ 9.91380414e-01 -1.20091066e-01 -5.23737667e-02 1.22962644e+02] [ 5.25930739e-02 -1.34474651e-03 9.98615121e-01 5.84951476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:122.99, Z:5.85 [[-1.21892907e-01 -9.92530596e-01 5.01340942e-03 1.18308357e+02] [ 9.91140270e-01 -1.21987526e-01 -5.25357763e-02 1.22990709e+02] [ 5.27549388e-02 -1.43474651e-03 9.98606458e-01 5.85095554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:123.02, Z:5.85 [[-1.23268383e-01 -9.92360453e-01 5.06324782e-03 1.18303570e+02] [ 9.90950410e-01 -1.23363159e-01 -5.29038379e-02 1.23017761e+02] [ 5.31242949e-02 -1.50394308e-03 9.98586775e-01 5.85185023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:123.04, Z:5.85 [[-1.23796863e-01 -9.92294610e-01 5.07373510e-03 1.18296955e+02] [ 9.90887230e-01 -1.23891523e-01 -5.28525178e-02 1.23044745e+02] [ 5.30738613e-02 -1.51547658e-03 9.98589439e-01 5.85334496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:123.07, Z:5.85 [[-1.23854950e-01 -9.92287395e-01 5.06719755e-03 1.18289699e+02] [ 9.90892470e-01 -1.23949535e-01 -5.26177323e-02 1.23071687e+02] [ 5.28399893e-02 -1.49591870e-03 9.98601871e-01 5.85497552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:123.10, Z:5.86 [[-1.23163182e-01 -9.92373698e-01 5.02723899e-03 1.18281086e+02] [ 9.91009214e-01 -1.23257473e-01 -5.20416486e-02 1.23099320e+02] [ 5.22644081e-02 -1.42757490e-03 9.98632261e-01 5.85696092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters Centerline goodness [0,1] 0.9999772944007992 Centerline is valid? [True, True] Translation: X:118.27, Y:123.13, Z:5.86 [[-1.19461252e-01 -9.92826146e-01 5.02530674e-03 1.18266519e+02] [ 9.91470775e-01 -1.19560735e-01 -5.18742107e-02 1.23126442e+02] [ 5.21029020e-02 -1.21451340e-03 9.98640983e-01 5.85882741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:123.15, Z:5.86 [[-1.17687878e-01 -9.93037652e-01 5.07781854e-03 1.18259517e+02] [ 9.91661721e-01 -1.17792086e-01 -5.22690742e-02 1.23153295e+02] [ 5.25032856e-02 -1.11595814e-03 9.98620128e-01 5.85965099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:123.18, Z:5.86 [[-1.15818567e-01 -9.93257117e-01 5.13404157e-03 1.18250353e+02] [ 9.91858759e-01 -1.15927894e-01 -5.26965336e-02 1.23180748e+02] [ 5.29363857e-02 -1.01099290e-03 9.98597375e-01 5.86085805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.746875 meters Centerline goodness [0,1] 0.9998654618023634 Centerline is valid? [True, True] Translation: X:118.24, Y:123.21, Z:5.86 [[-1.13732056e-01 -9.93497973e-01 5.17651247e-03 1.18242145e+02] [ 9.92084665e-01 -1.13846319e-01 -5.29814400e-02 1.23207694e+02] [ 5.32262801e-02 -8.90149441e-04 9.98582080e-01 5.86210817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:123.23, Z:5.86 [[-1.09687408e-01 -9.93952956e-01 5.11793759e-03 1.18227247e+02] [ 9.92579614e-01 -1.09804821e-01 -5.22361110e-02 1.23234333e+02] [ 5.24822112e-02 -6.49683119e-04 9.98621648e-01 5.86454768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:123.26, Z:5.86 [[-1.07609997e-01 -9.94179824e-01 5.15422223e-03 1.18219954e+02] [ 9.92795410e-01 -1.07732073e-01 -5.24506838e-02 1.23260391e+02] [ 5.27006866e-02 -5.27129740e-04 9.98610214e-01 5.86499427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:123.29, Z:5.87 [[-1.06161850e-01 -9.94335089e-01 5.23381597e-03 1.18210709e+02] [ 9.92917193e-01 -1.06289881e-01 -5.30839806e-02 1.23287671e+02] [ 5.33395662e-02 -4.38747738e-04 9.98576336e-01 5.86695046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:123.31, Z:5.87 [[-1.04687481e-01 -9.94491056e-01 5.29817242e-03 1.18203453e+02] [ 9.93046295e-01 -1.04820885e-01 -5.35876691e-02 1.23314368e+02] [ 5.38478168e-02 -3.48627625e-04 9.98549093e-01 5.86722040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:123.34, Z:5.87 [[-1.01611854e-01 -9.94808813e-01 5.51872322e-03 1.18191830e+02] [ 9.93248934e-01 -1.01761455e-01 -5.56880780e-02 1.23341098e+02] [ 5.59605841e-02 -1.77102892e-04 9.98432963e-01 5.86739682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:123.37, Z:5.87 [[-1.00271079e-01 -9.94944408e-01 5.59787815e-03 1.18184911e+02] [ 9.93348830e-01 -1.00427177e-01 -5.63248061e-02 1.23369077e+02] [ 5.66022300e-02 -8.71033514e-05 9.98396805e-01 5.86834563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:123.40, Z:5.87 [[-9.84652594e-02 -9.95124401e-01 5.65849852e-03 1.18178143e+02] [ 9.93503802e-01 -9.86277085e-02 -5.67694487e-02 1.23395246e+02] [ 5.70507483e-02 3.19213077e-05 9.98371279e-01 5.86891739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:123.42, Z:5.87 [[-9.67781435e-02 -9.95289113e-01 5.79422341e-03 1.18171499e+02] [ 9.93600284e-01 -9.69513286e-02 -5.79561480e-02 1.23422805e+02] [ 5.82448808e-02 1.48253620e-04 9.98302315e-01 5.87013598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:123.45, Z:5.87 [[-9.23157592e-02 -9.95711620e-01 6.01423970e-03 1.18160504e+02] [ 9.93903634e-01 -9.25104120e-02 -5.99782516e-02 1.23449419e+02] [ 6.02774218e-02 4.40636860e-04 9.98181566e-01 5.86895818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:123.48, Z:5.87 [[-9.03598425e-02 -9.95890748e-01 6.05952989e-03 1.18154780e+02] [ 9.94066565e-01 -9.05609386e-02 -6.02526414e-02 1.23477415e+02] [ 6.05538048e-02 5.79156876e-04 9.98164767e-01 5.87047979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:123.50, Z:5.87 [[-8.75384621e-02 -9.96142771e-01 6.04956937e-03 1.18147714e+02] [ 9.94335306e-01 -8.77439205e-02 -5.99858596e-02 1.23504239e+02] [ 6.02852933e-02 7.64230511e-04 9.98180895e-01 5.87044741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:123.53, Z:5.87 [[-8.53737038e-02 -9.96330330e-01 6.09959965e-03 1.18142138e+02] [ 9.94504185e-01 -8.55864008e-02 -6.03025163e-02 1.23532060e+02] [ 6.06032687e-02 9.17828217e-04 9.98161511e-01 5.87235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:123.56, Z:5.87 [[-8.07196763e-02 -9.96718836e-01 5.99129354e-03 1.18132928e+02] [ 9.94967902e-01 -8.09329201e-02 -5.90655182e-02 1.23558591e+02] [ 5.93566074e-02 1.19339525e-03 9.98236129e-01 5.87318613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.166875 meters Centerline goodness [0,1] 0.9999576656859217 Centerline is valid? [True, True] Translation: X:118.13, Y:123.59, Z:5.88 [[-7.91346313e-02 -9.96845810e-01 6.01171099e-03 1.18129094e+02] [ 9.95093560e-01 -7.93519080e-02 -5.90938347e-02 1.23586440e+02] [ 5.93844823e-02 1.30584606e-03 9.98234330e-01 5.87505786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:123.61, Z:5.88 [[-7.73317315e-02 -9.96987623e-01 5.95669207e-03 1.18124065e+02] [ 9.95277465e-01 -7.75479289e-02 -5.83873831e-02 1.23612845e+02] [ 5.86734274e-02 1.41336395e-03 9.98276230e-01 5.87586946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22687499999998 meters Centerline goodness [0,1] 0.9999789712747613 Centerline is valid? [True, True] Translation: X:118.12, Y:123.64, Z:5.88 [[-7.61175588e-02 -9.97081485e-01 5.88470651e-03 1.18119645e+02] [ 9.95422460e-01 -7.63303491e-02 -5.75135192e-02 1.23639892e+02] [ 5.77948468e-02 1.47998034e-03 9.98327384e-01 5.87724519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters Centerline goodness [0,1] 0.9999579664151658 Centerline is valid? [True, True] Translation: X:118.12, Y:123.67, Z:5.88 [[-7.46390948e-02 -9.97194453e-01 5.67700547e-03 1.18117318e+02] [ 9.95659520e-01 -7.48391889e-02 -5.53282553e-02 1.23667901e+02] [ 5.55978918e-02 1.52271365e-03 9.98452080e-01 5.88123994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28687499999998 meters Centerline goodness [0,1] 0.9999366152545954 Centerline is valid? [True, True] Translation: X:118.11, Y:123.70, Z:5.88 [[-7.44343172e-02 -9.97209922e-01 5.64842885e-03 1.18114767e+02] [ 9.95698799e-01 -7.46324835e-02 -5.48989528e-02 1.23695929e+02] [ 5.51673367e-02 1.53776775e-03 9.98475939e-01 5.88368331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:123.72, Z:5.89 [[-7.44131845e-02 -9.97211857e-01 5.58483752e-03 1.18111662e+02] [ 9.95742855e-01 -7.46067156e-02 -5.41295244e-02 1.23723303e+02] [ 5.43952699e-02 1.53311177e-03 9.98518304e-01 5.88518175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34687499999998 meters Centerline goodness [0,1] 0.9999789194089003 Centerline is valid? [True, True] Translation: X:118.11, Y:123.75, Z:5.89 [[-7.40169465e-02 -9.97240850e-01 5.67256609e-03 1.18109530e+02] [ 9.95734628e-01 -7.42169392e-02 -5.48123732e-02 1.23751235e+02] [ 5.50821381e-02 1.59132600e-03 9.98480559e-01 5.88511671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters Centerline goodness [0,1] 0.9999157664202835 Centerline is valid? [True, True] Translation: X:118.11, Y:123.78, Z:5.88 [[-7.42386773e-02 -9.97223868e-01 5.75978734e-03 1.18105275e+02] [ 9.95679651e-01 -7.44442670e-02 -5.54985052e-02 1.23777625e+02] [ 5.57732172e-02 1.61476743e-03 9.98442157e-01 5.88451497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40687499999999 meters Centerline goodness [0,1] 0.9998729190494345 Centerline is valid? [True, True] Translation: X:118.11, Y:123.81, Z:5.89 [[-7.43250774e-02 -9.97217213e-01 5.79758796e-03 1.18105108e+02] [ 9.95661628e-01 -7.45329765e-02 -5.57024064e-02 1.23805894e+02] [ 5.59795100e-02 1.63235020e-03 9.98430583e-01 5.88577070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:123.83, Z:5.89 [[-7.47292659e-02 -9.97186703e-01 5.84947157e-03 1.18104549e+02] [ 9.95611765e-01 -7.49400072e-02 -5.60464813e-02 1.23833743e+02] [ 5.63271653e-02 1.63549032e-03 9.98411025e-01 5.88657352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.466875 meters Centerline goodness [0,1] 0.9998732224734296 Centerline is valid? [True, True] Translation: X:118.10, Y:123.86, Z:5.89 [[-7.52361366e-02 -9.97147926e-01 5.96127758e-03 1.18101662e+02] [ 9.95521304e-01 -7.54539103e-02 -5.69564782e-02 1.23861183e+02] [ 5.72438359e-02 1.64939346e-03 9.98358865e-01 5.88638070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:118.10, Y:123.89, Z:5.89 [[-7.69858914e-02 -9.97013805e-01 6.05355267e-03 1.18104393e+02] [ 9.95345541e-01 -7.72072525e-02 -5.76740301e-02 1.23890165e+02] [ 5.79691823e-02 1.58529004e-03 9.98317114e-01 5.88732716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.526875 meters Centerline goodness [0,1] 0.9999570326766494 Centerline is valid? [True, True] Translation: X:118.11, Y:123.92, Z:5.89 [[-7.86887499e-02 -9.96881111e-01 6.01096957e-03 1.18105174e+02] [ 9.95244299e-01 -7.89039824e-02 -5.71222173e-02 1.23919035e+02] [ 5.74183488e-02 1.48750733e-03 9.98349098e-01 5.88972209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:123.95, Z:5.89 [[-8.05393892e-02 -9.96733114e-01 6.04202259e-03 1.18102953e+02] [ 9.95087196e-01 -8.07535795e-02 -5.72741761e-02 1.23946324e+02] [ 5.75749828e-02 1.39951216e-03 9.98340204e-01 5.89021376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:123.98, Z:5.89 [[-8.59053260e-02 -9.96285186e-01 6.00863186e-03 1.18107953e+02] [ 9.94662412e-01 -8.61082725e-02 -5.68511392e-02 1.23975075e+02] [ 5.71573407e-02 1.09274461e-03 9.98364585e-01 5.89311223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.00, Z:5.90 [[-8.95330436e-02 -9.95966146e-01 5.93888961e-03 1.18110446e+02] [ 9.94386354e-01 -8.97254375e-02 -5.60814208e-02 1.24003388e+02] [ 5.63880660e-02 8.84410490e-04 9.98408536e-01 5.89645337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.03, Z:5.90 [[-8.98164672e-02 -9.95940534e-01 5.95432443e-03 1.18107462e+02] [ 9.94360793e-01 -9.00092804e-02 -5.60797825e-02 1.24030809e+02] [ 5.63880730e-02 8.83858819e-04 9.98408536e-01 5.89765946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.06, Z:5.90 [[-9.37603739e-02 -9.95577647e-01 5.84308297e-03 1.18108377e+02] [ 9.94063796e-01 -9.39399315e-02 -5.48858650e-02 1.24058556e+02] [ 5.51920392e-02 6.62278007e-04 9.98475538e-01 5.89966822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.09, Z:5.90 [[-1.00894170e-01 -9.94881234e-01 5.63001781e-03 1.18112080e+02] [ 9.93481638e-01 -1.01050767e-01 -5.27539283e-02 1.24085788e+02] [ 5.30528109e-02 2.70755485e-04 9.98591671e-01 5.90203663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.11, Z:5.90 [[-1.04642154e-01 -9.94494592e-01 5.52497110e-03 1.18113113e+02] [ 9.93151809e-01 -1.04787877e-01 -5.16622237e-02 1.24113130e+02] [ 5.19567521e-02 8.10886566e-05 9.98649333e-01 5.90418751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.14, Z:5.91 [[-1.08727805e-01 -9.94056633e-01 5.44747439e-03 1.18114062e+02] [ 9.92758120e-01 -1.08864123e-01 -5.07929009e-02 1.24140470e+02] [ 5.10840546e-02 -1.14576185e-04 9.98694351e-01 5.90647146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.17, Z:5.91 [[-1.12443257e-01 -9.93643410e-01 5.41186435e-03 1.18114513e+02] [ 9.92368788e-01 -1.12573052e-01 -5.03139760e-02 1.24168363e+02] [ 5.06033807e-02 -2.86902059e-04 9.98718787e-01 5.90848857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.20, Z:5.91 [[-1.15616694e-01 -9.93279141e-01 5.41558910e-03 1.18114645e+02] [ 9.92009763e-01 -1.15742655e-01 -5.02022801e-02 1.24195187e+02] [ 5.04916923e-02 -4.31904411e-04 9.98724388e-01 5.91006259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:124.22, Z:5.91 [[-1.19940058e-01 -9.92766447e-01 5.40030167e-03 1.18115146e+02] [ 9.91510519e-01 -1.20059900e-01 -4.99250517e-02 1.24223440e+02] [ 5.02122759e-02 -6.33557702e-04 9.98738367e-01 5.91167881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.25, Z:5.91 [[-1.21131128e-01 -9.92621917e-01 5.38319272e-03 1.18113402e+02] [ 9.91380323e-01 -1.21248804e-01 -4.96365047e-02 1.24249889e+02] [ 4.99229882e-02 -6.75734485e-04 9.98752842e-01 5.91266833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.28, Z:5.91 [[-1.21541203e-01 -9.92571486e-01 5.43885164e-03 1.18110460e+02] [ 9.91311662e-01 -1.21660904e-01 -4.99981241e-02 1.24277320e+02] [ 5.02884080e-02 -6.85235108e-04 9.98734502e-01 5.91371853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:124.30, Z:5.91 [[-1.20889539e-01 -9.92650691e-01 5.50683857e-03 1.18106328e+02] [ 9.91366600e-01 -1.21013192e-01 -5.04784370e-02 1.24304582e+02] [ 5.07738554e-02 -6.43019175e-04 9.98709969e-01 5.91433226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:124.33, Z:5.91 [[-1.17256297e-01 -9.93085027e-01 5.75235200e-03 1.18099164e+02] [ 9.91692526e-01 -1.17396410e-01 -5.25739266e-02 1.24331104e+02] [ 5.28856848e-02 -4.60059444e-04 9.98600467e-01 5.91313360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:124.36, Z:5.91 [[-1.15140176e-01 -9.93331895e-01 5.87246908e-03 1.18094684e+02] [ 9.91889436e-01 -1.15289343e-01 -5.35136911e-02 1.24357240e+02] [ 5.38338893e-02 -3.36735745e-04 9.98549848e-01 5.91240322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:124.38, Z:5.91 [[-1.12951694e-01 -9.93582439e-01 5.98766312e-03 1.18089485e+02] [ 9.92092102e-01 -1.13110103e-01 -5.44000541e-02 1.24384043e+02] [ 5.47282036e-02 -2.04264960e-04 9.98501268e-01 5.91292480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:124.41, Z:5.91 [[-1.10433818e-01 -9.93864657e-01 6.11680068e-03 1.18084311e+02] [ 9.92318428e-01 -1.10603078e-01 -5.54174824e-02 1.24409646e+02] [ 5.57540141e-02 -5.01501135e-05 9.98444534e-01 5.91353112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters Centerline goodness [0,1] 0.9999124036440085 Centerline is valid? [True, True] Translation: X:118.08, Y:124.44, Z:5.91 [[-1.06140814e-01 -9.94331752e-01 6.20447692e-03 1.18076615e+02] [ 9.92750703e-01 -1.06321793e-01 -5.60510291e-02 1.24436196e+02] [ 5.63929890e-02 2.10196967e-04 9.98408627e-01 5.91363516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:124.46, Z:5.91 [[-1.04497096e-01 -9.94506121e-01 6.15884037e-03 1.18071466e+02] [ 9.92957052e-01 -1.04677953e-01 -5.54871064e-02 1.24462937e+02] [ 5.58269618e-02 3.17222477e-04 9.98440409e-01 5.91489579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:124.49, Z:5.92 [[-1.02994140e-01 -9.94663098e-01 6.12602564e-03 1.18067201e+02] [ 9.93139200e-01 -1.03175330e-01 -5.50398144e-02 1.24490211e+02] [ 5.53781271e-02 4.15217817e-04 9.98465368e-01 5.91661182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.186875 meters Centerline goodness [0,1] 0.9999562209964101 Centerline is valid? [True, True] Translation: X:118.06, Y:124.52, Z:5.92 [[-1.02228557e-01 -9.94741720e-01 6.18325390e-03 1.18063219e+02] [ 9.93198189e-01 -1.02414266e-01 -5.53956252e-02 1.24515787e+02] [ 5.57375929e-02 4.78181743e-04 9.98445338e-01 5.91739941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:124.54, Z:5.92 [[-1.00364699e-01 -9.94931825e-01 6.13118495e-03 1.18059710e+02] [ 9.93423288e-01 -1.00550045e-01 -5.47709748e-02 1.24543095e+02] [ 5.51098769e-02 5.93789522e-04 9.98480119e-01 5.91968540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:124.57, Z:5.92 [[-1.00164461e-01 -9.94951773e-01 6.16842781e-03 1.18056339e+02] [ 9.93433553e-01 -1.00352275e-01 -5.49472147e-02 1.24569644e+02] [ 5.52888445e-02 6.24165029e-04 9.98470207e-01 5.92111096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:124.60, Z:5.92 [[-9.98217206e-02 -9.94986027e-01 6.19922414e-03 1.18053629e+02] [ 9.93461472e-01 -1.00011838e-01 -5.50630203e-02 1.24597533e+02] [ 5.54069316e-02 6.62204905e-04 9.98463636e-01 5.92287596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:124.62, Z:5.92 [[-9.96358292e-02 -9.95004592e-01 6.21002146e-03 1.18049983e+02] [ 9.93482125e-01 -9.98268045e-02 -5.50261517e-02 1.24624780e+02] [ 5.53712002e-02 6.86969057e-04 9.98465602e-01 5.92408171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:124.65, Z:5.93 [[-9.81423467e-02 -9.95153465e-01 6.13678272e-03 1.18045427e+02] [ 9.93672866e-01 -9.83309957e-02 -5.42701680e-02 1.24652574e+02] [ 5.46105817e-02 7.71752827e-04 9.98507430e-01 5.92524728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:124.68, Z:5.93 [[-9.71842365e-02 -9.95247385e-01 6.15356228e-03 1.18041624e+02] [ 9.93766354e-01 -9.73752369e-02 -5.42816471e-02 1.24680069e+02] [ 5.46228719e-02 8.39882718e-04 9.98506703e-01 5.92667097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:124.71, Z:5.93 [[-9.62762622e-02 -9.95335192e-01 6.22382183e-03 1.18037341e+02] [ 9.93828037e-01 -9.64729014e-02 -5.47614035e-02 1.24706887e+02] [ 5.51063823e-02 9.13185394e-04 9.98480071e-01 5.92675647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:124.73, Z:5.93 [[-9.35002315e-02 -9.95598948e-01 6.35937026e-03 1.18033535e+02] [ 9.94034255e-01 -9.37097497e-02 -5.58066631e-02 1.24734883e+02] [ 5.61569901e-02 1.10349596e-03 9.98421341e-01 5.92746701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:124.76, Z:5.93 [[-9.21084391e-02 -9.95728383e-01 6.40485515e-03 1.18026641e+02] [ 9.94148887e-01 -9.23230255e-02 -5.60753961e-02 1.24760946e+02] [ 5.64271791e-02 1.20236242e-03 9.98405993e-01 5.92603241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:124.79, Z:5.93 [[-9.05749329e-02 -9.95868897e-01 6.42819945e-03 1.18024681e+02] [ 9.94284365e-01 -9.07933937e-02 -5.61708138e-02 1.24788900e+02] [ 5.65224045e-02 1.30379052e-03 9.98400480e-01 5.92771774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:124.82, Z:5.93 [[-8.90869075e-02 -9.96003139e-01 6.42423905e-03 1.18023208e+02] [ 9.94428541e-01 -8.93072746e-02 -5.60007863e-02 1.24816897e+02] [ 5.63506902e-02 1.39950980e-03 9.98410057e-01 5.93007146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.546875 meters Centerline goodness [0,1] 0.9999558937038262 Centerline is valid? [True, True] Translation: X:118.02, Y:124.84, Z:5.93 [[-8.74892856e-02 -9.96144869e-01 6.40508919e-03 1.18018920e+02] [ 9.94587882e-01 -8.77106424e-02 -5.56936992e-02 1.24843527e+02] [ 5.60407872e-02 1.49782213e-03 9.98427357e-01 5.93122566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:124.87, Z:5.93 [[-8.39023622e-02 -9.96454125e-01 6.29044038e-03 1.18016927e+02] [ 9.94960867e-01 -8.41210406e-02 -5.45575309e-02 1.24871587e+02] [ 5.48932352e-02 1.68123629e-03 9.98490814e-01 5.93472079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.606875 meters Centerline goodness [0,1] 0.9999559053729303 Centerline is valid? [True, True] Translation: X:118.01, Y:124.90, Z:5.94 [[-8.24449572e-02 -9.96575701e-01 6.30082726e-03 1.18014247e+02] [ 9.95085187e-01 -8.26663117e-02 -5.45137751e-02 1.24899823e+02] [ 5.48479698e-02 1.77547402e-03 9.98493139e-01 5.93588306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:124.93, Z:5.94 [[-8.14876527e-02 -9.96654071e-01 6.35815470e-03 1.18011618e+02] [ 9.95144016e-01 -8.17142581e-02 -5.48740998e-02 1.24927743e+02] [ 5.52100468e-02 1.85571802e-03 9.98473038e-01 5.93684369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:124.95, Z:5.94 [[-8.06211571e-02 -9.96724031e-01 6.43702141e-03 1.18004569e+02] [ 9.95184210e-01 -8.08544937e-02 -5.54160561e-02 1.24954639e+02] [ 5.57549769e-02 1.93831550e-03 9.98442600e-01 5.93556985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:124.98, Z:5.94 [[-8.02164825e-02 -9.96756217e-01 6.50843921e-03 1.18005406e+02] [ 9.95190165e-01 -8.04553779e-02 -5.58879897e-02 1.24983131e+02] [ 5.62303401e-02 1.99399674e-03 9.98415832e-01 5.93735768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.01, Z:5.94 [[-8.00145458e-02 -9.96772682e-01 6.47240224e-03 1.18007542e+02] [ 9.95231570e-01 -8.02508462e-02 -5.54429700e-02 1.25010827e+02] [ 5.57834537e-02 2.00529498e-03 9.98440877e-01 5.93918609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.04, Z:5.94 [[-8.03553898e-02 -9.96745335e-01 6.46134652e-03 1.18005627e+02] [ 9.95217431e-01 -8.05900719e-02 -5.52042071e-02 1.25037351e+02] [ 5.55452563e-02 1.99448910e-03 9.98454178e-01 5.94055174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.06, Z:5.94 [[-8.16238299e-02 -9.96642512e-01 6.42292888e-03 1.18004463e+02] [ 9.95138979e-01 -8.18535818e-02 -5.47576745e-02 1.25064892e+02] [ 5.50995660e-02 1.92217579e-03 9.98479015e-01 5.94055029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.09, Z:5.94 [[-8.25768970e-02 -9.96563590e-01 6.48587906e-03 1.18006316e+02] [ 9.95037727e-01 -8.28094498e-02 -5.51590149e-02 1.25092351e+02] [ 5.55065580e-02 1.89883406e-03 9.98456517e-01 5.94260417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.12, Z:5.94 [[-8.33409244e-02 -9.96500328e-01 6.43317798e-03 1.18005938e+02] [ 9.95007066e-01 -8.35682931e-02 -5.45644415e-02 1.25120160e+02] [ 5.49110936e-02 1.85360655e-03 9.98489527e-01 5.94444183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.15, Z:5.95 [[-8.41193653e-02 -9.96435275e-01 6.37769631e-03 1.18004162e+02] [ 9.94975477e-01 -8.43414199e-02 -5.39474239e-02 1.25146422e+02] [ 5.42930201e-02 1.80762837e-03 9.98523410e-01 5.94571838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.17, Z:5.95 [[-8.48588652e-02 -9.96373524e-01 6.22682813e-03 1.18008170e+02] [ 9.94989399e-01 -8.50692631e-02 -5.25291993e-02 1.25174825e+02] [ 5.28684151e-02 1.73805973e-03 9.98599975e-01 5.94966700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.20, Z:5.95 [[-8.50489974e-02 -9.96357347e-01 6.22131615e-03 1.18004635e+02] [ 9.94982441e-01 -8.52585360e-02 -5.23538365e-02 1.25201554e+02] [ 5.26935500e-02 1.73745902e-03 9.98609218e-01 5.94967144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:125.23, Z:5.95 [[-8.51580482e-02 -9.96347815e-01 6.25603018e-03 1.18005042e+02] [ 9.94964618e-01 -8.53695434e-02 -5.25114346e-02 1.25230245e+02] [ 5.28537276e-02 1.75275739e-03 9.98600727e-01 5.95108826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.26, Z:5.95 [[-8.51405682e-02 -9.96348815e-01 6.33424432e-03 1.18002249e+02] [ 9.94937896e-01 -8.53571707e-02 -5.30352376e-02 1.25257657e+02] [ 5.33822693e-02 1.78672946e-03 9.98572552e-01 5.95102612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.28, Z:5.95 [[-8.49255961e-02 -9.96365685e-01 6.56236624e-03 1.18000677e+02] [ 9.94858921e-01 -8.51581427e-02 -5.48070969e-02 1.25284306e+02] [ 5.51667496e-02 1.87410322e-03 9.98475397e-01 5.94977371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.31, Z:5.95 [[-8.48682855e-02 -9.96370216e-01 6.61568141e-03 1.17999989e+02] [ 9.94845308e-01 -8.51044924e-02 -5.51365507e-02 1.25311324e+02] [ 5.54994411e-02 1.90223509e-03 9.98456906e-01 5.95019945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.34, Z:5.95 [[-8.54310369e-02 -9.96321489e-01 6.71038208e-03 1.17996735e+02] [ 9.94760932e-01 -8.56728778e-02 -5.57749559e-02 1.25337101e+02] [ 5.61446848e-02 1.91031363e-03 9.98420816e-01 5.94965845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.36, Z:5.95 [[-8.69458772e-02 -9.96189860e-01 6.79539516e-03 1.17997768e+02] [ 9.94597478e-01 -8.71911747e-02 -5.63343199e-02 1.25363228e+02] [ 5.67121768e-02 1.86064603e-03 9.98388836e-01 5.95031706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.39, Z:5.95 [[-8.89774834e-02 -9.96010191e-01 6.83417020e-03 1.18001485e+02] [ 9.94405756e-01 -8.92220950e-02 -5.65385796e-02 1.25392249e+02] [ 5.69227605e-02 1.76527765e-03 9.98377025e-01 5.95354638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.42, Z:5.95 [[-9.10628872e-02 -9.95821983e-01 6.79180729e-03 1.18001268e+02] [ 9.94244310e-01 -9.13009428e-02 -5.60570278e-02 1.25420636e+02] [ 5.64429190e-02 1.64800095e-03 9.98404468e-01 5.95494690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.45, Z:5.96 [[-9.28606155e-02 -9.95656504e-01 6.71059153e-03 1.18000582e+02] [ 9.94123075e-01 -9.30900374e-02 -5.52590020e-02 1.25448696e+02] [ 5.56436739e-02 1.53976894e-03 9.98449503e-01 5.95649514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.48, Z:5.96 [[-9.52033371e-02 -9.95436495e-01 6.51996897e-03 1.18001212e+02] [ 9.93994971e-01 -9.54163445e-02 -5.35697641e-02 1.25476032e+02] [ 5.39474098e-02 1.38079605e-03 9.98542824e-01 5.95782255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.50, Z:5.96 [[-9.59158334e-02 -9.95368085e-01 6.52133486e-03 1.18000349e+02] [ 9.93932275e-01 -9.61277359e-02 -5.34611242e-02 1.25503485e+02] [ 5.38403780e-02 1.35399691e-03 9.98548637e-01 5.95949505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.53, Z:5.96 [[-9.67999146e-02 -9.95282113e-01 6.57967266e-03 1.17998954e+02] [ 9.93827687e-01 -9.70141445e-02 -5.38031953e-02 1.25530369e+02] [ 5.41876792e-02 1.33091616e-03 9.98529881e-01 5.96041187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.56, Z:5.96 [[-9.71506371e-02 -9.95247420e-01 6.65787163e-03 1.17998273e+02] [ 9.93765630e-01 -9.73692790e-02 -5.43055738e-02 1.25557572e+02] [ 5.46957543e-02 1.34054291e-03 9.98502167e-01 5.96162993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.58, Z:5.96 [[-9.69689287e-02 -9.95265103e-01 6.66347132e-03 1.17996351e+02] [ 9.93788021e-01 -9.71880314e-02 -5.42204380e-02 1.25583514e+02] [ 5.46113194e-02 1.36438019e-03 9.98506756e-01 5.96202525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:125.61, Z:5.96 [[-9.71538014e-02 -9.95247119e-01 6.65669430e-03 1.17996591e+02] [ 9.93779082e-01 -9.73720335e-02 -5.40538971e-02 1.25611017e+02] [ 5.44451612e-02 1.36374196e-03 9.98515831e-01 5.96450940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:125.64, Z:5.97 [[-9.66122587e-02 -9.95299981e-01 6.63473446e-03 1.17994020e+02] [ 9.93849063e-01 -9.68296590e-02 -5.37406531e-02 1.25638223e+02] [ 5.41305101e-02 1.40191874e-03 9.98532885e-01 5.96604530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:125.67, Z:5.97 [[-9.62046774e-02 -9.95339187e-01 6.67550470e-03 1.17993473e+02] [ 9.93877424e-01 -9.64251737e-02 -5.39430503e-02 1.25666458e+02] [ 5.43353185e-02 1.44505967e-03 9.98521700e-01 5.96773527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:125.69, Z:5.97 [[-9.62180251e-02 -9.95337807e-01 6.68898603e-03 1.17991641e+02] [ 9.93876938e-01 -9.64392107e-02 -5.39268989e-02 1.25693783e+02] [ 5.43205618e-02 1.45928924e-03 9.98522482e-01 5.96888396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:125.72, Z:5.97 [[-9.61720878e-02 -9.95341959e-01 6.73154545e-03 1.17988917e+02] [ 9.93870094e-01 -9.63959568e-02 -5.41299859e-02 1.25720496e+02] [ 5.45267400e-02 1.48448794e-03 9.98511207e-01 5.96968177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:125.75, Z:5.97 [[-9.61688273e-02 -9.95342357e-01 6.71925882e-03 1.17986446e+02] [ 9.93883453e-01 -9.63916771e-02 -5.38917988e-02 1.25746287e+02] [ 5.42884707e-02 1.49544906e-03 9.98524174e-01 5.97046945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:125.77, Z:5.97 [[-9.64799744e-02 -9.95312126e-01 6.73688800e-03 1.17982995e+02] [ 9.93853299e-01 -9.67033219e-02 -5.38895955e-02 1.25772858e+02] [ 5.42884474e-02 1.49621157e-03 9.98524174e-01 5.97163859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:125.80, Z:5.97 [[-9.66504017e-02 -9.95295975e-01 6.67991389e-03 1.17982495e+02] [ 9.93868630e-01 -9.68695527e-02 -5.33051187e-02 1.25799467e+02] [ 5.37014504e-02 1.48699573e-03 9.98555929e-01 5.97400625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:125.83, Z:5.98 [[-9.69072266e-02 -9.95271004e-01 6.67969115e-03 1.17980584e+02] [ 9.93849582e-01 -9.71258325e-02 -5.31938026e-02 1.25826939e+02] [ 5.35910198e-02 1.48374439e-03 9.98561866e-01 5.97557568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:125.85, Z:5.98 [[-9.68662678e-02 -9.95274903e-01 6.69277846e-03 1.17978256e+02] [ 9.93855096e-01 -9.70855892e-02 -5.31642428e-02 1.25854492e+02] [ 5.35628089e-02 1.50183020e-03 9.98563353e-01 5.97684115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:125.88, Z:5.98 [[-9.62078925e-02 -9.95337811e-01 6.83248382e-03 1.17976729e+02] [ 9.93865629e-01 -9.64372263e-02 -5.41384530e-02 1.25882549e+02] [ 5.45449551e-02 1.58202436e-03 9.98510063e-01 5.97733320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:125.91, Z:5.98 [[-9.60184059e-02 -9.95355499e-01 6.92067816e-03 1.17974004e+02] [ 9.93851988e-01 -9.62537806e-02 -5.47122972e-02 1.25910187e+02] [ 5.51243273e-02 1.62474220e-03 9.98478176e-01 5.97788153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:125.94, Z:5.98 [[-9.57495092e-02 -9.95380834e-01 7.00186686e-03 1.17969869e+02] [ 9.93849006e-01 -9.59906388e-02 -5.52263522e-02 1.25937166e+02] [ 5.56433662e-02 1.67090231e-03 9.98449310e-01 5.97820948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:125.96, Z:5.98 [[-9.63923674e-02 -9.95317929e-01 7.12263519e-03 1.17967093e+02] [ 9.93740304e-01 -9.66406313e-02 -5.60428076e-02 1.25964718e+02] [ 5.64687471e-02 1.67595076e-03 9.98402961e-01 5.97829132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:125.99, Z:5.98 [[-9.69937777e-02 -9.95258592e-01 7.24860458e-03 1.17965901e+02] [ 9.93632679e-01 -9.72496689e-02 -5.68911297e-02 1.25992277e+02] [ 5.73263100e-02 1.68436481e-03 9.98354074e-01 5.97942877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.02, Z:5.98 [[-9.91275470e-02 -9.95048702e-01 7.19787601e-03 1.17964251e+02] [ 9.93452709e-01 -9.93762201e-02 -5.63567461e-02 1.26019374e+02] [ 5.67930048e-02 1.56424342e-03 9.98384749e-01 5.98017037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.05, Z:5.98 [[-1.00290728e-01 -9.94932360e-01 7.16727023e-03 1.17962047e+02] [ 9.93356622e-01 -1.00535256e-01 -5.59936064e-02 1.26046886e+02] [ 5.64304143e-02 1.50401581e-03 9.98405402e-01 5.98200338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.07, Z:5.98 [[-1.01449614e-01 -9.94815808e-01 7.03455510e-03 1.17959376e+02] [ 9.93304469e-01 -1.01683232e-01 -5.48338687e-02 1.26073477e+02] [ 5.52648957e-02 1.42458022e-03 9.98470712e-01 5.98303360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.10, Z:5.98 [[-1.02457331e-01 -9.94712497e-01 7.03875635e-03 1.17957328e+02] [ 9.93204468e-01 -1.02689562e-01 -5.47698620e-02 1.26101024e+02] [ 5.52030730e-02 1.37935040e-03 9.98474195e-01 5.98441138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.13, Z:5.99 [[-1.03209675e-01 -9.94634218e-01 7.10882947e-03 1.17956251e+02] [ 9.93103368e-01 -1.03445203e-01 -5.51796244e-02 1.26128493e+02] [ 5.56189169e-02 1.36473136e-03 9.98451137e-01 5.98571609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.16, Z:5.99 [[-1.08549228e-01 -9.94064173e-01 7.31339949e-03 1.17958483e+02] [ 9.92450546e-01 -1.08789641e-01 -5.66279801e-02 1.26156773e+02] [ 5.70874682e-02 1.11126377e-03 9.98368562e-01 5.98718348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.19, Z:5.99 [[-1.11676843e-01 -9.93717995e-01 7.26832420e-03 1.17957557e+02] [ 9.92130533e-01 -1.11909170e-01 -5.61546390e-02 1.26185306e+02] [ 5.66152674e-02 9.39953564e-04 9.98395627e-01 5.98952431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:126.21, Z:5.99 [[-1.13623793e-01 -9.93497345e-01 7.25667532e-03 1.17955706e+02] [ 9.91921633e-01 -1.13852170e-01 -5.59388694e-02 1.26212621e+02] [ 5.64013065e-02 8.42066701e-04 9.98407824e-01 5.99131225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:126.24, Z:5.99 [[-1.16591858e-01 -9.93154221e-01 7.14361063e-03 1.17954223e+02] [ 9.91633799e-01 -1.16808527e-01 -5.49379401e-02 1.26240919e+02] [ 5.53962817e-02 6.78529246e-04 9.98464216e-01 5.99322563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:126.27, Z:5.99 [[-1.17728535e-01 -9.93019888e-01 7.17587094e-03 1.17951741e+02] [ 9.91492326e-01 -1.17945331e-01 -5.50623806e-02 1.26267418e+02] [ 5.55243995e-02 6.32407554e-04 9.98457130e-01 5.99427766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:126.29, Z:6.00 [[-1.18684879e-01 -9.92904895e-01 7.33266585e-03 1.17949158e+02] [ 9.91317695e-01 -1.18909624e-01 -5.61224408e-02 1.26294761e+02] [ 5.65961708e-02 6.08116310e-04 9.98396967e-01 5.99532698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:126.32, Z:5.99 [[-1.19242363e-01 -9.92837128e-01 7.46300707e-03 1.17945835e+02] [ 9.91200980e-01 -1.19474155e-01 -5.69784537e-02 1.26321033e+02] [ 5.74619608e-02 6.03094482e-04 9.98347514e-01 5.99497782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:126.35, Z:5.99 [[-1.20762630e-01 -9.92652097e-01 7.62896417e-03 1.17943667e+02] [ 9.90950620e-01 -1.21002141e-01 -5.80977600e-02 1.26348669e+02] [ 5.85939843e-02 5.43888465e-04 9.98281748e-01 5.99467045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:126.38, Z:6.00 [[-1.21839721e-01 -9.92521114e-01 7.54457347e-03 1.17940903e+02] [ 9.90864619e-01 -1.22072096e-01 -5.73211088e-02 1.26375859e+02] [ 5.78133927e-02 4.91662989e-04 9.98327286e-01 5.99708888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:126.40, Z:6.00 [[-1.22569370e-01 -9.92432180e-01 7.42418855e-03 1.17937959e+02] [ 9.90835551e-01 -1.22793154e-01 -5.62739017e-02 1.26402382e+02] [ 5.67596705e-02 4.58693268e-04 9.98387765e-01 5.99950750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:126.43, Z:6.00 [[-1.23145757e-01 -9.92361277e-01 7.36332336e-03 1.17934646e+02] [ 9.90798229e-01 -1.23364919e-01 -5.56773463e-02 1.26429857e+02] [ 5.61604183e-02 4.39138785e-04 9.98421662e-01 6.00192645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:126.46, Z:6.00 [[-1.23529613e-01 -9.92314282e-01 7.26646357e-03 1.17931336e+02] [ 9.90798987e-01 -1.23742409e-01 -5.48195580e-02 1.26457357e+02] [ 5.52974000e-02 4.27765992e-04 9.98469837e-01 6.00459119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:126.48, Z:6.00 [[-1.23720004e-01 -9.92290324e-01 7.29885693e-03 1.17926841e+02] [ 9.90768386e-01 -1.23934354e-01 -5.49388802e-02 1.26483583e+02] [ 5.54198984e-02 4.34438196e-04 9.98463042e-01 6.00483734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:126.51, Z:6.01 [[-1.24025185e-01 -9.92252528e-01 7.25775063e-03 1.17922077e+02] [ 9.90754856e-01 -1.24236610e-01 -5.44984481e-02 1.26510691e+02] [ 5.49779012e-02 4.31471568e-04 9.98487478e-01 6.00539855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:126.54, Z:6.01 [[-1.24077831e-01 -9.92246105e-01 7.23595565e-03 1.17918378e+02] [ 9.90764224e-01 -1.24287856e-01 -5.42105302e-02 1.26537247e+02] [ 5.46895289e-02 4.42800958e-04 9.98503310e-01 6.00748670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:126.56, Z:6.01 [[-1.23836726e-01 -9.92276750e-01 7.16354989e-03 1.17913502e+02] [ 9.90831338e-01 -1.24042865e-01 -5.35408855e-02 1.26563298e+02] [ 5.40159631e-02 4.67541785e-04 9.98539963e-01 6.00844160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:126.59, Z:6.01 [[-1.23595508e-01 -9.92306982e-01 7.14164902e-03 1.17908584e+02] [ 9.90877531e-01 -1.23800675e-01 -5.32457673e-02 1.26588984e+02] [ 5.37202877e-02 4.95561898e-04 9.98555900e-01 6.00925025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:126.62, Z:6.01 [[-1.22783955e-01 -9.92407760e-01 7.13713237e-03 1.17904778e+02] [ 9.90987155e-01 -1.22989961e-01 -5.30841692e-02 1.26615685e+02] [ 5.35589371e-02 5.54922235e-04 9.98564536e-01 6.01224759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:126.64, Z:6.01 [[-1.22513527e-01 -9.92441167e-01 7.13900592e-03 1.17900367e+02] [ 9.91026515e-01 -1.22719956e-01 -5.29741300e-02 1.26642221e+02] [ 5.34498059e-02 5.84896681e-04 9.98570366e-01 6.01314708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:126.67, Z:6.01 [[-1.22364190e-01 -9.92459383e-01 7.16785195e-03 1.17895045e+02] [ 9.91040022e-01 -1.22572429e-01 -5.30629338e-02 1.26667748e+02] [ 5.35413876e-02 6.10625228e-04 9.98565444e-01 6.01296560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:126.69, Z:6.01 [[-1.22458370e-01 -9.92447875e-01 7.15281034e-03 1.17891764e+02] [ 9.91041277e-01 -1.22665524e-01 -5.28238290e-02 1.26694485e+02] [ 5.33023000e-02 6.20010279e-04 9.98578229e-01 6.01449271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:126.72, Z:6.01 [[-1.21879456e-01 -9.92518487e-01 7.24233550e-03 1.17886825e+02] [ 9.91083163e-01 -1.22092583e-01 -5.33625866e-02 1.26719862e+02] [ 5.38475891e-02 6.73953766e-04 9.98548939e-01 6.01459561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:126.75, Z:6.02 [[-1.21896057e-01 -9.92515427e-01 7.38090356e-03 1.17883366e+02] [ 9.91030672e-01 -1.22117312e-01 -5.42731032e-02 1.26747375e+02] [ 5.47682283e-02 6.99024528e-04 9.98498850e-01 6.01601449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:126.77, Z:6.02 [[-1.21606358e-01 -9.92550626e-01 7.42620038e-03 1.17878883e+02] [ 9.91054640e-01 -1.21830681e-01 -5.44792192e-02 1.26773859e+02] [ 5.49781221e-02 7.34750931e-04 9.98487289e-01 6.01648653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:126.80, Z:6.02 [[-1.20816901e-01 -9.92645344e-01 7.64836791e-03 1.17873935e+02] [ 9.91065955e-01 -1.21055995e-01 -5.59796381e-02 1.26801712e+02] [ 5.64938079e-02 8.16750676e-04 9.98402615e-01 6.01696785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:126.83, Z:6.02 [[-1.20748472e-01 -9.92652947e-01 7.74164586e-03 1.17869005e+02] [ 9.91041899e-01 -1.20993437e-01 -5.65379751e-02 1.26827398e+02] [ 5.70592759e-02 8.45421336e-04 9.98370434e-01 6.01667997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:126.85, Z:6.02 [[-1.21113320e-01 -9.92608149e-01 7.78624844e-03 1.17864450e+02] [ 9.90986300e-01 -1.21360399e-01 -5.67257127e-02 1.26854404e+02] [ 5.72513469e-02 8.45826153e-04 9.98359438e-01 6.01748547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:126.88, Z:6.02 [[-1.21476507e-01 -9.92563735e-01 7.79041125e-03 1.17860167e+02] [ 9.90947455e-01 -1.21723148e-01 -5.66269922e-02 1.26881441e+02] [ 5.71541722e-02 8.41039012e-04 9.98365010e-01 6.01862060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:126.91, Z:6.02 [[-1.22497394e-01 -9.92439003e-01 7.69498787e-03 1.17856521e+02] [ 9.90868860e-01 -1.22736315e-01 -5.58094855e-02 1.26908010e+02] [ 5.63319646e-02 7.88207328e-04 9.98411783e-01 6.02129914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:126.93, Z:6.02 [[-1.23341889e-01 -9.92335262e-01 7.58331855e-03 1.17853251e+02] [ 9.90816781e-01 -1.23572545e-01 -5.48810683e-02 1.26934929e+02] [ 5.53975092e-02 7.44544652e-04 9.98464101e-01 6.02344878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:126.96, Z:6.03 [[-1.24023900e-01 -9.92251467e-01 7.42287609e-03 1.17849522e+02] [ 9.90802898e-01 -1.24243822e-01 -5.36012166e-02 1.26962367e+02] [ 5.41081323e-02 7.06775204e-04 9.98534832e-01 6.02572344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:126.99, Z:6.03 [[-1.28734094e-01 -9.91654165e-01 7.03916897e-03 1.17848126e+02] [ 9.90355899e-01 -1.28925648e-01 -5.07283956e-02 1.26990657e+02] [ 5.12125542e-02 4.40808447e-04 9.98687679e-01 6.02951018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:127.02, Z:6.04 [[-1.39768433e-01 -9.90163703e-01 6.37394671e-03 1.17852364e+02] [ 9.89101574e-01 -1.39913656e-01 -4.58502440e-02 1.27018933e+02] [ 4.62910495e-02 -1.03936028e-04 9.98927989e-01 6.04002087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:127.05, Z:6.05 [[-1.52892529e-01 -9.88224041e-01 6.09256980e-03 1.17853944e+02] [ 9.87255707e-01 -1.53012392e-01 -4.37421712e-02 1.27045909e+02] [ 4.41593039e-02 -6.72926870e-04 9.99024276e-01 6.04588313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:127.07, Z:6.04 [[-1.56273003e-01 -9.87692941e-01 6.43450983e-03 1.17848986e+02] [ 9.86616488e-01 -1.56403069e-01 -4.61084166e-02 1.27073126e+02] [ 4.65473347e-02 -8.57107260e-04 9.98915718e-01 6.04202058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:127.10, Z:6.04 [[-1.58465540e-01 -9.87340277e-01 6.91741168e-03 1.17842191e+02] [ 9.86099663e-01 -1.58613161e-01 -4.94906018e-02 1.27101065e+02] [ 4.99612570e-02 -1.02129760e-03 9.98750634e-01 6.03595234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:127.13, Z:6.03 [[-1.59257088e-01 -9.87209004e-01 7.45400074e-03 1.17833459e+02] [ 9.85774064e-01 -1.59427446e-01 -5.32201576e-02 1.27128667e+02] [ 5.37277910e-02 -1.12772673e-03 9.98554982e-01 6.03038649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:127.16, Z:6.03 [[-1.57673644e-01 -9.87457589e-01 8.15672354e-03 1.17824262e+02] [ 9.85746615e-01 -1.57880492e-01 -5.81150662e-02 1.27156237e+02] [ 5.86739506e-02 -1.12275166e-03 9.98276568e-01 6.02535800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:127.18, Z:6.03 [[-1.56237690e-01 -9.87684706e-01 8.28891393e-03 1.17820017e+02] [ 9.85925405e-01 -1.56453986e-01 -5.89342462e-02 1.27182574e+02] [ 5.95052873e-02 -1.03549968e-03 9.98227453e-01 6.02822617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:127.21, Z:6.03 [[-1.54870099e-01 -9.87899871e-01 8.31249517e-03 1.17815332e+02] [ 9.86138765e-01 -1.55090201e-01 -5.89691850e-02 1.27209740e+02] [ 5.95448368e-02 -9.35289811e-04 9.98225194e-01 6.03318464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:127.24, Z:6.04 [[-1.53082240e-01 -9.88179488e-01 8.19316844e-03 1.17809457e+02] [ 9.86475870e-01 -1.53299264e-01 -5.80059860e-02 1.27236892e+02] [ 5.85763322e-02 -7.97323302e-04 9.98282614e-01 6.03897222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:127.26, Z:6.04 [[-1.47235029e-01 -9.89069161e-01 8.00251521e-03 1.17797994e+02] [ 9.87451467e-01 -1.47451737e-01 -5.65472030e-02 1.27263389e+02] [ 5.71090794e-02 -4.23633695e-04 9.98367855e-01 6.04351836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:127.29, Z:6.04 [[-1.43958197e-01 -9.89552550e-01 7.86053423e-03 1.17788701e+02] [ 9.87998548e-01 -1.44172482e-01 -5.54361261e-02 1.27289985e+02] [ 5.59902327e-02 -2.14288366e-04 9.98431294e-01 6.04257835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:127.32, Z:6.04 [[-1.40419252e-01 -9.90062364e-01 7.67778903e-03 1.17779517e+02] [ 9.88586340e-01 -1.40628997e-01 -5.40419664e-02 1.27316582e+02] [ 5.45846368e-02 1.62486421e-06 9.98509147e-01 6.04367428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:127.34, Z:6.04 [[-1.34026480e-01 -9.90949525e-01 7.47941586e-03 1.17768525e+02] [ 9.89556241e-01 -1.34234530e-01 -5.25312904e-02 1.27341160e+02] [ 5.30598531e-02 3.60718696e-04 9.98591269e-01 6.04406187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters Centerline goodness [0,1] 0.9999295443870362 Centerline is valid? [True, True] Translation: X:117.76, Y:127.37, Z:6.05 [[-1.31572031e-01 -9.91279097e-01 7.38601840e-03 1.17763512e+02] [ 9.89927086e-01 -1.31778226e-01 -5.17577337e-02 1.27367779e+02] [ 5.22796759e-02 5.01749536e-04 9.98632357e-01 6.04711743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:127.40, Z:6.05 [[-1.29463065e-01 -9.91557065e-01 7.34182280e-03 1.17757723e+02] [ 9.90227405e-01 -1.29669574e-01 -5.13370072e-02 1.27395354e+02] [ 5.18555832e-02 6.23827812e-04 9.98654399e-01 6.05033500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:127.42, Z:6.05 [[-1.27643876e-01 -9.91793759e-01 7.22353971e-03 1.17751007e+02] [ 9.90512039e-01 -1.27846078e-01 -5.04111277e-02 1.27421874e+02] [ 5.09209431e-02 7.20331312e-04 9.98702427e-01 6.05254292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:127.45, Z:6.05 [[-1.23682491e-01 -9.92295716e-01 7.20086661e-03 1.17743363e+02] [ 9.91028132e-01 -1.23888414e-01 -5.01487947e-02 1.27448680e+02] [ 5.06545382e-02 9.33733528e-04 9.98715798e-01 6.05390038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:127.48, Z:6.06 [[-1.23993087e-01 -9.92256845e-01 7.21585058e-03 1.17739434e+02] [ 9.90989319e-01 -1.24199370e-01 -5.01466389e-02 1.27475175e+02] [ 5.06545498e-02 9.32994296e-04 9.98715798e-01 6.05506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:127.50, Z:6.06 [[-1.22778609e-01 -9.92407424e-01 7.27444792e-03 1.17733030e+02] [ 9.91125005e-01 -1.22989722e-01 -5.04455508e-02 1.27501150e+02] [ 5.09572215e-02 1.01625264e-03 9.98700320e-01 6.05518694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:127.53, Z:6.06 [[-1.22262514e-01 -9.92470398e-01 7.37469517e-03 1.17728207e+02] [ 9.91156818e-01 -1.22480078e-01 -5.10567523e-02 1.27529119e+02] [ 5.15755685e-02 1.06715253e-03 9.98668525e-01 6.05513701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:127.56, Z:6.05 [[-1.21783497e-01 -9.92528088e-01 7.53490309e-03 1.17723804e+02] [ 9.91162123e-01 -1.22011162e-01 -5.20665221e-02 1.27555933e+02] [ 5.25968279e-02 1.12746741e-03 9.98615192e-01 6.05461742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters Centerline goodness [0,1] 0.999976468373494 Centerline is valid? [True, True] Translation: X:117.72, Y:127.58, Z:6.05 [[-1.20363104e-01 -9.92698162e-01 7.94240236e-03 1.17719183e+02] [ 9.91186951e-01 -1.20618074e-01 -5.47695964e-02 1.27582206e+02] [ 5.53276749e-02 1.28016696e-03 9.98467430e-01 6.05226944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.606875 meters Centerline goodness [0,1] 0.999906445878941 Centerline is valid? [True, True] Translation: X:117.71, Y:127.61, Z:6.05 [[-1.19501054e-01 -9.92800753e-01 8.13406258e-03 1.17714731e+02] [ 9.91221167e-01 -1.19769720e-01 -5.59983292e-02 1.27609805e+02] [ 5.65693977e-02 1.37079564e-03 9.98397728e-01 6.05205519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:127.64, Z:6.05 [[-1.18737461e-01 -9.92890616e-01 8.34505737e-03 1.17710510e+02] [ 9.91234551e-01 -1.19021356e-01 -5.73409295e-02 1.27637532e+02] [ 5.79265108e-02 1.46339279e-03 9.98319777e-01 6.05242724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.666875 meters Centerline goodness [0,1] 0.9998820559998113 Centerline is valid? [True, True] Translation: X:117.71, Y:127.66, Z:6.05 [[-1.16466133e-01 -9.93158753e-01 8.44580230e-03 1.17705880e+02] [ 9.91469592e-01 -1.16760619e-01 -5.79224188e-02 1.27664001e+02] [ 5.85122943e-02 1.62775603e-03 9.98285361e-01 6.05371717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters Centerline goodness [0,1] 0.9999054194646742 Centerline is valid? [True, True] Translation: X:117.70, Y:127.69, Z:6.06 [[-1.15475302e-01 -9.93275065e-01 8.37255061e-03 1.17704847e+02] [ 9.91621884e-01 -1.15766172e-01 -5.73082193e-02 1.27691872e+02] [ 5.78920834e-02 1.68472050e-03 9.98321425e-01 6.05724875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72687499999998 meters Centerline goodness [0,1] 0.9999763324813027 Centerline is valid? [True, True] Translation: X:117.70, Y:127.72, Z:6.06 [[-1.14595260e-01 -9.93377488e-01 8.31222174e-03 1.17703271e+02] [ 9.91754803e-01 -1.14883204e-01 -5.67825661e-02 1.27719453e+02] [ 5.73614575e-02 1.73667291e-03 9.98351966e-01 6.06039874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:127.75, Z:6.06 [[-1.13866524e-01 -9.93462320e-01 8.18735396e-03 1.17696504e+02] [ 9.91894920e-01 -1.14146834e-01 -5.58118956e-02 1.27745812e+02] [ 5.63815758e-02 1.76588827e-03 9.98407732e-01 6.06090453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:127.77, Z:6.06 [[-1.12353582e-01 -9.93637007e-01 7.88491696e-03 1.17695287e+02] [ 9.92189641e-01 -1.12615593e-01 -5.36418219e-02 1.27773618e+02] [ 5.41884640e-02 1.79648210e-03 9.98529110e-01 6.06400352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters Centerline goodness [0,1] 0.9999053970956908 Centerline is valid? [True, True] Translation: X:117.69, Y:127.80, Z:6.07 [[-1.12111902e-01 -9.93665201e-01 7.77103235e-03 1.17690251e+02] [ 9.92265148e-01 -1.12366553e-01 -5.27601536e-02 1.27799908e+02] [ 5.32991327e-02 1.79588340e-03 9.98576976e-01 6.06505186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:127.83, Z:6.07 [[-1.12092045e-01 -9.93668289e-01 7.66194318e-03 1.17685966e+02] [ 9.92313583e-01 -1.12339414e-01 -5.18999957e-02 1.27825362e+02] [ 5.24321182e-02 1.78547365e-03 9.98622894e-01 6.06613791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters Centerline goodness [0,1] 0.9999762312226659 Centerline is valid? [True, True] Translation: X:117.68, Y:127.85, Z:6.07 [[-1.11844271e-01 -9.93696374e-01 7.64043700e-03 1.17683347e+02] [ 9.92355436e-01 -1.12090379e-01 -5.16375337e-02 1.27852992e+02] [ 5.21684495e-02 1.80666688e-03 9.98636665e-01 6.06791934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:127.88, Z:6.07 [[-1.11890772e-01 -9.93691187e-01 7.63406657e-03 1.17680422e+02] [ 9.92358281e-01 -1.12136207e-01 -5.14831391e-02 1.27880579e+02] [ 5.20143968e-02 1.81524097e-03 9.98644685e-01 6.06939587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters Centerline goodness [0,1] 0.9998806881905171 Centerline is valid? [True, True] Translation: X:117.68, Y:127.91, Z:6.07 [[-1.16380755e-01 -9.93174197e-01 7.78044244e-03 1.17680767e+02] [ 9.91794266e-01 -1.16629251e-01 -5.23617389e-02 1.27908712e+02] [ 5.29117551e-02 1.62269952e-03 9.98597874e-01 6.06967627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.966875 meters Centerline goodness [0,1] 0.9999519473342784 Centerline is valid? [True, True] Translation: X:117.68, Y:127.94, Z:6.07 [[-1.18967542e-01 -9.92867306e-01 7.82539007e-03 1.17679452e+02] [ 9.91474866e-01 -1.19215163e-01 -5.25864605e-02 1.27936945e+02] [ 5.31442825e-02 1.50259560e-03 9.98585714e-01 6.07099072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters Centerline goodness [0,1] 0.9998555991432215 Centerline is valid? [True, True] Translation: X:117.68, Y:127.96, Z:6.07 [[-1.20611284e-01 -9.92668176e-01 7.92531622e-03 1.17676830e+02] [ 9.91245060e-01 -1.20862752e-01 -5.31547311e-02 1.27963760e+02] [ 5.37228855e-02 1.44487020e-03 9.98554838e-01 6.07122341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.026875 meters Centerline goodness [0,1] 0.9999760117062874 Centerline is valid? [True, True] Translation: X:117.67, Y:127.99, Z:6.07 [[-1.21612479e-01 -9.92544577e-01 8.10359761e-03 1.17674225e+02] [ 9.91062373e-01 -1.21873725e-01 -5.42417586e-02 1.27991157e+02] [ 5.48249790e-02 1.43469596e-03 9.98494949e-01 6.07112634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:128.02, Z:6.07 [[-1.23429146e-01 -9.92316037e-01 8.60975325e-03 1.17671619e+02] [ 9.90649803e-01 -1.23720777e-01 -5.74990142e-02 1.28017226e+02] [ 5.81223993e-02 1.43219615e-03 9.98308437e-01 6.06753079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.086875 meters Centerline goodness [0,1] 0.9999518582707491 Centerline is valid? [True, True] Translation: X:117.67, Y:128.04, Z:6.07 [[-1.24438266e-01 -9.92189126e-01 8.70951135e-03 1.17668588e+02] [ 9.90491432e-01 -1.24734772e-01 -5.80341249e-02 1.28043371e+02] [ 5.86672066e-02 1.40503052e-03 9.98276607e-01 6.06734312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters Centerline goodness [0,1] 0.9999279919350967 Centerline is valid? [True, True] Translation: X:117.67, Y:128.07, Z:6.07 [[-1.25812445e-01 -9.92015352e-01 8.76181029e-03 1.17665962e+02] [ 9.90304296e-01 -1.26109970e-01 -5.82552813e-02 1.28070147e+02] [ 5.88950850e-02 1.34761902e-03 9.98263268e-01 6.06828712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.146875 meters Centerline goodness [0,1] 0.999975820881087 Centerline is valid? [True, True] Translation: X:117.67, Y:128.10, Z:6.07 [[-1.27934320e-01 -9.91745905e-01 8.53638497e-03 1.17665936e+02] [ 9.90127690e-01 -1.28213132e-01 -5.66440598e-02 1.28098146e+02] [ 5.72709910e-02 1.20539186e-03 9.98357942e-01 6.07243742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters Centerline goodness [0,1] 0.9999515691592405 Centerline is valid? [True, True] Translation: X:117.66, Y:128.13, Z:6.08 [[-1.29481095e-01 -9.91546451e-01 8.38337042e-03 1.17663611e+02] [ 9.89991074e-01 -1.29747460e-01 -5.55271965e-02 1.28126358e+02] [ 5.61455157e-02 1.10973966e-03 9.98421980e-01 6.07543407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:128.15, Z:6.08 [[-1.30989085e-01 -9.91350107e-01 8.17467669e-03 1.17661188e+02] [ 9.89876240e-01 -1.31240013e-01 -5.40470894e-02 1.28153612e+02] [ 5.46524325e-02 1.01233944e-03 9.98504926e-01 6.07817970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:128.18, Z:6.08 [[-1.32822362e-01 -9.91106299e-01 8.15622213e-03 1.17660327e+02] [ 9.89644008e-01 -1.33069354e-01 -5.38264219e-02 1.28181561e+02] [ 5.44330490e-02 9.22403862e-04 9.98516997e-01 6.08055255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:128.21, Z:6.08 [[-1.36987077e-01 -9.90539803e-01 8.08941396e-03 1.17659766e+02] [ 9.89105698e-01 -1.37223925e-01 -5.32870765e-02 1.28209259e+02] [ 5.38930314e-02 7.01644573e-04 9.98546468e-01 6.08213611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:128.24, Z:6.08 [[-1.39532868e-01 -9.90184935e-01 8.02326711e-03 1.17656861e+02] [ 9.88778939e-01 -1.39762177e-01 -5.27517254e-02 1.28235278e+02] [ 5.33553131e-02 5.72637982e-04 9.98575427e-01 6.08231699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:128.26, Z:6.08 [[-1.41874501e-01 -9.89852223e-01 8.01270944e-03 1.17655622e+02] [ 9.88455372e-01 -1.42099839e-01 -5.25700789e-02 1.28262459e+02] [ 5.31752142e-02 4.61851990e-04 9.98585091e-01 6.08462389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:128.29, Z:6.09 [[-1.43850499e-01 -9.89567135e-01 7.99491398e-03 1.17653137e+02] [ 9.88181786e-01 -1.44072022e-01 -5.23451118e-02 1.28289604e+02] [ 5.29508457e-02 3.70557911e-04 9.98597051e-01 6.08611502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:128.32, Z:6.08 [[-1.45599558e-01 -9.89309822e-01 8.17585319e-03 1.17649490e+02] [ 9.87866850e-01 -1.45828619e-01 -5.34144150e-02 1.28315336e+02] [ 5.40356788e-02 2.99539119e-04 9.98538961e-01 6.08476809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:128.34, Z:6.08 [[-1.45805187e-01 -9.89278910e-01 8.25138826e-03 1.17644838e+02] [ 9.87815544e-01 -1.46038156e-01 -5.37894806e-02 1.28341332e+02] [ 5.44178163e-02 3.08064331e-04 9.98518205e-01 6.08415457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:128.37, Z:6.09 [[-1.45980684e-01 -9.89252002e-01 8.37359721e-03 1.17640893e+02] [ 9.87751301e-01 -1.46220296e-01 -5.44701020e-02 1.28368149e+02] [ 5.51090473e-02 3.19448815e-04 9.98480291e-01 6.08516002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:128.39, Z:6.09 [[-1.45346524e-01 -9.89344972e-01 8.42109612e-03 1.17635891e+02] [ 9.87833574e-01 -1.45589793e-01 -5.46666493e-02 1.28394353e+02] [ 5.53102002e-02 3.73034019e-04 9.98469150e-01 6.08580543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:128.42, Z:6.09 [[-1.45365202e-01 -9.89342209e-01 8.42324393e-03 1.17631225e+02] [ 9.87836362e-01 -1.45608522e-01 -5.45662856e-02 1.28421411e+02] [ 5.52112256e-02 3.88747529e-04 9.98474621e-01 6.08798100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:128.45, Z:6.09 [[-1.45203382e-01 -9.89366029e-01 8.41655604e-03 1.17625934e+02] [ 9.87868750e-01 -1.45446517e-01 -5.44117941e-02 1.28446901e+02] [ 5.50573394e-02 4.13676184e-04 9.98483109e-01 6.08877748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:128.47, Z:6.09 [[-1.44520035e-01 -9.89466652e-01 8.34884943e-03 1.17620762e+02] [ 9.87999677e-01 -1.44760243e-01 -5.38619507e-02 1.28474136e+02] [ 5.45031856e-02 4.64529529e-04 9.98513489e-01 6.09077108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:128.50, Z:6.09 [[-1.43192363e-01 -9.89659304e-01 8.39099100e-03 1.17613364e+02] [ 9.88183669e-01 -1.43436930e-01 -5.40267001e-02 1.28500366e+02] [ 5.46716044e-02 5.55629424e-04 9.98504235e-01 6.09142645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:128.53, Z:6.09 [[-1.42938585e-01 -9.89695810e-01 8.41219862e-03 1.17608208e+02] [ 9.88218388e-01 -1.43184710e-01 -5.40606828e-02 1.28527135e+02] [ 5.47081294e-02 5.85731868e-04 9.98502217e-01 6.09296495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:128.55, Z:6.10 [[-1.42843133e-01 -9.89709477e-01 8.42552692e-03 1.17603977e+02] [ 9.88233217e-01 -1.43090117e-01 -5.40400577e-02 1.28553949e+02] [ 5.46895669e-02 6.07134410e-04 9.98503221e-01 6.09527933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:128.58, Z:6.10 [[-1.42700490e-01 -9.89730926e-01 8.32253012e-03 1.17598807e+02] [ 9.88296312e-01 -1.42941619e-01 -5.32737633e-02 1.28580963e+02] [ 5.39163270e-02 6.22933694e-04 9.98545263e-01 6.09696135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:128.61, Z:6.10 [[-1.41887450e-01 -9.89849559e-01 8.11179088e-03 1.17592989e+02] [ 9.88492281e-01 -1.42117581e-01 -5.18228168e-02 1.28608056e+02] [ 5.24496205e-02 6.65435318e-04 9.98623350e-01 6.09996363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:128.63, Z:6.10 [[-1.41676673e-01 -9.89880367e-01 8.03617749e-03 1.17587851e+02] [ 9.88553689e-01 -1.41902750e-01 -5.12368370e-02 1.28634590e+02] [ 5.18586947e-02 6.85128292e-04 9.98654198e-01 6.10172983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:128.66, Z:6.10 [[-1.40048010e-01 -9.90113448e-01 7.86863896e-03 1.17580052e+02] [ 9.88846824e-01 -1.40266782e-01 -5.00718388e-02 1.28659842e+02] [ 5.06805096e-02 7.68417281e-04 9.98714622e-01 6.10237897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:128.69, Z:6.10 [[-1.39207636e-01 -9.90232027e-01 7.85919589e-03 1.17574574e+02] [ 9.88972718e-01 -1.39426889e-01 -4.99310083e-02 1.28686865e+02] [ 5.05390668e-02 8.21752717e-04 9.98721747e-01 6.10347652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:128.71, Z:6.10 [[-1.38796167e-01 -9.90288802e-01 7.98201930e-03 1.17569001e+02] [ 9.88995177e-01 -1.39022774e-01 -5.06083755e-02 1.28713994e+02] [ 5.12265900e-02 8.69930066e-04 9.98686677e-01 6.10386940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:128.74, Z:6.10 [[-1.38038244e-01 -9.90394573e-01 8.00205789e-03 1.17563065e+02] [ 9.89099781e-01 -1.38266892e-01 -5.06348734e-02 1.28740829e+02] [ 5.12549235e-02 9.25284719e-04 9.98685174e-01 6.10467963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:128.77, Z:6.11 [[-1.37444460e-01 -9.90476594e-01 8.07079810e-03 1.17557042e+02] [ 9.89164519e-01 -1.37677749e-01 -5.09744214e-02 1.28768140e+02] [ 5.16001406e-02 9.77195273e-04 9.98667347e-01 6.10528529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:128.79, Z:6.11 [[-1.35270997e-01 -9.90776347e-01 7.99926619e-03 1.17549097e+02] [ 9.89492315e-01 -1.35502905e-01 -5.04373091e-02 1.28793874e+02] [ 5.10560167e-02 1.09250735e-03 9.98695194e-01 6.10594767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:128.82, Z:6.11 [[-1.34541589e-01 -9.90875730e-01 7.99048756e-03 1.17543491e+02] [ 9.89598507e-01 -1.34773847e-01 -5.03071170e-02 1.28820186e+02] [ 5.09250100e-02 1.13897509e-03 9.98701830e-01 6.10738009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:128.85, Z:6.11 [[-1.34039085e-01 -9.90943539e-01 8.02659268e-03 1.17538121e+02] [ 9.89659875e-01 -1.34273984e-01 -5.04363767e-02 1.28846602e+02] [ 5.10573642e-02 1.18315091e-03 9.98695021e-01 6.10835979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:128.87, Z:6.11 [[-1.33576450e-01 -9.91006019e-01 8.02505322e-03 1.17532882e+02] [ 9.89727893e-01 -1.33811741e-01 -5.03300628e-02 1.28873055e+02] [ 5.09512415e-02 1.21970788e-03 9.98700397e-01 6.10950599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:128.90, Z:6.11 [[-1.32480719e-01 -9.91153119e-01 8.02206259e-03 1.17527606e+02] [ 9.89881066e-01 -1.32717123e-01 -5.02159473e-02 1.28898396e+02] [ 5.08363579e-02 1.28824309e-03 9.98706166e-01 6.11016988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:128.93, Z:6.11 [[-1.32681142e-01 -9.91126739e-01 7.96886726e-03 1.17527587e+02] [ 9.89876158e-01 -1.32914050e-01 -4.97900323e-02 1.28925588e+02] [ 5.04074068e-02 1.28199338e-03 9.98727916e-01 6.11267129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:128.95, Z:6.11 [[-1.32505464e-01 -9.91150679e-01 7.91412114e-03 1.17521471e+02] [ 9.89922353e-01 -1.32735272e-01 -4.93465526e-02 1.28951301e+02] [ 4.99603521e-02 1.29567760e-03 9.98750361e-01 6.11306489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:128.98, Z:6.11 [[-1.32652829e-01 -9.91130620e-01 7.95746773e-03 1.17518114e+02] [ 9.89894093e-01 -1.32884837e-01 -4.95106610e-02 1.28978102e+02] [ 5.01289589e-02 1.30932105e-03 9.98741895e-01 6.11403813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:129.01, Z:6.12 [[-1.33525537e-01 -9.91013270e-01 7.97682852e-03 1.17514150e+02] [ 9.89775495e-01 -1.33757454e-01 -4.95319468e-02 1.29005166e+02] [ 5.01537769e-02 1.28148961e-03 9.98740685e-01 6.11515682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:129.03, Z:6.12 [[-1.35803164e-01 -9.90702550e-01 8.12139995e-03 1.17511709e+02] [ 9.89423850e-01 -1.36040495e-01 -5.03331735e-02 1.29032293e+02] [ 5.09700426e-02 1.20010257e-03 9.98699462e-01 6.11543110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:129.06, Z:6.12 [[-1.36378654e-01 -9.90623094e-01 8.17001935e-03 1.17509603e+02] [ 9.89332520e-01 -1.36617998e-01 -5.05637021e-02 1.29059690e+02] [ 5.12057427e-02 1.18705621e-03 9.98687420e-01 6.11692404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:129.09, Z:6.12 [[-1.36782765e-01 -9.90567063e-01 8.20788891e-03 1.17504962e+02] [ 9.89269616e-01 -1.37023680e-01 -5.06965328e-02 1.29087044e+02] [ 5.13429908e-02 1.18540318e-03 9.98680375e-01 6.11761764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:129.11, Z:6.12 [[-1.37449713e-01 -9.90474366e-01 8.25273632e-03 1.17502019e+02] [ 9.89167747e-01 -1.37692266e-01 -5.08724616e-02 1.29113970e+02] [ 5.15242071e-02 1.17093537e-03 9.98671059e-01 6.11848780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:129.14, Z:6.12 [[-1.38189519e-01 -9.90370865e-01 8.31905599e-03 1.17497819e+02] [ 9.89048266e-01 -1.38434875e-01 -5.11792141e-02 1.29140280e+02] [ 5.18380500e-02 1.15551693e-03 9.98654836e-01 6.11914068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:129.17, Z:6.12 [[-1.39048782e-01 -9.90250118e-01 8.37496821e-03 1.17495441e+02] [ 9.88914956e-01 -1.39296164e-01 -5.14177868e-02 1.29167972e+02] [ 5.20830704e-02 1.13255067e-03 9.98642114e-01 6.12101945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:129.19, Z:6.12 [[-1.39361455e-01 -9.90206025e-01 8.39123579e-03 1.17491003e+02] [ 9.88870941e-01 -1.39609259e-01 -5.14151322e-02 1.29194397e+02] [ 5.20830679e-02 1.13256161e-03 9.98642114e-01 6.12218875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:129.22, Z:6.12 [[-1.40310873e-01 -9.90072046e-01 8.37869847e-03 1.17486829e+02] [ 9.88746041e-01 -1.40556549e-01 -5.12359485e-02 1.29220433e+02] [ 5.19049613e-02 1.09544430e-03 9.98651428e-01 6.12297537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:129.25, Z:6.13 [[-1.42458271e-01 -9.89766399e-01 8.25327283e-03 1.17486101e+02] [ 9.88484455e-01 -1.42693761e-01 -5.03683740e-02 1.29248729e+02] [ 5.10306147e-02 9.82840431e-04 9.98696606e-01 6.12575555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:129.28, Z:6.13 [[-1.43636045e-01 -9.89597504e-01 8.09115272e-03 1.17483725e+02] [ 9.88369394e-01 -1.43860836e-01 -4.92950420e-02 1.29276125e+02] [ 4.99462506e-02 9.16502851e-04 9.98751487e-01 6.12746892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:129.30, Z:6.13 [[-1.45110454e-01 -9.89383014e-01 8.01295968e-03 1.17481001e+02] [ 9.88182852e-01 -1.45329049e-01 -4.87249337e-02 1.29303278e+02] [ 4.93721375e-02 8.47772113e-04 9.98780093e-01 6.12903264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:129.33, Z:6.13 [[-1.49350433e-01 -9.88752918e-01 7.88137339e-03 1.17480435e+02] [ 9.87595386e-01 -1.49556875e-01 -4.78340280e-02 1.29331628e+02] [ 4.84747484e-02 6.39575212e-04 9.98824204e-01 6.13000963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:129.36, Z:6.13 [[-1.50784596e-01 -9.88534748e-01 7.94083001e-03 1.17477535e+02] [ 9.87363490e-01 -1.50992409e-01 -4.81106108e-02 1.29359214e+02] [ 4.87580156e-02 5.86146602e-04 9.98810449e-01 6.13125341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:129.39, Z:6.13 [[-1.51715790e-01 -9.88392595e-01 7.89919738e-03 1.17474283e+02] [ 9.87237851e-01 -1.51920289e-01 -4.77666395e-02 1.29386362e+02] [ 4.84122411e-02 5.51433202e-04 9.98827288e-01 6.13301722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:129.41, Z:6.13 [[-1.52142905e-01 -9.88326722e-01 7.92633388e-03 1.17470412e+02] [ 9.87168345e-01 -1.52348259e-01 -4.78400011e-02 1.29412558e+02] [ 4.84891146e-02 5.46109165e-04 9.98823562e-01 6.13335275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:129.44, Z:6.13 [[-1.53057955e-01 -9.88183843e-01 8.12128153e-03 1.17467475e+02] [ 9.86971363e-01 -1.53272363e-01 -4.89398806e-02 1.29440253e+02] [ 4.96063672e-02 5.24834284e-04 9.98768708e-01 6.13319130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:129.47, Z:6.13 [[-1.53563630e-01 -9.88104689e-01 8.20583767e-03 1.17463373e+02] [ 9.86871499e-01 -1.53781841e-01 -4.93537180e-02 1.29466590e+02] [ 5.00285490e-02 5.19171261e-04 9.98747653e-01 6.13353139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:129.49, Z:6.13 [[-1.53544975e-01 -9.88107225e-01 8.24941305e-03 1.17459109e+02] [ 9.86865880e-01 -1.53765480e-01 -4.95167925e-02 1.29493440e+02] [ 5.01963754e-02 5.38009597e-04 9.98739222e-01 6.13451506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:129.52, Z:6.13 [[-1.53748737e-01 -9.88075213e-01 8.28845287e-03 1.17454116e+02] [ 9.86826841e-01 -1.53971023e-01 -4.96559064e-02 1.29520082e+02] [ 5.03399519e-02 5.44734856e-04 9.98731992e-01 6.13465571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:129.55, Z:6.14 [[-1.53779562e-01 -9.88069900e-01 8.34983076e-03 1.17448769e+02] [ 9.86807800e-01 -1.54005058e-01 -4.99280249e-02 1.29545893e+02] [ 5.06182947e-02 5.61768312e-04 9.98717914e-01 6.13513978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:129.57, Z:6.14 [[-1.56598449e-01 -9.87627166e-01 8.33709809e-03 1.17446997e+02] [ 9.86373226e-01 -1.56819625e-01 -4.97540347e-02 1.29573485e+02] [ 5.04458569e-02 4.32085673e-04 9.98726704e-01 6.13790049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:129.60, Z:6.14 [[-1.58780824e-01 -9.87278858e-01 8.31303435e-03 1.17443292e+02] [ 9.86036435e-01 -1.58997939e-01 -4.95156978e-02 1.29599668e+02] [ 5.02075569e-02 3.34811452e-04 9.98738749e-01 6.13972483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:129.63, Z:6.14 [[-1.60351377e-01 -9.87026037e-01 8.18764396e-03 1.17438865e+02] [ 9.85825196e-01 -1.60560052e-01 -4.86739457e-02 1.29626302e+02] [ 4.93570603e-02 2.66651503e-04 9.98781162e-01 6.14138960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:129.65, Z:6.14 [[-1.61863081e-01 -9.86780130e-01 8.08197078e-03 1.17433228e+02] [ 9.85614139e-01 -1.62064598e-01 -4.79565896e-02 1.29652245e+02] [ 4.86324111e-02 2.03303324e-04 9.98816724e-01 6.14231955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:129.68, Z:6.14 [[-1.63143429e-01 -9.86567905e-01 8.24568419e-03 1.17428077e+02] [ 9.85358682e-01 -1.63351598e-01 -4.88315828e-02 1.29679265e+02] [ 4.95226180e-02 1.58404630e-04 9.98772990e-01 6.14242386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:129.71, Z:6.14 [[-1.64231447e-01 -9.86386349e-01 8.36671135e-03 1.17423089e+02] [ 9.85145734e-01 -1.64444384e-01 -4.94563240e-02 1.29705913e+02] [ 5.01589015e-02 1.20146344e-04 9.98741243e-01 6.14223791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:129.73, Z:6.14 [[-1.65606085e-01 -9.86156055e-01 8.41784099e-03 1.17418291e+02] [ 9.84904512e-01 -1.65819876e-01 -4.96676015e-02 1.29732585e+02] [ 5.03758513e-02 6.55125105e-05 9.98730329e-01 6.14211782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:129.76, Z:6.14 [[-1.66521596e-01 -9.86001140e-01 8.50353301e-03 1.17413475e+02] [ 9.84728511e-01 -1.66738571e-01 -5.00800256e-02 1.29759219e+02] [ 5.07968292e-02 3.42655878e-05 9.98709007e-01 6.14298134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:129.79, Z:6.14 [[-1.66641236e-01 -9.85981108e-01 8.48245810e-03 1.17407667e+02] [ 9.84719447e-01 -1.66856980e-01 -4.98634015e-02 1.29786044e+02] [ 5.05797293e-02 4.35425651e-05 9.98720025e-01 6.14459275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:129.81, Z:6.15 [[-1.66649146e-01 -9.85980209e-01 8.43147669e-03 1.17401545e+02] [ 9.84738229e-01 -1.66862292e-01 -4.94731926e-02 1.29813130e+02] [ 5.01864843e-02 5.81321131e-05 9.98739863e-01 6.14643997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:129.84, Z:6.15 [[-1.66154450e-01 -9.86063640e-01 8.43783965e-03 1.17394906e+02] [ 9.84824474e-01 -1.66368533e-01 -4.94192877e-02 1.29839414e+02] [ 5.01343537e-02 9.85564385e-05 9.98742478e-01 6.14706747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:129.87, Z:6.15 [[-1.65473457e-01 -9.86177949e-01 8.46097382e-03 1.17387893e+02] [ 9.84936697e-01 -1.65689563e-01 -4.94638333e-02 1.29865566e+02] [ 5.01820368e-02 1.48572089e-04 9.98740077e-01 6.14716795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:129.89, Z:6.15 [[-1.63264560e-01 -9.86546605e-01 8.39515753e-03 1.17379825e+02] [ 9.85329355e-01 -1.63480031e-01 -4.89932768e-02 1.29892185e+02] [ 4.97065916e-02 2.73129364e-04 9.98763826e-01 6.14828753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:129.92, Z:6.15 [[-1.62725246e-01 -9.86635888e-01 8.37368634e-03 1.17373718e+02] [ 9.85429461e-01 -1.62940251e-01 -4.87775788e-02 1.29919087e+02] [ 4.94901204e-02 3.14333709e-04 9.98774564e-01 6.14959465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:129.95, Z:6.15 [[-1.62213125e-01 -9.86720147e-01 8.38169241e-03 1.17367915e+02] [ 9.85515960e-01 -1.62429138e-01 -4.87346578e-02 1.29945734e+02] [ 4.94488998e-02 3.54890514e-04 9.98776592e-01 6.15088743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:129.97, Z:6.15 [[-1.60577663e-01 -9.86987987e-01 8.33831690e-03 1.17360785e+02] [ 9.85801004e-01 -1.60793382e-01 -4.83928518e-02 1.29971463e+02] [ 4.91039096e-02 4.49110119e-04 9.98793574e-01 6.15159135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:130.00, Z:6.15 [[-1.60382667e-01 -9.87019134e-01 8.40414870e-03 1.17355214e+02] [ 9.85818016e-01 -1.60601998e-01 -4.86809698e-02 1.29997858e+02] [ 4.93987718e-02 4.77377421e-04 9.98779021e-01 6.15239483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:130.02, Z:6.15 [[-1.59418915e-01 -9.87174602e-01 8.48022076e-03 1.17349168e+02] [ 9.85956341e-01 -1.59643378e-01 -4.90314655e-02 1.30024964e+02] [ 4.97564285e-02 5.44584390e-04 9.98761233e-01 6.15294298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:130.05, Z:6.15 [[-1.58136414e-01 -9.87380228e-01 8.55341750e-03 1.17343206e+02] [ 9.86145639e-01 -1.58366320e-01 -4.93648445e-02 1.30052464e+02] [ 5.00964446e-02 6.28535895e-04 9.98744187e-01 6.15402282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:130.08, Z:6.15 [[-1.54812587e-01 -9.87905055e-01 8.75590057e-03 1.17334967e+02] [ 9.86616475e-01 -1.55057783e-01 -5.04481382e-02 1.30078118e+02] [ 5.11956413e-02 8.28708993e-04 9.98688299e-01 6.15375050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:130.11, Z:6.15 [[-1.53031661e-01 -9.88181819e-01 8.83199544e-03 1.17328192e+02] [ 9.86875712e-01 -1.53283416e-01 -5.07988595e-02 1.30105729e+02] [ 5.15523078e-02 9.42247920e-04 9.98669851e-01 6.15451825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:130.13, Z:6.15 [[-1.51344514e-01 -9.88440253e-01 8.98361222e-03 1.17321240e+02] [ 9.87093773e-01 -1.51607199e-01 -5.15862508e-02 1.30132839e+02] [ 5.23519071e-02 1.06037164e-03 9.98628136e-01 6.15442769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:130.16, Z:6.15 [[-1.49618573e-01 -9.88701867e-01 9.10502870e-03 1.17314443e+02] [ 9.87323702e-01 -1.49890717e-01 -5.21984653e-02 1.30160158e+02] [ 5.29734793e-02 1.17975076e-03 9.98595223e-01 6.15486488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:130.19, Z:6.15 [[-1.45896272e-01 -9.89257591e-01 9.14857578e-03 1.17305757e+02] [ 9.87871784e-01 -1.46176141e-01 -5.23629068e-02 1.30187338e+02] [ 5.31377065e-02 1.39806697e-03 9.98586215e-01 6.15432316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:130.21, Z:6.16 [[-1.44530271e-01 -9.89457614e-01 9.19945238e-03 1.17298713e+02] [ 9.88061377e-01 -1.44815065e-01 -5.25672092e-02 1.30213337e+02] [ 5.33452447e-02 1.49207060e-03 9.98575014e-01 6.15521937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:130.24, Z:6.16 [[-1.43576802e-01 -9.89597080e-01 9.12806527e-03 1.17293337e+02] [ 9.88227353e-01 -1.43858384e-01 -5.20717174e-02 1.30241262e+02] [ 5.28431682e-02 1.54431313e-03 9.98601630e-01 6.15650729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:130.27, Z:6.16 [[-1.42827831e-01 -9.89705763e-01 9.09474549e-03 1.17287636e+02] [ 9.88350656e-01 -1.43108258e-01 -5.17977630e-02 1.30267932e+02] [ 5.25660777e-02 1.59063554e-03 9.98616181e-01 6.15787081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:130.30, Z:6.16 [[-1.43998193e-01 -9.89535602e-01 9.15493778e-03 1.17285851e+02] [ 9.88166905e-01 -1.44280580e-01 -5.20507737e-02 1.30295394e+02] [ 5.28269734e-02 1.55138918e-03 9.98602475e-01 6.15971155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters Centerline goodness [0,1] 0.9999039869422242 Centerline is valid? [True, True] Translation: X:117.28, Y:130.32, Z:6.16 [[-1.45946935e-01 -9.89250059e-01 9.15496650e-03 1.17280729e+02] [ 9.87885763e-01 -1.46226490e-01 -5.19570383e-02 1.30322022e+02] [ 5.27372018e-02 1.46109058e-03 9.98607357e-01 6.16053323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.666875 meters Centerline goodness [0,1] 0.9999519138295826 Centerline is valid? [True, True] Translation: X:117.28, Y:130.35, Z:6.16 [[-1.47802368e-01 -9.88975554e-01 9.04507006e-03 1.17277786e+02] [ 9.87647542e-01 -1.48072647e-01 -5.12525420e-02 1.30350332e+02] [ 5.20268386e-02 1.35809415e-03 9.98644763e-01 6.16308123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:130.38, Z:6.17 [[-1.51772617e-01 -9.88375484e-01 8.88681239e-03 1.17277122e+02] [ 9.87096532e-01 -1.52028287e-01 -5.02776033e-02 1.30379007e+02] [ 5.10441973e-02 1.14137825e-03 9.98695743e-01 6.16632429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:130.41, Z:6.17 [[-1.53913912e-01 -9.88044245e-01 8.89260670e-03 1.17274001e+02] [ 9.86767012e-01 -1.54167060e-01 -5.02332774e-02 1.30406836e+02] [ 5.10036477e-02 1.04333069e-03 9.98697922e-01 6.16729350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:130.43, Z:6.17 [[-1.55908240e-01 -9.87730840e-01 8.96704731e-03 1.17272231e+02] [ 9.86435640e-01 -1.56162944e-01 -5.05753240e-02 1.30434691e+02] [ 5.13551278e-02 9.60305313e-04 9.98679993e-01 6.16844127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:130.46, Z:6.17 [[-1.58015235e-01 -9.87396083e-01 8.95330094e-03 1.17269469e+02] [ 9.86107695e-01 -1.58266347e-01 -5.04319121e-02 1.30462877e+02] [ 5.12132787e-02 8.59908480e-04 9.98687369e-01 6.16978340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:130.49, Z:6.17 [[-1.59826320e-01 -9.87104311e-01 8.97928048e-03 1.17266861e+02] [ 9.85812208e-01 -1.60076449e-01 -5.04957610e-02 1.30489908e+02] [ 5.12819547e-02 7.81332648e-04 9.98683909e-01 6.17097412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:130.52, Z:6.17 [[-1.62819435e-01 -9.86614815e-01 9.00211760e-03 1.17266290e+02] [ 9.85319963e-01 -1.63066840e-01 -5.05348896e-02 1.30518546e+02] [ 5.13264177e-02 6.41904009e-04 9.98681724e-01 6.17231369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:130.54, Z:6.17 [[-1.63921223e-01 -9.86433185e-01 8.91089636e-03 1.17263198e+02] [ 9.85168369e-01 -1.64162177e-01 -4.99405981e-02 1.30544302e+02] [ 5.07258954e-02 5.92409332e-04 9.98712437e-01 6.17392643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:130.57, Z:6.18 [[-1.65112281e-01 -9.86234165e-01 8.95027950e-03 1.17259993e+02] [ 9.84962731e-01 -1.65353775e-01 -5.00654302e-02 1.30570384e+02] [ 5.08562002e-02 5.49274390e-04 9.98705835e-01 6.17557727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:130.60, Z:6.18 [[-1.68357630e-01 -9.85683712e-01 9.12840220e-03 1.17257972e+02] [ 9.84365293e-01 -1.68604433e-01 -5.09658235e-02 1.30597838e+02] [ 5.17752712e-02 4.05197069e-04 9.98658679e-01 6.17693406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:130.62, Z:6.18 [[-1.69432259e-01 -9.85499065e-01 9.18166622e-03 1.17253966e+02] [ 9.84169683e-01 -1.69680462e-01 -5.11720169e-02 1.30624652e+02] [ 5.19879242e-02 3.66127113e-04 9.98647646e-01 6.17792565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:130.65, Z:6.18 [[-1.70317186e-01 -9.85346762e-01 9.15503078e-03 1.17249991e+02] [ 9.84029524e-01 -1.70562736e-01 -5.09337616e-02 1.30651208e+02] [ 5.17489241e-02 3.33925617e-04 9.98660071e-01 6.17919687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:130.68, Z:6.18 [[-1.70992156e-01 -9.85228774e-01 9.27067275e-03 1.17245886e+02] [ 9.83882655e-01 -1.71242991e-01 -5.14855196e-02 1.30678192e+02] [ 5.23125531e-02 3.17634107e-04 9.98630710e-01 6.18003114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters Centerline goodness [0,1] 0.9999753074225888 Centerline is valid? [True, True] Translation: X:117.24, Y:130.70, Z:6.18 [[-1.71504640e-01 -9.85138292e-01 9.41832366e-03 1.17241633e+02] [ 9.83753456e-01 -1.71762774e-01 -5.22176939e-02 1.30704776e+02] [ 5.30593672e-02 3.09731647e-04 9.98591312e-01 6.18042245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:130.73, Z:6.18 [[-1.71685714e-01 -9.85105470e-01 9.55139590e-03 1.17236861e+02] [ 9.83684952e-01 -1.71950905e-01 -5.28847982e-02 1.30731222e+02] [ 5.37394751e-02 3.16000075e-04 9.98554940e-01 6.18129023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:130.76, Z:6.18 [[-1.71795737e-01 -9.85085534e-01 9.62892382e-03 1.17231656e+02] [ 9.83646911e-01 -1.72065056e-01 -5.32200283e-02 1.30758462e+02] [ 5.40830813e-02 3.28487191e-04 9.98536385e-01 6.18233421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:130.79, Z:6.18 [[-1.71814520e-01 -9.85081803e-01 9.67532274e-03 1.17226541e+02] [ 9.83634392e-01 -1.72086379e-01 -5.33822178e-02 1.30785761e+02] [ 5.42508426e-02 3.45140080e-04 9.98527279e-01 6.18364135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:130.81, Z:6.19 [[-1.71954129e-01 -9.85056521e-01 9.76877307e-03 1.17222316e+02] [ 9.83586153e-01 -1.72231019e-01 -5.38029282e-02 1.30812766e+02] [ 5.46814110e-02 3.56794284e-04 9.98503789e-01 6.18543116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:130.84, Z:6.19 [[-1.72103037e-01 -9.85031015e-01 9.71826705e-03 1.17217907e+02] [ 9.83580847e-01 -1.72376821e-01 -5.34317165e-02 1.30838366e+02] [ 5.43071019e-02 3.62940648e-04 9.98524215e-01 6.18741686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:130.87, Z:6.19 [[-1.72715229e-01 -9.84923588e-01 9.74554531e-03 1.17213145e+02] [ 9.83470346e-01 -1.72989612e-01 -5.34852666e-02 1.30865512e+02] [ 5.43647788e-02 3.46734736e-04 9.98521082e-01 6.18926076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:130.89, Z:6.19 [[-1.73013846e-01 -9.84871015e-01 9.76184251e-03 1.17208207e+02] [ 9.83417856e-01 -1.73288673e-01 -5.34822925e-02 1.30891842e+02] [ 5.43647764e-02 3.46793128e-04 9.98521082e-01 6.19042980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:130.92, Z:6.19 [[-1.73201851e-01 -9.84838627e-01 9.69525170e-03 1.17202902e+02] [ 9.83410079e-01 -1.73472639e-01 -5.30269695e-02 1.30918884e+02] [ 5.39048687e-02 3.50038995e-04 9.98546014e-01 6.19151899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:130.95, Z:6.19 [[-1.73212755e-01 -9.84838104e-01 9.55246619e-03 1.17197017e+02] [ 9.83456038e-01 -1.73475584e-01 -5.21578636e-02 1.30946004e+02] [ 5.30241712e-02 3.60023326e-04 9.98593164e-01 6.19314217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:130.97, Z:6.20 [[-1.73742877e-01 -9.84746518e-01 9.36521316e-03 1.17192159e+02] [ 9.83422490e-01 -1.73994766e-01 -5.10492599e-02 1.30973045e+02] [ 5.19000791e-02 3.40515943e-04 9.98652225e-01 6.19501400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:131.00, Z:6.20 [[-1.74374707e-01 -9.84635692e-01 9.27445232e-03 1.17187686e+02] [ 9.83341551e-01 -1.74620880e-01 -5.04672396e-02 1.30999358e+02] [ 5.13113584e-02 3.19744227e-04 9.98682653e-01 6.19689927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:131.03, Z:6.20 [[-1.74775578e-01 -9.84564187e-01 9.31977931e-03 1.17183290e+02] [ 9.83261974e-01 -1.75023601e-01 -5.06224296e-02 1.31026246e+02] [ 5.14722126e-02 3.16220202e-04 9.98674377e-01 6.19890439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:131.05, Z:6.20 [[-1.74825640e-01 -9.84555185e-01 9.33180343e-03 1.17178742e+02] [ 9.83254116e-01 -1.75074208e-01 -5.06000437e-02 1.31053538e+02] [ 5.14522935e-02 3.29349125e-04 9.98675399e-01 6.20123496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:131.08, Z:6.20 [[-1.74885599e-01 -9.84543812e-01 9.40796086e-03 1.17173262e+02] [ 9.83225977e-01 -1.75138129e-01 -5.09245842e-02 1.31080298e+02] [ 5.17851769e-02 3.44175092e-04 9.98658188e-01 6.20221485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:131.11, Z:6.20 [[-1.74393662e-01 -9.84630921e-01 9.42341464e-03 1.17167314e+02] [ 9.83313455e-01 -1.74647648e-01 -5.09200244e-02 1.31106654e+02] [ 5.17832077e-02 3.86040902e-04 9.98658275e-01 6.20372179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:131.13, Z:6.20 [[-1.73903850e-01 -9.84717325e-01 9.44673522e-03 1.17161051e+02] [ 9.83398013e-01 -1.74159716e-01 -5.09582288e-02 1.31133106e+02] [ 5.18246915e-02 4.28068459e-04 9.98656106e-01 6.20455034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:131.16, Z:6.21 [[-1.73435626e-01 -9.84800652e-01 9.36801093e-03 1.17154495e+02] [ 9.83507681e-01 -1.73687826e-01 -5.04497853e-02 1.31158882e+02] [ 5.13100909e-02 4.63720613e-04 9.98682662e-01 6.20543940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:131.19, Z:6.21 [[-1.73885552e-01 -9.84721000e-01 9.40037267e-03 1.17148528e+02] [ 9.83422598e-01 -1.74138870e-01 -5.05534091e-02 1.31185290e+02] [ 5.14179738e-02 4.54031471e-04 9.98677118e-01 6.20644455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:131.21, Z:6.21 [[-1.76019411e-01 -9.84341326e-01 9.45094615e-03 1.17144487e+02] [ 9.83032918e-01 -1.76272585e-01 -5.07371401e-02 1.31211719e+02] [ 5.16086065e-02 3.59869626e-04 9.98667323e-01 6.20815662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters Centerline goodness [0,1] 0.9999755608778532 Centerline is valid? [True, True] Translation: X:117.14, Y:131.24, Z:6.21 [[-1.78048823e-01 -9.83976900e-01 9.38496600e-03 1.17140454e+02] [ 9.82690780e-01 -1.78295791e-01 -5.02935612e-02 1.31238946e+02] [ 5.11610024e-02 2.67810177e-04 9.98690383e-01 6.21108276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:131.27, Z:6.22 [[-1.80373644e-01 -9.83557288e-01 8.96716589e-03 1.17135947e+02] [ 9.82386392e-01 -1.80596339e-01 -4.79785365e-02 1.31266136e+02] [ 4.88090765e-02 1.55158267e-04 9.98808115e-01 6.21589623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:131.29, Z:6.22 [[-1.81395323e-01 -9.83371233e-01 8.76096154e-03 1.17129897e+02] [ 9.82256098e-01 -1.81606731e-01 -4.68182926e-02 1.31292348e+02] [ 4.76308117e-02 1.12888599e-04 9.98865002e-01 6.21747402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:131.32, Z:6.22 [[-1.82121535e-01 -9.83238171e-01 8.62816424e-03 1.17123320e+02] [ 9.82160144e-01 -1.82325781e-01 -4.60300027e-02 1.31318772e+02] [ 4.68315924e-02 9.11842849e-05 9.98902795e-01 6.21808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:131.34, Z:6.22 [[-1.82710732e-01 -9.83128982e-01 8.61350696e-03 1.17117123e+02] [ 9.82058209e-01 -1.82913636e-01 -4.58723775e-02 1.31344200e+02] [ 4.66739917e-02 7.75895422e-05 9.98910172e-01 6.21840356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:131.37, Z:6.22 [[-1.82833865e-01 -9.83106904e-01 8.52013567e-03 1.17109631e+02] [ 9.82062935e-01 -1.83032258e-01 -4.52944224e-02 1.31370776e+02] [ 4.60887191e-02 8.59551359e-05 9.98937347e-01 6.21921494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:131.40, Z:6.22 [[-1.82812824e-01 -9.83111986e-01 8.38420269e-03 1.17103358e+02] [ 9.82104419e-01 -1.83004955e-01 -4.44982761e-02 1.31397058e+02] [ 4.52811392e-02 9.93070206e-05 9.98974278e-01 6.22069828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:131.42, Z:6.22 [[-1.82508055e-01 -9.83169705e-01 8.25480290e-03 1.17097075e+02] [ 9.82196284e-01 -1.82694598e-01 -4.37395044e-02 1.31423132e+02] [ 4.45114636e-02 1.25024872e-04 9.99008866e-01 6.22248484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:131.45, Z:6.22 [[-1.82321610e-01 -9.83205189e-01 8.14782807e-03 1.17090668e+02] [ 9.82260057e-01 -1.82503522e-01 -4.31003991e-02 1.31449111e+02] [ 4.38635434e-02 1.45151899e-04 9.99037521e-01 6.22437225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:131.47, Z:6.23 [[-1.81455555e-01 -9.83367297e-01 7.91458494e-03 1.17082058e+02] [ 9.82478752e-01 -1.81627977e-01 -4.17944957e-02 1.31474995e+02] [ 4.25368504e-02 1.92068127e-04 9.99094880e-01 6.22636647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:131.50, Z:6.23 [[-1.81417944e-01 -9.83374741e-01 7.85160852e-03 1.17075009e+02] [ 9.82503216e-01 -1.81587654e-01 -4.13926902e-02 1.31501641e+02] [ 4.21302812e-02 2.04853862e-04 9.99112105e-01 6.22674028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:131.53, Z:6.23 [[-1.81552641e-01 -9.83349629e-01 7.88332063e-03 1.17068398e+02] [ 9.82473986e-01 -1.81723589e-01 -4.14897975e-02 1.31526947e+02] [ 4.22315622e-02 2.12575165e-04 9.99107827e-01 6.22722654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:131.55, Z:6.23 [[-1.81617779e-01 -9.83337511e-01 7.89441119e-03 1.17062230e+02] [ 9.82462500e-01 -1.81789134e-01 -4.14746549e-02 1.31553441e+02] [ 4.22187021e-02 2.23428269e-04 9.99108368e-01 6.22740549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:131.58, Z:6.23 [[-1.81901354e-01 -9.83284305e-01 7.99202551e-03 1.17055845e+02] [ 9.82390528e-01 -1.82076697e-01 -4.19157014e-02 1.31578957e+02] [ 4.26702129e-02 2.26767343e-04 9.99089186e-01 6.22846462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:131.60, Z:6.23 [[-1.82047406e-01 -9.83258066e-01 7.89421221e-03 1.17048154e+02] [ 9.82389073e-01 -1.82218339e-01 -4.13301997e-02 1.31604026e+02] [ 4.20767224e-02 2.31132180e-04 9.99114356e-01 6.22877630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:131.63, Z:6.23 [[-1.82035123e-01 -9.83260281e-01 7.90156120e-03 1.17041597e+02] [ 9.82392722e-01 -1.82206368e-01 -4.12962365e-02 1.31630339e+02] [ 4.20446639e-02 2.45070705e-04 9.99115702e-01 6.22977244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:131.66, Z:6.23 [[-1.82372705e-01 -9.83197760e-01 7.89688135e-03 1.17035462e+02] [ 9.82333996e-01 -1.82543434e-01 -4.12045410e-02 1.31656533e+02] [ 4.19537363e-02 2.42791410e-04 9.99119525e-01 6.23064219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:131.68, Z:6.23 [[-1.82370088e-01 -9.83197158e-01 8.03109944e-03 1.17028211e+02] [ 9.82306781e-01 -1.82546652e-01 -4.18342970e-02 1.31683505e+02] [ 4.25974122e-02 2.59679000e-04 9.99092285e-01 6.23005486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:131.71, Z:6.23 [[-1.82359519e-01 -9.83197656e-01 8.20827003e-03 1.17022125e+02] [ 9.82270713e-01 -1.82543945e-01 -4.26843542e-02 1.31710121e+02] [ 4.34655270e-02 2.78844972e-04 9.99054888e-01 6.23028812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:131.74, Z:6.23 [[-1.82344716e-01 -9.83199789e-01 8.28128200e-03 1.17015800e+02] [ 9.82259462e-01 -1.82532430e-01 -4.29914056e-02 1.31736082e+02] [ 4.37807435e-02 2.95111943e-04 9.99041120e-01 6.23070047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:131.76, Z:6.23 [[-1.82172056e-01 -9.83230744e-01 8.40506822e-03 1.17009725e+02] [ 9.82265563e-01 -1.82365567e-01 -4.35564365e-02 1.31762337e+02] [ 4.43588225e-02 3.21243474e-04 9.99015611e-01 6.23113693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:131.79, Z:6.23 [[-1.81757725e-01 -9.83306033e-01 8.56596024e-03 1.17002713e+02] [ 9.82307027e-01 -1.81959108e-01 -4.43146368e-02 1.31788837e+02] [ 4.51335042e-02 3.59875356e-04 9.98980899e-01 6.23103617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:131.82, Z:6.23 [[-1.81687721e-01 -9.83317740e-01 8.70602517e-03 1.16997136e+02] [ 9.82289272e-01 -1.81895785e-01 -4.49634320e-02 1.31815214e+02] [ 4.57969296e-02 3.82531603e-04 9.98950697e-01 6.23161847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:131.84, Z:6.23 [[-1.81778740e-01 -9.83301142e-01 8.68069233e-03 1.16991214e+02] [ 9.82282052e-01 -1.81985472e-01 -4.47577743e-02 1.31841604e+02] [ 4.55901305e-02 3.90876451e-04 9.98960153e-01 6.23257482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:131.87, Z:6.23 [[-1.81971056e-01 -9.83264656e-01 8.78359235e-03 1.16985629e+02] [ 9.82224717e-01 -1.82182482e-01 -4.52122686e-02 1.31868269e+02] [ 4.60558424e-02 4.00137218e-04 9.98938787e-01 6.23393858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:131.89, Z:6.24 [[-1.82034820e-01 -9.83251936e-01 8.88565331e-03 1.16980047e+02] [ 9.82191228e-01 -1.82251085e-01 -4.56610690e-02 1.31894494e+02] [ 4.65157545e-02 4.15506268e-04 9.98917470e-01 6.23512431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:131.92, Z:6.24 [[-1.81984622e-01 -9.83259675e-01 9.05586726e-03 1.16973853e+02] [ 9.82161641e-01 -1.82209270e-01 -4.64574334e-02 1.31919661e+02] [ 4.73297838e-02 4.39786984e-04 9.98879221e-01 6.23586009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:131.95, Z:6.24 [[-1.81162600e-01 -9.83408853e-01 9.33486335e-03 1.16965919e+02] [ 9.82246382e-01 -1.81402229e-01 -4.78045674e-02 1.31946041e+02] [ 4.87047998e-02 5.08736008e-04 9.98813087e-01 6.23518521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:131.97, Z:6.24 [[-1.80500174e-01 -9.83528522e-01 9.55686215e-03 1.16958821e+02] [ 9.82314257e-01 -1.80752105e-01 -4.88607874e-02 1.31972410e+02] [ 4.97834010e-02 5.68461296e-04 9.98759876e-01 6.23546242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:132.00, Z:6.24 [[-1.80191400e-01 -9.83583854e-01 9.68817623e-03 1.16951993e+02] [ 9.82340104e-01 -1.80450641e-01 -4.94518682e-02 1.31999210e+02] [ 5.03882967e-02 6.06282708e-04 9.98729519e-01 6.23625676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:132.03, Z:6.24 [[-1.79794365e-01 -9.83655024e-01 9.83765351e-03 1.16945445e+02] [ 9.82376829e-01 -1.80062128e-01 -5.01337741e-02 1.32025847e+02] [ 5.10857276e-02 6.50512804e-04 9.98694060e-01 6.23746886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:132.05, Z:6.24 [[-1.80131969e-01 -9.83592396e-01 9.92327630e-03 1.16939282e+02] [ 9.82296010e-01 -1.80403911e-01 -5.04874000e-02 1.32051654e+02] [ 5.14492206e-02 6.53199943e-04 9.98675398e-01 6.23810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:132.08, Z:6.24 [[-1.80691010e-01 -9.83489546e-01 9.95343620e-03 1.16933524e+02] [ 9.82189477e-01 -1.80963811e-01 -5.05562087e-02 1.32078782e+02] [ 5.15227145e-02 6.41107877e-04 9.98671617e-01 6.23969010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:132.11, Z:6.24 [[-1.81304162e-01 -9.83375621e-01 1.00592634e-02 1.16928472e+02] [ 9.82051773e-01 -1.81581914e-01 -5.10129703e-02 1.32105809e+02] [ 5.19914917e-02 6.29853584e-04 9.98647329e-01 6.24207393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:132.13, Z:6.24 [[-1.81475452e-01 -9.83343920e-01 1.00695575e-02 1.16921915e+02] [ 9.82021558e-01 -1.81753489e-01 -5.09836136e-02 1.32131256e+02] [ 5.19646037e-02 6.36248241e-04 9.98648725e-01 6.24458347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:132.16, Z:6.25 [[-1.80998723e-01 -9.83431912e-01 1.00566636e-02 1.16916427e+02] [ 9.82117432e-01 -1.81276633e-01 -5.08343648e-02 1.32157678e+02] [ 5.18151747e-02 6.75869542e-04 9.98656463e-01 6.24667388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:132.18, Z:6.25 [[-1.80583110e-01 -9.83507013e-01 1.01830920e-02 1.16909956e+02] [ 9.82163798e-01 -1.80868556e-01 -5.13891017e-02 1.32184614e+02] [ 5.23833431e-02 7.21460501e-04 9.98626790e-01 6.24813922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:132.21, Z:6.25 [[-1.80235670e-01 -9.83569258e-01 1.03255894e-02 1.16902986e+02] [ 9.82192860e-01 -1.80529578e-01 -5.20217018e-02 1.32209810e+02] [ 5.30310210e-02 7.65553901e-04 9.98592572e-01 6.24837748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:132.24, Z:6.25 [[-1.79709443e-01 -9.83663706e-01 1.04989902e-02 1.16895905e+02] [ 9.82245702e-01 -1.80013986e-01 -5.28047861e-02 1.32235047e+02] [ 5.38321167e-02 8.23069276e-04 9.98549661e-01 6.24880626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:132.26, Z:6.25 [[-1.78511178e-01 -9.83880065e-01 1.06666015e-02 1.16890038e+02] [ 9.82421477e-01 -1.78827220e-01 -5.35618021e-02 1.32262405e+02] [ 5.46058680e-02 9.17718046e-04 9.98507565e-01 6.25124328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:132.29, Z:6.25 [[-1.78207080e-01 -9.83935371e-01 1.06499532e-02 1.16884995e+02] [ 9.82485662e-01 -1.78522514e-01 -5.34007160e-02 1.32288814e+02] [ 5.44441097e-02 9.47040619e-04 9.98516370e-01 6.25351254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:132.31, Z:6.25 [[-1.78307241e-01 -9.83918193e-01 1.05602025e-02 1.16878785e+02] [ 9.82497440e-01 -1.78617158e-01 -5.28648416e-02 1.32314278e+02] [ 5.39009128e-02 9.49187861e-04 9.98545838e-01 6.25474098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:132.34, Z:6.26 [[-1.78550971e-01 -9.83875643e-01 1.04052499e-02 1.16874206e+02] [ 9.82500821e-01 -1.78851443e-01 -5.20028578e-02 1.32340639e+02] [ 5.30253391e-02 9.38005820e-04 9.98592727e-01 6.25749834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:132.37, Z:6.26 [[-1.79178249e-01 -9.83763691e-01 1.02056332e-02 1.16866107e+02] [ 9.82445213e-01 -1.79466393e-01 -5.09236403e-02 1.32365878e+02] [ 5.19283966e-02 9.02066792e-04 9.98650403e-01 6.25943332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:132.39, Z:6.26 [[-1.79518752e-01 -9.83703051e-01 1.00660382e-02 1.16863746e+02] [ 9.82424582e-01 -1.79798554e-01 -5.01440076e-02 1.32393500e+02] [ 5.11366724e-02 8.87333737e-04 9.98691270e-01 6.26343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:132.42, Z:6.27 [[-1.80043994e-01 -9.83609331e-01 9.84091755e-03 1.16858749e+02] [ 9.82391098e-01 -1.80310710e-01 -4.89466837e-02 1.32419932e+02] [ 4.99188377e-02 8.55073379e-04 9.98752912e-01 6.26653176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:132.45, Z:6.27 [[-1.80347660e-01 -9.83557521e-01 9.45119037e-03 1.16852672e+02] [ 9.82437254e-01 -1.80593275e-01 -4.69373121e-02 1.32445458e+02] [ 4.78723677e-02 8.20167087e-04 9.98853124e-01 6.26896502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:132.47, Z:6.27 [[-1.80599104e-01 -9.83512651e-01 9.31816302e-03 1.16846794e+02] [ 9.82426376e-01 -1.80837531e-01 -4.62190843e-02 1.32471765e+02] [ 4.71421278e-02 8.07283922e-04 9.98887866e-01 6.27066092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:132.50, Z:6.27 [[-1.80594777e-01 -9.83513351e-01 9.32819076e-03 1.16841954e+02] [ 9.82428168e-01 -1.80833663e-01 -4.61961081e-02 1.32498771e+02] [ 4.71213400e-02 8.21501519e-04 9.98888835e-01 6.27158878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:132.52, Z:6.27 [[-1.80613760e-01 -9.83508959e-01 9.42326348e-03 1.16834995e+02] [ 9.82405176e-01 -1.80857452e-01 -4.65902587e-02 1.32524607e+02] [ 4.75262042e-02 8.42621039e-04 9.98869636e-01 6.27153944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:132.55, Z:6.27 [[-1.80314156e-01 -9.83562005e-01 9.62224614e-03 1.16829007e+02] [ 9.82415143e-01 -1.80568522e-01 -4.74920629e-02 1.32551351e+02] [ 4.84488634e-02 8.89549076e-04 9.98825268e-01 6.27181373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:132.58, Z:6.27 [[-1.80613375e-01 -9.83506961e-01 9.63675144e-03 1.16823558e+02] [ 9.82360177e-01 -1.80868092e-01 -4.74891196e-02 1.32577568e+02] [ 4.84488606e-02 8.89590690e-04 9.98825268e-01 6.27298291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:132.60, Z:6.27 [[-1.80097854e-01 -9.83598090e-01 9.97794941e-03 1.16817140e+02] [ 9.82372661e-01 -1.80371488e-01 -4.90925812e-02 1.32604759e+02] [ 5.00871067e-02 9.60596188e-04 9.98744391e-01 6.27174149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:132.63, Z:6.27 [[-1.80235892e-01 -9.83570650e-01 1.01882228e-02 1.16811569e+02] [ 9.82296455e-01 -1.80520928e-01 -5.00586613e-02 1.32630975e+02] [ 5.10754175e-02 9.85487638e-04 9.98694313e-01 6.27233162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:132.66, Z:6.27 [[-1.80966256e-01 -9.83436731e-01 1.01691198e-02 1.16807159e+02] [ 9.82170036e-01 -1.81249227e-01 -4.99073041e-02 1.32658168e+02] [ 5.09238211e-02 9.56266812e-04 9.98702083e-01 6.27391808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:132.68, Z:6.28 [[-1.81519527e-01 -9.83333230e-01 1.03159688e-02 1.16803727e+02] [ 9.82033637e-01 -1.81809916e-01 -5.05479050e-02 1.32684790e+02] [ 5.15809801e-02 9.55196570e-04 9.98668358e-01 6.27598637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:132.71, Z:6.28 [[-1.83064305e-01 -9.83048007e-01 1.02018116e-02 1.16798965e+02] [ 9.81780648e-01 -1.83346239e-01 -4.99090726e-02 1.32710727e+02] [ 5.09334781e-02 8.79371550e-04 9.98701661e-01 6.27642194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:132.74, Z:6.28 [[-1.84043142e-01 -9.82864504e-01 1.02707221e-02 1.16794013e+02] [ 9.81583963e-01 -1.84327546e-01 -5.01625271e-02 1.32737398e+02] [ 5.11961443e-02 8.49507012e-04 9.98688256e-01 6.27647495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:132.76, Z:6.28 [[-1.85168424e-01 -9.82652201e-01 1.03588899e-02 1.16789622e+02] [ 9.81353393e-01 -1.85456173e-01 -5.05126304e-02 1.32764165e+02] [ 5.15574675e-02 8.12387589e-04 9.98669699e-01 6.27715849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:132.79, Z:6.28 [[-1.86545114e-01 -9.82391544e-01 1.03815063e-02 1.16786398e+02] [ 9.81090733e-01 -1.86832232e-01 -5.05439410e-02 1.32791778e+02] [ 5.15935402e-02 7.56474347e-04 9.98667880e-01 6.27890526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:132.82, Z:6.28 [[-1.88298312e-01 -9.82056041e-01 1.04726957e-02 1.16781949e+02] [ 9.80735520e-01 -1.88588081e-01 -5.09153696e-02 1.32817757e+02] [ 5.19767719e-02 6.83666488e-04 9.98648060e-01 6.27976671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:132.85, Z:6.28 [[-1.91838966e-01 -9.81369014e-01 1.06145749e-02 1.16780813e+02] [ 9.80014899e-01 -1.92131706e-01 -5.15383780e-02 1.32846324e+02] [ 5.26175636e-02 5.15372423e-04 9.98614604e-01 6.28223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:132.87, Z:6.28 [[-1.93239234e-01 -9.81093799e-01 1.06563021e-02 1.16776957e+02] [ 9.79732380e-01 -1.93532298e-01 -5.16692690e-02 1.32872004e+02] [ 5.27547380e-02 4.55794285e-04 9.98607395e-01 6.28319791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:132.90, Z:6.28 [[-1.95296908e-01 -9.80685513e-01 1.07258090e-02 1.16773225e+02] [ 9.79309205e-01 -1.95590888e-01 -5.19392420e-02 1.32899253e+02] [ 5.30339327e-02 3.60310167e-04 9.98592646e-01 6.28410722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:132.93, Z:6.28 [[-1.98477379e-01 -9.80045625e-01 1.08306849e-02 1.16770647e+02] [ 9.78645713e-01 -1.98772561e-01 -5.23644576e-02 1.32926663e+02] [ 5.34724005e-02 2.06243088e-04 9.98569306e-01 6.28469481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:132.95, Z:6.29 [[-2.00041786e-01 -9.79725889e-01 1.09757492e-02 1.16766318e+02] [ 9.78292239e-01 -2.00342616e-01 -5.29823609e-02 1.32953341e+02] [ 5.41071009e-02 1.38804214e-04 9.98535128e-01 6.28518299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:132.98, Z:6.29 [[-2.01499189e-01 -9.79426153e-01 1.10674498e-02 1.16762152e+02] [ 9.77972520e-01 -2.01802889e-01 -5.33417732e-02 1.32980019e+02] [ 5.44777711e-02 7.53376704e-05 9.98514981e-01 6.28617233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:133.01, Z:6.29 [[-2.02770721e-01 -9.79162152e-01 1.12033413e-02 1.16757527e+02] [ 9.77676834e-01 -2.03079983e-01 -5.39122394e-02 1.33007331e+02] [ 5.50639987e-02 2.14236387e-05 9.98482827e-01 6.28736742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:133.03, Z:6.29 [[-2.04877622e-01 -9.78721115e-01 1.14078880e-02 1.16754528e+02] [ 9.77185126e-01 -2.05194964e-01 -5.48110963e-02 1.33034709e+02] [ 5.59856185e-02 -8.19486114e-05 9.98431572e-01 6.28899434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:133.06, Z:6.29 [[-2.05484020e-01 -9.78593999e-01 1.14062858e-02 1.16749902e+02] [ 9.77062946e-01 -2.05800331e-01 -5.47194904e-02 1.33061867e+02] [ 5.58955823e-02 -9.93216259e-05 9.98436615e-01 6.29113667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:133.09, Z:6.29 [[-2.05868578e-01 -9.78514428e-01 1.12978789e-02 1.16745293e+02] [ 9.77016838e-01 -2.06178328e-01 -5.41165012e-02 1.33088006e+02] [ 5.52831551e-02 -1.02669213e-04 9.98470712e-01 6.29238946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:133.11, Z:6.29 [[-2.05855273e-01 -9.78515776e-01 1.14228917e-02 1.16739942e+02] [ 9.76989717e-01 -2.06171939e-01 -5.46280561e-02 1.33114610e+02] [ 5.58094945e-02 -8.54256599e-05 9.98441432e-01 6.29461514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:133.14, Z:6.30 [[-2.05380415e-01 -9.78613959e-01 1.15587080e-02 1.16734105e+02] [ 9.77056321e-01 -2.05705413e-01 -5.51926552e-02 1.33141389e+02] [ 5.63899916e-02 -4.19817239e-05 9.98408818e-01 6.29589265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:133.17, Z:6.30 [[-2.03785181e-01 -9.78947620e-01 1.15394256e-02 1.16727598e+02] [ 9.77400439e-01 -2.04111621e-01 -5.50166194e-02 1.33167793e+02] [ 5.62137195e-02 6.70679141e-05 9.98418756e-01 6.29752999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:133.19, Z:6.30 [[-2.02833838e-01 -9.79143801e-01 1.16555259e-02 1.16721247e+02] [ 9.77570478e-01 -2.03168397e-01 -5.54847943e-02 1.33194738e+02] [ 5.66956269e-02 1.39904253e-04 9.98391500e-01 6.29842143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:133.22, Z:6.30 [[-2.01893197e-01 -9.79337491e-01 1.17138921e-02 1.16715363e+02] [ 9.77753536e-01 -2.02232621e-01 -5.56775488e-02 1.33221361e+02] [ 5.68960421e-02 2.12381131e-04 9.98380086e-01 6.29977122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:133.25, Z:6.30 [[-2.01152355e-01 -9.79489529e-01 1.17470293e-02 1.16709522e+02] [ 9.77901784e-01 -2.01494883e-01 -5.57486577e-02 1.33246670e+02] [ 5.69721927e-02 2.73467098e-04 9.98375728e-01 6.30012326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:133.27, Z:6.30 [[-1.99664510e-01 -9.79795491e-01 1.16137510e-02 1.16704502e+02] [ 9.78248998e-01 -2.00001640e-01 -5.50294586e-02 1.33273301e+02] [ 5.62403847e-02 3.73710443e-04 9.98417187e-01 6.30302853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:133.30, Z:6.30 [[-1.99595999e-01 -9.79809616e-01 1.15997178e-02 1.16699137e+02] [ 9.78271702e-01 -1.99932390e-01 -5.48772893e-02 1.33299031e+02] [ 5.60884550e-02 3.94388341e-04 9.98425726e-01 6.30444879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:133.33, Z:6.31 [[-1.99253179e-01 -9.79879549e-01 1.15862248e-02 1.16693421e+02] [ 9.78350239e-01 -1.99589289e-01 -5.47259169e-02 1.33326051e+02] [ 5.59372932e-02 4.31072903e-04 9.98434191e-01 6.30507642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:133.35, Z:6.31 [[-1.98856923e-01 -9.79959613e-01 1.16224459e-02 1.16687782e+02] [ 9.78425504e-01 -1.99195720e-01 -5.48142213e-02 1.33352433e+02] [ 5.60308646e-02 4.71510044e-04 9.98428926e-01 6.30638764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:133.38, Z:6.31 [[-1.98542953e-01 -9.80024024e-01 1.15589289e-02 1.16683727e+02] [ 9.78511319e-01 -1.98878505e-01 -5.44328906e-02 1.33379160e+02] [ 5.56443629e-02 5.03275965e-04 9.98450525e-01 6.30805214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:133.41, Z:6.31 [[-1.99179918e-01 -9.79894226e-01 1.16045498e-02 1.16679177e+02] [ 9.78373959e-01 -1.99517091e-01 -5.45648798e-02 1.33406425e+02] [ 5.57831167e-02 4.85361035e-04 9.98442792e-01 6.30975803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:133.43, Z:6.31 [[-1.99857070e-01 -9.79756885e-01 1.15584547e-02 1.16674892e+02] [ 9.78253049e-01 -2.00190492e-01 -5.42654562e-02 1.33431969e+02] [ 5.54808471e-02 4.61758456e-04 9.98459645e-01 6.31019377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:133.46, Z:6.31 [[-2.01239934e-01 -9.79472898e-01 1.16332057e-02 1.16670669e+02] [ 9.77953865e-01 -2.01575495e-01 -5.45303363e-02 1.33458865e+02] [ 5.57559557e-02 4.03057183e-04 9.98444345e-01 6.31078410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:133.49, Z:6.31 [[-2.03391627e-01 -9.79028011e-01 1.16619035e-02 1.16668731e+02] [ 9.77505330e-01 -2.03725465e-01 -5.45826354e-02 1.33486591e+02] [ 5.58137556e-02 2.97921811e-04 9.98441153e-01 6.31131224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:133.51, Z:6.31 [[-2.04641814e-01 -9.78767413e-01 1.16652634e-02 1.16665061e+02] [ 9.77248008e-01 -2.04973879e-01 -5.45164236e-02 1.33513928e+02] [ 5.57499732e-02 2.43515614e-04 9.98444731e-01 6.31269299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:133.54, Z:6.31 [[-2.05981633e-01 -9.78486038e-01 1.16893001e-02 1.16661315e+02] [ 9.76964568e-01 -2.06312963e-01 -5.45453338e-02 1.33540215e+02] [ 5.57835017e-02 1.84695052e-04 9.98442871e-01 6.31272424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:133.57, Z:6.31 [[-2.07180855e-01 -9.78230734e-01 1.18627384e-02 1.16657821e+02] [ 9.76668256e-01 -2.07520150e-01 -5.52675672e-02 1.33567637e+02] [ 5.65261901e-02 1.35578265e-04 9.98401107e-01 6.31418723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:133.60, Z:6.32 [[-2.09342112e-01 -9.77769953e-01 1.19079689e-02 1.16656937e+02] [ 9.76199441e-01 -2.09680516e-01 -5.53961456e-02 1.33595184e+02] [ 5.66615558e-02 2.78064426e-05 9.98393443e-01 6.31569794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:133.62, Z:6.32 [[-2.10181252e-01 -9.77589105e-01 1.19742563e-02 1.16653073e+02] [ 9.76005511e-01 -2.10522069e-01 -5.56210478e-02 1.33620950e+02] [ 5.68953756e-02 -3.56129825e-06 9.98380146e-01 6.31673877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.386875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:133.65, Z:6.32 [[-2.10607399e-01 -9.77498320e-01 1.18977695e-02 1.16648286e+02] [ 9.75939520e-01 -2.10943199e-01 -5.51817050e-02 1.33647727e+02] [ 5.64497775e-02 -1.01719525e-05 9.98405440e-01 6.31894201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:133.67, Z:6.32 [[-2.10457107e-01 -9.77530301e-01 1.19296388e-02 1.16643199e+02] [ 9.75967829e-01 -2.10794948e-01 -5.52474948e-02 1.33674448e+02] [ 5.65208078e-02 1.57156933e-05 9.98401421e-01 6.32044795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:133.70, Z:6.32 [[-2.10208525e-01 -9.77583292e-01 1.19701281e-02 1.16638062e+02] [ 9.76015005e-01 -2.10549057e-01 -5.53516484e-02 1.33699942e+02] [ 5.66311458e-02 4.76362836e-05 9.98395168e-01 6.32047968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:133.73, Z:6.32 [[-2.09342024e-01 -9.77766454e-01 1.21933420e-02 1.16632989e+02] [ 9.76144446e-01 -2.09696797e-01 -5.62963073e-02 1.33726808e+02] [ 5.76015456e-02 1.17280121e-04 9.98339646e-01 6.32009882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:133.75, Z:6.32 [[-2.09255835e-01 -9.77783343e-01 1.23178494e-02 1.16627538e+02] [ 9.76132891e-01 -2.09618020e-01 -5.67878859e-02 1.33753888e+02] [ 5.81082921e-02 1.40661484e-04 9.98310276e-01 6.32124669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:133.78, Z:6.32 [[-2.08503833e-01 -9.77941746e-01 1.24937481e-02 1.16621984e+02] [ 9.76249109e-01 -2.08877715e-01 -5.75132801e-02 1.33780896e+02] [ 5.88543031e-02 2.05271153e-04 9.98266562e-01 6.32234336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:133.81, Z:6.32 [[-2.07897016e-01 -9.78070684e-01 1.25126797e-02 1.16616088e+02] [ 9.76378152e-01 -2.08273063e-01 -5.75155258e-02 1.33807886e+02] [ 5.88603038e-02 2.59800883e-04 9.98266196e-01 6.32390672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:133.83, Z:6.32 [[-2.06403929e-01 -9.78387464e-01 1.24655289e-02 1.16609322e+02] [ 9.76713259e-01 -2.06779683e-01 -5.72133909e-02 1.33832955e+02] [ 5.85544825e-02 3.66178674e-04 9.98284147e-01 6.32421778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:133.86, Z:6.33 [[-2.06329413e-01 -9.78403238e-01 1.24609971e-02 1.16604183e+02] [ 9.76735402e-01 -2.06704988e-01 -5.71051829e-02 1.33859351e+02] [ 5.84476461e-02 3.88618156e-04 9.98290399e-01 6.32714118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:133.89, Z:6.33 [[-2.06660808e-01 -9.78333394e-01 1.24531080e-02 1.16598725e+02] [ 9.76672473e-01 -2.07035312e-01 -5.69847341e-02 1.33886324e+02] [ 5.83283014e-02 3.86096571e-04 9.98297381e-01 6.32886350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:133.91, Z:6.33 [[-2.06932826e-01 -9.78275323e-01 1.24979433e-02 1.16593913e+02] [ 9.76606963e-01 -2.07309534e-01 -5.71104007e-02 1.33911655e+02] [ 5.84606384e-02 3.87561807e-04 9.98289639e-01 6.33052448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:133.94, Z:6.33 [[-2.07488908e-01 -9.78158096e-01 1.24536345e-02 1.16588600e+02] [ 9.76505363e-01 -2.07861985e-01 -5.68390021e-02 1.33938211e+02] [ 5.81861672e-02 3.67578393e-04 9.98305682e-01 6.33260021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:133.96, Z:6.33 [[-2.08000109e-01 -9.78050135e-01 1.24051213e-02 1.16582608e+02] [ 9.76414947e-01 -2.08369402e-01 -5.65335628e-02 1.33964166e+02] [ 5.78775064e-02 3.53558622e-04 9.98323630e-01 6.33295084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:133.99, Z:6.33 [[-2.08626317e-01 -9.77917186e-01 1.23708529e-02 1.16577367e+02] [ 9.76295714e-01 -2.08992505e-01 -5.62922050e-02 1.33991083e+02] [ 5.76345302e-02 3.33575226e-04 9.98337693e-01 6.33479032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:134.02, Z:6.34 [[-2.09274879e-01 -9.77778334e-01 1.23917010e-02 1.16571949e+02] [ 9.76155869e-01 -2.09641197e-01 -5.63053106e-02 1.34018297e+02] [ 5.76519238e-02 3.12944539e-04 9.98336696e-01 6.33694628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:134.05, Z:6.34 [[-2.10206614e-01 -9.77579681e-01 1.22941599e-02 1.16566438e+02] [ 9.75986998e-01 -2.10565648e-01 -5.57807170e-02 1.34045016e+02] [ 5.71188233e-02 2.73464576e-04 9.98367350e-01 6.33849518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:134.07, Z:6.34 [[-2.10296772e-01 -9.77561553e-01 1.21933262e-02 1.16559713e+02] [ 9.75999463e-01 -2.10649778e-01 -5.52423584e-02 1.34070255e+02] [ 5.65713271e-02 2.83390147e-04 9.98398520e-01 6.33834659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:134.10, Z:6.34 [[-2.10113066e-01 -9.77600789e-01 1.22145951e-02 1.16553690e+02] [ 9.76038042e-01 -2.10467573e-01 -5.52552284e-02 1.34096453e+02] [ 5.65883311e-02 3.12064046e-04 9.98397548e-01 6.34061344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:134.12, Z:6.34 [[-2.09736572e-01 -9.77681590e-01 1.22179617e-02 1.16546533e+02] [ 9.76122723e-01 -2.10091849e-01 -5.51891638e-02 1.34122126e+02] [ 5.65243236e-02 3.51043989e-04 9.98401161e-01 6.34052109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:134.15, Z:6.34 [[-2.15346660e-01 -9.76458301e-01 1.24500076e-02 1.16542926e+02] [ 9.74842459e-01 -2.15706246e-01 -5.61515474e-02 1.34149669e+02] [ 5.75151890e-02 4.47478591e-05 9.98344630e-01 6.34234975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:134.18, Z:6.35 [[-2.18192919e-01 -9.75827895e-01 1.23194605e-02 1.16538478e+02] [ 9.74249315e-01 -2.18540404e-01 -5.54830151e-02 1.34176850e+02] [ 5.68341737e-02 -1.03775104e-04 9.98383627e-01 6.34529948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:134.20, Z:6.35 [[-2.20699307e-01 -9.75267294e-01 1.20631997e-02 1.16533926e+02] [ 9.73757203e-01 -2.21028626e-01 -5.42517797e-02 1.34203359e+02] [ 5.55762988e-02 -2.26702590e-04 9.98454417e-01 6.34761248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:134.23, Z:6.35 [[-2.22765274e-01 -9.74797744e-01 1.20412208e-02 1.16528318e+02] [ 9.73296771e-01 -2.23090233e-01 -5.40753596e-02 1.34229599e+02] [ 5.53988173e-02 -3.26431020e-04 9.98464253e-01 6.34869236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:134.26, Z:6.35 [[-2.23061487e-01 -9.74729800e-01 1.20577760e-02 1.16522368e+02] [ 9.73228927e-01 -2.23386907e-01 -5.40716684e-02 1.34255723e+02] [ 5.53988158e-02 -3.26330369e-04 9.98464253e-01 6.34986138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:134.28, Z:6.35 [[-2.27513761e-01 -9.73698941e-01 1.21598237e-02 1.16517205e+02] [ 9.72175366e-01 -2.27837773e-01 -5.44518756e-02 1.34282155e+02] [ 5.57902008e-02 -5.67069906e-04 9.98442353e-01 6.34905919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:134.31, Z:6.35 [[-2.29541913e-01 -9.73222238e-01 1.22059954e-02 1.16511243e+02] [ 9.71690460e-01 -2.29865239e-01 -5.45859028e-02 1.34309796e+02] [ 5.59299485e-02 -6.69303303e-04 9.98434471e-01 6.35033556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:134.34, Z:6.35 [[-2.30974548e-01 -9.72881549e-01 1.23389562e-02 1.16506220e+02] [ 9.71319466e-01 -2.31302696e-01 -5.51140394e-02 1.34335925e+02] [ 5.64734658e-02 -7.44872050e-04 9.98403823e-01 6.35099423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:134.36, Z:6.35 [[-2.32023448e-01 -9.72634619e-01 1.21251111e-02 1.16499507e+02] [ 9.71128892e-01 -2.32338745e-01 -5.41052900e-02 1.34362267e+02] [ 5.54418112e-02 -7.78650267e-04 9.98461616e-01 6.35420497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:134.39, Z:6.36 [[-2.31940290e-01 -9.72657117e-01 1.19094472e-02 1.16493090e+02] [ 9.71208628e-01 -2.32244661e-01 -5.30680563e-02 1.34389061e+02] [ 5.43829282e-02 -7.42062548e-04 9.98519878e-01 6.35689890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:134.41, Z:6.36 [[-2.31935240e-01 -9.72659821e-01 1.17863002e-02 1.16486357e+02] [ 9.71245173e-01 -2.32233415e-01 -5.24447727e-02 1.34414492e+02] [ 5.37480960e-02 -7.16403758e-04 9.98554269e-01 6.35860913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:134.44, Z:6.36 [[-2.31564436e-01 -9.72747795e-01 1.18168789e-02 1.16478125e+02] [ 9.71330080e-01 -2.31864755e-01 -5.25034306e-02 1.34440752e+02] [ 5.38125141e-02 -6.79837386e-04 9.98550826e-01 6.35929517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:134.47, Z:6.36 [[-2.30921211e-01 -9.72899031e-01 1.19528143e-02 1.16469261e+02] [ 9.71452810e-01 -2.31229481e-01 -5.30317402e-02 1.34467191e+02] [ 5.43583717e-02 -6.34558582e-04 9.98521289e-01 6.35911677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:134.49, Z:6.36 [[-2.27724363e-01 -9.73651830e-01 1.19886858e-02 1.16458062e+02] [ 9.72201957e-01 -2.28039294e-01 -5.31171724e-02 1.34493742e+02] [ 5.44515236e-02 -4.40650407e-04 9.98516318e-01 6.35913673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:134.52, Z:6.36 [[-2.25993588e-01 -9.74054118e-01 1.20612146e-02 1.16450097e+02] [ 9.72590979e-01 -2.26314970e-01 -5.33696643e-02 1.34520168e+02] [ 5.47145747e-02 -3.30573463e-04 9.98501981e-01 6.36121617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:134.55, Z:6.36 [[-2.24486503e-01 -9.74402039e-01 1.21027776e-02 1.16441655e+02] [ 9.72933438e-01 -2.24812398e-01 -5.34781426e-02 1.34546539e+02] [ 5.48300656e-02 -2.29924247e-04 9.98495674e-01 6.36300817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:134.57, Z:6.36 [[-2.22883831e-01 -9.74768897e-01 1.21817725e-02 1.16432784e+02] [ 9.73285812e-01 -2.23216448e-01 -5.37507753e-02 1.34572522e+02] [ 5.51137560e-02 -1.23832365e-04 9.98480074e-01 6.36389538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:134.60, Z:6.36 [[-2.20039201e-01 -9.75410295e-01 1.25501596e-02 1.16421358e+02] [ 9.73841652e-01 -2.20396809e-01 -5.52963252e-02 1.34597728e+02] [ 5.67026200e-02 5.45089608e-05 9.98391111e-01 6.36254702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters Centerline goodness [0,1] 0.9999758080123863 Centerline is valid? [True, True] Translation: X:116.41, Y:134.62, Z:6.36 [[-2.19558127e-01 -9.75515897e-01 1.27657552e-02 1.16413394e+02] [ 9.73897668e-01 -2.19928910e-01 -5.61658881e-02 1.34624290e+02] [ 5.75982753e-02 1.00862056e-04 9.98339836e-01 6.36304542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:134.65, Z:6.36 [[-2.19003058e-01 -9.75640155e-01 1.28042216e-02 1.16406110e+02] [ 9.74016978e-01 -2.19376992e-01 -5.62553305e-02 1.34650311e+02] [ 5.76939110e-02 1.51439796e-04 9.98334308e-01 6.36408287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:134.68, Z:6.37 [[-2.18704959e-01 -9.75705521e-01 1.29180778e-02 1.16398854e+02] [ 9.74058110e-01 -2.19086057e-01 -5.66753644e-02 1.34676817e+02] [ 5.81286367e-02 1.87775223e-04 9.98309084e-01 6.36521371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:134.70, Z:6.37 [[-2.18459881e-01 -9.75757587e-01 1.31306001e-02 1.16391004e+02] [ 9.74060377e-01 -2.18854021e-01 -5.75265182e-02 1.34703031e+02] [ 5.90056212e-02 2.22760981e-04 9.98257626e-01 6.36638221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters Centerline goodness [0,1] 0.9999759505543397 Centerline is valid? [True, True] Translation: X:116.38, Y:134.73, Z:6.37 [[-2.18448776e-01 -9.75757676e-01 1.33075070e-02 1.16384043e+02] [ 9.74019260e-01 -2.18853600e-01 -5.82201311e-02 1.34729913e+02] [ 5.97211356e-02 2.43651719e-04 9.98215070e-01 6.36703825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:134.76, Z:6.37 [[-2.18892686e-01 -9.75656574e-01 1.34254006e-02 1.16377105e+02] [ 9.73891930e-01 -2.19303885e-01 -5.86541998e-02 1.34755904e+02] [ 6.01705981e-02 2.35913971e-04 9.98188080e-01 6.36925555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:134.78, Z:6.37 [[-2.19235200e-01 -9.75580634e-01 1.33549062e-02 1.16370092e+02] [ 9.73839223e-01 -2.19641464e-01 -5.82648629e-02 1.34782472e+02] [ 5.97753630e-02 2.31822630e-04 9.98211827e-01 6.37070275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:134.81, Z:6.37 [[-2.19674455e-01 -9.75485406e-01 1.30903399e-02 1.16362245e+02] [ 9.73816837e-01 -2.20064025e-01 -5.70315017e-02 1.34807846e+02] [ 5.85141105e-02 2.19229352e-04 9.98286557e-01 6.37161097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:134.83, Z:6.37 [[-2.20530310e-01 -9.75294062e-01 1.29566716e-02 1.16356456e+02] [ 9.73663770e-01 -2.20910523e-01 -5.63684707e-02 1.34834755e+02] [ 5.78380998e-02 1.84485345e-04 9.98325959e-01 6.37473122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:134.86, Z:6.38 [[-2.21565576e-01 -9.75058720e-01 1.30072629e-02 1.16350566e+02] [ 9.73419879e-01 -2.21947006e-01 -5.65089946e-02 1.34861687e+02] [ 5.79865109e-02 1.41080313e-04 9.98317357e-01 6.37571423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:134.89, Z:6.38 [[-2.22812882e-01 -9.74775397e-01 1.29362300e-02 1.16345099e+02] [ 9.73158442e-01 -2.23188080e-01 -5.61224323e-02 1.34888567e+02] [ 5.75939786e-02 8.42006061e-05 9.98340086e-01 6.37798285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.826875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:134.92, Z:6.38 [[-2.24090625e-01 -9.74483631e-01 1.28470009e-02 1.16339300e+02] [ 9.72892856e-01 -2.24458578e-01 -5.56582165e-02 1.34915463e+02] [ 5.71216405e-02 2.62708642e-05 9.98367226e-01 6.38011319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:134.94, Z:6.38 [[-2.25410287e-01 -9.74182172e-01 1.26213449e-02 1.16333493e+02] [ 9.72650269e-01 -2.25763360e-01 -5.46109855e-02 1.34942572e+02] [ 5.60504857e-02 -3.37233779e-05 9.98427935e-01 6.38212611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.886875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:134.97, Z:6.38 [[-2.27870014e-01 -9.73611937e-01 1.24520375e-02 1.16327890e+02] [ 9.72123126e-01 -2.28209928e-01 -5.38224493e-02 1.34969053e+02] [ 5.52438577e-02 -1.59608710e-04 9.98472879e-01 6.38408226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:135.00, Z:6.39 [[-2.29067429e-01 -9.73330482e-01 1.24854097e-02 1.16321795e+02] [ 9.71837371e-01 -2.29407340e-01 -5.38924554e-02 1.34995701e+02] [ 5.53194142e-02 -2.11218468e-04 9.98468686e-01 6.38549455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:135.02, Z:6.39 [[-2.30295676e-01 -9.73040611e-01 1.24848022e-02 1.16315530e+02] [ 9.71551304e-01 -2.30633690e-01 -5.38160340e-02 1.35022480e+02] [ 5.52446026e-02 -2.63974070e-04 9.98472816e-01 6.38730765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:135.05, Z:6.39 [[-2.31880597e-01 -9.72663991e-01 1.24959358e-02 1.16310023e+02] [ 9.71175666e-01 -2.32216809e-01 -5.37882767e-02 1.35047917e+02] [ 5.52196862e-02 -3.36708912e-04 9.98474172e-01 6.38852938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:135.07, Z:6.39 [[-2.32747714e-01 -9.72454699e-01 1.26633627e-02 1.16303825e+02] [ 9.70930305e-01 -2.33091655e-01 -5.44299849e-02 1.35074084e+02] [ 5.58824188e-02 -3.73211987e-04 9.98437287e-01 6.38918163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:135.10, Z:6.39 [[-2.33562246e-01 -9.72258381e-01 1.27403795e-02 1.16297200e+02] [ 9.70719310e-01 -2.33909119e-01 -5.46858854e-02 1.35100497e+02] [ 5.61489014e-02 -4.05225850e-04 9.98422324e-01 6.39015415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:135.13, Z:6.39 [[-2.34281288e-01 -9.72084769e-01 1.27858869e-02 1.16290506e+02] [ 9.70538688e-01 -2.34629528e-01 -5.48054620e-02 1.35127361e+02] [ 5.62755015e-02 -4.30696349e-04 9.98415185e-01 6.39114267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:135.15, Z:6.39 [[-2.35206648e-01 -9.71865831e-01 1.24354106e-02 1.16283610e+02] [ 9.70407013e-01 -2.35534714e-01 -5.32318304e-02 1.35154007e+02] [ 5.46631679e-02 -4.53070768e-04 9.98504749e-01 6.39292683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:135.18, Z:6.39 [[-2.35653098e-01 -9.71760034e-01 1.22496142e-02 1.16277578e+02] [ 9.70348195e-01 -2.35970824e-01 -5.23655458e-02 1.35179405e+02] [ 5.37772962e-02 -4.53712090e-04 9.98552851e-01 6.39433056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:135.21, Z:6.40 [[-2.36189377e-01 -9.71631797e-01 1.20925209e-02 1.16271336e+02] [ 9.70259610e-01 -2.36498286e-01 -5.16221865e-02 1.35205491e+02] [ 5.30176183e-02 -4.59727433e-04 9.98593471e-01 6.39676203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:135.23, Z:6.40 [[-2.36460298e-01 -9.71567891e-01 1.19315165e-02 1.16263966e+02] [ 9.70235459e-01 -2.36760701e-01 -5.08677257e-02 1.35231827e+02] [ 5.22463632e-02 -4.51817240e-04 9.98634124e-01 6.39896498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:135.26, Z:6.40 [[-2.36551723e-01 -9.71545033e-01 1.19804156e-02 1.16256738e+02] [ 9.70205332e-01 -2.36854497e-01 -5.10055012e-02 1.35258610e+02] [ 5.23917567e-02 -4.41976065e-04 9.98626511e-01 6.40052805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:135.28, Z:6.40 [[-2.35300140e-01 -9.71848715e-01 1.19966269e-02 1.16249372e+02] [ 9.70509541e-01 -2.35605490e-01 -5.10027903e-02 1.35283850e+02] [ 5.23934674e-02 -3.58122858e-04 9.98626455e-01 6.39960059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:135.31, Z:6.40 [[-2.34252177e-01 -9.72100260e-01 1.21244208e-02 1.16240963e+02] [ 9.70736647e-01 -2.34565558e-01 -5.14719447e-02 1.35310412e+02] [ 5.28798624e-02 -2.87795455e-04 9.98600840e-01 6.40045657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:135.34, Z:6.40 [[-2.33552956e-01 -9.72266948e-01 1.22473803e-02 1.16234029e+02] [ 9.70879197e-01 -2.33873738e-01 -5.19293616e-02 1.35335988e+02] [ 5.33535425e-02 -2.37529178e-04 9.98575657e-01 6.39987074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:135.36, Z:6.40 [[-2.32373888e-01 -9.72547907e-01 1.23671198e-02 1.16226055e+02] [ 9.71136399e-01 -2.32702693e-01 -5.23789169e-02 1.35362228e+02] [ 5.38188680e-02 -1.61332350e-04 9.98550701e-01 6.40206325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.366875 meters Centerline goodness [0,1] 0.9999528646508449 Centerline is valid? [True, True] Translation: X:116.22, Y:135.39, Z:6.40 [[-2.29545760e-01 -9.73216944e-01 1.25508750e-02 1.16216840e+02] [ 9.71768159e-01 -2.29888626e-01 -5.30835651e-02 1.35387010e+02] [ 5.45471284e-02 1.14333861e-05 9.98511197e-01 6.40148333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:135.41, Z:6.40 [[-2.28022367e-01 -9.73575765e-01 1.24911636e-02 1.16208243e+02] [ 9.72145315e-01 -2.28364218e-01 -5.27567099e-02 1.35412165e+02] [ 5.42151890e-02 1.13516332e-04 9.98529269e-01 6.40205192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:135.44, Z:6.40 [[-2.26724366e-01 -9.73877364e-01 1.26072139e-02 1.16200335e+02] [ 9.72424695e-01 -2.27074522e-01 -5.31730565e-02 1.35438143e+02] [ 5.46468131e-02 2.03938576e-04 9.98505726e-01 6.40450062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:135.46, Z:6.41 [[-2.23806339e-01 -9.74553800e-01 1.24745326e-02 1.16191163e+02] [ 9.73136435e-01 -2.24153401e-01 -5.25426635e-02 1.35463959e+02] [ 5.40018613e-02 3.80041001e-04 9.98540763e-01 6.40564422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:135.49, Z:6.41 [[-2.22406057e-01 -9.74876270e-01 1.23209058e-02 1.16183774e+02] [ 9.73497830e-01 -2.22746583e-01 -5.18259969e-02 1.35490334e+02] [ 5.32683742e-02 4.67959430e-04 9.98580123e-01 6.40780227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:135.52, Z:6.41 [[-2.21361681e-01 -9.75116253e-01 1.21367029e-02 1.16176712e+02] [ 9.73782698e-01 -2.21693503e-01 -5.09828142e-02 1.35516324e+02] [ 5.24047989e-02 5.32869823e-04 9.98625782e-01 6.41026129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:135.54, Z:6.41 [[-2.20154177e-01 -9.75392088e-01 1.19337100e-02 1.16169303e+02] [ 9.74106560e-01 -2.20476556e-01 -5.00649434e-02 1.35541719e+02] [ 5.14640529e-02 6.02698855e-04 9.98674666e-01 6.41223212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:135.57, Z:6.41 [[-2.17066433e-01 -9.76085133e-01 1.18311724e-02 1.16159786e+02] [ 9.74825327e-01 -2.17387256e-01 -4.95818851e-02 1.35568121e+02] [ 5.09680870e-02 7.70763535e-04 9.98699985e-01 6.41390765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:135.60, Z:6.42 [[-2.15293341e-01 -9.76479076e-01 1.17213775e-02 1.16151833e+02] [ 9.75246080e-01 -2.15610435e-01 -4.90634673e-02 1.35595222e+02] [ 5.04367005e-02 8.68189683e-04 9.98726882e-01 6.41501191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:135.62, Z:6.42 [[-2.13838468e-01 -9.76798949e-01 1.17013751e-02 1.16143564e+02] [ 9.75573527e-01 -2.14156257e-01 -4.89222953e-02 1.35620620e+02] [ 5.02931693e-02 9.54083086e-04 9.98734042e-01 6.41577208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:135.65, Z:6.42 [[-2.12206865e-01 -9.77154126e-01 1.17499396e-02 1.16136797e+02] [ 9.75921356e-01 -2.12529311e-01 -4.90795085e-02 1.35647314e+02] [ 5.04554508e-02 1.05200838e-03 9.98725759e-01 6.41755272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:135.67, Z:6.42 [[-2.09563150e-01 -9.77724680e-01 1.17361443e-02 1.16127095e+02] [ 9.76498755e-01 -2.09888092e-01 -4.89609007e-02 1.35673131e+02] [ 5.03335579e-02 1.19992967e-03 9.98731742e-01 6.41840112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:135.70, Z:6.42 [[-2.09254305e-01 -9.77792194e-01 1.16215925e-02 1.16119292e+02] [ 9.76592486e-01 -2.09573262e-01 -4.84372225e-02 1.35698420e+02] [ 4.97971131e-02 1.21386257e-03 9.98758617e-01 6.41910102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:135.72, Z:6.42 [[-2.08874741e-01 -9.77873691e-01 1.15925172e-02 1.16112476e+02] [ 9.76683487e-01 -2.09192484e-01 -4.82480198e-02 1.35724399e+02] [ 4.96055367e-02 1.24442749e-03 9.98768112e-01 6.42042410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:135.75, Z:6.42 [[-2.08617290e-01 -9.77932974e-01 1.12215886e-02 1.16105448e+02] [ 9.76820762e-01 -2.08915252e-01 -4.66434980e-02 1.35750313e+02] [ 4.79585757e-02 1.23084062e-03 9.98848567e-01 6.42240355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:135.78, Z:6.42 [[-2.08487658e-01 -9.77963177e-01 1.09963830e-02 1.16098781e+02] [ 9.76898050e-01 -2.08773854e-01 -4.56473099e-02 1.35776650e+02] [ 4.69371455e-02 1.22544440e-03 9.98897093e-01 6.42409611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:135.80, Z:6.43 [[-2.08175587e-01 -9.78033032e-01 1.06917052e-02 1.16091257e+02] [ 9.77028894e-01 -2.08446400e-01 -4.43242373e-02 1.35802713e+02] [ 4.55792157e-02 1.21888084e-03 9.98959984e-01 6.42590800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:135.83, Z:6.43 [[-2.07911720e-01 -9.78091338e-01 1.04905044e-02 1.16083843e+02] [ 9.77127297e-01 -2.08172631e-01 -4.34327144e-02 1.35828482e+02] [ 4.46649976e-02 1.22038785e-03 9.99001276e-01 6.42754290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90687499999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:135.85, Z:6.43 [[-2.06511381e-01 -9.78390294e-01 1.02704717e-02 1.16075680e+02] [ 9.77469221e-01 -2.06762714e-01 -4.24629482e-02 1.35854855e+02] [ 4.36688869e-02 1.26998789e-03 9.99045252e-01 6.42888017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:135.88, Z:6.43 [[-2.05854989e-01 -9.78528578e-01 1.02735416e-02 1.16070322e+02] [ 9.77609467e-01 -2.06107021e-01 -4.24219974e-02 1.35882589e+02] [ 4.36285858e-02 1.31073171e-03 9.99046960e-01 6.43029327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:135.91, Z:6.43 [[-2.05090840e-01 -9.78688536e-01 1.03197272e-02 1.16062552e+02] [ 9.77763650e-01 -2.05345795e-01 -4.25599583e-02 1.35909916e+02] [ 4.37720559e-02 1.36159656e-03 9.99040616e-01 6.43139042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:135.94, Z:6.43 [[-2.05402318e-01 -9.78623086e-01 1.03317178e-02 1.16056121e+02] [ 9.77698262e-01 -2.05657499e-01 -4.25570473e-02 1.35935924e+02] [ 4.37721042e-02 1.35998643e-03 9.99040616e-01 6.43256077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:135.96, Z:6.43 [[-2.05384804e-01 -9.78625621e-01 1.04391454e-02 1.16048713e+02] [ 9.77684118e-01 -2.05645251e-01 -4.29394397e-02 1.35960694e+02] [ 4.41683965e-02 1.38707827e-03 9.99023137e-01 6.43281379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:135.99, Z:6.43 [[-2.05075087e-01 -9.78688842e-01 1.05999319e-02 1.16039324e+02] [ 9.77720315e-01 -2.05343856e-01 -4.35532576e-02 1.35986631e+02] [ 4.48017181e-02 1.43208068e-03 9.98994872e-01 6.43174839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:136.01, Z:6.43 [[-2.05911821e-01 -9.78511418e-01 1.07576714e-02 1.16032710e+02] [ 9.77516205e-01 -2.06187710e-01 -4.41440434e-02 1.36013434e+02] [ 4.54135501e-02 1.42601773e-03 9.98967255e-01 6.43172765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:136.04, Z:6.43 [[-2.07002040e-01 -9.78279951e-01 1.08854846e-02 1.16026513e+02] [ 9.77263401e-01 -2.07283301e-01 -4.46080474e-02 1.36039685e+02] [ 4.58955376e-02 1.40402891e-03 9.98945258e-01 6.43287522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:136.07, Z:6.43 [[-2.08548874e-01 -9.77950478e-01 1.09648961e-02 1.16020823e+02] [ 9.76921363e-01 -2.08832539e-01 -4.48733904e-02 1.36066364e+02] [ 4.61737807e-02 1.35354618e-03 9.98932505e-01 6.43410896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:136.09, Z:6.44 [[-2.13412508e-01 -9.76900493e-01 1.09785189e-02 1.16018594e+02] [ 9.75869869e-01 -2.13691682e-01 -4.48761001e-02 1.36094686e+02] [ 4.61855025e-02 1.13648477e-03 9.98932234e-01 6.43541739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:136.12, Z:6.44 [[-2.16059793e-01 -9.76319380e-01 1.08919316e-02 1.16014920e+02] [ 9.75306693e-01 -2.16331777e-01 -4.44681495e-02 1.36122845e+02] [ 4.57713871e-02 1.01519466e-03 9.98951425e-01 6.43727420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:136.15, Z:6.44 [[-2.19115047e-01 -9.75638523e-01 1.08659436e-02 1.16009216e+02] [ 9.74632233e-01 -2.19382532e-01 -4.43093179e-02 1.36149704e+02] [ 4.56136757e-02 8.81460626e-04 9.98958766e-01 6.43790363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:136.18, Z:6.44 [[-2.21316610e-01 -9.75142498e-01 1.07734466e-02 1.16005110e+02] [ 9.74154443e-01 -2.21577299e-01 -4.38933035e-02 1.36177739e+02] [ 4.51893768e-02 7.80683778e-04 9.98978133e-01 6.44050219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:136.20, Z:6.44 [[-2.24242124e-01 -9.74474629e-01 1.07082815e-02 1.15997473e+02] [ 9.73500049e-01 -2.24496707e-01 -4.35761848e-02 1.36204081e+02] [ 4.48678604e-02 6.52896364e-04 9.98992717e-01 6.44111263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.326875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:136.23, Z:6.44 [[-2.28866293e-01 -9.73400475e-01 1.05704379e-02 1.15996129e+02] [ 9.72451868e-01 -2.29109833e-01 -4.29656652e-02 1.36231179e+02] [ 4.42445902e-02 4.45849548e-04 9.99020629e-01 6.44273186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters Centerline goodness [0,1] 0.9993448300067856 Centerline is valid? [True, True] Translation: X:115.99, Y:136.26, Z:6.44 [[-2.30249271e-01 -9.73071035e-01 1.08643620e-02 1.15994951e+02] [ 9.72071035e-01 -2.30505090e-01 -4.41056326e-02 1.36259031e+02] [ 4.54222043e-02 4.05641887e-04 9.98967797e-01 6.44410150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.386875 meters Centerline goodness [0,1] 0.9984971234002583 Centerline is valid? [True, True] Translation: X:115.99, Y:136.29, Z:6.45 [[-2.32379657e-01 -9.72563828e-01 1.09222353e-02 1.15990373e+02] [ 9.71555296e-01 -2.32635975e-01 -4.42810236e-02 1.36286036e+02] [ 4.56070267e-02 3.21546523e-04 9.98959406e-01 6.44504069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters Centerline goodness [0,1] 0.99634675214481 Centerline is valid? [True, True] Translation: X:115.99, Y:136.31, Z:6.44 [[-2.34102841e-01 -9.72143233e-01 1.15496783e-02 1.15987601e+02] [ 9.71018090e-01 -2.34387421e-01 -4.67590137e-02 1.36313173e+02] [ 4.81635580e-02 2.68528665e-04 9.98839426e-01 6.44286470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44687499999998 meters Centerline goodness [0,1] 0.9971596244131455 Centerline is valid? [True, True] Translation: X:115.98, Y:136.34, Z:6.44 [[-2.34927723e-01 -9.71942270e-01 1.17127766e-02 1.15981283e+02] [ 9.70788000e-01 -2.35219395e-01 -4.73549841e-02 1.36339172e+02] [ 4.87813829e-02 2.45624375e-04 9.98809449e-01 6.44404144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters Centerline goodness [0,1] 0.997218555534603 Centerline is valid? [True, True] Translation: X:115.98, Y:136.36, Z:6.45 [[-2.35266062e-01 -9.71857800e-01 1.19288092e-02 1.15975147e+02] [ 9.70663718e-01 -2.35568154e-01 -4.81621460e-02 1.36364292e+02] [ 4.96168049e-02 2.47943866e-04 9.98768297e-01 6.44552686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50687499999998 meters Centerline goodness [0,1] 0.9970725027740397 Centerline is valid? [True, True] Translation: X:115.97, Y:136.39, Z:6.45 [[-2.35213108e-01 -9.71868144e-01 1.21286754e-02 1.15969616e+02] [ 9.70636362e-01 -2.35525455e-01 -4.89163819e-02 1.36390745e+02] [ 5.03968850e-02 2.66759123e-04 9.98729234e-01 6.44700103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters Centerline goodness [0,1] 0.9966259261007031 Centerline is valid? [True, True] Translation: X:115.96, Y:136.42, Z:6.45 [[-2.34645635e-01 -9.72005385e-01 1.21226319e-02 1.15963790e+02] [ 9.70778357e-01 -2.34958369e-01 -4.88256748e-02 1.36416057e+02] [ 5.03071326e-02 3.11657215e-04 9.98733746e-01 6.44762786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56687499999998 meters Centerline goodness [0,1] 0.9957989110026286 Centerline is valid? [True, True] Translation: X:115.96, Y:136.44, Z:6.45 [[-2.34439728e-01 -9.72055654e-01 1.20755944e-02 1.15957637e+02] [ 9.70841614e-01 -2.34750277e-01 -4.85681786e-02 1.36441450e+02] [ 5.00457217e-02 3.37178998e-04 9.98746871e-01 6.44819019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters Centerline goodness [0,1] 0.9961070215175538 Centerline is valid? [True, True] Translation: X:115.95, Y:136.47, Z:6.45 [[-2.34054392e-01 -9.72149789e-01 1.19720220e-02 1.15951667e+02] [ 9.70959911e-01 -2.34360088e-01 -4.80853479e-02 1.36467962e+02] [ 4.95519250e-02 3.69766536e-04 9.98771480e-01 6.45016858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62687499999998 meters Centerline goodness [0,1] 0.9964455534108564 Centerline is valid? [True, True] Translation: X:115.95, Y:136.49, Z:6.45 [[-2.33668197e-01 -9.72243943e-01 1.18696826e-02 1.15945071e+02] [ 9.71077557e-01 -2.33969131e-01 -4.76111635e-02 1.36494222e+02] [ 4.90668047e-02 4.01167683e-04 9.98795418e-01 6.45203530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters Centerline goodness [0,1] 0.9953443532648311 Centerline is valid? [True, True] Translation: X:115.94, Y:136.52, Z:6.45 [[-2.32485561e-01 -9.72528556e-01 1.17758890e-02 1.15937900e+02] [ 9.71383949e-01 -2.32783128e-01 -4.71724328e-02 1.36519120e+02] [ 4.86177662e-02 4.72000025e-04 9.98817346e-01 6.45346290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.686875 meters Centerline goodness [0,1] 0.9963160241218293 Centerline is valid? [True, True] Translation: X:115.93, Y:136.55, Z:6.46 [[-2.31492279e-01 -9.72766271e-01 1.17092647e-02 1.15931557e+02] [ 9.71638016e-01 -2.31787612e-01 -4.68408960e-02 1.36545134e+02] [ 4.82793062e-02 5.33860987e-04 9.98833732e-01 6.45640278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters Centerline goodness [0,1] 0.9952613338991442 Centerline is valid? [True, True] Translation: X:115.92, Y:136.57, Z:6.46 [[-2.30522627e-01 -9.72996432e-01 1.17159123e-02 1.15923765e+02] [ 9.71870172e-01 -2.30819384e-01 -4.68057821e-02 1.36569915e+02] [ 4.82461187e-02 5.96553889e-04 9.98835300e-01 6.45730179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.746875 meters Centerline goodness [0,1] 0.9955435038905919 Centerline is valid? [True, True] Translation: X:115.92, Y:136.60, Z:6.46 [[-2.29186602e-01 -9.73312792e-01 1.16495096e-02 1.15915311e+02] [ 9.72202674e-01 -2.29481494e-01 -4.64780023e-02 1.36596670e+02] [ 4.79109810e-02 6.73549004e-04 9.98851382e-01 6.45871947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters Centerline goodness [0,1] 0.9955715732692625 Centerline is valid? [True, True] Translation: X:115.91, Y:136.62, Z:6.46 [[-2.27305855e-01 -9.73754617e-01 1.15755666e-02 1.15905619e+02] [ 9.72661626e-01 -2.27599094e-01 -4.61303941e-02 1.36623504e+02] [ 4.75542727e-02 7.73400743e-04 9.98868356e-01 6.45911154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.806875 meters Centerline goodness [0,1] 0.994847051107884 Centerline is valid? [True, True] Translation: X:115.90, Y:136.65, Z:6.46 [[-2.26661723e-01 -9.73902907e-01 1.17298827e-02 1.15897674e+02] [ 9.72783375e-01 -2.26963526e-01 -4.66911498e-02 1.36649720e+02] [ 4.81349020e-02 8.27538406e-04 9.98840501e-01 6.45942448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters Centerline goodness [0,1] 0.9949086131249854 Centerline is valid? [True, True] Translation: X:115.89, Y:136.68, Z:6.46 [[-2.26310000e-01 -9.73984551e-01 1.17421359e-02 1.15889955e+02] [ 9.72865496e-01 -2.26612790e-01 -4.66837245e-02 1.36675469e+02] [ 4.81301446e-02 8.58525145e-04 9.98840704e-01 6.46064237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.866875 meters Centerline goodness [0,1] 0.9952137316388843 Centerline is valid? [True, True] Translation: X:115.88, Y:136.70, Z:6.46 [[-2.25687199e-01 -9.74126672e-01 1.19379852e-02 1.15882008e+02] [ 9.72973071e-01 -2.26000854e-01 -4.74027074e-02 1.36702140e+02] [ 4.88742364e-02 9.17153914e-04 9.98804519e-01 6.46136081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters Centerline goodness [0,1] 0.9952187873532238 Centerline is valid? [True, True] Translation: X:115.87, Y:136.73, Z:6.46 [[-2.25175344e-01 -9.74240471e-01 1.23113408e-02 1.15874879e+02] [ 9.73016543e-01 -2.25509503e-01 -4.88289991e-02 1.36728943e+02] [ 5.03475114e-02 9.84051556e-04 9.98731275e-01 6.46205497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.926875 meters Centerline goodness [0,1] 0.9950280259856 Centerline is valid? [True, True] Translation: X:115.87, Y:136.75, Z:6.46 [[-2.25027410e-01 -9.74271746e-01 1.25391045e-02 1.15866812e+02] [ 9.73005176e-01 -2.25374174e-01 -4.96730223e-02 1.36754407e+02] [ 5.12210125e-02 1.02282204e-03 9.98686819e-01 6.46184356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters Centerline goodness [0,1] 0.9947235766612489 Centerline is valid? [True, True] Translation: X:115.86, Y:136.78, Z:6.46 [[-2.24918866e-01 -9.74294128e-01 1.27458068e-02 1.15860012e+02] [ 9.72989017e-01 -2.25277224e-01 -5.04236526e-02 1.36780475e+02] [ 5.19988086e-02 1.06029920e-03 9.98646584e-01 6.46289326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.986875 meters Centerline goodness [0,1] 0.9950481107721192 Centerline is valid? [True, True] Translation: X:115.85, Y:136.81, Z:6.46 [[-2.24525249e-01 -9.74382416e-01 1.29351908e-02 1.15850357e+02] [ 9.73041823e-01 -2.24894800e-01 -5.11071308e-02 1.36805899e+02] [ 5.27069467e-02 1.11164040e-03 9.98609404e-01 6.46291584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters Centerline goodness [0,1] 0.9954539063598444 Centerline is valid? [True, True] Translation: X:115.84, Y:136.83, Z:6.46 [[-2.24109726e-01 -9.74472841e-01 1.33234089e-02 1.15844998e+02] [ 9.73054152e-01 -2.24502310e-01 -5.25769046e-02 1.36833102e+02] [ 5.42259016e-02 1.18140262e-03 9.98527995e-01 6.46448051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.046875 meters Centerline goodness [0,1] 0.9947358526038729 Centerline is valid? [True, True] Translation: X:115.84, Y:136.86, Z:6.46 [[-2.24153324e-01 -9.74461173e-01 1.34428557e-02 1.15837068e+02] [ 9.73020127e-01 -2.24552838e-01 -5.29891999e-02 1.36858318e+02] [ 5.46545493e-02 1.20246387e-03 9.98504599e-01 6.46238806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters Centerline goodness [0,1] 0.9949630466506614 Centerline is valid? [True, True] Translation: X:115.83, Y:136.89, Z:6.46 [[-2.24673476e-01 -9.74337976e-01 1.36871537e-02 1.15830407e+02] [ 9.72846994e-01 -2.25086768e-01 -5.38950171e-02 1.36885018e+02] [ 5.55927591e-02 1.20672552e-03 9.98452798e-01 6.46402629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.106875 meters Centerline goodness [0,1] 0.995348072269342 Centerline is valid? [True, True] Translation: X:115.82, Y:136.91, Z:6.46 [[-2.24901041e-01 -9.74282241e-01 1.39153332e-02 1.15820861e+02] [ 9.72745007e-01 -2.25327771e-01 -5.47224581e-02 1.36909626e+02] [ 5.64506301e-02 1.22893308e-03 9.98404635e-01 6.46480022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters Centerline goodness [0,1] 0.9953541847532791 Centerline is valid? [True, True] Translation: X:115.82, Y:136.94, Z:6.47 [[-2.26058917e-01 -9.74015957e-01 1.37942342e-02 1.15818362e+02] [ 9.72508866e-01 -2.26476379e-01 -5.41752299e-02 1.36936682e+02] [ 5.58916067e-02 1.16822123e-03 9.98436159e-01 6.46884769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.166875 meters Centerline goodness [0,1] 0.9954936888050018 Centerline is valid? [True, True] Translation: X:115.81, Y:136.96, Z:6.47 [[-2.26153359e-01 -9.73993116e-01 1.38588253e-02 1.15812244e+02] [ 9.72475774e-01 -2.26574507e-01 -5.43586415e-02 1.36963646e+02] [ 5.60849992e-02 1.18398251e-03 9.98425296e-01 6.47127517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters Centerline goodness [0,1] 0.995066915287842 Centerline is valid? [True, True] Translation: X:115.81, Y:136.99, Z:6.47 [[-2.26884337e-01 -9.73823260e-01 1.38476096e-02 1.15805779e+02] [ 9.72312030e-01 -2.27303585e-01 -5.42438670e-02 1.36990255e+02] [ 5.59715507e-02 1.15711363e-03 9.98431694e-01 6.47256167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22687499999998 meters Centerline goodness [0,1] 0.9954056028084726 Centerline is valid? [True, True] Translation: X:115.80, Y:137.02, Z:6.47 [[-2.27954927e-01 -9.73572848e-01 1.38730058e-02 1.15798791e+02] [ 9.72059391e-01 -2.28373970e-01 -5.42758755e-02 1.37015260e+02] [ 5.60097521e-02 1.11293234e-03 9.98429601e-01 6.47359989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters Centerline goodness [0,1] 0.9952936168199986 Centerline is valid? [True, True] Translation: X:115.79, Y:137.04, Z:6.48 [[-2.28667403e-01 -9.73404371e-01 1.39695794e-02 1.15792335e+02] [ 9.71872740e-01 -2.29091111e-01 -5.45952471e-02 1.37042001e+02] [ 5.63435586e-02 1.09250007e-03 9.98410842e-01 6.47507010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28687499999998 meters Centerline goodness [0,1] 0.9951518304796141 Centerline is valid? [True, True] Translation: X:115.79, Y:137.07, Z:6.48 [[-2.29074153e-01 -9.73307815e-01 1.40331821e-02 1.15785941e+02] [ 9.71765969e-01 -2.29501003e-01 -5.47739987e-02 1.37068817e+02] [ 5.65325903e-02 1.08966142e-03 9.98400160e-01 6.47593276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters Centerline goodness [0,1] 0.9953968442282596 Centerline is valid? [True, True] Translation: X:115.78, Y:137.09, Z:6.48 [[-2.29569328e-01 -9.73190616e-01 1.40694433e-02 1.15778367e+02] [ 9.71644554e-01 -2.29997521e-01 -5.48452508e-02 1.37094618e+02] [ 5.66108205e-02 1.07971063e-03 9.98395738e-01 6.47545304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34687499999998 meters Centerline goodness [0,1] 0.9951341087111322 Centerline is valid? [True, True] Translation: X:115.77, Y:137.12, Z:6.48 [[-2.29282033e-01 -9.73259746e-01 1.39720027e-02 1.15771414e+02] [ 9.71739055e-01 -2.29704694e-01 -5.43963417e-02 1.37121002e+02] [ 5.61512043e-02 1.10503694e-03 9.98421665e-01 6.47888415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters Centerline goodness [0,1] 0.9949539219634692 Centerline is valid? [True, True] Translation: X:115.76, Y:137.15, Z:6.48 [[-2.29072837e-01 -9.73309933e-01 1.39071597e-02 1.15761394e+02] [ 9.71807339e-01 -2.29491832e-01 -5.40739846e-02 1.37145494e+02] [ 5.58223259e-02 1.12819884e-03 9.98440081e-01 6.47875166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40687499999999 meters Centerline goodness [0,1] 0.9949187957070947 Centerline is valid? [True, True] Translation: X:115.76, Y:137.17, Z:6.48 [[-2.29083579e-01 -9.73308764e-01 1.38117597e-02 1.15755894e+02] [ 9.71830590e-01 -2.29496753e-01 -5.36334307e-02 1.37171952e+02] [ 5.53716421e-02 1.13615233e-03 9.98465167e-01 6.47988913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters Centerline goodness [0,1] 0.9959705136409964 Centerline is valid? [True, True] Translation: X:115.75, Y:137.20, Z:6.48 [[-2.29607665e-01 -9.73184207e-01 1.38859812e-02 1.15749457e+02] [ 9.71693467e-01 -2.30024412e-01 -5.38569897e-02 1.37198816e+02] [ 5.56068864e-02 1.12693955e-03 9.98452104e-01 6.48319611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.466875 meters Centerline goodness [0,1] 0.9953024911032029 Centerline is valid? [True, True] Translation: X:115.74, Y:137.23, Z:6.48 [[-2.30225782e-01 -9.73038047e-01 1.38941757e-02 1.15742750e+02] [ 9.71549054e-01 -2.30641998e-01 -5.38210427e-02 1.37225668e+02] [ 5.55745027e-02 1.10788156e-03 9.98453928e-01 6.48384826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters Centerline goodness [0,1] 0.9954287891052807 Centerline is valid? [True, True] Translation: X:115.74, Y:137.25, Z:6.49 [[-2.30435357e-01 -9.72984971e-01 1.41347696e-02 1.15737151e+02] [ 9.71447760e-01 -2.30865693e-01 -5.46834678e-02 1.37252699e+02] [ 5.64694258e-02 1.13018588e-03 9.98403689e-01 6.48505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.526875 meters Centerline goodness [0,1] 0.9951773454018483 Centerline is valid? [True, True] Translation: X:115.73, Y:137.28, Z:6.48 [[-2.30954099e-01 -9.72860419e-01 1.42410836e-02 1.15730060e+02] [ 9.71303592e-01 -2.31390021e-01 -5.50271770e-02 1.37278020e+02] [ 5.68290071e-02 1.12366352e-03 9.98383294e-01 6.48478784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters Centerline goodness [0,1] 0.9955578907145587 Centerline is valid? [True, True] Translation: X:115.72, Y:137.30, Z:6.48 [[-2.31705094e-01 -9.72674188e-01 1.47537451e-02 1.15723897e+02] [ 9.71006444e-01 -2.32171582e-01 -5.69459575e-02 1.37304739e+02] [ 5.88152633e-02 1.13131318e-03 9.98268243e-01 6.48421164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.586875 meters Centerline goodness [0,1] 0.9956206475698184 Centerline is valid? [True, True] Translation: X:115.72, Y:137.33, Z:6.48 [[-2.32024634e-01 -9.72592716e-01 1.50989561e-02 1.15717464e+02] [ 9.70850148e-01 -2.32512534e-01 -5.82057721e-02 1.37331828e+02] [ 6.01212065e-02 1.15365076e-03 9.98190418e-01 6.48472619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters Centerline goodness [0,1] 0.9952725976956883 Centerline is valid? [True, True] Translation: X:115.71, Y:137.36, Z:6.48 [[-2.32569083e-01 -9.72463352e-01 1.50549448e-02 1.15710909e+02] [ 9.70734452e-01 -2.33053104e-01 -5.79730533e-02 1.37357102e+02] [ 5.98852714e-02 1.13161368e-03 9.98204625e-01 6.48488941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.646875 meters Centerline goodness [0,1] 0.994914725707021 Centerline is valid? [True, True] Translation: X:115.71, Y:137.38, Z:6.49 [[-2.33426207e-01 -9.72253319e-01 1.53522056e-02 1.15705416e+02] [ 9.70458815e-01 -2.33927860e-01 -5.90545907e-02 1.37384069e+02] [ 6.10073304e-02 1.11379410e-03 9.98136697e-01 6.48552749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters Centerline goodness [0,1] 0.9954420055175722 Centerline is valid? [True, True] Translation: X:115.70, Y:137.41, Z:6.49 [[-2.34058943e-01 -9.72103938e-01 1.51771360e-02 1.15698565e+02] [ 9.70354255e-01 -2.34548010e-01 -5.83082469e-02 1.37409642e+02] [ 6.02414435e-02 1.07963185e-03 9.98183251e-01 6.48663820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.706875 meters Centerline goodness [0,1] 0.9957231072346765 Centerline is valid? [True, True] Translation: X:115.69, Y:137.44, Z:6.49 [[-2.34726249e-01 -9.71944097e-01 1.51082851e-02 1.15694170e+02] [ 9.70214441e-01 -2.35209622e-01 -5.79687248e-02 1.37436598e+02] [ 5.98959739e-02 1.05149505e-03 9.98204071e-01 6.48990277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters Centerline goodness [0,1] 0.9952981816437173 Centerline is valid? [True, True] Translation: X:115.69, Y:137.46, Z:6.49 [[-2.35375352e-01 -9.71787231e-01 1.51003764e-02 1.15687372e+02] [ 9.70063578e-01 -2.35856989e-01 -5.78630796e-02 1.37461725e+02] [ 5.97921312e-02 1.02878239e-03 9.98210320e-01 6.49080345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.766875 meters Centerline goodness [0,1] 0.9953944685648493 Centerline is valid? [True, True] Translation: X:115.68, Y:137.49, Z:6.49 [[-2.36032330e-01 -9.71629050e-01 1.50242781e-02 1.15681653e+02] [ 9.69926996e-01 -2.36507898e-01 -5.74946726e-02 1.37487406e+02] [ 5.94168546e-02 1.00185145e-03 9.98232755e-01 6.49238177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters Centerline goodness [0,1] 0.9952707893220665 Centerline is valid? [True, True] Translation: X:115.68, Y:137.51, Z:6.49 [[-2.36077758e-01 -9.71616368e-01 1.51302993e-02 1.15675403e+02] [ 9.69894730e-01 -2.36559898e-01 -5.78241043e-02 1.37513559e+02] [ 5.97620682e-02 1.02381266e-03 9.98212125e-01 6.49398411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.826875 meters Centerline goodness [0,1] 0.9956508232370301 Centerline is valid? [True, True] Translation: X:115.67, Y:137.54, Z:6.49 [[-2.36368527e-01 -9.71545039e-01 1.51708818e-02 1.15667905e+02] [ 9.69818473e-01 -2.36852662e-01 -5.79046255e-02 1.37539252e+02] [ 5.98502154e-02 1.02617040e-03 9.98206842e-01 6.49470625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters Centerline goodness [0,1] 0.9951094994990219 Centerline is valid? [True, True] Translation: X:115.66, Y:137.57, Z:6.50 [[-2.35790768e-01 -9.71683406e-01 1.52994470e-02 1.15661119e+02] [ 9.69932225e-01 -2.36284100e-01 -5.83206902e-02 1.37566554e+02] [ 6.02842629e-02 1.08794632e-03 9.98180657e-01 6.49641187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.886875 meters Centerline goodness [0,1] 0.9951094994990219 Centerline is valid? [True, True] Translation: X:115.65, Y:137.59, Z:6.50 [[-2.36090154e-01 -9.71610446e-01 1.53160035e-02 1.15654198e+02] [ 9.69859394e-01 -2.36583939e-01 -5.83163425e-02 1.37592433e+02] [ 6.02842880e-02 1.08645562e-03 9.98180657e-01 6.49758194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters Centerline goodness [0,1] 0.9956382111872694 Centerline is valid? [True, True] Translation: X:115.65, Y:137.62, Z:6.50 [[-2.35074556e-01 -9.71849350e-01 1.57732248e-02 1.15645456e+02] [ 9.69997315e-01 -2.35600089e-01 -5.99817222e-02 1.37617943e+02] [ 6.20093709e-02 1.19980900e-03 9.98074846e-01 6.49778873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94687499999998 meters Centerline goodness [0,1] 0.9953236466012931 Centerline is valid? [True, True] Translation: X:115.64, Y:137.64, Z:6.50 [[-2.34577858e-01 -9.71969028e-01 1.57935896e-02 1.15638102e+02] [ 9.70116945e-01 -2.35105607e-01 -5.99872186e-02 1.37644526e+02] [ 6.20188800e-02 1.24995566e-03 9.98074194e-01 6.49847877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters Centerline goodness [0,1] 0.995851018169679 Centerline is valid? [True, True] Translation: X:115.63, Y:137.67, Z:6.50 [[-2.34135897e-01 -9.72071748e-01 1.60280629e-02 1.15629977e+02] [ 9.70169210e-01 -2.34680188e-01 -6.08022464e-02 1.37670031e+02] [ 6.28656148e-02 1.31394457e-03 9.98021136e-01 6.49850529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00687499999998 meters Centerline goodness [0,1] 0.9953542669271453 Centerline is valid? [True, True] Translation: X:115.62, Y:137.70, Z:6.50 [[-2.33661618e-01 -9.72184109e-01 1.61340002e-02 1.15623992e+02] [ 9.70261106e-01 -2.34213965e-01 -6.11326824e-02 1.37697305e+02] [ 6.32110306e-02 1.36983138e-03 9.97999243e-01 6.50111382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters Centerline goodness [0,1] 0.9951816951888158 Centerline is valid? [True, True] Translation: X:115.62, Y:137.72, Z:6.50 [[-2.33525749e-01 -9.72216984e-01 1.61201673e-02 1.15615828e+02] [ 9.70301935e-01 -2.34077317e-01 -6.10078987e-02 1.37722488e+02] [ 6.30862809e-02 1.39451428e-03 9.98007102e-01 6.50175802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06687499999998 meters Centerline goodness [0,1] 0.9958106508875739 Centerline is valid? [True, True] Translation: X:115.61, Y:137.75, Z:6.50 [[-2.33653252e-01 -9.72189451e-01 1.59319978e-02 1.15608727e+02] [ 9.70323639e-01 -2.34191677e-01 -6.02187106e-02 1.37748568e+02] [ 6.22751365e-02 1.38889655e-03 9.98058054e-01 6.50381470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters Centerline goodness [0,1] 0.9949617995600445 Centerline is valid? [True, True] Translation: X:115.60, Y:137.77, Z:6.51 [[-2.33649047e-01 -9.72192011e-01 1.58371869e-02 1.15601949e+02] [ 9.70352878e-01 -2.34180995e-01 -5.97875662e-02 1.37774756e+02] [ 6.18337623e-02 1.39835198e-03 9.98085483e-01 6.50615387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12687499999998 meters Centerline goodness [0,1] 0.9947968638631504 Centerline is valid? [True, True] Translation: X:115.60, Y:137.80, Z:6.51 [[-2.34088602e-01 -9.72086237e-01 1.58390224e-02 1.15595347e+02] [ 9.70251001e-01 -2.34619740e-01 -5.97207953e-02 1.37800692e+02] [ 6.17699104e-02 1.38786979e-03 9.98089451e-01 6.50839568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters Centerline goodness [0,1] 0.9958513109857285 Centerline is valid? [True, True] Translation: X:115.59, Y:137.83, Z:6.51 [[-2.34799360e-01 -9.71917076e-01 1.56989575e-02 1.15587720e+02] [ 9.70118367e-01 -2.35319734e-01 -5.91183217e-02 1.37825464e+02] [ 6.11523808e-02 1.34890288e-03 9.98127530e-01 6.50964194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.186875 meters Centerline goodness [0,1] 0.9959025129674807 Centerline is valid? [True, True] Translation: X:115.58, Y:137.85, Z:6.51 [[-2.36247428e-01 -9.71567590e-01 1.56067679e-02 1.15583339e+02] [ 9.69793672e-01 -2.36758971e-01 -5.86977279e-02 1.37852897e+02] [ 6.07238523e-02 1.26815746e-03 9.98153799e-01 6.51363948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters Centerline goodness [0,1] 0.9961490004041172 Centerline is valid? [True, True] Translation: X:115.58, Y:137.88, Z:6.52 [[-2.37918307e-01 -9.71160323e-01 1.55726355e-02 1.15577618e+02] [ 9.69397216e-01 -2.38424501e-01 -5.85046560e-02 1.37880722e+02] [ 6.05302985e-02 1.17674076e-03 9.98165667e-01 6.51567224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.246875 meters Centerline goodness [0,1] 0.9955992197535563 Centerline is valid? [True, True] Translation: X:115.57, Y:137.91, Z:6.52 [[-2.39652282e-01 -9.70733347e-01 1.56061785e-02 1.15571619e+02] [ 9.68965861e-01 -2.40157421e-01 -5.85625494e-02 1.37906294e+02] [ 6.05965591e-02 1.08720558e-03 9.98161748e-01 6.51693852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters Centerline goodness [0,1] 0.9958625609321127 Centerline is valid? [True, True] Translation: X:115.57, Y:137.93, Z:6.52 [[-2.42763202e-01 -9.69959984e-01 1.56094971e-02 1.15565948e+02] [ 9.68194529e-01 -2.43262819e-01 -5.85026008e-02 1.37932493e+02] [ 6.05423920e-02 9.10750954e-04 9.98165211e-01 6.51704326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.306875 meters Centerline goodness [0,1] 0.9964600923246191 Centerline is valid? [True, True] Translation: X:115.56, Y:137.96, Z:6.52 [[-2.44424840e-01 -9.69543326e-01 1.55639547e-02 1.15560027e+02] [ 9.67791193e-01 -2.44918488e-01 -5.82678479e-02 1.37958881e+02] [ 6.03051033e-02 8.20548865e-04 9.98179654e-01 6.51911917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters Centerline goodness [0,1] 0.9957829028876394 Centerline is valid? [True, True] Translation: X:115.55, Y:137.98, Z:6.52 [[-2.46072057e-01 -9.69125443e-01 1.56339119e-02 1.15553989e+02] [ 9.67361048e-01 -2.46567091e-01 -5.84574356e-02 1.37984491e+02] [ 6.05073963e-02 7.38895977e-04 9.98167475e-01 6.51999866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.366875 meters Centerline goodness [0,1] 0.9963314990828748 Centerline is valid? [True, True] Translation: X:115.55, Y:138.01, Z:6.52 [[-2.47540450e-01 -9.68750951e-01 1.56627428e-02 1.15548026e+02] [ 9.66983761e-01 -2.48034577e-01 -5.84914975e-02 1.38011524e+02] [ 6.05485956e-02 6.66606360e-04 9.98165028e-01 6.52223615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters Centerline goodness [0,1] 0.9967544089921963 Centerline is valid? [True, True] Translation: X:115.54, Y:138.04, Z:6.52 [[-2.48880537e-01 -9.68408872e-01 1.55799631e-02 1.15541677e+02] [ 9.66663648e-01 -2.49367001e-01 -5.81161811e-02 1.38036588e+02] [ 6.01653541e-02 5.96597582e-04 9.98188246e-01 6.52355310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.426875 meters Centerline goodness [0,1] 0.996945836315915 Centerline is valid? [True, True] Translation: X:115.54, Y:138.06, Z:6.52 [[-2.49964680e-01 -9.68126162e-01 1.57921730e-02 1.15535567e+02] [ 9.66336128e-01 -2.50462434e-01 -5.88477395e-02 1.38063356e+02] [ 6.09273822e-02 5.50690916e-04 9.98142049e-01 6.52491022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters Centerline goodness [0,1] 0.9964671058913397 Centerline is valid? [True, True] Translation: X:115.53, Y:138.09, Z:6.53 [[-2.50458675e-01 -9.67995525e-01 1.59723329e-02 1.15528408e+02] [ 9.66168569e-01 -2.50966867e-01 -5.94468512e-02 1.38090142e+02] [ 6.15528123e-02 5.42986472e-04 9.98103680e-01 6.52628151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.486875 meters Centerline goodness [0,1] 0.9960978395355478 Centerline is valid? [True, True] Translation: X:115.52, Y:138.12, Z:6.52 [[-2.49226925e-01 -9.68310704e-01 1.61344297e-02 1.15518704e+02] [ 9.66451211e-01 -2.49747804e-01 -5.99840873e-02 1.38115501e+02] [ 6.21127722e-02 6.43489467e-04 9.98068930e-01 6.52453172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters Centerline goodness [0,1] 0.9961920175167194 Centerline is valid? [True, True] Translation: X:115.51, Y:138.14, Z:6.53 [[-2.48652412e-01 -9.68456461e-01 1.62499532e-02 1.15510270e+02] [ 9.66573957e-01 -2.49181851e-01 -6.03588526e-02 1.38141747e+02] [ 6.25041142e-02 6.98407263e-04 9.98044462e-01 6.52520092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.546875 meters Centerline goodness [0,1] 0.9964922328012027 Centerline is valid? [True, True] Translation: X:115.50, Y:138.17, Z:6.53 [[-2.47903429e-01 -9.68644556e-01 1.64807335e-02 1.15503528e+02] [ 9.66713052e-01 -2.48449443e-01 -6.11453083e-02 1.38168762e+02] [ 6.33226990e-02 7.74008616e-04 9.97992804e-01 6.52881002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters Centerline goodness [0,1] 0.9967193628907642 Centerline is valid? [True, True] Translation: X:115.50, Y:138.19, Z:6.53 [[-2.47001812e-01 -9.68873801e-01 1.65427447e-02 1.15495040e+02] [ 9.66932579e-01 -2.47553692e-01 -6.13070786e-02 1.38194453e+02] [ 6.34940398e-02 8.52759310e-04 9.97981853e-01 6.52808571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.606875 meters Centerline goodness [0,1] 0.9967038478993001 Centerline is valid? [True, True] Translation: X:115.49, Y:138.22, Z:6.53 [[-2.45320739e-01 -9.69297819e-01 1.67174593e-02 1.15487926e+02] [ 9.67320463e-01 -2.45887701e-01 -6.18899036e-02 1.38220939e+02] [ 6.41003662e-02 9.88263609e-04 9.97942968e-01 6.53143080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters Centerline goodness [0,1] 0.9960400763358779 Centerline is valid? [True, True] Translation: X:115.48, Y:138.25, Z:6.53 [[-2.44808656e-01 -9.69426078e-01 1.67869444e-02 1.15478965e+02] [ 9.67436178e-01 -2.45381332e-01 -6.20906128e-02 1.38247021e+02] [ 6.43114620e-02 1.03997784e-03 9.97929333e-01 6.53105520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.666875 meters Centerline goodness [0,1] 0.9956818398702166 Centerline is valid? [True, True] Translation: X:115.47, Y:138.27, Z:6.53 [[-2.44178163e-01 -9.69586569e-01 1.67005744e-02 1.15472699e+02] [ 9.67622102e-01 -2.44746169e-01 -6.16991144e-02 1.38273823e+02] [ 6.39100342e-02 1.09426847e-03 9.97955064e-01 6.53466492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters Centerline goodness [0,1] 0.9956100586916066 Centerline is valid? [True, True] Translation: X:115.46, Y:138.30, Z:6.54 [[-2.43530733e-01 -9.69748249e-01 1.67665328e-02 1.15464608e+02] [ 9.67773387e-01 -2.44104466e-01 -6.18682496e-02 1.38299496e+02] [ 6.40894122e-02 1.15938412e-03 9.97943487e-01 6.53543211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72687499999998 meters Centerline goodness [0,1] 0.9954563836620121 Centerline is valid? [True, True] Translation: X:115.46, Y:138.33, Z:6.54 [[-2.43263635e-01 -9.69815629e-01 1.67466411e-02 1.15457958e+02] [ 9.67850250e-01 -2.43836465e-01 -6.17225361e-02 1.38326222e+02] [ 6.39429219e-02 1.19339228e-03 9.97952844e-01 6.53832591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters Centerline goodness [0,1] 0.9952331013442655 Centerline is valid? [True, True] Translation: X:115.45, Y:138.35, Z:6.54 [[-2.42139511e-01 -9.70099087e-01 1.66198437e-02 1.15449474e+02] [ 9.68168445e-01 -2.42705862e-01 -6.11859993e-02 1.38350654e+02] [ 6.33902156e-02 1.27526030e-03 9.97988003e-01 6.53997453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78687499999998 meters Centerline goodness [0,1] 0.9954947438678459 Centerline is valid? [True, True] Translation: X:115.44, Y:138.38, Z:6.54 [[-2.41720984e-01 -9.70201654e-01 1.67247547e-02 1.15442098e+02] [ 9.68250650e-01 -2.42295265e-01 -6.15116466e-02 1.38377420e+02] [ 6.37310301e-02 1.32509885e-03 9.97966232e-01 6.54167808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters Centerline goodness [0,1] 0.9949879472063773 Centerline is valid? [True, True] Translation: X:115.43, Y:138.40, Z:6.54 [[-2.40615038e-01 -9.70474235e-01 1.68571404e-02 1.15433042e+02] [ 9.68497119e-01 -2.41200604e-01 -6.19322126e-02 1.38403936e+02] [ 6.41695691e-02 1.42427021e-03 9.97937993e-01 6.54255309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84687499999998 meters Centerline goodness [0,1] 0.9956551839385042 Centerline is valid? [True, True] Translation: X:115.43, Y:138.43, Z:6.54 [[-2.40727194e-01 -9.70447609e-01 1.67885737e-02 1.15425761e+02] [ 9.68490891e-01 -2.41307686e-01 -6.16116427e-02 1.38429693e+02] [ 6.38420832e-02 1.42798286e-03 9.97958992e-01 6.54443454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters Centerline goodness [0,1] 0.9944203053398865 Centerline is valid? [True, True] Translation: X:115.42, Y:138.45, Z:6.54 [[-2.40405641e-01 -9.70528468e-01 1.67218335e-02 1.15417490e+02] [ 9.68592117e-01 -2.40982068e-01 -6.12940011e-02 1.38454178e+02] [ 6.35172351e-02 1.46121246e-03 9.97979672e-01 6.54460716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90687499999999 meters Centerline goodness [0,1] 0.9953071672354948 Centerline is valid? [True, True] Translation: X:115.41, Y:138.48, Z:6.55 [[-2.41198683e-01 -9.70335106e-01 1.65220080e-02 1.15408244e+02] [ 9.68448718e-01 -2.41759784e-01 -6.04920415e-02 1.38478975e+02] [ 6.26919087e-02 1.41011672e-03 9.98031931e-01 6.54513952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters Centerline goodness [0,1] 0.9954589762487815 Centerline is valid? [True, True] Translation: X:115.41, Y:138.51, Z:6.55 [[-2.42695964e-01 -9.69961383e-01 1.65403746e-02 1.15405300e+02] [ 9.68074629e-01 -2.43255294e-01 -6.04845000e-02 1.38506388e+02] [ 6.26911629e-02 1.33297298e-03 9.98032084e-01 6.54947951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.966875 meters Centerline goodness [0,1] 0.9958895925439121 Centerline is valid? [True, True] Translation: X:115.40, Y:138.53, Z:6.55 [[-2.44037183e-01 -9.69623375e-01 1.66241827e-02 1.15398744e+02] [ 9.67721320e-01 -2.44599461e-01 -6.07169712e-02 1.38533255e+02] [ 6.29388606e-02 1.27037738e-03 9.98016576e-01 6.55107593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters Centerline goodness [0,1] 0.9958443162119162 Centerline is valid? [True, True] Translation: X:115.39, Y:138.56, Z:6.55 [[-2.45136401e-01 -9.69347353e-01 1.65485672e-02 1.15391616e+02] [ 9.67466525e-01 -2.45691354e-01 -6.03678835e-02 1.38559317e+02] [ 6.25832880e-02 1.21181912e-03 9.98039009e-01 6.55223463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.026875 meters Centerline goodness [0,1] 0.9958875286916603 Centerline is valid? [True, True] Translation: X:115.38, Y:138.58, Z:6.55 [[-2.45938225e-01 -9.69141911e-01 1.66837341e-02 1.15383831e+02] [ 9.67234456e-01 -2.46500603e-01 -6.07861743e-02 1.38584623e+02] [ 6.30229796e-02 1.18743865e-03 9.98011370e-01 6.55220191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters Centerline goodness [0,1] 0.9955731150038081 Centerline is valid? [True, True] Translation: X:115.38, Y:138.61, Z:6.55 [[-2.46898254e-01 -9.68899718e-01 1.65707362e-02 1.15376370e+02] [ 9.67022170e-01 -2.47451098e-01 -6.02998977e-02 1.38610934e+02] [ 6.25250007e-02 1.13632978e-03 9.98042751e-01 6.55354335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.086875 meters Centerline goodness [0,1] 0.995359683982581 Centerline is valid? [True, True] Translation: X:115.37, Y:138.64, Z:6.56 [[-2.47228316e-01 -9.68812757e-01 1.67332662e-02 1.15370024e+02] [ 9.66902618e-01 -2.47791313e-01 -6.08176938e-02 1.38637033e+02] [ 6.30673156e-02 1.14358289e-03 9.98008620e-01 6.55560896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters Centerline goodness [0,1] 0.9955920895878008 Centerline is valid? [True, True] Translation: X:115.36, Y:138.66, Z:6.56 [[-2.47583139e-01 -9.68720393e-01 1.68341567e-02 1.15361954e+02] [ 9.66791667e-01 -2.48152146e-01 -6.11096074e-02 1.38663014e+02] [ 6.33755550e-02 1.14541401e-03 9.97989092e-01 6.55607798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.146875 meters Centerline goodness [0,1] 0.9955437565184413 Centerline is valid? [True, True] Translation: X:115.35, Y:138.69, Z:6.56 [[-2.48067014e-01 -9.68595853e-01 1.68768881e-02 1.15352975e+02] [ 9.66661824e-01 -2.48637857e-01 -6.11893320e-02 1.38687713e+02] [ 6.34639666e-02 1.13518859e-03 9.97983485e-01 6.55585443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters Centerline goodness [0,1] 0.9955681952838014 Centerline is valid? [True, True] Translation: X:115.35, Y:138.71, Z:6.56 [[-2.48008217e-01 -9.68609244e-01 1.69722125e-02 1.15345469e+02] [ 9.66658213e-01 -2.48585551e-01 -6.14582949e-02 1.38713785e+02] [ 6.37481194e-02 1.16416652e-03 9.97965341e-01 6.55766538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.206875 meters Centerline goodness [0,1] 0.9954480796586059 Centerline is valid? [True, True] Translation: X:115.34, Y:138.74, Z:6.56 [[-2.47818388e-01 -9.68660403e-01 1.68246938e-02 1.15337900e+02] [ 9.66747843e-01 -2.48386029e-01 -6.08521877e-02 1.38740051e+02] [ 6.31241235e-02 1.18494540e-03 9.98004980e-01 6.56006618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters Centerline goodness [0,1] 0.995552954944412 Centerline is valid? [True, True] Translation: X:115.33, Y:138.76, Z:6.56 [[-2.47799396e-01 -9.68666430e-01 1.67572718e-02 1.15327894e+02] [ 9.66773870e-01 -2.48362449e-01 -6.05340993e-02 1.38764657e+02] [ 6.27992269e-02 1.20017933e-03 9.98025459e-01 6.55951997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.266875 meters Centerline goodness [0,1] 0.995096429074187 Centerline is valid? [True, True] Translation: X:115.32, Y:138.79, Z:6.56 [[-2.47322286e-01 -9.68791931e-01 1.65493726e-02 1.15318992e+02] [ 9.66950940e-01 -2.47872285e-01 -5.97093884e-02 1.38790281e+02] [ 6.19481045e-02 1.23496899e-03 9.98078608e-01 6.56199729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters Centerline goodness [0,1] 0.9951678295304545 Centerline is valid? [True, True] Translation: X:115.31, Y:138.82, Z:6.56 [[-2.47224494e-01 -9.68815401e-01 1.66363390e-02 1.15311062e+02] [ 9.66959490e-01 -2.47780382e-01 -5.99518717e-02 1.38816060e+02] [ 6.22044551e-02 1.26509475e-03 9.98062626e-01 6.56357111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.326875 meters Centerline goodness [0,1] 0.9953459802971958 Centerline is valid? [True, True] Translation: X:115.30, Y:138.84, Z:6.57 [[-2.46929996e-01 -9.68891113e-01 1.66008613e-02 1.15304075e+02] [ 9.67047738e-01 -2.47483987e-01 -5.97524013e-02 1.38842548e+02] [ 6.20020179e-02 1.29916512e-03 9.98075179e-01 6.56636394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters Centerline goodness [0,1] 0.9957111720452788 Centerline is valid? [True, True] Translation: X:115.29, Y:138.87, Z:6.57 [[-2.46392011e-01 -9.69026357e-01 1.67002137e-02 1.15292803e+02] [ 9.67165264e-01 -2.46953593e-01 -6.00439375e-02 1.38867024e+02] [ 6.23083358e-02 1.35752015e-03 9.98056025e-01 6.56594732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.386875 meters Centerline goodness [0,1] 0.9950135780503793 Centerline is valid? [True, True] Translation: X:115.29, Y:138.89, Z:6.57 [[-2.46433381e-01 -9.69015227e-01 1.67355600e-02 1.15285216e+02] [ 9.67149578e-01 -2.46997188e-01 -6.01172470e-02 1.38893282e+02] [ 6.23881640e-02 1.37089333e-03 9.98051020e-01 6.56807927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters Centerline goodness [0,1] 0.9955524344569289 Centerline is valid? [True, True] Translation: X:115.28, Y:138.92, Z:6.57 [[-2.46456828e-01 -9.69008214e-01 1.67962475e-02 1.15276744e+02] [ 9.67133558e-01 -2.47024581e-01 -6.02622341e-02 1.38918911e+02] [ 6.25436858e-02 1.39217557e-03 9.98041256e-01 6.56887932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44687499999998 meters Centerline goodness [0,1] 0.9947368421052631 Centerline is valid? [True, True] Translation: X:115.27, Y:138.94, Z:6.57 [[-2.46907417e-01 -9.68889530e-01 1.70236866e-02 1.15267929e+02] [ 9.66968137e-01 -2.47489638e-01 -6.10041082e-02 1.38944682e+02] [ 6.33194278e-02 1.39899571e-03 9.97992331e-01 6.56982235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters Centerline goodness [0,1] 0.995402352501867 Centerline is valid? [True, True] Translation: X:115.26, Y:138.97, Z:6.57 [[-2.47134591e-01 -9.68827511e-01 1.72553780e-02 1.15259141e+02] [ 9.66857966e-01 -2.47732189e-01 -6.17611214e-02 1.38970561e+02] [ 6.41105861e-02 1.42019019e-03 9.97941790e-01 6.57024302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50687499999998 meters Centerline goodness [0,1] 0.9952517282312687 Centerline is valid? [True, True] Translation: X:115.25, Y:139.00, Z:6.57 [[-2.47126558e-01 -9.68827056e-01 1.73954135e-02 1.15250467e+02] [ 9.66829996e-01 -2.47733800e-01 -6.21910244e-02 1.38996774e+02] [ 6.45617789e-02 1.44935380e-03 9.97912660e-01 6.57140386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters Centerline goodness [0,1] 0.9944416019349738 Centerline is valid? [True, True] Translation: X:115.24, Y:139.02, Z:6.57 [[-2.46964734e-01 -9.68864808e-01 1.75898694e-02 1.15241637e+02] [ 9.66827568e-01 -2.47585850e-01 -6.28148165e-02 1.39023565e+02] [ 6.52140679e-02 1.49332617e-03 9.97870180e-01 6.57210343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56687499999998 meters Centerline goodness [0,1] 0.9947047797563261 Centerline is valid? [True, True] Translation: X:115.23, Y:139.05, Z:6.58 [[-2.47434478e-01 -9.68748016e-01 1.74201012e-02 1.15234901e+02] [ 9.66754024e-01 -2.48042606e-01 -6.21411536e-02 1.39049609e+02] [ 6.45200465e-02 1.46508897e-03 9.97915336e-01 6.57605900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters Centerline goodness [0,1] 0.9946385696636285 Centerline is valid? [True, True] Translation: X:115.23, Y:139.07, Z:6.58 [[-2.48154986e-01 -9.68568500e-01 1.71511891e-02 1.15226928e+02] [ 9.66639982e-01 -2.48742956e-01 -6.11071707e-02 1.39074699e+02] [ 6.34527182e-02 1.41497606e-03 9.97983843e-01 6.57782424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62687499999998 meters Centerline goodness [0,1] 0.9956200319807189 Centerline is valid? [True, True] Translation: X:115.22, Y:139.10, Z:6.58 [[-2.49229714e-01 -9.68295430e-01 1.69855962e-02 1.15219227e+02] [ 9.66408160e-01 -2.49804193e-01 -6.04411576e-02 1.39099510e+02] [ 6.27679698e-02 1.35128634e-03 9.98027232e-01 6.57986277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters Centerline goodness [0,1] 0.9957896706586826 Centerline is valid? [True, True] Translation: X:115.21, Y:139.13, Z:6.58 [[-2.50734550e-01 -9.67907533e-01 1.69467901e-02 1.15213663e+02] [ 9.66032674e-01 -2.51303394e-01 -6.02285448e-02 1.39126425e+02] [ 6.25544480e-02 1.26977588e-03 9.98040745e-01 6.58403647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.686875 meters Centerline goodness [0,1] 0.9955478260869566 Centerline is valid? [True, True] Translation: X:115.21, Y:139.15, Z:6.58 [[-2.51731331e-01 -9.67649519e-01 1.69040014e-02 1.15205587e+02] [ 9.65788148e-01 -2.52295298e-01 -6.00028046e-02 1.39151440e+02] [ 6.23264851e-02 1.22109835e-03 9.98055068e-01 6.58445255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters Centerline goodness [0,1] 0.9951725578480748 Centerline is valid? [True, True] Translation: X:115.20, Y:139.18, Z:6.59 [[-2.52580194e-01 -9.67425399e-01 1.70687783e-02 1.15197663e+02] [ 9.65531776e-01 -2.53153444e-01 -6.05121680e-02 1.39177707e+02] [ 6.28620283e-02 1.19627268e-03 9.98021510e-01 6.58537215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.746875 meters Centerline goodness [0,1] 0.9944846125324435 Centerline is valid? [True, True] Translation: X:115.19, Y:139.20, Z:6.59 [[-2.53146000e-01 -9.67278675e-01 1.70020168e-02 1.15189187e+02] [ 9.65404028e-01 -2.53713596e-01 -6.02036027e-02 1.39202758e+02] [ 6.25473038e-02 1.17351429e-03 9.98041311e-01 6.58563442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters Centerline goodness [0,1] 0.9947215563341324 Centerline is valid? [True, True] Translation: X:115.18, Y:139.23, Z:6.59 [[-2.54497942e-01 -9.66924094e-01 1.69880694e-02 1.15180570e+02] [ 9.65055998e-01 -2.55061916e-01 -6.00861001e-02 1.39227525e+02] [ 6.24317074e-02 1.10264947e-03 9.98048629e-01 6.58568033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.806875 meters Centerline goodness [0,1] 0.9947215563341324 Centerline is valid? [True, True] Translation: X:115.17, Y:139.25, Z:6.59 [[-2.54788623e-01 -9.66847270e-01 1.70033744e-02 1.15173156e+02] [ 9.64979292e-01 -2.55352986e-01 -6.00817693e-02 1.39253258e+02] [ 6.24317570e-02 1.09975288e-03 9.98048629e-01 6.58685109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters Centerline goodness [0,1] 0.9951835822979198 Centerline is valid? [True, True] Translation: X:115.17, Y:139.28, Z:6.59 [[-2.55133138e-01 -9.66754246e-01 1.71262957e-02 1.15165770e+02] [ 9.64863337e-01 -2.55704931e-01 -6.04460781e-02 1.39279179e+02] [ 6.28157809e-02 1.10273726e-03 9.98024530e-01 6.58892001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.866875 meters Centerline goodness [0,1] 0.9946442234123948 Centerline is valid? [True, True] Translation: X:115.16, Y:139.31, Z:6.59 [[-2.55699958e-01 -9.66605635e-01 1.70609962e-02 1.15158066e+02] [ 9.64733090e-01 -2.56266230e-01 -6.01471982e-02 1.39305826e+02] [ 6.25107779e-02 1.07967153e-03 9.98043705e-01 6.59026096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters Centerline goodness [0,1] 0.9949705848425424 Centerline is valid? [True, True] Translation: X:115.15, Y:139.33, Z:6.59 [[-2.56716291e-01 -9.66334027e-01 1.71841340e-02 1.15150227e+02] [ 9.64438036e-01 -2.57288691e-01 -6.05128475e-02 1.39330559e+02] [ 6.28969069e-02 1.03839868e-03 9.98019489e-01 6.59155280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.926875 meters Centerline goodness [0,1] 0.9940494177262267 Centerline is valid? [True, True] Translation: X:115.14, Y:139.36, Z:6.59 [[-2.56800250e-01 -9.66313756e-01 1.70691567e-02 1.15142975e+02] [ 9.64447502e-01 -2.57364785e-01 -6.00365087e-02 1.39356362e+02] [ 6.24071041e-02 1.04491513e-03 9.98050230e-01 6.59449353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters Centerline goodness [0,1] 0.9946596080616699 Centerline is valid? [True, True] Translation: X:115.13, Y:139.38, Z:6.59 [[-2.57124687e-01 -9.66226565e-01 1.71207576e-02 1.15133448e+02] [ 9.64352926e-01 -2.57691939e-01 -6.01522910e-02 1.39380646e+02] [ 6.25326227e-02 1.04381367e-03 9.98042375e-01 6.59321948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.986875 meters Centerline goodness [0,1] 0.9953330999883327 Centerline is valid? [True, True] Translation: X:115.13, Y:139.41, Z:6.60 [[-2.56955700e-01 -9.66269369e-01 1.72416751e-02 1.15128189e+02] [ 9.64372913e-01 -2.57531256e-01 -6.05189038e-02 1.39408574e+02] [ 6.29178333e-02 1.07672714e-03 9.98018130e-01 6.59753754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters Centerline goodness [0,1] 0.9949209146991975 Centerline is valid? [True, True] Translation: X:115.12, Y:139.43, Z:6.60 [[-2.56925074e-01 -9.66274005e-01 1.74371653e-02 1.15117918e+02] [ 9.64338577e-01 -2.57513731e-01 -6.11374457e-02 1.39434416e+02] [ 6.35658340e-02 1.10758848e-03 9.97977033e-01 6.59655392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.046875 meters Centerline goodness [0,1] 0.9951478743068392 Centerline is valid? [True, True] Translation: X:115.11, Y:139.46, Z:6.60 [[-2.55589446e-01 -9.66623048e-01 1.77177082e-02 1.15109445e+02] [ 9.64630089e-01 -2.56199856e-01 -6.20517970e-02 1.39461174e+02] [ 6.45199715e-02 1.23124996e-03 9.97915656e-01 6.59715933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters Centerline goodness [0,1] 0.9945590252749552 Centerline is valid? [True, True] Translation: X:115.10, Y:139.49, Z:6.60 [[-2.54694917e-01 -9.66857035e-01 1.78317841e-02 1.15100941e+02] [ 9.64843103e-01 -2.55314988e-01 -6.23862395e-02 1.39488142e+02] [ 6.48712963e-02 1.31541580e-03 9.97892772e-01 6.59815397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.106875 meters Centerline goodness [0,1] 0.9946631549764348 Centerline is valid? [True, True] Translation: X:115.09, Y:139.51, Z:6.60 [[-2.53976150e-01 -9.67044529e-01 1.79163273e-02 1.15091735e+02] [ 9.65016259e-01 -2.54603528e-01 -6.26152068e-02 1.39513984e+02] [ 6.51132532e-02 1.38677795e-03 9.97876917e-01 6.59832405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters Centerline goodness [0,1] 0.9948959560266981 Centerline is valid? [True, True] Translation: X:115.08, Y:139.54, Z:6.60 [[-2.53010585e-01 -9.67297386e-01 1.79279384e-02 1.15082504e+02] [ 9.65271491e-01 -2.53640704e-01 -6.25886690e-02 1.39540966e+02] [ 6.50891109e-02 1.46973210e-03 9.97878373e-01 6.59939267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.166875 meters Centerline goodness [0,1] 0.9946022661175868 Centerline is valid? [True, True] Translation: X:115.08, Y:139.57, Z:6.60 [[-2.51793460e-01 -9.67614443e-01 1.79538948e-02 1.15075197e+02] [ 9.65587682e-01 -2.52427858e-01 -6.26147249e-02 1.39567620e+02] [ 6.51189754e-02 1.57008146e-03 9.97876272e-01 6.60198575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters Centerline goodness [0,1] 0.9949112946129114 Centerline is valid? [True, True] Translation: X:115.06, Y:139.59, Z:6.60 [[-2.49359399e-01 -9.68251051e-01 1.76009026e-02 1.15063690e+02] [ 9.66308999e-01 -2.49973902e-01 -6.13185632e-02 1.39592431e+02] [ 6.37715295e-02 1.71755053e-03 9.97963046e-01 6.60276978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22687499999998 meters Centerline goodness [0,1] 0.9946620046620047 Centerline is valid? [True, True] Translation: X:115.05, Y:139.62, Z:6.60 [[-2.48241569e-01 -9.68540689e-01 1.74658685e-02 1.15054776e+02] [ 9.66633215e-01 -2.48848776e-01 -6.07825151e-02 1.39619372e+02] [ 6.32166991e-02 1.79434166e-03 9.97998211e-01 6.60455384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters Centerline goodness [0,1] 0.9946096654275093 Centerline is valid? [True, True] Translation: X:115.05, Y:139.65, Z:6.61 [[-2.47129714e-01 -9.68824178e-01 1.75104434e-02 1.15045644e+02] [ 9.66911572e-01 -2.47742106e-01 -6.08757797e-02 1.39645684e+02] [ 6.33160013e-02 1.88683636e-03 9.97991745e-01 6.60586799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28687499999998 meters Centerline goodness [0,1] 0.9947738036910011 Centerline is valid? [True, True] Translation: X:115.04, Y:139.67, Z:6.61 [[-2.46261630e-01 -9.69047662e-01 1.73734995e-02 1.15037547e+02] [ 9.67169259e-01 -2.46866056e-01 -6.03388356e-02 1.39672875e+02] [ 6.27601348e-02 1.94397463e-03 9.98026746e-01 6.60755844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters Centerline goodness [0,1] 0.9942292030250145 Centerline is valid? [True, True] Translation: X:115.03, Y:139.70, Z:6.61 [[-2.44071873e-01 -9.69598880e-01 1.75194786e-02 1.15028121e+02] [ 9.67694108e-01 -2.44690673e-01 -6.07831305e-02 1.39699255e+02] [ 6.32221083e-02 2.11804369e-03 9.97997234e-01 6.60782700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34687499999998 meters Centerline goodness [0,1] 0.9943936538953637 Centerline is valid? [True, True] Translation: X:115.02, Y:139.72, Z:6.61 [[-2.43689324e-01 -9.69694071e-01 1.75761630e-02 1.15019488e+02] [ 9.67781229e-01 -2.44312749e-01 -6.09161222e-02 1.39724707e+02] [ 6.33640833e-02 2.16527200e-03 9.97988128e-01 6.60843808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters Centerline goodness [0,1] 0.9943552901660757 Centerline is valid? [True, True] Translation: X:115.01, Y:139.75, Z:6.61 [[-2.43579472e-01 -9.69720787e-01 1.76248717e-02 1.15011590e+02] [ 9.67801664e-01 -2.44206426e-01 -6.10177112e-02 1.39750755e+02] [ 6.34742498e-02 2.19471828e-03 9.97981063e-01 6.60922786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40687499999999 meters Centerline goodness [0,1] 0.9945605026845795 Centerline is valid? [True, True] Translation: X:115.01, Y:139.78, Z:6.61 [[-2.43400400e-01 -9.69769305e-01 1.74281358e-02 1.15005506e+02] [ 9.67897245e-01 -2.44013642e-01 -6.02682735e-02 1.39777633e+02] [ 6.26990246e-02 2.19932276e-03 9.98030057e-01 6.61125719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters Centerline goodness [0,1] 0.9944098499858477 Centerline is valid? [True, True] Translation: X:115.00, Y:139.80, Z:6.61 [[-2.43373782e-01 -9.69777820e-01 1.73257532e-02 1.14997401e+02] [ 9.67931753e-01 -2.43979755e-01 -5.98498170e-02 1.39803066e+02] [ 6.22681581e-02 2.20427031e-03 9.98057021e-01 6.61176201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.466875 meters Centerline goodness [0,1] 0.9945211277541327 Centerline is valid? [True, True] Translation: X:114.99, Y:139.83, Z:6.61 [[-2.43942645e-01 -9.69637494e-01 1.71789266e-02 1.14990531e+02] [ 9.67825778e-01 -2.44537211e-01 -5.92858896e-02 1.39828974e+02] [ 6.16867083e-02 2.16385122e-03 9.98093216e-01 6.61310211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters Centerline goodness [0,1] 0.9943677837228949 Centerline is valid? [True, True] Translation: X:114.98, Y:139.86, Z:6.61 [[-2.44809308e-01 -9.69418439e-01 1.72131283e-02 1.14984580e+02] [ 9.67603141e-01 -2.45404472e-01 -5.93363780e-02 1.39855263e+02] [ 6.17459576e-02 2.12937932e-03 9.98089626e-01 6.61481216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.526875 meters Centerline goodness [0,1] 0.9945007167869145 Centerline is valid? [True, True] Translation: X:114.98, Y:139.88, Z:6.62 [[-2.45727101e-01 -9.69188892e-01 1.70611789e-02 1.14979568e+02] [ 9.67408963e-01 -2.46309988e-01 -5.87476670e-02 1.39881911e+02] [ 6.11399251e-02 2.06924349e-03 9.98127060e-01 6.61594234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters Centerline goodness [0,1] 0.9949829992629051 Centerline is valid? [True, True] Translation: X:114.98, Y:139.91, Z:6.62 [[-2.46570135e-01 -9.68976373e-01 1.69692918e-02 1.14975931e+02] [ 9.67218881e-01 -2.47145107e-01 -5.83689356e-02 1.39909085e+02] [ 6.07519969e-02 2.02098311e-03 9.98150846e-01 6.61850135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.586875 meters Centerline goodness [0,1] 0.9950592184581925 Centerline is valid? [True, True] Translation: X:114.97, Y:139.93, Z:6.62 [[-2.47612109e-01 -9.68712174e-01 1.68810117e-02 1.14969099e+02] [ 9.66976492e-01 -2.48179112e-01 -5.79964883e-02 1.39934240e+02] [ 6.03714187e-02 1.96290869e-03 9.98174052e-01 6.61903552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters Centerline goodness [0,1] 0.9950629532516004 Centerline is valid? [True, True] Translation: X:114.96, Y:139.96, Z:6.62 [[-2.48564724e-01 -9.68469278e-01 1.68177240e-02 1.14963556e+02] [ 9.66750293e-01 -2.49125658e-01 -5.77085583e-02 1.39960420e+02] [ 6.00786923e-02 1.91422778e-03 9.98191808e-01 6.61982707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.646875 meters Centerline goodness [0,1] 0.9944130110556095 Centerline is valid? [True, True] Translation: X:114.96, Y:139.99, Z:6.62 [[-2.48910978e-01 -9.68380707e-01 1.67967981e-02 1.14956820e+02] [ 9.66669914e-01 -2.49469774e-01 -5.75682907e-02 1.39987076e+02] [ 5.99383155e-02 1.90757982e-03 9.98200260e-01 6.62109113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters Centerline goodness [0,1] 0.9946652818430743 Centerline is valid? [True, True] Translation: X:114.95, Y:140.01, Z:6.62 [[-2.49417659e-01 -9.68252883e-01 1.66489271e-02 1.14949950e+02] [ 9.66575647e-01 -2.49965667e-01 -5.69972326e-02 1.40013845e+02] [ 5.93493949e-02 1.87633112e-03 9.98235508e-01 6.62250785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.706875 meters Centerline goodness [0,1] 0.9949518888941555 Centerline is valid? [True, True] Translation: X:114.94, Y:140.04, Z:6.62 [[-2.49834144e-01 -9.68143660e-01 1.67556956e-02 1.14943815e+02] [ 9.66448484e-01 -2.50388345e-01 -5.72975126e-02 1.40040118e+02] [ 5.96676545e-02 1.87864163e-03 9.98216530e-01 6.62429560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters Centerline goodness [0,1] 0.9947712730398243 Centerline is valid? [True, True] Translation: X:114.94, Y:140.07, Z:6.62 [[-2.50236337e-01 -9.68036551e-01 1.69414372e-02 1.14937770e+02] [ 9.66307300e-01 -2.50802040e-01 -5.78665625e-02 1.40067253e+02] [ 6.02658946e-02 1.89031783e-03 9.98180569e-01 6.62460862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.766875 meters Centerline goodness [0,1] 0.9954378466636252 Centerline is valid? [True, True] Translation: X:114.93, Y:140.09, Z:6.62 [[-2.50481220e-01 -9.67970912e-01 1.70725371e-02 1.14929453e+02] [ 9.66218686e-01 -2.51055134e-01 -5.82474979e-02 1.40092426e+02] [ 6.06680318e-02 1.90590003e-03 9.98156179e-01 6.62430275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters Centerline goodness [0,1] 0.9952581664910432 Centerline is valid? [True, True] Translation: X:114.93, Y:140.12, Z:6.63 [[-2.50797555e-01 -9.67889616e-01 1.70375075e-02 1.14925305e+02] [ 9.66148512e-01 -2.51368420e-01 -5.80600502e-02 1.40119384e+02] [ 6.04784111e-02 1.89944392e-03 9.98167698e-01 6.62655664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.826875 meters Centerline goodness [0,1] 0.9953211907092215 Centerline is valid? [True, True] Translation: X:114.92, Y:140.14, Z:6.63 [[-2.51312657e-01 -9.67752174e-01 1.72533262e-02 1.14917233e+02] [ 9.65970553e-01 -2.51896984e-01 -5.87264867e-02 1.40144480e+02] [ 6.11787461e-02 1.90749563e-03 9.98125003e-01 6.62643935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters Centerline goodness [0,1] 0.9950774230548652 Centerline is valid? [True, True] Translation: X:114.91, Y:140.17, Z:6.63 [[-2.51915203e-01 -9.67598822e-01 1.70660334e-02 1.14911317e+02] [ 9.65859481e-01 -2.52485709e-01 -5.80209423e-02 1.40171560e+02] [ 6.04499250e-02 1.86703271e-03 9.98169485e-01 6.62853136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.886875 meters Centerline goodness [0,1] 0.9957069192948795 Centerline is valid? [True, True] Translation: X:114.90, Y:140.20, Z:6.63 [[-2.52099227e-01 -9.67553400e-01 1.69233046e-02 1.14904032e+02] [ 9.65846878e-01 -2.52659791e-01 -5.74703337e-02 1.40197184e+02] [ 5.98814554e-02 1.85709415e-03 9.98203768e-01 6.62985302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters Centerline goodness [0,1] 0.9955721333172903 Centerline is valid? [True, True] Translation: X:114.90, Y:140.22, Z:6.63 [[-2.52477126e-01 -9.67455955e-01 1.68604973e-02 1.14898880e+02] [ 9.65765855e-01 -2.53032755e-01 -5.71903682e-02 1.40223823e+02] [ 5.95954204e-02 1.84403275e-03 9.98220910e-01 6.63245795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94687499999998 meters Centerline goodness [0,1] 0.9960341305131595 Centerline is valid? [True, True] Translation: X:114.89, Y:140.25, Z:6.63 [[-2.52688591e-01 -9.67398855e-01 1.69685456e-02 1.14892789e+02] [ 9.65690816e-01 -2.53250864e-01 -5.74912928e-02 1.40250402e+02] [ 5.99143097e-02 1.85897489e-03 9.98201793e-01 6.63405413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters Centerline goodness [0,1] 0.9955550244951608 Centerline is valid? [True, True] Translation: X:114.88, Y:140.28, Z:6.63 [[-2.52718944e-01 -9.67392603e-01 1.68726783e-02 1.14884749e+02] [ 9.65707424e-01 -2.53274720e-01 -5.71059302e-02 1.40275626e+02] [ 5.95172773e-02 1.86232030e-03 9.98225538e-01 6.63407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00687499999998 meters Centerline goodness [0,1] 0.9957779590270115 Centerline is valid? [True, True] Translation: X:114.88, Y:140.30, Z:6.64 [[-2.53006335e-01 -9.67317552e-01 1.68685481e-02 1.14878646e+02] [ 9.65636243e-01 -2.53561239e-01 -5.70381009e-02 1.40302275e+02] [ 5.94511661e-02 1.85788054e-03 9.98229486e-01 6.63532063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters Centerline goodness [0,1] 0.9959501406537976 Centerline is valid? [True, True] Translation: X:114.87, Y:140.33, Z:6.64 [[-2.54002341e-01 -9.67055973e-01 1.68983937e-02 1.14872633e+02] [ 9.65371962e-01 -2.54557355e-01 -5.70747522e-02 1.40328715e+02] [ 5.94960904e-02 1.81611479e-03 9.98226887e-01 6.63546314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06687499999998 meters Centerline goodness [0,1] 0.9957496136012365 Centerline is valid? [True, True] Translation: X:114.87, Y:140.36, Z:6.64 [[-2.54519406e-01 -9.66917540e-01 1.70394594e-02 1.14866666e+02] [ 9.65208861e-01 -2.55082684e-01 -5.74863369e-02 1.40355502e+02] [ 5.99310185e-02 1.81524894e-03 9.98200871e-01 6.63655655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters Centerline goodness [0,1] 0.9958660703493292 Centerline is valid? [True, True] Translation: X:114.86, Y:140.38, Z:6.64 [[-2.55172941e-01 -9.66742550e-01 1.71933517e-02 1.14860010e+02] [ 9.65006415e-01 -2.55745139e-01 -5.79399916e-02 1.40381969e+02] [ 6.04101713e-02 1.80697658e-03 9.98172002e-01 6.63790053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12687499999998 meters Centerline goodness [0,1] 0.9959168704156479 Centerline is valid? [True, True] Translation: X:114.86, Y:140.41, Z:6.64 [[-2.55928886e-01 -9.66541524e-01 1.72594101e-02 1.14855353e+02] [ 9.64795553e-01 -2.56504001e-01 -5.80968026e-02 1.40408786e+02] [ 6.05800799e-02 1.78315213e-03 9.98161748e-01 6.64005345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters Centerline goodness [0,1] 0.9963977120603627 Centerline is valid? [True, True] Translation: X:114.85, Y:140.43, Z:6.64 [[-2.56531089e-01 -9.66381039e-01 1.73057326e-02 1.14847214e+02] [ 9.64629484e-01 -2.57108077e-01 -5.81841511e-02 1.40433848e+02] [ 6.06775040e-02 1.76757625e-03 9.98155858e-01 6.64052742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.186875 meters Centerline goodness [0,1] 0.9964329342780357 Centerline is valid? [True, True] Translation: X:114.84, Y:140.46, Z:6.64 [[-2.58504343e-01 -9.65856622e-01 1.72189116e-02 1.14843035e+02] [ 9.64125490e-01 -2.59071908e-01 -5.78254702e-02 1.40461726e+02] [ 6.03120496e-02 1.65305639e-03 9.98178203e-01 6.64197715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters Centerline goodness [0,1] 0.9965145676345696 Centerline is valid? [True, True] Translation: X:114.84, Y:140.49, Z:6.64 [[-2.59798919e-01 -9.65511531e-01 1.70881588e-02 1.14836543e+02] [ 9.63809324e-01 -2.60355527e-01 -5.73287549e-02 1.40488811e+02] [ 5.98005705e-02 1.57577817e-03 9.98209101e-01 6.64314274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.246875 meters Centerline goodness [0,1] 0.9965344344491963 Centerline is valid? [True, True] Translation: X:114.83, Y:140.52, Z:6.64 [[-2.60861601e-01 -9.65226390e-01 1.70070984e-02 1.14829993e+02] [ 9.63543228e-01 -2.61410999e-01 -5.69976938e-02 1.40515686e+02] [ 5.94615208e-02 1.51856483e-03 9.98229443e-01 6.64443577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters Centerline goodness [0,1] 0.9969883979264379 Centerline is valid? [True, True] Translation: X:114.83, Y:140.54, Z:6.65 [[-2.63475088e-01 -9.64519947e-01 1.67973391e-02 1.14826473e+02] [ 9.62879935e-01 -2.64006502e-01 -5.62387568e-02 1.40544327e+02] [ 5.86780094e-02 1.35630934e-03 9.98276040e-01 6.64700206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.306875 meters Centerline goodness [0,1] 0.9969995819089545 Centerline is valid? [True, True] Translation: X:114.82, Y:140.57, Z:6.65 [[-2.64774510e-01 -9.64165076e-01 1.67381467e-02 1.14819809e+02] [ 9.62538464e-01 -2.65299937e-01 -5.59968614e-02 1.40569422e+02] [ 5.84308474e-02 1.28456845e-03 9.98290632e-01 6.64829362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters Centerline goodness [0,1] 0.9965111963379933 Centerline is valid? [True, True] Translation: X:114.81, Y:140.60, Z:6.65 [[-2.66102400e-01 -9.63800850e-01 1.66563675e-02 1.14813963e+02] [ 9.62193221e-01 -2.66620410e-01 -5.56575522e-02 1.40595823e+02] [ 5.80837236e-02 1.21603571e-03 9.98310975e-01 6.65005393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.366875 meters Centerline goodness [0,1] 0.9968743077945411 Centerline is valid? [True, True] Translation: X:114.81, Y:140.62, Z:6.65 [[-2.67341973e-01 -9.63461504e-01 1.64377589e-02 1.14805965e+02] [ 9.61898755e-01 -2.67844399e-01 -5.48649442e-02 1.40621059e+02] [ 5.72630233e-02 1.14375741e-03 9.98358472e-01 6.65128946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters Centerline goodness [0,1] 0.9973306969846762 Centerline is valid? [True, True] Translation: X:114.80, Y:140.65, Z:6.65 [[-2.69532455e-01 -9.62852855e-01 1.63289539e-02 1.14801209e+02] [ 9.61313072e-01 -2.70024687e-01 -5.44412227e-02 1.40649377e+02] [ 5.68281074e-02 1.02356044e-03 9.98383453e-01 6.65343233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.426875 meters Centerline goodness [0,1] 0.9976505502658588 Centerline is valid? [True, True] Translation: X:114.79, Y:140.68, Z:6.65 [[-2.70716797e-01 -9.62517810e-01 1.64888421e-02 1.14794878e+02] [ 9.60950125e-01 -2.71216725e-01 -5.49212697e-02 1.40675993e+02] [ 5.73347500e-02 9.76844655e-04 9.98354532e-01 6.65440806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters Centerline goodness [0,1] 0.9978415659810951 Centerline is valid? [True, True] Translation: X:114.79, Y:140.70, Z:6.66 [[-2.71912730e-01 -9.62176437e-01 1.67323342e-02 1.14788382e+02] [ 9.60565033e-01 -2.72425457e-01 -5.56703490e-02 1.40702608e+02] [ 5.81230118e-02 9.35018578e-04 9.98308991e-01 6.65526399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.486875 meters Centerline goodness [0,1] 0.9971116976246203 Centerline is valid? [True, True] Translation: X:114.78, Y:140.73, Z:6.65 [[-2.72784793e-01 -9.61924614e-01 1.70145327e-02 1.14781084e+02] [ 9.60261599e-01 -2.73313379e-01 -5.65460706e-02 1.40729466e+02] [ 5.90433565e-02 9.13494180e-04 9.98255001e-01 6.65489218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters Centerline goodness [0,1] 0.9971649548630972 Centerline is valid? [True, True] Translation: X:114.77, Y:140.76, Z:6.66 [[-2.73584164e-01 -9.61693499e-01 1.72429159e-02 1.14774888e+02] [ 9.59988888e-01 -2.74125548e-01 -5.72408777e-02 1.40755989e+02] [ 5.97749037e-02 8.92809969e-04 9.98211482e-01 6.65629612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.546875 meters Centerline goodness [0,1] 0.998069013943224 Centerline is valid? [True, True] Translation: X:114.77, Y:140.78, Z:6.66 [[-2.76393173e-01 -9.60888329e-01 1.73330333e-02 1.14770329e+02] [ 9.59168187e-01 -2.76935142e-01 -5.74744904e-02 1.40783030e+02] [ 6.00266930e-02 7.39737321e-04 9.98196498e-01 6.65756036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters Centerline goodness [0,1] 0.9981149147941487 Centerline is valid? [True, True] Translation: X:114.76, Y:140.81, Z:6.66 [[-2.77814594e-01 -9.60474928e-01 1.75203949e-02 1.14764200e+02] [ 9.58720677e-01 -2.78365687e-01 -5.80276442e-02 1.40808927e+02] [ 6.06111742e-02 6.76238457e-04 9.98161224e-01 6.65831633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.606875 meters Centerline goodness [0,1] 0.9979102673850647 Centerline is valid? [True, True] Translation: X:114.76, Y:140.83, Z:6.66 [[-2.79605746e-01 -9.59954288e-01 1.75610772e-02 1.14758610e+02] [ 9.58194773e-01 -2.80156073e-01 -5.80977675e-02 1.40834300e+02] [ 6.06910435e-02 5.82462773e-04 9.98156430e-01 6.65945953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters Centerline goodness [0,1] 0.9984100143855841 Centerline is valid? [True, True] Translation: X:114.75, Y:140.86, Z:6.66 [[-2.81281628e-01 -9.59460385e-01 1.77880621e-02 1.14753043e+02] [ 9.57657546e-01 -2.81843080e-01 -5.87920299e-02 1.40859998e+02] [ 6.14220659e-02 4.97754000e-04 9.98111758e-01 6.66028305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.666875 meters Centerline goodness [0,1] 0.9986054059536488 Centerline is valid? [True, True] Translation: X:114.75, Y:140.89, Z:6.66 [[-2.85009512e-01 -9.58362969e-01 1.76067344e-02 1.14749585e+02] [ 9.56598543e-01 -2.85552698e-01 -5.81281654e-02 1.40887925e+02] [ 6.07355317e-02 2.75496382e-04 9.98153856e-01 6.66375857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters Centerline goodness [0,1] 0.9986054059536488 Centerline is valid? [True, True] Translation: X:114.74, Y:140.91, Z:6.66 [[-2.85305944e-01 -9.58274457e-01 1.76233728e-02 1.14741700e+02] [ 9.56510174e-01 -2.85849593e-01 -5.81231212e-02 1.40913536e+02] [ 6.07355364e-02 2.74063388e-04 9.98153856e-01 6.66492849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72687499999998 meters Centerline goodness [0,1] 0.9982546668690241 Centerline is valid? [True, True] Translation: X:114.74, Y:140.94, Z:6.67 [[-2.87136259e-01 -9.57730244e-01 1.74799226e-02 1.14735426e+02] [ 9.55997479e-01 -2.87667774e-01 -5.75853453e-02 1.40939589e+02] [ 6.01796373e-02 1.75921321e-04 9.98187548e-01 6.66584759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters Centerline goodness [0,1] 0.998448745009282 Centerline is valid? [True, True] Translation: X:114.73, Y:140.97, Z:6.67 [[-2.90241298e-01 -9.56799474e-01 1.71684150e-02 1.14730827e+02] [ 9.55130115e-01 -2.90748630e-01 -5.64951058e-02 1.40966350e+02] [ 5.90461807e-02 8.57325452e-07 9.98255252e-01 6.66816058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78687499999998 meters Centerline goodness [0,1] 0.9983135731807032 Centerline is valid? [True, True] Translation: X:114.72, Y:140.99, Z:6.67 [[-2.91614426e-01 -9.56385122e-01 1.69860172e-02 1.14723757e+02] [ 9.54753914e-01 -2.92108703e-01 -5.58343103e-02 1.40993082e+02] [ 5.83608672e-02 -6.46239904e-05 9.98295550e-01 6.66901488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters Centerline goodness [0,1] 0.9987216853300609 Centerline is valid? [True, True] Translation: X:114.72, Y:141.02, Z:6.67 [[-2.92376806e-01 -9.56151765e-01 1.70177792e-02 1.14716488e+02] [ 9.54517632e-01 -2.92871632e-01 -5.58775270e-02 1.41019791e+02] [ 5.84114209e-02 -9.35225809e-05 9.98292591e-01 6.67059347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84687499999998 meters Centerline goodness [0,1] 0.9985737571312143 Centerline is valid? [True, True] Translation: X:114.71, Y:141.05, Z:6.67 [[-2.92661901e-01 -9.56062616e-01 1.71255741e-02 1.14708698e+02] [ 9.54411176e-01 -2.93162522e-01 -5.61697620e-02 1.41046382e+02] [ 5.87223861e-02 -9.39099597e-05 9.98274347e-01 6.67126084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters Centerline goodness [0,1] 0.9983380634604075 Centerline is valid? [True, True] Translation: X:114.70, Y:141.07, Z:6.67 [[-2.93052650e-01 -9.55941104e-01 1.72264571e-02 1.14700498e+02] [ 9.54273565e-01 -2.93558506e-01 -5.64390586e-02 1.41072459e+02] [ 5.90093890e-02 -1.00863131e-04 9.98257423e-01 6.67205997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90687499999999 meters Centerline goodness [0,1] 0.9985932064661347 Centerline is valid? [True, True] Translation: X:114.69, Y:141.10, Z:6.67 [[-2.92194940e-01 -9.56199482e-01 1.74547339e-02 1.14691691e+02] [ 9.54491657e-01 -2.92715818e-01 -5.71237859e-02 1.41097947e+02] [ 5.97310112e-02 -3.08833295e-05 9.98214509e-01 6.67326448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters Centerline goodness [0,1] 0.9983884995139919 Centerline is valid? [True, True] Translation: X:114.68, Y:141.12, Z:6.67 [[-2.91715224e-01 -9.56344283e-01 1.75453862e-02 1.14683049e+02] [ 9.54622756e-01 -2.92242386e-01 -5.73566123e-02 1.41123907e+02] [ 5.99801738e-02 1.74279429e-05 9.98199568e-01 6.67426904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.966875 meters Centerline goodness [0,1] 0.9985696040868455 Centerline is valid? [True, True] Translation: X:114.67, Y:141.15, Z:6.67 [[-2.90937240e-01 -9.56577626e-01 1.77416768e-02 1.14674534e+02] [ 9.54821477e-01 -2.91477680e-01 -5.79371107e-02 1.41148563e+02] [ 6.05926466e-02 8.40709765e-05 9.98162574e-01 6.67409744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters Centerline goodness [0,1] 0.9985255611765005 Centerline is valid? [True, True] Translation: X:114.66, Y:141.17, Z:6.67 [[-2.89211347e-01 -9.57092114e-01 1.82066276e-02 1.14664409e+02] [ 9.55246984e-01 -2.89783781e-01 -5.94016896e-02 1.41174830e+02] [ 6.21288741e-02 2.12183466e-04 9.98068113e-01 6.67376722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.026875 meters Centerline goodness [0,1] 0.9982389423445037 Centerline is valid? [True, True] Translation: X:114.66, Y:141.20, Z:6.68 [[-2.87865869e-01 -9.57497816e-01 1.81981523e-02 1.14655176e+02] [ 9.55658880e-01 -2.88440343e-01 -5.93150410e-02 1.41201029e+02] [ 6.20431035e-02 3.16449977e-04 9.98073421e-01 6.67523150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters Centerline goodness [0,1] 0.9979886959621161 Centerline is valid? [True, True] Translation: X:114.65, Y:141.23, Z:6.68 [[-2.86488430e-01 -9.57911866e-01 1.81448645e-02 1.14645519e+02] [ 9.56088554e-01 -2.87062149e-01 -5.90762226e-02 1.41225554e+02] [ 6.17985184e-02 4.23442958e-04 9.98088555e-01 6.67598820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.086875 meters Centerline goodness [0,1] 0.9975629569455727 Centerline is valid? [True, True] Translation: X:114.63, Y:141.25, Z:6.68 [[-2.82743493e-01 -9.59028640e-01 1.78937121e-02 1.14633711e+02] [ 9.57261537e-01 -2.83308336e-01 -5.81956765e-02 1.41250899e+02] [ 6.08807582e-02 6.74513481e-04 9.98144818e-01 6.67836867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters Centerline goodness [0,1] 0.9977428354045144 Centerline is valid? [True, True] Translation: X:114.62, Y:141.28, Z:6.68 [[-2.81182168e-01 -9.59489110e-01 1.78111084e-02 1.14623629e+02] [ 9.57742702e-01 -2.81744615e-01 -5.78695747e-02 1.41275952e+02] [ 6.05434107e-02 7.86566589e-04 9.98165255e-01 6.67980328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.146875 meters Centerline goodness [0,1] 0.9975456086637484 Centerline is valid? [True, True] Translation: X:114.61, Y:141.30, Z:6.68 [[-2.80065124e-01 -9.59818244e-01 1.76766618e-02 1.14613722e+02] [ 9.58102534e-01 -2.80621067e-01 -5.73703011e-02 1.41300002e+02] [ 6.00255053e-02 8.68633947e-04 9.98196466e-01 6.68051032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters Centerline goodness [0,1] 0.9977311115032647 Centerline is valid? [True, True] Translation: X:114.60, Y:141.33, Z:6.68 [[-2.79175534e-01 -9.60078628e-01 1.76082184e-02 1.14603703e+02] [ 9.58380505e-01 -2.79728703e-01 -5.70846809e-02 1.41325704e+02] [ 5.97313062e-02 9.38726913e-04 9.98214050e-01 6.68154775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.206875 meters Centerline goodness [0,1] 0.9977594280247721 Centerline is valid? [True, True] Translation: X:114.59, Y:141.35, Z:6.68 [[-2.77453998e-01 -9.60579532e-01 1.74997416e-02 1.14594164e+02] [ 9.58906771e-01 -2.78003321e-01 -5.66741292e-02 1.41351900e+02] [ 5.93049949e-02 1.05615700e-03 9.98239351e-01 6.68451105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters Centerline goodness [0,1] 0.9977789556043513 Centerline is valid? [True, True] Translation: X:114.59, Y:141.38, Z:6.69 [[-2.77188627e-01 -9.60657141e-01 1.74448436e-02 1.14585678e+02] [ 9.58998415e-01 -2.77734909e-01 -5.64389903e-02 1.41377457e+02] [ 5.90635611e-02 1.08533114e-03 9.98253634e-01 6.68625476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.266875 meters Centerline goodness [0,1] 0.9976675361155698 Centerline is valid? [True, True] Translation: X:114.57, Y:141.40, Z:6.69 [[-2.77399660e-01 -9.60595621e-01 1.74780370e-02 1.14574785e+02] [ 9.58934218e-01 -2.77947587e-01 -5.64827823e-02 1.41402204e+02] [ 5.91150915e-02 1.09198317e-03 9.98250577e-01 6.68556774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters Centerline goodness [0,1] 0.9977166085363711 Centerline is valid? [True, True] Translation: X:114.57, Y:141.43, Z:6.69 [[-2.77788556e-01 -9.60480180e-01 1.76448959e-02 1.14567744e+02] [ 9.58790558e-01 -2.78346229e-01 -5.69565010e-02 1.41428209e+02] [ 5.96169806e-02 1.09589544e-03 9.98220724e-01 6.68837826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.326875 meters Centerline goodness [0,1] 0.9972711113336504 Centerline is valid? [True, True] Translation: X:114.56, Y:141.45, Z:6.69 [[-2.77797613e-01 -9.60479031e-01 1.75646718e-02 1.14556328e+02] [ 9.58808469e-01 -2.78350145e-01 -5.66349461e-02 1.41452280e+02] [ 5.92858071e-02 1.10810321e-03 9.98240435e-01 6.68769197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters Centerline goodness [0,1] 0.9969270742248982 Centerline is valid? [True, True] Translation: X:114.55, Y:141.48, Z:6.69 [[-2.77923777e-01 -9.60442740e-01 1.75532856e-02 1.14548868e+02] [ 9.58778044e-01 -2.78475304e-01 -5.65346521e-02 1.41478309e+02] [ 5.91864527e-02 1.11738074e-03 9.98246320e-01 6.68980135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.386875 meters Centerline goodness [0,1] 0.9973612805257525 Centerline is valid? [True, True] Translation: X:114.54, Y:141.50, Z:6.69 [[-2.77905660e-01 -9.60443010e-01 1.78232780e-02 1.14537633e+02] [ 9.58730317e-01 -2.78474234e-01 -5.73435292e-02 1.41503246e+02] [ 6.00385155e-02 1.15162564e-03 9.98195397e-01 6.68899473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters Centerline goodness [0,1] 0.9977032728362084 Centerline is valid? [True, True] Translation: X:114.53, Y:141.53, Z:6.69 [[-2.77623362e-01 -9.60523950e-01 1.78608556e-02 1.14530665e+02] [ 9.58807717e-01 -2.78194770e-01 -5.74058531e-02 1.41529963e+02] [ 6.01084934e-02 1.18792030e-03 9.98191143e-01 6.69168889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44687499999998 meters Centerline goodness [0,1] 0.9973445177942125 Centerline is valid? [True, True] Translation: X:114.52, Y:141.56, Z:6.69 [[-2.76931428e-01 -9.60718473e-01 1.81383233e-02 1.14519896e+02] [ 9.58952645e-01 -2.77521910e-01 -5.82358497e-02 1.41556258e+02] [ 6.09820388e-02 1.26645609e-03 9.98138060e-01 6.69247898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters Centerline goodness [0,1] 0.9969822895023251 Centerline is valid? [True, True] Translation: X:114.51, Y:141.58, Z:6.69 [[-2.77196241e-01 -9.60640326e-01 1.82320835e-02 1.14510895e+02] [ 9.58859700e-01 -2.77792271e-01 -5.84767449e-02 1.41581065e+02] [ 6.12398511e-02 1.27247629e-03 9.98122268e-01 6.69329507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50687499999998 meters Centerline goodness [0,1] 0.9968326239730773 Centerline is valid? [True, True] Translation: X:114.50, Y:141.61, Z:6.69 [[-2.77689607e-01 -9.60497503e-01 1.82490461e-02 1.14502447e+02] [ 9.58717312e-01 -2.78285747e-01 -5.84650225e-02 1.41606873e+02] [ 6.12339576e-02 1.26054726e-03 9.98122644e-01 6.69496544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters Centerline goodness [0,1] 0.9971606340427633 Centerline is valid? [True, True] Translation: X:114.49, Y:141.63, Z:6.70 [[-2.79419900e-01 -9.59997971e-01 1.81222014e-02 1.14494670e+02] [ 9.58245090e-01 -2.80004553e-01 -5.79982536e-02 1.41634043e+02] [ 6.07525047e-02 1.15964433e-03 9.98152187e-01 6.69724024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56687499999998 meters Centerline goodness [0,1] 0.9967252671492589 Centerline is valid? [True, True] Translation: X:114.49, Y:141.66, Z:6.70 [[-2.80840388e-01 -9.59587864e-01 1.78831943e-02 1.14486900e+02] [ 9.57883407e-01 -2.81407148e-01 -5.71786237e-02 1.41660835e+02] [ 5.99003721e-02 1.07194825e-03 9.98203785e-01 6.69923664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters Centerline goodness [0,1] 0.9978516396681154 Centerline is valid? [True, True] Translation: X:114.48, Y:141.69, Z:6.70 [[-2.82560349e-01 -9.59086512e-01 1.76836509e-02 1.14479312e+02] [ 9.57421833e-01 -2.83111505e-01 -5.64916785e-02 1.41688220e+02] [ 5.91868519e-02 9.68405076e-04 9.98246452e-01 6.70218431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62687499999998 meters Centerline goodness [0,1] 0.9974892925712597 Centerline is valid? [True, True] Translation: X:114.47, Y:141.72, Z:6.71 [[-2.84374092e-01 -9.58554767e-01 1.74394383e-02 1.14472542e+02] [ 9.56937028e-01 -2.84907045e-01 -5.56731530e-02 1.41715185e+02] [ 5.83343850e-02 8.56441915e-04 9.98296732e-01 6.70559887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters Centerline goodness [0,1] 0.9975132952531022 Centerline is valid? [True, True] Translation: X:114.46, Y:141.74, Z:6.71 [[-2.87227473e-01 -9.57710140e-01 1.70782625e-02 1.14464209e+02] [ 9.56160263e-01 -2.87733938e-01 -5.44677125e-02 1.41742128e+02] [ 5.70782763e-02 6.84932540e-04 9.98369471e-01 6.70799560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.686875 meters Centerline goodness [0,1] 0.997419069390163 Centerline is valid? [True, True] Translation: X:114.46, Y:141.77, Z:6.71 [[-2.88829929e-01 -9.57229006e-01 1.70265068e-02 1.14455152e+02] [ 9.55690806e-01 -2.89330720e-01 -5.42477373e-02 1.41767336e+02] [ 5.68537992e-02 6.03705887e-04 9.98382332e-01 6.70778034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters Centerline goodness [0,1] 0.9976372138813685 Centerline is valid? [True, True] Translation: X:114.45, Y:141.79, Z:6.71 [[-2.90477146e-01 -9.56729833e-01 1.70603135e-02 1.14447996e+02] [ 9.55188177e-01 -2.90977235e-01 -5.42935993e-02 1.41793965e+02] [ 5.69084691e-02 5.24759939e-04 9.98379262e-01 6.71022749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.746875 meters Centerline goodness [0,1] 0.9978038067349927 Centerline is valid? [True, True] Translation: X:114.44, Y:141.82, Z:6.71 [[-2.91833961e-01 -9.56316984e-01 1.70518432e-02 1.14440135e+02] [ 9.54779582e-01 -2.92331341e-01 -5.42064247e-02 1.41819409e+02] [ 5.68233128e-02 4.61476079e-04 9.98384144e-01 6.71101625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters Centerline goodness [0,1] 0.9978880157170923 Centerline is valid? [True, True] Translation: X:114.43, Y:141.85, Z:6.71 [[-2.94752215e-01 -9.55418324e-01 1.72324419e-02 1.14432867e+02] [ 9.53850187e-01 -2.95255364e-01 -5.47182885e-02 1.41846035e+02] [ 5.73668265e-02 3.08831210e-04 9.98353120e-01 6.71193108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.806875 meters Centerline goodness [0,1] 0.9981647784275821 Centerline is valid? [True, True] Translation: X:114.42, Y:141.87, Z:6.71 [[-2.96004377e-01 -9.55028566e-01 1.73737727e-02 1.14424981e+02] [ 9.53437360e-01 -2.96513701e-01 -5.51073941e-02 1.41872403e+02] [ 5.77806972e-02 2.52774109e-04 9.98329268e-01 6.71334355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters Centerline goodness [0,1] 0.9978168616773371 Centerline is valid? [True, True] Translation: X:114.42, Y:141.90, Z:6.71 [[-2.97155836e-01 -9.54671302e-01 1.73526295e-02 1.14417076e+02] [ 9.53086842e-01 -2.97661997e-01 -5.49800653e-02 1.41897984e+02] [ 5.76531089e-02 2.00915593e-04 9.98336656e-01 6.71402520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.866875 meters Centerline goodness [0,1] 0.997701318073998 Centerline is valid? [True, True] Translation: X:114.41, Y:141.92, Z:6.72 [[-2.98612317e-01 -9.54215519e-01 1.74191487e-02 1.14409093e+02] [ 9.52621669e-01 -2.99119918e-01 -5.51292166e-02 1.41924564e+02] [ 5.78155684e-02 1.31595344e-04 9.98327272e-01 6.71516084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters Centerline goodness [0,1] 0.9974887362434449 Centerline is valid? [True, True] Translation: X:114.40, Y:141.95, Z:6.72 [[-2.98536644e-01 -9.54239976e-01 1.73764323e-02 1.14400415e+02] [ 9.52657350e-01 -2.99041878e-01 -5.49356701e-02 1.41950759e+02] [ 5.76180934e-02 1.53475302e-04 9.98338686e-01 6.71660116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.926875 meters Centerline goodness [0,1] 0.9976946658491723 Centerline is valid? [True, True] Translation: X:114.39, Y:141.98, Z:6.72 [[-2.98383990e-01 -9.54287038e-01 1.74139087e-02 1.14391914e+02] [ 9.52701092e-01 -2.98891647e-01 -5.49946520e-02 1.41975321e+02] [ 5.76855554e-02 1.80726180e-04 9.98334786e-01 6.71728021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters Centerline goodness [0,1] 0.9975014697236919 Centerline is valid? [True, True] Translation: X:114.38, Y:142.00, Z:6.72 [[-2.97624164e-01 -9.54522607e-01 1.75057162e-02 1.14382874e+02] [ 9.52923851e-01 -2.98138446e-01 -5.52232010e-02 1.42001077e+02] [ 5.79309208e-02 2.45855473e-04 9.98320564e-01 6.71891379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.986875 meters Centerline goodness [0,1] 0.997376422126324 Centerline is valid? [True, True] Translation: X:114.37, Y:142.03, Z:6.72 [[-2.96421002e-01 -9.54896126e-01 1.75492905e-02 1.14373430e+02] [ 9.53293464e-01 -2.96939850e-01 -5.53018701e-02 1.42026496e+02] [ 5.80186253e-02 3.36988149e-04 9.98315444e-01 6.71952023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters Centerline goodness [0,1] 0.9971875764245537 Centerline is valid? [True, True] Translation: X:114.36, Y:142.05, Z:6.72 [[-2.93260755e-01 -9.55864633e-01 1.79145947e-02 1.14362681e+02] [ 9.54199788e-01 -2.93806900e-01 -5.63938872e-02 1.42052453e+02] [ 5.91683538e-02 5.55988553e-04 9.98247863e-01 6.72052251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.046875 meters Centerline goodness [0,1] 0.9972070460837397 Centerline is valid? [True, True] Translation: X:114.35, Y:142.08, Z:6.72 [[-2.91766926e-01 -9.56322155e-01 1.78884593e-02 1.14352481e+02] [ 9.54666258e-01 -2.92314036e-01 -5.62569221e-02 1.42077473e+02] [ 5.90287887e-02 6.63599270e-04 9.98256060e-01 6.72065400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters Centerline goodness [0,1] 0.9970546364930538 Centerline is valid? [True, True] Translation: X:114.34, Y:142.10, Z:6.72 [[-2.90132161e-01 -9.56818670e-01 1.79265771e-02 1.14343135e+02] [ 9.55159980e-01 -2.90684401e-01 -5.63204339e-02 1.42104164e+02] [ 5.90994189e-02 7.82379892e-04 9.98251795e-01 6.72283819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.106875 meters Centerline goodness [0,1] 0.996981224690146 Centerline is valid? [True, True] Translation: X:114.33, Y:142.13, Z:6.72 [[-2.88578341e-01 -9.57289524e-01 1.78691888e-02 1.14333103e+02] [ 9.55645519e-01 -2.89129681e-01 -5.60862750e-02 1.42130686e+02] [ 5.88573163e-02 8.91325997e-04 9.98266008e-01 6.72386221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters Centerline goodness [0,1] 0.9970123668421698 Centerline is valid? [True, True] Translation: X:114.32, Y:142.16, Z:6.72 [[-2.85828862e-01 -9.58115496e-01 1.77920761e-02 1.14321838e+02] [ 9.56490410e-01 -2.86380076e-01 -5.57902118e-02 1.42155649e+02] [ 5.85487625e-02 1.07149748e-03 9.98283975e-01 6.72442214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.166875 meters Centerline goodness [0,1] 0.9965369879162983 Centerline is valid? [True, True] Translation: X:114.31, Y:142.18, Z:6.73 [[-2.84856905e-01 -9.58409132e-01 1.75635492e-02 1.14312927e+02] [ 9.56829323e-01 -2.85395604e-01 -5.50181408e-02 1.42181533e+02] [ 5.77424484e-02 1.13302157e-03 9.98330870e-01 6.72623256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters Centerline goodness [0,1] 0.9968468908877591 Centerline is valid? [True, True] Translation: X:114.30, Y:142.21, Z:6.73 [[-2.84647069e-01 -9.58476099e-01 1.73093702e-02 1.14304310e+02] [ 9.56945032e-01 -2.85170571e-01 -5.41659606e-02 1.42207072e+02] [ 5.68529016e-02 1.14593390e-03 9.98381908e-01 6.72842928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22687499999998 meters Centerline goodness [0,1] 0.9969766984563956 Centerline is valid? [True, True] Translation: X:114.30, Y:142.23, Z:6.73 [[-2.84249331e-01 -9.58598131e-01 1.70863098e-02 1.14297217e+02] [ 9.57109664e-01 -2.84759991e-01 -5.34119710e-02 1.42233083e+02] [ 5.60661130e-02 1.17115520e-03 9.98426372e-01 6.73064603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters Centerline goodness [0,1] 0.9968807564779565 Centerline is valid? [True, True] Translation: X:114.29, Y:142.26, Z:6.73 [[-2.84309259e-01 -9.58581194e-01 1.70393485e-02 1.14288576e+02] [ 9.57104158e-01 -2.84816956e-01 -5.32065074e-02 1.42257856e+02] [ 5.58558528e-02 1.18132856e-03 9.98438144e-01 6.73078139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28687499999998 meters Centerline goodness [0,1] 0.9966317639305851 Centerline is valid? [True, True] Translation: X:114.28, Y:142.28, Z:6.73 [[-2.84436036e-01 -9.58539130e-01 1.72881055e-02 1.14278508e+02] [ 9.57022074e-01 -2.84958379e-01 -5.39209793e-02 1.42282454e+02] [ 5.66117591e-02 1.20802894e-03 9.98395538e-01 6.73002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters Centerline goodness [0,1] 0.9966565872606141 Centerline is valid? [True, True] Translation: X:114.27, Y:142.31, Z:6.73 [[-2.84941873e-01 -9.58383088e-01 1.76063923e-02 1.14271701e+02] [ 9.56812872e-01 -2.85482708e-01 -5.48520788e-02 1.42308749e+02] [ 5.75956253e-02 1.21636865e-03 9.98339253e-01 6.73155670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34687499999998 meters Centerline goodness [0,1] 0.9970730027548209 Centerline is valid? [True, True] Translation: X:114.26, Y:142.33, Z:6.73 [[-2.85471893e-01 -9.58227105e-01 1.75103830e-02 1.14263570e+02] [ 9.56676919e-01 -2.86005923e-01 -5.44966411e-02 1.42334966e+02] [ 5.72282319e-02 1.19451995e-03 9.98360407e-01 6.73296160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters Centerline goodness [0,1] 0.9969069887326019 Centerline is valid? [True, True] Translation: X:114.26, Y:142.36, Z:6.73 [[-2.86045789e-01 -9.58053141e-01 1.76630985e-02 1.14256430e+02] [ 9.56478798e-01 -2.86588155e-01 -5.49139245e-02 1.42360772e+02] [ 5.76724927e-02 1.18648235e-03 9.98334852e-01 6.73488013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40687499999999 meters Centerline goodness [0,1] 0.9968651269868483 Centerline is valid? [True, True] Translation: X:114.25, Y:142.39, Z:6.74 [[-2.86190968e-01 -9.58012758e-01 1.75009880e-02 1.14247481e+02] [ 9.56470448e-01 -2.86723129e-01 -5.43519095e-02 1.42385588e+02] [ 5.70877608e-02 1.18415223e-03 9.98368462e-01 6.73604859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters Centerline goodness [0,1] 0.9966762793880444 Centerline is valid? [True, True] Translation: X:114.24, Y:142.41, Z:6.74 [[-2.86456130e-01 -9.57936657e-01 1.73276520e-02 1.14239076e+02] [ 9.56427934e-01 -2.86977322e-01 -5.37552149e-02 1.42411106e+02] [ 5.64667340e-02 1.17413952e-03 9.98403791e-01 6.73737591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.466875 meters Centerline goodness [0,1] 0.9967647058823529 Centerline is valid? [True, True] Translation: X:114.23, Y:142.44, Z:6.74 [[-2.86824501e-01 -9.57830892e-01 1.70788845e-02 1.14231925e+02] [ 9.56368081e-01 -2.87330218e-01 -5.29286261e-02 1.42437074e+02] [ 5.56039528e-02 1.15247318e-03 9.98452238e-01 6.73967259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters Centerline goodness [0,1] 0.9971349511472439 Centerline is valid? [True, True] Translation: X:114.22, Y:142.46, Z:6.74 [[-2.87028204e-01 -9.57773534e-01 1.68721204e-02 1.14222784e+02] [ 9.56348927e-01 -2.87521392e-01 -5.22319813e-02 1.42462106e+02] [ 5.48775049e-02 1.14358240e-03 9.98492439e-01 6.74092876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.526875 meters Centerline goodness [0,1] 0.9975226882511651 Centerline is valid? [True, True] Translation: X:114.22, Y:142.49, Z:6.74 [[-2.87363839e-01 -9.57673860e-01 1.68167021e-02 1.14216067e+02] [ 9.56261587e-01 -2.87853233e-01 -5.20028291e-02 1.42488632e+02] [ 5.46424921e-02 1.13743363e-03 9.98505335e-01 6.74405110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters Centerline goodness [0,1] 0.9971540726202159 Centerline is valid? [True, True] Translation: X:114.21, Y:142.51, Z:6.75 [[-2.87277872e-01 -9.57702564e-01 1.66500257e-02 1.14207487e+02] [ 9.56321168e-01 -2.87757681e-01 -5.14328677e-02 1.42514619e+02] [ 5.40485620e-02 1.14724730e-03 9.98537649e-01 6.74520106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.586875 meters Centerline goodness [0,1] 0.9970033405384162 Centerline is valid? [True, True] Translation: X:114.20, Y:142.54, Z:6.75 [[-2.87439911e-01 -9.57652413e-01 1.67377621e-02 1.14199189e+02] [ 9.56259322e-01 -2.87924487e-01 -5.16488057e-02 1.42540312e+02] [ 5.42808150e-02 1.15971287e-03 9.98525036e-01 6.74575226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters Centerline goodness [0,1] 0.9970033405384162 Centerline is valid? [True, True] Translation: X:114.19, Y:142.57, Z:6.75 [[-2.87741120e-01 -9.57561669e-01 1.67540334e-02 1.14190807e+02] [ 9.56168731e-01 -2.88226134e-01 -5.16435275e-02 1.42565765e+02] [ 5.42808127e-02 1.15971646e-03 9.98525036e-01 6.74692156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.646875 meters Centerline goodness [0,1] 0.9969630917685092 Centerline is valid? [True, True] Translation: X:114.18, Y:142.59, Z:6.75 [[-2.87527945e-01 -9.57626005e-01 1.67366613e-02 1.14181629e+02] [ 9.56239056e-01 -2.88012200e-01 -5.15348384e-02 1.42591985e+02] [ 5.41714640e-02 1.18654301e-03 9.98530943e-01 6.74704457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters Centerline goodness [0,1] 0.997095027080256 Centerline is valid? [True, True] Translation: X:114.17, Y:142.62, Z:6.75 [[-2.87013443e-01 -9.57774494e-01 1.70675533e-02 1.14174006e+02] [ 9.56335455e-01 -2.87517728e-01 -5.24981287e-02 1.42618720e+02] [ 5.51885928e-02 1.25463766e-03 9.98475160e-01 6.74816835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.706875 meters Centerline goodness [0,1] 0.9969248936013186 Centerline is valid? [True, True] Translation: X:114.16, Y:142.64, Z:6.75 [[-2.87401063e-01 -9.57656518e-01 1.71645887e-02 1.14162170e+02] [ 9.56203778e-01 -2.87910439e-01 -5.27438524e-02 1.42642490e+02] [ 5.54523583e-02 1.25420534e-03 9.98460547e-01 6.74664198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters Centerline goodness [0,1] 0.9972018359883165 Centerline is valid? [True, True] Translation: X:114.16, Y:142.67, Z:6.75 [[-2.87631241e-01 -9.57585218e-01 1.72864225e-02 1.14157343e+02] [ 9.56114975e-01 -2.88147440e-01 -5.30585293e-02 1.42669674e+02] [ 5.57891017e-02 1.26651676e-03 9.98441772e-01 6.74863178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.766875 meters Centerline goodness [0,1] 0.9969276145999755 Centerline is valid? [True, True] Translation: X:114.15, Y:142.69, Z:6.75 [[-2.87660234e-01 -9.57575490e-01 1.73427318e-02 1.14148390e+02] [ 9.56098641e-01 -2.88179686e-01 -5.31776002e-02 1.42694886e+02] [ 5.59193896e-02 1.28428136e-03 9.98434461e-01 6.74934782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters Centerline goodness [0,1] 0.9972373646432007 Centerline is valid? [True, True] Translation: X:114.14, Y:142.72, Z:6.75 [[-2.87176999e-01 -9.57725244e-01 1.70800630e-02 1.14139838e+02] [ 9.56295553e-01 -2.87681509e-01 -5.23274730e-02 1.42721127e+02] [ 5.50289601e-02 1.30634164e-03 9.98483904e-01 6.75131787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.826875 meters Centerline goodness [0,1] 0.9975606751262782 Centerline is valid? [True, True] Translation: X:114.13, Y:142.75, Z:6.75 [[-2.86793109e-01 -9.57841184e-01 1.70287623e-02 1.14130755e+02] [ 9.56423271e-01 -2.87295092e-01 -5.21158039e-02 1.42746705e+02] [ 5.48109431e-02 1.34025113e-03 9.98495851e-01 6.75219282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters Centerline goodness [0,1] 0.9969878030714533 Centerline is valid? [True, True] Translation: X:114.12, Y:142.77, Z:6.75 [[-2.86047471e-01 -9.58061128e-01 1.71964907e-02 1.14122007e+02] [ 9.56618513e-01 -2.86560434e-01 -5.25750763e-02 1.42773021e+02] [ 5.52979708e-02 1.41151380e-03 9.98468899e-01 6.75305331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.886875 meters Centerline goodness [0,1] 0.9967970039667874 Centerline is valid? [True, True] Translation: X:114.11, Y:142.80, Z:6.75 [[-2.85463124e-01 -9.58228223e-01 1.75919561e-02 1.14112224e+02] [ 9.56721472e-01 -2.86000786e-01 -5.37361590e-02 1.42798247e+02] [ 5.65228175e-02 1.49091031e-03 9.98400194e-01 6.75286922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters Centerline goodness [0,1] 0.9967185611013792 Centerline is valid? [True, True] Translation: X:114.10, Y:142.82, Z:6.75 [[-2.84270273e-01 -9.58576449e-01 1.79332908e-02 1.14103341e+02] [ 9.57013662e-01 -2.84830869e-01 -5.47378047e-02 1.42824917e+02] [ 5.75783253e-02 1.60207368e-03 9.98339707e-01 6.75325991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94687499999998 meters Centerline goodness [0,1] 0.9970806531420089 Centerline is valid? [True, True] Translation: X:114.09, Y:142.85, Z:6.75 [[-2.83896996e-01 -9.58684474e-01 1.80713640e-02 1.14094609e+02] [ 9.57100699e-01 -2.84466786e-01 -5.51080677e-02 1.42851655e+02] [ 5.79719518e-02 1.65110029e-03 9.98316847e-01 6.75452148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters Centerline goodness [0,1] 0.9966915214063503 Centerline is valid? [True, True] Translation: X:114.09, Y:142.88, Z:6.76 [[-2.83605097e-01 -9.58769003e-01 1.81699860e-02 1.14086734e+02] [ 9.57171062e-01 -2.84181519e-01 -5.53572212e-02 1.42878570e+02] [ 5.82383620e-02 1.69219473e-03 9.98301272e-01 6.75590925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00687499999998 meters Centerline goodness [0,1] 0.9969163433800855 Centerline is valid? [True, True] Translation: X:114.08, Y:142.90, Z:6.76 [[-2.83416859e-01 -9.58828064e-01 1.79896659e-02 1.14077524e+02] [ 9.57264911e-01 -2.83982121e-01 -5.47543975e-02 1.42903235e+02] [ 5.76087964e-02 1.70255663e-03 9.98337782e-01 6.75709192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters Centerline goodness [0,1] 0.9967523613555792 Centerline is valid? [True, True] Translation: X:114.07, Y:142.93, Z:6.76 [[-2.83573221e-01 -9.58784400e-01 1.78522673e-02 1.14069297e+02] [ 9.57248356e-01 -2.84129536e-01 -5.42769898e-02 1.42929565e+02] [ 5.71122875e-02 1.69755273e-03 9.98366318e-01 6.75850005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06687499999998 meters Centerline goodness [0,1] 0.9970588962210524 Centerline is valid? [True, True] Translation: X:114.06, Y:142.95, Z:6.76 [[-2.84506694e-01 -9.58509446e-01 1.77646700e-02 1.14061142e+02] [ 9.56991155e-01 -2.85055992e-01 -5.39537797e-02 1.42954265e+02] [ 5.67791331e-02 1.65042058e-03 9.98385400e-01 6.75962787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters Centerline goodness [0,1] 0.9974066131365019 Centerline is valid? [True, True] Translation: X:114.06, Y:142.98, Z:6.76 [[-2.85180246e-01 -9.58310145e-01 1.77170189e-02 1.14055618e+02] [ 9.56802888e-01 -2.85725448e-01 -5.37513019e-02 1.42981593e+02] [ 5.65726212e-02 1.62288536e-03 9.98397168e-01 6.76279261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12687499999998 meters Centerline goodness [0,1] 0.9967157643312102 Centerline is valid? [True, True] Translation: X:114.05, Y:143.01, Z:6.76 [[-2.85088421e-01 -9.58337458e-01 1.77174459e-02 1.14045770e+02] [ 9.56833356e-01 -2.85633702e-01 -5.36965184e-02 1.43006057e+02] [ 5.65200847e-02 1.64438760e-03 9.98400108e-01 6.76317651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters Centerline goodness [0,1] 0.9971778926600234 Centerline is valid? [True, True] Translation: X:114.04, Y:143.03, Z:6.76 [[-2.85289343e-01 -9.58278823e-01 1.76547126e-02 1.14037470e+02] [ 9.56788589e-01 -2.85830362e-01 -5.34471646e-02 1.43032450e+02] [ 5.62635388e-02 1.64392111e-03 9.98414599e-01 6.76446695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.186875 meters Centerline goodness [0,1] 0.9973084782933759 Centerline is valid? [True, True] Translation: X:114.03, Y:143.06, Z:6.76 [[-2.85723092e-01 -9.58149168e-01 1.76773053e-02 1.14028040e+02] [ 9.56657891e-01 -2.86264732e-01 -5.34619771e-02 1.43056917e+02] [ 5.62849380e-02 1.63581221e-03 9.98413406e-01 6.76471882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters Centerline goodness [0,1] 0.9970441391986885 Centerline is valid? [True, True] Translation: X:114.02, Y:143.08, Z:6.77 [[-2.86486629e-01 -9.57920067e-01 1.77357668e-02 1.14020154e+02] [ 9.56421086e-01 -2.87030584e-01 -5.35924453e-02 1.43082700e+02] [ 5.64279863e-02 1.60934232e-03 9.98405375e-01 6.76597951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.246875 meters Centerline goodness [0,1] 0.9972672844260055 Centerline is valid? [True, True] Translation: X:114.01, Y:143.11, Z:6.77 [[-2.88057207e-01 -9.57449952e-01 1.76814593e-02 1.14011549e+02] [ 9.55962301e-01 -2.88595312e-01 -5.33743768e-02 1.43108235e+02] [ 5.62060808e-02 1.52793461e-03 9.98418020e-01 6.76665072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters Centerline goodness [0,1] 0.9971612838965114 Centerline is valid? [True, True] Translation: X:114.00, Y:143.13, Z:6.77 [[-2.88621599e-01 -9.57280900e-01 1.76309547e-02 1.14003275e+02] [ 9.55804227e-01 -2.89155689e-01 -5.31720436e-02 1.43134385e+02] [ 5.59986726e-02 1.50514079e-03 9.98429709e-01 6.76790049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.306875 meters Centerline goodness [0,1] 0.9968157619782079 Centerline is valid? [True, True] Translation: X:113.99, Y:143.16, Z:6.77 [[-2.89135535e-01 -9.57125128e-01 1.76672610e-02 1.13994537e+02] [ 9.55645155e-01 -2.89670947e-01 -5.32266755e-02 1.43160069e+02] [ 5.60622808e-02 1.49390914e-03 9.98426156e-01 6.76893367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters Centerline goodness [0,1] 0.9971157193296534 Centerline is valid? [True, True] Translation: X:113.98, Y:143.18, Z:6.77 [[-2.89210934e-01 -9.57101996e-01 1.76863116e-02 1.13984731e+02] [ 9.55621832e-01 -2.89747303e-01 -5.32298294e-02 1.43184003e+02] [ 5.60709370e-02 1.50677682e-03 9.98425651e-01 6.76929706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.366875 meters Centerline goodness [0,1] 0.9969400701544892 Centerline is valid? [True, True] Translation: X:113.98, Y:143.21, Z:6.77 [[-2.89087257e-01 -9.57138610e-01 1.77267881e-02 1.13976654e+02] [ 9.55654652e-01 -2.89626195e-01 -5.32996482e-02 1.43209708e+02] [ 5.61492933e-02 1.53243841e-03 9.98421208e-01 6.76999981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters Centerline goodness [0,1] 0.9970492697562549 Centerline is valid? [True, True] Translation: X:113.97, Y:143.23, Z:6.77 [[-2.88906043e-01 -9.57192588e-01 1.77664505e-02 1.13966247e+02] [ 9.55705269e-01 -2.89447588e-01 -5.33622691e-02 1.43234084e+02] [ 5.62204248e-02 1.56280837e-03 9.98417158e-01 6.77052346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.426875 meters Centerline goodness [0,1] 0.997156491852731 Centerline is valid? [True, True] Translation: X:113.96, Y:143.26, Z:6.77 [[-2.89019213e-01 -9.57152468e-01 1.80844805e-02 1.13957868e+02] [ 9.55614730e-01 -2.89580029e-01 -5.42576755e-02 1.43260137e+02] [ 5.71697724e-02 1.60028526e-03 9.98363189e-01 6.77169752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters Centerline goodness [0,1] 0.9968543333415897 Centerline is valid? [True, True] Translation: X:113.95, Y:143.29, Z:6.77 [[-2.89106491e-01 -9.57127354e-01 1.80184872e-02 1.13950237e+02] [ 9.55603983e-01 -2.89662995e-01 -5.40034852e-02 1.43285893e+02] [ 5.69075018e-02 1.60577998e-03 9.98378164e-01 6.77318084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.486875 meters Centerline goodness [0,1] 0.9970942505898422 Centerline is valid? [True, True] Translation: X:113.94, Y:143.31, Z:6.77 [[-2.89804719e-01 -9.56914105e-01 1.81278908e-02 1.13940441e+02] [ 9.55375095e-01 -2.90366779e-01 -5.42730221e-02 1.43310044e+02] [ 5.71983576e-02 1.59035751e-03 9.98361567e-01 6.77322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters Centerline goodness [0,1] 0.9971385204906815 Centerline is valid? [True, True] Translation: X:113.93, Y:143.34, Z:6.78 [[-2.90914710e-01 -9.56579901e-01 1.79867950e-02 1.13933038e+02] [ 9.55067456e-01 -2.91466213e-01 -5.37922035e-02 1.43336648e+02] [ 5.66990837e-02 1.52965926e-03 9.98390141e-01 6.77502031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.546875 meters Centerline goodness [0,1] 0.9967741135015757 Centerline is valid? [True, True] Translation: X:113.92, Y:143.36, Z:6.78 [[-2.91914693e-01 -9.56276604e-01 1.79127911e-02 1.13924557e+02] [ 9.54779128e-01 -2.92460021e-01 -5.35159183e-02 1.43363002e+02] [ 5.64147959e-02 1.48067622e-03 9.98406319e-01 6.77594655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters Centerline goodness [0,1] 0.9972648382524802 Centerline is valid? [True, True] Translation: X:113.92, Y:143.39, Z:6.78 [[-2.93352703e-01 -9.55838480e-01 1.78042784e-02 1.13917294e+02] [ 9.54361270e-01 -2.93889148e-01 -5.31388216e-02 1.43390119e+02] [ 5.60246146e-02 1.40329681e-03 9.98428402e-01 6.77791184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.606875 meters Centerline goodness [0,1] 0.9975037443834248 Centerline is valid? [True, True] Translation: X:113.91, Y:143.42, Z:6.78 [[-2.96355667e-01 -9.54916837e-01 1.75257786e-02 1.13911088e+02] [ 9.53486503e-01 -2.96870913e-01 -5.22604066e-02 1.43418137e+02] [ 5.51072361e-02 1.22292566e-03 9.98479693e-01 6.78022663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters Centerline goodness [0,1] 0.9974248068605145 Centerline is valid? [True, True] Translation: X:113.90, Y:143.44, Z:6.78 [[-2.97968208e-01 -9.54415833e-01 1.74746843e-02 1.13903180e+02] [ 9.52995513e-01 -2.98478000e-01 -5.20618379e-02 1.43443966e+02] [ 5.49044512e-02 1.14052322e-03 9.98490962e-01 6.78131538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.666875 meters Centerline goodness [0,1] 0.9975411481332798 Centerline is valid? [True, True] Translation: X:113.90, Y:143.47, Z:6.78 [[-3.00335458e-01 -9.53674375e-01 1.74298142e-02 1.13897372e+02] [ 9.52262736e-01 -3.00839081e-01 -5.18799425e-02 1.43471499e+02] [ 5.47201410e-02 1.01637628e-03 9.98501213e-01 6.78360688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters Centerline goodness [0,1] 0.9979436252382385 Centerline is valid? [True, True] Translation: X:113.89, Y:143.50, Z:6.78 [[-3.02413697e-01 -9.53017161e-01 1.74426808e-02 1.13889410e+02] [ 9.51604988e-01 -3.02914937e-01 -5.18699060e-02 1.43497703e+02] [ 5.47165591e-02 9.12371997e-04 9.98501510e-01 6.78444754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72687499999998 meters Centerline goodness [0,1] 0.9980125286170721 Centerline is valid? [True, True] Translation: X:113.88, Y:143.53, Z:6.79 [[-3.06494032e-01 -9.51716648e-01 1.72287304e-02 1.13883591e+02] [ 9.50339214e-01 -3.06977122e-01 -5.11900822e-02 1.43525871e+02] [ 5.40072796e-02 6.83683419e-04 9.98540308e-01 6.78594299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters Centerline goodness [0,1] 0.9985164697007795 Centerline is valid? [True, True] Translation: X:113.88, Y:143.55, Z:6.79 [[-3.08663937e-01 -9.51016251e-01 1.71657775e-02 1.13876500e+02] [ 9.49649537e-01 -3.09140367e-01 -5.09704900e-02 1.43552232e+02] [ 5.37803991e-02 5.68720517e-04 9.98552625e-01 6.78750580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78687499999998 meters Centerline goodness [0,1] 0.9982593340060545 Centerline is valid? [True, True] Translation: X:113.87, Y:143.58, Z:6.79 [[-3.10497244e-01 -9.50421207e-01 1.70584511e-02 1.13869582e+02] [ 9.49073365e-01 -3.10965111e-01 -5.06008692e-02 1.43578865e+02] [ 5.33967223e-02 4.78291189e-04 9.98573263e-01 6.78902864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters Centerline goodness [0,1] 0.9980830348584977 Centerline is valid? [True, True] Translation: X:113.86, Y:143.60, Z:6.79 [[-3.12184580e-01 -9.49870384e-01 1.69422807e-02 1.13862118e+02] [ 9.48542754e-01 -3.12643719e-01 -5.02050689e-02 1.43604898e+02] [ 5.29852058e-02 3.97229238e-04 9.98595218e-01 6.79040919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84687499999998 meters Centerline goodness [0,1] 0.9981629212069356 Centerline is valid? [True, True] Translation: X:113.85, Y:143.63, Z:6.79 [[-3.13594477e-01 -9.49408877e-01 1.67716753e-02 1.13854628e+02] [ 9.48109847e-01 -3.14042473e-01 -4.96492028e-02 1.43630669e+02] [ 5.24044122e-02 3.31674754e-04 9.98625890e-01 6.79183781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters Centerline goodness [0,1] 0.9981924534933346 Centerline is valid? [True, True] Translation: X:113.85, Y:143.66, Z:6.79 [[-3.13704407e-01 -9.49375093e-01 1.66276241e-02 1.13845472e+02] [ 9.48100871e-01 -3.14144581e-01 -4.91723511e-02 1.43655841e+02] [ 5.19064834e-02 3.39081638e-04 9.98651892e-01 6.79213871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90687499999999 meters Centerline goodness [0,1] 0.9983902610795312 Centerline is valid? [True, True] Translation: X:113.84, Y:143.68, Z:6.79 [[-3.12642421e-01 -9.49726828e-01 1.65429530e-02 1.13835986e+02] [ 9.48468707e-01 -3.13079516e-01 -4.88705226e-02 1.43681531e+02] [ 5.15929061e-02 4.11474746e-04 9.98668114e-01 6.79418133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters Centerline goodness [0,1] 0.9980115281028972 Centerline is valid? [True, True] Translation: X:113.83, Y:143.71, Z:6.80 [[-3.11991654e-01 -9.49939035e-01 1.66444603e-02 1.13826745e+02] [ 9.48668354e-01 -3.12434976e-01 -4.91196567e-02 1.43705998e+02] [ 5.18609908e-02 4.65149770e-04 9.98654205e-01 6.79506801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.966875 meters Centerline goodness [0,1] 0.9981667964139525 Centerline is valid? [True, True] Translation: X:113.82, Y:143.73, Z:6.80 [[-3.11228178e-01 -9.50189733e-01 1.66280961e-02 1.13817740e+02] [ 9.48924604e-01 -3.11671621e-01 -4.90193456e-02 1.43731282e+02] [ 5.17601845e-02 5.22607867e-04 9.98659406e-01 6.79708852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters Centerline goodness [0,1] 0.9980419720855508 Centerline is valid? [True, True] Translation: X:113.81, Y:143.76, Z:6.80 [[-3.10132609e-01 -9.50546864e-01 1.66860357e-02 1.13807430e+02] [ 9.49276007e-01 -3.10580584e-01 -4.91402475e-02 1.43757007e+02] [ 5.18924669e-02 5.99660138e-04 9.98652498e-01 6.79757622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.026875 meters Centerline goodness [0,1] 0.998103319191415 Centerline is valid? [True, True] Translation: X:113.80, Y:143.78, Z:6.80 [[-3.08213929e-01 -9.51168441e-01 1.68158177e-02 1.13795369e+02] [ 9.49881123e-01 -3.08671465e-01 -4.94750260e-02 1.43782059e+02] [ 5.22496464e-02 7.24135652e-04 9.98633792e-01 6.79753459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters Centerline goodness [0,1] 0.9984998499849985 Centerline is valid? [True, True] Translation: X:113.79, Y:143.81, Z:6.80 [[-3.07955066e-01 -9.51250339e-01 1.69254330e-02 1.13785833e+02] [ 9.49948814e-01 -3.08418901e-01 -4.97497017e-02 1.43807991e+02] [ 5.25445441e-02 7.57622352e-04 9.98618294e-01 6.79903840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.086875 meters Centerline goodness [0,1] 0.9979049234299396 Centerline is valid? [True, True] Translation: X:113.78, Y:143.83, Z:6.80 [[-3.07219620e-01 -9.51486120e-01 1.70372852e-02 1.13776097e+02] [ 9.50170189e-01 -3.07690584e-01 -5.00311464e-02 1.43833698e+02] [ 5.28461535e-02 8.17770662e-04 9.98602331e-01 6.79973328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters Centerline goodness [0,1] 0.9978984238178634 Centerline is valid? [True, True] Translation: X:113.77, Y:143.86, Z:6.80 [[-3.06179741e-01 -9.51818145e-01 1.72100256e-02 1.13766628e+02] [ 9.50477902e-01 -3.06661730e-01 -5.05009038e-02 1.43860156e+02] [ 5.33453329e-02 8.95395373e-04 9.98575723e-01 6.80139910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.146875 meters Centerline goodness [0,1] 0.9980562200956937 Centerline is valid? [True, True] Translation: X:113.75, Y:143.88, Z:6.80 [[-3.04225726e-01 -9.52444382e-01 1.72164566e-02 1.13754149e+02] [ 9.51106616e-01 -3.04710780e-01 -5.04732108e-02 1.43884771e+02] [ 5.33189660e-02 1.01943653e-03 9.98577012e-01 6.80104792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters Centerline goodness [0,1] 0.9974506212563734 Centerline is valid? [True, True] Translation: X:113.74, Y:143.91, Z:6.80 [[-3.03326001e-01 -9.52730488e-01 1.72613429e-02 1.13743962e+02] [ 9.51388649e-01 -3.03814806e-01 -5.05589016e-02 1.43910488e+02] [ 5.34132585e-02 1.08641632e-03 9.98571902e-01 6.80187834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.206875 meters Centerline goodness [0,1] 0.997618516037806 Centerline is valid? [True, True] Translation: X:113.73, Y:143.94, Z:6.80 [[-3.02521750e-01 -9.52981789e-01 1.75014629e-02 1.13733961e+02] [ 9.51604744e-01 -3.03025362e-01 -5.12253913e-02 1.43936932e+02] [ 5.41202522e-02 1.15768012e-03 9.98533754e-01 6.80302500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters Centerline goodness [0,1] 0.9968520721792584 Centerline is valid? [True, True] Translation: X:113.72, Y:143.96, Z:6.80 [[-3.00954430e-01 -9.53476353e-01 1.75862005e-02 1.13722800e+02] [ 9.52089333e-01 -3.01465154e-01 -5.14262885e-02 1.43963072e+02] [ 5.43353767e-02 1.26666453e-03 9.98521939e-01 6.80411167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.266875 meters Centerline goodness [0,1] 0.9977421595871377 Centerline is valid? [True, True] Translation: X:113.71, Y:143.99, Z:6.81 [[-3.04314190e-01 -9.52413313e-01 1.73710733e-02 1.13714560e+02] [ 9.51060767e-01 -3.04807679e-01 -5.07513126e-02 1.43989382e+02] [ 5.36310624e-02 1.07660172e-03 9.98560239e-01 6.80609821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters Centerline goodness [0,1] 0.9979181640189347 Centerline is valid? [True, True] Translation: X:113.71, Y:144.02, Z:6.81 [[-3.07887916e-01 -9.51268128e-01 1.71458299e-02 1.13707768e+02] [ 9.49951034e-01 -3.08363709e-01 -5.00485343e-02 1.44017142e+02] [ 5.28967273e-02 8.78359927e-04 9.98599602e-01 6.81031134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.326875 meters Centerline goodness [0,1] 0.9973783790468181 Centerline is valid? [True, True] Translation: X:113.70, Y:144.04, Z:6.81 [[-3.10075874e-01 -9.50558926e-01 1.70493334e-02 1.13698485e+02] [ 9.49257741e-01 -3.10543300e-01 -4.97252405e-02 1.44042140e+02] [ 5.25613275e-02 7.65614313e-04 9.98617405e-01 6.81178616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters Centerline goodness [0,1] 0.9974337462369837 Centerline is valid? [True, True] Translation: X:113.69, Y:144.07, Z:6.81 [[-3.14022897e-01 -9.49258029e-01 1.72862744e-02 1.13689395e+02] [ 9.47920585e-01 -3.14497812e-01 -5.03755009e-02 1.44068952e+02] [ 5.32558442e-02 5.66954606e-04 9.98580740e-01 6.81205172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.386875 meters Centerline goodness [0,1] 0.9975880485343703 Centerline is valid? [True, True] Translation: X:113.68, Y:144.09, Z:6.81 [[-3.15331306e-01 -9.48818200e-01 1.76122528e-02 1.13679528e+02] [ 9.47431712e-01 -3.15822350e-01 -5.12776308e-02 1.44092957e+02] [ 5.42154924e-02 5.16964542e-04 9.98529125e-01 6.81069450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters Centerline goodness [0,1] 0.9976295789447961 Centerline is valid? [True, True] Translation: X:113.67, Y:144.12, Z:6.81 [[-3.16492284e-01 -9.48423110e-01 1.80620860e-02 1.13668978e+02] [ 9.46967284e-01 -3.17006903e-01 -5.25317770e-02 1.44118320e+02] [ 5.55481573e-02 4.78302365e-04 9.98455895e-01 6.80919322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44687499999998 meters Centerline goodness [0,1] 0.9974796290405462 Centerline is valid? [True, True] Translation: X:113.66, Y:144.14, Z:6.81 [[-3.17310307e-01 -9.48140448e-01 1.85434829e-02 1.13659360e+02] [ 9.46608548e-01 -3.17851352e-01 -5.38774005e-02 1.44143961e+02] [ 5.69774138e-02 4.57564919e-04 9.98375363e-01 6.80832438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters Centerline goodness [0,1] 0.9973824551103283 Centerline is valid? [True, True] Translation: X:113.65, Y:144.17, Z:6.81 [[-3.17637061e-01 -9.48027900e-01 1.87028718e-02 1.13650061e+02] [ 9.46472462e-01 -3.18186879e-01 -5.42861840e-02 1.44169807e+02] [ 5.74158255e-02 4.58449143e-04 9.98350246e-01 6.81027191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50687499999998 meters Centerline goodness [0,1] 0.9973824551103283 Centerline is valid? [True, True] Translation: X:113.64, Y:144.20, Z:6.81 [[-3.17928797e-01 -9.47929774e-01 1.87195838e-02 1.13641213e+02] [ 9.46374505e-01 -3.18479093e-01 -5.42804213e-02 1.44195094e+02] [ 5.74158236e-02 4.58427761e-04 9.98350246e-01 6.81144101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters Centerline goodness [0,1] 0.9973085392708588 Centerline is valid? [True, True] Translation: X:113.63, Y:144.22, Z:6.81 [[-3.18027468e-01 -9.47899060e-01 1.85984605e-02 1.13632012e+02] [ 9.46366909e-01 -3.18570486e-01 -5.38750316e-02 1.44219546e+02] [ 5.69930124e-02 4.67227742e-04 9.98374468e-01 6.81331543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56687499999998 meters Centerline goodness [0,1] 0.9976251101753012 Centerline is valid? [True, True] Translation: X:113.62, Y:144.25, Z:6.82 [[-3.17928009e-01 -9.47934963e-01 1.84685307e-02 1.13622695e+02] [ 9.46427338e-01 -3.18463604e-01 -5.34436821e-02 1.44245189e+02] [ 5.65426897e-02 4.87878972e-04 9.98400063e-01 6.81622553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters Centerline goodness [0,1] 0.9975185500547379 Centerline is valid? [True, True] Translation: X:113.61, Y:144.27, Z:6.82 [[-3.16347916e-01 -9.48466958e-01 1.82873166e-02 1.13611071e+02] [ 9.46992599e-01 -3.16875492e-01 -5.28672019e-02 1.44270118e+02] [ 5.59375966e-02 5.93524340e-04 9.98434090e-01 6.81851911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62687499999998 meters Centerline goodness [0,1] 0.9973498662776562 Centerline is valid? [True, True] Translation: X:113.60, Y:144.30, Z:6.82 [[-3.15565207e-01 -9.48727642e-01 1.82883041e-02 1.13600143e+02] [ 9.47256502e-01 -3.16094023e-01 -5.28175034e-02 1.44295306e+02] [ 5.58902491e-02 6.56348583e-04 9.98436703e-01 6.81916499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters Centerline goodness [0,1] 0.9968256276049239 Centerline is valid? [True, True] Translation: X:113.59, Y:144.32, Z:6.82 [[-3.14444682e-01 -9.49101695e-01 1.81800517e-02 1.13589603e+02] [ 9.47651404e-01 -3.14968940e-01 -5.24536305e-02 1.44318973e+02] [ 5.55099812e-02 7.34586309e-04 9.98457862e-01 6.81927198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.686875 meters Centerline goodness [0,1] 0.9970427716202246 Centerline is valid? [True, True] Translation: X:113.58, Y:144.34, Z:6.82 [[-3.13483794e-01 -9.49423669e-01 1.79612904e-02 1.13579160e+02] [ 9.48011288e-01 -3.13996913e-01 -5.17738909e-02 1.44343008e+02] [ 5.47951472e-02 7.97230311e-04 9.98497299e-01 6.82006410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters Centerline goodness [0,1] 0.996974684157026 Centerline is valid? [True, True] Translation: X:113.57, Y:144.37, Z:6.82 [[-3.11984381e-01 -9.49922196e-01 1.77078202e-02 1.13569049e+02] [ 9.48552950e-01 -3.12485252e-01 -5.09928257e-02 1.44369538e+02] [ 5.39726497e-02 8.87839897e-04 9.98542020e-01 6.82325038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.746875 meters Centerline goodness [0,1] 0.9964327894140615 Centerline is valid? [True, True] Translation: X:113.56, Y:144.39, Z:6.82 [[-3.11522434e-01 -9.50074609e-01 1.76638350e-02 1.13558563e+02] [ 9.48714938e-01 -3.12021441e-01 -5.08191527e-02 1.44393383e+02] [ 5.37934819e-02 9.26637966e-04 9.98551652e-01 6.82407281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters Centerline goodness [0,1] 0.9966652271963917 Centerline is valid? [True, True] Translation: X:113.55, Y:144.42, Z:6.83 [[-3.11099804e-01 -9.50213359e-01 1.76488988e-02 1.13548653e+02] [ 9.48859061e-01 -3.11598520e-01 -5.07232068e-02 1.44418982e+02] [ 5.36972394e-02 9.66337875e-04 9.98556795e-01 6.82528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.806875 meters Centerline goodness [0,1] 0.9966806176937509 Centerline is valid? [True, True] Translation: X:113.54, Y:144.44, Z:6.83 [[-3.10777241e-01 -9.50322639e-01 1.74467501e-02 1.13539770e+02] [ 9.49002009e-01 -3.11265006e-01 -5.00927501e-02 1.44444439e+02] [ 5.30348372e-02 9.89314193e-04 9.98592173e-01 6.82712210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters Centerline goodness [0,1] 0.9970097124539495 Centerline is valid? [True, True] Translation: X:113.53, Y:144.47, Z:6.83 [[-3.10035835e-01 -9.50568284e-01 1.72545351e-02 1.13529434e+02] [ 9.49279502e-01 -3.10513876e-01 -4.94930320e-02 1.44468406e+02] [ 5.24042791e-02 1.03476298e-03 9.98625416e-01 6.82893895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.866875 meters Centerline goodness [0,1] 0.9968449734690951 Centerline is valid? [True, True] Translation: X:113.52, Y:144.49, Z:6.83 [[-3.08813704e-01 -9.50969152e-01 1.70812232e-02 1.13518773e+02] [ 9.49708753e-01 -3.09283776e-01 -4.89574241e-02 1.44494434e+02] [ 5.18399453e-02 1.10346373e-03 9.98654796e-01 6.83104585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters Centerline goodness [0,1] 0.9967556655692005 Centerline is valid? [True, True] Translation: X:113.51, Y:144.52, Z:6.83 [[-3.08870062e-01 -9.50951719e-01 1.70326962e-02 1.13509542e+02] [ 9.49700709e-01 -3.09337346e-01 -4.87746765e-02 1.44519685e+02] [ 5.16512115e-02 1.11092637e-03 9.98664567e-01 6.83159511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.926875 meters Centerline goodness [0,1] 0.9966221881513068 Centerline is valid? [True, True] Translation: X:113.50, Y:144.55, Z:6.83 [[-3.09033098e-01 -9.50898005e-01 1.70742038e-02 1.13500458e+02] [ 9.49643342e-01 -3.09502391e-01 -4.88445752e-02 1.44545612e+02] [ 5.17307160e-02 1.11981354e-03 9.98660442e-01 6.83194341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters Centerline goodness [0,1] 0.9965750964002587 Centerline is valid? [True, True] Translation: X:113.49, Y:144.57, Z:6.83 [[-3.09207098e-01 -9.50837160e-01 1.73108347e-02 1.13491218e+02] [ 9.49550020e-01 -3.09689188e-01 -4.94708729e-02 1.44570421e+02] [ 5.23997226e-02 1.14075840e-03 9.98625539e-01 6.83214274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.986875 meters Centerline goodness [0,1] 0.9966325917017438 Centerline is valid? [True, True] Translation: X:113.48, Y:144.60, Z:6.83 [[-3.09772553e-01 -9.50647567e-01 1.76115865e-02 1.13483813e+02] [ 9.49317814e-01 -3.10270676e-01 -5.02771816e-02 1.44596257e+02] [ 5.32602392e-02 1.14450188e-03 9.98580010e-01 6.83321778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters Centerline goodness [0,1] 0.9965383783264021 Centerline is valid? [True, True] Translation: X:113.47, Y:144.62, Z:6.83 [[-3.09767439e-01 -9.50647692e-01 1.76946102e-02 1.13474035e+02] [ 9.49308163e-01 -3.10270214e-01 -5.04619201e-02 1.44621068e+02] [ 5.34616184e-02 1.16617819e-03 9.98569224e-01 6.83346977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.046875 meters Centerline goodness [0,1] 0.996878676558861 Centerline is valid? [True, True] Translation: X:113.47, Y:144.65, Z:6.83 [[-3.10285505e-01 -9.50478093e-01 1.77285246e-02 1.13465514e+02] [ 9.49136010e-01 -3.10789414e-01 -5.05051939e-02 1.44646492e+02] [ 5.35139182e-02 1.15575152e-03 9.98566435e-01 6.83462387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters Centerline goodness [0,1] 0.9964149944660988 Centerline is valid? [True, True] Translation: X:113.46, Y:144.67, Z:6.84 [[-3.10771996e-01 -9.50316943e-01 1.78458398e-02 1.13457500e+02] [ 9.48959456e-01 -3.11281838e-01 -5.07894605e-02 1.44672119e+02] [ 5.38211707e-02 1.15103638e-03 9.98549927e-01 6.83564904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.106875 meters Centerline goodness [0,1] 0.9967114808008511 Centerline is valid? [True, True] Translation: X:113.45, Y:144.70, Z:6.84 [[-3.11999891e-01 -9.49913077e-01 1.79224718e-02 1.13451273e+02] [ 9.48545963e-01 -3.12512293e-01 -5.09570600e-02 1.44698478e+02] [ 5.40057704e-02 1.10169112e-03 9.98540016e-01 6.83675456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters Centerline goodness [0,1] 0.9971117743333012 Centerline is valid? [True, True] Translation: X:113.44, Y:144.72, Z:6.84 [[-3.12932510e-01 -9.49606880e-01 1.78890630e-02 1.13443562e+02] [ 9.48247122e-01 -3.13441613e-01 -5.08109272e-02 1.44724444e+02] [ 5.38575827e-02 1.06286153e-03 9.98548061e-01 6.83780212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.166875 meters Centerline goodness [0,1] 0.9968023255813954 Centerline is valid? [True, True] Translation: X:113.44, Y:144.75, Z:6.84 [[-3.13916255e-01 -9.49277966e-01 1.81087783e-02 1.13436466e+02] [ 9.47886892e-01 -3.14436434e-01 -5.13825807e-02 1.44750652e+02] [ 5.44704114e-02 1.03524627e-03 9.98514848e-01 6.83888580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters Centerline goodness [0,1] 0.9970522315338141 Centerline is valid? [True, True] Translation: X:113.43, Y:144.78, Z:6.84 [[-3.16271174e-01 -9.48497540e-01 1.80266745e-02 1.13429733e+02] [ 9.47120522e-01 -3.16783182e-01 -5.10992505e-02 1.44777597e+02] [ 5.41780607e-02 9.12213388e-04 9.98530874e-01 6.84049522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22687499999998 meters Centerline goodness [0,1] 0.9971898443418127 Centerline is valid? [True, True] Translation: X:113.42, Y:144.80, Z:6.84 [[-3.17832208e-01 -9.47978413e-01 1.78778154e-02 1.13423041e+02] [ 9.46625686e-01 -3.18333532e-01 -5.06317298e-02 1.44804081e+02] [ 5.36888950e-02 8.31204842e-04 9.98557365e-01 6.84222641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters Centerline goodness [0,1] 0.9972418843055895 Centerline is valid? [True, True] Translation: X:113.42, Y:144.83, Z:6.84 [[-3.19588426e-01 -9.47387917e-01 1.78709904e-02 1.13416579e+02] [ 9.46037937e-01 -3.20086826e-01 -5.05632836e-02 1.44830702e+02] [ 5.36233126e-02 7.47194703e-04 9.98560956e-01 6.84412406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28687499999998 meters Centerline goodness [0,1] 0.9978305886993393 Centerline is valid? [True, True] Translation: X:113.41, Y:144.86, Z:6.85 [[-3.23109588e-01 -9.46189805e-01 1.80290723e-02 1.13412994e+02] [ 9.44816478e-01 -3.23611698e-01 -5.09636372e-02 1.44858464e+02] [ 5.40556926e-02 5.67324798e-04 9.98537761e-01 6.84537430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters Centerline goodness [0,1] 0.9978785337214465 Centerline is valid? [True, True] Translation: X:113.41, Y:144.89, Z:6.85 [[-3.24740883e-01 -9.45630783e-01 1.80493856e-02 1.13406546e+02] [ 9.44255422e-01 -3.25241733e-01 -5.09854243e-02 1.44885373e+02] [ 5.40838002e-02 4.86178479e-04 9.98536282e-01 6.84707384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34687499999998 meters Centerline goodness [0,1] 0.9981183461252785 Centerline is valid? [True, True] Translation: X:113.40, Y:144.91, Z:6.85 [[-3.25848520e-01 -9.45246424e-01 1.82192175e-02 1.13399709e+02] [ 9.43847192e-01 -3.26357169e-01 -5.14147441e-02 1.44912131e+02] [ 5.45455753e-02 4.42738992e-04 9.98511184e-01 6.84893928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters Centerline goodness [0,1] 0.9982661679835534 Centerline is valid? [True, True] Translation: X:113.39, Y:144.94, Z:6.85 [[-3.26486352e-01 -9.45023751e-01 1.83513310e-02 1.13392383e+02] [ 9.43606646e-01 -3.27001420e-01 -5.17355643e-02 1.44937247e+02] [ 5.48922483e-02 4.25482249e-04 9.98492193e-01 6.84956326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40687499999999 meters Centerline goodness [0,1] 0.9975908402255173 Centerline is valid? [True, True] Translation: X:113.38, Y:144.96, Z:6.85 [[-3.26721497e-01 -9.44936612e-01 1.86510813e-02 1.13384258e+02] [ 9.43475555e-01 -3.27253129e-01 -5.25287190e-02 1.44962590e+02] [ 5.57399345e-02 4.34577547e-04 9.98445227e-01 6.84925485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters Centerline goodness [0,1] 0.9983499174958748 Centerline is valid? [True, True] Translation: X:113.38, Y:144.99, Z:6.85 [[-3.27191144e-01 -9.44774800e-01 1.86153576e-02 1.13376732e+02] [ 9.43321388e-01 -3.27720003e-01 -5.23866334e-02 1.44988324e+02] [ 5.55941961e-02 4.19822451e-04 9.98453359e-01 6.84971088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.466875 meters Centerline goodness [0,1] 0.9979719579369054 Centerline is valid? [True, True] Translation: X:113.37, Y:145.01, Z:6.85 [[-3.28130368e-01 -9.44450295e-01 1.85499874e-02 1.13369103e+02] [ 9.43009274e-01 -3.28654068e-01 -5.21537356e-02 1.45014184e+02] [ 5.53531398e-02 3.79585708e-04 9.98466768e-01 6.85124182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters Centerline goodness [0,1] 0.998041332898074 Centerline is valid? [True, True] Translation: X:113.36, Y:145.04, Z:6.85 [[-3.29819281e-01 -9.43861127e-01 1.85853517e-02 1.13361918e+02] [ 9.42416253e-01 -3.30342377e-01 -5.22065117e-02 1.45039433e+02] [ 5.54152262e-02 2.96423306e-04 9.98463352e-01 6.85292766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.526875 meters Centerline goodness [0,1] 0.9987695552821234 Centerline is valid? [True, True] Translation: X:113.36, Y:145.07, Z:6.86 [[-3.34052300e-01 -9.42379357e-01 1.81716541e-02 1.13356816e+02] [ 9.40998012e-01 -3.34546177e-01 -5.10058483e-02 1.45066730e+02] [ 5.41461159e-02 6.08694456e-05 9.98533021e-01 6.85769996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters Centerline goodness [0,1] 0.9985150882138273 Centerline is valid? [True, True] Translation: X:113.35, Y:145.09, Z:6.86 [[-3.36358184e-01 -9.41557531e-01 1.82370038e-02 1.13349762e+02] [ 9.40167792e-01 -3.36852213e-01 -5.11381324e-02 1.45091695e+02] [ 5.42926687e-02 -5.48857677e-05 9.98525064e-01 6.85921050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.586875 meters Centerline goodness [0,1] 0.9985905567300916 Centerline is valid? [True, True] Translation: X:113.34, Y:145.12, Z:6.86 [[-3.37197592e-01 -9.41255413e-01 1.83311749e-02 1.13340334e+02] [ 9.39853714e-01 -3.37695485e-01 -5.13493408e-02 1.45117784e+02] [ 5.45231999e-02 -8.62512636e-05 9.98512500e-01 6.86111660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters Centerline goodness [0,1] 0.9987698024152042 Centerline is valid? [True, True] Translation: X:113.33, Y:145.14, Z:6.86 [[-3.37654422e-01 -9.41087734e-01 1.85302018e-02 1.13330871e+02] [ 9.39658025e-01 -3.38162487e-01 -5.18548840e-02 1.45142297e+02] [ 5.50662144e-02 -9.69780721e-05 9.98482700e-01 6.86147343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.646875 meters Centerline goodness [0,1] 0.9983500824958752 Centerline is valid? [True, True] Translation: X:113.32, Y:145.17, Z:6.86 [[-3.37460143e-01 -9.41160165e-01 1.83901083e-02 1.13319110e+02] [ 9.39754956e-01 -3.37960856e-01 -5.14109166e-02 1.45166764e+02] [ 5.46010435e-02 -6.69398184e-05 9.98508248e-01 6.86173864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters Centerline goodness [0,1] 0.9980487804878049 Centerline is valid? [True, True] Translation: X:113.31, Y:145.19, Z:6.86 [[-3.37030050e-01 -9.41315565e-01 1.83235505e-02 1.13308527e+02] [ 9.39923417e-01 -3.37527786e-01 -5.11758060e-02 1.45191641e+02] [ 5.43572901e-02 -2.50502470e-05 9.98521549e-01 6.86332928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.706875 meters Centerline goodness [0,1] 0.9988794820717132 Centerline is valid? [True, True] Translation: X:113.30, Y:145.22, Z:6.86 [[-3.36309969e-01 -9.41572126e-01 1.83721422e-02 1.13298030e+02] [ 9.40175743e-01 -3.36811416e-01 -5.12605344e-02 1.45216205e+02] [ 5.44534376e-02 3.36137287e-05 9.98516310e-01 6.86435798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters Centerline goodness [0,1] 0.9985552732526279 Centerline is valid? [True, True] Translation: X:113.29, Y:145.24, Z:6.87 [[-3.35609286e-01 -9.41824074e-01 1.82707678e-02 1.13287185e+02] [ 9.40446266e-01 -3.36106241e-01 -5.09255779e-02 1.45240740e+02] [ 5.41038544e-02 9.15784913e-05 9.98535310e-01 6.86521611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.766875 meters Centerline goodness [0,1] 0.9984587849259222 Centerline is valid? [True, True] Translation: X:113.28, Y:145.27, Z:6.87 [[-3.33562955e-01 -9.42547916e-01 1.84168901e-02 1.13275220e+02] [ 9.41151900e-01 -3.34070913e-01 -5.12808474e-02 1.45265420e+02] [ 5.44872031e-02 2.27700087e-04 9.98514443e-01 6.86757007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters Centerline goodness [0,1] 0.9982395239275973 Centerline is valid? [True, True] Translation: X:113.26, Y:145.29, Z:6.87 [[-3.32870979e-01 -9.42793328e-01 1.83753370e-02 1.13264619e+02] [ 9.41406585e-01 -3.33377655e-01 -5.11173284e-02 1.45289645e+02] [ 5.43190029e-02 2.83188164e-04 9.98523593e-01 6.86842262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.826875 meters Centerline goodness [0,1] 0.998136368154259 Centerline is valid? [True, True] Translation: X:113.25, Y:145.31, Z:6.87 [[-3.32033318e-01 -9.43084835e-01 1.85706731e-02 1.13254526e+02] [ 9.41671195e-01 -3.32552060e-01 -5.16186824e-02 1.45314700e+02] [ 5.48565122e-02 3.48345563e-04 9.98494187e-01 6.87131572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters Centerline goodness [0,1] 0.9979234135126449 Centerline is valid? [True, True] Translation: X:113.24, Y:145.34, Z:6.87 [[-3.31238695e-01 -9.43363538e-01 1.86054352e-02 1.13243384e+02] [ 9.41947933e-01 -3.31760553e-01 -5.16626337e-02 1.45339038e+02] [ 5.49091944e-02 4.12687832e-04 9.98491267e-01 6.87169241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.886875 meters Centerline goodness [0,1] 0.9975334221301366 Centerline is valid? [True, True] Translation: X:113.23, Y:145.36, Z:6.87 [[-3.28818098e-01 -9.44206243e-01 1.87944053e-02 1.13229853e+02] [ 9.42766035e-01 -3.29354276e-01 -5.21341030e-02 1.45363891e+02] [ 5.54153633e-02 5.76090357e-04 9.98463222e-01 6.87191933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters Centerline goodness [0,1] 0.99769991191152 Centerline is valid? [True, True] Translation: X:113.22, Y:145.39, Z:6.87 [[-3.28057863e-01 -9.44471444e-01 1.87544742e-02 1.13218677e+02] [ 9.43040310e-01 -3.28592893e-01 -5.19777262e-02 1.45388395e+02] [ 5.52540650e-02 6.34523360e-04 9.98472126e-01 6.87286453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94687499999998 meters Centerline goodness [0,1] 0.9976047904191617 Centerline is valid? [True, True] Translation: X:113.21, Y:145.41, Z:6.87 [[-3.27241044e-01 -9.44754325e-01 1.87767199e-02 1.13208084e+02] [ 9.43323039e-01 -3.27778548e-01 -5.19891009e-02 1.45413682e+02] [ 5.52715339e-02 6.99544855e-04 9.98471115e-01 6.87405740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters Centerline goodness [0,1] 0.9980677510089275 Centerline is valid? [True, True] Translation: X:113.20, Y:145.44, Z:6.88 [[-3.26734291e-01 -9.44930511e-01 1.87358351e-02 1.13197169e+02] [ 9.43508548e-01 -3.27270186e-01 -5.18251387e-02 1.45439196e+02] [ 5.51028351e-02 7.44370649e-04 9.98480407e-01 6.87569093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00687499999998 meters Centerline goodness [0,1] 0.9978127734033246 Centerline is valid? [True, True] Translation: X:113.18, Y:145.46, Z:6.88 [[-3.25496532e-01 -9.45363429e-01 1.84389685e-02 1.13184857e+02] [ 9.43989618e-01 -3.26017352e-01 -5.09537655e-02 1.45463244e+02] [ 5.41812502e-02 8.20920811e-04 9.98530780e-01 6.87617272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters Centerline goodness [0,1] 0.9976407063287445 Centerline is valid? [True, True] Translation: X:113.17, Y:145.49, Z:6.88 [[-3.25231834e-01 -9.45455705e-01 1.83783890e-02 1.13174894e+02] [ 9.44093851e-01 -3.25749578e-01 -5.07347292e-02 1.45488155e+02] [ 5.39541916e-02 8.50375018e-04 9.98543050e-01 6.87775756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06687499999998 meters Centerline goodness [0,1] 0.9978352345973293 Centerline is valid? [True, True] Translation: X:113.17, Y:145.51, Z:6.88 [[-3.25161070e-01 -9.45482228e-01 1.82656652e-02 1.13165065e+02] [ 9.44139671e-01 -3.25672547e-01 -5.03753276e-02 1.45513797e+02] [ 5.35776027e-02 8.65243734e-04 9.98563314e-01 6.87960437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters Centerline goodness [0,1] 0.9976691108629145 Centerline is valid? [True, True] Translation: X:113.16, Y:145.54, Z:6.88 [[-3.24736951e-01 -9.45628812e-01 1.82225885e-02 1.13155034e+02] [ 9.44295429e-01 -3.25246574e-01 -5.02076629e-02 1.45539492e+02] [ 5.34046471e-02 9.03223700e-04 9.98572545e-01 6.88141797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12687499999998 meters Centerline goodness [0,1] 0.9972885951533639 Centerline is valid? [True, True] Translation: X:113.14, Y:145.57, Z:6.88 [[-3.23542610e-01 -9.46037239e-01 1.82680419e-02 1.13142640e+02] [ 9.44700432e-01 -3.24056422e-01 -5.02844737e-02 1.45565080e+02] [ 5.34908609e-02 9.88657182e-04 9.98567850e-01 6.88238333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters Centerline goodness [0,1] 0.9969794360002899 Centerline is valid? [True, True] Translation: X:113.13, Y:145.59, Z:6.88 [[-3.23224640e-01 -9.46146594e-01 1.82333315e-02 1.13131550e+02] [ 9.44817394e-01 -3.23736905e-01 -5.01448828e-02 1.45588545e+02] [ 5.33472124e-02 1.01910711e-03 9.98575504e-01 6.88236586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.186875 meters Centerline goodness [0,1] 0.9966925788228478 Centerline is valid? [True, True] Translation: X:113.12, Y:145.61, Z:6.88 [[-3.23134854e-01 -9.46172473e-01 1.84802111e-02 1.13122156e+02] [ 9.44809622e-01 -3.23661156e-01 -5.07763220e-02 1.45614579e+02] [ 5.40244846e-02 1.05268192e-03 9.98539056e-01 6.88315488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters Centerline goodness [0,1] 0.9974900446482442 Centerline is valid? [True, True] Translation: X:113.11, Y:145.64, Z:6.88 [[-3.22917612e-01 -9.46239365e-01 1.88488872e-02 1.13111928e+02] [ 9.44824481e-01 -3.23465379e-01 -5.17382803e-02 1.45640242e+02] [ 5.50537599e-02 1.10168815e-03 9.98482784e-01 6.88434975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.246875 meters Centerline goodness [0,1] 0.9970270466246103 Centerline is valid? [True, True] Translation: X:113.10, Y:145.66, Z:6.88 [[-3.23686170e-01 -9.45974178e-01 1.89767514e-02 1.13101663e+02] [ 9.44542328e-01 -3.24240170e-01 -5.20394269e-02 1.45664570e+02] [ 5.53809792e-02 1.07990217e-03 9.98464712e-01 6.88486097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters Centerline goodness [0,1] 0.9971591593037533 Centerline is valid? [True, True] Translation: X:113.09, Y:145.69, Z:6.89 [[-3.24310372e-01 -9.45762529e-01 1.88685402e-02 1.13092417e+02] [ 9.44349506e-01 -3.24857087e-01 -5.16902613e-02 1.45690636e+02] [ 5.50162912e-02 1.05480873e-03 9.98484900e-01 6.88673582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.306875 meters Centerline goodness [0,1] 0.9970666025486896 Centerline is valid? [True, True] Translation: X:113.08, Y:145.72, Z:6.89 [[-3.25194710e-01 -9.45461581e-01 1.87296354e-02 1.13082936e+02] [ 9.44071485e-01 -3.25732058e-01 -5.12606848e-02 1.45716203e+02] [ 5.45658508e-02 1.01241115e-03 9.98509661e-01 6.88860946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters Centerline goodness [0,1] 0.9972382987920559 Centerline is valid? [True, True] Translation: X:113.07, Y:145.74, Z:6.89 [[-3.27556010e-01 -9.44654207e-01 1.83163652e-02 1.13073497e+02] [ 9.43326009e-01 -3.28066558e-01 -5.00836732e-02 1.45741562e+02] [ 5.33207394e-02 8.73095507e-04 9.98577056e-01 6.89073536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.366875 meters Centerline goodness [0,1] 0.9969479224243589 Centerline is valid? [True, True] Translation: X:113.06, Y:145.77, Z:6.89 [[-3.29062307e-01 -9.44131260e-01 1.82801182e-02 1.13063727e+02] [ 9.42809754e-01 -3.29568693e-01 -4.99424169e-02 1.45767000e+02] [ 5.31767516e-02 8.00506886e-04 9.98584795e-01 6.89125281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters Centerline goodness [0,1] 0.9970844778564888 Centerline is valid? [True, True] Translation: X:113.06, Y:145.79, Z:6.89 [[-3.31382288e-01 -9.43322004e-01 1.81487104e-02 1.13055151e+02] [ 9.42020622e-01 -3.31878191e-01 -4.95380151e-02 1.45793675e+02] [ 5.27534609e-02 6.80438653e-04 9.98607335e-01 6.89298099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.426875 meters Centerline goodness [0,1] 0.9970844778564888 Centerline is valid? [True, True] Translation: X:113.05, Y:145.82, Z:6.89 [[-3.31679738e-01 -9.43217187e-01 1.81628741e-02 1.13045818e+02] [ 9.41915931e-01 -3.32175974e-01 -4.95328219e-02 1.45818788e+02] [ 5.27534793e-02 6.78867115e-04 9.98607335e-01 6.89415091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters Centerline goodness [0,1] 0.9970774943106959 Centerline is valid? [True, True] Translation: X:113.04, Y:145.84, Z:6.89 [[-3.35656676e-01 -9.41812828e-01 1.79775553e-02 1.13036349e+02] [ 9.40538399e-01 -3.36137439e-01 -4.89810288e-02 1.45844322e+02] [ 5.21738906e-02 4.67771738e-04 9.98637906e-01 6.89468391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.486875 meters Centerline goodness [0,1] 0.9972090561316556 Centerline is valid? [True, True] Translation: X:113.03, Y:145.87, Z:6.90 [[-3.37754431e-01 -9.41062004e-01 1.80069029e-02 1.13027990e+02] [ 9.39784566e-01 -3.38233898e-01 -4.90183634e-02 1.45870488e+02] [ 5.22198643e-02 3.66439954e-04 9.98635545e-01 6.89614395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters Centerline goodness [0,1] 0.9975025214927237 Centerline is valid? [True, True] Translation: X:113.02, Y:145.89, Z:6.90 [[-3.39874359e-01 -9.40295302e-01 1.81704495e-02 1.13018677e+02] [ 9.38996039e-01 -3.40359624e-01 -4.94142261e-02 1.45894692e+02] [ 5.26484520e-02 2.67351637e-04 9.98613073e-01 6.89584420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.546875 meters Centerline goodness [0,1] 0.9973382571579301 Centerline is valid? [True, True] Translation: X:113.01, Y:145.92, Z:6.90 [[-3.43307776e-01 -9.39036315e-01 1.87235306e-02 1.13009432e+02] [ 9.37657686e-01 -3.43817962e-01 -5.08652408e-02 1.45920114e+02] [ 5.42017944e-02 9.38296950e-05 9.98529998e-01 6.89664585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters Centerline goodness [0,1] 0.9977941352770519 Centerline is valid? [True, True] Translation: X:113.00, Y:145.95, Z:6.90 [[-3.44428751e-01 -9.38624087e-01 1.88058049e-02 1.12999849e+02] [ 9.37235390e-01 -3.44941764e-01 -5.10392401e-02 1.45945541e+02] [ 5.43935676e-02 4.60841419e-05 9.98519573e-01 6.89795940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.606875 meters Centerline goodness [0,1] 0.9977507118757627 Centerline is valid? [True, True] Translation: X:112.99, Y:145.97, Z:6.90 [[-3.45430904e-01 -9.38251643e-01 1.90090600e-02 1.12990540e+02] [ 9.36834975e-01 -3.45953542e-01 -5.15400514e-02 1.45969811e+02] [ 5.49337896e-02 4.82569546e-06 9.98489999e-01 6.89880703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters Centerline goodness [0,1] 0.9974560203518372 Centerline is valid? [True, True] Translation: X:112.98, Y:145.99, Z:6.90 [[-3.45916943e-01 -9.38073080e-01 1.89832654e-02 1.12980610e+02] [ 9.36662822e-01 -3.46437434e-01 -5.14184972e-02 1.45994942e+02] [ 5.48108218e-02 -5.61044437e-06 9.98496757e-01 6.90049598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.666875 meters Centerline goodness [0,1] 0.997207703873416 Centerline is valid? [True, True] Translation: X:112.97, Y:146.02, Z:6.90 [[-3.46219114e-01 -9.37961481e-01 1.89890901e-02 1.12969976e+02] [ 9.36552925e-01 -3.46739470e-01 -5.13844137e-02 1.46020051e+02] [ 5.47808678e-02 -5.97832775e-06 9.98498401e-01 6.90097762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters Centerline goodness [0,1] 0.9979246183206106 Centerline is valid? [True, True] Translation: X:112.96, Y:146.04, Z:6.90 [[-3.45972802e-01 -9.38051427e-01 1.90352504e-02 1.12958262e+02] [ 9.36638883e-01 -3.46496060e-01 -5.14595281e-02 1.46044732e+02] [ 5.48673231e-02 2.55585185e-05 9.98493654e-01 6.90192131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72687499999998 meters Centerline goodness [0,1] 0.9978000430426361 Centerline is valid? [True, True] Translation: X:112.95, Y:146.07, Z:6.90 [[-3.46141839e-01 -9.37988573e-01 1.90594970e-02 1.12948591e+02] [ 9.36575080e-01 -3.46666174e-01 -5.14750742e-02 1.46068994e+02] [ 5.48903143e-02 3.29730313e-05 9.98492390e-01 6.90232440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters Centerline goodness [0,1] 0.9970878884804507 Centerline is valid? [True, True] Translation: X:112.94, Y:146.09, Z:6.90 [[-3.46278121e-01 -9.37937454e-01 1.90996419e-02 1.12939006e+02] [ 9.36520743e-01 -3.46804457e-01 -5.15321958e-02 1.46094119e+02] [ 5.49578175e-02 4.27388850e-05 9.98488676e-01 6.90321505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78687499999998 meters Centerline goodness [0,1] 0.9975852917971645 Centerline is valid? [True, True] Translation: X:112.93, Y:146.12, Z:6.90 [[-3.46643807e-01 -9.37803532e-01 1.90422366e-02 1.12929504e+02] [ 9.36397813e-01 -3.47166436e-01 -5.13283614e-02 1.46118710e+02] [ 5.47467440e-02 3.84500965e-05 9.98500272e-01 6.90419343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters Centerline goodness [0,1] 0.9972543214592684 Centerline is valid? [True, True] Translation: X:112.92, Y:146.14, Z:6.91 [[-3.47066909e-01 -9.37656473e-01 1.85714743e-02 1.12919273e+02] [ 9.36321811e-01 -3.47563430e-01 -5.00112866e-02 1.46144169e+02] [ 5.33481719e-02 3.16138375e-05 9.98575972e-01 6.90649759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84687499999998 meters Centerline goodness [0,1] 0.9971134807605143 Centerline is valid? [True, True] Translation: X:112.91, Y:146.17, Z:6.91 [[-3.46795565e-01 -9.37756988e-01 1.85652257e-02 1.12909487e+02] [ 9.36425772e-01 -3.47292136e-01 -4.99494391e-02 1.46168762e+02] [ 5.32879924e-02 6.27118936e-05 9.98579184e-01 6.90774951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters Centerline goodness [0,1] 0.9972499222804123 Centerline is valid? [True, True] Translation: X:112.90, Y:146.19, Z:6.91 [[-3.46611817e-01 -9.37826865e-01 1.84667258e-02 1.12899383e+02] [ 9.36511842e-01 -3.47103391e-01 -4.96468065e-02 1.46193995e+02] [ 5.29699721e-02 8.61376318e-05 9.98596102e-01 6.91016726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90687499999999 meters Centerline goodness [0,1] 0.9973117000523386 Centerline is valid? [True, True] Translation: X:112.89, Y:146.22, Z:6.91 [[-3.46066414e-01 -9.38027434e-01 1.85086734e-02 1.12888913e+02] [ 9.36709226e-01 -3.46560984e-01 -4.97122749e-02 1.46218365e+02] [ 5.30458617e-02 1.33496466e-04 9.98592068e-01 6.91076112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters Centerline goodness [0,1] 0.9971321367970748 Centerline is valid? [True, True] Translation: X:112.88, Y:146.24, Z:6.91 [[-3.45041319e-01 -9.38402946e-01 1.86117840e-02 1.12878237e+02] [ 9.37073164e-01 -3.45542858e-01 -4.99401467e-02 1.46243019e+02] [ 5.32951499e-02 2.09189242e-04 9.98578782e-01 6.91217108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.966875 meters Centerline goodness [0,1] 0.9969499845116401 Centerline is valid? [True, True] Translation: X:112.87, Y:146.27, Z:6.91 [[-3.42574941e-01 -9.39309239e-01 1.84543822e-02 1.12865793e+02] [ 9.38005638e-01 -3.43071454e-01 -4.94712111e-02 1.46266033e+02] [ 5.27999374e-02 3.62717374e-04 9.98605045e-01 6.91217734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters Centerline goodness [0,1] 0.9974757096589827 Centerline is valid? [True, True] Translation: X:112.85, Y:146.29, Z:6.91 [[-3.41400377e-01 -9.39736832e-01 1.84518044e-02 1.12854578e+02] [ 9.38436756e-01 -3.41898360e-01 -4.94162513e-02 1.46290572e+02] [ 5.27469131e-02 4.45124583e-04 9.98607813e-01 6.91356479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.026875 meters Centerline goodness [0,1] 0.9969472931075603 Centerline is valid? [True, True] Translation: X:112.84, Y:146.32, Z:6.91 [[-3.40499704e-01 -9.40064207e-01 1.84184113e-02 1.12844155e+02] [ 9.38771689e-01 -3.40997106e-01 -4.92817413e-02 1.46315663e+02] [ 5.26086260e-02 5.10264776e-04 9.98615077e-01 6.91469023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters Centerline goodness [0,1] 0.9966534545368239 Centerline is valid? [True, True] Translation: X:112.83, Y:146.34, Z:6.91 [[-3.38248140e-01 -9.40873895e-01 1.85609582e-02 1.12831508e+02] [ 9.39564833e-01 -3.38756377e-01 -4.96189557e-02 1.46339727e+02] [ 5.29728231e-02 6.55704105e-04 9.98595739e-01 6.91408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.086875 meters Centerline goodness [0,1] 0.9966369040570305 Centerline is valid? [True, True] Translation: X:112.82, Y:146.36, Z:6.92 [[-3.37204805e-01 -9.41245893e-01 1.86839003e-02 1.12820955e+02] [ 9.39921661e-01 -3.37721241e-01 -4.99162710e-02 1.46363764e+02] [ 5.32934351e-02 7.29396148e-04 9.98578629e-01 6.91511097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters Centerline goodness [0,1] 0.9964065344334382 Centerline is valid? [True, True] Translation: X:112.81, Y:146.39, Z:6.92 [[-3.36626624e-01 -9.41453855e-01 1.86320779e-02 1.12811255e+02] [ 9.40139250e-01 -3.37140981e-01 -4.97408217e-02 1.46388702e+02] [ 5.31103254e-02 7.72662917e-04 9.98588352e-01 6.91660741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.146875 meters Centerline goodness [0,1] 0.996727376209448 Centerline is valid? [True, True] Translation: X:112.80, Y:146.41, Z:6.92 [[-3.36075258e-01 -9.41650351e-01 1.86557825e-02 1.12800882e+02] [ 9.40335250e-01 -3.36591657e-01 -4.97561426e-02 1.46414019e+02] [ 5.31322698e-02 8.20881466e-04 9.98587146e-01 6.91805838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters Centerline goodness [0,1] 0.9967310972143263 Centerline is valid? [True, True] Translation: X:112.79, Y:146.44, Z:6.92 [[-3.35230090e-01 -9.41946654e-01 1.89020753e-02 1.12789894e+02] [ 9.40599535e-01 -3.35761375e-01 -5.03667963e-02 1.46439618e+02] [ 5.37894220e-02 8.94817587e-04 9.98551900e-01 6.91909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.206875 meters Centerline goodness [0,1] 0.9965891325974703 Centerline is valid? [True, True] Translation: X:112.78, Y:146.47, Z:6.92 [[-3.35586523e-01 -9.41819740e-01 1.89013864e-02 1.12780691e+02] [ 9.40474828e-01 -3.36117222e-01 -5.03220799e-02 1.46465389e+02] [ 5.37474097e-02 8.88866260e-04 9.98554168e-01 6.92023008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters Centerline goodness [0,1] 0.9967322582936705 Centerline is valid? [True, True] Translation: X:112.77, Y:146.49, Z:6.92 [[-3.36017674e-01 -9.41670207e-01 1.86907619e-02 1.12771357e+02] [ 9.40357396e-01 -3.36535975e-01 -4.97142321e-02 1.46490549e+02] [ 5.31045250e-02 8.71135629e-04 9.98588579e-01 6.92163280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.266875 meters Centerline goodness [0,1] 0.9965946176039351 Centerline is valid? [True, True] Translation: X:112.76, Y:146.51, Z:6.92 [[-3.36733733e-01 -9.41419016e-01 1.84561411e-02 1.12761402e+02] [ 9.40141069e-01 -3.37238100e-01 -4.90431821e-02 1.46514919e+02] [ 5.23942982e-02 8.36882464e-04 9.98626125e-01 6.92304195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters Centerline goodness [0,1] 0.996856089258699 Centerline is valid? [True, True] Translation: X:112.75, Y:146.54, Z:6.92 [[-3.37509112e-01 -9.41142642e-01 1.83882173e-02 1.12751854e+02] [ 9.39876213e-01 -3.38008691e-01 -4.88142360e-02 1.46540424e+02] [ 5.21565364e-02 8.07398605e-04 9.98638595e-01 6.92474551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.326875 meters Centerline goodness [0,1] 0.9963932736896342 Centerline is valid? [True, True] Translation: X:112.74, Y:146.56, Z:6.93 [[-3.38012065e-01 -9.40962561e-01 1.83658062e-02 1.12741403e+02] [ 9.39701350e-01 -3.38509717e-01 -4.87087755e-02 1.46564898e+02] [ 5.20501380e-02 7.94219043e-04 9.98644157e-01 6.92598435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters Centerline goodness [0,1] 0.996670130360854 Centerline is valid? [True, True] Translation: X:112.73, Y:146.59, Z:6.93 [[-3.38220465e-01 -9.40884773e-01 1.85138157e-02 1.12732504e+02] [ 9.39605550e-01 -3.38725842e-01 -4.90531789e-02 1.46590558e+02] [ 5.24244969e-02 8.04895059e-04 9.98624566e-01 6.92832100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.386875 meters Centerline goodness [0,1] 0.9966365603537491 Centerline is valid? [True, True] Translation: X:112.72, Y:146.62, Z:6.93 [[-3.38274794e-01 -9.40865135e-01 1.85191983e-02 1.12720343e+02] [ 9.39587601e-01 -3.38780353e-01 -4.90205353e-02 1.46615191e+02] [ 5.23956531e-02 8.17997592e-04 9.98626069e-01 6.92881925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters Centerline goodness [0,1] 0.9967128433904673 Centerline is valid? [True, True] Translation: X:112.71, Y:146.64, Z:6.93 [[-3.38678402e-01 -9.40716355e-01 1.86997237e-02 1.12709306e+02] [ 9.39416091e-01 -3.39193261e-01 -4.94503781e-02 1.46639115e+02] [ 5.28615997e-02 8.19046308e-04 9.98601512e-01 6.92862026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44687499999998 meters Centerline goodness [0,1] 0.9966700279061042 Centerline is valid? [True, True] Translation: X:112.70, Y:146.66, Z:6.93 [[-3.39149832e-01 -9.40541593e-01 1.89447491e-02 1.12699484e+02] [ 9.39209429e-01 -3.39677554e-01 -5.00480548e-02 1.46664997e+02] [ 5.35073832e-02 8.19297637e-04 9.98567118e-01 6.92964365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters Centerline goodness [0,1] 0.9962754743499649 Centerline is valid? [True, True] Translation: X:112.69, Y:146.69, Z:6.93 [[-3.39643063e-01 -9.40355277e-01 1.93531324e-02 1.12689402e+02] [ 9.38967436e-01 -3.40192997e-01 -5.10771897e-02 1.46690588e+02] [ 5.46145049e-02 8.23947956e-04 9.98507174e-01 6.93009905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50687499999998 meters Centerline goodness [0,1] 0.9966408268733851 Centerline is valid? [True, True] Translation: X:112.68, Y:146.72, Z:6.93 [[-3.41031133e-01 -9.39841340e-01 1.99003212e-02 1.12679644e+02] [ 9.38375851e-01 -3.41610374e-01 -5.24701355e-02 1.46715766e+02] [ 5.61117586e-02 7.80031105e-04 9.98424189e-01 6.92989877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters Centerline goodness [0,1] 0.996330146560389 Centerline is valid? [True, True] Translation: X:112.67, Y:146.74, Z:6.93 [[-3.41699994e-01 -9.39593081e-01 2.01483759e-02 1.12670028e+02] [ 9.38093120e-01 -3.42292649e-01 -5.30758079e-02 1.46740312e+02] [ 5.67663028e-02 7.65049579e-04 9.98387200e-01 6.93017101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56687499999998 meters Centerline goodness [0,1] 0.9962085751731885 Centerline is valid? [True, True] Translation: X:112.66, Y:146.76, Z:6.93 [[-3.42539256e-01 -9.39288795e-01 2.00852445e-02 1.12661007e+02] [ 9.37799882e-01 -3.43126847e-01 -5.28710489e-02 1.46764736e+02] [ 5.65529704e-02 7.25530136e-04 9.98399337e-01 6.93113065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters Centerline goodness [0,1] 0.9965961642292073 Centerline is valid? [True, True] Translation: X:112.65, Y:146.79, Z:6.93 [[-3.43694573e-01 -9.38869794e-01 1.99386807e-02 1.12652676e+02] [ 9.37404107e-01 -3.44271793e-01 -5.24449463e-02 1.46790679e+02] [ 5.61033013e-02 6.65557773e-04 9.98424748e-01 6.93327242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62687499999998 meters Centerline goodness [0,1] 0.9965525328330206 Centerline is valid? [True, True] Translation: X:112.65, Y:146.82, Z:6.94 [[-3.45959043e-01 -9.38040533e-01 1.98065416e-02 1.12646715e+02] [ 9.36595624e-01 -3.46525125e-01 -5.20478168e-02 1.46816267e+02] [ 5.56864261e-02 5.44307282e-04 9.98448159e-01 6.93542778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters Centerline goodness [0,1] 0.9968051118210862 Centerline is valid? [True, True] Translation: X:112.64, Y:146.84, Z:6.94 [[-3.47365191e-01 -9.37526355e-01 1.95385963e-02 1.12638992e+02] [ 9.36122200e-01 -3.47913940e-01 -5.12944097e-02 1.46842948e+02] [ 5.48876110e-02 4.72621291e-04 9.98492427e-01 6.93786712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.686875 meters Centerline goodness [0,1] 0.9969091380978222 Centerline is valid? [True, True] Translation: X:112.63, Y:146.87, Z:6.94 [[-3.48791709e-01 -9.37000763e-01 1.93368449e-02 1.12631156e+02] [ 9.35627142e-01 -3.49327080e-01 -5.07192484e-02 1.46868095e+02] [ 5.42788580e-02 4.01623542e-04 9.98525735e-01 6.93886377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters Centerline goodness [0,1] 0.9971574085040862 Centerline is valid? [True, True] Translation: X:112.63, Y:146.90, Z:6.94 [[-3.50561038e-01 -9.36343950e-01 1.91563659e-02 1.12625193e+02] [ 9.34997492e-01 -3.51083906e-01 -5.01974158e-02 1.46895202e+02] [ 5.37275384e-02 3.13895900e-04 9.98555583e-01 6.94084831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.746875 meters Centerline goodness [0,1] 0.9972675648062347 Centerline is valid? [True, True] Translation: X:112.62, Y:146.92, Z:6.94 [[-3.51309930e-01 -9.36064400e-01 1.90989799e-02 1.12617195e+02] [ 9.34728107e-01 -3.51828589e-01 -5.00000993e-02 1.46921376e+02] [ 5.35228801e-02 2.86821931e-04 9.98566582e-01 6.94201306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters Centerline goodness [0,1] 0.9968603572532883 Centerline is valid? [True, True] Translation: X:112.61, Y:146.95, Z:6.94 [[-3.51438179e-01 -9.36015200e-01 1.91507658e-02 1.12608794e+02] [ 9.34674137e-01 -3.51959454e-01 -5.00879239e-02 1.46947509e+02] [ 5.36233512e-02 2.96916760e-04 9.98561189e-01 6.94348412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.806875 meters Centerline goodness [0,1] 0.9976875581090424 Centerline is valid? [True, True] Translation: X:112.60, Y:146.97, Z:6.94 [[-3.51601165e-01 -9.35954753e-01 1.91133824e-02 1.12600094e+02] [ 9.34621387e-01 -3.52120162e-01 -4.99425026e-02 1.46973134e+02] [ 5.34741299e-02 3.03933841e-04 9.98569189e-01 6.94425515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters Centerline goodness [0,1] 0.9975752965507405 Centerline is valid? [True, True] Translation: X:112.59, Y:147.00, Z:6.94 [[-3.51697547e-01 -9.35915964e-01 1.92391236e-02 1.12591362e+02] [ 9.34567534e-01 -3.52223236e-01 -5.02226756e-02 1.46997612e+02] [ 5.37806702e-02 3.17068471e-04 9.98552722e-01 6.94413572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.866875 meters Centerline goodness [0,1] 0.9974642361609493 Centerline is valid? [True, True] Translation: X:112.58, Y:147.02, Z:6.94 [[-3.50744987e-01 -9.36265420e-01 1.96218898e-02 1.12582771e+02] [ 9.34866054e-01 -3.51293193e-01 -5.11718049e-02 1.47024388e+02] [ 5.48034277e-02 3.95584669e-04 9.98497085e-01 6.94456672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters Centerline goodness [0,1] 0.9976529194807683 Centerline is valid? [True, True] Translation: X:112.57, Y:147.05, Z:6.95 [[-3.50025618e-01 -9.36535229e-01 1.95916172e-02 1.12573595e+02] [ 9.35142962e-01 -3.50573188e-01 -5.10497865e-02 1.47049742e+02] [ 5.46782192e-02 4.52229877e-04 9.98503925e-01 6.94628409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.926875 meters Centerline goodness [0,1] 0.9979235285693828 Centerline is valid? [True, True] Translation: X:112.56, Y:147.07, Z:6.95 [[-3.49443033e-01 -9.36755678e-01 1.94516204e-02 1.12563793e+02] [ 9.35386199e-01 -3.49983641e-01 -5.06370329e-02 1.47074078e+02] [ 5.42422770e-02 5.00018916e-04 9.98527679e-01 6.94737806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters Centerline goodness [0,1] 0.9969809512399664 Centerline is valid? [True, True] Translation: X:112.55, Y:147.10, Z:6.95 [[-3.47414338e-01 -9.37507891e-01 1.95507441e-02 1.12552799e+02] [ 9.36128262e-01 -3.47963429e-01 -5.08461270e-02 1.47100076e+02] [ 5.44715892e-02 6.37330595e-04 9.98515117e-01 6.94832512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.986875 meters Centerline goodness [0,1] 0.9972628394439242 Centerline is valid? [True, True] Translation: X:112.54, Y:147.13, Z:6.95 [[-3.46049713e-01 -9.38010576e-01 1.96406442e-02 1.12542024e+02] [ 9.36621352e-01 -3.46605857e-01 -5.10374709e-02 1.47125413e+02] [ 5.46812497e-02 7.34344545e-04 9.98503591e-01 6.94905351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters Centerline goodness [0,1] 0.9972390281379045 Centerline is valid? [True, True] Translation: X:112.53, Y:147.15, Z:6.95 [[-3.45311589e-01 -9.38278740e-01 1.98220292e-02 1.12531087e+02] [ 9.36866598e-01 -3.45879123e-01 -5.14646426e-02 1.47150858e+02] [ 5.51442061e-02 7.99259558e-04 9.98478081e-01 6.94972992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.046875 meters Centerline goodness [0,1] 0.9971949845364532 Centerline is valid? [True, True] Translation: X:112.52, Y:147.18, Z:6.95 [[-3.44753522e-01 -9.38484346e-01 1.98025652e-02 1.12521576e+02] [ 9.37077665e-01 -3.45320744e-01 -5.13715185e-02 1.47176341e+02] [ 5.50496025e-02 8.46029643e-04 9.98483263e-01 6.95130355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters Centerline goodness [0,1] 0.9973879702851666 Centerline is valid? [True, True] Translation: X:112.51, Y:147.20, Z:6.95 [[-3.45015546e-01 -9.38387574e-01 1.98250883e-02 1.12510984e+02] [ 9.36980190e-01 -3.45583625e-01 -5.13817309e-02 1.47200564e+02] [ 5.50672036e-02 8.48219005e-04 9.98482290e-01 6.95114863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.106875 meters Centerline goodness [0,1] 0.9972096603483114 Centerline is valid? [True, True] Translation: X:112.50, Y:147.23, Z:6.95 [[-3.45129229e-01 -9.38343570e-01 1.99288567e-02 1.12502441e+02] [ 9.36924099e-01 -3.45703051e-01 -5.16007085e-02 1.47226824e+02] [ 5.53086596e-02 8.62913406e-04 9.98468932e-01 6.95365531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters Centerline goodness [0,1] 0.9973125374925015 Centerline is valid? [True, True] Translation: X:112.49, Y:147.25, Z:6.95 [[-3.45677941e-01 -9.38144333e-01 1.97982518e-02 1.12492456e+02] [ 9.36745755e-01 -3.46243412e-01 -5.12141630e-02 1.47250795e+02] [ 5.49012911e-02 8.42321851e-04 9.98491431e-01 6.95474961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16687499999998 meters Centerline goodness [0,1] 0.997233249127872 Centerline is valid? [True, True] Translation: X:112.48, Y:147.28, Z:6.96 [[-3.46143525e-01 -9.37969607e-01 1.99418396e-02 1.12482614e+02] [ 9.36553155e-01 -3.46716475e-01 -5.15351751e-02 1.47276389e+02] [ 5.52525923e-02 8.38025656e-04 9.98472057e-01 6.95593857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters Centerline goodness [0,1] 0.9970423449635704 Centerline is valid? [True, True] Translation: X:112.47, Y:147.30, Z:6.96 [[-3.46727393e-01 -9.37752968e-01 1.99871472e-02 1.12472884e+02] [ 9.36332314e-01 -3.47302024e-01 -5.16052481e-02 1.47301824e+02] [ 5.53345512e-02 8.21658738e-04 9.98467532e-01 6.95751254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22687499999998 meters Centerline goodness [0,1] 0.9973242695979173 Centerline is valid? [True, True] Translation: X:112.46, Y:147.33, Z:6.96 [[-3.46966837e-01 -9.37663591e-01 2.00250714e-02 1.12463199e+02] [ 9.36240028e-01 -3.47543247e-01 -5.16556123e-02 1.47327395e+02] [ 5.53951653e-02 8.25488957e-04 9.98464168e-01 6.95933322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters Centerline goodness [0,1] 0.997107248752501 Centerline is valid? [True, True] Translation: X:112.45, Y:147.35, Z:6.96 [[-3.47115025e-01 -9.37607558e-01 2.00804908e-02 1.12452901e+02] [ 9.36178692e-01 -3.47694360e-01 -5.17502456e-02 1.47352584e+02] [ 5.55032948e-02 8.35639884e-04 9.98458154e-01 6.96028498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28687499999998 meters Centerline goodness [0,1] 0.9970693506930265 Centerline is valid? [True, True] Translation: X:112.44, Y:147.38, Z:6.96 [[-3.47211229e-01 -9.37572474e-01 2.00553685e-02 1.12441242e+02] [ 9.36149817e-01 -3.47788930e-01 -5.16370036e-02 1.47376795e+02] [ 5.53884684e-02 8.45882089e-04 9.98464522e-01 6.96061296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters Centerline goodness [0,1] 0.9970693506930265 Centerline is valid? [True, True] Translation: X:112.43, Y:147.40, Z:6.96 [[-3.47494364e-01 -9.37467215e-01 2.00720521e-02 1.12431419e+02] [ 9.36044757e-01 -3.48072554e-01 -5.16305183e-02 1.47401712e+02] [ 5.53884487e-02 8.47024986e-04 9.98464522e-01 6.96178154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34687499999998 meters Centerline goodness [0,1] 0.9972680214723927 Centerline is valid? [True, True] Translation: X:112.42, Y:147.43, Z:6.96 [[-3.47704829e-01 -9.37389359e-01 2.00634112e-02 1.12421206e+02] [ 9.35970556e-01 -3.48282164e-01 -5.15621274e-02 1.47426839e+02] [ 5.53215178e-02 8.50361450e-04 9.98468230e-01 6.96324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters Centerline goodness [0,1] 0.9972379008046115 Centerline is valid? [True, True] Translation: X:112.41, Y:147.45, Z:6.96 [[-3.47766858e-01 -9.37367512e-01 2.00089898e-02 1.12410894e+02] [ 9.35958909e-01 -3.48340935e-01 -5.13761957e-02 1.47452491e+02] [ 5.51283270e-02 8.60654114e-04 9.98478907e-01 6.96491259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40687499999999 meters Centerline goodness [0,1] 0.9967870330408095 Centerline is valid? [True, True] Translation: X:112.40, Y:147.48, Z:6.97 [[-3.47675826e-01 -9.37405923e-01 1.97903137e-02 1.12400271e+02] [ 9.36030512e-01 -3.48237525e-01 -5.07691426e-02 1.47477753e+02] [ 5.44830248e-02 8.73133923e-04 9.98514315e-01 6.96654924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters Centerline goodness [0,1] 0.9970324279047506 Centerline is valid? [True, True] Translation: X:112.39, Y:147.50, Z:6.97 [[-3.47404838e-01 -9.37508059e-01 1.97108302e-02 1.12389575e+02] [ 9.36146338e-01 -3.47962391e-01 -5.05193755e-02 1.47501335e+02] [ 5.42209493e-02 9.01546075e-04 9.98528555e-01 6.96763283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.466875 meters Centerline goodness [0,1] 0.9972794959908362 Centerline is valid? [True, True] Translation: X:112.38, Y:147.53, Z:6.97 [[-3.45984210e-01 -9.38039806e-01 1.93971164e-02 1.12378032e+02] [ 9.36724351e-01 -3.46526121e-01 -4.96702870e-02 1.47526619e+02] [ 5.33143139e-02 9.84616276e-04 9.98577295e-01 6.97016951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters Centerline goodness [0,1] 0.9968998903038108 Centerline is valid? [True, True] Translation: X:112.36, Y:147.55, Z:6.97 [[-3.45134843e-01 -9.38352551e-01 1.94017955e-02 1.12364300e+02] [ 9.37039142e-01 -3.45678164e-01 -4.96412498e-02 1.47550815e+02] [ 5.32877704e-02 1.04731682e-03 9.98578648e-01 6.97039217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.526875 meters Centerline goodness [0,1] 0.9965874351257198 Centerline is valid? [True, True] Translation: X:112.35, Y:147.58, Z:6.97 [[-3.43904660e-01 -9.38806427e-01 1.92893233e-02 1.12352198e+02] [ 9.37511166e-01 -3.44443357e-01 -4.93111317e-02 1.47575835e+02] [ 5.29376866e-02 1.12562793e-03 9.98597183e-01 6.97147593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters Centerline goodness [0,1] 0.9969584640243323 Centerline is valid? [True, True] Translation: X:112.34, Y:147.60, Z:6.97 [[-3.40937692e-01 -9.39885884e-01 1.93911121e-02 1.12338855e+02] [ 9.38580926e-01 -3.41486161e-01 -4.95282422e-02 1.47600399e+02] [ 5.31726921e-02 1.31408336e-03 9.98584467e-01 6.97271981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.586875 meters Centerline goodness [0,1] 0.9969499845116401 Centerline is valid? [True, True] Translation: X:112.33, Y:147.63, Z:6.97 [[-3.39758133e-01 -9.40311818e-01 1.94446828e-02 1.12326660e+02] [ 9.39002570e-01 -3.40311222e-01 -4.96230401e-02 1.47625229e+02] [ 5.32783749e-02 1.39877569e-03 9.98578719e-01 6.97324538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters Centerline goodness [0,1] 0.9973325076809488 Centerline is valid? [True, True] Translation: X:112.31, Y:147.65, Z:6.97 [[-3.38469377e-01 -9.40771332e-01 1.96921662e-02 1.12314450e+02] [ 9.39431588e-01 -3.39038402e-01 -5.02120957e-02 1.47650621e+02] [ 5.39145007e-02 1.50418622e-03 9.98544423e-01 6.97369519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.646875 meters Centerline goodness [0,1] 0.9969989839079373 Centerline is valid? [True, True] Translation: X:112.30, Y:147.67, Z:6.97 [[-3.36203904e-01 -9.41578801e-01 1.99071841e-02 1.12297597e+02] [ 9.40213124e-01 -3.36788646e-01 -5.07216798e-02 1.47673228e+02] [ 5.44629721e-02 1.66416900e-03 9.98514404e-01 6.97297165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters Centerline goodness [0,1] 0.9973054741420062 Centerline is valid? [True, True] Translation: X:112.29, Y:147.70, Z:6.98 [[-3.35512141e-01 -9.41827291e-01 1.98231526e-02 1.12289991e+02] [ 9.40475254e-01 -3.36092900e-01 -5.04763171e-02 1.47700554e+02] [ 5.42023938e-02 1.70776728e-03 9.98528509e-01 6.97531302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.706875 meters Centerline goodness [0,1] 0.9970568152386334 Centerline is valid? [True, True] Translation: X:112.28, Y:147.73, Z:6.98 [[-3.35175845e-01 -9.41950438e-01 1.96602398e-02 1.12278957e+02] [ 9.40622966e-01 -3.35747508e-01 -5.00204687e-02 1.47725510e+02] [ 5.37176789e-02 1.72722017e-03 9.98554669e-01 6.97706812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters Centerline goodness [0,1] 0.9969827687810857 Centerline is valid? [True, True] Translation: X:112.27, Y:147.75, Z:6.98 [[-3.35296914e-01 -9.41908831e-01 1.95890967e-02 1.12265604e+02] [ 9.40593328e-01 -3.35864201e-01 -4.97938787e-02 1.47748489e+02] [ 5.34805704e-02 1.72963977e-03 9.98567392e-01 6.97725209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.766875 meters Centerline goodness [0,1] 0.9968105464597066 Centerline is valid? [True, True] Translation: X:112.26, Y:147.77, Z:6.98 [[-3.34816701e-01 -9.42087992e-01 1.91831079e-02 1.12256626e+02] [ 9.40829142e-01 -3.35361295e-01 -4.87168169e-02 1.47774698e+02] [ 5.23288001e-02 1.73682300e-03 9.98628399e-01 6.97890688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters Centerline goodness [0,1] 0.9966349774096386 Centerline is valid? [True, True] Translation: X:112.25, Y:147.80, Z:6.98 [[-3.35002566e-01 -9.42023666e-01 1.90969522e-02 1.12245574e+02] [ 9.40778254e-01 -3.35541962e-01 -4.84548056e-02 1.47798876e+02] [ 5.20534024e-02 1.73351309e-03 9.98642798e-01 6.97972617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.826875 meters Centerline goodness [0,1] 0.997002412121496 Centerline is valid? [True, True] Translation: X:112.23, Y:147.82, Z:6.98 [[-3.35477359e-01 -9.41856585e-01 1.90030093e-02 1.12234098e+02] [ 9.40625574e-01 -3.36010761e-01 -4.81694687e-02 1.47822641e+02] [ 5.17539469e-02 1.71495037e-03 9.98658394e-01 6.98041791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters Centerline goodness [0,1] 0.9965883958401958 Centerline is valid? [True, True] Translation: X:112.23, Y:147.85, Z:6.98 [[-3.36166600e-01 -9.41612767e-01 1.89054053e-02 1.12225027e+02] [ 9.40396350e-01 -3.36693571e-01 -4.78763472e-02 1.47848611e+02] [ 5.14463082e-02 1.68414531e-03 9.98674342e-01 6.98202425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.886875 meters Centerline goodness [0,1] 0.9965256584816189 Centerline is valid? [True, True] Translation: X:112.22, Y:147.87, Z:6.98 [[-3.38117978e-01 -9.40921702e-01 1.85089959e-02 1.12215020e+02] [ 9.39756872e-01 -3.38620610e-01 -4.68305958e-02 1.47874530e+02] [ 5.03314514e-02 1.55968972e-03 9.98731351e-01 6.98287240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters Centerline goodness [0,1] 0.9966178922892641 Centerline is valid? [True, True] Translation: X:112.21, Y:147.90, Z:6.98 [[-3.39809845e-01 -9.40308331e-01 1.86952570e-02 1.12205028e+02] [ 9.39120993e-01 -3.40320441e-01 -4.72626409e-02 1.47900411e+02] [ 5.08038331e-02 1.49679765e-03 9.98707530e-01 6.98380451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94687499999998 meters Centerline goodness [0,1] 0.9970163279689886 Centerline is valid? [True, True] Translation: X:112.20, Y:147.93, Z:6.98 [[-3.41853892e-01 -9.39569018e-01 1.86004672e-02 1.12195453e+02] [ 9.38394541e-01 -3.42356717e-01 -4.69847110e-02 1.47926453e+02] [ 5.05133736e-02 1.39267057e-03 9.98722414e-01 6.98486585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters Centerline goodness [0,1] 0.997106018540304 Centerline is valid? [True, True] Translation: X:112.19, Y:147.95, Z:6.99 [[-3.43874054e-01 -9.38834546e-01 1.84480498e-02 1.12187082e+02] [ 9.37680090e-01 -3.44366141e-01 -4.65618836e-02 1.47952961e+02] [ 5.00667885e-02 1.28694528e-03 9.98745043e-01 6.98606775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00687499999998 meters Centerline goodness [0,1] 0.9969413248032875 Centerline is valid? [True, True] Translation: X:112.18, Y:147.98, Z:6.99 [[-3.47410057e-01 -9.37535555e-01 1.82574455e-02 1.12177597e+02] [ 9.36404911e-01 -3.47887728e-01 -4.60431395e-02 1.47978467e+02] [ 4.95186216e-02 1.10051191e-03 9.98772594e-01 6.98624883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters Centerline goodness [0,1] 0.9969772237323086 Centerline is valid? [True, True] Translation: X:112.17, Y:148.00, Z:6.99 [[-3.48878643e-01 -9.36994444e-01 1.80306587e-02 1.12168295e+02] [ 9.35892751e-01 -3.49342761e-01 -4.54356076e-02 1.48003761e+02] [ 4.88717920e-02 1.02324966e-03 9.98804536e-01 6.98685851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06687499999998 meters Centerline goodness [0,1] 0.9969191693516145 Centerline is valid? [True, True] Translation: X:112.16, Y:148.03, Z:6.99 [[-3.50369553e-01 -9.36437841e-01 1.80373392e-02 1.12158421e+02] [ 9.35336629e-01 -3.50832221e-01 -4.54108244e-02 1.48029009e+02] [ 4.88524941e-02 9.60413755e-04 9.98805542e-01 6.98749265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters Centerline goodness [0,1] 0.9966725248974809 Centerline is valid? [True, True] Translation: X:112.15, Y:148.05, Z:6.99 [[-3.52255954e-01 -9.35723256e-01 1.83774921e-02 1.12148664e+02] [ 9.34581266e-01 -3.52733883e-01 -4.62240767e-02 1.48053671e+02] [ 4.97353077e-02 8.92553623e-04 9.98762035e-01 6.98655728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12687499999998 meters Centerline goodness [0,1] 0.9965346882390128 Centerline is valid? [True, True] Translation: X:112.14, Y:148.08, Z:6.99 [[-3.53101247e-01 -9.35400971e-01 1.85615676e-02 1.12138742e+02] [ 9.34237778e-01 -3.53587702e-01 -4.66423697e-02 1.48078867e+02] [ 5.01924600e-02 8.71438774e-04 9.98739184e-01 6.98667159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters Centerline goodness [0,1] 0.997495904516733 Centerline is valid? [True, True] Translation: X:112.13, Y:148.10, Z:6.99 [[-3.53971397e-01 -9.35071081e-01 1.86097933e-02 1.12128516e+02] [ 9.33903505e-01 -3.54459258e-01 -4.67212871e-02 1.48104533e+02] [ 5.02841379e-02 8.41751981e-04 9.98734598e-01 6.98782349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.186875 meters Centerline goodness [0,1] 0.9970482816782626 Centerline is valid? [True, True] Translation: X:112.12, Y:148.13, Z:6.99 [[-3.54938504e-01 -9.34707395e-01 1.84592772e-02 1.12119218e+02] [ 9.33560212e-01 -3.55417288e-01 -4.63020756e-02 1.48129738e+02] [ 4.98396387e-02 7.98457322e-04 9.98756914e-01 6.98924486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters Centerline goodness [0,1] 0.9970459980306654 Centerline is valid? [True, True] Translation: X:112.11, Y:148.15, Z:6.99 [[-3.55831148e-01 -9.34372841e-01 1.82095520e-02 1.12108661e+02] [ 9.33258045e-01 -3.56295976e-01 -4.56354912e-02 1.48153583e+02] [ 4.91285537e-02 7.55681710e-04 9.98792178e-01 6.98995730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.246875 meters Centerline goodness [0,1] 0.9974287050023375 Centerline is valid? [True, True] Translation: X:112.10, Y:148.18, Z:6.99 [[-3.57931817e-01 -9.33574988e-01 1.79598473e-02 1.12099657e+02] [ 9.32491106e-01 -3.58381531e-01 -4.49779460e-02 1.48180436e+02] [ 4.84267630e-02 6.48359905e-04 9.98826526e-01 6.99131077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters Centerline goodness [0,1] 0.9970996187402054 Centerline is valid? [True, True] Translation: X:112.09, Y:148.21, Z:6.99 [[-3.59200267e-01 -9.33094278e-01 1.76135386e-02 1.12090093e+02] [ 9.32052892e-01 -3.59631377e-01 -4.40758298e-02 1.48206105e+02] [ 4.74612857e-02 5.84699693e-04 9.98872907e-01 6.99275675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.306875 meters Centerline goodness [0,1] 0.997241895145268 Centerline is valid? [True, True] Translation: X:112.08, Y:148.23, Z:6.99 [[-3.60138580e-01 -9.32741119e-01 1.71524832e-02 1.12080274e+02] [ 9.31754890e-01 -3.60546412e-01 -4.28848398e-02 1.48232062e+02] [ 4.61847198e-02 5.37424773e-04 9.98932772e-01 6.99438226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters Centerline goodness [0,1] 0.9979695668409261 Centerline is valid? [True, True] Translation: X:112.07, Y:148.26, Z:7.00 [[-3.60827403e-01 -9.32481361e-01 1.67957305e-02 1.12070118e+02] [ 9.31537051e-01 -3.61217739e-01 -4.19579307e-02 1.48257340e+02] [ 4.51919041e-02 5.06274116e-04 9.98978196e-01 6.99653474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.366875 meters Centerline goodness [0,1] 0.9971081415144942 Centerline is valid? [True, True] Translation: X:112.06, Y:148.28, Z:7.00 [[-3.61692132e-01 -9.32153591e-01 1.63855176e-02 1.12059217e+02] [ 9.31256111e-01 -3.62062792e-01 -4.08973043e-02 1.48281079e+02] [ 4.40551553e-02 4.66880272e-04 9.99028991e-01 6.99671587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters Centerline goodness [0,1] 0.9974754558204768 Centerline is valid? [True, True] Translation: X:112.05, Y:148.31, Z:7.00 [[-3.61815847e-01 -9.32106240e-01 1.63477789e-02 1.12049022e+02] [ 9.31214532e-01 -3.62184666e-01 -4.07647262e-02 1.48306328e+02] [ 4.39179705e-02 4.73965302e-04 9.99035028e-01 6.99843581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.426875 meters Centerline goodness [0,1] 0.9973371329798416 Centerline is valid? [True, True] Translation: X:112.04, Y:148.33, Z:7.00 [[-3.61937447e-01 -9.32059436e-01 1.63246030e-02 1.12038692e+02] [ 9.31171803e-01 -3.62305088e-01 -4.06705889e-02 1.48332016e+02] [ 4.38218929e-02 4.80800926e-04 9.99039244e-01 6.99983563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters Centerline goodness [0,1] 0.9970675851796685 Centerline is valid? [True, True] Translation: X:112.03, Y:148.36, Z:7.00 [[-3.61938319e-01 -9.32056088e-01 1.64955538e-02 1.12028181e+02] [ 9.31151419e-01 -3.62313677e-01 -4.10589209e-02 1.48357012e+02] [ 4.42457819e-02 4.99061523e-04 9.99020551e-01 7.00098888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.486875 meters Centerline goodness [0,1] 0.9969057534374055 Centerline is valid? [True, True] Translation: X:112.02, Y:148.38, Z:7.00 [[-3.60645963e-01 -9.32551611e-01 1.67923173e-02 1.12015482e+02] [ 9.31616357e-01 -3.61036219e-01 -4.17589641e-02 1.48382533e+02] [ 4.50050240e-02 5.83795644e-04 9.98986590e-01 7.00046764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters Centerline goodness [0,1] 0.9971849335783914 Centerline is valid? [True, True] Translation: X:112.00, Y:148.41, Z:7.00 [[-3.60020366e-01 -9.32789566e-01 1.69988373e-02 1.12004708e+02] [ 9.31832997e-01 -3.60420897e-01 -4.22379313e-02 1.48407161e+02] [ 4.55258378e-02 6.33562007e-04 9.98962961e-01 7.00110850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.546875 meters Centerline goodness [0,1] 0.9968242848803269 Centerline is valid? [True, True] Translation: X:111.99, Y:148.43, Z:7.00 [[-3.58748798e-01 -9.33274975e-01 1.72372226e-02 1.11992339e+02] [ 9.32293769e-01 -3.59161947e-01 -4.27904735e-02 1.48432484e+02] [ 4.61262325e-02 7.19124263e-04 9.98935360e-01 7.00037693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters Centerline goodness [0,1] 0.9969417532391736 Centerline is valid? [True, True] Translation: X:111.98, Y:148.46, Z:7.00 [[-3.57871658e-01 -9.33611024e-01 1.72722975e-02 1.11980848e+02] [ 9.32627824e-01 -3.58287389e-01 -4.28426079e-02 1.48456872e+02] [ 4.61867774e-02 7.76470079e-04 9.98932520e-01 7.00122742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.606875 meters Centerline goodness [0,1] 0.9967655613728912 Centerline is valid? [True, True] Translation: X:111.97, Y:148.48, Z:7.00 [[-3.57698981e-01 -9.33673107e-01 1.74919589e-02 1.11969886e+02] [ 9.32666571e-01 -3.58125504e-01 -4.33496342e-02 1.48480386e+02] [ 4.67387042e-02 8.08045317e-04 9.98906823e-01 7.00166113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters Centerline goodness [0,1] 0.997322717325511 Centerline is valid? [True, True] Translation: X:111.96, Y:148.51, Z:7.00 [[-3.57920213e-01 -9.33589316e-01 1.74387513e-02 1.11960600e+02] [ 9.32590676e-01 -3.58343877e-01 -4.31775063e-02 1.48506366e+02] [ 4.65591283e-02 8.09114581e-04 9.98915208e-01 7.00323333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66687499999998 meters Centerline goodness [0,1] 0.9972944606413994 Centerline is valid? [True, True] Translation: X:111.95, Y:148.53, Z:7.00 [[-3.58176030e-01 -9.33492738e-01 1.73562557e-02 1.11951372e+02] [ 9.32505178e-01 -3.58595396e-01 -4.29352531e-02 1.48532974e+02] [ 4.63036204e-02 8.06419786e-04 9.98927087e-01 7.00420983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters Centerline goodness [0,1] 0.9974441785357466 Centerline is valid? [True, True] Translation: X:111.94, Y:148.56, Z:7.01 [[-3.58527126e-01 -9.33359439e-01 1.72759200e-02 1.11939233e+02] [ 9.32382474e-01 -3.58942224e-01 -4.27013102e-02 1.48556611e+02] [ 4.60567281e-02 7.98187015e-04 9.98938507e-01 7.00517483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72687499999998 meters Centerline goodness [0,1] 0.9973551724937939 Centerline is valid? [True, True] Translation: X:111.93, Y:148.58, Z:7.01 [[-3.58897484e-01 -9.33214588e-01 1.74105732e-02 1.11929217e+02] [ 9.32224094e-01 -3.59318648e-01 -4.29924220e-02 1.48582098e+02] [ 4.63770990e-02 8.00683688e-04 9.98923683e-01 7.00609008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters Centerline goodness [0,1] 0.9968211244402163 Centerline is valid? [True, True] Translation: X:111.92, Y:148.61, Z:7.01 [[-3.59024415e-01 -9.33163327e-01 1.75406487e-02 1.11918984e+02] [ 9.32159680e-01 -3.59451726e-01 -4.32757207e-02 1.48607198e+02] [ 4.66883319e-02 8.13645139e-04 9.98909174e-01 7.00652396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78687499999998 meters Centerline goodness [0,1] 0.9969306608380226 Centerline is valid? [True, True] Translation: X:111.91, Y:148.63, Z:7.01 [[-3.59671665e-01 -9.32917134e-01 1.73756995e-02 1.11909802e+02] [ 9.31933704e-01 -3.60090269e-01 -4.28318850e-02 1.48632387e+02] [ 4.62154197e-02 7.87584584e-04 9.98931186e-01 7.00799501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters Centerline goodness [0,1] 0.997433204993583 Centerline is valid? [True, True] Translation: X:111.90, Y:148.66, Z:7.01 [[-3.60456313e-01 -9.32618383e-01 1.71521893e-02 1.11899793e+02] [ 9.31661462e-01 -3.60863387e-01 -4.22437594e-02 1.48658280e+02] [ 4.55869037e-02 7.53004002e-04 9.98960093e-01 7.00926480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84687499999998 meters Centerline goodness [0,1] 0.9972447931259923 Centerline is valid? [True, True] Translation: X:111.89, Y:148.68, Z:7.01 [[-3.61096269e-01 -9.32370357e-01 1.71756157e-02 1.11889333e+02] [ 9.31412201e-01 -3.61503770e-01 -4.22650822e-02 1.48683986e+02] [ 4.56157596e-02 7.35814576e-04 9.98958788e-01 7.01026101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters Centerline goodness [0,1] 0.9973929843346291 Centerline is valid? [True, True] Translation: X:111.88, Y:148.71, Z:7.01 [[-3.62066683e-01 -9.31994682e-01 1.71356302e-02 1.11878767e+02] [ 9.31042302e-01 -3.62471271e-01 -4.21285011e-02 1.48708467e+02] [ 4.54747126e-02 7.00669904e-04 9.98965244e-01 7.01079138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90687499999999 meters Centerline goodness [0,1] 0.9968562978832406 Centerline is valid? [True, True] Translation: X:111.87, Y:148.73, Z:7.01 [[-3.63609532e-01 -9.31386391e-01 1.75356618e-02 1.11868126e+02] [ 9.30390206e-01 -3.64031542e-01 -4.30708882e-02 1.48732765e+02] [ 4.64991731e-02 6.54022468e-04 9.98918114e-01 7.01006768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters Centerline goodness [0,1] 0.997266873581322 Centerline is valid? [True, True] Translation: X:111.86, Y:148.76, Z:7.01 [[-3.63986140e-01 -9.31232135e-01 1.79109100e-02 1.11859965e+02] [ 9.30194132e-01 -3.64425954e-01 -4.39613479e-02 1.48759154e+02] [ 4.74654203e-02 6.59302070e-04 9.98872664e-01 7.01126198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.966875 meters Centerline goodness [0,1] 0.9975383186251742 Centerline is valid? [True, True] Translation: X:111.85, Y:148.78, Z:7.01 [[-3.64137070e-01 -9.31170022e-01 1.80716704e-02 1.11849485e+02] [ 9.30115101e-01 -3.64584613e-01 -4.43165693e-02 1.48784281e+02] [ 4.78549137e-02 6.71427815e-04 9.98854072e-01 7.01205201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters Centerline goodness [0,1] 0.9971666782786409 Centerline is valid? [True, True] Translation: X:111.84, Y:148.81, Z:7.01 [[-3.62587842e-01 -9.31767429e-01 1.84259237e-02 1.11837208e+02] [ 9.30673434e-01 -3.63054886e-01 -4.51454115e-02 1.48808543e+02] [ 4.87546456e-02 7.79340372e-04 9.98810481e-01 7.01186458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.026875 meters Centerline goodness [0,1] 0.9969682835820896 Centerline is valid? [True, True] Translation: X:111.83, Y:148.83, Z:7.01 [[-3.61469688e-01 -9.32195296e-01 1.87508537e-02 1.11826553e+02] [ 9.31064812e-01 -3.61954666e-01 -4.59035476e-02 1.48834337e+02] [ 4.95780302e-02 8.65519034e-04 9.98769878e-01 7.01272811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters Centerline goodness [0,1] 0.9971814581877475 Centerline is valid? [True, True] Translation: X:111.82, Y:148.86, Z:7.01 [[-3.60373882e-01 -9.32615252e-01 1.89593268e-02 1.11815608e+02] [ 9.31461928e-01 -3.60871021e-01 -4.63765251e-02 1.48859703e+02] [ 5.00933263e-02 9.47002714e-04 9.98744092e-01 7.01351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.086875 meters Centerline goodness [0,1] 0.9970167342562811 Centerline is valid? [True, True] Translation: X:111.80, Y:148.89, Z:7.01 [[-3.59329417e-01 -9.33009673e-01 1.93731878e-02 1.11803950e+02] [ 9.31808065e-01 -3.59849791e-01 -4.73482703e-02 1.48885355e+02] [ 5.11478318e-02 1.03846625e-03 9.98690553e-01 7.01394074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters Centerline goodness [0,1] 0.9975051878103943 Centerline is valid? [True, True] Translation: X:111.79, Y:148.91, Z:7.02 [[-3.58083248e-01 -9.33482511e-01 1.96669551e-02 1.11793781e+02] [ 9.32246887e-01 -3.58621123e-01 -4.80274082e-02 1.48911703e+02] [ 5.18857312e-02 1.13664740e-03 9.98652381e-01 7.01507866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.146875 meters Centerline goodness [0,1] 0.9970507689066779 Centerline is valid? [True, True] Translation: X:111.78, Y:148.94, Z:7.02 [[-3.58436876e-01 -9.33348146e-01 1.96021725e-02 1.11784282e+02] [ 9.32122525e-01 -3.58970705e-01 -4.78291826e-02 1.48936668e+02] [ 5.16778846e-02 1.12788373e-03 9.98663169e-01 7.01649608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters Centerline goodness [0,1] 0.9970736960389549 Centerline is valid? [True, True] Translation: X:111.77, Y:148.96, Z:7.02 [[-3.59229627e-01 -9.33043676e-01 1.95850137e-02 1.11774884e+02] [ 9.31822100e-01 -3.59761433e-01 -4.77418492e-02 1.48962201e+02] [ 5.15911631e-02 1.09946194e-03 9.98667684e-01 7.01829896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.206875 meters Centerline goodness [0,1] 0.9971948197671701 Centerline is valid? [True, True] Translation: X:111.77, Y:148.99, Z:7.02 [[-3.60265317e-01 -9.32649872e-01 1.93162417e-02 1.11765610e+02] [ 9.31463180e-01 -3.60781273e-01 -4.70448538e-02 1.48987908e+02] [ 5.08453152e-02 1.04373870e-03 9.98705995e-01 7.02011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters Centerline goodness [0,1] 0.9971948197671701 Centerline is valid? [True, True] Translation: X:111.76, Y:149.01, Z:7.02 [[-3.60557693e-01 -9.32536574e-01 1.93310113e-02 1.11755325e+02] [ 9.31350044e-01 -3.61074021e-01 -4.70387845e-02 1.49012639e+02] [ 5.08453129e-02 1.04374254e-03 9.98705995e-01 7.02128396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.266875 meters Centerline goodness [0,1] 0.9971568880847764 Centerline is valid? [True, True] Translation: X:111.75, Y:149.04, Z:7.02 [[-3.61883653e-01 -9.32022715e-01 1.93359632e-02 1.11746772e+02] [ 9.30836982e-01 -3.62398515e-01 -4.70088261e-02 1.49038775e+02] [ 5.08206181e-02 9.86903901e-04 9.98707310e-01 7.02251081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters Centerline goodness [0,1] 0.9973873746645954 Centerline is valid? [True, True] Translation: X:111.74, Y:149.06, Z:7.02 [[-3.63269077e-01 -9.31483318e-01 1.93495946e-02 1.11738172e+02] [ 9.30297313e-01 -3.63782859e-01 -4.69993763e-02 1.49063298e+02] [ 5.08181858e-02 9.27455784e-04 9.98707491e-01 7.02375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.326875 meters Centerline goodness [0,1] 0.9976379440665155 Centerline is valid? [True, True] Translation: X:111.73, Y:149.09, Z:7.02 [[-3.65366233e-01 -9.30655822e-01 1.96788425e-02 1.11731495e+02] [ 9.29430241e-01 -3.65894836e-01 -4.77535008e-02 1.49089412e+02] [ 5.16424604e-02 8.42594625e-04 9.98665282e-01 7.02354320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters Centerline goodness [0,1] 0.9975454330894501 Centerline is valid? [True, True] Translation: X:111.72, Y:149.11, Z:7.02 [[-3.66328251e-01 -9.30273273e-01 1.98808788e-02 1.11722898e+02] [ 9.29024166e-01 -3.66866428e-01 -4.81987798e-02 1.49114270e+02] [ 5.21316636e-02 8.13242134e-04 9.98639889e-01 7.02369512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.386875 meters Centerline goodness [0,1] 0.9976817902256706 Centerline is valid? [True, True] Translation: X:111.71, Y:149.14, Z:7.02 [[-3.67225003e-01 -9.29913039e-01 2.01875260e-02 1.11714704e+02] [ 9.28626912e-01 -3.67778622e-01 -4.88972731e-02 1.49140802e+02] [ 5.28947524e-02 7.90378641e-04 9.98599780e-01 7.02452146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters Centerline goodness [0,1] 0.9975124967425553 Centerline is valid? [True, True] Translation: X:111.71, Y:149.17, Z:7.02 [[-3.68213834e-01 -9.29505742e-01 2.09200500e-02 1.11707750e+02] [ 9.28126338e-01 -3.68806827e-01 -5.06263243e-02 1.49167621e+02] [ 5.47729164e-02 7.75136435e-04 9.98498536e-01 7.02429828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44687499999998 meters Centerline goodness [0,1] 0.99733815001426 Centerline is valid? [True, True] Translation: X:111.70, Y:149.19, Z:7.03 [[-3.68545274e-01 -9.29375060e-01 2.08897058e-02 1.11698872e+02] [ 9.28001831e-01 -3.69136025e-01 -5.05093711e-02 1.49193862e+02] [ 5.46532927e-02 7.70695291e-04 9.98505094e-01 7.02522341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters Centerline goodness [0,1] 0.9974780519140635 Centerline is valid? [True, True] Translation: X:111.69, Y:149.22, Z:7.03 [[-3.68589675e-01 -9.29350719e-01 2.11870892e-02 1.11689267e+02] [ 9.27940551e-01 -3.69197250e-01 -5.11832402e-02 1.49218622e+02] [ 5.53893962e-02 7.94745433e-04 9.98464513e-01 7.02533708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50687499999998 meters Centerline goodness [0,1] 0.9978526436342814 Centerline is valid? [True, True] Translation: X:111.68, Y:149.25, Z:7.03 [[-3.67020700e-01 -9.29967556e-01 2.13576866e-02 1.11681088e+02] [ 9.28538149e-01 -3.67640468e-01 -5.15498959e-02 1.49245274e+02] [ 5.57916806e-02 9.11547881e-04 9.98442015e-01 7.02718508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters Centerline goodness [0,1] 0.9976561192030805 Centerline is valid? [True, True] Translation: X:111.67, Y:149.27, Z:7.03 [[-3.65982163e-01 -9.30378532e-01 2.12800994e-02 1.11670456e+02] [ 9.28962385e-01 -3.66598986e-01 -5.13232012e-02 1.49271667e+02] [ 5.55512674e-02 9.85035718e-04 9.98455350e-01 7.02889139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56687499999998 meters Centerline goodness [0,1] 0.9978185827979672 Centerline is valid? [True, True] Translation: X:111.66, Y:149.30, Z:7.03 [[-3.64658043e-01 -9.30902247e-01 2.11072849e-02 1.11659538e+02] [ 9.29512045e-01 -3.65266835e-01 -5.08674594e-02 1.49297777e+02] [ 5.50624234e-02 1.07024730e-03 9.98482340e-01 7.03062595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters Centerline goodness [0,1] 0.9977026897673973 Centerline is valid? [True, True] Translation: X:111.65, Y:149.32, Z:7.03 [[-3.63142427e-01 -9.31496809e-01 2.10065001e-02 1.11648146e+02] [ 9.30122963e-01 -3.63747618e-01 -5.05860122e-02 1.49323862e+02] [ 5.47617733e-02 1.16870083e-03 9.98498764e-01 7.03245463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62687499999998 meters Centerline goodness [0,1] 0.9974253470968983 Centerline is valid? [True, True] Translation: X:111.64, Y:149.35, Z:7.03 [[-3.59139894e-01 -9.33048906e-01 2.09350043e-02 1.11635917e+02] [ 9.31689096e-01 -3.59746774e-01 -5.03754584e-02 1.49349137e+02] [ 5.45340666e-02 1.41307845e-03 9.98510911e-01 7.03397796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters Centerline goodness [0,1] 0.997564269522018 Centerline is valid? [True, True] Translation: X:111.62, Y:149.37, Z:7.03 [[-3.57925900e-01 -9.33515010e-01 2.09469962e-02 1.11623366e+02] [ 9.32156565e-01 -3.58535187e-01 -5.03652551e-02 1.49373511e+02] [ 5.45269568e-02 1.49885077e-03 9.98511174e-01 7.03467199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.686875 meters Centerline goodness [0,1] 0.9978482145015836 Centerline is valid? [True, True] Translation: X:111.62, Y:149.40, Z:7.04 [[-3.58469401e-01 -9.33306653e-01 2.09375095e-02 1.11615520e+02] [ 9.31951333e-01 -3.59077285e-01 -5.03012654e-02 1.49399868e+02] [ 5.44646898e-02 1.48127539e-03 9.98514598e-01 7.03759510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters Centerline goodness [0,1] 0.9977325357005017 Centerline is valid? [True, True] Translation: X:111.61, Y:149.43, Z:7.04 [[-3.59040263e-01 -9.33083177e-01 2.11157272e-02 1.11606486e+02] [ 9.31706744e-01 -3.59657624e-01 -5.06846859e-02 1.49425980e+02] [ 5.48874600e-02 1.47582251e-03 9.98491456e-01 7.03962794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.746875 meters Centerline goodness [0,1] 0.9977573609202055 Centerline is valid? [True, True] Translation: X:111.60, Y:149.45, Z:7.04 [[-3.59691811e-01 -9.32829524e-01 2.12339236e-02 1.11595559e+02] [ 9.31439729e-01 -3.60315059e-01 -5.09223855e-02 1.49450256e+02] [ 5.51528071e-02 1.46175492e-03 9.98476856e-01 7.04001924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters Centerline goodness [0,1] 0.9974665218964893 Centerline is valid? [True, True] Translation: X:111.59, Y:149.48, Z:7.04 [[-3.60294244e-01 -9.32582756e-01 2.18508793e-02 1.11585382e+02] [ 9.31113302e-01 -3.60953187e-01 -5.23528026e-02 1.49475681e+02] [ 5.67104654e-02 1.48323093e-03 9.98389565e-01 7.03902542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.806875 meters Centerline goodness [0,1] 0.9976036998873739 Centerline is valid? [True, True] Translation: X:111.57, Y:149.50, Z:7.04 [[-3.61252560e-01 -9.32211191e-01 2.18834081e-02 1.11574709e+02] [ 9.30739289e-01 -3.61911884e-01 -5.23847600e-02 1.49500124e+02] [ 5.67535249e-02 1.44361899e-03 9.98387176e-01 7.03920170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters Centerline goodness [0,1] 0.9975338491295939 Centerline is valid? [True, True] Translation: X:111.57, Y:149.53, Z:7.04 [[-3.62117713e-01 -9.31869505e-01 2.21356727e-02 1.11565133e+02] [ 9.30365559e-01 -3.62790849e-01 -5.29407875e-02 1.49525914e+02] [ 5.73645249e-02 1.42347056e-03 9.98352285e-01 7.04046343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.866875 meters Centerline goodness [0,1] 0.9975826725971766 Centerline is valid? [True, True] Translation: X:111.56, Y:149.55, Z:7.04 [[-3.63216673e-01 -9.31437102e-01 2.23287719e-02 1.11556321e+02] [ 9.29908605e-01 -3.63899727e-01 -5.33570507e-02 1.49551504e+02] [ 5.78241707e-02 1.38354675e-03 9.98325824e-01 7.04171131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters Centerline goodness [0,1] 0.9978365904665754 Centerline is valid? [True, True] Translation: X:111.55, Y:149.58, Z:7.04 [[-3.64554212e-01 -9.30914303e-01 2.23335304e-02 1.11546383e+02] [ 9.29386802e-01 -3.65235301e-01 -5.33230437e-02 1.49575505e+02] [ 5.77961777e-02 1.31734825e-03 9.98327535e-01 7.04254924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.926875 meters Centerline goodness [0,1] 0.9976868027276451 Centerline is valid? [True, True] Translation: X:111.54, Y:149.60, Z:7.04 [[-3.66739046e-01 -9.30052953e-01 2.24494300e-02 1.11537891e+02] [ 9.28510687e-01 -3.67423534e-01 -5.35523288e-02 1.49602364e+02] [ 5.80549504e-02 1.20480573e-03 9.98312662e-01 7.04454675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters Centerline goodness [0,1] 0.9977108985325654 Centerline is valid? [True, True] Translation: X:111.53, Y:149.63, Z:7.05 [[-3.67824746e-01 -9.29622002e-01 2.25364158e-02 1.11529125e+02] [ 9.28069384e-01 -3.68512681e-01 -5.37179948e-02 1.49627752e+02] [ 5.82423849e-02 1.15654975e-03 9.98301802e-01 7.04664023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.986875 meters Centerline goodness [0,1] 0.998545313484944 Centerline is valid? [True, True] Translation: X:111.52, Y:149.65, Z:7.05 [[-3.69055765e-01 -9.29133597e-01 2.25521772e-02 1.11518897e+02] [ 9.27580560e-01 -3.69742553e-01 -5.37098584e-02 1.49652836e+02] [ 5.82421335e-02 1.09702826e-03 9.98301883e-01 7.04806201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters Centerline goodness [0,1] 0.9981812449984238 Centerline is valid? [True, True] Translation: X:111.51, Y:149.68, Z:7.05 [[-3.70950836e-01 -9.28383700e-01 2.23423937e-02 1.11508983e+02] [ 9.26860619e-01 -3.71621761e-01 -5.31663503e-02 1.49678714e+02] [ 5.76616927e-02 9.86182728e-04 9.98335693e-01 7.04956467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.046875 meters Centerline goodness [0,1] 0.9980984474666025 Centerline is valid? [True, True] Translation: X:111.50, Y:149.70, Z:7.05 [[-3.72050906e-01 -9.27956764e-01 2.17799954e-02 1.11499198e+02] [ 9.26510973e-01 -3.72686750e-01 -5.17880658e-02 1.49704970e+02] [ 5.61742016e-02 9.11607964e-04 9.98420567e-01 7.05241641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters Centerline goodness [0,1] 0.9980438090177989 Centerline is valid? [True, True] Translation: X:111.49, Y:149.73, Z:7.05 [[-3.72820127e-01 -9.27652078e-01 2.16049824e-02 1.11487960e+02] [ 9.26231052e-01 -3.73444588e-01 -5.13339907e-02 1.49729184e+02] [ 5.56883469e-02 8.72860666e-04 9.98447818e-01 7.05307677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.106875 meters Centerline goodness [0,1] 0.9978706929926442 Centerline is valid? [True, True] Translation: X:111.48, Y:149.76, Z:7.06 [[-3.73791836e-01 -9.27263072e-01 2.15141542e-02 1.11478819e+02] [ 9.25855308e-01 -3.74409555e-01 -5.10826122e-02 1.49755391e+02] [ 5.54221249e-02 8.24730503e-04 9.98462672e-01 7.05608821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters Centerline goodness [0,1] 0.9979362921239195 Centerline is valid? [True, True] Translation: X:111.47, Y:149.78, Z:7.06 [[-3.75484043e-01 -9.26574174e-01 2.17263452e-02 1.11469823e+02] [ 9.25139777e-01 -3.76111345e-01 -5.15426954e-02 1.49780095e+02] [ 5.59296553e-02 7.46446466e-04 9.98434433e-01 7.05629398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16687499999998 meters Centerline goodness [0,1] 0.9980841518127804 Centerline is valid? [True, True] Translation: X:111.46, Y:149.80, Z:7.06 [[-3.76486823e-01 -9.26161790e-01 2.19547430e-02 1.11458936e+02] [ 9.24699051e-01 -3.77125754e-01 -5.20368186e-02 1.49803924e+02] [ 5.64742120e-02 7.10353494e-04 9.98403805e-01 7.05554677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters Centerline goodness [0,1] 0.9982494103916945 Centerline is valid? [True, True] Translation: X:111.45, Y:149.83, Z:7.06 [[-3.77506948e-01 -9.25739588e-01 2.22422986e-02 1.11449827e+02] [ 9.24240214e-01 -3.78161026e-01 -5.26712980e-02 1.49829360e+02] [ 5.71710762e-02 6.73445880e-04 9.98364169e-01 7.05726373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22687499999998 meters Centerline goodness [0,1] 0.9978899883585565 Centerline is valid? [True, True] Translation: X:111.44, Y:149.85, Z:7.06 [[-3.78553204e-01 -9.25304615e-01 2.25575067e-02 1.11439555e+02] [ 9.23764310e-01 -3.79224165e-01 -5.33716360e-02 1.49854189e+02] [ 5.79393728e-02 6.33815836e-04 9.98319902e-01 7.05723529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters Centerline goodness [0,1] 0.9981513913212687 Centerline is valid? [True, True] Translation: X:111.43, Y:149.88, Z:7.06 [[-3.80282250e-01 -9.24595383e-01 2.25563350e-02 1.11430160e+02] [ 9.23056638e-01 -3.80950237e-01 -5.33231646e-02 1.49879784e+02] [ 5.78951930e-02 5.42921692e-04 9.98322519e-01 7.05891964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28687499999998 meters Centerline goodness [0,1] 0.998443731154557 Centerline is valid? [True, True] Translation: X:111.42, Y:149.90, Z:7.06 [[-3.81376137e-01 -9.24142869e-01 2.26318145e-02 1.11418727e+02] [ 9.22595706e-01 -3.82046742e-01 -5.34551198e-02 1.49904150e+02] [ 5.80465788e-02 4.93507769e-04 9.98313754e-01 7.05751243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters Centerline goodness [0,1] 0.9985148032723024 Centerline is valid? [True, True] Translation: X:111.41, Y:149.93, Z:7.06 [[-3.82375163e-01 -9.23729987e-01 2.26306342e-02 1.11410364e+02] [ 9.22184932e-01 -3.83044005e-01 -5.34063705e-02 1.49930238e+02] [ 5.80015947e-02 4.48360261e-04 9.98316390e-01 7.06199963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34687499999998 meters Centerline goodness [0,1] 0.9987377415283037 Centerline is valid? [True, True] Translation: X:111.40, Y:149.95, Z:7.06 [[-3.83848677e-01 -9.23124983e-01 2.23709650e-02 1.11400814e+02] [ 9.21616783e-01 -3.84499843e-01 -5.27482238e-02 1.49954885e+02] [ 5.72948357e-02 3.70120932e-04 9.98357233e-01 7.06412893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters Centerline goodness [0,1] 0.9988291255031101 Centerline is valid? [True, True] Translation: X:111.39, Y:149.98, Z:7.07 [[-3.84302019e-01 -9.22942529e-01 2.21143783e-02 1.11390290e+02] [ 9.21471058e-01 -3.84937606e-01 -5.20972947e-02 1.49978715e+02] [ 5.65954648e-02 3.56664067e-04 9.98397128e-01 7.06583402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40687499999999 meters Centerline goodness [0,1] 0.9988561972208027 Centerline is valid? [True, True] Translation: X:111.38, Y:150.00, Z:7.07 [[-3.84391155e-01 -9.22907967e-01 2.20073640e-02 1.11380039e+02] [ 9.21453205e-01 -3.85020453e-01 -5.18000270e-02 1.50003489e+02] [ 5.62799428e-02 3.67283871e-04 9.98414960e-01 7.06819851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters Centerline goodness [0,1] 0.9984926944302628 Centerline is valid? [True, True] Translation: X:111.37, Y:150.03, Z:7.07 [[-3.84527577e-01 -9.22861297e-01 2.15770624e-02 1.11368981e+02] [ 9.21465228e-01 -3.85132302e-01 -5.07438960e-02 1.50027970e+02] [ 5.51396014e-02 3.70085385e-04 9.98478586e-01 7.06997532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.466875 meters Centerline goodness [0,1] 0.9989041763058566 Centerline is valid? [True, True] Translation: X:111.36, Y:150.05, Z:7.07 [[-3.84079692e-01 -9.23042979e-01 2.17818501e-02 1.11357970e+02] [ 9.21623032e-01 -3.84696614e-01 -5.11810661e-02 1.50052532e+02] [ 5.56217277e-02 4.17046624e-04 9.98451826e-01 7.07116527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters Centerline goodness [0,1] 0.9984976616831035 Centerline is valid? [True, True] Translation: X:111.35, Y:150.08, Z:7.07 [[-3.82818299e-01 -9.23569728e-01 2.16588803e-02 1.11345965e+02] [ 9.22169033e-01 -3.83430176e-01 -5.08485455e-02 1.50075565e+02] [ 5.52668456e-02 5.07394989e-04 9.98471491e-01 7.07158558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.526875 meters Centerline goodness [0,1] 0.9980046234335077 Centerline is valid? [True, True] Translation: X:111.33, Y:150.10, Z:7.07 [[-3.82105320e-01 -9.23867686e-01 2.15412183e-02 1.11334398e+02] [ 9.22485099e-01 -3.82711616e-01 -5.05278273e-02 1.50100594e+02] [ 5.49251014e-02 5.64501278e-04 9.98490318e-01 7.07303832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters Centerline goodness [0,1] 0.9983445723884412 Centerline is valid? [True, True] Translation: X:111.32, Y:150.13, Z:7.07 [[-3.81156746e-01 -9.24264292e-01 2.13319726e-02 1.11323307e+02] [ 9.22911383e-01 -3.81752693e-01 -4.99946020e-02 1.50125039e+02] [ 5.43517634e-02 6.31740506e-04 9.98521651e-01 7.07469943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.586875 meters Centerline goodness [0,1] 0.9981552054761269 Centerline is valid? [True, True] Translation: X:111.31, Y:150.15, Z:7.07 [[-3.80173526e-01 -9.24667089e-01 2.14211396e-02 1.11311373e+02] [ 9.23305764e-01 -3.80775884e-01 -5.01616694e-02 1.50148140e+02] [ 5.45394982e-02 7.08122948e-04 9.98511363e-01 7.07498813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters Centerline goodness [0,1] 0.9984736523319201 Centerline is valid? [True, True] Translation: X:111.30, Y:150.17, Z:7.08 [[-3.78590005e-01 -9.25314926e-01 2.14917583e-02 1.11298994e+02] [ 9.23947431e-01 -3.79198656e-01 -5.02943682e-02 1.50172852e+02] [ 5.46877754e-02 8.16309788e-04 9.98503170e-01 7.07575597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.646875 meters Centerline goodness [0,1] 0.9983101583623021 Centerline is valid? [True, True] Translation: X:111.29, Y:150.20, Z:7.08 [[-3.77624985e-01 -9.25703559e-01 2.17322773e-02 1.11287443e+02] [ 9.24307570e-01 -3.78248758e-01 -5.08270888e-02 1.50198163e+02] [ 5.52710239e-02 8.93729801e-04 9.98470989e-01 7.07670290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters Centerline goodness [0,1] 0.9981415331145008 Centerline is valid? [True, True] Translation: X:111.28, Y:150.22, Z:7.08 [[-3.77065912e-01 -9.25926920e-01 2.19234313e-02 1.11275769e+02] [ 9.24508794e-01 -3.77701519e-01 -5.12352593e-02 1.50224046e+02] [ 5.57206192e-02 9.49335255e-04 9.98445948e-01 7.07778887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.706875 meters Centerline goodness [0,1] 0.9979978772674643 Centerline is valid? [True, True] Translation: X:111.26, Y:150.25, Z:7.08 [[-3.76730352e-01 -9.26059594e-01 2.20877770e-02 1.11264553e+02] [ 9.24622622e-01 -3.77375999e-01 -5.15787003e-02 1.50249117e+02] [ 5.61003471e-02 9.91596362e-04 9.98424643e-01 7.07848792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters Centerline goodness [0,1] 0.9981513048906389 Centerline is valid? [True, True] Translation: X:111.25, Y:150.27, Z:7.08 [[-3.76093197e-01 -9.26309014e-01 2.24837124e-02 1.11252296e+02] [ 9.24823044e-01 -3.76763158e-01 -5.24581761e-02 1.50273530e+02] [ 5.70635159e-02 1.06429225e-03 9.98369983e-01 7.07840242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.766875 meters Centerline goodness [0,1] 0.9981623425296806 Centerline is valid? [True, True] Translation: X:111.24, Y:150.30, Z:7.08 [[-3.75941760e-01 -9.26368052e-01 2.25837315e-02 1.11241070e+02] [ 9.24871404e-01 -3.76617889e-01 -5.26483810e-02 1.50298526e+02] [ 5.72772154e-02 1.09432244e-03 9.98357713e-01 7.07913698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters Centerline goodness [0,1] 0.9977518311697731 Centerline is valid? [True, True] Translation: X:111.23, Y:150.32, Z:7.08 [[-3.75893617e-01 -9.26387346e-01 2.25936705e-02 1.11230045e+02] [ 9.24891980e-01 -3.76570369e-01 -5.26268110e-02 1.50323321e+02] [ 5.72609187e-02 1.11462232e-03 9.98358625e-01 7.08047179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.826875 meters Centerline goodness [0,1] 0.9981387928742356 Centerline is valid? [True, True] Translation: X:111.22, Y:150.35, Z:7.08 [[-3.76152213e-01 -9.26287480e-01 2.23834107e-02 1.11218720e+02] [ 9.24822180e-01 -3.76815978e-01 -5.20927506e-02 1.50348391e+02] [ 5.66872895e-02 1.10587122e-03 9.98391370e-01 7.08235989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters Centerline goodness [0,1] 0.9982569118287901 Centerline is valid? [True, True] Translation: X:111.21, Y:150.37, Z:7.08 [[-3.76826196e-01 -9.26016689e-01 2.22510462e-02 1.11209428e+02] [ 9.24570726e-01 -3.77481038e-01 -5.17400968e-02 1.50373718e+02] [ 5.63115412e-02 1.07564208e-03 9.98412667e-01 7.08472153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.886875 meters Centerline goodness [0,1] 0.9981888870106976 Centerline is valid? [True, True] Translation: X:111.20, Y:150.40, Z:7.09 [[-3.77787979e-01 -9.25631086e-01 2.19849059e-02 1.11198598e+02] [ 9.24221391e-01 -3.78425748e-01 -5.10761514e-02 1.50397259e+02] [ 5.55973279e-02 1.02296428e-03 9.98452748e-01 7.08637160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters Centerline goodness [0,1] 0.9978993625651922 Centerline is valid? [True, True] Translation: X:111.19, Y:150.42, Z:7.09 [[-3.79059645e-01 -9.25120777e-01 2.15715676e-02 1.11187665e+02] [ 9.23765272e-01 -3.79671766e-01 -5.00706785e-02 1.50421213e+02] [ 5.45115402e-02 9.47291399e-04 9.98512691e-01 7.08735394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94687499999998 meters Centerline goodness [0,1] 0.9982123876703063 Centerline is valid? [True, True] Translation: X:111.18, Y:150.45, Z:7.09 [[-3.82231476e-01 -9.23829729e-01 2.09219984e-02 1.11178667e+02] [ 9.22554938e-01 -3.82802901e-01 -4.85213841e-02 1.50448142e+02] [ 5.28344988e-02 7.55292683e-04 9.98602997e-01 7.09036620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters Centerline goodness [0,1] 0.9984285852432067 Centerline is valid? [True, True] Translation: X:111.17, Y:150.47, Z:7.09 [[-3.83948349e-01 -9.23121771e-01 2.07330748e-02 1.11168932e+02] [ 9.21870850e-01 -3.84507154e-01 -4.80456436e-02 1.50472450e+02] [ 5.23239952e-02 6.66171749e-04 9.98629939e-01 7.09176793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00687499999998 meters Centerline goodness [0,1] 0.9985944164404809 Centerline is valid? [True, True] Translation: X:111.16, Y:150.50, Z:7.09 [[-3.86012116e-01 -9.22262337e-01 2.06598245e-02 1.11159490e+02] [ 9.21021232e-01 -3.86564178e-01 -4.78333105e-02 1.50497970e+02] [ 5.21012088e-02 5.63899641e-04 9.98641650e-01 7.09384213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters Centerline goodness [0,1] 0.998451712792723 Centerline is valid? [True, True] Translation: X:111.15, Y:150.52, Z:7.09 [[-3.87682742e-01 -9.21561129e-01 2.06682567e-02 1.11149357e+02] [ 9.20320143e-01 -3.88232984e-01 -4.78119727e-02 1.50521737e+02] [ 5.20857545e-02 4.85536239e-04 9.98642498e-01 7.09454593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06687499999998 meters Centerline goodness [0,1] 0.9987408286316197 Centerline is valid? [True, True] Translation: X:111.14, Y:150.55, Z:7.10 [[-3.88942872e-01 -9.21027485e-01 2.07801223e-02 1.11139234e+02] [ 9.19774467e-01 -3.89497348e-01 -4.80286022e-02 1.50547608e+02] [ 5.23294652e-02 4.32643440e-04 9.98629781e-01 7.09598338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters Centerline goodness [0,1] 0.9989414170576206 Centerline is valid? [True, True] Translation: X:111.13, Y:150.57, Z:7.10 [[-3.91592381e-01 -9.19893132e-01 2.12610567e-02 1.11129286e+02] [ 9.18581939e-01 -3.92169011e-01 -4.90987600e-02 1.50572250e+02] [ 5.35035397e-02 3.03322385e-04 9.98567614e-01 7.09535332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12687499999998 meters Centerline goodness [0,1] 0.9989414170576206 Centerline is valid? [True, True] Translation: X:111.12, Y:150.60, Z:7.10 [[-3.91874842e-01 -9.19772471e-01 2.12769692e-02 1.11118521e+02] [ 9.18461474e-01 -3.92451919e-01 -4.90918639e-02 1.50596779e+02] [ 5.35035324e-02 3.04210044e-04 9.98567614e-01 7.09652187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters Centerline goodness [0,1] 0.998378940746655 Centerline is valid? [True, True] Translation: X:111.11, Y:150.62, Z:7.10 [[-3.93328059e-01 -9.19143787e-01 2.16272347e-02 1.11108151e+02] [ 9.17790612e-01 -3.93922127e-01 -4.98573030e-02 1.50622406e+02] [ 5.43454766e-02 2.38996757e-04 9.98522164e-01 7.09708498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.186875 meters Centerline goodness [0,1] 0.998724366997208 Centerline is valid? [True, True] Translation: X:111.10, Y:150.65, Z:7.10 [[-3.94802304e-01 -9.18507766e-01 2.17858719e-02 1.11098144e+02] [ 9.17136079e-01 -3.95402902e-01 -5.01792582e-02 1.50646309e+02] [ 5.47042353e-02 1.69722409e-04 9.98502588e-01 7.09751557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters Centerline goodness [0,1] 0.9989603230252182 Centerline is valid? [True, True] Translation: X:111.09, Y:150.67, Z:7.10 [[-3.97691394e-01 -9.17262656e-01 2.16973472e-02 1.11088918e+02] [ 9.15902657e-01 -3.98282838e-01 -4.99309832e-02 1.50672139e+02] [ 5.44415073e-02 1.55356754e-05 9.98516961e-01 7.09992280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.246875 meters Centerline goodness [0,1] 0.9986254129789953 Centerline is valid? [True, True] Translation: X:111.08, Y:150.70, Z:7.10 [[-3.98999012e-01 -9.16694952e-01 2.16830118e-02 1.11079262e+02] [ 9.15338134e-01 -3.99587741e-01 -4.98571802e-02 1.50696415e+02] [ 5.43680911e-02 -4.56780983e-05 9.98520961e-01 7.10080541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters Centerline goodness [0,1] 0.9987934945224651 Centerline is valid? [True, True] Translation: X:111.07, Y:150.72, Z:7.10 [[-4.00540208e-01 -9.16025295e-01 2.15684968e-02 1.11068879e+02] [ 9.14683663e-01 -4.01120485e-01 -4.95595937e-02 1.50721415e+02] [ 5.40494074e-02 -1.22258332e-04 9.98538255e-01 7.10260687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.306875 meters Centerline goodness [0,1] 0.9986969111969112 Centerline is valid? [True, True] Translation: X:111.06, Y:150.75, Z:7.10 [[-4.01581626e-01 -9.15579341e-01 2.11344999e-02 1.11057755e+02] [ 9.14292710e-01 -4.02137344e-01 -4.85221389e-02 1.50746714e+02] [ 5.29248396e-02 -1.62480295e-04 9.98598485e-01 7.10453385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters Centerline goodness [0,1] 0.9988689688364818 Centerline is valid? [True, True] Translation: X:111.05, Y:150.77, Z:7.11 [[-4.02310769e-01 -9.15277542e-01 2.03240314e-02 1.11047122e+02] [ 9.14089270e-01 -4.02823769e-01 -4.66242144e-02 1.50770187e+02] [ 5.08610993e-02 -1.79444516e-04 9.98705721e-01 7.10682264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.366875 meters Centerline goodness [0,1] 0.9991056969521185 Centerline is valid? [True, True] Translation: X:111.04, Y:150.79, Z:7.11 [[-4.02405874e-01 -9.15239262e-01 2.01644552e-02 1.11035177e+02] [ 9.14071127e-01 -4.02910739e-01 -4.62267387e-02 1.50794715e+02] [ 5.04330018e-02 -1.70164885e-04 9.98727432e-01 7.10917592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters Centerline goodness [0,1] 0.9988660216662243 Centerline is valid? [True, True] Translation: X:111.02, Y:150.82, Z:7.11 [[-4.02079951e-01 -9.15378743e-01 2.03339708e-02 1.11023722e+02] [ 9.14193116e-01 -4.02593764e-01 -4.65747563e-02 1.50818917e+02] [ 5.08198716e-02 -1.37599652e-04 9.98707826e-01 7.10998095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.426875 meters Centerline goodness [0,1] 0.9987468067672435 Centerline is valid? [True, True] Translation: X:111.01, Y:150.84, Z:7.11 [[-4.01335432e-01 -9.15701954e-01 2.04890580e-02 1.11011607e+02] [ 9.14500749e-01 -4.01858090e-01 -4.68876971e-02 1.50843194e+02] [ 5.11688496e-02 -8.04352647e-05 9.98690013e-01 7.11153938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters Centerline goodness [0,1] 0.9987024533243627 Centerline is valid? [True, True] Translation: X:111.00, Y:150.87, Z:7.11 [[-3.99253475e-01 -9.16602770e-01 2.08812306e-02 1.10997270e+02] [ 9.15358462e-01 -3.99799150e-01 -4.77443842e-02 1.50867205e+02] [ 5.21109330e-02 5.16998203e-05 9.98641301e-01 7.11246315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.486875 meters Centerline goodness [0,1] 0.9988032837892822 Centerline is valid? [True, True] Translation: X:110.98, Y:150.89, Z:7.11 [[-3.98352141e-01 -9.16993113e-01 2.09571681e-02 1.10984802e+02] [ 9.15742440e-01 -3.98903017e-01 -4.78765779e-02 1.50890926e+02] [ 5.22623698e-02 1.19630906e-04 9.98633381e-01 7.11307905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters Centerline goodness [0,1] 0.9985835353996111 Centerline is valid? [True, True] Translation: X:110.97, Y:150.92, Z:7.11 [[-3.97452282e-01 -9.17382966e-01 2.09804005e-02 1.10972442e+02] [ 9.16132293e-01 -3.98005600e-01 -4.78869890e-02 1.50915105e+02] [ 5.22810249e-02 1.88029360e-04 9.98632394e-01 7.11453041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.546875 meters Centerline goodness [0,1] 0.9983213026691288 Centerline is valid? [True, True] Translation: X:110.96, Y:150.94, Z:7.11 [[-3.96586998e-01 -9.17755352e-01 2.10681577e-02 1.10959789e+02] [ 9.16496924e-01 -3.97146131e-01 -4.80451666e-02 1.50938833e+02] [ 5.24608461e-02 2.54813308e-04 9.98622949e-01 7.11477204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters Centerline goodness [0,1] 0.99811473844979 Centerline is valid? [True, True] Translation: X:110.95, Y:150.96, Z:7.12 [[-3.94917679e-01 -9.18471058e-01 2.12353797e-02 1.10946471e+02] [ 9.17195903e-01 -3.95488025e-01 -4.83828206e-02 1.50962410e+02] [ 5.28365588e-02 3.69772019e-04 9.98603105e-01 7.11537604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.606875 meters Centerline goodness [0,1] 0.9986608957650829 Centerline is valid? [True, True] Translation: X:110.93, Y:150.99, Z:7.12 [[-3.94325705e-01 -9.18721328e-01 2.14093482e-02 1.10934567e+02] [ 9.17427760e-01 -3.94906246e-01 -4.87376757e-02 1.50986045e+02] [ 5.32310275e-02 4.23012033e-04 9.98582134e-01 7.11642348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters Centerline goodness [0,1] 0.998328956791597 Centerline is valid? [True, True] Translation: X:110.92, Y:151.01, Z:7.12 [[-3.93506136e-01 -9.19069272e-01 2.15544426e-02 1.10922732e+02] [ 9.17760940e-01 -3.94095715e-01 -4.90247381e-02 1.51009819e+02] [ 5.35516438e-02 4.90290225e-04 9.98564961e-01 7.11714987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66687499999998 meters Centerline goodness [0,1] 0.9985178101840784 Centerline is valid? [True, True] Translation: X:110.91, Y:151.03, Z:7.12 [[-3.92450360e-01 -9.19521995e-01 2.14945541e-02 1.10910235e+02] [ 9.18223852e-01 -3.93038140e-01 -4.88464667e-02 1.51034117e+02] [ 5.33635800e-02 5.66998801e-04 9.98574988e-01 7.11857514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters Centerline goodness [0,1] 0.9979551074757467 Centerline is valid? [True, True] Translation: X:110.90, Y:151.06, Z:7.12 [[-3.90330047e-01 -9.20423234e-01 2.15296408e-02 1.10896251e+02] [ 9.19124323e-01 -3.90922718e-01 -4.88866669e-02 1.51058853e+02] [ 5.34128498e-02 7.06481580e-04 9.98572265e-01 7.11952650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72687499999998 meters Centerline goodness [0,1] 0.9979897833695961 Centerline is valid? [True, True] Translation: X:110.88, Y:151.08, Z:7.12 [[-3.89455351e-01 -9.20789648e-01 2.17014919e-02 1.10883489e+02] [ 9.19472447e-01 -3.90058741e-01 -4.92402072e-02 1.51084129e+02] [ 5.38047297e-02 7.77061740e-04 9.98551174e-01 7.12068318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters Centerline goodness [0,1] 0.9981715425531915 Centerline is valid? [True, True] Translation: X:110.87, Y:151.11, Z:7.12 [[-3.88503607e-01 -9.21195556e-01 2.15335990e-02 1.10870891e+02] [ 9.19901219e-01 -3.89099012e-01 -4.88232055e-02 1.51108499e+02] [ 5.33544220e-02 8.40792581e-04 9.98575284e-01 7.12224614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78687499999998 meters Centerline goodness [0,1] 0.9982734561623424 Centerline is valid? [True, True] Translation: X:110.86, Y:151.13, Z:7.12 [[-3.87265574e-01 -9.21717317e-01 2.15072521e-02 1.10858682e+02] [ 9.20428947e-01 -3.87861224e-01 -4.87260040e-02 1.51133997e+02] [ 5.32534308e-02 9.25993517e-04 9.98580600e-01 7.12429033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters Centerline goodness [0,1] 0.9979123668540791 Centerline is valid? [True, True] Translation: X:110.85, Y:151.16, Z:7.13 [[-3.84774408e-01 -9.22761698e-01 2.14360348e-02 1.10845793e+02] [ 9.21485333e-01 -3.85369539e-01 -4.85293621e-02 1.51158800e+02] [ 5.30418315e-02 1.08013511e-03 9.98591707e-01 7.12601527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84687499999998 meters Centerline goodness [0,1] 0.9982016516409928 Centerline is valid? [True, True] Translation: X:110.83, Y:151.18, Z:7.13 [[-3.83868156e-01 -9.23136540e-01 2.15445332e-02 1.10833632e+02] [ 9.21849739e-01 -3.84470547e-01 -4.87386607e-02 1.51184542e+02] [ 5.32756771e-02 1.15160254e-03 9.98579179e-01 7.12714633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters Centerline goodness [0,1] 0.9978547349065278 Centerline is valid? [True, True] Translation: X:110.82, Y:151.21, Z:7.13 [[-3.83172905e-01 -9.23420647e-01 2.17447358e-02 1.10821181e+02] [ 9.22112286e-01 -3.83787478e-01 -4.91538802e-02 1.51208306e+02] [ 5.37350652e-02 1.21665294e-03 9.98554487e-01 7.12731330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90687499999999 meters Centerline goodness [0,1] 0.9978756048625044 Centerline is valid? [True, True] Translation: X:110.81, Y:151.23, Z:7.13 [[-3.82653305e-01 -9.23631163e-01 2.19527646e-02 1.10808724e+02] [ 9.22300003e-01 -3.83280389e-01 -4.95867785e-02 1.51232820e+02] [ 5.42139580e-02 1.27249016e-03 9.98528531e-01 7.12801433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters Centerline goodness [0,1] 0.9980361537005489 Centerline is valid? [True, True] Translation: X:110.80, Y:151.26, Z:7.13 [[-3.81876563e-01 -9.23950002e-01 2.20609309e-02 1.10797568e+02] [ 9.22607783e-01 -3.82510929e-01 -4.98022819e-02 1.51259032e+02] [ 5.44533656e-02 1.33526227e-03 9.98515422e-01 7.12968494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.966875 meters Centerline goodness [0,1] 0.9977609653774541 Centerline is valid? [True, True] Translation: X:110.79, Y:151.28, Z:7.13 [[-3.82116493e-01 -9.23854805e-01 2.18925676e-02 1.10785689e+02] [ 9.22534869e-01 -3.82740828e-01 -4.93849532e-02 1.51283028e+02] [ 5.40037057e-02 1.32585183e-03 9.98539855e-01 7.13106004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters Centerline goodness [0,1] 0.9976843100189036 Centerline is valid? [True, True] Translation: X:110.78, Y:151.31, Z:7.13 [[-3.82547183e-01 -9.23675104e-01 2.19534555e-02 1.10776453e+02] [ 9.22349832e-01 -3.83174318e-01 -4.94795927e-02 1.51308568e+02] [ 5.41150683e-02 1.32048715e-03 9.98533833e-01 7.13310382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.026875 meters Centerline goodness [0,1] 0.9981225343409857 Centerline is valid? [True, True] Translation: X:110.77, Y:151.33, Z:7.13 [[-3.83427301e-01 -9.23310280e-01 2.19460969e-02 1.10765333e+02] [ 9.21987556e-01 -3.84052700e-01 -4.94213560e-02 1.51333617e+02] [ 5.40597038e-02 1.28453111e-03 9.98536879e-01 7.13407899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters Centerline goodness [0,1] 0.9983174558035925 Centerline is valid? [True, True] Translation: X:110.75, Y:151.36, Z:7.13 [[-3.85890131e-01 -9.22269375e-01 2.25389921e-02 1.10753561e+02] [ 9.20874735e-01 -3.86545979e-01 -5.07141785e-02 1.51358552e+02] [ 5.54844905e-02 1.18548733e-03 9.98458845e-01 7.13299729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.086875 meters Centerline goodness [0,1] 0.9980110811194772 Centerline is valid? [True, True] Translation: X:110.74, Y:151.38, Z:7.13 [[-3.87802514e-01 -9.21464496e-01 2.26361076e-02 1.10743534e+02] [ 9.20058561e-01 -3.88461061e-01 -5.08944880e-02 1.51383486e+02] [ 5.56907101e-02 1.08953419e-03 9.98447474e-01 7.13328501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters Centerline goodness [0,1] 0.9983862929827476 Centerline is valid? [True, True] Translation: X:110.74, Y:151.41, Z:7.14 [[-3.90126140e-01 -9.20482527e-01 2.26608218e-02 1.10735537e+02] [ 9.19074086e-01 -3.90782530e-01 -5.09101097e-02 1.51410917e+02] [ 5.57173197e-02 9.65609457e-04 9.98446117e-01 7.13591998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.146875 meters Centerline goodness [0,1] 0.9987649042800817 Centerline is valid? [True, True] Translation: X:110.73, Y:151.44, Z:7.14 [[-3.93027640e-01 -9.19249787e-01 2.25633320e-02 1.10725993e+02] [ 9.17853459e-01 -3.93673961e-01 -5.06541157e-02 1.51438013e+02] [ 5.54463813e-02 8.01364800e-04 9.98461345e-01 7.13782410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters Centerline goodness [0,1] 0.9978854834877643 Centerline is valid? [True, True] Translation: X:110.72, Y:151.47, Z:7.14 [[-3.99813591e-01 -9.16330044e-01 2.20984785e-02 1.10718906e+02] [ 9.14988020e-01 -4.00423640e-01 -4.95765334e-02 1.51465811e+02] [ 5.42772202e-02 3.98471242e-04 9.98525826e-01 7.13996755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.206875 meters Centerline goodness [0,1] 0.9986149584487535 Centerline is valid? [True, True] Translation: X:110.71, Y:151.49, Z:7.14 [[-4.03874496e-01 -9.14551216e-01 2.19423210e-02 1.10709604e+02] [ 9.13227359e-01 -4.04470078e-01 -4.91909182e-02 1.51492090e+02] [ 5.38626263e-02 1.71370611e-04 9.98548340e-01 7.14174018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters Centerline goodness [0,1] 0.9987143163258018 Centerline is valid? [True, True] Translation: X:110.70, Y:151.52, Z:7.14 [[-4.07738627e-01 -9.12837009e-01 2.18587939e-02 1.10700797e+02] [ 9.11522815e-01 -4.08324127e-01 -4.89649301e-02 1.51518251e+02] [ 5.36224733e-02 -4.01039733e-05 9.98561279e-01 7.14381308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.266875 meters Centerline goodness [0,1] 0.9988539229263168 Centerline is valid? [True, True] Translation: X:110.69, Y:151.55, Z:7.15 [[-4.14620606e-01 -9.09731108e-01 2.18875393e-02 1.10693770e+02] [ 9.08411207e-01 -4.15197697e-01 -4.89893015e-02 1.51545399e+02] [ 5.36547474e-02 -4.29087915e-04 9.98559454e-01 7.14623433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters Centerline goodness [0,1] 0.9988079628084396 Centerline is valid? [True, True] Translation: X:110.68, Y:151.57, Z:7.15 [[-4.17651520e-01 -9.08346421e-01 2.17712463e-02 1.10684192e+02] [ 9.07040439e-01 -4.18218162e-01 -4.86950751e-02 1.51571133e+02] [ 5.33371278e-02 -5.90171367e-04 9.98576388e-01 7.14732753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.326875 meters Centerline goodness [0,1] 0.9988302418295972 Centerline is valid? [True, True] Translation: X:110.67, Y:151.60, Z:7.15 [[-4.20458263e-01 -9.07049790e-01 2.18066030e-02 1.10673199e+02] [ 9.05739324e-01 -4.21022712e-01 -4.87457930e-02 1.51596402e+02] [ 5.33959364e-02 -7.44473547e-04 9.98573142e-01 7.14923986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters Centerline goodness [0,1] 0.9989508321808384 Centerline is valid? [True, True] Translation: X:110.66, Y:151.62, Z:7.15 [[-4.22884242e-01 -9.05922429e-01 2.17593621e-02 1.10662457e+02] [ 9.04618172e-01 -4.23442791e-01 -4.86021253e-02 1.51622548e+02] [ 5.32436004e-02 -8.69158605e-04 9.98581175e-01 7.15055041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.386875 meters Centerline goodness [0,1] 0.9989284438623646 Centerline is valid? [True, True] Translation: X:110.65, Y:151.65, Z:7.15 [[-4.25953267e-01 -9.04480331e-01 2.18893906e-02 1.10651356e+02] [ 9.03160488e-01 -4.26514066e-01 -4.88557582e-02 1.51647197e+02] [ 5.35252053e-02 -1.04063712e-03 9.98565956e-01 7.15047200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters Centerline goodness [0,1] 0.9992179724157543 Centerline is valid? [True, True] Translation: X:110.64, Y:151.67, Z:7.15 [[-4.26409199e-01 -9.04264322e-01 2.19369866e-02 1.10638544e+02] [ 9.02940520e-01 -4.26971810e-01 -4.89233206e-02 1.51671687e+02] [ 5.36060882e-02 -1.05355994e-03 9.98561604e-01 7.15165573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44687499999998 meters Centerline goodness [0,1] 0.9990998247027053 Centerline is valid? [True, True] Translation: X:110.63, Y:151.70, Z:7.15 [[-4.26365193e-01 -9.04282231e-01 2.20537790e-02 1.10626885e+02] [ 9.02946530e-01 -4.26933914e-01 -4.91426242e-02 1.51695307e+02] [ 5.38543080e-02 -1.03932127e-03 9.98548263e-01 7.15192778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters Centerline goodness [0,1] 0.9989581113400109 Centerline is valid? [True, True] Translation: X:110.61, Y:151.72, Z:7.15 [[-4.25550856e-01 -9.04659389e-01 2.23127669e-02 1.10612681e+02] [ 9.03294971e-01 -4.26134275e-01 -4.96767008e-02 1.51718589e+02] [ 5.44487285e-02 -9.84952365e-04 9.98516082e-01 7.15334686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50687499999998 meters Centerline goodness [0,1] 0.9987568315624047 Centerline is valid? [True, True] Translation: X:110.59, Y:151.74, Z:7.15 [[-4.20394862e-01 -9.07070010e-01 2.21846236e-02 1.10593988e+02] [ 9.05726680e-01 -4.20979299e-01 -4.93519123e-02 1.51741484e+02] [ 5.41049069e-02 -6.54084862e-04 9.98535043e-01 7.15474711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters Centerline goodness [0,1] 0.9988045567483943 Centerline is valid? [True, True] Translation: X:110.58, Y:151.76, Z:7.16 [[-4.16981106e-01 -9.08651023e-01 2.19106390e-02 1.10577965e+02] [ 9.07344686e-01 -4.17556144e-01 -4.87081763e-02 1.51764679e+02] [ 5.34076562e-02 -4.29887351e-04 9.98572700e-01 7.15583565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56687499999998 meters Centerline goodness [0,1] 0.9987893462469734 Centerline is valid? [True, True] Translation: X:110.56, Y:151.78, Z:7.16 [[-4.09321877e-01 -9.12126030e-01 2.19478356e-02 1.10557858e+02] [ 9.10822032e-01 -4.09909874e-01 -4.87557212e-02 1.51784117e+02] [ 5.34679969e-02 3.37889434e-05 9.98569563e-01 7.15563728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters Centerline goodness [0,1] 0.9984917043740573 Centerline is valid? [True, True] Translation: X:110.54, Y:151.81, Z:7.16 [[-4.05701288e-01 -9.13742743e-01 2.19240506e-02 1.10542246e+02] [ 9.12445664e-01 -4.06293160e-01 -4.86701026e-02 1.51807242e+02] [ 5.33795449e-02 2.58981600e-04 9.98574262e-01 7.15614239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62687499999998 meters Centerline goodness [0,1] 0.9983772255192879 Centerline is valid? [True, True] Translation: X:110.53, Y:151.83, Z:7.16 [[-4.02297576e-01 -9.15250509e-01 2.17523755e-02 1.10526602e+02] [ 9.13977923e-01 -4.02884951e-01 -4.82500976e-02 1.51831328e+02] [ 5.29246311e-02 4.70293706e-04 9.98598399e-01 7.15762517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters Centerline goodness [0,1] 0.998712732455233 Centerline is valid? [True, True] Translation: X:110.51, Y:151.86, Z:7.16 [[-3.99529307e-01 -9.16459236e-01 2.18815338e-02 1.10512082e+02] [ 9.15175223e-01 -4.00127541e-01 -4.85001315e-02 1.51855064e+02] [ 5.32037977e-02 6.48213639e-04 9.98583465e-01 7.15900004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.686875 meters Centerline goodness [0,1] 0.9983840062792899 Centerline is valid? [True, True] Translation: X:110.50, Y:151.88, Z:7.16 [[-3.97017453e-01 -9.17555335e-01 2.16644607e-02 1.10497607e+02] [ 9.16300303e-01 -3.97607299e-01 -4.79811542e-02 1.51878175e+02] [ 5.26393117e-02 8.01796291e-04 9.98613268e-01 7.15965753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters Centerline goodness [0,1] 0.9985050941790667 Centerline is valid? [True, True] Translation: X:110.48, Y:151.90, Z:7.16 [[-3.92562480e-01 -9.19476306e-01 2.14014600e-02 1.10480679e+02] [ 9.18256302e-01 -3.93143995e-01 -4.73620516e-02 1.51901270e+02] [ 5.19621397e-02 1.05946109e-03 9.98648494e-01 7.16132374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.746875 meters Centerline goodness [0,1] 0.9982762583314181 Centerline is valid? [True, True] Translation: X:110.47, Y:151.93, Z:7.16 [[-3.90430515e-01 -9.20385419e-01 2.13235260e-02 1.10466083e+02] [ 9.19177445e-01 -3.91010569e-01 -4.71546331e-02 1.51925868e+02] [ 5.17381608e-02 1.18949649e-03 9.98659976e-01 7.16245261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters Centerline goodness [0,1] 0.9981624402793091 Centerline is valid? [True, True] Translation: X:110.45, Y:151.95, Z:7.16 [[-3.88538811e-01 -9.21189282e-01 2.11636429e-02 1.10451874e+02] [ 9.20002318e-01 -3.89112603e-01 -4.67666279e-02 1.51950534e+02] [ 5.13159565e-02 1.29995057e-03 9.98681622e-01 7.16335516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.806875 meters Centerline goodness [0,1] 0.9987816091954023 Centerline is valid? [True, True] Translation: X:110.44, Y:151.97, Z:7.16 [[-3.87036768e-01 -9.21820503e-01 2.12014153e-02 1.10438014e+02] [ 9.20632045e-01 -3.87614501e-01 -4.68149146e-02 1.51974304e+02] [ 5.13729241e-02 1.39960902e-03 9.98678559e-01 7.16400062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters Centerline goodness [0,1] 0.998309807683523 Centerline is valid? [True, True] Translation: X:110.42, Y:152.00, Z:7.16 [[-3.85179874e-01 -9.22594391e-01 2.13554248e-02 1.10423082e+02] [ 9.21391692e-01 -3.85768395e-01 -4.71178784e-02 1.51997742e+02] [ 5.17089383e-02 1.52785250e-03 9.98661029e-01 7.16332784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.866875 meters Centerline goodness [0,1] 0.9983997439590334 Centerline is valid? [True, True] Translation: X:110.41, Y:152.02, Z:7.16 [[-3.84927843e-01 -9.22690782e-01 2.17319207e-02 1.10410735e+02] [ 9.21447407e-01 -3.85537568e-01 -4.79109578e-02 1.52022521e+02] [ 5.25854710e-02 1.58256038e-03 9.98615173e-01 7.16377927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters Centerline goodness [0,1] 0.9982125260673281 Centerline is valid? [True, True] Translation: X:110.40, Y:152.05, Z:7.17 [[-3.84960291e-01 -9.22677233e-01 2.17324066e-02 1.10400874e+02] [ 9.21435745e-01 -3.85569940e-01 -4.78747187e-02 1.52048367e+02] [ 5.25522757e-02 1.59515067e-03 9.98616900e-01 7.16510384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.926875 meters Centerline goodness [0,1] 0.9983278358072201 Centerline is valid? [True, True] Translation: X:110.39, Y:152.07, Z:7.16 [[-3.85551903e-01 -9.22426408e-01 2.18918194e-02 1.10387020e+02] [ 9.21168311e-01 -3.86169654e-01 -4.81865310e-02 1.52070979e+02] [ 5.29024850e-02 1.58764157e-03 9.98598421e-01 7.16484602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters Centerline goodness [0,1] 0.998144202350677 Centerline is valid? [True, True] Translation: X:110.38, Y:152.10, Z:7.17 [[-3.86070830e-01 -9.22203951e-01 2.21175880e-02 1.10379463e+02] [ 9.20921197e-01 -3.86700604e-01 -4.86496849e-02 1.52097078e+02] [ 5.34178162e-02 1.58633139e-03 9.98570989e-01 7.16745858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.986875 meters Centerline goodness [0,1] 0.9982521503150729 Centerline is valid? [True, True] Translation: X:110.37, Y:152.12, Z:7.17 [[-3.87323498e-01 -9.21673642e-01 2.23205190e-02 1.10369503e+02] [ 9.20368608e-01 -3.87963034e-01 -4.90541389e-02 1.52122527e+02] [ 5.38714432e-02 1.54328428e-03 9.98546687e-01 7.16786616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters Centerline goodness [0,1] 0.9983215303963947 Centerline is valid? [True, True] Translation: X:110.36, Y:152.15, Z:7.17 [[-3.88066761e-01 -9.21360321e-01 2.23461014e-02 1.10359330e+02] [ 9.20054023e-01 -3.88706645e-01 -4.90687188e-02 1.52147457e+02] [ 5.38960486e-02 1.51768171e-03 9.98545398e-01 7.16919921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.046875 meters Centerline goodness [0,1] 0.9983215303963947 Centerline is valid? [True, True] Translation: X:110.35, Y:152.17, Z:7.17 [[-3.88362967e-01 -9.21235123e-01 2.23618662e-02 1.10348122e+02] [ 9.19929031e-01 -3.89003270e-01 -4.90615339e-02 1.52171786e+02] [ 5.38960473e-02 1.51764701e-03 9.98545398e-01 7.17036871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters Centerline goodness [0,1] 0.9983534577387486 Centerline is valid? [True, True] Translation: X:110.34, Y:152.20, Z:7.17 [[-3.88818460e-01 -9.21042730e-01 2.23717422e-02 1.10336374e+02] [ 9.19737444e-01 -3.89458619e-01 -4.90409972e-02 1.52195676e+02] [ 5.38817217e-02 1.50808391e-03 9.98546186e-01 7.17129701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.106875 meters Centerline goodness [0,1] 0.9983528173686258 Centerline is valid? [True, True] Translation: X:110.33, Y:152.22, Z:7.17 [[-3.90005343e-01 -9.20541679e-01 2.23349274e-02 1.10326476e+02] [ 9.19242183e-01 -3.90641658e-01 -4.89173261e-02 1.52221361e+02] [ 5.37553905e-02 1.45318884e-03 9.98553076e-01 7.17235674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters Centerline goodness [0,1] 0.997883646568977 Centerline is valid? [True, True] Translation: X:110.32, Y:152.25, Z:7.17 [[-3.90650745e-01 -9.20264254e-01 2.24877327e-02 1.10316689e+02] [ 9.18948652e-01 -3.91294808e-01 -4.92112674e-02 1.52246432e+02] [ 5.40867033e-02 1.44065344e-03 9.98535204e-01 7.17341220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16687499999998 meters Centerline goodness [0,1] 0.9982640094437887 Centerline is valid? [True, True] Translation: X:110.31, Y:152.27, Z:7.18 [[-3.91340846e-01 -9.19972953e-01 2.24077586e-02 1.10307485e+02] [ 9.18668414e-01 -3.91979303e-01 -4.89956262e-02 1.52271840e+02] [ 5.38580285e-02 1.41131021e-03 9.98547606e-01 7.17519347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters Centerline goodness [0,1] 0.9980119743868328 Centerline is valid? [True, True] Translation: X:110.30, Y:152.30, Z:7.18 [[-3.91798847e-01 -9.19777456e-01 2.24297753e-02 1.10296557e+02] [ 9.18472290e-01 -3.92437849e-01 -4.90019026e-02 1.52296280e+02] [ 5.38731380e-02 1.40223812e-03 9.98546803e-01 7.17613867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22687499999998 meters Centerline goodness [0,1] 0.9984435978442668 Centerline is valid? [True, True] Translation: X:110.29, Y:152.32, Z:7.18 [[-3.92212849e-01 -9.19602654e-01 2.23615784e-02 1.10287020e+02] [ 9.18307428e-01 -3.92847330e-01 -4.88102798e-02 1.52322365e+02] [ 5.36707492e-02 1.39078460e-03 9.98557718e-01 7.17819755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters Centerline goodness [0,1] 0.9979900658426707 Centerline is valid? [True, True] Translation: X:110.28, Y:152.35, Z:7.18 [[-3.92170353e-01 -9.19619078e-01 2.24313683e-02 1.10276232e+02] [ 9.18317969e-01 -3.92808801e-01 -4.89219148e-02 1.52346777e+02] [ 5.38007651e-02 1.41340402e-03 9.98550690e-01 7.17885922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28687499999998 meters Centerline goodness [0,1] 0.9983074818575967 Centerline is valid? [True, True] Translation: X:110.27, Y:152.37, Z:7.18 [[-3.91904818e-01 -9.19731163e-01 2.24766773e-02 1.10265109e+02] [ 9.18427227e-01 -3.92546163e-01 -4.89789538e-02 1.52371365e+02] [ 5.38706036e-02 1.44810448e-03 9.98546875e-01 7.17990271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters Centerline goodness [0,1] 0.9983256203344109 Centerline is valid? [True, True] Translation: X:110.26, Y:152.40, Z:7.18 [[-3.90368880e-01 -9.20380394e-01 2.26289311e-02 1.10256266e+02] [ 9.19061942e-01 -3.91021082e-01 -4.92712970e-02 1.52398117e+02] [ 5.41967249e-02 1.56340835e-03 9.98529054e-01 7.18195237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34687499999998 meters Centerline goodness [0,1] 0.9980004650081377 Centerline is valid? [True, True] Translation: X:110.24, Y:152.42, Z:7.18 [[-3.89777401e-01 -9.20630088e-01 2.26675784e-02 1.10244371e+02] [ 9.19309549e-01 -3.90432622e-01 -4.93185688e-02 1.52423480e+02] [ 5.42543204e-02 1.61525774e-03 9.98525843e-01 7.18291561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters Centerline goodness [0,1] 0.9982802695793632 Centerline is valid? [True, True] Translation: X:110.23, Y:152.45, Z:7.18 [[-3.89117071e-01 -9.20908813e-01 2.26906045e-02 1.10232244e+02] [ 9.19588069e-01 -3.89774510e-01 -4.93316851e-02 1.52447327e+02] [ 5.42742028e-02 1.67020843e-03 9.98524672e-01 7.18371955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40687499999999 meters Centerline goodness [0,1] 0.9980142970611596 Centerline is valid? [True, True] Translation: X:110.22, Y:152.47, Z:7.19 [[-3.88940423e-01 -9.20988382e-01 2.24888551e-02 1.10222674e+02] [ 9.19693236e-01 -3.89586414e-01 -4.88546559e-02 1.52472823e+02] [ 5.37559229e-02 1.68129746e-03 9.98552690e-01 7.18554652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters Centerline goodness [0,1] 0.997880763856544 Centerline is valid? [True, True] Translation: X:110.21, Y:152.50, Z:7.19 [[-3.87957452e-01 -9.21399224e-01 2.26381339e-02 1.10211229e+02] [ 9.20089586e-01 -3.88613376e-01 -4.91405908e-02 1.52497702e+02] [ 5.40755839e-02 1.76465280e-03 9.98535286e-01 7.18647567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.466875 meters Centerline goodness [0,1] 0.9986442896545276 Centerline is valid? [True, True] Translation: X:110.20, Y:152.52, Z:7.19 [[-3.87769453e-01 -9.21481259e-01 2.25197695e-02 1.10200937e+02] [ 9.20186977e-01 -3.88418753e-01 -4.88548900e-02 1.52523348e+02] [ 5.37659663e-02 1.77796464e-03 9.98551981e-01 7.18807712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters Centerline goodness [0,1] 0.9982676280550613 Centerline is valid? [True, True] Translation: X:110.19, Y:152.55, Z:7.19 [[-3.87131213e-01 -9.21753564e-01 2.23559991e-02 1.10190587e+02] [ 9.20480592e-01 -3.87771921e-01 -4.84604751e-02 1.52549595e+02] [ 5.33376443e-02 1.81770078e-03 9.98574880e-01 7.19000130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.526875 meters Centerline goodness [0,1] 0.9981691430180973 Centerline is valid? [True, True] Translation: X:110.18, Y:152.57, Z:7.19 [[-3.85731154e-01 -9.22341616e-01 2.23029167e-02 1.10175899e+02] [ 9.21077613e-01 -3.86370678e-01 -4.83086987e-02 1.52572942e+02] [ 5.31743163e-02 1.90854712e-03 9.98583421e-01 7.18958115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters Centerline goodness [0,1] 0.9980493537015276 Centerline is valid? [True, True] Translation: X:110.17, Y:152.60, Z:7.19 [[-3.85365642e-01 -9.22484612e-01 2.27037915e-02 1.10166994e+02] [ 9.21177099e-01 -3.86028790e-01 -4.91378275e-02 1.52599534e+02] [ 5.40932069e-02 1.97818235e-03 9.98533931e-01 7.19134425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.586875 meters Centerline goodness [0,1] 0.9982395192713958 Centerline is valid? [True, True] Translation: X:110.16, Y:152.63, Z:7.19 [[-3.84896558e-01 -9.22681959e-01 2.26416149e-02 1.10156446e+02] [ 9.21383904e-01 -3.85556669e-01 -4.89668880e-02 1.52625163e+02] [ 5.39104897e-02 2.01443287e-03 9.98543740e-01 7.19260123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters Centerline goodness [0,1] 0.9982878720360251 Centerline is valid? [True, True] Translation: X:110.14, Y:152.65, Z:7.19 [[-3.84840130e-01 -9.22704333e-01 2.26889172e-02 1.10143030e+02] [ 9.21402842e-01 -3.85503007e-01 -4.90329950e-02 1.52648241e+02] [ 5.39896028e-02 2.03576858e-03 9.98539423e-01 7.19226324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.646875 meters Centerline goodness [0,1] 0.9982426954708404 Centerline is valid? [True, True] Translation: X:110.13, Y:152.67, Z:7.19 [[-3.85034904e-01 -9.22617692e-01 2.29067038e-02 1.10133368e+02] [ 9.21292800e-01 -3.85710210e-01 -4.94692831e-02 1.52673725e+02] [ 5.44765853e-02 2.05638063e-03 9.98512931e-01 7.19426649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters Centerline goodness [0,1] 0.9985892643013331 Centerline is valid? [True, True] Translation: X:110.12, Y:152.70, Z:7.20 [[-3.85828060e-01 -9.22284948e-01 2.29604595e-02 1.10123688e+02] [ 9.20955470e-01 -3.86505310e-01 -4.95446030e-02 1.52698950e+02] [ 5.45685811e-02 2.02986271e-03 9.98507962e-01 7.19574725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.706875 meters Centerline goodness [0,1] 0.9986083264535912 Centerline is valid? [True, True] Translation: X:110.12, Y:152.73, Z:7.20 [[-3.86987576e-01 -9.21799988e-01 2.29215489e-02 1.10115169e+02] [ 9.20476353e-01 -3.87660788e-01 -4.94206226e-02 1.52725669e+02] [ 5.44417150e-02 1.97357682e-03 9.98515000e-01 7.19747761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters Centerline goodness [0,1] 0.9983071967648649 Centerline is valid? [True, True] Translation: X:110.10, Y:152.75, Z:7.20 [[-3.88189806e-01 -9.21288594e-01 2.31516963e-02 1.10103020e+02] [ 9.19939446e-01 -3.88874759e-01 -4.98782185e-02 1.52749630e+02] [ 5.49553441e-02 1.93594273e-03 9.98486936e-01 7.19773753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.766875 meters Centerline goodness [0,1] 0.9983233363245643 Centerline is valid? [True, True] Translation: X:110.10, Y:152.78, Z:7.20 [[-3.91486774e-01 -9.19894606e-01 2.30655700e-02 1.10096879e+02] [ 9.18555285e-01 -3.92161773e-01 -4.96521161e-02 1.52777727e+02] [ 5.47201486e-02 1.74885445e-03 9.98500199e-01 7.20028146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters Centerline goodness [0,1] 0.9986216402481047 Centerline is valid? [True, True] Translation: X:110.09, Y:152.80, Z:7.20 [[-3.93386234e-01 -9.19085602e-01 2.29984070e-02 1.10087606e+02] [ 9.17754738e-01 -3.94054496e-01 -4.94701380e-02 1.52804693e+02] [ 5.45299172e-02 1.64602574e-03 9.98510780e-01 7.20208181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.826875 meters Centerline goodness [0,1] 0.9984041159516948 Centerline is valid? [True, True] Translation: X:110.08, Y:152.83, Z:7.20 [[-3.95764374e-01 -9.18061811e-01 2.30883574e-02 1.10076699e+02] [ 9.16720799e-01 -3.96434340e-01 -4.96265088e-02 1.52830022e+02] [ 5.47132202e-02 1.52517330e-03 9.98500945e-01 7.20260929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters Centerline goodness [0,1] 0.9984332716137302 Centerline is valid? [True, True] Translation: X:110.07, Y:152.86, Z:7.20 [[-3.98224017e-01 -9.16996776e-01 2.31202238e-02 1.10066844e+02] [ 9.15652174e-01 -3.98892176e-01 -4.96601205e-02 1.52855596e+02] [ 5.47606468e-02 1.39423056e-03 9.98498537e-01 7.20314334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.886875 meters Centerline goodness [0,1] 0.9986897274633124 Centerline is valid? [True, True] Translation: X:110.06, Y:152.88, Z:7.20 [[-4.02971218e-01 -9.14915942e-01 2.33027090e-02 1.10061429e+02] [ 9.13548115e-01 -4.03642838e-01 -5.00230034e-02 1.52884102e+02] [ 5.51728149e-02 1.13031526e-03 9.98476180e-01 7.20490232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters Centerline goodness [0,1] 0.9982763161044744 Centerline is valid? [True, True] Translation: X:110.05, Y:152.91, Z:7.21 [[-4.05820433e-01 -9.13651863e-01 2.34531171e-02 1.10052802e+02] [ 9.12266276e-01 -4.06496388e-01 -5.03083261e-02 1.52910991e+02] [ 5.54979033e-02 9.79341104e-04 9.98458323e-01 7.20605018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94687499999998 meters Centerline goodness [0,1] 0.9986401049743528 Centerline is valid? [True, True] Translation: X:110.04, Y:152.94, Z:7.21 [[-4.08710923e-01 -9.12360106e-01 2.35460690e-02 1.10044151e+02] [ 9.10963409e-01 -4.09387788e-01 -5.04708401e-02 1.52936990e+02] [ 5.56870542e-02 8.21623695e-04 9.98447934e-01 7.20682381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters Centerline goodness [0,1] 0.9985602879424115 Centerline is valid? [True, True] Translation: X:110.04, Y:152.96, Z:7.21 [[-4.11659066e-01 -9.11024730e-01 2.38904826e-02 1.10036614e+02] [ 9.09586745e-01 -4.12351184e-01 -5.11708418e-02 1.52963421e+02] [ 5.64691711e-02 6.65525367e-04 9.98404121e-01 7.20830407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00687499999998 meters Centerline goodness [0,1] 0.9989654010875318 Centerline is valid? [True, True] Translation: X:110.03, Y:152.99, Z:7.21 [[-4.15258384e-01 -9.09392087e-01 2.38013854e-02 1.10029069e+02] [ 9.07964418e-01 -4.15939685e-01 -5.09391222e-02 1.52990312e+02] [ 5.62235754e-02 4.57913517e-04 9.98418099e-01 7.21134642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters Centerline goodness [0,1] 0.9985291280864198 Centerline is valid? [True, True] Translation: X:110.02, Y:153.02, Z:7.21 [[-4.16445103e-01 -9.08856712e-01 2.35149560e-02 1.10017724e+02] [ 9.07464434e-01 -4.17108283e-01 -5.02889802e-02 1.53015547e+02] [ 5.55137601e-02 3.96386630e-04 9.98457844e-01 7.21285094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06687499999998 meters Centerline goodness [0,1] 0.9989586864919843 Centerline is valid? [True, True] Translation: X:110.01, Y:153.04, Z:7.22 [[-4.17457620e-01 -9.08400486e-01 2.31882201e-02 1.10006992e+02] [ 9.07048125e-01 -4.18100989e-01 -4.95505948e-02 1.53040173e+02] [ 5.47068022e-02 3.47558194e-04 9.98502401e-01 7.21521225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters Centerline goodness [0,1] 0.9989368642327301 Centerline is valid? [True, True] Translation: X:110.00, Y:153.06, Z:7.22 [[-4.18323271e-01 -9.08003319e-01 2.31433488e-02 1.09995824e+02] [ 9.06657780e-01 -4.18962858e-01 -4.94145165e-02 1.53063743e+02] [ 5.45647485e-02 3.11855108e-04 9.98510186e-01 7.21583179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12687499999998 meters Centerline goodness [0,1] 0.9990846681922196 Centerline is valid? [True, True] Translation: X:109.98, Y:153.09, Z:7.22 [[-4.18412885e-01 -9.07954959e-01 2.34190176e-02 1.09983393e+02] [ 9.06579402e-01 -4.19067639e-01 -4.99610056e-02 1.53088528e+02] [ 5.51764952e-02 3.26870498e-04 9.98476563e-01 7.21589602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters Centerline goodness [0,1] 0.9986229555721982 Centerline is valid? [True, True] Translation: X:109.97, Y:153.11, Z:7.22 [[-4.18245896e-01 -9.08026176e-01 2.36396681e-02 1.09971501e+02] [ 9.06626919e-01 -4.18913280e-01 -5.03913982e-02 1.53112689e+02] [ 5.56596796e-02 3.56363984e-04 9.98449735e-01 7.21663091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.186875 meters Centerline goodness [0,1] 0.9990104267233056 Centerline is valid? [True, True] Translation: X:109.96, Y:153.14, Z:7.22 [[-4.17482881e-01 -9.08375651e-01 2.37006268e-02 1.09959255e+02] [ 9.06972036e-01 -4.18154874e-01 -5.04799646e-02 1.53136202e+02] [ 5.57653033e-02 4.21284646e-04 9.98443816e-01 7.21750394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters Centerline goodness [0,1] 0.9989878786418296 Centerline is valid? [True, True] Translation: X:109.95, Y:153.16, Z:7.22 [[-4.16778663e-01 -9.08690347e-01 2.40291487e-02 1.09946751e+02] [ 9.07250485e-01 -4.17470497e-01 -5.11364969e-02 1.53159087e+02] [ 5.64987017e-02 4.87856058e-04 9.98402553e-01 7.21739104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.246875 meters Centerline goodness [0,1] 0.9986022075480793 Centerline is valid? [True, True] Translation: X:109.93, Y:153.18, Z:7.22 [[-4.15668497e-01 -9.09186966e-01 2.44695805e-02 1.09934864e+02] [ 9.07697019e-01 -4.16387705e-01 -5.20326888e-02 1.53184509e+02] [ 5.74962749e-02 5.82615698e-04 9.98345551e-01 7.21936326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters Centerline goodness [0,1] 0.9988890767261575 Centerline is valid? [True, True] Translation: X:109.92, Y:153.21, Z:7.22 [[-4.15674929e-01 -9.09186186e-01 2.43891740e-02 1.09923636e+02] [ 9.07708252e-01 -4.16389388e-01 -5.18228353e-02 1.53208017e+02] [ 5.72719992e-02 5.96801130e-04 9.98358434e-01 7.21969157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.306875 meters Centerline goodness [0,1] 0.9985994059549395 Centerline is valid? [True, True] Translation: X:109.91, Y:153.23, Z:7.22 [[-4.15277416e-01 -9.09361604e-01 2.46199147e-02 1.09912683e+02] [ 9.07858394e-01 -4.16006077e-01 -5.22693095e-02 1.53232797e+02] [ 5.77737373e-02 6.45132398e-04 9.98329494e-01 7.22091079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters Centerline goodness [0,1] 0.999009446498031 Centerline is valid? [True, True] Translation: X:109.90, Y:153.26, Z:7.22 [[-4.14982979e-01 -9.09497703e-01 2.45571594e-02 1.09901504e+02] [ 9.08004801e-01 -4.15708390e-01 -5.20943078e-02 1.53256726e+02] [ 5.75882705e-02 6.79767620e-04 9.98340187e-01 7.22103399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.366875 meters Centerline goodness [0,1] 0.99903049105628 Centerline is valid? [True, True] Translation: X:109.89, Y:153.28, Z:7.22 [[-4.14988689e-01 -9.09498969e-01 2.44133931e-02 1.09890364e+02] [ 9.08025941e-01 -4.15705599e-01 -5.17469332e-02 1.53281733e+02] [ 5.72125665e-02 6.93602265e-04 9.98361779e-01 7.22281007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters Centerline goodness [0,1] 0.9986177126782423 Centerline is valid? [True, True] Translation: X:109.88, Y:153.31, Z:7.22 [[-4.16281378e-01 -9.08918834e-01 2.40076559e-02 1.09879699e+02] [ 9.07495694e-01 -4.16972623e-01 -5.08467907e-02 1.53307161e+02] [ 5.62261409e-02 6.20272208e-04 9.98417867e-01 7.22456747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.426875 meters Centerline goodness [0,1] 0.9991504648171072 Centerline is valid? [True, True] Translation: X:109.87, Y:153.33, Z:7.23 [[-4.17455607e-01 -9.08391625e-01 2.35684414e-02 1.09869819e+02] [ 9.07021450e-01 -4.18120015e-01 -4.98772847e-02 1.53332421e+02] [ 5.51625448e-02 5.55529751e-04 9.98477233e-01 7.22763359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters Centerline goodness [0,1] 0.9990072879591293 Centerline is valid? [True, True] Translation: X:109.86, Y:153.36, Z:7.23 [[-4.18538394e-01 -9.07902482e-01 2.32098020e-02 1.09859512e+02] [ 9.06575124e-01 -4.19181145e-01 -4.90786265e-02 1.53356706e+02] [ 5.42877182e-02 5.00139579e-04 9.98525209e-01 7.22939624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.486875 meters Centerline goodness [0,1] 0.9991968848868338 Centerline is valid? [True, True] Translation: X:109.85, Y:153.38, Z:7.23 [[-4.19099466e-01 -9.07641266e-01 2.33017068e-02 1.09848110e+02] [ 9.06305216e-01 -4.19746467e-01 -4.92316831e-02 1.53381947e+02] [ 5.44655163e-02 4.85486311e-04 9.98515534e-01 7.23070094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters Centerline goodness [0,1] 0.9992006588508865 Centerline is valid? [True, True] Translation: X:109.84, Y:153.41, Z:7.23 [[-4.19443004e-01 -9.07480619e-01 2.33771689e-02 1.09835970e+02] [ 9.06137803e-01 -4.20093672e-01 -4.93516931e-02 1.53406737e+02] [ 5.46063057e-02 4.82714093e-04 9.98507846e-01 7.23100257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.546875 meters Centerline goodness [0,1] 0.9989566398951787 Centerline is valid? [True, True] Translation: X:109.82, Y:153.43, Z:7.23 [[-4.20419802e-01 -9.07027074e-01 2.34324172e-02 1.09823489e+02] [ 9.05679372e-01 -4.21072076e-01 -4.94285572e-02 1.53431068e+02] [ 5.46997761e-02 4.41512679e-04 9.98502749e-01 7.23031522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters Centerline goodness [0,1] 0.9991262348001262 Centerline is valid? [True, True] Translation: X:109.81, Y:153.46, Z:7.23 [[-4.21006577e-01 -9.06754581e-01 2.34433822e-02 1.09811916e+02] [ 9.05407375e-01 -4.21658572e-01 -4.94118844e-02 1.53455657e+02] [ 5.46895556e-02 4.23082817e-04 9.98503317e-01 7.23177785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.606875 meters Centerline goodness [0,1] 0.9991509388190772 Centerline is valid? [True, True] Translation: X:109.80, Y:153.48, Z:7.23 [[-4.21453138e-01 -9.06540505e-01 2.36973746e-02 1.09800340e+02] [ 9.05165747e-01 -4.22118633e-01 -4.99082236e-02 1.53479658e+02] [ 5.52469296e-02 4.16074318e-04 9.98472635e-01 7.23222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters Centerline goodness [0,1] 0.9989351403678606 Centerline is valid? [True, True] Translation: X:109.79, Y:153.50, Z:7.23 [[-4.22104933e-01 -9.06227723e-01 2.40569926e-02 1.09788885e+02] [ 9.04812304e-01 -4.22789732e-01 -5.06313951e-02 1.53503199e+02] [ 5.60546233e-02 3.95301248e-04 9.98427625e-01 7.23204389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66687499999998 meters Centerline goodness [0,1] 0.9992940431850824 Centerline is valid? [True, True] Translation: X:109.78, Y:153.53, Z:7.23 [[-4.23026309e-01 -9.05783757e-01 2.45871457e-02 1.09778228e+02] [ 9.04306928e-01 -4.23740079e-01 -5.17042149e-02 1.53528145e+02] [ 5.72513971e-02 3.62083004e-04 9.98359728e-01 7.23446729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters Centerline goodness [0,1] 0.9990757406236318 Centerline is valid? [True, True] Translation: X:109.77, Y:153.55, Z:7.24 [[-4.23461204e-01 -9.05581312e-01 2.45580318e-02 1.09766811e+02] [ 9.04110046e-01 -4.24172564e-01 -5.16009828e-02 1.53551909e+02] [ 5.71457290e-02 3.52149011e-04 9.98365785e-01 7.23564330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72687499999998 meters Centerline goodness [0,1] 0.9991974903334063 Centerline is valid? [True, True] Translation: X:109.76, Y:153.58, Z:7.24 [[-4.24299669e-01 -9.05188427e-01 2.45703724e-02 1.09755252e+02] [ 9.03717483e-01 -4.25010366e-01 -5.15839043e-02 1.53576673e+02] [ 5.71358161e-02 3.17641577e-04 9.98366364e-01 7.23760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters Centerline goodness [0,1] 0.9990990332870675 Centerline is valid? [True, True] Translation: X:109.74, Y:153.60, Z:7.24 [[-4.25341287e-01 -9.04703816e-01 2.44089019e-02 1.09743829e+02] [ 9.03253659e-01 -4.26040999e-01 -5.12044433e-02 1.53601732e+02] [ 5.67240482e-02 2.68066171e-04 9.98389859e-01 7.23926181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78687499999998 meters Centerline goodness [0,1] 0.9993936748156771 Centerline is valid? [True, True] Translation: X:109.73, Y:153.63, Z:7.24 [[-4.27253811e-01 -9.03807251e-01 2.42205154e-02 1.09733404e+02] [ 9.02380230e-01 -4.27939745e-01 -5.07690404e-02 1.53625621e+02] [ 5.62503480e-02 1.64848233e-04 9.98416682e-01 7.24149854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters Centerline goodness [0,1] 0.9989554232964898 Centerline is valid? [True, True] Translation: X:109.72, Y:153.65, Z:7.24 [[-4.28336287e-01 -9.03295641e-01 2.41869855e-02 1.09721970e+02] [ 9.01874089e-01 -4.29018615e-01 -5.06572423e-02 1.53650484e+02] [ 5.61351331e-02 1.15280412e-04 9.98423174e-01 7.24391594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84687499999998 meters Centerline goodness [0,1] 0.9991473189270836 Centerline is valid? [True, True] Translation: X:109.71, Y:153.68, Z:7.25 [[-4.29504109e-01 -9.02752224e-01 2.37622215e-02 1.09710519e+02] [ 9.01381525e-01 -4.30160923e-01 -4.97285297e-02 1.53675467e+02] [ 5.51141199e-02 6.02196494e-05 9.98480060e-01 7.24564146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters Centerline goodness [0,1] 0.9989362216527248 Centerline is valid? [True, True] Translation: X:109.70, Y:153.70, Z:7.25 [[-4.31081970e-01 -9.02010943e-01 2.33365427e-02 1.09699285e+02] [ 9.00689955e-01 -4.31713167e-01 -4.87990362e-02 1.53699455e+02] [ 5.40919574e-02 -1.73950420e-05 9.98535958e-01 7.24769949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90687499999999 meters Centerline goodness [0,1] 0.9991731316423065 Centerline is valid? [True, True] Translation: X:109.69, Y:153.72, Z:7.25 [[-4.32321826e-01 -9.01431236e-01 2.27939714e-02 1.09687591e+02] [ 9.00172243e-01 -4.32922304e-01 -4.76257442e-02 1.53723757e+02] [ 5.27993521e-02 -7.11483484e-05 9.98605139e-01 7.25085677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters Centerline goodness [0,1] 0.9991731316423065 Centerline is valid? [True, True] Translation: X:109.68, Y:153.75, Z:7.25 [[-4.32601327e-01 -9.01296760e-01 2.28088200e-02 1.09675914e+02] [ 9.00037955e-01 -4.33202199e-01 -4.76186324e-02 1.53747870e+02] [ 5.27993501e-02 -7.10798626e-05 9.98605139e-01 7.25202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.966875 meters Centerline goodness [0,1] 0.9991243645562231 Centerline is valid? [True, True] Translation: X:109.66, Y:153.77, Z:7.25 [[-4.33481502e-01 -9.00886333e-01 2.23070303e-02 1.09664132e+02] [ 8.99683678e-01 -4.34055072e-01 -4.65346522e-02 1.53772807e+02] [ 5.16049118e-02 -1.02639872e-04 9.98667574e-01 7.25382486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters Centerline goodness [0,1] 0.9991753377477018 Centerline is valid? [True, True] Translation: X:109.65, Y:153.80, Z:7.26 [[-4.34147629e-01 -9.00567522e-01 2.22255378e-02 1.09652399e+02] [ 8.99375119e-01 -4.34716141e-01 -4.63278786e-02 1.53797409e+02] [ 5.13831828e-02 -1.24042970e-04 9.98679004e-01 7.25572741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.026875 meters Centerline goodness [0,1] 0.9992445105159262 Centerline is valid? [True, True] Translation: X:109.64, Y:153.82, Z:7.26 [[-4.35315608e-01 -9.00000380e-01 2.23525653e-02 1.09640235e+02] [ 8.98795479e-01 -4.35889074e-01 -4.65553583e-02 1.53822203e+02] [ 5.16430792e-02 -1.75889436e-04 9.98665590e-01 7.25763993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters Centerline goodness [0,1] 0.9991484806461816 Centerline is valid? [True, True] Translation: X:109.63, Y:153.85, Z:7.26 [[-4.35478048e-01 -8.99915309e-01 2.26120749e-02 1.09627772e+02] [ 8.98684141e-01 -4.36064682e-01 -4.70574953e-02 1.53845476e+02] [ 5.22080876e-02 -1.71393100e-04 9.98636213e-01 7.25804493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.086875 meters Centerline goodness [0,1] 0.9992707826932425 Centerline is valid? [True, True] Translation: X:109.61, Y:153.87, Z:7.26 [[-4.35553070e-01 -8.99873186e-01 2.28423466e-02 1.09614418e+02] [ 8.98618833e-01 -4.36151606e-01 -4.74970380e-02 1.53869794e+02] [ 5.27040371e-02 -1.60917869e-04 9.98610163e-01 7.25800525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters Centerline goodness [0,1] 0.9990531682447196 Centerline is valid? [True, True] Translation: X:109.60, Y:153.89, Z:7.26 [[-4.35443183e-01 -8.99919980e-01 2.30924985e-02 1.09601140e+02] [ 8.98640068e-01 -4.36055053e-01 -4.79793559e-02 1.53893877e+02] [ 5.32471817e-02 -1.40439058e-04 9.98581353e-01 7.25825656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.146875 meters Centerline goodness [0,1] 0.9991303297499698 Centerline is valid? [True, True] Translation: X:109.59, Y:153.92, Z:7.26 [[-4.34270048e-01 -9.00469298e-01 2.37606372e-02 1.09586656e+02] [ 8.99117166e-01 -4.34919578e-01 -4.93283188e-02 1.53917732e+02] [ 5.47526029e-02 -5.82145786e-05 9.98499949e-01 7.25838150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters Centerline goodness [0,1] 0.9990081525026006 Centerline is valid? [True, True] Translation: X:109.57, Y:153.94, Z:7.26 [[-4.33546143e-01 -9.00810232e-01 2.40555076e-02 1.09573163e+02] [ 8.99426996e-01 -4.34212996e-01 -4.99014292e-02 1.53941596e+02] [ 5.53969320e-02 1.60080372e-06 9.98464411e-01 7.25898808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.206875 meters Centerline goodness [0,1] 0.9990845358837842 Centerline is valid? [True, True] Translation: X:109.56, Y:153.97, Z:7.26 [[-4.32985247e-01 -9.01078221e-01 2.41208581e-02 1.09559323e+02] [ 8.99690035e-01 -4.33656588e-01 -4.99980481e-02 1.53965637e+02] [ 5.55123213e-02 5.28785136e-05 9.98458001e-01 7.25936778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters Centerline goodness [0,1] 0.9992069976450233 Centerline is valid? [True, True] Translation: X:109.54, Y:153.99, Z:7.26 [[-4.31448448e-01 -9.01821790e-01 2.38682946e-02 1.09544486e+02] [ 9.00465779e-01 -4.32108126e-01 -4.94363063e-02 1.53988915e+02] [ 5.48964223e-02 1.63364854e-04 9.98492041e-01 7.26115222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.266875 meters Centerline goodness [0,1] 0.9989702818554084 Centerline is valid? [True, True] Translation: X:109.53, Y:154.01, Z:7.26 [[-4.30952527e-01 -9.02062437e-01 2.37334881e-02 1.09532096e+02] [ 9.00724236e-01 -4.31605508e-01 -4.91175643e-02 1.54011636e+02] [ 5.45506139e-02 2.09989496e-04 9.98510985e-01 7.26233901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters Centerline goodness [0,1] 0.9989236252302246 Centerline is valid? [True, True] Translation: X:109.52, Y:154.04, Z:7.26 [[-4.30583651e-01 -9.02243875e-01 2.35310174e-02 1.09519168e+02] [ 9.00930859e-01 -4.31226075e-01 -4.86586009e-02 1.54035710e+02] [ 5.40491130e-02 2.48221620e-04 9.98538248e-01 7.26390567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.326875 meters Centerline goodness [0,1] 0.9991865055628664 Centerline is valid? [True, True] Translation: X:109.51, Y:154.06, Z:7.27 [[-4.30269155e-01 -9.02396469e-01 2.34321628e-02 1.09506872e+02] [ 9.01096723e-01 -4.30906640e-01 -4.84165625e-02 1.54059470e+02] [ 5.37880096e-02 2.82491714e-04 9.98552337e-01 7.26642969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters Centerline goodness [0,1] 0.9989044749815428 Centerline is valid? [True, True] Translation: X:109.49, Y:154.08, Z:7.27 [[-4.29901669e-01 -9.02571653e-01 2.34300450e-02 1.09493025e+02] [ 9.01274496e-01 -4.30539555e-01 -4.83732835e-02 1.54082182e+02] [ 5.37479156e-02 3.21146671e-04 9.98554484e-01 7.26618502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.386875 meters Centerline goodness [0,1] 0.9989491282541199 Centerline is valid? [True, True] Translation: X:109.48, Y:154.11, Z:7.27 [[-4.29894809e-01 -9.02565388e-01 2.37943954e-02 1.09480946e+02] [ 9.01229769e-01 -4.30552671e-01 -4.90846375e-02 1.54106217e+02] [ 5.45468354e-02 3.42986621e-04 9.98511154e-01 7.26758757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters Centerline goodness [0,1] 0.9990908220882381 Centerline is valid? [True, True] Translation: X:109.47, Y:154.13, Z:7.27 [[-4.29900206e-01 -9.02559067e-01 2.39362263e-02 1.09468398e+02] [ 9.01209554e-01 -4.30565906e-01 -4.93390233e-02 1.54130311e+02] [ 5.48375058e-02 3.60699538e-04 9.98495227e-01 7.26851577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44687499999998 meters Centerline goodness [0,1] 0.9989725945571405 Centerline is valid? [True, True] Translation: X:109.45, Y:154.15, Z:7.27 [[-4.29984908e-01 -9.02513085e-01 2.41476657e-02 1.09454869e+02] [ 9.01141670e-01 -4.30662270e-01 -4.97362966e-02 1.54154474e+02] [ 5.52871470e-02 3.74610932e-04 9.98470426e-01 7.26818698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters Centerline goodness [0,1] 0.9991654147888499 Centerline is valid? [True, True] Translation: X:109.44, Y:154.18, Z:7.27 [[-4.30135936e-01 -9.02438658e-01 2.42393030e-02 1.09442732e+02] [ 9.01058840e-01 -4.30818199e-01 -4.98863363e-02 1.54179074e+02] [ 5.54620913e-02 3.83132305e-04 9.98460720e-01 7.27020892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50687499999998 meters Centerline goodness [0,1] 0.9990466429916343 Centerline is valid? [True, True] Translation: X:109.43, Y:154.20, Z:7.27 [[-4.30311915e-01 -9.02352036e-01 2.43405000e-02 1.09430111e+02] [ 9.00962751e-01 -4.30999595e-01 -5.00546758e-02 1.54203568e+02] [ 5.56576842e-02 3.90760508e-04 9.98449833e-01 7.27113440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters Centerline goodness [0,1] 0.9989010989010989 Centerline is valid? [True, True] Translation: X:109.42, Y:154.23, Z:7.27 [[-4.30000659e-01 -9.02503795e-01 2.42143251e-02 1.09417227e+02] [ 9.01131314e-01 -4.30681692e-01 -4.97557483e-02 1.54227986e+02] [ 5.53334182e-02 4.25282005e-04 9.98467842e-01 7.27239287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56687499999998 meters Centerline goodness [0,1] 0.9988787632997758 Centerline is valid? [True, True] Translation: X:109.40, Y:154.25, Z:7.27 [[-4.29096425e-01 -9.02939963e-01 2.39933688e-02 1.09403855e+02] [ 9.01595152e-01 -4.29766425e-01 -4.92645986e-02 1.54250591e+02] [ 5.47945192e-02 4.93041901e-04 9.98497530e-01 7.27344987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters Centerline goodness [0,1] 0.9990011890606421 Centerline is valid? [True, True] Translation: X:109.39, Y:154.27, Z:7.27 [[-4.28611998e-01 -9.03168335e-01 2.40564829e-02 1.09391202e+02] [ 9.01818562e-01 -4.29286234e-01 -4.93620347e-02 1.54274619e+02] [ 5.49093436e-02 5.37422441e-04 9.98491199e-01 7.27435490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62687499999998 meters Centerline goodness [0,1] 0.9991698882906814 Centerline is valid? [True, True] Translation: X:109.38, Y:154.30, Z:7.27 [[-4.28618474e-01 -9.03157977e-01 2.43284004e-02 1.09379104e+02] [ 9.01779709e-01 -4.29307995e-01 -4.98798663e-02 1.54297561e+02] [ 5.54937759e-02 5.59425639e-04 9.98458876e-01 7.27461365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters Centerline goodness [0,1] 0.9991169872559782 Centerline is valid? [True, True] Translation: X:109.37, Y:154.32, Z:7.28 [[-4.28571234e-01 -9.03173781e-01 2.45727119e-02 1.09368049e+02] [ 9.01770047e-01 -4.29274712e-01 -5.03388896e-02 1.54322269e+02] [ 5.60132091e-02 5.85135594e-04 9.98429856e-01 7.27645357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.686875 meters Centerline goodness [0,1] 0.9989539251581 Centerline is valid? [True, True] Translation: X:109.36, Y:154.35, Z:7.28 [[-4.28934179e-01 -9.02992366e-01 2.49049800e-02 1.09356565e+02] [ 9.01552324e-01 -4.29656193e-01 -5.09800174e-02 1.54346136e+02] [ 5.67351454e-02 5.86070735e-04 9.98389092e-01 7.27599116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters Centerline goodness [0,1] 0.9989508071631257 Centerline is valid? [True, True] Translation: X:109.35, Y:154.37, Z:7.28 [[-4.29797801e-01 -9.02580861e-01 2.49326832e-02 1.09345979e+02] [ 9.01138831e-01 -4.30520022e-01 -5.10031170e-02 1.54371808e+02] [ 5.67684566e-02 5.46781467e-04 9.98387221e-01 7.27759775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.746875 meters Centerline goodness [0,1] 0.998946990546847 Centerline is valid? [True, True] Translation: X:109.34, Y:154.40, Z:7.28 [[-4.30960554e-01 -9.02025574e-01 2.49572544e-02 1.09335334e+02] [ 9.00581925e-01 -4.31682317e-01 -5.10154236e-02 1.54396005e+02] [ 5.67908222e-02 4.90416973e-04 9.98385978e-01 7.27800434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters Centerline goodness [0,1] 0.9988003838771593 Centerline is valid? [True, True] Translation: X:109.33, Y:154.42, Z:7.28 [[-4.32279042e-01 -9.01394031e-01 2.49725967e-02 1.09325377e+02] [ 8.99949426e-01 -4.32999565e-01 -5.10137895e-02 1.54421690e+02] [ 5.67966488e-02 4.21882017e-04 9.98385678e-01 7.27998865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.806875 meters Centerline goodness [0,1] 0.9991838302366892 Centerline is valid? [True, True] Translation: X:109.32, Y:154.45, Z:7.28 [[-4.34542017e-01 -9.00313319e-01 2.46812325e-02 1.09316998e+02] [ 8.98902596e-01 -4.35242280e-01 -5.03813561e-02 1.54447251e+02] [ 5.61013218e-02 2.93207810e-04 9.98425038e-01 7.28147033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters Centerline goodness [0,1] 0.9988475943532124 Centerline is valid? [True, True] Translation: X:109.31, Y:154.47, Z:7.28 [[-4.35231984e-01 -8.99983098e-01 2.45671406e-02 1.09306649e+02] [ 8.98586673e-01 -4.35924712e-01 -5.01162385e-02 1.54472090e+02] [ 5.58131912e-02 2.63515277e-04 9.98441194e-01 7.28306421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.866875 meters Centerline goodness [0,1] 0.9989896803059826 Centerline is valid? [True, True] Translation: X:109.30, Y:154.50, Z:7.28 [[-4.35794077e-01 -8.99721182e-01 2.41933323e-02 1.09295550e+02] [ 8.98368677e-01 -4.36465045e-01 -4.93151588e-02 1.54496670e+02] [ 5.49294368e-02 2.43277811e-04 9.98490209e-01 7.28476494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters Centerline goodness [0,1] 0.9991605506787548 Centerline is valid? [True, True] Translation: X:109.28, Y:154.52, Z:7.29 [[-4.35835513e-01 -8.99707275e-01 2.39629960e-02 1.09284101e+02] [ 8.98382493e-01 -4.36493705e-01 -4.88071985e-02 1.54521918e+02] [ 5.43718885e-02 2.56025617e-04 9.98520722e-01 7.28694861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.926875 meters Centerline goodness [0,1] 0.9987745098039216 Centerline is valid? [True, True] Translation: X:109.27, Y:154.55, Z:7.29 [[-4.35630461e-01 -8.99806875e-01 2.39518202e-02 1.09271897e+02] [ 8.98485597e-01 -4.36288330e-01 -4.87455212e-02 1.54545481e+02] [ 5.43114548e-02 2.85331638e-04 9.98524003e-01 7.28738338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters Centerline goodness [0,1] 0.9990178935013294 Centerline is valid? [True, True] Translation: X:109.26, Y:154.57, Z:7.29 [[-4.35207479e-01 -9.00013710e-01 2.38698878e-02 1.09259497e+02] [ 8.98703919e-01 -4.35861462e-01 -4.85391810e-02 1.54569857e+02] [ 5.40898926e-02 3.27347156e-04 9.98536017e-01 7.28938764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.986875 meters Centerline goodness [0,1] 0.999208481243404 Centerline is valid? [True, True] Translation: X:109.25, Y:154.59, Z:7.29 [[-4.35086608e-01 -9.00079062e-01 2.36077366e-02 1.09246895e+02] [ 8.98800007e-01 -4.35726474e-01 -4.79686019e-02 1.54593095e+02] [ 5.34620501e-02 3.48137558e-04 9.98569821e-01 7.29111632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters Centerline goodness [0,1] 0.9992343398573958 Centerline is valid? [True, True] Translation: X:109.23, Y:154.62, Z:7.29 [[-4.35201601e-01 -9.00028510e-01 2.34147068e-02 1.09234148e+02] [ 8.98772263e-01 -4.35830879e-01 -4.75380304e-02 1.54617596e+02] [ 5.29904349e-02 3.55862136e-04 9.98594957e-01 7.29270207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.046875 meters Centerline goodness [0,1] 0.9988804725834881 Centerline is valid? [True, True] Translation: X:109.22, Y:154.64, Z:7.29 [[-4.35104584e-01 -9.00075605e-01 2.34073819e-02 1.09221374e+02] [ 8.98822194e-01 -4.35733590e-01 -4.74858023e-02 1.54641267e+02] [ 5.29401948e-02 3.77784129e-04 9.98597613e-01 7.29399512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters Centerline goodness [0,1] 0.9992096187009005 Centerline is valid? [True, True] Translation: X:109.21, Y:154.66, Z:7.30 [[-4.35716864e-01 -8.99781691e-01 2.33178626e-02 1.09208988e+02] [ 8.98539442e-01 -4.36340212e-01 -4.72661567e-02 1.54664231e+02] [ 5.27037435e-02 3.57357670e-04 9.98610128e-01 7.29508698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.106875 meters Centerline goodness [0,1] 0.9990685010031528 Centerline is valid? [True, True] Translation: X:109.20, Y:154.69, Z:7.30 [[-4.36190896e-01 -8.99549907e-01 2.33980129e-02 1.09196402e+02] [ 8.98300872e-01 -4.36817861e-01 -4.73888094e-02 1.54687748e+02] [ 5.28492690e-02 3.47888125e-04 9.98602440e-01 7.29586344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters Centerline goodness [0,1] 0.9989074672240167 Centerline is valid? [True, True] Translation: X:109.18, Y:154.71, Z:7.30 [[-4.37681434e-01 -8.98824619e-01 2.34364348e-02 1.09184058e+02] [ 8.97572498e-01 -4.38308370e-01 -4.74276696e-02 1.54711713e+02] [ 5.29015426e-02 2.77688930e-04 9.98599694e-01 7.29671253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16687499999998 meters Centerline goodness [0,1] 0.9990243902439024 Centerline is valid? [True, True] Translation: X:109.17, Y:154.74, Z:7.30 [[-4.39367092e-01 -8.98001167e-01 2.34619423e-02 1.09172298e+02] [ 8.96747084e-01 -4.39993030e-01 -4.74426028e-02 1.54735910e+02] [ 5.29266038e-02 1.94709993e-04 9.98598386e-01 7.29790796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters Centerline goodness [0,1] 0.9990955180539357 Centerline is valid? [True, True] Translation: X:109.16, Y:154.76, Z:7.30 [[-4.40895245e-01 -8.97250403e-01 2.35180431e-02 1.09160264e+02] [ 8.95991196e-01 -4.41522027e-01 -4.75192142e-02 1.54760745e+02] [ 5.30203681e-02 1.20963971e-04 9.98593424e-01 7.29965028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22687499999998 meters Centerline goodness [0,1] 0.9991698095305865 Centerline is valid? [True, True] Translation: X:109.15, Y:154.78, Z:7.30 [[-4.42316001e-01 -8.96554648e-01 2.33734515e-02 1.09148342e+02] [ 8.95311874e-01 -4.42933133e-01 -4.71899118e-02 1.54784075e+02] [ 5.26612109e-02 5.36756144e-05 9.98612434e-01 7.29996299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters Centerline goodness [0,1] 0.9992623262897392 Centerline is valid? [True, True] Translation: X:109.14, Y:154.81, Z:7.30 [[-4.44732726e-01 -8.95360362e-01 2.32942877e-02 1.09136123e+02] [ 8.94126354e-01 -4.45342359e-01 -4.69919900e-02 1.54807980e+02] [ 5.24486982e-02 -7.08393014e-05 9.98623617e-01 7.30170739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28687499999998 meters Centerline goodness [0,1] 0.9992376596150181 Centerline is valid? [True, True] Translation: X:109.12, Y:154.83, Z:7.30 [[-4.45842363e-01 -8.94805410e-01 2.34065219e-02 1.09124273e+02] [ 8.93560648e-01 -4.46456340e-01 -4.71816213e-02 1.54831271e+02] [ 5.26683601e-02 -1.20418702e-04 9.98612051e-01 7.30340958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters Centerline goodness [0,1] 0.999263010246535 Centerline is valid? [True, True] Translation: X:109.11, Y:154.86, Z:7.30 [[-4.46762355e-01 -8.94348222e-01 2.33378635e-02 1.09111354e+02] [ 8.93112106e-01 -4.47371471e-01 -4.70056714e-02 1.54855380e+02] [ 5.24801330e-02 -1.57036102e-04 9.98621956e-01 7.30486738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34687499999998 meters Centerline goodness [0,1] 0.9991678158733178 Centerline is valid? [True, True] Translation: X:109.10, Y:154.88, Z:7.31 [[-4.47327474e-01 -8.94067508e-01 2.32684659e-02 1.09098004e+02] [ 8.92840258e-01 -4.47932205e-01 -4.68296177e-02 1.54879656e+02] [ 5.22915348e-02 -1.73151442e-04 9.98631847e-01 7.30560129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters Centerline goodness [0,1] 0.9991011448576024 Centerline is valid? [True, True] Translation: X:109.08, Y:154.90, Z:7.31 [[-4.47205627e-01 -8.94130098e-01 2.32055157e-02 1.09083715e+02] [ 8.92911473e-01 -4.47807265e-01 -4.66664252e-02 1.54902176e+02] [ 5.21174538e-02 -1.49016694e-04 9.98640951e-01 7.30571662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40687499999999 meters Centerline goodness [0,1] 0.9994090952065803 Centerline is valid? [True, True] Translation: X:109.07, Y:154.93, Z:7.31 [[-4.46783602e-01 -8.94340176e-01 2.32392463e-02 1.09070565e+02] [ 8.93120256e-01 -4.47387571e-01 -4.66965705e-02 1.54925651e+02] [ 5.21595690e-02 -1.07820439e-04 9.98638757e-01 7.30736023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters Centerline goodness [0,1] 0.9992196367763905 Centerline is valid? [True, True] Translation: X:109.06, Y:154.95, Z:7.31 [[-4.45677663e-01 -8.94891872e-01 2.32369840e-02 1.09055338e+02] [ 8.93674798e-01 -4.46283023e-01 -4.66564040e-02 1.54949006e+02] [ 5.21227082e-02 -2.74101292e-05 9.98640687e-01 7.30859629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.466875 meters Centerline goodness [0,1] 0.9993405868776789 Centerline is valid? [True, True] Translation: X:109.04, Y:154.97, Z:7.31 [[-4.44981283e-01 -8.95235251e-01 2.33560202e-02 1.09041682e+02] [ 8.94008051e-01 -4.45593812e-01 -4.68589266e-02 1.54972700e+02] [ 5.23570609e-02 2.91248328e-05 9.98628428e-01 7.31055657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters Centerline goodness [0,1] 0.999058446908175 Centerline is valid? [True, True] Translation: X:109.03, Y:155.00, Z:7.31 [[-4.43970379e-01 -8.95741204e-01 2.31947762e-02 1.09028272e+02] [ 8.94533514e-01 -4.44575848e-01 -4.64984726e-02 1.54995651e+02] [ 5.19624351e-02 1.04560113e-04 9.98649035e-01 7.31116788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.526875 meters Centerline goodness [0,1] 0.9990578259333411 Centerline is valid? [True, True] Translation: X:109.01, Y:155.02, Z:7.31 [[-4.42905773e-01 -8.96269260e-01 2.31492913e-02 1.09014466e+02] [ 8.95068997e-01 -4.43510293e-01 -4.63692866e-02 1.55019468e+02] [ 5.18263151e-02 1.82988226e-04 9.98656097e-01 7.31269532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters Centerline goodness [0,1] 0.9988693378559819 Centerline is valid? [True, True] Translation: X:109.00, Y:155.04, Z:7.31 [[-4.41451854e-01 -8.96989094e-01 2.30396519e-02 1.09000596e+02] [ 8.95803028e-01 -4.42052582e-01 -4.61134425e-02 1.55043209e+02] [ 5.15479926e-02 2.82125245e-04 9.98670479e-01 7.31366498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.586875 meters Centerline goodness [0,1] 0.9988301904449955 Centerline is valid? [True, True] Translation: X:108.99, Y:155.07, Z:7.31 [[-4.38497810e-01 -8.98442307e-01 2.28274539e-02 1.08985450e+02] [ 8.97281759e-01 -4.39091342e-01 -4.56534616e-02 1.55065878e+02] [ 5.10403387e-02 4.63715077e-04 9.98696485e-01 7.31438373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters Centerline goodness [0,1] 0.9991599187921499 Centerline is valid? [True, True] Translation: X:108.97, Y:155.09, Z:7.32 [[-4.37170642e-01 -8.99088138e-01 2.28549697e-02 1.08971824e+02] [ 8.97927405e-01 -4.37767304e-01 -4.56745359e-02 1.55089195e+02] [ 5.10705919e-02 5.54537414e-04 9.98694892e-01 7.31534060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.646875 meters Centerline goodness [0,1] 0.9991113189897101 Centerline is valid? [True, True] Translation: X:108.96, Y:155.11, Z:7.32 [[-4.36171728e-01 -8.99578924e-01 2.26270617e-02 1.08958802e+02] [ 8.98443609e-01 -4.36757799e-01 -4.51852527e-02 1.55111508e+02] [ 5.05302467e-02 6.20609245e-04 9.98722338e-01 7.31612677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters Centerline goodness [0,1] 0.9990438209846312 Centerline is valid? [True, True] Translation: X:108.95, Y:155.14, Z:7.32 [[-4.34997304e-01 -9.00141210e-01 2.28723974e-02 1.08945220e+02] [ 8.98983429e-01 -4.35597638e-01 -4.56452859e-02 1.55135870e+02] [ 5.10503652e-02 7.06329868e-04 9.98695830e-01 7.31696057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.706875 meters Centerline goodness [0,1] 0.9991337734700566 Centerline is valid? [True, True] Translation: X:108.93, Y:155.16, Z:7.32 [[-4.33359777e-01 -9.00918559e-01 2.33463706e-02 1.08931103e+02] [ 8.99715093e-01 -4.33987399e-01 -4.65584341e-02 1.55159247e+02] [ 5.20773881e-02 8.28529400e-04 9.98642708e-01 7.31623930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters Centerline goodness [0,1] 0.9991369054561571 Centerline is valid? [True, True] Translation: X:108.92, Y:155.18, Z:7.32 [[-4.33052952e-01 -9.01052622e-01 2.38602603e-02 1.08918263e+02] [ 8.99797607e-01 -4.33708889e-01 -4.75485658e-02 1.55184634e+02] [ 5.31921669e-02 8.78358354e-04 9.98583908e-01 7.31643795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.766875 meters Centerline goodness [0,1] 0.9991574019894676 Centerline is valid? [True, True] Translation: X:108.91, Y:155.21, Z:7.32 [[-4.33824371e-01 -9.00666056e-01 2.44350209e-02 1.08907725e+02] [ 8.99351060e-01 -4.34511111e-01 -4.86596891e-02 1.55209745e+02] [ 5.44434184e-02 8.65902927e-04 9.98516482e-01 7.31620082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters Centerline goodness [0,1] 0.9989941520467837 Centerline is valid? [True, True] Translation: X:108.90, Y:155.23, Z:7.32 [[-4.34833115e-01 -9.00177448e-01 2.45096568e-02 1.08896552e+02] [ 8.98855698e-01 -4.35522540e-01 -4.87703963e-02 1.55234143e+02] [ 5.45765189e-02 8.23661326e-04 9.98509251e-01 7.31694723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.826875 meters Centerline goodness [0,1] 0.9990381682970887 Centerline is valid? [True, True] Translation: X:108.89, Y:155.26, Z:7.32 [[-4.35747212e-01 -8.99732785e-01 2.46024833e-02 1.08885093e+02] [ 8.98402405e-01 -4.36440483e-01 -4.89165056e-02 1.55257561e+02] [ 5.47493036e-02 7.87699199e-04 9.98499821e-01 7.31746522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters Centerline goodness [0,1] 0.9990381682970887 Centerline is valid? [True, True] Translation: X:108.87, Y:155.28, Z:7.32 [[-4.36017060e-01 -8.99601615e-01 2.46182416e-02 1.08872938e+02] [ 8.98271473e-01 -4.36710787e-01 -4.89085743e-02 1.55281421e+02] [ 5.47492841e-02 7.88891425e-04 9.98499821e-01 7.31863374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.886875 meters Centerline goodness [0,1] 0.9988969466544627 Centerline is valid? [True, True] Translation: X:108.86, Y:155.31, Z:7.32 [[-4.38016972e-01 -8.98630144e-01 2.45966882e-02 1.08862614e+02] [ 8.97302793e-01 -4.38706507e-01 -4.88292808e-02 1.55306423e+02] [ 5.46701908e-02 6.82623335e-04 9.98504233e-01 7.32035468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters Centerline goodness [0,1] 0.9992709999059355 Centerline is valid? [True, True] Translation: X:108.85, Y:155.33, Z:7.32 [[-4.40609076e-01 -8.97370824e-01 2.42743972e-02 1.08852233e+02] [ 8.96078033e-01 -4.41276919e-01 -4.81543382e-02 1.55332145e+02] [ 5.39240294e-02 5.34515591e-04 9.98544898e-01 7.32252232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94687499999998 meters Centerline goodness [0,1] 0.9988908554572271 Centerline is valid? [True, True] Translation: X:108.84, Y:155.36, Z:7.33 [[-4.45540042e-01 -8.94950290e-01 2.36230750e-02 1.08844887e+02] [ 8.93724230e-01 -4.46165796e-01 -4.68303622e-02 1.55360091e+02] [ 5.24506543e-02 2.47712946e-04 9.98623486e-01 7.32573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters Centerline goodness [0,1] 0.9990767482600256 Centerline is valid? [True, True] Translation: X:108.84, Y:155.39, Z:7.33 [[-4.48157354e-01 -8.93649884e-01 2.33424479e-02 1.08835130e+02] [ 8.92452681e-01 -4.48764830e-01 -4.62421872e-02 1.55385220e+02] [ 5.17995949e-02 1.08253935e-04 9.98657494e-01 7.32713242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00687499999998 meters Centerline goodness [0,1] 0.9993380145163959 Centerline is valid? [True, True] Translation: X:108.82, Y:155.41, Z:7.33 [[-4.50626801e-01 -8.92406427e-01 2.33720992e-02 1.08824884e+02] [ 8.91206335e-01 -4.51232499e-01 -4.62655449e-02 1.55410817e+02] [ 5.18339204e-02 -1.91316154e-05 9.98655719e-01 7.32871739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters Centerline goodness [0,1] 0.999264775637985 Centerline is valid? [True, True] Translation: X:108.82, Y:155.44, Z:7.33 [[-4.54261080e-01 -8.90562581e-01 2.33486792e-02 1.08815642e+02] [ 8.89364270e-01 -4.54860686e-01 -4.61838897e-02 1.55437133e+02] [ 5.17500402e-02 -2.14062593e-04 9.98660046e-01 7.32931692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06687499999998 meters Centerline goodness [0,1] 0.9990722458786307 Centerline is valid? [True, True] Translation: X:108.81, Y:155.46, Z:7.33 [[-4.55603951e-01 -8.89870286e-01 2.35778277e-02 1.08805278e+02] [ 8.88649307e-01 -4.56213542e-01 -4.66005751e-02 1.55461022e+02] [ 5.22249914e-02 -2.78985868e-04 9.98635305e-01 7.32983625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters Centerline goodness [0,1] 0.9992131991798198 Centerline is valid? [True, True] Translation: X:108.79, Y:155.49, Z:7.33 [[-4.56305234e-01 -8.89509758e-01 2.36204172e-02 1.08793455e+02] [ 8.88285843e-01 -4.56916074e-01 -4.66472093e-02 1.55485290e+02] [ 5.22856962e-02 -3.03683535e-04 9.98632121e-01 7.33109895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12687499999998 meters Centerline goodness [0,1] 0.9992663937335826 Centerline is valid? [True, True] Translation: X:108.78, Y:155.51, Z:7.33 [[-4.56494047e-01 -8.89416544e-01 2.34818379e-02 1.08782459e+02] [ 8.88208629e-01 -4.57097499e-01 -4.63390535e-02 1.55508971e+02] [ 5.19482102e-02 -2.96731014e-04 9.98649736e-01 7.33158623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters Centerline goodness [0,1] 0.9991912464319695 Centerline is valid? [True, True] Translation: X:108.77, Y:155.53, Z:7.33 [[-4.56433439e-01 -8.89456226e-01 2.31546332e-02 1.08769518e+02] [ 8.88283253e-01 -4.57020290e-01 -4.56652683e-02 1.55533006e+02] [ 5.11993944e-02 -2.75282552e-04 9.98688413e-01 7.33373120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.186875 meters Centerline goodness [0,1] 0.9991909577632362 Centerline is valid? [True, True] Translation: X:108.76, Y:155.56, Z:7.34 [[-4.55887044e-01 -8.89739902e-01 2.30197678e-02 1.08757165e+02] [ 8.88582679e-01 -4.56467803e-01 -4.53648168e-02 1.55557212e+02] [ 5.08706705e-02 -2.26265314e-04 9.98705224e-01 7.33521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters Centerline goodness [0,1] 0.9992378230320352 Centerline is valid? [True, True] Translation: X:108.74, Y:155.58, Z:7.34 [[-4.55360568e-01 -8.90012346e-01 2.29080224e-02 1.08744201e+02] [ 8.88868408e-01 -4.55936390e-01 -4.51105534e-02 1.55581352e+02] [ 5.05935505e-02 -1.79349850e-04 9.98719310e-01 7.33652335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.246875 meters Centerline goodness [0,1] 0.9994305779633672 Centerline is valid? [True, True] Translation: X:108.73, Y:155.60, Z:7.34 [[-4.52324344e-01 -8.91560179e-01 2.28721657e-02 1.08730318e+02] [ 8.90423452e-01 -4.52902250e-01 -4.50069890e-02 1.55603799e+02] [ 5.04852945e-02 8.15599343e-06 9.98724804e-01 7.33633477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters Centerline goodness [0,1] 0.9994053424038438 Centerline is valid? [True, True] Translation: X:108.72, Y:155.63, Z:7.34 [[-4.50659269e-01 -8.92402869e-01 2.28766823e-02 1.08717137e+02] [ 8.91268158e-01 -4.51239521e-01 -4.49885048e-02 1.55627176e+02] [ 5.04707339e-02 1.14771838e-04 9.98725534e-01 7.33814782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.306875 meters Centerline goodness [0,1] 0.9992379500857306 Centerline is valid? [True, True] Translation: X:108.70, Y:155.65, Z:7.34 [[-4.46568759e-01 -8.94463216e-01 2.26251662e-02 1.08701537e+02] [ 8.93357620e-01 -4.47141395e-01 -4.44605064e-02 1.55650885e+02] [ 4.98849359e-02 3.57691417e-04 9.98754907e-01 7.33837085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters Centerline goodness [0,1] 0.9990296776636531 Centerline is valid? [True, True] Translation: X:108.69, Y:155.67, Z:7.34 [[-4.44669363e-01 -8.95410855e-01 2.25512497e-02 1.08687680e+02] [ 8.94315181e-01 -4.45240581e-01 -4.42852329e-02 1.55674888e+02] [ 4.96942097e-02 4.75638663e-04 9.98764366e-01 7.33939511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.366875 meters Centerline goodness [0,1] 0.9991205970433047 Centerline is valid? [True, True] Translation: X:108.67, Y:155.70, Z:7.34 [[-4.42528278e-01 -8.96471854e-01 2.25152719e-02 1.08673767e+02] [ 8.95382541e-01 -4.43100266e-01 -4.41843884e-02 1.55699464e+02] [ 4.95865836e-02 6.06940060e-04 9.98769644e-01 7.34008684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters Centerline goodness [0,1] 0.9991921687892036 Centerline is valid? [True, True] Translation: X:108.66, Y:155.72, Z:7.34 [[-4.38977249e-01 -8.98215964e-01 2.25179142e-02 1.08658576e+02] [ 8.97130195e-01 -4.39553654e-01 -4.41587985e-02 1.55722312e+02] [ 4.95619692e-02 8.16792842e-04 9.98770716e-01 7.34060820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.426875 meters Centerline goodness [0,1] 0.9991263282172373 Centerline is valid? [True, True] Translation: X:108.64, Y:155.75, Z:7.34 [[-4.37639300e-01 -8.98865811e-01 2.26295711e-02 1.08644744e+02] [ 8.97771730e-01 -4.38223035e-01 -4.43451568e-02 1.55745602e+02] [ 4.97771446e-02 9.09005784e-04 9.98759936e-01 7.34103810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters Centerline goodness [0,1] 0.9990729295426453 Centerline is valid? [True, True] Translation: X:108.63, Y:155.77, Z:7.34 [[-4.36596207e-01 -8.99373788e-01 2.25951675e-02 1.08631023e+02] [ 8.98285291e-01 -4.37179403e-01 -4.42459639e-02 1.55770102e+02] [ 4.96718020e-02 9.79286581e-04 9.98765114e-01 7.34148418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.486875 meters Centerline goodness [0,1] 0.9993121115802457 Centerline is valid? [True, True] Translation: X:108.62, Y:155.79, Z:7.34 [[-4.36209125e-01 -8.99557497e-01 2.27575990e-02 1.08618269e+02] [ 8.98455079e-01 -4.36801175e-01 -4.45331930e-02 1.55794388e+02] [ 5.00007136e-02 1.02089525e-03 9.98748660e-01 7.34227071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters Centerline goodness [0,1] 0.9989026979318242 Centerline is valid? [True, True] Translation: X:108.61, Y:155.82, Z:7.34 [[-4.36462163e-01 -8.99431585e-01 2.28824030e-02 1.08607345e+02] [ 8.98318573e-01 -4.37060373e-01 -4.47433938e-02 1.55819471e+02] [ 5.02446132e-02 1.02688913e-03 9.98736414e-01 7.34290226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.546875 meters Centerline goodness [0,1] 0.9988338608724625 Centerline is valid? [True, True] Translation: X:108.60, Y:155.84, Z:7.34 [[-4.37277370e-01 -8.99035849e-01 2.28701363e-02 1.08596125e+02] [ 8.97925187e-01 -4.37873898e-01 -4.46856646e-02 1.55844009e+02] [ 5.01882501e-02 9.95641515e-04 9.98739279e-01 7.34425375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters Centerline goodness [0,1] 0.9989301507298749 Centerline is valid? [True, True] Translation: X:108.58, Y:155.87, Z:7.35 [[-4.38521152e-01 -8.98438984e-01 2.25075875e-02 1.08584357e+02] [ 8.97364106e-01 -4.39097408e-01 -4.39445972e-02 1.55868690e+02] [ 4.93645626e-02 9.26865765e-04 9.98780397e-01 7.34554747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.606875 meters Centerline goodness [0,1] 0.9990977300788298 Centerline is valid? [True, True] Translation: X:108.57, Y:155.90, Z:7.35 [[-4.41036502e-01 -8.97213287e-01 2.22513387e-02 1.08573883e+02] [ 8.96162756e-01 -4.41596747e-01 -4.34122990e-02 1.55895074e+02] [ 4.87762103e-02 7.94412516e-04 9.98809416e-01 7.34630559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters Centerline goodness [0,1] 0.9991386323395702 Centerline is valid? [True, True] Translation: X:108.56, Y:155.92, Z:7.35 [[-4.42760781e-01 -8.96362928e-01 2.22798351e-02 1.08564782e+02] [ 8.95310073e-01 -4.43320415e-01 -4.34382620e-02 1.55920567e+02] [ 4.88135535e-02 7.14602014e-04 9.98807652e-01 7.34797296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66687499999998 meters Centerline goodness [0,1] 0.9989712180300021 Centerline is valid? [True, True] Translation: X:108.55, Y:155.94, Z:7.35 [[-4.44653986e-01 -8.95423213e-01 2.23629399e-02 1.08554403e+02] [ 8.94362981e-01 -4.45215536e-01 -4.35658772e-02 1.55944712e+02] [ 4.89662261e-02 6.28844604e-04 9.98800237e-01 7.34913588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters Centerline goodness [0,1] 0.9990866482393943 Centerline is valid? [True, True] Translation: X:108.54, Y:155.97, Z:7.35 [[-4.46797069e-01 -8.94355527e-01 2.23734295e-02 1.08544213e+02] [ 8.93294688e-01 -4.47356584e-01 -4.35509685e-02 1.55970099e+02] [ 4.89589503e-02 5.27620634e-04 9.98800652e-01 7.35031879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72687499999998 meters Centerline goodness [0,1] 0.9989168371645204 Centerline is valid? [True, True] Translation: X:108.54, Y:155.99, Z:7.35 [[-4.50149456e-01 -8.92669315e-01 2.25157836e-02 1.08535346e+02] [ 8.91594505e-01 -4.50712062e-01 -4.37935630e-02 1.55994767e+02] [ 4.92413052e-02 3.61300323e-04 9.98786846e-01 7.35058407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters Centerline goodness [0,1] 0.9993258372860135 Centerline is valid? [True, True] Translation: X:108.52, Y:156.02, Z:7.35 [[-4.52134973e-01 -8.91662771e-01 2.26156564e-02 1.08524393e+02] [ 8.90578907e-01 -4.52700155e-01 -4.39520332e-02 1.56020253e+02] [ 4.94285029e-02 2.68775179e-04 9.98777628e-01 7.35152699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78687499999998 meters Centerline goodness [0,1] 0.9994452350514966 Centerline is valid? [True, True] Translation: X:108.51, Y:156.05, Z:7.35 [[-4.53833474e-01 -8.90798840e-01 2.26407724e-02 1.08513560e+02] [ 8.89713173e-01 -4.54397833e-01 -4.39668102e-02 1.56045404e+02] [ 4.94535014e-02 1.90183216e-04 9.98776409e-01 7.35230703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters Centerline goodness [0,1] 0.9992267543011792 Centerline is valid? [True, True] Translation: X:108.50, Y:156.07, Z:7.35 [[-4.55538602e-01 -8.89922120e-01 2.28736219e-02 1.08503121e+02] [ 8.88814616e-01 -4.56112495e-01 -4.43843413e-02 1.56069596e+02] [ 4.99315518e-02 1.11628732e-04 9.98752636e-01 7.35262521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84687499999998 meters Centerline goodness [0,1] 0.9992725861985354 Centerline is valid? [True, True] Translation: X:108.49, Y:156.10, Z:7.35 [[-4.57984586e-01 -8.88665433e-01 2.28881382e-02 1.08493369e+02] [ 8.87556718e-01 -4.58556156e-01 -4.43770601e-02 1.56095158e+02] [ 4.99318560e-02 -9.48867281e-06 9.98752627e-01 7.35407967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters Centerline goodness [0,1] 0.9993477315552979 Centerline is valid? [True, True] Translation: X:108.48, Y:156.12, Z:7.36 [[-4.59189524e-01 -8.88040672e-01 2.29944836e-02 1.08482035e+02] [ 8.86922564e-01 -4.59764898e-01 -4.45489052e-02 1.56119437e+02] [ 5.01332961e-02 -6.20641804e-05 9.98742534e-01 7.35511980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90687499999999 meters Centerline goodness [0,1] 0.9994662914533854 Centerline is valid? [True, True] Translation: X:108.47, Y:156.14, Z:7.36 [[-4.60038658e-01 -8.87599955e-01 2.30380929e-02 1.08469997e+02] [ 8.86478830e-01 -4.60615145e-01 -4.45979017e-02 1.56144398e+02] [ 5.01967900e-02 -9.39772753e-05 9.98739342e-01 7.35678162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters Centerline goodness [0,1] 0.9993683801379847 Centerline is valid? [True, True] Translation: X:108.46, Y:156.17, Z:7.36 [[-4.60921768e-01 -8.87151524e-01 2.26560526e-02 1.08458558e+02] [ 8.86068392e-01 -4.61478231e-01 -4.38251921e-02 1.56167856e+02] [ 4.93348611e-02 -1.25172941e-04 9.98782286e-01 7.35793226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.966875 meters Centerline goodness [0,1] 0.9993185358255452 Centerline is valid? [True, True] Translation: X:108.45, Y:156.19, Z:7.36 [[-4.62171491e-01 -8.86513867e-01 2.21511975e-02 1.08446789e+02] [ 8.85479373e-01 -4.62701991e-01 -4.28152762e-02 1.56192430e+02] [ 4.82057393e-02 -1.73571623e-04 9.98837412e-01 7.36051004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters Centerline goodness [0,1] 0.9991977829638273 Centerline is valid? [True, True] Translation: X:108.43, Y:156.22, Z:7.36 [[-4.62505149e-01 -8.86346156e-01 2.18970245e-02 1.08434356e+02] [ 8.85336610e-01 -4.63023177e-01 -4.22921371e-02 1.56216404e+02] [ 4.76243030e-02 -1.74093771e-04 9.98865304e-01 7.36187957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.026875 meters Centerline goodness [0,1] 0.9992952098573408 Centerline is valid? [True, True] Translation: X:108.42, Y:156.24, Z:7.36 [[-4.62857337e-01 -8.86169933e-01 2.15855322e-02 1.08422208e+02] [ 8.85190203e-01 -4.63360356e-01 -4.16591678e-02 1.56239181e+02] [ 4.69189818e-02 -1.74949884e-04 9.98898683e-01 7.36288493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters Centerline goodness [0,1] 0.999268060604582 Centerline is valid? [True, True] Translation: X:108.41, Y:156.26, Z:7.36 [[-4.62912909e-01 -8.86139751e-01 2.16328367e-02 1.08408970e+02] [ 8.85157245e-01 -4.63418077e-01 -4.17173488e-02 1.56262891e+02] [ 4.69924487e-02 -1.63037192e-04 9.98895231e-01 7.36411515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.086875 meters Centerline goodness [0,1] 0.9996342623070734 Centerline is valid? [True, True] Translation: X:108.39, Y:156.29, Z:7.37 [[-4.61399443e-01 -8.86931747e-01 2.15088161e-02 1.08394421e+02] [ 8.85962804e-01 -4.61900499e-01 -4.14468174e-02 1.56286617e+02] [ 4.66954310e-02 -6.75274003e-05 9.98909171e-01 7.36511826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters Centerline goodness [0,1] 0.9992444921037239 Centerline is valid? [True, True] Translation: X:108.38, Y:156.31, Z:7.37 [[-4.60858028e-01 -8.87213162e-01 2.15100716e-02 1.08381078e+02] [ 8.86245883e-01 -4.61359734e-01 -4.14177619e-02 1.56310429e+02] [ 4.66702645e-02 -2.44956473e-05 9.98910349e-01 7.36560581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.146875 meters Centerline goodness [0,1] 0.9993455180103747 Centerline is valid? [True, True] Translation: X:108.37, Y:156.33, Z:7.37 [[-4.59874927e-01 -8.87719436e-01 2.16622843e-02 1.08367799e+02] [ 8.86740478e-01 -4.60384840e-01 -4.16788096e-02 1.56333245e+02] [ 4.69720767e-02 4.17847853e-05 9.98896202e-01 7.36640668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters Centerline goodness [0,1] 0.9995147986414362 Centerline is valid? [True, True] Translation: X:108.35, Y:156.36, Z:7.37 [[-4.57620875e-01 -8.88879453e-01 2.18278007e-02 1.08352901e+02] [ 8.87888382e-01 -4.58141121e-01 -4.19634834e-02 1.56356783e+02] [ 4.73006912e-02 1.77284664e-04 9.98880680e-01 7.36696284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.206875 meters Centerline goodness [0,1] 0.9993464685094641 Centerline is valid? [True, True] Translation: X:108.34, Y:156.38, Z:7.37 [[-4.56428767e-01 -8.89483722e-01 2.21695447e-02 1.08339223e+02] [ 8.88463644e-01 -4.56966783e-01 -4.25877016e-02 1.56379649e+02] [ 4.80118128e-02 2.58582327e-04 9.98846734e-01 7.36718899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters Centerline goodness [0,1] 0.9993238021638331 Centerline is valid? [True, True] Translation: X:108.33, Y:156.40, Z:7.37 [[-4.54870027e-01 -8.90281163e-01 2.21970725e-02 1.08325277e+02] [ 8.89261114e-01 -4.55411158e-01 -4.26068999e-02 1.56403671e+02] [ 4.80409148e-02 3.58391710e-04 9.98845304e-01 7.36777581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.266875 meters Centerline goodness [0,1] 0.999176875030262 Centerline is valid? [True, True] Translation: X:108.31, Y:156.43, Z:7.37 [[-4.53237046e-01 -8.91113369e-01 2.22068191e-02 1.08311236e+02] [ 8.90094977e-01 -4.53780509e-01 -4.25932126e-02 1.56426885e+02] [ 4.80324029e-02 4.61356261e-04 9.98845671e-01 7.36832872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters Centerline goodness [0,1] 0.9990578799884047 Centerline is valid? [True, True] Translation: X:108.30, Y:156.45, Z:7.37 [[-4.51663024e-01 -8.91915595e-01 2.20699774e-02 1.08296727e+02] [ 8.90912201e-01 -4.52201570e-01 -4.22988279e-02 1.56451039e+02] [ 4.77070627e-02 5.57595576e-04 9.98861214e-01 7.36948976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.326875 meters Centerline goodness [0,1] 0.999181078086613 Centerline is valid? [True, True] Translation: X:108.28, Y:156.48, Z:7.37 [[-4.49329079e-01 -8.93088614e-01 2.22734623e-02 1.08281994e+02] [ 8.92069462e-01 -4.49880246e-01 -4.26595728e-02 1.56475384e+02] [ 4.81191694e-02 7.01288947e-04 9.98841356e-01 7.37025979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters Centerline goodness [0,1] 0.9990845799908458 Centerline is valid? [True, True] Translation: X:108.27, Y:156.50, Z:7.37 [[-4.49762751e-01 -8.92865098e-01 2.24807658e-02 1.08269744e+02] [ 8.91828051e-01 -4.50323696e-01 -4.30266969e-02 1.56500037e+02] [ 4.85406575e-02 6.97171965e-04 9.98820964e-01 7.37158563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.386875 meters Centerline goodness [0,1] 0.9993228373116642 Centerline is valid? [True, True] Translation: X:108.26, Y:156.52, Z:7.37 [[-4.50135914e-01 -8.92676131e-01 2.25163015e-02 1.08257076e+02] [ 8.91637172e-01 -4.50698175e-01 -4.30616738e-02 1.56524181e+02] [ 4.85881844e-02 6.92765526e-04 9.98818656e-01 7.37294244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters Centerline goodness [0,1] 0.9991786249214862 Centerline is valid? [True, True] Translation: X:108.24, Y:156.55, Z:7.37 [[-4.50528226e-01 -8.92476984e-01 2.25643630e-02 1.08244575e+02] [ 8.91434937e-01 -4.51092407e-01 -4.31206832e-02 1.56548551e+02] [ 4.86628301e-02 6.87576632e-04 9.98815026e-01 7.37388871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44687499999998 meters Centerline goodness [0,1] 0.9992483572969959 Centerline is valid? [True, True] Translation: X:108.23, Y:156.57, Z:7.37 [[-4.51728292e-01 -8.91873045e-01 2.24504466e-02 1.08233033e+02] [ 8.90842298e-01 -4.52285386e-01 -4.28710763e-02 1.56572312e+02] [ 4.83895662e-02 6.33729394e-04 9.98828338e-01 7.37459611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters Centerline goodness [0,1] 0.9991061074603789 Centerline is valid? [True, True] Translation: X:108.22, Y:156.60, Z:7.38 [[-4.52676974e-01 -8.91387279e-01 2.26335246e-02 1.08220356e+02] [ 8.90340288e-01 -4.53242056e-01 -4.31950232e-02 1.56595868e+02] [ 4.87619594e-02 5.98146465e-04 9.98810249e-01 7.37505115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50687499999998 meters Centerline goodness [0,1] 0.9990786985404645 Centerline is valid? [True, True] Translation: X:108.21, Y:156.62, Z:7.38 [[-4.53724748e-01 -8.90853819e-01 2.26566925e-02 1.08209280e+02] [ 8.89805276e-01 -4.54289739e-01 -4.32134692e-02 1.56621407e+02] [ 4.87895870e-02 5.53024134e-04 9.98808926e-01 7.37617370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters Centerline goodness [0,1] 0.9990039598668707 Centerline is valid? [True, True] Translation: X:108.20, Y:156.65, Z:7.38 [[-4.54094748e-01 -8.90656481e-01 2.29998415e-02 1.08197827e+02] [ 8.89577295e-01 -4.54676506e-01 -4.38350399e-02 1.56646017e+02] [ 4.94994500e-02 5.54875348e-04 9.98773997e-01 7.37747406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56687499999998 meters Centerline goodness [0,1] 0.999225631594231 Centerline is valid? [True, True] Translation: X:108.19, Y:156.67, Z:7.38 [[-4.54115334e-01 -8.90643976e-01 2.30774972e-02 1.08185331e+02] [ 8.89559158e-01 -4.54700980e-01 -4.39490836e-02 1.56669291e+02] [ 4.96363472e-02 5.70846181e-04 9.98767194e-01 7.37861274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters Centerline goodness [0,1] 0.9990050717076366 Centerline is valid? [True, True] Translation: X:108.17, Y:156.69, Z:7.38 [[-4.53943997e-01 -8.90725953e-01 2.32835376e-02 1.08172719e+02] [ 8.89623556e-01 -4.54540333e-01 -4.43059203e-02 1.56693771e+02] [ 5.00477400e-02 6.01176932e-04 9.98746646e-01 7.37937583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62687499999998 meters Centerline goodness [0,1] 0.9990771771334208 Centerline is valid? [True, True] Translation: X:108.16, Y:156.72, Z:7.38 [[-4.53575067e-01 -8.90910486e-01 2.34129028e-02 1.08160028e+02] [ 8.89797738e-01 -4.54178484e-01 -4.45184233e-02 1.56717726e+02] [ 5.02955668e-02 6.40301095e-04 9.98734172e-01 7.38029985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters Centerline goodness [0,1] 0.9989337210711257 Centerline is valid? [True, True] Translation: X:108.15, Y:156.74, Z:7.38 [[-4.54068860e-01 -8.90654866e-01 2.35665118e-02 1.08148051e+02] [ 8.89528829e-01 -4.54679570e-01 -4.47766776e-02 1.56741805e+02] [ 5.05957772e-02 6.31396746e-04 9.98719014e-01 7.38164373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.686875 meters Centerline goodness [0,1] 0.9991961218971523 Centerline is valid? [True, True] Translation: X:108.14, Y:156.77, Z:7.38 [[-4.55771298e-01 -8.89778290e-01 2.38142592e-02 1.08137236e+02] [ 8.88628984e-01 -4.56392690e-01 -4.52132858e-02 1.56766737e+02] [ 5.10984539e-02 5.55122965e-04 9.98693466e-01 7.38293907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters Centerline goodness [0,1] 0.9992415716592454 Centerline is valid? [True, True] Translation: X:108.13, Y:156.79, Z:7.38 [[-4.57750155e-01 -8.88753895e-01 2.41103603e-02 1.08126844e+02] [ 8.87576187e-01 -4.58384446e-01 -4.57407008e-02 1.56792471e+02] [ 5.17040402e-02 4.61968758e-04 9.98662345e-01 7.38496841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.746875 meters Centerline goodness [0,1] 0.9992415716592454 Centerline is valid? [True, True] Translation: X:108.11, Y:156.82, Z:7.39 [[-4.58026254e-01 -8.88611248e-01 2.41246646e-02 1.08114238e+02] [ 8.87433740e-01 -4.58660916e-01 -4.57331556e-02 1.56816111e+02] [ 5.17040373e-02 4.62055388e-04 9.98662345e-01 7.38613737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters Centerline goodness [0,1] 0.9991665236682764 Centerline is valid? [True, True] Translation: X:108.10, Y:156.84, Z:7.39 [[-4.58487284e-01 -8.88370735e-01 2.42249613e-02 1.08102036e+02] [ 8.87184875e-01 -4.59126598e-01 -4.58886032e-02 1.56840049e+02] [ 5.18884162e-02 4.52678233e-04 9.98652786e-01 7.38688185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.806875 meters Centerline goodness [0,1] 0.9993391261779464 Centerline is valid? [True, True] Translation: X:108.09, Y:156.86, Z:7.39 [[-4.58936696e-01 -8.88134355e-01 2.43818696e-02 1.08089281e+02] [ 8.86934562e-01 -4.59583691e-01 -4.61509839e-02 1.56864609e+02] [ 5.21937840e-02 4.44742807e-04 9.98636877e-01 7.38753358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters Centerline goodness [0,1] 0.9993405143987689 Centerline is valid? [True, True] Translation: X:108.08, Y:156.89, Z:7.39 [[-4.59445105e-01 -8.87869998e-01 2.44348499e-02 1.08077885e+02] [ 8.86666445e-01 -4.60094207e-01 -4.62161811e-02 1.56888842e+02] [ 5.22762935e-02 4.31763300e-04 9.98632566e-01 7.38880218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.866875 meters Centerline goodness [0,1] 0.9991433326806344 Centerline is valid? [True, True] Translation: X:108.07, Y:156.91, Z:7.39 [[-4.59626003e-01 -8.87773352e-01 2.45440869e-02 1.08065628e+02] [ 8.86560709e-01 -4.60280656e-01 -4.63877862e-02 1.56912059e+02] [ 5.24790088e-02 4.38790295e-04 9.98621931e-01 7.38973271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters Centerline goodness [0,1] 0.9994849659096483 Centerline is valid? [True, True] Translation: X:108.05, Y:156.94, Z:7.39 [[-4.59410245e-01 -8.87878397e-01 2.47826283e-02 1.08053275e+02] [ 8.86643700e-01 -4.60077964e-01 -4.68104311e-02 1.56936478e+02] [ 5.29639117e-02 4.68169620e-04 9.98596317e-01 7.39135400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.926875 meters Centerline goodness [0,1] 0.999311904059766 Centerline is valid? [True, True] Translation: X:108.04, Y:156.96, Z:7.39 [[-4.59368468e-01 -8.87896382e-01 2.49123726e-02 1.08041364e+02] [ 8.86650612e-01 -4.60043233e-01 -4.70203745e-02 1.56960738e+02] [ 5.32099888e-02 4.88892963e-04 9.98583225e-01 7.39382640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters Centerline goodness [0,1] 0.999166298857339 Centerline is valid? [True, True] Translation: X:108.03, Y:156.98, Z:7.40 [[-4.59617662e-01 -8.87771577e-01 2.47635280e-02 1.08028731e+02] [ 8.86542349e-01 -4.60284031e-01 -4.67041092e-02 1.56983412e+02] [ 5.28608371e-02 4.87882885e-04 9.98601769e-01 7.39521546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.986875 meters Centerline goodness [0,1] 0.9994358043467596 Centerline is valid? [True, True] Translation: X:108.02, Y:157.01, Z:7.40 [[-4.59426016e-01 -8.87876359e-01 2.45622875e-02 1.08015395e+02] [ 8.86669103e-01 -4.60081849e-01 -4.62881548e-02 1.57006552e+02] [ 5.23988210e-02 5.12638924e-04 9.98626107e-01 7.39658020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters Centerline goodness [0,1] 0.9993618535699383 Centerline is valid? [True, True] Translation: X:108.00, Y:157.03, Z:7.40 [[-4.59153676e-01 -8.88017101e-01 2.45668338e-02 1.08002425e+02] [ 8.86811478e-01 -4.59810102e-01 -4.62609152e-02 1.57030481e+02] [ 5.23765622e-02 5.45280954e-04 9.98627257e-01 7.39779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.046875 meters Centerline goodness [0,1] 0.9991213940547664 Centerline is valid? [True, True] Translation: X:107.99, Y:157.05, Z:7.40 [[-4.59476974e-01 -8.87850842e-01 2.45314756e-02 1.07989570e+02] [ 8.86650246e-01 -4.60131057e-01 -4.61600732e-02 1.57054558e+02] [ 5.22709536e-02 5.41348122e-04 9.98632793e-01 7.39858073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters Centerline goodness [0,1] 0.9993138768408929 Centerline is valid? [True, True] Translation: X:107.98, Y:157.08, Z:7.40 [[-4.59653014e-01 -8.87750399e-01 2.48663507e-02 1.07976718e+02] [ 8.86518492e-01 -4.60324801e-01 -4.67551271e-02 1.57079177e+02] [ 5.29534807e-02 5.53344608e-04 9.98596827e-01 7.39947584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.106875 meters Centerline goodness [0,1] 0.9993149679502863 Centerline is valid? [True, True] Translation: X:107.96, Y:157.10, Z:7.40 [[-4.60918873e-01 -8.87081310e-01 2.53089491e-02 1.07964429e+02] [ 8.85806103e-01 -4.61612931e-01 -4.75504925e-02 1.57102756e+02] [ 5.38640913e-02 5.01902156e-04 9.98548150e-01 7.39912961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters Centerline goodness [0,1] 0.9992651561543172 Centerline is valid? [True, True] Translation: X:107.95, Y:157.13, Z:7.40 [[-4.66262672e-01 -8.84264000e-01 2.60057602e-02 1.07954651e+02] [ 8.82915294e-01 -4.66987301e-01 -4.88205210e-02 1.57128481e+02] [ 5.53145889e-02 1.97696911e-04 9.98468957e-01 7.39967698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16687499999998 meters Centerline goodness [0,1] 0.9994624706802189 Centerline is valid? [True, True] Translation: X:107.94, Y:157.15, Z:7.40 [[-4.68277387e-01 -8.83207434e-01 2.57083242e-02 1.07944233e+02] [ 8.81889798e-01 -4.68982538e-01 -4.82261716e-02 1.57152286e+02] [ 5.46504684e-02 8.86832551e-05 9.98505543e-01 7.40239011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters Centerline goodness [0,1] 0.9993152862348079 Centerline is valid? [True, True] Translation: X:107.93, Y:157.18, Z:7.40 [[-4.69965169e-01 -8.82313821e-01 2.55941624e-02 1.07932574e+02] [ 8.81008550e-01 -4.70661578e-01 -4.79751371e-02 1.57176955e+02] [ 5.43753154e-02 2.03252949e-06 9.98520568e-01 7.40472819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22687499999998 meters Centerline goodness [0,1] 0.9995351681957186 Centerline is valid? [True, True] Translation: X:107.92, Y:157.20, Z:7.41 [[-4.73362716e-01 -8.80481977e-01 2.60620015e-02 1.07920377e+02] [ 8.79127730e-01 -4.74079582e-01 -4.88158107e-02 1.57201797e+02] [ 5.53369043e-02 -1.95756510e-04 9.98467720e-01 7.40568079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters Centerline goodness [0,1] 0.9992918019976068 Centerline is valid? [True, True] Translation: X:107.91, Y:157.23, Z:7.41 [[-4.74936759e-01 -8.79634137e-01 2.60549209e-02 1.07907900e+02] [ 8.78281363e-01 -4.75650825e-01 -4.87661739e-02 1.57226239e+02] [ 5.52894359e-02 -2.77297158e-04 9.98470331e-01 7.40694778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28687499999998 meters Centerline goodness [0,1] 0.9994386273217641 Centerline is valid? [True, True] Translation: X:107.90, Y:157.25, Z:7.41 [[-4.76186764e-01 -8.78963527e-01 2.58705322e-02 1.07895118e+02] [ 8.77630820e-01 -4.76888882e-01 -4.83852973e-02 1.57250716e+02] [ 5.48662808e-02 -3.35661790e-04 9.98493655e-01 7.40879641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters Centerline goodness [0,1] 0.9996342979740108 Centerline is valid? [True, True] Translation: X:107.88, Y:157.27, Z:7.41 [[-4.76954778e-01 -8.78552520e-01 2.56828518e-02 1.07882882e+02] [ 8.77240472e-01 -4.77645619e-01 -4.79980913e-02 1.57274094e+02] [ 5.44361458e-02 -3.62881901e-04 9.98517188e-01 7.40997320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34687499999998 meters Centerline goodness [0,1] 0.9995364383829018 Centerline is valid? [True, True] Translation: X:107.87, Y:157.30, Z:7.41 [[-4.77719518e-01 -8.78146947e-01 2.53377658e-02 1.07868731e+02] [ 8.76871347e-01 -4.78390835e-01 -4.73164859e-02 1.57297413e+02] [ 5.36721825e-02 -3.86048027e-04 9.98558535e-01 7.41190181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters Centerline goodness [0,1] 0.999633431085044 Centerline is valid? [True, True] Translation: X:107.86, Y:157.32, Z:7.41 [[-4.78204170e-01 -8.77880612e-01 2.54244556e-02 1.07856416e+02] [ 8.76597816e-01 -4.78879391e-01 -4.74425733e-02 1.57320909e+02] [ 5.38241631e-02 -4.00214095e-04 9.98550349e-01 7.41228150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40687499999999 meters Centerline goodness [0,1] 0.9996354002090372 Centerline is valid? [True, True] Translation: X:107.84, Y:157.34, Z:7.41 [[-4.78739569e-01 -8.77588558e-01 2.54312494e-02 1.07842594e+02] [ 8.76306580e-01 -4.79414383e-01 -4.74197008e-02 1.57344488e+02] [ 5.38070935e-02 -4.16115899e-04 9.98551262e-01 7.41461636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters Centerline goodness [0,1] 0.9995855882209546 Centerline is valid? [True, True] Translation: X:107.83, Y:157.37, Z:7.42 [[-4.77512128e-01 -8.78242476e-01 2.59291340e-02 1.07828323e+02] [ 8.76912779e-01 -4.78215478e-01 -4.83108096e-02 1.57368278e+02] [ 5.48283182e-02 -3.31408566e-04 9.98495741e-01 7.41640958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.466875 meters Centerline goodness [0,1] 0.9994644726272486 Centerline is valid? [True, True] Translation: X:107.81, Y:157.39, Z:7.42 [[-4.76748375e-01 -8.78655354e-01 2.59953032e-02 1.07814790e+02] [ 8.77321504e-01 -4.77456487e-01 -4.83971282e-02 1.57390636e+02] [ 5.49360220e-02 -2.67013694e-04 9.98489841e-01 7.41704972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters Centerline goodness [0,1] 0.9994888521078765 Centerline is valid? [True, True] Translation: X:107.80, Y:157.41, Z:7.42 [[-4.75620018e-01 -8.79271682e-01 2.58245608e-02 1.07800078e+02] [ 8.77958264e-01 -4.76320562e-01 -4.80417304e-02 1.57413650e+02] [ 5.45425024e-02 -1.76722119e-04 9.98511434e-01 7.41888548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.526875 meters Centerline goodness [0,1] 0.9993190661478599 Centerline is valid? [True, True] Translation: X:107.79, Y:157.44, Z:7.42 [[-4.73953802e-01 -8.80164619e-01 2.60391378e-02 1.07785064e+02] [ 8.78832647e-01 -4.74668558e-01 -4.84039127e-02 1.57436903e+02] [ 5.49633713e-02 -5.71740779e-05 9.98488370e-01 7.41916835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters Centerline goodness [0,1] 0.9996611400217839 Centerline is valid? [True, True] Translation: X:107.77, Y:157.46, Z:7.42 [[-4.70862806e-01 -8.81812250e-01 2.63699192e-02 1.07768826e+02] [ 8.80450743e-01 -4.71600606e-01 -4.89832332e-02 1.57458249e+02] [ 5.56300850e-02 1.53032256e-04 9.98451436e-01 7.41879575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.586875 meters Centerline goodness [0,1] 0.9995130976726069 Centerline is valid? [True, True] Translation: X:107.75, Y:157.48, Z:7.42 [[-4.69406383e-01 -8.82583306e-01 2.65396791e-02 1.07754243e+02] [ 8.81207139e-01 -4.70155974e-01 -4.92680334e-02 1.57481623e+02] [ 5.59609325e-02 2.60225253e-04 9.98432925e-01 7.41967538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters Centerline goodness [0,1] 0.9993699108181465 Centerline is valid? [True, True] Translation: X:107.74, Y:157.50, Z:7.42 [[-4.68006407e-01 -8.83321517e-01 2.67039433e-02 1.07739932e+02] [ 8.81931545e-01 -4.68767493e-01 -4.95357203e-02 1.57504855e+02] [ 5.62739082e-02 3.68015518e-04 9.98415300e-01 7.42059847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.646875 meters Centerline goodness [0,1] 0.999418012512731 Centerline is valid? [True, True] Translation: X:107.73, Y:157.53, Z:7.42 [[-4.66267012e-01 -8.84240500e-01 2.67172556e-02 1.07725499e+02] [ 8.82852692e-01 -4.67031575e-01 -4.95240504e-02 1.57528215e+02] [ 5.62689731e-02 4.95970064e-04 9.98415523e-01 7.42135192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters Centerline goodness [0,1] 0.9993448033196631 Centerline is valid? [True, True] Translation: X:107.71, Y:157.55, Z:7.42 [[-4.62585712e-01 -8.86172350e-01 2.67025487e-02 1.07710131e+02] [ 8.84791182e-01 -4.63355167e-01 -4.94626384e-02 1.57551403e+02] [ 5.62051864e-02 7.45469911e-04 9.98418961e-01 7.42400079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.706875 meters Centerline goodness [0,1] 0.999491759239091 Centerline is valid? [True, True] Translation: X:107.69, Y:157.57, Z:7.42 [[-4.60885560e-01 -8.87055475e-01 2.67784288e-02 1.07694807e+02] [ 8.85669801e-01 -4.61662026e-01 -4.95699343e-02 1.57573466e+02] [ 5.63338654e-02 8.70778744e-04 9.98411607e-01 7.42398467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters Centerline goodness [0,1] 0.999274661508704 Centerline is valid? [True, True] Translation: X:107.68, Y:157.60, Z:7.43 [[-4.59137706e-01 -8.87962285e-01 2.67497180e-02 1.07680039e+02] [ 8.86583073e-01 -4.59915195e-01 -4.94819891e-02 1.57596433e+02] [ 5.62407419e-02 9.96800233e-04 9.98416739e-01 7.42520993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.766875 meters Centerline goodness [0,1] 0.9993431775609993 Centerline is valid? [True, True] Translation: X:107.67, Y:157.62, Z:7.43 [[-4.59184550e-01 -8.87938018e-01 2.67511765e-02 1.07667381e+02] [ 8.86560625e-01 -4.59962015e-01 -4.94489913e-02 1.57620224e+02] [ 5.62121644e-02 1.01032696e-03 9.98418335e-01 7.42663929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters Centerline goodness [0,1] 0.9991995148574894 Centerline is valid? [True, True] Translation: X:107.65, Y:157.64, Z:7.43 [[-4.59356373e-01 -8.87843904e-01 2.69244336e-02 1.07654902e+02] [ 8.86450504e-01 -4.60143627e-01 -4.97327536e-02 1.57644311e+02] [ 5.65440286e-02 1.02212041e-03 9.98399583e-01 7.42775517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.826875 meters Centerline goodness [0,1] 0.9992470428214034 Centerline is valid? [True, True] Translation: X:107.64, Y:157.67, Z:7.43 [[-4.59879254e-01 -8.87565982e-01 2.71606194e-02 1.07641871e+02] [ 8.86149638e-01 -4.60679498e-01 -5.01320198e-02 1.57668374e+02] [ 5.70078159e-02 1.01369716e-03 9.98373217e-01 7.42846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters Centerline goodness [0,1] 0.9994873422356761 Centerline is valid? [True, True] Translation: X:107.63, Y:157.69, Z:7.43 [[-4.60291331e-01 -8.87344760e-01 2.74074525e-02 1.07629214e+02] [ 8.85904307e-01 -4.61105468e-01 -5.05500454e-02 1.57691250e+02] [ 5.74930441e-02 1.01263251e-03 9.98345393e-01 7.42911756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.886875 meters Centerline goodness [0,1] 0.9992680963185245 Centerline is valid? [True, True] Translation: X:107.62, Y:157.72, Z:7.43 [[-4.60931297e-01 -8.87001807e-01 2.77512908e-02 1.07616205e+02] [ 8.85526601e-01 -4.61764869e-01 -5.11453241e-02 1.57715047e+02] [ 5.81805660e-02 1.00002564e-03 9.98305575e-01 7.42882322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters Centerline goodness [0,1] 0.9992917501099009 Centerline is valid? [True, True] Translation: X:107.61, Y:157.74, Z:7.43 [[-4.62508529e-01 -8.86174278e-01 2.79465605e-02 1.07605317e+02] [ 8.84678918e-01 -4.63351167e-01 -5.14675443e-02 1.57740099e+02] [ 5.85582853e-02 9.19554687e-04 9.98283568e-01 7.43042793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94687499999998 meters Centerline goodness [0,1] 0.9992435703479576 Centerline is valid? [True, True] Translation: X:107.59, Y:157.76, Z:7.43 [[-4.63776900e-01 -8.85506708e-01 2.80865916e-02 1.07592656e+02] [ 8.83997428e-01 -4.64625800e-01 -5.16857234e-02 1.57762818e+02] [ 5.88178099e-02 8.57830159e-04 9.98268365e-01 7.43040114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters Centerline goodness [0,1] 0.9994627201015948 Centerline is valid? [True, True] Translation: X:107.58, Y:157.79, Z:7.43 [[-4.65029954e-01 -8.84845565e-01 2.82040269e-02 1.07580138e+02] [ 8.83324825e-01 -4.65883775e-01 -5.18609845e-02 1.57786207e+02] [ 5.90287606e-02 7.96405884e-04 9.98255965e-01 7.43082540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00687499999998 meters Centerline goodness [0,1] 0.9993607238572939 Centerline is valid? [True, True] Translation: X:107.57, Y:157.81, Z:7.43 [[-4.67134041e-01 -8.83739619e-01 2.81082632e-02 1.07570381e+02] [ 8.82229495e-01 -4.67978455e-01 -5.16457466e-02 1.57811899e+02] [ 5.87954540e-02 6.72452521e-04 9.98269824e-01 7.43456059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters Centerline goodness [0,1] 0.9994616156425128 Centerline is valid? [True, True] Translation: X:107.56, Y:157.84, Z:7.44 [[-4.68483357e-01 -8.83024524e-01 2.81253264e-02 1.07558021e+02] [ 8.81513528e-01 -4.69326463e-01 -5.16388562e-02 1.57836130e+02] [ 5.87983364e-02 6.00910995e-04 9.98269700e-01 7.43525421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06687499999998 meters Centerline goodness [0,1] 0.9994361501311564 Centerline is valid? [True, True] Translation: X:107.55, Y:157.86, Z:7.44 [[-4.70973696e-01 -8.81696415e-01 2.81994618e-02 1.07546264e+02] [ 8.80177330e-01 -4.71816941e-01 -5.17362829e-02 1.57860211e+02] [ 5.89206789e-02 4.54098664e-04 9.98262564e-01 7.43533473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters Centerline goodness [0,1] 0.9996074775526226 Centerline is valid? [True, True] Translation: X:107.53, Y:157.88, Z:7.44 [[-4.72268167e-01 -8.80997950e-01 2.83794127e-02 1.07533870e+02] [ 8.79460491e-01 -4.73119924e-01 -5.20267451e-02 1.57884510e+02] [ 5.92623213e-02 3.87996662e-04 9.98242369e-01 7.43636714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12687499999998 meters Centerline goodness [0,1] 0.9995827196858125 Centerline is valid? [True, True] Translation: X:107.52, Y:157.91, Z:7.44 [[-4.73075968e-01 -8.80553876e-01 2.87054056e-02 1.07521788e+02] [ 8.78982401e-01 -4.73945931e-01 -5.25851086e-02 1.57907687e+02] [ 5.99088313e-02 3.54795168e-04 9.98203790e-01 7.43699784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters Centerline goodness [0,1] 0.9995315119834303 Centerline is valid? [True, True] Translation: X:107.51, Y:157.93, Z:7.44 [[-4.73690078e-01 -8.80224979e-01 2.86652478e-02 1.07508962e+02] [ 8.78659666e-01 -4.74556506e-01 -5.24720352e-02 1.57931869e+02] [ 5.97904759e-02 3.31514593e-04 9.98210894e-01 7.43816255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.186875 meters Centerline goodness [0,1] 0.9994587679590632 Centerline is valid? [True, True] Translation: X:107.50, Y:157.96, Z:7.44 [[-4.74388235e-01 -8.79837441e-01 2.90151578e-02 1.07496416e+02] [ 8.78235263e-01 -4.75274640e-01 -5.30739078e-02 1.57956455e+02] [ 6.04865799e-02 3.04497284e-04 9.98168964e-01 7.43946016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters Centerline goodness [0,1] 0.9995820220298978 Centerline is valid? [True, True] Translation: X:107.48, Y:157.98, Z:7.44 [[-4.74665922e-01 -8.79685853e-01 2.90699617e-02 1.07483621e+02] [ 8.78079682e-01 -4.75555157e-01 -5.31353396e-02 1.57979981e+02] [ 6.05667767e-02 3.04207815e-04 9.98164101e-01 7.44104185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.246875 meters Centerline goodness [0,1] 0.9995309221083817 Centerline is valid? [True, True] Translation: X:107.47, Y:158.00, Z:7.44 [[-4.74752543e-01 -8.79645186e-01 2.88854668e-02 1.07470396e+02] [ 8.78061644e-01 -4.75630368e-01 -5.27588995e-02 1.58002448e+02] [ 6.01479171e-02 3.15798774e-04 9.98189425e-01 7.44125145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters Centerline goodness [0,1] 0.9997296965229143 Centerline is valid? [True, True] Translation: X:107.46, Y:158.03, Z:7.44 [[-4.74409297e-01 -8.79820835e-01 2.91739009e-02 1.07456902e+02] [ 8.78208282e-01 -4.75305341e-01 -5.32451470e-02 1.58026163e+02] [ 6.07127006e-02 3.60768648e-04 9.98155217e-01 7.44278790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.306875 meters Centerline goodness [0,1] 0.9995315350855565 Centerline is valid? [True, True] Translation: X:107.44, Y:158.05, Z:7.44 [[-4.73298739e-01 -8.80429352e-01 2.88523675e-02 1.07442690e+02] [ 8.78855595e-01 -4.74177131e-01 -5.26202566e-02 1.58049642e+02] [ 6.00095513e-02 4.51963508e-04 9.98197701e-01 7.44404295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters Centerline goodness [0,1] 0.9995074255596877 Centerline is valid? [True, True] Translation: X:107.43, Y:158.07, Z:7.45 [[-4.73195508e-01 -8.80492458e-01 2.86189348e-02 1.07429784e+02] [ 8.78946451e-01 -4.74059919e-01 -5.21567783e-02 1.58073524e+02] [ 5.94907398e-02 4.74157973e-04 9.98228745e-01 7.44569235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.366875 meters Centerline goodness [0,1] 0.999483343994489 Centerline is valid? [True, True] Translation: X:107.42, Y:158.10, Z:7.45 [[-4.73405140e-01 -8.80408323e-01 2.77264772e-02 1.07416865e+02] [ 8.78959232e-01 -4.74216161e-01 -5.04945624e-02 1.58097658e+02] [ 5.76041766e-02 4.66057722e-04 9.98339392e-01 7.44844905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters Centerline goodness [0,1] 0.9995813942035409 Centerline is valid? [True, True] Translation: X:107.40, Y:158.12, Z:7.45 [[-4.73597403e-01 -8.80313681e-01 2.74467092e-02 1.07403430e+02] [ 8.78895600e-01 -4.74391826e-01 -4.99491802e-02 1.58121124e+02] [ 5.69914412e-02 4.66989913e-04 9.98374558e-01 7.44926408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.426875 meters Centerline goodness [0,1] 0.9994357489818949 Centerline is valid? [True, True] Translation: X:107.39, Y:158.14, Z:7.45 [[-4.73632432e-01 -8.80304672e-01 2.71293999e-02 1.07390602e+02] [ 8.78921195e-01 -4.74408534e-01 -4.93363423e-02 1.58144661e+02] [ 5.63014315e-02 4.77312726e-04 9.98413702e-01 7.45060267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters Centerline goodness [0,1] 0.999410044000885 Centerline is valid? [True, True] Translation: X:107.38, Y:158.17, Z:7.45 [[-4.74064576e-01 -8.80084543e-01 2.67202954e-02 1.07378808e+02] [ 8.78744100e-01 -4.74816790e-01 -4.85574071e-02 1.58167717e+02] [ 5.54218684e-02 4.60955300e-04 9.98462921e-01 7.45237869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.486875 meters Centerline goodness [0,1] 0.9992867683226758 Centerline is valid? [True, True] Translation: X:107.37, Y:158.19, Z:7.45 [[-4.74070752e-01 -8.80077944e-01 2.68278580e-02 1.07366057e+02] [ 8.78728703e-01 -4.74829003e-01 -4.87163640e-02 1.58191971e+02] [ 5.56128426e-02 4.79405571e-04 9.98452293e-01 7.45400907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters Centerline goodness [0,1] 0.999704702610921 Centerline is valid? [True, True] Translation: X:107.35, Y:158.22, Z:7.45 [[-4.74023247e-01 -8.80102980e-01 2.68459605e-02 1.07352995e+02] [ 8.78753944e-01 -4.74782576e-01 -4.87135562e-02 1.58215850e+02] [ 5.56189403e-02 4.99635649e-04 9.98451944e-01 7.45494669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.546875 meters Centerline goodness [0,1] 0.9993364789147744 Centerline is valid? [True, True] Translation: X:107.34, Y:158.24, Z:7.46 [[-4.74040530e-01 -8.80082861e-01 2.71980444e-02 1.07339944e+02] [ 8.78700229e-01 -4.74819846e-01 -4.93155285e-02 1.58239367e+02] [ 5.63159227e-02 5.21368601e-04 9.98412863e-01 7.45531316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters Centerline goodness [0,1] 0.9994365231025528 Centerline is valid? [True, True] Translation: X:107.33, Y:158.26, Z:7.45 [[-4.74127929e-01 -8.80006088e-01 2.81423627e-02 1.07326855e+02] [ 8.78527789e-01 -4.74962088e-01 -5.09895948e-02 1.58263595e+02] [ 5.82377092e-02 5.48256680e-04 9.98302594e-01 7.45425597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.606875 meters Centerline goodness [0,1] 0.999459671873465 Centerline is valid? [True, True] Translation: X:107.31, Y:158.29, Z:7.45 [[-4.74576562e-01 -8.79757435e-01 2.83538742e-02 1.07313670e+02] [ 8.78258494e-01 -4.75422512e-01 -5.13366652e-02 1.58287342e+02] [ 5.86438830e-02 5.38852773e-04 9.98278821e-01 7.45442081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters Centerline goodness [0,1] 0.999705687587374 Centerline is valid? [True, True] Translation: X:107.30, Y:158.31, Z:7.45 [[-4.75201186e-01 -8.79413608e-01 2.85576326e-02 1.07300902e+02] [ 8.77894628e-01 -4.76058229e-01 -5.16680232e-02 1.58311140e+02] [ 5.90326587e-02 5.17886294e-04 9.98255918e-01 7.45494474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66687499999998 meters Centerline goodness [0,1] 0.999705687587374 Centerline is valid? [True, True] Translation: X:107.29, Y:158.33, Z:7.46 [[-4.75471277e-01 -8.79267090e-01 2.85735740e-02 1.07287830e+02] [ 8.77748375e-01 -4.76328790e-01 -5.16592065e-02 1.58334527e+02] [ 5.90326561e-02 5.17939255e-04 9.98255918e-01 7.45611383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters Centerline goodness [0,1] 0.9995840266222962 Centerline is valid? [True, True] Translation: X:107.28, Y:158.36, Z:7.46 [[-4.76234530e-01 -8.78842574e-01 2.89206150e-02 1.07275672e+02] [ 8.77288248e-01 -4.77111612e-01 -5.22478686e-02 1.58358084e+02] [ 5.97160125e-02 4.89476513e-04 9.98215287e-01 7.45624343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72687499999998 meters Centerline goodness [0,1] 0.9996306146572104 Centerline is valid? [True, True] Translation: X:107.26, Y:158.38, Z:7.46 [[-4.76890053e-01 -8.78485510e-01 2.89669895e-02 1.07263756e+02] [ 8.76927898e-01 -4.77768766e-01 -5.22921415e-02 1.58382717e+02] [ 5.97774114e-02 4.64359096e-04 9.98211624e-01 7.45925328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters Centerline goodness [0,1] 0.9995833435455014 Centerline is valid? [True, True] Translation: X:107.25, Y:158.41, Z:7.46 [[-4.77511118e-01 -8.78155938e-01 2.87277208e-02 1.07250810e+02] [ 8.76625632e-01 -4.78374286e-01 -5.18222322e-02 1.58407201e+02] [ 5.92506038e-02 4.37764390e-04 9.98243044e-01 7.46116149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78687499999998 meters Centerline goodness [0,1] 0.9993186353238915 Centerline is valid? [True, True] Translation: X:107.24, Y:158.43, Z:7.46 [[-4.78357926e-01 -8.77702682e-01 2.84902724e-02 1.07237452e+02] [ 8.76198991e-01 -4.79205430e-01 -5.13564399e-02 1.58431033e+02] [ 5.87283784e-02 3.96387850e-04 9.98273921e-01 7.46248378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters Centerline goodness [0,1] 0.9994623261724955 Centerline is valid? [True, True] Translation: X:107.22, Y:158.45, Z:7.46 [[-4.78791863e-01 -8.77482193e-01 2.79884276e-02 1.07224208e+02] [ 8.76032795e-01 -4.79609065e-01 -5.04151454e-02 1.58453944e+02] [ 5.76618960e-02 3.80419051e-04 9.98336096e-01 7.46323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84687499999998 meters Centerline goodness [0,1] 0.9993390938241989 Centerline is valid? [True, True] Translation: X:107.21, Y:158.48, Z:7.47 [[-4.78954608e-01 -8.77407878e-01 2.75299503e-02 1.07210429e+02] [ 8.76007560e-01 -4.79745003e-01 -4.95528616e-02 1.58478013e+02] [ 5.66854273e-02 3.82873229e-04 9.98392015e-01 7.46528412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters Centerline goodness [0,1] 0.9994387643054098 Centerline is valid? [True, True] Translation: X:107.20, Y:158.50, Z:7.47 [[-4.78666640e-01 -8.77563881e-01 2.75659634e-02 1.07197157e+02] [ 8.76162122e-01 -4.79459549e-01 -4.95830316e-02 1.58501775e+02] [ 5.67290421e-02 4.18509851e-04 9.98389523e-01 7.46758176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90687499999999 meters Centerline goodness [0,1] 0.9994650455927052 Centerline is valid? [True, True] Translation: X:107.18, Y:158.52, Z:7.47 [[-4.77400101e-01 -8.78257578e-01 2.74366402e-02 1.07182447e+02] [ 8.76872047e-01 -4.78187579e-01 -4.93158423e-02 1.58523408e+02] [ 5.64318728e-02 5.15034735e-04 9.98406319e-01 7.46857929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters Centerline goodness [0,1] 0.999540074072281 Centerline is valid? [True, True] Translation: X:107.17, Y:158.55, Z:7.47 [[-4.76538394e-01 -8.78726125e-01 2.74145141e-02 1.07167873e+02] [ 8.77345257e-01 -4.77325942e-01 -4.92467804e-02 1.58546859e+02] [ 5.63600913e-02 5.84012294e-04 9.98410336e-01 7.47011503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.966875 meters Centerline goodness [0,1] 0.9993707799908037 Centerline is valid? [True, True] Translation: X:107.15, Y:158.57, Z:7.47 [[-4.75418898e-01 -8.79326347e-01 2.76051870e-02 1.07152828e+02] [ 8.77929107e-01 -4.76219191e-01 -4.95556813e-02 1.58570412e+02] [ 5.67217360e-02 6.75689834e-04 9.98389798e-01 7.47069622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters Centerline goodness [0,1] 0.999371950335765 Centerline is valid? [True, True] Translation: X:107.14, Y:158.59, Z:7.47 [[-4.73437832e-01 -8.80385879e-01 2.78805300e-02 1.07136072e+02] [ 8.78964300e-01 -4.74257338e-01 -5.00173650e-02 1.58592822e+02] [ 5.72571277e-02 8.25877679e-04 9.98359123e-01 7.46987021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.026875 meters Centerline goodness [0,1] 0.9992984493311077 Centerline is valid? [True, True] Translation: X:107.12, Y:158.62, Z:7.47 [[-4.72701926e-01 -8.80784595e-01 2.77738562e-02 1.07122160e+02] [ 8.79376475e-01 -4.73516327e-01 -4.97926034e-02 1.58616201e+02] [ 5.70079324e-02 8.86616275e-04 9.98373332e-01 7.47161645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters Centerline goodness [0,1] 0.9995655007603736 Centerline is valid? [True, True] Translation: X:107.11, Y:158.64, Z:7.47 [[-4.71948439e-01 -8.81188526e-01 2.77750297e-02 1.07107393e+02] [ 8.79783064e-01 -4.72764078e-01 -4.97582916e-02 1.58638900e+02] [ 5.69774720e-02 9.52652676e-04 9.98375010e-01 7.47274759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.086875 meters Centerline goodness [0,1] 0.9993980400182996 Centerline is valid? [True, True] Translation: X:107.09, Y:158.66, Z:7.47 [[-4.71242006e-01 -8.81568364e-01 2.77162806e-02 1.07092918e+02] [ 8.80171472e-01 -4.72055288e-01 -4.96183946e-02 1.58662285e+02] [ 5.68256237e-02 1.01280768e-03 9.98383605e-01 7.47382282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters Centerline goodness [0,1] 0.9992284136667229 Centerline is valid? [True, True] Translation: X:107.08, Y:158.69, Z:7.48 [[-4.69241717e-01 -8.82646396e-01 2.73413797e-02 1.07077595e+02] [ 8.81290828e-01 -4.70036202e-01 -4.89126213e-02 1.58686115e+02] [ 5.60239872e-02 1.14386483e-03 9.98428768e-01 7.47636126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.146875 meters Centerline goodness [0,1] 0.9995414172620197 Centerline is valid? [True, True] Translation: X:107.06, Y:158.71, Z:7.48 [[-4.68773726e-01 -8.82901647e-01 2.71270346e-02 1.07063071e+02] [ 8.81569504e-01 -4.69556481e-01 -4.84966004e-02 1.58708697e+02] [ 5.55554033e-02 1.18043442e-03 9.98454908e-01 7.47806746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters Centerline goodness [0,1] 0.9992315081652258 Centerline is valid? [True, True] Translation: X:107.05, Y:158.73, Z:7.48 [[-4.68738421e-01 -8.82924773e-01 2.69840401e-02 1.07048989e+02] [ 8.81608537e-01 -4.69512964e-01 -4.82075162e-02 1.58731347e+02] [ 5.52329669e-02 1.19264506e-03 9.98472782e-01 7.47921095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.206875 meters Centerline goodness [0,1] 0.9996399251044217 Centerline is valid? [True, True] Translation: X:107.04, Y:158.75, Z:7.48 [[-4.68626395e-01 -8.82991480e-01 2.67459968e-02 1.07035417e+02] [ 8.81700045e-01 -4.69387472e-01 -4.77538721e-02 1.58754587e+02] [ 5.47204980e-02 1.20322161e-03 9.98500986e-01 7.48127112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters Centerline goodness [0,1] 0.9992313420287766 Centerline is valid? [True, True] Translation: X:107.02, Y:158.78, Z:7.48 [[-4.68720284e-01 -8.82940826e-01 2.67729938e-02 1.07021007e+02] [ 8.81648583e-01 -4.69482718e-01 -4.77677128e-02 1.58777840e+02] [ 5.47455217e-02 1.21467614e-03 9.98499601e-01 7.48246336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.266875 meters Centerline goodness [0,1] 0.9991867196096255 Centerline is valid? [True, True] Translation: X:107.01, Y:158.80, Z:7.48 [[-4.69171625e-01 -8.82692374e-01 2.70584359e-02 1.07006925e+02] [ 8.81373926e-01 -4.69949675e-01 -4.82421498e-02 1.58801434e+02] [ 5.52990809e-02 1.21475208e-03 9.98469096e-01 7.48270768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters Centerline goodness [0,1] 0.9991382405745063 Centerline is valid? [True, True] Translation: X:106.99, Y:158.83, Z:7.49 [[-4.69815488e-01 -8.82340788e-01 2.73521684e-02 1.06994946e+02] [ 8.80994927e-01 -4.70609484e-01 -4.87304028e-02 1.58825725e+02] [ 5.58690119e-02 1.20282362e-03 9.98437382e-01 7.48501126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.326875 meters Centerline goodness [0,1] 0.9992387115192464 Centerline is valid? [True, True] Translation: X:106.98, Y:158.85, Z:7.49 [[-4.70632032e-01 -8.81909577e-01 2.72210864e-02 1.06981197e+02] [ 8.80577780e-01 -4.71417168e-01 -4.84626246e-02 1.58848419e+02] [ 5.55721403e-02 1.16222035e-03 9.98453998e-01 7.48640138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters Centerline goodness [0,1] 0.9994517805215236 Centerline is valid? [True, True] Translation: X:106.97, Y:158.87, Z:7.49 [[-4.71763405e-01 -8.81312115e-01 2.69860124e-02 1.06966857e+02] [ 8.80003877e-01 -4.72533336e-01 -4.80148263e-02 1.58870592e+02] [ 5.50678386e-02 1.09615759e-03 9.98482014e-01 7.48729599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.386875 meters Centerline goodness [0,1] 0.999306137097739 Centerline is valid? [True, True] Translation: X:106.96, Y:158.90, Z:7.49 [[-4.73152840e-01 -8.80567620e-01 2.69639835e-02 1.06955340e+02] [ 8.79262313e-01 -4.73919417e-01 -4.79392367e-02 1.58895573e+02] [ 5.49924949e-02 1.02582858e-03 9.98486241e-01 7.48975628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters Centerline goodness [0,1] 0.9993540515323333 Centerline is valid? [True, True] Translation: X:106.94, Y:158.92, Z:7.49 [[-4.76314902e-01 -8.78847855e-01 2.73963925e-02 1.06943054e+02] [ 8.77499425e-01 -4.77101367e-01 -4.86728397e-02 1.58921326e+02] [ 5.58468771e-02 8.56719783e-04 9.98438978e-01 7.49116305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44687499999998 meters Centerline goodness [0,1] 0.9994492732801762 Centerline is valid? [True, True] Translation: X:106.93, Y:158.94, Z:7.49 [[-4.78267500e-01 -8.77784827e-01 2.74589791e-02 1.06931352e+02] [ 8.76430319e-01 -4.79054522e-01 -4.87510116e-02 1.58944784e+02] [ 5.59472464e-02 7.49857359e-04 9.98433445e-01 7.49245987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters Centerline goodness [0,1] 0.9995213478843576 Centerline is valid? [True, True] Translation: X:106.92, Y:158.97, Z:7.49 [[-4.80159658e-01 -8.76738073e-01 2.78756960e-02 1.06919049e+02] [ 8.75342490e-01 -4.80967694e-01 -4.94530312e-02 1.58969062e+02] [ 5.67646645e-02 6.55430545e-04 9.98387371e-01 7.49319775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50687499999998 meters Centerline goodness [0,1] 0.9993285049642668 Centerline is valid? [True, True] Translation: X:106.91, Y:158.99, Z:7.49 [[-4.82790727e-01 -8.75290084e-01 2.79353157e-02 1.06906687e+02] [ 8.73888110e-01 -4.83597989e-01 -4.95232844e-02 1.58993901e+02] [ 5.68567022e-02 5.02957730e-04 9.98382223e-01 7.49454335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters Centerline goodness [0,1] 0.9994011545739814 Centerline is valid? [True, True] Translation: X:106.89, Y:159.02, Z:7.50 [[-4.85336189e-01 -8.73891163e-01 2.76227868e-02 1.06894933e+02] [ 8.72520095e-01 -4.86121498e-01 -4.89343776e-02 1.59018915e+02] [ 5.61913507e-02 3.51812222e-04 9.98419956e-01 7.49657325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56687499999998 meters Centerline goodness [0,1] 0.9991340950090198 Centerline is valid? [True, True] Translation: X:106.89, Y:159.04, Z:7.50 [[-4.90561481e-01 -8.70958797e-01 2.79321781e-02 1.06885862e+02] [ 8.69554099e-01 -4.91356054e-01 -4.94458969e-02 1.59043690e+02] [ 5.67899838e-02 3.22875685e-05 9.98386146e-01 7.49825119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters Centerline goodness [0,1] 0.9989145641371991 Centerline is valid? [True, True] Translation: X:106.87, Y:159.07, Z:7.50 [[-4.93525217e-01 -8.69284374e-01 2.78843550e-02 1.06874637e+02] [ 8.67883889e-01 -4.94312307e-01 -4.93244183e-02 1.59068576e+02] [ 5.66605260e-02 -1.42461723e-04 9.98393492e-01 7.50029281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62687499999998 meters Centerline goodness [0,1] 0.9991037038831424 Centerline is valid? [True, True] Translation: X:106.87, Y:159.09, Z:7.50 [[-4.98349972e-01 -8.66540349e-01 2.74796086e-02 1.06867172e+02] [ 8.65177989e-01 -4.99106839e-01 -4.85737667e-02 1.59094104e+02] [ 5.58063893e-02 -4.31982738e-04 9.98441516e-01 7.50236423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters Centerline goodness [0,1] 0.9991251306228583 Centerline is valid? [True, True] Translation: X:106.86, Y:159.12, Z:7.50 [[-5.00452673e-01 -8.65331157e-01 2.73699017e-02 1.06855056e+02] [ 8.63979842e-01 -5.01200250e-01 -4.83440021e-02 1.59118278e+02] [ 5.55513728e-02 -5.46841709e-04 9.98455681e-01 7.50461693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.686875 meters Centerline goodness [0,1] 0.9991755177263689 Centerline is valid? [True, True] Translation: X:106.84, Y:159.14, Z:7.51 [[-5.02130387e-01 -8.64361251e-01 2.72892255e-02 1.06843179e+02] [ 8.63018394e-01 -5.02870981e-01 -4.81666705e-02 1.59142027e+02] [ 5.53563632e-02 -6.34845353e-04 9.98466459e-01 7.50531999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters Centerline goodness [0,1] 0.9994115195056764 Centerline is valid? [True, True] Translation: X:106.83, Y:159.17, Z:7.51 [[-5.03586273e-01 -8.63515736e-01 2.72293831e-02 1.06830604e+02] [ 8.62179511e-01 -5.04321398e-01 -4.80251948e-02 1.59166344e+02] [ 5.52028720e-02 -7.08212715e-04 9.98474908e-01 7.50630622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.746875 meters Centerline goodness [0,1] 0.9987956249231904 Centerline is valid? [True, True] Translation: X:106.82, Y:159.19, Z:7.51 [[-5.05105761e-01 -8.62619403e-01 2.74942922e-02 1.06818359e+02] [ 8.61257607e-01 -5.05852875e-01 -4.84582531e-02 1.59191792e+02] [ 5.57090961e-02 -7.96874515e-04 9.98446724e-01 7.50775430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters Centerline goodness [0,1] 0.9985439289239881 Centerline is valid? [True, True] Translation: X:106.81, Y:159.22, Z:7.51 [[-5.05168483e-01 -8.62577249e-01 2.76639510e-02 1.06805198e+02] [ 8.61200328e-01 -5.05924763e-01 -4.87250419e-02 1.59215489e+02] [ 5.60249904e-02 -7.90151830e-04 9.98429054e-01 7.50948823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.806875 meters Centerline goodness [0,1] 0.9987656149706217 Centerline is valid? [True, True] Translation: X:106.79, Y:159.24, Z:7.51 [[-5.05074067e-01 -8.62623237e-01 2.79524061e-02 1.06791258e+02] [ 8.61219528e-01 -5.05846369e-01 -4.91973071e-02 1.59239359e+02] [ 5.65783635e-02 -7.75125989e-04 9.98397861e-01 7.51036788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters Centerline goodness [0,1] 0.9990279647076417 Centerline is valid? [True, True] Translation: X:106.78, Y:159.26, Z:7.51 [[-5.04280493e-01 -8.63070008e-01 2.84841087e-02 1.06778191e+02] [ 8.61615176e-01 -5.05083797e-01 -5.00963680e-02 1.59262672e+02] [ 5.76235346e-02 -7.20280871e-04 9.98338124e-01 7.50965692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.866875 meters Centerline goodness [0,1] 0.998156021103314 Centerline is valid? [True, True] Translation: X:106.76, Y:159.29, Z:7.51 [[-4.99566041e-01 -8.65752970e-01 3.00926159e-02 1.06763272e+02] [ 8.64136329e-01 -5.00471400e-01 -5.28846253e-02 1.59285822e+02] [ 6.08455150e-02 -4.15240283e-04 9.98147109e-01 7.50678678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters Centerline goodness [0,1] 0.9970687305546271 Centerline is valid? [True, True] Translation: X:106.75, Y:159.31, Z:7.51 [[-4.97417040e-01 -8.66964656e-01 3.07989070e-02 1.06749265e+02] [ 8.65275950e-01 -4.98369562e-01 -5.40861282e-02 1.59308702e+02] [ 6.22399994e-02 -2.53808246e-04 9.98061180e-01 7.50571830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.926875 meters Centerline goodness [0,1] 0.9968592317989908 Centerline is valid? [True, True] Translation: X:106.73, Y:159.33, Z:7.51 [[-4.95320960e-01 -8.68138694e-01 3.15016708e-02 1.06733899e+02] [ 8.66376873e-01 -4.96321671e-01 -5.52803131e-02 1.59331981e+02] [ 6.36259407e-02 -8.91787029e-05 9.97973813e-01 7.50593048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters Centerline goodness [0,1] 0.9953539361035707 Centerline is valid? [True, True] Translation: X:106.72, Y:159.35, Z:7.50 [[-4.91283055e-01 -8.70443508e-01 3.11297236e-02 1.06717209e+02] [ 8.68729904e-01 -4.92268271e-01 -5.45921619e-02 1.59354081e+02] [ 6.28435681e-02 2.23117715e-04 9.98023365e-01 7.50458626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.986875 meters Centerline goodness [0,1] 0.995365466101695 Centerline is valid? [True, True] Translation: X:106.70, Y:159.38, Z:7.50 [[-4.87993190e-01 -8.72261477e-01 3.19775306e-02 1.06702747e+02] [ 8.70459582e-01 -4.89039546e-01 -5.60396138e-02 1.59377913e+02] [ 6.45194734e-02 4.88198028e-04 9.97916329e-01 7.50314035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters Centerline goodness [0,1] 0.9952502348047766 Centerline is valid? [True, True] Translation: X:106.69, Y:159.40, Z:7.50 [[-4.85262046e-01 -8.73771016e-01 3.23258326e-02 1.06687935e+02] [ 8.71935091e-01 -4.86337029e-01 -5.66170652e-02 1.59400526e+02] [ 6.51915999e-02 7.11914947e-04 9.97872511e-01 7.49882928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.046875 meters Centerline goodness [0,1] 0.9948673146226931 Centerline is valid? [True, True] Translation: X:106.67, Y:159.42, Z:7.50 [[-4.82852128e-01 -8.75102735e-01 3.23886645e-02 1.06672833e+02] [ 8.73264669e-01 -4.83936337e-01 -5.66960258e-02 1.59422858e+02] [ 6.52888989e-02 9.08079722e-04 9.97865991e-01 7.49905518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters Centerline goodness [0,1] 0.993139407244786 Centerline is valid? [True, True] Translation: X:106.66, Y:159.45, Z:7.50 [[-4.79611802e-01 -8.76891609e-01 3.21500330e-02 1.06655326e+02] [ 8.75087055e-01 -4.80686756e-01 -5.62395618e-02 1.59445483e+02] [ 6.47700950e-02 1.16092014e-03 9.97899538e-01 7.50260763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.106875 meters Centerline goodness [0,1] 0.9900587062472308 Centerline is valid? [True, True] Translation: X:106.64, Y:159.47, Z:7.50 [[-4.78080436e-01 -8.77740042e-01 3.18043429e-02 1.06639066e+02] [ 8.75978250e-01 -4.79135455e-01 -5.55996468e-02 1.59467103e+02] [ 6.40406246e-02 1.27880928e-03 9.97946473e-01 7.50267685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters Centerline goodness [0,1] 0.9912688040486055 Centerline is valid? [True, True] Translation: X:106.62, Y:159.49, Z:7.51 [[-4.78117628e-01 -8.77747368e-01 3.10337299e-02 1.06623687e+02] [ 8.76072254e-01 -4.79122068e-01 -5.42166854e-02 1.59489756e+02] [ 6.24574977e-02 1.26583668e-03 9.98046822e-01 7.50627127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16687499999998 meters Centerline goodness [0,1] 0.9874777382012466 Centerline is valid? [True, True] Translation: X:106.61, Y:159.51, Z:7.51 [[-4.76237815e-01 -8.78806616e-01 2.99411997e-02 1.06608436e+02] [ 8.77251684e-01 -4.77176121e-01 -5.22726675e-02 1.59512621e+02] [ 6.02247915e-02 1.37174695e-03 9.98183897e-01 7.50949606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters Centerline goodness [0,1] 0.9831460674157303 Centerline is valid? [True, True] Translation: X:106.59, Y:159.54, Z:7.51 [[-4.74593235e-01 -8.79692115e-01 3.00507048e-02 1.06593884e+02] [ 8.78129718e-01 -4.75541285e-01 -5.24278992e-02 1.59536919e+02] [ 6.04107603e-02 1.50649064e-03 9.98172465e-01 7.51042791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22687499999998 meters Centerline goodness [0,1] 0.9823215476984657 Centerline is valid? [True, True] Translation: X:106.58, Y:159.56, Z:7.51 [[-4.73371521e-01 -8.80349486e-01 3.00696681e-02 1.06578760e+02] [ 8.78788230e-01 -4.74322891e-01 -5.24313044e-02 1.59560519e+02] [ 6.04206038e-02 1.60538406e-03 9.98171715e-01 7.51108150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters Centerline goodness [0,1] 0.981920182186797 Centerline is valid? [True, True] Translation: X:106.56, Y:159.58, Z:7.51 [[-4.71985254e-01 -8.81090331e-01 3.01620471e-02 1.06561980e+02] [ 8.79522470e-01 -4.72944902e-01 -5.25675171e-02 1.59582781e+02] [ 6.05817174e-02 1.71710528e-03 9.98161764e-01 7.51160085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28687499999998 meters Centerline goodness [0,1] 0.9812493065571951 Centerline is valid? [True, True] Translation: X:106.55, Y:159.60, Z:7.51 [[-4.70294684e-01 -8.81989333e-01 3.02939936e-02 1.06546020e+02] [ 8.80411592e-01 -4.71265710e-01 -5.27641894e-02 1.59604265e+02] [ 6.08139726e-02 1.85646533e-03 9.98147391e-01 7.51085450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters Centerline goodness [0,1] 0.980501161632924 Centerline is valid? [True, True] Translation: X:106.53, Y:159.63, Z:7.51 [[-4.69514480e-01 -8.82398059e-01 3.04929280e-02 1.06531835e+02] [ 8.80802152e-01 -4.70499648e-01 -5.30815533e-02 1.59627876e+02] [ 6.11859715e-02 1.93567872e-03 9.98124506e-01 7.51248263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34687499999998 meters Centerline goodness [0,1] 0.9804548487544484 Centerline is valid? [True, True] Translation: X:106.52, Y:159.65, Z:7.51 [[-4.66956785e-01 -8.83738624e-01 3.09419745e-02 1.06517396e+02] [ 8.82100438e-01 -4.67975838e-01 -5.38278036e-02 1.59651617e+02] [ 6.20498055e-02 2.15867108e-03 9.98070720e-01 7.51374285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters Centerline goodness [0,1] 0.9794969702000498 Centerline is valid? [True, True] Translation: X:106.50, Y:159.67, Z:7.51 [[-4.66353596e-01 -8.84052632e-01 3.10687402e-02 1.06501767e+02] [ 8.82403963e-01 -4.67382055e-01 -5.40116756e-02 1.59674928e+02] [ 6.22701356e-02 2.22664027e-03 9.98056848e-01 7.51435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40687499999999 meters Centerline goodness [0,1] 0.9787745626399138 Centerline is valid? [True, True] Translation: X:106.49, Y:159.70, Z:7.51 [[-4.65228224e-01 -8.84627321e-01 3.15785138e-02 1.06487239e+02] [ 8.82927596e-01 -4.66292766e-01 -5.48627089e-02 1.59698680e+02] [ 6.32578837e-02 2.35786058e-03 9.97994429e-01 7.51390687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.436875 meters Centerline goodness [0,1] 0.978182723150094 Centerline is valid? [True, True] Translation: X:106.47, Y:159.72, Z:7.51 [[-4.65024456e-01 -8.84736703e-01 3.15154158e-02 1.06471431e+02] [ 8.83046264e-01 -4.66085057e-01 -5.47175945e-02 1.59720576e+02] [ 6.30995285e-02 2.38455056e-03 9.98004390e-01 7.51427999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.466875 meters Centerline goodness [0,1] 0.9790489317711922 Centerline is valid? [True, True] Translation: X:106.46, Y:159.74, Z:7.52 [[-4.65172783e-01 -8.84651177e-01 3.17266085e-02 1.06458834e+02] [ 8.82940207e-01 -4.66247255e-01 -5.50462318e-02 1.59744882e+02] [ 6.34891579e-02 2.40668943e-03 9.97979626e-01 7.51534761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters Centerline goodness [0,1] 0.9771320069346983 Centerline is valid? [True, True] Translation: X:106.44, Y:159.77, Z:7.52 [[-4.66100187e-01 -8.84166730e-01 3.16197499e-02 1.06443893e+02] [ 8.82468461e-01 -4.67165572e-01 -5.48246537e-02 1.59766812e+02] [ 6.32457933e-02 2.34965067e-03 9.97995215e-01 7.51592041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.526875 meters Centerline goodness [0,1] 0.9781094253379959 Centerline is valid? [True, True] Translation: X:106.43, Y:159.79, Z:7.52 [[-4.68078582e-01 -8.83146221e-01 3.09061912e-02 1.06432685e+02] [ 8.81523491e-01 -4.69092760e-01 -5.35566761e-02 1.59791945e+02] [ 6.17962466e-02 2.17580057e-03 9.98086414e-01 7.51844961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters Centerline goodness [0,1] 0.9781094253379959 Centerline is valid? [True, True] Translation: X:106.42, Y:159.82, Z:7.52 [[-4.68350869e-01 -8.83001299e-01 3.09219935e-02 1.06419145e+02] [ 8.81378854e-01 -4.69365504e-01 -5.35475517e-02 1.59815078e+02] [ 6.17962747e-02 2.17494884e-03 9.98086414e-01 7.51961990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.586875 meters Centerline goodness [0,1] 0.9804018581127512 Centerline is valid? [True, True] Translation: X:106.41, Y:159.84, Z:7.52 [[-4.70387177e-01 -8.81941783e-01 3.02422844e-02 1.06408466e+02] [ 8.80389982e-01 -4.71354071e-01 -5.23337324e-02 1.59840332e+02] [ 6.04101291e-02 2.00788761e-03 9.98171621e-01 7.52255810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters Centerline goodness [0,1] 0.9793732754145835 Centerline is valid? [True, True] Translation: X:106.40, Y:159.86, Z:7.52 [[-4.72368214e-01 -8.80896517e-01 2.98260936e-02 1.06396875e+02] [ 8.79387129e-01 -4.73305240e-01 -5.15793319e-02 1.59864087e+02] [ 5.95529003e-02 1.86424591e-03 9.98223410e-01 7.52424130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.646875 meters Centerline goodness [0,1] 0.9822948119681582 Centerline is valid? [True, True] Translation: X:106.39, Y:159.89, Z:7.53 [[-4.76822782e-01 -8.78512410e-01 2.92571516e-02 1.06387805e+02] [ 8.77057285e-01 -4.77717016e-01 -5.05665073e-02 1.59890006e+02] [ 5.83999433e-02 1.54893533e-03 9.98292065e-01 7.52751848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters Centerline goodness [0,1] 0.9835647957925877 Centerline is valid? [True, True] Translation: X:106.38, Y:159.92, Z:7.53 [[-4.78992262e-01 -8.77331766e-01 2.92469861e-02 1.06375485e+02] [ 8.75877440e-01 -4.79882231e-01 -5.05149009e-02 1.59915549e+02] [ 5.83534361e-02 1.42052868e-03 9.98294976e-01 7.52851049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.706875 meters Centerline goodness [0,1] 0.9841426341303098 Centerline is valid? [True, True] Translation: X:106.36, Y:159.94, Z:7.53 [[-4.81526631e-01 -8.75937656e-01 2.94164192e-02 1.06363061e+02] [ 8.74465739e-01 -4.82422635e-01 -5.07747240e-02 1.59938654e+02] [ 5.86666392e-02 1.27426901e-03 9.98276816e-01 7.52858538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters Centerline goodness [0,1] 0.9853182864029801 Centerline is valid? [True, True] Translation: X:106.35, Y:159.96, Z:7.53 [[-4.83749023e-01 -8.74706065e-01 2.96003636e-02 1.06350491e+02] [ 8.73215489e-01 -4.84652431e-01 -5.10561497e-02 1.59963515e+02] [ 5.90050120e-02 1.14913340e-03 9.98257025e-01 7.52925743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.766875 meters Centerline goodness [0,1] 0.9861955628594905 Centerline is valid? [True, True] Translation: X:106.34, Y:159.99, Z:7.53 [[-4.85879173e-01 -8.73524327e-01 2.96087549e-02 1.06338429e+02] [ 8.72032619e-01 -4.86779423e-01 -5.10382640e-02 1.59988582e+02] [ 5.89960978e-02 1.02137061e-03 9.98257691e-01 7.53072283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters Centerline goodness [0,1] 0.9888965044551062 Centerline is valid? [True, True] Translation: X:106.33, Y:160.01, Z:7.53 [[-4.88783810e-01 -8.71896037e-01 2.97940891e-02 1.06325940e+02] [ 8.70384479e-01 -4.89690296e-01 -5.13251743e-02 1.60012071e+02] [ 5.93400924e-02 8.45398512e-04 9.98237466e-01 7.53072832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.826875 meters Centerline goodness [0,1] 0.9911635159904796 Centerline is valid? [True, True] Translation: X:106.31, Y:160.04, Z:7.53 [[-4.90363803e-01 -8.71007266e-01 2.98275627e-02 1.06314076e+02] [ 8.69492766e-01 -4.91269550e-01 -5.13474272e-02 1.60036277e+02] [ 5.93773555e-02 7.55930388e-04 9.98235322e-01 7.53340862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.856875 meters Centerline goodness [0,1] 0.9899786430096927 Centerline is valid? [True, True] Translation: X:106.30, Y:160.06, Z:7.53 [[-4.91134321e-01 -8.70575797e-01 2.97466074e-02 1.06299943e+02] [ 8.69070817e-01 -4.92033805e-01 -5.11727384e-02 1.60059962e+02] [ 5.91860839e-02 7.19220206e-04 9.98246708e-01 7.53392104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.886875 meters Centerline goodness [0,1] 0.9909048698549695 Centerline is valid? [True, True] Translation: X:106.29, Y:160.08, Z:7.54 [[-4.92549566e-01 -8.69800474e-01 2.90182632e-02 1.06285956e+02] [ 8.68368906e-01 -4.93403225e-01 -4.98868833e-02 1.60082915e+02] [ 5.77093394e-02 6.26794718e-04 9.98333231e-01 7.53609798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters Centerline goodness [0,1] 0.9896146488111506 Centerline is valid? [True, True] Translation: X:106.27, Y:160.11, Z:7.54 [[-4.92241418e-01 -8.69987813e-01 2.86285082e-02 1.06271527e+02] [ 8.68596756e-01 -4.93072787e-01 -4.91823391e-02 1.60105010e+02] [ 5.69039740e-02 6.57045011e-04 9.98379440e-01 7.53687642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94687499999998 meters Centerline goodness [0,1] 0.9899424895745319 Centerline is valid? [True, True] Translation: X:106.26, Y:160.13, Z:7.54 [[-4.91411579e-01 -8.70469508e-01 2.82399720e-02 1.06257077e+02] [ 8.69118786e-01 -4.92221816e-01 -4.84790553e-02 1.60125774e+02] [ 5.60998697e-02 7.20721120e-04 9.98424902e-01 7.53810376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters Centerline goodness [0,1] 0.9886947305486861 Centerline is valid? [True, True] Translation: X:106.24, Y:160.15, Z:7.54 [[-4.89130152e-01 -8.71753623e-01 2.82367549e-02 1.06240267e+02] [ 8.70407437e-01 -4.89943706e-01 -4.84361225e-02 1.60147214e+02] [ 5.60587857e-02 8.85913518e-04 9.98427077e-01 7.53933473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00687499999998 meters Centerline goodness [0,1] 0.9878889914734155 Centerline is valid? [True, True] Translation: X:106.22, Y:160.17, Z:7.54 [[-4.87558888e-01 -8.72630920e-01 2.83127027e-02 1.06224993e+02] [ 8.71280775e-01 -4.88379225e-01 -4.85339331e-02 1.60171132e+02] [ 5.61795465e-02 1.00516314e-03 9.98420176e-01 7.54133597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03687499999998 meters Centerline goodness [0,1] 0.9866340002722199 Centerline is valid? [True, True] Translation: X:106.21, Y:160.19, Z:7.54 [[-4.85714952e-01 -8.73653948e-01 2.84563684e-02 1.06208349e+02] [ 8.72293529e-01 -4.86546474e-01 -4.87496546e-02 1.60192518e+02] [ 5.64356739e-02 1.14386984e-03 9.98405582e-01 7.54156382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06687499999998 meters Centerline goodness [0,1] 0.9857472512555993 Centerline is valid? [True, True] Translation: X:106.19, Y:160.21, Z:7.54 [[-4.84802210e-01 -8.74178716e-01 2.78996437e-02 1.06193055e+02] [ 8.72873572e-01 -4.85602866e-01 -4.77659261e-02 1.60214689e+02] [ 5.53041028e-02 1.19583513e-03 9.98468841e-01 7.54397536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09687499999998 meters Centerline goodness [0,1] 0.9832677966101695 Centerline is valid? [True, True] Translation: X:106.17, Y:160.24, Z:7.54 [[-4.81483230e-01 -8.76004893e-01 2.80949357e-02 1.06174220e+02] [ 8.74686327e-01 -4.82300093e-01 -4.80671313e-02 1.60235509e+02] [ 5.56572323e-02 1.43073845e-03 9.98448910e-01 7.54493714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12687499999998 meters Centerline goodness [0,1] 0.9836470141563161 Centerline is valid? [True, True] Translation: X:106.16, Y:160.26, Z:7.55 [[-4.80267209e-01 -8.76664624e-01 2.83292087e-02 1.06159230e+02] [ 8.75326905e-01 -4.81099553e-01 -4.84358254e-02 1.60258619e+02] [ 5.60911443e-02 1.53517989e-03 9.98424472e-01 7.54683274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters Centerline goodness [0,1] 0.9814125383841952 Centerline is valid? [True, True] Translation: X:106.14, Y:160.28, Z:7.55 [[-4.78999443e-01 -8.77350375e-01 2.85631420e-02 1.06143204e+02] [ 8.75993511e-01 -4.79847491e-01 -4.88032176e-02 1.60281674e+02] [ 5.65234733e-02 1.64441304e-03 9.98399916e-01 7.54719706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.186875 meters Centerline goodness [0,1] 0.9792305812722287 Centerline is valid? [True, True] Translation: X:106.12, Y:160.30, Z:7.55 [[-4.76541607e-01 -8.78690569e-01 2.84777143e-02 1.06124223e+02] [ 8.77345859e-01 -4.77388313e-01 -4.86275863e-02 1.60301326e+02] [ 5.63235295e-02 1.81173663e-03 9.98410926e-01 7.54592368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters Centerline goodness [0,1] 0.9789022670571645 Centerline is valid? [True, True] Translation: X:106.11, Y:160.33, Z:7.55 [[-4.75922187e-01 -8.79026968e-01 2.84545444e-02 1.06109654e+02] [ 8.77686592e-01 -4.76768411e-01 -4.85605673e-02 1.60325296e+02] [ 5.62522762e-02 1.86312074e-03 9.98414849e-01 7.54809517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.246875 meters Centerline goodness [0,1] 0.9780553222616564 Centerline is valid? [True, True] Translation: X:106.09, Y:160.35, Z:7.55 [[-4.75168021e-01 -8.79434738e-01 2.84586226e-02 1.06094880e+02] [ 8.78096319e-01 -4.76015582e-01 -4.85388561e-02 1.60347516e+02] [ 5.62335040e-02 1.92529957e-03 9.98415788e-01 7.54863979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters Centerline goodness [0,1] 0.9781312665980164 Centerline is valid? [True, True] Translation: X:106.08, Y:160.37, Z:7.55 [[-4.75155492e-01 -8.79443630e-01 2.83929710e-02 1.06080799e+02] [ 8.78112782e-01 -4.75999121e-01 -4.84022577e-02 1.60370691e+02] [ 5.60820865e-02 1.93363215e-03 9.98424289e-01 7.55011112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.306875 meters Centerline goodness [0,1] 0.9758853744255204 Centerline is valid? [True, True] Translation: X:106.06, Y:160.39, Z:7.55 [[-4.75410156e-01 -8.79305870e-01 2.83966540e-02 1.06064376e+02] [ 8.77976335e-01 -4.76253553e-01 -4.83746684e-02 1.60391464e+02] [ 5.60601373e-02 1.93378161e-03 9.98425521e-01 7.54995225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters Centerline goodness [0,1] 0.9763690008932681 Centerline is valid? [True, True] Translation: X:106.05, Y:160.41, Z:7.55 [[-4.76190674e-01 -8.78876373e-01 2.86140454e-02 1.06051718e+02] [ 8.77527584e-01 -4.77045760e-01 -4.87101876e-02 1.60414985e+02] [ 5.64604420e-02 1.91427703e-03 9.98403002e-01 7.55155678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.366875 meters Centerline goodness [0,1] 0.977905781816215 Centerline is valid? [True, True] Translation: X:106.04, Y:160.44, Z:7.55 [[-4.76897182e-01 -8.78492926e-01 2.86226473e-02 1.06039733e+02] [ 8.77144640e-01 -4.77751630e-01 -4.86894227e-02 1.60440050e+02] [ 5.64478298e-02 1.88635316e-03 9.98403768e-01 7.55281427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.396875 meters Centerline goodness [0,1] 0.9775040606388739 Centerline is valid? [True, True] Translation: X:106.02, Y:160.46, Z:7.55 [[-4.77674216e-01 -8.78067148e-01 2.87302515e-02 1.06024694e+02] [ 8.76709878e-01 -4.78533831e-01 -4.88381340e-02 1.60462066e+02] [ 5.66315583e-02 1.85937788e-03 9.98393414e-01 7.55282306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.426875 meters Centerline goodness [0,1] 0.9794129582037062 Centerline is valid? [True, True] Translation: X:106.01, Y:160.49, Z:7.55 [[-4.79726022e-01 -8.76937384e-01 2.90476795e-02 1.06011908e+02] [ 8.75549791e-01 -4.80601418e-01 -4.93441128e-02 1.60487638e+02] [ 5.72320532e-02 1.76103479e-03 9.98359350e-01 7.55374963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters Centerline goodness [0,1] 0.9726960722003305 Centerline is valid? [True, True] Translation: X:105.99, Y:160.50, Z:7.55 [[-4.82894430e-01 -8.75226478e-01 2.81350709e-02 1.05988604e+02] [ 8.73923423e-01 -4.83710963e-01 -4.77656208e-02 1.60504879e+02] [ 5.54149783e-02 1.52214529e-03 9.98462249e-01 7.55085156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.486875 meters Centerline goodness [0,1] 0.9814538246395308 Centerline is valid? [True, True] Translation: X:105.99, Y:160.54, Z:7.56 [[-4.82939040e-01 -8.75164059e-01 2.92874408e-02 1.05987197e+02] [ 8.73753838e-01 -4.83823657e-01 -4.96880329e-02 1.60536189e+02] [ 5.76551372e-02 1.59372291e-03 9.98335287e-01 7.55553329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters Centerline goodness [0,1] 0.9813597381164949 Centerline is valid? [True, True] Translation: X:105.98, Y:160.56, Z:7.56 [[-4.84844066e-01 -8.74102660e-01 2.95088400e-02 1.05975147e+02] [ 8.72670815e-01 -4.85738933e-01 -5.00333671e-02 1.60560039e+02] [ 5.80678916e-02 1.49312229e-03 9.98311520e-01 7.55683649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.546875 meters Centerline goodness [0,1] 0.9826879516772732 Centerline is valid? [True, True] Translation: X:105.96, Y:160.58, Z:7.56 [[-4.86295322e-01 -8.73299103e-01 2.94199977e-02 1.05962135e+02] [ 8.71876231e-01 -4.87182402e-01 -4.98512202e-02 1.60584119e+02] [ 5.78679311e-02 1.40818153e-03 9.98323254e-01 7.55787958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters Centerline goodness [0,1] 0.9833017591339648 Centerline is valid? [True, True] Translation: X:105.95, Y:160.61, Z:7.56 [[-4.88079192e-01 -8.72289908e-01 2.98164306e-02 1.05950469e+02] [ 8.70828511e-01 -4.88987288e-01 -5.04889644e-02 1.60608645e+02] [ 5.86208697e-02 1.32238492e-03 9.98279442e-01 7.55860147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.606875 meters Centerline goodness [0,1] 0.9854911319629007 Centerline is valid? [True, True] Translation: X:105.94, Y:160.63, Z:7.56 [[-4.88925869e-01 -8.71815332e-01 2.98248640e-02 1.05937369e+02] [ 8.70354266e-01 -4.89833014e-01 -5.04685019e-02 1.60633127e+02] [ 5.86084168e-02 1.28284146e-03 9.98280225e-01 7.56040246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters Centerline goodness [0,1] 0.9833987813134732 Centerline is valid? [True, True] Translation: X:105.92, Y:160.66, Z:7.56 [[-4.89734029e-01 -8.71357956e-01 2.99314828e-02 1.05922737e+02] [ 8.69887556e-01 -4.90646260e-01 -5.06150939e-02 1.60655193e+02] [ 5.87896349e-02 1.24909050e-03 9.98269612e-01 7.55939044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66687499999998 meters Centerline goodness [0,1] 0.9854946251190638 Centerline is valid? [True, True] Translation: X:105.91, Y:160.68, Z:7.56 [[-4.91063948e-01 -8.70589153e-01 3.05077774e-02 1.05912022e+02] [ 8.69062227e-01 -4.92009241e-01 -5.15533988e-02 1.60680732e+02] [ 5.98919382e-02 1.19714144e-03 9.98204149e-01 7.56049145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters Centerline goodness [0,1] 0.986299507978362 Centerline is valid? [True, True] Translation: X:105.90, Y:160.70, Z:7.56 [[-4.91492460e-01 -8.70343176e-01 3.06254472e-02 1.05899282e+02] [ 8.68806108e-01 -4.92444252e-01 -5.17165781e-02 1.60704587e+02] [ 6.00924963e-02 1.18926739e-03 9.98192105e-01 7.56135726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72687499999998 meters Centerline goodness [0,1] 0.9868937329700272 Centerline is valid? [True, True] Translation: X:105.89, Y:160.73, Z:7.56 [[-4.92769850e-01 -8.69627683e-01 3.04231350e-02 1.05886885e+02] [ 8.68111572e-01 -4.93706853e-01 -5.13404451e-02 1.60728988e+02] [ 5.96671825e-02 1.11165213e-03 9.98217707e-01 7.56335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters Centerline goodness [0,1] 0.987010506208214 Centerline is valid? [True, True] Translation: X:105.87, Y:160.75, Z:7.56 [[-4.93822920e-01 -8.69035864e-01 3.02587378e-02 1.05873872e+02] [ 8.67537174e-01 -4.94747975e-01 -5.10263894e-02 1.60751961e+02] [ 5.93142117e-02 1.05257925e-03 9.98238807e-01 7.56398570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78687499999998 meters Centerline goodness [0,1] 0.9874009292156327 Centerline is valid? [True, True] Translation: X:105.86, Y:160.78, Z:7.57 [[-4.95573358e-01 -8.68042392e-01 3.01571387e-02 1.05862883e+02] [ 8.66554087e-01 -4.96489181e-01 -5.08183872e-02 1.60776632e+02] [ 5.90852074e-02 9.48552994e-04 9.98252492e-01 7.56655816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters Centerline goodness [0,1] 0.9885258441700361 Centerline is valid? [True, True] Translation: X:105.85, Y:160.80, Z:7.57 [[-4.96192928e-01 -8.67700187e-01 2.98154808e-02 1.05850265e+02] [ 8.66246779e-01 -4.97087064e-01 -5.02092503e-02 1.60801089e+02] [ 5.83874657e-02 9.14089327e-04 9.98293578e-01 7.56798221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84687499999998 meters Centerline goodness [0,1] 0.9902116257450648 Centerline is valid? [True, True] Translation: X:105.84, Y:160.83, Z:7.57 [[-4.97426983e-01 -8.67000514e-01 2.96058204e-02 1.05839170e+02] [ 8.65568212e-01 -4.98306530e-01 -4.98224064e-02 1.60826196e+02] [ 5.79488256e-02 8.42847748e-04 9.98319199e-01 7.57019837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters Centerline goodness [0,1] 0.9898948518366789 Centerline is valid? [True, True] Translation: X:105.83, Y:160.85, Z:7.57 [[-4.98278699e-01 -8.66513213e-01 2.95497723e-02 1.05825280e+02] [ 8.65087459e-01 -4.99153492e-01 -4.96938619e-02 1.60849499e+02] [ 5.78102600e-02 8.01744534e-04 9.98327267e-01 7.57024351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90687499999999 meters Centerline goodness [0,1] 0.990837481538209 Centerline is valid? [True, True] Translation: X:105.81, Y:160.87, Z:7.57 [[-4.98969616e-01 -8.66098822e-01 3.00358512e-02 1.05812585e+02] [ 8.64627018e-01 -4.99872200e-01 -5.04767626e-02 1.60873712e+02] [ 5.87319517e-02 7.83437638e-04 9.98273482e-01 7.57188826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters Centerline goodness [0,1] 0.9900981996726678 Centerline is valid? [True, True] Translation: X:105.80, Y:160.90, Z:7.57 [[-4.99361256e-01 -8.65868016e-01 3.01813563e-02 1.05798992e+02] [ 8.64383610e-01 -5.00271899e-01 -5.06853254e-02 1.60897694e+02] [ 5.89856866e-02 7.77981958e-04 9.98258525e-01 7.57164076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.966875 meters Centerline goodness [0,1] 0.9904331140350877 Centerline is valid? [True, True] Translation: X:105.79, Y:160.92, Z:7.57 [[-4.99290134e-01 -8.65910439e-01 3.01408948e-02 1.05785559e+02] [ 8.64432154e-01 -5.00198432e-01 -5.05824018e-02 1.60920720e+02] [ 5.88762581e-02 7.99464417e-04 9.98264968e-01 7.57124274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters Centerline goodness [0,1] 0.9907237652209605 Centerline is valid? [True, True] Translation: X:105.77, Y:160.94, Z:7.57 [[-4.99883420e-01 -8.65573017e-01 2.99986257e-02 1.05773009e+02] [ 8.64110136e-01 -5.00782141e-01 -5.03082532e-02 1.60943471e+02] [ 5.85682426e-02 7.73854827e-04 9.98283107e-01 7.57316444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.026875 meters Centerline goodness [0,1] 0.9897945224219541 Centerline is valid? [True, True] Translation: X:105.76, Y:160.97, Z:7.58 [[-4.99992850e-01 -8.65524893e-01 2.95602590e-02 1.05759463e+02] [ 8.64106442e-01 -5.00865310e-01 -4.95378421e-02 1.60967114e+02] [ 5.76819438e-02 7.74643418e-04 9.98334710e-01 7.57504481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters Centerline goodness [0,1] 0.9907899786195932 Centerline is valid? [True, True] Translation: X:105.75, Y:160.99, Z:7.58 [[-4.99435854e-01 -8.65847625e-01 2.95248542e-02 1.05745871e+02] [ 8.64434937e-01 -5.00307112e-01 -4.94472856e-02 1.60990689e+02] [ 5.75853094e-02 8.26568086e-04 9.98340247e-01 7.57673706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.086875 meters Centerline goodness [0,1] 0.9890952928927612 Centerline is valid? [True, True] Translation: X:105.73, Y:161.01, Z:7.58 [[-4.98267152e-01 -8.66494074e-01 3.02962967e-02 1.05730898e+02] [ 8.65009215e-01 -4.99186480e-01 -5.07140612e-02 1.61012844e+02] [ 5.90669351e-02 9.37425017e-04 9.98253584e-01 7.57612168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters Centerline goodness [0,1] 0.9901485920696166 Centerline is valid? [True, True] Translation: X:105.72, Y:161.04, Z:7.58 [[-4.97680879e-01 -8.66827646e-01 3.03903756e-02 1.05716193e+02] [ 8.65335825e-01 -4.98606904e-01 -5.08435398e-02 1.61035285e+02] [ 5.92254370e-02 9.94023170e-04 9.98244138e-01 7.57624982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.146875 meters Centerline goodness [0,1] 0.9881539980256664 Centerline is valid? [True, True] Translation: X:105.70, Y:161.06, Z:7.58 [[-4.96856593e-01 -8.67300571e-01 3.03849683e-02 1.05701205e+02] [ 8.65812092e-01 -4.97783671e-01 -5.08019496e-02 1.61057892e+02] [ 5.91857009e-02 1.06638943e-03 9.98246420e-01 7.57673503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters Centerline goodness [0,1] 0.9879406307977736 Centerline is valid? [True, True] Translation: X:105.69, Y:161.08, Z:7.58 [[-4.94844620e-01 -8.68448937e-01 3.04178446e-02 1.05687010e+02] [ 8.66960821e-01 -4.95777130e-01 -5.08327806e-02 1.61081401e+02] [ 5.92261460e-02 1.21675156e-03 9.98243850e-01 7.57935117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.206875 meters Centerline goodness [0,1] 0.9863436484308852 Centerline is valid? [True, True] Translation: X:105.67, Y:161.10, Z:7.58 [[-4.93777878e-01 -8.69057529e-01 3.03713395e-02 1.05669671e+02] [ 8.67576630e-01 -4.94709329e-01 -5.07293859e-02 1.61102106e+02] [ 5.91117398e-02 1.30041582e-03 9.98250525e-01 7.57839868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters Centerline goodness [0,1] 0.9873213651392191 Centerline is valid? [True, True] Translation: X:105.66, Y:161.13, Z:7.58 [[-4.93060713e-01 -8.69463764e-01 3.03956725e-02 1.05656885e+02] [ 8.67983198e-01 -4.93994835e-01 -5.07372805e-02 1.61127472e+02] [ 5.91295321e-02 1.36637325e-03 9.98249383e-01 7.58265365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.266875 meters Centerline goodness [0,1] 0.9873886634162286 Centerline is valid? [True, True] Translation: X:105.64, Y:161.15, Z:7.58 [[-4.91739468e-01 -8.70213375e-01 3.03475968e-02 1.05641918e+02] [ 8.68740759e-01 -4.92672835e-01 -5.06258015e-02 1.61151420e+02] [ 5.90066861e-02 1.46948954e-03 9.98256506e-01 7.58435826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters Centerline goodness [0,1] 0.9859323882224645 Centerline is valid? [True, True] Translation: X:105.62, Y:161.17, Z:7.58 [[-4.89485018e-01 -8.71479738e-01 3.04546221e-02 1.05623060e+02] [ 8.70000986e-01 -4.90428760e-01 -5.07731922e-02 1.61171528e+02] [ 5.91836307e-02 1.64283437e-03 9.98245761e-01 7.58337938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.326875 meters Centerline goodness [0,1] 0.9865248226950355 Centerline is valid? [True, True] Translation: X:105.61, Y:161.20, Z:7.59 [[-4.89341236e-01 -8.71553475e-01 3.06544486e-02 1.05611232e+02] [ 8.70057326e-01 -4.90297586e-01 -5.10737305e-02 1.61196032e+02] [ 5.95432894e-02 1.67864517e-03 9.98224313e-01 7.58580819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters Centerline goodness [0,1] 0.9856975827283356 Centerline is valid? [True, True] Translation: X:105.60, Y:161.22, Z:7.59 [[-4.89319890e-01 -8.71557879e-01 3.08692367e-02 1.05596607e+02] [ 8.70042888e-01 -4.90289653e-01 -5.13948360e-02 1.61217911e+02] [ 5.99284416e-02 1.70904439e-03 9.98201213e-01 7.58666089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.386875 meters Centerline goodness [0,1] 0.986239401901563 Centerline is valid? [True, True] Translation: X:105.58, Y:161.24, Z:7.59 [[-4.89340325e-01 -8.71546039e-01 3.08795583e-02 1.05581445e+02] [ 8.70032236e-01 -4.90310637e-01 -5.13749678e-02 1.61240479e+02] [ 5.99162256e-02 1.72636773e-03 9.98201916e-01 7.58778453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters Centerline goodness [0,1] 0.9863293483292939 Centerline is valid? [True, True] Translation: X:105.57, Y:161.27, Z:7.59 [[-4.88506380e-01 -8.71992354e-01 3.14777967e-02 1.05567287e+02] [ 8.70422366e-01 -4.89516062e-01 -5.23347823e-02 1.61265095e+02] [ 6.10444171e-02 1.83310322e-03 9.98133367e-01 7.58820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44687499999998 meters Centerline goodness [0,1] 0.9862879529872673 Centerline is valid? [True, True] Translation: X:105.55, Y:161.29, Z:7.59 [[-4.88849232e-01 -8.71785279e-01 3.18881760e-02 1.05553651e+02] [ 8.70175759e-01 -4.89884693e-01 -5.29824165e-02 1.61288608e+02] [ 6.18108201e-02 1.84790414e-03 9.98086173e-01 7.58935594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters Centerline goodness [0,1] 0.9862879529872673 Centerline is valid? [True, True] Translation: X:105.54, Y:161.31, Z:7.59 [[-4.89118774e-01 -8.71633477e-01 3.19046635e-02 1.05539706e+02] [ 8.70024280e-01 -4.90154738e-01 -5.29724874e-02 1.61311499e+02] [ 6.18108153e-02 1.84799378e-03 9.98086173e-01 7.59052555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50687499999998 meters Centerline goodness [0,1] 0.9865317116970044 Centerline is valid? [True, True] Translation: X:105.53, Y:161.33, Z:7.59 [[-4.89663159e-01 -8.71330327e-01 3.18347483e-02 1.05525908e+02] [ 8.69729677e-01 -4.90693528e-01 -5.28218765e-02 1.61333404e+02] [ 6.16464078e-02 1.82269841e-03 9.98096387e-01 7.59089070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters Centerline goodness [0,1] 0.9871108089734875 Centerline is valid? [True, True] Translation: X:105.51, Y:161.36, Z:7.59 [[-4.90455979e-01 -8.70894327e-01 3.15595366e-02 1.05512660e+02] [ 8.69322224e-01 -4.91467138e-01 -5.23347197e-02 1.61357106e+02] [ 6.10884856e-02 1.76753039e-03 9.98130789e-01 7.59323123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56687499999998 meters Centerline goodness [0,1] 0.9862584180821768 Centerline is valid? [True, True] Translation: X:105.50, Y:161.38, Z:7.59 [[-4.91192591e-01 -8.70480099e-01 3.15314919e-02 1.05496788e+02] [ 8.68912210e-01 -4.92200563e-01 -5.22510891e-02 1.61378731e+02] [ 6.10033513e-02 1.73275045e-03 9.98136057e-01 7.59343094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters Centerline goodness [0,1] 0.986336418072945 Centerline is valid? [True, True] Translation: X:105.49, Y:161.40, Z:7.60 [[-4.91702316e-01 -8.70197657e-01 3.13826503e-02 1.05485426e+02] [ 8.68646256e-01 -4.92699828e-01 -5.19669333e-02 1.61403598e+02] [ 6.06837300e-02 1.70816026e-03 9.98155583e-01 7.59691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62687499999998 meters Centerline goodness [0,1] 0.9874510017421603 Centerline is valid? [True, True] Translation: X:105.47, Y:161.43, Z:7.60 [[-4.93132092e-01 -8.69400274e-01 3.10467858e-02 1.05472423e+02] [ 8.67882463e-01 -4.94105830e-01 -5.13756629e-02 1.61426999e+02] [ 6.00064133e-02 1.60997279e-03 9.98196693e-01 7.59898722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters Centerline goodness [0,1] 0.9879649592009387 Centerline is valid? [True, True] Translation: X:105.46, Y:161.45, Z:7.60 [[-4.94029715e-01 -8.68886285e-01 3.11651132e-02 1.05459643e+02] [ 8.67357949e-01 -4.95009249e-01 -5.15367008e-02 1.61451741e+02] [ 6.02065518e-02 1.57064706e-03 9.98184704e-01 7.60035422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.686875 meters Centerline goodness [0,1] 0.9885912834122186 Centerline is valid? [True, True] Translation: X:105.45, Y:161.48, Z:7.60 [[-4.95229444e-01 -8.68199197e-01 3.12722224e-02 1.05446662e+02] [ 8.66661005e-01 -4.96213540e-01 -5.16800248e-02 1.61475612e+02] [ 6.03862562e-02 1.50894568e-03 9.98173944e-01 7.60179422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters Centerline goodness [0,1] 0.9892523236366627 Centerline is valid? [True, True] Translation: X:105.43, Y:161.50, Z:7.60 [[-4.96310400e-01 -8.67572802e-01 3.15185593e-02 1.05434698e+02] [ 8.66011165e-01 -4.97308049e-01 -5.20515755e-02 1.61500692e+02] [ 6.08329645e-02 1.46168599e-03 9.98146890e-01 7.60325933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.746875 meters Centerline goodness [0,1] 0.9896609563615365 Centerline is valid? [True, True] Translation: X:105.42, Y:161.52, Z:7.60 [[-4.98408221e-01 -8.66350118e-01 3.20424346e-02 1.05420581e+02] [ 8.64735771e-01 -4.99435326e-01 -5.28810169e-02 1.61524104e+02] [ 6.18165990e-02 1.35190582e-03 9.98086610e-01 7.60133174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters Centerline goodness [0,1] 0.9903674143387918 Centerline is valid? [True, True] Translation: X:105.41, Y:161.55, Z:7.60 [[-4.99537023e-01 -8.65690337e-01 3.22955537e-02 1.05409394e+02] [ 8.64051102e-01 -5.00578223e-01 -5.32647692e-02 1.61548637e+02] [ 6.22772469e-02 1.29728445e-03 9.98058045e-01 7.60331133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.806875 meters Centerline goodness [0,1] 0.9905704596211641 Centerline is valid? [True, True] Translation: X:105.40, Y:161.57, Z:7.60 [[-5.00771216e-01 -8.64969650e-01 3.24914501e-02 1.05397206e+02] [ 8.63311305e-01 -5.01822660e-01 -5.35500566e-02 1.61571497e+02] [ 6.26241196e-02 1.23390923e-03 9.98036421e-01 7.60416520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters Centerline goodness [0,1] 0.9910519484106162 Centerline is valid? [True, True] Translation: X:105.38, Y:161.60, Z:7.61 [[-5.02014619e-01 -8.64245466e-01 3.25744650e-02 1.05384292e+02] [ 8.62579501e-01 -5.03068996e-01 -5.36487627e-02 1.61595605e+02] [ 6.27529034e-02 1.16560255e-03 9.98028414e-01 7.60619145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.866875 meters Centerline goodness [0,1] 0.9914735099337748 Centerline is valid? [True, True] Translation: X:105.37, Y:161.62, Z:7.61 [[-5.03624414e-01 -8.63308894e-01 3.25607540e-02 1.05372820e+02] [ 8.61644644e-01 -5.04674763e-01 -5.35900291e-02 1.61620468e+02] [ 6.26973395e-02 1.06655225e-03 9.98032017e-01 7.60828598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters Centerline goodness [0,1] 0.9929048529697071 Centerline is valid? [True, True] Translation: X:105.36, Y:161.65, Z:7.61 [[-5.04289019e-01 -8.62928928e-01 3.23457972e-02 1.05360077e+02] [ 8.61288064e-01 -5.05324255e-01 -5.32002607e-02 1.61645050e+02] [ 6.22531598e-02 1.03074182e-03 9.98059859e-01 7.61149004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.926875 meters Centerline goodness [0,1] 0.9918037341631474 Centerline is valid? [True, True] Translation: X:105.35, Y:161.67, Z:7.61 [[-5.04215090e-01 -8.62973730e-01 3.23029941e-02 1.05346506e+02] [ 8.61339630e-01 -5.05247692e-01 -5.30924888e-02 1.61668069e+02] [ 6.21384364e-02 1.05381494e-03 9.98066984e-01 7.61221889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters Centerline goodness [0,1] 0.9924972906883041 Centerline is valid? [True, True] Translation: X:105.33, Y:161.69, Z:7.61 [[-5.04447546e-01 -8.62850505e-01 3.19637137e-02 1.05332508e+02] [ 8.61252667e-01 -5.05458118e-01 -5.24969916e-02 1.61690771e+02] [ 6.14533743e-02 1.04685514e-03 9.98109406e-01 7.61291421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.986875 meters Centerline goodness [0,1] 0.9917960088691796 Centerline is valid? [True, True] Translation: X:105.32, Y:161.71, Z:7.61 [[-5.04430818e-01 -8.62855554e-01 3.20911605e-02 1.05318653e+02] [ 8.61247219e-01 -5.05449451e-01 -5.26695378e-02 1.61712588e+02] [ 6.16666627e-02 1.07028467e-03 9.98096226e-01 7.61270804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters Centerline goodness [0,1] 0.9917510933953385 Centerline is valid? [True, True] Translation: X:105.30, Y:161.74, Z:7.61 [[-5.04372135e-01 -8.62876308e-01 3.24534446e-02 1.05304239e+02] [ 8.61233618e-01 -5.05413951e-01 -5.32296250e-02 1.61735534e+02] [ 6.23330059e-02 1.10245788e-03 9.98054799e-01 7.61235349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.046875 meters Centerline goodness [0,1] 0.991763085399449 Centerline is valid? [True, True] Translation: X:105.29, Y:161.76, Z:7.61 [[-5.04761173e-01 -8.62639119e-01 3.27094504e-02 1.05289442e+02] [ 8.60972216e-01 -5.05818682e-01 -5.36125373e-02 1.61757599e+02] [ 6.27933231e-02 1.10040075e-03 9.98025945e-01 7.61222416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters Centerline goodness [0,1] 0.9918539791240957 Centerline is valid? [True, True] Translation: X:105.28, Y:161.78, Z:7.62 [[-5.04331121e-01 -8.62888759e-01 3.27583680e-02 1.05276074e+02] [ 8.61219764e-01 -5.05392582e-01 -5.36549665e-02 1.61781519e+02] [ 6.28541036e-02 1.15228454e-03 9.98022061e-01 7.61598751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.106875 meters Centerline goodness [0,1] 0.991942629305571 Centerline is valid? [True, True] Translation: X:105.26, Y:161.80, Z:7.62 [[-5.04185398e-01 -8.62984231e-01 3.24854010e-02 1.05261044e+02] [ 8.61345401e-01 -5.05229494e-01 -5.31719763e-02 1.61804189e+02] [ 6.22991598e-02 1.17261670e-03 9.98056832e-01 7.61780328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters Centerline goodness [0,1] 0.9910244334866197 Centerline is valid? [True, True] Translation: X:105.25, Y:161.83, Z:7.62 [[-5.04314482e-01 -8.62932024e-01 3.18625863e-02 1.05245986e+02] [ 8.61357490e-01 -5.05318684e-01 -5.21181485e-02 1.61826771e+02] [ 6.10751796e-02 1.16114025e-03 9.98132493e-01 7.62052280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16687499999998 meters Centerline goodness [0,1] 0.9916298342541436 Centerline is valid? [True, True] Translation: X:105.23, Y:161.85, Z:7.62 [[-5.03923270e-01 -8.63168100e-01 3.16570644e-02 1.05231376e+02] [ 8.61616482e-01 -5.04915231e-01 -5.17459825e-02 1.61849689e+02] [ 6.06496154e-02 1.20024380e-03 9.98158396e-01 7.62303806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters Centerline goodness [0,1] 0.9908368629405088 Centerline is valid? [True, True] Translation: X:105.21, Y:161.87, Z:7.62 [[-5.04087195e-01 -8.63086594e-01 3.12670819e-02 1.05214548e+02] [ 8.61574997e-01 -5.05054557e-01 -5.10726845e-02 1.61870252e+02] [ 5.98717315e-02 1.19384973e-03 9.98205365e-01 7.62305469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22687499999998 meters Centerline goodness [0,1] 0.9909707165793012 Centerline is valid? [True, True] Translation: X:105.20, Y:161.89, Z:7.62 [[-5.03394054e-01 -8.63481750e-01 3.15229111e-02 1.05199525e+02] [ 8.61948250e-01 -5.04378485e-01 -5.14544168e-02 1.61894491e+02] [ 6.03294280e-02 1.26927061e-03 9.98177714e-01 7.62413222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters Centerline goodness [0,1] 0.9884839489885664 Centerline is valid? [True, True] Translation: X:105.18, Y:161.92, Z:7.62 [[-5.01948788e-01 -8.64283426e-01 3.25818124e-02 1.05181498e+02] [ 8.62648823e-01 -5.03003102e-01 -5.31496776e-02 1.61916364e+02] [ 6.23251381e-02 1.42824591e-03 9.98054877e-01 7.62264941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28687499999998 meters Centerline goodness [0,1] 0.9886242736721499 Centerline is valid? [True, True] Translation: X:105.17, Y:161.94, Z:7.62 [[-5.01863175e-01 -8.64316692e-01 3.30152941e-02 1.05165988e+02] [ 8.62640533e-01 -5.02945820e-01 -5.38220459e-02 1.61937854e+02] [ 6.31241968e-02 1.46902805e-03 9.98004598e-01 7.62209041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters Centerline goodness [0,1] 0.9887293119956231 Centerline is valid? [True, True] Translation: X:105.15, Y:161.96, Z:7.62 [[-5.01646539e-01 -8.64433402e-01 3.32512071e-02 1.05150466e+02] [ 8.62735793e-01 -5.02745069e-01 -5.41696148e-02 1.61961606e+02] [ 6.35429048e-02 1.51300676e-03 9.97977961e-01 7.62262578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34687499999998 meters Centerline goodness [0,1] 0.9887910766034228 Centerline is valid? [True, True] Translation: X:105.14, Y:161.98, Z:7.62 [[-5.01271835e-01 -8.64654878e-01 3.31434748e-02 1.05136055e+02] [ 8.62970841e-01 -5.02363943e-01 -5.39610646e-02 1.61984724e+02] [ 6.33077844e-02 1.55269050e-03 9.97992842e-01 7.62459801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters Centerline goodness [0,1] 0.989396679270097 Centerline is valid? [True, True] Translation: X:105.12, Y:162.01, Z:7.63 [[-5.02076569e-01 -8.64208453e-01 3.26016572e-02 1.05121510e+02] [ 8.62580229e-01 -5.03131725e-01 -5.30454124e-02 1.62008875e+02] [ 6.22452218e-02 1.48868635e-03 9.98059776e-01 7.62801362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40687499999999 meters Centerline goodness [0,1] 0.989044997672062 Centerline is valid? [True, True] Translation: X:105.11, Y:162.03, Z:7.63 [[-5.03564132e-01 -8.63334568e-01 3.28114085e-02 1.05107620e+02] [ 8.61685650e-01 -5.04630006e-01 -5.33516294e-02 1.62030962e+02] [ 6.26179272e-02 1.40715294e-03 9.98036580e-01 7.62890596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters Centerline goodness [0,1] 0.9902915283986506 Centerline is valid? [True, True] Translation: X:105.09, Y:162.05, Z:7.63 [[-5.04853331e-01 -8.62581574e-01 3.28046132e-02 1.05094077e+02] [ 8.60934118e-01 -5.05916251e-01 -5.33028252e-02 1.62054301e+02] [ 6.25744218e-02 1.33250187e-03 9.98039411e-01 7.63010681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.466875 meters Centerline goodness [0,1] 0.9917305420478585 Centerline is valid? [True, True] Translation: X:105.08, Y:162.08, Z:7.63 [[-5.08679270e-01 -8.60357170e-01 3.21082548e-02 1.05083232e+02] [ 8.58776607e-01 -5.09690525e-01 -5.21374006e-02 1.62078814e+02] [ 6.12220597e-02 1.05260325e-03 9.98123615e-01 7.63314414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters Centerline goodness [0,1] 0.9919241862381541 Centerline is valid? [True, True] Translation: X:105.07, Y:162.10, Z:7.63 [[-5.10637084e-01 -8.59206064e-01 3.18544900e-02 1.05069714e+02] [ 8.57650303e-01 -5.11628854e-01 -5.16901673e-02 1.62101657e+02] [ 6.07101814e-02 9.25096692e-04 9.98155007e-01 7.63367222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.526875 meters Centerline goodness [0,1] 0.9933062657741688 Centerline is valid? [True, True] Translation: X:105.06, Y:162.13, Z:7.64 [[-5.14765656e-01 -8.56760121e-01 3.12796095e-02 1.05058135e+02] [ 8.55257483e-01 -5.15714731e-01 -5.07242969e-02 1.62127449e+02] [ 5.95899102e-02 6.40994035e-04 9.98222737e-01 7.63693012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters Centerline goodness [0,1] 0.9946159762663443 Centerline is valid? [True, True] Translation: X:105.04, Y:162.15, Z:7.64 [[-5.16484831e-01 -8.55715599e-01 3.15314450e-02 1.05044263e+02] [ 8.54188658e-01 -5.17446152e-01 -5.11000732e-02 1.62150305e+02] [ 6.00429546e-02 5.41389984e-04 9.98195647e-01 7.63683518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.586875 meters Centerline goodness [0,1] 0.9937013504964656 Centerline is valid? [True, True] Translation: X:105.03, Y:162.17, Z:7.64 [[-5.17966794e-01 -8.54805618e-01 3.19022760e-02 1.05030913e+02] [ 8.53242930e-01 -5.18948113e-01 -5.16658249e-02 1.62174464e+02] [ 6.07198633e-02 4.59209797e-04 9.98154741e-01 7.63854234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters Centerline goodness [0,1] 0.9941707876343343 Centerline is valid? [True, True] Translation: X:105.02, Y:162.20, Z:7.64 [[-5.19239052e-01 -8.54012710e-01 3.24514699e-02 1.05017333e+02] [ 8.52396378e-01 -5.20251994e-01 -5.25193040e-02 1.62198296e+02] [ 6.17350951e-02 3.91441744e-04 9.98092493e-01 7.63940172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.646875 meters Centerline goodness [0,1] 0.9950557949397857 Centerline is valid? [True, True] Translation: X:105.00, Y:162.22, Z:7.64 [[-5.21030124e-01 -8.52891513e-01 3.32216310e-02 1.05003112e+02] [ 8.51197491e-01 -5.22088102e-01 -5.37293616e-02 1.62221217e+02] [ 6.31699348e-02 2.83553034e-04 9.98002745e-01 7.63785912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters Centerline goodness [0,1] 0.9954505349068049 Centerline is valid? [True, True] Translation: X:104.99, Y:162.24, Z:7.64 [[-5.22008508e-01 -8.52284176e-01 3.34484826e-02 1.04987942e+02] [ 8.50567915e-01 -5.23078991e-01 -5.40610010e-02 1.62243590e+02] [ 6.35715342e-02 2.29903609e-04 9.97977258e-01 7.63971987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.706875 meters Centerline goodness [0,1] 0.9948150803938333 Centerline is valid? [True, True] Translation: X:104.97, Y:162.27, Z:7.64 [[-5.21967535e-01 -8.52301474e-01 3.36465283e-02 1.04972349e+02] [ 8.50567192e-01 -5.23050794e-01 -5.43444441e-02 1.62266356e+02] [ 6.39166932e-02 2.52597568e-04 9.97955206e-01 7.64017029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters Centerline goodness [0,1] 0.9948493361978736 Centerline is valid? [True, True] Translation: X:104.96, Y:162.29, Z:7.64 [[-5.21762996e-01 -8.52429676e-01 3.35711720e-02 1.04956917e+02] [ 8.50705717e-01 -5.22841817e-01 -5.41868719e-02 1.62288834e+02] [ 6.37429102e-02 2.86483354e-04 9.97966312e-01 7.64085207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.766875 meters Centerline goodness [0,1] 0.9946828920681905 Centerline is valid? [True, True] Translation: X:104.94, Y:162.31, Z:7.64 [[-5.21820860e-01 -8.52411578e-01 3.31284218e-02 1.04941143e+02] [ 8.50735013e-01 -5.22871316e-01 -5.34371124e-02 1.62309513e+02] [ 6.28723148e-02 2.98908384e-04 9.98021534e-01 7.64271988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters Centerline goodness [0,1] 0.9946783705938829 Centerline is valid? [True, True] Translation: X:104.93, Y:162.33, Z:7.64 [[-5.21443332e-01 -8.52662616e-01 3.26084976e-02 1.04925906e+02] [ 8.51041075e-01 -5.22461812e-01 -5.25618123e-02 1.62332677e+02] [ 6.18541871e-02 3.43164336e-04 9.98085138e-01 7.64443575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.826875 meters Centerline goodness [0,1] 0.9942650166012678 Centerline is valid? [True, True] Translation: X:104.91, Y:162.35, Z:7.65 [[-5.20945900e-01 -8.52969795e-01 3.25253495e-02 1.04911470e+02] [ 8.51359307e-01 -5.21960124e-01 -5.23923474e-02 1.62354525e+02] [ 6.16660253e-02 3.97180439e-04 9.98096761e-01 7.64602716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters Centerline goodness [0,1] 0.9941776234863188 Centerline is valid? [True, True] Translation: X:104.90, Y:162.38, Z:7.65 [[-5.20236986e-01 -8.53419984e-01 3.20594838e-02 1.04895491e+02] [ 8.51858290e-01 -5.21223674e-01 -5.16075130e-02 1.62376571e+02] [ 6.07530449e-02 4.62000081e-04 9.98152721e-01 7.64931421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.886875 meters Centerline goodness [0,1] 0.9924863387978142 Centerline is valid? [True, True] Translation: X:104.88, Y:162.40, Z:7.65 [[-5.19444833e-01 -8.53900166e-01 3.21181023e-02 1.04879628e+02] [ 8.52335800e-01 -5.20436565e-01 -5.16668704e-02 1.62398783e+02] [ 6.08337840e-02 5.37319619e-04 9.98147766e-01 7.65107201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters Centerline goodness [0,1] 0.9932239366478897 Centerline is valid? [True, True] Translation: X:104.86, Y:162.42, Z:7.65 [[-5.18478735e-01 -8.54495891e-01 3.18837498e-02 1.04862845e+02] [ 8.52957473e-01 -5.19457782e-01 -5.12558385e-02 1.62420932e+02] [ 6.03601653e-02 6.20420326e-04 9.98176470e-01 7.65163373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94687499999998 meters Centerline goodness [0,1] 0.9918351794899709 Centerline is valid? [True, True] Translation: X:104.85, Y:162.44, Z:7.65 [[-5.17647491e-01 -8.54999489e-01 3.18896491e-02 1.04846656e+02] [ 8.53463487e-01 -5.18628373e-01 -5.12316940e-02 1.62442447e+02] [ 6.03419490e-02 6.96693266e-04 9.98177521e-01 7.65310824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters Centerline goodness [0,1] 0.9911111111111112 Centerline is valid? [True, True] Translation: X:104.83, Y:162.46, Z:7.65 [[-5.15004502e-01 -8.56590581e-01 3.19834270e-02 1.04828891e+02] [ 8.55050635e-01 -5.15995893e-01 -5.13483151e-02 1.62463888e+02] [ 6.04878001e-02 9.02836099e-04 9.98168528e-01 7.65324734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00687499999998 meters Centerline goodness [0,1] 0.990225808198408 Centerline is valid? [True, True] Translation: X:104.81, Y:162.48, Z:7.65 [[-5.13535495e-01 -8.57465942e-01 3.21473803e-02 1.04812103e+02] [ 8.55913789e-01 -5.14539700e-01 -5.15798618e-02 1.62484946e+02] [ 6.07690782e-02 1.02729622e-03 9.98151323e-01 7.65335410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters Centerline goodness [0,1] 0.9887673902452228 Centerline is valid? [True, True] Translation: X:104.79, Y:162.51, Z:7.65 [[-5.11231414e-01 -8.58853462e-01 3.18303727e-02 1.04792825e+02] [ 8.57336275e-01 -5.12219975e-01 -5.10412517e-02 1.62505555e+02] [ 6.01411084e-02 1.19544190e-03 9.98189169e-01 7.65357382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06687499999998 meters Centerline goodness [0,1] 0.9873602728232332 Centerline is valid? [True, True] Translation: X:104.78, Y:162.53, Z:7.65 [[-5.10335071e-01 -8.59393030e-01 3.16502086e-02 1.04776615e+02] [ 8.57895577e-01 -5.11314013e-01 -5.07263099e-02 1.62526537e+02] [ 5.97770323e-02 1.26515903e-03 9.98210953e-01 7.65432290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters Centerline goodness [0,1] 0.9875961434297476 Centerline is valid? [True, True] Translation: X:104.76, Y:162.55, Z:7.66 [[-5.09947510e-01 -8.59635557e-01 3.13088648e-02 1.04761729e+02] [ 8.58172692e-01 -5.10906084e-01 -5.01458174e-02 1.62548669e+02] [ 5.91030172e-02 1.29667801e-03 9.98251047e-01 7.65648535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12687499999998 meters Centerline goodness [0,1] 0.9868954336665766 Centerline is valid? [True, True] Translation: X:104.75, Y:162.57, Z:7.66 [[-5.09681771e-01 -8.59787486e-01 3.14638193e-02 1.04746995e+02] [ 8.58312532e-01 -5.10650258e-01 -5.03578350e-02 1.62570277e+02] [ 5.93640437e-02 1.33931991e-03 9.98235502e-01 7.65811215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters Centerline goodness [0,1] 0.9883295876093255 Centerline is valid? [True, True] Translation: X:104.73, Y:162.59, Z:7.66 [[-5.09693129e-01 -8.59779845e-01 3.14885991e-02 1.04734854e+02] [ 8.58304617e-01 -5.10663075e-01 -5.03627660e-02 1.62594196e+02] [ 5.93809560e-02 1.35725415e-03 9.98234471e-01 7.66168241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.186875 meters Centerline goodness [0,1] 0.9877386771815162 Centerline is valid? [True, True] Translation: X:104.72, Y:162.62, Z:7.66 [[-5.09548386e-01 -8.59860920e-01 3.16170793e-02 1.04718165e+02] [ 8.58375882e-01 -5.10526458e-01 -5.05329596e-02 1.62615032e+02] [ 5.95926727e-02 1.39035030e-03 9.98221809e-01 7.66146079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters Centerline goodness [0,1] 0.9881090409038208 Centerline is valid? [True, True] Translation: X:104.70, Y:162.64, Z:7.66 [[-5.09615728e-01 -8.59814456e-01 3.17948262e-02 1.04703876e+02] [ 8.58314700e-01 -5.10604652e-01 -5.07815422e-02 1.62638706e+02] [ 5.98972903e-02 1.41089412e-03 9.98203548e-01 7.66227142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.246875 meters Centerline goodness [0,1] 0.9864999864999865 Centerline is valid? [True, True] Translation: X:104.69, Y:162.66, Z:7.66 [[-5.09977150e-01 -8.59597276e-01 3.18720770e-02 1.04687424e+02] [ 8.58091942e-01 -5.10970198e-01 -5.08692012e-02 1.62659796e+02] [ 6.00127083e-02 1.40704214e-03 9.98196621e-01 7.66140743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters Centerline goodness [0,1] 0.9869289889586491 Centerline is valid? [True, True] Translation: X:104.67, Y:162.68, Z:7.66 [[-5.10284344e-01 -8.59411924e-01 3.19536185e-02 1.04673563e+02] [ 8.57900642e-01 -5.11281885e-01 -5.09639398e-02 1.62683628e+02] [ 6.01363238e-02 1.40692919e-03 9.98189182e-01 7.66305196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.306875 meters Centerline goodness [0,1] 0.988383375559269 Centerline is valid? [True, True] Translation: X:104.66, Y:162.71, Z:7.66 [[-5.10244743e-01 -8.59437779e-01 3.18905426e-02 1.04659223e+02] [ 8.57934605e-01 -5.11238373e-01 -5.08285380e-02 1.62706917e+02] [ 5.99876349e-02 1.42500581e-03 9.98198103e-01 7.66441930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters Centerline goodness [0,1] 0.9867275774449911 Centerline is valid? [True, True] Translation: X:104.64, Y:162.73, Z:7.66 [[-5.10262717e-01 -8.59436759e-01 3.16293815e-02 1.04644011e+02] [ 8.57960106e-01 -5.11240073e-01 -5.03790051e-02 1.62730066e+02] [ 5.94677762e-02 1.43021953e-03 9.98229201e-01 7.66463030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.366875 meters Centerline goodness [0,1] 0.9867275774449911 Centerline is valid? [True, True] Translation: X:104.63, Y:162.75, Z:7.67 [[-5.10524773e-01 -8.59280577e-01 3.16440547e-02 1.04629641e+02] [ 8.57804196e-01 -5.11502538e-01 -5.03697877e-02 1.62752679e+02] [ 5.94677946e-02 1.42937843e-03 9.98229201e-01 7.66580013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters Centerline goodness [0,1] 0.9865757280502327 Centerline is valid? [True, True] Translation: X:104.62, Y:162.78, Z:7.67 [[-5.10999196e-01 -8.59002175e-01 3.15449714e-02 1.04616248e+02] [ 8.57536543e-01 -5.11969995e-01 -5.01777073e-02 1.62775521e+02] [ 5.92528385e-02 1.41019761e-03 9.98242011e-01 7.66694138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.426875 meters Centerline goodness [0,1] 0.9860731026634514 Centerline is valid? [True, True] Translation: X:104.60, Y:162.80, Z:7.67 [[-5.11142093e-01 -8.58913233e-01 3.16515129e-02 1.04601230e+02] [ 8.57439629e-01 -5.12119159e-01 -5.03115244e-02 1.62797673e+02] [ 5.94225803e-02 1.42292361e-03 9.98231903e-01 7.66731954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters Centerline goodness [0,1] 0.9865868198569261 Centerline is valid? [True, True] Translation: X:104.59, Y:162.82, Z:7.67 [[-5.11509719e-01 -8.58686896e-01 3.18531353e-02 1.04587674e+02] [ 8.57196097e-01 -5.12498574e-01 -5.05970607e-02 1.62821391e+02] [ 5.97717194e-02 1.42349497e-03 9.98211057e-01 7.66867836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.486875 meters Centerline goodness [0,1] 0.9857690645927846 Centerline is valid? [True, True] Translation: X:104.57, Y:162.84, Z:7.67 [[-5.11519333e-01 -8.58678764e-01 3.19178957e-02 1.04572762e+02] [ 8.57183876e-01 -5.12512145e-01 -5.06665918e-02 1.62844336e+02] [ 5.98646356e-02 1.44256438e-03 9.98205462e-01 7.66950760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters Centerline goodness [0,1] 0.9829184968277208 Centerline is valid? [True, True] Translation: X:104.56, Y:162.86, Z:7.67 [[-5.09875177e-01 -8.59640431e-01 3.23362462e-02 1.04556648e+02] [ 8.58110068e-01 -5.10897045e-01 -5.12964082e-02 1.62864967e+02] [ 6.06169591e-02 1.59329318e-03 9.98159830e-01 7.66804809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.546875 meters Centerline goodness [0,1] 0.9836229765578475 Centerline is valid? [True, True] Translation: X:104.54, Y:162.89, Z:7.67 [[-5.09317277e-01 -8.59967839e-01 3.24226424e-02 1.04541845e+02] [ 8.58432107e-01 -5.10345547e-01 -5.13978564e-02 1.62887108e+02] [ 6.07472547e-02 1.65482101e-03 9.98151808e-01 7.66903546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters Centerline goodness [0,1] 0.9837738101698594 Centerline is valid? [True, True] Translation: X:104.53, Y:162.91, Z:7.67 [[-5.08702291e-01 -8.60322580e-01 3.26655422e-02 1.04526680e+02] [ 8.58766619e-01 -5.09747068e-01 -5.17476691e-02 1.62909762e+02] [ 6.11708525e-02 1.72791941e-03 9.98125814e-01 7.67007635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.606875 meters Centerline goodness [0,1] 0.9826963301007796 Centerline is valid? [True, True] Translation: X:104.51, Y:162.93, Z:7.67 [[-5.07800402e-01 -8.60862653e-01 3.24691266e-02 1.04510237e+02] [ 8.59328436e-01 -5.08834214e-01 -5.14040995e-02 1.62931890e+02] [ 6.07732720e-02 1.79862145e-03 9.98149976e-01 7.66972014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters Centerline goodness [0,1] 0.9814378872744 Centerline is valid? [True, True] Translation: X:104.50, Y:162.95, Z:7.67 [[-5.08234123e-01 -8.60614355e-01 3.22646568e-02 1.04498329e+02] [ 8.59100905e-01 -5.09254144e-01 -5.10475538e-02 1.62954107e+02] [ 6.03631678e-02 1.77448716e-03 9.98174904e-01 7.67234462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66687499999998 meters Centerline goodness [0,1] 0.9845719252498913 Centerline is valid? [True, True] Translation: X:104.49, Y:162.98, Z:7.68 [[-5.09121414e-01 -8.60097402e-01 3.20600230e-02 1.04487976e+02] [ 8.58604268e-01 -5.10126943e-01 -5.06874030e-02 1.62979586e+02] [ 5.99507851e-02 1.72083028e-03 9.98199851e-01 7.67650440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters Centerline goodness [0,1] 0.9836697048611112 Centerline is valid? [True, True] Translation: X:104.47, Y:163.00, Z:7.68 [[-5.11174168e-01 -8.58897550e-01 3.15589760e-02 1.04472245e+02] [ 8.57450298e-01 -5.12145030e-01 -4.98643561e-02 1.63001526e+02] [ 5.89911459e-02 1.57088266e-03 9.98257270e-01 7.67762337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72687499999998 meters Centerline goodness [0,1] 0.9850353068984248 Centerline is valid? [True, True] Translation: X:104.46, Y:163.03, Z:7.68 [[-5.12590934e-01 -8.58072705e-01 3.10123714e-02 1.04461281e+02] [ 8.56675289e-01 -5.13526132e-01 -4.89730589e-02 1.63027465e+02] [ 5.79481082e-02 1.46438621e-03 9.98318522e-01 7.68113707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters Centerline goodness [0,1] 0.9876075825253295 Centerline is valid? [True, True] Translation: X:104.45, Y:163.05, Z:7.68 [[-5.14987981e-01 -8.56659285e-01 3.03685552e-02 1.04449096e+02] [ 8.55318391e-01 -5.15880996e-01 -4.79296233e-02 1.63052733e+02] [ 5.67259173e-02 1.29160386e-03 9.98388953e-01 7.68356422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78687499999998 meters Centerline goodness [0,1] 0.9871051987268424 Centerline is valid? [True, True] Translation: X:104.43, Y:163.07, Z:7.68 [[-5.16287121e-01 -8.55884043e-01 3.01680994e-02 1.04434843e+02] [ 8.54561177e-01 -5.17166348e-01 -4.75832320e-02 1.63074625e+02] [ 5.63276548e-02 1.21387665e-03 9.98411599e-01 7.68415445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters Centerline goodness [0,1] 0.9868950516585101 Centerline is valid? [True, True] Translation: X:104.42, Y:163.10, Z:7.69 [[-5.16762251e-01 -8.55598072e-01 3.01449159e-02 1.04421778e+02] [ 8.54278631e-01 -5.17639355e-01 -4.75133576e-02 1.63098328e+02] [ 5.62565320e-02 1.19904786e-03 9.98415627e-01 7.68559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84687499999998 meters Centerline goodness [0,1] 0.9871606550242098 Centerline is valid? [True, True] Translation: X:104.41, Y:163.12, Z:7.69 [[-5.16998053e-01 -8.55438425e-01 3.06286425e-02 1.04407112e+02] [ 8.54077837e-01 -5.17903097e-01 -4.82434450e-02 1.63121549e+02] [ 5.71319654e-02 1.21747761e-03 9.98365893e-01 7.68600117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters Centerline goodness [0,1] 0.9867219467251985 Centerline is valid? [True, True] Translation: X:104.39, Y:163.14, Z:7.69 [[-5.17167768e-01 -8.55329515e-01 3.08045540e-02 1.04390653e+02] [ 8.53955009e-01 -5.18082916e-01 -4.84864370e-02 1.63142001e+02] [ 5.74311938e-02 1.23008083e-03 9.98348709e-01 7.68546416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90687499999999 meters Centerline goodness [0,1] 0.9876086956521739 Centerline is valid? [True, True] Translation: X:104.38, Y:163.17, Z:7.69 [[-5.17218093e-01 -8.55303361e-01 3.06855753e-02 1.04376479e+02] [ 8.53941234e-01 -5.18126071e-01 -4.82674203e-02 1.63165205e+02] [ 5.71822834e-02 1.23889497e-03 9.98362986e-01 7.68696192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters Centerline goodness [0,1] 0.9856975827283356 Centerline is valid? [True, True] Translation: X:104.36, Y:163.19, Z:7.69 [[-5.17173439e-01 -8.55330880e-01 3.06711697e-02 1.04361205e+02] [ 8.53971428e-01 -5.18080606e-01 -4.82212070e-02 1.63186838e+02] [ 5.71352256e-02 1.25357512e-03 9.98365662e-01 7.68762555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.966875 meters Centerline goodness [0,1] 0.9885732941560561 Centerline is valid? [True, True] Translation: X:104.35, Y:163.21, Z:7.69 [[-5.17969424e-01 -8.54855982e-01 3.04782692e-02 1.04347913e+02] [ 8.53514290e-01 -5.18863943e-01 -4.78911918e-02 1.63210103e+02] [ 5.67541468e-02 1.20746523e-03 9.98387454e-01 7.69054081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters Centerline goodness [0,1] 0.9890094942735113 Centerline is valid? [True, True] Translation: X:104.33, Y:163.23, Z:7.69 [[-5.18762071e-01 -8.54379915e-01 3.03459151e-02 1.04333316e+02] [ 8.53050859e-01 -5.19647572e-01 -4.76511552e-02 1.63231608e+02] [ 5.64813711e-02 1.16699698e-03 9.98402971e-01 7.69122674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.026875 meters Centerline goodness [0,1] 0.9883262129581757 Centerline is valid? [True, True] Translation: X:104.32, Y:163.26, Z:7.69 [[-5.19627031e-01 -8.53848719e-01 3.04977578e-02 1.04318834e+02] [ 8.52507167e-01 -5.20520014e-01 -4.78585851e-02 1.63255229e+02] [ 5.67386849e-02 1.13094261e-03 9.98388423e-01 7.69274657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters Centerline goodness [0,1] 0.9892142176222253 Centerline is valid? [True, True] Translation: X:104.30, Y:163.28, Z:7.69 [[-5.20625297e-01 -8.53233086e-01 3.07018273e-02 1.04304902e+02] [ 8.51873882e-01 -5.21528644e-01 -4.81535300e-02 1.63277412e+02] [ 5.70980673e-02 1.08413895e-03 9.98367986e-01 7.69358320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.086875 meters Centerline goodness [0,1] 0.9889828197436596 Centerline is valid? [True, True] Translation: X:104.29, Y:163.30, Z:7.69 [[-5.21652933e-01 -8.52627522e-01 3.00753377e-02 1.04290032e+02] [ 8.51324099e-01 -5.22518211e-01 -4.71380793e-02 1.63298927e+02] [ 5.59061354e-02 1.01414243e-03 9.98435514e-01 7.69403703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters Centerline goodness [0,1] 0.9887059463872636 Centerline is valid? [True, True] Translation: X:104.28, Y:163.32, Z:7.70 [[-5.22831091e-01 -8.51915539e-01 2.97920355e-02 1.04275116e+02] [ 8.50637116e-01 -5.23678357e-01 -4.66634233e-02 1.63321319e+02] [ 5.53547396e-02 9.45122660e-04 9.98466304e-01 7.69602325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.146875 meters Centerline goodness [0,1] 0.9903145717949418 Centerline is valid? [True, True] Translation: X:104.26, Y:163.34, Z:7.70 [[-5.23848161e-01 -8.51319761e-01 2.89442336e-02 1.04261255e+02] [ 8.50113790e-01 -5.24646455e-01 -4.53060848e-02 1.63344574e+02] [ 5.37554549e-02 8.72382899e-04 9.98553749e-01 7.70002524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters Centerline goodness [0,1] 0.9871533164584524 Centerline is valid? [True, True] Translation: X:104.24, Y:163.36, Z:7.70 [[-5.23701583e-01 -8.51420844e-01 2.86216545e-02 1.04244710e+02] [ 8.50243384e-01 -5.24482370e-01 -4.47708749e-02 1.63364980e+02] [ 5.31304093e-02 8.88794313e-04 9.98587187e-01 7.69971306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.206875 meters Centerline goodness [0,1] 0.988344291691572 Centerline is valid? [True, True] Translation: X:104.23, Y:163.39, Z:7.70 [[-5.24054444e-01 -8.51208302e-01 2.84845097e-02 1.04229629e+02] [ 8.50043368e-01 -5.24827262e-01 -4.45266000e-02 1.63387799e+02] [ 5.28508588e-02 8.78705938e-04 9.98602030e-01 7.70152040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters Centerline goodness [0,1] 0.9872872167407568 Centerline is valid? [True, True] Translation: X:104.21, Y:163.41, Z:7.70 [[-5.23900470e-01 -8.51310030e-01 2.82759721e-02 1.04214099e+02] [ 8.50163781e-01 -5.24662203e-01 -4.41714660e-02 1.63410294e+02] [ 5.24389458e-02 8.97755544e-04 9.98623728e-01 7.70256506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.266875 meters Centerline goodness [0,1] 0.9855245323936026 Centerline is valid? [True, True] Translation: X:104.20, Y:163.43, Z:7.70 [[-5.22908867e-01 -8.51919392e-01 2.82783730e-02 1.04196052e+02] [ 8.50775372e-01 -5.23672035e-01 -4.41459656e-02 1.63430203e+02] [ 5.24173973e-02 9.74226502e-04 9.98624788e-01 7.70166893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters Centerline goodness [0,1] 0.9866926322622526 Centerline is valid? [True, True] Translation: X:104.18, Y:163.45, Z:7.70 [[-5.22759219e-01 -8.52012514e-01 2.82395852e-02 1.04180742e+02] [ 8.50873303e-01 -5.23520468e-01 -4.40561280e-02 1.63452617e+02] [ 5.23203732e-02 9.97562092e-04 9.98629853e-01 7.70248170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.326875 meters Centerline goodness [0,1] 0.9857497570981324 Centerline is valid? [True, True] Translation: X:104.16, Y:163.47, Z:7.70 [[-5.21774733e-01 -8.52600814e-01 2.86876466e-02 1.04163941e+02] [ 8.51427642e-01 -5.22561639e-01 -4.47247570e-02 1.63473710e+02] [ 5.31234278e-02 1.08920714e-03 9.98587360e-01 7.70139251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters Centerline goodness [0,1] 0.9847163340804148 Centerline is valid? [True, True] Translation: X:104.15, Y:163.50, Z:7.70 [[-5.21187326e-01 -8.52954951e-01 2.88378845e-02 1.04147271e+02] [ 8.51771569e-01 -5.21983273e-01 -4.49294722e-02 1.63495705e+02] [ 5.33757091e-02 1.14661867e-03 9.98573843e-01 7.70178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.386875 meters Centerline goodness [0,1] 0.983709577366022 Centerline is valid? [True, True] Translation: X:104.13, Y:163.52, Z:7.70 [[-5.18944233e-01 -8.54308543e-01 2.92198068e-02 1.04130620e+02] [ 8.53097327e-01 -5.19764539e-01 -4.54947612e-02 1.63518376e+02] [ 5.40539826e-02 1.31809518e-03 9.98537145e-01 7.70279580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters Centerline goodness [0,1] 0.982749777285857 Centerline is valid? [True, True] Translation: X:104.11, Y:163.54, Z:7.70 [[-5.18204628e-01 -8.54757021e-01 2.92301040e-02 1.04113950e+02] [ 8.53547075e-01 -5.19026525e-01 -4.54846859e-02 1.63540033e+02] [ 5.40495539e-02 1.37889500e-03 9.98537302e-01 7.70344803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44687499999998 meters Centerline goodness [0,1] 0.9842182330929009 Centerline is valid? [True, True] Translation: X:104.10, Y:163.56, Z:7.70 [[-5.17480463e-01 -8.55183773e-01 2.95750916e-02 1.04097609e+02] [ 8.53946968e-01 -5.18322880e-01 -4.59996598e-02 1.63563412e+02] [ 5.46676093e-02 1.45163456e-03 9.98503553e-01 7.70433303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters Centerline goodness [0,1] 0.9837352169088793 Centerline is valid? [True, True] Translation: X:104.08, Y:163.59, Z:7.70 [[-5.17578895e-01 -8.55121537e-01 2.96520532e-02 1.04082116e+02] [ 8.53879728e-01 -5.18425515e-01 -4.60911653e-02 1.63585699e+02] [ 5.47859291e-02 1.46347275e-03 9.98497051e-01 7.70404781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50687499999998 meters Centerline goodness [0,1] 0.983091982849284 Centerline is valid? [True, True] Translation: X:104.07, Y:163.61, Z:7.70 [[-5.17936818e-01 -8.54908797e-01 2.95364385e-02 1.04066016e+02] [ 8.53677981e-01 -5.18776293e-01 -4.58809491e-02 1.63607726e+02] [ 5.45468311e-02 1.45117439e-03 9.98510159e-01 7.70417675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters Centerline goodness [0,1] 0.9828717003631633 Centerline is valid? [True, True] Translation: X:104.05, Y:163.63, Z:7.71 [[-5.18775051e-01 -8.54408697e-01 2.92954722e-02 1.04051151e+02] [ 8.53198672e-01 -5.19599665e-01 -4.54776175e-02 1.63630206e+02] [ 5.40783895e-02 1.40220469e-03 9.98535709e-01 7.70548473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56687499999998 meters Centerline goodness [0,1] 0.9836083340106749 Centerline is valid? [True, True] Translation: X:104.04, Y:163.65, Z:7.71 [[-5.19158794e-01 -8.54180695e-01 2.91459472e-02 1.04037273e+02] [ 8.52984281e-01 -5.19974437e-01 -4.52150478e-02 1.63653657e+02] [ 5.37769684e-02 1.38724515e-03 9.98552008e-01 7.70654181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters Centerline goodness [0,1] 0.984622894801074 Centerline is valid? [True, True] Translation: X:104.02, Y:163.68, Z:7.71 [[-5.20505781e-01 -8.53377308e-01 2.86513925e-02 1.04023836e+02] [ 8.52221521e-01 -5.21292133e-01 -4.44183671e-02 1.63677719e+02] [ 5.28413721e-02 1.29731644e-03 9.98602076e-01 7.70885168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62687499999998 meters Centerline goodness [0,1] 0.985269474025623 Centerline is valid? [True, True] Translation: X:104.01, Y:163.70, Z:7.71 [[-5.21599846e-01 -8.52721450e-01 2.82794954e-02 1.04009383e+02] [ 8.51596002e-01 -5.22364449e-01 -4.38136019e-02 1.63700890e+02] [ 5.21330011e-02 1.22953726e-03 9.98639394e-01 7.71077545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters Centerline goodness [0,1] 0.9849666675663274 Centerline is valid? [True, True] Translation: X:104.00, Y:163.72, Z:7.71 [[-5.22270179e-01 -8.52307867e-01 2.83753322e-02 1.03995626e+02] [ 8.51175752e-01 -5.23039042e-01 -4.39317640e-02 1.63723012e+02] [ 5.22847946e-02 1.20814444e-03 9.98631484e-01 7.71204434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.686875 meters Centerline goodness [0,1] 0.9836894779550988 Centerline is valid? [True, True] Translation: X:103.98, Y:163.74, Z:7.71 [[-5.22358708e-01 -8.52250321e-01 2.84740405e-02 1.03980596e+02] [ 8.51111866e-01 -5.23132770e-01 -4.40533314e-02 1.63744113e+02] [ 5.24401694e-02 1.22295246e-03 9.98623319e-01 7.71172712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters Centerline goodness [0,1] 0.985296894812097 Centerline is valid? [True, True] Translation: X:103.97, Y:163.77, Z:7.71 [[-5.22737652e-01 -8.52016713e-01 2.85108372e-02 1.03966613e+02] [ 8.50876508e-01 -5.23513172e-01 -4.40809198e-02 1.63767463e+02] [ 5.24834792e-02 1.21644506e-03 9.98621052e-01 7.71215395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.746875 meters Centerline goodness [0,1] 0.9856317182520391 Centerline is valid? [True, True] Translation: X:103.95, Y:163.79, Z:7.71 [[-5.23191607e-01 -8.51727286e-01 2.88300603e-02 1.03952519e+02] [ 8.50562540e-01 -5.23983922e-01 -4.45445280e-02 1.63790724e+02] [ 5.30462780e-02 1.21644608e-03 9.98591314e-01 7.71271535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters Centerline goodness [0,1] 0.9859380080199415 Centerline is valid? [True, True] Translation: X:103.94, Y:163.81, Z:7.71 [[-5.24506313e-01 -8.50903661e-01 2.92589887e-02 1.03938412e+02] [ 8.49704315e-01 -5.25320475e-01 -4.51771617e-02 1.63813213e+02] [ 5.38117581e-02 1.16578248e-03 9.98550417e-01 7.71196519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.806875 meters Centerline goodness [0,1] 0.986734083618768 Centerline is valid? [True, True] Translation: X:103.93, Y:163.84, Z:7.71 [[-5.25079130e-01 -8.50542406e-01 2.94876587e-02 1.03925950e+02] [ 8.49325290e-01 -5.25905205e-01 -4.55001961e-02 1.63837194e+02] [ 5.42075595e-02 1.15341084e-03 9.98529023e-01 7.71327677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters Centerline goodness [0,1] 0.987138524856493 Centerline is valid? [True, True] Translation: X:103.91, Y:163.86, Z:7.71 [[-5.26161168e-01 -8.49869747e-01 2.95945666e-02 1.03911828e+02] [ 8.48644322e-01 -5.26991646e-01 -4.56357319e-02 1.63859568e+02] [ 5.43805173e-02 1.10351092e-03 9.98519675e-01 7.71407255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.866875 meters Centerline goodness [0,1] 0.9858443417889078 Centerline is valid? [True, True] Translation: X:103.90, Y:163.88, Z:7.71 [[-5.26216988e-01 -8.49820883e-01 3.00024639e-02 1.03897533e+02] [ 8.48562717e-01 -5.27070390e-01 -4.62398020e-02 1.63883131e+02] [ 5.51089598e-02 1.12680294e-03 9.98479711e-01 7.71398638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters Centerline goodness [0,1] 0.9875976113918236 Centerline is valid? [True, True] Translation: X:103.88, Y:163.91, Z:7.71 [[-5.27402869e-01 -8.49050711e-01 3.09693829e-02 1.03883128e+02] [ 8.47710466e-01 -5.28310220e-01 -4.76998786e-02 1.63906927e+02] [ 5.68610573e-02 1.09601715e-03 9.98381500e-01 7.71367534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.926875 meters Centerline goodness [0,1] 0.9872444143534191 Centerline is valid? [True, True] Translation: X:103.87, Y:163.93, Z:7.71 [[-5.27379203e-01 -8.49043121e-01 3.15746007e-02 1.03868636e+02] [ 8.47651648e-01 -5.28322342e-01 -4.86023375e-02 1.63930378e+02] [ 5.79470473e-02 1.13240025e-03 9.98319016e-01 7.71343927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters Centerline goodness [0,1] 0.9868840932446319 Centerline is valid? [True, True] Translation: X:103.85, Y:163.95, Z:7.71 [[-5.28015545e-01 -8.48632404e-01 3.19785554e-02 1.03854343e+02] [ 8.47205798e-01 -5.28981853e-01 -4.91989339e-02 1.63952018e+02] [ 5.86678851e-02 1.11461569e-03 9.98276934e-01 7.71304740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.986875 meters Centerline goodness [0,1] 0.9886421746736643 Centerline is valid? [True, True] Translation: X:103.84, Y:163.98, Z:7.72 [[-5.29829274e-01 -8.47501398e-01 3.19737552e-02 1.03842587e+02] [ 8.46075035e-01 -5.30792208e-01 -4.91596112e-02 1.63977005e+02] [ 5.86342594e-02 1.00599493e-03 9.98279025e-01 7.71549096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters Centerline goodness [0,1] 0.9886421746736643 Centerline is valid? [True, True] Translation: X:103.83, Y:164.00, Z:7.72 [[-5.30075439e-01 -8.47346906e-01 3.19882700e-02 1.03827859e+02] [ 8.45920831e-01 -5.31038801e-01 -4.91501654e-02 1.63999374e+02] [ 5.86342531e-02 1.00624843e-03 9.98279025e-01 7.71666004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.046875 meters Centerline goodness [0,1] 0.9904914124722327 Centerline is valid? [True, True] Translation: X:103.82, Y:164.02, Z:7.72 [[-5.32065597e-01 -8.46122069e-01 3.13631227e-02 1.03815766e+02] [ 8.44750788e-01 -5.32988450e-01 -4.81603423e-02 1.64024921e+02] [ 5.74657106e-02 8.69561354e-04 9.98347102e-01 7.71972656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters Centerline goodness [0,1] 0.9893602620678452 Centerline is valid? [True, True] Translation: X:103.80, Y:164.05, Z:7.72 [[-5.33118808e-01 -8.45472682e-01 3.09883932e-02 1.03801646e+02] [ 8.44134484e-01 -5.34018068e-01 -4.75570861e-02 1.64047066e+02] [ 5.67565790e-02 8.04794222e-04 9.98387722e-01 7.72139728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.106875 meters Centerline goodness [0,1] 0.9903146389632876 Centerline is valid? [True, True] Translation: X:103.79, Y:164.07, Z:7.72 [[-5.34605169e-01 -8.44554269e-01 3.04203930e-02 1.03787550e+02] [ 8.43265033e-01 -5.35469496e-01 -4.66530062e-02 1.64069584e+02] [ 5.56901880e-02 7.11515407e-04 9.98447844e-01 7.72292865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters Centerline goodness [0,1] 0.9907299802708035 Centerline is valid? [True, True] Translation: X:103.77, Y:164.09, Z:7.73 [[-5.34891737e-01 -8.44371138e-01 3.04665696e-02 1.03773975e+02] [ 8.43079492e-01 -5.35758226e-01 -4.66914677e-02 1.64093091e+02] [ 5.57476430e-02 7.10859770e-04 9.98444638e-01 7.72515066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16687499999998 meters Centerline goodness [0,1] 0.9906402604449267 Centerline is valid? [True, True] Translation: X:103.76, Y:164.12, Z:7.73 [[-5.35602357e-01 -8.43917443e-01 3.05526521e-02 1.03759378e+02] [ 8.42619478e-01 -5.36472631e-01 -4.67924286e-02 1.64115893e+02] [ 5.58796083e-02 6.82124757e-04 9.98437281e-01 7.72662924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters Centerline goodness [0,1] 0.990506329113924 Centerline is valid? [True, True] Translation: X:103.74, Y:164.14, Z:7.73 [[-5.35784423e-01 -8.43797449e-01 3.06743747e-02 1.03744556e+02] [ 8.42490649e-01 -5.36661337e-01 -4.69480037e-02 1.64137238e+02] [ 5.60763567e-02 6.88864787e-04 9.98426245e-01 7.72684573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22687499999998 meters Centerline goodness [0,1] 0.9901867765458537 Centerline is valid? [True, True] Translation: X:103.73, Y:164.16, Z:7.73 [[-5.36011029e-01 -8.43639619e-01 3.10543160e-02 1.03729289e+02] [ 8.42301726e-01 -5.36909403e-01 -4.74983729e-02 1.64159888e+02] [ 5.67448635e-02 6.97452192e-04 9.98388468e-01 7.72715313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters Centerline goodness [0,1] 0.9899184259736036 Centerline is valid? [True, True] Translation: X:103.71, Y:164.18, Z:7.73 [[-5.36155817e-01 -8.43541473e-01 3.12205669e-02 1.03713959e+02] [ 8.42190811e-01 -5.37063575e-01 -4.77216313e-02 1.64182662e+02] [ 5.70226044e-02 7.07444332e-04 9.98372637e-01 7.72782873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28687499999998 meters Centerline goodness [0,1] 0.9899184259736036 Centerline is valid? [True, True] Translation: X:103.70, Y:164.20, Z:7.73 [[-5.36404163e-01 -8.43383046e-01 3.12347724e-02 1.03699172e+02] [ 8.42032658e-01 -5.37312327e-01 -4.77123324e-02 1.64204993e+02] [ 5.70226004e-02 7.07604688e-04 9.98372637e-01 7.72899775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters Centerline goodness [0,1] 0.9902112313240597 Centerline is valid? [True, True] Translation: X:103.68, Y:164.23, Z:7.73 [[-5.35639304e-01 -8.43862294e-01 3.14160056e-02 1.03683389e+02] [ 8.42498780e-01 -5.36559243e-01 -4.79581482e-02 1.64225799e+02] [ 5.73266211e-02 7.79677281e-04 9.98355173e-01 7.72847948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34687499999998 meters Centerline goodness [0,1] 0.9894099437912401 Centerline is valid? [True, True] Translation: X:103.67, Y:164.25, Z:7.73 [[-5.34927945e-01 -8.44304150e-01 3.16637982e-02 1.03668349e+02] [ 8.42921580e-01 -5.35863583e-01 -4.83055960e-02 1.64249581e+02] [ 5.77520915e-02 8.50085606e-04 9.98330593e-01 7.73038532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters Centerline goodness [0,1] 0.9887153952317809 Centerline is valid? [True, True] Translation: X:103.65, Y:164.27, Z:7.73 [[-5.32489606e-01 -8.45831742e-01 3.19919384e-02 1.03652033e+02] [ 8.44424712e-01 -5.33448761e-01 -4.87783327e-02 1.64270681e+02] [ 5.83243220e-02 1.04082819e-03 9.98297145e-01 7.73150918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40687499999999 meters Centerline goodness [0,1] 0.9888669176802015 Centerline is valid? [True, True] Translation: X:103.63, Y:164.29, Z:7.73 [[-5.31007941e-01 -8.46752654e-01 3.22569233e-02 1.03634858e+02] [ 8.45325403e-01 -5.31985512e-01 -4.91566718e-02 1.64291182e+02] [ 5.87837582e-02 1.16501354e-03 9.98270060e-01 7.73141325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters Centerline goodness [0,1] 0.9872330044454082 Centerline is valid? [True, True] Translation: X:103.62, Y:164.31, Z:7.73 [[-5.29453041e-01 -8.47719061e-01 3.24325485e-02 1.03619109e+02] [ 8.46279941e-01 -5.30443882e-01 -4.93917940e-02 1.64313809e+02] [ 5.90740122e-02 1.29637970e-03 9.98252764e-01 7.73305881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.466875 meters Centerline goodness [0,1] 0.9862939487512866 Centerline is valid? [True, True] Translation: X:103.60, Y:164.34, Z:7.73 [[-5.26763648e-01 -8.49395042e-01 3.23747123e-02 1.03601814e+02] [ 8.47966079e-01 -5.27755453e-01 -4.92717996e-02 1.64336484e+02] [ 5.89371533e-02 1.49806494e-03 9.98260571e-01 7.73447435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters Centerline goodness [0,1] 0.9864978217928945 Centerline is valid? [True, True] Translation: X:103.59, Y:164.36, Z:7.74 [[-5.25971498e-01 -8.49887091e-01 3.23406272e-02 1.03585896e+02] [ 8.48463794e-01 -5.26962501e-01 -4.91905790e-02 1.64359788e+02] [ 5.88487359e-02 1.56700873e-03 9.98265681e-01 7.73536063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.526875 meters Centerline goodness [0,1] 0.9850407119863662 Centerline is valid? [True, True] Translation: X:103.57, Y:164.38, Z:7.74 [[-5.25092817e-01 -8.50433830e-01 3.22464538e-02 1.03569633e+02] [ 8.49021536e-01 -5.26079476e-01 -4.90185353e-02 1.64382594e+02] [ 5.86512183e-02 1.63865290e-03 9.98277191e-01 7.73640806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters Centerline goodness [0,1] 0.985123563841318 Centerline is valid? [True, True] Translation: X:103.55, Y:164.41, Z:7.74 [[-5.24953779e-01 -8.50522831e-01 3.21627666e-02 1.03554429e+02] [ 8.49119744e-01 -5.25935509e-01 -4.88620629e-02 1.64405635e+02] [ 5.84738411e-02 1.65971555e-03 9.98287561e-01 7.73738377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.586875 meters Centerline goodness [0,1] 0.9850604887818344 Centerline is valid? [True, True] Translation: X:103.54, Y:164.43, Z:7.74 [[-5.25179219e-01 -8.50406689e-01 3.15475990e-02 1.03540107e+02] [ 8.49058388e-01 -5.26123371e-01 -4.78962750e-02 1.64427231e+02] [ 5.73292418e-02 1.63162525e-03 9.98353993e-01 7.73884767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters Centerline goodness [0,1] 0.9858903182125931 Centerline is valid? [True, True] Translation: X:103.53, Y:164.45, Z:7.74 [[-5.25903919e-01 -8.49969351e-01 3.12597360e-02 1.03526546e+02] [ 8.48646648e-01 -5.26829750e-01 -4.74265998e-02 1.64450103e+02] [ 5.67797151e-02 1.58663550e-03 9.98385470e-01 7.74093143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.646875 meters Centerline goodness [0,1] 0.9858745551843099 Centerline is valid? [True, True] Translation: X:103.51, Y:164.47, Z:7.74 [[-5.26430731e-01 -8.49663477e-01 3.07027926e-02 1.03512720e+02] [ 8.48388801e-01 -5.27323047e-01 -4.65494023e-02 1.64473346e+02] [ 5.57416171e-02 1.54286953e-03 9.98444035e-01 7.74271153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters Centerline goodness [0,1] 0.9883423913043479 Centerline is valid? [True, True] Translation: X:103.50, Y:164.50, Z:7.75 [[-5.27795985e-01 -8.48830856e-01 3.02915278e-02 1.03501452e+02] [ 8.47590241e-01 -5.28662536e-01 -4.58988722e-02 1.64499950e+02] [ 5.49743749e-02 1.44956294e-03 9.98486713e-01 7.74609078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.706875 meters Centerline goodness [0,1] 0.987336946161597 Centerline is valid? [True, True] Translation: X:103.49, Y:164.52, Z:7.75 [[-5.29132376e-01 -8.47995974e-01 3.03604572e-02 1.03485340e+02] [ 8.46749390e-01 -5.30000882e-01 -4.59840868e-02 1.64522431e+02] [ 5.50853896e-02 1.37602953e-03 9.98480699e-01 7.74693997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters Centerline goodness [0,1] 0.9886332735084571 Centerline is valid? [True, True] Translation: X:103.47, Y:164.55, Z:7.75 [[-5.29659667e-01 -8.47654721e-01 3.06938090e-02 1.03473410e+02] [ 8.46381591e-01 -5.30546507e-01 -4.64608089e-02 1.64546764e+02] [ 5.56672172e-02 1.37025833e-03 9.98448438e-01 7.74839796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.766875 meters Centerline goodness [0,1] 0.9893828980048582 Centerline is valid? [True, True] Translation: X:103.46, Y:164.57, Z:7.75 [[-5.31638780e-01 -8.46387857e-01 3.14293334e-02 1.03460401e+02] [ 8.45052523e-01 -5.32565439e-01 -4.75424678e-02 1.64569783e+02] [ 5.69775442e-02 1.28401795e-03 9.98374634e-01 7.74856983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters Centerline goodness [0,1] 0.9903172135395357 Centerline is valid? [True, True] Translation: X:103.45, Y:164.59, Z:7.75 [[-5.32417932e-01 -8.45878780e-01 3.19411085e-02 1.03447481e+02] [ 8.44500514e-01 -5.33373682e-01 -4.82845582e-02 1.64594479e+02] [ 5.78794298e-02 1.26671789e-03 9.98322777e-01 7.74941182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.826875 meters Centerline goodness [0,1] 0.989525386013948 Centerline is valid? [True, True] Translation: X:103.43, Y:164.62, Z:7.75 [[-5.33712817e-01 -8.45055610e-01 3.21192286e-02 1.03430321e+02] [ 8.43662360e-01 -5.34677073e-01 -4.85206092e-02 1.64615202e+02] [ 5.81760281e-02 1.20171320e-03 9.98305617e-01 7.74782451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters Centerline goodness [0,1] 0.991368006993007 Centerline is valid? [True, True] Translation: X:103.42, Y:164.64, Z:7.75 [[-5.35807096e-01 -8.43716764e-01 3.24465329e-02 1.03419513e+02] [ 8.42294478e-01 -5.36787523e-01 -4.89813081e-02 1.64641325e+02] [ 5.87432448e-02 1.08500300e-03 9.98272535e-01 7.75030567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.886875 meters Centerline goodness [0,1] 0.9920969153358127 Centerline is valid? [True, True] Translation: X:103.41, Y:164.66, Z:7.75 [[-5.37015297e-01 -8.42928357e-01 3.29599007e-02 1.03406018e+02] [ 8.41461088e-01 -5.38024832e-01 -4.97244102e-02 1.64664929e+02] [ 5.96473605e-02 1.03170495e-03 9.98218978e-01 7.75088911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters Centerline goodness [0,1] 0.993149746540622 Centerline is valid? [True, True] Translation: X:103.39, Y:164.69, Z:7.75 [[-5.38772686e-01 -8.41803252e-01 3.30345109e-02 1.03392949e+02] [ 8.40329163e-01 -5.39783685e-01 -4.98043254e-02 1.64688787e+02] [ 5.97569331e-02 9.26652734e-04 9.98212528e-01 7.75221173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94687499999998 meters Centerline goodness [0,1] 0.9943363026503904 Centerline is valid? [True, True] Translation: X:103.38, Y:164.71, Z:7.75 [[-5.42336095e-01 -8.39524748e-01 3.27071556e-02 1.03380938e+02] [ 8.38077459e-01 -5.43321018e-01 -4.92792484e-02 1.64714016e+02] [ 5.91416337e-02 6.85214647e-04 9.98249366e-01 7.75437392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters Centerline goodness [0,1] 0.9945798712375502 Centerline is valid? [True, True] Translation: X:103.37, Y:164.74, Z:7.76 [[-5.43589917e-01 -8.38733114e-01 3.21988478e-02 1.03367420e+02] [ 8.37330797e-01 -5.44542374e-01 -4.84844299e-02 1.64738042e+02] [ 5.81991339e-02 6.05439669e-04 9.98304810e-01 7.75648565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00687499999998 meters Centerline goodness [0,1] 0.99493712681947 Centerline is valid? [True, True] Translation: X:103.35, Y:164.76, Z:7.76 [[-5.44711803e-01 -8.38020418e-01 3.17935522e-02 1.03353993e+02] [ 8.36653781e-01 -5.45638605e-01 -4.78431090e-02 1.64761419e+02] [ 5.74412917e-02 5.39489505e-04 9.98348740e-01 7.75966289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters Centerline goodness [0,1] 0.9947387268269839 Centerline is valid? [True, True] Translation: X:103.34, Y:164.78, Z:7.76 [[-5.45237747e-01 -8.37690074e-01 3.14823530e-02 1.03338701e+02] [ 8.36351350e-01 -5.46145651e-01 -4.73428671e-02 1.64782437e+02] [ 5.68526000e-02 5.17190201e-04 9.98382449e-01 7.75933699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06687499999998 meters Centerline goodness [0,1] 0.9949021769082392 Centerline is valid? [True, True] Translation: X:103.32, Y:164.81, Z:7.76 [[-5.45364118e-01 -8.37615491e-01 3.12772803e-02 1.03323868e+02] [ 8.36295882e-01 -5.46260025e-01 -4.70019542e-02 1.64805710e+02] [ 5.64550929e-02 5.23881432e-04 9.98405002e-01 7.76154809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters Centerline goodness [0,1] 0.994110037706768 Centerline is valid? [True, True] Translation: X:103.31, Y:164.83, Z:7.76 [[-5.44887509e-01 -8.37922350e-01 3.13646043e-02 1.03307575e+02] [ 8.36597674e-01 -5.45789158e-01 -4.71012333e-02 1.64826929e+02] [ 5.65856371e-02 5.74681322e-04 9.98397584e-01 7.76124251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12687499999998 meters Centerline goodness [0,1] 0.993784720312414 Centerline is valid? [True, True] Translation: X:103.29, Y:164.85, Z:7.76 [[-5.43314380e-01 -8.38923534e-01 3.18871191e-02 1.03290526e+02] [ 8.37557931e-01 -5.44248842e-01 -4.78530061e-02 1.64848415e+02] [ 5.74995407e-02 7.08083185e-04 9.98345282e-01 7.76141273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters Centerline goodness [0,1] 0.99338204880739 Centerline is valid? [True, True] Translation: X:103.28, Y:164.87, Z:7.76 [[-5.42046304e-01 -8.39718742e-01 3.25305761e-02 1.03275501e+02] [ 8.38300603e-01 -5.43020952e-01 -4.87887668e-02 1.64871701e+02] [ 5.86336263e-02 8.24630826e-04 9.98279228e-01 7.76420995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.186875 meters Centerline goodness [0,1] 0.9933135215453195 Centerline is valid? [True, True] Translation: X:103.26, Y:164.89, Z:7.77 [[-5.40842893e-01 -8.40494401e-01 3.25288703e-02 1.03258784e+02] [ 8.39079507e-01 -5.41819442e-01 -4.87572804e-02 1.64894269e+02] [ 5.86049955e-02 9.24279812e-04 9.98280822e-01 7.76549642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters Centerline goodness [0,1] 0.992184714947761 Centerline is valid? [True, True] Translation: X:103.24, Y:164.92, Z:7.77 [[-5.38680560e-01 -8.41855264e-01 3.32109613e-02 1.03240351e+02] [ 8.40384737e-01 -5.39702214e-01 -4.97495198e-02 1.64915287e+02] [ 5.98059245e-02 1.11088581e-03 9.98209406e-01 7.76658385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.246875 meters Centerline goodness [0,1] 0.9891531874405328 Centerline is valid? [True, True] Translation: X:103.21, Y:164.93, Z:7.76 [[-5.32419864e-01 -8.45705354e-01 3.62152089e-02 1.03211371e+02] [ 8.43967444e-01 -5.33647419e-01 -5.42161024e-02 1.64927542e+02] [ 6.51770009e-02 1.69872744e-03 9.97872273e-01 7.75678607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters Centerline goodness [0,1] 0.9831831023812727 Centerline is valid? [True, True] Translation: X:103.18, Y:164.94, Z:7.75 [[-5.24852652e-01 -8.50379919e-01 3.71979351e-02 1.03179907e+02] [ 8.48559945e-01 -5.26163904e-01 -5.56557880e-02 1.64940202e+02] [ 6.69007752e-02 2.35358985e-03 9.97756858e-01 7.74883597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.306875 meters Centerline goodness [0,1] 0.978088180412646 Centerline is valid? [True, True] Translation: X:103.15, Y:164.95, Z:7.75 [[-5.16777282e-01 -8.55314298e-01 3.71307492e-02 1.03149346e+02] [ 8.53515834e-01 -5.18100805e-01 -5.55182473e-02 1.64952650e+02] [ 6.67230218e-02 3.00111347e-03 9.97767023e-01 7.74532659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters Centerline goodness [0,1] 0.9656966809920778 Centerline is valid? [True, True] Translation: X:103.10, Y:164.96, Z:7.74 [[-4.97125763e-01 -8.66821234e-01 3.85606640e-02 1.03104439e+02] [ 8.64916847e-01 -4.98596820e-01 -5.76199458e-02 1.64955289e+02] [ 6.91724170e-02 4.70740847e-03 9.97593613e-01 7.74321757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.366875 meters Centerline goodness [0,1] 0.9560660408557836 Centerline is valid? [True, True] Translation: X:103.07, Y:164.97, Z:7.74 [[-4.85264088e-01 -8.73495319e-01 3.90473107e-02 1.03071264e+02] [ 8.71565229e-01 -4.86798792e-01 -5.83179840e-02 1.64965583e+02] [ 6.99486697e-02 5.73265500e-03 9.97534120e-01 7.74439104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters Centerline goodness [0,1] 0.7934318393795101 Centerline is valid? [True, False] Translation: X:103.00, Y:163.48, Z:7.64 [[ 4.64767190e-01 8.81736946e-01 -8.08171762e-02 1.02995437e+02] [-8.83480126e-01 4.55747784e-01 -1.08428890e-01 1.63479652e+02] [-5.87735093e-02 1.21794560e-01 9.90813686e-01 7.63753740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.426875 meters Centerline goodness [0,1] 0.6761611248886428 Centerline is valid? [False, False] Translation: X:102.84, Y:163.74, Z:7.66 [[ 4.58462168e-01 8.84758781e-01 -8.37516516e-02 1.02838542e+02] [-8.86770632e-01 4.49195101e-01 -1.08911007e-01 1.63743892e+02] [-5.87391379e-02 1.24200081e-01 9.90517064e-01 7.65801256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters Centerline goodness [0,1] 0.5921124099657575 Centerline is valid? [False, False] Translation: X:102.69, Y:164.00, Z:7.67 [[ 4.53268271e-01 8.86035834e-01 -9.74082909e-02 1.02691877e+02] [-8.89264136e-01 4.41972576e-01 -1.17769008e-01 1.64002161e+02] [-6.12957679e-02 1.40002654e-01 9.88252035e-01 7.67186846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.486875 meters Centerline goodness [0,1] 0.5391181925853092 Centerline is valid? [False, False] Translation: X:102.55, Y:164.27, Z:7.69 [[ 4.28209005e-01 8.98254528e-01 -9.88729026e-02 1.02553643e+02] [-9.01299650e-01 4.16581644e-01 -1.18822028e-01 1.64270585e+02] [-6.55437882e-02 1.39994775e-01 9.87980503e-01 7.69273744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters Centerline goodness [0,1] 0.47774532838541095 Centerline is valid? [False, False] Translation: X:102.41, Y:164.52, Z:7.71 [[ 4.18717618e-01 9.01766081e-01 -1.07207706e-01 1.02405842e+02] [-9.05604211e-01 4.05863981e-01 -1.23107443e-01 1.64520431e+02] [-6.75023704e-02 1.48635005e-01 9.86585559e-01 7.70895740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.546875 meters Centerline goodness [0,1] 0.29540883631409354 Centerline is valid? [False, False] Translation: X:102.26, Y:164.77, Z:7.72 [[ 4.09222768e-01 9.03741674e-01 -1.25649168e-01 1.02262611e+02] [-9.09629409e-01 3.93288222e-01 -1.33786070e-01 1.64767436e+02] [-7.14917090e-02 1.69042484e-01 9.83012499e-01 7.72222480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters Centerline goodness [0,1] 0.24976523817654084 Centerline is valid? [False, False] Translation: X:102.12, Y:165.02, Z:7.73 [[ 3.97874473e-01 9.06092016e-01 -1.43851178e-01 1.02116575e+02] [-9.14149571e-01 3.78276355e-01 -1.45731126e-01 1.65015427e+02] [-7.76303104e-02 1.89484187e-01 9.78810134e-01 7.73469950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.606875 meters Centerline goodness [0,1] 0.25996533795493937 Centerline is valid? [False, False] Translation: X:101.97, Y:165.27, Z:7.75 [[ 3.84961493e-01 9.07824158e-01 -1.66312798e-01 1.01967600e+02] [-9.18844643e-01 3.60040639e-01 -1.61540277e-01 1.65267106e+02] [-8.67707997e-02 2.15002410e-01 9.72751146e-01 7.74681380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters Centerline goodness [0,1] 0.24403563048940013 Centerline is valid? [False, False] Translation: X:101.82, Y:165.55, Z:7.77 [[ 3.47312893e-01 9.17938291e-01 -1.91736922e-01 1.01822896e+02] [-9.31712867e-01 3.14624785e-01 -1.81445250e-01 1.65549621e+02] [-1.06230355e-01 2.41662032e-01 9.64528161e-01 7.76845580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66687499999998 meters Centerline goodness [0,1] 0.18233883306454945 Centerline is valid? [False, False] Translation: X:101.65, Y:165.81, Z:7.78 [[ 3.36495205e-01 9.17344919e-01 -2.12718771e-01 1.01651936e+02] [-9.34195570e-01 2.96757264e-01 -1.98024655e-01 1.65813514e+02] [-1.18531071e-01 2.65355281e-01 9.56836956e-01 7.78313169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters Centerline goodness [0,1] 0.23385563089135109 Centerline is valid? [False, False] Translation: X:101.48, Y:166.06, Z:7.80 [[ 3.33962322e-01 9.14329126e-01 -2.29066403e-01 1.01484760e+02] [-9.34025595e-01 2.88329778e-01 -2.10860443e-01 1.66056048e+02] [-1.26749179e-01 2.84373326e-01 9.50298088e-01 7.79718319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72687499999998 meters Centerline goodness [0,1] 0.2635423760292206 Centerline is valid? [False, False] Translation: X:101.32, Y:166.30, Z:7.82 [[ 3.47754489e-01 9.07776203e-01 -2.34540362e-01 1.01319772e+02] [-9.28839756e-01 2.99469209e-01 -2.18116713e-01 1.66301882e+02] [-1.27763545e-01 2.93701478e-01 9.47320388e-01 7.81629143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters Centerline goodness [0,1] 0.2798335256304598 Centerline is valid? [False, False] Translation: X:101.15, Y:166.53, Z:7.83 [[ 3.66534118e-01 9.02188961e-01 -2.27393533e-01 1.01151388e+02] [-9.21761541e-01 3.18880863e-01 -2.20614272e-01 1.66529318e+02] [-1.26524314e-01 2.90465271e-01 9.48483803e-01 7.82674119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78687499999998 meters Centerline goodness [0,1] 0.28375882449515677 Centerline is valid? [False, False] Translation: X:100.98, Y:166.75, Z:7.84 [[ 3.88841920e-01 8.96156026e-01 -2.13790409e-01 1.00978138e+02] [-9.13403485e-01 3.44658832e-01 -2.16574149e-01 1.66753949e+02] [-1.20399476e-01 2.79490013e-01 9.52569839e-01 7.83798902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters Centerline goodness [0,1] 0.31908218503937 Centerline is valid? [False, False] Translation: X:100.81, Y:166.97, Z:7.85 [[ 4.13088428e-01 8.88614551e-01 -1.99304114e-01 1.00805170e+02] [-9.03704065e-01 3.72925122e-01 -2.10346896e-01 1.66972205e+02] [-1.12591802e-01 2.67003807e-01 9.57095634e-01 7.84877545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84687499999998 meters Centerline goodness [0,1] 0.3829887894682711 Centerline is valid? [False, False] Translation: X:100.64, Y:167.17, Z:7.86 [[ 4.66198551e-01 8.67580622e-01 -1.73097586e-01 1.00642825e+02] [-8.80013910e-01 4.34706802e-01 -1.91325675e-01 1.67168100e+02] [-9.07437500e-02 2.41524036e-01 9.66142697e-01 7.86224064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters Centerline goodness [0,1] 0.521845408047984 Centerline is valid? [False, False] Translation: X:100.49, Y:167.33, Z:7.87 [[ 4.93427678e-01 8.57454178e-01 -1.45950195e-01 1.00488982e+02] [-8.66326911e-01 4.69544370e-01 -1.70310797e-01 1.67334813e+02] [-7.75036114e-02 2.10476643e-01 9.74521818e-01 7.87318679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90687499999999 meters Centerline goodness [0,1] 0.9420007865703462 Centerline is valid? [False, False] Translation: X:100.35, Y:167.49, Z:7.88 [[ 5.22254898e-01 8.43387661e-01 -1.26281727e-01 1.00349559e+02] [-8.50161452e-01 5.03289185e-01 -1.54678705e-01 1.67486300e+02] [-6.68978831e-02 1.88141568e-01 9.79860921e-01 7.88361172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters Centerline goodness [0,1] 0.9811845244269267 Centerline is valid? [False, True] Translation: X:100.21, Y:167.63, Z:7.89 [[ 5.51115244e-01 8.28037423e-01 -1.03082555e-01 1.00209965e+02] [-8.32424507e-01 5.37021852e-01 -1.36663715e-01 1.67634194e+02] [-5.78050862e-02 1.61125902e-01 9.85239573e-01 7.89415920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.966875 meters Centerline goodness [0,1] 0.9854985145326491 Centerline is valid? [True, True] Translation: X:100.29, Y:167.65, Z:8.52 [[ 7.36160364e-01 -6.76139610e-01 -3.00523959e-02 1.00292289e+02] [-6.75241575e-01 -7.36751532e-01 3.52986527e-02 1.67650391e+02] [-4.60079660e-02 -5.69284187e-03 -9.98924851e-01 8.52306402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters Centerline goodness [0,1] 0.9885195872864291 Centerline is valid? [True, True] Translation: X:100.32, Y:167.61, Z:8.52 [[ 7.67947106e-01 -6.39765526e-01 -3.09404931e-02 1.00318945e+02] [-6.39003698e-01 -7.68557325e-01 3.15263642e-02 1.67608097e+02] [-4.39490236e-02 -4.43949061e-03 -9.99023911e-01 8.51943068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.026875 meters Centerline goodness [0,1] 0.9932287880361408 Centerline is valid? [True, True] Translation: X:100.16, Y:167.42, Z:7.90 [[ 7.55872843e-01 6.53802583e-01 3.46183231e-02 1.00160636e+02] [-6.53090422e-01 7.56665036e-01 -3.05110387e-02 1.67422182e+02] [-4.61426706e-02 4.53570385e-04 9.98934757e-01 7.89891057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters Centerline goodness [0,1] 0.9943411143011692 Centerline is valid? [True, True] Translation: X:100.18, Y:167.40, Z:7.90 [[ 7.64407474e-01 6.43749282e-01 3.56100436e-02 1.00179565e+02] [-6.42984654e-01 7.65235691e-01 -3.13858516e-02 1.67397520e+02] [-4.74546958e-02 1.09486799e-03 9.98872791e-01 7.89785641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.086875 meters Centerline goodness [0,1] 0.9945531738635187 Centerline is valid? [True, True] Translation: X:100.20, Y:167.37, Z:7.90 [[ 7.70766722e-01 6.36099198e-01 3.60065386e-02 1.00197577e+02] [-6.35309042e-01 7.71605662e-01 -3.17351980e-02 1.67373652e+02] [-4.79695831e-02 1.58515499e-03 9.98847539e-01 7.89713768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters Centerline goodness [0,1] 0.995824807259048 Centerline is valid? [True, True] Translation: X:100.22, Y:167.35, Z:7.90 [[ 7.77345806e-01 6.27990275e-01 3.69013834e-02 1.00216103e+02] [-6.27151196e-01 7.78218247e-01 -3.25228777e-02 1.67350370e+02] [-4.91413808e-02 2.13877591e-03 9.98789543e-01 7.89542681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.146875 meters Centerline goodness [0,1] 0.9961011219643708 Centerline is valid? [True, True] Translation: X:100.24, Y:167.33, Z:7.89 [[ 7.78067351e-01 6.27086107e-01 3.70703707e-02 1.00238465e+02] [-6.26238292e-01 7.78946820e-01 -3.26719016e-02 1.67330940e+02] [-4.93639429e-02 2.20605432e-03 9.98778421e-01 7.89336531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters Centerline goodness [0,1] 0.9961011219643708 Centerline is valid? [True, True] Translation: X:100.26, Y:167.31, Z:7.89 [[ 7.78110462e-01 6.27032538e-01 3.70716348e-02 1.00259767e+02] [-6.26184731e-01 7.78989938e-01 -3.26704672e-02 1.67312245e+02] [-4.93638764e-02 2.20754058e-03 9.98778421e-01 7.89213970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.206875 meters Centerline goodness [0,1] 0.9955065021121511 Centerline is valid? [True, True] Translation: X:100.28, Y:167.30, Z:7.89 [[ 7.78075085e-01 6.27095558e-01 3.67467516e-02 1.00284567e+02] [-6.26262831e-01 7.78939282e-01 -3.23799565e-02 1.67295118e+02] [-4.89288151e-02 2.18091271e-03 9.98799887e-01 7.89030137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters Centerline goodness [0,1] 0.9953578977908567 Centerline is valid? [True, True] Translation: X:100.31, Y:167.28, Z:7.89 [[ 7.73950152e-01 6.32190057e-01 3.65635565e-02 1.00311834e+02] [-6.31371351e-01 7.74811147e-01 -3.22165075e-02 1.67279692e+02] [-4.86968068e-02 1.84878886e-03 9.98811896e-01 7.88613550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.266875 meters Centerline goodness [0,1] 0.9954005842501088 Centerline is valid? [True, True] Translation: X:100.34, Y:167.26, Z:7.88 [[ 7.70975245e-01 6.35850195e-01 3.59402413e-02 1.00336573e+02] [-6.35063151e-01 7.71810859e-01 -3.16669032e-02 1.67263364e+02] [-4.78744751e-02 1.59007555e-03 9.98852094e-01 7.88315411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters Centerline goodness [0,1] 0.9955601445534331 Centerline is valid? [True, True] Translation: X:100.36, Y:167.25, Z:7.88 [[ 7.67584052e-01 6.40006669e-01 3.47301986e-02 1.00359992e+02] [-6.39276083e-01 7.68368279e-01 -3.05986526e-02 1.67246407e+02] [-4.62689247e-02 1.28485242e-03 9.98928193e-01 7.88051659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.326875 meters Centerline goodness [0,1] 0.995132358424127 Centerline is valid? [True, True] Translation: X:100.39, Y:167.23, Z:7.88 [[ 7.63616266e-01 6.44790982e-01 3.36865990e-02 1.00385134e+02] [-6.44108381e-01 7.64358332e-01 -2.96771677e-02 1.67229252e+02] [-4.48842027e-02 9.64147287e-04 9.98991731e-01 7.87756916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters Centerline goodness [0,1] 0.994498764817006 Centerline is valid? [True, True] Translation: X:100.41, Y:167.21, Z:7.87 [[ 7.55299443e-01 6.54611519e-01 3.17255374e-02 1.00411738e+02] [-6.54014775e-01 7.55965363e-01 -2.79471601e-02 1.67213915e+02] [-4.22779403e-02 3.59504220e-04 9.99105823e-01 7.87381146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.386875 meters Centerline goodness [0,1] 0.9938198879725512 Centerline is valid? [True, True] Translation: X:100.44, Y:167.20, Z:7.87 [[ 7.51648012e-01 6.58842254e-01 3.08569293e-02 1.00435251e+02] [-6.58281311e-01 7.52281111e-01 -2.71817000e-02 1.67196940e+02] [-4.11215376e-02 1.18530862e-04 9.99154145e-01 7.87169230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters Centerline goodness [0,1] 0.9930567070137623 Centerline is valid? [True, True] Translation: X:100.46, Y:167.18, Z:7.87 [[ 7.47750614e-01 6.63279035e-01 3.04949229e-02 1.00458413e+02] [-6.62735385e-01 7.48372169e-01 -2.68496987e-02 1.67180240e+02] [-4.06303939e-02 -1.33185769e-04 9.99174236e-01 7.86972110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44687499999998 meters Centerline goodness [0,1] 0.9926880294964476 Centerline is valid? [True, True] Translation: X:100.48, Y:167.16, Z:7.87 [[ 7.41763375e-01 6.69999010e-01 2.98064305e-02 1.00482269e+02] [-6.69485606e-01 7.42361824e-01 -2.62287228e-02 1.67163515e+02] [-3.97003744e-02 -4.99470178e-04 9.99211505e-01 7.86747386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters Centerline goodness [0,1] 0.9908470143832631 Centerline is valid? [True, True] Translation: X:100.50, Y:167.14, Z:7.87 [[ 7.39667151e-01 6.72313848e-01 2.97757595e-02 1.00503917e+02] [-6.71803888e-01 7.40265959e-01 -2.61886533e-02 1.67144404e+02] [-3.96489754e-02 -6.32584387e-04 9.99213470e-01 7.86544229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50687499999998 meters Centerline goodness [0,1] 0.9900292889636693 Centerline is valid? [True, True] Translation: X:100.52, Y:167.12, Z:7.86 [[ 7.37868640e-01 6.74289950e-01 2.97141987e-02 1.00524327e+02] [-6.73784213e-01 7.38466320e-01 -2.61214077e-02 1.67124375e+02] [-3.95563376e-02 -7.46790420e-04 9.99217063e-01 7.86434845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters Centerline goodness [0,1] 0.9899320517069937 Centerline is valid? [True, True] Translation: X:100.54, Y:167.10, Z:7.86 [[ 7.36260479e-01 6.76035458e-01 2.99427136e-02 1.00543926e+02] [-6.75523909e-01 7.36868594e-01 -2.63082543e-02 1.67103770e+02] [-3.98491580e-02 -8.57290991e-04 9.99205339e-01 7.86353832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56687499999998 meters Centerline goodness [0,1] 0.989156576546691 Centerline is valid? [True, True] Translation: X:100.56, Y:167.08, Z:7.86 [[ 7.34983705e-01 6.77423166e-01 2.99467299e-02 1.00563424e+02] [-6.76912816e-01 7.35592943e-01 -2.63070707e-02 1.67083176e+02] [-3.98496223e-02 -9.36056947e-04 9.99205250e-01 7.86280523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters Centerline goodness [0,1] 0.9881004118292254 Centerline is valid? [True, True] Translation: X:100.58, Y:167.06, Z:7.86 [[ 7.34078440e-01 6.78398692e-01 3.00675681e-02 1.00581905e+02] [-6.77885190e-01 7.34693285e-01 -2.64091949e-02 1.67060697e+02] [-4.00064037e-02 -9.95938514e-04 9.99198927e-01 7.86080321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62687499999998 meters Centerline goodness [0,1] 0.986356640738738 Centerline is valid? [True, True] Translation: X:100.60, Y:167.03, Z:7.86 [[ 7.33519002e-01 6.79068727e-01 2.85576222e-02 1.00596707e+02] [-6.78606512e-01 7.34074032e-01 -2.50702620e-02 1.67034676e+02] [-3.79878397e-02 -9.89874808e-04 9.99277711e-01 7.85785457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters Centerline goodness [0,1] 0.9865912728935825 Centerline is valid? [True, True] Translation: X:100.61, Y:167.01, Z:7.86 [[ 7.34090806e-01 6.78471308e-01 2.80601407e-02 1.00614481e+02] [-6.78024869e-01 7.34626291e-01 -2.46270098e-02 1.67012714e+02] [-3.73224366e-02 -9.47011788e-04 9.99302826e-01 7.85522186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.686875 meters Centerline goodness [0,1] 0.985889149816081 Centerline is valid? [True, True] Translation: X:100.63, Y:166.99, Z:7.85 [[ 7.34969966e-01 6.77555365e-01 2.71638832e-02 1.00633014e+02] [-6.77136565e-01 7.35471250e-01 -2.38351028e-02 1.66989423e+02] [-3.61278569e-02 -8.75573924e-04 9.99346792e-01 7.85293796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters Centerline goodness [0,1] 0.9844617784711388 Centerline is valid? [True, True] Translation: X:100.65, Y:166.96, Z:7.85 [[ 7.37191106e-01 6.75174928e-01 2.62314573e-02 1.00646248e+02] [-6.74783294e-01 7.37657283e-01 -2.30052167e-02 1.66961924e+02] [-3.48823710e-02 -7.41307969e-04 9.99391150e-01 7.85020970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.746875 meters Centerline goodness [0,1] 0.9834892451930057 Centerline is valid? [True, True] Translation: X:100.66, Y:166.94, Z:7.85 [[ 7.38139906e-01 6.74137069e-01 2.62429298e-02 1.00663500e+02] [-6.73744583e-01 7.38605936e-01 -2.30110291e-02 1.66937709e+02] [-3.48957714e-02 -6.95672941e-04 9.99390715e-01 7.84797019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters Centerline goodness [0,1] 0.9826233533806422 Centerline is valid? [True, True] Translation: X:100.68, Y:166.91, Z:7.85 [[ 7.39093718e-01 6.73097698e-01 2.60761576e-02 1.00681185e+02] [-6.72709650e-01 7.39553293e-01 -2.28616186e-02 1.66913982e+02] [-3.46728111e-02 -6.44804175e-04 9.99398509e-01 7.84686419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.806875 meters Centerline goodness [0,1] 0.9828661731680944 Centerline is valid? [True, True] Translation: X:100.70, Y:166.89, Z:7.85 [[ 7.39777017e-01 6.72346989e-01 2.60670641e-02 1.00697845e+02] [-6.71958855e-01 7.40235876e-01 -2.28504934e-02 1.66889862e+02] [-3.46592365e-02 -6.11724754e-04 9.99399001e-01 7.84610105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters Centerline goodness [0,1] 0.9814699792960663 Centerline is valid? [True, True] Translation: X:100.72, Y:166.87, Z:7.85 [[ 7.40323262e-01 6.71718643e-01 2.67494352e-02 1.00715294e+02] [-6.71309622e-01 7.40806118e-01 -2.34453935e-02 1.66867578e+02] [-3.55648532e-02 -5.99983053e-04 9.99367190e-01 7.84505099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.866875 meters Centerline goodness [0,1] 0.9795174954726171 Centerline is valid? [True, True] Translation: X:100.73, Y:166.84, Z:7.84 [[ 7.39999241e-01 6.72071554e-01 2.68505070e-02 1.00730121e+02] [-6.71659815e-01 7.40485948e-01 -2.35298590e-02 1.66842759e+02] [-3.56961720e-02 -6.22328810e-04 9.99362495e-01 7.84385296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters Centerline goodness [0,1] 0.9790568278908871 Centerline is valid? [True, True] Translation: X:100.75, Y:166.82, Z:7.84 [[ 7.39578301e-01 6.72550965e-01 2.64412072e-02 1.00749966e+02] [-6.72152136e-01 7.40050534e-01 -2.31670736e-02 1.66821562e+02] [-3.51488672e-02 -6.38649000e-04 9.99381884e-01 7.84293807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.926875 meters Centerline goodness [0,1] 0.9791133578813789 Centerline is valid? [True, True] Translation: X:100.77, Y:166.80, Z:7.84 [[ 7.38729987e-01 6.73484346e-01 2.63977639e-02 1.00771275e+02] [-6.73087654e-01 7.39201166e-01 -2.31224246e-02 1.66797310e+02] [-3.50858489e-02 -6.86780532e-04 9.99384066e-01 7.84268748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters Centerline goodness [0,1] 0.9770788579056041 Centerline is valid? [True, True] Translation: X:100.79, Y:166.77, Z:7.84 [[ 7.36362362e-01 6.76124404e-01 2.50252459e-02 1.00791191e+02] [-6.75769067e-01 7.36787086e-01 -2.19307573e-02 1.66772539e+02] [-3.32661982e-02 -7.62302886e-04 9.99446236e-01 7.83981410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.986875 meters Centerline goodness [0,1] 0.9742249870399171 Centerline is valid? [True, True] Translation: X:100.81, Y:166.75, Z:7.84 [[ 7.35527269e-01 6.77034094e-01 2.49894533e-02 1.00814594e+02] [-6.76679958e-01 7.35951224e-01 -2.19095946e-02 1.66751742e+02] [-3.32245613e-02 -7.94757937e-04 9.99447596e-01 7.83700911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters Centerline goodness [0,1] 0.9739650375783748 Centerline is valid? [True, True] Translation: X:100.83, Y:166.73, Z:7.84 [[ 7.34150681e-01 6.78526776e-01 2.49838281e-02 1.00833985e+02] [-6.78173339e-01 7.34575172e-01 -2.19143564e-02 1.66725299e+02] [-3.32219774e-02 -8.54926470e-04 9.99447632e-01 7.83655308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.046875 meters Centerline goodness [0,1] 0.9726771390374331 Centerline is valid? [True, True] Translation: X:100.85, Y:166.70, Z:7.83 [[ 7.32741679e-01 6.80092907e-01 2.37332885e-02 1.00853103e+02] [-6.79774491e-01 7.33125417e-01 -2.08270388e-02 1.66698339e+02] [-3.15637984e-02 -8.72444686e-04 9.99501358e-01 7.83496434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters Centerline goodness [0,1] 0.9719680828842377 Centerline is valid? [True, True] Translation: X:100.87, Y:166.67, Z:7.83 [[ 7.32436118e-01 6.80434706e-01 2.33654609e-02 1.00874493e+02] [-6.80125954e-01 7.32808202e-01 -2.05140524e-02 1.66674993e+02] [-3.10808746e-02 -8.66223510e-04 9.99516498e-01 7.83267927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.106875 meters Centerline goodness [0,1] 0.9715341882126896 Centerline is valid? [True, True] Translation: X:100.90, Y:166.65, Z:7.83 [[ 7.32462593e-01 6.80415335e-01 2.30981120e-02 1.00896443e+02] [-6.80113279e-01 7.32826210e-01 -2.02897437e-02 1.66650363e+02] [-3.07323546e-02 -8.47854423e-04 9.99527290e-01 7.83110719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters Centerline goodness [0,1] 0.9719467449418178 Centerline is valid? [True, True] Translation: X:100.92, Y:166.63, Z:7.83 [[ 7.32095755e-01 6.80811397e-01 2.30574972e-02 1.00918566e+02] [-6.80510249e-01 7.32458266e-01 -2.02654619e-02 1.66625520e+02] [-3.06856118e-02 -8.54604552e-04 9.99528720e-01 7.82974026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16687499999998 meters Centerline goodness [0,1] 0.9700220889870622 Centerline is valid? [True, True] Translation: X:100.94, Y:166.60, Z:7.83 [[ 7.32469168e-01 6.80438668e-01 2.21841661e-02 1.00937367e+02] [-6.80159370e-01 7.32804600e-01 -1.95102307e-02 1.66598543e+02] [-2.95321743e-02 -7.98126025e-04 9.99563512e-01 7.82675988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters Centerline goodness [0,1] 0.9710975352854434 Centerline is valid? [True, True] Translation: X:100.96, Y:166.57, Z:7.83 [[ 7.32752243e-01 6.80141833e-01 2.19371277e-02 1.00957857e+02] [-6.79868434e-01 7.33080138e-01 -1.92982689e-02 1.66573103e+02] [-2.92072326e-02 -7.73510859e-04 9.99573078e-01 7.82556463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22687499999998 meters Centerline goodness [0,1] 0.9706124343368283 Centerline is valid? [True, True] Translation: X:100.98, Y:166.55, Z:7.82 [[ 7.32622888e-01 6.80265223e-01 2.24260946e-02 1.00979184e+02] [-6.79979254e-01 7.32965623e-01 -1.97385479e-02 1.66548079e+02] [-2.98650041e-02 -7.88367086e-04 9.99553630e-01 7.82464514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters Centerline goodness [0,1] 0.9700459857402016 Centerline is valid? [True, True] Translation: X:101.00, Y:166.52, Z:7.82 [[ 7.32438108e-01 6.80446904e-01 2.29440617e-02 1.00998425e+02] [-6.80147337e-01 7.32796944e-01 -2.02049289e-02 1.66521296e+02] [-3.05617196e-02 -8.06482608e-04 9.99532556e-01 7.82379831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28687499999998 meters Centerline goodness [0,1] 0.9697675403311175 Centerline is valid? [True, True] Translation: X:101.02, Y:166.50, Z:7.82 [[ 7.31730548e-01 6.81200342e-01 2.31624777e-02 1.01020070e+02] [-6.80895102e-01 7.32096573e-01 -2.04075412e-02 1.66497603e+02] [-3.08587946e-02 -8.38396307e-04 9.99523402e-01 7.82265889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters Centerline goodness [0,1] 0.969538840100123 Centerline is valid? [True, True] Translation: X:101.04, Y:166.47, Z:7.82 [[ 7.31234500e-01 6.81717722e-01 2.36019767e-02 1.01042410e+02] [-6.81400729e-01 7.31614784e-01 -2.08051505e-02 1.66474161e+02] [-3.14507949e-02 -8.68960311e-04 9.99504924e-01 7.82144830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34687499999998 meters Centerline goodness [0,1] 0.9693157671058223 Centerline is valid? [True, True] Translation: X:101.06, Y:166.45, Z:7.82 [[ 7.30519030e-01 6.82465401e-01 2.41438118e-02 1.01063974e+02] [-6.82133706e-01 7.30917330e-01 -2.12946930e-02 1.66450460e+02] [-3.21800216e-02 -9.13129300e-04 9.99481672e-01 7.82104929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters Centerline goodness [0,1] 0.9682647289367201 Centerline is valid? [True, True] Translation: X:101.08, Y:166.43, Z:7.82 [[ 7.29186158e-01 6.83875389e-01 2.45356805e-02 1.01083070e+02] [-6.83533268e-01 7.29598168e-01 -2.16514541e-02 1.66425111e+02] [-3.27080841e-02 -9.83013202e-04 9.99464464e-01 7.82039597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40687499999999 meters Centerline goodness [0,1] 0.9688126199104669 Centerline is valid? [True, True] Translation: X:101.10, Y:166.40, Z:7.82 [[ 7.27950862e-01 6.85187302e-01 2.46151355e-02 1.01103706e+02] [-6.84843393e-01 7.28366174e-01 -2.17311530e-02 1.66400395e+02] [-3.28187422e-02 -1.03830131e-03 9.99460781e-01 7.81965025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters Centerline goodness [0,1] 0.9674433518597692 Centerline is valid? [True, True] Translation: X:101.13, Y:166.38, Z:7.82 [[ 7.26596983e-01 6.86635380e-01 2.42627134e-02 1.01126268e+02] [-6.86301718e-01 7.27001161e-01 -2.14304502e-02 1.66377118e+02] [-3.23539261e-02 -1.08024137e-03 9.99475891e-01 7.81782432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.466875 meters Centerline goodness [0,1] 0.9668166238217653 Centerline is valid? [True, True] Translation: X:101.15, Y:166.35, Z:7.81 [[ 7.23731083e-01 6.89701637e-01 2.29122513e-02 1.01146591e+02] [-6.89405219e-01 7.24092779e-01 -2.02506905e-02 1.66354629e+02] [-3.05575301e-02 -1.13977148e-03 9.99532360e-01 7.81394430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters Centerline goodness [0,1] 0.9643154590300468 Centerline is valid? [True, True] Translation: X:101.17, Y:166.33, Z:7.81 [[ 7.22114948e-01 6.91418205e-01 2.21555490e-02 1.01169991e+02] [-6.91141883e-01 7.22453798e-01 -1.95807834e-02 1.66334522e+02] [-2.95448707e-02 -1.17305148e-03 9.99562767e-01 7.81069976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.526875 meters Centerline goodness [0,1] 0.9649073915280398 Centerline is valid? [True, True] Translation: X:101.19, Y:166.31, Z:7.81 [[ 7.20050349e-01 6.93600393e-01 2.11184503e-02 1.01189180e+02] [-6.93350106e-01 7.20358978e-01 -1.86701273e-02 1.66309217e+02] [-2.81624729e-02 -1.19904803e-03 9.99602640e-01 7.80992154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters Centerline goodness [0,1] 0.9635116775570939 Centerline is valid? [True, True] Translation: X:101.21, Y:166.29, Z:7.81 [[ 7.18211197e-01 6.95539485e-01 1.99374365e-02 1.01210364e+02] [-6.95317180e-01 7.18486864e-01 -1.76251215e-02 1.66288046e+02] [-2.65837541e-02 -1.20428252e-03 9.99645864e-01 7.80777720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.586875 meters Centerline goodness [0,1] 0.9639737516839773 Centerline is valid? [True, True] Translation: X:101.23, Y:166.26, Z:7.81 [[ 7.15775680e-01 6.98070834e-01 1.90338196e-02 1.01228483e+02] [-6.97869018e-01 7.16027641e-01 -1.68300935e-02 1.66261420e+02] [-2.53773383e-02 -1.23654135e-03 9.99677179e-01 7.80655795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters Centerline goodness [0,1] 0.9638247393509348 Centerline is valid? [True, True] Translation: X:101.25, Y:166.24, Z:7.81 [[ 7.14890961e-01 6.98982388e-01 1.88290990e-02 1.01250088e+02] [-6.98785302e-01 7.15137776e-01 -1.66451893e-02 1.66237196e+02] [-2.51000942e-02 -1.25800222e-03 9.99684151e-01 7.80517892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.646875 meters Centerline goodness [0,1] 0.9635569150098318 Centerline is valid? [True, True] Translation: X:101.27, Y:166.21, Z:7.80 [[ 7.14596064e-01 6.99279049e-01 1.90072662e-02 1.01270853e+02] [-6.99078131e-01 7.14847666e-01 -1.68101548e-02 1.66210995e+02] [-2.53422889e-02 -1.27509367e-03 9.99678019e-01 7.80494917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters Centerline goodness [0,1] 0.9630019749835418 Centerline is valid? [True, True] Translation: X:101.29, Y:166.19, Z:7.80 [[ 7.14650545e-01 6.99211405e-01 1.94424801e-02 1.01291539e+02] [-6.99000858e-01 7.14913797e-01 -1.72064970e-02 1.66187773e+02] [-2.59306762e-02 -1.29367781e-03 9.99662906e-01 7.80411264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.706875 meters Centerline goodness [0,1] 0.9612711243365681 Centerline is valid? [True, True] Translation: X:101.31, Y:166.16, Z:7.80 [[ 7.15284108e-01 6.98549180e-01 1.99421163e-02 1.01309201e+02] [-6.98327188e-01 7.15560873e-01 -1.76571635e-02 1.66161023e+02] [-2.66041952e-02 -1.29623356e-03 9.99645205e-01 7.80310218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters Centerline goodness [0,1] 0.9637321899146902 Centerline is valid? [True, True] Translation: X:101.33, Y:166.13, Z:7.80 [[ 7.15459330e-01 6.98364483e-01 2.01244956e-02 1.01327529e+02] [-6.98138130e-01 7.15741134e-01 -1.78264152e-02 1.66133777e+02] [-2.68532645e-02 -1.29560266e-03 9.99638546e-01 7.80352036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.766875 meters Centerline goodness [0,1] 0.962983026363308 Centerline is valid? [True, True] Translation: X:101.34, Y:166.11, Z:7.80 [[ 7.16602052e-01 6.97176663e-01 2.06446055e-02 1.01343668e+02] [-6.96937576e-01 7.16898235e-01 -1.83012350e-02 1.66106416e+02] [-2.75592752e-02 -1.27329873e-03 9.99619360e-01 7.80344439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters Centerline goodness [0,1] 0.9632567944329851 Centerline is valid? [True, True] Translation: X:101.36, Y:166.08, Z:7.80 [[ 7.16422997e-01 6.97356832e-01 2.07734711e-02 1.01364421e+02] [-6.97114958e-01 7.16722945e-01 -1.84107498e-02 1.66080534e+02] [-2.77276855e-02 -1.29161291e-03 9.99614679e-01 7.80296765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.826875 meters Centerline goodness [0,1] 0.9630482881321137 Centerline is valid? [True, True] Translation: X:101.39, Y:166.05, Z:7.80 [[ 7.16223283e-01 6.97554554e-01 2.10202967e-02 1.01385335e+02] [-6.97306687e-01 7.16530485e-01 -1.86399669e-02 1.66053706e+02] [-2.80640771e-02 -1.30721517e-03 9.99605271e-01 7.80317443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters Centerline goodness [0,1] 0.9620990582329779 Centerline is valid? [True, True] Translation: X:101.40, Y:166.03, Z:7.80 [[ 7.15053014e-01 6.98736501e-01 2.15983686e-02 1.01404789e+02] [-6.98474987e-01 7.15377797e-01 -1.91650818e-02 1.66029172e+02] [-2.88423356e-02 -1.38187068e-03 9.99583018e-01 7.80225854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.886875 meters Centerline goodness [0,1] 0.9593467766151572 Centerline is valid? [True, True] Translation: X:101.43, Y:166.01, Z:7.80 [[ 7.14161741e-01 6.99641236e-01 2.17979116e-02 1.01426533e+02] [-6.99375019e-01 7.14492904e-01 -1.93512949e-02 1.66006168e+02] [-2.91134171e-02 -1.42496042e-03 9.99575099e-01 7.80130197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters Centerline goodness [0,1] 0.9557534534745109 Centerline is valid? [True, True] Translation: X:101.45, Y:165.98, Z:7.80 [[ 7.11954573e-01 7.01916208e-01 2.08404040e-02 1.01445942e+02] [-7.01673493e-01 7.12258069e-01 -1.85136018e-02 1.65982650e+02] [-2.78387430e-02 -1.44231558e-03 9.99611387e-01 7.79917080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94687499999998 meters Centerline goodness [0,1] 0.9569980762914653 Centerline is valid? [True, True] Translation: X:101.47, Y:165.96, Z:7.80 [[ 7.11350229e-01 7.02532099e-01 2.07244176e-02 1.01467846e+02] [-7.02292467e-01 7.11650556e-01 -1.84058656e-02 1.65958592e+02] [-2.76792547e-02 -1.46158561e-03 9.99615788e-01 7.79712782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters Centerline goodness [0,1] 0.9563692017894985 Centerline is valid? [True, True] Translation: X:101.49, Y:165.93, Z:7.79 [[ 7.10883306e-01 7.03008124e-01 2.06034902e-02 1.01489789e+02] [-7.02771240e-01 7.11180308e-01 -1.83071832e-02 1.65934633e+02] [-2.75228950e-02 -1.46526945e-03 9.99620099e-01 7.79446353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.006875 meters Centerline goodness [0,1] 0.9582023958604069 Centerline is valid? [True, True] Translation: X:101.51, Y:165.91, Z:7.79 [[ 7.11366842e-01 7.02521576e-01 2.05097605e-02 1.01508883e+02] [-7.02286345e-01 7.11661003e-01 -1.82347399e-02 1.65907043e+02] [-2.74062950e-02 -1.43213541e-03 9.99623351e-01 7.79364442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters Centerline goodness [0,1] 0.9583749346265392 Centerline is valid? [True, True] Translation: X:101.53, Y:165.88, Z:7.79 [[ 7.11627215e-01 7.02270738e-01 2.00628258e-02 1.01529670e+02] [-7.02045491e-01 7.11908617e-01 -1.78395683e-02 1.65883019e+02] [-2.68111054e-02 -1.38989410e-03 9.99639551e-01 7.79145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06687500000004 meters Centerline goodness [0,1] 0.9608517805582291 Centerline is valid? [True, True] Translation: X:101.54, Y:165.85, Z:7.79 [[ 7.14089727e-01 6.99791336e-01 1.91819978e-02 1.01544863e+02] [-6.99584208e-01 7.14346256e-01 -1.70693737e-02 1.65854648e+02] [-2.56475881e-02 -1.23035832e-03 9.99670289e-01 7.79109615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters Centerline goodness [0,1] 0.9615347373517308 Centerline is valid? [True, True] Translation: X:101.57, Y:165.83, Z:7.79 [[ 7.14846152e-01 6.99031390e-01 1.87108397e-02 1.01565595e+02] [-6.98834165e-01 7.15090016e-01 -1.66456847e-02 1.65831238e+02] [-2.50157908e-02 -1.17667038e-03 9.99686364e-01 7.78968484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12687500000004 meters Centerline goodness [0,1] 0.9615347373517308 Centerline is valid? [True, True] Translation: X:101.59, Y:165.81, Z:7.79 [[ 7.14657863e-01 6.99223969e-01 1.87077452e-02 1.01589747e+02] [-6.99026719e-01 7.14901708e-01 -1.66491615e-02 1.65809608e+02] [-2.50156918e-02 -1.17875955e-03 9.99686364e-01 7.78827874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters Centerline goodness [0,1] 0.961236923226292 Centerline is valid? [True, True] Translation: X:101.61, Y:165.79, Z:7.79 [[ 7.15521151e-01 6.98330996e-01 1.90604973e-02 1.01610773e+02] [-6.98125646e-01 7.15774036e-01 -1.69738409e-02 1.65786092e+02] [-2.54963683e-02 -1.16147976e-03 9.99674240e-01 7.78709880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18687500000004 meters Centerline goodness [0,1] 0.9623741129995854 Centerline is valid? [True, True] Translation: X:101.63, Y:165.76, Z:7.79 [[ 7.15932298e-01 6.97900289e-01 1.93941047e-02 1.01629467e+02] [-6.97687273e-01 7.16193998e-01 -1.72807762e-02 1.65758000e+02] [-2.59502001e-02 -1.15915417e-03 9.99662565e-01 7.78646949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters Centerline goodness [0,1] 0.9636884503317744 Centerline is valid? [True, True] Translation: X:101.65, Y:165.73, Z:7.79 [[ 7.15829473e-01 6.98011759e-01 1.91768243e-02 1.01650725e+02] [-6.97803508e-01 7.16085374e-01 -1.70880320e-02 1.65732757e+02] [-2.56598906e-02 -1.14953830e-03 9.99670070e-01 7.78504105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24687500000005 meters Centerline goodness [0,1] 0.9640303678042309 Centerline is valid? [True, True] Translation: X:101.67, Y:165.71, Z:7.78 [[ 7.15838736e-01 6.98014771e-01 1.87158791e-02 1.01672848e+02] [-6.97816182e-01 7.16082492e-01 -1.66865351e-02 1.65709355e+02] [-2.50495613e-02 -1.11537506e-03 9.99685588e-01 7.78280223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters Centerline goodness [0,1] 0.9634789063466535 Centerline is valid? [True, True] Translation: X:101.69, Y:165.68, Z:7.78 [[ 7.15618019e-01 6.98253455e-01 1.82472610e-02 1.01691654e+02] [-6.98064560e-01 7.15849792e-01 -1.62771544e-02 1.65681663e+02] [-2.44278773e-02 -1.08954120e-03 9.99701001e-01 7.78103208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.306875 meters Centerline goodness [0,1] 0.9658899355478433 Centerline is valid? [True, True] Translation: X:101.71, Y:165.66, Z:7.78 [[ 7.15508305e-01 6.98358504e-01 1.85274349e-02 1.01713398e+02] [-6.98163585e-01 7.15747289e-01 -1.65356329e-02 1.65659075e+02] [-2.48087611e-02 -1.10379772e-03 9.99691606e-01 7.78004264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters Centerline goodness [0,1] 0.9660957707095421 Centerline is valid? [True, True] Translation: X:101.73, Y:165.63, Z:7.78 [[ 7.16180920e-01 6.97616871e-01 2.03860416e-02 1.01732105e+02] [-6.97380241e-01 7.16470037e-01 -1.82067259e-02 1.65634870e+02] [-2.73073072e-02 -1.17751293e-03 9.99626392e-01 7.78145608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.366875 meters Centerline goodness [0,1] 0.9682293490769 Centerline is valid? [True, True] Translation: X:101.75, Y:165.61, Z:7.78 [[ 7.16092171e-01 6.97688921e-01 2.10278978e-02 1.01752546e+02] [-6.97437191e-01 7.16399809e-01 -1.87797032e-02 1.65609107e+02] [-2.81667729e-02 -1.21763958e-03 9.99602496e-01 7.78241975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters Centerline goodness [0,1] 0.9672357173297235 Centerline is valid? [True, True] Translation: X:101.77, Y:165.59, Z:7.78 [[ 7.15965461e-01 6.97807525e-01 2.14036472e-02 1.01774640e+02] [-6.97546498e-01 7.16284250e-01 -1.91247531e-02 1.65585197e+02] [-2.86764920e-02 -1.23737643e-03 9.99587979e-01 7.78125364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.426875 meters Centerline goodness [0,1] 0.9672357173297235 Centerline is valid? [True, True] Translation: X:101.80, Y:165.56, Z:7.78 [[ 7.15773628e-01 6.98004427e-01 2.13993838e-02 1.01798736e+02] [-6.97743345e-01 7.16092372e-01 -1.91295219e-02 1.65563537e+02] [-2.86764265e-02 -1.23887040e-03 9.99587979e-01 7.77984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters Centerline goodness [0,1] 0.9691497934924952 Centerline is valid? [True, True] Translation: X:101.82, Y:165.54, Z:7.78 [[ 7.14570872e-01 6.99207890e-01 2.22889293e-02 1.01820026e+02] [-6.98924851e-01 7.14917166e-01 -1.99373553e-02 1.65539829e+02] [-2.98750943e-02 -1.33163324e-03 9.99552753e-01 7.78023542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.486875 meters Centerline goodness [0,1] 0.9683660856184254 Centerline is valid? [True, True] Translation: X:101.84, Y:165.52, Z:7.78 [[ 7.13578369e-01 7.00223963e-01 2.21881310e-02 1.01843304e+02] [-6.99943715e-01 7.13921947e-01 -1.98557114e-02 1.65517905e+02] [-2.97440386e-02 -1.36183668e-03 9.99556620e-01 7.77812626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters Centerline goodness [0,1] 0.966678447013682 Centerline is valid? [True, True] Translation: X:101.87, Y:165.50, Z:7.77 [[ 7.12378393e-01 7.01485700e-01 2.08527437e-02 1.01867014e+02] [-7.01238475e-01 7.12682300e-01 -1.86692054e-02 1.65497830e+02] [-2.79575619e-02 -1.32320767e-03 9.99608235e-01 7.77429026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.546875 meters Centerline goodness [0,1] 0.9673344617638885 Centerline is valid? [True, True] Translation: X:101.89, Y:165.48, Z:7.77 [[ 7.10736002e-01 7.03195235e-01 1.92560679e-02 1.01890162e+02] [-7.02984871e-01 7.10995658e-01 -1.72466121e-02 1.65476565e+02] [-2.58187161e-02 -1.27893624e-03 9.99665823e-01 7.77013359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters Centerline goodness [0,1] 0.9692773691042839 Centerline is valid? [True, True] Translation: X:101.91, Y:165.45, Z:7.77 [[ 7.08032605e-01 7.05976348e-01 1.69477640e-02 1.01910559e+02] [-7.05814087e-01 7.08234374e-01 -1.51837348e-02 1.65452307e+02] [-2.27223467e-02 -1.21139128e-03 9.99741080e-01 7.76742969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.606875 meters Centerline goodness [0,1] 0.965290854496412 Centerline is valid? [True, True] Translation: X:101.94, Y:165.44, Z:7.76 [[ 7.06645052e-01 7.07371486e-01 1.66838645e-02 1.01936359e+02] [-7.07214413e-01 7.06840907e-01 -1.49568039e-02 1.65435383e+02] [-2.23728545e-02 -1.22991794e-03 9.99748940e-01 7.76363431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters Centerline goodness [0,1] 0.9651898734177216 Centerline is valid? [True, True] Translation: X:101.96, Y:165.42, Z:7.76 [[ 7.05631590e-01 7.08381804e-01 1.67116498e-02 1.01961502e+02] [-7.08224388e-01 7.05828329e-01 -1.49862236e-02 1.65417701e+02] [-2.24115239e-02 -1.26084518e-03 9.99748035e-01 7.76092188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.666875 meters Centerline goodness [0,1] 0.9646872444807849 Centerline is valid? [True, True] Translation: X:101.98, Y:165.39, Z:7.76 [[ 7.03264369e-01 7.10740154e-01 1.63603206e-02 1.01979679e+02] [-7.10589955e-01 7.03453424e-01 -1.46695779e-02 1.65391128e+02] [-2.19349816e-02 -1.30888803e-03 9.99758543e-01 7.76203477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters Centerline goodness [0,1] 0.9642252654254501 Centerline is valid? [True, True] Translation: X:102.00, Y:165.37, Z:7.76 [[ 7.02414354e-01 7.11582959e-01 1.62409524e-02 1.02004428e+02] [-7.11435042e-01 7.02600845e-01 -1.45682693e-02 1.65372153e+02] [-2.17774391e-02 -1.32142119e-03 9.99761970e-01 7.75943310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.726875 meters Centerline goodness [0,1] 0.9680195851050123 Centerline is valid? [True, True] Translation: X:102.02, Y:165.35, Z:7.76 [[ 7.02047218e-01 7.11941855e-01 1.63859543e-02 1.02024637e+02] [-7.11791272e-01 7.02237138e-01 -1.47033164e-02 1.65345474e+02] [-2.19747320e-02 -1.34095688e-03 9.99757627e-01 7.76010442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters Centerline goodness [0,1] 0.9685641900625614 Centerline is valid? [True, True] Translation: X:102.05, Y:165.32, Z:7.76 [[ 7.01388102e-01 7.12584899e-01 1.66580937e-02 1.02046503e+02] [-7.12429243e-01 7.01584539e-01 -1.49569072e-02 1.65321800e+02] [-2.23451272e-02 -1.37711630e-03 9.99749368e-01 7.75927842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.786875 meters Centerline goodness [0,1] 0.9659621975282999 Centerline is valid? [True, True] Translation: X:102.07, Y:165.30, Z:7.76 [[ 7.01072372e-01 7.12868006e-01 1.77970893e-02 1.02070677e+02] [-7.12690215e-01 7.01296679e-01 -1.59883268e-02 1.65302450e+02] [-2.38786063e-02 -1.47483722e-03 9.99713778e-01 7.75720595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters Centerline goodness [0,1] 0.9677352260614097 Centerline is valid? [True, True] Translation: X:102.70, Y:165.97, Z:8.41 [[ 8.27562066e-01 -5.59434053e-01 -4.66322572e-02 1.02703224e+02] [-5.58046478e-01 -8.28844557e-01 4.00103512e-02 1.65965086e+02] [-6.10340454e-02 -7.08808198e-03 -9.98110517e-01 8.40887678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.846875 meters Centerline goodness [0,1] 0.969131296276984 Centerline is valid? [True, True] Translation: X:102.71, Y:165.97, Z:8.41 [[ 8.68857712e-01 -4.92604007e-01 -4.92703667e-02 1.02705973e+02] [-4.91337084e-01 -8.70224788e-01 3.60095527e-02 1.65971230e+02] [-6.06147444e-02 -7.07881928e-03 -9.98136135e-01 8.40597943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters Centerline goodness [0,1] 0.9694648478488982 Centerline is valid? [True, True] Translation: X:102.70, Y:165.98, Z:8.40 [[ 9.04486825e-01 -4.23415074e-01 -5.12177638e-02 1.02704914e+02] [-4.22288673e-01 -9.05908790e-01 3.16471403e-02 1.65976438e+02] [-5.97984986e-02 -6.99573989e-03 -9.98185954e-01 8.40331850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.906875 meters Centerline goodness [0,1] 0.9715819387432901 Centerline is valid? [True, True] Translation: X:102.70, Y:165.98, Z:8.40 [[ 9.33207152e-01 -3.55117231e-01 -5.49196178e-02 1.02703811e+02] [-3.54065561e-01 -9.34796867e-01 2.81495122e-02 1.65984365e+02] [-6.13350635e-02 -6.82418079e-03 -9.98093904e-01 8.40450531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters Centerline goodness [0,1] 0.9737735998104116 Centerline is valid? [True, True] Translation: X:102.70, Y:165.99, Z:8.40 [[ 9.56409261e-01 -2.86179782e-01 -5.81588930e-02 1.02702362e+02] [-2.85231299e-01 -9.58153633e-01 2.41810208e-02 1.65994324e+02] [-6.26452739e-02 -6.53821560e-03 -9.98014439e-01 8.40452532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.966875 meters Centerline goodness [0,1] 0.9754653354929502 Centerline is valid? [True, True] Translation: X:102.70, Y:166.00, Z:8.40 [[ 9.75151953e-01 -2.13650404e-01 -5.85847557e-02 1.02699324e+02] [-2.12877827e-01 -9.76890187e-01 1.91987608e-02 1.66003188e+02] [-6.13326960e-02 -6.25031359e-03 -9.98097808e-01 8.40064875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters Centerline goodness [0,1] 0.9788700534901669 Centerline is valid? [True, True] Translation: X:102.69, Y:166.01, Z:8.40 [[ 9.87950287e-01 -1.43143883e-01 -5.88562621e-02 1.02694083e+02] [-1.42540286e-01 -9.89684961e-01 1.43507508e-02 1.66014579e+02] [-6.03033797e-02 -5.78843995e-03 -9.98163311e-01 8.39763261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.026875 meters Centerline goodness [0,1] 0.980686866537203 Centerline is valid? [True, True] Translation: X:102.68, Y:166.02, Z:8.40 [[ 9.95672487e-01 -6.97587767e-02 -6.14004232e-02 1.02684893e+02] [-6.92821739e-02 -9.97548376e-01 9.85986803e-03 1.66023523e+02] [-6.19377048e-02 -5.56324452e-03 -9.98064512e-01 8.39895047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters Centerline goodness [0,1] 0.9831163981649419 Centerline is valid? [True, True] Translation: X:102.67, Y:166.03, Z:8.40 [[ 9.98028738e-01 5.00260785e-03 -6.25588680e-02 1.02674707e+02] [ 5.32736943e-03 -9.99973181e-01 5.02557217e-03 1.66030123e+02] [-6.25320493e-02 -5.34893965e-03 -9.98028623e-01 8.39782787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.086875 meters Centerline goodness [0,1] 0.9855976956313011 Centerline is valid? [True, True] Translation: X:102.66, Y:166.03, Z:8.40 [[ 9.94725847e-01 8.08836115e-02 -6.30740074e-02 1.02663084e+02] [ 8.10502995e-02 -9.96710009e-01 8.43872956e-05 1.66032092e+02] [-6.28596689e-02 -5.19610941e-03 -9.98008849e-01 8.39612527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters Centerline goodness [0,1] 0.9859007972604206 Centerline is valid? [True, True] Translation: X:102.65, Y:166.03, Z:8.40 [[ 9.85472504e-01 1.57399243e-01 -6.37920236e-02 1.02650593e+02] [ 1.57403774e-01 -9.87521741e-01 -4.98625533e-03 1.66034793e+02] [-6.37808431e-02 -5.12728775e-03 -9.97950758e-01 8.39605626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.146875 meters Centerline goodness [0,1] 0.9861709241674468 Centerline is valid? [True, True] Translation: X:102.64, Y:166.04, Z:8.39 [[ 9.69920759e-01 2.35058226e-01 -6.32562362e-02 1.02638551e+02] [ 2.34902619e-01 -9.71967553e-01 -9.99176772e-03 1.66035911e+02] [-6.38316563e-02 -5.16783263e-03 -9.97947300e-01 8.39430579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters Centerline goodness [0,1] 0.9858207161739967 Centerline is valid? [True, True] Translation: X:102.63, Y:166.03, Z:8.39 [[ 9.48184085e-01 3.11488062e-01 -6.26268986e-02 1.02626855e+02] [ 3.11169222e-01 -9.50235644e-01 -1.50311595e-02 1.66032291e+02] [-6.41923381e-02 -5.23525708e-03 -9.97923813e-01 8.39377356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.206875 meters Centerline goodness [0,1] 0.9861307821811283 Centerline is valid? [True, True] Translation: X:102.62, Y:166.03, Z:8.39 [[ 9.20336844e-01 3.86244489e-01 -6.16059050e-02 1.02615675e+02] [ 3.85761174e-01 -9.22381073e-01 -2.00367910e-02 1.66030182e+02] [-6.45632209e-02 -5.32456921e-03 -9.97899414e-01 8.39292336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters Centerline goodness [0,1] 0.9862911597945004 Centerline is valid? [True, True] Translation: X:102.60, Y:166.03, Z:8.39 [[ 8.86638114e-01 4.58524420e-01 -6.02346286e-02 1.02604655e+02] [ 4.57874681e-01 -8.88665292e-01 -2.49954969e-02 1.66025766e+02] [-6.49894696e-02 -5.41795109e-03 -9.97871242e-01 8.39187295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.266875 meters Centerline goodness [0,1] 0.9858858057630736 Centerline is valid? [True, True] Translation: X:102.60, Y:166.02, Z:8.39 [[ 8.47155671e-01 5.28066905e-01 -5.89288912e-02 1.02595007e+02] [ 5.27235774e-01 -8.49184670e-01 -3.01302913e-02 1.66018772e+02] [-6.59523207e-02 -5.54437238e-03 -9.97807372e-01 8.39108275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters Centerline goodness [0,1] 0.9860296470086382 Centerline is valid? [True, True] Translation: X:102.59, Y:166.01, Z:8.39 [[ 8.02646220e-01 5.93850797e-01 -5.56801283e-02 1.02585227e+02] [ 5.92892306e-01 -8.04555875e-01 -3.41841747e-02 1.66012412e+02] [-6.50980737e-02 -5.57452100e-03 -9.97863300e-01 8.38921129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32687500000003 meters Centerline goodness [0,1] 0.9863670452110563 Centerline is valid? [True, True] Translation: X:103.15, Y:165.18, Z:7.74 [[ 8.44912629e-01 -5.34706895e-01 1.45321979e-02 1.03154507e+02] [ 5.34614989e-01 8.45037365e-01 9.93305811e-03 1.65182483e+02] [-1.75915248e-02 -6.23435443e-04 9.99845063e-01 7.73987462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters Centerline goodness [0,1] 0.9858989737438358 Centerline is valid? [True, True] Translation: X:103.18, Y:165.20, Z:7.74 [[ 8.44781061e-01 -5.34899526e-01 1.50816392e-02 1.03176677e+02] [ 5.34800350e-01 8.44915422e-01 1.03206001e-02 1.65199523e+02] [-1.82631936e-02 -6.52981555e-04 9.99833001e-01 7.73900721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38687500000003 meters Centerline goodness [0,1] 0.9854149383145556 Centerline is valid? [True, True] Translation: X:103.20, Y:165.22, Z:7.74 [[ 8.44749477e-01 -5.34963336e-01 1.45791434e-02 1.03201000e+02] [ 5.34870713e-01 8.44875041e-01 9.97420333e-03 1.65215376e+02] [-1.76533875e-02 -6.27746213e-04 9.99843970e-01 7.73740755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters Centerline goodness [0,1] 0.9862659341831564 Centerline is valid? [True, True] Translation: X:103.23, Y:165.23, Z:7.74 [[ 8.43913375e-01 -5.36269251e-01 1.50168353e-02 1.03226158e+02] [ 5.36171091e-01 8.44046742e-01 1.02790681e-02 1.65230278e+02] [-1.81872590e-02 -6.23050084e-04 9.99834404e-01 7.73726961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44687500000003 meters Centerline goodness [0,1] 0.9865042174320525 Centerline is valid? [True, True] Translation: X:103.25, Y:165.25, Z:7.74 [[ 8.42820752e-01 -5.37978468e-01 1.52429773e-02 1.03249511e+02] [ 5.37877502e-01 8.42958367e-01 1.04395268e-02 1.65245272e+02] [-1.84654359e-02 -5.99795269e-04 9.99829319e-01 7.73573149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters Centerline goodness [0,1] 0.9870517125587642 Centerline is valid? [True, True] Translation: X:103.27, Y:165.26, Z:7.73 [[ 8.42473123e-01 -5.38508566e-01 1.57340932e-02 1.03274245e+02] [ 5.38400971e-01 8.42619813e-01 1.07816866e-02 1.65260715e+02] [-1.90638892e-02 -6.12030117e-04 9.99818080e-01 7.73494373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50687500000004 meters Centerline goodness [0,1] 0.9876224303089011 Centerline is valid? [True, True] Translation: X:103.30, Y:165.27, Z:7.74 [[ 8.41447099e-01 -5.40109381e-01 1.57681720e-02 1.03300607e+02] [ 5.40001489e-01 8.41594628e-01 1.08108525e-02 1.65274426e+02] [-1.91094517e-02 -5.81924165e-04 9.99817228e-01 7.73546571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters Centerline goodness [0,1] 0.9874547647768396 Centerline is valid? [True, True] Translation: X:103.32, Y:165.29, Z:7.73 [[ 8.40531334e-01 -5.41520350e-01 1.62106847e-02 1.03322650e+02] [ 5.41406397e-01 8.40687446e-01 1.11234764e-02 1.65290905e+02] [-1.96517079e-02 -5.73062094e-04 9.99806722e-01 7.73282308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56687500000004 meters Centerline goodness [0,1] 0.9881134454908905 Centerline is valid? [True, True] Translation: X:103.35, Y:165.30, Z:7.73 [[ 8.38528824e-01 -5.44615357e-01 1.62334445e-02 1.03349615e+02] [ 5.44501637e-01 8.38685794e-01 1.11403054e-02 1.65303530e+02] [-1.96819407e-02 -5.02330050e-04 9.99806166e-01 7.73300713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters Centerline goodness [0,1] 0.9892377885131508 Centerline is valid? [True, True] Translation: X:103.38, Y:165.32, Z:7.73 [[ 8.37643225e-01 -5.45978387e-01 1.61687637e-02 1.03375467e+02] [ 5.45865776e-01 8.37799129e-01 1.10984056e-02 1.65317794e+02] [-1.96056657e-02 -4.70529517e-04 9.99807680e-01 7.73326883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62687500000004 meters Centerline goodness [0,1] 0.9897420709708685 Centerline is valid? [True, True] Translation: X:103.40, Y:165.33, Z:7.73 [[ 8.37263343e-01 -5.46565287e-01 1.60150579e-02 1.03398354e+02] [ 5.46454927e-01 8.37416374e-01 1.09922895e-02 1.65334014e+02] [-1.94192755e-02 -4.51933739e-04 9.99811326e-01 7.73026858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters Centerline goodness [0,1] 0.9891579230562282 Centerline is valid? [True, True] Translation: X:103.42, Y:165.35, Z:7.73 [[ 8.36933776e-01 -5.47061823e-01 1.62854851e-02 1.03422942e+02] [ 5.46947663e-01 8.37092083e-01 1.11847184e-02 1.65348592e+02] [-1.97511831e-02 -4.53560562e-04 9.99804823e-01 7.73003998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68687500000004 meters Centerline goodness [0,1] 0.9904518558364712 Centerline is valid? [True, True] Translation: X:103.45, Y:165.36, Z:7.73 [[ 8.36627790e-01 -5.47537118e-01 1.60326551e-02 1.03446460e+02] [ 5.47426471e-01 8.36781281e-01 1.10157778e-02 1.65363449e+02] [-1.94473729e-02 -4.39406038e-04 9.99810785e-01 7.73008660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters Centerline goodness [0,1] 0.9895737916913627 Centerline is valid? [True, True] Translation: X:103.47, Y:165.38, Z:7.73 [[ 8.36729682e-01 -5.47410361e-01 1.50111701e-02 1.03469979e+02] [ 5.47313232e-01 8.36864219e-01 1.03201579e-02 1.65379722e+02] [-1.82116726e-02 -4.19370428e-04 9.99834066e-01 7.72752507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74687500000005 meters Centerline goodness [0,1] 0.9889935414424111 Centerline is valid? [True, True] Translation: X:103.49, Y:165.40, Z:7.72 [[ 8.36780571e-01 -5.47340478e-01 1.47199658e-02 1.03491123e+02] [ 5.47246905e-01 8.36909926e-01 1.01291546e-02 1.65397124e+02] [-1.78633818e-02 -4.20424024e-04 9.99840349e-01 7.72369298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters Centerline goodness [0,1] 0.988955336458165 Centerline is valid? [True, True] Translation: X:103.51, Y:165.41, Z:7.72 [[ 8.36748175e-01 -5.47384095e-01 1.49380189e-02 1.03513841e+02] [ 5.47287791e-01 8.36881397e-01 1.02762131e-02 1.65413060e+02] [-1.81263858e-02 -4.23207197e-04 9.99835614e-01 7.72277025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.806875 meters Centerline goodness [0,1] 0.9887240356083086 Centerline is valid? [True, True] Translation: X:103.54, Y:165.43, Z:7.72 [[ 8.36771550e-01 -5.47349441e-01 1.48984104e-02 1.03537690e+02] [ 5.47253523e-01 8.36904060e-01 1.02555509e-02 1.65429787e+02] [-1.80819102e-02 -4.28345678e-04 9.99836417e-01 7.72190618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters Centerline goodness [0,1] 0.9880454435059502 Centerline is valid? [True, True] Translation: X:103.56, Y:165.45, Z:7.72 [[ 8.37058067e-01 -5.46928909e-01 1.42323925e-02 1.03561215e+02] [ 5.46841167e-01 8.37178946e-01 9.80562570e-03 1.65445520e+02] [-1.72780396e-02 -4.25019952e-04 9.99850633e-01 7.72080087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.866875 meters Centerline goodness [0,1] 0.9876726370306431 Centerline is valid? [True, True] Translation: X:103.58, Y:165.46, Z:7.72 [[ 8.37586701e-01 -5.46138514e-01 1.34625750e-02 1.03583455e+02] [ 5.46059882e-01 8.37694782e-01 9.27668649e-03 1.65462543e+02] [-1.63438846e-02 -4.18657120e-04 9.99866342e-01 7.71845618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters Centerline goodness [0,1] 0.9887513150441045 Centerline is valid? [True, True] Translation: X:103.61, Y:165.48, Z:7.72 [[ 8.37866072e-01 -5.45705704e-01 1.36282757e-02 1.03606804e+02] [ 5.45625111e-01 8.37976790e-01 9.38820533e-03 1.65480187e+02] [-1.65433759e-02 -4.30129304e-04 9.99863056e-01 7.71697767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.926875 meters Centerline goodness [0,1] 0.9874669115660958 Centerline is valid? [True, True] Translation: X:103.63, Y:165.50, Z:7.72 [[ 8.38608763e-01 -5.44550627e-01 1.41406401e-02 1.03629778e+02] [ 5.44463608e-01 8.38727840e-01 9.74628829e-03 1.65497893e+02] [-1.71674959e-02 -4.74258848e-04 9.99852515e-01 7.71716450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters Centerline goodness [0,1] 0.9873305119012319 Centerline is valid? [True, True] Translation: X:103.65, Y:165.51, Z:7.72 [[ 8.38663441e-01 -5.44443384e-01 1.50011496e-02 1.03653659e+02] [ 5.44345329e-01 8.38797437e-01 1.03451079e-02 1.65514978e+02] [-1.82152514e-02 -5.10258013e-04 9.99833958e-01 7.71786925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.986875 meters Centerline goodness [0,1] 0.9873305119012319 Centerline is valid? [True, True] Translation: X:103.68, Y:165.53, Z:7.72 [[ 8.38521893e-01 -5.44661415e-01 1.49992444e-02 1.03676318e+02] [ 5.44563346e-01 8.38655879e-01 1.03478688e-02 1.65530759e+02] [-1.82152894e-02 -5.08875821e-04 9.99833958e-01 7.71674056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters Centerline goodness [0,1] 0.9881399432662434 Centerline is valid? [True, True] Translation: X:103.70, Y:165.55, Z:7.72 [[ 8.38657365e-01 -5.44429802e-01 1.58118480e-02 1.03700174e+02] [ 5.44320654e-01 8.38806230e-01 1.09148841e-02 1.65545099e+02] [-1.92054648e-02 -5.47132521e-04 9.99815408e-01 7.71932622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.046875 meters Centerline goodness [0,1] 0.986939392303956 Centerline is valid? [True, True] Translation: X:103.72, Y:165.56, Z:7.72 [[ 8.38850767e-01 -5.44092202e-01 1.71191879e-02 1.03721894e+02] [ 5.43964001e-01 8.39025212e-01 1.18262270e-02 1.65563847e+02] [-2.07979882e-02 -6.08217610e-04 9.99783513e-01 7.71894278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters Centerline goodness [0,1] 0.9877375016844091 Centerline is valid? [True, True] Translation: X:103.74, Y:165.58, Z:7.72 [[ 8.39013932e-01 -5.43841208e-01 1.70986003e-02 1.03744617e+02] [ 5.43713081e-01 8.39187914e-01 1.18208021e-02 1.65580858e+02] [-2.07775780e-02 -6.21084969e-04 9.99783930e-01 7.71783265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.106875 meters Centerline goodness [0,1] 0.9863164983164984 Centerline is valid? [True, True] Translation: X:103.77, Y:165.60, Z:7.72 [[ 8.39079170e-01 -5.43737610e-01 1.71917800e-02 1.03766671e+02] [ 5.43608039e-01 8.39255037e-01 1.18862436e-02 1.65599842e+02] [-2.08912857e-02 -6.27909612e-04 9.99781556e-01 7.71527390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters Centerline goodness [0,1] 0.9858726656261773 Centerline is valid? [True, True] Translation: X:103.79, Y:165.62, Z:7.71 [[ 8.39286085e-01 -5.43421850e-01 1.70751055e-02 1.03789966e+02] [ 5.43293862e-01 8.39459522e-01 1.18106119e-02 1.65616558e+02] [-2.07520045e-02 -6.35682247e-04 9.99784452e-01 7.71453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.166875 meters Centerline goodness [0,1] 0.984058398862081 Centerline is valid? [True, True] Translation: X:103.81, Y:165.64, Z:7.71 [[ 8.39757903e-01 -5.42696444e-01 1.69480015e-02 1.03810564e+02] [ 5.42570004e-01 8.39928651e-01 1.17325069e-02 1.65635719e+02] [-2.06023018e-02 -6.56988122e-04 9.99787534e-01 7.71109989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters Centerline goodness [0,1] 0.9854524995981353 Centerline is valid? [True, True] Translation: X:103.84, Y:165.65, Z:7.71 [[ 8.40068518e-01 -5.42229426e-01 1.64965027e-02 1.03835681e+02] [ 5.42109585e-01 8.40230224e-01 1.14179233e-02 1.65650598e+02] [-2.00519942e-02 -6.48925696e-04 9.99798728e-01 7.71183942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.226875 meters Centerline goodness [0,1] 0.9837633630737079 Centerline is valid? [True, True] Translation: X:103.86, Y:165.67, Z:7.71 [[ 8.40435365e-01 -5.41674917e-01 1.60212548e-02 1.03855587e+02] [ 5.41561600e-01 8.40587806e-01 1.10983346e-02 1.65669674e+02] [-1.94789609e-02 -6.50936512e-04 9.99810055e-01 7.70746468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters Centerline goodness [0,1] 0.984500697200472 Centerline is valid? [True, True] Translation: X:103.88, Y:165.68, Z:7.71 [[ 8.40350412e-01 -5.41804707e-01 1.60886318e-02 1.03879526e+02] [ 5.41690508e-01 8.40504158e-01 1.11424743e-02 1.65684987e+02] [-1.95596070e-02 -6.48523704e-04 9.99808482e-01 7.70704144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.286875 meters Centerline goodness [0,1] 0.9851939273644118 Centerline is valid? [True, True] Translation: X:103.90, Y:165.70, Z:7.71 [[ 8.40921829e-01 -5.40920150e-01 1.59958886e-02 1.03902996e+02] [ 5.40806900e-01 8.41073681e-01 1.10887668e-02 1.65700849e+02] [-1.94518583e-02 -6.74099130e-04 9.99810567e-01 7.70636164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters Centerline goodness [0,1] 0.9852767962308598 Centerline is valid? [True, True] Translation: X:103.93, Y:165.72, Z:7.70 [[ 8.41356182e-01 -5.40252643e-01 1.57116752e-02 1.03925454e+02] [ 5.40143227e-01 8.41502597e-01 1.08937576e-02 1.65717911e+02] [-1.91067968e-02 -6.78975331e-04 9.99817218e-01 7.70431357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.346875 meters Centerline goodness [0,1] 0.9844294366725626 Centerline is valid? [True, True] Translation: X:103.95, Y:165.73, Z:7.70 [[ 8.41868008e-01 -5.39465835e-01 1.53254659e-02 1.03949010e+02] [ 5.39361645e-01 8.42007217e-01 1.06236514e-02 1.65734461e+02] [-1.86352499e-02 -6.77743722e-04 9.99826119e-01 7.70291076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters Centerline goodness [0,1] 0.9841095743827077 Centerline is valid? [True, True] Translation: X:103.97, Y:165.75, Z:7.70 [[ 8.42790569e-01 -5.38052668e-01 1.42612750e-02 1.03970876e+02] [ 5.37962089e-01 8.42910957e-01 9.89491957e-03 1.65751980e+02] [-1.73449728e-02 -6.67319619e-04 9.99849342e-01 7.70019671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.406875 meters Centerline goodness [0,1] 0.984650950243273 Centerline is valid? [True, True] Translation: X:104.00, Y:165.77, Z:7.70 [[ 8.43380031e-01 -5.37131465e-01 1.41390622e-02 1.03995184e+02] [ 5.37042361e-01 8.43498269e-01 9.80677041e-03 1.65767149e+02] [-1.71937995e-02 -6.77558973e-04 9.99851946e-01 7.69987488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters Centerline goodness [0,1] 0.9835722338540828 Centerline is valid? [True, True] Translation: X:104.02, Y:165.78, Z:7.70 [[ 8.43622228e-01 -5.36735864e-01 1.47019958e-02 1.04019026e+02] [ 5.36639358e-01 8.43750020e-01 1.02030662e-02 1.65783876e+02] [-1.78811608e-02 -7.17863901e-04 9.99839862e-01 7.69960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.466875 meters Centerline goodness [0,1] 0.982776603995614 Centerline is valid? [True, True] Translation: X:104.04, Y:165.80, Z:7.70 [[ 8.44525272e-01 -5.35283430e-01 1.57706883e-02 1.04041494e+02] [ 5.35171958e-01 8.44672121e-01 1.09536814e-02 1.65799779e+02] [-1.91843849e-02 -8.10630633e-04 9.99815634e-01 7.70010603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters Centerline goodness [0,1] 0.981399730820996 Centerline is valid? [True, True] Translation: X:104.06, Y:165.82, Z:7.70 [[ 8.45074605e-01 -5.34394339e-01 1.64803566e-02 1.04064303e+02] [ 5.34272325e-01 8.45234836e-01 1.14522587e-02 1.65816710e+02] [-2.00497937e-02 -8.73014584e-04 9.99798602e-01 7.69964344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.526875 meters Centerline goodness [0,1] 0.981399730820996 Centerline is valid? [True, True] Translation: X:104.09, Y:165.83, Z:7.70 [[ 8.44927454e-01 -5.34626929e-01 1.64816510e-02 1.04086928e+02] [ 5.34504995e-01 8.45087746e-01 1.14503980e-02 1.65832572e+02] [-2.00501324e-02 -8.65230832e-04 9.99798602e-01 7.69851096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters Centerline goodness [0,1] 0.9816405093278058 Centerline is valid? [True, True] Translation: X:104.11, Y:165.85, Z:7.70 [[ 8.45919551e-01 -5.33019818e-01 1.76064374e-02 1.04108489e+02] [ 5.32880086e-01 8.46102195e-01 1.22429563e-02 1.65849732e+02] [-2.14225837e-02 -9.74436226e-04 9.99770035e-01 7.69827972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.586875 meters Centerline goodness [0,1] 0.981541773173685 Centerline is valid? [True, True] Translation: X:104.13, Y:165.86, Z:7.70 [[ 8.45512114e-01 -5.33671171e-01 1.74455139e-02 1.04134872e+02] [ 5.33534086e-01 8.45691538e-01 1.21326199e-02 1.65862100e+02] [-2.12283529e-02 -9.50500775e-04 9.99774201e-01 7.69869590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters Centerline goodness [0,1] 0.9814470743463393 Centerline is valid? [True, True] Translation: X:104.16, Y:165.88, Z:7.70 [[ 8.44214747e-01 -5.35719448e-01 1.74966657e-02 1.04158020e+02] [ 5.35581837e-01 8.44395552e-01 1.21756831e-02 1.65878522e+02] [-2.12968569e-02 -9.07994884e-04 9.99772784e-01 7.69698132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.646875 meters Centerline goodness [0,1] 0.9831160736063308 Centerline is valid? [True, True] Translation: X:104.18, Y:165.89, Z:7.70 [[ 8.40955875e-01 -5.40781918e-01 1.86583223e-02 1.04184299e+02] [ 5.40626467e-01 8.41162418e-01 1.29926822e-02 1.65889292e+02] [-2.27208871e-02 -8.39089554e-04 9.99741495e-01 7.69805456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters Centerline goodness [0,1] 0.9840908474943763 Centerline is valid? [True, True] Translation: X:104.21, Y:165.90, Z:7.70 [[ 8.39475351e-01 -5.43053988e-01 1.93261941e-02 1.04210079e+02] [ 5.42887814e-01 8.39697396e-01 1.34574794e-02 1.65903611e+02] [-2.35362927e-02 -8.05266996e-04 9.99722659e-01 7.69808104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.706875 meters Centerline goodness [0,1] 0.9856565711341884 Centerline is valid? [True, True] Translation: X:104.24, Y:165.92, Z:7.70 [[ 8.37997447e-01 -5.45327059e-01 1.94596409e-02 1.04235882e+02] [ 5.45159055e-01 8.38223022e-01 1.35561850e-02 1.65917285e+02] [-2.37040735e-02 -7.51448957e-04 9.99718737e-01 7.69760700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters Centerline goodness [0,1] 0.9868102288021534 Centerline is valid? [True, True] Translation: X:104.26, Y:165.93, Z:7.70 [[ 8.36519357e-01 -5.47605805e-01 1.90590505e-02 1.04261192e+02] [ 5.47445093e-01 8.36736172e-01 1.32833742e-02 1.65930850e+02] [-2.32214498e-02 -6.78015999e-04 9.99730116e-01 7.69578395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.766875 meters Centerline goodness [0,1] 0.9889695918477966 Centerline is valid? [True, True] Translation: X:104.29, Y:165.94, Z:7.69 [[ 8.34229879e-01 -5.51114419e-01 1.82594292e-02 1.04285668e+02] [ 5.50967535e-01 8.34429493e-01 1.27356389e-02 1.65944376e+02] [-2.22550005e-02 -5.64097860e-04 9.99752168e-01 7.69148712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters Centerline goodness [0,1] 0.9899437392982361 Centerline is valid? [True, True] Translation: X:104.31, Y:165.96, Z:7.69 [[ 8.33002729e-01 -5.52987826e-01 1.76328639e-02 1.04309511e+02] [ 5.52851297e-01 8.33189186e-01 1.22973159e-02 1.65958415e+02] [-2.14917774e-02 -4.95346010e-04 9.99768902e-01 7.68987115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82687500000003 meters Centerline goodness [0,1] 0.990677574538635 Centerline is valid? [True, True] Translation: X:104.33, Y:165.97, Z:7.69 [[ 8.31765686e-01 -5.54843450e-01 1.77366905e-02 1.04334728e+02] [ 5.54705599e-01 8.31954650e-01 1.23757555e-02 1.65972625e+02] [-2.16227290e-02 -4.55087204e-04 9.99766098e-01 7.68893734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters Centerline goodness [0,1] 0.9910884094984513 Centerline is valid? [True, True] Translation: X:104.36, Y:165.99, Z:7.69 [[ 8.30433170e-01 -5.56825457e-01 1.80599267e-02 1.04359750e+02] [ 5.56682864e-01 8.30629422e-01 1.26076195e-02 1.65987076e+02] [-2.20213500e-02 -4.16133690e-04 9.99757414e-01 7.68867241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88687500000003 meters Centerline goodness [0,1] 0.9919427280398508 Centerline is valid? [True, True] Translation: X:104.38, Y:166.00, Z:7.69 [[ 8.28688236e-01 -5.59394413e-01 1.88068898e-02 1.04384757e+02] [ 5.59240278e-01 8.28901536e-01 1.31360460e-02 1.66001196e+02] [-2.29372905e-02 -3.68116489e-04 9.99736838e-01 7.68821080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters Centerline goodness [0,1] 0.9920156961059488 Centerline is valid? [True, True] Translation: X:104.41, Y:166.02, Z:7.69 [[ 8.28028496e-01 -5.60377651e-01 1.85929332e-02 1.04409859e+02] [ 5.60227121e-01 8.28237147e-01 1.29924008e-02 1.66015864e+02] [-2.26800090e-02 -3.41812631e-04 9.99742717e-01 7.68794572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94687500000003 meters Centerline goodness [0,1] 0.993375316921567 Centerline is valid? [True, True] Translation: X:104.43, Y:166.03, Z:7.69 [[ 8.27322062e-01 -5.61416252e-01 1.87082475e-02 1.04434657e+02] [ 5.61263965e-01 8.27533497e-01 1.30794500e-02 1.66030436e+02] [-2.28247173e-02 -3.20652365e-04 9.99739431e-01 7.68834964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters Centerline goodness [0,1] 0.9933371562764534 Centerline is valid? [True, True] Translation: X:104.46, Y:166.05, Z:7.69 [[ 8.26560882e-01 -5.62500710e-01 1.97499238e-02 1.04458200e+02] [ 5.62331111e-01 8.26796742e-01 1.38155287e-02 1.66045679e+02] [-2.41004173e-02 -3.13378975e-04 9.99709494e-01 7.68845655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00687500000004 meters Centerline goodness [0,1] 0.9931480672635947 Centerline is valid? [True, True] Translation: X:104.48, Y:166.06, Z:7.69 [[ 8.26631807e-01 -5.62398823e-01 1.96829803e-02 1.04480878e+02] [ 5.62230195e-01 8.26866048e-01 1.37748526e-02 1.66062005e+02] [-2.40221490e-02 -3.20365399e-04 9.99711375e-01 7.68767862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters Centerline goodness [0,1] 0.9929759603604584 Centerline is valid? [True, True] Translation: X:104.50, Y:166.08, Z:7.69 [[ 8.26932144e-01 -5.61937489e-01 2.02357878e-02 1.04503228e+02] [ 5.61758908e-01 8.27179627e-01 1.41701608e-02 1.66078809e+02] [-2.47013760e-02 -3.50127376e-04 9.99694813e-01 7.68680155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06687500000004 meters Centerline goodness [0,1] 0.9924489352455454 Centerline is valid? [True, True] Translation: X:104.52, Y:166.10, Z:7.68 [[ 8.28381088e-01 -5.59774276e-01 2.09173139e-02 1.04524795e+02] [ 5.59582525e-01 8.28645020e-01 1.46569950e-02 1.66098291e+02] [-2.55376368e-02 -4.36614132e-04 9.99673766e-01 7.68432688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters Centerline goodness [0,1] 0.9918226520687875 Centerline is valid? [True, True] Translation: X:104.55, Y:166.12, Z:7.68 [[ 8.29379470e-01 -5.58292396e-01 2.09593847e-02 1.04547681e+02] [ 5.58099209e-01 8.29644117e-01 1.46939320e-02 1.66116395e+02] [-2.55923407e-02 -4.89429460e-04 9.99672343e-01 7.68248547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12687500000004 meters Centerline goodness [0,1] 0.9920230084653787 Centerline is valid? [True, True] Translation: X:104.57, Y:166.13, Z:7.68 [[ 8.30134489e-01 -5.57154102e-01 2.13550097e-02 1.04569527e+02] [ 5.56952897e-01 8.30408942e-01 1.49819526e-02 1.66134259e+02] [-2.60806474e-02 -5.43301068e-04 9.99659694e-01 7.68118066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters Centerline goodness [0,1] 0.989832438587929 Centerline is valid? [True, True] Translation: X:104.59, Y:166.15, Z:7.68 [[ 8.31431941e-01 -5.55248009e-01 2.05079616e-02 1.04589889e+02] [ 5.55061810e-01 8.31684622e-01 1.43901456e-02 1.66153116e+02] [-2.50462560e-02 -5.81240389e-04 9.99686124e-01 7.67789658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18687500000004 meters Centerline goodness [0,1] 0.9901639344262295 Centerline is valid? [True, True] Translation: X:104.61, Y:166.17, Z:7.68 [[ 8.32738594e-01 -5.53301564e-01 2.00950912e-02 1.04612962e+02] [ 5.53122162e-01 8.32980782e-01 1.41028690e-02 1.66169693e+02] [-2.45419642e-02 -6.28962995e-04 9.99698603e-01 7.67728566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters Centerline goodness [0,1] 0.9869258046179249 Centerline is valid? [True, True] Translation: X:104.63, Y:166.19, Z:7.67 [[ 8.35673781e-01 -5.48907377e-01 1.87089228e-02 1.04631532e+02] [ 5.48750794e-01 8.35882883e-01 1.31290318e-02 1.66192386e+02] [-2.28450907e-02 -7.05051403e-04 9.99738768e-01 7.67337517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24687500000005 meters Centerline goodness [0,1] 0.9880036828422877 Centerline is valid? [True, True] Translation: X:104.66, Y:166.21, Z:7.67 [[ 8.37124030e-01 -5.46711714e-01 1.81565259e-02 1.04655748e+02] [ 5.46563523e-01 8.37320571e-01 1.27505704e-02 1.66207733e+02] [-2.21737188e-02 -7.50114120e-04 9.99753851e-01 7.67303507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters Centerline goodness [0,1] 0.9855127406645184 Centerline is valid? [True, True] Translation: X:104.67, Y:166.23, Z:7.67 [[ 8.39333429e-01 -5.43323773e-01 1.78514193e-02 1.04673551e+02] [ 5.43179785e-01 8.39522839e-01 1.25348833e-02 1.66230995e+02] [-2.17971743e-02 -8.24416447e-04 9.99762073e-01 7.66914239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.306875 meters Centerline goodness [0,1] 0.9854303565657654 Centerline is valid? [True, True] Translation: X:104.70, Y:166.25, Z:7.67 [[ 8.39722128e-01 -5.42727388e-01 1.77124451e-02 1.04697136e+02] [ 5.42585386e-01 8.39908495e-01 1.24426278e-02 1.66247834e+02] [-2.16297880e-02 -8.37835995e-04 9.99765698e-01 7.66817879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters Centerline goodness [0,1] 0.9850203410836005 Centerline is valid? [True, True] Translation: X:104.72, Y:166.27, Z:7.67 [[ 8.40152759e-01 -5.42053126e-01 1.79373897e-02 1.04720490e+02] [ 5.41907200e-01 8.40343769e-01 1.26070090e-02 1.66265179e+02] [-2.19072423e-02 -8.71412729e-04 9.99759628e-01 7.66698198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.366875 meters Centerline goodness [0,1] 0.9846573566354231 Centerline is valid? [True, True] Translation: X:104.74, Y:166.28, Z:7.67 [[ 8.40128768e-01 -5.42077378e-01 1.83239814e-02 1.04741657e+02] [ 5.41924894e-01 8.40328097e-01 1.28879388e-02 1.66281912e+02] [-2.23844165e-02 -8.97306510e-04 9.99749035e-01 7.66595942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters Centerline goodness [0,1] 0.9847972516027809 Centerline is valid? [True, True] Translation: X:104.77, Y:166.30, Z:7.67 [[ 8.40150833e-01 -5.42021505e-01 1.89543048e-02 1.04766583e+02] [ 5.41858335e-01 8.40364102e-01 1.33312090e-02 1.66296092e+02] [-2.31543192e-02 -9.29678296e-04 9.99731471e-01 7.66685410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.426875 meters Centerline goodness [0,1] 0.9845705653862754 Centerline is valid? [True, True] Translation: X:104.79, Y:166.31, Z:7.67 [[ 8.40096615e-01 -5.42086660e-01 1.94866920e-02 1.04788967e+02] [ 5.41913942e-01 8.40322036e-01 1.37169291e-02 1.66312858e+02] [-2.38108610e-02 -9.63435604e-04 9.99716017e-01 7.66574306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters Centerline goodness [0,1] 0.9856412752494524 Centerline is valid? [True, True] Translation: X:104.81, Y:166.33, Z:7.67 [[ 8.39718107e-01 -5.42654855e-01 1.99802004e-02 1.04814720e+02] [ 5.42473399e-01 8.39955214e-01 1.40659073e-02 1.66327107e+02] [-2.44154064e-02 -9.72669819e-04 9.99701426e-01 7.66648058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.486875 meters Centerline goodness [0,1] 0.9854374187960155 Centerline is valid? [True, True] Translation: X:104.84, Y:166.34, Z:7.67 [[ 8.39511872e-01 -5.42966574e-01 2.01770951e-02 1.04837382e+02] [ 5.42781354e-01 8.39753735e-01 1.42150119e-02 1.66343467e+02] [-2.46620673e-02 -9.81920226e-04 9.99695363e-01 7.66590494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters Centerline goodness [0,1] 0.9863561451381947 Centerline is valid? [True, True] Translation: X:104.86, Y:166.36, Z:7.66 [[ 8.38375757e-01 -5.44711342e-01 2.03873351e-02 1.04861255e+02] [ 5.44522756e-01 8.38623080e-01 1.43630706e-02 1.66359123e+02] [-2.49210172e-02 -9.40282316e-04 9.99688981e-01 7.66476817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.546875 meters Centerline goodness [0,1] 0.9867657427998048 Centerline is valid? [True, True] Translation: X:104.88, Y:166.38, Z:7.66 [[ 8.37041319e-01 -5.46754338e-01 2.05310571e-02 1.04884789e+02] [ 5.46563527e-01 8.37292601e-01 1.44710599e-02 1.66375107e+02] [-2.51026170e-02 -8.91348051e-04 9.99684482e-01 7.66383797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters Centerline goodness [0,1] 0.9865258951234002 Centerline is valid? [True, True] Translation: X:104.91, Y:166.39, Z:7.66 [[ 8.36380272e-01 -5.47775369e-01 2.02530362e-02 1.04909045e+02] [ 5.47589818e-01 8.36625014e-01 1.42820449e-02 1.66390276e+02] [-2.47675491e-02 -8.54864185e-04 9.99692872e-01 7.66226131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.606875 meters Centerline goodness [0,1] 0.988089759900387 Centerline is valid? [True, True] Translation: X:104.93, Y:166.40, Z:7.66 [[ 8.35455363e-01 -5.49194583e-01 1.99911465e-02 1.04934302e+02] [ 5.49014043e-01 8.35694117e-01 1.41040096e-02 1.66404369e+02] [-2.44523292e-02 -8.07850325e-04 9.99700671e-01 7.66175529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters Centerline goodness [0,1] 0.9879030080466599 Centerline is valid? [True, True] Translation: X:104.96, Y:166.42, Z:7.66 [[ 8.34444181e-01 -5.50728449e-01 2.00270787e-02 1.04957006e+02] [ 5.50547445e-01 8.34684119e-01 1.41397354e-02 1.66419919e+02] [-2.45034391e-02 -7.72962861e-04 9.99699447e-01 7.66059373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.666875 meters Centerline goodness [0,1] 0.9892060056810497 Centerline is valid? [True, True] Translation: X:104.98, Y:166.44, Z:7.66 [[ 8.34264749e-01 -5.50990394e-01 2.02956736e-02 1.04980924e+02] [ 5.50804608e-01 8.34511226e-01 1.43282325e-02 1.66435137e+02] [-2.48316859e-02 -7.74588764e-04 9.99691346e-01 7.65976891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters Centerline goodness [0,1] 0.9886056809590669 Centerline is valid? [True, True] Translation: X:105.00, Y:166.45, Z:7.66 [[ 8.33931113e-01 -5.51502594e-01 2.00944784e-02 1.05003650e+02] [ 5.51320327e-01 8.34172829e-01 1.41981802e-02 1.66451435e+02] [-2.45926011e-02 -7.61809798e-04 9.99697266e-01 7.65850679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.726875 meters Centerline goodness [0,1] 0.9885203392577386 Centerline is valid? [True, True] Translation: X:105.03, Y:166.47, Z:7.66 [[ 8.33143370e-01 -5.52696828e-01 1.99584722e-02 1.05026335e+02] [ 5.52517321e-01 8.33382081e-01 1.41037902e-02 1.66468305e+02] [-2.44281532e-02 -7.23077727e-04 9.99701327e-01 7.65710674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters Centerline goodness [0,1] 0.9889150879475296 Centerline is valid? [True, True] Translation: X:105.05, Y:166.48, Z:7.66 [[ 8.33127326e-01 -5.52726154e-01 1.98156159e-02 1.05050415e+02] [ 5.52549180e-01 8.33362636e-01 1.40042825e-02 1.66483990e+02] [-2.42541271e-02 -7.18248049e-04 9.99705567e-01 7.65715947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.786875 meters Centerline goodness [0,1] 0.9892915089237425 Centerline is valid? [True, True] Translation: X:105.07, Y:166.50, Z:7.66 [[ 8.33024373e-01 -5.52872381e-01 2.00630010e-02 1.05073516e+02] [ 5.52690841e-01 8.33265624e-01 1.41857351e-02 1.66500654e+02] [-2.45607102e-02 -7.28426200e-04 9.99698075e-01 7.65611876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters Centerline goodness [0,1] 0.9891565939266109 Centerline is valid? [True, True] Translation: X:105.10, Y:166.52, Z:7.65 [[ 8.32832925e-01 -5.53152912e-01 2.02774216e-02 1.05095201e+02] [ 5.52967275e-01 8.33079415e-01 1.43485338e-02 1.66518403e+02] [-2.48296358e-02 -7.37180827e-04 9.99691425e-01 7.65497777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.846875 meters Centerline goodness [0,1] 0.9887746821747363 Centerline is valid? [True, True] Translation: X:105.12, Y:166.53, Z:7.66 [[ 8.32896785e-01 -5.53053045e-01 2.03782946e-02 1.05120599e+02] [ 5.52865487e-01 8.33145710e-01 1.44214802e-02 1.66533475e+02] [-2.49539322e-02 -7.45148690e-04 9.99688324e-01 7.65505236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters Centerline goodness [0,1] 0.988308672642834 Centerline is valid? [True, True] Translation: X:105.14, Y:166.55, Z:7.65 [[ 8.32784935e-01 -5.53151593e-01 2.21938451e-02 1.05141776e+02] [ 5.52928834e-01 8.33080216e-01 1.57180931e-02 1.66551339e+02] [-2.71837415e-02 -8.18174314e-04 9.99630119e-01 7.65471339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.906875 meters Centerline goodness [0,1] 0.9874220656004338 Centerline is valid? [True, True] Translation: X:105.16, Y:166.57, Z:7.66 [[ 8.32724738e-01 -5.53200056e-01 2.32208500e-02 1.05164564e+02] [ 5.52956209e-01 8.33047998e-01 1.64457971e-02 1.66567786e+02] [-2.84418985e-02 -8.54708922e-04 9.99595082e-01 7.65531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters Centerline goodness [0,1] 0.9874220656004338 Centerline is valid? [True, True] Translation: X:105.19, Y:166.58, Z:7.65 [[ 8.32576522e-01 -5.53423284e-01 2.32164545e-02 1.05187029e+02] [ 5.53179350e-01 8.32899717e-01 1.64519990e-02 1.66583847e+02] [-2.84418977e-02 -8.54684891e-04 9.99595082e-01 7.65419190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.966875 meters Centerline goodness [0,1] 0.9888066780497059 Centerline is valid? [True, True] Translation: X:105.21, Y:166.60, Z:7.65 [[ 8.32368853e-01 -5.53712556e-01 2.37591751e-02 1.05210981e+02] [ 5.53456897e-01 8.32707417e-01 1.68469523e-02 1.66600665e+02] [-2.91128103e-02 -8.73199020e-04 9.99575751e-01 7.65418957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters Centerline goodness [0,1] 0.9885692616068043 Centerline is valid? [True, True] Translation: X:105.23, Y:166.62, Z:7.65 [[ 8.32077473e-01 -5.54145693e-01 2.38669184e-02 1.05234157e+02] [ 5.53887655e-01 8.32419243e-01 1.69313138e-02 1.66616929e+02] [-2.92496968e-02 -8.68573276e-04 9.99571759e-01 7.65306091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.026875 meters Centerline goodness [0,1] 0.9880384072908756 Centerline is valid? [True, True] Translation: X:105.26, Y:166.64, Z:7.65 [[ 8.32418852e-01 -5.53647603e-01 2.35199241e-02 1.05255538e+02] [ 5.53396464e-01 8.32750594e-01 1.66973717e-02 1.66635401e+02] [-2.88306906e-02 -8.83364129e-04 9.99583919e-01 7.65058229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters Centerline goodness [0,1] 0.9867304470028647 Centerline is valid? [True, True] Translation: X:105.28, Y:166.65, Z:7.65 [[ 8.32550358e-01 -5.53475330e-01 2.29120001e-02 1.05278823e+02] [ 5.53236931e-01 8.32865120e-01 1.62662204e-02 1.66652737e+02] [-2.80855574e-02 -8.66683018e-04 9.99605147e-01 7.64811913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.086875 meters Centerline goodness [0,1] 0.9863361417152733 Centerline is valid? [True, True] Translation: X:105.30, Y:166.67, Z:7.65 [[ 8.32219974e-01 -5.54001535e-01 2.21858913e-02 1.05302019e+02] [ 5.53778010e-01 8.32515234e-01 1.57575665e-02 1.66668734e+02] [-2.71998085e-02 -8.27702840e-04 9.99629674e-01 7.64705210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters Centerline goodness [0,1] 0.9879051896747659 Centerline is valid? [True, True] Translation: X:105.33, Y:166.69, Z:7.65 [[ 8.31663058e-01 -5.54843238e-01 2.20349534e-02 1.05325242e+02] [ 5.54622787e-01 8.31954529e-01 1.56597158e-02 1.66685529e+02] [-2.70207667e-02 -8.02519864e-04 9.99634550e-01 7.64519289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.146875 meters Centerline goodness [0,1] 0.9881441071621475 Centerline is valid? [True, True] Translation: X:105.35, Y:166.70, Z:7.64 [[ 8.30293512e-01 -5.56942041e-01 2.06941413e-02 1.05348651e+02] [ 5.56748019e-01 8.30551068e-01 1.47162231e-02 1.66700899e+02] [-2.53836245e-02 -6.97362416e-04 9.99677541e-01 7.64158121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters Centerline goodness [0,1] 0.9886106013170679 Centerline is valid? [True, True] Translation: X:105.37, Y:166.72, Z:7.64 [[ 8.29194484e-01 -5.58585867e-01 2.04532541e-02 1.05373432e+02] [ 5.58396845e-01 8.29446454e-01 1.45445426e-02 1.66716332e+02] [-2.50892550e-02 -6.39221910e-04 9.99685011e-01 7.64005628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.206875 meters Centerline goodness [0,1] 0.9899410524038722 Centerline is valid? [True, True] Translation: X:105.40, Y:166.73, Z:7.64 [[ 8.27523127e-01 -5.61069501e-01 2.01615874e-02 1.05398835e+02] [ 5.60886399e-01 8.27768506e-01 1.43439114e-02 1.66730832e+02] [-2.47370583e-02 -5.61558231e-04 9.99693834e-01 7.63927529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters Centerline goodness [0,1] 0.9921504939775342 Centerline is valid? [True, True] Translation: X:105.43, Y:166.74, Z:7.64 [[ 8.23453778e-01 -5.67035497e-01 1.98650756e-02 1.05426859e+02] [ 5.66859297e-01 8.23693267e-01 1.41399514e-02 1.66742401e+02] [-2.43805833e-02 -3.82893595e-04 9.99702676e-01 7.63934715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.266875 meters Centerline goodness [0,1] 0.9938340350400652 Centerline is valid? [True, True] Translation: X:105.45, Y:166.76, Z:7.64 [[ 8.21047397e-01 -5.70511946e-01 1.99321769e-02 1.05452472e+02] [ 5.70335419e-01 8.21289253e-01 1.41940833e-02 1.66756192e+02] [-2.44679768e-02 -2.85988625e-04 9.99700573e-01 7.63907025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters Centerline goodness [0,1] 0.9939039325078242 Centerline is valid? [True, True] Translation: X:105.48, Y:166.77, Z:7.64 [[ 8.18684714e-01 -5.73873543e-01 2.06032936e-02 1.05476648e+02] [ 5.73685718e-01 8.18943903e-01 1.46826704e-02 1.66770458e+02] [-2.52989378e-02 -2.00662469e-04 9.99679911e-01 7.63832120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32687500000003 meters Centerline goodness [0,1] 0.9954570184983678 Centerline is valid? [True, True] Translation: X:105.50, Y:166.78, Z:7.64 [[ 8.16147025e-01 -5.77451317e-01 2.13075051e-02 1.05501936e+02] [ 5.77251641e-01 8.16425115e-01 1.51846744e-02 1.66784483e+02] [-2.61643925e-02 -9.31345851e-05 9.99657649e-01 7.63876141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters Centerline goodness [0,1] 0.9962942779291553 Centerline is valid? [True, True] Translation: X:105.53, Y:166.80, Z:7.64 [[ 8.11804914e-01 -5.83475025e-01 2.30147122e-02 1.05528829e+02] [ 5.83244221e-01 8.12131076e-01 1.64101794e-02 1.66796869e+02] [-2.82658928e-02 1.01333626e-04 9.99600435e-01 7.64086290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38687500000003 meters Centerline goodness [0,1] 0.9972727520658903 Centerline is valid? [True, True] Translation: X:105.55, Y:166.81, Z:7.64 [[ 8.10034560e-01 -5.85898484e-01 2.38112931e-02 1.05552251e+02] [ 5.85652229e-01 8.10384435e-01 1.69863029e-02 1.66811744e+02] [-2.92485504e-02 1.85644442e-04 9.99572152e-01 7.64088622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters Centerline goodness [0,1] 0.9974114441416894 Centerline is valid? [True, True] Translation: X:105.58, Y:166.83, Z:7.64 [[ 8.08623007e-01 -5.87819541e-01 2.44339942e-02 1.05575634e+02] [ 5.87560811e-01 8.08992041e-01 1.74404928e-02 1.66827966e+02] [-3.00187693e-02 2.53673745e-04 9.99549303e-01 7.63975152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44687500000003 meters Centerline goodness [0,1] 0.9968994778067886 Centerline is valid? [True, True] Translation: X:105.60, Y:166.85, Z:7.64 [[ 8.07733227e-01 -5.89048090e-01 2.42771743e-02 1.05598308e+02] [ 5.88792931e-01 8.08097929e-01 1.73384198e-02 1.66845439e+02] [-2.98314974e-02 2.89410802e-04 9.99554900e-01 7.63884064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters Centerline goodness [0,1] 0.9975029177862823 Centerline is valid? [True, True] Translation: X:105.62, Y:166.86, Z:7.63 [[ 8.06944554e-01 -5.90157423e-01 2.35521511e-02 1.05619817e+02] [ 5.89917450e-01 8.07288126e-01 1.68310190e-02 1.66862597e+02] [-2.89463227e-02 3.12125750e-04 9.99580919e-01 7.63488493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50687500000004 meters Centerline goodness [0,1] 0.9985728848114169 Centerline is valid? [True, True] Translation: X:105.64, Y:166.87, Z:7.63 [[ 8.05438311e-01 -5.92172663e-01 2.45084674e-02 1.05644616e+02] [ 5.91913646e-01 8.05811007e-01 1.75173306e-02 1.66874982e+02] [-3.01224771e-02 3.97767160e-04 9.99546136e-01 7.62957669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters Centerline goodness [0,1] 0.9971593983335136 Centerline is valid? [True, True] Translation: X:105.66, Y:166.90, Z:7.63 [[ 8.07069004e-01 -5.90065843e-01 2.14924027e-02 1.05663284e+02] [ 5.89865895e-01 8.07355078e-01 1.53623927e-02 1.66899681e+02] [-2.64168236e-02 2.79124410e-04 9.99650976e-01 7.63233574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56687500000004 meters Centerline goodness [0,1] 0.9969220800259193 Centerline is valid? [True, True] Translation: X:105.68, Y:166.92, Z:7.63 [[ 8.08086706e-01 -5.88718078e-01 2.01717603e-02 1.05683322e+02] [ 5.88541315e-01 8.08338406e-01 1.44271271e-02 1.66919681e+02] [-2.47991191e-02 2.13544683e-04 9.99692432e-01 7.62946465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters Centerline goodness [0,1] 0.9964298177328 Centerline is valid? [True, True] Translation: X:105.70, Y:166.94, Z:7.63 [[ 8.08749262e-01 -5.87834839e-01 1.93605945e-02 1.05704126e+02] [ 5.87671748e-01 8.08980945e-01 1.38472762e-02 1.66938426e+02] [-2.38022634e-02 1.78700011e-04 9.99716670e-01 7.62862695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62687500000004 meters Centerline goodness [0,1] 0.9964105860923604 Centerline is valid? [True, True] Translation: X:105.72, Y:166.96, Z:7.63 [[ 8.09432748e-01 -5.86909042e-01 1.88786588e-02 1.05724213e+02] [ 5.86753487e-01 8.09652862e-01 1.35125064e-02 1.66956089e+02] [-2.32157723e-02 1.39653725e-04 9.99730468e-01 7.62527631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters Centerline goodness [0,1] 0.9947937525030036 Centerline is valid? [True, True] Translation: X:105.74, Y:166.98, Z:7.63 [[ 8.11043622e-01 -5.84686567e-01 1.87045855e-02 1.05742766e+02] [ 5.84533240e-01 8.11259276e-01 1.33894887e-02 1.66977890e+02] [-2.30029227e-02 7.39925879e-05 9.99735395e-01 7.62533540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68687500000004 meters Centerline goodness [0,1] 0.9947367014881509 Centerline is valid? [True, True] Translation: X:105.76, Y:167.00, Z:7.62 [[ 8.11837664e-01 -5.83572839e-01 1.90354434e-02 1.05763976e+02] [ 5.83413548e-01 8.12060798e-01 1.36342259e-02 1.66996980e+02] [-2.34145013e-02 3.67574850e-05 9.99725842e-01 7.62453397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters Centerline goodness [0,1] 0.9939890419703176 Centerline is valid? [True, True] Translation: X:105.78, Y:167.02, Z:7.62 [[ 8.12557478e-01 -5.82565211e-01 1.91864505e-02 1.05784474e+02] [ 5.82402914e-01 8.12783966e-01 1.37502865e-02 1.67015800e+02] [-2.36048779e-02 1.34655422e-06 9.99721366e-01 7.62331755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74687500000005 meters Centerline goodness [0,1] 0.9928748614556394 Centerline is valid? [True, True] Translation: X:105.80, Y:167.04, Z:7.62 [[ 8.15143951e-01 -5.78938335e-01 1.92547256e-02 1.05803366e+02] [ 5.78773660e-01 8.15371322e-01 1.38079050e-02 1.67038268e+02] [-2.36936766e-02 -1.11302217e-04 9.99719259e-01 7.62162067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters Centerline goodness [0,1] 0.9922218999657236 Centerline is valid? [True, True] Translation: X:105.82, Y:167.06, Z:7.62 [[ 8.16615679e-01 -5.76864130e-01 1.91469934e-02 1.05824407e+02] [ 5.76700564e-01 8.16840097e-01 1.37373718e-02 1.67057969e+02] [-2.35646290e-02 -1.76071310e-04 9.99722300e-01 7.62102761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.806875 meters Centerline goodness [0,1] 0.9895459428301936 Centerline is valid? [True, True] Translation: X:105.84, Y:167.08, Z:7.62 [[ 8.19410089e-01 -5.72848441e-01 2.02921175e-02 1.05842403e+02] [ 5.72663211e-01 8.19661248e-01 1.45699890e-02 1.67080600e+02] [-2.49790578e-02 -3.18246823e-04 9.99687924e-01 7.61963196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters Centerline goodness [0,1] 0.9892055380283159 Centerline is valid? [True, True] Translation: X:105.86, Y:167.10, Z:7.62 [[ 8.20520677e-01 -5.71246637e-01 2.05693362e-02 1.05863605e+02] [ 5.71055812e-01 8.20778375e-01 1.47688135e-02 1.67100331e+02] [-2.53195014e-02 -3.71877840e-04 9.99679341e-01 7.61891560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.866875 meters Centerline goodness [0,1] 0.9882867405903483 Centerline is valid? [True, True] Translation: X:105.88, Y:167.12, Z:7.62 [[ 8.21532771e-01 -5.69778374e-01 2.08928389e-02 1.05883742e+02] [ 5.69580775e-01 8.21798283e-01 1.50107471e-02 1.67119939e+02] [-2.57224983e-02 -4.31661287e-04 9.99669029e-01 7.61741686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters Centerline goodness [0,1] 0.9877467488731154 Centerline is valid? [True, True] Translation: X:105.91, Y:167.14, Z:7.62 [[ 8.22573350e-01 -5.68280052e-01 2.07573146e-02 1.05905217e+02] [ 5.68084485e-01 8.22835071e-01 1.49151921e-02 1.67139219e+02] [-2.55558526e-02 -4.76931147e-04 9.99673282e-01 7.61633571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.926875 meters Centerline goodness [0,1] 0.9846533508136037 Centerline is valid? [True, True] Translation: X:105.92, Y:167.16, Z:7.61 [[ 8.24288629e-01 -5.65788144e-01 2.07853826e-02 1.05923781e+02] [ 5.65591004e-01 8.24550458e-01 1.49451585e-02 1.67160298e+02] [-2.55943903e-02 -5.63098826e-04 9.99672251e-01 7.61498514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters Centerline goodness [0,1] 0.9859056944086576 Centerline is valid? [True, True] Translation: X:105.95, Y:167.18, Z:7.61 [[ 8.24873399e-01 -5.64938798e-01 2.06888725e-02 1.05946389e+02] [ 5.64743207e-01 8.25132601e-01 1.48761745e-02 1.67177821e+02] [-2.54751913e-02 -5.87060446e-04 9.99675282e-01 7.61448946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.986875 meters Centerline goodness [0,1] 0.9837718849186035 Centerline is valid? [True, True] Translation: X:105.97, Y:167.20, Z:7.61 [[ 8.25056174e-01 -5.64657074e-01 2.10878591e-02 1.05966218e+02] [ 5.64453514e-01 8.25325396e-01 1.51730429e-02 1.67195661e+02] [-2.59719116e-02 -6.15496568e-04 9.99662484e-01 7.61242343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters Centerline goodness [0,1] 0.9842089046371899 Centerline is valid? [True, True] Translation: X:105.99, Y:167.21, Z:7.61 [[ 8.24496754e-01 -5.65457355e-01 2.15193621e-02 1.05988022e+02] [ 5.65245601e-01 8.24777312e-01 1.54853338e-02 1.67214233e+02] [-2.65049775e-02 -6.03882705e-04 9.99648499e-01 7.61204811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.046875 meters Centerline goodness [0,1] 0.984087658357172 Centerline is valid? [True, True] Translation: X:106.01, Y:167.23, Z:7.61 [[ 8.24044739e-01 -5.66119346e-01 2.14278651e-02 1.06011282e+02] [ 5.65909412e-01 8.24323081e-01 1.54270998e-02 1.67231963e+02] [-2.63970634e-02 -5.86389834e-04 9.99651365e-01 7.60980204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters Centerline goodness [0,1] 0.9847036328871893 Centerline is valid? [True, True] Translation: X:106.03, Y:167.25, Z:7.61 [[ 8.23546985e-01 -5.66838329e-01 2.15562707e-02 1.06033901e+02] [ 5.66625900e-01 8.23828853e-01 1.55277246e-02 1.67250322e+02] [-2.65603872e-02 -5.73469491e-04 9.99647046e-01 7.60762131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.106875 meters Centerline goodness [0,1] 0.9843127300418835 Centerline is valid? [True, True] Translation: X:106.06, Y:167.27, Z:7.61 [[ 8.23260884e-01 -5.67277632e-01 2.09189885e-02 1.06056300e+02] [ 5.67077574e-01 8.23526434e-01 1.50743663e-02 1.67266849e+02] [-2.57786909e-02 -5.47446897e-04 9.99667524e-01 7.60670018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters Centerline goodness [0,1] 0.9828128966742828 Centerline is valid? [True, True] Translation: X:106.08, Y:167.29, Z:7.60 [[ 8.22931179e-01 -5.67783738e-01 2.01470019e-02 1.06075308e+02] [ 5.67598052e-01 8.23177597e-01 1.45291434e-02 1.67286002e+02] [-2.48339719e-02 -5.21086035e-04 9.99691454e-01 7.60324366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.166875 meters Centerline goodness [0,1] 0.9834641681438339 Centerline is valid? [True, True] Translation: X:106.10, Y:167.30, Z:7.60 [[ 8.22886746e-01 -5.67879739e-01 1.92355151e-02 1.06099332e+02] [ 5.67710489e-01 8.23111388e-01 1.38724127e-02 1.67302348e+02] [-2.37108336e-02 -4.95220858e-04 9.99718736e-01 7.60258960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters Centerline goodness [0,1] 0.9834530917923288 Centerline is valid? [True, True] Translation: X:106.12, Y:167.32, Z:7.60 [[ 8.22344990e-01 -5.68668697e-01 1.90953025e-02 1.06121523e+02] [ 5.68501957e-01 8.22566525e-01 1.37781162e-02 1.67320406e+02] [-2.35423400e-02 -4.74647999e-04 9.99722728e-01 7.60055004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.226875 meters Centerline goodness [0,1] 0.9830821363544406 Centerline is valid? [True, True] Translation: X:106.14, Y:167.34, Z:7.60 [[ 8.22069579e-01 -5.69056522e-01 1.93979815e-02 1.06144675e+02] [ 5.68884390e-01 8.22298272e-01 1.40036725e-02 1.67338261e+02] [-2.39198078e-02 -4.76784258e-04 9.99713767e-01 7.59897441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters Centerline goodness [0,1] 0.9832392378263938 Centerline is valid? [True, True] Translation: X:106.17, Y:167.36, Z:7.60 [[ 8.21278073e-01 -5.70170319e-01 2.02023299e-02 1.06168035e+02] [ 5.69983753e-01 8.21526376e-01 1.45922954e-02 1.67356165e+02] [-2.49168406e-02 -4.69332428e-04 9.99689417e-01 7.59955275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.286875 meters Centerline goodness [0,1] 0.982825246887076 Centerline is valid? [True, True] Translation: X:106.19, Y:167.37, Z:7.60 [[ 8.20867853e-01 -5.70756742e-01 2.03152484e-02 1.06189909e+02] [ 5.70568021e-01 8.21119070e-01 1.46835032e-02 1.67373428e+02] [-2.50619463e-02 -4.61984664e-04 9.99685793e-01 7.59838768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters Centerline goodness [0,1] 0.9828742937853108 Centerline is valid? [True, True] Translation: X:106.21, Y:167.39, Z:7.60 [[ 8.20819678e-01 -5.70836933e-01 2.00063152e-02 1.06212999e+02] [ 5.70653947e-01 8.21063330e-01 1.44596351e-02 1.67390330e+02] [-2.46805456e-02 -4.52070268e-04 9.99695287e-01 7.59754359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.346875 meters Centerline goodness [0,1] 0.9830256629813383 Centerline is valid? [True, True] Translation: X:106.24, Y:167.41, Z:7.59 [[ 8.21067236e-01 -5.70527286e-01 1.86335563e-02 1.06235452e+02] [ 5.70368338e-01 8.21278532e-01 1.34733882e-02 1.67408894e+02] [-2.29902754e-02 -4.34567087e-04 9.99735594e-01 7.59468936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters Centerline goodness [0,1] 0.9830256629813383 Centerline is valid? [True, True] Translation: X:106.26, Y:167.43, Z:7.59 [[ 8.20911544e-01 -5.70751377e-01 1.86307045e-02 1.06257759e+02] [ 5.70592397e-01 8.21122815e-01 1.34773299e-02 1.67425143e+02] [-2.29903011e-02 -4.33157334e-04 9.99735594e-01 7.59356107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.406875 meters Centerline goodness [0,1] 0.9822467326433482 Centerline is valid? [True, True] Translation: X:106.28, Y:167.44, Z:7.59 [[ 8.22151228e-01 -5.68996953e-01 1.76018986e-02 1.06279366e+02] [ 5.68854407e-01 8.22339499e-01 1.27440853e-02 1.67443630e+02] [-2.17260822e-02 -4.64647794e-04 9.99763853e-01 7.59153397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters Centerline goodness [0,1] 0.9809943360604153 Centerline is valid? [True, True] Translation: X:106.30, Y:167.46, Z:7.59 [[ 8.22464794e-01 -5.68530391e-01 1.80237968e-02 1.06298923e+02] [ 5.68380777e-01 8.22662115e-01 1.30513449e-02 1.67462470e+02] [-2.22475810e-02 -4.89892111e-04 9.99752372e-01 7.58891565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.466875 meters Centerline goodness [0,1] 0.9795000628061801 Centerline is valid? [True, True] Translation: X:106.32, Y:167.48, Z:7.59 [[ 8.23265395e-01 -5.67373870e-01 1.79159344e-02 1.06321702e+02] [ 5.67225758e-01 8.23460153e-01 1.29736847e-02 1.67480395e+02] [-2.21139878e-02 -5.18406153e-04 9.99755321e-01 7.58727645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters Centerline goodness [0,1] 0.9797416176544513 Centerline is valid? [True, True] Translation: X:106.34, Y:167.50, Z:7.59 [[ 8.23559924e-01 -5.66930997e-01 1.83928168e-02 1.06344814e+02] [ 5.66774629e-01 8.23765101e-01 1.33258623e-02 1.67498172e+02] [-2.27062051e-02 -5.50064228e-04 9.99742030e-01 7.58782845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.526875 meters Centerline goodness [0,1] 0.9779574768238614 Centerline is valid? [True, True] Translation: X:106.37, Y:167.51, Z:7.59 [[ 8.23812058e-01 -5.66568955e-01 1.82568395e-02 1.06368810e+02] [ 5.66414657e-01 8.24014141e-01 1.32337246e-02 1.67514676e+02] [-2.25417115e-02 -5.61160395e-04 9.99745746e-01 7.58765490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters Centerline goodness [0,1] 0.9788560038351879 Centerline is valid? [True, True] Translation: X:106.39, Y:167.53, Z:7.59 [[ 8.23383672e-01 -5.67176505e-01 1.87120764e-02 1.06392530e+02] [ 5.67014410e-01 8.23596075e-01 1.35706980e-02 1.67531143e+02] [-2.31081737e-02 -5.63874156e-04 9.99732811e-01 7.58723512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.586875 meters Centerline goodness [0,1] 0.9800100200400802 Centerline is valid? [True, True] Translation: X:106.41, Y:167.55, Z:7.59 [[ 8.22957536e-01 -5.67780867e-01 1.91253837e-02 1.06414782e+02] [ 5.67611445e-01 8.23179546e-01 1.38810492e-02 1.67547791e+02] [-2.36250188e-02 -5.67727358e-04 9.99720729e-01 7.58597974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters Centerline goodness [0,1] 0.9805522751827935 Centerline is valid? [True, True] Translation: X:106.44, Y:167.56, Z:7.59 [[ 8.21932340e-01 -5.69254052e-01 1.94178455e-02 1.06439957e+02] [ 5.69079837e-01 8.22161505e-01 1.40924913e-02 1.67562779e+02] [-2.39868129e-02 -5.32770009e-04 9.99712133e-01 7.58551438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.646875 meters Centerline goodness [0,1] 0.9800301431801055 Centerline is valid? [True, True] Translation: X:106.46, Y:167.58, Z:7.58 [[ 8.21575285e-01 -5.69764087e-01 1.95687373e-02 1.06462824e+02] [ 5.69587038e-01 8.21808130e-01 1.42127599e-02 1.67579334e+02] [-2.41796676e-02 -5.30753172e-04 9.99707488e-01 7.58411336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters Centerline goodness [0,1] 0.980886714492129 Centerline is valid? [True, True] Translation: X:106.49, Y:167.59, Z:7.58 [[ 8.20589008e-01 -5.71154096e-01 2.04126974e-02 1.06486409e+02] [ 5.70961798e-01 8.20842698e-01 1.48286996e-02 1.67594716e+02] [-2.52250861e-02 -5.13397519e-04 9.99681665e-01 7.58378787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.706875 meters Centerline goodness [0,1] 0.982283017439366 Centerline is valid? [True, True] Translation: X:106.51, Y:167.61, Z:7.58 [[ 8.20316038e-01 -5.71528951e-01 2.08867511e-02 1.06511228e+02] [ 5.71327741e-01 8.20581742e-01 1.51729140e-02 1.67610515e+02] [-2.58110462e-02 -5.13404312e-04 9.99666708e-01 7.58362941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters Centerline goodness [0,1] 0.9804015296367112 Centerline is valid? [True, True] Translation: X:106.53, Y:167.63, Z:7.58 [[ 8.20168315e-01 -5.71737138e-01 2.09899915e-02 1.06532636e+02] [ 5.71533741e-01 8.20436699e-01 1.52579781e-02 1.67627526e+02] [-2.59445120e-02 -5.17621862e-04 9.99663250e-01 7.58140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.766875 meters Centerline goodness [0,1] 0.9821767159651119 Centerline is valid? [True, True] Translation: X:106.56, Y:167.64, Z:7.58 [[ 8.20080618e-01 -5.71861948e-01 2.10164934e-02 1.06555698e+02] [ 5.71658053e-01 8.20349710e-01 1.52782177e-02 1.67642818e+02] [-2.59779056e-02 -5.15122497e-04 9.99662385e-01 7.58083328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters Centerline goodness [0,1] 0.9821767159651119 Centerline is valid? [True, True] Translation: X:106.58, Y:167.66, Z:7.58 [[ 8.19923817e-01 -5.72086896e-01 2.10123117e-02 1.06577964e+02] [ 5.71882927e-01 8.20192854e-01 1.52839656e-02 1.67659122e+02] [-2.59779044e-02 -5.15105098e-04 9.99662385e-01 7.57970569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82687500000003 meters Centerline goodness [0,1] 0.9828327265372169 Centerline is valid? [True, True] Translation: X:106.60, Y:167.68, Z:7.58 [[ 8.19652962e-01 -5.72473211e-01 2.10581246e-02 1.06600672e+02] [ 5.72268248e-01 8.19923266e-01 1.53261287e-02 1.67675199e+02] [-2.60398444e-02 -5.11210777e-04 9.99660775e-01 7.57845366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters Centerline goodness [0,1] 0.9815352016749489 Centerline is valid? [True, True] Translation: X:106.62, Y:167.69, Z:7.58 [[ 8.19685418e-01 -5.72451219e-01 2.03818096e-02 1.06622363e+02] [ 5.72258906e-01 8.19938624e-01 1.48457700e-02 1.67692406e+02] [-2.52103120e-02 -5.05189126e-04 9.99682042e-01 7.57506816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88687500000003 meters Centerline goodness [0,1] 0.9827660600522856 Centerline is valid? [True, True] Translation: X:106.65, Y:167.71, Z:7.57 [[ 8.18661950e-01 -5.73949815e-01 1.93448200e-02 1.06646906e+02] [ 5.73777032e-01 8.18890360e-01 1.40888468e-02 1.67706167e+02] [-2.39275777e-02 -4.34389397e-04 9.99713600e-01 7.57419457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters Centerline goodness [0,1] 0.9840572719656775 Centerline is valid? [True, True] Translation: X:106.67, Y:167.72, Z:7.57 [[ 8.17900137e-01 -5.75048299e-01 1.89425094e-02 1.06671764e+02] [ 5.74882731e-01 8.18119364e-01 1.38040631e-02 1.67721969e+02] [-2.34352367e-02 -4.00623551e-04 9.99725277e-01 7.57348099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94687500000003 meters Centerline goodness [0,1] 0.983910039013693 Centerline is valid? [True, True] Translation: X:106.70, Y:167.74, Z:7.57 [[ 8.16852666e-01 -5.76542413e-01 1.87234504e-02 1.06695180e+02] [ 5.76380809e-01 8.17067142e-01 1.36546091e-02 1.67737199e+02] [-2.31707773e-02 -3.61966349e-04 9.99731456e-01 7.57048023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters Centerline goodness [0,1] 0.9859384552679845 Centerline is valid? [True, True] Translation: X:106.72, Y:167.75, Z:7.57 [[ 8.15906567e-01 -5.77873682e-01 1.89336405e-02 1.06719875e+02] [ 5.77708802e-01 8.16126155e-01 1.38071967e-02 1.67752985e+02] [-2.34310548e-02 -3.27251651e-04 9.99725402e-01 7.57032940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00687500000004 meters Centerline goodness [0,1] 0.9861779305078274 Centerline is valid? [True, True] Translation: X:106.74, Y:167.77, Z:7.57 [[ 8.15311034e-01 -5.78703259e-01 1.92472248e-02 1.06744472e+02] [ 5.78532939e-01 8.15538129e-01 1.40427775e-02 1.67768866e+02] [-2.38234468e-02 -3.14077909e-04 9.99716132e-01 7.57076399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters Centerline goodness [0,1] 0.9865214742613463 Centerline is valid? [True, True] Translation: X:106.77, Y:167.79, Z:7.57 [[ 8.14356280e-01 -5.80034077e-01 1.96040546e-02 1.06767703e+02] [ 5.79857586e-01 8.14592160e-01 1.43105372e-02 1.67785164e+02] [-2.42699084e-02 -2.86316050e-04 9.99705401e-01 7.56893233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06687500000004 meters Centerline goodness [0,1] 0.9876087730904279 Centerline is valid? [True, True] Translation: X:106.79, Y:167.80, Z:7.57 [[ 8.13953462e-01 -5.80618788e-01 1.90153920e-02 1.06791542e+02] [ 5.80452761e-01 8.14175505e-01 1.38866365e-02 1.67800256e+02] [-2.35447085e-02 -2.65539065e-04 9.99722750e-01 7.56850581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters Centerline goodness [0,1] 0.9873855544252289 Centerline is valid? [True, True] Translation: X:106.81, Y:167.82, Z:7.57 [[ 8.13616448e-01 -5.81092191e-01 1.89773564e-02 1.06813410e+02] [ 5.80926699e-01 8.13837697e-01 1.38698736e-02 1.67815830e+02] [-2.35041633e-02 -2.60304278e-04 9.99723705e-01 7.56677804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12687500000004 meters Centerline goodness [0,1] 0.9872117560318308 Centerline is valid? [True, True] Translation: X:106.84, Y:167.83, Z:7.57 [[ 8.13439436e-01 -5.81353201e-01 1.85671507e-02 1.06836624e+02] [ 5.81194842e-01 8.13651273e-01 1.35705870e-02 1.67832737e+02] [-2.29964900e-02 -2.47718449e-04 9.99735515e-01 7.56550995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters Centerline goodness [0,1] 0.9879179544815959 Centerline is valid? [True, True] Translation: X:106.86, Y:167.85, Z:7.57 [[ 8.13632577e-01 -5.81079936e-01 1.86584415e-02 1.06859609e+02] [ 5.80919811e-01 8.13846447e-01 1.36431016e-02 1.67849342e+02] [-2.31128389e-02 -2.61413592e-04 9.99732828e-01 7.56508093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18687500000004 meters Centerline goodness [0,1] 0.9869391086962067 Centerline is valid? [True, True] Translation: X:106.88, Y:167.87, Z:7.56 [[ 8.15054466e-01 -5.79078774e-01 1.88146365e-02 1.06881534e+02] [ 5.78915135e-01 8.15271528e-01 1.37696170e-02 1.67865908e+02] [-2.33127304e-02 -3.30910057e-04 9.99728167e-01 7.56324739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters Centerline goodness [0,1] 0.9869891320985764 Centerline is valid? [True, True] Translation: X:106.90, Y:167.88, Z:7.56 [[ 8.15524302e-01 -5.78431184e-01 1.83706135e-02 1.06903742e+02] [ 5.78274961e-01 8.15731113e-01 1.34469890e-02 1.67883142e+02] [-2.27636388e-02 -3.43080558e-04 9.99740816e-01 7.56153826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24687500000005 meters Centerline goodness [0,1] 0.9846240008146224 Centerline is valid? [True, True] Translation: X:106.92, Y:167.90, Z:7.56 [[ 8.16313053e-01 -5.77335484e-01 1.77971581e-02 1.06924938e+02] [ 5.77188575e-01 8.16506955e-01 1.30284823e-02 1.67901049e+02] [-2.20533085e-02 -3.63003856e-04 9.99756730e-01 7.55850153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters Centerline goodness [0,1] 0.9849461270027254 Centerline is valid? [True, True] Translation: X:106.95, Y:167.92, Z:7.56 [[ 8.18312648e-01 -5.74521697e-01 1.70067700e-02 1.06947473e+02] [ 5.74386872e-01 8.18489243e-01 1.24531045e-02 1.67918724e+02] [-2.10744370e-02 -4.22067503e-04 9.99777820e-01 7.55840661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.306875 meters Centerline goodness [0,1] 0.9842086495848403 Centerline is valid? [True, True] Translation: X:106.97, Y:167.93, Z:7.56 [[ 8.19409228e-01 -5.72974250e-01 1.64020274e-02 1.06971586e+02] [ 5.72848545e-01 8.19573249e-01 1.20097336e-02 1.67934861e+02] [-2.03239310e-02 -4.45009045e-04 9.99793349e-01 7.55924626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters Centerline goodness [0,1] 0.9832501781895937 Centerline is valid? [True, True] Translation: X:106.99, Y:167.95, Z:7.56 [[ 8.20785426e-01 -5.70991268e-01 1.67408417e-02 1.06991421e+02] [ 5.70859721e-01 8.20955973e-01 1.22666015e-02 1.67953867e+02] [-2.07476163e-02 -5.11575495e-04 9.99784614e-01 7.55589986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.366875 meters Centerline goodness [0,1] 0.9815037478574535 Centerline is valid? [True, True] Translation: X:107.01, Y:167.97, Z:7.56 [[ 8.23755431e-01 -5.66701658e-01 1.66198601e-02 1.07014240e+02] [ 5.66571081e-01 8.23922842e-01 1.21803372e-02 1.67971940e+02] [-2.05960996e-02 -6.17286796e-04 9.99787687e-01 7.55515500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters Centerline goodness [0,1] 0.9814606166137457 Centerline is valid? [True, True] Translation: X:107.04, Y:167.99, Z:7.56 [[ 8.24801406e-01 -5.65184852e-01 1.63927866e-02 1.07037476e+02] [ 5.65057435e-01 8.24964036e-01 1.20180556e-02 1.67989297e+02] [-2.03158824e-02 -6.49643152e-04 9.99793400e-01 7.55511788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.426875 meters Centerline goodness [0,1] 0.9798212593787611 Centerline is valid? [True, True] Translation: X:107.06, Y:168.01, Z:7.55 [[ 8.26342297e-01 -5.62913597e-01 1.69319080e-02 1.07059985e+02] [ 5.62776962e-01 8.26515419e-01 1.24239154e-02 1.68006358e+02] [-2.09880739e-02 -7.37519081e-04 9.99779454e-01 7.55407429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters Centerline goodness [0,1] 0.9800708478809348 Centerline is valid? [True, True] Translation: X:107.08, Y:168.02, Z:7.55 [[ 8.26478370e-01 -5.62711667e-01 1.70024518e-02 1.07083400e+02] [ 5.62573882e-01 8.26652905e-01 1.24740504e-02 1.68023063e+02] [-2.10744199e-02 -7.44397508e-04 9.99777633e-01 7.55263750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.486875 meters Centerline goodness [0,1] 0.9793386311202256 Centerline is valid? [True, True] Translation: X:107.11, Y:168.04, Z:7.55 [[ 8.26503925e-01 -5.62663799e-01 1.73410595e-02 1.07106433e+02] [ 5.62520335e-01 8.26685469e-01 1.27282444e-02 1.68039142e+02] [-2.14973243e-02 -7.65245325e-04 9.99768613e-01 7.55134305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters Centerline goodness [0,1] 0.9802178604459973 Centerline is valid? [True, True] Translation: X:107.13, Y:168.06, Z:7.55 [[ 8.26287258e-01 -5.62973827e-01 1.76021874e-02 1.07128904e+02] [ 5.62825817e-01 8.26474358e-01 1.29319508e-02 1.68055152e+02] [-2.18281063e-02 -7.78540616e-04 9.99761435e-01 7.55013597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.546875 meters Centerline goodness [0,1] 0.9807305889020558 Centerline is valid? [True, True] Translation: X:107.15, Y:168.07, Z:7.55 [[ 8.25470845e-01 -5.64145275e-01 1.83845917e-02 1.07153412e+02] [ 5.63984119e-01 8.25675179e-01 1.35060192e-02 1.68069940e+02] [-2.27990580e-02 -7.80207346e-04 9.99739763e-01 7.54984206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters Centerline goodness [0,1] 0.9829828014919187 Centerline is valid? [True, True] Translation: X:107.18, Y:168.08, Z:7.55 [[ 8.25385330e-01 -5.64273798e-01 1.82794423e-02 1.07178489e+02] [ 5.64114388e-01 8.25587353e-01 1.34343014e-02 1.68082609e+02] [-2.26719007e-02 -7.76778881e-04 9.99742658e-01 7.55040126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.606875 meters Centerline goodness [0,1] 0.9828260588006735 Centerline is valid? [True, True] Translation: X:107.20, Y:168.10, Z:7.55 [[ 8.25196653e-01 -5.64547186e-01 1.83564194e-02 1.07201685e+02] [ 5.64386320e-01 8.25400429e-01 1.34986741e-02 1.68097779e+02] [-2.27720349e-02 -7.78948733e-04 9.99740380e-01 7.54909638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters Centerline goodness [0,1] 0.9817383624272652 Centerline is valid? [True, True] Translation: X:107.22, Y:168.11, Z:7.55 [[ 8.25076822e-01 -5.64743554e-01 1.76905762e-02 1.07223783e+02] [ 5.64593942e-01 8.25266108e-01 1.30204475e-02 1.68114351e+02] [-2.19526467e-02 -7.54877256e-04 9.99758727e-01 7.54643674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.666875 meters Centerline goodness [0,1] 0.9823292127521145 Centerline is valid? [True, True] Translation: X:107.25, Y:168.13, Z:7.54 [[ 8.25045545e-01 -5.64844039e-01 1.58448806e-02 1.07247221e+02] [ 5.64724006e-01 8.25197404e-01 1.16636604e-02 1.68129194e+02] [-1.96633034e-02 -6.75066582e-04 9.99806431e-01 7.54201833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters Centerline goodness [0,1] 0.9835774985662895 Centerline is valid? [True, True] Translation: X:107.27, Y:168.14, Z:7.54 [[ 8.24646024e-01 -5.65436530e-01 1.55069581e-02 1.07271124e+02] [ 5.65321728e-01 8.24791558e-01 1.14117955e-02 1.68144250e+02] [-1.92426542e-02 -6.44271422e-04 9.99814635e-01 7.54045348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.726875 meters Centerline goodness [0,1] 0.9843259367804061 Centerline is valid? [True, True] Translation: X:107.30, Y:168.16, Z:7.54 [[ 8.24173794e-01 -5.66122040e-01 1.56010598e-02 1.07295574e+02] [ 5.66005819e-01 8.24321192e-01 1.14884536e-02 1.68159433e+02] [-1.93641510e-02 -6.38191771e-04 9.99812294e-01 7.53976845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters Centerline goodness [0,1] 0.9850248272600688 Centerline is valid? [True, True] Translation: X:107.32, Y:168.17, Z:7.54 [[ 8.23107992e-01 -5.67654013e-01 1.61911668e-02 1.07318993e+02] [ 5.67528919e-01 8.23266980e-01 1.19334157e-02 1.68174995e+02] [-2.01037043e-02 -6.33534450e-04 9.99797699e-01 7.53874954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.786875 meters Centerline goodness [0,1] 0.9861702687069465 Centerline is valid? [True, True] Translation: X:107.35, Y:168.19, Z:7.54 [[ 8.22317190e-01 -5.68790696e-01 1.64797908e-02 1.07345099e+02] [ 5.68661362e-01 8.22482076e-01 1.21445291e-02 1.68187990e+02] [-2.04620277e-02 -6.15234774e-04 9.99790441e-01 7.54073974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters Centerline goodness [0,1] 0.987957509465713 Centerline is valid? [True, True] Translation: X:107.37, Y:168.20, Z:7.54 [[ 8.21402371e-01 -5.70091852e-01 1.71296680e-02 1.07369912e+02] [ 5.69952255e-01 8.21580737e-01 1.26301588e-02 1.68202508e+02] [-2.12737559e-02 -6.11349500e-04 9.99773501e-01 7.54044777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.846875 meters Centerline goodness [0,1] 0.9881513467969141 Centerline is valid? [True, True] Translation: X:107.39, Y:168.22, Z:7.54 [[ 8.20240228e-01 -5.71752956e-01 1.74506831e-02 1.07394014e+02] [ 5.71608308e-01 8.20425631e-01 1.28734400e-02 1.68217720e+02] [-2.16774151e-02 -5.84357888e-04 9.99764846e-01 7.53906945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters Centerline goodness [0,1] 0.9895695801425931 Centerline is valid? [True, True] Translation: X:107.42, Y:168.23, Z:7.54 [[ 8.18139860e-01 -5.74749606e-01 1.76085289e-02 1.07418831e+02] [ 5.74602802e-01 8.18329165e-01 1.29999361e-02 1.68230543e+02] [-2.18812809e-02 -5.17855822e-04 9.99760442e-01 7.53746249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.906875 meters Centerline goodness [0,1] 0.9902207616675059 Centerline is valid? [True, True] Translation: X:107.44, Y:168.24, Z:7.54 [[ 8.17012149e-01 -5.76349828e-01 1.76642276e-02 1.07444451e+02] [ 5.76202494e-01 8.17202943e-01 1.30398132e-02 1.68244788e+02] [-2.19507528e-02 -4.75513777e-04 9.99758940e-01 7.53727959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters Centerline goodness [0,1] 0.9908861432177495 Centerline is valid? [True, True] Translation: X:107.47, Y:168.26, Z:7.54 [[ 8.15407242e-01 -5.78615950e-01 1.77373300e-02 1.07468876e+02] [ 5.78467710e-01 8.15600026e-01 1.31036818e-02 1.68258863e+02] [-2.20485661e-02 -4.24364325e-04 9.99756811e-01 7.53683180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.966875 meters Centerline goodness [0,1] 0.9922396151699577 Centerline is valid? [True, True] Translation: X:107.50, Y:168.27, Z:7.54 [[ 8.12454958e-01 -5.82737710e-01 1.82674989e-02 1.07496140e+02] [ 5.82581525e-01 8.12660235e-01 1.34948035e-02 1.68270350e+02] [-2.27092008e-02 -3.21612655e-04 9.99742061e-01 7.53774881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters Centerline goodness [0,1] 0.9932154495432448 Centerline is valid? [True, True] Translation: X:107.52, Y:168.28, Z:7.54 [[ 8.10866957e-01 -5.84938150e-01 1.84969990e-02 1.07521663e+02] [ 5.84778455e-01 8.11077856e-01 1.36700366e-02 1.68284548e+02] [-2.29986322e-02 -2.67934519e-04 9.99735461e-01 7.53779225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.026875 meters Centerline goodness [0,1] 0.9940468245281507 Centerline is valid? [True, True] Translation: X:107.55, Y:168.30, Z:7.54 [[ 8.08978514e-01 -5.87518426e-01 1.93871860e-02 1.07546901e+02] [ 5.87343542e-01 8.09210761e-01 1.43355443e-02 1.68299132e+02] [-2.41107159e-02 -2.10208862e-04 9.99709272e-01 7.53849980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters Centerline goodness [0,1] 0.9950148749698481 Centerline is valid? [True, True] Translation: X:107.57, Y:168.31, Z:7.54 [[ 8.05594114e-01 -5.92110235e-01 2.05813690e-02 1.07573568e+02] [ 5.91914415e-01 8.05856974e-01 1.52270463e-02 1.68311406e+02] [-2.56017297e-02 -8.44099225e-05 9.99672218e-01 7.53952044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.086875 meters Centerline goodness [0,1] 0.9963037364403375 Centerline is valid? [True, True] Translation: X:107.60, Y:168.33, Z:7.54 [[ 8.03735199e-01 -5.94606189e-01 2.12887501e-02 1.07597466e+02] [ 5.94397327e-01 8.04017089e-01 1.57587171e-02 1.68326018e+02] [-2.64867496e-02 -1.18594174e-05 9.99649164e-01 7.53737270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters Centerline goodness [0,1] 0.9962787460177228 Centerline is valid? [True, True] Translation: X:107.62, Y:168.34, Z:7.54 [[ 8.02214399e-01 -5.96646693e-01 2.15587799e-02 1.07621941e+02] [ 5.96433030e-01 8.02504032e-01 1.59662049e-02 1.68340790e+02] [-2.68271912e-02 5.00489945e-05 9.99640085e-01 7.53738281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.146875 meters Centerline goodness [0,1] 0.9964551387061257 Centerline is valid? [True, True] Translation: X:107.65, Y:168.36, Z:7.54 [[ 8.00800482e-01 -5.98504859e-01 2.25947289e-02 1.07646320e+02] [ 5.98270615e-01 8.01119168e-01 1.67436332e-02 1.68356446e+02] [-2.81222163e-02 1.09452816e-04 9.99604486e-01 7.53831852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters Centerline goodness [0,1] 0.9974962308852036 Centerline is valid? [True, True] Translation: X:107.67, Y:168.37, Z:7.54 [[ 7.98877122e-01 -6.01005593e-01 2.42408975e-02 1.07670297e+02] [ 6.00736776e-01 7.99244791e-01 1.79747034e-02 1.68370307e+02] [-3.01773083e-02 2.02819241e-04 9.99544541e-01 7.53844097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.206875 meters Centerline goodness [0,1] 0.9970890272499393 Centerline is valid? [True, True] Translation: X:107.69, Y:168.39, Z:7.54 [[ 7.98010059e-01 -6.02136979e-01 2.47184821e-02 1.07693062e+02] [ 6.01857908e-01 7.98392758e-01 1.83320081e-02 1.68386643e+02] [-3.07734370e-02 2.47887056e-04 9.99526355e-01 7.53881098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters Centerline goodness [0,1] 0.9979228486646884 Centerline is valid? [True, True] Translation: X:107.72, Y:168.40, Z:7.54 [[ 7.96628278e-01 -6.03990033e-01 2.40712647e-02 1.07717337e+02] [ 6.03725860e-01 7.96991812e-01 1.78644149e-02 1.68401144e+02] [-2.99745294e-02 3.01146832e-04 9.99550617e-01 7.53583484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.266875 meters Centerline goodness [0,1] 0.997794216543376 Centerline is valid? [True, True] Translation: X:107.74, Y:168.42, Z:7.53 [[ 7.96056578e-01 -6.04751747e-01 2.38589434e-02 1.07741219e+02] [ 6.04492524e-01 7.96413974e-01 1.77079223e-02 1.68418054e+02] [-2.97104929e-02 3.26044926e-04 9.99558493e-01 7.53398058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters Centerline goodness [0,1] 0.9981130040974768 Centerline is valid? [True, True] Translation: X:107.76, Y:168.44, Z:7.53 [[ 7.95958361e-01 -6.04918647e-01 2.28848975e-02 1.07764723e+02] [ 6.04680015e-01 7.96287217e-01 1.69925413e-02 1.68435161e+02] [-2.85020564e-02 3.12684841e-04 9.99593685e-01 7.53219845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32687500000003 meters Centerline goodness [0,1] 0.9980059820538385 Centerline is valid? [True, True] Translation: X:107.79, Y:168.45, Z:7.53 [[ 7.95598746e-01 -6.05420450e-01 2.21068722e-02 1.07787498e+02] [ 6.05197764e-01 7.95905761e-01 1.64221329e-02 1.68452988e+02] [-2.75372821e-02 3.13601279e-04 9.99620728e-01 7.53111910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters Centerline goodness [0,1] 0.9974426617852913 Centerline is valid? [True, True] Translation: X:107.81, Y:168.47, Z:7.53 [[ 7.95459154e-01 -6.05618219e-01 2.17096265e-02 1.07809278e+02] [ 6.05403351e-01 7.95755288e-01 1.61339466e-02 1.68470332e+02] [-2.70465621e-02 3.09185140e-04 9.99634127e-01 7.52962551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38687500000003 meters Centerline goodness [0,1] 0.9976063686730138 Centerline is valid? [True, True] Translation: X:107.83, Y:168.49, Z:7.53 [[ 7.95716544e-01 -6.05284848e-01 2.15739429e-02 1.07831361e+02] [ 6.05072296e-01 7.96008900e-01 1.60420455e-02 1.68488117e+02] [-2.68830577e-02 2.88874182e-04 9.99638544e-01 7.52805020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters Centerline goodness [0,1] 0.9976661212007404 Centerline is valid? [True, True] Translation: X:107.85, Y:168.51, Z:7.53 [[ 7.95736458e-01 -6.05278720e-01 2.10038098e-02 1.07853126e+02] [ 6.05077029e-01 7.96013565e-01 1.56266677e-02 1.68505594e+02] [-2.61778069e-02 2.74213561e-04 9.99657265e-01 7.52625000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44687500000003 meters Centerline goodness [0,1] 0.9981693856673666 Centerline is valid? [True, True] Translation: X:107.87, Y:168.52, Z:7.52 [[ 7.96387981e-01 -6.04454843e-01 2.00131641e-02 1.07874279e+02] [ 6.04271220e-01 7.96639373e-01 1.48997058e-02 1.68523379e+02] [-2.49494738e-02 2.27432495e-04 9.99688688e-01 7.52229198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters Centerline goodness [0,1] 0.9972320756745136 Centerline is valid? [True, True] Translation: X:107.90, Y:168.54, Z:7.52 [[ 7.96752770e-01 -6.04000462e-01 1.91954612e-02 1.07895781e+02] [ 6.03831352e-01 7.96983940e-01 1.42932765e-02 1.68542627e+02] [-2.39316199e-02 2.02613637e-04 9.99713577e-01 7.52202784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50687500000004 meters Centerline goodness [0,1] 0.9973138497904803 Centerline is valid? [True, True] Translation: X:107.92, Y:168.56, Z:7.52 [[ 7.97452222e-01 -6.03085256e-01 1.89242647e-02 1.07916578e+02] [ 6.02920426e-01 7.97676718e-01 1.41001036e-02 1.68559206e+02] [-2.35990099e-02 1.65666776e-04 9.99721491e-01 7.51878116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters Centerline goodness [0,1] 0.9973019315144486 Centerline is valid? [True, True] Translation: X:107.94, Y:168.58, Z:7.51 [[ 7.97488840e-01 -6.02991687e-01 2.03119597e-02 1.07938002e+02] [ 6.02801601e-01 7.97747452e-01 1.51404520e-02 1.68576195e+02] [-2.53333808e-02 1.69740299e-04 9.99679044e-01 7.51410734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56687500000004 meters Centerline goodness [0,1] 0.9959825374293596 Centerline is valid? [True, True] Translation: X:107.96, Y:168.60, Z:7.52 [[ 7.99874527e-01 -5.99879519e-01 1.85823380e-02 1.07958576e+02] [ 5.99719625e-01 8.00090344e-01 1.38496536e-02 1.68597406e+02] [-2.31756727e-02 6.62076564e-05 9.99731406e-01 7.51950105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters Centerline goodness [0,1] 0.9960058973327972 Centerline is valid? [True, True] Translation: X:107.98, Y:168.62, Z:7.52 [[ 8.00767911e-01 -5.98675426e-01 1.89337605e-02 1.07978804e+02] [ 5.98508933e-01 8.00991719e-01 1.41182100e-02 1.68615412e+02] [-2.36180107e-02 2.66152775e-05 9.99721056e-01 7.51809181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62687500000004 meters Centerline goodness [0,1] 0.9948911357192533 Centerline is valid? [True, True] Translation: X:108.00, Y:168.63, Z:7.52 [[ 8.01857460e-01 -5.97202892e-01 1.93214763e-02 1.08000066e+02] [ 5.97028893e-01 8.02090210e-01 1.44151123e-02 1.68634340e+02] [-2.41063138e-02 -2.33857262e-05 9.99709400e-01 7.51784349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters Centerline goodness [0,1] 0.9949005473234548 Centerline is valid? [True, True] Translation: X:108.02, Y:168.66, Z:7.52 [[ 8.04417211e-01 -5.93729508e-01 1.99555021e-02 1.08019736e+02] [ 5.93542603e-01 8.04664683e-01 1.48971763e-02 1.68655775e+02] [-2.49023809e-02 -1.39104332e-04 9.99689878e-01 7.51837567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68687500000004 meters Centerline goodness [0,1] 0.9921658494990407 Centerline is valid? [True, True] Translation: X:108.04, Y:168.68, Z:7.52 [[ 8.06057517e-01 -5.91514212e-01 1.95503451e-02 1.08039865e+02] [ 5.91333874e-01 8.06294544e-01 1.46067716e-02 1.68675129e+02] [-2.44034496e-02 -2.13116795e-04 9.99702169e-01 7.51510219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters Centerline goodness [0,1] 0.9914990006662225 Centerline is valid? [True, True] Translation: X:108.06, Y:168.69, Z:7.51 [[ 8.07579661e-01 -5.89430971e-01 1.96525296e-02 1.08060796e+02] [ 5.89248134e-01 8.07818701e-01 1.46827212e-02 1.68694940e+02] [-2.45301316e-02 -2.77250592e-04 9.99699053e-01 7.51348231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74687500000005 meters Centerline goodness [0,1] 0.9914990006662225 Centerline is valid? [True, True] Translation: X:108.08, Y:168.71, Z:7.51 [[ 8.07426555e-01 -5.89640786e-01 1.96494816e-02 1.08082841e+02] [ 5.89457912e-01 8.07665567e-01 1.46867986e-02 1.68711549e+02] [-2.45301451e-02 -2.75968750e-04 9.99699053e-01 7.51235418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters Centerline goodness [0,1] 0.9905707853264468 Centerline is valid? [True, True] Translation: X:108.10, Y:168.73, Z:7.51 [[ 8.10000264e-01 -5.86123038e-01 1.89567062e-02 1.08103173e+02] [ 5.85951683e-01 8.10221972e-01 1.41768048e-02 1.68732801e+02] [-2.36684918e-02 -3.75501777e-04 9.99719791e-01 7.50964855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.806875 meters Centerline goodness [0,1] 0.9899947061937533 Centerline is valid? [True, True] Translation: X:108.12, Y:168.75, Z:7.51 [[ 8.11215454e-01 -5.84443533e-01 1.88479128e-02 1.08124370e+02] [ 5.84273519e-01 8.11434269e-01 1.41025314e-02 1.68752082e+02] [-2.35359756e-02 -4.27855091e-04 9.99722899e-01 7.50743067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters Centerline goodness [0,1] 0.9893653698252314 Centerline is valid? [True, True] Translation: X:108.15, Y:168.77, Z:7.51 [[ 8.11856604e-01 -5.83556279e-01 1.87329721e-02 1.08145164e+02] [ 5.83387881e-01 8.12072570e-01 1.40257300e-02 1.68770549e+02] [-2.33973356e-02 -4.58292602e-04 9.99726140e-01 7.50578289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.866875 meters Centerline goodness [0,1] 0.9884923679267744 Centerline is valid? [True, True] Translation: X:108.17, Y:168.79, Z:7.50 [[ 8.12648759e-01 -5.82466647e-01 1.82920435e-02 1.08167956e+02] [ 5.82305833e-01 8.12854462e-01 1.36945356e-02 1.68788898e+02] [-2.28453794e-02 -4.77283759e-04 9.99738896e-01 7.50476528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters Centerline goodness [0,1] 0.9875395152792413 Centerline is valid? [True, True] Translation: X:108.19, Y:168.81, Z:7.50 [[ 8.14428259e-01 -5.79975306e-01 1.83099717e-02 1.08189162e+02] [ 5.79813321e-01 8.14633866e-01 1.37177846e-02 1.68808014e+02] [-2.28718994e-02 -5.55785915e-04 9.99738249e-01 7.50290076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.926875 meters Centerline goodness [0,1] 0.9878702994106922 Centerline is valid? [True, True] Translation: X:108.21, Y:168.83, Z:7.50 [[ 8.14828764e-01 -5.79409310e-01 1.84102446e-02 1.08210089e+02] [ 5.79245415e-01 8.15036515e-01 1.37923215e-02 1.68826503e+02] [-2.29964211e-02 -5.74330529e-04 9.99735382e-01 7.50035673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters Centerline goodness [0,1] 0.9861217180628341 Centerline is valid? [True, True] Translation: X:108.23, Y:168.84, Z:7.50 [[ 8.14975666e-01 -5.79217483e-01 1.79379924e-02 1.08232287e+02] [ 5.79061652e-01 8.15172853e-01 1.34470665e-02 1.68843802e+02] [-2.24113405e-02 -5.71828451e-04 9.99748671e-01 7.49824380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.986875 meters Centerline goodness [0,1] 0.9875696075585232 Centerline is valid? [True, True] Translation: X:108.26, Y:168.86, Z:7.50 [[ 8.14544958e-01 -5.79806285e-01 1.84711302e-02 1.08256569e+02] [ 5.79641172e-01 8.14754161e-01 1.38480694e-02 1.68859200e+02] [-2.30786279e-02 -5.73247593e-04 9.99733489e-01 7.49924107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters Centerline goodness [0,1] 0.9888477801268499 Centerline is valid? [True, True] Translation: X:108.28, Y:168.87, Z:7.50 [[ 8.13916802e-01 -5.80661701e-01 1.92724847e-02 1.08282190e+02] [ 5.80482017e-01 8.14144738e-01 1.44559120e-02 1.68873847e+02] [-2.40845864e-02 -5.78578900e-04 9.99709757e-01 7.50105305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.046875 meters Centerline goodness [0,1] 0.9885638649900728 Centerline is valid? [True, True] Translation: X:108.31, Y:168.89, Z:7.50 [[ 8.13164674e-01 -5.81692323e-01 1.99312228e-02 1.08306186e+02] [ 5.81500260e-01 8.13408700e-01 1.49577681e-02 1.68890323e+02] [-2.49130489e-02 -5.73117409e-04 9.99689458e-01 7.50064450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters Centerline goodness [0,1] 0.9899856938483548 Centerline is valid? [True, True] Translation: X:108.33, Y:168.91, Z:7.50 [[ 8.12384678e-01 -5.82768019e-01 2.03118411e-02 1.08330123e+02] [ 5.82568686e-01 8.12638374e-01 1.52512183e-02 1.68906564e+02] [-2.53941038e-02 -5.56813507e-04 9.99677363e-01 7.50004904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.106875 meters Centerline goodness [0,1] 0.9898955073463109 Centerline is valid? [True, True] Translation: X:108.35, Y:168.92, Z:7.50 [[ 8.10874423e-01 -5.84863667e-01 2.04245112e-02 1.08353352e+02] [ 5.84662582e-01 8.11131457e-01 1.53435416e-02 1.68921461e+02] [-2.55408435e-02 -5.00237958e-04 9.99673654e-01 7.49854061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters Centerline goodness [0,1] 0.9898984542779118 Centerline is valid? [True, True] Translation: X:108.38, Y:168.94, Z:7.50 [[ 8.09747806e-01 -5.86413600e-01 2.06779898e-02 1.08376708e+02] [ 5.86207793e-01 8.10011651e-01 1.55418441e-02 1.68937625e+02] [-2.58633614e-02 -4.63375413e-04 9.99665380e-01 7.49592178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.166875 meters Centerline goodness [0,1] 0.9905956940958922 Centerline is valid? [True, True] Translation: X:108.40, Y:168.95, Z:7.50 [[ 8.08306464e-01 -5.88392158e-01 2.08645304e-02 1.08401536e+02] [ 5.88183067e-01 8.08575600e-01 1.56900880e-02 1.68953280e+02] [-2.61024749e-02 -4.10236025e-04 9.99659188e-01 7.49555668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters Centerline goodness [0,1] 0.9931846508791005 Centerline is valid? [True, True] Translation: X:108.43, Y:168.97, Z:7.50 [[ 8.05242397e-01 -5.92554890e-01 2.15263724e-02 1.08428607e+02] [ 5.92333578e-01 8.05530023e-01 1.61961121e-02 1.68966488e+02] [-2.69372247e-02 -2.91002952e-04 9.99637085e-01 7.49596166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.226875 meters Centerline goodness [0,1] 0.9933567176870748 Centerline is valid? [True, True] Translation: X:108.45, Y:168.98, Z:7.50 [[ 8.03797637e-01 -5.94522368e-01 2.12723360e-02 1.08453241e+02] [ 5.94306763e-01 8.04079040e-01 1.60115509e-02 1.68981286e+02] [-2.66238647e-02 -2.27753611e-04 9.99645496e-01 7.49566938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters Centerline goodness [0,1] 0.9945241892610314 Centerline is valid? [True, True] Translation: X:108.48, Y:169.00, Z:7.49 [[ 8.01941112e-01 -5.97017551e-01 2.14592075e-02 1.08477492e+02] [ 5.96798817e-01 8.02228160e-01 1.61601773e-02 1.68996421e+02] [-2.68630900e-02 -1.52680869e-04 9.99639110e-01 7.49474191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.286875 meters Centerline goodness [0,1] 0.9944924837036052 Centerline is valid? [True, True] Translation: X:108.50, Y:169.01, Z:7.49 [[ 8.00381838e-01 -5.99106564e-01 2.14531751e-02 1.08502251e+02] [ 5.98888489e-01 8.00669294e-01 1.61635234e-02 1.69012039e+02] [-2.68605715e-02 -8.89309219e-05 9.99639186e-01 7.49434743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters Centerline goodness [0,1] 0.9953193832599119 Centerline is valid? [True, True] Translation: X:108.53, Y:169.03, Z:7.49 [[ 7.96987789e-01 -6.03519299e-01 2.39775038e-02 1.08526707e+02] [ 6.03248488e-01 7.97348389e-01 1.80778453e-02 1.69025507e+02] [-3.00287525e-02 5.65709902e-05 9.99549034e-01 7.49069171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.346875 meters Centerline goodness [0,1] 0.9951083344410474 Centerline is valid? [True, True] Translation: X:108.55, Y:169.04, Z:7.49 [[ 7.97340522e-01 -6.03097227e-01 2.28435158e-02 1.08549350e+02] [ 6.02851246e-01 7.97667684e-01 1.72232976e-02 1.69043370e+02] [-2.86088574e-02 3.84088646e-05 9.99590682e-01 7.49282756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters Centerline goodness [0,1] 0.9965767056762996 Centerline is valid? [True, True] Translation: X:108.57, Y:169.06, Z:7.49 [[ 7.96749840e-01 -6.03870478e-01 2.30247299e-02 1.08571121e+02] [ 6.03620616e-01 7.97082456e-01 1.73697836e-02 1.69059136e+02] [-2.88417078e-02 5.88293814e-05 9.99583990e-01 7.49156356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.406875 meters Centerline goodness [0,1] 0.9962131243048568 Centerline is valid? [True, True] Translation: X:108.59, Y:169.08, Z:7.49 [[ 7.96102889e-01 -6.04706009e-01 2.34698166e-02 1.08592777e+02] [ 6.04446589e-01 7.96448765e-01 1.77111901e-02 1.69075273e+02] [-2.94025695e-02 8.63209699e-05 9.99567647e-01 7.49070498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters Centerline goodness [0,1] 0.9957528137608834 Centerline is valid? [True, True] Translation: X:108.62, Y:169.09, Z:7.49 [[ 7.95016230e-01 -6.06112454e-01 2.40184592e-02 1.08615153e+02] [ 6.05841292e-01 7.95378950e-01 1.81288507e-02 1.69092883e+02] [-3.00918991e-02 1.38643817e-04 9.99547127e-01 7.49089232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.466875 meters Centerline goodness [0,1] 0.9961738760760973 Centerline is valid? [True, True] Translation: X:108.64, Y:169.11, Z:7.49 [[ 7.94440443e-01 -6.06847010e-01 2.45171100e-02 1.08636986e+02] [ 6.06564440e-01 7.94818646e-01 1.85175549e-02 1.69108878e+02] [-3.07239790e-02 1.60112573e-04 9.99527894e-01 7.48947702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters Centerline goodness [0,1] 0.9957829408020369 Centerline is valid? [True, True] Translation: X:108.66, Y:169.13, Z:7.49 [[ 7.93790717e-01 -6.07698072e-01 2.44816603e-02 1.08659064e+02] [ 6.07416601e-01 7.94168129e-01 1.84947379e-02 1.69125877e+02] [-3.06817709e-02 1.89615683e-04 9.99529186e-01 7.48945659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.526875 meters Centerline goodness [0,1] 0.9961789523961153 Centerline is valid? [True, True] Translation: X:108.68, Y:169.14, Z:7.49 [[ 7.92642431e-01 -6.09203026e-01 2.42827171e-02 1.08681742e+02] [ 6.08926490e-01 7.93014261e-01 1.83551769e-02 1.69144024e+02] [-3.04385703e-02 2.37297658e-04 9.99536611e-01 7.48773550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters Centerline goodness [0,1] 0.9960794701986755 Centerline is valid? [True, True] Translation: X:108.70, Y:169.16, Z:7.49 [[ 7.91936048e-01 -6.10139099e-01 2.38238467e-02 1.08704097e+02] [ 6.09873081e-01 7.92294271e-01 1.80170255e-02 1.69162341e+02] [-2.98683889e-02 2.61190831e-04 9.99553806e-01 7.48583816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.586875 meters Centerline goodness [0,1] 0.9961116254463696 Centerline is valid? [True, True] Translation: X:108.73, Y:169.18, Z:7.48 [[ 7.91742002e-01 -6.10414365e-01 2.32143542e-02 1.08726411e+02] [ 6.10161660e-01 7.92082216e-01 1.75644895e-02 1.69180863e+02] [-2.91092938e-02 2.57964875e-04 9.99576201e-01 7.48400346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters Centerline goodness [0,1] 0.9953655888350414 Centerline is valid? [True, True] Translation: X:108.75, Y:169.20, Z:7.48 [[ 7.92047767e-01 -6.10058409e-01 2.21149864e-02 1.08747891e+02] [ 6.09828679e-01 7.92356414e-01 1.67420437e-02 1.69198632e+02] [-2.77365759e-02 2.25854543e-04 9.99615242e-01 7.48207023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.646875 meters Centerline goodness [0,1] 0.9953734302709848 Centerline is valid? [True, True] Translation: X:108.77, Y:169.22, Z:7.48 [[ 7.93308619e-01 -6.08455075e-01 2.10679015e-02 1.08766618e+02] [ 6.08245913e-01 7.93588305e-01 1.59534205e-02 1.69218382e+02] [-2.64261799e-02 1.58479012e-04 9.99650755e-01 7.47922861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters Centerline goodness [0,1] 0.9955438365194462 Centerline is valid? [True, True] Translation: X:108.79, Y:169.24, Z:7.48 [[ 7.94092126e-01 -6.07432586e-01 2.10558565e-02 1.08787795e+02] [ 6.07223226e-01 7.94371222e-01 1.59472582e-02 1.69237581e+02] [-2.64130508e-02 1.22012918e-04 9.99651107e-01 7.47786864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.706875 meters Centerline goodness [0,1] 0.9944131133716334 Centerline is valid? [True, True] Translation: X:108.81, Y:169.26, Z:7.48 [[ 7.95232967e-01 -6.05941610e-01 2.09593579e-02 1.08808665e+02] [ 6.05733419e-01 7.95509121e-01 1.58828039e-02 1.69256081e+02] [-2.62974121e-02 6.52542712e-05 9.99654161e-01 7.47669696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters Centerline goodness [0,1] 0.9933602771362586 Centerline is valid? [True, True] Translation: X:108.83, Y:169.28, Z:7.48 [[ 7.96237898e-01 -6.04620562e-01 2.09567456e-02 1.08828251e+02] [ 6.04411737e-01 7.96513638e-01 1.58894956e-02 1.69276800e+02] [-2.62994494e-02 1.46843922e-05 9.99654110e-01 7.47676511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.766875 meters Centerline goodness [0,1] 0.9929210036443722 Centerline is valid? [True, True] Translation: X:108.85, Y:169.30, Z:7.48 [[ 7.96798898e-01 -6.03872238e-01 2.12093434e-02 1.08849276e+02] [ 6.03657842e-01 7.97081125e-01 1.60900292e-02 1.69295547e+02] [-2.66218892e-02 -1.73310447e-05 9.99645575e-01 7.47565777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters Centerline goodness [0,1] 0.9929835584877997 Centerline is valid? [True, True] Translation: X:108.87, Y:169.31, Z:7.47 [[ 7.97330855e-01 -6.03162012e-01 2.14264944e-02 1.08870104e+02] [ 6.02942700e-01 7.97618696e-01 1.62639346e-02 1.69313849e+02] [-2.68999601e-02 -4.87884563e-05 9.99638129e-01 7.47458521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82687500000003 meters Centerline goodness [0,1] 0.9921510339252654 Centerline is valid? [True, True] Translation: X:108.89, Y:169.33, Z:7.47 [[ 7.98015602e-01 -6.02251271e-01 2.15523814e-02 1.08890338e+02] [ 6.02028792e-01 7.98306582e-01 1.63687206e-02 1.69333386e+02] [-2.70634907e-02 -8.73402815e-05 9.99633713e-01 7.47409214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters Centerline goodness [0,1] 0.9925230712922538 Centerline is valid? [True, True] Translation: X:108.91, Y:169.35, Z:7.47 [[ 7.98371985e-01 -6.01768874e-01 2.18264823e-02 1.08911311e+02] [ 6.01540261e-01 7.98670276e-01 1.65862919e-02 1.69351489e+02] [-2.74132768e-02 -1.12522935e-04 9.99624179e-01 7.47345325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88687500000003 meters Centerline goodness [0,1] 0.9910974593919201 Centerline is valid? [True, True] Translation: X:108.93, Y:169.37, Z:7.47 [[ 7.99552015e-01 -6.00225475e-01 2.11176620e-02 1.08931005e+02] [ 6.00010611e-01 7.99830826e-01 1.60597457e-02 1.69371126e+02] [-2.65300255e-02 -1.69780786e-04 9.99648003e-01 7.47025614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters Centerline goodness [0,1] 0.991420995164561 Centerline is valid? [True, True] Translation: X:108.95, Y:169.39, Z:7.47 [[ 7.99615934e-01 -6.00156643e-01 2.06485429e-02 1.08952980e+02] [ 5.99951205e-01 7.99882476e-01 1.57027595e-02 1.69389943e+02] [-2.59405230e-02 -1.68058480e-04 9.99663474e-01 7.46918115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94687500000003 meters Centerline goodness [0,1] 0.9901622323166774 Centerline is valid? [True, True] Translation: X:108.97, Y:169.41, Z:7.47 [[ 8.00002773e-01 -5.99655091e-01 2.02320035e-02 1.08974204e+02] [ 5.99457435e-01 8.00258543e-01 1.53963776e-02 1.69408036e+02] [-2.54233498e-02 -1.88919876e-04 9.99676757e-01 7.46717068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters Centerline goodness [0,1] 0.9906120331950208 Centerline is valid? [True, True] Translation: X:109.00, Y:169.43, Z:7.47 [[ 7.99877068e-01 -5.99821210e-01 2.02778547e-02 1.08996212e+02] [ 5.99622733e-01 8.00134040e-01 1.54303458e-02 1.69426121e+02] [-2.54804505e-02 -1.83317168e-04 9.99675304e-01 7.46733297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00687500000004 meters Centerline goodness [0,1] 0.9901912447777461 Centerline is valid? [True, True] Translation: X:109.02, Y:169.44, Z:7.47 [[ 8.00297624e-01 -5.99291758e-01 1.93158311e-02 1.09017923e+02] [ 5.99111236e-01 8.00530667e-01 1.47097881e-02 1.69444402e+02] [-2.42783699e-02 -1.99877051e-04 9.99705217e-01 7.46688199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters Centerline goodness [0,1] 0.9908584746860029 Centerline is valid? [True, True] Translation: X:109.04, Y:169.46, Z:7.46 [[ 8.00232934e-01 -5.99386138e-01 1.90659176e-02 1.09039939e+02] [ 5.99210320e-01 8.00460005e-01 1.45180150e-02 1.69462441e+02] [-2.39634015e-02 -1.93299120e-04 9.99712818e-01 7.46481116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06687500000004 meters Centerline goodness [0,1] 0.990410215317807 Centerline is valid? [True, True] Translation: X:109.06, Y:169.48, Z:7.46 [[ 8.00188022e-01 -5.99442250e-01 1.91864228e-02 1.09061554e+02] [ 5.99264021e-01 8.00417984e-01 1.46179059e-02 1.69480299e+02] [-2.41197483e-02 -1.99340268e-04 9.99709057e-01 7.46424985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters Centerline goodness [0,1] 0.9893199147647044 Centerline is valid? [True, True] Translation: X:109.08, Y:169.50, Z:7.46 [[ 8.01429722e-01 -5.97776970e-01 1.93156754e-02 1.09081466e+02] [ 5.97595548e-01 8.01662414e-01 1.47286911e-02 1.69499821e+02] [-2.42891233e-02 -2.61049122e-04 9.99704942e-01 7.46184350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12687500000004 meters Centerline goodness [0,1] 0.9889886541974324 Centerline is valid? [True, True] Translation: X:109.10, Y:169.52, Z:7.46 [[ 8.01860993e-01 -5.97206732e-01 1.90543435e-02 1.09103535e+02] [ 5.97030046e-01 8.02087305e-01 1.45285874e-02 1.69518145e+02] [-2.39598172e-02 -2.73891979e-04 9.99712885e-01 7.46066924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters Centerline goodness [0,1] 0.9883043948683601 Centerline is valid? [True, True] Translation: X:109.13, Y:169.54, Z:7.46 [[ 8.02772925e-01 -5.95994542e-01 1.86047476e-02 1.09125368e+02] [ 5.95825615e-01 8.02988425e-01 1.41924489e-02 1.69536658e+02] [-2.33980190e-02 -3.08128554e-04 9.99726181e-01 7.45843819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18687500000004 meters Centerline goodness [0,1] 0.9889453165076434 Centerline is valid? [True, True] Translation: X:109.15, Y:169.55, Z:7.46 [[ 8.03499439e-01 -5.95024162e-01 1.83002560e-02 1.09146609e+02] [ 5.94860235e-01 8.03707741e-01 1.39702849e-02 1.69554586e+02] [-2.30207145e-02 -3.39021495e-04 9.99734931e-01 7.45703840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters Centerline goodness [0,1] 0.9869455038779532 Centerline is valid? [True, True] Translation: X:109.17, Y:169.57, Z:7.46 [[ 8.05202514e-01 -5.92755988e-01 1.70073858e-02 1.09168300e+02] [ 5.92613940e-01 8.05382021e-01 1.29814904e-02 1.69573865e+02] [-2.13922989e-02 -3.73914784e-04 9.99771089e-01 7.45509109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24687500000005 meters Centerline goodness [0,1] 0.9857515604215696 Centerline is valid? [True, True] Translation: X:109.19, Y:169.59, Z:7.45 [[ 8.06269996e-01 -5.91314588e-01 1.66057881e-02 1.09190317e+02] [ 5.91178739e-01 8.06440880e-01 1.26809256e-02 1.69593008e+02] [-2.08900027e-02 -4.07260916e-04 9.99781697e-01 7.45302709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters Centerline goodness [0,1] 0.9850689029223021 Centerline is valid? [True, True] Translation: X:109.21, Y:169.61, Z:7.45 [[ 8.07184318e-01 -5.90077840e-01 1.61746373e-02 1.09210543e+02] [ 5.89948509e-01 8.07346241e-01 1.23613918e-02 1.69611885e+02] [-2.03527160e-02 -4.35718474e-04 9.99792767e-01 7.45070599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.306875 meters Centerline goodness [0,1] 0.9847345752949871 Centerline is valid? [True, True] Translation: X:109.23, Y:169.63, Z:7.45 [[ 8.09469158e-01 -5.86950941e-01 1.57567470e-02 1.09232656e+02] [ 5.86827649e-01 8.09622346e-01 1.20401985e-02 1.69631342e+02] [-1.98240203e-02 -4.99674529e-04 9.99803360e-01 7.44933304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters Centerline goodness [0,1] 0.9829263298008498 Centerline is valid? [True, True] Translation: X:109.25, Y:169.65, Z:7.45 [[ 8.10830438e-01 -5.85075351e-01 1.55188346e-02 1.09253587e+02] [ 5.84955232e-01 8.10978752e-01 1.18675860e-02 1.69649999e+02] [-1.95288771e-02 -5.44776447e-04 9.99809145e-01 7.44698164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.366875 meters Centerline goodness [0,1] 0.9825875735106111 Centerline is valid? [True, True] Translation: X:109.28, Y:169.67, Z:7.45 [[ 8.12057365e-01 -5.83373144e-01 1.54470681e-02 1.09275837e+02] [ 5.83253867e-01 8.12204062e-01 1.18105735e-02 1.69668583e+02] [-1.94361428e-02 -5.81300950e-04 9.99810931e-01 7.44628223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters Centerline goodness [0,1] 0.9811315930764707 Centerline is valid? [True, True] Translation: X:109.30, Y:169.69, Z:7.44 [[ 8.13190728e-01 -5.81800955e-01 1.51158229e-02 1.09297466e+02] [ 5.81686282e-01 8.13330973e-01 1.15670625e-02 1.69687026e+02] [-1.90238950e-02 -6.13561178e-04 9.99818841e-01 7.44429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.426875 meters Centerline goodness [0,1] 0.9799964142099736 Centerline is valid? [True, True] Translation: X:109.32, Y:169.71, Z:7.44 [[ 8.15819098e-01 -5.78141575e-01 1.38390082e-02 1.09318049e+02] [ 5.78044924e-01 8.15936216e-01 1.05904258e-02 1.69706536e+02] [-1.74145135e-02 -6.40303168e-04 9.99848151e-01 7.44196813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters Centerline goodness [0,1] 0.967103266325792 Centerline is valid? [True, True] Translation: X:109.32, Y:169.75, Z:7.43 [[ 8.13583328e-01 -5.81158257e-01 1.83643496e-02 1.09322141e+02] [ 5.80988669e-01 8.13790200e-01 1.40597639e-02 1.69745577e+02] [-2.31156756e-02 -7.69310522e-04 9.99732501e-01 7.42859564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.486875 meters Centerline goodness [0,1] 0.9781397013704234 Centerline is valid? [True, True] Translation: X:109.36, Y:169.74, Z:7.44 [[ 8.17435650e-01 -5.75847751e-01 1.40827968e-02 1.09363002e+02] [ 5.75747292e-01 8.17556649e-01 1.07787734e-02 1.69741431e+02] [-1.77204165e-02 -7.02821515e-04 9.99842734e-01 7.44069595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters Centerline goodness [0,1] 0.9774357669804121 Centerline is valid? [True, True] Translation: X:109.38, Y:169.76, Z:7.44 [[ 8.17919124e-01 -5.75147701e-01 1.46092051e-02 1.09382930e+02] [ 5.75039306e-01 8.18049238e-01 1.11911432e-02 1.69760392e+02] [-1.83876094e-02 -7.52582869e-04 9.99830650e-01 7.43832666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.546875 meters Centerline goodness [0,1] 0.9784005118362125 Centerline is valid? [True, True] Translation: X:109.41, Y:169.78, Z:7.44 [[ 8.18601700e-01 -5.74152001e-01 1.55157145e-02 1.09406536e+02] [ 5.74029571e-01 8.18748315e-01 1.18847486e-02 1.69777056e+02] [-1.95271172e-02 -8.22396446e-04 9.99808989e-01 7.43781151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters Centerline goodness [0,1] 0.9771731611713166 Centerline is valid? [True, True] Translation: X:109.43, Y:169.79, Z:7.44 [[ 8.18530732e-01 -5.74263226e-01 1.51389739e-02 1.09429069e+02] [ 5.74146586e-01 8.18670325e-01 1.16016182e-02 1.69794435e+02] [-1.90562114e-02 -8.04290838e-04 9.99818090e-01 7.43687951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.606875 meters Centerline goodness [0,1] 0.9771731611713166 Centerline is valid? [True, True] Translation: X:109.45, Y:169.81, Z:7.44 [[ 8.18373228e-01 -5.74487721e-01 1.51366583e-02 1.09450927e+02] [ 5.74371063e-01 8.18512806e-01 1.16046381e-02 1.69811323e+02] [-1.90562707e-02 -8.02866635e-04 9.99818090e-01 7.43575031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters Centerline goodness [0,1] 0.9793780014895093 Centerline is valid? [True, True] Translation: X:109.48, Y:169.83, Z:7.43 [[ 8.17636425e-01 -5.75532701e-01 1.52573596e-02 1.09475572e+02] [ 5.75414209e-01 8.17778384e-01 1.17048374e-02 1.69826260e+02] [-1.92136556e-02 -7.90999874e-04 9.99815088e-01 7.43479248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.666875 meters Centerline goodness [0,1] 0.9801266539669464 Centerline is valid? [True, True] Translation: X:109.50, Y:169.84, Z:7.43 [[ 8.16831063e-01 -5.76662020e-01 1.57457666e-02 1.09499499e+02] [ 5.76535891e-01 8.16982425e-01 1.20864628e-02 1.69843521e+02] [-1.98338186e-02 -7.94598620e-04 9.99802975e-01 7.43351503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters Centerline goodness [0,1] 0.9797603127250283 Centerline is valid? [True, True] Translation: X:109.52, Y:169.86, Z:7.43 [[ 8.16397830e-01 -5.77271481e-01 1.58814620e-02 1.09522366e+02] [ 5.77143169e-01 8.16551904e-01 1.21963625e-02 1.69860380e+02] [-2.00086503e-02 -7.91206548e-04 9.99799494e-01 7.43191623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.726875 meters Centerline goodness [0,1] 0.9812194494468742 Centerline is valid? [True, True] Translation: X:109.55, Y:169.87, Z:7.43 [[ 8.15676561e-01 -5.78279014e-01 1.62827893e-02 1.09548077e+02] [ 5.78144222e-01 8.15838683e-01 1.25100190e-02 1.69874080e+02] [-2.05184109e-02 -7.90328763e-04 9.99789163e-01 7.43301531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters Centerline goodness [0,1] 0.9818820007226552 Centerline is valid? [True, True] Translation: X:109.57, Y:169.89, Z:7.43 [[ 8.14336310e-01 -5.80136318e-01 1.72692635e-02 1.09571495e+02] [ 5.79984919e-01 8.14519011e-01 1.32768431e-02 1.69890369e+02] [-2.17685222e-02 -7.95903005e-04 9.99762721e-01 7.43290186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.786875 meters Centerline goodness [0,1] 0.9832082794307891 Centerline is valid? [True, True] Translation: X:109.60, Y:169.91, Z:7.43 [[ 8.13964930e-01 -5.80648369e-01 1.75659957e-02 1.09595467e+02] [ 5.80491747e-01 8.14154060e-01 1.35092166e-02 1.69906960e+02] [-2.21455313e-02 -7.99113020e-04 9.99754438e-01 7.43204120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters Centerline goodness [0,1] 0.9824579586971731 Centerline is valid? [True, True] Translation: X:109.62, Y:169.92, Z:7.43 [[ 8.13855877e-01 -5.80804838e-01 1.74456497e-02 1.09618408e+02] [ 5.80650266e-01 8.14042449e-01 1.34223685e-02 1.69922753e+02] [-2.19972760e-02 -7.94052365e-04 9.99757715e-01 7.43168473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.846875 meters Centerline goodness [0,1] 0.9857944216485742 Centerline is valid? [True, True] Translation: X:109.64, Y:169.94, Z:7.43 [[ 8.12641110e-01 -5.82454303e-01 1.90108154e-02 1.09643002e+02] [ 5.82270925e-01 8.12863028e-01 1.46378630e-02 1.69937811e+02] [-2.39790753e-02 -8.25884133e-04 9.99712119e-01 7.43141543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters Centerline goodness [0,1] 0.9844688341271485 Centerline is valid? [True, True] Translation: X:109.67, Y:169.95, Z:7.43 [[ 8.11832024e-01 -5.83580385e-01 1.90446522e-02 1.09666828e+02] [ 5.83396543e-01 8.12054984e-01 1.46689125e-02 1.69954138e+02] [-2.40257943e-02 -7.98108693e-04 9.99711020e-01 7.43005714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.906875 meters Centerline goodness [0,1] 0.9859838554779765 Centerline is valid? [True, True] Translation: X:109.69, Y:169.97, Z:7.43 [[ 8.10160244e-01 -5.85886848e-01 1.94159563e-02 1.09692573e+02] [ 5.85696173e-01 8.10392519e-01 1.49652343e-02 1.69968542e+02] [-2.45024797e-02 -7.52386594e-04 9.99699486e-01 7.42967800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters Centerline goodness [0,1] 0.9872982821447163 Centerline is valid? [True, True] Translation: X:109.72, Y:169.98, Z:7.43 [[ 8.09069903e-01 -5.87371234e-01 2.00231406e-02 1.09716784e+02] [ 5.87168864e-01 8.09317305e-01 1.54345438e-02 1.69984568e+02] [-2.52708812e-02 -7.30660098e-04 9.99680373e-01 7.42849735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.966875 meters Centerline goodness [0,1] 0.9867729000676978 Centerline is valid? [True, True] Translation: X:109.74, Y:170.00, Z:7.43 [[ 8.08210090e-01 -5.88563787e-01 1.97260831e-02 1.09739304e+02] [ 5.88367467e-01 8.08450487e-01 1.52162394e-02 1.70001026e+02] [-2.49032890e-02 -6.91732677e-04 9.99689626e-01 7.42683962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters Centerline goodness [0,1] 0.9870140050167224 Centerline is valid? [True, True] Translation: X:109.76, Y:170.02, Z:7.43 [[ 8.07613686e-01 -5.89381600e-01 1.97348548e-02 1.09762417e+02] [ 5.89185280e-01 8.07854493e-01 1.52257460e-02 1.70016832e+02] [-2.49166656e-02 -6.69034888e-04 9.99689308e-01 7.42593256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.026875 meters Centerline goodness [0,1] 0.9878246753246753 Centerline is valid? [True, True] Translation: X:109.79, Y:170.03, Z:7.42 [[ 8.06823175e-01 -5.90481688e-01 1.91765332e-02 1.09787525e+02] [ 5.90296651e-01 8.07050801e-01 1.47942045e-02 1.70031922e+02] [-2.42121434e-02 -6.16463711e-04 9.99706653e-01 7.42416306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters Centerline goodness [0,1] 0.9881483801916099 Centerline is valid? [True, True] Translation: X:109.81, Y:170.05, Z:7.42 [[ 8.06606897e-01 -5.90788034e-01 1.88364802e-02 1.09809089e+02] [ 5.90609357e-01 8.06826582e-01 1.45414473e-02 1.70048076e+02] [-2.37886859e-02 -6.04230212e-04 9.99716827e-01 7.42161108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.086875 meters Centerline goodness [0,1] 0.9877392031789187 Centerline is valid? [True, True] Translation: X:109.83, Y:170.07, Z:7.42 [[ 8.06468782e-01 -5.90981805e-01 1.86711152e-02 1.09829988e+02] [ 5.90806239e-01 8.06684667e-01 1.44165284e-02 1.70065623e+02] [-2.35816083e-02 -5.95468747e-04 9.99721738e-01 7.41879836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters Centerline goodness [0,1] 0.9877888655462185 Centerline is valid? [True, True] Translation: X:109.85, Y:170.08, Z:7.42 [[ 8.06606745e-01 -5.90787687e-01 1.88538520e-02 1.09854475e+02] [ 5.90608548e-01 8.06826833e-01 1.45603967e-02 1.70081600e+02] [-2.38138967e-02 -6.09268024e-04 9.99716223e-01 7.41885736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.146875 meters Centerline goodness [0,1] 0.9877416809154281 Centerline is valid? [True, True] Translation: X:109.88, Y:170.10, Z:7.42 [[ 8.07379543e-01 -5.89720014e-01 1.91984143e-02 1.09877653e+02] [ 5.89533785e-01 8.07607499e-01 1.48338754e-02 1.70098407e+02] [-2.42526165e-02 -6.58453673e-04 9.99705645e-01 7.41888185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters Centerline goodness [0,1] 0.9880313552188552 Centerline is valid? [True, True] Translation: X:109.90, Y:170.12, Z:7.42 [[ 8.07709033e-01 -5.89273350e-01 1.90535406e-02 1.09900712e+02] [ 5.89089624e-01 8.07933455e-01 1.47291401e-02 1.70115226e+02] [-2.40734826e-02 -6.72616457e-04 9.99709965e-01 7.41749415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.206875 meters Centerline goodness [0,1] 0.987890275364608 Centerline is valid? [True, True] Translation: X:109.92, Y:170.13, Z:7.42 [[ 8.08300033e-01 -5.88462284e-01 1.90577136e-02 1.09921698e+02] [ 5.88278017e-01 8.08524361e-01 1.47421656e-02 1.70133247e+02] [-2.40838342e-02 -7.04858951e-04 9.99709694e-01 7.41552070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters Centerline goodness [0,1] 0.9869401998625285 Centerline is valid? [True, True] Translation: X:109.94, Y:170.15, Z:7.41 [[ 8.09473613e-01 -5.86851419e-01 1.89177672e-02 1.09944682e+02] [ 5.86669373e-01 8.09694295e-01 1.46354080e-02 1.70151172e+02] [-2.39064181e-02 -7.48501946e-04 9.99713921e-01 7.41386825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.266875 meters Centerline goodness [0,1] 0.9872056369367699 Centerline is valid? [True, True] Translation: X:109.97, Y:170.17, Z:7.41 [[ 8.09968339e-01 -5.86162966e-01 1.90857891e-02 1.09968804e+02] [ 5.85977309e-01 8.10192796e-01 1.47725056e-02 1.70167669e+02] [-2.41222645e-02 -7.81422507e-04 9.99708710e-01 7.41307532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters Centerline goodness [0,1] 0.98633190902094 Centerline is valid? [True, True] Translation: X:109.99, Y:170.19, Z:7.41 [[ 8.10330912e-01 -5.85649879e-01 1.94430613e-02 1.09990571e+02] [ 5.85456861e-01 8.10563724e-01 1.50570332e-02 1.70186732e+02] [-2.45779898e-02 -8.18105784e-04 9.99697581e-01 7.41125201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32687500000003 meters Centerline goodness [0,1] 0.9875835721107927 Centerline is valid? [True, True] Translation: X:110.01, Y:170.20, Z:7.41 [[ 8.10720838e-01 -5.85118378e-01 1.91887177e-02 1.10014740e+02] [ 5.84930077e-01 8.10947469e-01 1.48663150e-02 1.70203028e+02] [-2.42595962e-02 -8.28373172e-04 9.99705349e-01 7.41172249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters Centerline goodness [0,1] 0.9869915231646852 Centerline is valid? [True, True] Translation: X:110.04, Y:170.22, Z:7.41 [[ 8.11365761e-01 -5.84217504e-01 1.93780836e-02 1.10037151e+02] [ 5.84024946e-01 8.11596665e-01 1.50238317e-02 1.70219304e+02] [-2.45043735e-02 -8.72538368e-04 9.99699342e-01 7.41058456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38687500000003 meters Centerline goodness [0,1] 0.9869136460554371 Centerline is valid? [True, True] Translation: X:110.06, Y:170.23, Z:7.41 [[ 8.11573804e-01 -5.83931168e-01 1.92964252e-02 1.10061260e+02] [ 5.83740110e-01 8.11802697e-01 1.49621331e-02 1.70234524e+02] [-2.44017458e-02 -8.78777890e-04 9.99701847e-01 7.40994840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters Centerline goodness [0,1] 0.9875839283811148 Centerline is valid? [True, True] Translation: X:110.09, Y:170.25, Z:7.41 [[ 8.09469342e-01 -5.86861462e-01 1.87885423e-02 1.10086647e+02] [ 5.86681078e-01 8.09686995e-01 1.45699521e-02 1.70249976e+02] [-2.37633818e-02 -7.71047328e-04 9.99717314e-01 7.40807566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44687500000003 meters Centerline goodness [0,1] 0.9888444088604217 Centerline is valid? [True, True] Translation: X:110.11, Y:170.27, Z:7.41 [[ 8.06693578e-01 -5.90668130e-01 1.88846656e-02 1.10109524e+02] [ 5.90486710e-01 8.06914315e-01 1.46538191e-02 1.70265108e+02] [-2.38938509e-02 -6.69997707e-04 9.99714277e-01 7.40629889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters Centerline goodness [0,1] 0.9904950072088429 Centerline is valid? [True, True] Translation: X:110.14, Y:170.28, Z:7.41 [[ 8.03430570e-01 -5.95036093e-01 2.07693766e-02 1.10137454e+02] [ 5.94818062e-01 8.03698758e-01 1.61176636e-02 1.70276769e+02] [-2.62829138e-02 -5.95423319e-04 9.99654367e-01 7.40874027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50687500000004 meters Centerline goodness [0,1] 0.9912435732647815 Centerline is valid? [True, True] Translation: X:110.16, Y:170.29, Z:7.41 [[ 8.02055618e-01 -5.96880725e-01 2.09805970e-02 1.10159364e+02] [ 5.96658649e-01 8.02329795e-01 1.62897608e-02 1.70293730e+02] [-2.65564024e-02 -5.47039517e-04 9.99647167e-01 7.40705150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters Centerline goodness [0,1] 0.9922862652667667 Centerline is valid? [True, True] Translation: X:110.18, Y:170.31, Z:7.41 [[ 8.00201030e-01 -5.99367250e-01 2.09096255e-02 1.10184594e+02] [ 5.99147311e-01 8.00474034e-01 1.62425301e-02 1.70308526e+02] [-2.64728529e-02 -4.69343460e-04 9.99649422e-01 7.40552286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56687500000004 meters Centerline goodness [0,1] 0.991971525677737 Centerline is valid? [True, True] Translation: X:110.21, Y:170.32, Z:7.40 [[ 7.99841572e-01 -5.99842552e-01 2.10326453e-02 1.10206917e+02] [ 5.99619983e-01 8.00117928e-01 1.63455365e-02 1.70324875e+02] [-2.66333449e-02 -4.62245219e-04 9.99645163e-01 7.40408772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters Centerline goodness [0,1] 0.9928913119003715 Centerline is valid? [True, True] Translation: X:110.23, Y:170.34, Z:7.40 [[ 7.99781089e-01 -5.99914075e-01 2.12911569e-02 1.10229865e+02] [ 5.99685785e-01 8.00064297e-01 1.65553526e-02 1.70340823e+02] [-2.69660835e-02 -4.72653801e-04 9.99636237e-01 7.40398959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62687500000004 meters Centerline goodness [0,1] 0.9929622864510583 Centerline is valid? [True, True] Translation: X:110.25, Y:170.36, Z:7.41 [[ 8.00554521e-01 -5.98887812e-01 2.11151045e-02 1.10254270e+02] [ 5.98662676e-01 8.00832772e-01 1.64277996e-02 1.70356991e+02] [-2.67480766e-02 -5.10524221e-04 9.99642076e-01 7.40591473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters Centerline goodness [0,1] 0.9921710086840347 Centerline is valid? [True, True] Translation: X:110.28, Y:170.37, Z:7.40 [[ 8.00563237e-01 -5.98871488e-01 2.12471928e-02 1.10275223e+02] [ 5.98643254e-01 8.00844971e-01 1.65404664e-02 1.70374030e+02] [-2.69213212e-02 -5.22200645e-04 9.99637419e-01 7.40367534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68687500000004 meters Centerline goodness [0,1] 0.9891004178987757 Centerline is valid? [True, True] Translation: X:110.29, Y:170.40, Z:7.39 [[ 7.98577321e-01 -6.01460687e-01 2.27882467e-02 1.10288005e+02] [ 6.01199044e-01 7.98902260e-01 1.77451278e-02 1.70402968e+02] [-2.88785785e-02 -4.70584439e-04 9.99582816e-01 7.39250360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters Centerline goodness [0,1] 0.9921891718382195 Centerline is valid? [True, True] Translation: X:110.32, Y:170.41, Z:7.40 [[ 8.00042687e-01 -5.99611786e-01 1.99350370e-02 1.10321245e+02] [ 5.99410844e-01 8.00290873e-01 1.55292902e-02 1.70408116e+02] [-2.52653735e-02 -4.74817675e-04 9.99680667e-01 7.40098335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74687500000005 meters Centerline goodness [0,1] 0.9920556107249255 Centerline is valid? [True, True] Translation: X:110.34, Y:170.43, Z:7.40 [[ 7.99876896e-01 -5.99852956e-01 1.93231104e-02 1.10342009e+02] [ 5.99664068e-01 8.00110131e-01 1.50593560e-02 1.70425979e+02] [-2.44940156e-02 -4.58256011e-04 9.99699872e-01 7.39767938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters Centerline goodness [0,1] 0.9927658548348204 Centerline is valid? [True, True] Translation: X:110.36, Y:170.44, Z:7.39 [[ 7.99658281e-01 -6.00167965e-01 1.85754338e-02 1.10364538e+02] [ 5.99993347e-01 7.99873879e-01 1.44831368e-02 1.70443355e+02] [-2.35503191e-02 -4.36423565e-04 9.99722558e-01 7.39491373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.806875 meters Centerline goodness [0,1] 0.9922771640030034 Centerline is valid? [True, True] Translation: X:110.39, Y:170.46, Z:7.39 [[ 7.99634057e-01 -6.00204205e-01 1.84468626e-02 1.10387196e+02] [ 6.00031864e-01 7.99846686e-01 1.43889270e-02 1.70460374e+02] [-2.33909565e-02 -4.37170730e-04 9.99726299e-01 7.39398147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters Centerline goodness [0,1] 0.9929722915157855 Centerline is valid? [True, True] Translation: X:110.41, Y:170.48, Z:7.39 [[ 7.99161118e-01 -6.00832454e-01 1.84897352e-02 1.10408532e+02] [ 6.00659184e-01 7.99374867e-01 1.44349133e-02 1.70477562e+02] [-2.34531940e-02 -4.29792230e-04 9.99724844e-01 7.39333305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.866875 meters Centerline goodness [0,1] 0.993090149445605 Centerline is valid? [True, True] Translation: X:110.43, Y:170.50, Z:7.39 [[ 7.99017626e-01 -6.01009990e-01 1.89162731e-02 1.10430509e+02] [ 6.00828713e-01 7.99241393e-01 1.47666399e-02 1.70495618e+02] [-2.39935666e-02 -4.33365561e-04 9.99712019e-01 7.39271420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters Centerline goodness [0,1] 0.9921582271705385 Centerline is valid? [True, True] Translation: X:110.45, Y:170.51, Z:7.39 [[ 7.99281431e-01 -6.00642532e-01 1.94355907e-02 1.10450553e+02] [ 6.00450793e-01 7.99517562e-01 1.51826471e-02 1.70513456e+02] [-2.46584397e-02 -4.65092114e-04 9.99695826e-01 7.39149112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.926875 meters Centerline goodness [0,1] 0.9920348541950659 Centerline is valid? [True, True] Translation: X:110.47, Y:170.53, Z:7.39 [[ 7.99775282e-01 -5.99975003e-01 1.97355941e-02 1.10473157e+02] [ 5.99776963e-01 8.00018592e-01 1.54222721e-02 1.70531993e+02] [-2.50418199e-02 -4.97397319e-04 9.99686281e-01 7.39239206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters Centerline goodness [0,1] 0.9915643352909771 Centerline is valid? [True, True] Translation: X:110.50, Y:170.55, Z:7.39 [[ 8.00050698e-01 -5.99609145e-01 1.96914611e-02 1.10495339e+02] [ 5.99411715e-01 8.00292827e-01 1.53943569e-02 1.70550445e+02] [-2.49895322e-02 -5.12973486e-04 9.99687581e-01 7.39112323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.986875 meters Centerline goodness [0,1] 0.9912135455613716 Centerline is valid? [True, True] Translation: X:110.52, Y:170.57, Z:7.39 [[ 8.00963598e-01 -5.98405039e-01 1.92021941e-02 1.10517238e+02] [ 5.98216784e-01 8.01193556e-01 1.50188173e-02 1.70569359e+02] [-2.43720101e-02 -5.42451112e-04 9.99702811e-01 7.38986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters Centerline goodness [0,1] 0.9910101601148997 Centerline is valid? [True, True] Translation: X:110.54, Y:170.59, Z:7.39 [[ 8.01532804e-01 -5.97644797e-01 1.91275006e-02 1.10537395e+02] [ 5.97457605e-01 8.01760795e-01 1.49678868e-02 1.70588427e+02] [-2.42811597e-02 -5.69381564e-04 9.99705007e-01 7.38683275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.046875 meters Centerline goodness [0,1] 0.9914176817079347 Centerline is valid? [True, True] Translation: X:110.56, Y:170.61, Z:7.39 [[ 8.02206206e-01 -5.96739397e-01 1.91649497e-02 1.10559218e+02] [ 5.96551034e-01 8.02434874e-01 1.50045604e-02 1.70606891e+02] [-2.43324363e-02 -6.03880917e-04 9.99703740e-01 7.38519464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters Centerline goodness [0,1] 0.9909376832453756 Centerline is valid? [True, True] Translation: X:110.58, Y:170.63, Z:7.38 [[ 8.02934823e-01 -5.95753141e-01 1.93355846e-02 1.10579276e+02] [ 5.95560855e-01 8.03167340e-01 1.51489969e-02 1.70626182e+02] [-2.45547726e-02 -6.48139854e-04 9.99698276e-01 7.38342120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.106875 meters Centerline goodness [0,1] 0.9906273298540845 Centerline is valid? [True, True] Translation: X:110.60, Y:170.64, Z:7.38 [[ 8.04362019e-01 -5.93834901e-01 1.90224044e-02 1.10600981e+02] [ 5.93648220e-01 8.04586617e-01 1.49052408e-02 1.70644740e+02] [-2.41564242e-02 -6.96593078e-04 9.99707948e-01 7.38343091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters Centerline goodness [0,1] 0.9893591551169163 Centerline is valid? [True, True] Translation: X:110.62, Y:170.66, Z:7.38 [[ 8.04951291e-01 -5.93047850e-01 1.86458292e-02 1.10623382e+02] [ 5.92868247e-01 8.05166907e-01 1.46114495e-02 1.70663431e+02] [-2.36782934e-02 -7.06985102e-04 9.99719380e-01 7.38234906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.166875 meters Centerline goodness [0,1] 0.9897641772791322 Centerline is valid? [True, True] Translation: X:110.64, Y:170.68, Z:7.38 [[ 8.05361030e-01 -5.92493748e-01 1.85680119e-02 1.10643922e+02] [ 5.92315244e-01 8.05574719e-01 1.45610191e-02 1.70681971e+02] [-2.35852337e-02 -7.28760868e-04 9.99721564e-01 7.38067012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters Centerline goodness [0,1] 0.9889793962625779 Centerline is valid? [True, True] Translation: X:110.67, Y:170.70, Z:7.38 [[ 8.05579038e-01 -5.92205743e-01 1.82967888e-02 1.10665886e+02] [ 5.92032364e-01 8.05786468e-01 1.43473969e-02 1.70700142e+02] [-2.32399156e-02 -7.25671062e-04 9.99729653e-01 7.37908375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.226875 meters Centerline goodness [0,1] 0.9898231031543052 Centerline is valid? [True, True] Translation: X:110.69, Y:170.72, Z:7.38 [[ 8.03521084e-01 -5.95007796e-01 1.78770575e-02 1.10690734e+02] [ 5.94842828e-01 8.03719677e-01 1.40246385e-02 1.70715420e+02] [-2.27129121e-02 -6.35053286e-04 9.99741827e-01 7.37766761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters Centerline goodness [0,1] 0.9906424953345775 Centerline is valid? [True, True] Translation: X:110.71, Y:170.73, Z:7.38 [[ 8.02341540e-01 -5.96585013e-01 1.82859499e-02 1.10713237e+02] [ 5.96412566e-01 8.02549654e-01 1.43563427e-02 1.70732236e+02] [-2.32401616e-02 -6.12719828e-04 9.99729723e-01 7.37639478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.286875 meters Centerline goodness [0,1] 0.9903233545704155 Centerline is valid? [True, True] Translation: X:110.74, Y:170.75, Z:7.38 [[ 8.01032744e-01 -5.98325073e-01 1.88055768e-02 1.10735796e+02] [ 5.98143098e-01 8.01253250e-01 1.47670034e-02 1.70748605e+02] [-2.39034979e-02 -5.80427316e-04 9.99714102e-01 7.37591035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters Centerline goodness [0,1] 0.9911957739715064 Centerline is valid? [True, True] Translation: X:110.76, Y:170.76, Z:7.37 [[ 7.99016273e-01 -6.01015868e-01 1.87862161e-02 1.10760293e+02] [ 6.00835018e-01 7.99236934e-01 1.47514004e-02 1.70763644e+02] [-2.38804635e-02 -4.99192503e-04 9.99714696e-01 7.37474724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.346875 meters Centerline goodness [0,1] 0.992480398191014 Centerline is valid? [True, True] Translation: X:110.78, Y:170.78, Z:7.37 [[ 7.97750079e-01 -6.02700768e-01 1.86170783e-02 1.10784812e+02] [ 6.02523466e-01 7.97967156e-01 1.46249781e-02 1.70779992e+02] [-2.36703026e-02 -4.49850906e-04 9.99719718e-01 7.37425725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters Centerline goodness [0,1] 0.9926427310182461 Centerline is valid? [True, True] Translation: X:110.81, Y:170.80, Z:7.37 [[ 7.96081707e-01 -6.04887107e-01 1.91181490e-02 1.10808562e+02] [ 6.04700533e-01 7.96311136e-01 1.50279432e-02 1.70797167e+02] [-2.43142040e-02 -4.02715735e-04 9.99704285e-01 7.37365304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.406875 meters Centerline goodness [0,1] 0.9932446865320944 Centerline is valid? [True, True] Translation: X:110.83, Y:170.81, Z:7.37 [[ 7.94062518e-01 -6.07537925e-01 1.90364635e-02 1.10831251e+02] [ 6.07353612e-01 7.94290605e-01 1.49674322e-02 1.70812877e+02] [-2.42137668e-02 -3.23212005e-04 9.99706752e-01 7.37149241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters Centerline goodness [0,1] 0.9934189406099518 Centerline is valid? [True, True] Translation: X:110.86, Y:170.83, Z:7.37 [[ 7.91769755e-01 -6.10478201e-01 2.04211120e-02 1.10856415e+02] [ 6.10266999e-01 7.92033019e-01 1.60588805e-02 1.70827958e+02] [-2.59777914e-02 -2.52605180e-04 9.99662488e-01 7.37270696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.466875 meters Centerline goodness [0,1] 0.9939052099762089 Centerline is valid? [True, True] Translation: X:110.88, Y:170.84, Z:7.37 [[ 7.90968777e-01 -6.11495104e-01 2.10269411e-02 1.10880468e+02] [ 6.11271342e-01 7.91248181e-01 1.65427284e-02 1.70844714e+02] [-2.67533263e-02 -2.31615166e-04 9.99642039e-01 7.37345740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters Centerline goodness [0,1] 0.9936094547982567 Centerline is valid? [True, True] Translation: X:110.90, Y:170.86, Z:7.37 [[ 7.91111283e-01 -6.11323354e-01 2.06566026e-02 1.10901673e+02] [ 6.11107081e-01 7.91380881e-01 1.62614925e-02 1.70862094e+02] [-2.62882705e-02 -2.41254117e-04 9.99654375e-01 7.37106459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.526875 meters Centerline goodness [0,1] 0.9938990275742641 Centerline is valid? [True, True] Translation: X:110.92, Y:170.88, Z:7.37 [[ 7.91528299e-01 -6.10820710e-01 1.95195186e-02 1.10922348e+02] [ 6.10627406e-01 7.91768906e-01 1.53678596e-02 1.70882446e+02] [-2.48419548e-02 -2.44942784e-04 9.99691361e-01 7.36823815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters Centerline goodness [0,1] 0.9938990275742641 Centerline is valid? [True, True] Translation: X:110.94, Y:170.90, Z:7.37 [[ 7.91365651e-01 -6.11031507e-01 1.95167378e-02 1.10943962e+02] [ 6.10838180e-01 7.91606239e-01 1.53713900e-02 1.70899622e+02] [-2.48419750e-02 -2.42821431e-04 9.99691361e-01 7.36710958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.586875 meters Centerline goodness [0,1] 0.9924164427592095 Centerline is valid? [True, True] Translation: X:110.96, Y:170.92, Z:7.36 [[ 7.91170042e-01 -6.11255029e-01 2.04268019e-02 1.10961170e+02] [ 6.11042985e-01 7.91433651e-01 1.61011384e-02 1.70922773e+02] [-2.60083602e-02 -2.57084318e-04 9.99661692e-01 7.35826599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters Centerline goodness [0,1] 0.9928586655297378 Centerline is valid? [True, True] Translation: X:110.99, Y:170.94, Z:7.36 [[ 7.93569775e-01 -6.08196434e-01 1.85501856e-02 1.10985907e+02] [ 6.08020697e-01 7.93786490e-01 1.46232697e-02 1.70938066e+02] [-2.36187072e-02 -3.25688091e-04 9.99720986e-01 7.36445038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.646875 meters Centerline goodness [0,1] 0.9922290823930168 Centerline is valid? [True, True] Translation: X:111.01, Y:170.96, Z:7.36 [[ 7.94589455e-01 -6.06867484e-01 1.84242958e-02 1.11007000e+02] [ 6.06693750e-01 7.94802947e-01 1.45247582e-02 1.70957572e+02] [-2.34582880e-02 -3.63314582e-04 9.99724750e-01 7.36185135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters Centerline goodness [0,1] 0.9913312366202395 Centerline is valid? [True, True] Translation: X:111.03, Y:170.98, Z:7.36 [[ 7.95475331e-01 -6.05734054e-01 1.74715161e-02 1.11026588e+02] [ 6.05577417e-01 7.95667085e-01 1.37797132e-02 1.70977531e+02] [-2.22483518e-02 -3.81066329e-04 9.99752402e-01 7.35856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.706875 meters Centerline goodness [0,1] 0.9920407513530722 Centerline is valid? [True, True] Translation: X:111.05, Y:171.00, Z:7.36 [[ 7.95963792e-01 -6.05094960e-01 1.73704071e-02 1.11049520e+02] [ 6.04939837e-01 7.96153207e-01 1.37063966e-02 1.70995410e+02] [-2.21231768e-02 -4.01744213e-04 9.99755172e-01 7.35889465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters Centerline goodness [0,1] 0.9916129203492847 Centerline is valid? [True, True] Translation: X:111.07, Y:171.02, Z:7.36 [[ 7.96311645e-01 -6.04639191e-01 1.72977621e-02 1.11070966e+02] [ 6.04485107e-01 7.96499387e-01 1.36558576e-02 1.71015525e+02] [-2.20345236e-02 -4.18078810e-04 9.99757123e-01 7.35708097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.766875 meters Centerline goodness [0,1] 0.9905011377467323 Centerline is valid? [True, True] Translation: X:111.09, Y:171.04, Z:7.35 [[ 7.97932536e-01 -6.02491640e-01 1.75354417e-02 1.11089627e+02] [ 6.02332535e-01 7.98125041e-01 1.38541135e-02 1.71036285e+02] [-2.23424627e-02 -4.92480836e-04 9.99750255e-01 7.35418829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters Centerline goodness [0,1] 0.9912257518896348 Centerline is valid? [True, True] Translation: X:111.11, Y:171.05, Z:7.36 [[ 7.98431400e-01 -6.01823652e-01 1.77648764e-02 1.11113104e+02] [ 6.01660215e-01 7.98628840e-01 1.40342817e-02 1.71053771e+02] [-2.26337053e-02 -5.16991818e-04 9.99743691e-01 7.35502648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82687500000003 meters Centerline goodness [0,1] 0.9901125486483644 Centerline is valid? [True, True] Translation: X:111.13, Y:171.07, Z:7.35 [[ 7.98693793e-01 -6.01476008e-01 1.77436163e-02 1.11133166e+02] [ 6.01312721e-01 7.98890686e-01 1.40243931e-02 1.71073627e+02] [-2.26105457e-02 -5.31733549e-04 9.99744208e-01 7.35277448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters Centerline goodness [0,1] 0.988963696369637 Centerline is valid? [True, True] Translation: X:111.16, Y:171.09, Z:7.35 [[ 7.99517103e-01 -6.00356240e-01 1.85684343e-02 1.11155136e+02] [ 6.00176929e-01 7.99732474e-01 1.46841475e-02 1.71092216e+02] [-2.36654994e-02 -5.95881184e-04 9.99719755e-01 7.35251468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88687500000003 meters Centerline goodness [0,1] 0.9901402509754297 Centerline is valid? [True, True] Translation: X:111.18, Y:171.11, Z:7.35 [[ 7.99552271e-01 -6.00304292e-01 1.87329190e-02 1.11177851e+02] [ 6.00121621e-01 7.99771459e-01 1.48207051e-02 1.71109571e+02] [-2.38789869e-02 -6.07898696e-04 9.99714672e-01 7.35260751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters Centerline goodness [0,1] 0.9890993144388117 Centerline is valid? [True, True] Translation: X:111.20, Y:171.13, Z:7.35 [[ 7.99681245e-01 -6.00129652e-01 1.88230216e-02 1.11198103e+02] [ 5.99944909e-01 7.99902500e-01 1.49028974e-02 1.71127505e+02] [-2.40002527e-02 -6.24791602e-04 9.99711757e-01 7.35107822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94687500000003 meters Centerline goodness [0,1] 0.9889417141656379 Centerline is valid? [True, True] Translation: X:111.22, Y:171.15, Z:7.35 [[ 8.00194699e-01 -5.99423353e-01 1.94958389e-02 1.11220227e+02] [ 5.99224869e-01 8.00431879e-01 1.54390534e-02 1.71146114e+02] [-2.48596202e-02 -6.71857158e-04 9.99690726e-01 7.35087542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters Centerline goodness [0,1] 0.9889417141656379 Centerline is valid? [True, True] Translation: X:111.24, Y:171.16, Z:7.35 [[ 8.00229272e-01 -5.99368011e-01 1.97762593e-02 1.11242049e+02] [ 5.99163579e-01 8.00473306e-01 1.56682001e-02 1.71163790e+02] [-2.52213855e-02 -6.88938072e-04 9.99681653e-01 7.34989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00687500000004 meters Centerline goodness [0,1] 0.9886190401093413 Centerline is valid? [True, True] Translation: X:111.26, Y:171.18, Z:7.35 [[ 8.00285541e-01 -5.99292867e-01 1.97765647e-02 1.11264591e+02] [ 5.99088168e-01 8.00529557e-01 1.56778568e-02 1.71182362e+02] [-2.52273524e-02 -6.98856168e-04 9.99681495e-01 7.34861923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters Centerline goodness [0,1] 0.9890673044072429 Centerline is valid? [True, True] Translation: X:111.29, Y:171.20, Z:7.35 [[ 8.00019233e-01 -5.99638214e-01 2.00808234e-02 1.11287712e+02] [ 5.99427093e-01 8.00270902e-01 1.59261728e-02 1.71198700e+02] [-2.56200404e-02 -7.04254914e-04 9.99671505e-01 7.34819490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06687500000004 meters Centerline goodness [0,1] 0.9881462401766237 Centerline is valid? [True, True] Translation: X:111.31, Y:171.22, Z:7.35 [[ 7.99875360e-01 -5.99821014e-01 2.03509288e-02 1.11309750e+02] [ 5.99603993e-01 8.00133889e-01 1.61496745e-02 1.71216229e+02] [-2.59703819e-02 -7.15228594e-04 9.99662457e-01 7.34644339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters Centerline goodness [0,1] 0.9906216435700627 Centerline is valid? [True, True] Translation: X:111.33, Y:171.23, Z:7.35 [[ 7.99051390e-01 -6.00903410e-01 2.07838227e-02 1.11333582e+02] [ 6.00677157e-01 7.99321336e-01 1.65031636e-02 1.71232670e+02] [-2.65297603e-02 -7.02508303e-04 9.99647777e-01 7.34634013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12687500000004 meters Centerline goodness [0,1] 0.9892193210801714 Centerline is valid? [True, True] Translation: X:111.36, Y:171.25, Z:7.35 [[ 7.98543567e-01 -6.01566250e-01 2.11238878e-02 1.11355563e+02] [ 6.01332457e-01 7.98822606e-01 1.67845264e-02 1.71250183e+02] [-2.69712437e-02 -7.00696171e-04 9.99635964e-01 7.34555359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters Centerline goodness [0,1] 0.9885893483015785 Centerline is valid? [True, True] Translation: X:111.38, Y:171.27, Z:7.35 [[ 7.97796665e-01 -6.02538163e-01 2.16389116e-02 1.11378373e+02] [ 6.02293099e-01 7.98089776e-01 1.71968910e-02 1.71266902e+02] [-2.76315773e-02 -6.86655188e-04 9.99617939e-01 7.34543278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18687500000004 meters Centerline goodness [0,1] 0.9893561103810775 Centerline is valid? [True, True] Translation: X:111.40, Y:171.28, Z:7.35 [[ 7.97436802e-01 -6.02999727e-01 2.20425876e-02 1.11402237e+02] [ 6.02745590e-01 7.97741099e-01 1.75183288e-02 1.71283301e+02] [-2.81478256e-02 -6.83687653e-04 9.99603538e-01 7.34515232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters Centerline goodness [0,1] 0.9900812965350312 Centerline is valid? [True, True] Translation: X:111.42, Y:171.30, Z:7.34 [[ 7.97257536e-01 -6.03242618e-01 2.18806747e-02 1.11424506e+02] [ 6.02992028e-01 7.97557449e-01 1.73991344e-02 1.71300363e+02] [-2.79469945e-02 -6.77718624e-04 9.99609177e-01 7.34425821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24687500000005 meters Centerline goodness [0,1] 0.9889672968560745 Centerline is valid? [True, True] Translation: X:111.45, Y:171.32, Z:7.34 [[ 7.97746208e-01 -6.02623030e-01 2.11298710e-02 1.11445387e+02] [ 6.02388957e-01 7.98025702e-01 1.68084562e-02 1.71318678e+02] [-2.69913430e-02 -6.80481244e-04 9.99635436e-01 7.34143528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters Centerline goodness [0,1] 0.9881334526127453 Centerline is valid? [True, True] Translation: X:111.47, Y:171.34, Z:7.34 [[ 7.98284874e-01 -6.01921594e-01 2.07762957e-02 1.11465945e+02] [ 6.01694919e-01 7.98554888e-01 1.65322399e-02 1.71336852e+02] [-2.65421247e-02 -6.96445481e-04 9.99647453e-01 7.33899406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.306875 meters Centerline goodness [0,1] 0.9892908827785818 Centerline is valid? [True, True] Translation: X:111.49, Y:171.36, Z:7.34 [[ 7.98642966e-01 -6.01448231e-01 2.07228991e-02 1.11486660e+02] [ 6.01222506e-01 7.98911459e-01 1.64918118e-02 1.71355366e+02] [-2.64747326e-02 -7.11996213e-04 9.99649229e-01 7.33739221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters Centerline goodness [0,1] 0.9887444974563091 Centerline is valid? [True, True] Translation: X:111.51, Y:171.37, Z:7.34 [[ 7.99602721e-01 -6.00166383e-01 2.08758474e-02 1.11509401e+02] [ 5.99936817e-01 7.99874823e-01 1.66157676e-02 1.71373244e+02] [-2.66702899e-02 -7.61823530e-04 9.99643994e-01 7.33679294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.366875 meters Centerline goodness [0,1] 0.9885696225868472 Centerline is valid? [True, True] Translation: X:111.53, Y:171.39, Z:7.34 [[ 8.00232606e-01 -5.99330507e-01 2.07537816e-02 1.11531971e+02] [ 5.99103128e-01 8.00501291e-01 1.65264649e-02 1.71391586e+02] [-2.65182435e-02 -7.91360645e-04 9.99648016e-01 7.33594926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters Centerline goodness [0,1] 0.986794147166024 Centerline is valid? [True, True] Translation: X:111.55, Y:171.41, Z:7.33 [[ 8.02065960e-01 -5.96884401e-01 2.04745389e-02 1.11553051e+02] [ 5.96662088e-01 8.02326779e-01 1.63123702e-02 1.71410717e+02] [-2.61638701e-02 -8.67215721e-04 9.99657291e-01 7.33387203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.426875 meters Centerline goodness [0,1] 0.9870174420138798 Centerline is valid? [True, True] Translation: X:111.57, Y:171.43, Z:7.33 [[ 8.02842400e-01 -5.95832439e-01 2.06829627e-02 1.11573268e+02] [ 5.95604976e-01 8.03108250e-01 1.64879262e-02 1.71430267e+02] [-2.64346993e-02 -9.18330703e-04 9.99650120e-01 7.33208292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters Centerline goodness [0,1] 0.9874772132836649 Centerline is valid? [True, True] Translation: X:111.60, Y:171.45, Z:7.33 [[ 8.03459066e-01 -5.95000468e-01 2.06874870e-02 1.11595928e+02] [ 5.94772574e-01 8.03724795e-01 1.64936070e-02 1.71447272e+02] [-2.64407501e-02 -9.47588234e-04 9.99649933e-01 7.33098907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.486875 meters Centerline goodness [0,1] 0.9867755015503671 Centerline is valid? [True, True] Translation: X:111.61, Y:171.47, Z:7.33 [[ 8.03694973e-01 -5.94682803e-01 2.06580383e-02 1.11614974e+02] [ 5.94455337e-01 8.03959851e-01 1.64745464e-02 1.71468145e+02] [-2.64053628e-02 -9.60228992e-04 9.99650856e-01 7.32794534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters Centerline goodness [0,1] 0.9872596281188748 Centerline is valid? [True, True] Translation: X:111.64, Y:171.48, Z:7.33 [[ 8.04072011e-01 -5.94209371e-01 1.95812107e-02 1.11640262e+02] [ 5.94004829e-01 8.04309869e-01 1.56172220e-02 1.71482350e+02] [-2.50292607e-02 -9.26037393e-04 9.99686290e-01 7.32759810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.546875 meters Centerline goodness [0,1] 0.9878557572214398 Centerline is valid? [True, True] Translation: X:111.66, Y:171.50, Z:7.33 [[ 8.02818254e-01 -5.95920224e-01 1.90246375e-02 1.11663162e+02] [ 5.95727367e-01 8.03043182e-01 1.51839255e-02 1.71497771e+02] [-2.43260137e-02 -8.56435361e-04 9.99703712e-01 7.32566209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters Centerline goodness [0,1] 0.9881531064892289 Centerline is valid? [True, True] Translation: X:111.69, Y:171.51, Z:7.32 [[ 8.00650085e-01 -5.98840225e-01 1.87036232e-02 1.11686475e+02] [ 5.98654634e-01 8.00868164e-01 1.49269270e-02 1.71513871e+02] [-2.39179807e-02 -7.54234605e-04 9.99713640e-01 7.32345063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.606875 meters Centerline goodness [0,1] 0.9885304659498207 Centerline is valid? [True, True] Translation: X:111.71, Y:171.53, Z:7.32 [[ 7.98791976e-01 -6.01307323e-01 1.89968914e-02 1.11711424e+02] [ 6.01116372e-01 7.99017532e-01 1.51687490e-02 1.71529386e+02] [-2.42999291e-02 -6.97332521e-04 9.99704470e-01 7.32274461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters Centerline goodness [0,1] 0.9907819368589317 Centerline is valid? [True, True] Translation: X:111.74, Y:171.54, Z:7.32 [[ 7.95429268e-01 -6.05684699e-01 2.09362169e-02 1.11736464e+02] [ 6.05454017e-01 7.95704499e-01 1.67267498e-02 1.71542584e+02] [-2.67901784e-02 -6.29029711e-04 9.99640881e-01 7.32401757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.666875 meters Centerline goodness [0,1] 0.9921328903654485 Centerline is valid? [True, True] Translation: X:111.76, Y:171.56, Z:7.32 [[ 7.93528601e-01 -6.08161559e-01 2.12573940e-02 1.11761462e+02] [ 6.07924413e-01 7.93813079e-01 1.69912836e-02 1.71557870e+02] [-2.72078430e-02 -5.60180727e-04 9.99629641e-01 7.32366537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters Centerline goodness [0,1] 0.9925199066999115 Centerline is valid? [True, True] Translation: X:111.79, Y:171.57, Z:7.32 [[ 7.90358410e-01 -6.12242773e-01 2.21894070e-02 1.11788844e+02] [ 6.11985726e-01 7.90669709e-01 1.77449234e-02 1.71569587e+02] [-2.84086931e-02 -4.45249109e-04 9.99596292e-01 7.32363200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.726875 meters Centerline goodness [0,1] 0.9926751913008458 Centerline is valid? [True, True] Translation: X:111.81, Y:171.59, Z:7.32 [[ 7.87547054e-01 -6.15799101e-01 2.36876464e-02 1.11809668e+02] [ 6.15507460e-01 7.87903133e-01 1.89530792e-02 1.71588814e+02] [-3.03348600e-02 -3.46518629e-04 9.99539732e-01 7.31907889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters Centerline goodness [0,1] 0.993906858139847 Centerline is valid? [True, True] Translation: X:111.84, Y:171.60, Z:7.32 [[ 7.88162996e-01 -6.15037720e-01 2.29716275e-02 1.11836990e+02] [ 6.14762868e-01 7.88497600e-01 1.83888557e-02 1.71600821e+02] [-2.94229130e-02 -3.71312035e-04 9.99566983e-01 7.32284552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.786875 meters Centerline goodness [0,1] 0.9938541638710716 Centerline is valid? [True, True] Translation: X:111.86, Y:171.62, Z:7.32 [[ 7.87736132e-01 -6.15577053e-01 2.31663051e-02 1.11859891e+02] [ 6.15297525e-01 7.88076622e-01 1.85524569e-02 1.71617453e+02] [-2.96772902e-02 -3.60270398e-04 9.99559467e-01 7.32169289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters Centerline goodness [0,1] 0.994733306462448 Centerline is valid? [True, True] Translation: X:111.88, Y:171.63, Z:7.32 [[ 7.86543149e-01 -6.17097716e-01 2.32440124e-02 1.11882606e+02] [ 6.16816576e-01 7.86886466e-01 1.86279760e-02 1.71632985e+02] [-2.97856802e-02 -3.14414776e-04 9.99556259e-01 7.32089461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.846875 meters Centerline goodness [0,1] 0.9944069482911614 Centerline is valid? [True, True] Translation: X:111.91, Y:171.65, Z:7.32 [[ 7.86014416e-01 -6.17770701e-01 2.32529282e-02 1.11905461e+02] [ 6.17489623e-01 7.86358237e-01 1.86356493e-02 1.71649646e+02] [-2.97976898e-02 -2.89447119e-04 9.99555908e-01 7.32007617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters Centerline goodness [0,1] 0.994753887743904 Centerline is valid? [True, True] Translation: X:111.93, Y:171.67, Z:7.32 [[ 7.85488089e-01 -6.18457742e-01 2.27702249e-02 1.11927971e+02] [ 6.18188213e-01 7.85818014e-01 1.82587571e-02 1.71667008e+02] [-2.91855225e-02 -2.65751580e-04 9.99573977e-01 7.31879580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.906875 meters Centerline goodness [0,1] 0.9937788265579749 Centerline is valid? [True, True] Translation: X:111.95, Y:171.69, Z:7.32 [[ 7.85602343e-01 -6.18318386e-01 2.26126380e-02 1.11949704e+02] [ 6.18052226e-01 7.85927666e-01 1.81424545e-02 1.71685081e+02] [-2.89897111e-02 -2.76963512e-04 9.99579672e-01 7.31635908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters Centerline goodness [0,1] 0.9948391258769455 Centerline is valid? [True, True] Translation: X:111.97, Y:171.70, Z:7.31 [[ 7.85815027e-01 -6.18055092e-01 2.24198051e-02 1.11971353e+02] [ 6.17793043e-01 7.86134733e-01 1.79982951e-02 1.71704406e+02] [-2.87489254e-02 -2.92531129e-04 9.99586621e-01 7.31461752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.966875 meters Centerline goodness [0,1] 0.9939935108465395 Centerline is valid? [True, True] Translation: X:111.99, Y:171.72, Z:7.31 [[ 7.86902153e-01 -6.16665767e-01 2.25462690e-02 1.11992155e+02] [ 6.16399924e-01 7.87225005e-01 1.81087211e-02 1.71724833e+02] [-2.89160151e-02 -3.52273175e-04 9.99581783e-01 7.31242666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters Centerline goodness [0,1] 0.993268792405267 Centerline is valid? [True, True] Translation: X:112.01, Y:171.74, Z:7.31 [[ 7.87531177e-01 -6.15861245e-01 2.25737253e-02 1.12011780e+02] [ 6.15594120e-01 7.87854539e-01 1.81412518e-02 1.71744036e+02] [-2.89573059e-02 -3.90548834e-04 9.99580573e-01 7.31029969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.026875 meters Centerline goodness [0,1] 0.9929828320432814 Centerline is valid? [True, True] Translation: X:112.03, Y:171.76, Z:7.31 [[ 7.88162655e-01 -6.15050815e-01 2.26301558e-02 1.12033347e+02] [ 6.14781910e-01 7.88487359e-01 1.81903380e-02 1.71762681e+02] [-2.90315740e-02 -4.24334701e-04 9.99578405e-01 7.30909737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters Centerline goodness [0,1] 0.9927801695323154 Centerline is valid? [True, True] Translation: X:112.06, Y:171.78, Z:7.31 [[ 7.88495248e-01 -6.14621347e-01 2.27121981e-02 1.12055253e+02] [ 6.14350044e-01 7.88822159e-01 1.82654106e-02 1.71781591e+02] [-2.91421964e-02 -4.48949593e-04 9.99575175e-01 7.30829744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.086875 meters Centerline goodness [0,1] 0.9918269230769231 Centerline is valid? [True, True] Translation: X:112.08, Y:171.80, Z:7.31 [[ 7.89060513e-01 -6.13884578e-01 2.30050474e-02 1.12076958e+02] [ 6.13605645e-01 7.89395646e-01 1.85101839e-02 1.71801537e+02] [-2.95232007e-02 -4.89628249e-04 9.99563975e-01 7.30819965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters Centerline goodness [0,1] 0.9930562974041235 Centerline is valid? [True, True] Translation: X:112.10, Y:171.82, Z:7.31 [[ 7.89487796e-01 -6.13339125e-01 2.28940665e-02 1.12098811e+02] [ 6.13062387e-01 7.89819506e-01 1.84297864e-02 1.71820922e+02] [-2.93858894e-02 -5.14600377e-04 9.99568009e-01 7.30688474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.146875 meters Centerline goodness [0,1] 0.9912364818070428 Centerline is valid? [True, True] Translation: X:112.12, Y:171.84, Z:7.30 [[ 7.89959852e-01 -6.12724034e-01 2.30800976e-02 1.12118366e+02] [ 6.12442197e-01 7.90296751e-01 1.85903353e-02 1.71841045e+02] [-2.96308713e-02 -5.50392855e-04 9.99560758e-01 7.30427981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters Centerline goodness [0,1] 0.9906395007733746 Centerline is valid? [True, True] Translation: X:112.14, Y:171.86, Z:7.30 [[ 7.90285223e-01 -6.12298904e-01 2.32232310e-02 1.12140843e+02] [ 6.12013246e-01 7.90626159e-01 1.87099949e-02 1.71858845e+02] [-2.98170033e-02 -5.73307509e-04 9.99555210e-01 7.30320228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.206875 meters Centerline goodness [0,1] 0.9919316056639059 Centerline is valid? [True, True] Translation: X:112.16, Y:171.88, Z:7.30 [[ 7.89332749e-01 -6.13572777e-01 2.19603988e-02 1.12162055e+02] [ 6.13317726e-01 7.89638017e-01 1.76965899e-02 1.71876515e+02] [-2.81989116e-02 -4.99796120e-04 9.99602207e-01 7.29884113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters Centerline goodness [0,1] 0.9923704849810596 Centerline is valid? [True, True] Translation: X:112.19, Y:171.89, Z:7.30 [[ 7.88479285e-01 -6.14672970e-01 2.18530580e-02 1.12185553e+02] [ 6.14420699e-01 7.88781926e-01 1.76147294e-02 1.71893019e+02] [-2.80645952e-02 -4.61878056e-04 9.99606005e-01 7.29807836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.266875 meters Centerline goodness [0,1] 0.9924153402414272 Centerline is valid? [True, True] Translation: X:112.21, Y:171.91, Z:7.30 [[ 7.87982108e-01 -6.15324214e-01 2.14548007e-02 1.12208334e+02] [ 6.15081087e-01 7.88274014e-01 1.73013199e-02 1.71910225e+02] [-2.75581829e-02 -4.36688416e-04 9.99620106e-01 7.29690650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters Centerline goodness [0,1] 0.9919794674366378 Centerline is valid? [True, True] Translation: X:112.23, Y:171.93, Z:7.30 [[ 7.87498927e-01 -6.15927856e-01 2.18704320e-02 1.12230899e+02] [ 6.15675150e-01 7.87802443e-01 1.76470977e-02 1.71927705e+02] [-2.80989188e-02 -4.31988980e-04 9.99605054e-01 7.29645744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32687500000003 meters Centerline goodness [0,1] 0.992613803623518 Centerline is valid? [True, True] Translation: X:112.25, Y:171.95, Z:7.30 [[ 7.87028616e-01 -6.16518298e-01 2.21617860e-02 1.12253751e+02] [ 6.16258793e-01 7.87340465e-01 1.78910901e-02 1.71945176e+02] [-2.84790553e-02 -4.23404388e-04 9.99594300e-01 7.29657844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters Centerline goodness [0,1] 0.9933569056037715 Centerline is valid? [True, True] Translation: X:112.28, Y:171.96, Z:7.30 [[ 7.86545876e-01 -6.17103985e-01 2.29838338e-02 1.12276562e+02] [ 6.16824835e-01 7.86881498e-01 1.85642561e-02 1.71962308e+02] [-2.95416300e-02 -4.24639603e-04 9.99563461e-01 7.29661250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38687500000003 meters Centerline goodness [0,1] 0.9923220973782771 Centerline is valid? [True, True] Translation: X:112.30, Y:171.98, Z:7.30 [[ 7.86053591e-01 -6.17702909e-01 2.37248574e-02 1.12297529e+02] [ 6.17405393e-01 7.86411429e-01 1.91740425e-02 1.71980332e+02] [-3.05013608e-02 -4.23969974e-04 9.99534635e-01 7.29550261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters Centerline goodness [0,1] 0.9923220973782771 Centerline is valid? [True, True] Translation: X:112.32, Y:172.00, Z:7.29 [[ 7.85891045e-01 -6.17909771e-01 2.37229645e-02 1.12318931e+02] [ 6.17612279e-01 7.86248904e-01 1.91763843e-02 1.71997770e+02] [-3.05014301e-02 -4.18954573e-04 9.99534635e-01 7.29437251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44687500000003 meters Centerline goodness [0,1] 0.9932549985278767 Centerline is valid? [True, True] Translation: X:112.34, Y:172.01, Z:7.29 [[ 7.85699676e-01 -6.18136775e-01 2.41442977e-02 1.12341313e+02] [ 6.17828391e-01 7.86070446e-01 1.95277684e-02 1.72014194e+02] [-3.10499507e-02 -4.25928719e-04 9.99517743e-01 7.29416583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters Centerline goodness [0,1] 0.9927135879574025 Centerline is valid? [True, True] Translation: X:112.36, Y:172.03, Z:7.29 [[ 7.85218289e-01 -6.18693744e-01 2.55007607e-02 1.12363255e+02] [ 6.18349573e-01 7.85632140e-01 2.06384569e-02 1.72031439e+02] [-3.28031014e-02 -4.37309387e-04 9.99461738e-01 7.29339192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50687500000004 meters Centerline goodness [0,1] 0.9931680499586347 Centerline is valid? [True, True] Translation: X:112.39, Y:172.05, Z:7.29 [[ 7.84651965e-01 -6.19394221e-01 2.59247397e-02 1.12385719e+02] [ 6.19038812e-01 7.85080012e-01 2.09838857e-02 1.72049144e+02] [-3.33502925e-02 -4.16627104e-04 9.99443637e-01 7.29251783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters Centerline goodness [0,1] 0.9935630341880342 Centerline is valid? [True, True] Translation: X:112.41, Y:172.07, Z:7.29 [[ 7.84517318e-01 -6.19566097e-01 2.58926301e-02 1.12406600e+02] [ 6.19211291e-01 7.84944378e-01 2.09690146e-02 1.72066991e+02] [-3.33159649e-02 -4.17546175e-04 9.99444782e-01 7.29074684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56687500000004 meters Centerline goodness [0,1] 0.9932962982746648 Centerline is valid? [True, True] Translation: X:112.43, Y:172.08, Z:7.29 [[ 7.84517398e-01 -6.19586995e-01 2.53851933e-02 1.12428782e+02] [ 6.19245803e-01 7.84927885e-01 2.05633118e-02 1.72084972e+02] [-3.26663066e-02 -4.12601450e-04 9.99466229e-01 7.28897580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters Centerline goodness [0,1] 0.9925916020326291 Centerline is valid? [True, True] Translation: X:112.45, Y:172.10, Z:7.29 [[ 7.84559801e-01 -6.19541494e-01 2.51844560e-02 1.12450350e+02] [ 6.19205355e-01 7.84963797e-01 2.04099421e-02 1.72102506e+02] [-3.24136922e-02 -4.18470111e-04 9.99474451e-01 7.28761661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62687500000004 meters Centerline goodness [0,1] 0.9923859902220085 Centerline is valid? [True, True] Translation: X:112.47, Y:172.12, Z:7.29 [[ 7.85387232e-01 -6.18519573e-01 2.45037588e-02 1.12471911e+02] [ 6.18200518e-01 7.85769260e-01 1.98693183e-02 1.72121605e+02] [-3.15438627e-02 -4.56872519e-04 9.99502264e-01 7.28612585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters Centerline goodness [0,1] 0.9923859902220085 Centerline is valid? [True, True] Translation: X:112.49, Y:172.14, Z:7.28 [[ 7.85218219e-01 -6.18734302e-01 2.44992401e-02 1.12493294e+02] [ 6.18415178e-01 7.85600189e-01 1.98748879e-02 1.72139075e+02] [-3.15438826e-02 -4.55422150e-04 9.99502264e-01 7.28499766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68687500000004 meters Centerline goodness [0,1] 0.9931047384878531 Centerline is valid? [True, True] Translation: X:112.51, Y:172.16, Z:7.28 [[ 7.85978519e-01 -6.17763066e-01 2.46284763e-02 1.12514800e+02] [ 6.17439718e-01 7.86364126e-01 1.99913928e-02 1.72158829e+02] [-3.17168943e-02 -5.06205801e-04 9.99496765e-01 7.28293808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters Centerline goodness [0,1] 0.992630173564753 Centerline is valid? [True, True] Translation: X:112.54, Y:172.18, Z:7.28 [[ 7.86517145e-01 -6.17090600e-01 2.42893279e-02 1.12535763e+02] [ 6.16775477e-01 7.86891928e-01 1.97257088e-02 1.72178205e+02] [-3.12856255e-02 -5.33546334e-04 9.99510343e-01 7.28077677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74687500000005 meters Centerline goodness [0,1] 0.9912060301507538 Centerline is valid? [True, True] Translation: X:112.56, Y:172.20, Z:7.28 [[ 7.86973931e-01 -6.16525953e-01 2.38281549e-02 1.12556186e+02] [ 6.16222104e-01 7.87334391e-01 1.93616989e-02 1.72196634e+02] [-3.06977157e-02 -5.53716579e-04 9.99528561e-01 7.27833866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters Centerline goodness [0,1] 0.9919714064708863 Centerline is valid? [True, True] Translation: X:112.58, Y:172.21, Z:7.28 [[ 7.87292601e-01 -6.16142378e-01 2.32148712e-02 1.12578545e+02] [ 6.15853774e-01 7.87634599e-01 1.88644386e-02 1.72214535e+02] [-2.99080158e-02 -5.54866882e-04 9.99552501e-01 7.27614464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.806875 meters Centerline goodness [0,1] 0.9914292580033642 Centerline is valid? [True, True] Translation: X:112.60, Y:172.23, Z:7.27 [[ 7.86705383e-01 -6.16897599e-01 2.30649548e-02 1.12601107e+02] [ 6.16612774e-01 7.87043246e-01 1.87514024e-02 1.72232494e+02] [-2.97208120e-02 -5.29683455e-04 9.99558099e-01 7.27379952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters Centerline goodness [0,1] 0.9919044565565887 Centerline is valid? [True, True] Translation: X:112.62, Y:172.25, Z:7.27 [[ 7.85882170e-01 -6.17934174e-01 2.33788574e-02 1.12623592e+02] [ 6.17641689e-01 7.86229674e-01 1.90169145e-02 1.72250216e+02] [-3.01323528e-02 -5.05297038e-04 9.99545790e-01 7.27220368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.866875 meters Centerline goodness [0,1] 0.9919029421982309 Centerline is valid? [True, True] Translation: X:112.65, Y:172.27, Z:7.27 [[ 7.85108667e-01 -6.18932807e-01 2.29469287e-02 1.12645656e+02] [ 6.18651237e-01 7.85443802e-01 1.86730111e-02 1.72267097e+02] [-2.95808620e-02 -4.64197054e-04 9.99562283e-01 7.27096221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters Centerline goodness [0,1] 0.9931483110720094 Centerline is valid? [True, True] Translation: X:112.67, Y:172.28, Z:7.27 [[ 7.83927105e-01 -6.20431999e-01 2.28567115e-02 1.12669085e+02] [ 6.20152954e-01 7.84260137e-01 1.86104831e-02 1.72283662e+02] [-2.94721469e-02 -4.14604995e-04 9.99565516e-01 7.27085764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.926875 meters Centerline goodness [0,1] 0.992309329927085 Centerline is valid? [True, True] Translation: X:112.69, Y:172.30, Z:7.27 [[ 7.83371437e-01 -6.21134866e-01 2.28181697e-02 1.12691528e+02] [ 6.20856808e-01 7.83703593e-01 1.85876696e-02 1.72301169e+02] [-2.94281312e-02 -3.94233430e-04 9.99566821e-01 7.26980180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters Centerline goodness [0,1] 0.9926937230014399 Centerline is valid? [True, True] Translation: X:112.71, Y:172.32, Z:7.27 [[ 7.82713765e-01 -6.21957166e-01 2.29879438e-02 1.12713504e+02] [ 6.21674914e-01 7.83051175e-01 1.87392521e-02 1.72318636e+02] [-2.96557485e-02 -3.76442582e-04 9.99560101e-01 7.26795202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.986875 meters Centerline goodness [0,1] 0.9929282416673338 Centerline is valid? [True, True] Translation: X:112.74, Y:172.33, Z:7.27 [[ 7.80684657e-01 -6.24467388e-01 2.39154365e-02 1.12736995e+02] [ 6.24163021e-01 7.81050827e-01 1.94968954e-02 1.72334867e+02] [-3.08543468e-02 -2.93796058e-04 9.99523848e-01 7.26758893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters Centerline goodness [0,1] 0.9940194900547323 Centerline is valid? [True, True] Translation: X:112.76, Y:172.35, Z:7.27 [[ 7.79530700e-01 -6.25852339e-01 2.53127814e-02 1.12760521e+02] [ 6.25511735e-01 7.79941524e-01 2.06467469e-02 1.72352119e+02] [-3.26643042e-02 -2.61331232e-04 9.99466345e-01 7.26828116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.046875 meters Centerline goodness [0,1] 0.9930537002404488 Centerline is valid? [True, True] Translation: X:112.78, Y:172.37, Z:7.27 [[ 7.78416026e-01 -6.27234018e-01 2.54160768e-02 1.12783187e+02] [ 6.26891008e-01 7.78830817e-01 2.07418136e-02 1.72368686e+02] [-3.28047950e-02 -2.12650122e-04 9.99461755e-01 7.26781189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters Centerline goodness [0,1] 0.9944315668878054 Centerline is valid? [True, True] Translation: X:112.81, Y:172.39, Z:7.27 [[ 7.76855817e-01 -6.29129226e-01 2.62955735e-02 1.12805536e+02] [ 6.28763010e-01 7.77300713e-01 2.14634345e-02 1.72385002e+02] [-3.39428419e-02 -1.40309994e-04 9.99423766e-01 7.26695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.106875 meters Centerline goodness [0,1] 0.9953730944102701 Centerline is valid? [True, True] Translation: X:112.83, Y:172.40, Z:7.27 [[ 7.74187589e-01 -6.32436894e-01 2.56349714e-02 1.12829144e+02] [ 6.32090604e-01 7.74611887e-01 2.09259019e-02 1.72400354e+02] [-3.30914660e-02 3.05097566e-06 9.99452327e-01 7.26576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters Centerline goodness [0,1] 0.9957888525293708 Centerline is valid? [True, True] Translation: X:112.85, Y:172.42, Z:7.26 [[ 7.72977678e-01 -6.33944011e-01 2.49098295e-02 1.12852294e+02] [ 6.33617483e-01 7.73378942e-01 2.03444752e-02 1.72418354e+02] [-3.21619958e-02 5.74782464e-05 9.99482668e-01 7.26381855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.166875 meters Centerline goodness [0,1] 0.995132778862354 Centerline is valid? [True, True] Translation: X:112.87, Y:172.44, Z:7.26 [[ 7.71860644e-01 -6.35324173e-01 2.43791119e-02 1.12874815e+02] [ 6.35011797e-01 7.72245546e-01 1.99206785e-02 1.72436222e+02] [-3.14827492e-02 1.05035917e-04 9.99504290e-01 7.26166274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters Centerline goodness [0,1] 0.9953822336109331 Centerline is valid? [True, True] Translation: X:112.90, Y:172.45, Z:7.26 [[ 7.70870307e-01 -6.36535255e-01 2.41213274e-02 1.12896919e+02] [ 6.36229703e-01 7.71247592e-01 1.97209808e-02 1.72453835e+02] [-3.11566152e-02 1.44386446e-04 9.99514504e-01 7.25890535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.226875 meters Centerline goodness [0,1] 0.9952945605119519 Centerline is valid? [True, True] Translation: X:112.92, Y:172.47, Z:7.26 [[ 7.68893952e-01 -6.38941078e-01 2.35879060e-02 1.12919525e+02] [ 6.38649929e-01 7.69255643e-01 1.92879095e-02 1.72471688e+02] [-3.04689675e-02 2.34057520e-04 9.99535686e-01 7.25837876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters Centerline goodness [0,1] 0.9956542732979237 Centerline is valid? [True, True] Translation: X:112.94, Y:172.49, Z:7.26 [[ 7.68314917e-01 -6.39654315e-01 2.31202506e-02 1.12941213e+02] [ 6.39374595e-01 7.68662667e-01 1.89164319e-02 1.72489318e+02] [-2.98716507e-02 2.48724075e-04 9.99553712e-01 7.25684377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.286875 meters Centerline goodness [0,1] 0.9949907583509684 Centerline is valid? [True, True] Translation: X:112.96, Y:172.51, Z:7.25 [[ 7.67885373e-01 -6.40164173e-01 2.32784175e-02 1.12962040e+02] [ 6.39880730e-01 7.68238088e-01 1.90497071e-02 1.72507287e+02] [-3.00783070e-02 2.67419329e-04 9.99547510e-01 7.25469349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters Centerline goodness [0,1] 0.9956682175517407 Centerline is valid? [True, True] Translation: X:112.98, Y:172.52, Z:7.25 [[ 7.67319010e-01 -6.40814423e-01 2.40502057e-02 1.12982488e+02] [ 6.40511931e-01 7.67695765e-01 1.96895566e-02 1.72524510e+02] [-3.10805929e-02 2.96272601e-04 9.99516838e-01 7.25278809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.346875 meters Centerline goodness [0,1] 0.995285545912354 Centerline is valid? [True, True] Translation: X:113.00, Y:172.54, Z:7.25 [[ 7.66602830e-01 -6.41649731e-01 2.46114588e-02 1.13002726e+02] [ 6.41333234e-01 7.66997725e-01 2.01537112e-02 1.72543905e+02] [-3.18085563e-02 3.34254432e-04 9.99493924e-01 7.25270922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters Centerline goodness [0,1] 0.9955344011551729 Centerline is valid? [True, True] Translation: X:113.02, Y:172.56, Z:7.25 [[ 7.66672160e-01 -6.41566792e-01 2.46140058e-02 1.13024152e+02] [ 6.41249841e-01 7.67067107e-01 2.01666790e-02 1.72562905e+02] [-3.18188658e-02 3.22495997e-04 9.99493600e-01 7.25211857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.406875 meters Centerline goodness [0,1] 0.9958893871449925 Centerline is valid? [True, True] Translation: X:113.04, Y:172.58, Z:7.25 [[ 7.67048613e-01 -6.41125861e-01 2.43732374e-02 1.13043238e+02] [ 6.40814466e-01 7.67435694e-01 1.99818834e-02 1.72581635e+02] [-3.15157946e-02 2.91647167e-04 9.99503211e-01 7.24916523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters Centerline goodness [0,1] 0.9949822510475885 Centerline is valid? [True, True] Translation: X:113.06, Y:172.60, Z:7.25 [[ 7.67810668e-01 -6.40225702e-01 2.40380606e-02 1.13063613e+02] [ 6.39922240e-01 7.68186819e-01 1.97113627e-02 1.72600355e+02] [-3.10854423e-02 2.47895013e-04 9.99516700e-01 7.24674434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.466875 meters Centerline goodness [0,1] 0.9950050750574283 Centerline is valid? [True, True] Translation: X:113.08, Y:172.62, Z:7.24 [[ 7.68185776e-01 -6.39786369e-01 2.37490158e-02 1.13084067e+02] [ 6.39489639e-01 7.68552766e-01 1.94845455e-02 1.72619192e+02] [-3.07183184e-02 2.19498816e-04 9.99528057e-01 7.24494164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters Centerline goodness [0,1] 0.9946720656401513 Centerline is valid? [True, True] Translation: X:113.10, Y:172.64, Z:7.24 [[ 7.69607692e-01 -6.38092289e-01 2.32858528e-02 1.13103673e+02] [ 6.37805886e-01 7.69959876e-01 1.91165139e-02 1.72638346e+02] [-3.01272725e-02 1.39637848e-04 9.99546061e-01 7.24086779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.526875 meters Centerline goodness [0,1] 0.9937701339154975 Centerline is valid? [True, True] Translation: X:113.12, Y:172.66, Z:7.24 [[ 7.70533248e-01 -6.36971386e-01 2.33659325e-02 1.13124103e+02] [ 6.36682374e-01 7.70887440e-01 1.91861654e-02 1.72657908e+02] [-3.02335422e-02 9.30990096e-05 9.99542858e-01 7.23968191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters Centerline goodness [0,1] 0.994015274821585 Centerline is valid? [True, True] Translation: X:113.15, Y:172.68, Z:7.24 [[ 7.70452503e-01 -6.37016937e-01 2.47459747e-02 1.13145132e+02] [ 6.36692371e-01 7.70849800e-01 2.03325063e-02 1.72675900e+02] [-3.20275805e-02 9.03429515e-05 9.99486981e-01 7.23597920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.586875 meters Centerline goodness [0,1] 0.9917283066889366 Centerline is valid? [True, True] Translation: X:113.16, Y:172.70, Z:7.24 [[ 7.75105830e-01 -6.31375037e-01 2.40106999e-02 1.13163868e+02] [ 6.31066675e-01 7.75477622e-01 1.97309420e-02 1.72699067e+02] [-3.10773847e-02 -1.41215666e-04 9.99516971e-01 7.23674185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters Centerline goodness [0,1] 0.9921763114623667 Centerline is valid? [True, True] Translation: X:113.19, Y:172.72, Z:7.24 [[ 7.76717880e-01 -6.29379907e-01 2.42954108e-02 1.13185119e+02] [ 6.29063076e-01 7.77097729e-01 1.99691233e-02 1.72719334e+02] [-3.14480735e-02 -2.27029244e-04 9.99505361e-01 7.23577126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.646875 meters Centerline goodness [0,1] 0.9906561846528494 Centerline is valid? [True, True] Translation: X:113.21, Y:172.74, Z:7.23 [[ 7.78201567e-01 -6.27534529e-01 2.45506731e-02 1.13205474e+02] [ 6.27209698e-01 7.78588669e-01 2.01910543e-02 1.72739144e+02] [-3.17854597e-02 -3.14289867e-04 9.99494665e-01 7.23484105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters Centerline goodness [0,1] 0.9908941712107576 Centerline is valid? [True, True] Translation: X:113.23, Y:172.76, Z:7.23 [[ 7.79571983e-01 -6.25828283e-01 2.46268729e-02 1.13226598e+02] [ 6.25500521e-01 7.79960775e-01 2.02555481e-02 1.72758345e+02] [-3.18844897e-02 -3.86535981e-04 9.99491486e-01 7.23387461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.706875 meters Centerline goodness [0,1] 0.9893376158382476 Centerline is valid? [True, True] Translation: X:113.25, Y:172.78, Z:7.23 [[ 7.82344381e-01 -6.22348095e-01 2.49021779e-02 1.13246263e+02] [ 6.22010825e-01 7.82740412e-01 2.04934162e-02 1.72778878e+02] [-3.22459795e-02 -5.43484842e-04 9.99479815e-01 7.23213057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters Centerline goodness [0,1] 0.9897407495318723 Centerline is valid? [True, True] Translation: X:113.27, Y:172.80, Z:7.23 [[ 7.83336446e-01 -6.21097937e-01 2.49271766e-02 1.13267298e+02] [ 6.20759219e-01 7.83732731e-01 2.05182460e-02 1.72798475e+02] [-3.22800845e-02 -5.98915195e-04 9.99478683e-01 7.23037460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.766875 meters Centerline goodness [0,1] 0.9892725975638756 Centerline is valid? [True, True] Translation: X:113.29, Y:172.82, Z:7.23 [[ 7.84759808e-01 -6.19297187e-01 2.49607125e-02 1.13287017e+02] [ 6.18956293e-01 7.85156372e-01 2.05567335e-02 1.72817806e+02] [-3.23287897e-02 -6.82508112e-04 9.99477055e-01 7.22768712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters Centerline goodness [0,1] 0.9880785968614005 Centerline is valid? [True, True] Translation: X:113.31, Y:172.84, Z:7.23 [[ 7.86995545e-01 -6.16462505e-01 2.47384579e-02 1.13307340e+02] [ 6.16126155e-01 7.87383864e-01 2.03767540e-02 1.72837619e+02] [-3.20401673e-02 -7.94403675e-04 9.99486266e-01 7.22536090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82687500000003 meters Centerline goodness [0,1] 0.9883392692256958 Centerline is valid? [True, True] Translation: X:113.33, Y:172.86, Z:7.22 [[ 7.87377203e-01 -6.15961565e-01 2.50697387e-02 1.13328972e+02] [ 6.15615757e-01 7.87775770e-01 2.06537280e-02 1.72856375e+02] [-3.24712353e-02 -8.28948374e-04 9.99472327e-01 7.22401147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters Centerline goodness [0,1] 0.9883450499497859 Centerline is valid? [True, True] Translation: X:113.35, Y:172.87, Z:7.22 [[ 7.87656630e-01 -6.15597808e-01 2.52263972e-02 1.13351868e+02] [ 6.15247152e-01 7.88060025e-01 2.07927558e-02 1.72874443e+02] [-3.26798901e-02 -8.57082937e-04 9.99465502e-01 7.22283349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88687500000003 meters Centerline goodness [0,1] 0.987248198114951 Centerline is valid? [True, True] Translation: X:113.37, Y:172.89, Z:7.22 [[ 7.87944647e-01 -6.15242125e-01 2.49070458e-02 1.13374475e+02] [ 6.14899793e-01 7.88337728e-01 2.05395195e-02 1.72892955e+02] [-3.22719414e-02 -8.68667121e-04 9.99478748e-01 7.22013577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters Centerline goodness [0,1] 0.9892871313318344 Centerline is valid? [True, True] Translation: X:113.40, Y:172.91, Z:7.22 [[ 7.87000214e-01 -6.16482831e-01 2.40745197e-02 1.13396909e+02] [ 6.16163256e-01 7.87367945e-01 1.98635576e-02 1.72909164e+02] [-3.12010473e-02 -7.98789614e-04 9.99512810e-01 7.21724341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94687500000003 meters Centerline goodness [0,1] 0.9880678360716459 Centerline is valid? [True, True] Translation: X:113.42, Y:172.93, Z:7.21 [[ 7.86174022e-01 -6.17555621e-01 2.35682493e-02 1.13417859e+02] [ 6.17249726e-01 7.86526861e-01 1.94492232e-02 1.72927270e+02] [-3.05480383e-02 -7.42978583e-04 9.99533024e-01 7.21456024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters Centerline goodness [0,1] 0.9894951312447079 Centerline is valid? [True, True] Translation: X:113.44, Y:172.94, Z:7.21 [[ 7.85072115e-01 -6.18952221e-01 2.36626746e-02 1.13443161e+02] [ 6.18644459e-01 7.85428335e-01 1.95285446e-02 1.72942457e+02] [-3.06725712e-02 -6.92533249e-04 9.99529246e-01 7.21436021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00687500000004 meters Centerline goodness [0,1] 0.9906879814287222 Centerline is valid? [True, True] Translation: X:113.47, Y:172.96, Z:7.21 [[ 7.82924401e-01 -6.21652443e-01 2.40337943e-02 1.13467881e+02] [ 6.21335909e-01 7.83292969e-01 1.98446940e-02 1.72958365e+02] [-3.11620046e-02 -6.03835676e-04 9.99514164e-01 7.21345087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters Centerline goodness [0,1] 0.9905240868184224 Centerline is valid? [True, True] Translation: X:113.49, Y:172.98, Z:7.21 [[ 7.81898171e-01 -6.22939186e-01 2.41250941e-02 1.13491028e+02] [ 6.22620544e-01 7.82270065e-01 1.99299746e-02 1.72975919e+02] [-3.12875011e-02 -5.62431472e-04 9.99510268e-01 7.21194469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06687500000004 meters Centerline goodness [0,1] 0.9907193805849441 Centerline is valid? [True, True] Translation: X:113.51, Y:172.99, Z:7.21 [[ 7.80519231e-01 -6.24666962e-01 2.41022135e-02 1.13513597e+02] [ 6.24349410e-01 7.80891116e-01 1.99218404e-02 1.72992547e+02] [-3.12657199e-02 -5.01176772e-04 9.99510982e-01 7.21090573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters Centerline goodness [0,1] 0.9927765237020316 Centerline is valid? [True, True] Translation: X:113.54, Y:173.01, Z:7.21 [[ 7.77602622e-01 -6.28285816e-01 2.43124425e-02 1.13538796e+02] [ 6.27964408e-01 7.77982521e-01 2.00972273e-02 1.73007798e+02] [-3.15414582e-02 -3.60308045e-04 9.99502379e-01 7.20917909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12687500000004 meters Centerline goodness [0,1] 0.9920468704435196 Centerline is valid? [True, True] Translation: X:113.56, Y:173.02, Z:7.21 [[ 7.76285209e-01 -6.29896403e-01 2.47345104e-02 1.13561409e+02] [ 6.29564162e-01 7.76679101e-01 2.04582520e-02 1.73023722e+02] [-3.20973567e-02 -3.09477060e-04 9.99484699e-01 7.20793209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters Centerline goodness [0,1] 0.9934939055155748 Centerline is valid? [True, True] Translation: X:113.58, Y:173.04, Z:7.21 [[ 7.74602003e-01 -6.31951913e-01 2.50702157e-02 1.13584695e+02] [ 6.31611601e-01 7.75007566e-01 2.07378544e-02 1.73040651e+02] [-3.25349336e-02 -2.28944537e-04 9.99470573e-01 7.20776239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18687500000004 meters Centerline goodness [0,1] 0.9938463170738177 Centerline is valid? [True, True] Translation: X:113.61, Y:173.06, Z:7.21 [[ 7.72474482e-01 -6.34517933e-01 2.58876084e-02 1.13608040e+02] [ 6.34156077e-01 7.72908129e-01 2.14264982e-02 1.73055962e+02] [-3.36042403e-02 -1.34638924e-04 9.99435209e-01 7.20778887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters Centerline goodness [0,1] 0.994655534579489 Centerline is valid? [True, True] Translation: X:113.63, Y:173.07, Z:7.21 [[ 7.71760520e-01 -6.35384744e-01 2.59215502e-02 1.13630512e+02] [ 6.35022360e-01 7.72195712e-01 2.14565704e-02 1.73073195e+02] [-3.36496874e-02 -9.85699402e-05 9.99433684e-01 7.20709199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24687500000005 meters Centerline goodness [0,1] 0.994371581797908 Centerline is valid? [True, True] Translation: X:113.65, Y:173.09, Z:7.21 [[ 7.71030731e-01 -6.36268093e-01 2.59716318e-02 1.13651727e+02] [ 6.35904360e-01 7.71468022e-01 2.15113077e-02 1.73089914e+02] [-3.37232422e-02 -7.04054194e-05 9.99431207e-01 7.20574941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters Centerline goodness [0,1] 0.9946275166892736 Centerline is valid? [True, True] Translation: X:113.67, Y:173.11, Z:7.21 [[ 7.70611807e-01 -6.36786763e-01 2.56916607e-02 1.13673783e+02] [ 6.36430948e-01 7.71039958e-01 2.12845594e-02 1.73106959e+02] [-3.33630226e-02 -5.11648117e-05 9.99443298e-01 7.20512376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.306875 meters Centerline goodness [0,1] 0.9949070267115838 Centerline is valid? [True, True] Translation: X:113.69, Y:173.12, Z:7.20 [[ 7.70113460e-01 -6.37391312e-01 2.56431906e-02 1.13694101e+02] [ 6.37036736e-01 7.70540274e-01 2.12575485e-02 1.73124067e+02] [-3.33084878e-02 -3.50697948e-05 9.99445118e-01 7.20336422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters Centerline goodness [0,1] 0.9949875351402959 Centerline is valid? [True, True] Translation: X:113.71, Y:173.14, Z:7.20 [[ 7.70257262e-01 -6.37233788e-01 2.52358850e-02 1.13714831e+02] [ 6.36890136e-01 7.70670550e-01 2.09250426e-02 1.73143387e+02] [-3.27826975e-02 -4.51797950e-05 9.99462502e-01 7.20009814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.366875 meters Centerline goodness [0,1] 0.9949875351402959 Centerline is valid? [True, True] Translation: X:113.74, Y:173.16, Z:7.20 [[ 7.70081238e-01 -6.37446706e-01 2.52306064e-02 1.13736017e+02] [ 6.37102960e-01 7.70494449e-01 2.09314049e-02 1.73161093e+02] [-3.27826973e-02 -4.43882576e-05 9.99462502e-01 7.19897046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters Centerline goodness [0,1] 0.9945046235138706 Centerline is valid? [True, True] Translation: X:113.76, Y:173.18, Z:7.20 [[ 7.70032932e-01 -6.37501119e-01 2.53299555e-02 1.13756180e+02] [ 6.37154254e-01 7.70449428e-01 2.10270232e-02 1.73179106e+02] [-3.29202005e-02 -5.24114500e-05 9.99457982e-01 7.19737114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.426875 meters Centerline goodness [0,1] 0.9943689525723047 Centerline is valid? [True, True] Translation: X:113.78, Y:173.20, Z:7.20 [[ 7.69688456e-01 -6.37924004e-01 2.51524687e-02 1.13777121e+02] [ 6.37582045e-01 7.70099321e-01 2.08847367e-02 1.73197710e+02] [-3.26927739e-02 -3.79783191e-05 9.99465448e-01 7.19566213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters Centerline goodness [0,1] 0.9946230862954919 Centerline is valid? [True, True] Translation: X:113.80, Y:173.22, Z:7.19 [[ 7.69612797e-01 -6.38027067e-01 2.48516339e-02 1.13798157e+02] [ 6.37692929e-01 7.70013935e-01 2.06462625e-02 1.73215989e+02] [-3.23089787e-02 -4.19166160e-05 9.99477928e-01 7.19486436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.486875 meters Centerline goodness [0,1] 0.994522070498571 Centerline is valid? [True, True] Translation: X:113.82, Y:173.23, Z:7.19 [[ 7.69612961e-01 -6.38008986e-01 2.53065988e-02 1.13818762e+02] [ 6.37662097e-01 7.70028916e-01 2.10361409e-02 1.73234501e+02] [-3.29080598e-02 -5.26277968e-05 9.99458382e-01 7.19479602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters Centerline goodness [0,1] 0.9939098660170523 Centerline is valid? [True, True] Translation: X:113.84, Y:173.25, Z:7.19 [[ 7.70291602e-01 -6.37190888e-01 2.52709329e-02 1.13838895e+02] [ 6.36844113e-01 7.70706016e-01 2.10193291e-02 1.73253058e+02] [-3.28697850e-02 -9.73678808e-05 9.99459638e-01 7.19357679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.546875 meters Centerline goodness [0,1] 0.9934464351778447 Centerline is valid? [True, True] Translation: X:113.86, Y:173.27, Z:7.19 [[ 7.70507600e-01 -6.36933662e-01 2.51703728e-02 1.13859336e+02] [ 6.36589336e-01 7.70918606e-01 2.09408720e-02 1.73272490e+02] [-3.27422550e-02 -1.11910125e-04 9.99463822e-01 7.19235661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters Centerline goodness [0,1] 0.9933204847268791 Centerline is valid? [True, True] Translation: X:113.88, Y:173.29, Z:7.19 [[ 7.72133805e-01 -6.34988663e-01 2.44700747e-02 1.13878770e+02] [ 6.34661907e-01 7.72521429e-01 2.03692393e-02 1.73293765e+02] [-3.18378931e-02 -1.97553953e-04 9.99493026e-01 7.19088036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.606875 meters Centerline goodness [0,1] 0.9928601538623669 Centerline is valid? [True, True] Translation: X:113.90, Y:173.31, Z:7.19 [[ 7.72841614e-01 -6.34114566e-01 2.47902372e-02 1.13898922e+02] [ 6.33778439e-01 7.73239069e-01 2.06453975e-02 1.73313088e+02] [-3.22603273e-02 -2.44104485e-04 9.99479470e-01 7.18978613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters Centerline goodness [0,1] 0.9922886619644173 Centerline is valid? [True, True] Translation: X:113.92, Y:173.33, Z:7.19 [[ 7.73465765e-01 -6.33340484e-01 2.51105830e-02 1.13919175e+02] [ 6.32994825e-01 7.73873211e-01 2.09237773e-02 1.73333058e+02] [-3.26842828e-02 -2.88956318e-04 9.99465684e-01 7.18884002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.666875 meters Centerline goodness [0,1] 0.990909090909091 Centerline is valid? [True, True] Translation: X:113.94, Y:173.35, Z:7.19 [[ 7.74872905e-01 -6.31560703e-01 2.65152755e-02 1.13937994e+02] [ 6.31173755e-01 7.75326333e-01 2.21081129e-02 1.73353709e+02] [-3.45206067e-02 -3.95231617e-04 9.99403908e-01 7.18918176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters Centerline goodness [0,1] 0.9906958458917573 Centerline is valid? [True, True] Translation: X:113.96, Y:173.37, Z:7.19 [[ 7.75293555e-01 -6.31036623e-01 2.66961381e-02 1.13959215e+02] [ 6.30643870e-01 7.75752924e-01 2.22645595e-02 1.73373460e+02] [-3.47593596e-02 -4.25813584e-04 9.99395620e-01 7.18834477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.726875 meters Centerline goodness [0,1] 0.9912429747745393 Centerline is valid? [True, True] Translation: X:113.98, Y:173.39, Z:7.19 [[ 7.75755480e-01 -6.30471776e-01 2.66228270e-02 1.13980868e+02] [ 6.30080495e-01 7.76212040e-01 2.22135033e-02 1.73391816e+02] [-3.46699457e-02 -4.57722863e-04 9.99398712e-01 7.18764570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters Centerline goodness [0,1] 0.9906534756573809 Centerline is valid? [True, True] Translation: X:114.00, Y:173.41, Z:7.19 [[ 7.76329884e-01 -6.29774123e-01 2.63906333e-02 1.14001022e+02] [ 6.29389013e-01 7.76778163e-01 2.20262519e-02 1.73410919e+02] [-3.43712312e-02 -4.89662942e-04 9.99409015e-01 7.18614616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.786875 meters Centerline goodness [0,1] 0.9904278839901157 Centerline is valid? [True, True] Translation: X:114.02, Y:173.43, Z:7.18 [[ 7.77869719e-01 -6.27908325e-01 2.54918701e-02 1.14021953e+02] [ 6.27547878e-01 7.78287111e-01 2.12799090e-02 1.73431444e+02] [-3.32018259e-02 -5.55627890e-04 9.99448513e-01 7.18440625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters Centerline goodness [0,1] 0.9897823537078065 Centerline is valid? [True, True] Translation: X:114.04, Y:173.45, Z:7.18 [[ 7.78479572e-01 -6.27181510e-01 2.47570249e-02 1.14043911e+02] [ 6.26840875e-01 7.78872917e-01 2.06759937e-02 1.73450407e+02] [-3.22501771e-02 -5.77123593e-04 9.99479661e-01 7.18265066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.846875 meters Centerline goodness [0,1] 0.9893674956562329 Centerline is valid? [True, True] Translation: X:114.06, Y:173.47, Z:7.18 [[ 7.78895762e-01 -6.26695664e-01 2.39569981e-02 1.14064617e+02] [ 6.26376111e-01 7.79263884e-01 2.00191692e-02 1.73469268e+02] [-3.12147500e-02 -5.86754753e-04 9.99512529e-01 7.18075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters Centerline goodness [0,1] 0.988892637479563 Centerline is valid? [True, True] Translation: X:114.09, Y:173.49, Z:7.18 [[ 7.79430264e-01 -6.26062625e-01 2.31096033e-02 1.14086037e+02] [ 6.25764976e-01 7.79772557e-01 1.93120237e-02 1.73488154e+02] [-3.01107707e-02 -5.91195420e-04 9.99546393e-01 7.17884650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.906875 meters Centerline goodness [0,1] 0.9885976987610712 Centerline is valid? [True, True] Translation: X:114.11, Y:173.51, Z:7.18 [[ 7.79409018e-01 -6.26107320e-01 2.26098980e-02 1.14106869e+02] [ 6.25822162e-01 7.79736676e-01 1.89033711e-02 1.73507040e+02] [-2.94653057e-02 -5.83682670e-04 9.99565633e-01 7.17668519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters Centerline goodness [0,1] 0.9895970809719742 Centerline is valid? [True, True] Translation: X:114.13, Y:173.52, Z:7.18 [[ 7.78981391e-01 -6.26656753e-01 2.21202732e-02 1.14129169e+02] [ 6.26383806e-01 7.79295197e-01 1.85019877e-02 1.73523535e+02] [-2.88326181e-02 -5.56923180e-04 9.99584098e-01 7.17618469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.966875 meters Centerline goodness [0,1] 0.9886283978502999 Centerline is valid? [True, True] Translation: X:114.15, Y:173.54, Z:7.17 [[ 7.78455223e-01 -6.27307248e-01 2.22054643e-02 1.14149940e+02] [ 6.27032090e-01 7.78771674e-01 1.85859854e-02 1.73541870e+02] [-2.89521099e-02 -5.44818743e-04 9.99580651e-01 7.17401449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters Centerline goodness [0,1] 0.9895709022985524 Centerline is valid? [True, True] Translation: X:114.17, Y:173.56, Z:7.17 [[ 7.78012856e-01 -6.27857174e-01 2.21667442e-02 1.14172763e+02] [ 6.27583099e-01 7.78328396e-01 1.85569786e-02 1.73558990e+02] [-2.89041386e-02 -5.26093915e-04 9.99582050e-01 7.17374728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.026875 meters Centerline goodness [0,1] 0.9900176311968472 Centerline is valid? [True, True] Translation: X:114.20, Y:173.58, Z:7.17 [[ 7.77136483e-01 -6.28917196e-01 2.28483659e-02 1.14196246e+02] [ 6.28626115e-01 7.77472122e-01 1.91391536e-02 1.73576173e+02] [-2.98009103e-02 -5.10655001e-04 9.99555724e-01 7.17428606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters Centerline goodness [0,1] 0.9897892904466211 Centerline is valid? [True, True] Translation: X:114.22, Y:173.59, Z:7.18 [[ 7.76308389e-01 -6.29919032e-01 2.33944063e-02 1.14219900e+02] [ 6.29613976e-01 7.76660653e-01 1.96079248e-02 1.73593230e+02] [-3.05209198e-02 -4.92351345e-04 9.99534007e-01 7.17506357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.086875 meters Centerline goodness [0,1] 0.9899250234301781 Centerline is valid? [True, True] Translation: X:114.24, Y:173.61, Z:7.17 [[ 7.75922395e-01 -6.30402005e-01 2.31894136e-02 1.14240999e+02] [ 6.30102347e-01 7.76268696e-01 1.94407712e-02 1.73610181e+02] [-3.02567170e-02 -4.72825856e-04 9.99542049e-01 7.17386688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters Centerline goodness [0,1] 0.990987715242968 Centerline is valid? [True, True] Translation: X:114.26, Y:173.63, Z:7.17 [[ 7.75552710e-01 -6.30850533e-01 2.33580623e-02 1.14261628e+02] [ 6.30546451e-01 7.75904240e-01 1.95904051e-02 1.73628543e+02] [-3.04822371e-02 -4.65048503e-04 9.99535200e-01 7.17200753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.146875 meters Centerline goodness [0,1] 0.9902154678879983 Centerline is valid? [True, True] Translation: X:114.28, Y:173.65, Z:7.17 [[ 7.76554362e-01 -6.29616440e-01 2.33765218e-02 1.14282802e+02] [ 6.29311177e-01 7.76905960e-01 1.96104770e-02 1.73648145e+02] [-3.05084378e-02 -5.17494999e-04 9.99534375e-01 7.17054701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters Centerline goodness [0,1] 0.9899618706715431 Centerline is valid? [True, True] Translation: X:114.30, Y:173.67, Z:7.17 [[ 7.76769385e-01 -6.29355631e-01 2.32553900e-02 1.14304211e+02] [ 6.29053099e-01 7.77117241e-01 1.95190220e-02 1.73666402e+02] [-3.03565710e-02 -5.32903563e-04 9.99538991e-01 7.17018680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.206875 meters Centerline goodness [0,1] 0.9889137563108312 Centerline is valid? [True, True] Translation: X:114.32, Y:173.69, Z:7.17 [[ 7.77879441e-01 -6.27982461e-01 2.32724034e-02 1.14324463e+02] [ 6.27678763e-01 7.78227268e-01 1.95368643e-02 1.73687047e+02] [-3.03800270e-02 -5.89731641e-04 9.99538246e-01 7.16854111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters Centerline goodness [0,1] 0.9888949430476636 Centerline is valid? [True, True] Translation: X:114.34, Y:173.71, Z:7.17 [[ 7.78603039e-01 -6.27089283e-01 2.31589794e-02 1.14344878e+02] [ 6.26787822e-01 7.78947132e-01 1.94523077e-02 1.73705513e+02] [-3.02379543e-02 -6.29859634e-04 9.99542530e-01 7.16754154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.266875 meters Centerline goodness [0,1] 0.9889574368811239 Centerline is valid? [True, True] Translation: X:114.37, Y:173.72, Z:7.16 [[ 7.80045263e-01 -6.25357166e-01 2.13963362e-02 1.14365207e+02] [ 6.25099133e-01 7.80338387e-01 1.79742970e-02 1.73724762e+02] [-2.79367379e-02 -6.45933981e-04 9.99609484e-01 7.16422178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters Centerline goodness [0,1] 0.9878156043046358 Centerline is valid? [True, True] Translation: X:114.39, Y:173.74, Z:7.16 [[ 7.80182267e-01 -6.25218687e-01 2.04260679e-02 1.14386985e+02] [ 6.24983461e-01 7.80449362e-01 1.71600240e-02 1.73743788e+02] [-2.66702793e-02 -6.21991834e-04 9.99644091e-01 7.16244891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32687500000003 meters Centerline goodness [0,1] 0.9872978017420158 Centerline is valid? [True, True] Translation: X:114.41, Y:173.76, Z:7.16 [[ 7.80433323e-01 -6.24927910e-01 1.97214426e-02 1.14407364e+02] [ 6.24708278e-01 7.80682218e-01 1.65783846e-02 1.73762591e+02] [-2.57564748e-02 -6.18175377e-04 9.99668056e-01 7.15958295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters Centerline goodness [0,1] 0.9884958969564765 Centerline is valid? [True, True] Translation: X:114.43, Y:173.78, Z:7.16 [[ 7.80457646e-01 -6.24907702e-01 1.93965650e-02 1.14430539e+02] [ 6.24695255e-01 7.80698402e-01 1.63047146e-02 1.73779376e+02] [-2.53318090e-02 -6.08197110e-04 9.99678913e-01 7.15955608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38687500000003 meters Centerline goodness [0,1] 0.9882566429034348 Centerline is valid? [True, True] Translation: X:114.45, Y:173.80, Z:7.16 [[ 7.80816966e-01 -6.24482588e-01 1.86108343e-02 1.14451240e+02] [ 6.24286632e-01 7.81038495e-01 1.56547064e-02 1.73798256e+02] [-2.43118696e-02 -6.04965330e-04 9.99704240e-01 7.15723826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters Centerline goodness [0,1] 0.9876218957222728 Centerline is valid? [True, True] Translation: X:114.47, Y:173.82, Z:7.16 [[ 7.80934800e-01 -6.24348640e-01 1.81552521e-02 1.14473963e+02] [ 6.24162140e-01 7.81145583e-01 1.52708969e-02 1.73816295e+02] [-2.37162587e-02 -5.93753765e-04 9.99718554e-01 7.15598650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44687500000003 meters Centerline goodness [0,1] 0.9888330686935471 Centerline is valid? [True, True] Translation: X:114.49, Y:173.83, Z:7.15 [[ 7.80729258e-01 -6.24608532e-01 1.80556474e-02 1.14494556e+02] [ 6.24423944e-01 7.80937791e-01 1.51955291e-02 1.73833583e+02] [-2.35915945e-02 -5.89215573e-04 9.99721506e-01 7.15492765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters Centerline goodness [0,1] 0.989017310810104 Centerline is valid? [True, True] Translation: X:114.52, Y:173.85, Z:7.16 [[ 7.80677829e-01 -6.24664385e-01 1.83448314e-02 1.14517210e+02] [ 6.24473800e-01 7.80893109e-01 1.54410335e-02 1.73849741e+02] [-2.39708162e-02 -5.98605935e-04 9.99712479e-01 7.15591526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50687500000004 meters Centerline goodness [0,1] 0.9894720301697046 Centerline is valid? [True, True] Translation: X:114.54, Y:173.87, Z:7.16 [[ 7.80555588e-01 -6.24806446e-01 1.87050711e-02 1.14539502e+02] [ 6.24608126e-01 7.80779437e-01 1.57530722e-02 1.73866659e+02] [-2.44471559e-02 -6.12809105e-04 9.99700936e-01 7.15687919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters Centerline goodness [0,1] 0.9885009408321137 Centerline is valid? [True, True] Translation: X:114.56, Y:173.89, Z:7.15 [[ 7.80787942e-01 -6.24493352e-01 1.94484588e-02 1.14557607e+02] [ 6.24278541e-01 7.81029847e-01 1.63915101e-02 1.73886986e+02] [-2.54262159e-02 -6.57037948e-04 9.99676486e-01 7.15439331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56687500000004 meters Centerline goodness [0,1] 0.9886348757430539 Centerline is valid? [True, True] Translation: X:114.58, Y:173.90, Z:7.16 [[ 7.81544641e-01 -6.23533745e-01 1.98404472e-02 1.14580391e+02] [ 6.23309780e-01 7.81796119e-01 1.67256123e-02 1.73904286e+02] [-2.59401683e-02 -7.05067869e-04 9.99663249e-01 7.15525040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters Centerline goodness [0,1] 0.9878999448804431 Centerline is valid? [True, True] Translation: X:114.60, Y:173.92, Z:7.16 [[ 7.83297640e-01 -6.21301658e-01 2.07136992e-02 1.14602428e+02] [ 6.21056523e-01 7.83571041e-01 1.74704989e-02 1.73922727e+02] [-2.70851048e-02 -8.20222552e-04 9.99632795e-01 7.15678449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62687500000004 meters Centerline goodness [0,1] 0.9866092527437904 Centerline is valid? [True, True] Translation: X:114.62, Y:173.94, Z:7.16 [[ 7.84217488e-01 -6.20146583e-01 2.05218418e-02 1.14624178e+02] [ 6.19905350e-01 7.84485486e-01 1.73170144e-02 1.73942220e+02] [-2.68381743e-02 -8.58706025e-04 9.99639423e-01 7.15579403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters Centerline goodness [0,1] 0.9868677298805201 Centerline is valid? [True, True] Translation: X:114.65, Y:173.96, Z:7.16 [[ 7.86189637e-01 -6.17634796e-01 2.08113750e-02 1.14645249e+02] [ 6.17385587e-01 7.86464448e-01 1.75701017e-02 1.73961939e+02] [-2.72193127e-02 -9.64788893e-04 9.99629020e-01 7.15506265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68687500000004 meters Centerline goodness [0,1] 0.9865677943737795 Centerline is valid? [True, True] Translation: X:114.67, Y:173.98, Z:7.15 [[ 7.86566087e-01 -6.17179433e-01 2.00832800e-02 1.14666725e+02] [ 6.16946937e-01 7.86821858e-01 1.69658483e-02 1.73980361e+02] [-2.62729364e-02 -9.54442852e-04 9.99654351e-01 7.15301064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters Centerline goodness [0,1] 0.9869497724103454 Centerline is valid? [True, True] Translation: X:114.69, Y:174.00, Z:7.15 [[ 7.85323526e-01 -6.18781882e-01 1.93892027e-02 1.14688360e+02] [ 6.18565600e-01 7.85562361e-01 1.63821927e-02 1.73997941e+02] [-2.53684319e-02 -8.71827490e-04 9.99677789e-01 7.14993034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74687500000005 meters Centerline goodness [0,1] 0.9887950761461375 Centerline is valid? [True, True] Translation: X:114.71, Y:174.01, Z:7.15 [[ 7.84447310e-01 -6.19889222e-01 1.94876782e-02 1.14712401e+02] [ 6.19671078e-01 7.84688885e-01 1.64654005e-02 1.74014974e+02] [-2.54984888e-02 -8.40288600e-04 9.99674508e-01 7.14953717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters Centerline goodness [0,1] 0.9883017875920084 Centerline is valid? [True, True] Translation: X:114.74, Y:174.03, Z:7.15 [[ 7.83908021e-01 -6.20564779e-01 1.96867796e-02 1.14735514e+02] [ 6.20342178e-01 7.84154743e-01 1.66409153e-02 1.74032555e+02] [-2.57642475e-02 -8.32407192e-04 9.99667700e-01 7.14944983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.806875 meters Centerline goodness [0,1] 0.988961073258332 Centerline is valid? [True, True] Translation: X:114.76, Y:174.05, Z:7.15 [[ 7.83730292e-01 -6.20842981e-01 1.79115337e-02 1.14758577e+02] [ 6.20658647e-01 7.83934580e-01 1.51465631e-02 1.74049400e+02] [-2.34451080e-02 -7.53872054e-04 9.99724841e-01 7.14737557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters Centerline goodness [0,1] 0.9896215702326564 Centerline is valid? [True, True] Translation: X:114.78, Y:174.07, Z:7.15 [[ 7.83356267e-01 -6.21334575e-01 1.72135051e-02 1.14780227e+02] [ 6.21164309e-01 7.83545043e-01 1.45625113e-02 1.74067702e+02] [-2.25357484e-02 -7.15219446e-04 9.99745782e-01 7.14544961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.866875 meters Centerline goodness [0,1] 0.9887758865995679 Centerline is valid? [True, True] Translation: X:114.80, Y:174.09, Z:7.14 [[ 7.82777060e-01 -6.22066349e-01 1.71327873e-02 1.14801394e+02] [ 6.21897590e-01 7.82964219e-01 1.45058656e-02 1.74085854e+02] [-2.24379702e-02 -7.00019701e-04 9.99747992e-01 7.14342125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters Centerline goodness [0,1] 0.9885193982581156 Centerline is valid? [True, True] Translation: X:114.82, Y:174.10, Z:7.14 [[ 7.82668984e-01 -6.22229597e-01 1.61118294e-02 1.14823958e+02] [ 6.22080428e-01 7.82834531e-01 1.36395600e-02 1.74103276e+02] [-2.10998343e-02 -6.52406788e-04 9.99777161e-01 7.14099819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.926875 meters Centerline goodness [0,1] 0.9885417764197661 Centerline is valid? [True, True] Translation: X:114.84, Y:174.12, Z:7.14 [[ 7.82450758e-01 -6.22510297e-01 1.58663259e-02 1.14844345e+02] [ 6.22365519e-01 7.82611345e-01 1.34403377e-02 1.74120652e+02] [-2.07839153e-02 -6.41748266e-04 9.99783785e-01 7.13947271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters Centerline goodness [0,1] 0.9892453229045556 Centerline is valid? [True, True] Translation: X:114.87, Y:174.14, Z:7.14 [[ 7.81996519e-01 -6.23087442e-01 1.56039741e-02 1.14867400e+02] [ 6.22947516e-01 7.82151941e-01 1.32186562e-02 1.74137009e+02] [-2.04410574e-02 -6.16486221e-04 9.99790870e-01 7.13955576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.986875 meters Centerline goodness [0,1] 0.9907977087090273 Centerline is valid? [True, True] Translation: X:114.89, Y:174.15, Z:7.14 [[ 7.80243555e-01 -6.25255624e-01 1.65951449e-02 1.14893535e+02] [ 6.25097638e-01 7.80419785e-01 1.40677830e-02 1.74151189e+02] [-2.17471399e-02 -6.02711098e-04 9.99763321e-01 7.14315886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters Centerline goodness [0,1] 0.9905788062949497 Centerline is valid? [True, True] Translation: X:114.91, Y:174.17, Z:7.14 [[ 7.79155352e-01 -6.26583814e-01 1.75972075e-02 1.14914778e+02] [ 6.26406315e-01 7.79353807e-01 1.49255487e-02 1.74170092e+02] [-2.30665578e-02 -6.06319222e-04 9.99733748e-01 7.14160363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.046875 meters Centerline goodness [0,1] 0.9905620247780081 Centerline is valid? [True, True] Translation: X:114.94, Y:174.19, Z:7.14 [[ 7.78026485e-01 -6.27967310e-01 1.82166581e-02 1.14939540e+02] [ 6.27777279e-01 7.78239493e-01 1.54590042e-02 1.74185555e+02] [-2.38846720e-02 -5.91510642e-04 9.99714546e-01 7.14272707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters Centerline goodness [0,1] 0.9916167029235422 Centerline is valid? [True, True] Translation: X:114.96, Y:174.20, Z:7.14 [[ 7.76681119e-01 -6.29603518e-01 1.91271753e-02 1.14962044e+02] [ 6.29394290e-01 7.76916391e-01 1.62403397e-02 1.74202919e+02] [-2.50851910e-02 -5.75030335e-04 9.99685152e-01 7.14228853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.106875 meters Centerline goodness [0,1] 0.9923558764200021 Centerline is valid? [True, True] Translation: X:114.98, Y:174.22, Z:7.14 [[ 7.74398777e-01 -6.32370649e-01 2.03444343e-02 1.14984861e+02] [ 6.32134652e-01 7.74665791e-01 1.72827308e-02 1.74219124e+02] [-2.66892290e-02 -5.23303649e-04 9.99643642e-01 7.14206294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters Centerline goodness [0,1] 0.9925716872121196 Centerline is valid? [True, True] Translation: X:115.01, Y:174.24, Z:7.14 [[ 7.73305453e-01 -6.33712112e-01 2.01899658e-02 1.15008780e+02] [ 6.33479894e-01 7.73568825e-01 1.71609077e-02 1.74235079e+02] [-2.64934033e-02 -4.80686116e-04 9.99648873e-01 7.14174158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.166875 meters Centerline goodness [0,1] 0.9936003413151299 Centerline is valid? [True, True] Translation: X:115.03, Y:174.25, Z:7.14 [[ 7.72302210e-01 -6.34962321e-01 1.92911182e-02 1.15031233e+02] [ 6.34750545e-01 7.72542990e-01 1.64034651e-02 1.74251853e+02] [-2.53188004e-02 -4.23384500e-04 9.99679338e-01 7.14053761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters Centerline goodness [0,1] 0.9928695419949259 Centerline is valid? [True, True] Translation: X:115.05, Y:174.27, Z:7.14 [[ 7.71977786e-01 -6.35374490e-01 1.86964070e-02 1.15053912e+02] [ 6.35175485e-01 7.72204050e-01 1.59062429e-02 1.74269104e+02] [-2.45438622e-02 -4.03766810e-04 9.99698673e-01 7.13957001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.226875 meters Centerline goodness [0,1] 0.9928695419949259 Centerline is valid? [True, True] Translation: X:115.07, Y:174.29, Z:7.14 [[ 7.71803162e-01 -6.35586711e-01 1.86925616e-02 1.15074877e+02] [ 6.35387659e-01 7.72029384e-01 1.59107598e-02 1.74287083e+02] [-2.45438744e-02 -4.02951768e-04 9.99698673e-01 7.13844204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters Centerline goodness [0,1] 0.9933755375697839 Centerline is valid? [True, True] Translation: X:115.09, Y:174.31, Z:7.13 [[ 7.71216695e-01 -6.36327441e-01 1.76690942e-02 1.15094825e+02] [ 6.36149530e-01 7.71418987e-01 1.50506580e-02 1.74305655e+02] [-2.32074214e-02 -3.67132781e-04 9.99730604e-01 7.13413071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.286875 meters Centerline goodness [0,1] 0.9935459782376787 Centerline is valid? [True, True] Translation: X:115.12, Y:174.32, Z:7.14 [[ 7.70644114e-01 -6.37039483e-01 1.69807851e-02 1.15117642e+02] [ 6.36875346e-01 7.70831102e-01 1.44639857e-02 1.74321835e+02] [-2.23034473e-02 -3.31942076e-04 9.99751192e-01 7.13526575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters Centerline goodness [0,1] 0.9935786416562309 Centerline is valid? [True, True] Translation: X:115.14, Y:174.34, Z:7.13 [[ 7.70474303e-01 -6.37250768e-01 1.67572854e-02 1.15137629e+02] [ 6.37090730e-01 7.70656440e-01 1.42846757e-02 1.74339308e+02] [-2.20170305e-02 -3.30064333e-04 9.99757541e-01 7.13330703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.346875 meters Centerline goodness [0,1] 0.9929445721310599 Centerline is valid? [True, True] Translation: X:115.16, Y:174.36, Z:7.13 [[ 7.70208155e-01 -6.37584398e-01 1.62952018e-02 1.15159222e+02] [ 6.37433099e-01 7.70380449e-01 1.38927160e-02 1.74358717e+02] [-2.14112839e-02 -3.13182193e-04 9.99770703e-01 7.13250013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters Centerline goodness [0,1] 0.9929515418502203 Centerline is valid? [True, True] Translation: X:115.18, Y:174.38, Z:7.13 [[ 7.70439888e-01 -6.37311827e-01 1.60004422e-02 1.15180602e+02] [ 6.37165759e-01 7.70605952e-01 1.36478133e-02 1.74378368e+02] [-2.10279488e-02 -3.19885828e-04 9.99778837e-01 7.13099995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.406875 meters Centerline goodness [0,1] 0.9937738823718034 Centerline is valid? [True, True] Translation: X:115.20, Y:174.40, Z:7.13 [[ 7.70864255e-01 -6.36806335e-01 1.56841681e-02 1.15201260e+02] [ 6.36665670e-01 7.71023722e-01 1.33882432e-02 1.74397147e+02] [-2.06185838e-02 -3.34946691e-04 9.99787358e-01 7.12977384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters Centerline goodness [0,1] 0.9935123878684323 Centerline is valid? [True, True] Translation: X:115.22, Y:174.42, Z:7.13 [[ 7.70988443e-01 -6.36652159e-01 1.58382076e-02 1.15222974e+02] [ 6.36508741e-01 7.71151031e-01 1.35170561e-02 1.74415597e+02] [-2.08193130e-02 -3.40336484e-04 9.99783197e-01 7.13032399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.466875 meters Centerline goodness [0,1] 0.9937712192905072 Centerline is valid? [True, True] Translation: X:115.24, Y:174.43, Z:7.13 [[ 7.71026816e-01 -6.36601420e-01 1.60088059e-02 1.15244001e+02] [ 6.36454718e-01 7.71192913e-01 1.36705160e-02 1.74434494e+02] [-2.10485476e-02 -3.51454403e-04 9.99778393e-01 7.12958691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters Centerline goodness [0,1] 0.993201994081736 Centerline is valid? [True, True] Translation: X:115.26, Y:174.45, Z:7.13 [[ 7.71098302e-01 -6.36495629e-01 1.67547910e-02 1.15263569e+02] [ 6.36334622e-01 7.71280215e-01 1.43206089e-02 1.74453916e+02] [-2.20376437e-02 -3.80943577e-04 9.99757069e-01 7.12782781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.526875 meters Centerline goodness [0,1] 0.9927818026848497 Centerline is valid? [True, True] Translation: X:115.29, Y:174.47, Z:7.13 [[ 7.71382478e-01 -6.36150781e-01 1.67707442e-02 1.15285806e+02] [ 6.35989406e-01 7.71564665e-01 1.43332863e-02 1.74472834e+02] [-2.20578449e-02 -3.90430316e-04 9.99756620e-01 7.12698378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters Centerline goodness [0,1] 0.9929448097760976 Centerline is valid? [True, True] Translation: X:115.31, Y:174.49, Z:7.13 [[ 7.71331113e-01 -6.36206383e-01 1.70220984e-02 1.15307181e+02] [ 6.36040032e-01 7.71518813e-01 1.45533022e-02 1.74490822e+02] [-2.23917730e-02 -3.98678800e-04 9.99749193e-01 7.12703130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.586875 meters Centerline goodness [0,1] 0.9922912776740465 Centerline is valid? [True, True] Translation: X:115.33, Y:174.51, Z:7.12 [[ 7.72096746e-01 -6.35284524e-01 1.67388082e-02 1.15327383e+02] [ 6.35123256e-01 7.72278054e-01 1.43198088e-02 1.74511012e+02] [-2.20241671e-02 -4.25071422e-04 9.99757348e-01 7.12459802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters Centerline goodness [0,1] 0.9917465388711395 Centerline is valid? [True, True] Translation: X:115.35, Y:174.53, Z:7.12 [[ 7.72324236e-01 -6.35011942e-01 1.65863611e-02 1.15348113e+02] [ 6.34853326e-01 7.72502196e-01 1.41990208e-02 1.74529518e+02] [-2.18295481e-02 -4.36341337e-04 9.99761612e-01 7.12322625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.646875 meters Centerline goodness [0,1] 0.9918519504726401 Centerline is valid? [True, True] Translation: X:115.37, Y:174.55, Z:7.12 [[ 7.72269619e-01 -6.35084713e-01 1.63414108e-02 1.15367884e+02] [ 6.34930713e-01 7.72442375e-01 1.39916833e-02 1.74548043e+02] [-2.15087023e-02 -4.29688366e-04 9.99768569e-01 7.12144703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters Centerline goodness [0,1] 0.9917009126327587 Centerline is valid? [True, True] Translation: X:115.39, Y:174.57, Z:7.12 [[ 7.72441721e-01 -6.34888475e-01 1.58244199e-02 1.15388859e+02] [ 6.34743929e-01 7.72603678e-01 1.35536127e-02 1.74567362e+02] [-2.08310375e-02 -4.24921475e-04 9.99782920e-01 7.11942215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.706875 meters Centerline goodness [0,1] 0.9914744634791672 Centerline is valid? [True, True] Translation: X:115.41, Y:174.59, Z:7.12 [[ 7.73070166e-01 -6.34156780e-01 1.44116702e-02 1.15409458e+02] [ 6.34036773e-01 7.73204381e-01 1.23432782e-02 1.74587170e+02] [-1.89707401e-02 -4.04691286e-04 9.99819957e-01 7.11577509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters Centerline goodness [0,1] 0.9910945207305693 Centerline is valid? [True, True] Translation: X:115.43, Y:174.61, Z:7.11 [[ 7.73253710e-01 -6.33943843e-01 1.39249130e-02 1.15430788e+02] [ 6.33831677e-01 7.73378978e-01 1.19315543e-02 1.74606407e+02] [-1.83331704e-02 -4.00067645e-04 9.99831853e-01 7.11355252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.766875 meters Centerline goodness [0,1] 0.9918686181982991 Centerline is valid? [True, True] Translation: X:115.45, Y:174.62, Z:7.11 [[ 7.73186671e-01 -6.34024966e-01 1.39540194e-02 1.15450747e+02] [ 6.33912194e-01 7.73312471e-01 1.19646181e-02 1.74624790e+02] [-1.83766838e-02 -4.05260151e-04 9.99831052e-01 7.11201313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters Centerline goodness [0,1] 0.9914719563706357 Centerline is valid? [True, True] Translation: X:115.47, Y:174.64, Z:7.11 [[ 7.73370054e-01 -6.33803896e-01 1.38340597e-02 1.15472513e+02] [ 6.33693002e-01 7.73493668e-01 1.18627099e-02 1.74643886e+02] [-1.82191894e-02 -4.07717766e-04 9.99833934e-01 7.11106586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82687500000003 meters Centerline goodness [0,1] 0.9914842498665243 Centerline is valid? [True, True] Translation: X:115.49, Y:174.66, Z:7.11 [[ 7.73370233e-01 -6.33781804e-01 1.48023232e-02 1.15493983e+02] [ 6.33654721e-01 7.73511752e-01 1.26989834e-02 1.74662055e+02] [-1.94981556e-02 -4.41453775e-04 9.99809795e-01 7.11123332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters Centerline goodness [0,1] 0.9915001332267519 Centerline is valid? [True, True] Translation: X:115.51, Y:174.68, Z:7.11 [[ 7.72999877e-01 -6.34217952e-01 1.54525045e-02 1.15514304e+02] [ 6.34079363e-01 7.73154177e-01 1.32657682e-02 1.74680124e+02] [-2.03605568e-02 -4.56322948e-04 9.99792598e-01 7.11102462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88687500000003 meters Centerline goodness [0,1] 0.9915062438426925 Centerline is valid? [True, True] Translation: X:115.54, Y:174.70, Z:7.11 [[ 7.72848166e-01 -6.34391770e-01 1.58994991e-02 1.15536350e+02] [ 6.34244993e-01 7.73011554e-01 1.36537760e-02 1.74698523e+02] [-2.09523396e-02 -4.68118007e-04 9.99780366e-01 7.11063197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters Centerline goodness [0,1] 0.9921491134372997 Centerline is valid? [True, True] Translation: X:115.56, Y:174.71, Z:7.11 [[ 7.72417590e-01 -6.34921670e-01 1.56697127e-02 1.15559394e+02] [ 6.34779105e-01 7.72576384e-01 1.34617681e-02 1.74714347e+02] [-2.06532182e-02 -4.51300210e-04 9.99786598e-01 7.11195893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94687500000003 meters Centerline goodness [0,1] 0.9918245905594124 Centerline is valid? [True, True] Translation: X:115.58, Y:174.73, Z:7.11 [[ 7.72448144e-01 -6.34893881e-01 1.52847884e-02 1.15581401e+02] [ 6.34758073e-01 7.72599224e-01 1.31388218e-02 1.74733576e+02] [-2.01507732e-02 -4.46915649e-04 9.99796853e-01 7.10990985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters Centerline goodness [0,1] 0.9914561862551396 Centerline is valid? [True, True] Translation: X:115.60, Y:174.75, Z:7.11 [[ 7.72101109e-01 -6.35321975e-01 1.50288332e-02 1.15601745e+02] [ 6.35190592e-01 7.72247240e-01 1.29272182e-02 1.74751721e+02] [-1.98189207e-02 -4.34946040e-04 9.99803491e-01 7.10677008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00687500000004 meters Centerline goodness [0,1] 0.99130365193267 Centerline is valid? [True, True] Translation: X:115.62, Y:174.77, Z:7.10 [[ 7.71763544e-01 -6.35732526e-01 1.50062531e-02 1.15621625e+02] [ 6.35601530e-01 7.71909304e-01 1.29120788e-02 1.74770514e+02] [-1.97920949e-02 -4.27074280e-04 9.99804026e-01 7.10369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters Centerline goodness [0,1] 0.9914094026192657 Centerline is valid? [True, True] Translation: X:115.64, Y:174.79, Z:7.10 [[ 7.69270456e-01 -6.38686461e-01 1.73945707e-02 1.15638222e+02] [ 6.38511068e-01 7.69466982e-01 1.49726515e-02 1.74792043e+02] [-2.29473775e-02 -4.11392528e-04 9.99736590e-01 7.09630942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06687500000004 meters Centerline goodness [0,1] 0.9923344017094017 Centerline is valid? [True, True] Translation: X:115.67, Y:174.80, Z:7.11 [[ 7.70061360e-01 -6.37778202e-01 1.56354584e-02 1.15667750e+02] [ 6.37636321e-01 7.70219975e-01 1.34577671e-02 1.74803216e+02] [-2.06258129e-02 -3.93570249e-04 9.99787188e-01 7.10524671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters Centerline goodness [0,1] 0.9925521084498741 Centerline is valid? [True, True] Translation: X:115.69, Y:174.82, Z:7.11 [[ 7.69612390e-01 -6.38309196e-01 1.60667352e-02 1.15690781e+02] [ 6.38159356e-01 7.69779978e-01 1.38354980e-02 1.74820597e+02] [-2.11991767e-02 -3.94833241e-04 9.99775194e-01 7.10658834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12687500000004 meters Centerline goodness [0,1] 0.9925521084498741 Centerline is valid? [True, True] Translation: X:115.71, Y:174.84, Z:7.11 [[ 7.69443692e-01 -6.38512611e-01 1.60639359e-02 1.15711631e+02] [ 6.38362749e-01 7.69611259e-01 1.38387469e-02 1.74838704e+02] [-2.11992003e-02 -3.93518232e-04 9.99775194e-01 7.10545998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters Centerline goodness [0,1] 0.9923668196861322 Centerline is valid? [True, True] Translation: X:115.73, Y:174.86, Z:7.10 [[ 7.68883202e-01 -6.39166396e-01 1.68801554e-02 1.15732284e+02] [ 6.39000783e-01 7.69068368e-01 1.45549200e-02 1.74856822e+02] [-2.22850094e-02 -4.04600956e-04 9.99751576e-01 7.10480434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18687500000004 meters Centerline goodness [0,1] 0.9926661491930088 Centerline is valid? [True, True] Translation: X:115.76, Y:174.87, Z:7.10 [[ 7.68812136e-01 -6.39265986e-01 1.63370467e-02 1.15755255e+02] [ 6.39110920e-01 7.68985598e-01 1.40848098e-02 1.74874979e+02] [-2.15668935e-02 -3.87387763e-04 9.99767332e-01 7.10393107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters Centerline goodness [0,1] 0.9924787880410053 Centerline is valid? [True, True] Translation: X:115.77, Y:174.90, Z:7.10 [[ 7.69168211e-01 -6.38866567e-01 1.51582802e-02 1.15774266e+02] [ 6.38732804e-01 7.69317469e-01 1.30781543e-02 1.74895573e+02] [-2.00167253e-02 -3.77209776e-04 9.99799574e-01 7.09737785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24687500000005 meters Centerline goodness [0,1] 0.9926405887528997 Centerline is valid? [True, True] Translation: X:115.80, Y:174.91, Z:7.10 [[ 7.69185835e-01 -6.38848241e-01 1.50358450e-02 1.15796797e+02] [ 6.38716668e-01 7.69332689e-01 1.29704102e-02 1.74913458e+02] [-1.98536908e-02 -3.73010947e-04 9.99802826e-01 7.09775295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters Centerline goodness [0,1] 0.9930166853243776 Centerline is valid? [True, True] Translation: X:115.82, Y:174.93, Z:7.10 [[ 7.69124312e-01 -6.38908510e-01 1.56111692e-02 1.15818486e+02] [ 6.38766545e-01 7.69282629e-01 1.34736099e-02 1.74931929e+02] [-2.06178053e-02 -3.90988317e-04 9.99787354e-01 7.09732154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.306875 meters Centerline goodness [0,1] 0.9935741901079856 Centerline is valid? [True, True] Translation: X:115.84, Y:174.95, Z:7.10 [[ 7.68535693e-01 -6.39590568e-01 1.66371266e-02 1.15840753e+02] [ 6.39429313e-01 7.68715645e-01 1.43669914e-02 1.74950269e+02] [-2.19782117e-02 -4.03279254e-04 9.99758369e-01 7.09900516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters Centerline goodness [0,1] 0.993311660626732 Centerline is valid? [True, True] Translation: X:115.86, Y:174.97, Z:7.10 [[ 7.67826919e-01 -6.40421809e-01 1.73703377e-02 1.15863195e+02] [ 6.40246000e-01 7.68023270e-01 1.50105284e-02 1.74969266e+02] [-2.29538933e-02 -4.04198555e-04 9.99736443e-01 7.09874044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.366875 meters Centerline goodness [0,1] 0.9934296278562499 Centerline is valid? [True, True] Translation: X:115.89, Y:174.99, Z:7.10 [[ 7.66671207e-01 -6.41807189e-01 1.72855792e-02 1.15885008e+02] [ 6.41633323e-01 7.66865959e-01 1.49425906e-02 1.74987271e+02] [-2.28459843e-02 -3.65050377e-04 9.99738930e-01 7.09744091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters Centerline goodness [0,1] 0.9938522954091816 Centerline is valid? [True, True] Translation: X:115.91, Y:175.01, Z:7.10 [[ 7.65875889e-01 -6.42750827e-01 1.74784872e-02 1.15907433e+02] [ 6.42573324e-01 7.66075231e-01 1.51084062e-02 1.75006096e+02] [-2.31007767e-02 -3.39954438e-04 9.99733084e-01 7.09623525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.426875 meters Centerline goodness [0,1] 0.9933164691785381 Centerline is valid? [True, True] Translation: X:115.93, Y:175.02, Z:7.09 [[ 7.65237963e-01 -6.43504389e-01 1.76907104e-02 1.15928609e+02] [ 6.43322490e-01 7.65442351e-01 1.53029840e-02 1.75024784e+02] [-2.33887563e-02 -3.29592379e-04 9.99726391e-01 7.09452341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters Centerline goodness [0,1] 0.9941060903732809 Centerline is valid? [True, True] Translation: X:115.95, Y:175.04, Z:7.09 [[ 7.64413567e-01 -6.44467980e-01 1.82461219e-02 1.15950800e+02] [ 6.44274767e-01 7.64631236e-01 1.57827934e-02 1.75043363e+02] [-2.41230598e-02 -3.09065469e-04 9.99708949e-01 7.09413796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.486875 meters Centerline goodness [0,1] 0.9951500293130097 Centerline is valid? [True, True] Translation: X:115.97, Y:175.06, Z:7.09 [[ 7.63739461e-01 -6.45259781e-01 1.84891893e-02 1.15971406e+02] [ 6.45061343e-01 7.63963171e-01 1.60042627e-02 1.75061575e+02] [-2.44519667e-02 -2.96425658e-04 9.99700962e-01 7.09321692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters Centerline goodness [0,1] 0.9942010480674593 Centerline is valid? [True, True] Translation: X:115.99, Y:175.08, Z:7.09 [[ 7.63135270e-01 -6.45979945e-01 1.82885159e-02 1.15991610e+02] [ 6.45785986e-01 7.63354333e-01 1.58310876e-02 1.75079182e+02] [-2.41871829e-02 -2.70794015e-04 9.99707411e-01 7.09189941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.546875 meters Centerline goodness [0,1] 0.9949519103034168 Centerline is valid? [True, True] Translation: X:116.01, Y:175.10, Z:7.09 [[ 7.62090077e-01 -6.47198201e-01 1.87936887e-02 1.16013605e+02] [ 6.46993622e-01 7.62321737e-01 1.62733933e-02 1.75098202e+02] [-2.48589483e-02 -2.42394828e-04 9.99690939e-01 7.09238694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters Centerline goodness [0,1] 0.9954095385518695 Centerline is valid? [True, True] Translation: X:116.03, Y:175.12, Z:7.09 [[ 7.61938448e-01 -6.47378552e-01 1.87299953e-02 1.16034575e+02] [ 6.47175243e-01 7.62168586e-01 1.62250411e-02 1.75117347e+02] [-2.47791577e-02 -2.40893417e-04 9.99692921e-01 7.09181964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.606875 meters Centerline goodness [0,1] 0.9951254594853763 Centerline is valid? [True, True] Translation: X:116.05, Y:175.14, Z:7.09 [[ 7.61656146e-01 -6.47703235e-01 1.89851329e-02 1.16053521e+02] [ 6.47494140e-01 7.61892683e-01 1.64583998e-02 1.75136085e+02] [-2.51247926e-02 -2.42879063e-04 9.99684293e-01 7.08988985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters Centerline goodness [0,1] 0.9950925481410359 Centerline is valid? [True, True] Translation: X:116.07, Y:175.15, Z:7.09 [[ 7.61561492e-01 -6.47810086e-01 1.91359889e-02 1.16074040e+02] [ 6.47597644e-01 7.61801833e-01 1.65909132e-02 1.75154815e+02] [-2.53255923e-02 -2.42579322e-04 9.99679226e-01 7.08902414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.666875 meters Centerline goodness [0,1] 0.9942800893902309 Centerline is valid? [True, True] Translation: X:116.09, Y:175.18, Z:7.09 [[ 7.61910840e-01 -6.47411687e-01 1.87077288e-02 1.16094767e+02] [ 6.47208289e-01 7.62140434e-01 1.62292877e-02 1.75175576e+02] [-2.47649471e-02 -2.57473040e-04 9.99693269e-01 7.08716451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters Centerline goodness [0,1] 0.9947417589750434 Centerline is valid? [True, True] Translation: X:116.11, Y:175.19, Z:7.09 [[ 7.61641339e-01 -6.47725313e-01 1.88252466e-02 1.16114600e+02] [ 6.47519221e-01 7.61873909e-01 1.63402653e-02 1.75194230e+02] [-2.49264677e-02 -2.55712553e-04 9.99689255e-01 7.08596007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.726875 meters Centerline goodness [0,1] 0.9946615417467436 Centerline is valid? [True, True] Translation: X:116.14, Y:175.21, Z:7.08 [[ 7.61498191e-01 -6.47896068e-01 1.87400896e-02 1.16135295e+02] [ 6.47691833e-01 7.61728707e-01 1.62685714e-02 1.75212887e+02] [-2.48152077e-02 -2.50684737e-04 9.99692024e-01 7.08477007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters Centerline goodness [0,1] 0.9960296312086975 Centerline is valid? [True, True] Translation: X:116.16, Y:175.23, Z:7.09 [[ 7.60867790e-01 -6.48626876e-01 1.90625892e-02 1.16157285e+02] [ 6.48415531e-01 7.61106510e-01 1.65583874e-02 1.75231096e+02] [-2.52488759e-02 -2.38264757e-04 9.99681168e-01 7.08557475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.786875 meters Centerline goodness [0,1] 0.9942259303403522 Centerline is valid? [True, True] Translation: X:116.18, Y:175.25, Z:7.08 [[ 7.60504641e-01 -6.49054419e-01 1.90013738e-02 1.16176953e+02] [ 6.48844381e-01 7.60741946e-01 1.65124400e-02 1.75249680e+02] [-2.51726142e-02 -2.28852647e-04 9.99683093e-01 7.08236050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters Centerline goodness [0,1] 0.9938995151579733 Centerline is valid? [True, True] Translation: X:116.20, Y:175.27, Z:7.08 [[ 7.60495649e-01 -6.49076167e-01 1.86144543e-02 1.16199311e+02] [ 6.48874375e-01 7.60723390e-01 1.61854688e-02 1.75267654e+02] [-2.46660529e-02 -2.30536164e-04 9.99695720e-01 7.08217477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.846875 meters Centerline goodness [0,1] 0.9940057544757033 Centerline is valid? [True, True] Translation: X:116.22, Y:175.29, Z:7.08 [[ 7.60193988e-01 -6.49449820e-01 1.78894196e-02 1.16220881e+02] [ 6.49263377e-01 7.60404422e-01 1.55622197e-02 1.75286327e+02] [-2.37100745e-02 -2.15360824e-04 9.99718853e-01 7.07922008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters Centerline goodness [0,1] 0.9940988835725678 Centerline is valid? [True, True] Translation: X:116.24, Y:175.30, Z:7.08 [[ 7.60274754e-01 -6.49360331e-01 1.77047803e-02 1.16242371e+02] [ 6.49177470e-01 7.60480842e-01 1.54111041e-02 1.75304984e+02] [-2.34715059e-02 -2.23128868e-04 9.99724481e-01 7.07725468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.906875 meters Centerline goodness [0,1] 0.9946568132277102 Centerline is valid? [True, True] Translation: X:116.26, Y:175.32, Z:7.08 [[ 7.60482585e-01 -6.49124247e-01 1.74341831e-02 1.16263311e+02] [ 6.48946782e-01 7.60682364e-01 1.51794116e-02 1.75323757e+02] [-2.31151998e-02 -2.29821160e-04 9.99732782e-01 7.07537759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters Centerline goodness [0,1] 0.9929094964945825 Centerline is valid? [True, True] Translation: X:116.28, Y:175.34, Z:7.07 [[ 7.61221597e-01 -6.48254825e-01 1.75317302e-02 1.16283335e+02] [ 6.48075090e-01 7.61423414e-01 1.52663868e-02 1.75342774e+02] [-2.32455787e-02 -2.59225679e-04 9.99729751e-01 7.07450353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.966875 meters Centerline goodness [0,1] 0.9933651804670913 Centerline is valid? [True, True] Translation: X:116.30, Y:175.36, Z:7.08 [[ 7.61452021e-01 -6.47979425e-01 1.77054924e-02 1.16304962e+02] [ 6.47795879e-01 7.61657790e-01 1.54243484e-02 1.75361201e+02] [-2.34801866e-02 -2.75356254e-04 9.99724264e-01 7.07533814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters Centerline goodness [0,1] 0.9930920143686102 Centerline is valid? [True, True] Translation: X:116.32, Y:175.38, Z:7.07 [[ 7.60966375e-01 -6.48537057e-01 1.81620893e-02 1.16321674e+02] [ 6.48343758e-01 7.61183033e-01 1.58354530e-02 1.75383256e+02] [-2.40945523e-02 -2.74969997e-04 9.99709646e-01 7.06681865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.026875 meters Centerline goodness [0,1] 0.9926531045274912 Centerline is valid? [True, True] Translation: X:116.35, Y:175.40, Z:7.07 [[ 7.62174065e-01 -6.47131687e-01 1.76429677e-02 1.16346959e+02] [ 6.46948930e-01 7.62378177e-01 1.53817400e-02 1.75399114e+02] [-2.34046249e-02 -3.09464245e-04 9.99726026e-01 7.07386523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters Centerline goodness [0,1] 0.9926084316675906 Centerline is valid? [True, True] Translation: X:116.37, Y:175.42, Z:7.07 [[ 7.62933442e-01 -6.46229043e-01 1.79049268e-02 1.16367336e+02] [ 6.46040389e-01 7.63143435e-01 1.56177013e-02 1.75419172e+02] [-2.37566395e-02 -3.47960775e-04 9.99717711e-01 7.07387286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.086875 meters Centerline goodness [0,1] 0.9923323021601755 Centerline is valid? [True, True] Translation: X:116.39, Y:175.44, Z:7.07 [[ 7.63454596e-01 -6.45621999e-01 1.75873187e-02 1.16388384e+02] [ 6.45439654e-01 7.63657057e-01 1.53477054e-02 1.75438218e+02] [-2.33394963e-02 -3.65723329e-04 9.99727530e-01 7.07230360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters Centerline goodness [0,1] 0.9920232435287902 Centerline is valid? [True, True] Translation: X:116.41, Y:175.46, Z:7.07 [[ 7.63295586e-01 -6.45806217e-01 1.77250544e-02 1.16409370e+02] [ 6.45620899e-01 7.63501273e-01 1.54745178e-02 1.75457599e+02] [-2.35266413e-02 -3.67965575e-04 9.99723143e-01 7.07144511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.146875 meters Centerline goodness [0,1] 0.9925720327782184 Centerline is valid? [True, True] Translation: X:116.43, Y:175.48, Z:7.07 [[ 7.62940086e-01 -6.46230544e-01 1.75644433e-02 1.16430849e+02] [ 6.46048487e-01 7.63142160e-01 1.53426323e-02 1.75476321e+02] [-2.33190448e-02 -3.58027205e-04 9.99728010e-01 7.07067171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters Centerline goodness [0,1] 0.9925720327782184 Centerline is valid? [True, True] Translation: X:116.45, Y:175.49, Z:7.07 [[ 7.62763809e-01 -6.46438712e-01 1.75602506e-02 1.16451577e+02] [ 6.46256600e-01 7.62965833e-01 1.53474285e-02 1.75494567e+02] [-2.33190432e-02 -3.58035189e-04 9.99728010e-01 7.06954418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.206875 meters Centerline goodness [0,1] 0.9919245942439567 Centerline is valid? [True, True] Translation: X:116.47, Y:175.51, Z:7.07 [[ 7.62435921e-01 -6.46828762e-01 1.74361623e-02 1.16472809e+02] [ 6.46649124e-01 7.62635188e-01 1.52473095e-02 1.75513071e+02] [-2.31598292e-02 -3.50017399e-04 9.99731714e-01 7.06885834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters Centerline goodness [0,1] 0.991934421044308 Centerline is valid? [True, True] Translation: X:116.49, Y:175.53, Z:7.07 [[ 7.61846073e-01 -6.47530844e-01 1.71571370e-02 1.16494482e+02] [ 6.47356905e-01 7.62039171e-01 1.50113095e-02 1.75531435e+02] [-2.27946964e-02 -3.29516069e-04 9.99740113e-01 7.06780508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.266875 meters Centerline goodness [0,1] 0.9924053982535063 Centerline is valid? [True, True] Translation: X:116.51, Y:175.55, Z:7.07 [[ 7.61304286e-01 -6.48179019e-01 1.67255421e-02 1.16514814e+02] [ 6.48013709e-01 7.61487928e-01 1.46413241e-02 1.75550243e+02] [-2.22264975e-02 -3.08122273e-04 9.99752913e-01 7.06685423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters Centerline goodness [0,1] 0.9919788219722039 Centerline is valid? [True, True] Translation: X:116.54, Y:175.57, Z:7.07 [[ 7.61359864e-01 -6.48122141e-01 1.63965774e-02 1.16536029e+02] [ 6.47963076e-01 7.61536338e-01 1.43616779e-02 1.75569382e+02] [-2.17947110e-02 -3.10028410e-04 9.99762419e-01 7.06523511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32687500000003 meters Centerline goodness [0,1] 0.9923583384013327 Centerline is valid? [True, True] Translation: X:116.56, Y:175.59, Z:7.06 [[ 7.61216481e-01 -6.48303993e-01 1.58556692e-02 1.16556532e+02] [ 6.48155093e-01 7.61381535e-01 1.38972365e-02 1.75588134e+02] [-2.10818477e-02 -3.01872714e-04 9.99777708e-01 7.06380757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters Centerline goodness [0,1] 0.9925192287430197 Centerline is valid? [True, True] Translation: X:116.58, Y:175.61, Z:7.06 [[ 7.61313241e-01 -6.48203319e-01 1.53168605e-02 1.16577852e+02] [ 6.48064351e-01 7.61467249e-01 1.34248099e-02 1.75607291e+02] [-2.03652940e-02 -2.94174279e-04 9.99792563e-01 7.06279980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38687500000003 meters Centerline goodness [0,1] 0.9916148085644975 Centerline is valid? [True, True] Translation: X:116.60, Y:175.63, Z:7.06 [[ 7.61853203e-01 -6.47586388e-01 1.45453508e-02 1.16598615e+02] [ 6.47460850e-01 7.61991982e-01 1.27540859e-02 1.75627514e+02] [-1.93428131e-02 -2.99195977e-04 9.99812866e-01 7.06203223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters Centerline goodness [0,1] 0.9918147124621661 Centerline is valid? [True, True] Translation: X:116.62, Y:175.65, Z:7.06 [[ 7.62049219e-01 -6.47358870e-01 1.44042017e-02 1.16620231e+02] [ 6.47235604e-01 7.62185279e-01 1.26361740e-02 1.75646981e+02] [-1.91588098e-02 -3.06474320e-04 9.99816406e-01 7.06192165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44687500000003 meters Centerline goodness [0,1] 0.9908937782924518 Centerline is valid? [True, True] Translation: X:116.64, Y:175.67, Z:7.06 [[ 7.62134156e-01 -6.47260520e-01 1.43299710e-02 1.16641860e+02] [ 6.47138388e-01 7.62268799e-01 1.25771156e-02 1.75666813e+02] [-1.90639601e-02 -3.11975023e-04 9.99818218e-01 7.06152695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters Centerline goodness [0,1] 0.991322695503099 Centerline is valid? [True, True] Translation: X:116.66, Y:175.69, Z:7.06 [[ 7.62019566e-01 -6.47385563e-01 1.47686724e-02 1.16662788e+02] [ 6.47255736e-01 7.62162600e-01 1.29685412e-02 1.75686903e+02] [-1.96517761e-02 -3.23174204e-04 9.99806833e-01 7.06217732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50687500000004 meters Centerline goodness [0,1] 0.9919242769868114 Centerline is valid? [True, True] Translation: X:116.68, Y:175.71, Z:7.06 [[ 7.62071425e-01 -6.47311880e-01 1.53125445e-02 1.16682818e+02] [ 6.47172062e-01 7.62225171e-01 1.34577461e-02 1.75705883e+02] [-2.03829658e-02 -3.45912731e-04 9.99792186e-01 7.06175756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters Centerline goodness [0,1] 0.9911606860991266 Centerline is valid? [True, True] Translation: X:116.70, Y:175.73, Z:7.06 [[ 7.62557246e-01 -6.46733723e-01 1.55543534e-02 1.16703648e+02] [ 6.46589363e-01 7.62715778e-01 1.36689025e-02 1.75725591e+02] [-2.07036909e-02 -3.66041171e-04 9.99785589e-01 7.06147811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56687500000004 meters Centerline goodness [0,1] 0.9913201294089797 Centerline is valid? [True, True] Translation: X:116.72, Y:175.74, Z:7.06 [[ 7.62587292e-01 -6.46684099e-01 1.61337764e-02 1.16723832e+02] [ 6.46528635e-01 7.62757844e-01 1.41843626e-02 1.75744588e+02] [-2.14789663e-02 -3.85866226e-04 9.99769226e-01 7.06159289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters Centerline goodness [0,1] 0.9907613389515559 Centerline is valid? [True, True] Translation: X:116.74, Y:175.76, Z:7.06 [[ 7.62796427e-01 -6.46430602e-01 1.64039047e-02 1.16741865e+02] [ 6.46269650e-01 7.62972681e-01 1.44300913e-02 1.75764551e+02] [-2.18437837e-02 -4.05876326e-04 9.99761314e-01 7.06071112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62687500000004 meters Centerline goodness [0,1] 0.9905662849506041 Centerline is valid? [True, True] Translation: X:116.76, Y:175.78, Z:7.06 [[ 7.63208694e-01 -6.45955574e-01 1.59337951e-02 1.16763247e+02] [ 6.45803437e-01 7.63374892e-01 1.40247845e-02 1.75784210e+02] [-2.12228468e-02 -4.13737856e-04 9.99774684e-01 7.06041980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters Centerline goodness [0,1] 0.9902109616290635 Centerline is valid? [True, True] Translation: X:116.78, Y:175.80, Z:7.06 [[ 7.63550496e-01 -6.45555383e-01 1.57761662e-02 1.16783305e+02] [ 6.45405959e-01 7.63713339e-01 1.38954412e-02 1.75804498e+02] [-2.10187454e-02 -4.27839367e-04 9.99778990e-01 7.05897669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68687500000004 meters Centerline goodness [0,1] 0.9897392943147314 Centerline is valid? [True, True] Translation: X:116.80, Y:175.82, Z:7.06 [[ 7.64116517e-01 -6.44897187e-01 1.52828739e-02 1.16802955e+02] [ 6.44756768e-01 7.64269212e-01 1.34640554e-02 1.75823732e+02] [-2.03631615e-02 -4.34370761e-04 9.99792555e-01 7.05834326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters Centerline goodness [0,1] 0.9890402379834038 Centerline is valid? [True, True] Translation: X:116.82, Y:175.85, Z:7.06 [[ 7.65707765e-01 -6.43028310e-01 1.43600645e-02 1.16821699e+02] [ 6.42903990e-01 7.65842271e-01 1.26520826e-02 1.75846509e+02] [-1.91331917e-02 -4.55655186e-04 9.99816840e-01 7.05658509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74687500000005 meters Centerline goodness [0,1] 0.9878188742240075 Centerline is valid? [True, True] Translation: X:116.84, Y:175.87, Z:7.05 [[ 7.66810814e-01 -6.41715145e-01 1.42424885e-02 1.16840555e+02] [ 6.41592436e-01 7.66942913e-01 1.25584629e-02 1.75867153e+02] [-1.89821315e-02 -4.92092285e-04 9.99819702e-01 7.05452217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters Centerline goodness [0,1] 0.9882352941176471 Centerline is valid? [True, True] Translation: X:116.86, Y:175.89, Z:7.06 [[ 7.68834770e-01 -6.39288790e-01 1.42456757e-02 1.16860477e+02] [ 6.39165655e-01 7.68966540e-01 1.25588672e-02 1.75888750e+02] [-1.89831910e-02 -5.50347114e-04 9.99819652e-01 7.05578651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.806875 meters Centerline goodness [0,1] 0.9867707711862208 Centerline is valid? [True, True] Translation: X:116.88, Y:175.91, Z:7.05 [[ 7.69912142e-01 -6.37990550e-01 1.42601628e-02 1.16879121e+02] [ 6.37866744e-01 7.70043966e-01 1.25820452e-02 1.75909937e+02] [-1.90081783e-02 -5.90985717e-04 9.99819154e-01 7.05422834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters Centerline goodness [0,1] 0.9864945279552922 Centerline is valid? [True, True] Translation: X:116.90, Y:175.93, Z:7.05 [[ 7.70418040e-01 -6.37371122e-01 1.46320247e-02 1.16896572e+02] [ 6.37240701e-01 7.70556726e-01 1.29081614e-02 1.75932070e+02] [-1.95020944e-02 -6.20558730e-04 9.99809623e-01 7.05196682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.866875 meters Centerline goodness [0,1] 0.9858188943894389 Centerline is valid? [True, True] Translation: X:116.92, Y:175.95, Z:7.05 [[ 7.71392613e-01 -6.36169054e-01 1.55682614e-02 1.16916153e+02] [ 6.36020954e-01 7.71549379e-01 1.37441731e-02 1.75952876e+02] [-2.07553000e-02 -7.00413114e-04 9.99784340e-01 7.05268190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters Centerline goodness [0,1] 0.9848745538121774 Centerline is valid? [True, True] Translation: X:116.94, Y:175.97, Z:7.05 [[ 7.71601852e-01 -6.35892521e-01 1.64706686e-02 1.16937521e+02] [ 6.35726672e-01 7.71777260e-01 1.45416403e-02 1.75971702e+02] [-2.19586078e-02 -7.49513259e-04 9.99758600e-01 7.05368311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.926875 meters Centerline goodness [0,1] 0.9843922758478826 Centerline is valid? [True, True] Translation: X:116.96, Y:175.99, Z:7.05 [[ 7.71781631e-01 -6.35644963e-01 1.75668967e-02 1.16957804e+02] [ 6.35456015e-01 7.71981100e-01 1.55188268e-02 1.75991767e+02] [-2.34257763e-02 -8.14155215e-04 9.99725247e-01 7.05371283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters Centerline goodness [0,1] 0.9849361198940901 Centerline is valid? [True, True] Translation: X:116.98, Y:176.01, Z:7.05 [[ 7.71853406e-01 -6.35521642e-01 1.88298255e-02 1.16978446e+02] [ 6.35304231e-01 7.72082546e-01 1.66455688e-02 1.76012538e+02] [-2.51167988e-02 -8.85271158e-04 9.99684131e-01 7.05382605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.986875 meters Centerline goodness [0,1] 0.9839811059198028 Centerline is valid? [True, True] Translation: X:117.00, Y:176.03, Z:7.05 [[ 7.71742610e-01 -6.35624483e-01 1.98710892e-02 1.16998562e+02] [ 6.35382101e-01 7.71997820e-01 1.75770158e-02 1.76031917e+02] [-2.65128191e-02 -9.39197658e-04 9.99648032e-01 7.05449503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters Centerline goodness [0,1] 0.9842318128295705 Centerline is valid? [True, True] Translation: X:117.02, Y:176.05, Z:7.05 [[ 7.72634274e-01 -6.34517776e-01 2.05784203e-02 1.17020141e+02] [ 6.34257423e-01 7.72907606e-01 1.82031260e-02 1.76051476e+02] [-2.74554246e-02 -1.01234324e-03 9.99622516e-01 7.05499089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.046875 meters Centerline goodness [0,1] 0.9838544598536411 Centerline is valid? [True, True] Translation: X:117.04, Y:176.07, Z:7.05 [[ 7.72582733e-01 -6.34565520e-01 2.10361762e-02 1.17039870e+02] [ 6.34293181e-01 7.72868369e-01 1.86183658e-02 1.76070810e+02] [-2.80727682e-02 -1.04112487e-03 9.99605340e-01 7.05370620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters Centerline goodness [0,1] 0.9832656293911755 Centerline is valid? [True, True] Translation: X:117.06, Y:176.09, Z:7.05 [[ 7.72629970e-01 -6.34515167e-01 2.08190141e-02 1.17058786e+02] [ 6.34248212e-01 7.72909714e-01 1.84331075e-02 1.76091642e+02] [-2.77873045e-02 -1.03754881e-03 9.99613320e-01 7.05103080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.106875 meters Centerline goodness [0,1] 0.9839329819468846 Centerline is valid? [True, True] Translation: X:117.08, Y:176.11, Z:7.05 [[ 7.72336884e-01 -6.34873007e-01 2.07846929e-02 1.17078623e+02] [ 6.34606964e-01 7.72615825e-01 1.84061965e-02 1.76111056e+02] [-2.77441800e-02 -1.02567355e-03 9.99614530e-01 7.04838123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters Centerline goodness [0,1] 0.9830323073009413 Centerline is valid? [True, True] Translation: X:117.10, Y:176.13, Z:7.05 [[ 7.72059047e-01 -6.35204422e-01 2.09802085e-02 1.17098221e+02] [ 6.34933117e-01 7.72343366e-01 1.85920087e-02 1.76130729e+02] [-2.80136510e-02 -1.03309938e-03 9.99607007e-01 7.04637151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.166875 meters Centerline goodness [0,1] 0.9832438999696264 Centerline is valid? [True, True] Translation: X:117.12, Y:176.15, Z:7.05 [[ 7.71594992e-01 -6.35758227e-01 2.12754759e-02 1.17120367e+02] [ 6.35479419e-01 7.71887570e-01 1.88543778e-02 1.76149726e+02] [-2.84091012e-02 -1.02781641e-03 9.99595852e-01 7.04543468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters Centerline goodness [0,1] 0.982814641823628 Centerline is valid? [True, True] Translation: X:117.14, Y:176.17, Z:7.04 [[ 7.70929770e-01 -6.36549788e-01 2.17176724e-02 1.17142197e+02] [ 6.36259252e-01 7.71234925e-01 1.92575700e-02 1.76168871e+02] [-2.90078295e-02 -1.02816400e-03 9.99578656e-01 7.04493003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.226875 meters Centerline goodness [0,1] 0.9846794888081506 Centerline is valid? [True, True] Translation: X:117.16, Y:176.19, Z:7.04 [[ 7.69613633e-01 -6.38079620e-01 2.34361812e-02 1.17161919e+02] [ 6.37741796e-01 7.69969669e-01 2.07872433e-02 1.76188655e+02] [-3.13090650e-02 -1.05191356e-03 9.99509198e-01 7.04417546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters Centerline goodness [0,1] 0.9825522674477325 Centerline is valid? [True, True] Translation: X:117.18, Y:176.21, Z:7.04 [[ 7.69223438e-01 -6.38545377e-01 2.35606463e-02 1.17178982e+02] [ 6.38203972e-01 7.69583467e-01 2.09039994e-02 1.76211938e+02] [-3.14800360e-02 -1.04334821e-03 9.99503836e-01 7.04103580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.286875 meters Centerline goodness [0,1] 0.9850538315389487 Centerline is valid? [True, True] Translation: X:117.20, Y:176.23, Z:7.04 [[ 7.67986056e-01 -6.40012346e-01 2.41167148e-02 1.17204411e+02] [ 6.39655292e-01 7.68363964e-01 2.13992125e-02 1.76226813e+02] [-3.22261748e-02 -1.00791258e-03 9.99480094e-01 7.04055433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters Centerline goodness [0,1] 0.9856377060786892 Centerline is valid? [True, True] Translation: X:117.23, Y:176.24, Z:7.04 [[ 7.67332125e-01 -6.40814996e-01 2.36124923e-02 1.17227337e+02] [ 6.40472792e-01 7.67694742e-01 2.09615577e-02 1.76244584e+02] [-3.15596667e-02 -9.61317803e-04 9.99501407e-01 7.03955319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.346875 meters Centerline goodness [0,1] 0.9842138444080192 Centerline is valid? [True, True] Translation: X:117.24, Y:176.27, Z:7.04 [[ 7.67062853e-01 -6.41146576e-01 2.33591036e-02 1.17244848e+02] [ 6.40811476e-01 7.67417860e-01 2.07480127e-02 1.76265942e+02] [-3.12287107e-02 -9.46248153e-04 9.99511817e-01 7.03618875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters Centerline goodness [0,1] 0.9855360466871258 Centerline is valid? [True, True] Translation: X:117.27, Y:176.28, Z:7.03 [[ 7.66516467e-01 -6.41820697e-01 2.27749658e-02 1.17267293e+02] [ 6.41502310e-01 7.66854213e-01 2.02336905e-02 1.76283480e+02] [-3.04514798e-02 -8.99263823e-04 9.99535842e-01 7.03486000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.406875 meters Centerline goodness [0,1] 0.9844807701950559 Centerline is valid? [True, True] Translation: X:117.29, Y:176.30, Z:7.03 [[ 7.65724964e-01 -6.42801374e-01 2.17180475e-02 1.17288429e+02] [ 6.42512004e-01 7.66032447e-01 1.93032352e-02 1.76302852e+02] [-2.90448752e-02 -8.26862897e-04 9.99577767e-01 7.03120141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters Centerline goodness [0,1] 0.9850682700739071 Centerline is valid? [True, True] Translation: X:117.31, Y:176.32, Z:7.03 [[ 7.65322312e-01 -6.43287323e-01 2.15215975e-02 1.17308182e+02] [ 6.43003022e-01 7.65624428e-01 1.91402555e-02 1.76322471e+02] [-2.87901444e-02 -8.10012380e-04 9.99585150e-01 7.02854172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.466875 meters Centerline goodness [0,1] 0.9849975037443834 Centerline is valid? [True, True] Translation: X:117.33, Y:176.34, Z:7.03 [[ 7.64884149e-01 -6.43819454e-01 2.11836976e-02 1.17326154e+02] [ 6.43544146e-01 7.65177040e-01 1.88422047e-02 1.76342433e+02] [-2.83402570e-02 -7.79459122e-04 9.99598030e-01 7.02605173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters Centerline goodness [0,1] 0.9856134907926342 Centerline is valid? [True, True] Translation: X:117.35, Y:176.36, Z:7.03 [[ 7.64113559e-01 -6.44758805e-01 2.04096025e-02 1.17350889e+02] [ 6.44503522e-01 7.64385744e-01 1.81561001e-02 1.76358995e+02] [-2.73071146e-02 -7.19261532e-04 9.99626832e-01 7.02651464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.526875 meters Centerline goodness [0,1] 0.9855489161687127 Centerline is valid? [True, True] Translation: X:117.37, Y:176.38, Z:7.02 [[ 7.63728351e-01 -6.45217673e-01 2.03263482e-02 1.17370533e+02] [ 6.44964353e-01 7.63998464e-01 1.80922663e-02 1.76378099e+02] [-2.72027487e-02 -7.07806683e-04 9.99629686e-01 7.02489445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters Centerline goodness [0,1] 0.9865822214434126 Centerline is valid? [True, True] Translation: X:117.39, Y:176.40, Z:7.02 [[ 7.63251850e-01 -6.45789986e-01 2.00476341e-02 1.17392091e+02] [ 6.45543747e-01 7.63514789e-01 1.78448131e-02 1.76396654e+02] [-2.68306668e-02 -6.78461826e-04 9.99639763e-01 7.02410860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.586875 meters Centerline goodness [0,1] 0.986231884057971 Centerline is valid? [True, True] Translation: X:117.41, Y:176.42, Z:7.02 [[ 7.62862984e-01 -6.46273236e-01 1.92606685e-02 1.17410846e+02] [ 6.46045808e-01 7.63105818e-01 1.71558856e-02 1.76415965e+02] [-2.57853179e-02 -6.44315945e-04 9.99667296e-01 7.02177768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters Centerline goodness [0,1] 0.9861646234676007 Centerline is valid? [True, True] Translation: X:117.43, Y:176.43, Z:7.02 [[ 7.62682285e-01 -6.46503841e-01 1.86685583e-02 1.17433328e+02] [ 6.46290175e-01 7.62910479e-01 1.66315955e-02 1.76434840e+02] [-2.49948292e-02 -6.19317448e-04 9.99687389e-01 7.02085104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.646875 meters Centerline goodness [0,1] 0.9867938188081983 Centerline is valid? [True, True] Translation: X:117.45, Y:176.45, Z:7.02 [[ 7.62212587e-01 -6.47057805e-01 1.86592847e-02 1.17454867e+02] [ 6.46844311e-01 7.62440704e-01 1.66315900e-02 1.76454564e+02] [-2.49881983e-02 -6.07155088e-04 9.99687562e-01 7.01949241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters Centerline goodness [0,1] 0.9864763710764011 Centerline is valid? [True, True] Translation: X:117.47, Y:176.47, Z:7.02 [[ 7.61471904e-01 -6.47949837e-01 1.79317332e-02 1.17474464e+02] [ 6.47752682e-01 7.61682802e-01 1.59928524e-02 1.76473376e+02] [-2.40208589e-02 -5.62779481e-04 9.99711299e-01 7.01746672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.706875 meters Centerline goodness [0,1] 0.9867529805793697 Centerline is valid? [True, True] Translation: X:117.49, Y:176.49, Z:7.02 [[ 7.60854913e-01 -6.48678284e-01 1.77843937e-02 1.17494616e+02] [ 6.48484425e-01 7.61062542e-01 1.58668704e-02 1.76492360e+02] [-2.38275301e-02 -5.39483967e-04 9.99715939e-01 7.01523512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters Centerline goodness [0,1] 0.987755916311314 Centerline is valid? [True, True] Translation: X:117.52, Y:176.51, Z:7.02 [[ 7.60243879e-01 -6.49404591e-01 1.74046434e-02 1.17516955e+02] [ 6.49219162e-01 7.60442912e-01 1.55260356e-02 1.76509184e+02] [-2.33179165e-02 -5.04145500e-04 9.99727973e-01 7.01571664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.766875 meters Centerline goodness [0,1] 0.9873762623737626 Centerline is valid? [True, True] Translation: X:117.54, Y:176.53, Z:7.01 [[ 7.59892637e-01 -6.49816808e-01 1.73579206e-02 1.17536564e+02] [ 6.49632204e-01 7.60090697e-01 1.54962008e-02 1.76528370e+02] [-2.32632857e-02 -4.99184676e-04 9.99729249e-01 7.01393864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters Centerline goodness [0,1] 0.9876438219109555 Centerline is valid? [True, True] Translation: X:117.56, Y:176.55, Z:7.01 [[ 7.59139789e-01 -6.50691554e-01 1.75294640e-02 1.17558722e+02] [ 6.50503465e-01 7.59342000e-01 1.56514725e-02 1.76547209e+02] [-2.34951393e-02 -4.78678462e-04 9.99723837e-01 7.01448174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82687500000003 meters Centerline goodness [0,1] 0.98636431746666 Centerline is valid? [True, True] Translation: X:117.58, Y:176.57, Z:7.01 [[ 7.58843447e-01 -6.51046490e-01 1.71782050e-02 1.17577043e+02] [ 6.50865742e-01 7.59037714e-01 1.53471433e-02 1.76566766e+02] [-2.30306092e-02 -4.65373977e-04 9.99734652e-01 7.01153508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters Centerline goodness [0,1] 0.9890724015767677 Centerline is valid? [True, True] Translation: X:117.60, Y:176.58, Z:7.01 [[ 7.58404453e-01 -6.51551383e-01 1.74207343e-02 1.17600125e+02] [ 6.51365559e-01 7.58604367e-01 1.55667430e-02 1.76583839e+02] [-2.33579781e-02 -4.58620876e-04 9.99727060e-01 7.01328654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88687500000003 meters Centerline goodness [0,1] 0.9879692492012779 Centerline is valid? [True, True] Translation: X:117.62, Y:176.60, Z:7.01 [[ 7.58220035e-01 -6.51782696e-01 1.67837902e-02 1.17619485e+02] [ 6.51610052e-01 7.58405645e-01 1.50072769e-02 1.76604534e+02] [-2.25104046e-02 -4.42331643e-04 9.99746511e-01 7.00992733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters Centerline goodness [0,1] 0.9875315459383823 Centerline is valid? [True, True] Translation: X:117.64, Y:176.62, Z:7.01 [[ 7.58000531e-01 -6.52047240e-01 1.64192472e-02 1.17639459e+02] [ 6.51882016e-01 7.58178221e-01 1.46841127e-02 1.76622787e+02] [-2.20234508e-02 -4.27153310e-04 9.99757363e-01 7.00890317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94687500000003 meters Centerline goodness [0,1] 0.9877768334749788 Centerline is valid? [True, True] Translation: X:117.66, Y:176.64, Z:7.01 [[ 7.57508351e-01 -6.52614849e-01 1.65818398e-02 1.17663000e+02] [ 6.52446424e-01 7.57689703e-01 1.48316324e-02 1.76640116e+02] [-2.22432328e-02 -4.16323292e-04 9.99752502e-01 7.01120098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters Centerline goodness [0,1] 0.9886792452830189 Centerline is valid? [True, True] Translation: X:117.68, Y:176.66, Z:7.01 [[ 7.57187587e-01 -6.52977025e-01 1.69694507e-02 1.17684042e+02] [ 6.52800553e-01 7.57377599e-01 1.51858639e-02 1.76659385e+02] [-2.27683021e-02 -4.20880906e-04 9.99740680e-01 7.01057389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00687500000004 meters Centerline goodness [0,1] 0.9882807629971325 Centerline is valid? [True, True] Translation: X:117.71, Y:176.68, Z:7.01 [[ 7.57331746e-01 -6.52765193e-01 1.86072271e-02 1.17705518e+02] [ 6.52552715e-01 7.57560147e-01 1.66606689e-02 1.76679108e+02] [-2.49715984e-02 -4.75456956e-04 9.99688048e-01 7.01190845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters Centerline goodness [0,1] 0.9882807629971325 Centerline is valid? [True, True] Translation: X:117.73, Y:176.70, Z:7.01 [[ 7.57155461e-01 -6.52969764e-01 1.86036361e-02 1.17726014e+02] [ 6.52757249e-01 7.57383828e-01 1.66646772e-02 1.76697592e+02] [-2.49716234e-02 -4.74093067e-04 9.99688048e-01 7.01078021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06687500000004 meters Centerline goodness [0,1] 0.9871887360382099 Centerline is valid? [True, True] Translation: X:117.75, Y:176.72, Z:7.01 [[ 7.57230865e-01 -6.52872908e-01 1.89309857e-02 1.17746030e+02] [ 6.52652575e-01 7.57467308e-01 1.69674358e-02 1.76717034e+02] [-2.54171820e-02 -4.92909490e-04 9.99676810e-01 7.01027671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters Centerline goodness [0,1] 0.9867919356044559 Centerline is valid? [True, True] Translation: X:117.77, Y:176.74, Z:7.01 [[ 7.57349372e-01 -6.52718453e-01 1.95076749e-02 1.17766315e+02] [ 6.52484179e-01 7.57600389e-01 1.74942001e-02 1.76736844e+02] [-2.61978093e-02 -5.20772227e-04 9.99656643e-01 7.00874130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12687500000004 meters Centerline goodness [0,1] 0.9870584728501167 Centerline is valid? [True, True] Translation: X:117.79, Y:176.76, Z:7.01 [[ 7.57468698e-01 -6.52581138e-01 1.94686887e-02 1.17788854e+02] [ 6.52347497e-01 7.57718665e-01 1.74690781e-02 1.76755127e+02] [-2.61517797e-02 -5.31929502e-04 9.99657842e-01 7.00884618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters Centerline goodness [0,1] 0.9872859302584946 Centerline is valid? [True, True] Translation: X:117.81, Y:176.77, Z:7.01 [[ 7.57255619e-01 -6.52816659e-01 1.98579376e-02 1.17808805e+02] [ 6.52573340e-01 7.57515752e-01 1.78303497e-02 1.76774496e+02] [-2.66826499e-02 -5.43371790e-04 9.99643807e-01 7.00737990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18687500000004 meters Centerline goodness [0,1] 0.9876570859773547 Centerline is valid? [True, True] Translation: X:117.83, Y:176.79, Z:7.01 [[ 7.57698584e-01 -6.52308689e-01 1.96527449e-02 1.17830873e+02] [ 6.52070195e-01 7.57953208e-01 1.76464198e-02 1.76793497e+02] [-2.64067740e-02 -5.55698134e-04 9.99651126e-01 7.00691823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters Centerline goodness [0,1] 0.9873537230738652 Centerline is valid? [True, True] Translation: X:117.85, Y:176.81, Z:7.01 [[ 7.58241460e-01 -6.51676117e-01 1.97009424e-02 1.17850099e+02] [ 6.51435935e-01 7.58497128e-01 1.77011216e-02 1.76813028e+02] [-2.64785064e-02 -5.87822477e-04 9.99649210e-01 7.00531230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.246875 meters Centerline goodness [0,1] 0.986067036890123 Centerline is valid? [True, True] Translation: X:117.87, Y:176.83, Z:7.00 [[ 7.58799168e-01 -6.51036890e-01 1.93594783e-02 1.17870715e+02] [ 6.50804734e-01 7.59045853e-01 1.73951532e-02 1.76832980e+02] [-2.60196182e-02 -6.00187682e-04 9.99661252e-01 7.00334715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters Centerline goodness [0,1] 0.9858345715700843 Centerline is valid? [True, True] Translation: X:117.89, Y:176.85, Z:7.00 [[ 7.60275829e-01 -6.49308874e-01 1.94589178e-02 1.17890204e+02] [ 6.49073539e-01 7.60524515e-01 1.74929357e-02 1.76854163e+02] [-2.61573024e-02 -6.69187541e-04 9.99657615e-01 7.00055961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.306875 meters Centerline goodness [0,1] 0.9864136509276967 Centerline is valid? [True, True] Translation: X:117.91, Y:176.87, Z:7.00 [[ 7.61005955e-01 -6.48463791e-01 1.90957363e-02 1.17910517e+02] [ 6.48236688e-01 7.61245186e-01 1.71744786e-02 1.76874189e+02] [-2.56735648e-02 -6.91323597e-04 9.99670141e-01 6.99867688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters Centerline goodness [0,1] 0.984740413052663 Centerline is valid? [True, True] Translation: X:117.93, Y:176.89, Z:7.00 [[ 7.62265825e-01 -6.46986261e-01 1.89628713e-02 1.17930992e+02] [ 6.46761645e-01 7.62501296e-01 1.70630634e-02 1.76894845e+02] [-2.54987815e-02 -7.42132253e-04 9.99674578e-01 6.99731370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.366875 meters Centerline goodness [0,1] 0.9849454365079365 Centerline is valid? [True, True] Translation: X:117.95, Y:176.91, Z:7.00 [[ 7.62932853e-01 -6.46214010e-01 1.84638862e-02 1.17951872e+02] [ 6.46000645e-01 7.63155872e-01 1.66217264e-02 1.76914884e+02] [-2.48320156e-02 -7.53578718e-04 9.99691354e-01 6.99550743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters Centerline goodness [0,1] 0.9845049787688411 Centerline is valid? [True, True] Translation: X:117.97, Y:176.93, Z:6.99 [[ 7.63331131e-01 -6.45760427e-01 1.78621550e-02 1.17972994e+02] [ 6.45560446e-01 7.63539724e-01 1.60872696e-02 1.76934861e+02] [-2.40269870e-02 -7.48812973e-04 9.99711030e-01 6.99400012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.426875 meters Centerline goodness [0,1] 0.9836057429579214 Centerline is valid? [True, True] Translation: X:117.99, Y:176.95, Z:6.99 [[ 7.63881161e-01 -6.45123213e-01 1.73669852e-02 1.17992772e+02] [ 6.44933788e-01 7.64078183e-01 1.56505363e-02 1.76953812e+02] [-2.33662588e-02 -7.54594306e-04 9.99726687e-01 6.99185397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters Centerline goodness [0,1] 0.9840689929416443 Centerline is valid? [True, True] Translation: X:118.01, Y:176.97, Z:6.99 [[ 7.65044002e-01 -6.43766541e-01 1.65019868e-02 1.18014956e+02] [ 6.43595104e-01 7.65221578e-01 1.48754428e-02 1.76971622e+02] [-2.22039887e-02 -7.59770429e-04 9.99753172e-01 6.99083480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.486875 meters Centerline goodness [0,1] 0.9839393263439661 Centerline is valid? [True, True] Translation: X:118.03, Y:176.99, Z:6.99 [[ 7.65468016e-01 -6.43275238e-01 1.59901378e-02 1.18033455e+02] [ 6.43114063e-01 7.65634639e-01 1.44188060e-02 1.76992499e+02] [-2.15178642e-02 -7.53652334e-04 9.99768180e-01 6.98794200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters Centerline goodness [0,1] 0.9849418546864129 Centerline is valid? [True, True] Translation: X:118.06, Y:177.01, Z:6.99 [[ 7.65703642e-01 -6.43005329e-01 1.55589329e-02 1.18056188e+02] [ 6.42852714e-01 7.65861346e-01 1.40281069e-02 1.77010086e+02] [-2.09361328e-02 -7.39270304e-04 9.99780542e-01 6.98717844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.546875 meters Centerline goodness [0,1] 0.9843273403595785 Centerline is valid? [True, True] Translation: X:118.08, Y:177.03, Z:6.99 [[ 7.65801403e-01 -6.42898733e-01 1.51469656e-02 1.18077120e+02] [ 6.42753855e-01 7.65950838e-01 1.36673643e-02 1.77029177e+02] [-2.03885622e-02 -7.30716270e-04 9.99791865e-01 6.98565233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters Centerline goodness [0,1] 0.9847297967278136 Centerline is valid? [True, True] Translation: X:118.10, Y:177.05, Z:6.98 [[ 7.65443068e-01 -6.43328083e-01 1.50295383e-02 1.18098681e+02] [ 6.43185588e-01 7.65590276e-01 1.35583256e-02 1.77047924e+02] [-2.02289200e-02 -7.11343930e-04 9.99795121e-01 6.98462982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.606875 meters Centerline goodness [0,1] 0.9843730590544334 Centerline is valid? [True, True] Translation: X:118.12, Y:177.07, Z:6.98 [[ 7.64945746e-01 -6.43928860e-01 1.46160209e-02 1.18118209e+02] [ 6.43794069e-01 7.65085066e-01 1.31923647e-02 1.77066019e+02] [-1.96774437e-02 -6.81735683e-04 9.99806148e-01 6.98279802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters Centerline goodness [0,1] 0.9854312209432414 Centerline is valid? [True, True] Translation: X:118.14, Y:177.08, Z:6.98 [[ 7.64447096e-01 -6.44522551e-01 1.45367790e-02 1.18140644e+02] [ 6.44389163e-01 7.64585007e-01 1.31290742e-02 1.77083938e+02] [-1.95765876e-02 -6.69139797e-04 9.99808136e-01 6.98234891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.666875 meters Centerline goodness [0,1] 0.9866228234063223 Centerline is valid? [True, True] Translation: X:118.16, Y:177.10, Z:6.98 [[ 7.63535160e-01 -6.45602440e-01 1.45447382e-02 1.18162897e+02] [ 6.45468974e-01 7.63673406e-01 1.31427356e-02 1.77102056e+02] [-1.95924119e-02 -6.46763467e-04 9.99807841e-01 6.98253100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters Centerline goodness [0,1] 0.9851731871417891 Centerline is valid? [True, True] Translation: X:118.19, Y:177.12, Z:6.98 [[ 7.63203656e-01 -6.45992335e-01 1.46316028e-02 1.18185005e+02] [ 6.45857233e-01 7.63343624e-01 1.32267260e-02 1.77119526e+02] [-1.97133043e-02 -6.44759075e-04 9.99805466e-01 6.98216071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.726875 meters Centerline goodness [0,1] 0.9863526359122776 Centerline is valid? [True, True] Translation: X:118.21, Y:177.14, Z:6.98 [[ 7.62868213e-01 -6.46385436e-01 1.47633955e-02 1.18205243e+02] [ 6.46247702e-01 7.63010777e-01 1.33589774e-02 1.77138075e+02] [-1.98996783e-02 -6.50328856e-04 9.99801770e-01 6.98085801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters Centerline goodness [0,1] 0.9853418568646057 Centerline is valid? [True, True] Translation: X:118.23, Y:177.16, Z:6.98 [[ 7.62679235e-01 -6.46620847e-01 1.42078969e-02 1.18226177e+02] [ 6.46493306e-01 7.62811310e-01 1.28573007e-02 1.77156434e+02] [-1.91517431e-02 -6.20686060e-04 9.99816396e-01 6.97940300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.786875 meters Centerline goodness [0,1] 0.9873588825752835 Centerline is valid? [True, True] Translation: X:118.25, Y:177.17, Z:6.98 [[ 7.61427597e-01 -6.48088764e-01 1.44557536e-02 1.18251124e+02] [ 6.47957003e-01 7.61564575e-01 1.30812837e-02 1.77171548e+02] [-1.94868228e-02 -5.93743625e-04 9.99809938e-01 6.98110360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters Centerline goodness [0,1] 0.9871244635193133 Centerline is valid? [True, True] Translation: X:118.27, Y:177.19, Z:6.98 [[ 7.60402319e-01 -6.49277823e-01 1.50539781e-02 1.18272062e+02] [ 6.49135012e-01 7.60551088e-01 1.36300595e-02 1.77190653e+02] [-2.02990148e-02 -5.92264572e-04 9.99793778e-01 6.97960286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.846875 meters Centerline goodness [0,1] 0.9883444040606593 Centerline is valid? [True, True] Translation: X:118.29, Y:177.21, Z:6.98 [[ 7.59542770e-01 -6.50284158e-01 1.50097830e-02 1.18294488e+02] [ 6.50142235e-01 7.59690851e-01 1.35972444e-02 1.77209395e+02] [-2.02448675e-02 -5.69194764e-04 9.99794890e-01 6.97888684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters Centerline goodness [0,1] 0.9884333600963469 Centerline is valid? [True, True] Translation: X:118.32, Y:177.23, Z:6.98 [[ 7.58928542e-01 -6.50993228e-01 1.53390227e-02 1.18317384e+02] [ 6.50845032e-01 7.59083326e-01 1.39013924e-02 1.77226700e+02] [-2.06933087e-02 -5.66836789e-04 9.99785710e-01 6.97912459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.906875 meters Centerline goodness [0,1] 0.9882754638347017 Centerline is valid? [True, True] Translation: X:118.34, Y:177.24, Z:6.98 [[ 7.57833920e-01 -6.52248744e-01 1.61035621e-02 1.18342198e+02] [ 6.52085453e-01 7.58004785e-01 1.46050950e-02 1.77243260e+02] [-2.17327320e-02 -5.67337848e-04 9.99763655e-01 6.98063741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters Centerline goodness [0,1] 0.9892722236212541 Centerline is valid? [True, True] Translation: X:118.36, Y:177.26, Z:6.98 [[ 7.57109718e-01 -6.53072031e-01 1.67868176e-02 1.18362781e+02] [ 6.52894761e-01 7.57295583e-01 1.52259708e-02 1.77262276e+02] [-2.26562385e-02 -5.67705161e-04 9.99743153e-01 6.97933223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.966875 meters Centerline goodness [0,1] 0.9895057378699417 Centerline is valid? [True, True] Translation: X:118.38, Y:177.28, Z:6.98 [[ 7.56466793e-01 -6.53802256e-01 1.73378594e-02 1.18384926e+02] [ 6.53613159e-01 7.56665240e-01 1.57338481e-02 1.77280333e+02] [-2.34057809e-02 -5.69880558e-04 9.99725885e-01 6.97921861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters Centerline goodness [0,1] 0.9892464994459554 Centerline is valid? [True, True] Translation: X:118.41, Y:177.30, Z:6.98 [[ 7.56089452e-01 -6.54226836e-01 1.77760522e-02 1.18405884e+02] [ 6.54027894e-01 7.56298163e-01 1.61431900e-02 1.77298175e+02] [-2.40053038e-02 -5.79661697e-04 9.99711663e-01 6.97840537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.026875 meters Centerline goodness [0,1] 0.9883767940165757 Centerline is valid? [True, True] Translation: X:118.43, Y:177.32, Z:6.98 [[ 7.55938784e-01 -6.54395498e-01 1.79746335e-02 1.18427765e+02] [ 6.54192166e-01 7.56152231e-01 1.63222058e-02 1.77316389e+02] [-2.42727372e-02 -5.79723979e-04 9.99705206e-01 6.97727299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters Centerline goodness [0,1] 0.9890798786653185 Centerline is valid? [True, True] Translation: X:118.45, Y:177.33, Z:6.98 [[ 7.55365114e-01 -6.55027812e-01 1.90291884e-02 1.18451169e+02] [ 6.54799838e-01 7.55604529e-01 1.72906771e-02 1.77334141e+02] [-2.57044153e-02 -6.00464770e-04 9.99669407e-01 6.97777507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.086875 meters Centerline goodness [0,1] 0.9893388032110207 Centerline is valid? [True, True] Translation: X:118.47, Y:177.35, Z:6.98 [[ 7.55423132e-01 -6.54959445e-01 1.90792392e-02 1.18472248e+02] [ 6.54730052e-01 7.55663783e-01 1.73437576e-02 1.77352175e+02] [-2.57769479e-02 -6.10124367e-04 9.99667533e-01 6.97704478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters Centerline goodness [0,1] 0.9897263731825525 Centerline is valid? [True, True] Translation: X:118.49, Y:177.37, Z:6.98 [[ 7.55296078e-01 -6.55105704e-01 1.90879775e-02 1.18491727e+02] [ 6.54875839e-01 7.55536987e-01 1.73636592e-02 1.77370429e+02] [-2.57967052e-02 -6.14448348e-04 9.99667021e-01 6.97564676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.146875 meters Centerline goodness [0,1] 0.9901269035532995 Centerline is valid? [True, True] Translation: X:118.51, Y:177.39, Z:6.97 [[ 7.56201115e-01 -6.54062917e-01 1.90151147e-02 1.18514176e+02] [ 6.53834394e-01 7.56439871e-01 1.73004863e-02 1.77388570e+02] [-2.56993974e-02 -6.49911035e-04 9.99669505e-01 6.97431100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters Centerline goodness [0,1] 0.990400243803332 Centerline is valid? [True, True] Translation: X:118.53, Y:177.41, Z:6.97 [[ 7.56547049e-01 -6.53669477e-01 1.87823631e-02 1.18534522e+02] [ 6.53446102e-01 7.56779871e-01 1.71002293e-02 1.77407947e+02] [-2.53920123e-02 -6.63866109e-04 9.99677350e-01 6.97228552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.206875 meters Centerline goodness [0,1] 0.9905621979140168 Centerline is valid? [True, True] Translation: X:118.56, Y:177.43, Z:6.97 [[ 7.56838626e-01 -6.53338814e-01 1.85388370e-02 1.18556314e+02] [ 6.53121109e-01 7.57065354e-01 1.68779822e-02 1.77427502e+02] [-2.50621521e-02 -6.65803078e-04 9.99685673e-01 6.97070995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters Centerline goodness [0,1] 0.9893390191897654 Centerline is valid? [True, True] Translation: X:118.58, Y:177.45, Z:6.97 [[ 7.57129182e-01 -6.53007615e-01 1.83427287e-02 1.18575797e+02] [ 6.52794197e-01 7.57351040e-01 1.67074312e-02 1.77447957e+02] [-2.48019645e-02 -6.75656863e-04 9.99692156e-01 6.96796888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.266875 meters Centerline goodness [0,1] 0.989195954229669 Centerline is valid? [True, True] Translation: X:118.60, Y:177.47, Z:6.97 [[ 7.57658379e-01 -6.52404291e-01 1.79561038e-02 1.18599245e+02] [ 6.52199421e-01 7.57870813e-01 1.63629424e-02 1.77465507e+02] [-2.42836608e-02 -6.86559944e-04 9.99704873e-01 6.96714966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters Centerline goodness [0,1] 0.9895910590521981 Centerline is valid? [True, True] Translation: X:118.62, Y:177.49, Z:6.97 [[ 7.57676259e-01 -6.52383491e-01 1.79573835e-02 1.18619438e+02] [ 6.52178333e-01 7.57888711e-01 1.63744798e-02 1.77485925e+02] [-2.42921385e-02 -6.95138178e-04 9.99704661e-01 6.96531890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32687500000003 meters Centerline goodness [0,1] 0.9899152369281046 Centerline is valid? [True, True] Translation: X:118.64, Y:177.50, Z:6.96 [[ 7.57479228e-01 -6.52614930e-01 1.78598047e-02 1.18641680e+02] [ 6.52412031e-01 7.57689438e-01 1.62867366e-02 1.77503111e+02] [-2.41611528e-02 -6.84913212e-04 9.99707842e-01 6.96486443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters Centerline goodness [0,1] 0.9895609456555112 Centerline is valid? [True, True] Translation: X:118.66, Y:177.52, Z:6.96 [[ 7.57500361e-01 -6.52603090e-01 1.73899645e-02 1.18661927e+02] [ 6.52410435e-01 7.57699643e-01 1.58705790e-02 1.77521718e+02] [-2.35335588e-02 -6.76575022e-04 9.99722819e-01 6.96275848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38687500000003 meters Centerline goodness [0,1] 0.9890480853476267 Centerline is valid? [True, True] Translation: X:118.68, Y:177.54, Z:6.96 [[ 7.57439052e-01 -6.52687193e-01 1.68970557e-02 1.18683561e+02] [ 6.52505312e-01 7.57627216e-01 1.54213863e-02 1.77541070e+02] [-2.28670106e-02 -6.55341584e-04 9.99738301e-01 6.96089194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters Centerline goodness [0,1] 0.9891870967741936 Centerline is valid? [True, True] Translation: X:118.70, Y:177.56, Z:6.96 [[ 7.57554950e-01 -6.52561618e-01 1.65478751e-02 1.18703740e+02] [ 6.52386909e-01 7.57735381e-01 1.51133828e-02 1.77559597e+02] [-2.24013240e-02 -6.53600842e-04 9.99748845e-01 6.95914485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44687500000003 meters Centerline goodness [0,1] 0.9907046399338997 Centerline is valid? [True, True] Translation: X:118.73, Y:177.58, Z:6.96 [[ 7.57177952e-01 -6.52997509e-01 1.66072925e-02 1.18726269e+02] [ 6.52821698e-01 7.57359784e-01 1.51653634e-02 1.77576558e+02] [-2.24806399e-02 -6.41277939e-04 9.99747073e-01 6.95939183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters Centerline goodness [0,1] 0.9889565780946209 Centerline is valid? [True, True] Translation: X:118.75, Y:177.60, Z:6.96 [[ 7.56709721e-01 -6.53541907e-01 1.65340124e-02 1.18745455e+02] [ 6.53367514e-01 7.56890070e-01 1.51100448e-02 1.77596420e+02] [-2.23894773e-02 -6.31131186e-04 9.99749125e-01 6.95703136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50687500000004 meters Centerline goodness [0,1] 0.9896704377766847 Centerline is valid? [True, True] Translation: X:118.77, Y:177.62, Z:6.96 [[ 7.56633295e-01 -6.53632330e-01 1.64570647e-02 1.18766414e+02] [ 6.53459549e-01 7.56811988e-01 1.50410564e-02 1.77615279e+02] [-2.22862246e-02 -6.26537983e-04 9.99751435e-01 6.95565052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters Centerline goodness [0,1] 0.9891301534718807 Centerline is valid? [True, True] Translation: X:118.79, Y:177.63, Z:6.95 [[ 7.56213070e-01 -6.54121899e-01 1.63197411e-02 1.18787452e+02] [ 6.53951932e-01 7.56388899e-01 1.49232831e-02 1.77633669e+02] [-2.21057173e-02 -6.12855529e-04 9.99755451e-01 6.95449362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56687500000004 meters Centerline goodness [0,1] 0.9901897004866117 Centerline is valid? [True, True] Translation: X:118.81, Y:177.65, Z:6.96 [[ 7.55725500e-01 -6.54683728e-01 1.63763838e-02 1.18811958e+02] [ 6.54512514e-01 7.55902673e-01 1.49839536e-02 1.77650599e+02] [-2.21887029e-02 -6.05207652e-04 9.99753617e-01 6.95532805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters Centerline goodness [0,1] 0.9910171867698219 Centerline is valid? [True, True] Translation: X:118.83, Y:177.67, Z:6.95 [[ 7.55104893e-01 -6.55407746e-01 1.60401918e-02 1.18834462e+02] [ 6.55243534e-01 7.55275019e-01 1.46818529e-02 1.77669189e+02] [-2.17373562e-02 -5.76106997e-04 9.99763550e-01 6.95454310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62687500000004 meters Centerline goodness [0,1] 0.9902725759467332 Centerline is valid? [True, True] Translation: X:118.86, Y:177.69, Z:6.95 [[ 7.54704581e-01 -6.55862529e-01 1.62891811e-02 1.18855559e+02] [ 6.55693029e-01 7.54880127e-01 1.49213120e-02 1.77687904e+02] [-2.20827085e-02 -5.80479989e-04 9.99755979e-01 6.95305568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters Centerline goodness [0,1] 0.9905535170583184 Centerline is valid? [True, True] Translation: X:118.88, Y:177.71, Z:6.95 [[ 7.53596455e-01 -6.57125587e-01 1.66837195e-02 1.18878488e+02] [ 6.56948110e-01 7.53780906e-01 1.52815824e-02 1.77706069e+02] [-2.26177880e-02 -5.55808322e-04 9.99744031e-01 6.95298007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68687500000004 meters Centerline goodness [0,1] 0.9912207138738928 Centerline is valid? [True, True] Translation: X:118.90, Y:177.72, Z:6.95 [[ 7.51859103e-01 -6.59101352e-01 1.71259489e-02 1.18901924e+02] [ 6.58914662e-01 7.52053949e-01 1.56947782e-02 1.77722966e+02] [-2.32240870e-02 -5.15722990e-04 9.99730151e-01 6.95359067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters Centerline goodness [0,1] 0.9917433356923803 Centerline is valid? [True, True] Translation: X:118.93, Y:177.74, Z:6.95 [[ 7.50480241e-01 -6.60662953e-01 1.74319081e-02 1.18925601e+02] [ 6.60469792e-01 7.50682511e-01 1.59819469e-02 1.77740290e+02] [-2.36445087e-02 -4.80886628e-04 9.99720314e-01 6.95391192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.746875 meters Centerline goodness [0,1] 0.9917422748191979 Centerline is valid? [True, True] Translation: X:118.95, Y:177.76, Z:6.95 [[ 7.49066516e-01 -6.62246101e-01 1.81509369e-02 1.18948526e+02] [ 6.62036914e-01 7.49286257e-01 1.66502452e-02 1.77758898e+02] [-2.46268076e-02 -4.55550922e-04 9.99696610e-01 6.95323125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters Centerline goodness [0,1] 0.9918138506488379 Centerline is valid? [True, True] Translation: X:118.97, Y:177.78, Z:6.95 [[ 7.47669346e-01 -6.63804605e-01 1.88147648e-02 1.18970430e+02] [ 6.63580133e-01 7.47905920e-01 1.72667729e-02 1.77777057e+02] [-2.55334373e-02 -4.24732731e-04 9.99673878e-01 6.95294067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.806875 meters Centerline goodness [0,1] 0.9929192316837961 Centerline is valid? [True, True] Translation: X:119.00, Y:177.79, Z:6.95 [[ 7.44709964e-01 -6.67087617e-01 2.00295048e-02 1.18995983e+02] [ 6.66834144e-01 7.44979192e-01 1.83909692e-02 1.77792112e+02] [-2.71899521e-02 -3.39580286e-04 9.99630227e-01 6.95473794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters Centerline goodness [0,1] 0.9942094130089899 Centerline is valid? [True, True] Translation: X:119.02, Y:177.81, Z:6.95 [[ 7.43410976e-01 -6.68526794e-01 2.02989336e-02 1.19019064e+02] [ 6.68266697e-01 7.43687997e-01 1.86490100e-02 1.77809555e+02] [-2.75634361e-02 -2.98777410e-04 9.99620012e-01 6.95430028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.866875 meters Centerline goodness [0,1] 0.9938268348018783 Centerline is valid? [True, True] Translation: X:119.04, Y:177.83, Z:6.95 [[ 7.42090526e-01 -6.69985989e-01 2.05042870e-02 1.19040625e+02] [ 6.69721011e-01 7.42373701e-01 1.88429153e-02 1.77826789e+02] [-2.78463327e-02 -2.50997137e-04 9.99612184e-01 6.95342675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters Centerline goodness [0,1] 0.9943466836531571 Centerline is valid? [True, True] Translation: X:119.06, Y:177.84, Z:6.95 [[ 7.39969579e-01 -6.72304601e-01 2.12496177e-02 1.19064871e+02] [ 6.72020829e-01 7.40274607e-01 1.95323318e-02 1.77843477e+02] [-2.88622289e-02 -1.73145647e-04 9.99583384e-01 6.95356558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.926875 meters Centerline goodness [0,1] 0.9945868492278299 Centerline is valid? [True, True] Translation: X:119.09, Y:177.86, Z:6.95 [[ 7.39306137e-01 -6.73020110e-01 2.16879835e-02 1.19087163e+02] [ 6.72724527e-01 7.39624167e-01 1.99450100e-02 1.77861963e+02] [-2.94643496e-02 -1.55429850e-04 9.99565820e-01 6.95280451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters Centerline goodness [0,1] 0.9944178628389154 Centerline is valid? [True, True] Translation: X:119.11, Y:177.88, Z:6.95 [[ 7.38977303e-01 -6.73389271e-01 2.14344308e-02 1.19108297e+02] [ 6.73100412e-01 7.39288082e-01 1.97222633e-02 1.77880590e+02] [-2.91269797e-02 -1.46780748e-04 9.99575709e-01 6.95156261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.986875 meters Centerline goodness [0,1] 0.9944178628389154 Centerline is valid? [True, True] Translation: X:119.13, Y:177.90, Z:6.95 [[ 7.38790632e-01 -6.73594148e-01 2.14318985e-02 1.19128547e+02] [ 6.73305295e-01 7.39101416e-01 1.97250148e-02 1.77899363e+02] [-2.91270010e-02 -1.42445379e-04 9.99575709e-01 6.95043294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters Centerline goodness [0,1] 0.995011145313661 Centerline is valid? [True, True] Translation: X:119.15, Y:177.92, Z:6.95 [[ 7.38695424e-01 -6.73704512e-01 2.12438548e-02 1.19149178e+02] [ 6.73420441e-01 7.39000818e-01 1.95627352e-02 1.77918125e+02] [-2.88787291e-02 -1.44856894e-04 9.99582912e-01 6.94798560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.046875 meters Centerline goodness [0,1] 0.9949254762347565 Centerline is valid? [True, True] Translation: X:119.17, Y:177.94, Z:6.95 [[ 7.38940697e-01 -6.73447508e-01 2.08590564e-02 1.19170622e+02] [ 6.73173224e-01 7.39235029e-01 1.92193244e-02 1.77937984e+02] [-2.83629512e-02 -1.60182727e-04 9.99597678e-01 6.94514550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters Centerline goodness [0,1] 0.9941662493740611 Centerline is valid? [True, True] Translation: X:119.19, Y:177.96, Z:6.94 [[ 7.37893070e-01 -6.74569396e-01 2.16782609e-02 1.19189993e+02] [ 6.74273251e-01 7.38211429e-01 1.99867417e-02 1.77957776e+02] [-2.94855842e-02 -1.31006770e-04 9.99565197e-01 6.93940801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.106875 meters Centerline goodness [0,1] 0.9949839433105974 Centerline is valid? [True, True] Translation: X:119.21, Y:177.98, Z:6.94 [[ 7.39461331e-01 -6.72885331e-01 2.05492333e-02 1.19212951e+02] [ 6.72618577e-01 7.39746778e-01 1.89460556e-02 1.77976396e+02] [-2.79497520e-02 -1.88079418e-04 9.99609312e-01 6.94162237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters Centerline goodness [0,1] 0.9941678596044748 Centerline is valid? [True, True] Translation: X:119.23, Y:178.00, Z:6.94 [[ 7.39282487e-01 -6.73091901e-01 2.02162809e-02 1.19233677e+02] [ 6.72833570e-01 7.39558828e-01 1.86474724e-02 1.77995437e+02] [-2.75025917e-02 -1.83557316e-04 9.99621715e-01 6.93953763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.166875 meters Centerline goodness [0,1] 0.9944442967649326 Centerline is valid? [True, True] Translation: X:119.25, Y:178.01, Z:6.94 [[ 7.39491715e-01 -6.72873189e-01 1.98412547e-02 1.19254991e+02] [ 6.72624023e-01 7.39757821e-01 1.83109528e-02 1.78014632e+02] [-2.69986725e-02 -1.95093315e-04 9.99635450e-01 6.93848773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters Centerline goodness [0,1] 0.9942067499335636 Centerline is valid? [True, True] Translation: X:119.28, Y:178.03, Z:6.94 [[ 7.39586572e-01 -6.72765857e-01 1.99450227e-02 1.19275577e+02] [ 6.72513807e-01 7.39855431e-01 1.84152419e-02 1.78033540e+02] [-2.71455794e-02 -2.06362508e-04 9.99631470e-01 6.93719472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.226875 meters Centerline goodness [0,1] 0.9945626099472253 Centerline is valid? [True, True] Translation: X:119.30, Y:178.05, Z:6.94 [[ 7.39517764e-01 -6.72831481e-01 2.02799192e-02 1.19295660e+02] [ 6.72570557e-01 7.39795750e-01 1.87375062e-02 1.78052288e+02] [-2.76101821e-02 -2.17042115e-04 9.99618743e-01 6.93603629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters Centerline goodness [0,1] 0.9943584011921869 Centerline is valid? [True, True] Translation: X:119.32, Y:178.07, Z:6.93 [[ 7.39750914e-01 -6.72576639e-01 2.02299360e-02 1.19316093e+02] [ 6.72316802e-01 7.40027441e-01 1.86950591e-02 1.78070680e+02] [-2.75445677e-02 -2.28761193e-04 9.99620550e-01 6.93431379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.286875 meters Centerline goodness [0,1] 0.9943284694855682 Centerline is valid? [True, True] Translation: X:119.34, Y:178.09, Z:6.93 [[ 7.39686875e-01 -6.72667689e-01 1.95322008e-02 1.19336855e+02] [ 6.72425283e-01 7.39944681e-01 1.80584778e-02 1.78090036e+02] [-2.66001026e-02 -2.23673361e-04 9.99646130e-01 6.93201571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters Centerline goodness [0,1] 0.9952252108865192 Centerline is valid? [True, True] Translation: X:119.36, Y:178.11, Z:6.93 [[ 7.39625577e-01 -6.72751845e-01 1.89462599e-02 1.19357682e+02] [ 6.72523578e-01 7.39868168e-01 1.75251513e-02 1.78108994e+02] [-2.58078125e-02 -2.20243633e-04 9.99666899e-01 6.92998470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.346875 meters Centerline goodness [0,1] 0.9944437059683637 Centerline is valid? [True, True] Translation: X:119.38, Y:178.13, Z:6.93 [[ 7.39614926e-01 -6.72780763e-01 1.83250292e-02 1.19378641e+02] [ 6.72567022e-01 7.39841873e-01 1.69588707e-02 1.78128438e+02] [-2.49672259e-02 -2.18223639e-04 9.99688246e-01 6.92775305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters Centerline goodness [0,1] 0.9946655286461111 Centerline is valid? [True, True] Translation: X:119.40, Y:178.15, Z:6.93 [[ 7.39444085e-01 -6.72983601e-01 1.77628525e-02 1.19399445e+02] [ 6.72782640e-01 7.39657372e-01 1.64466135e-02 1.78145609e+02] [-2.42067260e-02 -2.10812208e-04 9.99706952e-01 6.92667999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.406875 meters Centerline goodness [0,1] 0.9947136563876652 Centerline is valid? [True, True] Translation: X:119.42, Y:178.16, Z:6.93 [[ 7.39096385e-01 -6.73372620e-01 1.74885225e-02 1.19420897e+02] [ 6.73177745e-01 7.39303236e-01 1.62002925e-02 1.78163448e+02] [-2.38381547e-02 -2.00693536e-04 9.99715811e-01 6.92759703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters Centerline goodness [0,1] 0.9955380998183179 Centerline is valid? [True, True] Translation: X:119.44, Y:178.18, Z:6.93 [[ 7.38714905e-01 -6.73780474e-01 1.78930753e-02 1.19442850e+02] [ 6.73576348e-01 7.38931548e-01 1.65852568e-02 1.78182485e+02] [-2.43965800e-02 -1.99424150e-04 9.99702339e-01 6.92728175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.466875 meters Centerline goodness [0,1] 0.994989205469229 Centerline is valid? [True, True] Translation: X:119.46, Y:178.20, Z:6.93 [[ 7.38097411e-01 -6.74429583e-01 1.88930930e-02 1.19463900e+02] [ 6.74201988e-01 7.38339150e-01 1.75208254e-02 1.78200666e+02] [-2.57660732e-02 -1.94315018e-04 9.99667981e-01 6.92687985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters Centerline goodness [0,1] 0.9950615306585515 Centerline is valid? [True, True] Translation: X:119.48, Y:178.22, Z:6.93 [[ 7.37776905e-01 -6.74768825e-01 1.92943286e-02 1.19484778e+02] [ 6.74531315e-01 7.38029129e-01 1.79027667e-02 1.78219437e+02] [-2.63200054e-02 -1.93619002e-04 9.99653550e-01 6.92618773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.526875 meters Centerline goodness [0,1] 0.9952595211312871 Centerline is valid? [True, True] Translation: X:119.51, Y:178.24, Z:6.93 [[ 7.37675289e-01 -6.74863357e-01 1.98649595e-02 1.19506385e+02] [ 6.74611369e-01 7.37942686e-01 1.84416191e-02 1.78238238e+02] [-2.71047745e-02 -2.02799183e-04 9.99632578e-01 6.92681280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters Centerline goodness [0,1] 0.9949394880582628 Centerline is valid? [True, True] Translation: X:119.53, Y:178.26, Z:6.93 [[ 7.37646391e-01 -6.74891847e-01 1.99698792e-02 1.19527265e+02] [ 6.74636914e-01 7.37916628e-01 1.85494800e-02 1.78256434e+02] [-2.72549987e-02 -2.10539300e-04 9.99628491e-01 6.92696260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.586875 meters Centerline goodness [0,1] 0.9949830981381124 Centerline is valid? [True, True] Translation: X:119.55, Y:178.28, Z:6.93 [[ 7.37771978e-01 -6.74726735e-01 2.08887850e-02 1.19549084e+02] [ 6.74447380e-01 7.38067597e-01 1.94152953e-02 1.78275957e+02] [-2.85173542e-02 -2.35674454e-04 9.99593270e-01 6.92684747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters Centerline goodness [0,1] 0.9948249048104253 Centerline is valid? [True, True] Translation: X:119.57, Y:178.29, Z:6.93 [[ 7.38145265e-01 -6.74315216e-01 2.09894627e-02 1.19568766e+02] [ 6.74032683e-01 7.38443580e-01 1.95197640e-02 1.78294990e+02] [-2.86620079e-02 -2.60837504e-04 9.99589126e-01 6.92554822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.646875 meters Centerline goodness [0,1] 0.9948380539730937 Centerline is valid? [True, True] Translation: X:119.59, Y:178.31, Z:6.92 [[ 7.38520050e-01 -6.73903368e-01 2.10330053e-02 1.19588748e+02] [ 6.73619371e-01 7.38819445e-01 1.95645193e-02 1.78314157e+02] [-2.87241888e-02 -2.80549951e-04 9.99587336e-01 6.92425401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters Centerline goodness [0,1] 0.9944974223361914 Centerline is valid? [True, True] Translation: X:119.61, Y:178.33, Z:6.92 [[ 7.39469436e-01 -6.72863458e-01 2.09695089e-02 1.19608391e+02] [ 6.72580379e-01 7.39766624e-01 1.95186130e-02 1.78333912e+02] [-2.86459043e-02 -3.29737492e-04 9.99589567e-01 6.92263006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.706875 meters Centerline goodness [0,1] 0.9941919597451957 Centerline is valid? [True, True] Translation: X:119.63, Y:178.36, Z:6.92 [[ 7.41738727e-01 -6.70354993e-01 2.11623265e-02 1.19627525e+02] [ 6.70065566e-01 7.42040427e-01 1.97013185e-02 1.78355645e+02] [-2.89101790e-02 -4.33084671e-04 9.99581920e-01 6.92120765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters Centerline goodness [0,1] 0.9942511831867162 Centerline is valid? [True, True] Translation: X:119.65, Y:178.38, Z:6.92 [[ 7.42280979e-01 -6.69754852e-01 2.11515033e-02 1.19648762e+02] [ 6.69465236e-01 7.42582133e-01 1.96995713e-02 1.78375824e+02] [-2.89006119e-02 -4.62420888e-04 9.99582183e-01 6.91987850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.766875 meters Centerline goodness [0,1] 0.9934203487750081 Centerline is valid? [True, True] Translation: X:119.67, Y:178.40, Z:6.92 [[ 7.42355576e-01 -6.69681470e-01 2.08549152e-02 1.19668788e+02] [ 6.69399569e-01 7.42648309e-01 1.94346568e-02 1.78395781e+02] [-2.85028971e-02 -4.67154618e-04 9.99593601e-01 6.91794817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters Centerline goodness [0,1] 0.9940606774038204 Centerline is valid? [True, True] Translation: X:119.69, Y:178.41, Z:6.92 [[ 7.41915017e-01 -6.70152746e-01 2.13870227e-02 1.19689557e+02] [ 6.69856384e-01 7.42223068e-01 1.99334232e-02 1.78414900e+02] [-2.92323799e-02 -4.62672323e-04 9.99572536e-01 6.91722617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82687500000003 meters Centerline goodness [0,1] 0.9945630339877334 Centerline is valid? [True, True] Translation: X:119.71, Y:178.43, Z:6.92 [[ 7.41477608e-01 -6.70637526e-01 2.13603665e-02 1.19710231e+02] [ 6.70341791e-01 7.41785081e-01 1.99192806e-02 1.78433354e+02] [-2.92034183e-02 -4.50954213e-04 9.99573388e-01 6.91687272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters Centerline goodness [0,1] 0.9945198887938409 Centerline is valid? [True, True] Translation: X:119.73, Y:178.45, Z:6.91 [[ 7.41285532e-01 -6.70843574e-01 2.15559542e-02 1.19729234e+02] [ 6.70542149e-01 7.41598741e-01 2.01130235e-02 1.78453004e+02] [-2.94785611e-02 -4.55317442e-04 9.99565309e-01 6.91465899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88687500000003 meters Centerline goodness [0,1] 0.9944613902713116 Centerline is valid? [True, True] Translation: X:119.75, Y:178.47, Z:6.91 [[ 7.40654886e-01 -6.71563381e-01 2.08078423e-02 1.19750824e+02] [ 6.71282518e-01 7.40946995e-01 1.94250116e-02 1.78470867e+02] [-2.84626347e-02 -4.19288938e-04 9.99594769e-01 6.91323026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters Centerline goodness [0,1] 0.9939925443183951 Centerline is valid? [True, True] Translation: X:119.77, Y:178.49, Z:6.91 [[ 7.40379144e-01 -6.71880073e-01 2.03933965e-02 1.19771989e+02] [ 6.71610124e-01 7.40659843e-01 1.90483170e-02 1.78489610e+02] [-2.79027545e-02 -4.06565077e-04 9.99610560e-01 6.91171154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94687500000003 meters Centerline goodness [0,1] 0.9945788602253912 Centerline is valid? [True, True] Translation: X:119.79, Y:178.51, Z:6.91 [[ 7.39830436e-01 -6.72492012e-01 2.01350526e-02 1.19793028e+02] [ 6.72228806e-01 7.40104280e-01 1.88172013e-02 1.78508928e+02] [-2.75564562e-02 -3.86175864e-04 9.99620174e-01 6.91042735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters Centerline goodness [0,1] 0.9944769156523138 Centerline is valid? [True, True] Translation: X:119.81, Y:178.53, Z:6.91 [[ 7.39498134e-01 -6.72873156e-01 1.96016738e-02 1.19814120e+02] [ 6.72623590e-01 7.39757784e-01 1.83283143e-02 1.78528135e+02] [-2.68331215e-02 -3.69206084e-04 9.99639859e-01 6.90938316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00687500000004 meters Centerline goodness [0,1] 0.9946735901073311 Centerline is valid? [True, True] Translation: X:119.83, Y:178.55, Z:6.91 [[ 7.39449812e-01 -6.72960605e-01 1.83847562e-02 1.19833526e+02] [ 6.72740860e-01 7.39678242e-01 1.71998362e-02 1.78548427e+02] [-2.51736163e-02 -3.50238985e-04 9.99683033e-01 6.90593532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters Centerline goodness [0,1] 0.9940837906572079 Centerline is valid? [True, True] Translation: X:119.85, Y:178.57, Z:6.90 [[ 7.39394440e-01 -6.73035302e-01 1.78701974e-02 1.19854414e+02] [ 6.72827537e-01 7.39610279e-01 1.67254648e-02 1.78567711e+02] [-2.44738099e-02 -3.43154769e-04 9.99700413e-01 6.90404709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06687500000004 meters Centerline goodness [0,1] 0.9941664436713942 Centerline is valid? [True, True] Translation: X:119.87, Y:178.59, Z:6.90 [[ 7.39428859e-01 -6.73005057e-01 1.75828144e-02 1.19873649e+02] [ 6.72803626e-01 7.39637798e-01 1.64684047e-02 1.78586275e+02] [-2.40882338e-02 -3.47432426e-04 9.99709776e-01 6.90231123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters Centerline goodness [0,1] 0.9946339900688771 Centerline is valid? [True, True] Translation: X:119.89, Y:178.61, Z:6.90 [[ 7.39426505e-01 -6.73014566e-01 1.73157969e-02 1.19891672e+02] [ 6.72819114e-01 7.39629147e-01 1.62223823e-02 1.78606068e+02] [-2.37251677e-02 -3.44860279e-04 9.99718459e-01 6.89940096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12687500000004 meters Centerline goodness [0,1] 0.9941426622803499 Centerline is valid? [True, True] Translation: X:119.91, Y:178.63, Z:6.90 [[ 7.39570473e-01 -6.72863539e-01 1.70344845e-02 1.19913087e+02] [ 6.72674330e-01 7.39766544e-01 1.59595098e-02 1.78625199e+02] [-2.33401140e-02 -3.44521717e-04 9.99727523e-01 6.89967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters Centerline goodness [0,1] 0.9942565582091147 Centerline is valid? [True, True] Translation: X:119.93, Y:178.64, Z:6.90 [[ 7.39706249e-01 -6.72708581e-01 1.72577244e-02 1.19933405e+02] [ 6.72514139e-01 7.39907450e-01 1.61771068e-02 1.78644673e+02] [-2.36515974e-02 -3.60243292e-04 9.99720197e-01 6.89912523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18687500000004 meters Centerline goodness [0,1] 0.9941253438009026 Centerline is valid? [True, True] Translation: X:119.95, Y:178.66, Z:6.90 [[ 7.39420756e-01 -6.73029155e-01 1.69912649e-02 1.19953415e+02] [ 6.72840555e-01 7.39615869e-01 1.59359267e-02 1.78664407e+02] [-2.32923525e-02 -3.50942839e-04 9.99728635e-01 6.89758926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters Centerline goodness [0,1] 0.9943559980831692 Centerline is valid? [True, True] Translation: X:119.97, Y:178.69, Z:6.90 [[ 7.38995935e-01 -6.73514184e-01 1.62373476e-02 1.19972660e+02] [ 6.73341897e-01 7.39174227e-01 1.52365545e-02 1.78685750e+02] [-2.22642644e-02 -3.26465361e-04 9.99752067e-01 6.89615243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.246875 meters Centerline goodness [0,1] 0.993006993006993 Centerline is valid? [True, True] Translation: X:119.99, Y:178.71, Z:6.89 [[ 7.39207106e-01 -6.73338547e-01 1.37132986e-02 1.19988096e+02] [ 6.73215525e-01 7.39334241e-01 1.28738823e-02 1.78709653e+02] [-1.88071924e-02 -2.84459764e-04 9.99823089e-01 6.88662523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters Centerline goodness [0,1] 0.9929817155220179 Centerline is valid? [True, True] Translation: X:120.01, Y:178.73, Z:6.88 [[ 7.38619752e-01 -6.73979339e-01 1.38820878e-02 1.20007805e+02] [ 6.73853266e-01 7.38750144e-01 1.30384599e-02 1.78731284e+02] [-1.90430469e-02 -2.75973766e-04 9.99818627e-01 6.88462965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.306875 meters Centerline goodness [0,1] 0.9935128551380835 Centerline is valid? [True, True] Translation: X:120.03, Y:178.75, Z:6.89 [[ 7.37440539e-01 -6.75226995e-01 1.58100145e-02 1.20028193e+02] [ 6.75063506e-01 7.37609940e-01 1.48606635e-02 1.78749696e+02] [-2.16959450e-02 -2.86091909e-04 9.99764574e-01 6.88647545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters Centerline goodness [0,1] 0.9946056547619048 Centerline is valid? [True, True] Translation: X:120.05, Y:178.77, Z:6.90 [[ 7.33404118e-01 -6.79511897e-01 1.95443528e-02 1.20052350e+02] [ 6.79263451e-01 7.33664461e-01 1.83745230e-02 1.78766218e+02] [-2.68247040e-02 -2.00186301e-04 9.99640133e-01 6.89832585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.366875 meters Centerline goodness [0,1] 0.9940753279729158 Centerline is valid? [True, True] Translation: X:120.07, Y:178.79, Z:6.90 [[ 7.31021561e-01 -6.82045048e-01 2.05433451e-02 1.20072339e+02] [ 6.81771374e-01 7.31310152e-01 1.93198372e-02 1.78785324e+02] [-2.82005562e-02 -1.17352963e-04 9.99602278e-01 6.89947602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters Centerline goodness [0,1] 0.995092607250277 Centerline is valid? [True, True] Translation: X:120.09, Y:178.80, Z:6.90 [[ 7.28820256e-01 -6.84380110e-01 2.10926659e-02 1.20091819e+02] [ 6.84092437e-01 7.29125411e-01 1.98412006e-02 1.78804405e+02] [-2.89581217e-02 -3.13356606e-05 9.99580625e-01 6.90025793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.426875 meters Centerline goodness [0,1] 0.9948393891521854 Centerline is valid? [True, True] Translation: X:120.11, Y:178.83, Z:6.90 [[ 7.26591654e-01 -6.86745201e-01 2.11091647e-02 1.20109841e+02] [ 6.86457837e-01 7.26898222e-01 1.98648662e-02 1.78826830e+02] [-2.89863159e-02 5.69055537e-05 9.99579807e-01 6.89773814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters Centerline goodness [0,1] 0.9952003776751993 Centerline is valid? [True, True] Translation: X:120.13, Y:178.85, Z:6.89 [[ 7.26489148e-01 -6.86855936e-01 2.10342863e-02 1.20128508e+02] [ 6.86570347e-01 7.26793589e-01 1.98049939e-02 1.78847830e+02] [-2.88907620e-02 5.34041032e-05 9.99582573e-01 6.89449107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.486875 meters Centerline goodness [0,1] 0.9952060356796689 Centerline is valid? [True, True] Translation: X:120.15, Y:178.87, Z:6.89 [[ 7.26154072e-01 -6.87210228e-01 2.10324909e-02 1.20147721e+02] [ 6.86924527e-01 7.26458601e-01 1.98140353e-02 1.78868682e+02] [-2.88956417e-02 5.96914387e-05 9.99582432e-01 6.89200696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters Centerline goodness [0,1] 0.9953156076625144 Centerline is valid? [True, True] Translation: X:120.17, Y:178.89, Z:6.89 [[ 7.25724307e-01 -6.87677472e-01 2.05894194e-02 1.20167553e+02] [ 6.87403579e-01 7.26016315e-01 1.94069499e-02 1.78888833e+02] [-2.82939767e-02 6.91453287e-05 9.99599643e-01 6.89014622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.546875 meters Centerline goodness [0,1] 0.9947760219407078 Centerline is valid? [True, True] Translation: X:120.19, Y:178.91, Z:6.89 [[ 7.25287579e-01 -6.88162863e-01 1.97433801e-02 1.20187663e+02] [ 6.87910942e-01 7.25556247e-01 1.86190080e-02 1.78908840e+02] [-2.71378426e-02 7.75519156e-05 9.99631698e-01 6.88810946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters Centerline goodness [0,1] 0.9950483498820418 Centerline is valid? [True, True] Translation: X:120.21, Y:178.93, Z:6.88 [[ 7.23904158e-01 -6.89654354e-01 1.84293643e-02 1.20206037e+02] [ 6.89435070e-01 7.24138701e-01 1.73904169e-02 1.78929666e+02] [-2.53387927e-02 1.16854954e-04 9.99678914e-01 6.88434886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.606875 meters Centerline goodness [0,1] 0.9949424214130097 Centerline is valid? [True, True] Translation: X:120.23, Y:178.95, Z:6.88 [[ 7.23428945e-01 -6.90137626e-01 1.89899630e-02 1.20225823e+02] [ 6.89904904e-01 7.23678131e-01 1.79216598e-02 1.78950156e+02] [-2.61110327e-02 1.36221213e-04 9.99659040e-01 6.88464556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters Centerline goodness [0,1] 0.9956183562354162 Centerline is valid? [True, True] Translation: X:120.25, Y:178.97, Z:6.88 [[ 7.23090927e-01 -6.90451433e-01 2.04041792e-02 1.20245339e+02] [ 6.90182515e-01 7.23378737e-01 1.92691114e-02 1.78968695e+02] [-2.80643350e-02 1.49288072e-04 9.99606108e-01 6.88476827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.666875 meters Centerline goodness [0,1] 0.9956688624928679 Centerline is valid? [True, True] Translation: X:120.27, Y:178.99, Z:6.89 [[ 7.23438266e-01 -6.90056764e-01 2.14181632e-02 1.20266109e+02] [ 6.89760036e-01 7.23755238e-01 2.02348307e-02 1.78989432e+02] [-2.94646896e-02 1.34742195e-04 9.99565813e-01 6.88766512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters Centerline goodness [0,1] 0.9949877276837618 Centerline is valid? [True, True] Translation: X:120.29, Y:179.01, Z:6.89 [[ 7.23959025e-01 -6.89500228e-01 2.17431856e-02 1.20286076e+02] [ 6.89193882e-01 7.24285458e-01 2.05516183e-02 1.79009769e+02] [-2.99186186e-02 1.06740928e-04 9.99552332e-01 6.88755773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.726875 meters Centerline goodness [0,1] 0.995369298448715 Centerline is valid? [True, True] Translation: X:120.30, Y:179.03, Z:6.88 [[ 7.25564440e-01 -6.87819627e-01 2.14570048e-02 1.20302234e+02] [ 6.87520228e-01 7.25881643e-01 2.02922803e-02 1.79032270e+02] [-2.95326746e-02 2.87678313e-05 9.99563815e-01 6.88386530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters Centerline goodness [0,1] 0.9941724642517906 Centerline is valid? [True, True] Translation: X:120.32, Y:179.05, Z:6.88 [[ 7.26395412e-01 -6.86961047e-01 2.08380439e-02 1.20321044e+02] [ 6.86678008e-01 7.26694240e-01 1.97178655e-02 1.79053924e+02] [-2.86882920e-02 -1.39405360e-05 9.99588406e-01 6.88194108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.786875 meters Centerline goodness [0,1] 0.9944861898289437 Centerline is valid? [True, True] Translation: X:120.34, Y:179.07, Z:6.88 [[ 7.27716491e-01 -6.85578378e-01 2.02730245e-02 1.20339339e+02] [ 6.85309625e-01 7.27998820e-01 1.91946957e-02 1.79074516e+02] [-2.79182062e-02 -7.49977969e-05 9.99610208e-01 6.87889899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters Centerline goodness [0,1] 0.9936031932859116 Centerline is valid? [True, True] Translation: X:120.36, Y:179.10, Z:6.88 [[ 7.30252883e-01 -6.82922689e-01 1.86367467e-02 1.20356993e+02] [ 6.82694613e-01 7.30490639e-01 1.76491077e-02 1.79096028e+02] [-2.56669451e-02 -1.65105190e-04 9.99670536e-01 6.87709579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.846875 meters Centerline goodness [0,1] 0.9929114052694428 Centerline is valid? [True, True] Translation: X:120.38, Y:179.12, Z:6.88 [[ 7.31235758e-01 -6.81859116e-01 1.90371434e-02 1.20376096e+02] [ 6.81620676e-01 7.31483494e-01 1.80319873e-02 1.79115920e+02] [-2.62206311e-02 -2.09523324e-04 9.99656158e-01 6.87621089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters Centerline goodness [0,1] 0.9929114052694428 Centerline is valid? [True, True] Translation: X:120.40, Y:179.13, Z:6.88 [[ 7.31051015e-01 -6.82057252e-01 1.90346413e-02 1.20396071e+02] [ 6.81818810e-01 7.31298750e-01 1.80346281e-02 1.79134970e+02] [-2.62206583e-02 -2.06056661e-04 9.99656158e-01 6.87508175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.906875 meters Centerline goodness [0,1] 0.9930854999617279 Centerline is valid? [True, True] Translation: X:120.42, Y:179.16, Z:6.87 [[ 7.32478242e-01 -6.80526515e-01 1.89548815e-02 1.20416480e+02] [ 6.80289284e-01 7.32723407e-01 1.79693922e-02 1.79155913e+02] [-2.61173331e-02 -2.67386044e-04 9.99658849e-01 6.87457678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters Centerline goodness [0,1] 0.9919288925214549 Centerline is valid? [True, True] Translation: X:120.44, Y:179.18, Z:6.87 [[ 7.33534661e-01 -6.79396231e-01 1.86456832e-02 1.20435273e+02] [ 6.79166016e-01 7.33771534e-01 1.76878065e-02 1.79176840e+02] [-2.56987007e-02 -3.11104742e-04 9.99669685e-01 6.87324955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.966875 meters Centerline goodness [0,1] 0.9913323364675469 Centerline is valid? [True, True] Translation: X:120.45, Y:179.20, Z:6.87 [[ 7.35470490e-01 -6.77310209e-01 1.82767575e-02 1.20452716e+02] [ 6.77088380e-01 7.35697451e-01 1.73374134e-02 1.79200367e+02] [-2.51889710e-02 -3.76175801e-04 9.99682637e-01 6.86998656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters Centerline goodness [0,1] 0.9904598021104841 Centerline is valid? [True, True] Translation: X:120.47, Y:179.22, Z:6.87 [[ 7.36055381e-01 -6.76675905e-01 1.82262610e-02 1.20472207e+02] [ 6.76454901e-01 7.36280896e-01 1.72976632e-02 1.79221675e+02] [-2.51245597e-02 -4.02794531e-04 9.99684247e-01 6.86819838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.026875 meters Centerline goodness [0,1] 0.9902394619060865 Centerline is valid? [True, True] Translation: X:120.49, Y:179.24, Z:6.87 [[ 7.36687360e-01 -6.75986654e-01 1.82695816e-02 1.20492535e+02] [ 6.75764182e-01 7.36913737e-01 1.73468971e-02 1.79241648e+02] [-2.51893766e-02 -4.33310932e-04 9.99682603e-01 6.86791290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters Centerline goodness [0,1] 0.9910108376380027 Centerline is valid? [True, True] Translation: X:120.51, Y:179.26, Z:6.87 [[ 7.37575185e-01 -6.75017806e-01 1.82704119e-02 1.20513469e+02] [ 6.74794809e-01 7.37801286e-01 1.73558974e-02 1.79261154e+02] [-2.51954732e-02 -4.72500146e-04 9.99682432e-01 6.86973780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.086875 meters Centerline goodness [0,1] 0.9908277801707756 Centerline is valid? [True, True] Translation: X:120.53, Y:179.28, Z:6.87 [[ 7.38099150e-01 -6.74455005e-01 1.78911005e-02 1.20534473e+02] [ 6.74240814e-01 7.38315792e-01 1.70033982e-02 1.79281700e+02] [-2.46773091e-02 -4.87283575e-04 9.99695350e-01 6.86899195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters Centerline goodness [0,1] 0.9910623860644115 Centerline is valid? [True, True] Translation: X:120.56, Y:179.30, Z:6.87 [[ 7.38333980e-01 -6.74197811e-01 1.78954209e-02 1.20555720e+02] [ 6.73983241e-01 7.38550648e-01 1.70155862e-02 1.79301699e+02] [-2.46885456e-02 -5.01971703e-04 9.99695065e-01 6.86859968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.146875 meters Centerline goodness [0,1] 0.9904812402161288 Centerline is valid? [True, True] Translation: X:120.57, Y:179.32, Z:6.87 [[ 7.38377712e-01 -6.74157321e-01 1.76142381e-02 1.20574745e+02] [ 6.73949169e-01 7.38587607e-01 1.67590101e-02 1.79322484e+02] [-2.43078673e-02 -5.03378466e-04 9.99704393e-01 6.86633826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters Centerline goodness [0,1] 0.9902790051761141 Centerline is valid? [True, True] Translation: X:120.60, Y:179.34, Z:6.87 [[ 7.37871208e-01 -6.74708287e-01 1.77428287e-02 1.20596138e+02] [ 6.74497205e-01 7.38084336e-01 1.68829285e-02 1.79341312e+02] [-2.44867557e-02 -4.89938444e-04 9.99700034e-01 6.86582315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.206875 meters Centerline goodness [0,1] 0.9903140370790768 Centerline is valid? [True, True] Translation: X:120.62, Y:179.36, Z:6.86 [[ 7.37496972e-01 -6.75107466e-01 1.81142396e-02 1.20617753e+02] [ 6.74887357e-01 7.37719233e-01 1.72449740e-02 1.79360435e+02] [-2.50054336e-02 -4.93044849e-04 9.99687194e-01 6.86466962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters Centerline goodness [0,1] 0.9911952231555511 Centerline is valid? [True, True] Translation: X:120.64, Y:179.38, Z:6.86 [[ 7.36317296e-01 -6.76383038e-01 1.85155402e-02 1.20638052e+02] [ 6.76153157e-01 7.36549907e-01 1.76392446e-02 1.79379638e+02] [-2.55685053e-02 -4.68739928e-04 9.99672962e-01 6.86423661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.266875 meters Centerline goodness [0,1] 0.9910922158113169 Centerline is valid? [True, True] Translation: X:120.66, Y:179.40, Z:6.86 [[ 7.35648694e-01 -6.77109559e-01 1.85376469e-02 1.20660876e+02] [ 6.76879363e-01 7.35882088e-01 1.76601288e-02 1.79398121e+02] [-2.55993644e-02 -4.43900090e-04 9.99672184e-01 6.86394305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters Centerline goodness [0,1] 0.9917499683664431 Centerline is valid? [True, True] Translation: X:120.68, Y:179.42, Z:6.86 [[ 7.34282267e-01 -6.78593839e-01 1.84378165e-02 1.20682122e+02] [ 6.78366288e-01 7.34513609e-01 1.75766152e-02 1.79416289e+02] [-2.54702099e-02 -3.98603743e-04 9.99675502e-01 6.86113111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32687500000003 meters Centerline goodness [0,1] 0.9915142611074522 Centerline is valid? [True, True] Translation: X:120.70, Y:179.43, Z:6.86 [[ 7.33470825e-01 -6.79480034e-01 1.80951043e-02 1.20703923e+02] [ 6.79261169e-01 7.33693911e-01 1.72484569e-02 1.79434129e+02] [-2.49962499e-02 -3.59938223e-04 9.99687480e-01 6.86062133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters Centerline goodness [0,1] 0.9914844007400462 Centerline is valid? [True, True] Translation: X:120.73, Y:179.45, Z:6.86 [[ 7.32922003e-01 -6.80084143e-01 1.76322522e-02 1.20725197e+02] [ 6.79876291e-01 7.33133988e-01 1.68161820e-02 1.79453040e+02] [-2.43632221e-02 -3.37199586e-04 9.99703116e-01 6.85946429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38687500000003 meters Centerline goodness [0,1] 0.9922308828773753 Centerline is valid? [True, True] Translation: X:120.75, Y:179.47, Z:6.86 [[ 7.32273397e-01 -6.80785859e-01 1.75010315e-02 1.20745531e+02] [ 6.80580988e-01 7.32482431e-01 1.67035150e-02 1.79470215e+02] [-2.41907149e-02 -3.20670381e-04 9.99707310e-01 6.85829372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters Centerline goodness [0,1] 0.9925650557620818 Centerline is valid? [True, True] Translation: X:120.77, Y:179.49, Z:6.86 [[ 7.31974590e-01 -6.81101190e-01 1.77304664e-02 1.20767176e+02] [ 6.80890965e-01 7.32189231e-01 1.69240473e-02 1.79488930e+02] [-2.45090453e-02 -3.15458238e-04 9.99699558e-01 6.85843637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44687500000003 meters Centerline goodness [0,1] 0.9925718646654795 Centerline is valid? [True, True] Translation: X:120.79, Y:179.51, Z:6.86 [[ 7.32081935e-01 -6.80976832e-01 1.80719635e-02 1.20786973e+02] [ 6.80758096e-01 7.32304884e-01 1.72618647e-02 1.79507751e+02] [-2.49891171e-02 -3.34463843e-04 9.99687667e-01 6.85705105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters Centerline goodness [0,1] 0.9921615687075525 Centerline is valid? [True, True] Translation: X:120.81, Y:179.53, Z:6.86 [[ 7.31959386e-01 -6.81109620e-01 1.80317144e-02 1.20807816e+02] [ 6.80891786e-01 7.32181382e-01 1.72278912e-02 1.79527180e+02] [-2.49365680e-02 -3.32470448e-04 9.99688980e-01 6.85546783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50687500000004 meters Centerline goodness [0,1] 0.9924880955412391 Centerline is valid? [True, True] Translation: X:120.83, Y:179.55, Z:6.85 [[ 7.32197722e-01 -6.80862332e-01 1.76912792e-02 1.20828896e+02] [ 6.80652338e-01 7.32411338e-01 1.69123338e-02 1.79546787e+02] [-2.44722645e-02 -3.41561788e-04 9.99700451e-01 6.85407379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters Centerline goodness [0,1] 0.9924725695330442 Centerline is valid? [True, True] Translation: X:120.85, Y:179.57, Z:6.85 [[ 7.33220587e-01 -6.79786214e-01 1.66815613e-02 1.20849149e+02] [ 6.79599068e-01 7.33410236e-01 1.59540897e-02 1.79566076e+02] [-2.30797980e-02 -3.61093506e-04 9.99733561e-01 6.85067790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56687500000004 meters Centerline goodness [0,1] 0.9920283211083945 Centerline is valid? [True, True] Translation: X:120.87, Y:179.59, Z:6.85 [[ 7.33630506e-01 -6.79354671e-01 1.62330518e-02 1.20870734e+02] [ 6.79177193e-01 7.33809985e-01 1.55321187e-02 1.79585893e+02] [-2.24637929e-02 -3.69717584e-04 9.99747589e-01 6.84976212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters Centerline goodness [0,1] 0.9911373330268434 Centerline is valid? [True, True] Translation: X:120.89, Y:179.61, Z:6.85 [[ 7.34270037e-01 -6.78677631e-01 1.56264487e-02 1.20891731e+02] [ 6.78512872e-01 7.34436198e-01 1.49583884e-02 1.79605451e+02] [-2.16285532e-02 -3.80749859e-04 9.99766003e-01 6.84902886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62687500000004 meters Centerline goodness [0,1] 0.991648149567083 Centerline is valid? [True, True] Translation: X:120.91, Y:179.63, Z:6.85 [[ 7.35000167e-01 -6.77886830e-01 1.56269015e-02 1.20912562e+02] [ 6.77721725e-01 7.35166157e-01 1.49661358e-02 1.79625532e+02] [-2.16337155e-02 -4.09421667e-04 9.99765880e-01 6.84848947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters Centerline goodness [0,1] 0.9915602131619878 Centerline is valid? [True, True] Translation: X:120.93, Y:179.65, Z:6.85 [[ 7.36040341e-01 -6.76752706e-01 1.58237330e-02 1.20931550e+02] [ 6.76582923e-01 7.36210273e-01 1.51651685e-02 1.79645772e+02] [-2.19126636e-02 -4.56108276e-04 9.99759785e-01 6.84807603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68687500000004 meters Centerline goodness [0,1] 0.990883949605654 Centerline is valid? [True, True] Translation: X:120.95, Y:179.67, Z:6.85 [[ 7.36784413e-01 -6.75946994e-01 1.56329740e-02 1.20950813e+02] [ 6.75781079e-01 7.36950090e-01 1.49832513e-02 1.79666388e+02] [-2.16486053e-02 -4.74957968e-04 9.99765529e-01 6.84588791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters Centerline goodness [0,1] 0.9908172164366695 Centerline is valid? [True, True] Translation: X:120.97, Y:179.69, Z:6.85 [[ 7.37250072e-01 -6.75430496e-01 1.59992416e-02 1.20971740e+02] [ 6.75256443e-01 7.37423480e-01 1.53410733e-02 1.79686027e+02] [-2.21600451e-02 -5.06616435e-04 9.99754308e-01 6.84548475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.746875 meters Centerline goodness [0,1] 0.9914468629961588 Centerline is valid? [True, True] Translation: X:120.99, Y:179.71, Z:6.85 [[ 7.37385569e-01 -6.75284172e-01 1.59314075e-02 1.20993779e+02] [ 6.75111370e-01 7.37557470e-01 1.52845085e-02 1.79705400e+02] [-2.20717153e-02 -5.15101636e-04 9.99756257e-01 6.84575456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters Centerline goodness [0,1] 0.9908706244390306 Centerline is valid? [True, True] Translation: X:121.01, Y:179.72, Z:6.85 [[ 7.37621013e-01 -6.75011888e-01 1.65587608e-02 1.21013687e+02] [ 6.74824896e-01 7.37806646e-01 1.58969254e-02 1.79723521e+02] [-2.29477774e-02 -5.51642156e-04 9.99736513e-01 6.84501316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.806875 meters Centerline goodness [0,1] 0.9908762397806197 Centerline is valid? [True, True] Translation: X:121.04, Y:179.74, Z:6.84 [[ 7.37409083e-01 -6.75240676e-01 1.66695277e-02 1.21035014e+02] [ 6.75051196e-01 7.37597267e-01 1.60048571e-02 1.79742222e+02] [-2.31025286e-02 -5.49342391e-04 9.99732950e-01 6.84468166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters Centerline goodness [0,1] 0.9912400133583374 Centerline is valid? [True, True] Translation: X:121.05, Y:179.76, Z:6.84 [[ 7.37432009e-01 -6.75207079e-01 1.70127150e-02 1.21053625e+02] [ 6.75009412e-01 7.37628006e-01 1.63468270e-02 1.79761446e+02] [-2.35865483e-02 -5.70930709e-04 9.99721636e-01 6.84299590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.866875 meters Centerline goodness [0,1] 0.9909513828536374 Centerline is valid? [True, True] Translation: X:121.07, Y:179.78, Z:6.84 [[ 7.36902719e-01 -6.75777240e-01 1.73061810e-02 1.21074324e+02] [ 6.75572692e-01 7.37105691e-01 1.66354256e-02 1.79780687e+02] [-2.39983265e-02 -5.67107063e-04 9.99711838e-01 6.84258611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters Centerline goodness [0,1] 0.9913702053118318 Centerline is valid? [True, True] Translation: X:121.10, Y:179.80, Z:6.84 [[ 7.36378524e-01 -6.76351277e-01 1.71935689e-02 1.21096238e+02] [ 6.76149582e-01 7.36579021e-01 1.65253991e-02 1.79798691e+02] [-2.38413969e-02 -5.43524548e-04 9.99715606e-01 6.84333182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.926875 meters Centerline goodness [0,1] 0.9914569621886695 Centerline is valid? [True, True] Translation: X:121.12, Y:179.82, Z:6.84 [[ 7.35980918e-01 -6.76782556e-01 1.72470349e-02 1.21116630e+02] [ 6.76579497e-01 7.36182778e-01 1.65862080e-02 1.79817786e+02] [-2.39222263e-02 -5.38142424e-04 9.99713678e-01 6.84219094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters Centerline goodness [0,1] 0.991642733317809 Centerline is valid? [True, True] Translation: X:121.14, Y:179.84, Z:6.84 [[ 7.35404081e-01 -6.77410490e-01 1.72007342e-02 1.21139121e+02] [ 6.77208481e-01 7.35605026e-01 1.65505200e-02 1.79836609e+02] [-2.38644424e-02 -5.22836867e-04 9.99715067e-01 6.84228332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.986875 meters Centerline goodness [0,1] 0.9920528434306946 Centerline is valid? [True, True] Translation: X:121.16, Y:179.86, Z:6.84 [[ 7.33937662e-01 -6.78990630e-01 1.75280618e-02 1.21159972e+02] [ 6.78781095e-01 7.34146775e-01 1.68741555e-02 1.79855746e+02] [-2.43255635e-02 -4.86861295e-04 9.99703971e-01 6.83984616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters Centerline goodness [0,1] 0.9928221606073955 Centerline is valid? [True, True] Translation: X:121.18, Y:179.87, Z:6.84 [[ 7.33425578e-01 -6.79551631e-01 1.72192542e-02 1.21180844e+02] [ 6.79349405e-01 7.33627538e-01 1.65837470e-02 1.79874259e+02] [-2.39020314e-02 -4.65054155e-04 9.99714197e-01 6.83864410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.046875 meters Centerline goodness [0,1] 0.9917372497215531 Centerline is valid? [True, True] Translation: X:121.20, Y:179.89, Z:6.84 [[ 7.32901344e-01 -6.80124724e-01 1.69109139e-02 1.21201930e+02] [ 6.79929632e-01 7.33096284e-01 1.62952141e-02 1.79892684e+02] [-2.34801061e-02 -4.44552806e-04 9.99724205e-01 6.83784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters Centerline goodness [0,1] 0.9928171763175017 Centerline is valid? [True, True] Translation: X:121.22, Y:179.91, Z:6.84 [[ 7.32010768e-01 -6.81096416e-01 1.63678847e-02 1.21221844e+02] [ 6.80913628e-01 7.32193625e-01 1.57837431e-02 1.79911361e+02] [-2.27347116e-02 -4.08754156e-04 9.99741449e-01 6.83516895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.106875 meters Centerline goodness [0,1] 0.9930495900039047 Centerline is valid? [True, True] Translation: X:121.24, Y:179.93, Z:6.83 [[ 7.31747002e-01 -6.81393727e-01 1.57770190e-02 1.21243974e+02] [ 6.81223958e-01 7.31916963e-01 1.52144327e-02 1.79929515e+02] [-2.19144868e-02 -3.85432204e-04 9.99759775e-01 6.83479927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters Centerline goodness [0,1] 0.9933144299055696 Centerline is valid? [True, True] Translation: X:121.27, Y:179.95, Z:6.83 [[ 7.31396583e-01 -6.81784404e-01 1.51348716e-02 1.21265883e+02] [ 6.81628102e-01 7.31553070e-01 1.46026318e-02 1.79947988e+02] [-2.10278084e-02 -3.63961200e-04 9.99778825e-01 6.83445504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.166875 meters Centerline goodness [0,1] 0.9939570743904981 Centerline is valid? [True, True] Translation: X:121.29, Y:179.97, Z:6.83 [[ 7.30858426e-01 -6.82370002e-01 1.47357016e-02 1.21287807e+02] [ 6.82221846e-01 7.31006883e-01 1.42228342e-02 1.79966446e+02] [-2.04771347e-02 -3.41860706e-04 9.99790263e-01 6.83368562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters Centerline goodness [0,1] 0.9935645241134936 Centerline is valid? [True, True] Translation: X:121.31, Y:179.99, Z:6.83 [[ 7.30357664e-01 -6.82904436e-01 1.48058850e-02 1.21308230e+02] [ 6.82754700e-01 7.30507644e-01 1.43038970e-02 1.79985459e+02] [-2.05840069e-02 -3.38173232e-04 9.99788070e-01 6.83223243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.226875 meters Centerline goodness [0,1] 0.9933968419678977 Centerline is valid? [True, True] Translation: X:121.33, Y:180.00, Z:6.83 [[ 7.30282042e-01 -6.82986409e-01 1.47548195e-02 1.21328917e+02] [ 6.82837722e-01 7.30431005e-01 1.42545530e-02 1.80003877e+02] [-2.05130436e-02 -3.34696675e-04 9.99789529e-01 6.83155151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters Centerline goodness [0,1] 0.9936654414639868 Centerline is valid? [True, True] Translation: X:121.35, Y:180.02, Z:6.83 [[ 7.30258794e-01 -6.83002749e-01 1.51439559e-02 1.21348514e+02] [ 6.82846018e-01 7.30415721e-01 1.46352624e-02 1.80022526e+02] [-2.10573079e-02 -3.46539082e-04 9.99778210e-01 6.83087191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.286875 meters Centerline goodness [0,1] 0.9937792414856635 Centerline is valid? [True, True] Translation: X:121.37, Y:180.04, Z:6.83 [[ 7.30108954e-01 -6.83160601e-01 1.52482297e-02 1.21368148e+02] [ 6.83001655e-01 7.30268082e-01 1.47399727e-02 1.80041476e+02] [-2.12050641e-02 -3.47219928e-04 9.99775087e-01 6.83027965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters Centerline goodness [0,1] 0.9932950944186899 Centerline is valid? [True, True] Translation: X:121.39, Y:180.06, Z:6.83 [[ 7.30584755e-01 -6.82655487e-01 1.50798507e-02 1.21389459e+02] [ 6.82499780e-01 7.30740278e-01 1.45840863e-02 1.80060726e+02] [-2.09753608e-02 -3.62916369e-04 9.99779927e-01 6.83033888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.346875 meters Centerline goodness [0,1] 0.9937337773000183 Centerline is valid? [True, True] Translation: X:121.41, Y:180.08, Z:6.83 [[ 7.30676832e-01 -6.82556972e-01 1.50780320e-02 1.21410663e+02] [ 6.82401159e-01 7.30832295e-01 1.45881455e-02 1.80079985e+02] [-2.09767532e-02 -3.69953442e-04 9.99779895e-01 6.83042971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters Centerline goodness [0,1] 0.9941019188424033 Centerline is valid? [True, True] Translation: X:121.43, Y:180.10, Z:6.83 [[ 7.30907478e-01 -6.82309093e-01 1.51182209e-02 1.21431454e+02] [ 6.82152201e-01 7.31063714e-01 1.46363104e-02 1.80100223e+02] [-2.10388704e-02 -3.84861075e-04 9.99778584e-01 6.82973521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.406875 meters Centerline goodness [0,1] 0.9938735801430374 Centerline is valid? [True, True] Translation: X:121.45, Y:180.12, Z:6.83 [[ 7.31171424e-01 -6.82022885e-01 1.52687027e-02 1.21450354e+02] [ 6.81862586e-01 7.31330720e-01 1.47916082e-02 1.80119046e+02] [-2.12546866e-02 -4.04044095e-04 9.99774012e-01 6.82883506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters Centerline goodness [0,1] 0.9935290404040404 Centerline is valid? [True, True] Translation: X:121.47, Y:180.14, Z:6.83 [[ 7.31246493e-01 -6.81947537e-01 1.50374161e-02 1.21470101e+02] [ 6.81791924e-01 7.31400980e-01 1.45732026e-02 1.80138560e+02] [-2.09365405e-02 -4.04214408e-04 9.99780725e-01 6.82778110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.466875 meters Centerline goodness [0,1] 0.9933449074074074 Centerline is valid? [True, True] Translation: X:121.49, Y:180.16, Z:6.83 [[ 7.30702053e-01 -6.82522647e-01 1.54060469e-02 1.21489644e+02] [ 6.82359438e-01 7.30864337e-01 1.49304463e-02 1.80158237e+02] [-2.14500979e-02 -3.97246250e-04 9.99769841e-01 6.82549791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters Centerline goodness [0,1] 0.993491779089376 Centerline is valid? [True, True] Translation: X:121.51, Y:180.18, Z:6.82 [[ 7.30399236e-01 -6.82840046e-01 1.56980197e-02 1.21510359e+02] [ 6.82670487e-01 7.30567801e-01 1.52215120e-02 1.80177552e+02] [-2.18623257e-02 -4.01205982e-04 9.99760910e-01 6.82473949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.526875 meters Centerline goodness [0,1] 0.9930158395487969 Centerline is valid? [True, True] Translation: X:121.53, Y:180.20, Z:6.82 [[ 7.29400857e-01 -6.83902283e-01 1.58763100e-02 1.21530647e+02] [ 6.83728909e-01 7.29573521e-01 1.54031111e-02 1.80195777e+02] [-2.21171582e-02 -3.79950301e-04 9.99755314e-01 6.82309239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters Centerline goodness [0,1] 0.9939608112028271 Centerline is valid? [True, True] Translation: X:121.55, Y:180.21, Z:6.82 [[ 7.28477282e-01 -6.84880926e-01 1.60924397e-02 1.21552275e+02] [ 6.84702850e-01 7.28654916e-01 1.56211726e-02 1.80213699e+02] [-2.24244785e-02 -3.61130042e-04 9.99748475e-01 6.82364028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.586875 meters Centerline goodness [0,1] 0.9938950898705654 Centerline is valid? [True, True] Translation: X:121.57, Y:180.23, Z:6.82 [[ 7.27605152e-01 -6.85805122e-01 1.61887739e-02 1.21572272e+02] [ 6.85624908e-01 7.27785145e-01 1.57247549e-02 1.80232423e+02] [-2.25660666e-02 -3.41986069e-04 9.99745295e-01 6.82251104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters Centerline goodness [0,1] 0.9942768224496255 Centerline is valid? [True, True] Translation: X:121.59, Y:180.25, Z:6.82 [[ 7.27072755e-01 -6.86363397e-01 1.64467553e-02 1.21593564e+02] [ 6.86177387e-01 7.27258672e-01 1.59818127e-02 1.80251724e+02] [-2.29303767e-02 -3.34548989e-04 9.99737008e-01 6.82212290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.646875 meters Centerline goodness [0,1] 0.9942230077290353 Centerline is valid? [True, True] Translation: X:121.61, Y:180.27, Z:6.82 [[ 7.26365323e-01 -6.87106182e-01 1.66886837e-02 1.21613395e+02] [ 6.86914659e-01 7.26556942e-01 1.62252992e-02 1.80270465e+02] [-2.32737824e-02 -3.21793224e-04 9.99729077e-01 6.82058778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters Centerline goodness [0,1] 0.9948570524316911 Centerline is valid? [True, True] Translation: X:121.64, Y:180.29, Z:6.82 [[ 7.24908980e-01 -6.88626424e-01 1.73383596e-02 1.21636696e+02] [ 6.88419895e-01 7.25116242e-01 1.68666617e-02 1.80288730e+02] [-2.41871551e-02 -2.90722813e-04 9.99707406e-01 6.82072190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.706875 meters Centerline goodness [0,1] 0.9952116402116402 Centerline is valid? [True, True] Translation: X:121.66, Y:180.31, Z:6.82 [[ 7.23860908e-01 -6.89728802e-01 1.73079532e-02 1.21656686e+02] [ 6.89523279e-01 7.24067755e-01 1.68384299e-02 1.80307326e+02] [-2.41460809e-02 -2.54444489e-04 9.99708409e-01 6.81899125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters Centerline goodness [0,1] 0.9953167169391967 Centerline is valid? [True, True] Translation: X:121.68, Y:180.33, Z:6.82 [[ 7.22892864e-01 -6.90734507e-01 1.76563875e-02 1.21678376e+02] [ 6.90520685e-01 7.23108420e-01 1.71871069e-02 1.80325940e+02] [-2.46392103e-02 -2.32336190e-04 9.99696382e-01 6.81816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.766875 meters Centerline goodness [0,1] 0.995703031749821 Centerline is valid? [True, True] Translation: X:121.70, Y:180.34, Z:6.82 [[ 7.21145742e-01 -6.92554464e-01 1.78082196e-02 1.21698753e+02] [ 6.92337208e-01 7.21365567e-01 1.73467145e-02 1.80343489e+02] [-2.48597810e-02 -1.80216264e-04 9.99690932e-01 6.81510694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters Centerline goodness [0,1] 0.995703031749821 Centerline is valid? [True, True] Translation: X:121.72, Y:180.36, Z:6.81 [[ 7.20953282e-01 -6.92754868e-01 1.78061112e-02 1.21718452e+02] [ 6.92537620e-01 7.21173115e-01 1.73488786e-02 1.80362844e+02] [-2.48598088e-02 -1.76329138e-04 9.99690932e-01 6.81397742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82687500000003 meters Centerline goodness [0,1] 0.9959520596872767 Centerline is valid? [True, True] Translation: X:121.74, Y:180.38, Z:6.81 [[ 7.20055824e-01 -6.93679350e-01 1.81265171e-02 1.21739530e+02] [ 6.93454244e-01 7.20283927e-01 1.76713029e-02 1.80381882e+02] [-2.53144568e-02 -1.54414290e-04 9.99679526e-01 6.81225633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters Centerline goodness [0,1] 0.9961875512959678 Centerline is valid? [True, True] Translation: X:121.76, Y:180.40, Z:6.81 [[ 7.19238950e-01 -6.94530076e-01 1.79807281e-02 1.21760855e+02] [ 6.94308609e-01 7.19463659e-01 1.75384881e-02 1.80400604e+02] [-2.51174879e-02 -1.30189449e-04 9.99684498e-01 6.81201544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88687500000003 meters Centerline goodness [0,1] 0.9965976449323516 Centerline is valid? [True, True] Translation: X:121.78, Y:180.42, Z:6.81 [[ 7.18141759e-01 -6.95670201e-01 1.77590955e-02 1.21782821e+02] [ 6.95454262e-01 7.18361303e-01 1.73322424e-02 1.80418639e+02] [-2.48149716e-02 -9.63683709e-05 9.99692057e-01 6.80998959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters Centerline goodness [0,1] 0.9960161478805907 Centerline is valid? [True, True] Translation: X:121.80, Y:180.44, Z:6.81 [[ 7.17349637e-01 -6.96494526e-01 1.74606200e-02 1.21803882e+02] [ 6.96285835e-01 7.17562102e-01 1.70489285e-02 1.80437519e+02] [-2.44035645e-02 -7.24603085e-05 9.99702186e-01 6.80899585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94687500000003 meters Centerline goodness [0,1] 0.996388645476513 Centerline is valid? [True, True] Translation: X:121.83, Y:180.46, Z:6.81 [[ 7.16989231e-01 -6.96872461e-01 1.71818426e-02 1.21825089e+02] [ 6.96670277e-01 7.17195070e-01 1.67855786e-02 1.80456772e+02] [-2.40201403e-02 -6.50000273e-05 9.99711473e-01 6.80854479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters Centerline goodness [0,1] 0.9962265153729638 Centerline is valid? [True, True] Translation: X:121.84, Y:180.48, Z:6.81 [[ 7.16791850e-01 -6.97075121e-01 1.71965054e-02 1.21844626e+02] [ 6.96872377e-01 7.16998097e-01 1.68112836e-02 1.80475229e+02] [-2.40485892e-02 -6.64214669e-05 9.99710789e-01 6.80708029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00687500000004 meters Centerline goodness [0,1] 0.9965903945020111 Centerline is valid? [True, True] Translation: X:121.86, Y:180.49, Z:6.81 [[ 7.16668198e-01 -6.97200324e-01 1.72743450e-02 1.21864734e+02] [ 6.96995670e-01 7.16876352e-01 1.68917462e-02 1.80494743e+02] [-2.41605003e-02 -6.56336685e-05 9.99708090e-01 6.80630217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters Centerline goodness [0,1] 0.9961178472665391 Centerline is valid? [True, True] Translation: X:121.88, Y:180.51, Z:6.80 [[ 7.17377283e-01 -6.96464836e-01 1.75090488e-02 1.21883902e+02] [ 6.96254112e-01 7.17590916e-01 1.71315163e-02 1.80514085e+02] [-2.44958331e-02 -9.90134179e-05 9.99699927e-01 6.80394954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06687500000004 meters Centerline goodness [0,1] 0.9965117827186792 Centerline is valid? [True, True] Translation: X:121.90, Y:180.53, Z:6.80 [[ 7.17550935e-01 -6.96282307e-01 1.76523255e-02 1.21903653e+02] [ 6.96067860e-01 7.17768024e-01 1.72799911e-02 1.80534091e+02] [-2.47020268e-02 -1.12057311e-04 9.99694852e-01 6.80299244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters Centerline goodness [0,1] 0.9965451259700223 Centerline is valid? [True, True] Translation: X:121.92, Y:180.55, Z:6.80 [[ 7.17902337e-01 -6.95907700e-01 1.81302783e-02 1.21923770e+02] [ 6.95681133e-01 7.18131224e-01 1.77568604e-02 1.80553802e+02] [-2.53770548e-02 -1.34799035e-04 9.99677942e-01 6.80232903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12687500000004 meters Centerline goodness [0,1] 0.996172045297464 Centerline is valid? [True, True] Translation: X:121.94, Y:180.57, Z:6.80 [[ 7.17999841e-01 -6.95782946e-01 1.90347354e-02 1.21943832e+02] [ 6.95532864e-01 7.18252093e-01 1.86538755e-02 1.80573165e+02] [-2.66507870e-02 -1.54195619e-04 9.99644793e-01 6.80243073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters Centerline goodness [0,1] 0.9961882929949888 Centerline is valid? [True, True] Translation: X:121.96, Y:180.59, Z:6.80 [[ 7.17976542e-01 -6.95798731e-01 1.93341960e-02 1.21964321e+02] [ 6.95540444e-01 7.18236799e-01 1.89576355e-02 1.80592618e+02] [-2.70772297e-02 -1.63422328e-04 9.99633331e-01 6.80212687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18687500000004 meters Centerline goodness [0,1] 0.995592959354342 Centerline is valid? [True, True] Translation: X:121.98, Y:180.61, Z:6.80 [[ 7.17939774e-01 -6.95823425e-01 1.98051118e-02 1.21984074e+02] [ 6.95552054e-01 7.18212872e-01 1.94321938e-02 1.80611825e+02] [-2.77456619e-02 -1.75658624e-04 9.99615000e-01 6.80057111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters Centerline goodness [0,1] 0.9956504336224149 Centerline is valid? [True, True] Translation: X:122.00, Y:180.63, Z:6.80 [[ 7.17564518e-01 -6.96202471e-01 2.00818709e-02 1.22004496e+02] [ 6.95923443e-01 7.17845451e-01 1.97096309e-02 1.80630906e+02] [-2.81375734e-02 -1.67487086e-04 9.99604046e-01 6.80047128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.246875 meters Centerline goodness [0,1] 0.9958487453098805 Centerline is valid? [True, True] Translation: X:122.02, Y:180.65, Z:6.80 [[ 7.16978557e-01 -6.96794103e-01 2.04872351e-02 1.22024976e+02] [ 6.96503558e-01 7.17271185e-01 2.01206417e-02 1.80649342e+02] [-2.87148479e-02 -1.56636461e-04 9.99587631e-01 6.79941650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters Centerline goodness [0,1] 0.9957171738667802 Centerline is valid? [True, True] Translation: X:122.05, Y:180.67, Z:6.80 [[ 7.16837890e-01 -6.96927201e-01 2.08786143e-02 1.22045742e+02] [ 6.96625317e-01 7.17141863e-01 2.05113920e-02 1.80668778e+02] [-2.92678753e-02 -1.58771627e-04 9.99571591e-01 6.79826309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.306875 meters Centerline goodness [0,1] 0.9960495408925902 Centerline is valid? [True, True] Translation: X:122.07, Y:180.69, Z:6.80 [[ 7.16362903e-01 -6.97402333e-01 2.13114271e-02 1.22065436e+02] [ 6.97087638e-01 7.16679819e-01 2.09490323e-02 1.80687786e+02] [-2.98833737e-02 -1.51177240e-04 9.99553381e-01 6.79673411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters Centerline goodness [0,1] 0.9965791864877867 Centerline is valid? [True, True] Translation: X:122.09, Y:180.71, Z:6.80 [[ 7.15948927e-01 -6.97807126e-01 2.19624363e-02 1.22085934e+02] [ 6.97472780e-01 7.16285693e-01 2.15992654e-02 1.80707556e+02] [-3.08035002e-02 -1.45769419e-04 9.99525449e-01 6.79529462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.366875 meters Centerline goodness [0,1] 0.9964033568669242 Centerline is valid? [True, True] Translation: X:122.11, Y:180.73, Z:6.79 [[ 7.16005393e-01 -6.97729816e-01 2.25694853e-02 1.22106315e+02] [ 6.97376295e-01 7.16360997e-01 2.22086945e-02 1.80726495e+02] [-3.16635673e-02 -1.62120958e-04 9.99498570e-01 6.79392630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters Centerline goodness [0,1] 0.9963103577348805 Centerline is valid? [True, True] Translation: X:122.13, Y:180.75, Z:6.79 [[ 7.15886172e-01 -6.97832896e-01 2.31567983e-02 1.22126296e+02] [ 6.97460366e-01 7.16260581e-01 2.27995148e-02 1.80746440e+02] [-3.24965532e-02 -1.70908371e-04 9.99471833e-01 6.79300071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.426875 meters Centerline goodness [0,1] 0.9964736054712545 Centerline is valid? [True, True] Translation: X:122.15, Y:180.77, Z:6.79 [[ 7.16204790e-01 -6.97494995e-01 2.34825773e-02 1.22146484e+02] [ 6.97111299e-01 7.16589627e-01 2.31331721e-02 1.80765816e+02] [-3.29626431e-02 -1.98118663e-04 9.99456565e-01 6.79163008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters Centerline goodness [0,1] 0.9960174270975329 Centerline is valid? [True, True] Translation: X:122.17, Y:180.79, Z:6.79 [[ 7.17540661e-01 -6.96108787e-01 2.38318119e-02 1.22165722e+02] [ 6.95712380e-01 7.17936265e-01 2.34904980e-02 1.80786253e+02] [-3.34616641e-02 -2.75300897e-04 9.99439964e-01 6.79015353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.486875 meters Centerline goodness [0,1] 0.9961335395445576 Centerline is valid? [True, True] Translation: X:122.18, Y:180.81, Z:6.79 [[ 7.18129325e-01 -6.95492768e-01 2.40849104e-02 1.22184924e+02] [ 6.95087122e-01 7.18533026e-01 2.37525504e-02 1.80806216e+02] [-3.38255306e-02 -3.16291899e-04 9.99427703e-01 6.78819868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters Centerline goodness [0,1] 0.9955456570155902 Centerline is valid? [True, True] Translation: X:122.20, Y:180.83, Z:6.79 [[ 7.18573586e-01 -6.95043878e-01 2.37909635e-02 1.22202867e+02] [ 6.94647390e-01 7.18967239e-01 2.34757812e-02 1.80827084e+02] [-3.34216214e-02 -3.42745583e-04 9.99441283e-01 6.78509467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.546875 meters Centerline goodness [0,1] 0.9953590099221167 Centerline is valid? [True, True] Translation: X:122.22, Y:180.85, Z:6.78 [[ 7.19488054e-01 -6.94108119e-01 2.34704111e-02 1.22222969e+02] [ 6.93721372e-01 7.19870661e-01 2.31709007e-02 1.80847273e+02] [-3.29787707e-02 -3.89260440e-04 9.99455977e-01 6.78318886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters Centerline goodness [0,1] 0.9954114979325064 Centerline is valid? [True, True] Translation: X:122.24, Y:180.87, Z:6.78 [[ 7.20754009e-01 -6.92823423e-01 2.25690853e-02 1.22242329e+02] [ 6.92464827e-01 7.21107143e-01 2.22923912e-02 1.80868035e+02] [-3.17194194e-02 -4.39032573e-04 9.99496716e-01 6.78030148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.606875 meters Centerline goodness [0,1] 0.9959713996051438 Centerline is valid? [True, True] Translation: X:122.26, Y:180.89, Z:6.78 [[ 7.20344700e-01 -6.93246367e-01 2.26492229e-02 1.22262580e+02] [ 6.92885282e-01 7.20700557e-01 2.23761489e-02 1.80888151e+02] [-3.18354915e-02 -4.25227082e-04 9.99493032e-01 6.77819855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters Centerline goodness [0,1] 0.9960773849232822 Centerline is valid? [True, True] Translation: X:122.28, Y:180.91, Z:6.78 [[ 7.20075369e-01 -6.93522872e-01 2.27483870e-02 1.22282167e+02] [ 6.93158356e-01 7.20434485e-01 2.24865836e-02 1.80907695e+02] [-3.19836824e-02 -4.23800456e-04 9.99488301e-01 6.77740901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.666875 meters Centerline goodness [0,1] 0.9957024263940422 Centerline is valid? [True, True] Translation: X:122.30, Y:180.93, Z:6.78 [[ 7.19891629e-01 -6.93704423e-01 2.30264359e-02 1.22302384e+02] [ 6.93330621e-01 7.20259668e-01 2.27741300e-02 1.80927778e+02] [-3.23835278e-02 -4.29972435e-04 9.99475424e-01 6.77639746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters Centerline goodness [0,1] 0.9951123100344542 Centerline is valid? [True, True] Translation: X:122.32, Y:180.95, Z:6.77 [[ 7.19921623e-01 -6.93646856e-01 2.38095670e-02 1.22320736e+02] [ 6.93246694e-01 7.20315091e-01 2.35624953e-02 1.80947700e+02] [-3.34944412e-02 -4.57246244e-04 9.99438799e-01 6.77485878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.726875 meters Centerline goodness [0,1] 0.9952784891165173 Centerline is valid? [True, True] Translation: X:122.34, Y:180.97, Z:6.77 [[ 7.19527494e-01 -6.94045987e-01 2.40905283e-02 1.22340935e+02] [ 6.93636154e-01 7.19930527e-01 2.38520920e-02 1.80967817e+02] [-3.38979554e-02 -4.52174593e-04 9.99425197e-01 6.77373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters Centerline goodness [0,1] 0.9953661784287616 Centerline is valid? [True, True] Translation: X:122.36, Y:180.99, Z:6.77 [[ 7.19220802e-01 -6.94374282e-01 2.37864502e-02 1.22359825e+02] [ 6.93974471e-01 7.19613898e-01 2.35641870e-02 1.80986941e+02] [-3.34794256e-02 -4.40664314e-04 9.99439310e-01 6.77197697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.786875 meters Centerline goodness [0,1] 0.9955205972536995 Centerline is valid? [True, True] Translation: X:122.38, Y:181.01, Z:6.77 [[ 7.18565696e-01 -6.95040820e-01 2.41163538e-02 1.22380214e+02] [ 6.94629806e-01 7.18970152e-01 2.39030073e-02 1.81006518e+02] [-3.39525043e-02 -4.23942918e-04 9.99423358e-01 6.77134855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters Centerline goodness [0,1] 0.9949838101810075 Centerline is valid? [True, True] Translation: X:122.40, Y:181.03, Z:6.77 [[ 7.18055478e-01 -6.95571526e-01 2.40121328e-02 1.22399518e+02] [ 6.95163914e-01 7.18456740e-01 2.38127145e-02 1.81026040e+02] [-3.38151248e-02 -4.06481885e-04 9.99428022e-01 6.77003126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.846875 meters Centerline goodness [0,1] 0.9952114924181963 Centerline is valid? [True, True] Translation: X:122.42, Y:181.05, Z:6.77 [[ 7.17252812e-01 -6.96394896e-01 2.41361230e-02 1.22419963e+02] [ 6.95983141e-01 7.17658698e-01 2.39470437e-02 1.81045846e+02] [-3.39980975e-02 -3.77749741e-04 9.99421826e-01 6.76854804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters Centerline goodness [0,1] 0.9949180502341421 Centerline is valid? [True, True] Translation: X:122.44, Y:181.06, Z:6.77 [[ 7.16679868e-01 -6.96990831e-01 2.39530290e-02 1.22440333e+02] [ 6.96585218e-01 7.17079950e-01 2.37777011e-02 1.81064687e+02] [-3.37490765e-02 -3.55673757e-04 9.99430274e-01 6.76778781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.906875 meters Centerline goodness [0,1] 0.9954778815204959 Centerline is valid? [True, True] Translation: X:122.46, Y:181.08, Z:6.77 [[ 7.16209702e-01 -6.97468676e-01 2.41061988e-02 1.22460378e+02] [ 6.97057685e-01 7.16615188e-01 2.39427625e-02 1.81084511e+02] [-3.39741950e-02 -3.44627660e-04 9.99422651e-01 6.76658594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters Centerline goodness [0,1] 0.9959578768216147 Centerline is valid? [True, True] Translation: X:122.48, Y:181.10, Z:6.77 [[ 7.15174037e-01 -6.98519209e-01 2.44338246e-02 1.22480177e+02] [ 6.98097125e-01 7.15591238e-01 2.42813556e-02 1.81104034e+02] [-3.44456241e-02 -3.08212392e-04 9.99406526e-01 6.76539809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.966875 meters Centerline goodness [0,1] 0.9958917543534151 Centerline is valid? [True, True] Translation: X:122.50, Y:181.12, Z:6.76 [[ 7.14585740e-01 -6.99120847e-01 2.44389533e-02 1.22499086e+02] [ 6.98698477e-01 7.15003467e-01 2.42997944e-02 1.81123504e+02] [-3.44624292e-02 -2.88827075e-04 9.99405952e-01 6.76455433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters Centerline goodness [0,1] 0.9958550324157721 Centerline is valid? [True, True] Translation: X:122.52, Y:181.14, Z:6.76 [[ 7.14504253e-01 -6.99203141e-01 2.44671209e-02 1.22519300e+02] [ 6.98779439e-01 7.14922990e-01 2.43395504e-02 1.81143244e+02] [-3.45103974e-02 -2.93591283e-04 9.99404296e-01 6.76356949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.026875 meters Centerline goodness [0,1] 0.995484607824909 Centerline is valid? [True, True] Translation: X:122.54, Y:181.16, Z:6.76 [[ 7.13756808e-01 -6.99959088e-01 2.46676738e-02 1.22538077e+02] [ 6.99528384e-01 7.14182891e-01 2.45527613e-02 1.81162739e+02] [-3.48031590e-02 -2.68962556e-04 9.99394150e-01 6.76216562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters Centerline goodness [0,1] 0.9962239063954261 Centerline is valid? [True, True] Translation: X:122.56, Y:181.18, Z:6.76 [[ 7.12684629e-01 -7.01044587e-01 2.48416382e-02 1.22559822e+02] [ 7.00608044e-01 7.13117407e-01 2.47372700e-02 1.81181437e+02] [-3.50569339e-02 -2.25620605e-04 9.99385291e-01 6.76235234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.086875 meters Centerline goodness [0,1] 0.996293827489668 Centerline is valid? [True, True] Translation: X:122.58, Y:181.20, Z:6.76 [[ 7.11863447e-01 -7.01890290e-01 2.45041438e-02 1.22579012e+02] [ 7.01465558e-01 7.12285044e-01 2.44149057e-02 1.81200270e+02] [-3.45905203e-02 -1.91266050e-04 9.99401551e-01 6.76116015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters Centerline goodness [0,1] 0.9960851154491465 Centerline is valid? [True, True] Translation: X:122.60, Y:181.22, Z:6.76 [[ 7.11157620e-01 -7.02602150e-01 2.45979486e-02 1.22599362e+02] [ 7.02174156e-01 7.11582877e-01 2.45206607e-02 1.81219591e+02] [-3.47317479e-02 -1.66010887e-04 9.99396657e-01 6.76028974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.146875 meters Centerline goodness [0,1] 0.9966705731941189 Centerline is valid? [True, True] Translation: X:122.62, Y:181.24, Z:6.76 [[ 7.10361721e-01 -7.03413322e-01 2.44115715e-02 1.22618294e+02] [ 7.02991843e-01 7.10781036e-01 2.43472360e-02 1.81238262e+02] [-3.44774522e-02 -1.34208830e-04 9.99405467e-01 6.75871204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters Centerline goodness [0,1] 0.9967260241156273 Centerline is valid? [True, True] Translation: X:122.64, Y:181.26, Z:6.76 [[ 7.08899703e-01 -7.04895341e-01 2.41613129e-02 1.22638046e+02] [ 7.04482930e-01 7.09311323e-01 2.41090929e-02 1.81256739e+02] [-3.41322801e-02 -6.96963337e-05 9.99417322e-01 6.75733178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.206875 meters Centerline goodness [0,1] 0.9968280200447809 Centerline is valid? [True, True] Translation: X:122.66, Y:181.28, Z:6.76 [[ 7.07930353e-01 -7.05872990e-01 2.40403151e-02 1.22658303e+02] [ 7.05464840e-01 7.08338422e-01 2.40008211e-02 1.81276313e+02] [-3.39702102e-02 -3.13127106e-05 9.99422845e-01 6.75682364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters Centerline goodness [0,1] 0.9965886679814508 Centerline is valid? [True, True] Translation: X:122.68, Y:181.30, Z:6.76 [[ 7.07491354e-01 -7.06329116e-01 2.35619141e-02 1.22677950e+02] [ 7.05936875e-01 7.07883592e-01 2.35361276e-02 1.81295554e+02] [-3.33033446e-02 -1.83828157e-05 9.99445290e-01 6.75525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.266875 meters Centerline goodness [0,1] 0.9966660443282747 Centerline is valid? [True, True] Translation: X:122.70, Y:181.32, Z:6.75 [[ 7.06782388e-01 -7.07047781e-01 2.32828336e-02 1.22697591e+02] [ 7.06664810e-01 7.07165776e-01 2.32682614e-02 1.81315856e+02] [-3.29165957e-02 7.56181427e-06 9.99458102e-01 6.75413741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters Centerline goodness [0,1] 0.9966096265250006 Centerline is valid? [True, True] Translation: X:122.72, Y:181.34, Z:6.75 [[ 7.06408571e-01 -7.07425284e-01 2.31602900e-02 1.22717061e+02] [ 7.07046128e-01 7.06788135e-01 2.31582706e-02 1.81336274e+02] [-3.27521643e-02 1.61924639e-05 9.99463504e-01 6.75255744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32687500000003 meters Centerline goodness [0,1] 0.9960813584623996 Centerline is valid? [True, True] Translation: X:122.74, Y:181.36, Z:6.75 [[ 7.06176695e-01 -7.07666214e-01 2.28692875e-02 1.22736531e+02] [ 7.07296262e-01 7.06546905e-01 2.28794285e-02 1.81356814e+02] [-3.23492229e-02 1.84423282e-05 9.99476627e-01 6.75118527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters Centerline goodness [0,1] 0.9961345702708466 Centerline is valid? [True, True] Translation: X:122.76, Y:181.38, Z:6.75 [[ 7.06288828e-01 -7.07558142e-01 2.27501211e-02 1.22755730e+02] [ 7.07191593e-01 7.06655132e-01 2.27722342e-02 1.81377450e+02] [-3.21891695e-02 4.91977404e-06 9.99481794e-01 6.75009393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38687500000003 meters Centerline goodness [0,1] 0.9965337954939342 Centerline is valid? [True, True] Translation: X:122.77, Y:181.40, Z:6.75 [[ 7.07024562e-01 -7.06843231e-01 2.21114385e-02 1.22774213e+02] [ 7.06496264e-01 7.07370232e-01 2.21445893e-02 1.81398713e+02] [-3.12937264e-02 -3.51198531e-05 9.99510231e-01 6.74915582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters Centerline goodness [0,1] 0.9965077841757304 Centerline is valid? [True, True] Translation: X:122.79, Y:181.42, Z:6.75 [[ 7.07091306e-01 -7.06782743e-01 2.19098117e-02 1.22792400e+02] [ 7.06441677e-01 7.07430670e-01 2.19545932e-02 1.81418714e+02] [-3.10168004e-02 -4.58978417e-05 9.99518862e-01 6.74820718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44687500000003 meters Centerline goodness [0,1] 0.9964293327648689 Centerline is valid? [True, True] Translation: X:122.81, Y:181.44, Z:6.75 [[ 7.07520860e-01 -7.06354511e-01 2.18526192e-02 1.22811211e+02] [ 7.06014701e-01 7.07858248e-01 2.19076088e-02 1.81439024e+02] [-3.09430950e-02 -7.18197993e-05 9.99521145e-01 6.74759676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters Centerline goodness [0,1] 0.9968339275262066 Centerline is valid? [True, True] Translation: X:122.83, Y:181.46, Z:6.75 [[ 7.07576598e-01 -7.06280114e-01 2.24445487e-02 1.22830290e+02] [ 7.05921206e-01 7.07932478e-01 2.25135084e-02 1.81459196e+02] [-3.17900683e-02 -8.59487896e-05 9.99494564e-01 6.74761489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50687500000004 meters Centerline goodness [0,1] 0.9966517857142857 Centerline is valid? [True, True] Translation: X:122.85, Y:181.48, Z:6.75 [[ 7.07921694e-01 -7.05930843e-01 2.25503846e-02 1.22848652e+02] [ 7.05567950e-01 7.08280759e-01 2.26326227e-02 1.81479350e+02] [-3.19490700e-02 -1.11295972e-04 9.99489492e-01 6.74744697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters Centerline goodness [0,1] 0.9958235794849968 Centerline is valid? [True, True] Translation: X:122.87, Y:181.50, Z:6.75 [[ 7.08311129e-01 -7.05537928e-01 2.26180653e-02 1.22867130e+02] [ 7.05172293e-01 7.08672148e-01 2.27117472e-02 1.81500660e+02] [-3.20527920e-02 -1.37350299e-04 9.99486168e-01 6.74680744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56687500000004 meters Centerline goodness [0,1] 0.9956492903568113 Centerline is valid? [True, True] Translation: X:122.89, Y:181.52, Z:6.75 [[ 7.08549958e-01 -7.05295268e-01 2.27055456e-02 1.22885645e+02] [ 7.04926288e-01 7.08913647e-01 2.28115925e-02 1.81520572e+02] [-3.21851794e-02 -1.57416945e-04 9.99481911e-01 6.74535898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters Centerline goodness [0,1] 0.9961319380050337 Centerline is valid? [True, True] Translation: X:122.90, Y:181.54, Z:6.74 [[ 7.08651453e-01 -7.05194377e-01 2.26717733e-02 1.22904601e+02] [ 7.04826076e-01 7.09014007e-01 2.27890292e-02 1.81541108e+02] [-3.21453001e-02 -1.69821636e-04 9.99483192e-01 6.74419354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62687500000004 meters Centerline goodness [0,1] 0.9962636139597743 Centerline is valid? [True, True] Translation: X:122.92, Y:181.56, Z:6.74 [[ 7.08560859e-01 -7.05284765e-01 2.26916141e-02 1.22924059e+02] [ 7.04915498e-01 7.08924093e-01 2.28203952e-02 1.81561007e+02] [-3.21815090e-02 -1.73968365e-04 9.99482026e-01 6.74360767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters Centerline goodness [0,1] 0.9963941032983349 Centerline is valid? [True, True] Translation: X:122.94, Y:181.58, Z:6.74 [[ 7.08526914e-01 -7.05340362e-01 2.20133111e-02 1.22942458e+02] [ 7.04992488e-01 7.08868777e-01 2.21505874e-02 1.81581260e+02] [-3.12282522e-02 -1.75068351e-04 9.99512264e-01 6.74094284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68687500000004 meters Centerline goodness [0,1] 0.9963941032983349 Centerline is valid? [True, True] Translation: X:122.96, Y:181.60, Z:6.74 [[ 7.08332327e-01 -7.05535963e-01 2.20072737e-02 1.22961844e+02] [ 7.05187997e-01 7.08674096e-01 2.21565836e-02 1.81600924e+02] [-3.12282513e-02 -1.74959109e-04 9.99512264e-01 6.73981550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters Centerline goodness [0,1] 0.9960014828937612 Centerline is valid? [True, True] Translation: X:122.98, Y:181.62, Z:6.74 [[ 7.08083033e-01 -7.05776460e-01 2.23160745e-02 1.22980211e+02] [ 7.05418364e-01 7.08434583e-01 2.24805169e-02 1.81620776e+02] [-3.16756986e-02 -1.75903840e-04 9.99498184e-01 6.73854329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.746875 meters Centerline goodness [0,1] 0.9956312221986867 Centerline is valid? [True, True] Translation: X:123.00, Y:181.64, Z:6.74 [[ 7.07896303e-01 -7.05966973e-01 2.22138967e-02 1.22999332e+02] [ 7.05611911e-01 7.08244734e-01 2.23881121e-02 1.81640907e+02] [-3.15381431e-02 -1.74071645e-04 9.99502534e-01 6.73735129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters Centerline goodness [0,1] 0.9954015698089272 Centerline is valid? [True, True] Translation: X:123.02, Y:181.66, Z:6.74 [[ 7.08204133e-01 -7.05667107e-01 2.19280708e-02 1.23018658e+02] [ 7.05320606e-01 7.08543504e-01 2.21121185e-02 1.81661374e+02] [-3.11407868e-02 -1.93573497e-04 9.99514989e-01 6.73598908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.806875 meters Centerline goodness [0,1] 0.9954044845891767 Centerline is valid? [True, True] Translation: X:123.04, Y:181.68, Z:6.73 [[ 7.08463209e-01 -7.05412034e-01 2.17656528e-02 1.23037072e+02] [ 7.05070165e-01 7.08797444e-01 2.19601014e-02 1.81682541e+02] [-3.09183588e-02 -2.11611501e-04 9.99521891e-01 6.73359641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters Centerline goodness [0,1] 0.995267641182038 Centerline is valid? [True, True] Translation: X:123.06, Y:181.70, Z:6.73 [[ 7.08830438e-01 -7.05041555e-01 2.18131860e-02 1.23056022e+02] [ 7.04697647e-01 7.09165953e-01 2.20199317e-02 1.81702799e+02] [-3.09941357e-02 -2.36696987e-04 9.99519538e-01 6.73206109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.866875 meters Centerline goodness [0,1] 0.9952274225444957 Centerline is valid? [True, True] Translation: X:123.08, Y:181.72, Z:6.73 [[ 7.08962564e-01 -7.04904979e-01 2.19329281e-02 1.23075291e+02] [ 7.04556847e-01 7.09301703e-01 2.21527203e-02 1.81723489e+02] [-3.11726261e-02 -2.52454693e-04 9.99513984e-01 6.73095302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters Centerline goodness [0,1] 0.9949174413398995 Centerline is valid? [True, True] Translation: X:123.09, Y:181.74, Z:6.73 [[ 7.09575637e-01 -7.04303891e-01 2.14113193e-02 1.23094551e+02] [ 7.03971502e-01 7.09898550e-01 2.16373389e-02 1.81744859e+02] [-3.04391265e-02 -2.80369938e-04 9.99536583e-01 6.72929425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.926875 meters Centerline goodness [0,1] 0.9951792629277416 Centerline is valid? [True, True] Translation: X:123.11, Y:181.76, Z:6.73 [[ 7.09649418e-01 -7.04230006e-01 2.13963259e-02 1.23112452e+02] [ 7.03897706e-01 7.09971840e-01 2.16334478e-02 1.81764940e+02] [-3.04257119e-02 -2.91338888e-04 9.99536988e-01 6.72707928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters Centerline goodness [0,1] 0.9954486859067112 Centerline is valid? [True, True] Translation: X:123.13, Y:181.78, Z:6.73 [[ 7.09872055e-01 -7.04007816e-01 2.13227678e-02 1.23132592e+02] [ 7.03677340e-01 7.10192157e-01 2.15708527e-02 1.81784801e+02] [-3.03293113e-02 -3.08197046e-04 9.99539913e-01 6.72630436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.986875 meters Centerline goodness [0,1] 0.9953691522391201 Centerline is valid? [True, True] Translation: X:123.15, Y:181.80, Z:6.72 [[ 7.09789468e-01 -7.04090670e-01 2.13363562e-02 1.23150828e+02] [ 7.03759403e-01 7.10110013e-01 2.15979705e-02 1.81804225e+02] [-3.03580897e-02 -3.14350724e-04 9.99539038e-01 6.72491270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters Centerline goodness [0,1] 0.9949025172105733 Centerline is valid? [True, True] Translation: X:123.17, Y:181.82, Z:6.72 [[ 7.09599685e-01 -7.04290735e-01 2.10439369e-02 1.23170400e+02] [ 7.03968386e-01 7.09911590e-01 2.13083255e-02 1.81824574e+02] [-2.99465910e-02 -3.06114735e-04 9.99551453e-01 6.72242572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.046875 meters Centerline goodness [0,1] 0.9949525487000184 Centerline is valid? [True, True] Translation: X:123.19, Y:181.84, Z:6.72 [[ 7.09231672e-01 -7.04664110e-01 2.09505972e-02 1.23188705e+02] [ 7.04344422e-01 7.09540981e-01 2.12257351e-02 1.81843844e+02] [-2.98223210e-02 -2.97527301e-04 9.99555171e-01 6.72056029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters Centerline goodness [0,1] 0.9950962395762312 Centerline is valid? [True, True] Translation: X:123.21, Y:181.86, Z:6.72 [[ 7.08972597e-01 -7.04930550e-01 2.07551290e-02 1.23209076e+02] [ 7.04616631e-01 7.09276275e-01 2.10373135e-02 1.81863516e+02] [-2.95509656e-02 -2.90469765e-04 9.99563233e-01 6.71938811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.106875 meters Centerline goodness [0,1] 0.9948933929981574 Centerline is valid? [True, True] Translation: X:123.23, Y:181.88, Z:6.72 [[ 7.08470016e-01 -7.05432101e-01 2.08755240e-02 1.23229107e+02] [ 7.05114391e-01 7.08777449e-01 2.11712802e-02 1.81883767e+02] [-2.97310013e-02 -2.79584821e-04 9.99557897e-01 6.71802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters Centerline goodness [0,1] 0.994964330675619 Centerline is valid? [True, True] Translation: X:123.25, Y:181.90, Z:6.72 [[ 7.07367848e-01 -7.06520561e-01 2.14342016e-02 1.23249637e+02] [ 7.06185725e-01 7.07692472e-01 2.17505747e-02 1.81903150e+02] [-3.05360514e-02 -2.49130047e-04 9.99533635e-01 6.71727831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.166875 meters Centerline goodness [0,1] 0.9958152388472168 Centerline is valid? [True, True] Translation: X:123.27, Y:181.92, Z:6.72 [[ 7.06703253e-01 -7.07178301e-01 2.16647966e-02 1.23269680e+02] [ 7.06836158e-01 7.07035217e-01 2.19965413e-02 1.81922314e+02] [-3.08732509e-02 -2.31565695e-04 9.99523281e-01 6.71676995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters Centerline goodness [0,1] 0.9950450922818792 Centerline is valid? [True, True] Translation: X:123.29, Y:181.94, Z:6.72 [[ 7.06138057e-01 -7.07732957e-01 2.19796716e-02 1.23288625e+02] [ 7.07380658e-01 7.06480016e-01 2.23291781e-02 1.81941868e+02] [-3.13312940e-02 -2.19487876e-04 9.99509030e-01 6.71534983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.226875 meters Centerline goodness [0,1] 0.9949938081311095 Centerline is valid? [True, True] Translation: X:123.31, Y:181.96, Z:6.72 [[ 7.05671620e-01 -7.08184740e-01 2.24039793e-02 1.23307611e+02] [ 7.07818501e-01 7.06027144e-01 2.27736912e-02 1.81961245e+02] [-3.19457981e-02 -2.12796551e-04 9.99489580e-01 6.71511454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters Centerline goodness [0,1] 0.9953810623556582 Centerline is valid? [True, True] Translation: X:123.33, Y:181.98, Z:6.71 [[ 7.05393985e-01 -7.08452584e-01 2.26773420e-02 1.23326248e+02] [ 7.08077145e-01 7.05758381e-01 2.30621971e-02 1.81980826e+02] [-3.23431973e-02 -2.10627568e-04 9.99476800e-01 6.71362038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.286875 meters Centerline goodness [0,1] 0.9952871172428319 Centerline is valid? [True, True] Translation: X:123.35, Y:182.00, Z:6.71 [[ 7.05204304e-01 -7.08636871e-01 2.28183274e-02 1.23346510e+02] [ 7.08256436e-01 7.05573342e-01 2.32181105e-02 1.82000337e+02] [-3.25532127e-02 -2.12284200e-04 9.99469981e-01 6.71320601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters Centerline goodness [0,1] 0.9952645286890637 Centerline is valid? [True, True] Translation: X:123.37, Y:182.02, Z:6.71 [[ 7.04893733e-01 -7.08929308e-01 2.33251194e-02 1.23366762e+02] [ 7.08531492e-01 7.05279513e-01 2.37472755e-02 1.82020320e+02] [-3.32858684e-02 -2.12724078e-04 9.99445849e-01 6.71221171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.346875 meters Centerline goodness [0,1] 0.9953516466200956 Centerline is valid? [True, True] Translation: X:123.39, Y:182.04, Z:6.71 [[ 7.04829722e-01 -7.08992073e-01 2.33517479e-02 1.23386213e+02] [ 7.08592945e-01 7.05216416e-01 2.37874938e-02 1.82040480e+02] [-3.33331805e-02 -2.19248806e-04 9.99444271e-01 6.71117508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters Centerline goodness [0,1] 0.9959688043420983 Centerline is valid? [True, True] Translation: X:123.41, Y:182.06, Z:6.71 [[ 7.04573512e-01 -7.09237143e-01 2.36398351e-02 1.23405558e+02] [ 7.08827793e-01 7.04969948e-01 2.40942627e-02 1.82060880e+02] [-3.37539194e-02 -2.19607136e-04 9.99430150e-01 6.70975217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.406875 meters Centerline goodness [0,1] 0.9954460501724184 Centerline is valid? [True, True] Translation: X:123.42, Y:182.08, Z:6.71 [[ 7.04709427e-01 -7.09090893e-01 2.39734868e-02 1.23424883e+02] [ 7.08669355e-01 7.05117045e-01 2.44478489e-02 1.82080863e+02] [-3.42398612e-02 -2.39354183e-04 9.99413615e-01 6.70854185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters Centerline goodness [0,1] 0.9949839802510636 Centerline is valid? [True, True] Translation: X:123.44, Y:182.10, Z:6.71 [[ 7.04981956e-01 -7.08814168e-01 2.41436949e-02 1.23443432e+02] [ 7.08386006e-01 7.05395213e-01 2.46345255e-02 1.82100739e+02] [-3.44921475e-02 -2.63840359e-04 9.99404934e-01 6.70722629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.466875 meters Centerline goodness [0,1] 0.9945893415281171 Centerline is valid? [True, True] Translation: X:123.46, Y:182.12, Z:6.71 [[ 7.05465091e-01 -7.08325568e-01 2.43699650e-02 1.23460994e+02] [ 7.07888609e-01 7.05885827e-01 2.48780586e-02 1.82121148e+02] [-3.48241779e-02 -2.99381214e-04 9.99393410e-01 6.70552450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters Centerline goodness [0,1] 0.9940028407596402 Centerline is valid? [True, True] Translation: X:123.48, Y:182.14, Z:6.70 [[ 7.05699509e-01 -7.08101973e-01 2.40790174e-02 1.23480433e+02] [ 7.07674807e-01 7.06110116e-01 2.45941241e-02 1.82141446e+02] [-3.44175855e-02 -3.15947312e-04 9.99407489e-01 6.70415845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.526875 meters Centerline goodness [0,1] 0.9943871796889343 Centerline is valid? [True, True] Translation: X:123.50, Y:182.16, Z:6.70 [[ 7.06349275e-01 -7.07467826e-01 2.36638268e-02 1.23498381e+02] [ 7.07054459e-01 7.06745465e-01 2.41834392e-02 1.82162528e+02] [-3.38333074e-02 -3.50340524e-04 9.99427428e-01 6.70200388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters Centerline goodness [0,1] 0.9937857255231003 Centerline is valid? [True, True] Translation: X:123.52, Y:182.18, Z:6.70 [[ 7.06756699e-01 -7.07070205e-01 2.33814733e-02 1.23517701e+02] [ 7.06666052e-01 7.07143257e-01 2.39061676e-02 1.82183241e+02] [-3.34373900e-02 -3.72950691e-04 9.99440745e-01 6.70040168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.586875 meters Centerline goodness [0,1] 0.9949574535140245 Centerline is valid? [True, True] Translation: X:123.54, Y:182.20, Z:6.70 [[ 7.07095509e-01 -7.06738953e-01 2.31515243e-02 1.23536469e+02] [ 7.06342132e-01 7.07474309e-01 2.36832133e-02 1.82203772e+02] [-3.31169580e-02 -3.93396772e-04 9.99451406e-01 6.69878699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters Centerline goodness [0,1] 0.9943616909682157 Centerline is valid? [True, True] Translation: X:123.55, Y:182.22, Z:6.70 [[ 7.07384974e-01 -7.06460936e-01 2.27913333e-02 1.23554436e+02] [ 7.06075825e-01 7.07751919e-01 2.33270244e-02 1.82223840e+02] [-3.26102414e-02 -4.08777013e-04 9.99468061e-01 6.69707916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.646875 meters Centerline goodness [0,1] 0.9940556037770588 Centerline is valid? [True, True] Translation: X:123.57, Y:182.24, Z:6.70 [[ 7.07453475e-01 -7.06401420e-01 2.25080992e-02 1.23573949e+02] [ 7.06025452e-01 7.07811318e-01 2.30477462e-02 1.82244217e+02] [-3.22124480e-02 -4.13917241e-04 9.99480959e-01 6.69513292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters Centerline goodness [0,1] 0.9939749567768639 Centerline is valid? [True, True] Translation: X:123.59, Y:182.26, Z:6.69 [[ 7.07486660e-01 -7.06384172e-01 2.20006498e-02 1.23592258e+02] [ 7.06024580e-01 7.07828532e-01 2.25402123e-02 1.82264652e+02] [-3.14947368e-02 -4.13899952e-04 9.99503832e-01 6.69270986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.706875 meters Centerline goodness [0,1] 0.9939804560260587 Centerline is valid? [True, True] Translation: X:123.61, Y:182.28, Z:6.69 [[ 7.07052712e-01 -7.06814523e-01 2.21290190e-02 1.23610605e+02] [ 7.06450593e-01 7.07398803e-01 2.26824197e-02 1.82284546e+02] [-3.16863052e-02 -4.04607759e-04 9.99497781e-01 6.69138516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters Centerline goodness [0,1] 0.9944046436228625 Centerline is valid? [True, True] Translation: X:123.63, Y:182.30, Z:6.69 [[ 7.06704728e-01 -7.07153282e-01 2.24201538e-02 1.23631114e+02] [ 7.06779488e-01 7.07060162e-01 2.29930853e-02 1.82304528e+02] [-3.21120333e-02 -4.03217243e-04 9.99484194e-01 6.69112827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.766875 meters Centerline goodness [0,1] 0.9946292626968402 Centerline is valid? [True, True] Translation: X:123.65, Y:182.32, Z:6.69 [[ 7.05810313e-01 -7.08042283e-01 2.25372424e-02 1.23651286e+02] [ 7.07664606e-01 7.06169941e-01 2.31261728e-02 1.82324870e+02] [-3.22894314e-02 -3.73882472e-04 9.99478490e-01 6.68987370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters Centerline goodness [0,1] 0.9949022273345185 Centerline is valid? [True, True] Translation: X:123.67, Y:182.34, Z:6.69 [[ 7.04867573e-01 -7.08977389e-01 2.26443648e-02 1.23671069e+02] [ 7.08596175e-01 7.05231129e-01 2.32489698e-02 1.82344594e+02] [-3.24525048e-02 -3.41734574e-04 9.99473220e-01 6.68882265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82687500000003 meters Centerline goodness [0,1] 0.9953233180927499 Centerline is valid? [True, True] Translation: X:123.69, Y:182.36, Z:6.69 [[ 7.02965253e-01 -7.10866962e-01 2.25392025e-02 1.23691255e+02] [ 7.10489818e-01 7.03326449e-01 2.31543557e-02 1.82362829e+02] [-3.23120837e-02 -2.62833651e-04 9.99477794e-01 6.68835813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters Centerline goodness [0,1] 0.9959229542900452 Centerline is valid? [True, True] Translation: X:123.71, Y:182.38, Z:6.69 [[ 7.02038971e-01 -7.11778536e-01 2.26406412e-02 1.23711345e+02] [ 7.11398162e-01 7.02403918e-01 2.32678284e-02 1.82381921e+02] [-3.24644159e-02 -2.28411760e-04 9.99472866e-01 6.68756583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88687500000003 meters Centerline goodness [0,1] 0.9957922797480595 Centerline is valid? [True, True] Translation: X:123.73, Y:182.40, Z:6.69 [[ 7.01217845e-01 -7.12595083e-01 2.24004636e-02 1.23731050e+02] [ 7.12222752e-01 7.01575518e-01 2.30335145e-02 1.82401921e+02] [-3.21291860e-02 -1.97391529e-04 9.99483705e-01 6.68628225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters Centerline goodness [0,1] 0.9955912660110088 Centerline is valid? [True, True] Translation: X:123.75, Y:182.42, Z:6.69 [[ 7.00231589e-01 -7.13553278e-01 2.27473549e-02 1.23751256e+02] [ 7.13169434e-01 7.00600951e-01 2.34022469e-02 1.82422047e+02] [-3.26355685e-02 -1.64274312e-04 9.99467304e-01 6.68517144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94687500000003 meters Centerline goodness [0,1] 0.995645144466465 Centerline is valid? [True, True] Translation: X:123.77, Y:182.44, Z:6.69 [[ 6.98835530e-01 -7.14906577e-01 2.31837748e-02 1.23771497e+02] [ 7.14508155e-01 6.99219975e-01 2.38646949e-02 1.82442210e+02] [-3.32715857e-02 -1.12500566e-04 9.99446341e-01 6.68501188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters Centerline goodness [0,1] 0.9951463911069359 Centerline is valid? [True, True] Translation: X:123.79, Y:182.46, Z:6.68 [[ 6.98522007e-01 -7.15213964e-01 2.31514917e-02 1.23791265e+02] [ 7.14816385e-01 6.98905554e-01 2.38445471e-02 1.82462094e+02] [-3.32346592e-02 -1.06875316e-04 9.99447570e-01 6.68362147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00687500000004 meters Centerline goodness [0,1] 0.9950460198680677 Centerline is valid? [True, True] Translation: X:123.81, Y:182.48, Z:6.68 [[ 6.97902769e-01 -7.15809977e-01 2.34051930e-02 1.23811372e+02] [ 7.15403553e-01 6.98295117e-01 2.41181893e-02 1.82482110e+02] [-3.36077724e-02 -8.79928681e-05 9.99435095e-01 6.68246369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters Centerline goodness [0,1] 0.99553058024046 Centerline is valid? [True, True] Translation: X:123.83, Y:182.50, Z:6.68 [[ 6.97207797e-01 -7.16498781e-01 2.30387602e-02 1.23831382e+02] [ 7.16104938e-01 6.97588340e-01 2.37534380e-02 1.82501324e+02] [-3.30908799e-02 -6.29121993e-05 9.99452345e-01 6.68219033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06687500000004 meters Centerline goodness [0,1] 0.9957507820646507 Centerline is valid? [True, True] Translation: X:123.85, Y:182.52, Z:6.68 [[ 6.96723407e-01 -7.16966576e-01 2.31391965e-02 1.23850023e+02] [ 7.16569099e-01 6.97107543e-01 2.38704910e-02 1.82520747e+02] [-3.32448526e-02 -5.02966316e-05 9.99447236e-01 6.68112604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters Centerline goodness [0,1] 0.9956061200470773 Centerline is valid? [True, True] Translation: X:123.87, Y:182.54, Z:6.68 [[ 6.96659950e-01 -7.17031793e-01 2.30286984e-02 1.23869265e+02] [ 7.16637765e-01 6.97040461e-01 2.37678188e-02 1.82540846e+02] [-3.30942163e-02 -5.48525231e-05 9.99452235e-01 6.68006299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12687500000004 meters Centerline goodness [0,1] 0.9954522882308355 Centerline is valid? [True, True] Translation: X:123.89, Y:182.56, Z:6.68 [[ 6.96352685e-01 -7.17326697e-01 2.31375688e-02 1.23888936e+02] [ 7.16928668e-01 6.96736971e-01 2.38930496e-02 1.82561106e+02] [-3.32599220e-02 -5.00029293e-05 9.99446734e-01 6.67891965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters Centerline goodness [0,1] 0.9961958232763144 Centerline is valid? [True, True] Translation: X:123.91, Y:182.58, Z:6.68 [[ 6.95898561e-01 -7.17768389e-01 2.31026559e-02 1.23908338e+02] [ 7.17371376e-01 6.96281939e-01 2.38698570e-02 1.82580405e+02] [-3.32189909e-02 -3.78151182e-05 9.99448096e-01 6.67755359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18687500000004 meters Centerline goodness [0,1] 0.9957227951402556 Centerline is valid? [True, True] Translation: X:123.93, Y:182.60, Z:6.68 [[ 6.95788433e-01 -7.17872676e-01 2.31792550e-02 1.23927721e+02] [ 7.17472652e-01 6.96174417e-01 2.39619545e-02 1.82600158e+02] [-3.33384367e-02 -4.19692599e-05 9.99444119e-01 6.67696576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters Centerline goodness [0,1] 0.9960767902913638 Centerline is valid? [True, True] Translation: X:123.95, Y:182.62, Z:6.68 [[ 6.95582605e-01 -7.18068932e-01 2.32776526e-02 1.23947217e+02] [ 7.17665198e-01 6.95971987e-01 2.40760508e-02 1.82620218e+02] [-3.34888583e-02 -4.13209394e-05 9.99439090e-01 6.67622267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.246875 meters Centerline goodness [0,1] 0.994905060797857 Centerline is valid? [True, True] Translation: X:123.97, Y:182.64, Z:6.68 [[ 6.95691092e-01 -7.17966509e-01 2.31947322e-02 1.23966756e+02] [ 7.17565133e-01 6.96077646e-01 2.40039834e-02 1.82641068e+02] [-3.33793907e-02 -5.56263432e-05 9.99442751e-01 6.67508491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters Centerline goodness [0,1] 0.9958027282266527 Centerline is valid? [True, True] Translation: X:123.99, Y:182.66, Z:6.67 [[ 6.95928825e-01 -7.17738053e-01 2.31334847e-02 1.23985490e+02] [ 7.17338195e-01 6.96313206e-01 2.39548190e-02 1.82661107e+02] [-3.33014360e-02 -7.63168546e-05 9.99445350e-01 6.67343918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.306875 meters Centerline goodness [0,1] 0.9946237969106502 Centerline is valid? [True, True] Translation: X:124.00, Y:182.68, Z:6.67 [[ 6.96812749e-01 -7.16886286e-01 2.29356926e-02 1.24003897e+02] [ 7.16492515e-01 6.97190102e-01 2.37578808e-02 1.82682143e+02] [-3.30222369e-02 -1.21542156e-04 9.99454610e-01 6.67071673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters Centerline goodness [0,1] 0.9950948246465389 Centerline is valid? [True, True] Translation: X:124.02, Y:182.70, Z:6.67 [[ 6.97426157e-01 -7.16294284e-01 2.27871367e-02 1.24022722e+02] [ 7.15904862e-01 6.97798304e-01 2.36168471e-02 1.82702349e+02] [-3.28174379e-02 -1.57584923e-04 9.99461350e-01 6.66833304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.366875 meters Centerline goodness [0,1] 0.9949696080486271 Centerline is valid? [True, True] Translation: X:124.04, Y:182.72, Z:6.67 [[ 6.97485086e-01 -7.16254289e-01 2.22339446e-02 1.24041960e+02] [ 7.15883166e-01 6.97839356e-01 2.30548414e-02 1.82722133e+02] [-3.20288507e-02 -1.63501396e-04 9.99486931e-01 6.66672429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters Centerline goodness [0,1] 0.9946573082261739 Centerline is valid? [True, True] Translation: X:124.06, Y:182.74, Z:6.66 [[ 6.97949318e-01 -7.15822932e-01 2.15471392e-02 1.24060531e+02] [ 7.15473812e-01 6.98281816e-01 2.23546265e-02 1.82741658e+02] [-3.10479298e-02 -1.85982491e-04 9.99517880e-01 6.66439282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.426875 meters Centerline goodness [0,1] 0.9947074622149665 Centerline is valid? [True, True] Translation: X:124.08, Y:182.76, Z:6.66 [[ 6.98539633e-01 -7.15244768e-01 2.16171838e-02 1.24080189e+02] [ 7.14892893e-01 6.98874005e-01 2.24338410e-02 1.82761448e+02] [-3.11533752e-02 -2.16956043e-04 9.99514592e-01 6.66343275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters Centerline goodness [0,1] 0.9950399704508878 Centerline is valid? [True, True] Translation: X:124.10, Y:182.78, Z:6.66 [[ 6.98744894e-01 -7.15056872e-01 2.11953529e-02 1.24099654e+02] [ 7.14718154e-01 6.99066247e-01 2.20077802e-02 1.82781548e+02] [-3.05537703e-02 -2.29120568e-04 9.99533098e-01 6.66239901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.486875 meters Centerline goodness [0,1] 0.9951352914880749 Centerline is valid? [True, True] Translation: X:124.12, Y:182.80, Z:6.66 [[ 6.99012905e-01 -7.14793007e-01 2.12583171e-02 1.24118392e+02] [ 7.14451771e-01 6.99336039e-01 2.20855387e-02 1.82801633e+02] [-3.06532959e-02 -2.50034245e-04 9.99530046e-01 6.66072244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters Centerline goodness [0,1] 0.9948396608920015 Centerline is valid? [True, True] Translation: X:124.14, Y:182.82, Z:6.66 [[ 6.99368800e-01 -7.14447148e-01 2.11791271e-02 1.24137717e+02] [ 7.14107967e-01 6.99689359e-01 2.20139119e-02 1.82821731e+02] [-3.05465864e-02 -2.71659758e-04 9.99533307e-01 6.65971503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.546875 meters Centerline goodness [0,1] 0.9944238900634249 Centerline is valid? [True, True] Translation: X:124.16, Y:182.84, Z:6.66 [[ 7.00343637e-01 -7.13484929e-01 2.14019900e-02 1.24156660e+02] [ 7.13137723e-01 7.00670500e-01 2.22584444e-02 1.82841095e+02] [-3.08768076e-02 -3.25993439e-04 9.99523145e-01 6.65890279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters Centerline goodness [0,1] 0.9948290417897847 Centerline is valid? [True, True] Translation: X:124.18, Y:182.86, Z:6.66 [[ 7.00594974e-01 -7.13227983e-01 2.17376913e-02 1.24176495e+02] [ 7.12869326e-01 7.00932038e-01 2.26186438e-02 1.82861418e+02] [-3.13688939e-02 -3.50374781e-04 9.99507814e-01 6.65769134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.606875 meters Centerline goodness [0,1] 0.9948290417897847 Centerline is valid? [True, True] Translation: X:124.20, Y:182.88, Z:6.66 [[ 7.00399870e-01 -7.13419766e-01 2.17315419e-02 1.24195554e+02] [ 7.13061018e-01 7.00736837e-01 2.26245500e-02 1.82881398e+02] [-3.13688931e-02 -3.50316508e-04 9.99507814e-01 6.65656397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters Centerline goodness [0,1] 0.99471696119608 Centerline is valid? [True, True] Translation: X:124.22, Y:182.90, Z:6.66 [[ 7.00562637e-01 -7.13262264e-01 2.16549044e-02 1.24215037e+02] [ 7.12905583e-01 7.00897146e-01 2.25570498e-02 1.82901383e+02] [-3.12669531e-02 -3.64724069e-04 9.99511003e-01 6.65558015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.666875 meters Centerline goodness [0,1] 0.9947336385529415 Centerline is valid? [True, True] Translation: X:124.24, Y:182.92, Z:6.65 [[ 7.01139122e-01 -7.12689891e-01 2.18414985e-02 1.24235302e+02] [ 7.12326350e-01 7.01479121e-01 2.27643184e-02 1.82920721e+02] [-3.15452547e-02 -4.02679273e-04 9.99502243e-01 6.65476722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters Centerline goodness [0,1] 0.9946536739531209 Centerline is valid? [True, True] Translation: X:124.25, Y:182.94, Z:6.65 [[ 7.00597984e-01 -7.13217491e-01 2.19835135e-02 1.24254943e+02] [ 7.12849084e-01 7.00942693e-01 2.29243186e-02 1.82940098e+02] [-3.17592082e-02 -3.89803961e-04 9.99495473e-01 6.65383775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.726875 meters Centerline goodness [0,1] 0.9950945486193528 Centerline is valid? [True, True] Translation: X:124.28, Y:182.96, Z:6.65 [[ 7.00005048e-01 -7.13793489e-01 2.21762943e-02 1.24275310e+02] [ 7.13418474e-01 7.00356133e-01 2.31380047e-02 1.82959547e+02] [-3.20470608e-02 -3.75742028e-04 9.99486290e-01 6.65350521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters Centerline goodness [0,1] 0.9952373392602001 Centerline is valid? [True, True] Translation: X:124.30, Y:182.98, Z:6.65 [[ 6.98999789e-01 -7.14767470e-01 2.25112841e-02 1.24296038e+02] [ 7.14381321e-01 6.99362100e-01 2.34942670e-02 1.82978553e+02] [-3.25364767e-02 -3.40846830e-04 9.99470491e-01 6.65311225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.786875 meters Centerline goodness [0,1] 0.9953842907633065 Centerline is valid? [True, True] Translation: X:124.31, Y:183.00, Z:6.65 [[ 6.98870541e-01 -7.14902586e-01 2.22319467e-02 1.24314091e+02] [ 7.14525592e-01 6.99223982e-01 2.32163887e-02 1.82998103e+02] [-3.21425666e-02 -3.39955309e-04 9.99483236e-01 6.65067694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters Centerline goodness [0,1] 0.9953169647581754 Centerline is valid? [True, True] Translation: X:124.33, Y:183.02, Z:6.65 [[ 6.98553046e-01 -7.15219855e-01 2.20045667e-02 1.24332165e+02] [ 7.14850447e-01 6.98899457e-01 2.29866788e-02 1.83018040e+02] [-3.18195089e-02 -3.27440145e-04 9.99493578e-01 6.64853925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.846875 meters Centerline goodness [0,1] 0.9953952417498081 Centerline is valid? [True, True] Translation: X:124.35, Y:183.04, Z:6.65 [[ 6.98298214e-01 -7.15478450e-01 2.16838953e-02 1.24351567e+02] [ 7.15119525e-01 6.98634730e-01 2.26622888e-02 1.83038272e+02] [-3.13635016e-02 -3.18458906e-04 9.99507994e-01 6.64614178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters Centerline goodness [0,1] 0.9959539865132884 Centerline is valid? [True, True] Translation: X:124.37, Y:183.06, Z:6.64 [[ 6.97026554e-01 -7.16724474e-01 2.14479072e-02 1.24371800e+02] [ 7.16373534e-01 6.97356406e-01 2.24277283e-02 1.83057971e+02] [-3.10313373e-02 -2.68009086e-04 9.99518376e-01 6.64450886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.906875 meters Centerline goodness [0,1] 0.9957561933053949 Centerline is valid? [True, True] Translation: X:124.39, Y:183.08, Z:6.64 [[ 6.95145349e-01 -7.18565986e-01 2.08774401e-02 1.24393823e+02] [ 7.18233950e-01 6.95458761e-01 2.18427281e-02 1.83076578e+02] [-3.02148401e-02 -1.88984649e-04 9.99543410e-01 6.64446242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters Centerline goodness [0,1] 0.9960527710077355 Centerline is valid? [True, True] Translation: X:124.41, Y:183.10, Z:6.64 [[ 6.94807417e-01 -7.18893552e-01 2.08498021e-02 1.24412540e+02] [ 7.18562193e-01 6.95120153e-01 2.18253771e-02 1.83095728e+02] [-3.01832405e-02 -1.82554327e-04 9.99544366e-01 6.64309209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.966875 meters Centerline goodness [0,1] 0.996341560404019 Centerline is valid? [True, True] Translation: X:124.43, Y:183.12, Z:6.64 [[ 6.94441634e-01 -7.19241627e-01 2.10309089e-02 1.24431736e+02] [ 7.18904323e-01 6.94759995e-01 2.20255387e-02 1.83116451e+02] [-3.04531185e-02 -1.76239774e-04 9.99536181e-01 6.64197248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters Centerline goodness [0,1] 0.9966354942114605 Centerline is valid? [True, True] Translation: X:124.45, Y:183.14, Z:6.64 [[ 6.94092981e-01 -7.19571297e-01 2.12622184e-02 1.24451063e+02] [ 7.19226305e-01 6.94418548e-01 2.22801098e-02 1.83137278e+02] [-3.07970063e-02 -1.72121086e-04 9.99525645e-01 6.64064834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.026875 meters Centerline goodness [0,1] 0.9965082136338386 Centerline is valid? [True, True] Translation: X:124.47, Y:183.16, Z:6.64 [[ 6.94421574e-01 -7.19256242e-01 2.11928308e-02 1.24470052e+02] [ 7.18912985e-01 6.94744860e-01 2.22193334e-02 1.83158336e+02] [-3.07050045e-02 -1.93783197e-04 9.99528471e-01 6.63914984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters Centerline goodness [0,1] 0.9960845525013889 Centerline is valid? [True, True] Translation: X:124.49, Y:183.18, Z:6.64 [[ 6.94303080e-01 -7.19373653e-01 2.10898267e-02 1.24487775e+02] [ 7.19033401e-01 6.94623286e-01 2.21237167e-02 1.83178528e+02] [-3.05647036e-02 -1.96274815e-04 9.99532771e-01 6.63747778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.086875 meters Centerline goodness [0,1] 0.9964012595591543 Centerline is valid? [True, True] Translation: X:124.51, Y:183.20, Z:6.64 [[ 6.94370665e-01 -7.19311932e-01 2.09696063e-02 1.24506934e+02] [ 7.18975206e-01 6.94687197e-01 2.20079762e-02 1.83199135e+02] [-3.03979169e-02 -2.05066082e-04 9.99537856e-01 6.63612038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters Centerline goodness [0,1] 0.9966893556161771 Centerline is valid? [True, True] Translation: X:124.53, Y:183.22, Z:6.64 [[ 6.94222868e-01 -7.19451182e-01 2.10856901e-02 1.24525642e+02] [ 7.19110404e-01 6.94542982e-01 2.21420990e-02 1.83219469e+02] [-3.05750774e-02 -2.08612363e-04 9.99532451e-01 6.63531466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.146875 meters Centerline goodness [0,1] 0.9963758531294641 Centerline is valid? [True, True] Translation: X:124.54, Y:183.24, Z:6.63 [[ 6.94113919e-01 -7.19540340e-01 2.16232649e-02 1.24544098e+02] [ 7.19181625e-01 6.94450611e-01 2.27187122e-02 1.83239989e+02] [-3.13633194e-02 -2.18319579e-04 9.99508026e-01 6.63458120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters Centerline goodness [0,1] 0.9959823434567705 Centerline is valid? [True, True] Translation: X:124.56, Y:183.26, Z:6.63 [[ 6.94101230e-01 -7.19547461e-01 2.17929591e-02 1.24563143e+02] [ 7.19182755e-01 6.94443230e-01 2.29077410e-02 1.83261280e+02] [-3.16171797e-02 -2.27170811e-04 9.99500026e-01 6.63261821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.206875 meters Centerline goodness [0,1] 0.9959936742224565 Centerline is valid? [True, True] Translation: X:124.58, Y:183.28, Z:6.63 [[ 6.94431588e-01 -7.19233379e-01 2.16360031e-02 1.24581882e+02] [ 7.18873380e-01 6.94768512e-01 2.27547205e-02 1.83281680e+02] [-3.13979682e-02 -2.48050047e-04 9.99506931e-01 6.63187452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters Centerline goodness [0,1] 0.9958717888038705 Centerline is valid? [True, True] Translation: X:124.60, Y:183.30, Z:6.63 [[ 6.94569992e-01 -7.19104894e-01 2.14634022e-02 1.24599848e+02] [ 7.18750162e-01 6.94901492e-01 2.25858608e-02 1.83302330e+02] [-3.11565532e-02 -2.60637383e-04 9.99514483e-01 6.62999638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.266875 meters Centerline goodness [0,1] 0.9958144677266505 Centerline is valid? [True, True] Translation: X:124.62, Y:183.32, Z:6.63 [[ 6.95303096e-01 -7.18399478e-01 2.13493524e-02 1.24617946e+02] [ 7.18047836e-01 6.95630722e-01 2.24767617e-02 1.83323809e+02] [-3.09985593e-02 -2.98305755e-04 9.99519385e-01 6.62872305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters Centerline goodness [0,1] 0.9955585924154424 Centerline is valid? [True, True] Translation: X:124.64, Y:183.34, Z:6.63 [[ 6.95516406e-01 -7.18196196e-01 2.12403450e-02 1.24635338e+02] [ 7.17847668e-01 6.95840589e-01 2.23741180e-02 1.83344200e+02] [-3.08489007e-02 -3.14234015e-04 9.99524010e-01 6.62722782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32687500000003 meters Centerline goodness [0,1] 0.9948540222642303 Centerline is valid? [True, True] Translation: X:124.65, Y:183.37, Z:6.63 [[ 6.95519688e-01 -7.18199124e-01 2.10328700e-02 1.24654206e+02] [ 7.17857049e-01 6.95837565e-01 2.21661755e-02 1.83365141e+02] [-3.05551889e-02 -3.18417505e-04 9.99533030e-01 6.62574793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters Centerline goodness [0,1] 0.9956083835169748 Centerline is valid? [True, True] Translation: X:124.67, Y:183.39, Z:6.62 [[ 6.95257965e-01 -7.18457280e-01 2.08686214e-02 1.24671973e+02] [ 7.18120270e-01 6.95571016e-01 2.20054342e-02 1.83385434e+02] [-3.03255726e-02 -3.13273314e-04 9.99540025e-01 6.62434173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38687500000003 meters Centerline goodness [0,1] 0.9954537093001866 Centerline is valid? [True, True] Translation: X:124.69, Y:183.41, Z:6.62 [[ 6.94726648e-01 -7.18964412e-01 2.10964285e-02 1.24691716e+02] [ 7.18619914e-01 6.95046821e-01 2.22561316e-02 1.83405474e+02] [-3.06643721e-02 -3.01614068e-04 9.99529692e-01 6.62312091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters Centerline goodness [0,1] 0.9960425621134291 Centerline is valid? [True, True] Translation: X:124.71, Y:183.43, Z:6.62 [[ 6.94022966e-01 -7.19645248e-01 2.10437408e-02 1.24710476e+02] [ 7.19302394e-01 6.94341874e-01 2.22132297e-02 1.83425302e+02] [-3.05971957e-02 -2.79678440e-04 9.99531757e-01 6.62156932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44687500000003 meters Centerline goodness [0,1] 0.9955939049017808 Centerline is valid? [True, True] Translation: X:124.73, Y:183.45, Z:6.62 [[ 6.93066937e-01 -7.20555141e-01 2.14128293e-02 1.24729834e+02] [ 7.20200244e-01 6.93397596e-01 2.26137766e-02 1.83445250e+02] [-3.11420773e-02 -2.51336043e-04 9.99514936e-01 6.62070356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters Centerline goodness [0,1] 0.996297268907563 Centerline is valid? [True, True] Translation: X:124.75, Y:183.46, Z:6.62 [[ 6.91176690e-01 -7.22343303e-01 2.22471686e-02 1.24750497e+02] [ 7.21960694e-01 6.91534611e-01 2.35082499e-02 1.83464657e+02] [-3.23657139e-02 -1.86773073e-04 9.99476076e-01 6.62017340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50687500000004 meters Centerline goodness [0,1] 0.995927268905355 Centerline is valid? [True, True] Translation: X:124.77, Y:183.48, Z:6.62 [[ 6.90077133e-01 -7.23397722e-01 2.21197998e-02 1.24769387e+02] [ 7.23019612e-01 6.90431542e-01 2.33864495e-02 1.83484001e+02] [-3.21899118e-02 -1.45404911e-04 9.99481760e-01 6.61884696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters Centerline goodness [0,1] 0.996506710792425 Centerline is valid? [True, True] Translation: X:124.79, Y:183.50, Z:6.62 [[ 6.89014332e-01 -7.24407612e-01 2.22004962e-02 1.24789269e+02] [ 7.24026902e-01 6.89371888e-01 2.34828761e-02 1.83503934e+02] [-3.23155722e-02 -1.06281694e-04 9.99477710e-01 6.61774940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56687500000004 meters Centerline goodness [0,1] 0.9964429689352621 Centerline is valid? [True, True] Translation: X:124.81, Y:183.52, Z:6.62 [[ 6.87989960e-01 -7.25373520e-01 2.24292726e-02 1.24809024e+02] [ 7.24984999e-01 6.88355469e-01 2.37381470e-02 1.83523953e+02] [-3.26583357e-02 -7.07206519e-05 9.99466572e-01 6.61629304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters Centerline goodness [0,1] 0.9962857594436542 Centerline is valid? [True, True] Translation: X:124.83, Y:183.54, Z:6.62 [[ 6.87103054e-01 -7.26214920e-01 2.23893386e-02 1.24828838e+02] [ 7.25827799e-01 6.87467736e-01 2.37090365e-02 1.83544450e+02] [-3.26098040e-02 -3.97470368e-05 9.99468158e-01 6.61513386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62687500000004 meters Centerline goodness [0,1] 0.9961019254918376 Centerline is valid? [True, True] Translation: X:124.85, Y:183.56, Z:6.61 [[ 6.85907633e-01 -7.27345080e-01 2.23574284e-02 1.24847305e+02] [ 7.26959220e-01 6.86271911e-01 2.36887553e-02 1.83563732e+02] [-3.25731747e-02 4.64065687e-06 9.99469353e-01 6.61260721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters Centerline goodness [0,1] 0.9961321896542651 Centerline is valid? [True, True] Translation: X:124.87, Y:183.58, Z:6.61 [[ 6.85162869e-01 -7.28053582e-01 2.21319888e-02 1.24865805e+02] [ 7.27675465e-01 6.85520227e-01 2.34613927e-02 1.83583317e+02] [-3.22530770e-02 3.00301063e-05 9.99479734e-01 6.61052493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68687500000004 meters Centerline goodness [0,1] 0.9956787521079258 Centerline is valid? [True, True] Translation: X:124.89, Y:183.60, Z:6.61 [[ 6.84368301e-01 -7.28806501e-01 2.19342840e-02 1.24885140e+02] [ 7.28435149e-01 6.84719710e-01 2.32626958e-02 1.83603305e+02] [-3.19728405e-02 5.74517802e-05 9.99488736e-01 6.60853131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters Centerline goodness [0,1] 0.995967210522154 Centerline is valid? [True, True] Translation: X:124.90, Y:183.62, Z:6.61 [[ 6.83490420e-01 -7.29627865e-01 2.20005620e-02 1.24904843e+02] [ 7.29254277e-01 6.83844406e-01 2.33458395e-02 1.83623247e+02] [-3.20787363e-02 8.73462606e-05 9.99485341e-01 6.60710900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.746875 meters Centerline goodness [0,1] 0.9962243227543962 Centerline is valid? [True, True] Translation: X:124.93, Y:183.64, Z:6.61 [[ 6.82851489e-01 -7.30232821e-01 2.17685862e-02 1.24925157e+02] [ 7.29866970e-01 6.83198373e-01 2.31125479e-02 1.83643099e+02] [-3.17498038e-02 1.05734288e-04 9.99495842e-01 6.60563582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters Centerline goodness [0,1] 0.9966201050936072 Centerline is valid? [True, True] Translation: X:124.95, Y:183.66, Z:6.60 [[ 6.81426886e-01 -7.31552417e-01 2.21011291e-02 1.24945463e+02] [ 7.31175589e-01 6.81785182e-01 2.34781509e-02 1.83661593e+02] [-3.22437203e-02 1.61162784e-04 9.99480023e-01 6.60463152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.806875 meters Centerline goodness [0,1] 0.9965381464549035 Centerline is valid? [True, True] Translation: X:124.96, Y:183.68, Z:6.60 [[ 6.80858742e-01 -7.32076271e-01 2.22644851e-02 1.24964857e+02] [ 7.31693749e-01 6.81222652e-01 2.36633975e-02 1.83682339e+02] [-3.24904833e-02 1.79353517e-04 9.99472029e-01 6.60442765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters Centerline goodness [0,1] 0.9966164419772667 Centerline is valid? [True, True] Translation: X:124.98, Y:183.70, Z:6.60 [[ 6.80681812e-01 -7.32222877e-01 2.28457873e-02 1.24984073e+02] [ 7.31819731e-01 6.81065067e-01 2.42951809e-02 1.83703399e+02] [-3.33489549e-02 1.81710105e-04 9.99443752e-01 6.60340805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.866875 meters Centerline goodness [0,1] 0.9960022093053839 Centerline is valid? [True, True] Translation: X:125.00, Y:183.72, Z:6.60 [[ 6.80614772e-01 -7.32276110e-01 2.31350545e-02 1.25003457e+02] [ 7.31862287e-01 6.81007832e-01 2.46155704e-02 1.83724298e+02] [-3.37805475e-02 1.77953019e-04 9.99429259e-01 6.60223297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters Centerline goodness [0,1] 0.9960609104848517 Centerline is valid? [True, True] Translation: X:125.02, Y:183.75, Z:6.60 [[ 6.80834035e-01 -7.32064588e-01 2.33764074e-02 1.25022454e+02] [ 7.31641476e-01 6.81235212e-01 2.48864827e-02 1.83745160e+02] [-3.41433445e-02 1.59584781e-04 9.99416933e-01 6.60115568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.926875 meters Centerline goodness [0,1] 0.996282625889797 Centerline is valid? [True, True] Translation: X:125.04, Y:183.76, Z:6.60 [[ 6.80809338e-01 -7.32077969e-01 2.36747075e-02 1.25040634e+02] [ 7.31643506e-01 6.81220833e-01 2.52181719e-02 1.83764692e+02] [-3.45893720e-02 1.52679105e-04 9.99401597e-01 6.59929435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters Centerline goodness [0,1] 0.9964002312260234 Centerline is valid? [True, True] Translation: X:125.06, Y:183.79, Z:6.60 [[ 6.80847039e-01 -7.32036559e-01 2.38701825e-02 1.25059590e+02] [ 7.31594369e-01 6.81265335e-01 2.54405837e-02 1.83785874e+02] [-3.48853653e-02 1.42145046e-04 9.99391310e-01 6.59849262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.986875 meters Centerline goodness [0,1] 0.9962927906609875 Centerline is valid? [True, True] Translation: X:125.08, Y:183.81, Z:6.60 [[ 6.81373927e-01 -7.31523383e-01 2.45583587e-02 1.25077803e+02] [ 7.31054415e-01 6.81816346e-01 2.61899433e-02 1.83806456e+02] [-3.59028463e-02 1.08352040e-04 9.99355279e-01 6.59702562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters Centerline goodness [0,1] 0.9963121987198061 Centerline is valid? [True, True] Translation: X:125.10, Y:183.83, Z:6.60 [[ 6.81716887e-01 -7.31204691e-01 2.45313248e-02 1.25096953e+02] [ 7.30736228e-01 6.82158114e-01 2.61700626e-02 1.83827669e+02] [-3.58699148e-02 8.53541696e-05 9.99356464e-01 6.59590958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.046875 meters Centerline goodness [0,1] 0.9956050318437812 Centerline is valid? [True, True] Translation: X:125.12, Y:183.85, Z:6.59 [[ 6.82195364e-01 -7.30758786e-01 2.45169851e-02 1.25115633e+02] [ 7.30290069e-01 6.82635770e-01 2.61690715e-02 1.83848404e+02] [-3.58594499e-02 5.20915128e-05 9.99356842e-01 6.59420236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters Centerline goodness [0,1] 0.9960781217098337 Centerline is valid? [True, True] Translation: X:125.13, Y:183.87, Z:6.59 [[ 6.82859259e-01 -7.30147052e-01 2.42593099e-02 1.25133601e+02] [ 7.29687289e-01 6.83290042e-01 2.59071180e-02 1.83868742e+02] [-3.54921507e-02 1.07946624e-05 9.99369955e-01 6.59224956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.106875 meters Centerline goodness [0,1] 0.9957287492090277 Centerline is valid? [True, True] Translation: X:125.15, Y:183.89, Z:6.59 [[ 6.83659821e-01 -7.29399789e-01 2.41908257e-02 1.25152387e+02] [ 7.28941647e-01 6.84087674e-01 2.58481915e-02 1.83889980e+02] [-3.54023111e-02 -3.76696260e-05 9.99373141e-01 6.59081353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters Centerline goodness [0,1] 0.9947088554280299 Centerline is valid? [True, True] Translation: X:125.17, Y:183.91, Z:6.59 [[ 6.85502597e-01 -7.27672510e-01 2.40605187e-02 1.25170644e+02] [ 7.27217720e-01 6.85924704e-01 2.57232813e-02 1.83911631e+02] [-3.52218288e-02 -1.36140575e-04 9.99379510e-01 6.58963167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.166875 meters Centerline goodness [0,1] 0.99497936545488 Centerline is valid? [True, True] Translation: X:125.19, Y:183.93, Z:6.59 [[ 6.86638713e-01 -7.26598127e-01 2.41337887e-02 1.25188758e+02] [ 7.26139367e-01 6.87062676e-01 2.58166531e-02 1.83933029e+02] [-3.53397572e-02 -2.02219403e-04 9.99375335e-01 6.58769403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters Centerline goodness [0,1] 0.9943326424054785 Centerline is valid? [True, True] Translation: X:125.21, Y:183.95, Z:6.59 [[ 6.87653882e-01 -7.25639016e-01 2.40864251e-02 1.25206556e+02] [ 7.25181170e-01 6.88075542e-01 2.57743755e-02 1.83954347e+02] [-3.52761725e-02 -2.56827429e-04 9.99377569e-01 6.58574763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.226875 meters Centerline goodness [0,1] 0.9946100857127833 Centerline is valid? [True, True] Translation: X:125.22, Y:183.98, Z:6.58 [[ 6.88784999e-01 -7.24575540e-01 2.37805076e-02 1.25224943e+02] [ 7.24128324e-01 6.89195320e-01 2.54554642e-02 1.83976051e+02] [-3.48338213e-02 -3.13202730e-04 9.99393069e-01 6.58385053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters Centerline goodness [0,1] 0.9940314989614283 Centerline is valid? [True, True] Translation: X:125.24, Y:184.00, Z:6.58 [[ 6.90593840e-01 -7.22858696e-01 2.35680690e-02 1.25243590e+02] [ 7.22417979e-01 6.90995761e-01 2.52412797e-02 1.83998729e+02] [-3.45313143e-02 -4.05475531e-04 9.99403534e-01 6.58114221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.286875 meters Centerline goodness [0,1] 0.9937582301817224 Centerline is valid? [True, True] Translation: X:125.26, Y:184.02, Z:6.58 [[ 6.91052083e-01 -7.22415921e-01 2.37119462e-02 1.25262299e+02] [ 7.21969136e-01 6.91458636e-01 2.54071138e-02 1.84020403e+02] [-3.47503335e-02 -4.38345558e-04 9.99395929e-01 6.57919868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters Centerline goodness [0,1] 0.9939112405847309 Centerline is valid? [True, True] Translation: X:125.28, Y:184.04, Z:6.58 [[ 6.91291257e-01 -7.22184644e-01 2.37852651e-02 1.25280964e+02] [ 7.21734485e-01 6.91700172e-01 2.54991026e-02 1.84041013e+02] [-3.48673323e-02 -4.60660594e-04 9.99391844e-01 6.57769968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.346875 meters Centerline goodness [0,1] 0.9942359319892614 Centerline is valid? [True, True] Translation: X:125.30, Y:184.06, Z:6.58 [[ 6.91157702e-01 -7.22310221e-01 2.38531997e-02 1.25300956e+02] [ 7.21857117e-01 6.91569034e-01 2.55846534e-02 1.84060665e+02] [-3.49761909e-02 -4.64428231e-04 9.99388038e-01 6.57682900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters Centerline goodness [0,1] 0.9940072543762813 Centerline is valid? [True, True] Translation: X:125.32, Y:184.08, Z:6.58 [[ 6.90444815e-01 -7.22986835e-01 2.39998911e-02 1.25320153e+02] [ 7.22528039e-01 6.90861665e-01 2.57563877e-02 1.84080845e+02] [-3.52021339e-02 -4.42770026e-04 9.99380115e-01 6.57541547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.406875 meters Centerline goodness [0,1] 0.9949218544440351 Centerline is valid? [True, True] Translation: X:125.34, Y:184.10, Z:6.57 [[ 6.90277629e-01 -7.23149656e-01 2.39033530e-02 1.25339529e+02] [ 7.22694155e-01 6.90691233e-01 2.56666952e-02 1.84100720e+02] [-3.50706982e-02 -4.42331993e-04 9.99384736e-01 6.57487884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters Centerline goodness [0,1] 0.9942796889416107 Centerline is valid? [True, True] Translation: X:125.36, Y:184.12, Z:6.57 [[ 6.89873518e-01 -7.23530231e-01 2.40527433e-02 1.25357355e+02] [ 7.23068724e-01 6.90292558e-01 2.58419160e-02 1.84121082e+02] [-3.53008371e-02 -4.35867094e-04 9.99376636e-01 6.57306479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.466875 meters Centerline goodness [0,1] 0.9943462711686126 Centerline is valid? [True, True] Translation: X:125.38, Y:184.14, Z:6.57 [[ 6.89290601e-01 -7.24083248e-01 2.41229652e-02 1.25377250e+02] [ 7.23618926e-01 6.89712459e-01 2.59301787e-02 1.84141580e+02] [-3.54135176e-02 -4.17594288e-04 9.99372657e-01 6.57203691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters Centerline goodness [0,1] 0.9943462711686126 Centerline is valid? [True, True] Translation: X:125.40, Y:184.16, Z:6.57 [[ 6.89092132e-01 -7.24272368e-01 2.41157919e-02 1.25395983e+02] [ 7.23807928e-01 6.89513860e-01 2.59368480e-02 1.84161865e+02] [-3.54135151e-02 -4.17676465e-04 9.99372657e-01 6.57090966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.526875 meters Centerline goodness [0,1] 0.9946535331454608 Centerline is valid? [True, True] Translation: X:125.42, Y:184.18, Z:6.57 [[ 6.88267980e-01 -7.25059524e-01 2.39973967e-02 1.25415833e+02] [ 7.24599609e-01 6.88686096e-01 2.58237779e-02 1.84182442e+02] [-3.52504495e-02 -3.85175155e-04 9.99378436e-01 6.56962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters Centerline goodness [0,1] 0.9946601430976431 Centerline is valid? [True, True] Translation: X:125.43, Y:184.20, Z:6.57 [[ 6.87839394e-01 -7.25468679e-01 2.39199679e-02 1.25434460e+02] [ 7.25011515e-01 6.88255082e-01 2.57535422e-02 1.84202851e+02] [-3.51464277e-02 -3.72048625e-04 9.99382104e-01 6.56796395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.586875 meters Centerline goodness [0,1] 0.9944116489571035 Centerline is valid? [True, True] Translation: X:125.45, Y:184.22, Z:6.57 [[ 6.87666285e-01 -7.25637814e-01 2.37664428e-02 1.25452496e+02] [ 7.25186105e-01 6.88076758e-01 2.56024823e-02 1.84222771e+02] [-3.49312662e-02 -3.70869769e-04 9.99389648e-01 6.56607264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters Centerline goodness [0,1] 0.994374231363006 Centerline is valid? [True, True] Translation: X:125.47, Y:184.24, Z:6.57 [[ 6.87153788e-01 -7.26121728e-01 2.38098261e-02 1.25471864e+02] [ 7.25668222e-01 6.87566077e-01 2.56616830e-02 1.84243669e+02] [-3.50043343e-02 -3.55488532e-04 9.99387097e-01 6.56543019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.646875 meters Centerline goodness [0,1] 0.9946215400760855 Centerline is valid? [True, True] Translation: X:125.49, Y:184.26, Z:6.56 [[ 6.86739521e-01 -7.26513826e-01 2.38010726e-02 1.25490935e+02] [ 7.26060390e-01 6.87151760e-01 2.56664742e-02 1.84264800e+02] [-3.50019973e-02 -3.45166189e-04 9.99387183e-01 6.56436611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters Centerline goodness [0,1] 0.9949738219895288 Centerline is valid? [True, True] Translation: X:125.51, Y:184.29, Z:6.56 [[ 6.86312530e-01 -7.26912997e-01 2.39291738e-02 1.25509572e+02] [ 7.26454406e-01 6.86729482e-01 2.58188730e-02 1.84285386e+02] [-3.52009435e-02 -3.36362321e-04 9.99380198e-01 6.56320580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.706875 meters Centerline goodness [0,1] 0.9954723894268516 Centerline is valid? [True, True] Translation: X:125.53, Y:184.31, Z:6.56 [[ 6.86212734e-01 -7.27011211e-01 2.38072014e-02 1.25528650e+02] [ 7.26556846e-01 6.86625505e-01 2.57014732e-02 1.84306570e+02] [-3.50318908e-02 -3.39393096e-04 9.99386137e-01 6.56182435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters Centerline goodness [0,1] 0.995731308105277 Centerline is valid? [True, True] Translation: X:125.55, Y:184.33, Z:6.56 [[ 6.86029217e-01 -7.27189620e-01 2.36467810e-02 1.25547740e+02] [ 7.26741012e-01 6.86436554e-01 2.55412999e-02 1.84327371e+02] [-3.48053830e-02 -3.36992446e-04 9.99394052e-01 6.56100119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.766875 meters Centerline goodness [0,1] 0.9946869765494137 Centerline is valid? [True, True] Translation: X:125.57, Y:184.35, Z:6.56 [[ 6.85753303e-01 -7.27444298e-01 2.38159796e-02 1.25567306e+02] [ 7.26988893e-01 6.86166657e-01 2.57384532e-02 1.84348084e+02] [-3.50650221e-02 -3.36276621e-04 9.99384976e-01 6.56073639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters Centerline goodness [0,1] 0.9951061212739787 Centerline is valid? [True, True] Translation: X:125.59, Y:184.37, Z:6.56 [[ 6.85720594e-01 -7.27478142e-01 2.37238344e-02 1.25585864e+02] [ 7.27025780e-01 6.86130771e-01 2.56530783e-02 1.84368779e+02] [-3.49397065e-02 -3.43004903e-04 9.99389363e-01 6.55921181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82687500000003 meters Centerline goodness [0,1] 0.9948675194747675 Centerline is valid? [True, True] Translation: X:125.60, Y:184.39, Z:6.56 [[ 6.85544452e-01 -7.27646275e-01 2.36580240e-02 1.25604678e+02] [ 7.27196029e-01 6.85952462e-01 2.55959810e-02 1.84390208e+02] [-3.48531001e-02 -3.43161641e-04 9.99392387e-01 6.55761007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters Centerline goodness [0,1] 0.994865646746071 Centerline is valid? [True, True] Translation: X:125.62, Y:184.41, Z:6.56 [[ 6.85417905e-01 -7.27758702e-01 2.38656140e-02 1.25622510e+02] [ 7.27300070e-01 6.85833179e-01 2.58352388e-02 1.84410361e+02] [-3.51696497e-02 -3.50472532e-04 9.99381295e-01 6.55617378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88687500000003 meters Centerline goodness [0,1] 0.9955664510744836 Centerline is valid? [True, True] Translation: X:125.64, Y:184.43, Z:6.56 [[ 6.85269501e-01 -7.27902538e-01 2.37403914e-02 1.25641560e+02] [ 7.27448358e-01 6.85680518e-01 2.57121225e-02 1.84430775e+02] [-3.49942431e-02 -3.49824605e-04 9.99387453e-01 6.55537831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters Centerline goodness [0,1] 0.9952259209015966 Centerline is valid? [True, True] Translation: X:125.66, Y:184.45, Z:6.55 [[ 6.84940722e-01 -7.28213854e-01 2.36810231e-02 1.25659631e+02] [ 7.27761626e-01 6.85349885e-01 2.56622239e-02 1.84450968e+02] [-3.49173734e-02 -3.42962267e-04 9.99390144e-01 6.55409957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94687500000003 meters Centerline goodness [0,1] 0.9951083704108449 Centerline is valid? [True, True] Translation: X:125.68, Y:184.47, Z:6.55 [[ 6.84522075e-01 -7.28619702e-01 2.32993162e-02 1.25677578e+02] [ 7.28181690e-01 6.84918406e-01 2.52626929e-02 1.84471105e+02] [-3.43650262e-02 -3.26735520e-04 9.99409295e-01 6.55213711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters Centerline goodness [0,1] 0.995325394338243 Centerline is valid? [True, True] Translation: X:125.70, Y:184.49, Z:6.55 [[ 6.84245462e-01 -7.28889506e-01 2.29833813e-02 1.25697594e+02] [ 7.28463039e-01 6.84631278e-01 2.49321997e-02 1.84491317e+02] [-3.39079604e-02 -3.17200753e-04 9.99424909e-01 6.55122506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00687500000004 meters Centerline goodness [0,1] 0.9951571328143307 Centerline is valid? [True, True] Translation: X:125.72, Y:184.51, Z:6.55 [[ 6.83840243e-01 -7.29289522e-01 2.23453792e-02 1.25715774e+02] [ 7.28886150e-01 6.84205162e-01 2.42544053e-02 1.84512123e+02] [-3.29773074e-02 -2.98900996e-04 9.99456056e-01 6.54831865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters Centerline goodness [0,1] 0.9951678270809519 Centerline is valid? [True, True] Translation: X:125.73, Y:184.53, Z:6.55 [[ 6.83824197e-01 -7.29311612e-01 2.21142338e-02 1.25733567e+02] [ 7.28916297e-01 6.84181615e-01 2.40114629e-02 1.84532016e+02] [-3.26419909e-02 -3.00193885e-04 9.99467063e-01 6.54692232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06687500000004 meters Centerline goodness [0,1] 0.994650740067515 Centerline is valid? [True, True] Translation: X:125.75, Y:184.55, Z:6.55 [[ 6.83821049e-01 -7.29325542e-01 2.17491970e-02 1.25752201e+02] [ 7.28942896e-01 6.84166766e-01 2.36239508e-02 1.84552384e+02] [-3.21096285e-02 -3.00632208e-04 9.99484308e-01 6.54516528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters Centerline goodness [0,1] 0.994966921779738 Centerline is valid? [True, True] Translation: X:125.77, Y:184.57, Z:6.54 [[ 6.83749460e-01 -7.29397610e-01 2.15824477e-02 1.25771260e+02] [ 7.29020610e-01 6.84089933e-01 2.34502561e-02 1.84573366e+02] [-3.18688959e-02 -3.00050785e-04 9.99492013e-01 6.54365179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12687500000004 meters Centerline goodness [0,1] 0.9956504753223075 Centerline is valid? [True, True] Translation: X:125.79, Y:184.59, Z:6.54 [[ 6.83352175e-01 -7.29773577e-01 2.14553206e-02 1.25790045e+02] [ 7.29400824e-01 6.83688849e-01 2.33237085e-02 1.84593653e+02] [-3.16897896e-02 -2.88778431e-04 9.99497711e-01 6.54272071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters Centerline goodness [0,1] 0.9956142640839555 Centerline is valid? [True, True] Translation: X:125.81, Y:184.61, Z:6.54 [[ 6.82235495e-01 -7.30814430e-01 2.15638372e-02 1.25809520e+02] [ 7.30437991e-01 6.82576154e-01 2.34549639e-02 1.84613498e+02] [-3.18601871e-02 -2.50762929e-04 9.99492304e-01 6.54220343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18687500000004 meters Centerline goodness [0,1] 0.9954846792295244 Centerline is valid? [True, True] Translation: X:125.83, Y:184.63, Z:6.54 [[ 6.81878925e-01 -7.31150552e-01 2.14476664e-02 1.25828503e+02] [ 7.30777917e-01 6.82216104e-01 2.33414701e-02 1.84633715e+02] [-3.16980722e-02 -2.42575588e-04 9.99497460e-01 6.54160594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters Centerline goodness [0,1] 0.9951683251064274 Centerline is valid? [True, True] Translation: X:125.85, Y:184.65, Z:6.54 [[ 6.81428158e-01 -7.31570323e-01 2.14599199e-02 1.25847337e+02] [ 7.31197059e-01 6.81765949e-01 2.33677537e-02 1.84653951e+02] [-3.17257978e-02 -2.32015050e-04 9.99496583e-01 6.54036732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.246875 meters Centerline goodness [0,1] 0.9948108164489295 Centerline is valid? [True, True] Translation: X:125.87, Y:184.67, Z:6.54 [[ 6.81150409e-01 -7.31836511e-01 2.12000348e-02 1.25866023e+02] [ 7.31471963e-01 6.81480205e-01 2.30975815e-02 1.84674129e+02] [-3.13510575e-02 -2.25695993e-04 9.99508409e-01 6.53897649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters Centerline goodness [0,1] 0.9957189098882739 Centerline is valid? [True, True] Translation: X:125.89, Y:184.69, Z:6.54 [[ 6.81053740e-01 -7.31938257e-01 2.07891940e-02 1.25885166e+02] [ 7.31587428e-01 6.81370925e-01 2.26604771e-02 1.84694267e+02] [-3.07512225e-02 -2.23889722e-04 9.99527044e-01 6.53804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.306875 meters Centerline goodness [0,1] 0.9955238640503825 Centerline is valid? [True, True] Translation: X:125.90, Y:184.71, Z:6.54 [[ 6.80741020e-01 -7.32223545e-01 2.09843838e-02 1.25902671e+02] [ 7.31865823e-01 6.81064337e-01 2.28863654e-02 1.84714865e+02] [-3.10496511e-02 -2.21934420e-04 9.99517819e-01 6.53598931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters Centerline goodness [0,1] 0.9945774023671724 Centerline is valid? [True, True] Translation: X:125.92, Y:184.74, Z:6.53 [[ 6.80837068e-01 -7.32138874e-01 2.08220201e-02 1.25920855e+02] [ 7.31786287e-01 6.81155354e-01 2.27203454e-02 1.84735423e+02] [-3.08174785e-02 -2.31584528e-04 9.99525002e-01 6.53429933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.366875 meters Centerline goodness [0,1] 0.9954518127401522 Centerline is valid? [True, True] Translation: X:125.94, Y:184.76, Z:6.53 [[ 6.80857993e-01 -7.32122386e-01 2.07172646e-02 1.25940167e+02] [ 7.31773032e-01 6.81173073e-01 2.26157954e-02 1.84755517e+02] [-3.06695729e-02 -2.37809599e-04 9.99529550e-01 6.53447074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters Centerline goodness [0,1] 0.9949139280125195 Centerline is valid? [True, True] Translation: X:125.96, Y:184.78, Z:6.53 [[ 6.80701396e-01 -7.32261790e-01 2.09351694e-02 1.25957677e+02] [ 7.31904706e-01 6.81023210e-01 2.28667510e-02 1.84776114e+02] [-3.10017843e-02 -2.42880301e-04 9.99519300e-01 6.53260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.426875 meters Centerline goodness [0,1] 0.9950939673969473 Centerline is valid? [True, True] Translation: X:125.98, Y:184.80, Z:6.53 [[ 6.80428631e-01 -7.32506021e-01 2.12557638e-02 1.25976599e+02] [ 7.32137680e-01 6.80760509e-01 2.32281583e-02 1.84796959e+02] [-3.14848504e-02 -2.42958339e-04 9.99504200e-01 6.53167527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters Centerline goodness [0,1] 0.9949522404286713 Centerline is valid? [True, True] Translation: X:125.99, Y:184.82, Z:6.53 [[ 6.80375728e-01 -7.32612935e-01 1.91613029e-02 1.25993223e+02] [ 7.32313359e-01 6.80645457e-01 2.09501019e-02 1.84820824e+02] [-2.83903694e-02 -2.21862749e-04 9.99596888e-01 6.52567219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.486875 meters Centerline goodness [0,1] 0.9951156480165396 Centerline is valid? [True, True] Translation: X:126.01, Y:184.84, Z:6.52 [[ 6.80137440e-01 -7.32866170e-01 1.78952492e-02 1.26010930e+02] [ 7.32604776e-01 6.80372792e-01 1.95730959e-02 1.84843912e+02] [-2.65199005e-02 -2.02250293e-04 9.99648265e-01 6.51953048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters Centerline goodness [0,1] 0.995643768526872 Centerline is valid? [True, True] Translation: X:126.03, Y:184.86, Z:6.52 [[ 6.79050676e-01 -7.33848663e-01 1.88764134e-02 1.26029719e+02] [ 7.33557867e-01 6.79312967e-01 2.06578874e-02 1.84863500e+02] [-2.79827554e-02 -1.80810864e-04 9.99608390e-01 6.51982075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.546875 meters Centerline goodness [0,1] 0.9954666048476418 Centerline is valid? [True, True] Translation: X:126.05, Y:184.88, Z:6.52 [[ 6.76148464e-01 -7.36491197e-01 2.00990464e-02 1.26051797e+02] [ 7.36162392e-01 6.76447123e-01 2.20050746e-02 1.84882238e+02] [-2.98024858e-02 -8.25353151e-05 9.99555804e-01 6.52471839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters Centerline goodness [0,1] 0.9955328323908385 Centerline is valid? [True, True] Translation: X:126.07, Y:184.90, Z:6.52 [[ 6.74827818e-01 -7.37696770e-01 2.02704825e-02 1.26070841e+02] [ 7.37362560e-01 6.75132190e-01 2.22031716e-02 1.84902942e+02] [-3.00644632e-02 -3.66229892e-05 9.99547961e-01 6.52483933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.606875 meters Centerline goodness [0,1] 0.9955614048669712 Centerline is valid? [True, True] Translation: X:126.09, Y:184.92, Z:6.53 [[ 6.73398057e-01 -7.38990529e-01 2.06894983e-02 1.26090043e+02] [ 7.38642604e-01 6.73715814e-01 2.26738909e-02 1.84924121e+02] [-3.06946328e-02 1.35907930e-05 9.99528809e-01 6.52551863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters Centerline goodness [0,1] 0.9956089669516986 Centerline is valid? [True, True] Translation: X:126.11, Y:184.95, Z:6.52 [[ 6.72478352e-01 -7.39854774e-01 1.96921060e-02 1.26107397e+02] [ 7.39539625e-01 6.72766610e-01 2.15924013e-02 1.84946535e+02] [-2.92234326e-02 4.26702324e-05 9.99572903e-01 6.52261034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.666875 meters Centerline goodness [0,1] 0.9954656077878826 Centerline is valid? [True, True] Translation: X:126.12, Y:184.97, Z:6.52 [[ 6.72906590e-01 -7.39479369e-01 1.91568251e-02 1.26124800e+02] [ 7.39180674e-01 6.73179220e-01 2.10159211e-02 1.84969214e+02] [-2.84368167e-02 1.86030943e-05 9.99595592e-01 6.51985615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters Centerline goodness [0,1] 0.9955071094886784 Centerline is valid? [True, True] Translation: X:126.14, Y:184.99, Z:6.52 [[ 6.74037911e-01 -7.38461806e-01 1.86294494e-02 1.26142253e+02] [ 7.38178633e-01 6.74295306e-01 2.04486110e-02 1.84991864e+02] [-2.76622685e-02 -3.12775488e-05 9.99617326e-01 6.51658354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.726875 meters Centerline goodness [0,1] 0.9953727374987218 Centerline is valid? [True, True] Translation: X:126.16, Y:185.01, Z:6.52 [[ 6.75158780e-01 -7.37431416e-01 1.88554362e-02 1.26159994e+02] [ 7.37140638e-01 6.75422016e-01 2.07069951e-02 1.85014114e+02] [-2.80053655e-02 -8.14012437e-05 9.99607770e-01 6.51570819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters Centerline goodness [0,1] 0.994513626620394 Centerline is valid? [True, True] Translation: X:126.18, Y:185.04, Z:6.51 [[ 6.77474355e-01 -7.35319743e-01 1.82585380e-02 1.26175661e+02] [ 7.35045957e-01 6.77720331e-01 2.00647708e-02 1.85036829e+02] [-2.71282045e-02 -1.72503066e-04 9.99631948e-01 6.51444935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.786875 meters Centerline goodness [0,1] 0.9942739349519011 Centerline is valid? [True, True] Translation: X:126.19, Y:185.06, Z:6.51 [[ 6.78360477e-01 -7.34525352e-01 1.73080893e-02 1.26192702e+02] [ 7.34278899e-01 6.78581217e-01 1.90271230e-02 1.85059107e+02] [-2.57208485e-02 -1.98283464e-04 9.99669145e-01 6.51201842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters Centerline goodness [0,1] 0.9937247529280252 Centerline is valid? [True, True] Translation: X:126.21, Y:185.08, Z:6.51 [[ 6.79028569e-01 -7.33908101e-01 1.72945735e-02 1.26209696e+02] [ 7.33661779e-01 6.79248739e-01 1.90143143e-02 1.85081151e+02] [-2.57020765e-02 -2.22895089e-04 9.99669622e-01 6.51037364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.846875 meters Centerline goodness [0,1] 0.9934830382176867 Centerline is valid? [True, True] Translation: X:126.23, Y:185.10, Z:6.51 [[ 6.79665632e-01 -7.33301429e-01 1.79900700e-02 1.26226887e+02] [ 7.33034363e-01 6.79903629e-01 1.97908651e-02 1.85102472e+02] [-2.67441835e-02 -2.63831347e-04 9.99642276e-01 6.50995988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters Centerline goodness [0,1] 0.9933791633900713 Centerline is valid? [True, True] Translation: X:126.24, Y:185.13, Z:6.51 [[ 6.82332072e-01 -7.30798966e-01 1.88630554e-02 1.26243914e+02] [ 7.30504071e-01 6.82592647e-01 2.07624855e-02 1.85126046e+02] [-2.80489858e-02 -3.87371013e-04 9.99606475e-01 6.51128104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.906875 meters Centerline goodness [0,1] 0.9930001258970163 Centerline is valid? [True, True] Translation: X:126.26, Y:185.15, Z:6.51 [[ 6.83762987e-01 -7.29454774e-01 1.90764346e-02 1.26260908e+02] [ 7.29152299e-01 6.84028892e-01 2.10095280e-02 1.85148425e+02] [-2.83743329e-02 -4.55911498e-04 9.99597264e-01 6.51001999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters Centerline goodness [0,1] 0.9927874309636093 Centerline is valid? [True, True] Translation: X:126.28, Y:185.17, Z:6.51 [[ 6.85242544e-01 -7.28069246e-01 1.89163858e-02 1.26278013e+02] [ 7.27771183e-01 6.85503400e-01 2.08373157e-02 1.85172211e+02] [-2.81382555e-02 -5.11814686e-04 9.99603910e-01 6.50816162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.966875 meters Centerline goodness [0,1] 0.992217703469398 Centerline is valid? [True, True] Translation: X:126.29, Y:185.20, Z:6.51 [[ 6.86455753e-01 -7.26922662e-01 1.90247828e-02 1.26294111e+02] [ 7.26620443e-01 6.86719098e-01 2.09669378e-02 1.85196300e+02] [-2.83060239e-02 -5.69078925e-04 9.99599142e-01 6.50536544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters Centerline goodness [0,1] 0.9925860989355041 Centerline is valid? [True, True] Translation: X:126.31, Y:185.22, Z:6.50 [[ 6.88437240e-01 -7.25030577e-01 1.96170891e-02 1.26310194e+02] [ 7.24708202e-01 6.88716349e-01 2.16289744e-02 1.85221187e+02] [-2.91922777e-02 -6.73526071e-04 9.99573588e-01 6.50354736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.026875 meters Centerline goodness [0,1] 0.9926139208813219 Centerline is valid? [True, True] Translation: X:126.33, Y:185.24, Z:6.50 [[ 6.88936629e-01 -7.24553721e-01 1.97034566e-02 1.26329890e+02] [ 7.24228001e-01 6.89217970e-01 2.17346050e-02 1.85242611e+02] [-2.93278652e-02 -7.03970494e-04 9.99569598e-01 6.50347789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters Centerline goodness [0,1] 0.992299614980749 Centerline is valid? [True, True] Translation: X:126.35, Y:185.26, Z:6.50 [[ 6.89190759e-01 -7.24310241e-01 1.97679906e-02 1.26349265e+02] [ 7.23981928e-01 6.89473821e-01 2.18178417e-02 1.85263739e+02] [-2.94323982e-02 -7.24986967e-04 9.99566510e-01 6.50339487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.086875 meters Centerline goodness [0,1] 0.9923614415587668 Centerline is valid? [True, True] Translation: X:126.37, Y:185.29, Z:6.50 [[ 6.88604119e-01 -7.24859303e-01 2.00837887e-02 1.26368028e+02] [ 7.24520468e-01 6.88896565e-01 2.21724001e-02 1.85285614e+02] [-2.99075235e-02 -7.16890070e-04 9.99552413e-01 6.50302689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters Centerline goodness [0,1] 0.9925320769847634 Centerline is valid? [True, True] Translation: X:126.39, Y:185.31, Z:6.50 [[ 6.88029944e-01 -7.25403209e-01 2.01241288e-02 1.26387470e+02] [ 7.25062942e-01 6.88323828e-01 2.22269455e-02 1.85306254e+02] [-2.99754150e-02 -7.01543998e-04 9.99550390e-01 6.50213673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.146875 meters Centerline goodness [0,1] 0.9925642181162686 Centerline is valid? [True, True] Translation: X:126.41, Y:185.33, Z:6.50 [[ 6.86333556e-01 -7.27007417e-01 2.01610091e-02 1.26406811e+02] [ 7.26666195e-01 6.86629306e-01 2.22808875e-02 1.85328172e+02] [-3.00415101e-02 -6.41796920e-04 9.99548446e-01 6.49908477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters Centerline goodness [0,1] 0.9934495087131535 Centerline is valid? [True, True] Translation: X:126.42, Y:185.35, Z:6.50 [[ 6.85024239e-01 -7.28241516e-01 2.01515606e-02 1.26424831e+02] [ 7.27900790e-01 6.85320319e-01 2.22823124e-02 1.85348556e+02] [-3.00371789e-02 -5.95587195e-04 9.99548605e-01 6.49705291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.206875 meters Centerline goodness [0,1] 0.9934651977966951 Centerline is valid? [True, True] Translation: X:126.45, Y:185.37, Z:6.50 [[ 6.83661142e-01 -7.29517171e-01 2.03012582e-02 1.26445610e+02] [ 7.29171658e-01 6.83962277e-01 2.24565744e-02 1.85368855e+02] [-3.02677514e-02 -5.49585184e-04 9.99541676e-01 6.49626818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters Centerline goodness [0,1] 0.9932654031995594 Centerline is valid? [True, True] Translation: X:126.46, Y:185.39, Z:6.49 [[ 6.82119390e-01 -7.30962040e-01 2.01899421e-02 1.26464035e+02] [ 7.30620622e-01 6.82417949e-01 2.23438974e-02 1.85388962e+02] [-3.01105197e-02 -4.90017658e-04 9.99546455e-01 6.49420917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.266875 meters Centerline goodness [0,1] 0.9937073806658644 Centerline is valid? [True, True] Translation: X:126.49, Y:185.41, Z:6.49 [[ 6.79185132e-01 -7.33696856e-01 1.99118228e-02 1.26486591e+02] [ 7.33365592e-01 6.79476847e-01 2.20481963e-02 1.85407888e+02] [-2.97063148e-02 -3.72161407e-04 9.99558601e-01 6.49393064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters Centerline goodness [0,1] 0.9940038636192579 Centerline is valid? [True, True] Translation: X:126.51, Y:185.43, Z:6.49 [[ 6.77105140e-01 -7.35621198e-01 1.97504746e-02 1.26505474e+02] [ 7.35295762e-01 6.77393066e-01 2.18809380e-02 1.85427184e+02] [-2.94749164e-02 -2.93255294e-04 9.99565477e-01 6.49324192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32687500000003 meters Centerline goodness [0,1] 0.9947528307097487 Centerline is valid? [True, True] Translation: X:126.52, Y:185.45, Z:6.49 [[ 6.75439918e-01 -7.37147305e-01 1.98687519e-02 1.26524880e+02] [ 7.36818367e-01 6.75732044e-01 2.20204031e-02 1.85447459e+02] [-2.96582332e-02 -2.33797964e-04 9.99560071e-01 6.49216382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters Centerline goodness [0,1] 0.9941399864188526 Centerline is valid? [True, True] Translation: X:126.54, Y:185.47, Z:6.49 [[ 6.73583508e-01 -7.38835812e-01 2.01717909e-02 1.26544278e+02] [ 7.38497143e-01 6.73885461e-01 2.23686288e-02 1.85468462e+02] [-3.01202206e-02 -1.70329473e-04 9.99546269e-01 6.49106794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38687500000003 meters Centerline goodness [0,1] 0.9943374007165944 Centerline is valid? [True, True] Translation: X:126.56, Y:185.49, Z:6.49 [[ 6.70387102e-01 -7.41725296e-01 2.06086981e-02 1.26564789e+02] [ 7.41372765e-01 6.70703797e-01 2.28656942e-02 1.85488409e+02] [-3.07823959e-02 -5.01389674e-05 9.99526109e-01 6.49063396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters Centerline goodness [0,1] 0.9943374007165944 Centerline is valid? [True, True] Translation: X:126.58, Y:185.51, Z:6.49 [[ 6.70181345e-01 -7.41911382e-01 2.06026010e-02 1.26583205e+02] [ 7.41558770e-01 6.70497949e-01 2.28711860e-02 1.85508973e+02] [-3.07823950e-02 -4.98027041e-05 9.99526109e-01 6.48950653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44687500000003 meters Centerline goodness [0,1] 0.9949515245893404 Centerline is valid? [True, True] Translation: X:126.60, Y:185.53, Z:6.49 [[ 6.68487820e-01 -7.43429779e-01 2.08853868e-02 1.26601601e+02] [ 7.43067731e-01 6.68813998e-01 2.31987584e-02 1.85528363e+02] [-3.12150869e-02 1.11696049e-05 9.99512690e-01 6.48821550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters Centerline goodness [0,1] 0.9952901092293817 Centerline is valid? [True, True] Translation: X:126.62, Y:185.55, Z:6.49 [[ 6.67139360e-01 -7.44644267e-01 2.07361731e-02 1.26620600e+02] [ 7.44287625e-01 6.67461543e-01 2.30438557e-02 1.85548584e+02] [-3.10000732e-02 6.02138673e-05 9.99519380e-01 6.48738300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50687500000004 meters Centerline goodness [0,1] 0.9960759652873852 Centerline is valid? [True, True] Translation: X:126.64, Y:185.57, Z:6.49 [[ 6.65754382e-01 -7.45879797e-01 2.08430282e-02 1.26638566e+02] [ 7.45519658e-01 6.66080563e-01 2.31759085e-02 1.85568461e+02] [-3.11695779e-02 1.09424628e-04 9.99514105e-01 6.48612854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters Centerline goodness [0,1] 0.9957574996862056 Centerline is valid? [True, True] Translation: X:126.66, Y:185.59, Z:6.48 [[ 6.64442241e-01 -7.47042633e-01 2.10668679e-02 1.26657097e+02] [ 7.46674932e-01 6.64776113e-01 2.34364187e-02 1.85589860e+02] [-3.15127545e-02 1.57955589e-04 9.99503337e-01 6.48432158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56687500000004 meters Centerline goodness [0,1] 0.995937711577522 Centerline is valid? [True, True] Translation: X:126.67, Y:185.61, Z:6.48 [[ 6.63977508e-01 -7.47454337e-01 2.11159398e-02 1.26674973e+02] [ 7.47084737e-01 6.64313168e-01 2.35034200e-02 1.85610737e+02] [-3.15953301e-02 1.69654091e-04 9.99500729e-01 6.48280465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters Centerline goodness [0,1] 0.9955415289049193 Centerline is valid? [True, True] Translation: X:126.69, Y:185.63, Z:6.48 [[ 6.63768718e-01 -7.47647597e-01 2.08364930e-02 1.26692969e+02] [ 7.47287466e-01 6.64095657e-01 2.32034713e-02 1.85632997e+02] [-3.11854441e-02 1.69111609e-04 9.99513601e-01 6.48222769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62687500000004 meters Centerline goodness [0,1] 0.9954584019563807 Centerline is valid? [True, True] Translation: X:126.71, Y:185.65, Z:6.48 [[ 6.63901299e-01 -7.47533174e-01 2.07176078e-02 1.26710920e+02] [ 7.47176673e-01 6.64224458e-01 2.30844074e-02 1.85653847e+02] [-3.10175022e-02 1.53945152e-04 9.99518830e-01 6.48006222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters Centerline goodness [0,1] 0.9956140350877193 Centerline is valid? [True, True] Translation: X:126.73, Y:185.68, Z:6.48 [[ 6.63836648e-01 -7.47597565e-01 2.04642447e-02 1.26728821e+02] [ 7.47249433e-01 6.64151985e-01 2.28128651e-02 1.85675505e+02] [-3.06462111e-02 1.47879344e-04 9.99530284e-01 6.47848652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68687500000004 meters Centerline goodness [0,1] 0.9955473744434218 Centerline is valid? [True, True] Translation: X:126.75, Y:185.70, Z:6.48 [[ 6.63734639e-01 -7.47694711e-01 2.02224759e-02 1.26745873e+02] [ 7.47354431e-01 6.64042619e-01 2.25556105e-02 1.85697228e+02] [-3.02932965e-02 1.42416964e-04 9.99541043e-01 6.47663690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters Centerline goodness [0,1] 0.9955637523676603 Centerline is valid? [True, True] Translation: X:126.76, Y:185.72, Z:6.48 [[ 6.63765870e-01 -7.47668536e-01 2.01650968e-02 1.26763452e+02] [ 7.47329857e-01 6.64072092e-01 2.25020478e-02 1.85718623e+02] [-3.02151511e-02 1.33887612e-04 9.99543409e-01 6.47534213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.746875 meters Centerline goodness [0,1] 0.9955206052160064 Centerline is valid? [True, True] Translation: X:126.78, Y:185.74, Z:6.47 [[ 6.63694595e-01 -7.47734884e-01 2.00506325e-02 1.26780504e+02] [ 7.47399685e-01 6.63997385e-01 2.23871343e-02 1.85739240e+02] [-3.00532088e-02 1.27616386e-04 9.99548292e-01 6.47370495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters Centerline goodness [0,1] 0.9953861037382482 Centerline is valid? [True, True] Translation: X:126.80, Y:185.76, Z:6.47 [[ 6.64102739e-01 -7.47356043e-01 2.06517851e-02 1.26797360e+02] [ 7.46999875e-01 6.64423760e-01 2.30706266e-02 1.85760511e+02] [-3.09635089e-02 1.05614526e-04 9.99520510e-01 6.47216042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.806875 meters Centerline goodness [0,1] 0.9951699197463588 Centerline is valid? [True, True] Translation: X:126.82, Y:185.78, Z:6.47 [[ 6.64017364e-01 -7.47425977e-01 2.08650186e-02 1.26815424e+02] [ 7.47062122e-01 6.64345090e-01 2.33192515e-02 1.85781912e+02] [-3.12909869e-02 1.03077169e-04 9.99510312e-01 6.47098848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters Centerline goodness [0,1] 0.9953842717820185 Centerline is valid? [True, True] Translation: X:126.83, Y:185.80, Z:6.47 [[ 6.63951214e-01 -7.47471796e-01 2.13237015e-02 1.26833679e+02] [ 7.47091364e-01 6.64293538e-01 2.38450961e-02 1.85803727e+02] [-3.19887339e-02 9.87727173e-05 9.99488225e-01 6.47023396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.866875 meters Centerline goodness [0,1] 0.99500037125956 Centerline is valid? [True, True] Translation: X:126.85, Y:185.82, Z:6.47 [[ 6.64431470e-01 -7.47054343e-01 2.09912175e-02 1.26851200e+02] [ 7.46685064e-01 6.64762969e-01 2.34863897e-02 1.85824563e+02] [-3.14997935e-02 6.87320982e-05 9.99503756e-01 6.46906570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters Centerline goodness [0,1] 0.9942479077690276 Centerline is valid? [True, True] Translation: X:126.87, Y:185.85, Z:6.47 [[ 6.65188132e-01 -7.46393100e-01 2.05448099e-02 1.26868129e+02] [ 7.46038718e-01 6.65505326e-01 2.29976549e-02 1.85846534e+02] [-3.08379713e-02 2.94565144e-05 9.99524396e-01 6.46771736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.926875 meters Centerline goodness [0,1] 0.9941272269654049 Centerline is valid? [True, True] Translation: X:126.89, Y:185.87, Z:6.47 [[ 6.65651225e-01 -7.45991663e-01 2.01217582e-02 1.26885162e+02] [ 7.45651109e-01 6.65955282e-01 2.25385239e-02 1.85867029e+02] [-3.02137421e-02 1.01525985e-06 9.99543461e-01 6.46569909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters Centerline goodness [0,1] 0.9944102437823197 Centerline is valid? [True, True] Translation: X:126.90, Y:185.89, Z:6.46 [[ 6.66323572e-01 -7.45402536e-01 1.96966183e-02 1.26902826e+02] [ 7.45075871e-01 6.66614625e-01 2.20655310e-02 1.85888604e+02] [-2.95777565e-02 -2.73083787e-05 9.99562482e-01 6.46443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.986875 meters Centerline goodness [0,1] 0.9939307214053094 Centerline is valid? [True, True] Translation: X:126.92, Y:185.91, Z:6.46 [[ 6.66837060e-01 -7.44948983e-01 1.94768505e-02 1.26920284e+02] [ 7.44629031e-01 6.67121436e-01 2.18310705e-02 1.85910176e+02] [-2.92564582e-02 -5.47385966e-05 9.99571937e-01 6.46263912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters Centerline goodness [0,1] 0.9938509973682269 Centerline is valid? [True, True] Translation: X:126.94, Y:185.93, Z:6.46 [[ 6.67162893e-01 -7.44664834e-01 1.91822654e-02 1.26937318e+02] [ 7.44354040e-01 6.67438597e-01 2.15123957e-02 1.85931990e+02] [-2.88225088e-02 -7.38754061e-05 9.99584542e-01 6.46024185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.046875 meters Centerline goodness [0,1] 0.9939021391689206 Centerline is valid? [True, True] Translation: X:126.96, Y:185.95, Z:6.46 [[ 6.67202104e-01 -7.44640905e-01 1.87423322e-02 1.26955822e+02] [ 7.44343886e-01 6.67465292e-01 2.10300530e-02 1.85953662e+02] [-2.81696939e-02 -8.05552546e-05 9.99603152e-01 6.45920203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters Centerline goodness [0,1] 0.9935550526419364 Centerline is valid? [True, True] Translation: X:126.97, Y:185.98, Z:6.46 [[ 6.67026929e-01 -7.44805689e-01 1.84272047e-02 1.26974133e+02] [ 7.44518335e-01 6.67281409e-01 2.06874521e-02 1.85975151e+02] [-2.77042631e-02 -7.96959089e-05 9.99616160e-01 6.45754310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.106875 meters Centerline goodness [0,1] 0.9933947848375807 Centerline is valid? [True, True] Translation: X:126.99, Y:186.00, Z:6.46 [[ 6.67121850e-01 -7.44729349e-01 1.80730094e-02 1.26991510e+02] [ 7.44452597e-01 6.67366607e-01 2.03012712e-02 1.85995807e+02] [-2.71802754e-02 -8.89227694e-05 9.99630544e-01 6.45593299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters Centerline goodness [0,1] 0.9935458442134305 Centerline is valid? [True, True] Translation: X:127.01, Y:186.02, Z:6.46 [[ 6.67117518e-01 -7.44726494e-01 1.83484691e-02 1.27009545e+02] [ 7.44440958e-01 6.67369793e-01 2.06208542e-02 1.86016880e+02] [-2.76021105e-02 -9.71811724e-05 9.99618984e-01 6.45545452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.166875 meters Centerline goodness [0,1] 0.9939111220230789 Centerline is valid? [True, True] Translation: X:127.03, Y:186.04, Z:6.46 [[ 6.67413333e-01 -7.44445018e-01 1.90015334e-02 1.27026837e+02] [ 7.44138303e-01 6.67683758e-01 2.13678653e-02 1.86038353e+02] [-2.85942161e-02 -1.21429398e-04 9.99591094e-01 6.45605472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters Centerline goodness [0,1] 0.9931518617608797 Centerline is valid? [True, True] Translation: X:127.05, Y:186.06, Z:6.46 [[ 6.67613156e-01 -7.44268190e-01 1.89086145e-02 1.27045246e+02] [ 7.43964135e-01 6.67880860e-01 2.12725668e-02 1.86059655e+02] [-2.84611965e-02 -1.34514445e-04 9.99594889e-01 6.45596079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.226875 meters Centerline goodness [0,1] 0.9934401257923443 Centerline is valid? [True, True] Translation: X:127.06, Y:186.08, Z:6.45 [[ 6.68032714e-01 -7.43896691e-01 1.87084412e-02 1.27062866e+02] [ 7.43598572e-01 6.68294612e-01 2.10588323e-02 1.86081204e+02] [-2.81683461e-02 -1.56418705e-04 9.99603181e-01 6.45493824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters Centerline goodness [0,1] 0.9924874587054937 Centerline is valid? [True, True] Translation: X:127.08, Y:186.10, Z:6.45 [[ 6.68564816e-01 -7.43416983e-01 1.87690347e-02 1.27079312e+02] [ 7.43116400e-01 6.68828196e-01 2.11390667e-02 1.86103155e+02] [-2.82684008e-02 -1.85258760e-04 9.99600352e-01 6.45376782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.286875 meters Centerline goodness [0,1] 0.993406862745098 Centerline is valid? [True, True] Translation: X:127.10, Y:186.12, Z:6.45 [[ 6.68438307e-01 -7.43531095e-01 1.87547238e-02 1.27097561e+02] [ 7.43230733e-01 6.68701335e-01 2.11329580e-02 1.86124598e+02] [-2.82543203e-02 -1.86991541e-04 9.99600750e-01 6.45331125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters Centerline goodness [0,1] 0.9927080529522597 Centerline is valid? [True, True] Translation: X:127.12, Y:186.15, Z:6.45 [[ 6.68812530e-01 -7.43197705e-01 1.86271673e-02 1.27115126e+02] [ 7.42900953e-01 6.69071841e-01 2.10011014e-02 1.86145444e+02] [-2.80708835e-02 -2.07659442e-04 9.99605914e-01 6.45209518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.346875 meters Centerline goodness [0,1] 0.9925055106539309 Centerline is valid? [True, True] Translation: X:127.13, Y:186.17, Z:6.45 [[ 6.69027524e-01 -7.43010874e-01 1.83579493e-02 1.27133215e+02] [ 7.42722301e-01 6.69279309e-01 2.07072462e-02 1.86167237e+02] [-2.76723047e-02 -2.18859335e-04 9.99617024e-01 6.45169229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters Centerline goodness [0,1] 0.9915225334957369 Centerline is valid? [True, True] Translation: X:127.15, Y:186.19, Z:6.45 [[ 6.70349524e-01 -7.41814836e-01 1.85003927e-02 1.27149809e+02] [ 7.41520989e-01 6.70604706e-01 2.08794551e-02 1.86189842e+02] [-2.78951400e-02 -2.78103268e-04 9.99610816e-01 6.45138333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.406875 meters Centerline goodness [0,1] 0.9923555989742338 Centerline is valid? [True, True] Translation: X:127.17, Y:186.21, Z:6.45 [[ 6.71436190e-01 -7.40837319e-01 1.82622330e-02 1.27167479e+02] [ 7.40550259e-01 6.71684422e-01 2.06240570e-02 1.86212078e+02] [-2.75455285e-02 -3.23636909e-04 9.99620498e-01 6.45090573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters Centerline goodness [0,1] 0.9923878302876522 Centerline is valid? [True, True] Translation: X:127.19, Y:186.24, Z:6.45 [[ 6.72476262e-01 -7.39900378e-01 1.79751987e-02 1.27185650e+02] [ 7.39621866e-01 6.72716361e-01 2.03025092e-02 1.86235126e+02] [-2.71140445e-02 -3.58105540e-04 9.99632283e-01 6.45009142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.466875 meters Centerline goodness [0,1] 0.9913246905156448 Centerline is valid? [True, True] Translation: X:127.20, Y:186.26, Z:6.45 [[ 6.73212328e-01 -7.39227954e-01 1.80884578e-02 1.27201024e+02] [ 7.38945369e-01 6.73455177e-01 2.04417913e-02 1.86257821e+02] [-2.72929091e-02 -3.95283768e-04 9.99627401e-01 6.44723545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters Centerline goodness [0,1] 0.9912857732359153 Centerline is valid? [True, True] Translation: X:127.22, Y:186.28, Z:6.45 [[ 6.74861939e-01 -7.37713840e-01 1.84296958e-02 1.27216405e+02] [ 7.37419687e-01 6.75113375e-01 2.08359216e-02 1.86280957e+02] [-2.78130818e-02 -4.70949939e-04 9.99613030e-01 6.44646578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.526875 meters Centerline goodness [0,1] 0.9911842778170129 Centerline is valid? [True, True] Translation: X:127.24, Y:186.30, Z:6.45 [[ 6.75714827e-01 -7.36944204e-01 1.79642063e-02 1.27236871e+02] [ 7.36664379e-01 6.75953399e-01 2.03124121e-02 1.86301856e+02] [-2.71120807e-02 -4.91807129e-04 9.99632279e-01 6.44755761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters Centerline goodness [0,1] 0.9922267167015937 Centerline is valid? [True, True] Translation: X:127.26, Y:186.32, Z:6.45 [[ 6.76005892e-01 -7.36677013e-01 1.79725426e-02 1.27256095e+02] [ 7.36396569e-01 6.76244570e-01 2.03316147e-02 1.86323889e+02] [-2.71316675e-02 -5.09372663e-04 9.99631739e-01 6.44694016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.586875 meters Centerline goodness [0,1] 0.9908878276971056 Centerline is valid? [True, True] Translation: X:127.27, Y:186.35, Z:6.45 [[ 6.76380031e-01 -7.36337852e-01 1.77938309e-02 1.27273537e+02] [ 7.36062519e-01 6.76613841e-01 2.01414475e-02 1.86346004e+02] [-2.68704624e-02 -5.25900874e-04 9.99638786e-01 6.44533730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters Centerline goodness [0,1] 0.9912480605120249 Centerline is valid? [True, True] Translation: X:127.29, Y:186.37, Z:6.44 [[ 6.77015009e-01 -7.35768656e-01 1.71802856e-02 1.27292153e+02] [ 7.35511724e-01 6.77232753e-01 1.94500045e-02 1.86368590e+02] [-2.59457558e-02 -5.31643467e-04 9.99663211e-01 6.44418037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.646875 meters Centerline goodness [0,1] 0.9906414837502127 Centerline is valid? [True, True] Translation: X:127.31, Y:186.39, Z:6.44 [[ 6.77124554e-01 -7.35692602e-01 1.60852158e-02 1.27311309e+02] [ 7.35467169e-01 6.77315392e-01 1.82182170e-02 1.86390548e+02] [-2.42977717e-02 -5.05853947e-04 9.99704638e-01 6.44226738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters Centerline goodness [0,1] 0.9908435139533189 Centerline is valid? [True, True] Translation: X:127.33, Y:186.41, Z:6.44 [[ 6.76921585e-01 -7.35891038e-01 1.55417964e-02 1.27329657e+02] [ 7.35680459e-01 6.77099803e-01 1.76102014e-02 1.86412343e+02] [-2.34825367e-02 -4.86929516e-04 9.99724129e-01 6.44008875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.706875 meters Centerline goodness [0,1] 0.9914228788026047 Centerline is valid? [True, True] Translation: X:127.35, Y:186.43, Z:6.44 [[ 6.76934814e-01 -7.35892270e-01 1.48937676e-02 1.27348521e+02] [ 7.35698621e-01 6.77098472e-01 1.68877812e-02 1.86433458e+02] [-2.25121349e-02 -4.74602742e-04 9.99746457e-01 6.43839738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters Centerline goodness [0,1] 0.9911551732516888 Centerline is valid? [True, True] Translation: X:127.37, Y:186.45, Z:6.44 [[ 6.76708855e-01 -7.36108665e-01 1.44623328e-02 1.27367422e+02] [ 7.35926107e-01 6.76863226e-01 1.63993537e-02 1.86454374e+02] [-2.18607276e-02 -4.54379573e-04 9.99760922e-01 6.43669397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.766875 meters Centerline goodness [0,1] 0.9915788962772412 Centerline is valid? [True, True] Translation: X:127.39, Y:186.47, Z:6.44 [[ 6.75699869e-01 -7.37044937e-01 1.39444247e-02 1.27385457e+02] [ 7.36875232e-01 6.75843612e-01 1.58210175e-02 1.86474016e+02] [-2.10850512e-02 -4.14958273e-04 9.99777599e-01 6.43529537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters Centerline goodness [0,1] 0.9912378912524947 Centerline is valid? [True, True] Translation: X:127.40, Y:186.49, Z:6.43 [[ 6.75455246e-01 -7.37275104e-01 1.36246620e-02 1.27404645e+02] [ 7.37113014e-01 6.75592524e-01 1.54643396e-02 1.86494735e+02] [-2.06061924e-02 -4.02553662e-04 9.99787589e-01 6.43410871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82687500000003 meters Centerline goodness [0,1] 0.9905200565384803 Centerline is valid? [True, True] Translation: X:127.42, Y:186.52, Z:6.43 [[ 6.74477659e-01 -7.38174583e-01 1.33481482e-02 1.27424047e+02] [ 7.38019021e-01 6.74609625e-01 1.51584334e-02 1.86515737e+02] [-2.01943595e-02 -3.72837409e-04 9.99796004e-01 6.43339784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters Centerline goodness [0,1] 0.9919288380435309 Centerline is valid? [True, True] Translation: X:127.44, Y:186.54, Z:6.43 [[ 6.74105706e-01 -7.38513178e-01 1.34083486e-02 1.27443447e+02] [ 7.38356107e-01 6.74238941e-01 1.52351428e-02 1.86536563e+02] [-2.02917845e-02 -3.69960613e-04 9.99794032e-01 6.43253444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88687500000003 meters Centerline goodness [0,1] 0.9916788677403612 Centerline is valid? [True, True] Translation: X:127.46, Y:186.56, Z:6.43 [[ 6.73866157e-01 -7.38744816e-01 1.26688014e-02 1.27463705e+02] [ 7.38604484e-01 6.73985144e-01 1.44028316e-02 1.86556811e+02] [-1.91786012e-02 -3.48347245e-04 9.99816013e-01 6.43309157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters Centerline goodness [0,1] 0.9914629697190807 Centerline is valid? [True, True] Translation: X:127.48, Y:186.58, Z:6.43 [[ 6.73646811e-01 -7.38944671e-01 1.26786624e-02 1.27481856e+02] [ 7.38803983e-01 6.73766022e-01 1.44229757e-02 1.86577158e+02] [-1.92002330e-02 -3.48945318e-04 9.99815598e-01 6.43131020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94687500000003 meters Centerline goodness [0,1] 0.992179696445538 Centerline is valid? [True, True] Translation: X:127.50, Y:186.60, Z:6.43 [[ 6.73574705e-01 -7.39012448e-01 1.25585962e-02 1.27500921e+02] [ 7.38874373e-01 6.73691682e-01 1.42891059e-02 1.86598407e+02] [-1.90204489e-02 -3.45555421e-04 9.99819035e-01 6.43014245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters Centerline goodness [0,1] 0.9921662125340599 Centerline is valid? [True, True] Translation: X:127.52, Y:186.62, Z:6.43 [[ 6.73483715e-01 -7.39100590e-01 1.22476035e-02 1.27520430e+02] [ 7.38969146e-01 6.73594985e-01 1.39426583e-02 1.86619352e+02] [-1.85549512e-02 -3.39552222e-04 9.99827784e-01 6.42947662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00687500000004 meters Centerline goodness [0,1] 0.9923170435205446 Centerline is valid? [True, True] Translation: X:127.54, Y:186.64, Z:6.43 [[ 6.73458870e-01 -7.39124119e-01 1.21937315e-02 1.27539516e+02] [ 7.38993702e-01 6.73569164e-01 1.38884471e-02 1.86639838e+02] [-1.84786077e-02 -3.42207086e-04 9.99829197e-01 6.42905624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters Centerline goodness [0,1] 0.9922792147693507 Centerline is valid? [True, True] Translation: X:127.56, Y:186.66, Z:6.43 [[ 6.73801023e-01 -7.38812320e-01 1.21876074e-02 1.27558147e+02] [ 7.38681836e-01 6.73911143e-01 1.38894092e-02 1.86660617e+02] [-1.84750311e-02 -3.55933902e-04 9.99829259e-01 6.42820586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06687500000004 meters Centerline goodness [0,1] 0.9919951189749847 Centerline is valid? [True, True] Translation: X:127.58, Y:186.68, Z:6.43 [[ 6.74737794e-01 -7.37942181e-01 1.30478520e-02 1.27576960e+02] [ 7.37792281e-01 6.74863813e-01 1.48789582e-02 1.86682166e+02] [-1.97853340e-02 -4.12790927e-04 9.99804166e-01 6.42832049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters Centerline goodness [0,1] 0.9919281853092973 Centerline is valid? [True, True] Translation: X:127.60, Y:186.70, Z:6.43 [[ 6.75187763e-01 -7.37539930e-01 1.25034494e-02 1.27595004e+02] [ 7.37401983e-01 6.75303398e-01 1.42701307e-02 1.86702748e+02] [-1.89684130e-02 -4.14949219e-04 9.99819997e-01 6.42744433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12687500000004 meters Centerline goodness [0,1] 0.9920311887014516 Centerline is valid? [True, True] Translation: X:127.61, Y:186.72, Z:6.43 [[ 6.75979424e-01 -7.36825134e-01 1.18549608e-02 1.27613856e+02] [ 7.36701011e-01 6.76083243e-01 1.35302925e-02 1.86724043e+02] [-1.79843999e-02 -4.12637791e-04 9.99838182e-01 6.42604667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters Centerline goodness [0,1] 0.9911615231641747 Centerline is valid? [True, True] Translation: X:127.63, Y:186.74, Z:6.43 [[ 6.76747291e-01 -7.36127173e-01 1.13968555e-02 1.27632952e+02] [ 7.36012284e-01 6.76843121e-01 1.30117978e-02 1.86744992e+02] [-1.72922212e-02 -4.17473286e-04 9.99850391e-01 6.42501429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18687500000004 meters Centerline goodness [0,1] 0.9911014970133477 Centerline is valid? [True, True] Translation: X:127.65, Y:186.77, Z:6.42 [[ 6.78493077e-01 -7.34531845e-01 1.04934723e-02 1.27652228e+02] [ 7.34434266e-01 6.78574086e-01 1.19798912e-02 1.86765973e+02] [-1.59202099e-02 -4.21507620e-04 9.99873177e-01 6.42453659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters Centerline goodness [0,1] 0.9909363332678326 Centerline is valid? [True, True] Translation: X:127.67, Y:186.79, Z:6.42 [[ 6.79311386e-01 -7.33775384e-01 1.04750550e-02 1.27669256e+02] [ 7.33677956e-01 6.79392000e-01 1.19652627e-02 1.86787715e+02] [-1.58964838e-02 -4.42822195e-04 9.99873545e-01 6.42236106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.246875 meters Centerline goodness [0,1] 0.9905310017462309 Centerline is valid? [True, True] Translation: X:127.69, Y:186.81, Z:6.42 [[ 6.80117694e-01 -7.33026577e-01 1.05810640e-02 1.27688009e+02] [ 7.32926973e-01 6.80199836e-01 1.20927922e-02 1.86809560e+02] [-1.60615761e-02 -4.69374745e-04 9.99870894e-01 6.42139491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters Centerline goodness [0,1] 0.989272651397992 Centerline is valid? [True, True] Translation: X:127.70, Y:186.83, Z:6.42 [[ 6.80492138e-01 -7.32674640e-01 1.08775367e-02 1.27704666e+02] [ 7.32569246e-01 6.80578891e-01 1.24367427e-02 1.86830967e+02] [-1.65151079e-02 -4.94556746e-04 9.99863494e-01 6.41940150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.306875 meters Centerline goodness [0,1] 0.989272651397992 Centerline is valid? [True, True] Translation: X:127.72, Y:186.85, Z:6.42 [[ 6.80293265e-01 -7.32859339e-01 1.08748325e-02 1.27722752e+02] [ 7.32753931e-01 6.80380001e-01 1.24391061e-02 1.86851831e+02] [-1.65151336e-02 -4.93663888e-04 9.99863494e-01 6.41827301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters Centerline goodness [0,1] 0.9904593292023213 Centerline is valid? [True, True] Translation: X:127.74, Y:186.87, Z:6.42 [[ 6.80582746e-01 -7.32586963e-01 1.11116420e-02 1.27740599e+02] [ 7.32476748e-01 6.80673252e-01 1.27176100e-02 1.86873152e+02] [-1.68801528e-02 -5.16366487e-04 9.99857387e-01 6.41706259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.366875 meters Centerline goodness [0,1] 0.9901871572268267 Centerline is valid? [True, True] Translation: X:127.76, Y:186.89, Z:6.42 [[ 6.80589321e-01 -7.32575371e-01 1.14674868e-02 1.27758926e+02] [ 7.32457845e-01 6.80685710e-01 1.31327499e-02 1.86894837e+02] [-1.74264835e-02 -5.38558631e-04 9.99848002e-01 6.41545553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters Centerline goodness [0,1] 0.9909819146844899 Centerline is valid? [True, True] Translation: X:127.78, Y:186.91, Z:6.42 [[ 6.79801161e-01 -7.33302119e-01 1.17636397e-02 1.27781813e+02] [ 7.33178416e-01 6.79902723e-01 1.34795307e-02 1.86913105e+02] [-1.78826991e-02 -5.38553950e-04 9.99839947e-01 6.41759925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.426875 meters Centerline goodness [0,1] 0.9904611278604261 Centerline is valid? [True, True] Translation: X:127.80, Y:186.93, Z:6.42 [[ 6.78811600e-01 -7.34224871e-01 1.13424482e-02 1.27802080e+02] [ 7.34109911e-01 6.78906172e-01 1.30018506e-02 1.86932773e+02] [-1.72467402e-02 -4.99203382e-04 9.99851139e-01 6.41835973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters Centerline goodness [0,1] 0.9909852058583812 Centerline is valid? [True, True] Translation: X:127.82, Y:186.95, Z:6.42 [[ 6.77451760e-01 -7.35480743e-01 1.12778059e-02 1.27821252e+02] [ 7.35367028e-01 6.77545461e-01 1.29414800e-02 1.86953084e+02] [-1.71594356e-02 -4.73901829e-04 9.99852654e-01 6.41715258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.486875 meters Centerline goodness [0,1] 0.9913708329235913 Centerline is valid? [True, True] Translation: X:127.84, Y:186.97, Z:6.42 [[ 6.75742632e-01 -7.37047570e-01 1.15228412e-02 1.27841413e+02] [ 7.36929140e-01 6.75840725e-01 1.32195775e-02 1.86973377e+02] [-1.75310628e-02 -4.41514647e-04 9.99846222e-01 6.41651358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters Centerline goodness [0,1] 0.9919101457163355 Centerline is valid? [True, True] Translation: X:127.86, Y:186.99, Z:6.41 [[ 6.72534612e-01 -7.39993587e-01 1.03289244e-02 1.27861826e+02] [ 7.39898710e-01 6.72613843e-01 1.18539865e-02 1.86992910e+02] [-1.57192515e-02 -3.29858420e-04 9.99876391e-01 6.41342442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.546875 meters Centerline goodness [0,1] 0.9924325129019452 Centerline is valid? [True, True] Translation: X:127.88, Y:187.01, Z:6.42 [[ 6.70594838e-01 -7.41756446e-01 9.99690444e-03 1.27884249e+02] [ 7.41667695e-01 6.70669289e-01 1.14775870e-02 1.87011707e+02] [-1.52181910e-02 -2.82429559e-04 9.99884157e-01 6.41551445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters Centerline goodness [0,1] 0.992680627233029 Centerline is valid? [True, True] Translation: X:127.90, Y:187.03, Z:6.41 [[ 6.68410969e-01 -7.43722266e-01 1.01964601e-02 1.27904596e+02] [ 7.43630045e-01 6.68488691e-01 1.17143565e-02 1.87032981e+02] [-1.55284460e-02 -2.47610352e-04 9.99879396e-01 6.41422286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.606875 meters Centerline goodness [0,1] 0.9932289987350876 Centerline is valid? [True, True] Translation: X:127.92, Y:187.05, Z:6.41 [[ 6.66084770e-01 -7.45806090e-01 1.02154803e-02 1.27924509e+02] [ 7.45713711e-01 6.66163070e-01 1.17398911e-02 1.87053231e+02] [-1.55608580e-02 -2.01938872e-04 9.99878902e-01 6.41356840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters Centerline goodness [0,1] 0.9939065336881637 Centerline is valid? [True, True] Translation: X:127.95, Y:187.07, Z:6.41 [[ 6.61603619e-01 -7.49776304e-01 1.07770771e-02 1.27945726e+02] [ 7.49673903e-01 6.61691378e-01 1.23919093e-02 1.87072545e+02] [-1.64222590e-02 -1.19238563e-04 9.99865139e-01 6.41381245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.666875 meters Centerline goodness [0,1] 0.9941636657146405 Centerline is valid? [True, True] Translation: X:127.96, Y:187.09, Z:6.41 [[ 6.59466629e-01 -7.51651813e-01 1.11048327e-02 1.27964783e+02] [ 7.51543198e-01 6.59560115e-01 1.27779742e-02 1.87092597e+02] [-1.69288923e-02 -8.08860634e-05 9.99856693e-01 6.41238948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters Centerline goodness [0,1] 0.9946646152319031 Centerline is valid? [True, True] Translation: X:127.98, Y:187.11, Z:6.41 [[ 6.57216114e-01 -7.53613977e-01 1.15305271e-02 1.27984363e+02] [ 7.53497109e-01 6.57317254e-01 1.32715694e-02 1.87112975e+02] [-1.75808546e-02 -3.40704355e-05 9.99845444e-01 6.41309971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.726875 meters Centerline goodness [0,1] 0.9948111919362447 Centerline is valid? [True, True] Translation: X:128.00, Y:187.13, Z:6.41 [[ 6.53887172e-01 -7.56488262e-01 1.25329909e-02 1.28004175e+02] [ 7.56350520e-01 6.54007269e-01 1.44354996e-02 1.87134271e+02] [-1.91169531e-02 4.01461979e-05 9.99817254e-01 6.41270423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters Centerline goodness [0,1] 0.9947903745968742 Centerline is valid? [True, True] Translation: X:128.02, Y:187.15, Z:6.41 [[ 6.52629520e-01 -7.57571596e-01 1.26485883e-02 1.28021993e+02] [ 7.57431370e-01 6.52752075e-01 1.45755876e-02 1.87154313e+02] [-1.92984434e-02 6.79788184e-05 9.99813765e-01 6.41130907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.786875 meters Centerline goodness [0,1] 0.9959574415317081 Centerline is valid? [True, True] Translation: X:128.04, Y:187.18, Z:6.41 [[ 6.51376490e-01 -7.58638846e-01 1.32578204e-02 1.28040417e+02] [ 7.58484856e-01 6.51511390e-01 1.52850089e-02 1.87176318e+02] [-2.02334225e-02 9.95605872e-05 9.99795278e-01 6.41158384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters Centerline goodness [0,1] 0.9951167517723465 Centerline is valid? [True, True] Translation: X:128.06, Y:187.20, Z:6.41 [[ 6.50606219e-01 -7.59297347e-01 1.33822988e-02 1.28058333e+02] [ 7.59140418e-01 6.50743824e-01 1.54369793e-02 1.87198138e+02] [-2.04297057e-02 1.15649146e-04 9.99791285e-01 6.41097135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.846875 meters Centerline goodness [0,1] 0.9952007520471019 Centerline is valid? [True, True] Translation: X:128.08, Y:187.22, Z:6.41 [[ 6.50492702e-01 -7.59393117e-01 1.34661663e-02 1.28075033e+02] [ 7.59233996e-01 6.50632063e-01 1.55453475e-02 1.87219487e+02] [-2.05665495e-02 1.11836141e-04 9.99788480e-01 6.40914463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters Centerline goodness [0,1] 0.9954833773477799 Centerline is valid? [True, True] Translation: X:128.09, Y:187.24, Z:6.41 [[ 6.51254162e-01 -7.58735608e-01 1.37219703e-02 1.28089537e+02] [ 7.58570132e-01 6.51398702e-01 1.58457207e-02 1.87242394e+02] [-2.09611861e-02 8.94852938e-05 9.99780286e-01 6.40610396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.906875 meters Centerline goodness [0,1] 0.9951692011929115 Centerline is valid? [True, True] Translation: X:128.11, Y:187.27, Z:6.40 [[ 6.51619385e-01 -7.58420509e-01 1.38025078e-02 1.28106188e+02] [ 7.58252882e-01 6.51765545e-01 1.59449173e-02 1.87265096e+02] [-2.10889513e-02 7.57741083e-05 9.99777600e-01 6.40440342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters Centerline goodness [0,1] 0.9947321780228436 Centerline is valid? [True, True] Translation: X:128.12, Y:187.29, Z:6.40 [[ 6.52426070e-01 -7.57724319e-01 1.39312437e-02 1.28122393e+02] [ 7.57553179e-01 6.52574789e-01 1.61035947e-02 1.87287112e+02] [-2.12932637e-02 4.72529462e-05 9.99773272e-01 6.40286448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.966875 meters Centerline goodness [0,1] 0.9951205159012334 Centerline is valid? [True, True] Translation: X:128.14, Y:187.31, Z:6.40 [[ 6.52993014e-01 -7.57230639e-01 1.42085663e-02 1.28139198e+02] [ 7.57052339e-01 6.53147578e-01 1.64316033e-02 1.87309974e+02] [-2.17228041e-02 2.69062292e-05 9.99764032e-01 6.40181065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters Centerline goodness [0,1] 0.9940815378219081 Centerline is valid? [True, True] Translation: X:128.15, Y:187.33, Z:6.40 [[ 6.55431939e-01 -7.55116975e-01 1.43988701e-02 1.28153252e+02] [ 7.54933144e-01 6.55590079e-01 1.66612218e-02 1.87334638e+02] [-2.20209278e-02 -5.01126667e-05 9.99757509e-01 6.40144312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.026875 meters Centerline goodness [0,1] 0.9939189684225951 Centerline is valid? [True, True] Translation: X:128.17, Y:187.36, Z:6.40 [[ 6.56810291e-01 -7.53918457e-01 1.43944838e-02 1.28168354e+02] [ 7.53734254e-01 6.56967998e-01 1.66650674e-02 1.87357723e+02] [-2.20208171e-02 -9.61722938e-05 9.99757508e-01 6.39931520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters Centerline goodness [0,1] 0.9939104593949433 Centerline is valid? [True, True] Translation: X:128.18, Y:187.38, Z:6.40 [[ 6.58269271e-01 -7.52632323e-01 1.50383857e-02 1.28183740e+02] [ 7.52430720e-01 6.58441010e-01 1.74197840e-02 1.87381334e+02] [-2.30125824e-02 -1.51565100e-04 9.99735164e-01 6.39804628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.086875 meters Centerline goodness [0,1] 0.9935455586136347 Centerline is valid? [True, True] Translation: X:128.20, Y:187.41, Z:6.40 [[ 6.59939151e-01 -7.51166233e-01 1.51528293e-02 1.28199590e+02] [ 7.50960840e-01 6.60113055e-01 1.75661988e-02 1.87405097e+02] [-2.31977158e-02 -2.13440925e-04 9.99730874e-01 6.39659129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters Centerline goodness [0,1] 0.9929241842143656 Centerline is valid? [True, True] Translation: X:128.21, Y:187.43, Z:6.39 [[ 6.63251788e-01 -7.48228348e-01 1.58557557e-02 1.28212882e+02] [ 7.48002506e-01 6.63441201e-01 1.83854311e-02 1.87430282e+02] [-2.42758624e-02 -3.34025036e-04 9.99705242e-01 6.39486232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.146875 meters Centerline goodness [0,1] 0.9919476109628911 Centerline is valid? [True, True] Translation: X:128.23, Y:187.45, Z:6.39 [[ 6.65022203e-01 -7.46661980e-01 1.55356976e-02 1.28228308e+02] [ 7.46444633e-01 6.65203532e-01 1.80186255e-02 1.87453065e+02] [-2.37882235e-02 -3.86247944e-04 9.99716946e-01 6.39303491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters Centerline goodness [0,1] 0.993011374590322 Centerline is valid? [True, True] Translation: X:128.25, Y:187.48, Z:6.39 [[ 6.66364456e-01 -7.45458647e-01 1.58055862e-02 1.28245042e+02] [ 7.45233239e-01 6.66551733e-01 1.83359611e-02 1.87476480e+02] [-2.42039416e-02 -4.39584559e-04 9.99706945e-01 6.39151421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.206875 meters Centerline goodness [0,1] 0.9922192151556157 Centerline is valid? [True, True] Translation: X:128.26, Y:187.50, Z:6.39 [[ 6.69635841e-01 -7.42523638e-01 1.56999139e-02 1.28260323e+02] [ 7.42300221e-01 6.69819637e-01 1.82218305e-02 1.87501591e+02] [-2.40462505e-02 -5.47941265e-04 9.99710697e-01 6.39009471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters Centerline goodness [0,1] 0.9914692170904023 Centerline is valid? [True, True] Translation: X:128.28, Y:187.53, Z:6.39 [[ 6.71008120e-01 -7.41279725e-01 1.58893768e-02 1.28275413e+02] [ 7.41050260e-01 6.71195948e-01 1.84529355e-02 1.87525687e+02] [-2.43436723e-02 -6.07242774e-04 9.99703464e-01 6.38754685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.266875 meters Centerline goodness [0,1] 0.9911313576776757 Centerline is valid? [True, True] Translation: X:128.29, Y:187.55, Z:6.39 [[ 6.72235437e-01 -7.40160421e-01 1.61885554e-02 1.28292422e+02] [ 7.39921750e-01 6.72430004e-01 1.88067179e-02 1.87548568e+02] [-2.48056586e-02 -6.64277989e-04 9.99692072e-01 6.38652254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters Centerline goodness [0,1] 0.9907662557408751 Centerline is valid? [True, True] Translation: X:128.31, Y:187.57, Z:6.39 [[ 6.73084904e-01 -7.39381922e-01 1.64646591e-02 1.28311911e+02] [ 7.39134720e-01 6.73285878e-01 1.91309367e-02 1.87570475e+02] [-2.52304912e-02 -7.07143518e-04 9.99681410e-01 6.38663517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32687500000003 meters Centerline goodness [0,1] 0.9908321238509917 Centerline is valid? [True, True] Translation: X:128.33, Y:187.59, Z:6.39 [[ 6.73961633e-01 -7.38579688e-01 1.66060846e-02 1.28330342e+02] [ 7.38327740e-01 6.74165768e-01 1.93045518e-02 1.87592624e+02] [-2.54532037e-02 -7.49794312e-04 9.99675734e-01 6.38553880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters Centerline goodness [0,1] 0.9902254187382343 Centerline is valid? [True, True] Translation: X:128.35, Y:187.61, Z:6.39 [[ 6.74657972e-01 -7.37943810e-01 1.65998431e-02 1.28348538e+02] [ 7.37691624e-01 6.74861709e-01 1.93065267e-02 1.87614905e+02] [-2.54497303e-02 -7.79736889e-04 9.99675799e-01 6.38505327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38687500000003 meters Centerline goodness [0,1] 0.9899045875096376 Centerline is valid? [True, True] Translation: X:128.36, Y:187.64, Z:6.38 [[ 6.74514742e-01 -7.38073363e-01 1.66605526e-02 1.28364011e+02] [ 7.37819094e-01 6.74720013e-01 1.93878504e-02 1.87636782e+02] [-2.55508642e-02 -7.84917055e-04 9.99673215e-01 6.38295141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters Centerline goodness [0,1] 0.9899405136141607 Centerline is valid? [True, True] Translation: X:128.38, Y:187.66, Z:6.38 [[ 6.74556099e-01 -7.38037549e-01 1.65724434e-02 1.28383981e+02] [ 7.37785802e-01 6.74759186e-01 1.92912350e-02 1.87657706e+02] [-2.54200642e-02 -7.86106764e-04 9.99676549e-01 6.38185428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44687500000003 meters Centerline goodness [0,1] 0.989841986455982 Centerline is valid? [True, True] Translation: X:128.40, Y:187.68, Z:6.38 [[ 6.73791711e-01 -7.38738878e-01 1.64195183e-02 1.28402437e+02] [ 7.38491749e-01 6.73991317e-01 1.91217643e-02 1.87679121e+02] [-2.51926034e-02 -7.58407515e-04 9.99682328e-01 6.38027214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters Centerline goodness [0,1] 0.9906634499396864 Centerline is valid? [True, True] Translation: X:128.42, Y:187.70, Z:6.38 [[ 6.73393165e-01 -7.39099953e-01 1.65198350e-02 1.28422579e+02] [ 7.38849646e-01 6.73595344e-01 1.92486921e-02 1.87698563e+02] [-2.53543914e-02 -7.56263404e-04 9.99678240e-01 6.37999617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50687500000004 meters Centerline goodness [0,1] 0.9907320024198427 Centerline is valid? [True, True] Translation: X:128.44, Y:187.72, Z:6.38 [[ 6.71830676e-01 -7.40515927e-01 1.67243856e-02 1.28440556e+02] [ 7.40259408e-01 6.72038421e-01 1.95030482e-02 1.87719885e+02] [-2.56817475e-02 -7.22362246e-04 9.99669909e-01 6.37806013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters Centerline goodness [0,1] 0.991552295887493 Centerline is valid? [True, True] Translation: X:128.46, Y:187.74, Z:6.38 [[ 6.70442220e-01 -7.41774953e-01 1.66477708e-02 1.28462345e+02] [ 7.41521175e-01 6.70648543e-01 1.94133460e-02 1.87739079e+02] [-2.55651371e-02 -6.70852188e-04 9.99672933e-01 6.37838315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56687500000004 meters Centerline goodness [0,1] 0.9905989276526171 Centerline is valid? [True, True] Translation: X:128.48, Y:187.76, Z:6.37 [[ 6.68753758e-01 -7.43300536e-01 1.65143697e-02 1.28479795e+02] [ 7.43051029e-01 6.68957350e-01 1.92673931e-02 1.87761431e+02] [-2.53688726e-02 -6.14122144e-04 9.99677970e-01 6.37475032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters Centerline goodness [0,1] 0.9912151917013646 Centerline is valid? [True, True] Translation: X:128.50, Y:187.78, Z:6.37 [[ 6.67254453e-01 -7.44647081e-01 1.64991006e-02 1.28500131e+02] [ 7.44398197e-01 6.67458165e-01 1.92593657e-02 1.87781758e+02] [-2.53538898e-02 -5.68996760e-04 9.99678377e-01 6.37333792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62687500000004 meters Centerline goodness [0,1] 0.9924182059640227 Centerline is valid? [True, True] Translation: X:128.52, Y:187.80, Z:6.37 [[ 6.63819522e-01 -7.47700780e-01 1.69465528e-02 1.28523431e+02] [ 7.47438961e-01 6.64035633e-01 1.97908533e-02 1.87798887e+02] [-2.60507514e-02 -4.71040961e-04 9.99660511e-01 6.37346574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters Centerline goodness [0,1] 0.9928043656734438 Centerline is valid? [True, True] Translation: X:128.54, Y:187.82, Z:6.37 [[ 6.61786592e-01 -7.49500047e-01 1.69760449e-02 1.28544847e+02] [ 7.49237617e-01 6.62004164e-01 1.98363271e-02 1.87819143e+02] [-2.61055405e-02 -4.08323937e-04 9.99659109e-01 6.37297708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68687500000004 meters Centerline goodness [0,1] 0.9938147330632837 Centerline is valid? [True, True] Translation: X:128.57, Y:187.84, Z:6.37 [[ 6.58213620e-01 -7.52640914e-01 1.69258374e-02 1.28568724e+02] [ 7.52380822e-01 6.58431143e-01 1.97870841e-02 1.87836940e+02] [-2.60370675e-02 -2.89452749e-04 9.99660936e-01 6.37308205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters Centerline goodness [0,1] 0.9940497874924105 Centerline is valid? [True, True] Translation: X:128.59, Y:187.86, Z:6.37 [[ 6.56146299e-01 -7.54439793e-01 1.71065146e-02 1.28588661e+02] [ 7.54174476e-01 6.56369216e-01 2.00078222e-02 1.87856875e+02] [-2.63228868e-02 -2.26761765e-04 9.99653467e-01 6.37203826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.746875 meters Centerline goodness [0,1] 0.9942088684274292 Centerline is valid? [True, True] Translation: X:128.61, Y:187.88, Z:6.37 [[ 6.54468360e-01 -7.55892310e-01 1.72621153e-02 1.28607538e+02] [ 7.55622321e-01 6.54695947e-01 2.02021085e-02 1.87876456e+02] [-2.65720554e-02 -1.78001201e-04 9.99646885e-01 6.37076919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters Centerline goodness [0,1] 0.9943320035029678 Centerline is valid? [True, True] Translation: X:128.63, Y:187.90, Z:6.37 [[ 6.53203576e-01 -7.56973138e-01 1.77976291e-02 1.28626908e+02] [ 7.56686290e-01 6.53445979e-01 2.08377326e-02 1.87896607e+02] [-2.74033930e-02 -1.44059539e-04 9.99624446e-01 6.36977298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.806875 meters Centerline goodness [0,1] 0.9950760530421217 Centerline is valid? [True, True] Translation: X:128.65, Y:187.92, Z:6.37 [[ 6.51359469e-01 -7.58559084e-01 1.78594144e-02 1.28647381e+02] [ 7.58270521e-01 6.51604258e-01 2.09214633e-02 1.87916572e+02] [-2.75074365e-02 -8.51257188e-05 9.99621595e-01 6.36912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters Centerline goodness [0,1] 0.9940851447070564 Centerline is valid? [True, True] Translation: X:128.67, Y:187.94, Z:6.37 [[ 6.50759950e-01 -7.59075931e-01 1.77543745e-02 1.28666421e+02] [ 7.58790656e-01 6.51002093e-01 2.08090053e-02 1.87937603e+02] [-2.73537500e-02 -6.98137576e-05 9.99625814e-01 6.36791563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.866875 meters Centerline goodness [0,1] 0.9946702360671696 Centerline is valid? [True, True] Translation: X:128.68, Y:187.96, Z:6.37 [[ 6.50359398e-01 -7.59416135e-01 1.78826039e-02 1.28684421e+02] [ 7.59126502e-01 6.50605203e-01 2.09719772e-02 1.87958325e+02] [-2.75609730e-02 -6.41639546e-05 9.99620122e-01 6.36618834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters Centerline goodness [0,1] 0.9952098429217526 Centerline is valid? [True, True] Translation: X:128.70, Y:187.98, Z:6.37 [[ 6.50168447e-01 -7.59581439e-01 1.78052830e-02 1.28703006e+02] [ 7.59294095e-01 6.50412202e-01 2.08912539e-02 1.87980060e+02] [-2.74493821e-02 -6.33878386e-05 9.99623193e-01 6.36517786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.926875 meters Centerline goodness [0,1] 0.9953488372093023 Centerline is valid? [True, True] Translation: X:128.72, Y:188.00, Z:6.36 [[ 6.50355641e-01 -7.59418710e-01 1.79098560e-02 1.28720938e+02] [ 7.59127590e-01 6.50602195e-01 2.10258253e-02 1.88001957e+02] [-2.76195968e-02 -7.83982677e-05 9.99618503e-01 6.36368516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters Centerline goodness [0,1] 0.994488552213077 Centerline is valid? [True, True] Translation: X:128.74, Y:188.02, Z:6.36 [[ 6.50572936e-01 -7.59236874e-01 1.77263504e-02 1.28738456e+02] [ 7.58951309e-01 6.50814382e-01 2.08218774e-02 1.88023972e+02] [-2.73453009e-02 -9.27130553e-05 9.99626043e-01 6.36234974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.986875 meters Centerline goodness [0,1] 0.9942592772018215 Centerline is valid? [True, True] Translation: X:128.75, Y:188.05, Z:6.36 [[ 6.52078531e-01 -7.57941179e-01 1.78538143e-02 1.28754349e+02] [ 7.57650668e-01 6.52322884e-01 2.09838144e-02 1.88046251e+02] [-2.75509487e-02 -1.56140539e-04 9.99620388e-01 6.36133749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters Centerline goodness [0,1] 0.9946429437145489 Centerline is valid? [True, True] Translation: X:128.77, Y:188.07, Z:6.36 [[ 6.52735231e-01 -7.57377768e-01 1.77661099e-02 1.28771088e+02] [ 7.57089621e-01 6.52976939e-01 2.08907344e-02 1.88068433e+02] [-2.74230379e-02 -1.85580930e-04 9.99623901e-01 6.36046877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.046875 meters Centerline goodness [0,1] 0.9942232857177387 Centerline is valid? [True, True] Translation: X:128.79, Y:188.09, Z:6.36 [[ 6.53564362e-01 -7.56660642e-01 1.78408985e-02 1.28787843e+02] [ 7.56369483e-01 6.53807788e-01 2.09900405e-02 1.88090662e+02] [-2.75468559e-02 -2.24031254e-04 9.99620488e-01 6.35928904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters Centerline goodness [0,1] 0.9947650294316318 Centerline is valid? [True, True] Translation: X:128.80, Y:188.11, Z:6.36 [[ 6.54186950e-01 -7.56124669e-01 1.77459761e-02 1.28803823e+02] [ 7.55836086e-01 6.54427552e-01 2.08899391e-02 1.88112963e+02] [-2.74088540e-02 -2.52876399e-04 9.99624275e-01 6.35797705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.106875 meters Centerline goodness [0,1] 0.9937291978196903 Centerline is valid? [True, True] Translation: X:128.82, Y:188.14, Z:6.36 [[ 6.55149169e-01 -7.55288722e-01 1.78469371e-02 1.28820255e+02] [ 7.54996270e-01 6.55392141e-01 2.10183915e-02 1.88136499e+02] [-2.75716963e-02 -2.95810761e-04 9.99619785e-01 6.35752929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters Centerline goodness [0,1] 0.994237833425368 Centerline is valid? [True, True] Translation: X:128.84, Y:188.16, Z:6.36 [[ 6.55443375e-01 -7.55037845e-01 1.76588618e-02 1.28837068e+02] [ 7.54751118e-01 6.55681140e-01 2.08084976e-02 1.88158262e+02] [-2.72897858e-02 -3.10746216e-04 9.99627516e-01 6.35593470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.166875 meters Centerline goodness [0,1] 0.99385079197971 Centerline is valid? [True, True] Translation: X:128.85, Y:188.18, Z:6.35 [[ 6.55036768e-01 -7.55388180e-01 1.77631695e-02 1.28852342e+02] [ 7.55097887e-01 6.55277502e-01 2.09422299e-02 1.88180185e+02] [-2.74593183e-02 -3.04998836e-04 9.99622875e-01 6.35358109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters Centerline goodness [0,1] 0.9944499171091516 Centerline is valid? [True, True] Translation: X:128.87, Y:188.20, Z:6.35 [[ 6.53700587e-01 -7.56546151e-01 1.77049003e-02 1.28871614e+02] [ 7.56257917e-01 6.53940251e-01 2.08832522e-02 1.88201124e+02] [-2.73770910e-02 -2.61923235e-04 9.99625143e-01 6.35474091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.226875 meters Centerline goodness [0,1] 0.9944499171091516 Centerline is valid? [True, True] Translation: X:128.89, Y:188.22, Z:6.35 [[ 6.53492948e-01 -7.56725647e-01 1.76992414e-02 1.28889389e+02] [ 7.56437349e-01 6.53732535e-01 2.08880465e-02 1.88222232e+02] [-2.73770905e-02 -2.61823836e-04 9.99625143e-01 6.35361351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters Centerline goodness [0,1] 0.9947756901840491 Centerline is valid? [True, True] Translation: X:128.91, Y:188.24, Z:6.35 [[ 6.52368589e-01 -7.57697403e-01 1.76031109e-02 1.28906918e+02] [ 7.57412247e-01 6.52606002e-01 2.07868736e-02 1.88243319e+02] [-2.72380560e-02 -2.27891605e-04 9.99628949e-01 6.35194477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.286875 meters Centerline goodness [0,1] 0.9936142119793542 Centerline is valid? [True, True] Translation: X:128.92, Y:188.26, Z:6.35 [[ 6.51131899e-01 -7.58769530e-01 1.72061267e-02 1.28924317e+02] [ 7.58497233e-01 6.51359168e-01 2.03268772e-02 1.88264647e+02] [-2.66307834e-02 -1.84678668e-04 9.99645321e-01 6.34933432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters Centerline goodness [0,1] 0.9945079981773269 Centerline is valid? [True, True] Translation: X:128.94, Y:188.28, Z:6.35 [[ 6.49463487e-01 -7.60199468e-01 1.71449203e-02 1.28944118e+02] [ 7.59929314e-01 6.49689735e-01 2.02654054e-02 1.88284775e+02] [-2.65446291e-02 -1.32713394e-04 9.99647620e-01 6.35193973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.346875 meters Centerline goodness [0,1] 0.9951323614041818 Centerline is valid? [True, True] Translation: X:128.96, Y:188.31, Z:6.35 [[ 6.46693230e-01 -7.62557818e-01 1.71301155e-02 1.28962384e+02] [ 7.62288556e-01 6.46920067e-01 2.02628769e-02 1.88306072e+02] [-2.65334307e-02 -4.57742882e-05 9.99647926e-01 6.35128936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters Centerline goodness [0,1] 0.9955222451032039 Centerline is valid? [True, True] Translation: X:128.98, Y:188.33, Z:6.35 [[ 6.45533099e-01 -7.63530175e-01 1.75695462e-02 1.28979651e+02] [ 7.63247257e-01 6.45772151e-01 2.07834889e-02 1.88326947e+02] [-2.72147445e-02 -6.52205728e-06 9.99629610e-01 6.35043691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.406875 meters Centerline goodness [0,1] 0.995403179467535 Centerline is valid? [True, True] Translation: X:129.00, Y:188.35, Z:6.35 [[ 6.44531375e-01 -7.64370353e-01 1.78120665e-02 1.28996603e+02] [ 7.64079573e-01 6.44777452e-01 2.10818181e-02 1.88347699e+02] [-2.75991356e-02 2.19429636e-05 9.99619071e-01 6.34987502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters Centerline goodness [0,1] 0.9953626237032079 Centerline is valid? [True, True] Translation: X:129.01, Y:188.37, Z:6.35 [[ 6.43527966e-01 -7.65211374e-01 1.79808120e-02 1.29014083e+02] [ 7.64915209e-01 6.43779116e-01 2.12878606e-02 1.88370397e+02] [-2.78653843e-02 5.44629312e-05 9.99611683e-01 6.35034138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.466875 meters Centerline goodness [0,1] 0.9953669428987653 Centerline is valid? [True, True] Translation: X:129.03, Y:188.39, Z:6.35 [[ 6.43663906e-01 -7.65102493e-01 1.77468634e-02 1.29030198e+02] [ 7.64813539e-01 6.43908513e-01 2.10256152e-02 1.88391408e+02] [-2.75141070e-02 3.96117609e-05 9.99621415e-01 6.34715661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters Centerline goodness [0,1] 0.9952121197684667 Centerline is valid? [True, True] Translation: X:129.05, Y:188.41, Z:6.35 [[ 6.43777138e-01 -7.65017033e-01 1.73186563e-02 1.29046962e+02] [ 7.64741757e-01 6.44010045e-01 2.05208979e-02 1.88414136e+02] [-2.68522251e-02 3.34147444e-05 9.99639413e-01 6.34649322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.526875 meters Centerline goodness [0,1] 0.9950530371497883 Centerline is valid? [True, True] Translation: X:129.06, Y:188.44, Z:6.35 [[ 6.44195714e-01 -7.64672617e-01 1.69608502e-02 1.29063532e+02] [ 7.64408199e-01 6.44418954e-01 2.01076380e-02 1.88436518e+02] [-2.63056536e-02 1.17587075e-05 9.99653946e-01 6.34520450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters Centerline goodness [0,1] 0.9945392815593912 Centerline is valid? [True, True] Translation: X:129.08, Y:188.46, Z:6.34 [[ 6.45433331e-01 -7.63638882e-01 1.64764332e-02 1.29078681e+02] [ 7.63388660e-01 6.45643599e-01 1.95473143e-02 1.88460479e+02] [-2.55649929e-02 -3.85659602e-05 9.99673161e-01 6.34282738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.586875 meters Centerline goodness [0,1] 0.994849642797807 Centerline is valid? [True, True] Translation: X:129.10, Y:188.48, Z:6.34 [[ 6.46225980e-01 -7.62973192e-01 1.62447579e-02 1.29095086e+02] [ 7.62729687e-01 6.46430124e-01 1.92748404e-02 1.88483166e+02] [-2.52072874e-02 -6.55435095e-05 9.99682244e-01 6.34244716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters Centerline goodness [0,1] 0.9953123890243614 Centerline is valid? [True, True] Translation: X:129.11, Y:188.51, Z:6.34 [[ 6.47099894e-01 -7.62231650e-01 1.62676967e-02 1.29110687e+02] [ 7.61986936e-01 6.47304334e-01 1.93134104e-02 1.88505017e+02] [-2.52514433e-02 -1.01933451e-04 9.99681126e-01 6.34156897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.646875 meters Centerline goodness [0,1] 0.9938428019987212 Centerline is valid? [True, True] Translation: X:129.13, Y:188.53, Z:6.34 [[ 6.48271494e-01 -7.61234627e-01 1.63068129e-02 1.29127609e+02] [ 7.60988166e-01 6.48476538e-01 1.93698407e-02 1.88528015e+02] [-2.53195791e-02 -1.47623882e-04 9.99679397e-01 6.34145987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters Centerline goodness [0,1] 0.9942732736996545 Centerline is valid? [True, True] Translation: X:129.14, Y:188.55, Z:6.34 [[ 6.49211711e-01 -7.60424234e-01 1.67074691e-02 1.29143143e+02] [ 7.60164919e-01 6.49426630e-01 1.98581871e-02 1.88550443e+02] [-2.59509220e-02 -1.91735687e-04 9.99663200e-01 6.34055797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.706875 meters Centerline goodness [0,1] 0.9933801356954391 Centerline is valid? [True, True] Translation: X:129.16, Y:188.58, Z:6.34 [[ 6.51209950e-01 -7.58704267e-01 1.71300099e-02 1.29157875e+02] [ 7.58430949e-01 6.51435156e-01 2.03649856e-02 1.88575197e+02] [-2.66100921e-02 -2.69951536e-04 9.99645852e-01 6.33905974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters Centerline goodness [0,1] 0.9937157060451156 Centerline is valid? [True, True] Translation: X:129.17, Y:188.60, Z:6.34 [[ 6.51966641e-01 -7.58052000e-01 1.72239329e-02 1.29173408e+02] [ 7.57775172e-01 6.52194045e-01 2.04870032e-02 1.88597688e+02] [-2.67635602e-02 -3.04973917e-04 9.99641745e-01 6.33773670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.766875 meters Centerline goodness [0,1] 0.9932039976484421 Centerline is valid? [True, True] Translation: X:129.19, Y:188.62, Z:6.34 [[ 6.52922197e-01 -7.57229073e-01 1.72259844e-02 1.29190834e+02] [ 7.56951541e-01 6.53149301e-01 2.05025480e-02 1.88620157e+02] [-2.67762651e-02 -3.47333257e-04 9.99641391e-01 6.33718276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters Centerline goodness [0,1] 0.9926154421387176 Centerline is valid? [True, True] Translation: X:129.21, Y:188.64, Z:6.34 [[ 6.53769085e-01 -7.56495141e-01 1.73518120e-02 1.29207193e+02] [ 7.56213134e-01 6.53999201e-01 2.06577235e-02 1.88643121e+02] [-2.69755386e-02 -3.83712880e-04 9.99636020e-01 6.33553350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82687500000003 meters Centerline goodness [0,1] 0.9933233026142562 Centerline is valid? [True, True] Translation: X:129.22, Y:188.67, Z:6.33 [[ 6.55529076e-01 -7.54971143e-01 1.73263893e-02 1.29223382e+02] [ 7.54689362e-01 6.55757861e-01 2.06299475e-02 1.88667403e+02] [-2.69369310e-02 -4.47488740e-04 9.99637035e-01 6.33453199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters Centerline goodness [0,1] 0.9923240738573869 Centerline is valid? [True, True] Translation: X:129.24, Y:188.69, Z:6.33 [[ 6.55775220e-01 -7.54752015e-01 1.75572327e-02 1.29238901e+02] [ 7.54462254e-01 6.56010041e-01 2.09173094e-02 1.88689063e+02] [-2.73051024e-02 -4.70783863e-04 9.99627035e-01 6.33308274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88687500000003 meters Centerline goodness [0,1] 0.9928441139329311 Centerline is valid? [True, True] Translation: X:129.26, Y:188.71, Z:6.33 [[ 6.56134616e-01 -7.54434252e-01 1.77855417e-02 1.29256837e+02] [ 7.54136645e-01 6.56375439e-01 2.11944602e-02 1.88711619e+02] [-2.76638195e-02 -4.93690250e-04 9.99617161e-01 6.33259825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters Centerline goodness [0,1] 0.9923640949000561 Centerline is valid? [True, True] Translation: X:129.27, Y:188.73, Z:6.33 [[ 6.57009793e-01 -7.53670327e-01 1.78653624e-02 1.29272645e+02] [ 7.53369391e-01 6.57252425e-01 2.13028359e-02 1.88734439e+02] [-2.77973681e-02 -5.36954609e-04 9.99613434e-01 6.33116372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94687500000003 meters Centerline goodness [0,1] 0.9916796430148511 Centerline is valid? [True, True] Translation: X:129.29, Y:188.76, Z:6.33 [[ 6.58451318e-01 -7.52408050e-01 1.79996668e-02 1.29287378e+02] [ 7.52101947e-01 6.58697023e-01 2.14684099e-02 1.88758989e+02] [-2.80093313e-02 -5.98318307e-04 9.99607483e-01 6.32958206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters Centerline goodness [0,1] 0.9917927971914161 Centerline is valid? [True, True] Translation: X:129.30, Y:188.78, Z:6.33 [[ 6.59038697e-01 -7.51903594e-01 1.75778722e-02 1.29304763e+02] [ 7.51611314e-01 6.59272792e-01 2.09718351e-02 1.88781446e+02] [-2.73574111e-02 -6.09523312e-04 9.99625530e-01 6.32832976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00687500000004 meters Centerline goodness [0,1] 0.9917030770660965 Centerline is valid? [True, True] Translation: X:129.32, Y:188.80, Z:6.33 [[ 6.59676300e-01 -7.51346651e-01 1.74753644e-02 1.29322824e+02] [ 7.51057490e-01 6.59907426e-01 2.08526863e-02 1.88803525e+02] [-2.71997188e-02 -6.31019594e-04 9.99629820e-01 6.32781716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters Centerline goodness [0,1] 0.9922705538275846 Centerline is valid? [True, True] Translation: X:129.34, Y:188.83, Z:6.33 [[ 6.60041460e-01 -7.51024174e-01 1.75488420e-02 1.29338564e+02] [ 7.50732102e-01 6.60274382e-01 2.09535308e-02 1.88826224e+02] [-2.73236590e-02 -6.55720006e-04 9.99626424e-01 6.32574185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06687500000004 meters Centerline goodness [0,1] 0.9913661404564603 Centerline is valid? [True, True] Translation: X:129.36, Y:188.85, Z:6.32 [[ 6.60076092e-01 -7.51005275e-01 1.70478657e-02 1.29355779e+02] [ 7.50729578e-01 6.60295895e-01 2.03576187e-02 1.88849984e+02] [-2.65453147e-02 -6.39240358e-04 9.99647407e-01 6.32413053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters Centerline goodness [0,1] 0.9906444665724938 Centerline is valid? [True, True] Translation: X:129.37, Y:188.87, Z:6.32 [[ 6.60499352e-01 -7.50638428e-01 1.68094072e-02 1.29374362e+02] [ 7.50370022e-01 6.60712892e-01 2.00824433e-02 1.88872164e+02] [-2.61808457e-02 -6.51165531e-04 9.99657011e-01 6.32286855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12687500000004 meters Centerline goodness [0,1] 0.991374924848541 Centerline is valid? [True, True] Translation: X:129.39, Y:188.89, Z:6.32 [[ 6.60196731e-01 -7.50902626e-01 1.68974246e-02 1.29390360e+02] [ 7.50631165e-01 6.60412615e-01 2.01998002e-02 1.88894687e+02] [-2.63273554e-02 -6.52108560e-04 9.99653162e-01 6.32061012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters Centerline goodness [0,1] 0.9908913920178001 Centerline is valid? [True, True] Translation: X:129.41, Y:188.92, Z:6.32 [[ 6.60174673e-01 -7.50932667e-01 1.64173829e-02 1.29408843e+02] [ 7.50676313e-01 6.60378472e-01 1.96302808e-02 1.88917502e+02] [-2.55827054e-02 -6.35273760e-04 9.99672507e-01 6.31945783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18687500000004 meters Centerline goodness [0,1] 0.9903267610848838 Centerline is valid? [True, True] Translation: X:129.42, Y:188.94, Z:6.32 [[ 6.60688206e-01 -7.50498299e-01 1.56012102e-02 1.29424836e+02] [ 7.50266417e-01 6.60872083e-01 1.86653269e-02 1.88939828e+02] [-2.43187004e-02 -6.26897277e-04 9.99704060e-01 6.31757582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters Centerline goodness [0,1] 0.991033560759727 Centerline is valid? [True, True] Translation: X:129.44, Y:188.96, Z:6.32 [[ 6.60790893e-01 -7.50408244e-01 1.55840514e-02 1.29443297e+02] [ 7.50176765e-01 6.60974333e-01 1.86481509e-02 1.88962017e+02] [-2.42943842e-02 -6.31735063e-04 9.99704648e-01 6.31723602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.246875 meters Centerline goodness [0,1] 0.9904021832142279 Centerline is valid? [True, True] Translation: X:129.46, Y:188.98, Z:6.32 [[ 6.61181359e-01 -7.50073590e-01 1.51267758e-02 1.29461068e+02] [ 7.49855136e-01 6.61354072e-01 1.81126149e-02 1.88984104e+02] [-2.35899489e-02 -6.32832845e-04 9.99721518e-01 6.31645964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters Centerline goodness [0,1] 0.9907204863109903 Centerline is valid? [True, True] Translation: X:129.48, Y:189.01, Z:6.31 [[ 6.61440299e-01 -7.49844025e-01 1.51878306e-02 1.29477496e+02] [ 7.49623634e-01 6.61614329e-01 1.81902774e-02 1.89007231e+02] [-2.36883571e-02 -6.46625743e-04 9.99719182e-01 6.31464113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.306875 meters Centerline goodness [0,1] 0.9899178233547407 Centerline is valid? [True, True] Translation: X:129.50, Y:189.03, Z:6.31 [[ 6.62497784e-01 -7.48917128e-01 1.48263976e-02 1.29495526e+02] [ 7.48706820e-01 6.62663333e-01 1.77596262e-02 1.89030229e+02] [-2.31253983e-02 -6.65088024e-04 9.99732351e-01 6.31433121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters Centerline goodness [0,1] 0.9899208893604262 Centerline is valid? [True, True] Translation: X:129.51, Y:189.05, Z:6.31 [[ 6.63024879e-01 -7.48453054e-01 1.46981551e-02 1.29512370e+02] [ 7.48245952e-01 6.63187423e-01 1.76192245e-02 1.89052532e+02] [-2.29347940e-02 -6.84149169e-04 9.99736729e-01 6.31234389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.366875 meters Centerline goodness [0,1] 0.9903534016346265 Centerline is valid? [True, True] Translation: X:129.53, Y:189.07, Z:6.31 [[ 6.63226022e-01 -7.48278478e-01 1.45107909e-02 1.29530182e+02] [ 7.48076613e-01 6.63384395e-01 1.73932402e-02 1.89074804e+02] [-2.26412195e-02 -6.80466236e-04 9.99743423e-01 6.31159823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters Centerline goodness [0,1] 0.9900681371982908 Centerline is valid? [True, True] Translation: X:129.55, Y:189.10, Z:6.31 [[ 6.63668070e-01 -7.47887426e-01 1.44599695e-02 1.29548139e+02] [ 7.47686690e-01 6.63825212e-01 1.73407586e-02 1.89097092e+02] [-2.25678276e-02 -6.96981083e-04 9.99745071e-01 6.31070332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.426875 meters Centerline goodness [0,1] 0.9898866568374494 Centerline is valid? [True, True] Translation: X:129.56, Y:189.12, Z:6.31 [[ 6.65190307e-01 -7.46530309e-01 1.46408113e-02 1.29564595e+02] [ 7.46323969e-01 6.65350977e-01 1.75673251e-02 1.89120419e+02] [-2.28558187e-02 -7.58826010e-04 9.99738484e-01 6.30973670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters Centerline goodness [0,1] 0.9899854627685349 Centerline is valid? [True, True] Translation: X:129.58, Y:189.14, Z:6.31 [[ 6.65824332e-01 -7.45962304e-01 1.47715909e-02 1.29582104e+02] [ 7.45751962e-01 6.65987700e-01 1.77311382e-02 1.89143286e+02] [-2.30644586e-02 -7.89880341e-04 9.99733668e-01 6.30849784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.486875 meters Centerline goodness [0,1] 0.989660299668306 Centerline is valid? [True, True] Translation: X:129.60, Y:189.17, Z:6.31 [[ 6.66307390e-01 -7.45530129e-01 1.48084067e-02 1.29600588e+02] [ 7.45318430e-01 6.66471429e-01 1.77840168e-02 1.89165798e+02] [-2.31279003e-02 -8.12643336e-04 9.99732184e-01 6.30739012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters Centerline goodness [0,1] 0.9897027795615081 Centerline is valid? [True, True] Translation: X:129.62, Y:189.19, Z:6.31 [[ 6.66658913e-01 -7.45225801e-01 1.42968180e-02 1.29618165e+02] [ 7.45028171e-01 6.66811714e-01 1.71802990e-02 1.89187762e+02] [-2.23364878e-02 -8.01867285e-04 9.99750188e-01 6.30580968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.546875 meters Centerline goodness [0,1] 0.9893284566772379 Centerline is valid? [True, True] Translation: X:129.64, Y:189.21, Z:6.31 [[ 6.67057941e-01 -7.44885317e-01 1.34002705e-02 1.29637154e+02] [ 7.44711564e-01 6.67192086e-01 1.61060841e-02 1.89208937e+02] [-2.09377400e-02 -7.64354956e-04 9.99780489e-01 6.30510714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters Centerline goodness [0,1] 0.9893690939410784 Centerline is valid? [True, True] Translation: X:129.66, Y:189.23, Z:6.30 [[ 6.67219499e-01 -7.44753984e-01 1.26349983e-02 1.29655012e+02] [ 7.44599380e-01 6.67338724e-01 1.51918289e-02 1.89230050e+02] [-1.97459987e-02 -7.28272508e-04 9.99804764e-01 6.30361229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.606875 meters Centerline goodness [0,1] 0.9898943074355646 Centerline is valid? [True, True] Translation: X:129.68, Y:189.25, Z:6.30 [[ 6.66966225e-01 -7.44989016e-01 1.21417460e-02 1.29676164e+02] [ 7.44846278e-01 6.67076372e-01 1.45992066e-02 1.89250010e+02] [-1.89757204e-02 -6.93443394e-04 9.99819704e-01 6.30375438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters Centerline goodness [0,1] 0.9898715987577064 Centerline is valid? [True, True] Translation: X:129.70, Y:189.27, Z:6.30 [[ 6.66381562e-01 -7.45516770e-01 1.18473033e-02 1.29695087e+02] [ 7.45380730e-01 6.66486531e-01 1.42573281e-02 1.89270194e+02] [-1.85251453e-02 -6.70068952e-04 9.99828170e-01 6.30233511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.666875 meters Centerline goodness [0,1] 0.990196761679095 Centerline is valid? [True, True] Translation: X:129.72, Y:189.29, Z:6.30 [[ 6.65471392e-01 -7.46337415e-01 1.13265019e-02 1.29716441e+02] [ 7.46213257e-01 6.65567490e-01 1.36268443e-02 1.89289670e+02] [-1.77087752e-02 -6.16289188e-04 9.99842997e-01 6.30284824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters Centerline goodness [0,1] 0.9893453324629301 Centerline is valid? [True, True] Translation: X:129.73, Y:189.31, Z:6.30 [[ 6.64627133e-01 -7.47092440e-01 1.11202807e-02 1.29733076e+02] [ 7.46972653e-01 6.64719891e-01 1.33910735e-02 1.89311470e+02] [-1.73962416e-02 -5.93525195e-04 9.99848498e-01 6.29969981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.726875 meters Centerline goodness [0,1] 0.989887928423309 Centerline is valid? [True, True] Translation: X:129.75, Y:189.33, Z:6.30 [[ 6.63868078e-01 -7.47765554e-01 1.12183591e-02 1.29754329e+02] [ 7.47643788e-01 6.63962605e-01 1.35065097e-02 1.89331110e+02] [-1.75482736e-02 -5.79204155e-04 9.99845849e-01 6.30001529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters Centerline goodness [0,1] 0.989742628978244 Centerline is valid? [True, True] Translation: X:129.78, Y:189.35, Z:6.30 [[ 6.62276345e-01 -7.49179440e-01 1.09639945e-02 1.29776450e+02] [ 7.49063239e-01 6.62366879e-01 1.32053518e-02 1.89350660e+02] [-1.71553649e-02 -5.32866879e-04 9.99852694e-01 6.29988593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.786875 meters Centerline goodness [0,1] 0.9903254590710562 Centerline is valid? [True, True] Translation: X:129.80, Y:189.37, Z:6.30 [[ 6.61156227e-01 -7.50171222e-01 1.07508205e-02 1.29796282e+02] [ 7.50059521e-01 6.61243439e-01 1.29549129e-02 1.89372160e+02] [-1.68273124e-02 -5.01466101e-04 9.99858285e-01 6.29873581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters Centerline goodness [0,1] 0.9897762527028298 Centerline is valid? [True, True] Translation: X:129.82, Y:189.39, Z:6.30 [[ 6.60328581e-01 -7.50898980e-01 1.08114068e-02 1.29816545e+02] [ 7.50786004e-01 6.60416900e-01 1.30343725e-02 1.89392345e+02] [-1.69275328e-02 -4.89915818e-04 9.99856599e-01 6.29792156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.846875 meters Centerline goodness [0,1] 0.9891370941137659 Centerline is valid? [True, True] Translation: X:129.84, Y:189.41, Z:6.30 [[ 6.59193918e-01 -7.51895729e-01 1.07791621e-02 1.29835841e+02] [ 7.51783352e-01 6.59281875e-01 1.30077468e-02 1.89412986e+02] [-1.68869755e-02 -4.71032972e-04 9.99857294e-01 6.29673154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters Centerline goodness [0,1] 0.9890562485290657 Centerline is valid? [True, True] Translation: X:129.86, Y:189.43, Z:6.30 [[ 6.58052336e-01 -7.52891535e-01 1.10208588e-02 1.29856316e+02] [ 7.52774258e-01 6.58144460e-01 1.32960679e-02 1.89433570e+02] [-1.72638141e-02 -4.53289773e-04 9.99850867e-01 6.29580496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.906875 meters Centerline goodness [0,1] 0.9899097310836996 Centerline is valid? [True, True] Translation: X:129.88, Y:189.45, Z:6.30 [[ 6.56944875e-01 -7.53861429e-01 1.07878120e-02 1.29876577e+02] [ 7.53749090e-01 6.57033307e-01 1.30208742e-02 1.89453798e+02] [-1.69038866e-02 -4.22693057e-04 9.99857030e-01 6.29531703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters Centerline goodness [0,1] 0.9904629586021758 Centerline is valid? [True, True] Translation: X:129.90, Y:189.47, Z:6.29 [[ 6.55316359e-01 -7.55267559e-01 1.14622748e-02 1.29895537e+02] [ 7.55140707e-01 6.55416462e-01 1.38482702e-02 1.89474102e+02] [-1.79717128e-02 -4.19367743e-04 9.99838408e-01 6.29315589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.966875 meters Centerline goodness [0,1] 0.9914179369858467 Centerline is valid? [True, True] Translation: X:129.92, Y:189.49, Z:6.29 [[ 6.54681925e-01 -7.55820057e-01 1.12968289e-02 1.29915843e+02] [ 7.55696996e-01 6.54779264e-01 1.36442601e-02 1.89494388e+02] [-1.77095348e-02 -3.95670803e-04 9.99843096e-01 6.29295537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters Centerline goodness [0,1] 0.991481182668122 Centerline is valid? [True, True] Translation: X:129.94, Y:189.51, Z:6.29 [[ 6.54055058e-01 -7.56362799e-01 1.12826174e-02 1.29936824e+02] [ 7.56239978e-01 6.54152251e-01 1.36355630e-02 1.89514772e+02] [-1.76939822e-02 -3.86042669e-04 9.99843375e-01 6.29277193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.026875 meters Centerline goodness [0,1] 0.991748900249673 Centerline is valid? [True, True] Translation: X:129.96, Y:189.53, Z:6.29 [[ 6.52523483e-01 -7.57689715e-01 1.09270306e-02 1.29957002e+02] [ 7.57574493e-01 6.52614875e-01 1.32178717e-02 1.89534693e+02] [-1.71461882e-02 -3.46931982e-04 9.99852933e-01 6.29038658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters Centerline goodness [0,1] 0.9927757379237996 Centerline is valid? [True, True] Translation: X:129.98, Y:189.56, Z:6.29 [[ 6.51747238e-01 -7.58357681e-01 1.09163096e-02 1.29975224e+02] [ 7.58242827e-01 6.51838570e-01 1.32020387e-02 1.89555194e+02] [-1.71275391e-02 -3.27178818e-04 9.99853259e-01 6.28809765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.086875 meters Centerline goodness [0,1] 0.9933093645086788 Centerline is valid? [True, True] Translation: X:129.99, Y:189.58, Z:6.29 [[ 6.50869507e-01 -7.59107427e-01 1.11713806e-02 1.29994947e+02] [ 7.58987164e-01 6.50965294e-01 1.35155787e-02 1.89576141e+02] [-1.75319572e-02 -3.17943547e-04 9.99846253e-01 6.28689823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters Centerline goodness [0,1] 0.9933093645086788 Centerline is valid? [True, True] Translation: X:130.01, Y:189.60, Z:6.29 [[ 6.50662281e-01 -7.59285107e-01 1.11679229e-02 1.30012451e+02] [ 7.59164822e-01 6.50758039e-01 1.35184343e-02 1.89597479e+02] [-1.75319614e-02 -3.17641107e-04 9.99846253e-01 6.28577037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.146875 meters Centerline goodness [0,1] 0.9928612221587664 Centerline is valid? [True, True] Translation: X:130.03, Y:189.62, Z:6.28 [[ 6.49581722e-01 -7.60212254e-01 1.09961616e-02 1.30031471e+02] [ 7.60095646e-01 6.49674721e-01 1.33178545e-02 1.89617951e+02] [-1.72683245e-02 -2.92900301e-04 9.99850848e-01 6.28456185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters Centerline goodness [0,1] 0.9929088208518998 Centerline is valid? [True, True] Translation: X:130.05, Y:189.64, Z:6.28 [[ 6.47952559e-01 -7.61601105e-01 1.10107947e-02 1.30051730e+02] [ 7.61484142e-01 6.48046053e-01 1.33497228e-02 1.89637205e+02] [-1.73026657e-02 -2.65441552e-04 9.99850262e-01 6.28314179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.206875 meters Centerline goodness [0,1] 0.9926365456105233 Centerline is valid? [True, True] Translation: X:130.07, Y:189.66, Z:6.28 [[ 6.47157799e-01 -7.62273605e-01 1.12131795e-02 1.30071127e+02] [ 7.62152474e-01 6.47254888e-01 1.35910804e-02 1.89657892e+02] [-1.76179071e-02 -2.49421212e-04 9.99844762e-01 6.28234269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters Centerline goodness [0,1] 0.9927880007667241 Centerline is valid? [True, True] Translation: X:130.09, Y:189.68, Z:6.28 [[ 6.46326326e-01 -7.62981346e-01 1.10338181e-02 1.30090590e+02] [ 7.62864053e-01 6.46420461e-01 1.33800375e-02 1.89678094e+02] [-1.73412048e-02 -2.30567293e-04 9.99849603e-01 6.28265742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.266875 meters Centerline goodness [0,1] 0.9925965097831835 Centerline is valid? [True, True] Translation: X:130.11, Y:189.70, Z:6.28 [[ 6.45786413e-01 -7.63439870e-01 1.09303869e-02 1.30109715e+02] [ 7.63324651e-01 6.45878870e-01 1.32650949e-02 1.89697359e+02] [-1.71868083e-02 -2.22984281e-04 9.99852271e-01 6.28266683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters Centerline goodness [0,1] 0.9926826332892045 Centerline is valid? [True, True] Translation: X:130.13, Y:189.72, Z:6.28 [[ 6.45443221e-01 -7.63725136e-01 1.12678624e-02 1.30128407e+02] [ 7.63602690e-01 6.45541530e-01 1.36771805e-02 1.89718257e+02] [-1.77194797e-02 -2.23673448e-04 9.99842973e-01 6.28253245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32687500000003 meters Centerline goodness [0,1] 0.992414208308248 Centerline is valid? [True, True] Translation: X:130.15, Y:189.74, Z:6.28 [[ 6.45380459e-01 -7.63777076e-01 1.13420134e-02 1.30146635e+02] [ 7.63652889e-01 6.45480074e-01 1.37745655e-02 1.89739577e+02] [-1.78417410e-02 -2.28474124e-04 9.99840797e-01 6.28157037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters Centerline goodness [0,1] 0.9929037069110678 Centerline is valid? [True, True] Translation: X:130.17, Y:189.76, Z:6.28 [[ 6.45116681e-01 -7.63996802e-01 1.15479054e-02 1.30165842e+02] [ 7.63867963e-01 6.45219988e-01 1.40321604e-02 1.89760793e+02] [-1.81714651e-02 -2.31305759e-04 9.99834859e-01 6.28236699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38687500000003 meters Centerline goodness [0,1] 0.9928306789202713 Centerline is valid? [True, True] Translation: X:130.18, Y:189.78, Z:6.28 [[ 6.44981268e-01 -7.64112958e-01 1.14259096e-02 1.30182290e+02] [ 7.63986687e-01 6.45082424e-01 1.38927424e-02 1.89781883e+02] [-1.79862779e-02 -2.31315730e-04 9.99838207e-01 6.27987593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.416875 meters Centerline goodness [0,1] 0.9931548266937571 Centerline is valid? [True, True] Translation: X:130.20, Y:189.80, Z:6.28 [[ 6.44970659e-01 -7.64127126e-01 1.10717361e-02 1.30200483e+02] [ 7.64008438e-01 6.45065642e-01 1.34693901e-02 1.89802618e+02] [-1.74343229e-02 -2.28461585e-04 9.99847985e-01 6.27737911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44687500000003 meters Centerline goodness [0,1] 0.9931204287059164 Centerline is valid? [True, True] Translation: X:130.22, Y:189.82, Z:6.28 [[ 6.44501367e-01 -7.64525013e-01 1.09312922e-02 1.30219864e+02] [ 7.64409288e-01 6.44594025e-01 1.33035065e-02 1.89823185e+02] [-1.72171091e-02 -2.18146824e-04 9.99851751e-01 6.27800597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters Centerline goodness [0,1] 0.9936932147689929 Centerline is valid? [True, True] Translation: X:130.24, Y:189.84, Z:6.28 [[ 6.44124468e-01 -7.64843830e-01 1.08436798e-02 1.30237049e+02] [ 7.64729854e-01 6.44215701e-01 1.32052879e-02 1.89843535e+02] [-1.70856517e-02 -2.13363329e-04 9.99854007e-01 6.27605766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50687500000004 meters Centerline goodness [0,1] 0.993807450411224 Centerline is valid? [True, True] Translation: X:130.26, Y:189.87, Z:6.27 [[ 6.43641880e-01 -7.65250371e-01 1.08166335e-02 1.30255681e+02] [ 7.65136923e-01 6.43732730e-01 1.31781038e-02 1.89865185e+02] [-1.70475698e-02 -2.05773884e-04 9.99854658e-01 6.27463462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters Centerline goodness [0,1] 0.9940627650551315 Centerline is valid? [True, True] Translation: X:130.27, Y:189.89, Z:6.27 [[ 6.42261045e-01 -7.66404671e-01 1.11637802e-02 1.30274651e+02] [ 7.66283846e-01 6.42358035e-01 1.36096166e-02 1.89886307e+02] [-1.76016177e-02 -1.86302167e-04 9.99845062e-01 6.27311316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56687500000004 meters Centerline goodness [0,1] 0.9940180668910901 Centerline is valid? [True, True] Translation: X:130.29, Y:189.91, Z:6.27 [[ 6.41965024e-01 -7.66651685e-01 1.12295108e-02 1.30292128e+02] [ 7.66529322e-01 6.42063206e-01 1.36981037e-02 1.89906466e+02] [-1.77117300e-02 -1.85954167e-04 9.99843118e-01 6.27190944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters Centerline goodness [0,1] 0.994442556909188 Centerline is valid? [True, True] Translation: X:130.31, Y:189.93, Z:6.27 [[ 6.41745293e-01 -7.66830112e-01 1.15998702e-02 1.30311036e+02] [ 7.66699441e-01 6.41850093e-01 1.41571801e-02 1.89928037e+02] [-1.83015298e-02 -1.91689684e-04 9.99832495e-01 6.27131094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62687500000004 meters Centerline goodness [0,1] 0.9948362384542656 Centerline is valid? [True, True] Translation: X:130.33, Y:189.95, Z:6.27 [[ 6.41480754e-01 -7.67049902e-01 1.17000258e-02 1.30329717e+02] [ 7.66916876e-01 6.41587416e-01 1.42861037e-02 1.89949708e+02] [-1.84647438e-02 -1.91313359e-04 9.99829494e-01 6.27116313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters Centerline goodness [0,1] 0.9951104979062281 Centerline is valid? [True, True] Translation: X:130.35, Y:189.97, Z:6.27 [[ 6.41089261e-01 -7.67371566e-01 1.20598572e-02 1.30347674e+02] [ 7.67230113e-01 6.41202654e-01 1.47346904e-02 1.89971081e+02] [-1.90397949e-02 -1.93566196e-04 9.99818708e-01 6.27046258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68687500000004 meters Centerline goodness [0,1] 0.9949875894642987 Centerline is valid? [True, True] Translation: X:130.36, Y:189.99, Z:6.27 [[ 6.40609341e-01 -7.67758413e-01 1.29109280e-02 1.30364990e+02] [ 7.67596039e-01 6.40739399e-01 1.57906340e-02 1.89993072e+02] [-2.03959323e-02 -2.05250423e-04 9.99791960e-01 6.26774144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters Centerline goodness [0,1] 0.9950840315784375 Centerline is valid? [True, True] Translation: X:130.38, Y:190.01, Z:6.27 [[ 6.40325626e-01 -7.67997586e-01 1.27593444e-02 1.30382656e+02] [ 7.67839121e-01 6.40452708e-01 1.56017429e-02 1.90014317e+02] [-2.01538576e-02 -1.93072022e-04 9.99796872e-01 6.26707659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.746875 meters Centerline goodness [0,1] 0.9948813740235797 Centerline is valid? [True, True] Translation: X:130.40, Y:190.04, Z:6.27 [[ 6.39834072e-01 -7.68402058e-01 1.30627978e-02 1.30400582e+02] [ 7.68235853e-01 6.39967375e-01 1.59822924e-02 1.90035906e+02] [-2.06405908e-02 -1.90705624e-04 9.99786942e-01 6.26539370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters Centerline goodness [0,1] 0.9951502218773491 Centerline is valid? [True, True] Translation: X:130.42, Y:190.06, Z:6.26 [[ 6.39166611e-01 -7.68949388e-01 1.35233989e-02 1.30418906e+02] [ 7.68771131e-01 6.39309631e-01 1.65572863e-02 1.90056444e+02] [-2.13773543e-02 -1.86465919e-04 9.99771461e-01 6.26414336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.806875 meters Centerline goodness [0,1] 0.9958607668474051 Centerline is valid? [True, True] Translation: X:130.44, Y:190.08, Z:6.26 [[ 6.38636769e-01 -7.69381722e-01 1.39586365e-02 1.30437272e+02] [ 7.69191771e-01 6.38789271e-01 1.70963705e-02 1.90077610e+02] [-2.20702622e-02 -1.81502435e-04 9.99756406e-01 6.26380844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters Centerline goodness [0,1] 0.9963122907467611 Centerline is valid? [True, True] Translation: X:130.46, Y:190.10, Z:6.26 [[ 6.37973813e-01 -7.69923980e-01 1.43694006e-02 1.30455648e+02] [ 7.69722597e-01 6.38135593e-01 1.76093422e-02 1.90099377e+02] [-2.27274808e-02 -1.73846851e-04 9.99741682e-01 6.26307275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.866875 meters Centerline goodness [0,1] 0.9964575144368418 Centerline is valid? [True, True] Translation: X:130.47, Y:190.12, Z:6.26 [[ 6.37359704e-01 -7.70428883e-01 1.45583079e-02 1.30473029e+02] [ 7.70222011e-01 6.37525928e-01 1.78534208e-02 1.90120526e+02] [-2.30360898e-02 -1.65921813e-04 9.99734620e-01 6.26126764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters Centerline goodness [0,1] 0.9963091566908676 Centerline is valid? [True, True] Translation: X:130.49, Y:190.14, Z:6.26 [[ 6.36745485e-01 -7.70934111e-01 1.46895755e-02 1.30490720e+02] [ 7.70723527e-01 6.36914887e-01 1.80186406e-02 1.90141754e+02] [-2.32471940e-02 -1.51686653e-04 9.99729736e-01 6.26055372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.926875 meters Centerline goodness [0,1] 0.996485955941158 Centerline is valid? [True, True] Translation: X:130.51, Y:190.16, Z:6.26 [[ 6.36589796e-01 -7.71057549e-01 1.49561896e-02 1.30508235e+02] [ 7.70838972e-01 6.36765445e-01 1.83588557e-02 1.90162904e+02] [-2.36793190e-02 -1.58246428e-04 9.99719593e-01 6.25946546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters Centerline goodness [0,1] 0.9966908365370578 Centerline is valid? [True, True] Translation: X:130.53, Y:190.18, Z:6.26 [[ 6.36027905e-01 -7.71519464e-01 1.50406343e-02 1.30526505e+02] [ 7.71298426e-01 6.36205702e-01 1.84673383e-02 1.90184806e+02] [-2.38168483e-02 -1.44924913e-04 9.99716328e-01 6.25861942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.986875 meters Centerline goodness [0,1] 0.9966858368262014 Centerline is valid? [True, True] Translation: X:130.54, Y:190.21, Z:6.26 [[ 6.35860392e-01 -7.71662035e-01 1.48076622e-02 1.30544643e+02] [ 7.71447601e-01 6.36032769e-01 1.81910706e-02 1.90205699e+02] [-2.34555170e-02 -1.43645802e-04 9.99724871e-01 6.25810328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters Centerline goodness [0,1] 0.9963177916504097 Centerline is valid? [True, True] Translation: X:130.56, Y:190.23, Z:6.26 [[ 6.35624896e-01 -7.71853265e-01 1.49508874e-02 1.30562485e+02] [ 7.71634450e-01 6.35800689e-01 1.83782166e-02 1.90228017e+02] [-2.36910710e-02 -1.45032230e-04 9.99719317e-01 6.25657744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.046875 meters Centerline goodness [0,1] 0.9966448664024702 Centerline is valid? [True, True] Translation: X:130.58, Y:190.25, Z:6.25 [[ 6.35626669e-01 -7.71847744e-01 1.51590999e-02 1.30579033e+02] [ 7.71622534e-01 6.35807390e-01 1.86447873e-02 1.90249578e+02] [-2.40292048e-02 -1.54020949e-04 9.99711245e-01 6.25437998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters Centerline goodness [0,1] 0.9965970686176806 Centerline is valid? [True, True] Translation: X:130.60, Y:190.27, Z:6.25 [[ 6.35520939e-01 -7.71934138e-01 1.51928341e-02 1.30596452e+02] [ 7.71707732e-01 6.35702495e-01 1.86952816e-02 1.90271197e+02] [-2.40896486e-02 -1.56815323e-04 9.99709790e-01 6.25337654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.106875 meters Centerline goodness [0,1] 0.9965127054577378 Centerline is valid? [True, True] Translation: X:130.61, Y:190.29, Z:6.25 [[ 6.34704229e-01 -7.72604230e-01 1.52723770e-02 1.30614450e+02] [ 7.72375384e-01 6.34887930e-01 1.88037904e-02 1.90292352e+02] [-2.42241359e-02 -1.38837254e-04 9.99706543e-01 6.25203191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters Centerline goodness [0,1] 0.9967689429827757 Centerline is valid? [True, True] Translation: X:130.63, Y:190.31, Z:6.25 [[ 6.33768121e-01 -7.73365508e-01 1.56128066e-02 1.30632964e+02] [ 7.73126298e-01 6.33960390e-01 1.92340942e-02 1.90313712e+02] [-2.47728860e-02 -1.19284356e-04 9.99693098e-01 6.25094647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.166875 meters Centerline goodness [0,1] 0.995945384822061 Centerline is valid? [True, True] Translation: X:130.65, Y:190.33, Z:6.25 [[ 6.32851604e-01 -7.74117689e-01 1.55129172e-02 1.30651594e+02] [ 7.73881498e-01 6.33041700e-01 1.91215325e-02 1.90334885e+02] [-2.46226401e-02 -9.59329392e-05 9.99696812e-01 6.24984398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters Centerline goodness [0,1] 0.9959027388239885 Centerline is valid? [True, True] Translation: X:130.67, Y:190.36, Z:6.25 [[ 6.31607281e-01 -7.75131123e-01 1.56200023e-02 1.30670154e+02] [ 7.74891701e-01 6.31800394e-01 1.92643356e-02 1.90355929e+02] [-2.48011097e-02 -6.36845257e-05 9.99692403e-01 6.24987382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.226875 meters Centerline goodness [0,1] 0.9959572343586371 Centerline is valid? [True, True] Translation: X:130.69, Y:190.38, Z:6.25 [[ 6.30541888e-01 -7.75993249e-01 1.58557766e-02 1.30687715e+02] [ 7.75746502e-01 6.30741212e-01 1.95675399e-02 1.90376471e+02] [-2.51851706e-02 -3.80903003e-05 9.99682803e-01 6.24799274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters Centerline goodness [0,1] 0.9962873403189956 Centerline is valid? [True, True] Translation: X:130.71, Y:190.40, Z:6.25 [[ 6.29070818e-01 -7.77181984e-01 1.60645491e-02 1.30705842e+02] [ 7.76928839e-01 6.29275904e-01 1.98346931e-02 1.90396326e+02] [-2.55241998e-02 3.58490315e-06 9.99674205e-01 6.24710810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.286875 meters Centerline goodness [0,1] 0.995894227479349 Centerline is valid? [True, True] Translation: X:130.72, Y:190.42, Z:6.25 [[ 6.28434649e-01 -7.77698680e-01 1.59579304e-02 1.30724287e+02] [ 7.77448786e-01 6.28637227e-01 1.97135040e-02 1.90417978e+02] [-2.53629152e-02 1.78246423e-05 9.99678309e-01 6.24774174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters Centerline goodness [0,1] 0.9961537519292486 Centerline is valid? [True, True] Translation: X:130.74, Y:190.44, Z:6.25 [[ 6.27856315e-01 -7.78168074e-01 1.58396773e-02 1.30742264e+02] [ 7.77921736e-01 6.28056086e-01 1.95786984e-02 1.90439202e+02] [-2.51837238e-02 2.94198447e-05 9.99682839e-01 6.24646327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.346875 meters Centerline goodness [0,1] 0.996328388897048 Centerline is valid? [True, True] Translation: X:130.76, Y:190.46, Z:6.24 [[ 6.27620648e-01 -7.78361506e-01 1.56744348e-02 1.30760232e+02] [ 7.78120070e-01 6.27816346e-01 1.93853433e-02 1.90460874e+02] [-2.49294714e-02 2.99505504e-05 9.99689212e-01 6.24474112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters Centerline goodness [0,1] 0.9956200450230008 Centerline is valid? [True, True] Translation: X:130.78, Y:190.48, Z:6.24 [[ 6.27529528e-01 -7.78448931e-01 1.49650443e-02 1.30777995e+02] [ 7.78228633e-01 6.27707942e-01 1.85184853e-02 1.90482552e+02] [-2.38093722e-02 2.53296698e-05 9.99716516e-01 6.24211019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.406875 meters Centerline goodness [0,1] 0.9962206183556033 Centerline is valid? [True, True] Translation: X:130.79, Y:190.50, Z:6.24 [[ 6.27380310e-01 -7.78573497e-01 1.47396340e-02 1.30794655e+02] [ 7.78359614e-01 6.27553432e-01 1.82483106e-02 1.90503460e+02] [-2.34575589e-02 2.41050360e-05 9.99724833e-01 6.24042449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters Centerline goodness [0,1] 0.9957704813827837 Centerline is valid? [True, True] Translation: X:130.81, Y:190.52, Z:6.24 [[ 6.27134728e-01 -7.78765580e-01 1.50400475e-02 1.30811464e+02] [ 7.78542698e-01 6.27315048e-01 1.86305346e-02 1.90524558e+02] [-2.39436672e-02 2.54638599e-05 9.99713309e-01 6.23900616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.466875 meters Centerline goodness [0,1] 0.996086392877235 Centerline is valid? [True, True] Translation: X:130.83, Y:190.55, Z:6.24 [[ 6.26500760e-01 -7.79271837e-01 1.52381661e-02 1.30829930e+02] [ 7.79042988e-01 6.26686048e-01 1.88843954e-02 1.90546036e+02] [-2.42656236e-02 4.00983512e-05 9.99705546e-01 6.23949986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters Centerline goodness [0,1] 0.9960891669925694 Centerline is valid? [True, True] Translation: X:130.85, Y:190.57, Z:6.24 [[ 6.25768748e-01 -7.79856561e-01 1.54019343e-02 1.30847489e+02] [ 7.79622652e-01 6.25958259e-01 1.90991632e-02 1.90566456e+02] [-2.45355757e-02 5.60374070e-05 9.99698956e-01 6.23868135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.526875 meters Centerline goodness [0,1] 0.9965639112507363 Centerline is valid? [True, True] Translation: X:130.87, Y:190.59, Z:6.24 [[ 6.25092820e-01 -7.80387788e-01 1.59331996e-02 1.30865908e+02] [ 7.80137386e-01 6.25295846e-01 1.97677607e-02 1.90587952e+02] [-2.53894826e-02 7.33993659e-05 9.99677632e-01 6.23915455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters Centerline goodness [0,1] 0.9961804025268106 Centerline is valid? [True, True] Translation: X:130.88, Y:190.61, Z:6.24 [[ 6.24631318e-01 -7.80753780e-01 1.61012882e-02 1.30883923e+02] [ 7.80497873e-01 6.24838802e-01 1.99885460e-02 1.90608829e+02] [-2.56668425e-02 8.15493988e-05 9.99670549e-01 6.23768398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.586875 meters Centerline goodness [0,1] 0.9965135556855861 Centerline is valid? [True, True] Translation: X:130.90, Y:190.63, Z:6.24 [[ 6.23591406e-01 -7.81584505e-01 1.61065321e-02 1.30902098e+02] [ 7.81328460e-01 6.23799367e-01 2.00047132e-02 1.90629972e+02] [-2.56826184e-02 1.09724690e-04 9.99670141e-01 6.23684515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters Centerline goodness [0,1] 0.9966677284198662 Centerline is valid? [True, True] Translation: X:130.92, Y:190.65, Z:6.24 [[ 6.23470643e-01 -7.81686271e-01 1.58408034e-02 1.30919934e+02] [ 7.81438367e-01 6.23671839e-01 1.96854323e-02 1.90652076e+02] [-2.52672951e-02 1.05322395e-04 9.99680725e-01 6.23502741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.646875 meters Centerline goodness [0,1] 0.9967044233961527 Centerline is valid? [True, True] Translation: X:130.94, Y:190.67, Z:6.23 [[ 6.23147740e-01 -7.81941382e-01 1.59551873e-02 1.30937750e+02] [ 7.81689681e-01 6.23351957e-01 1.98388583e-02 1.90674010e+02] [-2.54585215e-02 1.09465576e-04 9.99675873e-01 6.23358132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters Centerline goodness [0,1] 0.9963272201953919 Centerline is valid? [True, True] Translation: X:130.96, Y:190.70, Z:6.23 [[ 6.22893274e-01 -7.82148241e-01 1.57511370e-02 1.30955449e+02] [ 7.81902733e-01 6.23092382e-01 1.95959094e-02 1.90695982e+02] [-2.51413196e-02 1.09696854e-04 9.99683901e-01 6.23225373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.706875 meters Centerline goodness [0,1] 0.9958180484225972 Centerline is valid? [True, True] Translation: X:130.97, Y:190.72, Z:6.23 [[ 6.22601811e-01 -7.82379196e-01 1.58043590e-02 1.30973391e+02] [ 7.82131823e-01 6.22802361e-01 1.96731232e-02 1.90717938e+02] [-2.52348344e-02 1.12569962e-04 9.99681545e-01 6.23160283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters Centerline goodness [0,1] 0.9961227077643386 Centerline is valid? [True, True] Translation: X:130.99, Y:190.74, Z:6.23 [[ 6.22066612e-01 -7.82798710e-01 1.61031054e-02 1.30991018e+02] [ 7.82541717e-01 6.22274991e-01 2.00573091e-02 1.90739011e+02] [-2.57213955e-02 1.24369439e-04 9.99669142e-01 6.22828259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.766875 meters Centerline goodness [0,1] 0.9958907125210967 Centerline is valid? [True, True] Translation: X:131.01, Y:190.76, Z:6.23 [[ 6.21527030e-01 -7.83226234e-01 1.61498522e-02 1.31008129e+02] [ 7.82967657e-01 6.21736800e-01 2.01246162e-02 1.90761947e+02] [-2.58030847e-02 1.36819026e-04 9.99667036e-01 6.23025918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters Centerline goodness [0,1] 0.9958769425943546 Centerline is valid? [True, True] Translation: X:131.03, Y:190.78, Z:6.23 [[ 6.20933215e-01 -7.83694669e-01 1.62667974e-02 1.31025395e+02] [ 7.83432165e-01 6.21146234e-01 2.02829611e-02 1.90782772e+02] [-2.59997084e-02 1.49568021e-04 9.99661939e-01 6.22806783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82687500000003 meters Centerline goodness [0,1] 0.996074606851152 Centerline is valid? [True, True] Translation: X:131.04, Y:190.80, Z:6.23 [[ 6.20341733e-01 -7.84169849e-01 1.59305587e-02 1.31043026e+02] [ 7.83918000e-01 6.20546229e-01 1.98732528e-02 1.90804919e+02] [-2.54696537e-02 1.60043611e-04 9.99675583e-01 6.22777549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters Centerline goodness [0,1] 0.9962110100713797 Centerline is valid? [True, True] Translation: X:131.06, Y:190.83, Z:6.23 [[ 6.19584771e-01 -7.84770393e-01 1.58159094e-02 1.31059834e+02] [ 7.84522063e-01 6.19786576e-01 1.97416403e-02 1.90826369e+02] [-2.52951431e-02 1.76310230e-04 9.99680011e-01 6.22548893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88687500000003 meters Centerline goodness [0,1] 0.996288971898728 Centerline is valid? [True, True] Translation: X:131.08, Y:190.85, Z:6.22 [[ 6.18938298e-01 -7.85271420e-01 1.62536103e-02 1.31076643e+02] [ 7.85009050e-01 6.19151644e-01 2.02985811e-02 1.90848464e+02] [-2.60033452e-02 1.95661920e-04 9.99661837e-01 6.22420792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters Centerline goodness [0,1] 0.996296386540289 Centerline is valid? [True, True] Translation: X:131.09, Y:190.87, Z:6.22 [[ 6.18742378e-01 -7.85428309e-01 1.61319847e-02 1.31093470e+02] [ 7.85169622e-01 6.18952611e-01 2.01576397e-02 1.90871220e+02] [-2.58173149e-02 1.93958358e-04 9.99666659e-01 6.22419818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94687500000003 meters Centerline goodness [0,1] 0.9966423357664234 Centerline is valid? [True, True] Translation: X:131.11, Y:190.89, Z:6.22 [[ 6.18427988e-01 -7.85667675e-01 1.65265933e-02 1.31110182e+02] [ 7.85395879e-01 6.18648741e-01 2.06651734e-02 1.90892961e+02] [-2.64601149e-02 1.99996601e-04 9.99649850e-01 6.22293078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters Centerline goodness [0,1] 0.9959308240081384 Centerline is valid? [True, True] Translation: X:131.13, Y:190.92, Z:6.22 [[ 6.17890863e-01 -7.86086715e-01 1.66900513e-02 1.31127198e+02] [ 7.85809501e-01 6.18116194e-01 2.08757945e-02 1.90915192e+02] [-2.67265757e-02 2.16238158e-04 9.99642758e-01 6.22212004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00687500000004 meters Centerline goodness [0,1] 0.9965217814316639 Centerline is valid? [True, True] Translation: X:131.14, Y:190.94, Z:6.22 [[ 6.17398019e-01 -7.86473401e-01 1.67115541e-02 1.31144164e+02] [ 7.86195277e-01 6.17624108e-01 2.09152714e-02 1.90936196e+02] [-2.67707633e-02 2.25497794e-04 9.99641573e-01 6.22031966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters Centerline goodness [0,1] 0.9965217814316639 Centerline is valid? [True, True] Translation: X:131.16, Y:190.96, Z:6.22 [[ 6.17184686e-01 -7.86640931e-01 1.67065587e-02 1.31161320e+02] [ 7.86362760e-01 6.17410718e-01 2.09192603e-02 1.90957815e+02] [-2.67707548e-02 2.26368490e-04 9.99641573e-01 6.21919189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06687500000004 meters Centerline goodness [0,1] 0.9958444714459296 Centerline is valid? [True, True] Translation: X:131.18, Y:190.98, Z:6.22 [[ 6.16530270e-01 -7.87155683e-01 1.66239873e-02 1.31178081e+02] [ 7.86880141e-01 6.16754305e-01 2.08271484e-02 1.90979924e+02] [-2.66471240e-02 2.40518022e-04 9.99644873e-01 6.21898792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters Centerline goodness [0,1] 0.9960524392026902 Centerline is valid? [True, True] Translation: X:131.20, Y:191.00, Z:6.22 [[ 6.15792135e-01 -7.87737291e-01 1.64319220e-02 1.31195305e+02] [ 7.87467962e-01 6.16011279e-01 2.05988644e-02 1.91001071e+02] [-2.63487429e-02 2.54993443e-04 9.99652779e-01 6.21721205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12687500000004 meters Centerline goodness [0,1] 0.9963283567572825 Centerline is valid? [True, True] Translation: X:131.21, Y:191.02, Z:6.22 [[ 6.14418962e-01 -7.88805306e-01 1.65990283e-02 1.31213173e+02] [ 7.88530579e-01 6.14643067e-01 2.08188687e-02 1.91023337e+02] [-2.66245118e-02 2.97333765e-04 9.99645461e-01 6.21610314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters Centerline goodness [0,1] 0.9964835697829514 Centerline is valid? [True, True] Translation: X:131.23, Y:191.04, Z:6.21 [[ 6.13662337e-01 -7.89386596e-01 1.69510354e-02 1.31230265e+02] [ 7.89099968e-01 6.13896325e-01 2.12730474e-02 1.91043747e+02] [-2.71988368e-02 3.21593528e-04 9.99629991e-01 6.21475686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18687500000004 meters Centerline goodness [0,1] 0.9972990072026474 Centerline is valid? [True, True] Translation: X:131.25, Y:191.07, Z:6.21 [[ 6.12993244e-01 -7.89898970e-01 1.72887389e-02 1.31247253e+02] [ 7.89600710e-01 6.13236903e-01 2.17075823e-02 1.91066021e+02] [-2.77488896e-02 3.44599202e-04 9.99614866e-01 6.21459066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters Centerline goodness [0,1] 0.9968632981568837 Centerline is valid? [True, True] Translation: X:131.26, Y:191.09, Z:6.21 [[ 6.12063704e-01 -7.90616600e-01 1.74187893e-02 1.31264478e+02] [ 7.90313772e-01 6.12311403e-01 2.18835152e-02 1.91088435e+02] [-2.79671936e-02 3.72203701e-04 9.99608772e-01 6.21448767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.246875 meters Centerline goodness [0,1] 0.9966271141200165 Centerline is valid? [True, True] Translation: X:131.28, Y:191.11, Z:6.21 [[ 6.11948749e-01 -7.90706195e-01 1.73908857e-02 1.31280782e+02] [ 7.90404008e-01 6.12195703e-01 2.18615145e-02 1.91109710e+02] [-2.79326605e-02 3.67699298e-04 9.99609739e-01 6.21353726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters Centerline goodness [0,1] 0.9966788683910693 Centerline is valid? [True, True] Translation: X:131.30, Y:191.13, Z:6.21 [[ 6.12527625e-01 -7.90261021e-01 1.72461047e-02 1.31296858e+02] [ 7.89963325e-01 6.12770272e-01 2.16919097e-02 1.91131135e+02] [-2.77101709e-02 3.36896330e-04 9.99615943e-01 6.21225369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.306875 meters Centerline goodness [0,1] 0.9971928465987464 Centerline is valid? [True, True] Translation: X:131.31, Y:191.15, Z:6.21 [[ 6.12691516e-01 -7.90123673e-01 1.77112551e-02 1.31313103e+02] [ 7.89809437e-01 6.12947363e-01 2.22841694e-02 1.91154486e+02] [-2.84633169e-02 3.35194878e-04 9.99594782e-01 6.21134764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters Centerline goodness [0,1] 0.9962904080551139 Centerline is valid? [True, True] Translation: X:131.33, Y:191.18, Z:6.21 [[ 6.14466685e-01 -7.88729222e-01 1.83550495e-02 1.31327713e+02] [ 7.88390597e-01 6.14740711e-01 2.31111315e-02 1.91178179e+02] [-2.95120210e-02 2.69928103e-04 9.99564389e-01 6.20998674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.366875 meters Centerline goodness [0,1] 0.9961714423308452 Centerline is valid? [True, True] Translation: X:131.34, Y:191.20, Z:6.21 [[ 6.15184750e-01 -7.88158511e-01 1.88118536e-02 1.31343977e+02] [ 7.87802514e-01 6.15472258e-01 2.36875100e-02 1.91201327e+02] [-3.02476866e-02 2.47830669e-04 9.99542403e-01 6.20861408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters Centerline goodness [0,1] 0.9966767808120214 Centerline is valid? [True, True] Translation: X:131.36, Y:191.22, Z:6.21 [[ 6.15490203e-01 -7.87921660e-01 1.87421602e-02 1.31359285e+02] [ 7.87567762e-01 6.15775452e-01 2.36138502e-02 1.91223213e+02] [-3.01468261e-02 2.26627710e-04 9.99545455e-01 6.20730892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.426875 meters Centerline goodness [0,1] 0.9969388738912457 Centerline is valid? [True, True] Translation: X:131.38, Y:191.25, Z:6.21 [[ 6.15953195e-01 -7.87552880e-01 1.90295347e-02 1.31375102e+02] [ 7.87187608e-01 6.16247044e-01 2.39843757e-02 1.91245040e+02] [-3.06158586e-02 2.06561108e-04 9.99531203e-01 6.20580917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters Centerline goodness [0,1] 0.9967231284485459 Centerline is valid? [True, True] Translation: X:131.39, Y:191.27, Z:6.20 [[ 6.15779941e-01 -7.87689842e-01 1.89677814e-02 1.31391808e+02] [ 7.87326680e-01 6.16071968e-01 2.39171075e-02 1.91268088e+02] [-3.05247810e-02 2.06165282e-04 9.99533989e-01 6.20447625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.486875 meters Centerline goodness [0,1] 0.9965194431108978 Centerline is valid? [True, True] Translation: X:131.41, Y:191.29, Z:6.20 [[ 6.15783772e-01 -7.87689906e-01 1.88403415e-02 1.31407330e+02] [ 7.87331206e-01 6.16071890e-01 2.37697019e-02 1.91290158e+02] [-3.03301590e-02 1.96592088e-04 9.99539916e-01 6.20290772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters Centerline goodness [0,1] 0.9963700177893168 Centerline is valid? [True, True] Translation: X:131.42, Y:191.31, Z:6.20 [[ 6.15872466e-01 -7.87631025e-01 1.83976476e-02 1.31423157e+02] [ 7.87288636e-01 6.16147170e-01 2.32221617e-02 1.91312131e+02] [-2.96261535e-02 1.82368863e-04 9.99561033e-01 6.20136208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.546875 meters Centerline goodness [0,1] 0.9960360360360361 Centerline is valid? [True, True] Translation: X:131.44, Y:191.34, Z:6.20 [[ 6.16311621e-01 -7.87291798e-01 1.82101641e-02 1.31439368e+02] [ 7.86955899e-01 6.16580570e-01 2.29959521e-02 1.91335699e+02] [-2.93325578e-02 1.57923506e-04 9.99569695e-01 6.20065967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters Centerline goodness [0,1] 0.996523448738851 Centerline is valid? [True, True] Translation: X:131.45, Y:191.36, Z:6.20 [[ 6.16955627e-01 -7.86797527e-01 1.77596854e-02 1.31454655e+02] [ 7.86477492e-01 6.17211177e-01 2.24391960e-02 1.91359238e+02] [-2.86165802e-02 1.23604601e-04 9.99590454e-01 6.19890794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.606875 meters Centerline goodness [0,1] 0.9965310174884566 Centerline is valid? [True, True] Translation: X:131.47, Y:191.38, Z:6.20 [[ 6.16868954e-01 -7.86872647e-01 1.74393381e-02 1.31470485e+02] [ 7.86563725e-01 6.17115406e-01 2.20472797e-02 1.91381195e+02] [-2.81104855e-02 1.16868412e-04 9.99604815e-01 6.19720002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters Centerline goodness [0,1] 0.99644772916915 Centerline is valid? [True, True] Translation: X:131.49, Y:191.40, Z:6.20 [[ 6.17261210e-01 -7.86560744e-01 1.76293975e-02 1.31487093e+02] [ 7.86244604e-01 6.17512904e-01 2.22987913e-02 1.91404164e+02] [-2.84257343e-02 9.68397285e-05 9.99595902e-01 6.19594047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.666875 meters Centerline goodness [0,1] 0.9962912449453257 Centerline is valid? [True, True] Translation: X:131.50, Y:191.43, Z:6.19 [[ 6.17149396e-01 -7.86644175e-01 1.78203554e-02 1.31503836e+02] [ 7.86320798e-01 6.17406620e-01 2.25536731e-02 1.91427329e+02] [-2.87441210e-02 9.35303798e-05 9.99586798e-01 6.19413685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters Centerline goodness [0,1] 0.9965349965349966 Centerline is valid? [True, True] Translation: X:131.52, Y:191.45, Z:6.19 [[ 6.17486264e-01 -7.86364977e-01 1.84617839e-02 1.31519458e+02] [ 7.86017370e-01 6.17762185e-01 2.33789603e-02 1.91450113e+02] [-2.97893876e-02 7.50960034e-05 9.99556195e-01 6.19335526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.726875 meters Centerline goodness [0,1] 0.9967741164663433 Centerline is valid? [True, True] Translation: X:131.54, Y:191.47, Z:6.19 [[ 6.17724477e-01 -7.86174535e-01 1.86029720e-02 1.31535654e+02] [ 7.85821192e-01 6.18004528e-01 2.35681408e-02 1.91472647e+02] [-3.00253931e-02 5.99921886e-05 9.99549134e-01 6.19248982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters Centerline goodness [0,1] 0.996173072783372 Centerline is valid? [True, True] Translation: X:131.55, Y:191.50, Z:6.19 [[ 6.18514993e-01 -7.85550100e-01 1.87147968e-02 1.31551914e+02] [ 7.85191814e-01 6.18798060e-01 2.37228902e-02 1.91496216e+02] [-3.02161988e-02 2.17419322e-05 9.99543386e-01 6.19174178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.786875 meters Centerline goodness [0,1] 0.9961908389677173 Centerline is valid? [True, True] Translation: X:131.57, Y:191.52, Z:6.19 [[ 6.19502829e-01 -7.84776412e-01 1.84994062e-02 1.31567015e+02] [ 7.84425576e-01 6.19778979e-01 2.34634384e-02 1.91518382e+02] [-2.98790961e-02 -2.42590855e-05 9.99553520e-01 6.19050441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters Centerline goodness [0,1] 0.9955749054314467 Centerline is valid? [True, True] Translation: X:131.58, Y:191.54, Z:6.19 [[ 6.22618504e-01 -7.82315111e-01 1.81456576e-02 1.31581119e+02] [ 7.81976174e-01 6.22882850e-01 2.30264671e-02 1.91544400e+02] [-2.93165721e-02 -1.47232574e-04 9.99570166e-01 6.18860909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.846875 meters Centerline goodness [0,1] 0.9953907196654708 Centerline is valid? [True, True] Translation: X:131.60, Y:191.57, Z:6.19 [[ 6.24864696e-01 -7.80532271e-01 1.77055382e-02 1.31596586e+02] [ 7.80208559e-01 6.25115446e-01 2.24785172e-02 1.91568552e+02] [-2.86132134e-02 -2.32019405e-04 9.99590531e-01 6.18717523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters Centerline goodness [0,1] 0.9950598517955539 Centerline is valid? [True, True] Translation: X:131.61, Y:191.59, Z:6.18 [[ 6.27107967e-01 -7.78733547e-01 1.75971705e-02 1.31610564e+02] [ 7.78412703e-01 6.27354732e-01 2.23540468e-02 1.91592502e+02] [-2.84475144e-02 -3.20539781e-04 9.99595236e-01 6.18485367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.906875 meters Centerline goodness [0,1] 0.9944553704712935 Centerline is valid? [True, True] Translation: X:131.63, Y:191.62, Z:6.18 [[ 6.31397891e-01 -7.75277996e-01 1.67550664e-02 1.31625544e+02] [ 7.74985822e-01 6.31619997e-01 2.12874327e-02 1.91617793e+02] [-2.70865132e-02 -4.55901223e-04 9.99632989e-01 6.18359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters Centerline goodness [0,1] 0.9948287313786887 Centerline is valid? [True, True] Translation: X:131.64, Y:191.64, Z:6.18 [[ 6.33121683e-01 -7.73875532e-01 1.65407240e-02 1.31639411e+02] [ 7.73589984e-01 6.33337504e-01 2.10272032e-02 1.91642001e+02] [-2.67482989e-02 -5.17039898e-04 9.99642067e-01 6.18060158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.966875 meters Centerline goodness [0,1] 0.9939444115907747 Centerline is valid? [True, True] Translation: X:131.66, Y:191.66, Z:6.18 [[ 6.34451511e-01 -7.72788610e-01 1.64025555e-02 1.31657559e+02] [ 7.72507312e-01 6.34663256e-01 2.08567717e-02 1.91664771e+02] [-2.65279749e-02 -5.61516282e-04 9.99647914e-01 6.18017282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters Centerline goodness [0,1] 0.9941433463218798 Centerline is valid? [True, True] Translation: X:131.67, Y:191.69, Z:6.18 [[ 6.35566627e-01 -7.71870459e-01 1.64638044e-02 1.31671807e+02] [ 7.71586412e-01 6.35779539e-01 2.09472494e-02 1.91688792e+02] [-2.66359130e-02 -6.10124873e-04 9.99645015e-01 6.17724917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.026875 meters Centerline goodness [0,1] 0.9937874994094581 Centerline is valid? [True, True] Translation: X:131.69, Y:191.71, Z:6.18 [[ 6.37394148e-01 -7.70363182e-01 1.64093956e-02 1.31691085e+02] [ 7.70080415e-01 6.37604983e-01 2.08815529e-02 1.91710077e+02] [-2.65490919e-02 -6.73225428e-04 9.99647284e-01 6.17776867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters Centerline goodness [0,1] 0.9936654600876358 Centerline is valid? [True, True] Translation: X:131.71, Y:191.73, Z:6.18 [[ 6.38001000e-01 -7.69862416e-01 1.63274162e-02 1.31709497e+02] [ 7.69582038e-01 6.38209507e-01 2.07873351e-02 1.91732101e+02] [-2.64237003e-02 -6.97054287e-04 9.99650590e-01 6.17706843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.086875 meters Centerline goodness [0,1] 0.993905922681394 Centerline is valid? [True, True] Translation: X:131.73, Y:191.75, Z:6.18 [[ 6.38298811e-01 -7.69606370e-01 1.67529792e-02 1.31726666e+02] [ 7.69310813e-01 6.38518205e-01 2.13395110e-02 1.91754049e+02] [-2.71201058e-02 -7.32736419e-04 9.99631914e-01 6.17627182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters Centerline goodness [0,1] 0.9932767499523174 Centerline is valid? [True, True] Translation: X:131.74, Y:191.78, Z:6.18 [[ 6.38472967e-01 -7.69460506e-01 1.68166518e-02 1.31743334e+02] [ 7.69162301e-01 6.38693954e-01 2.14333375e-02 1.91776158e+02] [-2.72328006e-02 -7.49872075e-04 9.99628837e-01 6.17501990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.146875 meters Centerline goodness [0,1] 0.9944151411728204 Centerline is valid? [True, True] Translation: X:131.77, Y:191.80, Z:6.18 [[ 6.37284077e-01 -7.70428943e-01 1.75570245e-02 1.31765488e+02] [ 7.70103916e-01 6.37525439e-01 2.23891450e-02 1.91795764e+02] [-2.84422951e-02 -7.47512275e-04 9.99595157e-01 6.17689237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters Centerline goodness [0,1] 0.9947348267279341 Centerline is valid? [True, True] Translation: X:131.78, Y:191.82, Z:6.18 [[ 6.36204822e-01 -7.71306269e-01 1.81676505e-02 1.31784956e+02] [ 7.70958234e-01 6.36463738e-01 2.31799745e-02 1.91816716e+02] [-2.94419104e-02 -7.40711758e-04 9.99566219e-01 6.17638411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.206875 meters Centerline goodness [0,1] 0.9938044206296048 Centerline is valid? [True, True] Translation: X:131.80, Y:191.84, Z:6.18 [[ 6.34913104e-01 -7.72365985e-01 1.83340266e-02 1.31804765e+02] [ 7.72011631e-01 6.35177367e-01 2.34041411e-02 1.91837608e+02] [-2.97219212e-02 -7.05514054e-04 9.99557957e-01 6.17592233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters Centerline goodness [0,1] 0.993644573995317 Centerline is valid? [True, True] Translation: X:131.82, Y:191.86, Z:6.17 [[ 6.33492933e-01 -7.73532794e-01 1.82680227e-02 1.31823574e+02] [ 7.73181040e-01 6.33755934e-01 2.33344101e-02 1.91858514e+02] [-2.96273992e-02 -6.57695132e-04 9.99560796e-01 6.17426650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.266875 meters Centerline goodness [0,1] 0.994285987520023 Centerline is valid? [True, True] Translation: X:131.84, Y:191.88, Z:6.17 [[ 6.31987859e-01 -7.74768590e-01 1.80271177e-02 1.31843549e+02] [ 7.74426524e-01 6.32244636e-01 2.30277780e-02 1.91879844e+02] [-2.92387475e-02 -5.92598009e-04 9.99572281e-01 6.17253501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters Centerline goodness [0,1] 0.9946760254022824 Centerline is valid? [True, True] Translation: X:131.86, Y:191.90, Z:6.17 [[ 6.29639530e-01 -7.76704549e-01 1.68554198e-02 1.31863942e+02] [ 7.76405918e-01 6.29864919e-01 2.15414828e-02 1.91897983e+02] [-2.73480053e-02 -4.76721463e-04 9.99625860e-01 6.16911210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32687500000003 meters Centerline goodness [0,1] 0.9944828247937056 Centerline is valid? [True, True] Translation: X:131.88, Y:191.92, Z:6.17 [[ 6.28435403e-01 -7.77697863e-01 1.59680572e-02 1.31883210e+02] [ 7.77430023e-01 6.28638101e-01 2.04131643e-02 1.91918481e+02] [-2.59134034e-02 -4.14308065e-04 9.99664106e-01 6.16683367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters Centerline goodness [0,1] 0.9949276407519593 Centerline is valid? [True, True] Translation: X:131.90, Y:191.94, Z:6.17 [[ 6.26861076e-01 -7.78973276e-01 1.56788593e-02 1.31902590e+02] [ 7.78715172e-01 6.27057018e-01 2.00543668e-02 1.91938874e+02] [-2.54533546e-02 -3.61936367e-04 9.99675945e-01 6.16502040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38687500000003 meters Centerline goodness [0,1] 0.9948390208609671 Centerline is valid? [True, True] Translation: X:131.92, Y:191.96, Z:6.16 [[ 6.24529127e-01 -7.80857570e-01 1.49941721e-02 1.31923682e+02] [ 7.80621793e-01 6.24709034e-01 1.91895472e-02 1.91956956e+02] [-2.43512979e-02 -2.79653661e-04 9.99703424e-01 6.16306348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters Centerline goodness [0,1] 0.9952747173268401 Centerline is valid? [True, True] Translation: X:131.94, Y:191.98, Z:6.16 [[ 6.23235178e-01 -7.81893217e-01 1.48630479e-02 1.31943931e+02] [ 7.81661684e-01 6.23412335e-01 1.90282279e-02 1.91976745e+02] [-2.41438497e-02 -2.41185897e-04 9.99708466e-01 6.16357131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44687500000003 meters Centerline goodness [0,1] 0.9953276684339216 Centerline is valid? [True, True] Translation: X:131.96, Y:192.00, Z:6.16 [[ 6.22143889e-01 -7.82762563e-01 1.48239985e-02 1.31962173e+02] [ 7.82532212e-01 6.22320435e-01 1.89898089e-02 1.91996697e+02] [-2.40897887e-02 -2.14137210e-04 9.99709776e-01 6.16186074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters Centerline goodness [0,1] 0.9954374469117826 Centerline is valid? [True, True] Translation: X:131.98, Y:192.02, Z:6.16 [[ 6.21116777e-01 -7.83579527e-01 1.47334080e-02 1.31981632e+02] [ 7.83352014e-01 6.21291469e-01 1.88820457e-02 1.92017723e+02] [-2.39493252e-02 -1.86510594e-04 9.99713156e-01 6.16095082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50687500000004 meters Centerline goodness [0,1] 0.9953391270573384 Centerline is valid? [True, True] Translation: X:132.00, Y:192.04, Z:6.16 [[ 6.20398394e-01 -7.84149374e-01 1.46830606e-02 1.32001099e+02] [ 7.83923337e-01 6.20572099e-01 1.88274017e-02 1.92038428e+02] [-2.38753930e-02 -1.70095920e-04 9.99714928e-01 6.16099734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters Centerline goodness [0,1] 0.9956672021810038 Centerline is valid? [True, True] Translation: X:132.02, Y:192.06, Z:6.16 [[ 6.19575466e-01 -7.84792457e-01 1.50679060e-02 1.32019770e+02] [ 7.84554293e-01 6.19758643e-01 1.93335339e-02 1.92057773e+02] [-2.45112765e-02 -1.56992947e-04 9.99699541e-01 6.15989831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56687500000004 meters Centerline goodness [0,1] 0.9950368586234581 Centerline is valid? [True, True] Translation: X:132.04, Y:192.08, Z:6.16 [[ 6.19528727e-01 -7.84826772e-01 1.52017533e-02 1.32036661e+02] [ 7.84584161e-01 6.19715185e-01 1.95136775e-02 1.92078640e+02] [-2.47356139e-02 -1.62228901e-04 9.99694015e-01 6.15777917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters Centerline goodness [0,1] 0.9953049358989953 Centerline is valid? [True, True] Translation: X:132.06, Y:192.10, Z:6.16 [[ 6.19346841e-01 -7.84963761e-01 1.55365495e-02 1.32055084e+02] [ 7.84710157e-01 6.19541658e-01 1.99524981e-02 1.92099593e+02] [-2.52875276e-02 -1.65828476e-04 9.99680206e-01 6.15919897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62687500000004 meters Centerline goodness [0,1] 0.9949918158942662 Centerline is valid? [True, True] Translation: X:132.07, Y:192.12, Z:6.16 [[ 6.19889562e-01 -7.84531846e-01 1.57071119e-02 1.32072372e+02] [ 7.84272184e-01 6.20088497e-01 2.01840590e-02 1.92120673e+02] [-2.55748364e-02 -1.93236546e-04 9.99672892e-01 6.15675211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters Centerline goodness [0,1] 0.9950722092115535 Centerline is valid? [True, True] Translation: X:132.09, Y:192.14, Z:6.15 [[ 6.19878211e-01 -7.84538402e-01 1.58271737e-02 1.32088685e+02] [ 7.84274437e-01 6.20080200e-01 2.03507297e-02 1.92142620e+02] [-2.57800460e-02 -2.02126161e-04 9.99667619e-01 6.15416480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68687500000004 meters Centerline goodness [0,1] 0.9955076590730558 Centerline is valid? [True, True] Translation: X:132.11, Y:192.16, Z:6.15 [[ 6.19742997e-01 -7.84644099e-01 1.58825424e-02 1.32106780e+02] [ 7.84378174e-01 6.19946447e-01 2.04275301e-02 1.92163838e+02] [-2.58746666e-02 -2.01899130e-04 9.99665174e-01 6.15425088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters Centerline goodness [0,1] 0.9950945698596705 Centerline is valid? [True, True] Translation: X:132.12, Y:192.19, Z:6.15 [[ 6.18732081e-01 -7.85436990e-01 1.61042320e-02 1.32124515e+02] [ 7.85163546e-01 6.18941599e-01 2.07244737e-02 1.92185293e+02] [-2.62453474e-02 -1.78440849e-04 9.99655516e-01 6.15262886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.746875 meters Centerline goodness [0,1] 0.99595409739591 Centerline is valid? [True, True] Translation: X:132.14, Y:192.21, Z:6.15 [[ 6.15777509e-01 -7.87761697e-01 1.57977343e-02 1.32143743e+02] [ 7.87499023e-01 6.15980115e-01 2.03417492e-02 1.92205125e+02] [-2.57555411e-02 -8.52913262e-05 9.99668267e-01 6.15030313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters Centerline goodness [0,1] 0.9967326684026925 Centerline is valid? [True, True] Translation: X:132.16, Y:192.23, Z:6.15 [[ 6.14078691e-01 -7.89085010e-01 1.58810770e-02 1.32162074e+02] [ 7.88819772e-01 6.14284010e-01 2.04578042e-02 1.92226749e+02] [-2.58984383e-02 -3.53940737e-05 9.99664579e-01 6.14892409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.806875 meters Centerline goodness [0,1] 0.9963130468980435 Centerline is valid? [True, True] Translation: X:132.18, Y:192.25, Z:6.15 [[ 6.12213457e-01 -7.90536895e-01 1.56876122e-02 1.32180661e+02] [ 7.90278292e-01 6.12414416e-01 2.02189111e-02 1.92248374e+02] [-2.55911151e-02 1.92899030e-05 9.99672494e-01 6.14935490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters Centerline goodness [0,1] 0.9964834624369852 Centerline is valid? [True, True] Translation: X:132.20, Y:192.27, Z:6.15 [[ 6.10713001e-01 -7.91696859e-01 1.56752939e-02 1.32198491e+02] [ 7.91438735e-01 6.10914135e-01 2.02150719e-02 1.92268752e+02] [-2.55804676e-02 6.04275577e-05 9.99672764e-01 6.14849221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.866875 meters Centerline goodness [0,1] 0.996777684852659 Centerline is valid? [True, True] Translation: X:132.22, Y:192.29, Z:6.15 [[ 6.09338373e-01 -7.92745178e-01 1.61811706e-02 1.32216224e+02] [ 7.92470156e-01 6.09553175e-01 2.08801171e-02 1.92289882e+02] [-2.64158961e-02 1.00038160e-04 9.99651034e-01 6.14795779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters Centerline goodness [0,1] 0.9971147443959458 Centerline is valid? [True, True] Translation: X:132.23, Y:192.31, Z:6.15 [[ 6.07544563e-01 -7.94085042e-01 1.78479778e-02 1.32234237e+02] [ 7.93750761e-01 6.07806645e-01 2.30393652e-02 1.92312381e+02] [-2.91433348e-02 1.69404889e-04 9.99575228e-01 6.14938341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.926875 meters Centerline goodness [0,1] 0.9971147443959458 Centerline is valid? [True, True] Translation: X:132.25, Y:192.33, Z:6.15 [[ 6.07335402e-01 -7.94245155e-01 1.78421845e-02 1.32251057e+02] [ 7.93910811e-01 6.07597404e-01 2.30438504e-02 1.92334261e+02] [-2.91433315e-02 1.69757032e-04 9.99575228e-01 6.14825595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters Centerline goodness [0,1] 0.9969666329625885 Centerline is valid? [True, True] Translation: X:132.27, Y:192.36, Z:6.15 [[ 6.06731442e-01 -7.94694733e-01 1.83640588e-02 1.32267562e+02] [ 7.94340352e-01 6.07009264e-01 2.37309667e-02 1.92357481e+02] [-3.00060280e-02 1.88989222e-04 9.99549700e-01 6.14912098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.986875 meters Centerline goodness [0,1] 0.9970227110553382 Centerline is valid? [True, True] Translation: X:132.28, Y:192.38, Z:6.15 [[ 6.06299688e-01 -7.95010526e-01 1.89460197e-02 1.32284278e+02] [ 7.94633015e-01 6.06595600e-01 2.44979386e-02 1.92379452e+02] [-3.09686913e-02 2.02040224e-04 9.99520335e-01 6.14797689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters Centerline goodness [0,1] 0.996709476217371 Centerline is valid? [True, True] Translation: X:132.30, Y:192.40, Z:6.15 [[ 6.06041996e-01 -7.95188440e-01 1.97089722e-02 1.32300997e+02] [ 7.94779493e-01 6.06362351e-01 2.55001257e-02 1.92402200e+02] [-3.22281839e-02 2.10139889e-04 9.99480515e-01 6.14747018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.046875 meters Centerline goodness [0,1] 0.996331262534853 Centerline is valid? [True, True] Translation: X:132.32, Y:192.43, Z:6.15 [[ 6.06079609e-01 -7.95151541e-01 2.00383209e-02 1.32316188e+02] [ 7.94728302e-01 6.06410740e-01 2.59410842e-02 1.92425407e+02] [-3.27785461e-02 2.02658609e-04 9.99462619e-01 6.14696185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters Centerline goodness [0,1] 0.9967472914475776 Centerline is valid? [True, True] Translation: X:132.33, Y:192.45, Z:6.15 [[ 6.06541809e-01 -7.94796989e-01 2.01191800e-02 1.32331875e+02] [ 7.94369602e-01 6.06875372e-01 2.60618369e-02 1.92447853e+02] [-3.29237043e-02 1.74471356e-04 9.99457853e-01 6.14510511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.106875 meters Centerline goodness [0,1] 0.996697247706422 Centerline is valid? [True, True] Translation: X:132.35, Y:192.47, Z:6.14 [[ 6.07069672e-01 -7.94396936e-01 1.99980353e-02 1.32347803e+02] [ 7.93974177e-01 6.07398951e-01 2.59137089e-02 1.92471044e+02] [-3.27325567e-02 1.46496829e-04 9.99464136e-01 6.14352484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters Centerline goodness [0,1] 0.9967191440393702 Centerline is valid? [True, True] Translation: X:132.36, Y:192.49, Z:6.14 [[ 6.07591486e-01 -7.94003448e-01 1.97765066e-02 1.32362970e+02] [ 7.93589348e-01 6.07913243e-01 2.56405219e-02 1.92494659e+02] [-3.23810631e-02 1.15462209e-04 9.99475589e-01 6.14256903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.166875 meters Centerline goodness [0,1] 0.9963516964611455 Centerline is valid? [True, True] Translation: X:132.38, Y:192.52, Z:6.14 [[ 6.09840426e-01 -7.92288858e-01 1.93137413e-02 1.32375630e+02] [ 7.91892591e-01 6.10146184e-01 2.50551185e-02 1.92518918e+02] [-3.16350968e-02 1.47845075e-05 9.99499485e-01 6.14037327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters Centerline goodness [0,1] 0.9967877740734432 Centerline is valid? [True, True] Translation: X:132.39, Y:192.54, Z:6.14 [[ 6.11213637e-01 -7.91235075e-01 1.91035589e-02 1.32390688e+02] [ 7.90846483e-01 6.11512105e-01 2.47948749e-02 1.92542976e+02] [-3.13006322e-02 -4.69832870e-05 9.99510014e-01 6.13872003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.226875 meters Centerline goodness [0,1] 0.9960170006071646 Centerline is valid? [True, True] Translation: X:132.41, Y:192.57, Z:6.14 [[ 6.12648970e-01 -7.90123915e-01 1.91164390e-02 1.32405402e+02] [ 7.89733816e-01 6.12947131e-01 2.48256817e-02 1.92566832e+02] [-3.13327313e-02 -1.12530022e-04 9.99509003e-01 6.13711794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters Centerline goodness [0,1] 0.9955867019083877 Centerline is valid? [True, True] Translation: X:132.42, Y:192.59, Z:6.14 [[ 6.16055450e-01 -7.87474674e-01 1.89557383e-02 1.32416809e+02] [ 7.87089363e-01 6.16346958e-01 2.46325555e-02 1.92592562e+02] [-3.10808253e-02 -2.55160128e-04 9.99516842e-01 6.13533838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.286875 meters Centerline goodness [0,1] 0.9948774680743608 Centerline is valid? [True, True] Translation: X:132.43, Y:192.62, Z:6.13 [[ 6.17743251e-01 -7.86146765e-01 1.91452260e-02 1.32430628e+02] [ 7.85752765e-01 6.18039768e-01 2.48885181e-02 1.92616442e+02] [-3.13985390e-02 -3.31299856e-04 9.99506889e-01 6.13426495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters Centerline goodness [0,1] 0.995407218601967 Centerline is valid? [True, True] Translation: X:132.45, Y:192.64, Z:6.13 [[ 6.19184077e-01 -7.84997175e-01 1.97614539e-02 1.32446180e+02] [ 7.84576707e-01 6.19499211e-01 2.56927657e-02 1.92640454e+02] [-3.24109536e-02 -4.04174981e-04 9.99474545e-01 6.13432691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.346875 meters Centerline goodness [0,1] 0.9946744710454349 Centerline is valid? [True, True] Translation: X:132.46, Y:192.66, Z:6.13 [[ 6.20888868e-01 -7.83639732e-01 2.01440673e-02 1.32461803e+02] [ 7.83201557e-01 6.21215362e-01 2.62067734e-02 1.92664265e+02] [-3.30504730e-02 -4.94628986e-04 9.99453561e-01 6.13435919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters Centerline goodness [0,1] 0.9939759036144579 Centerline is valid? [True, True] Translation: X:132.48, Y:192.69, Z:6.13 [[ 6.22553972e-01 -7.82307082e-01 2.05470335e-02 1.32475982e+02] [ 7.81850213e-01 6.22892680e-01 2.67386150e-02 1.92688621e+02] [-3.37164047e-02 -5.81528478e-04 9.99431271e-01 6.13374076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.406875 meters Centerline goodness [0,1] 0.9934693877551021 Centerline is valid? [True, True] Translation: X:132.49, Y:192.72, Z:6.13 [[ 6.25933888e-01 -7.79575915e-01 2.16370285e-02 1.32488545e+02] [ 7.79067360e-01 6.26307269e-01 2.81647386e-02 1.92715763e+02] [-3.55079801e-02 -7.72561639e-04 9.99369094e-01 6.13301403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters Centerline goodness [0,1] 0.9930286042834555 Centerline is valid? [True, True] Translation: X:132.50, Y:192.74, Z:6.13 [[ 6.27860690e-01 -7.78028260e-01 2.15169822e-02 1.32503667e+02] [ 7.77523926e-01 6.28228685e-01 2.80225822e-02 1.92740405e+02] [-3.53199463e-02 -8.64309384e-04 9.99375682e-01 6.13120476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.466875 meters Centerline goodness [0,1] 0.9928533993996855 Centerline is valid? [True, True] Translation: X:132.52, Y:192.76, Z:6.13 [[ 6.29941981e-01 -7.76350432e-01 2.12863153e-02 1.32517727e+02] [ 7.75855373e-01 6.30300793e-01 2.77371629e-02 1.92764831e+02] [-3.49505398e-02 -9.57701205e-04 9.99388584e-01 6.12946425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters Centerline goodness [0,1] 0.993292115251486 Centerline is valid? [True, True] Translation: X:132.53, Y:192.79, Z:6.13 [[ 6.31428379e-01 -7.75151477e-01 2.09377826e-02 1.32534048e+02] [ 7.74671609e-01 6.31774616e-01 2.72898043e-02 1.92788848e+02] [-3.43816917e-02 -1.01165112e-03 9.99408263e-01 6.12791077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.526875 meters Centerline goodness [0,1] 0.9926312048335505 Centerline is valid? [True, True] Translation: X:132.54, Y:192.82, Z:6.12 [[ 6.34444010e-01 -7.72705307e-01 2.01818360e-02 1.32544176e+02] [ 7.72257770e-01 6.34763949e-01 2.63185389e-02 1.92815561e+02] [-3.31471766e-02 -1.11205970e-03 9.99449863e-01 6.12427991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters Centerline goodness [0,1] 0.9924785270251032 Centerline is valid? [True, True] Translation: X:132.56, Y:192.84, Z:6.12 [[ 6.35848254e-01 -7.71560115e-01 1.97986661e-02 1.32561253e+02] [ 7.71128586e-01 6.36155370e-01 2.58272788e-02 1.92838324e+02] [-3.25223260e-02 -1.15491276e-03 9.99470342e-01 6.12270088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.586875 meters Centerline goodness [0,1] 0.992424422332518 Centerline is valid? [True, True] Translation: X:132.58, Y:192.86, Z:6.12 [[ 6.37141117e-01 -7.70504786e-01 1.93280121e-02 1.32577109e+02] [ 7.70092687e-01 6.37433106e-01 2.52247694e-02 1.92862361e+02] [-3.17561203e-02 -1.18737700e-03 9.99494942e-01 6.12075710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters Centerline goodness [0,1] 0.9930146101205276 Centerline is valid? [True, True] Translation: X:132.59, Y:192.89, Z:6.12 [[ 6.37871234e-01 -7.69910516e-01 1.89231404e-02 1.32593265e+02] [ 7.69514858e-01 6.38150733e-01 2.47088058e-02 1.92886031e+02] [-3.10993853e-02 -1.19939878e-03 9.99515578e-01 6.11901954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.646875 meters Centerline goodness [0,1] 0.9918381831085876 Centerline is valid? [True, True] Translation: X:132.61, Y:192.91, Z:6.12 [[ 6.38915407e-01 -7.69054655e-01 1.84943474e-02 1.32609464e+02] [ 7.68676001e-01 6.39181858e-01 2.41610635e-02 1.92910439e+02] [-3.04024297e-02 -1.22071477e-03 9.99536994e-01 6.11675560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters Centerline goodness [0,1] 0.9920700284725981 Centerline is valid? [True, True] Translation: X:132.62, Y:192.93, Z:6.12 [[ 6.38839007e-01 -7.69113059e-01 1.87036363e-02 1.32624105e+02] [ 7.68725421e-01 6.39111544e-01 2.44471109e-02 1.92933165e+02] [-3.07563021e-02 -1.23980739e-03 9.99526144e-01 6.11503849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.706875 meters Centerline goodness [0,1] 0.992474483796623 Centerline is valid? [True, True] Translation: X:132.64, Y:192.95, Z:6.11 [[ 6.38363086e-01 -7.69505800e-01 1.87987775e-02 1.32642353e+02] [ 7.69113976e-01 6.38638629e-01 2.45844328e-02 1.92954599e+02] [-3.09234891e-02 -1.23539189e-03 9.99520991e-01 6.11450317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters Centerline goodness [0,1] 0.9928600137125565 Centerline is valid? [True, True] Translation: X:132.66, Y:192.98, Z:6.11 [[ 6.37568478e-01 -7.70159607e-01 1.89898821e-02 1.32661396e+02] [ 7.69759609e-01 6.37850044e-01 2.48488615e-02 1.92976422e+02] [-3.12502865e-02 -1.22520663e-03 9.99510840e-01 6.11412837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.766875 meters Centerline goodness [0,1] 0.9925997960200185 Centerline is valid? [True, True] Translation: X:132.68, Y:193.00, Z:6.11 [[ 6.35684631e-01 -7.71708996e-01 1.92425099e-02 1.32681543e+02] [ 7.71298590e-01 6.35974724e-01 2.51919730e-02 1.92996822e+02] [-3.16786221e-02 -1.17242934e-03 9.99497419e-01 6.11358399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters Centerline goodness [0,1] 0.9930920274426307 Centerline is valid? [True, True] Translation: X:132.70, Y:193.02, Z:6.11 [[ 6.34255104e-01 -7.72876496e-01 1.95546478e-02 1.32701008e+02] [ 7.72452749e-01 6.34555450e-01 2.56150782e-02 1.93018447e+02] [-3.22058002e-02 -1.14145271e-03 9.99480607e-01 6.11254961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82687500000003 meters Centerline goodness [0,1] 0.9929079702039554 Centerline is valid? [True, True] Translation: X:132.72, Y:193.04, Z:6.11 [[ 6.33078332e-01 -7.73842352e-01 1.94894942e-02 1.32718020e+02] [ 7.73421395e-01 6.33377303e-01 2.55448268e-02 1.93040153e+02] [-3.21118721e-02 -1.09828452e-03 9.99483677e-01 6.11056398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters Centerline goodness [0,1] 0.9945280764635603 Centerline is valid? [True, True] Translation: X:132.74, Y:193.06, Z:6.11 [[ 6.31616277e-01 -7.75045015e-01 1.91338470e-02 1.32741382e+02] [ 7.74639768e-01 6.31905203e-01 2.50807481e-02 1.93059375e+02] [-3.15294863e-02 -1.01956990e-03 9.99502302e-01 6.11019165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88687500000003 meters Centerline goodness [0,1] 0.9942804032315722 Centerline is valid? [True, True] Translation: X:132.76, Y:193.08, Z:6.11 [[ 6.29997426e-01 -7.76368658e-01 1.88401166e-02 1.32758065e+02] [ 7.75975910e-01 6.30278359e-01 2.47098801e-02 1.93081448e+02] [-3.10584942e-02 -9.47684226e-04 9.99517119e-01 6.10784556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters Centerline goodness [0,1] 0.9939273674898988 Centerline is valid? [True, True] Translation: X:132.78, Y:193.10, Z:6.11 [[ 6.28479230e-01 -7.77606962e-01 1.84735133e-02 1.32778695e+02] [ 7.77229833e-01 6.28750074e-01 2.42308022e-02 1.93101726e+02] [-3.04572633e-02 -8.70390305e-04 9.99535691e-01 6.10629529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94687500000003 meters Centerline goodness [0,1] 0.9940407811602527 Centerline is valid? [True, True] Translation: X:132.80, Y:193.12, Z:6.10 [[ 6.24943688e-01 -7.80481363e-01 1.71531029e-02 1.32801777e+02] [ 7.80157016e-01 6.25178673e-01 2.25090516e-02 1.93120266e+02] [-2.82916494e-02 -6.84776163e-04 9.99599477e-01 6.10348819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters Centerline goodness [0,1] 0.9946567825166073 Centerline is valid? [True, True] Translation: X:132.82, Y:193.14, Z:6.10 [[ 6.22705557e-01 -7.82278543e-01 1.66754406e-02 1.32823327e+02] [ 7.81972367e-01 6.22928510e-01 2.18926336e-02 1.93139714e+02] [-2.75137450e-02 -5.92930828e-04 9.99621249e-01 6.10213046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00687500000004 meters Centerline goodness [0,1] 0.9945585141115867 Centerline is valid? [True, True] Translation: X:132.84, Y:193.16, Z:6.10 [[ 6.18816582e-01 -7.85388481e-01 1.51977860e-02 1.32844002e+02] [ 7.85134813e-01 6.19003034e-01 1.99641897e-02 1.93158411e+02] [-2.50871203e-02 -4.21860717e-04 9.99685180e-01 6.09758549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters Centerline goodness [0,1] 0.995269286754003 Centerline is valid? [True, True] Translation: X:132.87, Y:193.18, Z:6.10 [[ 6.16623318e-01 -7.87118871e-01 1.48177935e-02 1.32865524e+02] [ 7.86878176e-01 6.16801236e-01 1.94671726e-02 1.93177968e+02] [-2.44626122e-02 -3.44114248e-04 9.99700686e-01 6.09723713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06687500000004 meters Centerline goodness [0,1] 0.995190322345568 Centerline is valid? [True, True] Translation: X:132.89, Y:193.20, Z:6.10 [[ 6.14548170e-01 -7.88745115e-01 1.45496137e-02 1.32885612e+02] [ 7.88513222e-01 6.14720314e-01 1.91267705e-02 1.93197332e+02] [-2.40300899e-02 -2.81759002e-04 9.99711196e-01 6.09601337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters Centerline goodness [0,1] 0.9954905545399146 Centerline is valid? [True, True] Translation: X:132.91, Y:193.22, Z:6.10 [[ 6.12198233e-01 -7.90567757e-01 1.46950815e-02 1.32906777e+02] [ 7.90331541e-01 6.12374538e-01 1.93256379e-02 1.93217582e+02] [-2.42771200e-02 -2.17134952e-04 9.99705244e-01 6.09522591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12687500000004 meters Centerline goodness [0,1] 0.9960674157303371 Centerline is valid? [True, True] Translation: X:132.93, Y:193.24, Z:6.10 [[ 6.07752117e-01 -7.93980784e-01 1.52275997e-02 1.32930896e+02] [ 7.93727933e-01 6.07942848e-01 2.00365164e-02 1.93235202e+02] [-2.51661193e-02 -9.06640396e-05 9.99683279e-01 6.09518304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters Centerline goodness [0,1] 0.9962291870714985 Centerline is valid? [True, True] Translation: X:132.95, Y:193.25, Z:6.09 [[ 6.05943342e-01 -7.95363211e-01 1.51666744e-02 1.32950991e+02] [ 7.95112586e-01 6.06133121e-01 1.99653473e-02 1.93254825e+02] [-2.50727265e-02 -3.86556009e-05 9.99685629e-01 6.09392890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18687500000004 meters Centerline goodness [0,1] 0.9962433706540955 Centerline is valid? [True, True] Translation: X:132.97, Y:193.27, Z:6.09 [[ 6.04153049e-01 -7.96723307e-01 1.52008182e-02 1.32970430e+02] [ 7.96471677e-01 6.04344250e-01 2.00223990e-02 1.93273783e+02] [-2.51388390e-02 1.04277064e-05 9.99683969e-01 6.09291652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters Centerline goodness [0,1] 0.9960289251133717 Centerline is valid? [True, True] Translation: X:132.99, Y:193.29, Z:6.09 [[ 6.02874761e-01 -7.97692579e-01 1.51185621e-02 1.32989817e+02] [ 7.97443720e-01 6.03064297e-01 1.99240048e-02 1.93292679e+02] [-2.50106958e-02 4.45227653e-05 9.99687183e-01 6.09154762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.246875 meters Centerline goodness [0,1] 0.9956120889414781 Centerline is valid? [True, True] Translation: X:133.01, Y:193.31, Z:6.09 [[ 6.02043043e-01 -7.98321750e-01 1.50518446e-02 1.33009336e+02] [ 7.98075048e-01 6.02231168e-01 1.98453676e-02 1.93312683e+02] [-2.49076785e-02 6.47361179e-05 9.99689754e-01 6.09111206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters Centerline goodness [0,1] 0.996715110491738 Centerline is valid? [True, True] Translation: X:133.03, Y:193.33, Z:6.09 [[ 6.01408669e-01 -7.98783651e-01 1.58837215e-02 1.33030871e+02] [ 7.98508711e-01 6.01618378e-01 2.09562741e-02 1.93331065e+02] [-2.62954679e-02 8.00051049e-05 9.99654211e-01 6.09158068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.306875 meters Centerline goodness [0,1] 0.9967863281931193 Centerline is valid? [True, True] Translation: X:133.05, Y:193.35, Z:6.09 [[ 6.01747136e-01 -7.98523280e-01 1.61540899e-02 1.33048697e+02] [ 7.98238595e-01 6.01963925e-01 2.13208572e-02 1.93351669e+02] [-2.67493802e-02 6.50532615e-05 9.99642169e-01 6.09065756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters Centerline goodness [0,1] 0.9962333807278805 Centerline is valid? [True, True] Translation: X:133.07, Y:193.37, Z:6.09 [[ 6.02557879e-01 -7.97907002e-01 1.63834790e-02 1.33066283e+02] [ 7.97613586e-01 6.02780570e-01 2.16368205e-02 1.93373739e+02] [-2.71398134e-02 3.02487431e-05 9.99631647e-01 6.08974625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.366875 meters Centerline goodness [0,1] 0.9962552426602757 Centerline is valid? [True, True] Translation: X:133.08, Y:193.40, Z:6.09 [[ 6.03808689e-01 -7.96957828e-01 1.65314115e-02 1.33082670e+02] [ 7.96658412e-01 6.04034950e-01 2.18438736e-02 1.93395676e+02] [-2.73941964e-02 -1.96326118e-05 9.99624708e-01 6.08785613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters Centerline goodness [0,1] 0.9962032272568317 Centerline is valid? [True, True] Translation: X:133.10, Y:193.42, Z:6.09 [[ 6.05588870e-01 -7.95607398e-01 1.64617614e-02 1.33099045e+02] [ 7.95309650e-01 6.05812563e-01 2.17646428e-02 1.93418545e+02] [-2.72888526e-02 -8.82277418e-05 9.99627586e-01 6.08621573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.426875 meters Centerline goodness [0,1] 0.9954641744548287 Centerline is valid? [True, True] Translation: X:133.11, Y:193.44, Z:6.09 [[ 6.10088934e-01 -7.92156035e-01 1.67424430e-02 1.33113910e+02] [ 7.91846380e-01 6.10318566e-01 2.21485708e-02 1.93441576e+02] [-2.77633479e-02 -2.55155055e-04 9.99614491e-01 6.08514496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters Centerline goodness [0,1] 0.9957247862393119 Centerline is valid? [True, True] Translation: X:133.13, Y:193.46, Z:6.09 [[ 6.12109410e-01 -7.90585968e-01 1.72016714e-02 1.33131569e+02] [ 7.90258154e-01 6.12350970e-01 2.27670676e-02 1.93464364e+02] [-2.85327844e-02 -3.42175208e-04 9.99592799e-01 6.08675455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.486875 meters Centerline goodness [0,1] 0.9958763401894384 Centerline is valid? [True, True] Translation: X:133.15, Y:193.49, Z:6.09 [[ 6.14206923e-01 -7.88950133e-01 1.75369068e-02 1.33148343e+02] [ 7.88608365e-01 6.14457076e-01 2.32238823e-02 1.93487853e+02] [-2.90981615e-02 -4.34517904e-04 9.99576464e-01 6.08659159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters Centerline goodness [0,1] 0.9951151430565248 Centerline is valid? [True, True] Translation: X:133.16, Y:193.51, Z:6.09 [[ 6.19075195e-01 -7.85121409e-01 1.81734968e-02 1.33161900e+02] [ 7.84752231e-01 6.19341549e-01 2.40828341e-02 1.93511374e+02] [-3.01635503e-02 -6.47393084e-04 9.99544767e-01 6.08587213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.546875 meters Centerline goodness [0,1] 0.9950481498992212 Centerline is valid? [True, True] Translation: X:133.18, Y:193.54, Z:6.08 [[ 6.21358141e-01 -7.83316923e-01 1.81289725e-02 1.33177737e+02] [ 7.82948626e-01 6.21622117e-01 2.40290024e-02 1.93535040e+02] [-3.00916944e-02 -7.36562147e-04 9.99546871e-01 6.08498993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters Centerline goodness [0,1] 0.9952733966864024 Centerline is valid? [True, True] Translation: X:133.19, Y:193.56, Z:6.08 [[ 6.23402629e-01 -7.81694270e-01 1.79786364e-02 1.33194928e+02] [ 7.81331000e-01 6.23661289e-01 2.38425104e-02 1.93558680e+02] [-2.98501333e-02 -8.16217689e-04 9.99554052e-01 6.08369732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.606875 meters Centerline goodness [0,1] 0.9948776892131631 Centerline is valid? [True, True] Translation: X:133.21, Y:193.58, Z:6.08 [[ 6.25216418e-01 -7.80246601e-01 1.78793639e-02 1.33211522e+02] [ 7.79886390e-01 6.25471384e-01 2.37226801e-02 1.93582410e+02] [-2.96925710e-02 -8.87936546e-04 9.99558684e-01 6.08243712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters Centerline goodness [0,1] 0.995313987871498 Centerline is valid? [True, True] Translation: X:133.23, Y:193.60, Z:6.08 [[ 6.26200845e-01 -7.79455920e-01 1.79156751e-02 1.33227928e+02] [ 7.79093479e-01 6.26456377e-01 2.37856907e-02 1.93604191e+02] [-2.97632864e-02 -9.36633984e-04 9.99556536e-01 6.08068272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.666875 meters Centerline goodness [0,1] 0.9951704118912967 Centerline is valid? [True, True] Translation: X:133.25, Y:193.63, Z:6.08 [[ 6.24440876e-01 -7.80867769e-01 1.78639211e-02 1.33246049e+02] [ 7.80507830e-01 6.24695741e-01 2.37225149e-02 1.93625488e+02] [-2.96836627e-02 -8.70377672e-04 9.99558964e-01 6.07940586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters Centerline goodness [0,1] 0.9947026486756622 Centerline is valid? [True, True] Translation: X:133.26, Y:193.65, Z:6.08 [[ 6.22818419e-01 -7.82160576e-01 1.79457662e-02 1.33264731e+02] [ 7.81797834e-01 6.23076378e-01 2.38321960e-02 1.93646746e+02] [-2.98221871e-02 -8.13169509e-04 9.99554889e-01 6.07891934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.726875 meters Centerline goodness [0,1] 0.9951545278802942 Centerline is valid? [True, True] Translation: X:133.28, Y:193.67, Z:6.08 [[ 6.21131872e-01 -7.83491514e-01 1.83370000e-02 1.33284911e+02] [ 7.83112920e-01 6.21402002e-01 2.43660916e-02 1.93668421e+02] [-3.04852745e-02 -7.74614441e-04 9.99534916e-01 6.07935186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters Centerline goodness [0,1] 0.995252568385622 Centerline is valid? [True, True] Translation: X:133.30, Y:193.69, Z:6.08 [[ 6.19547647e-01 -7.84736032e-01 1.87102503e-02 1.33304489e+02] [ 7.84342052e-01 6.19829670e-01 2.48741845e-02 1.93690583e+02] [-3.11168371e-02 -7.35506414e-04 9.99515483e-01 6.07847611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.786875 meters Centerline goodness [0,1] 0.9956622541320769 Centerline is valid? [True, True] Translation: X:133.32, Y:193.71, Z:6.08 [[ 6.18373140e-01 -7.85659345e-01 1.88162911e-02 1.33319974e+02] [ 7.85260924e-01 6.18658955e-01 2.50275677e-02 1.93713199e+02] [-3.13040094e-02 -7.00677532e-04 9.99509664e-01 6.07606618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters Centerline goodness [0,1] 0.9952821902682627 Centerline is valid? [True, True] Translation: X:133.34, Y:193.73, Z:6.08 [[ 6.17558578e-01 -7.86304298e-01 1.86267077e-02 1.33338914e+02] [ 7.85913878e-01 6.17839062e-01 2.47844823e-02 1.93734219e+02] [-3.09964526e-02 -6.66881544e-04 9.99519272e-01 6.07507720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.846875 meters Centerline goodness [0,1] 0.9952821902682627 Centerline is valid? [True, True] Translation: X:133.36, Y:193.76, Z:6.07 [[ 6.17336884e-01 -7.86478528e-01 1.86198068e-02 1.33355427e+02] [ 7.86088031e-01 6.17617261e-01 2.47896652e-02 1.93756357e+02] [-3.09964535e-02 -6.66767428e-04 9.99519272e-01 6.07394962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters Centerline goodness [0,1] 0.9954293421249812 Centerline is valid? [True, True] Translation: X:133.37, Y:193.78, Z:6.07 [[ 6.16567529e-01 -7.87084511e-01 1.85055338e-02 1.33371741e+02] [ 7.86698620e-01 6.16844844e-01 2.46519840e-02 1.93778645e+02] [-3.08182379e-02 -6.41334922e-04 9.99524800e-01 6.07192078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.906875 meters Centerline goodness [0,1] 0.9959284206293355 Centerline is valid? [True, True] Translation: X:133.39, Y:193.80, Z:6.07 [[ 6.16391269e-01 -7.87224915e-01 1.84048370e-02 1.33388903e+02] [ 7.86842832e-01 6.16665651e-01 2.45322729e-02 1.93800289e+02] [-3.06620472e-02 -6.39764750e-04 9.99529604e-01 6.07111599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters Centerline goodness [0,1] 0.9952537605785892 Centerline is valid? [True, True] Translation: X:133.40, Y:193.82, Z:6.07 [[ 6.16519957e-01 -7.87120169e-01 1.85737142e-02 1.33404752e+02] [ 7.86730549e-01 6.16799323e-01 2.47717139e-02 1.93821866e+02] [-3.09545700e-02 -6.59747614e-04 9.99520575e-01 6.06950524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.966875 meters Centerline goodness [0,1] 0.9958950337463484 Centerline is valid? [True, True] Translation: X:133.42, Y:193.84, Z:6.07 [[ 6.17228197e-01 -7.86574404e-01 1.81675225e-02 1.33421705e+02] [ 7.86201165e-01 6.17495140e-01 2.42380016e-02 1.93844318e+02] [-3.02833485e-02 -6.77050700e-04 9.99541125e-01 6.06933364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters Centerline goodness [0,1] 0.9959767658226256 Centerline is valid? [True, True] Translation: X:133.44, Y:193.87, Z:6.07 [[ 6.17243123e-01 -7.86567289e-01 1.79674053e-02 1.33439409e+02] [ 7.86201851e-01 6.17504203e-01 2.39835140e-02 1.93866695e+02] [-2.99595959e-02 -6.77651823e-04 9.99550881e-01 6.06843025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.026875 meters Centerline goodness [0,1] 0.9955498566903002 Centerline is valid? [True, True] Translation: X:133.46, Y:193.89, Z:6.07 [[ 6.17441577e-01 -7.86412351e-01 1.79307992e-02 1.33455033e+02] [ 7.86047912e-01 6.17701493e-01 2.39488270e-02 1.93889144e+02] [-2.99095347e-02 -6.92534257e-04 9.99552370e-01 6.06697518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters Centerline goodness [0,1] 0.9954500892385812 Centerline is valid? [True, True] Translation: X:133.47, Y:193.91, Z:6.07 [[ 6.17596148e-01 -7.86281232e-01 1.83526857e-02 1.33471437e+02] [ 7.85898992e-01 6.17868352e-01 2.45249718e-02 1.93912006e+02] [-3.06230687e-02 -7.23170986e-04 9.99530742e-01 6.06560088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.086875 meters Centerline goodness [0,1] 0.9951050530913472 Centerline is valid? [True, True] Translation: X:133.49, Y:193.93, Z:6.06 [[ 6.17474850e-01 -7.86377248e-01 1.83202952e-02 1.33488415e+02] [ 7.85995966e-01 6.17746142e-01 2.44958280e-02 1.93934781e+02] [-3.05802535e-02 -7.25879550e-04 9.99532051e-01 6.06426311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters Centerline goodness [0,1] 0.9954441913439636 Centerline is valid? [True, True] Translation: X:133.51, Y:193.96, Z:6.06 [[ 6.17171397e-01 -7.86606777e-01 1.86880997e-02 1.33505021e+02] [ 7.86209661e-01 6.17453831e-01 2.50027018e-02 1.93957555e+02] [-3.12063334e-02 -7.38187870e-04 9.99512691e-01 6.06348043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.146875 meters Centerline goodness [0,1] 0.9956790433602974 Centerline is valid? [True, True] Translation: X:133.52, Y:193.98, Z:6.06 [[ 6.16551481e-01 -7.87094854e-01 1.86000534e-02 1.33523195e+02] [ 7.86701290e-01 6.16831562e-01 2.48978964e-02 1.93979116e+02] [-3.10701061e-02 -7.18148859e-04 9.99516950e-01 6.06188367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters Centerline goodness [0,1] 0.9958255796408992 Centerline is valid? [True, True] Translation: X:133.54, Y:194.00, Z:6.06 [[ 6.15213638e-01 -7.88143841e-01 1.84787794e-02 1.33541251e+02] [ 7.87755418e-01 6.15490728e-01 2.47500552e-02 1.94001095e+02] [-3.08801210e-02 -6.69812951e-04 9.99522871e-01 6.06111151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.206875 meters Centerline goodness [0,1] 0.9959157947812933 Centerline is valid? [True, True] Translation: X:133.56, Y:194.02, Z:6.06 [[ 6.13932657e-01 -7.89140968e-01 1.85263332e-02 1.33559481e+02] [ 7.88750564e-01 6.14211800e-01 2.48276514e-02 1.94023089e+02] [-3.09716094e-02 -6.29850189e-04 9.99520066e-01 6.06010450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters Centerline goodness [0,1] 0.9959282159553612 Centerline is valid? [True, True] Translation: X:133.58, Y:194.04, Z:6.06 [[ 6.12856163e-01 -7.89980509e-01 1.83880090e-02 1.33577359e+02] [ 7.89595871e-01 6.13131671e-01 2.46559231e-02 1.94044612e+02] [-3.07519694e-02 -5.91438468e-04 9.99526871e-01 6.05940412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.266875 meters Centerline goodness [0,1] 0.9960748792270532 Centerline is valid? [True, True] Translation: X:133.60, Y:194.07, Z:6.06 [[ 6.11585835e-01 -7.90960700e-01 1.85455589e-02 1.33595258e+02] [ 7.90569446e-01 6.11866703e-01 2.48814850e-02 1.94067024e+02] [-3.10276868e-02 -5.55611557e-04 9.99518371e-01 6.05813874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters Centerline goodness [0,1] 0.9957761084553709 Centerline is valid? [True, True] Translation: X:133.61, Y:194.09, Z:6.06 [[ 6.10670704e-01 -7.91667570e-01 1.85404850e-02 1.33611960e+02] [ 7.91276380e-01 6.10951863e-01 2.48900082e-02 1.94088092e+02] [-3.10319561e-02 -5.28950962e-04 9.99518253e-01 6.05709133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32687500000003 meters Centerline goodness [0,1] 0.9956945675573002 Centerline is valid? [True, True] Translation: X:133.63, Y:194.11, Z:6.06 [[ 6.09395863e-01 -7.92654345e-01 1.83240504e-02 1.33629189e+02] [ 7.92272412e-01 6.09671108e-01 2.46082250e-02 1.94109230e+02] [-3.06774606e-02 -4.78510871e-04 9.99529221e-01 6.05571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters Centerline goodness [0,1] 0.996096012895751 Centerline is valid? [True, True] Translation: X:133.65, Y:194.13, Z:6.05 [[ 6.08592388e-01 -7.93278544e-01 1.80126826e-02 1.33646687e+02] [ 7.92909500e-01 6.08858730e-01 2.41985915e-02 1.94131593e+02] [-3.01634024e-02 -4.44651430e-04 9.99544882e-01 6.05423851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38687500000003 meters Centerline goodness [0,1] 0.9959931020490972 Centerline is valid? [True, True] Translation: X:133.66, Y:194.15, Z:6.05 [[ 6.07650014e-01 -7.94005281e-01 1.78065505e-02 1.33663813e+02] [ 7.93644548e-01 6.07910720e-01 2.39350860e-02 1.94153708e+02] [-2.98293777e-02 -4.12083638e-04 9.99554920e-01 6.05268081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters Centerline goodness [0,1] 0.9960861550892609 Centerline is valid? [True, True] Translation: X:133.68, Y:194.18, Z:6.05 [[ 6.06598149e-01 -7.94816810e-01 1.74620748e-02 1.33681074e+02] [ 7.94469851e-01 6.06849322e-01 2.34852334e-02 1.94176014e+02] [-2.92633066e-02 -3.73007180e-04 9.99571668e-01 6.05140638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44687500000003 meters Centerline goodness [0,1] 0.9964230447246252 Centerline is valid? [True, True] Translation: X:133.70, Y:194.20, Z:6.05 [[ 6.05239551e-01 -7.95853451e-01 1.73888241e-02 1.33699009e+02] [ 7.95509427e-01 6.05489204e-01 2.34003250e-02 1.94198249e+02] [-2.91519747e-02 -3.29828714e-04 9.99574936e-01 6.05037122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters Centerline goodness [0,1] 0.9963928262968044 Centerline is valid? [True, True] Translation: X:133.72, Y:194.22, Z:6.05 [[ 6.03943756e-01 -7.96836142e-01 1.74385460e-02 1.33716282e+02] [ 7.96490165e-01 6.04195398e-01 2.34805980e-02 1.94220177e+02] [-2.92464784e-02 -2.91330135e-04 9.99572188e-01 6.04957609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50687500000004 meters Centerline goodness [0,1] 0.9959775349119612 Centerline is valid? [True, True] Translation: X:133.73, Y:194.24, Z:6.05 [[ 6.02737047e-01 -7.97748627e-01 1.74694141e-02 1.33733989e+02] [ 7.97401417e-01 6.02990102e-01 2.35354379e-02 1.94242392e+02] [-2.93092470e-02 -2.55544748e-04 9.99570359e-01 6.04888793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters Centerline goodness [0,1] 0.9963576158940397 Centerline is valid? [True, True] Translation: X:133.75, Y:194.26, Z:6.05 [[ 6.01272987e-01 -7.98851480e-01 1.75244998e-02 1.33751503e+02] [ 7.98502149e-01 6.01528278e-01 2.36230757e-02 1.94264609e+02] [-2.94128112e-02 -2.10566529e-04 9.99567327e-01 6.04837667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56687500000004 meters Centerline goodness [0,1] 0.9964188878088709 Centerline is valid? [True, True] Translation: X:133.77, Y:194.29, Z:6.05 [[ 5.98855788e-01 -8.00659186e-01 1.77936531e-02 1.33769283e+02] [ 8.00299418e-01 5.99120064e-01 2.39998117e-02 1.94286163e+02] [-2.98762043e-02 -1.32175869e-04 9.99553598e-01 6.04719944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters Centerline goodness [0,1] 0.9970088966151959 Centerline is valid? [True, True] Translation: X:133.79, Y:194.31, Z:6.05 [[ 5.97361948e-01 -8.01776010e-01 1.77181819e-02 1.33786627e+02] [ 8.01419392e-01 5.97624651e-01 2.39109598e-02 1.94308807e+02] [-2.97600562e-02 -8.38028907e-05 9.99557068e-01 6.04595734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62687500000004 meters Centerline goodness [0,1] 0.9969154685428775 Centerline is valid? [True, True] Translation: X:133.80, Y:194.33, Z:6.04 [[ 5.96250001e-01 -8.02607751e-01 1.75138128e-02 1.33803139e+02] [ 8.02259264e-01 5.96507163e-01 2.36490467e-02 1.94330214e+02] [-2.94280229e-02 -5.01255491e-05 9.99566901e-01 6.04432634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters Centerline goodness [0,1] 0.9969999230749507 Centerline is valid? [True, True] Translation: X:133.82, Y:194.35, Z:6.04 [[ 5.95081375e-01 -8.03485745e-01 1.69945538e-02 1.33820504e+02] [ 8.03157671e-01 5.95323994e-01 2.29586165e-02 1.94352431e+02] [-2.85641868e-02 -1.29388311e-05 9.99591960e-01 6.04273535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68687500000004 meters Centerline goodness [0,1] 0.9976168511685117 Centerline is valid? [True, True] Translation: X:133.84, Y:194.37, Z:6.04 [[ 5.93620436e-01 -8.04569405e-01 1.68181627e-02 1.33836861e+02] [ 8.04248177e-01 5.93858629e-01 2.27332108e-02 1.94373556e+02] [-2.82780570e-02 3.10781875e-05 9.99600095e-01 6.04054604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters Centerline goodness [0,1] 0.9972837228372283 Centerline is valid? [True, True] Translation: X:133.85, Y:194.40, Z:6.04 [[ 5.91714666e-01 -8.05980657e-01 1.63992245e-02 1.33854177e+02] [ 8.05675433e-01 5.91941866e-01 2.21793622e-02 1.94395498e+02] [-2.75835244e-02 8.85984264e-05 9.99619498e-01 6.03849545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.746875 meters Centerline goodness [0,1] 0.9971595997850508 Centerline is valid? [True, True] Translation: X:133.87, Y:194.42, Z:6.04 [[ 5.88005394e-01 -8.08701711e-01 1.58492610e-02 1.33872848e+02] [ 8.08417282e-01 5.88218923e-01 2.14475205e-02 1.94417244e+02] [-2.66674818e-02 2.01558735e-04 9.99644339e-01 6.03742141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters Centerline goodness [0,1] 0.9975160687306343 Centerline is valid? [True, True] Translation: X:133.89, Y:194.44, Z:6.04 [[ 5.86054825e-01 -8.10113314e-01 1.60049987e-02 1.33890564e+02] [ 8.09823475e-01 5.86273272e-01 2.16700096e-02 1.94439564e+02] [-2.69384663e-02 2.61409907e-04 9.99637059e-01 6.03635542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.806875 meters Centerline goodness [0,1] 0.9981613422201793 Centerline is valid? [True, True] Translation: X:133.91, Y:194.46, Z:6.04 [[ 5.81812667e-01 -8.13157725e-01 1.63870190e-02 1.33908778e+02] [ 8.12854702e-01 5.82043255e-01 2.22009709e-02 1.94461978e+02] [-2.75908449e-02 4.03459356e-04 9.99619219e-01 6.03634781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters Centerline goodness [0,1] 0.997857962514344 Centerline is valid? [True, True] Translation: X:133.93, Y:194.48, Z:6.03 [[ 5.80165815e-01 -8.14331333e-01 1.64956775e-02 1.33925759e+02] [ 8.14024399e-01 5.80400098e-01 2.23607770e-02 1.94483863e+02] [-2.77831742e-02 4.54925552e-04 9.99613870e-01 6.03476859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.866875 meters Centerline goodness [0,1] 0.9979183590576767 Centerline is valid? [True, True] Translation: X:133.94, Y:194.51, Z:6.03 [[ 5.78538832e-01 -8.15487908e-01 1.65012764e-02 1.33941737e+02] [ 8.15180922e-01 5.78773892e-01 2.23795756e-02 1.94508039e+02] [-2.78007813e-02 5.04072201e-04 9.99613356e-01 6.03465233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters Centerline goodness [0,1] 0.9981486178037028 Centerline is valid? [True, True] Translation: X:133.96, Y:194.53, Z:6.03 [[ 5.77589961e-01 -8.16163506e-01 1.63391827e-02 1.33958556e+02] [ 8.15862409e-01 5.77820784e-01 2.21736704e-02 1.94528984e+02] [-2.75384599e-02 5.23235523e-04 9.99620608e-01 6.03177730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.926875 meters Centerline goodness [0,1] 0.9980241159185328 Centerline is valid? [True, True] Translation: X:133.97, Y:194.55, Z:6.03 [[ 5.76549902e-01 -8.16898599e-01 1.63367469e-02 1.33973667e+02] [ 8.16597818e-01 5.76781040e-01 2.21728532e-02 1.94553581e+02] [-2.75356986e-02 5.56795516e-04 9.99620666e-01 6.03118124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters Centerline goodness [0,1] 0.9977270431356703 Centerline is valid? [True, True] Translation: X:133.99, Y:194.58, Z:6.03 [[ 5.76240897e-01 -8.17118973e-01 1.62176524e-02 1.33989383e+02] [ 8.16822328e-01 5.76468797e-01 2.20229514e-02 1.94577139e+02] [-2.73443421e-02 5.56415336e-04 9.99625919e-01 6.02932831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.986875 meters Centerline goodness [0,1] 0.9976625530952321 Centerline is valid? [True, True] Translation: X:134.00, Y:194.60, Z:6.03 [[ 5.76808833e-01 -8.16721095e-01 1.60693292e-02 1.34003099e+02] [ 8.16429358e-01 5.77032388e-01 2.18340600e-02 1.94602335e+02] [-2.71048608e-02 5.25393497e-04 9.99632458e-01 6.02775100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters Centerline goodness [0,1] 0.9978876958281993 Centerline is valid? [True, True] Translation: X:134.02, Y:194.63, Z:6.03 [[ 5.77641772e-01 -8.16130154e-01 1.61726691e-02 1.34017576e+02] [ 8.15834078e-01 5.77867916e-01 2.19870043e-02 1.94626565e+02] [-2.72899238e-02 4.93602479e-04 9.99627439e-01 6.02703531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.046875 meters Centerline goodness [0,1] 0.9980424634844149 Centerline is valid? [True, True] Translation: X:134.03, Y:194.65, Z:6.03 [[ 5.79004160e-01 -8.15162856e-01 1.62388805e-02 1.34032119e+02] [ 8.14863631e-01 5.79231666e-01 2.20893649e-02 1.94651104e+02] [-2.74125036e-02 4.42638913e-04 9.99624109e-01 6.02643839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters Centerline goodness [0,1] 0.997548713074364 Centerline is valid? [True, True] Translation: X:134.05, Y:194.68, Z:6.02 [[ 5.80621128e-01 -8.14010452e-01 1.63122288e-02 1.34045758e+02] [ 8.13707666e-01 5.80850099e-01 2.22035176e-02 1.94675042e+02] [-2.75488551e-02 3.81554121e-04 9.99620385e-01 6.02445537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.106875 meters Centerline goodness [0,1] 0.9975646728461023 Centerline is valid? [True, True] Translation: X:134.06, Y:194.70, Z:6.02 [[ 5.85240180e-01 -8.10695225e-01 1.63457926e-02 1.34056615e+02] [ 8.10389638e-01 5.85468363e-01 2.22582476e-02 1.94702821e+02] [-2.76145995e-02 2.20040148e-04 9.99618620e-01 6.02286408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters Centerline goodness [0,1] 0.9967237527922561 Centerline is valid? [True, True] Translation: X:134.07, Y:194.73, Z:6.02 [[ 5.87647421e-01 -8.08945969e-01 1.66411521e-02 1.34069715e+02] [ 8.08628425e-01 5.87882982e-01 2.26642913e-02 1.94728281e+02] [-2.81172372e-02 1.37896260e-04 9.99604623e-01 6.02222182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.166875 meters Centerline goodness [0,1] 0.9968304278922345 Centerline is valid? [True, True] Translation: X:134.08, Y:194.75, Z:6.02 [[ 5.89916683e-01 -8.07285788e-01 1.69694935e-02 1.34082712e+02] [ 8.06954471e-01 5.90160702e-01 2.31263441e-02 1.94752679e+02] [-2.86842972e-02 5.09924370e-05 9.99588520e-01 6.02078534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters Centerline goodness [0,1] 0.9964601331782063 Centerline is valid? [True, True] Translation: X:134.10, Y:194.78, Z:6.02 [[ 5.91893879e-01 -8.05830648e-01 1.72801305e-02 1.34096499e+02] [ 8.05486169e-01 5.92146069e-01 2.35598191e-02 1.94777540e+02] [-2.92175857e-02 -2.60065884e-05 9.99573075e-01 6.02018856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.226875 meters Centerline goodness [0,1] 0.9956085473859817 Centerline is valid? [True, True] Translation: X:134.11, Y:194.80, Z:6.02 [[ 5.95937384e-01 -8.02841495e-01 1.74404268e-02 1.34108138e+02] [ 8.02488841e-01 5.96192503e-01 2.37941227e-02 1.94804317e+02] [-2.95007607e-02 -1.84059361e-04 9.99564741e-01 6.01921702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters Centerline goodness [0,1] 0.9958661417322835 Centerline is valid? [True, True] Translation: X:134.12, Y:194.83, Z:6.02 [[ 5.97633721e-01 -8.01578845e-01 1.74725970e-02 1.34121579e+02] [ 8.01224143e-01 5.97889031e-01 2.38449238e-02 1.94827897e+02] [-2.95602606e-02 -2.51064013e-04 9.99562968e-01 6.01823652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.286875 meters Centerline goodness [0,1] 0.9955577251647547 Centerline is valid? [True, True] Translation: X:134.14, Y:194.85, Z:6.02 [[ 5.99119149e-01 -8.00465630e-01 1.76357461e-02 1.34136447e+02] [ 8.00103508e-01 5.99378575e-01 2.40769831e-02 1.94852620e+02] [-2.98432859e-02 -3.14559324e-04 9.99554540e-01 6.01693238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters Centerline goodness [0,1] 0.9951601075531655 Centerline is valid? [True, True] Translation: X:134.15, Y:194.88, Z:6.02 [[ 6.00474181e-01 -7.99454716e-01 1.74044558e-02 1.34150581e+02] [ 7.99101251e-01 6.00726246e-01 2.37732507e-02 1.94876661e+02] [-2.94609508e-02 -3.67300864e-04 9.99565864e-01 6.01529171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.346875 meters Centerline goodness [0,1] 0.9953867558397813 Centerline is valid? [True, True] Translation: X:134.17, Y:194.90, Z:6.01 [[ 6.01638929e-01 -7.98573024e-01 1.76557237e-02 1.34165425e+02] [ 7.98208471e-01 6.01897786e-01 2.41307442e-02 1.94900334e+02] [-2.98971024e-02 -4.25046848e-04 9.99552891e-01 6.01422072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters Centerline goodness [0,1] 0.9950836513061344 Centerline is valid? [True, True] Translation: X:134.18, Y:194.93, Z:6.01 [[ 6.02834481e-01 -7.97677879e-01 1.73375418e-02 1.34181363e+02] [ 7.97325775e-01 6.03083564e-01 2.37027998e-02 1.94925037e+02] [-2.93631856e-02 -4.65196083e-04 9.99568700e-01 6.01289357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.406875 meters Centerline goodness [0,1] 0.9947627321896184 Centerline is valid? [True, True] Translation: X:134.20, Y:194.95, Z:6.01 [[ 6.02560292e-01 -7.97888841e-01 1.71607712e-02 1.34195243e+02] [ 7.97543588e-01 6.02804435e-01 2.34742029e-02 1.94948763e+02] [-2.90743936e-02 -4.58159481e-04 9.99577145e-01 6.01031528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters Centerline goodness [0,1] 0.994939493949395 Centerline is valid? [True, True] Translation: X:134.21, Y:194.97, Z:6.01 [[ 6.02161674e-01 -7.98180958e-01 1.75635171e-02 1.34213001e+02] [ 7.97819177e-01 6.02417585e-01 2.40336124e-02 1.94970330e+02] [-2.97637434e-02 -4.59609501e-04 9.99556856e-01 6.01048402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.466875 meters Centerline goodness [0,1] 0.9942777492480376 Centerline is valid? [True, True] Translation: X:134.23, Y:194.99, Z:6.01 [[ 6.01093197e-01 -7.98974511e-01 1.80748129e-02 1.34230954e+02] [ 7.98591259e-01 6.01364727e-01 2.47480481e-02 1.94992629e+02] [-3.06426146e-02 -4.41495718e-04 9.99530307e-01 6.01123735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters Centerline goodness [0,1] 0.9948061448427213 Centerline is valid? [True, True] Translation: X:134.25, Y:195.02, Z:6.01 [[ 6.00498375e-01 -7.99419906e-01 1.81525860e-02 1.34246318e+02] [ 7.99033090e-01 6.00772528e-01 2.48694658e-02 1.95015383e+02] [-3.07867210e-02 -4.29556931e-04 9.99525884e-01 6.00975849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.526875 meters Centerline goodness [0,1] 0.994539914686167 Centerline is valid? [True, True] Translation: X:134.26, Y:195.04, Z:6.01 [[ 5.99966958e-01 -7.99822598e-01 1.79850092e-02 1.34263455e+02] [ 7.99442709e-01 6.00236322e-01 2.46518452e-02 1.95037660e+02] [-3.05123586e-02 -4.12308151e-04 9.99534305e-01 6.00919239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters Centerline goodness [0,1] 0.9953091788619872 Centerline is valid? [True, True] Translation: X:134.28, Y:195.06, Z:6.01 [[ 5.99689137e-01 -8.00032450e-01 1.79169608e-02 1.34279815e+02] [ 7.99655079e-01 5.99956592e-01 2.45732040e-02 1.95060916e+02] [-3.04087594e-02 -4.08894806e-04 9.99537463e-01 6.00767562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.586875 meters Centerline goodness [0,1] 0.9951284861770795 Centerline is valid? [True, True] Translation: X:134.29, Y:195.08, Z:6.01 [[ 5.98799610e-01 -8.00704229e-01 1.76568657e-02 1.34294980e+02] [ 8.00337632e-01 5.99059760e-01 2.42297259e-02 1.95083170e+02] [-2.99783618e-02 -3.77296309e-04 9.99550477e-01 6.00578830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters Centerline goodness [0,1] 0.995153788081728 Centerline is valid? [True, True] Translation: X:134.31, Y:195.11, Z:6.00 [[ 5.98500348e-01 -8.00926978e-01 1.77005419e-02 1.34311355e+02] [ 8.00558298e-01 5.98761919e-01 2.43017768e-02 1.95106180e+02] [-3.00623591e-02 -3.74306181e-04 9.99547955e-01 6.00448833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.646875 meters Centerline goodness [0,1] 0.9953241439774 Centerline is valid? [True, True] Translation: X:134.33, Y:195.13, Z:6.00 [[ 5.98300476e-01 -8.01080164e-01 1.75246211e-02 1.34328370e+02] [ 8.00718445e-01 5.98556960e-01 2.40736053e-02 1.95128418e+02] [-2.97743716e-02 -3.70962124e-04 9.99556576e-01 6.00444995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters Centerline goodness [0,1] 0.9954381342701015 Centerline is valid? [True, True] Translation: X:134.34, Y:195.15, Z:6.00 [[ 5.98286875e-01 -8.01091800e-01 1.74569032e-02 1.34344012e+02] [ 8.00732438e-01 5.98541381e-01 2.39953768e-02 1.95150061e+02] [-2.96711786e-02 -3.77810307e-04 9.99559642e-01 6.00285814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.706875 meters Centerline goodness [0,1] 0.9958367823927545 Centerline is valid? [True, True] Translation: X:134.36, Y:195.17, Z:6.00 [[ 5.97944678e-01 -8.01350333e-01 1.73148730e-02 1.34360367e+02] [ 8.00996531e-01 5.98195208e-01 2.38128167e-02 1.95173318e+02] [-2.94400826e-02 -3.69593761e-04 9.99566478e-01 6.00161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters Centerline goodness [0,1] 0.9958367823927545 Centerline is valid? [True, True] Translation: X:134.38, Y:195.20, Z:6.00 [[ 5.97724477e-01 -8.01514722e-01 1.73089628e-02 1.34376520e+02] [ 8.01160865e-01 5.97974928e-01 2.38171115e-02 1.95195702e+02] [-2.94400912e-02 -3.68806882e-04 9.99566479e-01 6.00049062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.766875 meters Centerline goodness [0,1] 0.9949822185414332 Centerline is valid? [True, True] Translation: X:134.39, Y:195.22, Z:6.00 [[ 5.96887262e-01 -8.02141278e-01 1.71746136e-02 1.34392870e+02] [ 8.01792756e-01 5.97134200e-01 2.36457882e-02 1.95218208e+02] [-2.92228119e-02 -3.43389036e-04 9.99572863e-01 5.99924705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters Centerline goodness [0,1] 0.9953642707265896 Centerline is valid? [True, True] Translation: X:134.41, Y:195.24, Z:6.00 [[ 5.96563250e-01 -8.02382258e-01 1.71756017e-02 1.34409448e+02] [ 8.02033401e-01 5.96810353e-01 2.36606720e-02 1.95240514e+02] [-2.92354803e-02 -3.39681145e-04 9.99572494e-01 5.99827991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82687500000003 meters Centerline goodness [0,1] 0.9956559937524404 Centerline is valid? [True, True] Translation: X:134.43, Y:195.26, Z:6.00 [[ 5.95962204e-01 -8.02823694e-01 1.74117473e-02 1.34425498e+02] [ 8.02464936e-01 5.96216410e-01 2.40003954e-02 1.95263241e+02] [-2.96492555e-02 -3.31011872e-04 9.99560309e-01 5.99712008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters Centerline goodness [0,1] 0.9958200928868247 Centerline is valid? [True, True] Translation: X:134.44, Y:195.29, Z:6.00 [[ 5.95888458e-01 -8.02877986e-01 1.74322785e-02 1.34442226e+02] [ 8.02517985e-01 5.96143293e-01 2.40428507e-02 1.95286111e+02] [-2.96956115e-02 -3.37140265e-04 9.99558931e-01 5.99621619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88687500000003 meters Centerline goodness [0,1] 0.9955513187162377 Centerline is valid? [True, True] Translation: X:134.46, Y:195.31, Z:6.00 [[ 5.95264371e-01 -8.03335337e-01 1.76823182e-02 1.34458520e+02] [ 8.02964693e-01 5.95526850e-01 2.44023209e-02 1.95308711e+02] [-3.01335420e-02 -3.27555014e-04 9.99545828e-01 5.99622026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters Centerline goodness [0,1] 0.9954680571122265 Centerline is valid? [True, True] Translation: X:134.47, Y:195.33, Z:6.00 [[ 5.95278849e-01 -8.03324408e-01 1.76914739e-02 1.34473609e+02] [ 8.02952892e-01 5.95541587e-01 2.44309557e-02 1.95330605e+02] [-3.01619915e-02 -3.37811104e-04 9.99544967e-01 5.99517864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94687500000003 meters Centerline goodness [0,1] 0.9955267060511025 Centerline is valid? [True, True] Translation: X:134.49, Y:195.35, Z:5.99 [[ 5.95473010e-01 -8.03173360e-01 1.80124529e-02 1.34488428e+02] [ 8.02787889e-01 5.95745270e-01 2.48833047e-02 1.95353037e+02] [-3.07164411e-02 -3.57157337e-04 9.99528075e-01 5.99369697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters Centerline goodness [0,1] 0.9955609460278957 Centerline is valid? [True, True] Translation: X:134.50, Y:195.38, Z:5.99 [[ 5.95552879e-01 -8.03112221e-01 1.80977706e-02 1.34504575e+02] [ 8.02722668e-01 5.95827680e-01 2.50138687e-02 1.95375650e+02] [-3.08720963e-02 -3.69590768e-04 9.99523275e-01 5.99270884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00687500000004 meters Centerline goodness [0,1] 0.9954467981495009 Centerline is valid? [True, True] Translation: X:134.52, Y:195.40, Z:5.99 [[ 5.95734516e-01 -8.02976643e-01 1.81355427e-02 1.34520755e+02] [ 8.02584947e-01 5.96010371e-01 2.50806659e-02 1.95399078e+02] [-3.09481605e-02 -3.86104758e-04 9.99520916e-01 5.99127764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters Centerline goodness [0,1] 0.9953173524844721 Centerline is valid? [True, True] Translation: X:134.54, Y:195.42, Z:5.99 [[ 5.95919987e-01 -8.02838825e-01 1.81435878e-02 1.34536561e+02] [ 8.02446271e-01 5.96195991e-01 2.51062248e-02 1.95422606e+02] [-3.09733863e-02 -4.02046780e-04 9.99520129e-01 5.98877169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06687500000004 meters Centerline goodness [0,1] 0.9953587830777829 Centerline is valid? [True, True] Translation: X:134.55, Y:195.44, Z:5.99 [[ 5.95859563e-01 -8.02887827e-01 1.79587954e-02 1.34552873e+02] [ 8.02502826e-01 5.96129998e-01 2.48644234e-02 1.95444890e+02] [-3.06691195e-02 -4.03720435e-04 9.99529510e-01 5.98757853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters Centerline goodness [0,1] 0.9948827395532704 Centerline is valid? [True, True] Translation: X:134.57, Y:195.47, Z:5.99 [[ 5.96099014e-01 -8.02713617e-01 1.77992896e-02 1.34567155e+02] [ 8.02334835e-01 5.96364547e-01 2.46604940e-02 1.95467523e+02] [-3.04101796e-02 -4.19106093e-04 9.99537416e-01 5.98528768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12687500000004 meters Centerline goodness [0,1] 0.994893884761513 Centerline is valid? [True, True] Translation: X:134.58, Y:195.49, Z:5.98 [[ 5.96256988e-01 -8.02594984e-01 1.78576860e-02 1.34584301e+02] [ 8.02213533e-01 5.96524189e-01 2.47454923e-02 1.95490186e+02] [-3.05131497e-02 -4.28995349e-04 9.99534273e-01 5.98460502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters Centerline goodness [0,1] 0.9952837069091263 Centerline is valid? [True, True] Translation: X:134.60, Y:195.51, Z:5.98 [[ 5.96564385e-01 -8.02369545e-01 1.77213834e-02 1.34601159e+02] [ 8.01993380e-01 5.96827374e-01 2.45703822e-02 1.95512403e+02] [-3.02911331e-02 -4.45382807e-04 9.99541019e-01 5.98430429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18687500000004 meters Centerline goodness [0,1] 0.99537251272559 Centerline is valid? [True, True] Translation: X:134.62, Y:195.54, Z:5.98 [[ 5.97706806e-01 -8.01527833e-01 1.73120432e-02 1.34617415e+02] [ 8.01168087e-01 5.97957271e-01 2.40166327e-02 1.95535822e+02] [-2.96018616e-02 -4.85048315e-04 9.99561651e-01 5.98195285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters Centerline goodness [0,1] 0.9949903942024756 Centerline is valid? [True, True] Translation: X:134.63, Y:195.56, Z:5.98 [[ 5.98537333e-01 -8.00913161e-01 1.70637019e-02 1.34632849e+02] [ 8.00562998e-01 5.98780295e-01 2.36863839e-02 1.95558737e+02] [-2.91881450e-02 -5.16616671e-04 9.99573802e-01 5.97959222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.246875 meters Centerline goodness [0,1] 0.9947960995063589 Centerline is valid? [True, True] Translation: X:134.65, Y:195.58, Z:5.98 [[ 5.99076600e-01 -8.00519066e-01 1.66268534e-02 1.34648290e+02] [ 8.00186305e-01 5.99307057e-01 2.30852307e-02 1.95581099e+02] [-2.84447579e-02 -5.25241102e-04 9.99595228e-01 5.97765745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters Centerline goodness [0,1] 0.995115787427405 Centerline is valid? [True, True] Translation: X:134.67, Y:195.60, Z:5.98 [[ 5.99603924e-01 -8.00126335e-01 1.65221745e-02 1.34665554e+02] [ 7.99797414e-01 5.99831270e-01 2.29465472e-02 1.95604271e+02] [-2.82706536e-02 -5.44447318e-04 9.99600157e-01 5.97659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.306875 meters Centerline goodness [0,1] 0.9949561403508772 Centerline is valid? [True, True] Translation: X:134.68, Y:195.63, Z:5.97 [[ 6.00573015e-01 -7.99393029e-01 1.68177808e-02 1.34682364e+02] [ 7.99051596e-01 6.00808146e-01 2.33691823e-02 1.95627994e+02] [-2.87854211e-02 -5.96625678e-04 9.99585436e-01 5.97467667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters Centerline goodness [0,1] 0.9950379451255108 Centerline is valid? [True, True] Translation: X:134.70, Y:195.65, Z:5.97 [[ 6.00493257e-01 -7.99448061e-01 1.70483471e-02 1.34700019e+02] [ 7.99096894e-01 6.00734906e-01 2.37007836e-02 1.95649930e+02] [-2.91890826e-02 -6.08879556e-04 9.99573723e-01 5.97437186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.366875 meters Centerline goodness [0,1] 0.9949029362988977 Centerline is valid? [True, True] Translation: X:134.72, Y:195.67, Z:5.97 [[ 6.00252080e-01 -7.99626652e-01 1.71656022e-02 1.34715880e+02] [ 7.99270240e-01 6.00497161e-01 2.38797512e-02 1.95672111e+02] [-2.94027809e-02 -6.13915331e-04 9.99567456e-01 5.97306026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters Centerline goodness [0,1] 0.9944957256630702 Centerline is valid? [True, True] Translation: X:134.73, Y:195.69, Z:5.97 [[ 5.99970395e-01 -7.99834723e-01 1.73188128e-02 1.34732329e+02] [ 7.99471760e-01 6.00219992e-01 2.41011761e-02 1.95694733e+02] [-2.96720552e-02 -6.14090443e-04 9.99559499e-01 5.97173303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.426875 meters Centerline goodness [0,1] 0.9950316609839259 Centerline is valid? [True, True] Translation: X:134.75, Y:195.72, Z:5.97 [[ 5.99254345e-01 -8.00364563e-01 1.76294029e-02 1.34749696e+02] [ 7.99988285e-01 5.99513301e-01 2.45468106e-02 1.95716624e+02] [-3.02154589e-02 -6.06467127e-04 9.99543225e-01 5.97141608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters Centerline goodness [0,1] 0.9948621339270423 Centerline is valid? [True, True] Translation: X:134.77, Y:195.74, Z:5.97 [[ 5.98145345e-01 -8.01181282e-01 1.81851424e-02 1.34769841e+02] [ 8.00780791e-01 5.98421425e-01 2.53362026e-02 1.95737473e+02] [-3.11812701e-02 -5.92418954e-04 9.99513570e-01 5.97120834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.486875 meters Centerline goodness [0,1] 0.9956898674942121 Centerline is valid? [True, True] Translation: X:134.79, Y:195.76, Z:5.97 [[ 5.96909824e-01 -8.02100441e-01 1.82632154e-02 1.34789142e+02] [ 8.01696484e-01 5.97188893e-01 2.54592433e-02 1.95758038e+02] [-3.13274597e-02 -5.55316830e-04 9.99509020e-01 5.97131000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters Centerline goodness [0,1] 0.9954300676844029 Centerline is valid? [True, True] Translation: X:134.81, Y:195.78, Z:5.97 [[ 5.95534422e-01 -8.03120766e-01 1.83244932e-02 1.34806318e+02] [ 8.02714060e-01 5.95816056e-01 2.55610129e-02 1.95779124e+02] [-3.14466075e-02 -5.13134727e-04 9.99505301e-01 5.96949121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.546875 meters Centerline goodness [0,1] 0.9953629479811558 Centerline is valid? [True, True] Translation: X:134.83, Y:195.80, Z:5.97 [[ 5.93855960e-01 -8.04368263e-01 1.80775340e-02 1.34826013e+02] [ 8.03972779e-01 5.94130877e-01 2.52244250e-02 1.95800364e+02] [-3.10301481e-02 -4.45829872e-04 9.99518350e-01 5.96860713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters Centerline goodness [0,1] 0.9962287557375016 Centerline is valid? [True, True] Translation: X:134.85, Y:195.82, Z:5.97 [[ 5.90220830e-01 -8.07043101e-01 1.79110227e-02 1.34846716e+02] [ 8.06655552e-01 5.90492451e-01 2.50097196e-02 1.95819314e+02] [-3.07602453e-02 -3.13231592e-04 9.99526743e-01 5.96625792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.606875 meters Centerline goodness [0,1] 0.9957939531891732 Centerline is valid? [True, True] Translation: X:134.87, Y:195.84, Z:5.96 [[ 5.87769464e-01 -8.08831756e-01 1.78394884e-02 1.34865336e+02] [ 8.08448028e-01 5.88040085e-01 2.49127340e-02 1.95839390e+02] [-3.06405447e-02 -2.20645088e-04 9.99530444e-01 5.96460056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters Centerline goodness [0,1] 0.9963971574814888 Centerline is valid? [True, True] Translation: X:134.88, Y:195.86, Z:5.96 [[ 5.85619177e-01 -8.10391564e-01 1.77677495e-02 1.34884141e+02] [ 8.10011343e-01 5.85888635e-01 2.48220088e-02 1.95860173e+02] [-3.05254690e-02 -1.44165731e-04 9.99533979e-01 5.96270812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.666875 meters Centerline goodness [0,1] 0.9965007873228524 Centerline is valid? [True, True] Translation: X:134.90, Y:195.88, Z:5.96 [[ 5.83213255e-01 -8.12122215e-01 1.78831524e-02 1.34903232e+02] [ 8.11737626e-01 5.83487364e-01 2.49904394e-02 1.95880499e+02] [-3.07298844e-02 -5.83278421e-05 9.99527724e-01 5.96140922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters Centerline goodness [0,1] 0.9966664995739135 Centerline is valid? [True, True] Translation: X:134.92, Y:195.90, Z:5.96 [[ 5.79689117e-01 -8.14626427e-01 1.85556802e-02 1.34924689e+02] [ 8.14213132e-01 5.79986018e-01 2.59459937e-02 1.95900240e+02] [-3.18983272e-02 6.76683467e-05 9.99491117e-01 5.96197801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.726875 meters Centerline goodness [0,1] 0.9970117771137282 Centerline is valid? [True, True] Translation: X:134.94, Y:195.92, Z:5.96 [[ 5.78402986e-01 -8.15541730e-01 1.84843743e-02 1.34942616e+02] [ 8.15131573e-01 5.78698258e-01 2.58620164e-02 1.95921000e+02] [-3.17884288e-02 1.08529582e-04 9.99494614e-01 5.96052774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters Centerline goodness [0,1] 0.9972774024402541 Centerline is valid? [True, True] Translation: X:134.96, Y:195.94, Z:5.96 [[ 5.77545678e-01 -8.16146861e-01 1.85820242e-02 1.34960559e+02] [ 8.15732231e-01 5.77844515e-01 2.60123683e-02 1.95942524e+02] [-3.19674335e-02 1.34625192e-04 9.99488902e-01 5.96040868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.786875 meters Centerline goodness [0,1] 0.9969474507429552 Centerline is valid? [True, True] Translation: X:134.98, Y:195.96, Z:5.96 [[ 5.76747537e-01 -8.16705742e-01 1.88151422e-02 1.34978050e+02] [ 8.16280445e-01 5.77054335e-01 2.63539104e-02 1.95963562e+02] [-3.23807493e-02 1.58879803e-04 9.99475593e-01 5.95814298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters Centerline goodness [0,1] 0.9974548295239776 Centerline is valid? [True, True] Translation: X:135.00, Y:195.99, Z:5.96 [[ 5.76344577e-01 -8.16977898e-01 1.93402184e-02 1.34996306e+02] [ 8.16528178e-01 5.76668957e-01 2.71044154e-02 1.95985606e+02] [-3.32966119e-02 1.70350489e-04 9.99445500e-01 5.95742723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.846875 meters Centerline goodness [0,1] 0.9974522614332921 Centerline is valid? [True, True] Translation: X:135.01, Y:196.01, Z:5.96 [[ 5.76732203e-01 -8.16697354e-01 1.96315483e-02 1.35012535e+02] [ 8.16233276e-01 5.77066209e-01 2.75286930e-02 1.96008042e+02] [-3.38113139e-02 1.47239212e-04 9.99428223e-01 5.95671759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters Centerline goodness [0,1] 0.9975265641957548 Centerline is valid? [True, True] Translation: X:135.03, Y:196.03, Z:5.96 [[ 5.77493081e-01 -8.16149250e-01 2.00535014e-02 1.35028490e+02] [ 8.15664093e-01 5.77841146e-01 2.81371288e-02 1.96031023e+02] [-3.45518348e-02 1.07923794e-04 9.99402901e-01 5.95581372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.906875 meters Centerline goodness [0,1] 0.9970265094244531 Centerline is valid? [True, True] Translation: X:135.04, Y:196.05, Z:5.95 [[ 5.78699985e-01 -8.15290167e-01 2.02057192e-02 1.35044442e+02] [ 8.14796503e-01 5.79052624e-01 2.83675322e-02 1.96054485e+02] [-3.48279448e-02 4.72588723e-05 9.99393322e-01 5.95451089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters Centerline goodness [0,1] 0.9974473032401557 Centerline is valid? [True, True] Translation: X:135.06, Y:196.08, Z:5.95 [[ 5.80023873e-01 -8.14339565e-01 2.05761632e-02 1.35059367e+02] [ 8.13826472e-01 5.80388725e-01 2.89033059e-02 1.96077661e+02] [-3.54792787e-02 -1.91810846e-05 9.99370412e-01 5.95347608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.966875 meters Centerline goodness [0,1] 0.9970965461522925 Centerline is valid? [True, True] Translation: X:135.07, Y:196.10, Z:5.95 [[ 5.83123442e-01 -8.12117384e-01 2.07943478e-02 1.35073088e+02] [ 8.11591270e-01 5.83494067e-01 2.92281440e-02 1.96102652e+02] [-3.58700625e-02 -1.67104805e-04 9.99356448e-01 5.95195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters Centerline goodness [0,1] 0.996790853933711 Centerline is valid? [True, True] Translation: X:135.09, Y:196.13, Z:5.95 [[ 5.84940033e-01 -8.10810156e-01 2.07857865e-02 1.35087871e+02] [ 8.10283033e-01 5.85309171e-01 2.92332312e-02 1.96126549e+02] [-3.58687121e-02 -2.57317107e-04 9.99356478e-01 5.94993295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.026875 meters Centerline goodness [0,1] 0.996532053376222 Centerline is valid? [True, True] Translation: X:135.10, Y:196.15, Z:5.95 [[ 5.86663751e-01 -8.09566102e-01 2.06970781e-02 1.35102659e+02] [ 8.09042087e-01 5.87028627e-01 2.91254769e-02 1.96150947e+02] [-3.57287761e-02 -3.42054301e-04 9.99361465e-01 5.94796546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters Centerline goodness [0,1] 0.9965499005263291 Centerline is valid? [True, True] Translation: X:135.12, Y:196.18, Z:5.95 [[ 5.87931902e-01 -8.08643240e-01 2.07891647e-02 1.35117960e+02] [ 8.08113390e-01 5.88299195e-01 2.92712636e-02 1.96175018e+02] [-3.59002583e-02 -4.09507286e-04 9.99355294e-01 5.94598339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.086875 meters Centerline goodness [0,1] 0.9963029098865722 Centerline is valid? [True, True] Translation: X:135.13, Y:196.20, Z:5.94 [[ 5.89852403e-01 -8.07249932e-01 2.05351021e-02 1.35133154e+02] [ 8.06731537e-01 5.90209539e-01 2.89296918e-02 1.96200194e+02] [-3.54735048e-02 -4.97933697e-04 9.99370493e-01 5.94371616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters Centerline goodness [0,1] 0.9956003620273531 Centerline is valid? [True, True] Translation: X:135.15, Y:196.22, Z:5.94 [[ 5.90208704e-01 -8.06984163e-01 2.07423950e-02 1.35149185e+02] [ 8.06454541e-01 5.90572842e-01 2.92368069e-02 1.96223687e+02] [-3.58435353e-02 -5.28019246e-04 9.99357275e-01 5.94236986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.146875 meters Centerline goodness [0,1] 0.9958839473948399 Centerline is valid? [True, True] Translation: X:135.16, Y:196.25, Z:5.94 [[ 5.90580434e-01 -8.06715143e-01 2.06259206e-02 1.35163307e+02] [ 8.06190675e-01 5.90940246e-01 2.90898968e-02 1.96247373e+02] [-3.56559469e-02 -5.51498995e-04 9.99363972e-01 5.94022149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters Centerline goodness [0,1] 0.9959469325076152 Centerline is valid? [True, True] Translation: X:135.18, Y:196.27, Z:5.94 [[ 5.90577994e-01 -8.06718709e-01 2.05562000e-02 1.35180393e+02] [ 8.06197196e-01 5.90935370e-01 2.90081105e-02 1.96270290e+02] [-3.55487711e-02 -5.59200868e-04 9.99367786e-01 5.93924532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.206875 meters Centerline goodness [0,1] 0.9961254937479558 Centerline is valid? [True, True] Translation: X:135.20, Y:196.29, Z:5.94 [[ 5.90603779e-01 -8.06704964e-01 2.03537875e-02 1.35197092e+02] [ 8.06193079e-01 5.90954129e-01 2.87391184e-02 1.96293437e+02] [-3.52121442e-02 -5.64349340e-04 9.99379701e-01 5.93779397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters Centerline goodness [0,1] 0.9961765815620677 Centerline is valid? [True, True] Translation: X:135.21, Y:196.32, Z:5.94 [[ 5.89955317e-01 -8.07166568e-01 2.08532106e-02 1.35211989e+02] [ 8.06628873e-01 5.90323486e-01 2.94625783e-02 1.96315611e+02] [-3.60913482e-02 -5.60802949e-04 9.99348338e-01 5.93610402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.266875 meters Centerline goodness [0,1] 0.9962026908085 Centerline is valid? [True, True] Translation: X:135.23, Y:196.34, Z:5.93 [[ 5.88842256e-01 -8.07967746e-01 2.12819149e-02 1.35227822e+02] [ 8.07407676e-01 5.89226476e-01 3.00833079e-02 1.96338866e+02] [-3.68462102e-02 -5.31141436e-04 9.99320807e-01 5.93441659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters Centerline goodness [0,1] 0.996241825971488 Centerline is valid? [True, True] Translation: X:135.24, Y:196.36, Z:5.93 [[ 5.88123636e-01 -8.08484399e-01 2.15305629e-02 1.35244489e+02] [ 8.07910894e-01 5.88517384e-01 3.04512176e-02 1.96361404e+02] [-3.72904450e-02 -5.14304501e-04 9.99304337e-01 5.93336369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32687500000003 meters Centerline goodness [0,1] 0.996356103526593 Centerline is valid? [True, True] Translation: X:135.26, Y:196.38, Z:5.93 [[ 5.87410996e-01 -8.09001931e-01 2.15452365e-02 1.35260906e+02] [ 8.08427319e-01 5.87805778e-01 3.04899489e-02 1.96383820e+02] [-3.73308421e-02 -4.92373464e-04 9.99302840e-01 5.93210353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters Centerline goodness [0,1] 0.9961336647334991 Centerline is valid? [True, True] Translation: X:135.28, Y:196.41, Z:5.93 [[ 5.86414968e-01 -8.09732210e-01 2.12422544e-02 1.35276981e+02] [ 8.09173484e-01 5.86799408e-01 3.00786718e-02 1.96406497e+02] [-3.68206118e-02 -4.49914338e-04 9.99321790e-01 5.93046444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38687500000003 meters Centerline goodness [0,1] 0.996612296110414 Centerline is valid? [True, True] Translation: X:135.29, Y:196.43, Z:5.93 [[ 5.85524630e-01 -8.10382957e-01 2.09850254e-02 1.35293135e+02] [ 8.09837479e-01 5.85900411e-01 2.97315644e-02 1.96429936e+02] [-3.63890881e-02 -4.14103172e-04 9.99337612e-01 5.92873138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters Centerline goodness [0,1] 0.9965882293914003 Centerline is valid? [True, True] Translation: X:135.31, Y:196.45, Z:5.93 [[ 5.84571874e-01 -8.11078396e-01 2.06774928e-02 1.35309569e+02] [ 8.10548628e-01 5.84937342e-01 2.93125840e-02 1.96452293e+02] [-3.58698413e-02 -3.75198755e-04 9.99356400e-01 5.92742336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44687500000003 meters Centerline goodness [0,1] 0.9966346033101439 Centerline is valid? [True, True] Translation: X:135.33, Y:196.48, Z:5.93 [[ 5.83485229e-01 -8.11863490e-01 2.05587132e-02 1.35325421e+02] [ 8.11339665e-01 5.83847207e-01 2.91613991e-02 1.96475008e+02] [-3.56782225e-02 -3.35146146e-04 9.99363273e-01 5.92584446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters Centerline goodness [0,1] 0.9968154463390171 Centerline is valid? [True, True] Translation: X:135.34, Y:196.50, Z:5.92 [[ 5.81237929e-01 -8.13486096e-01 2.00709106e-02 1.35340438e+02] [ 8.12987235e-01 5.81584314e-01 2.84858303e-02 1.96498059e+02] [-3.48457536e-02 -2.39650850e-04 9.99392674e-01 5.92293422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50687500000004 meters Centerline goodness [0,1] 0.9969088098918083 Centerline is valid? [True, True] Translation: X:135.36, Y:196.52, Z:5.92 [[ 5.79689008e-01 -8.14597312e-01 1.97957743e-02 1.35357495e+02] [ 8.14112131e-01 5.80026884e-01 2.81114026e-02 1.96520784e+02] [-3.43815543e-02 -1.79891029e-04 9.99408763e-01 5.92196559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters Centerline goodness [0,1] 0.9964199879831764 Centerline is valid? [True, True] Translation: X:135.37, Y:196.54, Z:5.92 [[ 5.78106722e-01 -8.15730240e-01 1.94111633e-02 1.35374225e+02] [ 8.15263833e-01 5.78432504e-01 2.75811798e-02 1.96543046e+02] [-3.37268502e-02 -1.19646105e-04 9.99431081e-01 5.92021806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56687500000004 meters Centerline goodness [0,1] 0.9967524356732451 Centerline is valid? [True, True] Translation: X:135.39, Y:196.57, Z:5.92 [[ 5.76017101e-01 -8.17209164e-01 1.93256778e-02 1.35391530e+02] [ 8.16747149e-01 5.76341202e-01 2.74756843e-02 1.96565402e+02] [-3.35915654e-02 -4.22717778e-05 9.99435643e-01 5.91902875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters Centerline goodness [0,1] 0.9969901427173995 Centerline is valid? [True, True] Translation: X:135.41, Y:196.59, Z:5.92 [[ 5.73945431e-01 -8.18671896e-01 1.90517397e-02 1.35408644e+02] [ 8.18223179e-01 5.74261548e-01 2.71017188e-02 1.96587919e+02] [-3.31280970e-02 3.36673420e-05 9.99451113e-01 5.91805426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62687500000004 meters Centerline goodness [0,1] 0.9969656694335081 Centerline is valid? [True, True] Translation: X:135.43, Y:196.61, Z:5.92 [[ 5.70089568e-01 -8.21359333e-01 1.91502047e-02 1.35426702e+02] [ 8.20906887e-01 5.70411091e-01 2.72593010e-02 1.96609169e+02] [-3.33131704e-02 1.80291830e-04 9.99444946e-01 5.91666510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters Centerline goodness [0,1] 0.9969656694335081 Centerline is valid? [True, True] Translation: X:135.44, Y:196.63, Z:5.92 [[ 5.69867353e-01 -8.21513624e-01 1.91459223e-02 1.35442497e+02] [ 8.21061164e-01 5.70188856e-01 2.72623084e-02 1.96631813e+02] [-3.33131493e-02 1.84073765e-04 9.99444946e-01 5.91553583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68687500000004 meters Centerline goodness [0,1] 0.9972384012853986 Centerline is valid? [True, True] Translation: X:135.46, Y:196.65, Z:5.91 [[ 5.68053546e-01 -8.22766846e-01 1.92324417e-02 1.35459728e+02] [ 8.22310463e-01 5.68378972e-01 2.74015904e-02 1.96653900e+02] [-3.34764355e-02 2.49467425e-04 9.99439476e-01 5.91415016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters Centerline goodness [0,1] 0.9976145637162587 Centerline is valid? [True, True] Translation: X:135.48, Y:196.68, Z:5.91 [[ 5.66133321e-01 -8.24086116e-01 1.93684241e-02 1.35476379e+02] [ 8.23623528e-01 5.66464447e-01 2.76100580e-02 1.96676580e+02] [-3.37245892e-02 3.21315983e-04 9.99431113e-01 5.91359260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.746875 meters Centerline goodness [0,1] 0.997476577139288 Centerline is valid? [True, True] Translation: X:135.49, Y:196.70, Z:5.91 [[ 5.64381267e-01 -8.25283503e-01 1.95173049e-02 1.35493502e+02] [ 8.24813920e-01 5.64718506e-01 2.78389335e-02 1.96699414e+02] [-3.39967958e-02 3.86372221e-04 9.99421867e-01 5.91204371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters Centerline goodness [0,1] 0.9974411720435502 Centerline is valid? [True, True] Translation: X:135.51, Y:196.72, Z:5.91 [[ 5.62222325e-01 -8.26759180e-01 1.93730665e-02 1.35510429e+02] [ 8.26296838e-01 5.62555815e-01 2.76494324e-02 1.96722819e+02] [-3.37578532e-02 4.62775396e-04 9.99429934e-01 5.91066190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.806875 meters Centerline goodness [0,1] 0.9976204789099289 Centerline is valid? [True, True] Translation: X:135.53, Y:196.75, Z:5.91 [[ 5.61588429e-01 -8.27192112e-01 1.92781498e-02 1.35526522e+02] [ 8.26734036e-01 5.61919017e-01 2.75291057e-02 1.96746375e+02] [-3.36046181e-02 4.77875403e-04 9.99435091e-01 5.90910298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters Centerline goodness [0,1] 0.9974920372181677 Centerline is valid? [True, True] Translation: X:135.54, Y:196.77, Z:5.91 [[ 5.61749495e-01 -8.27079707e-01 1.94078174e-02 1.35542210e+02] [ 8.26614821e-01 5.62084462e-01 2.77307561e-02 1.96769797e+02] [-3.38443782e-02 4.65051296e-04 9.99427007e-01 5.90737976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.866875 meters Centerline goodness [0,1] 0.9975163070747617 Centerline is valid? [True, True] Translation: X:135.56, Y:196.79, Z:5.91 [[ 5.62086899e-01 -8.26848184e-01 1.95038419e-02 1.35557452e+02] [ 8.26377989e-01 5.62425003e-01 2.78843240e-02 1.96793975e+02] [-3.40255510e-02 4.44132481e-04 9.99420865e-01 5.90653534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters Centerline goodness [0,1] 0.9973475464804945 Centerline is valid? [True, True] Translation: X:135.57, Y:196.82, Z:5.90 [[ 5.63660002e-01 -8.25768905e-01 1.98271790e-02 1.35571152e+02] [ 8.25281732e-01 5.64008487e-01 2.83635239e-02 1.96817277e+02] [-3.46044133e-02 3.75624725e-04 9.99401017e-01 5.90474191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.926875 meters Centerline goodness [0,1] 0.9971576034108759 Centerline is valid? [True, True] Translation: X:135.58, Y:196.84, Z:5.90 [[ 5.65027977e-01 -8.24839396e-01 1.95794668e-02 1.35584611e+02] [ 8.24363208e-01 5.65367029e-01 2.80254276e-02 1.96842381e+02] [-3.41860617e-02 3.05441360e-04 9.99415439e-01 5.90403389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters Centerline goodness [0,1] 0.9967891278375149 Centerline is valid? [True, True] Translation: X:135.60, Y:196.87, Z:5.90 [[ 5.66497862e-01 -8.23835863e-01 1.93556786e-02 1.35598571e+02] [ 8.23369350e-01 5.66828383e-01 2.77217803e-02 1.96865676e+02] [-3.38095448e-02 2.32543198e-04 9.99428267e-01 5.90195535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.986875 meters Centerline goodness [0,1] 0.9968699540429761 Centerline is valid? [True, True] Translation: X:135.61, Y:196.89, Z:5.90 [[ 5.68249865e-01 -8.22633952e-01 1.91173013e-02 1.35612608e+02] [ 8.22177746e-01 5.68571330e-01 2.73933801e-02 1.96890041e+02] [-3.34042740e-02 1.51535076e-04 9.99441910e-01 5.90088085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters Centerline goodness [0,1] 0.9968924025457438 Centerline is valid? [True, True] Translation: X:135.63, Y:196.91, Z:5.90 [[ 5.70172199e-01 -8.21306141e-01 1.89706770e-02 1.35626736e+02] [ 8.20855644e-01 5.70487703e-01 2.71991336e-02 1.96914764e+02] [-3.31613534e-02 6.39974555e-05 9.99450009e-01 5.89922774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.046875 meters Centerline goodness [0,1] 0.9968667505489355 Centerline is valid? [True, True] Translation: X:135.64, Y:196.94, Z:5.90 [[ 5.74081539e-01 -8.18579660e-01 1.89136805e-02 1.35637657e+02] [ 8.18129832e-01 5.74393010e-01 2.71338803e-02 1.96939678e+02] [-3.30751284e-02 -1.03213491e-04 9.99452863e-01 5.89659442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters Centerline goodness [0,1] 0.9965968780054746 Centerline is valid? [True, True] Translation: X:135.65, Y:196.96, Z:5.90 [[ 5.76035665e-01 -8.17211797e-01 1.86491725e-02 1.35651974e+02] [ 8.16773292e-01 5.76337439e-01 2.67683759e-02 1.96964060e+02] [-3.26236489e-02 -1.87393209e-04 9.99467690e-01 5.89531405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.106875 meters Centerline goodness [0,1] 0.9960374107802117 Centerline is valid? [True, True] Translation: X:135.67, Y:196.99, Z:5.89 [[ 5.78119297e-01 -8.15745941e-01 1.83477279e-02 1.35665604e+02] [ 8.15320272e-01 5.78410309e-01 2.63508861e-02 1.96988144e+02] [-3.21081433e-02 -2.74681210e-04 9.99484363e-01 5.89327329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters Centerline goodness [0,1] 0.9958879149019995 Centerline is valid? [True, True] Translation: X:135.68, Y:197.01, Z:5.89 [[ 5.79671256e-01 -8.14647554e-01 1.81823482e-02 1.35678690e+02] [ 8.14228566e-01 5.79956246e-01 2.61265120e-02 1.97011932e+02] [-3.18288654e-02 -3.40200721e-04 9.99493275e-01 5.89143262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.166875 meters Centerline goodness [0,1] 0.9953959030923774 Centerline is valid? [True, True] Translation: X:135.69, Y:197.04, Z:5.89 [[ 5.82983928e-01 -8.12285490e-01 1.79450066e-02 1.35692672e+02] [ 8.11875833e-01 5.83259857e-01 2.57986547e-02 1.97037278e+02] [-3.14224748e-02 -4.71083881e-04 9.99506081e-01 5.89030020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters Centerline goodness [0,1] 0.9957302709069493 Centerline is valid? [True, True] Translation: X:135.71, Y:197.06, Z:5.89 [[ 5.84348606e-01 -8.11302669e-01 1.80190600e-02 1.35707407e+02] [ 8.10888712e-01 5.84626115e-01 2.59191524e-02 1.97061508e+02] [-3.15626906e-02 -5.34368233e-04 9.99501631e-01 5.88908993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.226875 meters Centerline goodness [0,1] 0.9954057440483502 Centerline is valid? [True, True] Translation: X:135.72, Y:197.09, Z:5.89 [[ 5.85703002e-01 -8.10325193e-01 1.80298154e-02 1.35722322e+02] [ 8.09909823e-01 5.85980141e-01 2.59490574e-02 1.97085827e+02] [-3.15922887e-02 -5.95916178e-04 9.99500661e-01 5.88831906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters Centerline goodness [0,1] 0.99540825049459 Centerline is valid? [True, True] Translation: X:135.74, Y:197.11, Z:5.89 [[ 5.86113809e-01 -8.10026418e-01 1.81053793e-02 1.35737778e+02] [ 8.09607010e-01 5.86393055e-01 2.60705548e-02 1.97109413e+02] [-3.17347068e-02 -6.22070193e-04 9.99496134e-01 5.88810884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.286875 meters Centerline goodness [0,1] 0.9954487618674758 Centerline is valid? [True, True] Translation: X:135.75, Y:197.13, Z:5.89 [[ 5.86785104e-01 -8.09534353e-01 1.83677005e-02 1.35752448e+02] [ 8.09101921e-01 5.87072129e-01 2.64650095e-02 1.97132855e+02] [-3.22074994e-02 -6.67931596e-04 9.99480981e-01 5.88759751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters Centerline goodness [0,1] 0.9951734613876911 Centerline is valid? [True, True] Translation: X:135.77, Y:197.16, Z:5.89 [[ 5.87473565e-01 -8.09027304e-01 1.86984649e-02 1.35767152e+02] [ 8.08578545e-01 5.87770628e-01 2.69522805e-02 1.97157174e+02] [-3.27955393e-02 -7.14574748e-04 9.99461826e-01 5.88636121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.346875 meters Centerline goodness [0,1] 0.9948418324940107 Centerline is valid? [True, True] Translation: X:135.78, Y:197.18, Z:5.89 [[ 5.88465212e-01 -8.08302899e-01 1.88445781e-02 1.35780648e+02] [ 8.07846245e-01 5.88766364e-01 2.71774407e-02 1.97181290e+02] [-3.30626579e-02 -7.69456756e-04 9.99452985e-01 5.88515164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters Centerline goodness [0,1] 0.9956127450980392 Centerline is valid? [True, True] Translation: X:135.80, Y:197.20, Z:5.88 [[ 5.88707326e-01 -8.08127698e-01 1.87964965e-02 1.35799240e+02] [ 8.07672844e-01 5.89006798e-01 2.71213908e-02 1.97202667e+02] [-3.29888113e-02 -7.85141651e-04 9.99455413e-01 5.88427436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.406875 meters Centerline goodness [0,1] 0.9957099329677026 Centerline is valid? [True, True] Translation: X:135.81, Y:197.23, Z:5.88 [[ 5.88978681e-01 -8.07931791e-01 1.87172124e-02 1.35813308e+02] [ 8.07480140e-01 5.89275468e-01 2.70230769e-02 1.97225610e+02] [-3.28623970e-02 -8.02238904e-04 9.99459564e-01 5.88258387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters Centerline goodness [0,1] 0.9956450468524454 Centerline is valid? [True, True] Translation: X:135.83, Y:197.25, Z:5.88 [[ 5.89603043e-01 -8.07494934e-01 1.78936928e-02 1.35829574e+02] [ 8.07081546e-01 5.89873966e-01 2.58472797e-02 1.97249665e+02] [-3.14265710e-02 -7.97965480e-04 9.99505745e-01 5.88082848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.466875 meters Centerline goodness [0,1] 0.9956094348366954 Centerline is valid? [True, True] Translation: X:135.85, Y:197.27, Z:5.88 [[ 5.89533264e-01 -8.07545483e-01 1.79115418e-02 1.35845738e+02] [ 8.07130892e-01 5.89804754e-01 2.58858163e-02 1.97272281e+02] [-3.14682865e-02 -8.03591097e-04 9.99504428e-01 5.87937802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters Centerline goodness [0,1] 0.9958287326708379 Centerline is valid? [True, True] Translation: X:135.86, Y:197.30, Z:5.88 [[ 5.89808497e-01 -8.07345706e-01 1.78563217e-02 1.35861424e+02] [ 8.06933082e-01 5.90078162e-01 2.58217606e-02 1.97296396e+02] [-3.13837130e-02 -8.21037130e-04 9.99507073e-01 5.87781869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.526875 meters Centerline goodness [0,1] 0.9956513193454867 Centerline is valid? [True, True] Translation: X:135.88, Y:197.32, Z:5.88 [[ 5.89801685e-01 -8.07356429e-01 1.75945985e-02 1.35877222e+02] [ 8.06955427e-01 5.90063498e-01 2.54559984e-02 1.97319371e+02] [-3.09339943e-02 -8.15934030e-04 9.99521096e-01 5.87606272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters Centerline goodness [0,1] 0.9957773795202907 Centerline is valid? [True, True] Translation: X:135.90, Y:197.34, Z:5.88 [[ 5.89383399e-01 -8.07668112e-01 1.73040294e-02 1.35896608e+02] [ 8.07279966e-01 5.89636828e-01 2.50493146e-02 1.97340291e+02] [-3.04346257e-02 -7.94453907e-04 9.99536444e-01 5.87550583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.586875 meters Centerline goodness [0,1] 0.99564039408867 Centerline is valid? [True, True] Translation: X:135.91, Y:197.36, Z:5.87 [[ 5.88916420e-01 -8.08013576e-01 1.70737196e-02 1.35910875e+02] [ 8.07635374e-01 5.89163356e-01 2.47314063e-02 1.97362971e+02] [-3.00425220e-02 -7.75391389e-04 9.99548321e-01 5.87390808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters Centerline goodness [0,1] 0.9950710993912808 Centerline is valid? [True, True] Translation: X:135.93, Y:197.39, Z:5.87 [[ 5.88821052e-01 -8.08087548e-01 1.68607144e-02 1.35928053e+02] [ 8.07718385e-01 5.89061901e-01 2.44353673e-02 1.97385675e+02] [-2.96779205e-02 -7.69349710e-04 9.99559217e-01 5.87291482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.646875 meters Centerline goodness [0,1] 0.9948494064554105 Centerline is valid? [True, True] Translation: X:135.94, Y:197.41, Z:5.87 [[ 5.88537676e-01 -8.08295803e-01 1.67719494e-02 1.35942654e+02] [ 8.07930163e-01 5.88776113e-01 2.43216064e-02 1.97408281e+02] [-2.95339755e-02 -7.63617919e-04 9.99563485e-01 5.87135859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters Centerline goodness [0,1] 0.99553264604811 Centerline is valid? [True, True] Translation: X:135.96, Y:197.43, Z:5.87 [[ 5.88047237e-01 -8.08656147e-01 1.66037079e-02 1.35959215e+02] [ 8.08297594e-01 5.88281124e-01 2.40898168e-02 1.97431038e+02] [-2.92480263e-02 -7.45213075e-04 9.99571907e-01 5.87034348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.706875 meters Centerline goodness [0,1] 0.9949906228407857 Centerline is valid? [True, True] Translation: X:135.98, Y:197.45, Z:5.87 [[ 5.87735461e-01 -8.08884546e-01 1.65172074e-02 1.35976395e+02] [ 8.08529402e-01 5.87967045e-01 2.39783199e-02 1.97453853e+02] [-2.91072660e-02 -7.38261078e-04 9.99576021e-01 5.86931510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters Centerline goodness [0,1] 0.9951953875720692 Centerline is valid? [True, True] Translation: X:135.99, Y:197.48, Z:5.87 [[ 5.86500853e-01 -8.09775220e-01 1.67583372e-02 1.35992956e+02] [ 8.09409484e-01 5.86739791e-01 2.43455197e-02 1.97475577e+02] [-2.95471818e-02 -7.14310982e-04 9.99563131e-01 5.86832417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.766875 meters Centerline goodness [0,1] 0.9950336824507056 Centerline is valid? [True, True] Translation: X:136.01, Y:197.50, Z:5.87 [[ 5.85528303e-01 -8.10475524e-01 1.69124502e-02 1.36008526e+02] [ 8.10103046e-01 5.85772095e-01 2.45785896e-02 1.97498487e+02] [-2.98271867e-02 -6.90632443e-04 9.99554832e-01 5.86724398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters Centerline goodness [0,1] 0.9953247909761045 Centerline is valid? [True, True] Translation: X:136.03, Y:197.52, Z:5.87 [[ 5.83474780e-01 -8.11945039e-01 1.73906393e-02 1.36027226e+02] [ 8.11551516e-01 5.83733539e-01 2.52842549e-02 1.97519976e+02] [-3.06809248e-02 -6.39325415e-04 9.99529025e-01 5.86811242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82687500000003 meters Centerline goodness [0,1] 0.9958932238193019 Centerline is valid? [True, True] Translation: X:136.04, Y:197.54, Z:5.87 [[ 5.82072501e-01 -8.12948665e-01 1.74948878e-02 1.36043658e+02] [ 8.12550372e-01 5.82335049e-01 2.54516199e-02 1.97541859e+02] [-3.08787468e-02 -5.99210467e-04 9.99522958e-01 5.86751372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters Centerline goodness [0,1] 0.9957688976865026 Centerline is valid? [True, True] Translation: X:136.06, Y:197.56, Z:5.87 [[ 5.80254564e-01 -8.14244471e-01 1.76233420e-02 1.36061300e+02] [ 8.13840587e-01 5.80521877e-01 2.56485838e-02 1.97564401e+02] [-3.11149532e-02 -5.40116835e-04 9.99515667e-01 5.86626359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88687500000003 meters Centerline goodness [0,1] 0.9954342407265727 Centerline is valid? [True, True] Translation: X:136.08, Y:197.59, Z:5.86 [[ 5.78233289e-01 -8.15680373e-01 1.76576405e-02 1.36078691e+02] [ 8.15275124e-01 5.78502641e-01 2.57131593e-02 1.97587258e+02] [-3.11887111e-02 -4.72369636e-04 9.99513402e-01 5.86485028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters Centerline goodness [0,1] 0.9959841348537432 Centerline is valid? [True, True] Translation: X:136.10, Y:197.61, Z:5.86 [[ 5.73696634e-01 -8.18883004e-01 1.74010898e-02 1.36097086e+02] [ 8.18490416e-01 5.73960394e-01 2.53555622e-02 1.97607888e+02] [-3.07507753e-02 -3.03775431e-04 9.99527037e-01 5.86346966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94687500000003 meters Centerline goodness [0,1] 0.9963772611101461 Centerline is valid? [True, True] Translation: X:136.11, Y:197.63, Z:5.86 [[ 5.72034894e-01 -8.20046762e-01 1.73028601e-02 1.36113649e+02] [ 8.19658915e-01 5.72296470e-01 2.52193195e-02 1.97631061e+02] [-3.05833870e-02 -2.43887247e-04 9.99532189e-01 5.86200193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters Centerline goodness [0,1] 0.9962244467075685 Centerline is valid? [True, True] Translation: X:136.13, Y:197.65, Z:5.86 [[ 5.69486416e-01 -8.21820592e-01 1.72086230e-02 1.36130272e+02] [ 8.21437359e-01 5.69746339e-01 2.50953034e-02 1.97652349e+02] [-3.04283871e-02 -1.55628601e-04 9.99536937e-01 5.86096770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00687500000004 meters Centerline goodness [0,1] 0.9965582601755786 Centerline is valid? [True, True] Translation: X:136.15, Y:197.67, Z:5.86 [[ 5.66875525e-01 -8.23630331e-01 1.68883530e-02 1.36148276e+02] [ 8.23261576e-01 5.67127034e-01 2.46435579e-02 1.97674334e+02] [-2.98750233e-02 -6.62976959e-05 9.99553640e-01 5.86021987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters Centerline goodness [0,1] 0.9967342258120808 Centerline is valid? [True, True] Translation: X:136.17, Y:197.70, Z:5.86 [[ 5.63792041e-01 -8.25749715e-01 1.66115430e-02 1.36165794e+02] [ 8.25393485e-01 5.64036707e-01 2.42525724e-02 1.97696385e+02] [-2.93960747e-02 3.76520791e-05 9.99567841e-01 5.85890075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06687500000004 meters Centerline goodness [0,1] 0.9972308843707123 Centerline is valid? [True, True] Translation: X:136.18, Y:197.72, Z:5.86 [[ 5.60510062e-01 -8.27976628e-01 1.68277795e-02 1.36183152e+02] [ 8.27611606e-01 5.60762589e-01 2.45834893e-02 1.97718817e+02] [-2.97909437e-02 1.47572519e-04 9.99556140e-01 5.85787239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters Centerline goodness [0,1] 0.9983344105802218 Centerline is valid? [True, True] Translation: X:136.20, Y:197.74, Z:5.86 [[ 5.54804964e-01 -8.31797236e-01 1.74588347e-02 1.36201334e+02] [ 8.31405667e-01 5.55079483e-01 2.55222445e-02 1.97739184e+02] [-3.09203734e-02 3.55506174e-04 9.99521788e-01 5.85584620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12687500000004 meters Centerline goodness [0,1] 0.9981534161800669 Centerline is valid? [True, True] Translation: X:136.22, Y:197.76, Z:5.86 [[ 5.52079998e-01 -8.33604570e-01 1.76378982e-02 1.36217193e+02] [ 8.33205391e-01 5.52361489e-01 2.57984770e-02 1.97762281e+02] [-3.12482241e-02 4.53168724e-04 9.99511552e-01 5.85526309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters Centerline goodness [0,1] 0.9978336653386454 Centerline is valid? [True, True] Translation: X:136.23, Y:197.78, Z:5.85 [[ 5.49959164e-01 -8.35002715e-01 1.77590791e-02 1.36234241e+02] [ 8.34598266e-01 5.50245571e-01 2.59912746e-02 1.97784358e+02] [-3.14746395e-02 5.27556969e-04 9.99504412e-01 5.85331845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18687500000004 meters Centerline goodness [0,1] 0.9981347923402139 Centerline is valid? [True, True] Translation: X:136.25, Y:197.81, Z:5.85 [[ 5.47761084e-01 -8.36444340e-01 1.78510886e-02 1.36249389e+02] [ 8.36036189e-01 5.48051545e-01 2.61341781e-02 1.97808024e+02] [-3.16431020e-02 6.08870405e-04 9.99499046e-01 5.85190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters Centerline goodness [0,1] 0.9981768687095727 Centerline is valid? [True, True] Translation: X:136.26, Y:197.83, Z:5.85 [[ 5.46127165e-01 -8.37510700e-01 1.79149901e-02 1.36264115e+02] [ 8.37099733e-01 5.46420520e-01 2.62421806e-02 1.97832533e+02] [-3.17672252e-02 6.65065747e-04 9.99495073e-01 5.85047659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.246875 meters Centerline goodness [0,1] 0.9983795776930172 Centerline is valid? [True, True] Translation: X:136.28, Y:197.86, Z:5.85 [[ 5.45772050e-01 -8.37743207e-01 1.78658399e-02 1.36278767e+02] [ 8.37334127e-01 5.46063982e-01 2.61856287e-02 1.97855027e+02] [-3.16927242e-02 6.68293173e-04 9.99497436e-01 5.84935191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters Centerline goodness [0,1] 0.9986072769777911 Centerline is valid? [True, True] Translation: X:136.29, Y:197.88, Z:5.85 [[ 5.45660863e-01 -8.37808231e-01 1.82096209e-02 1.36292688e+02] [ 8.37382948e-01 5.45964199e-01 2.67000378e-02 1.97879946e+02] [-3.23113126e-02 6.79260389e-04 9.99477622e-01 5.84827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.306875 meters Centerline goodness [0,1] 0.9982464373039591 Centerline is valid? [True, True] Translation: X:136.30, Y:197.91, Z:5.85 [[ 5.47700578e-01 -8.36476801e-01 1.81834642e-02 1.36304209e+02] [ 8.36051491e-01 5.48002018e-01 2.66775694e-02 1.97905824e+02] [-3.22797430e-02 5.90992125e-04 9.99478699e-01 5.84558199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters Centerline goodness [0,1] 0.9980450867338101 Centerline is valid? [True, True] Translation: X:136.32, Y:197.93, Z:5.84 [[ 5.49606592e-01 -8.35225101e-01 1.82105749e-02 1.36316902e+02] [ 8.34797303e-01 5.49907966e-01 2.67337063e-02 1.97929705e+02] [-3.23428028e-02 5.09117625e-04 9.99476705e-01 5.84421184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.366875 meters Centerline goodness [0,1] 0.9978545535251905 Centerline is valid? [True, True] Translation: X:136.33, Y:197.96, Z:5.84 [[ 5.51886590e-01 -8.33716074e-01 1.84038030e-02 1.36330441e+02] [ 8.33277939e-01 5.52193202e-01 2.70285663e-02 1.97955435e+02] [-3.26966051e-02 4.18779748e-04 9.99465235e-01 5.84314701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters Centerline goodness [0,1] 0.9976416832485814 Centerline is valid? [True, True] Translation: X:136.34, Y:197.98, Z:5.84 [[ 5.53919879e-01 -8.32363719e-01 1.85312573e-02 1.36342510e+02] [ 8.31918524e-01 5.54229669e-01 2.72221181e-02 1.97981783e+02] [-3.29292761e-02 3.37623843e-04 9.99457627e-01 5.84247047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.426875 meters Centerline goodness [0,1] 0.997538885607403 Centerline is valid? [True, True] Translation: X:136.35, Y:198.01, Z:5.84 [[ 5.56621799e-01 -8.30555816e-01 1.86871464e-02 1.36354475e+02] [ 8.30101544e-01 5.56935353e-01 2.74670657e-02 1.98008026e+02] [-3.32204636e-02 2.23461537e-04 9.99448023e-01 5.84125553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters Centerline goodness [0,1] 0.9972300527025371 Centerline is valid? [True, True] Translation: X:136.36, Y:198.03, Z:5.84 [[ 5.61500729e-01 -8.27267028e-01 1.86063277e-02 1.36363511e+02] [ 8.26814297e-01 5.61808921e-01 2.73652048e-02 1.98034653e+02] [-3.30915325e-02 1.83953020e-05 9.99452325e-01 5.83839261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.486875 meters Centerline goodness [0,1] 0.9972133952578831 Centerline is valid? [True, True] Translation: X:136.38, Y:198.06, Z:5.84 [[ 5.62912458e-01 -8.26311600e-01 1.84039477e-02 1.36376480e+02] [ 8.25867858e-01 5.63213226e-01 2.70765999e-02 1.98058637e+02] [-3.27390553e-02 -4.25265162e-05 9.99463933e-01 5.83694952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters Centerline goodness [0,1] 0.9969509220411747 Centerline is valid? [True, True] Translation: X:136.39, Y:198.08, Z:5.84 [[ 5.64149589e-01 -8.25465362e-01 1.84980191e-02 1.36390169e+02] [ 8.25016094e-01 5.64452766e-01 2.72308520e-02 1.98083138e+02] [-3.29193831e-02 -1.01110513e-04 9.99458005e-01 5.83535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.546875 meters Centerline goodness [0,1] 0.9969509220411747 Centerline is valid? [True, True] Translation: X:136.41, Y:198.11, Z:5.83 [[ 5.63927204e-01 -8.25617468e-01 1.84906567e-02 1.36405591e+02] [ 8.25168118e-01 5.64230259e-01 2.72358500e-02 1.98106023e+02] [-3.29193816e-02 -1.01136373e-04 9.99458005e-01 5.83422803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters Centerline goodness [0,1] 0.99739107112379 Centerline is valid? [True, True] Translation: X:136.42, Y:198.13, Z:5.83 [[ 5.65064228e-01 -8.24841189e-01 1.84236453e-02 1.36419713e+02] [ 8.24394166e-01 5.65364474e-01 2.71527304e-02 1.98130168e+02] [-3.28127650e-02 -1.54690915e-04 9.99461504e-01 5.83348139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.606875 meters Centerline goodness [0,1] 0.9974864561472009 Centerline is valid? [True, True] Translation: X:136.43, Y:198.15, Z:5.83 [[ 5.66292253e-01 -8.24004452e-01 1.81589534e-02 1.36433276e+02] [ 8.23569232e-01 5.66583286e-01 2.67787436e-02 1.98153904e+02] [-3.23543634e-02 -2.09439779e-04 9.99476439e-01 5.83164703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters Centerline goodness [0,1] 0.9968815475320372 Centerline is valid? [True, True] Translation: X:136.45, Y:198.18, Z:5.83 [[ 5.68270313e-01 -8.22651005e-01 1.77249838e-02 1.36446005e+02] [ 8.22235262e-01 5.68546604e-01 2.61521171e-02 1.98178270e+02] [-3.15915448e-02 -2.87365085e-04 9.99500821e-01 5.83033157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.666875 meters Centerline goodness [0,1] 0.9972754032159973 Centerline is valid? [True, True] Translation: X:136.46, Y:198.20, Z:5.83 [[ 5.69032953e-01 -8.22125106e-01 1.76581083e-02 1.36461866e+02] [ 8.21711825e-01 5.69306777e-01 2.60666558e-02 1.98202342e+02] [-3.14829329e-02 -3.22909755e-04 9.99504237e-01 5.83051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters Centerline goodness [0,1] 0.9970741851242867 Centerline is valid? [True, True] Translation: X:136.48, Y:198.23, Z:5.83 [[ 5.70109675e-01 -8.21376592e-01 1.77609633e-02 1.36475274e+02] [ 8.20957605e-01 5.70386143e-01 2.62346652e-02 1.98226231e+02] [-3.16791473e-02 -3.75638569e-04 9.99498019e-01 5.82845722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.726875 meters Centerline goodness [0,1] 0.9967209929319181 Centerline is valid? [True, True] Translation: X:136.49, Y:198.25, Z:5.83 [[ 5.70725555e-01 -8.20942158e-01 1.80641669e-02 1.36490434e+02] [ 8.20508057e-01 5.71011210e-01 2.66969276e-02 1.98249728e+02] [-3.22314752e-02 -4.14824347e-04 9.99480345e-01 5.82732226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters Centerline goodness [0,1] 0.9962729010866671 Centerline is valid? [True, True] Translation: X:136.51, Y:198.27, Z:5.83 [[ 5.71328898e-01 -8.20526827e-01 1.78610330e-02 1.36505220e+02] [ 8.20101724e-01 5.71607847e-01 2.64127313e-02 1.98273708e+02] [-3.18818612e-02 -4.42492734e-04 9.99491546e-01 5.82618436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.786875 meters Centerline goodness [0,1] 0.9962801033841397 Centerline is valid? [True, True] Translation: X:136.52, Y:198.30, Z:5.82 [[ 5.71819547e-01 -8.20177577e-01 1.81974857e-02 1.36519150e+02] [ 8.19735563e-01 5.72108829e-01 2.69276002e-02 1.98297246e+02] [-3.24963561e-02 -4.80601949e-04 9.99471738e-01 5.82458746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters Centerline goodness [0,1] 0.9965054481034775 Centerline is valid? [True, True] Translation: X:136.54, Y:198.32, Z:5.82 [[ 5.73030110e-01 -8.19336690e-01 1.79967409e-02 1.36535395e+02] [ 8.18903589e-01 5.73312401e-01 2.66421372e-02 1.98320535e+02] [-3.21466353e-02 -5.29151142e-04 9.99483023e-01 5.82448196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.846875 meters Centerline goodness [0,1] 0.9961583711493673 Centerline is valid? [True, True] Translation: X:136.55, Y:198.34, Z:5.82 [[ 5.72655174e-01 -8.19601618e-01 1.78673092e-02 1.36549855e+02] [ 8.19174669e-01 5.72933613e-01 2.64563192e-02 1.98343252e+02] [-3.19204240e-02 -5.13900970e-04 9.99490281e-01 5.82308385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters Centerline goodness [0,1] 0.9963965695341965 Centerline is valid? [True, True] Translation: X:136.56, Y:198.37, Z:5.82 [[ 5.72582992e-01 -8.19653511e-01 1.78000032e-02 1.36563198e+02] [ 8.19229348e-01 5.72859367e-01 2.63708343e-02 1.98366931e+02] [-3.18118455e-02 -5.17206167e-04 9.99493741e-01 5.82054628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.906875 meters Centerline goodness [0,1] 0.9961242176215696 Centerline is valid? [True, True] Translation: X:136.58, Y:198.39, Z:5.82 [[ 5.71442449e-01 -8.20457786e-01 1.73939514e-02 1.36579356e+02] [ 8.20052663e-01 5.71706919e-01 2.57842939e-02 1.98389468e+02] [-3.10991670e-02 -4.70283850e-04 9.99516193e-01 5.81932314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters Centerline goodness [0,1] 0.9965559894254323 Centerline is valid? [True, True] Translation: X:136.60, Y:198.41, Z:5.82 [[ 5.70585536e-01 -8.21055225e-01 1.73338904e-02 1.36597910e+02] [ 8.20652731e-01 5.70848597e-01 2.57094349e-02 1.98411316e+02] [-3.10038929e-02 -4.44327193e-04 9.99519165e-01 5.81948947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.966875 meters Centerline goodness [0,1] 0.9966667466008009 Centerline is valid? [True, True] Translation: X:136.61, Y:198.43, Z:5.82 [[ 5.69377061e-01 -8.21888533e-01 1.75784174e-02 1.36611952e+02] [ 8.21474484e-01 5.69648196e-01 2.60884067e-02 1.98434830e+02] [-3.14552761e-02 -4.13918983e-04 9.99505075e-01 5.81717212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters Centerline goodness [0,1] 0.9967865858078233 Centerline is valid? [True, True] Translation: X:136.63, Y:198.46, Z:5.82 [[ 5.67304945e-01 -8.23309442e-01 1.80738068e-02 1.36630432e+02] [ 8.22871895e-01 5.67592669e-01 2.68403957e-02 1.98456545e+02] [-3.23565115e-02 -3.54261582e-04 9.99476328e-01 5.81759925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.026875 meters Centerline goodness [0,1] 0.9966408330733978 Centerline is valid? [True, True] Translation: X:136.65, Y:198.48, Z:5.82 [[ 5.66428394e-01 -8.23908757e-01 1.82547124e-02 1.36646113e+02] [ 8.23462167e-01 5.66722374e-01 2.71258375e-02 1.98479220e+02] [-3.26945690e-02 -3.32779554e-04 9.99465334e-01 5.81651901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters Centerline goodness [0,1] 0.9969678739020575 Centerline is valid? [True, True] Translation: X:136.66, Y:198.50, Z:5.82 [[ 5.65586326e-01 -8.24485520e-01 1.83230712e-02 1.36662518e+02] [ 8.24035435e-01 5.65882967e-01 2.72409546e-02 1.98502625e+02] [-3.28284865e-02 -3.08251461e-04 9.99460952e-01 5.81520380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.086875 meters Centerline goodness [0,1] 0.9967029503745546 Centerline is valid? [True, True] Translation: X:136.68, Y:198.53, Z:5.81 [[ 5.65034405e-01 -8.24866486e-01 1.82044312e-02 1.36678378e+02] [ 8.24421933e-01 5.65327511e-01 2.70791827e-02 1.98525570e+02] [-3.26281760e-02 -2.92537519e-04 9.99467517e-01 5.81372402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters Centerline goodness [0,1] 0.9968830792277769 Centerline is valid? [True, True] Translation: X:136.69, Y:198.55, Z:5.81 [[ 5.63796119e-01 -8.25713647e-01 1.81909156e-02 1.36694584e+02] [ 8.25269677e-01 5.64089452e-01 2.70749145e-02 1.98548457e+02] [-3.26174301e-02 -2.52320673e-04 9.99467878e-01 5.81247012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.146875 meters Centerline goodness [0,1] 0.9971292789424168 Centerline is valid? [True, True] Translation: X:136.71, Y:198.57, Z:5.81 [[ 5.62916671e-01 -8.26312212e-01 1.82469021e-02 1.36711069e+02] [ 8.25865296e-01 5.63212283e-01 2.71741907e-02 1.98571543e+02] [-3.27312450e-02 -2.27321715e-04 9.99464163e-01 5.81078948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters Centerline goodness [0,1] 0.9964584286987737 Centerline is valid? [True, True] Translation: X:136.73, Y:198.59, Z:5.81 [[ 5.60746272e-01 -8.27789305e-01 1.81241680e-02 1.36728259e+02] [ 8.27348636e-01 5.61039076e-01 2.70072036e-02 1.98593273e+02] [-3.25246408e-02 -1.49183096e-04 9.99470923e-01 5.80905422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.206875 meters Centerline goodness [0,1] 0.9969227041434456 Centerline is valid? [True, True] Translation: X:136.75, Y:198.62, Z:5.81 [[ 5.59569263e-01 -8.28588046e-01 1.80024835e-02 1.36745289e+02] [ 8.28153227e-01 5.59858766e-01 2.68401601e-02 1.98616074e+02] [-3.23182840e-02 -1.10113809e-04 9.99477622e-01 5.80832018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters Centerline goodness [0,1] 0.9972089889803185 Centerline is valid? [True, True] Translation: X:136.76, Y:198.64, Z:5.81 [[ 5.58797876e-01 -8.29106727e-01 1.80822612e-02 1.36761979e+02] [ 8.28667793e-01 5.59090356e-01 2.69752230e-02 1.98639012e+02] [-3.24749567e-02 -8.95098126e-05 9.99472545e-01 5.80745118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.266875 meters Centerline goodness [0,1] 0.9965831435079726 Centerline is valid? [True, True] Translation: X:136.78, Y:198.66, Z:5.80 [[ 5.57338813e-01 -8.30075597e-01 1.86534721e-02 1.36777639e+02] [ 8.29608461e-01 5.57650878e-01 2.78441950e-02 1.98662238e+02] [-3.35149119e-02 -4.35722696e-05 9.99438217e-01 5.80468148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters Centerline goodness [0,1] 0.9965552129504721 Centerline is valid? [True, True] Translation: X:136.79, Y:198.68, Z:5.81 [[ 5.57958632e-01 -8.29673702e-01 1.79920195e-02 1.36793671e+02] [ 8.29238400e-01 5.58248639e-01 2.68725365e-02 1.98684027e+02] [-3.23394572e-02 -7.40902740e-05 9.99476940e-01 5.80558367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32687500000003 meters Centerline goodness [0,1] 0.9961804380409032 Centerline is valid? [True, True] Translation: X:136.81, Y:198.71, Z:5.80 [[ 5.57856203e-01 -8.29737574e-01 1.82212761e-02 1.36808251e+02] [ 8.29290629e-01 5.58153699e-01 2.72305163e-02 1.98706275e+02] [-3.27644552e-02 -7.99789363e-05 9.99463098e-01 5.80453691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters Centerline goodness [0,1] 0.9961223506743738 Centerline is valid? [True, True] Translation: X:136.82, Y:198.73, Z:5.80 [[ 5.57679186e-01 -8.29851596e-01 1.84459660e-02 1.36824084e+02] [ 8.29393250e-01 5.57984159e-01 2.75774231e-02 1.98730065e+02] [-3.31777254e-02 -8.03951869e-05 9.99449464e-01 5.80376984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38687500000003 meters Centerline goodness [0,1] 0.9964153394601357 Centerline is valid? [True, True] Translation: X:136.84, Y:198.75, Z:5.80 [[ 5.57413107e-01 -8.30027040e-01 1.85941205e-02 1.36838498e+02] [ 8.29560859e-01 5.57723145e-01 2.78150196e-02 1.98752752e+02] [-3.34575898e-02 -7.95018906e-05 9.99440135e-01 5.80219941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters Centerline goodness [0,1] 0.9962929083818786 Centerline is valid? [True, True] Translation: X:136.85, Y:198.78, Z:5.80 [[ 5.57251437e-01 -8.30131514e-01 1.87751173e-02 1.36854000e+02] [ 8.29655676e-01 5.57567630e-01 2.81033271e-02 1.98776765e+02] [-3.37978551e-02 -8.37367206e-05 9.99428686e-01 5.80076394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44687500000003 meters Centerline goodness [0,1] 0.9956480153036824 Centerline is valid? [True, True] Translation: X:136.87, Y:198.80, Z:5.80 [[ 5.56715387e-01 -8.30493083e-01 1.86873409e-02 1.36869805e+02] [ 8.30021337e-01 5.57028934e-01 2.79883357e-02 1.98800535e+02] [-3.36535088e-02 -7.06454782e-05 9.99433558e-01 5.79882617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters Centerline goodness [0,1] 0.9956532238589713 Centerline is valid? [True, True] Translation: X:136.89, Y:198.82, Z:5.80 [[ 5.56400664e-01 -8.30708986e-01 1.84629799e-02 1.36885574e+02] [ 8.30248094e-01 5.56706903e-01 2.76681483e-02 1.98823736e+02] [-3.32626478e-02 -6.57221424e-05 9.99446643e-01 5.79778217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50687500000004 meters Centerline goodness [0,1] 0.9957377128133503 Centerline is valid? [True, True] Translation: X:136.90, Y:198.85, Z:5.80 [[ 5.55745077e-01 -8.31156612e-01 1.80581258e-02 1.36900879e+02] [ 8.30715417e-01 5.56038384e-01 2.70778814e-02 1.98845741e+02] [-3.25469712e-02 -4.72357169e-05 9.99470206e-01 5.79555672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters Centerline goodness [0,1] 0.9958430007733952 Centerline is valid? [True, True] Translation: X:136.92, Y:198.87, Z:5.79 [[ 5.55425578e-01 -8.31375672e-01 1.78022257e-02 1.36916654e+02] [ 8.30946558e-01 5.55710798e-01 2.67081862e-02 1.98869218e+02] [-3.20974253e-02 -4.17115557e-05 9.99484744e-01 5.79397313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56687500000004 meters Centerline goodness [0,1] 0.9956735068764653 Centerline is valid? [True, True] Translation: X:136.93, Y:198.89, Z:5.79 [[ 5.55539728e-01 -8.31307212e-01 1.74335925e-02 1.36932109e+02] [ 8.30895173e-01 5.55813203e-01 2.61705088e-02 1.98892438e+02] [-3.14455536e-02 -5.32694296e-05 9.99505465e-01 5.79202545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters Centerline goodness [0,1] 0.995121833417856 Centerline is valid? [True, True] Translation: X:136.95, Y:198.92, Z:5.79 [[ 5.55635191e-01 -8.31246626e-01 1.72795034e-02 1.36947150e+02] [ 8.30841317e-01 5.55903807e-01 2.59550126e-02 1.98915296e+02] [-3.11807584e-02 -6.49930235e-05 9.99513760e-01 5.79017298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62687500000004 meters Centerline goodness [0,1] 0.9957355043493009 Centerline is valid? [True, True] Translation: X:136.96, Y:198.94, Z:5.79 [[ 5.55927559e-01 -8.31052737e-01 1.72016808e-02 1.36962010e+02] [ 8.30650546e-01 5.56193619e-01 2.58520558e-02 1.98937730e+02] [-3.10518868e-02 -8.32847019e-05 9.99517770e-01 5.78849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters Centerline goodness [0,1] 0.9958222651533446 Centerline is valid? [True, True] Translation: X:136.98, Y:198.96, Z:5.79 [[ 5.56720818e-01 -8.30522585e-01 1.71512886e-02 1.36977809e+02] [ 8.30122077e-01 5.56984938e-01 2.57898346e-02 1.98961208e+02] [-3.09720496e-02 -1.20074483e-04 9.99520244e-01 5.78789744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68687500000004 meters Centerline goodness [0,1] 0.9958631701180569 Centerline is valid? [True, True] Translation: X:136.99, Y:198.98, Z:5.79 [[ 5.57129308e-01 -8.30241854e-01 1.74756757e-02 1.36993056e+02] [ 8.29825449e-01 5.57403304e-01 2.62922234e-02 1.98984343e+02] [-3.15699037e-02 -1.46407835e-04 9.99501536e-01 5.78674564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters Centerline goodness [0,1] 0.9956195546950629 Centerline is valid? [True, True] Translation: X:137.01, Y:199.01, Z:5.79 [[ 5.57751681e-01 -8.29828937e-01 1.72336301e-02 1.37008582e+02] [ 8.29423320e-01 5.58017835e-01 2.59432492e-02 1.99008059e+02] [-3.11451319e-02 -1.75916160e-04 9.99514857e-01 5.78532137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.746875 meters Centerline goodness [0,1] 0.9956357288332849 Centerline is valid? [True, True] Translation: X:137.02, Y:199.03, Z:5.78 [[ 5.58310001e-01 -8.29456114e-01 1.71025433e-02 1.37023564e+02] [ 8.29056008e-01 5.58571851e-01 2.57608915e-02 1.99031647e+02] [-3.09205282e-02 -2.03597098e-04 9.99521825e-01 5.78362762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters Centerline goodness [0,1] 0.9950559521512637 Centerline is valid? [True, True] Translation: X:137.04, Y:199.06, Z:5.78 [[ 5.59934931e-01 -8.28359314e-01 1.71382375e-02 1.37039052e+02] [ 8.27956544e-01 5.60197083e-01 2.58300158e-02 1.99055825e+02] [-3.09973248e-02 -2.73412260e-04 9.99519430e-01 5.78158688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.806875 meters Centerline goodness [0,1] 0.9953355729028204 Centerline is valid? [True, True] Translation: X:137.05, Y:199.08, Z:5.78 [[ 5.60481649e-01 -8.27986457e-01 1.72843169e-02 1.37054381e+02] [ 8.27576141e-01 5.60748013e-01 2.60652572e-02 1.99079885e+02] [-3.12738263e-02 -3.05010019e-04 9.99510808e-01 5.78038712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters Centerline goodness [0,1] 0.995656894679696 Centerline is valid? [True, True] Translation: X:137.07, Y:199.10, Z:5.78 [[ 5.60719914e-01 -8.27815400e-01 1.77437838e-02 1.37069160e+02] [ 8.27382409e-01 5.61000494e-01 2.67730328e-02 1.99102398e+02] [-3.21174003e-02 -3.31278042e-04 9.99484048e-01 5.77925785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.866875 meters Centerline goodness [0,1] 0.9949598972594441 Centerline is valid? [True, True] Translation: X:137.09, Y:199.13, Z:5.78 [[ 5.60763429e-01 -8.27780340e-01 1.80024003e-02 1.37085126e+02] [ 8.27334032e-01 5.61052215e-01 2.71810849e-02 1.99125456e+02] [-3.26002543e-02 -3.48159978e-04 9.99468410e-01 5.77864219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters Centerline goodness [0,1] 0.9952074357360701 Centerline is valid? [True, True] Translation: X:137.10, Y:199.15, Z:5.78 [[ 5.61206595e-01 -8.27472319e-01 1.83498868e-02 1.37100141e+02] [ 8.27007891e-01 5.61506380e-01 2.77224438e-02 1.99148294e+02] [-3.32431334e-02 -3.82517141e-04 9.99447221e-01 5.77707967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.926875 meters Centerline goodness [0,1] 0.9949745083758194 Centerline is valid? [True, True] Translation: X:137.12, Y:199.17, Z:5.78 [[ 5.61376911e-01 -8.27354540e-01 1.84506984e-02 1.37117777e+02] [ 8.26884380e-01 5.61679895e-01 2.78911858e-02 1.99170943e+02] [-3.34392855e-02 -4.00873468e-04 9.99440670e-01 5.77692754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters Centerline goodness [0,1] 0.9947095083240305 Centerline is valid? [True, True] Translation: X:137.13, Y:199.19, Z:5.77 [[ 5.61311911e-01 -8.27396118e-01 1.85634641e-02 1.37131303e+02] [ 8.26919603e-01 5.61618638e-01 2.80798123e-02 1.99194029e+02] [-3.36587151e-02 -4.11040758e-04 9.99433300e-01 5.77444926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.986875 meters Centerline goodness [0,1] 0.9943964680768484 Centerline is valid? [True, True] Translation: X:137.15, Y:199.22, Z:5.77 [[ 5.61136341e-01 -8.27513959e-01 1.86186462e-02 1.37146689e+02] [ 8.27034144e-01 5.61444990e-01 2.81788594e-02 1.99217274e+02] [-3.37717452e-02 -4.13925926e-04 9.99429486e-01 5.77312771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters Centerline goodness [0,1] 0.9951702545931121 Centerline is valid? [True, True] Translation: X:137.16, Y:199.24, Z:5.77 [[ 5.60780887e-01 -8.27753390e-01 1.86847826e-02 1.37163130e+02] [ 8.27269748e-01 5.61091932e-01 2.82950127e-02 1.99239680e+02] [-3.39051735e-02 -4.09946956e-04 9.99424970e-01 5.77213131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.046875 meters Centerline goodness [0,1] 0.9949258297118163 Centerline is valid? [True, True] Translation: X:137.18, Y:199.26, Z:5.77 [[ 5.60789669e-01 -8.27748861e-01 1.86217553e-02 1.37179693e+02] [ 8.27267920e-01 5.61098608e-01 2.82159630e-02 1.99262047e+02] [-3.38043722e-02 -4.18039727e-04 9.99428381e-01 5.77116186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters Centerline goodness [0,1] 0.9939346698170658 Centerline is valid? [True, True] Translation: X:137.20, Y:199.28, Z:5.77 [[ 5.60800716e-01 -8.27746379e-01 1.83980479e-02 1.37195219e+02] [ 8.27276357e-01 5.61102266e-01 2.78940155e-02 1.99284033e+02] [-3.34123567e-02 -4.22713860e-04 9.99441562e-01 5.76816134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.106875 meters Centerline goodness [0,1] 0.9933729489154624 Centerline is valid? [True, True] Translation: X:137.21, Y:199.31, Z:5.77 [[ 5.60623563e-01 -8.27867325e-01 1.83551758e-02 1.37211355e+02] [ 8.27399059e-01 5.60923803e-01 2.78439366e-02 1.99306801e+02] [-3.33469404e-02 -4.22911750e-04 9.99443747e-01 5.76657580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters Centerline goodness [0,1] 0.9936884686616629 Centerline is valid? [True, True] Translation: X:137.23, Y:199.33, Z:5.77 [[ 5.59760664e-01 -8.28445688e-01 1.85941118e-02 1.37228107e+02] [ 8.27964887e-01 5.60069263e-01 2.82235113e-02 1.99329993e+02] [-3.37956367e-02 -4.03139715e-04 9.99428683e-01 5.76572692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.166875 meters Centerline goodness [0,1] 0.9979185032814184 Centerline is valid? [True, True] Translation: X:137.24, Y:199.35, Z:5.77 [[ 5.57574704e-01 -8.29907360e-01 1.90846648e-02 1.37244111e+02] [ 8.29401089e-01 5.57901124e-01 2.89856826e-02 1.99353590e+02] [-3.47027872e-02 -3.32841613e-04 9.99397621e-01 5.76518341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters Centerline goodness [0,1] 0.9938559842713197 Centerline is valid? [True, True] Translation: X:137.26, Y:199.37, Z:5.76 [[ 5.57501273e-01 -8.29977099e-01 1.81754099e-02 1.37262158e+02] [ 8.29517494e-01 5.57797375e-01 2.76191202e-02 1.99374695e+02] [-3.30614332e-02 -3.20874219e-04 9.99453270e-01 5.76250871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.226875 meters Centerline goodness [0,1] 0.992072703924135 Centerline is valid? [True, True] Translation: X:137.28, Y:199.40, Z:5.76 [[ 5.56505624e-01 -8.30626673e-01 1.89952489e-02 1.37280595e+02] [ 8.30124364e-01 5.56829629e-01 2.88843435e-02 1.99396297e+02] [-3.45692235e-02 -3.05880667e-04 9.99402259e-01 5.75773802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters Centerline goodness [0,1] 0.9947219423252243 Centerline is valid? [True, True] Translation: X:137.29, Y:199.42, Z:5.76 [[ 5.52148654e-01 -8.33505251e-01 2.00214824e-02 1.37293820e+02] [ 8.32948347e-01 5.52511516e-01 3.04643313e-02 1.99420567e+02] [-3.64542797e-02 -1.43978867e-04 9.99335311e-01 5.76209405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.286875 meters Centerline goodness [0,1] 0.9938039990125895 Centerline is valid? [True, True] Translation: X:137.31, Y:199.44, Z:5.76 [[ 5.51748974e-01 -8.33789729e-01 1.91769912e-02 1.37313588e+02] [ 8.33278453e-01 5.52082123e-01 2.91950056e-02 1.99440782e+02] [-3.49297698e-02 -1.28540863e-04 9.99389761e-01 5.75837742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters Centerline goodness [0,1] 0.9942484757226432 Centerline is valid? [True, True] Translation: X:137.33, Y:199.46, Z:5.76 [[ 5.51545097e-01 -8.33923879e-01 1.92085838e-02 1.37329366e+02] [ 8.33410386e-01 5.51879467e-01 2.92605823e-02 1.99462855e+02] [-3.50019213e-02 -1.29897445e-04 9.99387237e-01 5.75727681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.346875 meters Centerline goodness [0,1] 0.9927994817620092 Centerline is valid? [True, True] Translation: X:137.35, Y:199.49, Z:5.75 [[ 5.51494053e-01 -8.33963944e-01 1.89327711e-02 1.37346080e+02] [ 8.33464542e-01 5.51818921e-01 2.88571701e-02 1.99485060e+02] [-3.45133007e-02 -1.34764332e-04 9.99404229e-01 5.75449517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters Centerline goodness [0,1] 0.9923023267400728 Centerline is valid? [True, True] Translation: X:137.36, Y:199.51, Z:5.75 [[ 5.50389317e-01 -8.34694034e-01 1.89068579e-02 1.37361217e+02] [ 8.34195846e-01 5.50713955e-01 2.88345340e-02 1.99507943e+02] [-3.44802840e-02 -9.81971924e-05 9.99405373e-01 5.75249124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.406875 meters Centerline goodness [0,1] 0.9926281416980012 Centerline is valid? [True, True] Translation: X:137.38, Y:199.53, Z:5.75 [[ 5.49951322e-01 -8.34982081e-01 1.89332506e-02 1.37376926e+02] [ 8.34482040e-01 5.50277127e-01 2.88930564e-02 1.99531538e+02] [-3.45437191e-02 -9.03170362e-05 9.99403184e-01 5.75137893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters Centerline goodness [0,1] 0.9922961431489823 Centerline is valid? [True, True] Translation: X:137.39, Y:199.56, Z:5.75 [[ 5.49385948e-01 -8.35356700e-01 1.88218927e-02 1.37390717e+02] [ 8.34862177e-01 5.49708266e-01 2.87396641e-02 1.99555007e+02] [-3.43544210e-02 -7.54813155e-05 9.99409710e-01 5.74883143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.466875 meters Centerline goodness [0,1] 0.9922961431489823 Centerline is valid? [True, True] Translation: X:137.41, Y:199.58, Z:5.75 [[ 5.49165900e-01 -8.35501548e-01 1.88142868e-02 1.37405738e+02] [ 8.35006939e-01 5.49488086e-01 2.87446421e-02 1.99578161e+02] [-3.43544195e-02 -7.55171962e-05 9.99409710e-01 5.74770424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters Centerline goodness [0,1] 0.9918219103622078 Centerline is valid? [True, True] Translation: X:137.42, Y:199.60, Z:5.75 [[ 5.49134780e-01 -8.35533606e-01 1.82917302e-02 1.37420111e+02] [ 8.35065595e-01 5.49439339e-01 2.79618398e-02 1.99601844e+02] [-3.34132530e-02 -8.00241965e-05 9.99441618e-01 5.74520466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.526875 meters Centerline goodness [0,1] 0.9920697662928011 Centerline is valid? [True, True] Translation: X:137.43, Y:199.63, Z:5.74 [[ 5.49596338e-01 -8.35234281e-01 1.80986796e-02 1.37434149e+02] [ 8.34775419e-01 5.49894249e-01 2.76823762e-02 1.99626193e+02] [-3.30736294e-02 -1.05799721e-04 9.99452912e-01 5.74320018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters Centerline goodness [0,1] 0.991739420770163 Centerline is valid? [True, True] Translation: X:137.45, Y:199.65, Z:5.74 [[ 5.50364152e-01 -8.34734930e-01 1.78015724e-02 1.37447731e+02] [ 8.34290254e-01 5.50651955e-01 2.72432906e-02 1.99650895e+02] [-3.25433969e-02 -1.42052208e-04 9.99470313e-01 5.74115210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.586875 meters Centerline goodness [0,1] 0.9915143442117467 Centerline is valid? [True, True] Translation: X:137.46, Y:199.68, Z:5.74 [[ 5.52793926e-01 -8.33134350e-01 1.74937152e-02 1.37459530e+02] [ 8.32703673e-01 5.53070608e-01 2.67861196e-02 1.99677290e+02] [-3.19916960e-02 -2.40123336e-04 9.99488106e-01 5.73892173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters Centerline goodness [0,1] 0.9910813274532508 Centerline is valid? [True, True] Translation: X:137.47, Y:199.70, Z:5.74 [[ 5.53830388e-01 -8.32452165e-01 1.71841277e-02 1.37471435e+02] [ 8.32035825e-01 5.54096845e-01 2.63262633e-02 1.99701621e+02] [-3.14370258e-02 -2.82474776e-04 9.99505695e-01 5.73611655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.646875 meters Centerline goodness [0,1] 0.9907901234567901 Centerline is valid? [True, True] Translation: X:137.49, Y:199.73, Z:5.74 [[ 5.54471850e-01 -8.32018699e-01 1.74886201e-02 1.37486788e+02] [ 8.31586816e-01 5.54747493e-01 2.68064453e-02 1.99725146e+02] [-3.20052319e-02 -3.20113364e-04 9.99487650e-01 5.73653303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters Centerline goodness [0,1] 0.9907142857142857 Centerline is valid? [True, True] Translation: X:137.50, Y:199.75, Z:5.74 [[ 5.54829641e-01 -8.31776398e-01 1.76661355e-02 1.37499957e+02] [ 8.31335110e-01 5.55110713e-01 2.70929988e-02 1.99748871e+02] [-3.23419780e-02 -3.45520102e-04 9.99476802e-01 5.73505277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.706875 meters Centerline goodness [0,1] 0.9905312346286277 Centerline is valid? [True, True] Translation: X:137.51, Y:199.77, Z:5.73 [[ 5.55173652e-01 -8.31532493e-01 1.83284025e-02 1.37514684e+02] [ 8.31056735e-01 5.55475982e-01 2.81271389e-02 1.99773126e+02] [-3.35696173e-02 -3.83504082e-04 9.99436308e-01 5.73480461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters Centerline goodness [0,1] 0.9904838986584259 Centerline is valid? [True, True] Translation: X:137.53, Y:199.80, Z:5.73 [[ 5.56876253e-01 -8.30396959e-01 1.81584194e-02 1.37528372e+02] [ 8.29928836e-01 5.57172039e-01 2.78827317e-02 1.99796702e+02] [-3.32710992e-02 -4.57035281e-04 9.99446259e-01 5.73344345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.766875 meters Centerline goodness [0,1] 0.9903548814607569 Centerline is valid? [True, True] Translation: X:137.54, Y:199.82, Z:5.73 [[ 5.57773678e-01 -8.29797851e-01 1.80014046e-02 1.37543129e+02] [ 8.29337017e-01 5.58063867e-01 2.76555991e-02 1.99821350e+02] [-3.29944902e-02 -4.96334048e-04 9.99455410e-01 5.73228031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters Centerline goodness [0,1] 0.9904343582235237 Centerline is valid? [True, True] Translation: X:137.56, Y:199.85, Z:5.73 [[ 5.59968772e-01 -8.28329083e-01 1.74901513e-02 1.37556582e+02] [ 8.27892889e-01 5.60241556e-01 2.68842509e-02 1.99846135e+02] [-3.20677165e-02 -5.74369092e-04 9.99485533e-01 5.72987313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82687500000003 meters Centerline goodness [0,1] 0.9904778265884605 Centerline is valid? [True, True] Translation: X:137.57, Y:199.87, Z:5.73 [[ 5.61200739e-01 -8.27502003e-01 1.71512533e-02 1.37572314e+02] [ 8.27081734e-01 5.61462424e-01 2.63770881e-02 1.99869939e+02] [-3.14568775e-02 -6.17353014e-04 9.99504919e-01 5.72842884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters Centerline goodness [0,1] 0.9898900883699298 Centerline is valid? [True, True] Translation: X:137.58, Y:199.90, Z:5.72 [[ 5.62166270e-01 -8.26857764e-01 1.65928676e-02 1.37584127e+02] [ 8.26463722e-01 5.62410729e-01 2.55320776e-02 1.99895170e+02] [-3.04434034e-02 -6.39869709e-04 9.99536287e-01 5.72494721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88687500000003 meters Centerline goodness [0,1] 0.9902829449774819 Centerline is valid? [True, True] Translation: X:137.60, Y:199.92, Z:5.72 [[ 5.62961754e-01 -8.26319190e-01 1.64517788e-02 1.37601061e+02] [ 8.25931184e-01 5.63201693e-01 2.53284771e-02 1.99918494e+02] [-3.01950763e-02 -6.70926750e-04 9.99543800e-01 5.72483009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters Centerline goodness [0,1] 0.9882240376830794 Centerline is valid? [True, True] Translation: X:137.61, Y:199.94, Z:5.72 [[ 5.63579038e-01 -8.25906606e-01 1.60295392e-02 1.37612262e+02] [ 8.25537649e-01 5.63806537e-01 2.46937056e-02 1.99943273e+02] [-2.94322536e-02 -6.83866738e-04 9.99566543e-01 5.72166386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94687500000003 meters Centerline goodness [0,1] 0.989500158718531 Centerline is valid? [True, True] Translation: X:137.63, Y:199.97, Z:5.72 [[ 5.64502096e-01 -8.25278049e-01 1.59224680e-02 1.37625845e+02] [ 8.24913607e-01 5.64726156e-01 2.45338646e-02 1.99966138e+02] [-2.92390941e-02 -7.14757441e-04 9.99572191e-01 5.72105111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters Centerline goodness [0,1] 0.9896055502439264 Centerline is valid? [True, True] Translation: X:137.64, Y:199.99, Z:5.72 [[ 5.64551316e-01 -8.25244683e-01 1.59067654e-02 1.37642765e+02] [ 8.24880705e-01 5.64774906e-01 2.45179300e-02 1.99988230e+02] [-2.92170333e-02 -7.20445801e-04 9.99572832e-01 5.72083056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00687500000004 meters Centerline goodness [0,1] 0.9897508826990977 Centerline is valid? [True, True] Translation: X:137.66, Y:200.01, Z:5.72 [[ 5.64299882e-01 -8.25424629e-01 1.54862660e-02 1.37656962e+02] [ 8.25079351e-01 5.64511906e-01 2.38824851e-02 2.00010832e+02] [-2.84553730e-02 -6.99485192e-04 9.99594819e-01 5.71915726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters Centerline goodness [0,1] 0.9894186359082134 Centerline is valid? [True, True] Translation: X:137.67, Y:200.03, Z:5.72 [[ 5.63454839e-01 -8.26005768e-01 1.52681246e-02 1.37674390e+02] [ 8.25669961e-01 5.63661267e-01 2.35603713e-02 2.00033442e+02] [-2.80670531e-02 -6.68773405e-04 9.99605819e-01 5.71857199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06687500000004 meters Centerline goodness [0,1] 0.9895212506106498 Centerline is valid? [True, True] Translation: X:137.69, Y:200.06, Z:5.72 [[ 5.62705026e-01 -8.26520813e-01 1.50465659e-02 1.37690382e+02] [ 8.26194511e-01 5.62905795e-01 2.32313501e-02 2.00056566e+02] [-2.76709936e-02 -6.41007316e-04 9.99616879e-01 5.71657505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters Centerline goodness [0,1] 0.9901951123374064 Centerline is valid? [True, True] Translation: X:137.71, Y:200.08, Z:5.72 [[ 5.61028021e-01 -8.27666616e-01 1.46810405e-02 1.37709650e+02] [ 8.27356042e-01 5.61219778e-01 2.26790624e-02 2.00077788e+02] [-2.70099931e-02 -5.77141915e-04 9.99634997e-01 5.71584139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12687500000004 meters Centerline goodness [0,1] 0.9912336705628131 Centerline is valid? [True, True] Translation: X:137.73, Y:200.10, Z:5.71 [[ 5.59495452e-01 -8.28705830e-01 1.45425557e-02 1.37725380e+02] [ 8.28401089e-01 5.59684167e-01 2.24781781e-02 2.00099508e+02] [-2.67670354e-02 -5.29369454e-04 9.99641559e-01 5.71474453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters Centerline goodness [0,1] 0.9912107932443744 Centerline is valid? [True, True] Translation: X:137.74, Y:200.12, Z:5.71 [[ 5.57599788e-01 -8.29990677e-01 1.40695899e-02 1.37742089e+02] [ 8.29705508e-01 5.57777075e-01 2.17601789e-02 2.00122335e+02] [-2.59084404e-02 -4.59854885e-04 9.99664214e-01 5.71362260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18687500000004 meters Centerline goodness [0,1] 0.9916846091023832 Centerline is valid? [True, True] Translation: X:137.76, Y:200.14, Z:5.71 [[ 5.56117854e-01 -8.30988680e-01 1.38110768e-02 1.37759904e+02] [ 8.30713933e-01 5.56289173e-01 2.13709658e-02 2.00144178e+02] [-2.54419832e-02 -4.11721710e-04 9.99676216e-01 5.71394235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters Centerline goodness [0,1] 0.9917353333004392 Centerline is valid? [True, True] Translation: X:137.78, Y:200.17, Z:5.71 [[ 5.53636569e-01 -8.32644860e-01 1.37508511e-02 1.37776581e+02] [ 8.32372678e-01 5.53807204e-01 2.12909538e-02 2.00165718e+02] [-2.53431237e-02 -3.41617841e-04 9.99678753e-01 5.71387955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.246875 meters Centerline goodness [0,1] 0.9921314396001386 Centerline is valid? [True, True] Translation: X:137.79, Y:200.19, Z:5.71 [[ 5.52599696e-01 -8.33336680e-01 1.35481923e-02 1.37792466e+02] [ 8.33072384e-01 5.52765665e-01 2.09886149e-02 2.00189089e+02] [-2.49795582e-02 -3.11677318e-04 9.99687914e-01 5.71288420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters Centerline goodness [0,1] 0.9913193588162762 Centerline is valid? [True, True] Translation: X:137.81, Y:200.21, Z:5.71 [[ 5.51613621e-01 -8.33989497e-01 1.35621660e-02 1.37807630e+02] [ 8.33724534e-01 5.51780242e-01 2.10229974e-02 2.00212676e+02] [-2.50162943e-02 -2.89461146e-04 9.99687002e-01 5.71089281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.306875 meters Centerline goodness [0,1] 0.9920905630530427 Centerline is valid? [True, True] Translation: X:137.82, Y:200.24, Z:5.71 [[ 5.50376472e-01 -8.34806600e-01 1.35528696e-02 1.37822795e+02] [ 8.34541935e-01 5.50543253e-01 2.10210714e-02 2.00236184e+02] [-2.50099700e-02 -2.59065041e-04 9.99687168e-01 5.70971305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters Centerline goodness [0,1] 0.9922507403751234 Centerline is valid? [True, True] Translation: X:137.84, Y:200.26, Z:5.71 [[ 5.49392011e-01 -8.35454825e-01 1.35518693e-02 1.37837952e+02] [ 8.35190079e-01 5.49559077e-01 2.10322058e-02 2.00259871e+02] [-2.50190106e-02 -2.36539052e-04 9.99686948e-01 5.70939159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.366875 meters Centerline goodness [0,1] 0.9917122983572592 Centerline is valid? [True, True] Translation: X:137.85, Y:200.28, Z:5.71 [[ 5.49129156e-01 -8.35627940e-01 1.35320530e-02 1.37852959e+02] [ 8.35363703e-01 5.49295814e-01 2.10141201e-02 2.00283735e+02] [-2.49930860e-02 -2.35280137e-04 9.99687596e-01 5.70929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters Centerline goodness [0,1] 0.9913822819717338 Centerline is valid? [True, True] Translation: X:137.87, Y:200.31, Z:5.71 [[ 5.49179053e-01 -8.35588377e-01 1.39438838e-02 1.37866824e+02] [ 8.35307446e-01 5.49355987e-01 2.16672504e-02 2.00306758e+02] [-2.57650587e-02 -2.51770076e-04 9.99667994e-01 5.70859167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.426875 meters Centerline goodness [0,1] 0.9909734861527867 Centerline is valid? [True, True] Translation: X:137.88, Y:200.33, Z:5.71 [[ 5.49004336e-01 -8.35701626e-01 1.40367563e-02 1.37879068e+02] [ 8.35416599e-01 5.49183691e-01 2.18261319e-02 2.00330809e+02] [-2.59488915e-02 -2.56101784e-04 9.99663238e-01 5.70625837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters Centerline goodness [0,1] 0.9913287677981968 Centerline is valid? [True, True] Translation: X:137.89, Y:200.35, Z:5.71 [[ 5.49387505e-01 -8.35449563e-01 1.40498055e-02 1.37894867e+02] [ 8.35163563e-01 5.49567058e-01 2.18602738e-02 2.00354044e+02] [-2.59844665e-02 -2.75875610e-04 9.99662309e-01 5.70862597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.486875 meters Centerline goodness [0,1] 0.9902983798049901 Centerline is valid? [True, True] Translation: X:137.90, Y:200.38, Z:5.70 [[ 5.50951512e-01 -8.34425532e-01 1.36551726e-02 1.37903083e+02] [ 8.34154694e-01 5.51120611e-01 2.12607247e-02 2.00380583e+02] [-2.52661386e-02 -3.23102056e-04 9.99680708e-01 5.70342679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters Centerline goodness [0,1] 0.9905452946350044 Centerline is valid? [True, True] Translation: X:137.92, Y:200.40, Z:5.70 [[ 5.52121278e-01 -8.33654456e-01 1.35034111e-02 1.37917374e+02] [ 8.33389194e-01 5.52286266e-01 2.10317036e-02 2.00404941e+02] [-2.49909219e-02 -3.58454201e-04 9.99687614e-01 5.70396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.546875 meters Centerline goodness [0,1] 0.9900772850281591 Centerline is valid? [True, True] Translation: X:137.93, Y:200.43, Z:5.70 [[ 5.53301409e-01 -8.32871218e-01 1.35309229e-02 1.37931043e+02] [ 8.32604347e-01 5.53466687e-01 2.10862148e-02 2.00429841e+02] [-2.50510164e-02 -4.01127139e-04 9.99686094e-01 5.70341367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters Centerline goodness [0,1] 0.9899638796635233 Centerline is valid? [True, True] Translation: X:137.94, Y:200.46, Z:5.70 [[ 5.56039170e-01 -8.31039693e-01 1.39093421e-02 1.37941590e+02] [ 8.30756771e-01 5.56212886e-01 2.16890151e-02 2.00456567e+02] [-2.57609877e-02 -5.04661840e-04 9.99668003e-01 5.70203242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.606875 meters Centerline goodness [0,1] 0.9897612577639752 Centerline is valid? [True, True] Translation: X:137.95, Y:200.48, Z:5.70 [[ 5.57202817e-01 -8.30261650e-01 1.38063086e-02 1.37954948e+02] [ 8.29982396e-01 5.57373572e-01 2.15388747e-02 2.00481848e+02] [-2.55781732e-02 -5.42528590e-04 9.99672678e-01 5.70093979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters Centerline goodness [0,1] 0.9895200522787231 Centerline is valid? [True, True] Translation: X:137.97, Y:200.51, Z:5.70 [[ 5.58132328e-01 -8.29634596e-01 1.39550031e-02 1.37967675e+02] [ 8.29348766e-01 5.58306453e-01 2.17836851e-02 2.00507003e+02] [-2.58636671e-02 -5.84614281e-04 9.99665308e-01 5.69938121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.666875 meters Centerline goodness [0,1] 0.9899914976314831 Centerline is valid? [True, True] Translation: X:137.98, Y:200.53, Z:5.70 [[ 5.58415440e-01 -8.29445723e-01 1.38560132e-02 1.37982971e+02] [ 8.29163613e-01 5.58587002e-01 2.16394120e-02 2.00530864e+02] [-2.56885066e-02 -5.94879770e-04 9.99669819e-01 5.69967143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters Centerline goodness [0,1] 0.9886917906282608 Centerline is valid? [True, True] Translation: X:138.00, Y:200.56, Z:5.70 [[ 5.59259950e-01 -8.28876842e-01 1.38379738e-02 1.37996894e+02] [ 8.28594937e-01 5.59430771e-01 2.16250521e-02 2.00555694e+02] [-2.56658932e-02 -6.27950546e-04 9.99670379e-01 5.69871318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.726875 meters Centerline goodness [0,1] 0.9894413096650764 Centerline is valid? [True, True] Translation: X:138.01, Y:200.58, Z:5.70 [[ 5.59665630e-01 -8.28596217e-01 1.42369663e-02 1.38008785e+02] [ 8.28297397e-01 5.59846287e-01 2.22611232e-02 2.00580766e+02] [-2.64159952e-02 -6.66343456e-04 9.99650815e-01 5.69732971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters Centerline goodness [0,1] 0.9896364295204735 Centerline is valid? [True, True] Translation: X:138.03, Y:200.60, Z:5.70 [[ 5.59638561e-01 -8.28610745e-01 1.44538584e-02 1.38025363e+02] [ 8.28302396e-01 5.59824764e-01 2.26136098e-02 2.00603573e+02] [-2.68295080e-02 -6.83282498e-04 9.99639790e-01 5.69755789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.786875 meters Centerline goodness [0,1] 0.98932177534565 Centerline is valid? [True, True] Translation: X:138.04, Y:200.63, Z:5.70 [[ 5.59138626e-01 -8.28950118e-01 1.43422472e-02 1.38041185e+02] [ 8.28646268e-01 5.59322139e-01 2.24523610e-02 2.00627176e+02] [-2.66338237e-02 -6.69332654e-04 9.99645033e-01 5.69664214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters Centerline goodness [0,1] 0.9892066264037449 Centerline is valid? [True, True] Translation: X:138.05, Y:200.65, Z:5.69 [[ 5.58160534e-01 -8.29610838e-01 1.42364186e-02 1.38051878e+02] [ 8.29311311e-01 5.58341693e-01 2.23003107e-02 2.00652328e+02] [-2.64493655e-02 -6.40730330e-04 9.99649949e-01 5.69296510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.846875 meters Centerline goodness [0,1] 0.9902996959606196 Centerline is valid? [True, True] Translation: X:138.07, Y:200.67, Z:5.69 [[ 5.55445154e-01 -8.31430746e-01 1.42686909e-02 1.38070005e+02] [ 8.31130093e-01 5.55628111e-01 2.23645009e-02 2.00674794e+02] [-2.65226194e-02 -5.63115234e-04 9.99648055e-01 5.69301431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters Centerline goodness [0,1] 0.9902269861286255 Centerline is valid? [True, True] Translation: X:138.09, Y:200.70, Z:5.69 [[ 5.54271666e-01 -8.32219003e-01 1.39445802e-02 1.38085947e+02] [ 8.31931781e-01 5.54446806e-01 2.18689702e-02 2.00697574e+02] [-2.59313005e-02 -5.20411112e-04 9.99663592e-01 5.69225586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.906875 meters Centerline goodness [0,1] 0.9900678294573644 Centerline is valid? [True, True] Translation: X:138.10, Y:200.72, Z:5.69 [[ 5.52411003e-01 -8.33455798e-01 1.39110124e-02 1.38102062e+02] [ 8.33170008e-01 5.52585932e-01 2.18294408e-02 2.00720538e+02] [-2.58809037e-02 -4.68584939e-04 9.99664923e-01 5.69187709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters Centerline goodness [0,1] 0.990049871689343 Centerline is valid? [True, True] Translation: X:138.12, Y:200.74, Z:5.69 [[ 5.50614124e-01 -8.34641947e-01 1.40323394e-02 1.38116459e+02] [ 8.34351135e-01 5.50792737e-01 2.20350729e-02 2.00744101e+02] [-2.61203067e-02 -4.24924071e-04 9.99658716e-01 5.68997183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.966875 meters Centerline goodness [0,1] 0.9907737521680477 Centerline is valid? [True, True] Translation: X:138.13, Y:200.77, Z:5.69 [[ 5.48496188e-01 -8.36034788e-01 1.40628845e-02 1.38133947e+02] [ 8.35742970e-01 5.48676317e-01 2.20904573e-02 2.00767046e+02] [-2.61843624e-02 -3.63574775e-04 9.99657065e-01 5.69027839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters Centerline goodness [0,1] 0.9909150059040412 Centerline is valid? [True, True] Translation: X:138.15, Y:200.79, Z:5.69 [[ 5.45472078e-01 -8.38015033e-01 1.38208940e-02 1.38147877e+02] [ 8.37733436e-01 5.45647076e-01 2.17245993e-02 2.00790438e+02] [-2.57468712e-02 -2.71937305e-04 9.99668457e-01 5.68678537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.026875 meters Centerline goodness [0,1] 0.9913202816086412 Centerline is valid? [True, True] Translation: X:138.16, Y:200.81, Z:5.69 [[ 5.43810486e-01 -8.39096938e-01 1.36558814e-02 1.38164015e+02] [ 8.38822180e-01 5.43981873e-01 2.14725633e-02 2.00814005e+02] [-2.54461140e-02 -2.22148898e-04 9.99676171e-01 5.68712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters Centerline goodness [0,1] 0.9922194922194922 Centerline is valid? [True, True] Translation: X:138.18, Y:200.84, Z:5.69 [[ 5.42384046e-01 -8.40017421e-01 1.37941957e-02 1.38177911e+02] [ 8.39737037e-01 5.42559396e-01 2.17027817e-02 2.00836753e+02] [-2.57148852e-02 -1.87745501e-04 9.99669300e-01 5.68507581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.086875 meters Centerline goodness [0,1] 0.9927410825882127 Centerline is valid? [True, True] Translation: X:138.19, Y:200.86, Z:5.68 [[ 5.41256473e-01 -8.40742704e-01 1.38973762e-02 1.38192466e+02] [ 8.40457991e-01 5.41434835e-01 2.18788655e-02 2.00860449e+02] [-2.59190201e-02 -1.61916711e-04 9.99664033e-01 5.68469344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters Centerline goodness [0,1] 0.9932747273862709 Centerline is valid? [True, True] Translation: X:138.21, Y:200.88, Z:5.68 [[ 5.39483495e-01 -8.41876532e-01 1.41937962e-02 1.38206463e+02] [ 8.41579581e-01 5.39670170e-01 2.23588181e-02 2.00883987e+02] [-2.64833326e-02 -1.17004296e-04 9.99649248e-01 5.68374121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.146875 meters Centerline goodness [0,1] 0.9933346166803022 Centerline is valid? [True, True] Translation: X:138.22, Y:200.91, Z:5.68 [[ 5.38921295e-01 -8.42240000e-01 1.39864375e-02 1.38221374e+02] [ 8.41951447e-01 5.39102747e-01 2.20451657e-02 2.00907960e+02] [-2.61074473e-02 -1.04707935e-04 9.99659137e-01 5.68366140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters Centerline goodness [0,1] 0.9934096594188955 Centerline is valid? [True, True] Translation: X:138.24, Y:200.93, Z:5.68 [[ 5.38174385e-01 -8.42717521e-01 1.39825499e-02 1.38236246e+02] [ 8.42428951e-01 5.38355991e-01 2.20520011e-02 2.00932312e+02] [-2.61111972e-02 -8.85173542e-05 9.99659041e-01 5.68310601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.206875 meters Centerline goodness [0,1] 0.9930611855596356 Centerline is valid? [True, True] Translation: X:138.25, Y:200.96, Z:5.68 [[ 5.37035566e-01 -8.43440317e-01 1.41856453e-02 1.38250408e+02] [ 8.43143196e-01 5.37222885e-01 2.23857651e-02 2.00955319e+02] [-2.65019101e-02 -6.14217195e-05 9.99648761e-01 5.68160606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters Centerline goodness [0,1] 0.9937459564373518 Centerline is valid? [True, True] Translation: X:138.26, Y:200.98, Z:5.68 [[ 5.35975477e-01 -8.44109888e-01 1.44493985e-02 1.38264854e+02] [ 8.43801453e-01 5.36170212e-01 2.28169263e-02 2.00979447e+02] [-2.70073302e-02 -3.68895222e-05 9.99635235e-01 5.68179106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.266875 meters Centerline goodness [0,1] 0.9935588918420611 Centerline is valid? [True, True] Translation: X:138.28, Y:201.00, Z:5.68 [[ 5.35446385e-01 -8.44444668e-01 1.45041963e-02 1.38278624e+02] [ 8.44133642e-01 5.35642794e-01 2.29170787e-02 2.01002846e+02] [-2.71212732e-02 -2.73869598e-05 9.99632150e-01 5.67996025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters Centerline goodness [0,1] 0.9934026532807458 Centerline is valid? [True, True] Translation: X:138.29, Y:201.03, Z:5.68 [[ 5.35534915e-01 -8.44385535e-01 1.46772711e-02 1.38293102e+02] [ 8.44066593e-01 5.35736004e-01 2.32060418e-02 2.01026707e+02] [-2.74579886e-02 -3.90514096e-05 9.99622958e-01 5.67928100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32687500000003 meters Centerline goodness [0,1] 0.992990821313625 Centerline is valid? [True, True] Translation: X:138.31, Y:201.05, Z:5.68 [[ 5.35573563e-01 -8.44361056e-01 1.46753378e-02 1.38306555e+02] [ 8.44041813e-01 5.35774584e-01 2.32166473e-02 2.01050182e+02] [-2.74659059e-02 -4.76237901e-05 9.99622740e-01 5.67772818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters Centerline goodness [0,1] 0.992990821313625 Centerline is valid? [True, True] Translation: X:138.32, Y:201.07, Z:5.68 [[ 5.35346918e-01 -8.44504891e-01 1.46685392e-02 1.38321215e+02] [ 8.44185585e-01 5.35547838e-01 2.32209413e-02 2.01073560e+02] [-2.74659030e-02 -4.82900362e-05 9.99622740e-01 5.67660123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38687500000003 meters Centerline goodness [0,1] 0.9929957542757082 Centerline is valid? [True, True] Translation: X:138.33, Y:201.10, Z:5.68 [[ 5.36902932e-01 -8.43518996e-01 1.45239200e-02 1.38334206e+02] [ 8.43205226e-01 5.37099332e-01 2.30055461e-02 2.01098223e+02] [-2.72064028e-02 -1.05099926e-04 9.99629832e-01 5.67570201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters Centerline goodness [0,1] 0.9928397536875269 Centerline is valid? [True, True] Translation: X:138.35, Y:201.12, Z:5.67 [[ 5.37721975e-01 -8.42998002e-01 1.44722564e-02 1.38348347e+02] [ 8.42685910e-01 5.37916675e-01 2.29370553e-02 2.01122452e+02] [-2.71207598e-02 -1.38192096e-04 9.99632155e-01 5.67462690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44687500000003 meters Centerline goodness [0,1] 0.9931487296602912 Centerline is valid? [True, True] Translation: X:138.36, Y:201.15, Z:5.67 [[ 5.38561882e-01 -8.42460105e-01 1.45626708e-02 1.38361478e+02] [ 8.42143532e-01 5.38758704e-01 2.30939521e-02 2.01146323e+02] [-2.73014990e-02 -1.73663308e-04 9.99627230e-01 5.67328049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters Centerline goodness [0,1] 0.9919952210274791 Centerline is valid? [True, True] Translation: X:138.38, Y:201.17, Z:5.67 [[ 5.39992152e-01 -8.41545811e-01 1.44611059e-02 1.38376187e+02] [ 8.41232906e-01 5.40185706e-01 2.29477706e-02 2.01170790e+02] [-2.71232829e-02 -2.26457865e-04 9.99632070e-01 5.67331656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50687500000004 meters Centerline goodness [0,1] 0.9915148907691572 Centerline is valid? [True, True] Translation: X:138.39, Y:201.20, Z:5.67 [[ 5.43067306e-01 -8.39553376e-01 1.51006446e-02 1.38388238e+02] [ 8.39210965e-01 5.43277099e-01 2.39781010e-02 2.01195729e+02] [-2.83347300e-02 -3.49096120e-04 9.99598430e-01 5.67162101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters Centerline goodness [0,1] 0.9917665027922294 Centerline is valid? [True, True] Translation: X:138.40, Y:201.22, Z:5.67 [[ 5.44857850e-01 -8.38392349e-01 1.51060101e-02 1.38402338e+02] [ 8.38048868e-01 5.45067055e-01 2.40000026e-02 2.01221010e+02] [-2.83552070e-02 -4.17015180e-04 9.99597823e-01 5.67091231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56687500000004 meters Centerline goodness [0,1] 0.9904095571261988 Centerline is valid? [True, True] Translation: X:138.41, Y:201.25, Z:5.67 [[ 5.46978960e-01 -8.37011136e-01 1.50458064e-02 1.38414304e+02] [ 8.36669514e-01 5.47185632e-01 2.39167252e-02 2.01246335e+02] [-2.82514144e-02 -4.93577981e-04 9.99600727e-01 5.66855191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters Centerline goodness [0,1] 0.9904132074125176 Centerline is valid? [True, True] Translation: X:138.43, Y:201.27, Z:5.67 [[ 5.49424460e-01 -8.35402460e-01 1.53457481e-02 1.38426616e+02] [ 8.35046035e-01 5.49638403e-01 2.44078884e-02 2.01271652e+02] [-2.88250225e-02 -5.95884764e-04 9.99584295e-01 5.66735655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62687500000004 meters Centerline goodness [0,1] 0.991040496953769 Centerline is valid? [True, True] Translation: X:138.44, Y:201.30, Z:5.67 [[ 5.51922372e-01 -8.33753115e-01 1.54090734e-02 1.38440470e+02] [ 8.33392697e-01 5.52136998e-01 2.45223924e-02 2.01296290e+02] [-2.89535405e-02 -6.92647717e-04 9.99580518e-01 5.66709601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters Centerline goodness [0,1] 0.9898583501964052 Centerline is valid? [True, True] Translation: X:138.45, Y:201.32, Z:5.67 [[ 5.54069335e-01 -8.32328876e-01 1.53562400e-02 1.38451944e+02] [ 8.31969990e-01 5.54281558e-01 2.44517870e-02 2.01321996e+02] [-2.88636090e-02 -7.72054546e-04 9.99583061e-01 5.66536981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68687500000004 meters Centerline goodness [0,1] 0.9902863961813843 Centerline is valid? [True, True] Translation: X:138.46, Y:201.35, Z:5.67 [[ 5.57783344e-01 -8.29837435e-01 1.57344166e-02 1.38463931e+02] [ 8.29459136e-01 5.58004444e-01 2.50715284e-02 2.01347411e+02] [-2.95851672e-02 -9.33425372e-04 9.99561827e-01 5.66517615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters Centerline goodness [0,1] 0.9905989857429911 Centerline is valid? [True, True] Translation: X:138.48, Y:201.37, Z:5.67 [[ 5.59698108e-01 -8.28550253e-01 1.55725714e-02 1.38480753e+02] [ 8.28178969e-01 5.59913820e-01 2.48215621e-02 2.01370614e+02] [-2.92852095e-02 -9.95705217e-04 9.99570600e-01 5.66515831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.746875 meters Centerline goodness [0,1] 0.9901505959603168 Centerline is valid? [True, True] Translation: X:138.49, Y:201.40, Z:5.66 [[ 5.60557540e-01 -8.27968981e-01 1.55760004e-02 1.38493000e+02] [ 8.27596869e-01 5.60772945e-01 2.48420377e-02 2.01396196e+02] [-2.93030362e-02 -1.03474231e-03 9.99570038e-01 5.66357822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters Centerline goodness [0,1] 0.991109411596004 Centerline is valid? [True, True] Translation: X:138.51, Y:201.42, Z:5.66 [[ 5.61599631e-01 -8.27264078e-01 1.54919503e-02 1.38507224e+02] [ 8.26895527e-01 5.61812249e-01 2.47140578e-02 2.01420775e+02] [-2.91486197e-02 -1.06918131e-03 9.99574517e-01 5.66256527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.806875 meters Centerline goodness [0,1] 0.9905606133205558 Centerline is valid? [True, True] Translation: X:138.53, Y:201.44, Z:5.66 [[ 5.61823434e-01 -8.27114350e-01 1.53714390e-02 1.38525067e+02] [ 8.26751055e-01 5.62032645e-01 2.45356835e-02 2.01444201e+02] [-2.89330664e-02 -1.07636856e-03 9.99580772e-01 5.66193309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters Centerline goodness [0,1] 0.9906927653041643 Centerline is valid? [True, True] Translation: X:138.54, Y:201.47, Z:5.66 [[ 5.61551601e-01 -8.27298991e-01 1.53681338e-02 1.38538173e+02] [ 8.26935484e-01 5.61760824e-01 2.45454925e-02 2.01468466e+02] [-2.89396766e-02 -1.07510545e-03 9.99580582e-01 5.66034760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.866875 meters Centerline goodness [0,1] 0.9906777223926381 Centerline is valid? [True, True] Translation: X:138.56, Y:201.49, Z:5.66 [[ 5.59527701e-01 -8.28668298e-01 1.54143672e-02 1.38556195e+02] [ 8.28302891e-01 5.59739071e-01 2.46270986e-02 2.01491333e+02] [-2.90357195e-02 -1.01177897e-03 9.99577863e-01 5.65859646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters Centerline goodness [0,1] 0.9910430511412887 Centerline is valid? [True, True] Translation: X:138.57, Y:201.51, Z:5.66 [[ 5.58127858e-01 -8.29615739e-01 1.51993400e-02 1.38572542e+02] [ 8.29260362e-01 5.58333958e-01 2.42990467e-02 2.01512965e+02] [-2.86451792e-02 -9.57764693e-04 9.99589184e-01 5.65758047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.926875 meters Centerline goodness [0,1] 0.9912876515060602 Centerline is valid? [True, True] Translation: X:138.59, Y:201.54, Z:5.66 [[ 5.56185571e-01 -8.30925561e-01 1.48432454e-02 1.38587502e+02] [ 8.30586845e-01 5.56382913e-01 2.37391403e-02 2.01535538e+02] [-2.79839866e-02 -8.74762929e-04 9.99607989e-01 5.65564448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters Centerline goodness [0,1] 0.9905003013863773 Centerline is valid? [True, True] Translation: X:138.60, Y:201.56, Z:5.65 [[ 5.54636077e-01 -8.31966070e-01 1.45354739e-02 1.38604169e+02] [ 8.31641359e-01 5.54825920e-01 2.32561547e-02 2.01559048e+02] [-2.74129893e-02 -8.10401139e-04 9.99623865e-01 5.65408841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.986875 meters Centerline goodness [0,1] 0.9911164755582378 Centerline is valid? [True, True] Translation: X:138.62, Y:201.58, Z:5.65 [[ 5.53106203e-01 -8.32988667e-01 1.42621241e-02 1.38623336e+02] [ 8.32676254e-01 5.53289544e-01 2.28240286e-02 2.01581172e+02] [-2.69032413e-02 -7.48379770e-04 9.99637762e-01 5.65395542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters Centerline goodness [0,1] 0.9915933813019358 Centerline is valid? [True, True] Translation: X:138.64, Y:201.60, Z:5.65 [[ 5.50469964e-01 -8.34739053e-01 1.39116109e-02 1.38640086e+02] [ 8.34441938e-01 5.50645334e-01 2.22793113e-02 2.01603082e+02] [-2.62577749e-02 -6.55660153e-04 9.99654990e-01 5.65256342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.046875 meters Centerline goodness [0,1] 0.9904948483529241 Centerline is valid? [True, True] Translation: X:138.66, Y:201.63, Z:5.65 [[ 5.49274040e-01 -8.35526745e-01 1.38955534e-02 1.38655247e+02] [ 8.35230537e-01 5.49449430e-01 2.22547615e-02 2.01625459e+02] [-2.62293524e-02 -6.17972210e-04 9.99655760e-01 5.65131366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters Centerline goodness [0,1] 0.9904692791485245 Centerline is valid? [True, True] Translation: X:138.67, Y:201.65, Z:5.65 [[ 5.48696116e-01 -8.35907533e-01 1.38263509e-02 1.38671152e+02] [ 8.35614182e-01 5.48869961e-01 2.21518358e-02 2.01648917e+02] [-2.61057551e-02 -6.01131333e-04 9.99659006e-01 5.65015884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.106875 meters Centerline goodness [0,1] 0.9902364938164461 Centerline is valid? [True, True] Translation: X:138.69, Y:201.67, Z:5.65 [[ 5.47754669e-01 -8.36522997e-01 1.39319037e-02 1.38687133e+02] [ 8.36224988e-01 5.47931506e-01 2.23345933e-02 2.01672487e+02] [-2.63171299e-02 -5.83671818e-04 9.99653474e-01 5.64912651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters Centerline goodness [0,1] 0.9911231184870706 Centerline is valid? [True, True] Translation: X:138.70, Y:201.70, Z:5.65 [[ 5.47274816e-01 -8.36836597e-01 1.39565572e-02 1.38700992e+02] [ 8.36537277e-01 5.47452442e-01 2.23876713e-02 2.01696025e+02] [-2.63753740e-02 -5.77028304e-04 9.99651943e-01 5.64726228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.166875 meters Centerline goodness [0,1] 0.9911962839563219 Centerline is valid? [True, True] Translation: X:138.72, Y:201.72, Z:5.65 [[ 5.47599474e-01 -8.36623613e-01 1.39909652e-02 1.38718545e+02] [ 8.36322387e-01 5.47777852e-01 2.24563868e-02 2.01718590e+02] [-2.64514844e-02 -5.96148205e-04 9.99649921e-01 5.64780321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters Centerline goodness [0,1] 0.9906587290063404 Centerline is valid? [True, True] Translation: X:138.73, Y:201.74, Z:5.65 [[ 5.47565506e-01 -8.36645477e-01 1.40129185e-02 1.38732309e+02] [ 8.36342940e-01 5.47744448e-01 2.25056832e-02 2.01741921e+02] [-2.65047764e-02 -6.03730416e-04 9.99648504e-01 5.64606983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.226875 meters Centerline goodness [0,1] 0.9905557308990265 Centerline is valid? [True, True] Translation: X:138.75, Y:201.76, Z:5.65 [[ 5.47621107e-01 -8.36604714e-01 1.42715076e-02 1.38748332e+02] [ 8.36290555e-01 5.47806684e-01 2.29334608e-02 2.01764625e+02] [-2.70042686e-02 -6.23720189e-04 9.99635124e-01 5.64647567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters Centerline goodness [0,1] 0.9908043751814926 Centerline is valid? [True, True] Translation: X:138.76, Y:201.79, Z:5.64 [[ 5.47335920e-01 -8.36787088e-01 1.45175439e-02 1.38762257e+02] [ 8.36461660e-01 5.47528052e-01 2.33436017e-02 2.01788436e+02] [-2.74823870e-02 -6.33422871e-04 9.99622087e-01 5.64485405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.286875 meters Centerline goodness [0,1] 0.9903485254691688 Centerline is valid? [True, True] Translation: X:138.78, Y:201.81, Z:5.65 [[ 5.47587944e-01 -8.36621398e-01 1.45629636e-02 1.38780709e+02] [ 8.36293478e-01 5.47781171e-01 2.34308903e-02 2.01810115e+02] [-2.75801015e-02 -6.51561581e-04 9.99619384e-01 5.64500394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters Centerline goodness [0,1] 0.9903738363308476 Centerline is valid? [True, True] Translation: X:138.79, Y:201.83, Z:5.64 [[ 5.47117105e-01 -8.36933158e-01 1.43444221e-02 1.38794464e+02] [ 8.36614677e-01 5.47304747e-01 2.30953731e-02 2.01833601e+02] [-2.71800538e-02 -6.35119574e-04 9.99630352e-01 5.64265587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.346875 meters Centerline goodness [0,1] 0.990149580445093 Centerline is valid? [True, True] Translation: X:138.81, Y:201.86, Z:5.64 [[ 5.46622050e-01 -8.37262080e-01 1.40194287e-02 1.38808624e+02] [ 8.36957731e-01 5.46801461e-01 2.25813678e-02 2.01856461e+02] [-2.65723671e-02 -6.09804291e-04 9.99646706e-01 5.64018463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters Centerline goodness [0,1] 0.9909883579326806 Centerline is valid? [True, True] Translation: X:138.83, Y:201.88, Z:5.64 [[ 5.45665895e-01 -8.37897107e-01 1.33104887e-02 1.38825336e+02] [ 8.37622784e-01 5.45827933e-01 2.14461902e-02 2.01878548e+02] [-2.52349373e-02 -5.53286014e-04 9.99681395e-01 5.63770281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.406875 meters Centerline goodness [0,1] 0.9917962532141545 Centerline is valid? [True, True] Translation: X:138.84, Y:201.90, Z:5.64 [[ 5.44642840e-01 -8.38562662e-01 1.32980787e-02 1.38843079e+02] [ 8.38288716e-01 5.44804903e-01 2.14393811e-02 2.01901436e+02] [-2.52231230e-02 -5.29176045e-04 9.99681706e-01 5.63769364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters Centerline goodness [0,1] 0.9900917431192661 Centerline is valid? [True, True] Translation: X:138.86, Y:201.92, Z:5.64 [[ 5.43548108e-01 -8.39270459e-01 1.34369426e-02 1.38857968e+02] [ 8.38990601e-01 5.43713930e-01 2.16779613e-02 2.01924229e+02] [-2.54995254e-02 -5.09546350e-04 9.99674704e-01 5.63553323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.466875 meters Centerline goodness [0,1] 0.9918056846533927 Centerline is valid? [True, True] Translation: X:138.88, Y:201.95, Z:5.64 [[ 5.42091468e-01 -8.40210093e-01 1.35587970e-02 1.38875132e+02] [ 8.39925265e-01 5.42260801e-01 2.18808634e-02 2.01947038e+02] [-2.57369264e-02 -4.73053165e-04 9.99668639e-01 5.63525870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters Centerline goodness [0,1] 0.9913183830182681 Centerline is valid? [True, True] Translation: X:138.89, Y:201.97, Z:5.63 [[ 5.39768624e-01 -8.41697436e-01 1.39734816e-02 1.38890684e+02] [ 8.41394970e-01 5.39949300e-01 2.25667417e-02 2.01969233e+02] [-2.65393402e-02 -4.23601952e-04 9.99647680e-01 5.63359941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.526875 meters Centerline goodness [0,1] 0.9922765722692166 Centerline is valid? [True, True] Translation: X:138.91, Y:201.99, Z:5.63 [[ 5.38843358e-01 -8.42287756e-01 1.41128531e-02 1.38908408e+02] [ 8.41979269e-01 5.39027991e-01 2.27976908e-02 2.01991418e+02] [-2.68094387e-02 -4.01654533e-04 9.99640482e-01 5.63463408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters Centerline goodness [0,1] 0.9916625676340384 Centerline is valid? [True, True] Translation: X:138.92, Y:202.02, Z:5.63 [[ 5.38150864e-01 -8.42733170e-01 1.39446058e-02 1.38923903e+02] [ 8.42431791e-01 5.38331365e-01 2.25392612e-02 2.02015349e+02] [-2.65014017e-02 -3.82143614e-04 9.99648703e-01 5.63307674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.586875 meters Centerline goodness [0,1] 0.9918651232519846 Centerline is valid? [True, True] Translation: X:138.94, Y:202.04, Z:5.63 [[ 5.37335504e-01 -8.43250484e-01 1.41130052e-02 1.38937735e+02] [ 8.42941588e-01 5.37520683e-01 2.28253182e-02 2.02038606e+02] [-2.68334929e-02 -3.68414837e-04 9.99639849e-01 5.63052957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters Centerline goodness [0,1] 0.9920605658383108 Centerline is valid? [True, True] Translation: X:138.95, Y:202.06, Z:5.63 [[ 5.36650275e-01 -8.43686074e-01 1.41524328e-02 1.38953328e+02] [ 8.43375191e-01 5.36836737e-01 2.29042372e-02 2.02062040e+02] [-2.69215318e-02 -3.55754451e-04 9.99637487e-01 5.62978274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.646875 meters Centerline goodness [0,1] 0.992243685722 Centerline is valid? [True, True] Translation: X:138.97, Y:202.08, Z:5.63 [[ 5.36015732e-01 -8.44091886e-01 1.40008100e-02 1.38967986e+02] [ 8.43787429e-01 5.36198445e-01 2.26716148e-02 2.02084723e+02] [-2.66441386e-02 -3.38634718e-04 9.99644925e-01 5.62718432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters Centerline goodness [0,1] 0.9926483243588798 Centerline is valid? [True, True] Translation: X:138.98, Y:202.11, Z:5.63 [[ 5.35688599e-01 -8.44305137e-01 1.36587021e-02 1.38984528e+02] [ 8.44015101e-01 5.35862602e-01 2.21310046e-02 2.02107527e+02] [-2.60045085e-02 -3.27176015e-04 9.99661772e-01 5.62699534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.706875 meters Centerline goodness [0,1] 0.9919866279927241 Centerline is valid? [True, True] Translation: X:139.00, Y:202.13, Z:5.62 [[ 5.35369856e-01 -8.44512438e-01 1.33364185e-02 1.38998751e+02] [ 8.44235594e-01 5.35535845e-01 2.16245253e-02 2.02130601e+02] [-2.54043108e-02 -3.18039786e-04 9.99677208e-01 5.62463512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters Centerline goodness [0,1] 0.9926530410985922 Centerline is valid? [True, True] Translation: X:139.01, Y:202.15, Z:5.62 [[ 5.35326214e-01 -8.44546537e-01 1.29225288e-02 1.39013809e+02] [ 8.44286486e-01 5.35482074e-01 2.09589427e-02 2.02153856e+02] [-2.46205850e-02 -3.09554963e-04 9.99696820e-01 5.62324368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.766875 meters Centerline goodness [0,1] 0.9922037804309985 Centerline is valid? [True, True] Translation: X:139.03, Y:202.18, Z:5.62 [[ 5.34777236e-01 -8.44897852e-01 1.26856867e-02 1.39028809e+02] [ 8.44647053e-01 5.34927595e-01 2.05869624e-02 2.02177571e+02] [-2.41798042e-02 -2.94510931e-04 9.99707582e-01 5.62199736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters Centerline goodness [0,1] 0.9926129531008417 Centerline is valid? [True, True] Translation: X:139.04, Y:202.20, Z:5.62 [[ 5.35218725e-01 -8.44613204e-01 1.30173926e-02 1.39043604e+02] [ 8.44348699e-01 5.35376906e-01 2.11386663e-02 2.02200974e+02] [-2.48232081e-02 -3.22591507e-04 9.99691805e-01 5.62141984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82687500000003 meters Centerline goodness [0,1] 0.9923037202783447 Centerline is valid? [True, True] Translation: X:139.06, Y:202.22, Z:5.62 [[ 5.35582912e-01 -8.44376211e-01 1.34074001e-02 1.39056346e+02] [ 8.44095188e-01 5.35750587e-01 2.17858173e-02 2.02224907e+02] [-2.55784483e-02 -3.50989596e-04 9.99672756e-01 5.62000486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters Centerline goodness [0,1] 0.9916339548577037 Centerline is valid? [True, True] Translation: X:139.07, Y:202.25, Z:5.62 [[ 5.37665713e-01 -8.43042789e-01 1.39440815e-02 1.39069678e+02] [ 8.42737973e-01 5.37846320e-01 2.26725517e-02 2.02249730e+02] [-2.66137041e-02 -4.39046696e-04 9.99645696e-01 5.62010292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88687500000003 meters Centerline goodness [0,1] 0.9910377589499976 Centerline is valid? [True, True] Translation: X:139.08, Y:202.27, Z:5.62 [[ 5.39218577e-01 -8.42048042e-01 1.40862188e-02 1.39082034e+02] [ 8.41736267e-01 5.39402303e-01 2.29175026e-02 2.02274027e+02] [-2.68957771e-02 -5.00661860e-04 9.99638118e-01 5.61858095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters Centerline goodness [0,1] 0.991561903830162 Centerline is valid? [True, True] Translation: X:139.10, Y:202.30, Z:5.62 [[ 5.40716830e-01 -8.41084931e-01 1.41932553e-02 1.39095124e+02] [ 8.40767721e-01 5.40902787e-01 2.31044095e-02 2.02299554e+02] [-2.71099420e-02 -5.59712148e-04 9.99632301e-01 5.61738429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94687500000003 meters Centerline goodness [0,1] 0.9904246461282264 Centerline is valid? [True, True] Translation: X:139.11, Y:202.33, Z:5.62 [[ 5.42364546e-01 -8.40023664e-01 1.41754409e-02 1.39108224e+02] [ 8.39706534e-01 5.42549409e-01 2.30884545e-02 2.02325366e+02] [-2.70857252e-02 -6.19148813e-04 9.99632923e-01 5.61589627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters Centerline goodness [0,1] 0.9910572869709301 Centerline is valid? [True, True] Translation: X:139.12, Y:202.35, Z:5.61 [[ 5.43927404e-01 -8.39011609e-01 1.42302376e-02 1.39121794e+02] [ 8.38691321e-01 5.44113094e-01 2.31907185e-02 2.02350827e+02] [-2.72001406e-02 -6.79290543e-04 9.99629777e-01 5.61468229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00687500000004 meters Centerline goodness [0,1] 0.9900283507674259 Centerline is valid? [True, True] Translation: X:139.13, Y:202.38, Z:5.61 [[ 5.47035092e-01 -8.36993114e-01 1.39690938e-02 1.39134727e+02] [ 8.36683505e-01 5.47212876e-01 2.27767682e-02 2.02375608e+02] [-2.67080661e-02 -7.71981082e-04 9.99642978e-01 5.61429587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters Centerline goodness [0,1] 0.9907642689601251 Centerline is valid? [True, True] Translation: X:139.15, Y:202.40, Z:5.61 [[ 5.47978578e-01 -8.36373720e-01 1.40882214e-02 1.39151124e+02] [ 8.36058191e-01 5.48159039e-01 2.29862623e-02 2.02399929e+02] [-2.69476916e-02 -8.17406443e-04 9.99636511e-01 5.61436029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06687500000004 meters Centerline goodness [0,1] 0.9898736030452394 Centerline is valid? [True, True] Translation: X:139.16, Y:202.43, Z:5.61 [[ 5.49141744e-01 -8.35607057e-01 1.42895647e-02 1.39162423e+02] [ 8.35281749e-01 5.49326933e-01 2.33306830e-02 2.02426070e+02] [-2.73449261e-02 -8.76039337e-04 9.99625674e-01 5.61235997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters Centerline goodness [0,1] 0.9896329027872196 Centerline is valid? [True, True] Translation: X:139.18, Y:202.45, Z:5.61 [[ 5.50049282e-01 -8.35007974e-01 1.44038539e-02 1.39177058e+02] [ 8.34677076e-01 5.50237080e-01 2.35230832e-02 2.02450584e+02] [-2.75674965e-02 -9.16288395e-04 9.99619524e-01 5.61126742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12687500000004 meters Centerline goodness [0,1] 0.9902678179423386 Centerline is valid? [True, True] Translation: X:139.19, Y:202.47, Z:5.61 [[ 5.50575062e-01 -8.34659607e-01 1.45066217e-02 1.39189613e+02] [ 8.34323453e-01 5.50765324e-01 2.37051562e-02 2.02474970e+02] [-2.77754806e-02 -9.48253191e-04 9.99613737e-01 5.60991926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters Centerline goodness [0,1] 0.9889776396610745 Centerline is valid? [True, True] Translation: X:139.20, Y:202.50, Z:5.61 [[ 5.52282523e-01 -8.33525384e-01 1.48138395e-02 1.39203240e+02] [ 8.33174046e-01 5.52480194e-01 2.42207437e-02 2.02499840e+02] [-2.83729576e-02 -1.03418687e-03 9.99596872e-01 5.60837473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18687500000004 meters Centerline goodness [0,1] 0.9895749604189502 Centerline is valid? [True, True] Translation: X:139.22, Y:202.52, Z:5.61 [[ 5.53164657e-01 -8.32941454e-01 1.47443688e-02 1.39216872e+02] [ 8.32592744e-01 5.53360094e-01 2.41232153e-02 2.02524255e+02] [-2.82521713e-02 -1.06805562e-03 9.99600257e-01 5.60676779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters Centerline goodness [0,1] 0.9901908285463927 Centerline is valid? [True, True] Translation: X:139.23, Y:202.55, Z:5.61 [[ 5.53575035e-01 -8.32673108e-01 1.44974410e-02 1.39230554e+02] [ 8.32335704e-01 5.53763809e-01 2.37259178e-02 2.02549723e+02] [-2.77840919e-02 -1.06733801e-03 9.99613378e-01 5.60548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.246875 meters Centerline goodness [0,1] 0.9901908285463927 Centerline is valid? [True, True] Translation: X:139.24, Y:202.57, Z:5.60 [[ 5.53347708e-01 -8.32824297e-01 1.44915408e-02 1.39244865e+02] [ 8.32486851e-01 5.53536406e-01 2.37295206e-02 2.02573343e+02] [-2.77841167e-02 -1.06665863e-03 9.99613378e-01 5.60435186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters Centerline goodness [0,1] 0.9901391261898951 Centerline is valid? [True, True] Translation: X:139.26, Y:202.60, Z:5.60 [[ 5.54362105e-01 -8.32153822e-01 1.42363073e-02 1.39258282e+02] [ 8.31827472e-01 5.54543801e-01 2.33287226e-02 2.02598466e+02] [-2.73077417e-02 -1.09040825e-03 9.99626479e-01 5.60220749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.306875 meters Centerline goodness [0,1] 0.9900572681856952 Centerline is valid? [True, True] Translation: X:139.27, Y:202.62, Z:5.60 [[ 5.55440696e-01 -8.31439023e-01 1.39565353e-02 1.39273404e+02] [ 8.31125040e-01 5.55614911e-01 2.28744045e-02 2.02622237e+02] [-2.67731316e-02 -1.10574922e-03 9.99640924e-01 5.60154037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters Centerline goodness [0,1] 0.9900314411757537 Centerline is valid? [True, True] Translation: X:139.29, Y:202.65, Z:5.60 [[ 5.56108036e-01 -8.30996064e-01 1.37620570e-02 1.39287098e+02] [ 8.30690259e-01 5.56277169e-01 2.25699730e-02 2.02647251e+02] [-2.64110769e-02 -1.11933664e-03 9.99650540e-01 5.60025698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.366875 meters Centerline goodness [0,1] 0.9908759124087592 Centerline is valid? [True, True] Translation: X:139.30, Y:202.67, Z:5.60 [[ 5.56387726e-01 -8.30805154e-01 1.39819099e-02 1.39302187e+02] [ 8.30489063e-01 5.56562183e-01 2.29445565e-02 2.02671571e+02] [-2.68442581e-02 -1.15424632e-03 9.99638962e-01 5.59960418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters Centerline goodness [0,1] 0.9905205185690613 Centerline is valid? [True, True] Translation: X:139.32, Y:202.70, Z:5.60 [[ 5.56727902e-01 -8.30573069e-01 1.42274734e-02 1.39316384e+02] [ 8.30245250e-01 5.56908385e-01 2.33639801e-02 2.02696169e+02] [-2.73288919e-02 -1.19508738e-03 9.99625782e-01 5.59900464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.426875 meters Centerline goodness [0,1] 0.9899705445604811 Centerline is valid? [True, True] Translation: X:139.33, Y:202.72, Z:5.60 [[ 5.56266817e-01 -8.30881862e-01 1.42323418e-02 1.39325463e+02] [ 8.30553814e-01 5.56447601e-01 2.33758196e-02 2.02722524e+02] [-2.73420970e-02 -1.18246702e-03 9.99625436e-01 5.59630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters Centerline goodness [0,1] 0.9895957700835749 Centerline is valid? [True, True] Translation: X:139.34, Y:202.74, Z:5.60 [[ 5.55470403e-01 -8.31411194e-01 1.44242440e-02 1.39344469e+02] [ 8.31074085e-01 5.55656403e-01 2.37029163e-02 2.02744201e+02] [-2.77217935e-02 -1.17865308e-03 9.99614982e-01 5.59631772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.486875 meters Centerline goodness [0,1] 0.9897725053700449 Centerline is valid? [True, True] Translation: X:139.36, Y:202.77, Z:5.59 [[ 5.54491920e-01 -8.32062093e-01 1.45390767e-02 1.39357632e+02] [ 8.31719356e-01 5.54681276e-01 2.39080680e-02 2.02768607e+02] [-2.79575507e-02 -1.16439903e-03 9.99608433e-01 5.59479717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters Centerline goodness [0,1] 0.9907235167417271 Centerline is valid? [True, True] Translation: X:139.38, Y:202.79, Z:5.59 [[ 5.52494169e-01 -8.33388783e-01 1.46057779e-02 1.39376424e+02] [ 8.33043129e-01 5.52686087e-01 2.40257233e-02 2.02790694e+02] [-2.80951785e-02 -1.10682911e-03 9.99604640e-01 5.59496714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.546875 meters Centerline goodness [0,1] 0.9903921568627451 Centerline is valid? [True, True] Translation: X:139.39, Y:202.81, Z:5.59 [[ 5.51630096e-01 -8.33962507e-01 1.45180299e-02 1.39390068e+02] [ 8.33620742e-01 5.51820052e-01 2.38974520e-02 2.02814095e+02] [-2.79409191e-02 -1.08002288e-03 9.99608993e-01 5.59370702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters Centerline goodness [0,1] 0.9900369635994223 Centerline is valid? [True, True] Translation: X:139.40, Y:202.84, Z:5.59 [[ 5.50615221e-01 -8.34635507e-01 1.43683507e-02 1.39403434e+02] [ 8.34300733e-01 5.50801678e-01 2.36600656e-02 2.02837646e+02] [-2.76616425e-02 -1.04006675e-03 9.99616802e-01 5.59231848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.606875 meters Centerline goodness [0,1] 0.9901509212073697 Centerline is valid? [True, True] Translation: X:139.42, Y:202.86, Z:5.59 [[ 5.49710822e-01 -8.35235987e-01 1.41016871e-02 1.39417844e+02] [ 8.34913513e-01 5.49890766e-01 2.32286567e-02 2.02860778e+02] [-2.71557976e-02 -9.95354862e-04 9.99630718e-01 5.59104352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters Centerline goodness [0,1] 0.9900560565439922 Centerline is valid? [True, True] Translation: X:139.43, Y:202.89, Z:5.59 [[ 5.48499127e-01 -8.36035097e-01 1.39292535e-02 1.39431774e+02] [ 8.35720329e-01 5.48675140e-01 2.29591288e-02 2.02885094e+02] [-2.68372726e-02 -9.52101794e-04 9.99639362e-01 5.58900242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.666875 meters Centerline goodness [0,1] 0.9897603378842943 Centerline is valid? [True, True] Translation: X:139.45, Y:202.91, Z:5.59 [[ 5.46284561e-01 -8.37486862e-01 1.37453855e-02 1.39450276e+02] [ 8.37180474e-01 5.46456759e-01 2.26685892e-02 2.02907502e+02] [-2.64959044e-02 -8.76131897e-04 9.99648538e-01 5.58843678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters Centerline goodness [0,1] 0.9896035112669495 Centerline is valid? [True, True] Translation: X:139.47, Y:202.93, Z:5.59 [[ 5.44393109e-01 -8.38717287e-01 1.37642937e-02 1.39465634e+02] [ 8.38410106e-01 5.44566463e-01 2.27125943e-02 2.02930751e+02] [-2.65450182e-02 -8.24456871e-04 9.99647279e-01 5.58755292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.726875 meters Centerline goodness [0,1] 0.9901895862457999 Centerline is valid? [True, True] Translation: X:139.48, Y:202.95, Z:5.59 [[ 5.42696607e-01 -8.39815014e-01 1.38251678e-02 1.39479990e+02] [ 8.39505037e-01 5.42872112e-01 2.28289756e-02 2.02954038e+02] [-2.66774145e-02 -7.82909551e-04 9.99643788e-01 5.58581334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters Centerline goodness [0,1] 0.9899185161621846 Centerline is valid? [True, True] Translation: X:139.50, Y:202.98, Z:5.58 [[ 5.40385284e-01 -8.41302040e-01 1.39506903e-02 1.39495845e+02] [ 8.40986733e-01 5.40564852e-01 2.30424755e-02 2.02977578e+02] [-2.69269345e-02 -7.19469232e-04 9.99637145e-01 5.58469403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.786875 meters Centerline goodness [0,1] 0.9913626465046858 Centerline is valid? [True, True] Translation: X:139.52, Y:203.00, Z:5.59 [[ 5.35960823e-01 -8.44121387e-01 1.43206317e-02 1.39517228e+02] [ 8.43789783e-01 5.36151773e-01 2.36659755e-02 2.02997466e+02] [-2.76549881e-02 -6.00433008e-04 9.99617347e-01 5.58642787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters Centerline goodness [0,1] 0.9915706934574859 Centerline is valid? [True, True] Translation: X:139.54, Y:203.02, Z:5.59 [[ 5.33437219e-01 -8.45719559e-01 1.42534375e-02 1.39535046e+02] [ 8.45391219e-01 5.33627354e-01 2.35697473e-02 2.03020133e+02] [-2.75394204e-02 -5.23249561e-04 9.99620581e-01 5.58663338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.846875 meters Centerline goodness [0,1] 0.9920094411526074 Centerline is valid? [True, True] Translation: X:139.55, Y:203.04, Z:5.59 [[ 5.31031992e-01 -8.47235732e-01 1.40227586e-02 1.39551912e+02] [ 8.46918090e-01 5.31216920e-01 2.32020220e-02 2.03043559e+02] [-2.71067087e-02 -4.44888040e-04 9.99632447e-01 5.58585721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters Centerline goodness [0,1] 0.9922543523163175 Centerline is valid? [True, True] Translation: X:139.57, Y:203.07, Z:5.59 [[ 5.28441606e-01 -8.48853492e-01 1.40434607e-02 1.39568414e+02] [ 8.48535146e-01 5.28628048e-01 2.32484742e-02 2.03066461e+02] [-2.71583157e-02 -3.69091102e-04 9.99631077e-01 5.58533481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.906875 meters Centerline goodness [0,1] 0.9936196738944435 Centerline is valid? [True, True] Translation: X:139.59, Y:203.09, Z:5.58 [[ 5.23777055e-01 -8.51729564e-01 1.46405737e-02 1.39586767e+02] [ 8.51384238e-01 5.23981577e-01 2.42525507e-02 2.03089048e+02] [-2.83280053e-02 -2.38175885e-04 9.99598653e-01 5.58495523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters Centerline goodness [0,1] 0.9932173400176939 Centerline is valid? [True, True] Translation: X:139.60, Y:203.11, Z:5.58 [[ 5.21362465e-01 -8.53207618e-01 1.47628184e-02 1.39602006e+02] [ 8.52856707e-01 5.21571407e-01 2.44684365e-02 2.03111836e+02] [-2.85765204e-02 -1.66355686e-04 9.99591594e-01 5.58340084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.966875 meters Centerline goodness [0,1] 0.9943724964981692 Centerline is valid? [True, True] Translation: X:139.62, Y:203.14, Z:5.58 [[ 5.19007302e-01 -8.54647254e-01 1.44738559e-02 1.39618574e+02] [ 8.54310084e-01 5.19209075e-01 2.40045298e-02 2.03135057e+02] [-2.80303628e-02 -9.33651616e-05 9.99607068e-01 5.58239375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters Centerline goodness [0,1] 0.9946079034839345 Centerline is valid? [True, True] Translation: X:139.64, Y:203.16, Z:5.58 [[ 5.14818612e-01 -8.57187861e-01 1.38118859e-02 1.39635648e+02] [ 8.56881397e-01 5.15003854e-01 2.29194423e-02 2.03157057e+02] [-2.67594421e-02 3.57926265e-05 9.99641901e-01 5.58069907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.026875 meters Centerline goodness [0,1] 0.9948783610755442 Centerline is valid? [True, True] Translation: X:139.65, Y:203.18, Z:5.58 [[ 5.12710192e-01 -8.58455001e-01 1.35377075e-02 1.39651785e+02] [ 8.58160674e-01 5.12888879e-01 2.24779114e-02 2.03180921e+02] [-2.62396151e-02 9.28739169e-05 9.99655678e-01 5.58015262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters Centerline goodness [0,1] 0.994914208122454 Centerline is valid? [True, True] Translation: X:139.67, Y:203.20, Z:5.58 [[ 5.10843603e-01 -8.59565750e-01 1.36211181e-02 1.39666719e+02] [ 8.59267825e-01 5.11025147e-01 2.26297097e-02 2.03203083e+02] [-2.64124573e-02 1.43946052e-04 9.99651120e-01 5.57868416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.086875 meters Centerline goodness [0,1] 0.9955972198174577 Centerline is valid? [True, True] Translation: X:139.68, Y:203.23, Z:5.58 [[ 5.09552494e-01 -8.60333122e-01 1.35342396e-02 1.39682412e+02] [ 8.60038853e-01 5.09732174e-01 2.25007188e-02 2.03227033e+02] [-2.62569510e-02 1.74674478e-04 9.99655212e-01 5.57821779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters Centerline goodness [0,1] 0.9955579685109324 Centerline is valid? [True, True] Translation: X:139.70, Y:203.25, Z:5.58 [[ 5.08284906e-01 -8.61077735e-01 1.38415268e-02 1.39697036e+02] [ 8.60769836e-01 5.08473293e-01 2.30260830e-02 2.03251414e+02] [-2.68652941e-02 2.10558315e-04 9.99639041e-01 5.57817067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.146875 meters Centerline goodness [0,1] 0.9955175725931581 Centerline is valid? [True, True] Translation: X:139.71, Y:203.27, Z:5.58 [[ 5.07304619e-01 -8.61652196e-01 1.40540510e-02 1.39711265e+02] [ 8.61334588e-01 5.07499198e-01 2.33942619e-02 2.03273987e+02] [-2.72901368e-02 2.37223106e-04 9.99627527e-01 5.57661456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters Centerline goodness [0,1] 0.995756020529017 Centerline is valid? [True, True] Translation: X:139.73, Y:203.30, Z:5.58 [[ 5.06764279e-01 -8.61967858e-01 1.41907508e-02 1.39725240e+02] [ 8.61643711e-01 5.06962869e-01 2.36382104e-02 2.03298075e+02] [-2.75695613e-02 2.48370533e-04 9.99619857e-01 5.57560597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.206875 meters Centerline goodness [0,1] 0.995617166916997 Centerline is valid? [True, True] Translation: X:139.74, Y:203.32, Z:5.57 [[ 5.06945062e-01 -8.61859336e-01 1.43244381e-02 1.39739066e+02] [ 8.61528590e-01 5.07147344e-01 2.38759363e-02 2.03322073e+02] [-2.78422994e-02 2.37124925e-04 9.99612300e-01 5.57450341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters Centerline goodness [0,1] 0.9957498034591195 Centerline is valid? [True, True] Translation: X:139.75, Y:203.35, Z:5.57 [[ 5.07207802e-01 -8.61701712e-01 1.45053754e-02 1.39752499e+02] [ 8.61362063e-01 5.07415126e-01 2.41926848e-02 2.03346811e+02] [-2.82071247e-02 2.23661616e-04 9.99602075e-01 5.57310330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.266875 meters Centerline goodness [0,1] 0.9944641763625229 Centerline is valid? [True, True] Translation: X:139.76, Y:203.37, Z:5.57 [[ 5.10325231e-01 -8.59855442e-01 1.47233606e-02 1.39763429e+02] [ 8.59504297e-01 5.10537565e-01 2.45714968e-02 2.03373191e+02] [-2.86447639e-02 1.15336906e-04 9.99589648e-01 5.57160946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters Centerline goodness [0,1] 0.9952690280671651 Centerline is valid? [True, True] Translation: X:139.78, Y:203.40, Z:5.57 [[ 5.11959082e-01 -8.58876820e-01 1.51164375e-02 1.39776088e+02] [ 8.58505764e-01 5.12182199e-01 2.52437825e-02 2.03398817e+02] [-2.94236699e-02 5.37650043e-05 9.99567029e-01 5.57042207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32687500000003 meters Centerline goodness [0,1] 0.9941991384374388 Centerline is valid? [True, True] Translation: X:139.79, Y:203.42, Z:5.57 [[ 5.14096911e-01 -8.57598368e-01 1.51461188e-02 1.39787816e+02] [ 8.57224783e-01 5.14319976e-01 2.53107312e-02 2.03423398e+02] [-2.94963932e-02 -2.85403177e-05 9.99564886e-01 5.56858642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters Centerline goodness [0,1] 0.9931632279330973 Centerline is valid? [True, True] Translation: X:139.80, Y:203.45, Z:5.57 [[ 5.15874042e-01 -8.56525777e-01 1.54131713e-02 1.39798877e+02] [ 8.56138110e-01 5.16104237e-01 2.57672714e-02 2.03447923e+02] [-3.00251352e-02 -9.68630785e-05 9.99549139e-01 5.56706900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38687500000003 meters Centerline goodness [0,1] 0.994138677432692 Centerline is valid? [True, True] Translation: X:139.81, Y:203.47, Z:5.57 [[ 5.17749082e-01 -8.55390120e-01 1.56086801e-02 1.39810233e+02] [ 8.54991522e-01 5.17984278e-01 2.61110158e-02 2.03472952e+02] [-3.04201558e-02 -1.73665318e-04 9.99537185e-01 5.56598437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters Centerline goodness [0,1] 0.9934472381322201 Centerline is valid? [True, True] Translation: X:139.82, Y:203.50, Z:5.57 [[ 5.21884767e-01 -8.52870956e-01 1.57296573e-02 1.39820255e+02] [ 8.52464475e-01 5.22121654e-01 2.63305539e-02 2.03500168e+02] [-3.06693594e-02 -3.32540905e-04 9.99529529e-01 5.56574167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44687500000003 meters Centerline goodness [0,1] 0.99306330341984 Centerline is valid? [True, True] Translation: X:139.83, Y:203.53, Z:5.57 [[ 5.23652892e-01 -8.51783943e-01 1.58670435e-02 1.39832453e+02] [ 8.51369352e-01 5.23893069e-01 2.65758927e-02 2.03526006e+02] [-3.09495528e-02 -4.07828500e-04 9.99520865e-01 5.56521341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters Centerline goodness [0,1] 0.9933771621261007 Centerline is valid? [True, True] Translation: X:139.84, Y:203.55, Z:5.56 [[ 5.25609520e-01 -8.50572847e-01 1.61389205e-02 1.39842983e+02] [ 8.50142757e-01 5.25857000e-01 2.70501050e-02 2.03551107e+02] [-3.14948491e-02 -4.97406292e-04 9.99503790e-01 5.56390072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50687500000004 meters Centerline goodness [0,1] 0.9926262601842226 Centerline is valid? [True, True] Translation: X:139.85, Y:203.58, Z:5.56 [[ 5.28306513e-01 -8.48901534e-01 1.60752506e-02 1.39854099e+02] [ 8.48473909e-01 5.28550687e-01 2.69480484e-02 2.03577777e+02] [-3.13728244e-02 -5.97398773e-04 9.99507573e-01 5.56317588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters Centerline goodness [0,1] 0.9925938434816173 Centerline is valid? [True, True] Translation: X:139.87, Y:203.60, Z:5.56 [[ 5.28985053e-01 -8.48480816e-01 1.59724521e-02 1.39866752e+02] [ 8.48057961e-01 5.29225767e-01 2.67914498e-02 2.03602712e+02] [-3.11850643e-02 -6.26711311e-04 9.99513431e-01 5.56155796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56687500000004 meters Centerline goodness [0,1] 0.9922110492174878 Centerline is valid? [True, True] Translation: X:139.88, Y:203.63, Z:5.56 [[ 5.29511693e-01 -8.48155435e-01 1.58026595e-02 1.39878188e+02] [ 8.47740921e-01 5.29747052e-01 2.65215480e-02 2.03627380e+02] [-3.08658074e-02 -6.46908650e-04 9.99523328e-01 5.55985695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters Centerline goodness [0,1] 0.9913628796834665 Centerline is valid? [True, True] Translation: X:139.89, Y:203.65, Z:5.56 [[ 5.29973706e-01 -8.47870983e-01 1.55777797e-02 1.39891622e+02] [ 8.47467627e-01 5.30202186e-01 2.61584280e-02 2.03652638e+02] [-3.04383449e-02 -6.61615016e-04 9.99536427e-01 5.55859410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62687500000004 meters Centerline goodness [0,1] 0.9919525828835775 Centerline is valid? [True, True] Translation: X:139.90, Y:203.68, Z:5.56 [[ 5.29749743e-01 -8.48006685e-01 1.58073245e-02 1.39904545e+02] [ 8.47590917e-01 5.29985104e-01 2.65598893e-02 2.03678052e+02] [-3.09006102e-02 -6.71949851e-04 9.99522236e-01 5.55757806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters Centerline goodness [0,1] 0.9910145832832808 Centerline is valid? [True, True] Translation: X:139.92, Y:203.70, Z:5.56 [[ 5.29299783e-01 -8.48292159e-01 1.55612348e-02 1.39916047e+02] [ 8.47888879e-01 5.29528078e-01 2.61622535e-02 2.03702781e+02] [-3.04333452e-02 -6.53477134e-04 9.99536585e-01 5.55611113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68687500000004 meters Centerline goodness [0,1] 0.9917090002875492 Centerline is valid? [True, True] Translation: X:139.93, Y:203.73, Z:5.56 [[ 5.28544464e-01 -8.48764709e-01 1.54666980e-02 1.39931102e+02] [ 8.48365991e-01 5.28770338e-01 2.60206863e-02 2.03726939e+02] [-3.02637713e-02 -6.31669139e-04 9.99541748e-01 5.55557211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters Centerline goodness [0,1] 0.9927513621198666 Centerline is valid? [True, True] Translation: X:139.94, Y:203.75, Z:5.55 [[ 5.27667417e-01 -8.49313225e-01 1.53017402e-02 1.39943915e+02] [ 8.48922679e-01 5.27888892e-01 2.57604772e-02 2.03751369e+02] [-2.99563327e-02 -6.02970194e-04 9.99551026e-01 5.55428706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.746875 meters Centerline goodness [0,1] 0.9923373482435766 Centerline is valid? [True, True] Translation: X:139.96, Y:203.78, Z:5.55 [[ 5.26931771e-01 -8.49774332e-01 1.50497016e-02 1.39956870e+02] [ 8.49396378e-01 5.27146332e-01 2.53483036e-02 2.03775325e+02] [-2.94737327e-02 -5.73664493e-04 9.99565391e-01 5.55296241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters Centerline goodness [0,1] 0.9926827518592027 Centerline is valid? [True, True] Translation: X:139.97, Y:203.80, Z:5.55 [[ 5.26005626e-01 -8.50352126e-01 1.48102592e-02 1.39968681e+02] [ 8.49985864e-01 5.26213806e-01 2.49612046e-02 2.03799383e+02] [-2.90191763e-02 -5.41223157e-04 9.99578709e-01 5.55201307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.806875 meters Centerline goodness [0,1] 0.9926358436606292 Centerline is valid? [True, True] Translation: X:139.98, Y:203.82, Z:5.55 [[ 5.25412178e-01 -8.50716167e-01 1.49681782e-02 1.39982983e+02] [ 8.50341705e-01 5.25625072e-01 2.52441749e-02 2.03823669e+02] [-2.93432774e-02 -5.35530750e-04 9.99569250e-01 5.55154689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters Centerline goodness [0,1] 0.9926523211985304 Centerline is valid? [True, True] Translation: X:140.00, Y:203.85, Z:5.55 [[ 5.24766083e-01 -8.51115505e-01 1.49317017e-02 1.39995807e+02] [ 8.50742570e-01 5.24978216e-01 2.51982761e-02 2.03848101e+02] [-2.92854616e-02 -5.20166358e-04 9.99570954e-01 5.54987019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.866875 meters Centerline goodness [0,1] 0.9920400381315538 Centerline is valid? [True, True] Translation: X:140.01, Y:203.87, Z:5.55 [[ 5.23781340e-01 -8.51726107e-01 1.46883547e-02 1.40008117e+02] [ 8.51365042e-01 5.23987026e-01 2.48024634e-02 2.03872110e+02] [-2.88214129e-02 -4.85915817e-04 9.99584459e-01 5.54859640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters Centerline goodness [0,1] 0.9926531776789748 Centerline is valid? [True, True] Translation: X:140.02, Y:203.90, Z:5.55 [[ 5.23070056e-01 -8.52160451e-01 1.48419214e-02 1.40022338e+02] [ 8.51791478e-01 5.23280364e-01 2.50786534e-02 2.03896402e+02] [-2.91375226e-02 -4.75670464e-04 9.99575299e-01 5.54852618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.926875 meters Centerline goodness [0,1] 0.9923780487804879 Centerline is valid? [True, True] Translation: X:140.04, Y:203.92, Z:5.55 [[ 5.21904909e-01 -8.52870065e-01 1.50969809e-02 1.40036490e+02] [ 8.52488122e-01 5.22123021e-01 2.55255279e-02 2.03920323e+02] [-2.96524399e-02 -4.51901421e-04 9.99560168e-01 5.54829759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters Centerline goodness [0,1] 0.9931077098583515 Centerline is valid? [True, True] Translation: X:140.05, Y:203.94, Z:5.55 [[ 5.21125070e-01 -8.53341761e-01 1.53785452e-02 1.40051242e+02] [ 8.52945149e-01 5.21351747e-01 2.60178748e-02 2.03944442e+02] [-3.02197705e-02 -4.41511340e-04 9.99543181e-01 5.54850527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.986875 meters Centerline goodness [0,1] 0.9931519833183261 Centerline is valid? [True, True] Translation: X:140.06, Y:203.97, Z:5.55 [[ 5.19930870e-01 -8.54067852e-01 1.54917489e-02 1.40064068e+02] [ 8.53665205e-01 5.20161451e-01 2.62256046e-02 2.03968928e+02] [-3.04566563e-02 -4.10734373e-04 9.99536004e-01 5.54774757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters Centerline goodness [0,1] 0.9940236672301721 Centerline is valid? [True, True] Translation: X:140.08, Y:203.99, Z:5.55 [[ 5.19376040e-01 -8.54403900e-01 1.55725646e-02 1.40079098e+02] [ 8.53996693e-01 5.19609291e-01 2.63786588e-02 2.03992476e+02] [-3.06296782e-02 -4.01524709e-04 9.99530721e-01 5.54722671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.046875 meters Centerline goodness [0,1] 0.9941075432988216 Centerline is valid? [True, True] Translation: X:140.09, Y:204.02, Z:5.55 [[ 5.19039918e-01 -8.54613354e-01 1.52833185e-02 1.40092887e+02] [ 8.54220735e-01 5.19264733e-01 2.59050778e-02 2.04017314e+02] [-3.00749137e-02 -3.90441882e-04 9.99547571e-01 5.54552622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters Centerline goodness [0,1] 0.9936852138687001 Centerline is valid? [True, True] Translation: X:140.11, Y:204.04, Z:5.54 [[ 5.18996585e-01 -8.54641257e-01 1.51942600e-02 1.40105594e+02] [ 8.54252704e-01 5.19218802e-01 2.57711726e-02 2.04041567e+02] [-2.99142529e-02 -3.95412874e-04 9.99552390e-01 5.54328815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.106875 meters Centerline goodness [0,1] 0.994012975861082 Centerline is valid? [True, True] Translation: X:140.12, Y:204.07, Z:5.54 [[ 5.18840953e-01 -8.54745695e-01 1.46240740e-02 1.40117910e+02] [ 8.54385432e-01 5.19046869e-01 2.48169616e-02 2.04066027e+02] [-2.88027709e-02 -3.81460255e-04 9.99585041e-01 5.54182017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters Centerline goodness [0,1] 0.9944772424300133 Centerline is valid? [True, True] Translation: X:140.13, Y:204.09, Z:5.54 [[ 5.18977037e-01 -8.54663817e-01 1.45806488e-02 1.40132101e+02] [ 8.54305179e-01 5.19181669e-01 2.47599721e-02 2.04089871e+02] [-2.87314578e-02 -3.93533196e-04 9.99587089e-01 5.54077744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.166875 meters Centerline goodness [0,1] 0.9944772424300133 Centerline is valid? [True, True] Translation: X:140.15, Y:204.11, Z:5.54 [[ 5.18744612e-01 -8.54805024e-01 1.45738970e-02 1.40146021e+02] [ 8.54446330e-01 5.18949146e-01 2.47639451e-02 2.04113697e+02] [-2.87314560e-02 -3.93550318e-04 9.99587089e-01 5.53965009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters Centerline goodness [0,1] 0.9938300901756051 Centerline is valid? [True, True] Translation: X:140.16, Y:204.14, Z:5.54 [[ 5.18417734e-01 -8.55007443e-01 1.43291902e-02 1.40159973e+02] [ 8.54660355e-01 5.18615585e-01 2.43629175e-02 2.04138201e+02] [-2.82618172e-02 -3.83577709e-04 9.99600481e-01 5.53872163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.226875 meters Centerline goodness [0,1] 0.9937331713012605 Centerline is valid? [True, True] Translation: X:140.17, Y:204.16, Z:5.54 [[ 5.18463143e-01 -8.54978674e-01 1.44026711e-02 1.40174961e+02] [ 8.54627573e-01 5.18663004e-01 2.45030450e-02 2.04162543e+02] [-2.84197136e-02 -3.95005882e-04 9.99596000e-01 5.53835826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters Centerline goodness [0,1] 0.9939645506810754 Centerline is valid? [True, True] Translation: X:140.19, Y:204.19, Z:5.54 [[ 5.19237618e-01 -8.54512840e-01 1.41457429e-02 1.40188491e+02] [ 8.54173449e-01 5.19430098e-01 2.40850886e-02 2.04187533e+02] [-2.79287421e-02 -4.22965972e-04 9.99609827e-01 5.53731505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.286875 meters Centerline goodness [0,1] 0.9945465803010097 Centerline is valid? [True, True] Translation: X:140.20, Y:204.21, Z:5.53 [[ 5.19733869e-01 -8.54213322e-01 1.40109480e-02 1.40200421e+02] [ 8.53880158e-01 5.19922504e-01 2.38592714e-02 2.04212522e+02] [-2.76655147e-02 -4.36800934e-04 9.99617141e-01 5.53463666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters Centerline goodness [0,1] 0.9945317350398777 Centerline is valid? [True, True] Translation: X:140.21, Y:204.24, Z:5.53 [[ 5.20066531e-01 -8.54013690e-01 1.38354662e-02 1.40214952e+02] [ 8.53688402e-01 5.20250339e-01 2.35732285e-02 2.04236984e+02] [-2.73297658e-02 -4.48470112e-04 9.99626372e-01 5.53384921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.346875 meters Centerline goodness [0,1] 0.9935131525601584 Centerline is valid? [True, True] Translation: X:140.23, Y:204.26, Z:5.53 [[ 5.20432410e-01 -8.53793973e-01 1.36366621e-02 1.40227452e+02] [ 8.53477503e-01 5.20610833e-01 2.32489049e-02 2.04261054e+02] [-2.69491689e-02 -4.60899220e-04 9.99636699e-01 5.53135254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters Centerline goodness [0,1] 0.9934775881358756 Centerline is valid? [True, True] Translation: X:140.24, Y:204.29, Z:5.53 [[ 5.21190133e-01 -8.53339263e-01 1.31509460e-02 1.40241156e+02] [ 8.53044489e-01 5.21355807e-01 2.24326005e-02 2.04285417e+02] [-2.59989408e-02 -4.73308024e-04 9.99661858e-01 5.53042465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.406875 meters Centerline goodness [0,1] 0.9935721283662692 Centerline is valid? [True, True] Translation: X:140.26, Y:204.31, Z:5.53 [[ 5.21290705e-01 -8.53275887e-01 1.32763610e-02 1.40255089e+02] [ 8.52975120e-01 5.21459513e-01 2.26588172e-02 2.04309553e+02] [-2.62573071e-02 -4.87425191e-04 9.99655099e-01 5.52992363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters Centerline goodness [0,1] 0.9935779597488481 Centerline is valid? [True, True] Translation: X:140.27, Y:204.33, Z:5.53 [[ 5.21025584e-01 -8.53431660e-01 1.36653794e-02 1.40270405e+02] [ 8.53112656e-01 5.21204519e-01 2.33376616e-02 2.04333533e+02] [-2.70395568e-02 -5.01410622e-04 9.99634239e-01 5.53026767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.466875 meters Centerline goodness [0,1] 0.9941964605574264 Centerline is valid? [True, True] Translation: X:140.28, Y:204.36, Z:5.53 [[ 5.20806028e-01 -8.53562915e-01 1.38359099e-02 1.40283216e+02] [ 8.53235459e-01 5.20989530e-01 2.36465834e-02 2.04357798e+02] [-2.73922108e-02 -5.09994266e-04 9.99624633e-01 5.52876823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters Centerline goodness [0,1] 0.9929849677881174 Centerline is valid? [True, True] Translation: X:140.30, Y:204.38, Z:5.53 [[ 5.20672628e-01 -8.53644503e-01 1.38230714e-02 1.40296373e+02] [ 8.53317468e-01 5.20855837e-01 2.36325235e-02 2.04381428e+02] [-2.73736012e-02 -5.09339785e-04 9.99625143e-01 5.52756196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.526875 meters Centerline goodness [0,1] 0.9933346074824406 Centerline is valid? [True, True] Translation: X:140.31, Y:204.41, Z:5.53 [[ 5.20523355e-01 -8.53739952e-01 1.35473648e-02 1.40310875e+02] [ 8.53425471e-01 5.20699378e-01 2.31759239e-02 2.04405055e+02] [-2.68403166e-02 -5.01943500e-04 9.99639608e-01 5.52737818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters Centerline goodness [0,1] 0.993671339526664 Centerline is valid? [True, True] Translation: X:140.33, Y:204.43, Z:5.53 [[ 5.20506301e-01 -8.53747772e-01 1.37088600e-02 1.40325596e+02] [ 8.53425350e-01 5.20686544e-01 2.34668927e-02 2.04429546e+02] [-2.71728263e-02 -5.15176897e-04 9.99630618e-01 5.52677376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.586875 meters Centerline goodness [0,1] 0.9940508899773026 Centerline is valid? [True, True] Translation: X:140.34, Y:204.45, Z:5.53 [[ 5.20631978e-01 -8.53671549e-01 1.36831938e-02 1.40340526e+02] [ 8.53349909e-01 5.20811491e-01 2.34376410e-02 2.04453597e+02] [-2.71344119e-02 -5.25833232e-04 9.99631656e-01 5.52678493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters Centerline goodness [0,1] 0.9935294398548302 Centerline is valid? [True, True] Translation: X:140.35, Y:204.48, Z:5.52 [[ 5.20293138e-01 -8.53884323e-01 1.32896055e-02 1.40352598e+02] [ 8.53580604e-01 5.20462588e-01 2.27782035e-02 2.04477448e+02] [-2.63666934e-02 -5.07593467e-04 9.99652209e-01 5.52396302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.646875 meters Centerline goodness [0,1] 0.9941499522445081 Centerline is valid? [True, True] Translation: X:140.37, Y:204.50, Z:5.52 [[ 5.19665426e-01 -8.54271557e-01 1.29596095e-02 1.40368450e+02] [ 8.53982543e-01 5.19826773e-01 2.22247944e-02 2.04500923e+02] [-2.57227617e-02 -4.82176988e-04 9.99668999e-01 5.52368338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters Centerline goodness [0,1] 0.9939780629435802 Centerline is valid? [True, True] Translation: X:140.38, Y:204.52, Z:5.52 [[ 5.18724971e-01 -8.54843031e-01 1.29536555e-02 1.40382206e+02] [ 8.54554021e-01 5.18886480e-01 2.22316292e-02 2.04524489e+02] [-2.57260300e-02 -4.62502826e-04 9.99668924e-01 5.52184977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.706875 meters Centerline goodness [0,1] 0.994201169311538 Centerline is valid? [True, True] Translation: X:140.40, Y:204.55, Z:5.52 [[ 5.17668980e-01 -8.55486669e-01 1.27038156e-02 1.40398219e+02] [ 8.55208758e-01 5.17824660e-01 2.18082956e-02 2.04547221e+02] [-2.52350552e-02 -4.25063740e-04 9.99681455e-01 5.52198415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters Centerline goodness [0,1] 0.9943814874773831 Centerline is valid? [True, True] Translation: X:140.41, Y:204.57, Z:5.52 [[ 5.15331720e-01 -8.56900721e-01 1.24246702e-02 1.40414707e+02] [ 8.56634958e-01 5.15481355e-01 2.13429386e-02 2.04570711e+02] [-2.46934653e-02 -3.55286462e-04 9.99695007e-01 5.52154835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.766875 meters Centerline goodness [0,1] 0.9941989543794314 Centerline is valid? [True, True] Translation: X:140.43, Y:204.59, Z:5.52 [[ 5.14109134e-01 -8.57636530e-01 1.23036910e-02 1.40428555e+02] [ 8.57375778e-01 5.14256237e-01 2.11494174e-02 2.04593992e+02] [-2.44657628e-02 -3.24221995e-04 9.99700616e-01 5.51981183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters Centerline goodness [0,1] 0.9939184354877176 Centerline is valid? [True, True] Translation: X:140.44, Y:204.62, Z:5.52 [[ 5.12864753e-01 -8.58382723e-01 1.22002767e-02 1.40443747e+02] [ 8.58126297e-01 5.13009762e-01 2.09819619e-02 2.04617523e+02] [-2.42694146e-02 -2.91530419e-04 9.99705412e-01 5.51900395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82687500000003 meters Centerline goodness [0,1] 0.9947791260400028 Centerline is valid? [True, True] Translation: X:140.46, Y:204.64, Z:5.52 [[ 5.11205222e-01 -8.59368305e-01 1.24634527e-02 1.40458085e+02] [ 8.59100646e-01 5.11357067e-01 2.14483165e-02 2.04640605e+02] [-2.48052780e-02 -2.57131113e-04 9.99692269e-01 5.51786038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters Centerline goodness [0,1] 0.9945292529682983 Centerline is valid? [True, True] Translation: X:140.47, Y:204.66, Z:5.52 [[ 5.09940781e-01 -8.60118034e-01 1.25446271e-02 1.40472896e+02] [ 8.59846748e-01 5.10095006e-01 2.16021887e-02 2.04664196e+02] [-2.49793837e-02 -2.29380152e-04 9.99687940e-01 5.51689877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88687500000003 meters Centerline goodness [0,1] 0.9953288846520496 Centerline is valid? [True, True] Translation: X:140.49, Y:204.69, Z:5.52 [[ 5.07987439e-01 -8.61272115e-01 1.26137180e-02 1.40489173e+02] [ 8.60997888e-01 5.08143987e-01 2.17330338e-02 2.04687343e+02] [-2.51276409e-02 -1.79723619e-04 9.99684235e-01 5.51772820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters Centerline goodness [0,1] 0.9952272998448872 Centerline is valid? [True, True] Translation: X:140.50, Y:204.71, Z:5.52 [[ 5.07462303e-01 -8.61581336e-01 1.26337988e-02 1.40502808e+02] [ 8.61305985e-01 5.07619515e-01 2.17813744e-02 2.04710924e+02] [-2.51795885e-02 -1.71659930e-04 9.99682929e-01 5.51568613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94687500000003 meters Centerline goodness [0,1] 0.9953541562432993 Centerline is valid? [True, True] Translation: X:140.52, Y:204.73, Z:5.51 [[ 5.07042850e-01 -8.61831101e-01 1.24378888e-02 1.40517395e+02] [ 8.61563939e-01 5.07195353e-01 2.14581811e-02 2.04734700e+02] [-2.48017673e-02 -1.64180880e-04 9.99692375e-01 5.51488357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters Centerline goodness [0,1] 0.9950580146110872 Centerline is valid? [True, True] Translation: X:140.53, Y:204.76, Z:5.51 [[ 5.06864942e-01 -8.61933484e-01 1.25936513e-02 1.40531767e+02] [ 8.61659262e-01 5.07021342e-01 2.17410876e-02 2.04758879e+02] [-2.51246214e-02 -1.68358776e-04 9.99684313e-01 5.51398047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00687500000004 meters Centerline goodness [0,1] 0.9955178333015449 Centerline is valid? [True, True] Translation: X:140.55, Y:204.78, Z:5.51 [[ 5.07371711e-01 -8.61638048e-01 1.24024910e-02 1.40545348e+02] [ 8.61371717e-01 5.07523241e-01 2.14225529e-02 2.04782634e+02] [-2.47530391e-02 -1.86042321e-04 9.99693579e-01 5.51357299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters Centerline goodness [0,1] 0.9949267595569846 Centerline is valid? [True, True] Translation: X:140.56, Y:204.81, Z:5.51 [[ 5.07944554e-01 -8.61298450e-01 1.25423117e-02 1.40559369e+02] [ 8.61025583e-01 5.08099335e-01 2.16797581e-02 2.04807275e+02] [-2.50454823e-02 -2.12863764e-04 9.99686290e-01 5.51281597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06687500000004 meters Centerline goodness [0,1] 0.9942625877871681 Centerline is valid? [True, True] Translation: X:140.57, Y:204.83, Z:5.51 [[ 5.08670525e-01 -8.60869612e-01 1.25621448e-02 1.40572114e+02] [ 8.60595318e-01 5.08825561e-01 2.17312258e-02 2.04830983e+02] [-2.50996923e-02 -2.43111037e-04 9.99684924e-01 5.51143866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters Centerline goodness [0,1] 0.9952186117322422 Centerline is valid? [True, True] Translation: X:140.59, Y:204.86, Z:5.51 [[ 5.10203897e-01 -8.59958107e-01 1.28077379e-02 1.40585477e+02] [ 8.59672514e-01 5.10364542e-01 2.21630853e-02 2.04855996e+02] [-2.55959402e-02 -2.97232268e-04 9.99672326e-01 5.51066071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12687500000004 meters Centerline goodness [0,1] 0.9946221206929373 Centerline is valid? [True, True] Translation: X:140.60, Y:204.88, Z:5.51 [[ 5.11189073e-01 -8.59372726e-01 1.28159664e-02 1.40597640e+02] [ 8.59086180e-01 5.11349592e-01 2.21930317e-02 2.04880424e+02] [-2.56255254e-02 -3.34815687e-04 9.99671556e-01 5.50854245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters Centerline goodness [0,1] 0.994511760513186 Centerline is valid? [True, True] Translation: X:140.61, Y:204.90, Z:5.51 [[ 5.12124943e-01 -8.58818205e-01 1.26227297e-02 1.40612007e+02] [ 8.58539867e-01 5.12280353e-01 2.18663394e-02 2.04904749e+02] [-2.52455868e-02 -3.61181091e-04 9.99681214e-01 5.50812748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18687500000004 meters Centerline goodness [0,1] 0.9951600982285482 Centerline is valid? [True, True] Translation: X:140.62, Y:204.93, Z:5.51 [[ 5.12701493e-01 -8.58473053e-01 1.26963158e-02 1.40624663e+02] [ 8.58190997e-01 5.12858525e-01 2.20078575e-02 2.04928395e+02] [-2.54045664e-02 -3.87597434e-04 9.99677177e-01 5.50640189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters Centerline goodness [0,1] 0.9947178071761683 Centerline is valid? [True, True] Translation: X:140.64, Y:204.95, Z:5.51 [[ 5.13292513e-01 -8.58121859e-01 1.25566773e-02 1.40638523e+02] [ 8.57845570e-01 5.13445916e-01 2.17777324e-02 2.04953140e+02] [-2.51351229e-02 -4.06657013e-04 9.99683980e-01 5.50524923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.246875 meters Centerline goodness [0,1] 0.9940856625011925 Centerline is valid? [True, True] Translation: X:140.65, Y:204.98, Z:5.50 [[ 5.14457275e-01 -8.57425550e-01 1.24554520e-02 1.40653408e+02] [ 8.57153157e-01 5.14607840e-01 2.16156606e-02 2.04977771e+02] [-2.49434929e-02 -4.44103863e-04 9.99688764e-01 5.50497596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters Centerline goodness [0,1] 0.9944861678866812 Centerline is valid? [True, True] Translation: X:140.67, Y:205.00, Z:5.50 [[ 5.14498931e-01 -8.57395755e-01 1.27815803e-02 1.40667717e+02] [ 8.57108593e-01 5.14657463e-01 2.21935928e-02 2.05002259e+02] [-2.56068279e-02 -4.63377515e-04 9.99671984e-01 5.50441956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.306875 meters Centerline goodness [0,1] 0.9941264952367309 Centerline is valid? [True, True] Translation: X:140.68, Y:205.03, Z:5.50 [[ 5.14660211e-01 -8.57296685e-01 1.29329185e-02 1.40679845e+02] [ 8.57002238e-01 5.14822456e-01 2.24722850e-02 2.05026910e+02] [-2.59235723e-02 -4.82050812e-04 9.99663812e-01 5.50186272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters Centerline goodness [0,1] 0.994501948222695 Centerline is valid? [True, True] Translation: X:140.69, Y:205.05, Z:5.50 [[ 5.14524818e-01 -8.57377896e-01 1.29365688e-02 1.40693964e+02] [ 8.57082971e-01 5.14687194e-01 2.24916325e-02 2.05050808e+02] [-2.59421148e-02 -4.84790272e-04 9.99663329e-01 5.50151849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.366875 meters Centerline goodness [0,1] 0.9948083640365568 Centerline is valid? [True, True] Translation: X:140.71, Y:205.07, Z:5.50 [[ 5.14112035e-01 -8.57624049e-01 1.30309702e-02 1.40709743e+02] [ 8.57324516e-01 5.14276927e-01 2.26697430e-02 2.05074042e+02] [-2.61436440e-02 -4.83017507e-04 9.99658080e-01 5.50192578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters Centerline goodness [0,1] 0.9942173050730005 Centerline is valid? [True, True] Translation: X:140.72, Y:205.10, Z:5.50 [[ 5.13727305e-01 -8.57854911e-01 1.30079964e-02 1.40724559e+02] [ 8.57556122e-01 5.13891743e-01 2.26445201e-02 2.05098284e+02] [-2.61104147e-02 -4.78021359e-04 9.99658951e-01 5.50101223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.426875 meters Centerline goodness [0,1] 0.9940856739218926 Centerline is valid? [True, True] Translation: X:140.74, Y:205.12, Z:5.50 [[ 5.13542511e-01 -8.57968123e-01 1.28370269e-02 1.40736508e+02] [ 8.57676782e-01 5.13702711e-01 2.23620729e-02 2.05122647e+02] [-2.57803612e-02 -4.73855172e-04 9.99667519e-01 5.49813827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters Centerline goodness [0,1] 0.9943847187559992 Centerline is valid? [True, True] Translation: X:140.75, Y:205.15, Z:5.50 [[ 5.13128048e-01 -8.58214283e-01 1.29557505e-02 1.40752121e+02] [ 8.57917266e-01 5.13291361e-01 2.25819076e-02 2.05145864e+02] [-2.60301905e-02 -4.72448075e-04 9.99661046e-01 5.49825855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.486875 meters Centerline goodness [0,1] 0.9943286953596232 Centerline is valid? [True, True] Translation: X:140.77, Y:205.17, Z:5.50 [[ 5.11960962e-01 -8.58909870e-01 1.30310516e-02 1.40767792e+02] [ 8.58609226e-01 5.12126581e-01 2.27280038e-02 2.05168981e+02] [-2.61948547e-02 -4.47269510e-04 9.99656756e-01 5.49813567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters Centerline goodness [0,1] 0.9950360902616244 Centerline is valid? [True, True] Translation: X:140.78, Y:205.19, Z:5.50 [[ 5.11439671e-01 -8.59224647e-01 1.27463145e-02 1.40780457e+02] [ 8.58936725e-01 5.11598301e-01 2.22459041e-02 2.05192946e+02] [-2.56352219e-02 -4.29160245e-04 9.99671272e-01 5.49604349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.546875 meters Centerline goodness [0,1] 0.9944969120226852 Centerline is valid? [True, True] Translation: X:140.79, Y:205.22, Z:5.49 [[ 5.11195370e-01 -8.59368817e-01 1.28269591e-02 1.40794039e+02] [ 8.59076965e-01 5.11356091e-01 2.23990471e-02 2.05216386e+02] [-2.58081863e-02 -4.30944086e-04 9.99666820e-01 5.49482959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters Centerline goodness [0,1] 0.9946758534293768 Centerline is valid? [True, True] Translation: X:140.81, Y:205.24, Z:5.49 [[ 5.10942726e-01 -8.59520307e-01 1.27425173e-02 1.40808316e+02] [ 8.59231932e-01 5.11101416e-01 2.22672398e-02 2.05240280e+02] [-2.56518634e-02 -4.28506495e-04 9.99670845e-01 5.49398094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.606875 meters Centerline goodness [0,1] 0.9950949596481902 Centerline is valid? [True, True] Translation: X:140.82, Y:205.26, Z:5.49 [[ 5.10982311e-01 -8.59497462e-01 1.26960793e-02 1.40823417e+02] [ 8.59210829e-01 5.11139827e-01 2.21997126e-02 2.05264512e+02] [-2.55700684e-02 -4.35051632e-04 9.99672938e-01 5.49369573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters Centerline goodness [0,1] 0.9946716589861752 Centerline is valid? [True, True] Translation: X:140.84, Y:205.29, Z:5.49 [[ 5.10932093e-01 -8.59528886e-01 1.25892871e-02 1.40836012e+02] [ 8.59246728e-01 5.11086982e-01 2.20262932e-02 2.05288260e+02] [-2.53664560e-02 -4.36636326e-04 9.99678124e-01 5.49180232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.666875 meters Centerline goodness [0,1] 0.9944432364523689 Centerline is valid? [True, True] Translation: X:140.85, Y:205.31, Z:5.49 [[ 5.11437005e-01 -8.59225290e-01 1.28098157e-02 1.40850005e+02] [ 8.58932567e-01 5.11597186e-01 2.24313170e-02 2.05313144e+02] [-2.58270205e-02 -4.69437697e-04 9.99666317e-01 5.49103925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters Centerline goodness [0,1] 0.9938273093337834 Centerline is valid? [True, True] Translation: X:140.86, Y:205.34, Z:5.49 [[ 5.11648945e-01 -8.59094804e-01 1.30948088e-02 1.40862378e+02] [ 8.58788700e-01 5.11816254e-01 2.29366989e-02 2.05337617e+02] [-2.64069349e-02 -4.89864017e-04 9.99651156e-01 5.48920241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.726875 meters Centerline goodness [0,1] 0.9946920163099863 Centerline is valid? [True, True] Translation: X:140.88, Y:205.36, Z:5.49 [[ 5.12223623e-01 -8.58747763e-01 1.33880152e-02 1.40876561e+02] [ 8.58427259e-01 5.12398284e-01 2.34657026e-02 2.05361365e+02] [-2.70111157e-02 -5.27050031e-04 9.99634994e-01 5.48900618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters Centerline goodness [0,1] 0.994728187270265 Centerline is valid? [True, True] Translation: X:140.89, Y:205.39, Z:5.49 [[ 5.11937375e-01 -8.58918244e-01 1.34005353e-02 1.40890771e+02] [ 8.58596796e-01 5.12112461e-01 2.35025240e-02 2.05385225e+02] [-2.70493278e-02 -5.26163739e-04 9.99633962e-01 5.48847627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.786875 meters Centerline goodness [0,1] 0.995348161069923 Centerline is valid? [True, True] Translation: X:140.91, Y:205.41, Z:5.49 [[ 5.11882534e-01 -8.58951758e-01 1.33472411e-02 1.40907067e+02] [ 8.58632493e-01 5.12056244e-01 2.34231741e-02 2.05408367e+02] [-2.69539147e-02 -5.29538797e-04 9.99636537e-01 5.48935023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters Centerline goodness [0,1] 0.9943335916311508 Centerline is valid? [True, True] Translation: X:140.92, Y:205.43, Z:5.49 [[ 5.12040492e-01 -8.58849168e-01 1.38795163e-02 1.40919281e+02] [ 8.58503390e-01 5.12228257e-01 2.43750233e-02 2.05432670e+02] [-2.80439489e-02 -5.65387093e-04 9.99606531e-01 5.48817258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.846875 meters Centerline goodness [0,1] 0.9947340451229528 Centerline is valid? [True, True] Translation: X:140.93, Y:205.46, Z:5.49 [[ 5.12054769e-01 -8.58839541e-01 1.39483747e-02 1.40934468e+02] [ 8.58489929e-01 5.12244387e-01 2.45097785e-02 2.05456760e+02] [-2.81949435e-02 -5.75809769e-04 9.99602278e-01 5.48797427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters Centerline goodness [0,1] 0.9953040278853602 Centerline is valid? [True, True] Translation: X:140.95, Y:205.48, Z:5.49 [[ 5.12133655e-01 -8.58788287e-01 1.42055456e-02 1.40948084e+02] [ 8.58425187e-01 5.12330286e-01 2.49775180e-02 2.05480774e+02] [-2.87283311e-02 -5.97429502e-04 9.99587078e-01 5.48702230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.906875 meters Centerline goodness [0,1] 0.9949551028290046 Centerline is valid? [True, True] Translation: X:140.96, Y:205.50, Z:5.49 [[ 5.12179821e-01 -8.58762447e-01 1.41028511e-02 1.40962631e+02] [ 8.58404079e-01 5.12373590e-01 2.48141348e-02 2.05504890e+02] [-2.85353756e-02 -6.03354233e-04 9.99592601e-01 5.48602555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters Centerline goodness [0,1] 0.9947757945145842 Centerline is valid? [True, True] Translation: X:140.98, Y:205.53, Z:5.49 [[ 5.12380381e-01 -8.58643623e-01 1.40525252e-02 1.40976923e+02] [ 8.58287348e-01 5.12572677e-01 2.47402111e-02 2.05528981e+02] [-2.84459650e-02 -6.15294255e-04 9.99595142e-01 5.48505469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.966875 meters Centerline goodness [0,1] 0.9949470528504424 Centerline is valid? [True, True] Translation: X:140.99, Y:205.55, Z:5.48 [[ 5.12695796e-01 -8.58464224e-01 1.34980335e-02 1.40990222e+02] [ 8.58135052e-01 5.12873090e-01 2.37786701e-02 2.05553191e+02] [-2.73359157e-02 -6.08088583e-04 9.99626119e-01 5.48222503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters Centerline goodness [0,1] 0.994198975152277 Centerline is valid? [True, True] Translation: X:141.00, Y:205.58, Z:5.48 [[ 5.12821577e-01 -8.58393559e-01 1.32109025e-02 1.41001004e+02] [ 8.58077802e-01 5.12991354e-01 2.32885503e-02 2.05577817e+02] [-2.67678203e-02 -6.06888928e-04 9.99641493e-01 5.47877940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.026875 meters Centerline goodness [0,1] 0.9949047676816692 Centerline is valid? [True, True] Translation: X:141.02, Y:205.60, Z:5.48 [[ 5.12528444e-01 -8.58570629e-01 1.30793543e-02 1.41019701e+02] [ 8.58260958e-01 5.12694958e-01 2.30653024e-02 2.05599772e+02] [-2.65089102e-02 -5.96124367e-04 9.99648399e-01 5.48099495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters Centerline goodness [0,1] 0.9949047676816692 Centerline is valid? [True, True] Translation: X:141.03, Y:205.62, Z:5.48 [[ 5.12289620e-01 -8.58713249e-01 1.30728980e-02 1.41033242e+02] [ 8.58403532e-01 5.12456047e-01 2.30689604e-02 2.05623831e+02] [-2.65089076e-02 -5.96167112e-04 9.99648399e-01 5.47986739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.086875 meters Centerline goodness [0,1] 0.9949185509360564 Centerline is valid? [True, True] Translation: X:141.05, Y:205.65, Z:5.48 [[ 5.12428605e-01 -8.58632437e-01 1.29330382e-02 1.41047511e+02] [ 8.58328886e-01 5.12591432e-01 2.28374227e-02 2.05647809e+02] [-2.62383165e-02 -6.01748364e-04 9.99655535e-01 5.47881513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters Centerline goodness [0,1] 0.9948975872877032 Centerline is valid? [True, True] Translation: X:141.06, Y:205.67, Z:5.48 [[ 5.12040590e-01 -8.58865503e-01 1.28250725e-02 1.41062603e+02] [ 8.58566762e-01 5.12200838e-01 2.26587038e-02 2.05670667e+02] [-2.60297920e-02 -5.90995103e-04 9.99660993e-01 5.47790153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.146875 meters Centerline goodness [0,1] 0.9948691761501799 Centerline is valid? [True, True] Translation: X:141.08, Y:205.69, Z:5.48 [[ 5.11862013e-01 -8.58972729e-01 1.27722661e-02 1.41077038e+02] [ 8.58676052e-01 5.12020997e-01 2.25817764e-02 2.05694905e+02] [-2.59367985e-02 -5.91514504e-04 9.99663410e-01 5.47638788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters Centerline goodness [0,1] 0.9944602376266491 Centerline is valid? [True, True] Translation: X:141.09, Y:205.72, Z:5.47 [[ 5.11455612e-01 -8.59213363e-01 1.28667671e-02 1.41090456e+02] [ 8.58911972e-01 5.11617091e-01 2.27635068e-02 2.05718450e+02] [-2.61415671e-02 -5.91103028e-04 9.99658076e-01 5.47467682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.206875 meters Centerline goodness [0,1] 0.9954138458178642 Centerline is valid? [True, True] Translation: X:141.10, Y:205.74, Z:5.47 [[ 5.11030532e-01 -8.59464566e-01 1.29790556e-02 1.41103887e+02] [ 8.59157539e-01 5.11194982e-01 2.29785243e-02 2.05741668e+02] [-2.63840556e-02 -5.91674017e-04 9.99651705e-01 5.47377948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters Centerline goodness [0,1] 0.9951458678895502 Centerline is valid? [True, True] Translation: X:141.12, Y:205.76, Z:5.47 [[ 5.10400205e-01 -8.59830840e-01 1.35113786e-02 1.41119768e+02] [ 8.59497757e-01 5.10578653e-01 2.39383573e-02 2.05764569e+02] [-2.74815594e-02 -6.05142866e-04 9.99622127e-01 5.47371107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.266875 meters Centerline goodness [0,1] 0.9950092964086505 Centerline is valid? [True, True] Translation: X:141.13, Y:205.79, Z:5.47 [[ 5.10481957e-01 -8.59783102e-01 1.34606751e-02 1.41134045e+02] [ 8.59452066e-01 5.10659027e-01 2.38642855e-02 2.05789208e+02] [-2.73919247e-02 -6.13482193e-04 9.99624583e-01 5.47253306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters Centerline goodness [0,1] 0.9947869723027454 Centerline is valid? [True, True] Translation: X:141.15, Y:205.81, Z:5.47 [[ 5.10477350e-01 -8.59787612e-01 1.33468374e-02 1.41147742e+02] [ 8.59461791e-01 5.10651432e-01 2.36758368e-02 2.05812513e+02] [-2.71717728e-02 -6.14881683e-04 9.99630590e-01 5.47094354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32687500000003 meters Centerline goodness [0,1] 0.9953765992318795 Centerline is valid? [True, True] Translation: X:141.16, Y:205.84, Z:5.47 [[ 5.10893643e-01 -8.59545872e-01 1.29838055e-02 1.41163033e+02] [ 8.59237026e-01 5.11058226e-01 2.30482850e-02 2.05836991e+02] [-2.64465388e-02 -6.19055891e-04 9.99650037e-01 5.46934595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters Centerline goodness [0,1] 0.9949040840826127 Centerline is valid? [True, True] Translation: X:141.18, Y:205.86, Z:5.47 [[ 5.11459677e-01 -8.59209691e-01 1.29501034e-02 1.41175189e+02] [ 8.58901965e-01 5.11623196e-01 2.30026069e-02 2.05861606e+02] [-2.63896361e-02 -6.42036622e-04 9.99651527e-01 5.46673186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38687500000003 meters Centerline goodness [0,1] 0.9950934921642337 Centerline is valid? [True, True] Translation: X:141.19, Y:205.89, Z:5.47 [[ 5.11601653e-01 -8.59126086e-01 1.28886542e-02 1.41188514e+02] [ 8.58820829e-01 5.11763563e-01 2.29093634e-02 2.05885492e+02] [-2.62779753e-02 -6.51423521e-04 9.99654462e-01 5.46516054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters Centerline goodness [0,1] 0.9952634549782806 Centerline is valid? [True, True] Translation: X:141.21, Y:205.91, Z:5.47 [[ 5.12110236e-01 -8.58827351e-01 1.25971418e-02 1.41205256e+02] [ 8.58535439e-01 5.12264728e-01 2.23997386e-02 2.05908708e+02] [-2.56905796e-02 -6.56042714e-04 9.99669727e-01 5.46558877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44687500000003 meters Centerline goodness [0,1] 0.9957197016020546 Centerline is valid? [True, True] Translation: X:141.22, Y:205.93, Z:5.47 [[ 5.12004544e-01 -8.58889921e-01 1.26273617e-02 1.41221325e+02] [ 8.58596311e-01 5.12159806e-01 2.24656958e-02 2.05931668e+02] [-2.57627868e-02 -6.60732205e-04 9.99667866e-01 5.46570123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters Centerline goodness [0,1] 0.994948008632529 Centerline is valid? [True, True] Translation: X:141.23, Y:205.96, Z:5.46 [[ 5.12026530e-01 -8.58876990e-01 1.26153715e-02 1.41231405e+02] [ 8.58583453e-01 5.12181478e-01 2.24630446e-02 2.05957306e+02] [-2.57543518e-02 -6.70325618e-04 9.99668077e-01 5.46203545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50687500000004 meters Centerline goodness [0,1] 0.9951419388080575 Centerline is valid? [True, True] Translation: X:141.25, Y:205.98, Z:5.46 [[ 5.11800705e-01 -8.59010068e-01 1.27177573e-02 1.41247155e+02] [ 8.58711572e-01 5.11958250e-01 2.26536202e-02 2.05980906e+02] [-2.59706486e-02 -6.73253401e-04 9.99662479e-01 5.46186166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters Centerline goodness [0,1] 0.994897208184093 Centerline is valid? [True, True] Translation: X:141.26, Y:206.00, Z:5.46 [[ 5.11563836e-01 -8.59151993e-01 1.26607062e-02 1.41262565e+02] [ 8.58855856e-01 5.11720044e-01 2.25658044e-02 2.06004530e+02] [-2.58661930e-02 -6.70127794e-04 9.99665189e-01 5.46170646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56687500000004 meters Centerline goodness [0,1] 0.9956759943984473 Centerline is valid? [True, True] Translation: X:141.28, Y:206.03, Z:5.46 [[ 5.11804740e-01 -8.59003809e-01 1.29755134e-02 1.41277538e+02] [ 8.58692301e-01 5.11968712e-01 2.31423972e-02 2.06028916e+02] [-2.65224643e-02 -7.02415109e-04 9.99647971e-01 5.46150151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters Centerline goodness [0,1] 0.9952300164736545 Centerline is valid? [True, True] Translation: X:141.29, Y:206.05, Z:5.46 [[ 5.12215610e-01 -8.58752271e-01 1.34054769e-02 1.41290378e+02] [ 8.58419172e-01 5.12390454e-01 2.39279738e-02 2.06052723e+02] [-2.74170402e-02 -7.48763351e-04 9.99623802e-01 5.46083084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62687500000004 meters Centerline goodness [0,1] 0.9955658471695324 Centerline is valid? [True, True] Translation: X:141.31, Y:206.08, Z:5.46 [[ 5.12272293e-01 -8.58717547e-01 1.34637459e-02 1.41305023e+02] [ 8.58381272e-01 5.12448631e-01 2.40414866e-02 2.06076744e+02] [-2.75443246e-02 -7.58760164e-04 9.99620295e-01 5.46021870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters Centerline goodness [0,1] 0.9948189073050951 Centerline is valid? [True, True] Translation: X:141.32, Y:206.10, Z:5.46 [[ 5.11719391e-01 -8.59046901e-01 1.34791063e-02 1.41318006e+02] [ 8.58709537e-01 5.11896336e-01 2.40846645e-02 2.06101111e+02] [-2.75897616e-02 -7.49952744e-04 9.99619049e-01 5.45887374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68687500000004 meters Centerline goodness [0,1] 0.9955899381605854 Centerline is valid? [True, True] Translation: X:141.33, Y:206.12, Z:5.46 [[ 5.11272385e-01 -8.59313433e-01 1.34525579e-02 1.41332988e+02] [ 8.58977061e-01 5.11448798e-01 2.40527895e-02 2.06124985e+02] [-2.75491797e-02 -7.42088466e-04 9.99620174e-01 5.45829723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters Centerline goodness [0,1] 0.9950095874920104 Centerline is valid? [True, True] Translation: X:141.35, Y:206.15, Z:5.46 [[ 5.10651337e-01 -8.59684827e-01 1.33120329e-02 1.41348822e+02] [ 8.59355174e-01 5.10824312e-01 2.38161333e-02 2.06148651e+02] [-2.72744785e-02 -7.21975986e-04 9.99627721e-01 5.45738462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.746875 meters Centerline goodness [0,1] 0.9954394998161089 Centerline is valid? [True, True] Translation: X:141.36, Y:206.17, Z:5.46 [[ 5.09403150e-01 -8.60431396e-01 1.28935626e-02 1.41364810e+02] [ 8.60122010e-01 5.09565862e-01 2.30816116e-02 2.06172049e+02] [-2.64302626e-02 -6.67808712e-04 9.99650437e-01 5.45545954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters Centerline goodness [0,1] 0.9954276162147545 Centerline is valid? [True, True] Translation: X:141.38, Y:206.20, Z:5.45 [[ 5.08553867e-01 -8.60935154e-01 1.27915647e-02 1.41376995e+02] [ 8.60630421e-01 5.08714306e-01 2.29136040e-02 2.06196160e+02] [-2.62343792e-02 -6.43992199e-04 9.99655612e-01 5.45268885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.806875 meters Centerline goodness [0,1] 0.9953277922588895 Centerline is valid? [True, True] Translation: X:141.40, Y:206.22, Z:5.45 [[ 5.06650944e-01 -8.62061812e-01 1.24199196e-02 1.41395065e+02] [ 8.61774478e-01 5.06802822e-01 2.22631581e-02 2.06218575e+02] [-2.54866688e-02 -5.76480305e-04 9.99674996e-01 5.45219801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters Centerline goodness [0,1] 0.9950593614040263 Centerline is valid? [True, True] Translation: X:141.41, Y:206.24, Z:5.45 [[ 5.05410122e-01 -8.62794090e-01 1.21229488e-02 1.41410982e+02] [ 8.62520233e-01 5.05555213e-01 2.17433763e-02 2.06242085e+02] [-2.48888765e-02 -5.33033869e-04 9.99690082e-01 5.45134544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.866875 meters Centerline goodness [0,1] 0.9955038414980607 Centerline is valid? [True, True] Translation: X:141.43, Y:206.27, Z:5.45 [[ 5.04005957e-01 -8.63615445e-01 1.20978225e-02 1.41425781e+02] [ 8.63342592e-01 5.04150884e-01 2.17130399e-02 2.06265565e+02] [-2.48508445e-02 -4.98935999e-04 9.99691046e-01 5.45014472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters Centerline goodness [0,1] 0.9960017769880053 Centerline is valid? [True, True] Translation: X:141.44, Y:206.29, Z:5.45 [[ 5.02246859e-01 -8.64635500e-01 1.23913516e-02 1.41441463e+02] [ 8.64349191e-01 5.02399478e-01 2.22540001e-02 2.06288722e+02] [-2.54670071e-02 -4.66546924e-04 9.99675554e-01 5.45009974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.926875 meters Centerline goodness [0,1] 0.9964415449625621 Centerline is valid? [True, True] Translation: X:141.46, Y:206.31, Z:5.45 [[ 5.00671408e-01 -8.65547994e-01 1.24423635e-02 1.41457556e+02] [ 8.65259244e-01 5.00825805e-01 2.23596417e-02 2.06311786e+02] [-2.55847997e-02 -4.28963279e-04 9.99672563e-01 5.45037430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters Centerline goodness [0,1] 0.9964736267011026 Centerline is valid? [True, True] Translation: X:141.47, Y:206.33, Z:5.45 [[ 4.97340186e-01 -8.67460976e-01 1.28138543e-02 1.41474952e+02] [ 8.67154926e-01 4.97505109e-01 2.30434667e-02 2.06334369e+02] [-2.63642661e-02 -3.48845181e-04 9.99652341e-01 5.45047327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.986875 meters Centerline goodness [0,1] 0.9966236345580933 Centerline is valid? [True, True] Translation: X:141.49, Y:206.36, Z:5.45 [[ 4.95863138e-01 -8.68301612e-01 1.31171223e-02 1.41490070e+02] [ 8.67980787e-01 4.96036499e-01 2.36039153e-02 2.06357966e+02] [-2.70018891e-02 -3.18901415e-04 9.99635332e-01 5.44950654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters Centerline goodness [0,1] 0.9968927887842104 Centerline is valid? [True, True] Translation: X:141.50, Y:206.38, Z:5.45 [[ 4.94353404e-01 -8.69156785e-01 1.34608425e-02 1.41504111e+02] [ 8.68818782e-01 4.94536550e-01 2.42389064e-02 2.06381439e+02] [-2.77242885e-02 -2.87553119e-04 9.99615567e-01 5.44816355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.046875 meters Centerline goodness [0,1] 0.9968573851449095 Centerline is valid? [True, True] Translation: X:141.52, Y:206.41, Z:5.45 [[ 4.93149222e-01 -8.69839622e-01 1.35231907e-02 1.41520349e+02] [ 8.69498301e-01 4.93334537e-01 2.43667744e-02 2.06405200e+02] [-2.78666429e-02 -2.58064494e-04 9.99611616e-01 5.44934310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters Centerline goodness [0,1] 0.9968556598123378 Centerline is valid? [True, True] Translation: X:141.53, Y:206.43, Z:5.45 [[ 4.91967424e-01 -8.70509219e-01 1.34815669e-02 1.41533950e+02] [ 8.70169796e-01 4.92152057e-01 2.43079903e-02 2.06428174e+02] [-2.77953106e-02 -2.27487065e-04 9.99613610e-01 5.44786505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.106875 meters Centerline goodness [0,1] 0.9970454943789279 Centerline is valid? [True, True] Translation: X:141.55, Y:206.45, Z:5.45 [[ 4.90327408e-01 -8.71431728e-01 1.36299506e-02 1.41548994e+02] [ 8.71084628e-01 4.90516777e-01 2.45939688e-02 2.06451637e+02] [-2.81176842e-02 -1.86256563e-04 9.99604602e-01 5.44656110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters Centerline goodness [0,1] 0.9972209704070902 Centerline is valid? [True, True] Translation: X:141.56, Y:206.48, Z:5.45 [[ 4.89500009e-01 -8.71899091e-01 1.34802315e-02 1.41563422e+02] [ 8.71559323e-01 4.89685561e-01 2.43392310e-02 2.06476021e+02] [-2.78224281e-02 -1.65232362e-04 9.99612868e-01 5.44540367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.166875 meters Centerline goodness [0,1] 0.9970397872660679 Centerline is valid? [True, True] Translation: X:141.58, Y:206.50, Z:5.44 [[ 4.88459850e-01 -8.72480274e-01 1.36068730e-02 1.41577817e+02] [ 8.72133866e-01 4.88649314e-01 2.45839067e-02 2.06500449e+02] [-2.80979628e-02 -1.41236661e-04 9.99605164e-01 5.44416636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters Centerline goodness [0,1] 0.9971696222823364 Centerline is valid? [True, True] Translation: X:141.59, Y:206.52, Z:5.44 [[ 4.87632615e-01 -8.72947254e-01 1.33238078e-02 1.41591563e+02] [ 8.72614869e-01 4.87814593e-01 2.40876109e-02 2.06524049e+02] [-2.75267617e-02 -1.19351883e-04 9.99621060e-01 5.44189523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.226875 meters Centerline goodness [0,1] 0.9977197554375062 Centerline is valid? [True, True] Translation: X:141.61, Y:206.55, Z:5.44 [[ 4.86572046e-01 -8.73540178e-01 1.32364032e-02 1.41606009e+02] [ 8.73211944e-01 4.86752041e-01 2.39447457e-02 2.06548353e+02] [-2.73595437e-02 -9.26585048e-05 9.99625653e-01 5.44115068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters Centerline goodness [0,1] 0.9975178016247117 Centerline is valid? [True, True] Translation: X:141.62, Y:206.57, Z:5.44 [[ 4.86149361e-01 -8.73774438e-01 1.33052721e-02 1.41618947e+02] [ 8.73442423e-01 4.86331393e-01 2.40854691e-02 2.06572386e+02] [-2.75160388e-02 -8.77463680e-05 9.99621358e-01 5.43864429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.286875 meters Centerline goodness [0,1] 0.9973223223223223 Centerline is valid? [True, True] Translation: X:141.63, Y:206.60, Z:5.44 [[ 4.86159518e-01 -8.73765232e-01 1.35367440e-02 1.41632532e+02] [ 8.73421106e-01 4.86347931e-01 2.45206253e-02 2.06597157e+02] [-2.80088373e-02 -9.76574205e-05 9.99607671e-01 5.43881248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters Centerline goodness [0,1] 0.997467529211173 Centerline is valid? [True, True] Translation: X:141.64, Y:206.62, Z:5.44 [[ 4.86369045e-01 -8.73643630e-01 1.38549186e-02 1.41644617e+02] [ 8.73282607e-01 4.86566330e-01 2.51136397e-02 2.06621278e+02] [-2.86817083e-02 -1.15237519e-04 9.99588589e-01 5.43724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.346875 meters Centerline goodness [0,1] 0.9973159413018939 Centerline is valid? [True, True] Translation: X:141.66, Y:206.65, Z:5.44 [[ 4.86716231e-01 -8.73452728e-01 1.36982622e-02 1.41657946e+02] [ 8.73099262e-01 4.86908939e-01 2.48468308e-02 2.06645770e+02] [-2.83723384e-02 -1.33413271e-04 9.99597415e-01 5.43628337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters Centerline goodness [0,1] 0.9973924380704041 Centerline is valid? [True, True] Translation: X:141.67, Y:206.67, Z:5.44 [[ 4.86755998e-01 -8.73430821e-01 1.36820733e-02 1.41671233e+02] [ 8.73077730e-01 4.86948232e-01 2.48333616e-02 2.06670820e+02] [-2.83526848e-02 -1.42274232e-04 9.99597972e-01 5.43529028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.406875 meters Centerline goodness [0,1] 0.9975210957257681 Centerline is valid? [True, True] Translation: X:141.68, Y:206.70, Z:5.43 [[ 4.87002550e-01 -8.73295205e-01 1.35646784e-02 1.41683259e+02] [ 8.72947658e-01 4.87191400e-01 2.46358939e-02 2.06695551e+02] [-2.81230027e-02 -1.56488934e-04 9.99604458e-01 5.43311157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters Centerline goodness [0,1] 0.9968464522587911 Centerline is valid? [True, True] Translation: X:141.70, Y:206.72, Z:5.43 [[ 4.87592501e-01 -8.72966876e-01 1.35050283e-02 1.41695259e+02] [ 8.72621752e-01 4.87779458e-01 2.45454492e-02 2.06720120e+02] [-2.80148395e-02 -1.83395474e-04 9.99607491e-01 5.43073126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.466875 meters Centerline goodness [0,1] 0.997268649610344 Centerline is valid? [True, True] Translation: X:141.71, Y:206.74, Z:5.43 [[ 4.88624784e-01 -8.72389318e-01 1.35166105e-02 1.41707495e+02] [ 8.72042897e-01 4.88811648e-01 2.45836877e-02 2.06744885e+02] [-2.80536231e-02 -2.25134928e-04 9.99606394e-01 5.43009222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters Centerline goodness [0,1] 0.9974443776307877 Centerline is valid? [True, True] Translation: X:141.72, Y:206.77, Z:5.43 [[ 4.88904676e-01 -8.72233551e-01 1.34480792e-02 1.41719929e+02] [ 8.71890324e-01 4.89089538e-01 2.44680636e-02 2.06769266e+02] [-2.79191809e-02 -2.37300621e-04 9.99610156e-01 5.42871298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.526875 meters Centerline goodness [0,1] 0.9972431077694236 Centerline is valid? [True, True] Translation: X:141.73, Y:206.79, Z:5.43 [[ 4.88937915e-01 -8.72210236e-01 1.37484794e-02 1.41733677e+02] [ 8.71850984e-01 4.89131108e-01 2.50324023e-02 2.06794240e+02] [-2.85583265e-02 -2.52665272e-04 9.99592096e-01 5.42891447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters Centerline goodness [0,1] 0.9972466960352423 Centerline is valid? [True, True] Translation: X:141.75, Y:206.82, Z:5.43 [[ 4.89318602e-01 -8.71995511e-01 1.38251464e-02 1.41745990e+02] [ 8.71631696e-01 4.89513793e-01 2.51879634e-02 2.06818454e+02] [-2.87313909e-02 -2.74503282e-04 9.99587131e-01 5.42722667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.586875 meters Centerline goodness [0,1] 0.9966993398679735 Centerline is valid? [True, True] Translation: X:141.76, Y:206.84, Z:5.43 [[ 4.90404910e-01 -8.71386028e-01 1.37628063e-02 1.41757577e+02] [ 8.71024726e-01 4.90597890e-01 2.50925571e-02 2.06843123e+02] [-2.86173074e-02 -3.17768641e-04 9.99590390e-01 5.42655271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters Centerline goodness [0,1] 0.9973767706797911 Centerline is valid? [True, True] Translation: X:141.77, Y:206.87, Z:5.43 [[ 4.91312157e-01 -8.70876128e-01 1.36796861e-02 1.41770510e+02] [ 8.70518584e-01 4.91502437e-01 2.49549686e-02 2.06867838e+02] [-2.84562855e-02 -3.52258515e-04 9.99594976e-01 5.42591145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.646875 meters Centerline goodness [0,1] 0.997024256064016 Centerline is valid? [True, True] Translation: X:141.78, Y:206.89, Z:5.42 [[ 4.91897616e-01 -8.70544816e-01 1.37280368e-02 1.41782763e+02] [ 8.70184217e-01 4.92088995e-01 2.50569179e-02 2.06893148e+02] [-2.85685859e-02 -3.79517209e-04 9.99591763e-01 5.42391434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters Centerline goodness [0,1] 0.9968508660118467 Centerline is valid? [True, True] Translation: X:141.79, Y:206.92, Z:5.42 [[ 4.93071796e-01 -8.69883154e-01 1.35462731e-02 1.41792940e+02] [ 8.69531261e-01 4.93257661e-01 2.47440187e-02 2.06918406e+02] [-2.82062080e-02 -4.21669836e-04 9.99602037e-01 5.42101082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.706875 meters Centerline goodness [0,1] 0.9965049804029258 Centerline is valid? [True, True] Translation: X:141.81, Y:206.94, Z:5.42 [[ 4.95320101e-01 -8.68605675e-01 1.34973870e-02 1.41806380e+02] [ 8.68255624e-01 4.95503719e-01 2.46624315e-02 2.06943660e+02] [-2.81099334e-02 -4.96615890e-04 9.99604714e-01 5.42072642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters Centerline goodness [0,1] 0.9964724002583594 Centerline is valid? [True, True] Translation: X:141.82, Y:206.97, Z:5.42 [[ 4.95831574e-01 -8.68315512e-01 1.33874049e-02 1.41817400e+02] [ 8.67970610e-01 4.96012001e-01 2.44768254e-02 2.06968703e+02] [-2.78939207e-02 -5.16508864e-04 9.99610755e-01 5.41854027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.766875 meters Centerline goodness [0,1] 0.9964877319716029 Centerline is valid? [True, True] Translation: X:141.83, Y:206.99, Z:5.42 [[ 4.96446295e-01 -8.67966479e-01 1.32388772e-02 1.41828344e+02] [ 8.67628668e-01 4.96622496e-01 2.42196569e-02 2.06994153e+02] [-2.75965746e-02 -5.37329535e-04 9.99618998e-01 5.41587970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters Centerline goodness [0,1] 0.9962680997163755 Centerline is valid? [True, True] Translation: X:141.84, Y:207.02, Z:5.41 [[ 4.96746254e-01 -8.67795118e-01 1.32208979e-02 1.41839246e+02] [ 8.67457836e-01 4.96921854e-01 2.41986389e-02 2.07018385e+02] [-2.75692138e-02 -5.52011811e-04 9.99619745e-01 5.41400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82687500000003 meters Centerline goodness [0,1] 0.9963215191131879 Centerline is valid? [True, True] Translation: X:141.85, Y:207.04, Z:5.41 [[ 4.97197226e-01 -8.67539445e-01 1.30472190e-02 1.41854969e+02] [ 8.67210382e-01 4.97368062e-01 2.38990511e-02 2.07042478e+02] [-2.72226396e-02 -5.67858112e-04 9.99629234e-01 5.41440823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters Centerline goodness [0,1] 0.996371859546234 Centerline is valid? [True, True] Translation: X:141.87, Y:207.07, Z:5.41 [[ 4.96526715e-01 -8.67927401e-01 1.27768321e-02 1.41867156e+02] [ 8.67611598e-01 4.96690781e-01 2.34175687e-02 2.07066197e+02] [-2.66708843e-02 -5.42120732e-04 9.99644122e-01 5.41274592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88687500000003 meters Centerline goodness [0,1] 0.9965989772106648 Centerline is valid? [True, True] Translation: X:141.88, Y:207.09, Z:5.41 [[ 4.95977344e-01 -8.68240598e-01 1.28350148e-02 1.41881006e+02] [ 8.67921611e-01 4.96143102e-01 2.35393164e-02 2.07090939e+02] [-2.68057942e-02 -5.35180938e-04 9.99640517e-01 5.41171904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters Centerline goodness [0,1] 0.9966404539120047 Centerline is valid? [True, True] Translation: X:141.89, Y:207.12, Z:5.41 [[ 4.95297406e-01 -8.68628474e-01 1.28473006e-02 1.41893973e+02] [ 8.68308589e-01 4.95463723e-01 2.35774064e-02 2.07115577e+02] [-2.68453779e-02 -5.22406780e-04 9.99639461e-01 5.41004240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94687500000003 meters Centerline goodness [0,1] 0.9964253798033958 Centerline is valid? [True, True] Translation: X:141.91, Y:207.14, Z:5.41 [[ 4.94646110e-01 -8.68997516e-01 1.29824087e-02 1.41905653e+02] [ 8.68670572e-01 4.94816180e-01 2.38408490e-02 2.07140184e+02] [-2.71415445e-02 -5.15346824e-04 9.99631468e-01 5.40850362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters Centerline goodness [0,1] 0.9964253798033958 Centerline is valid? [True, True] Translation: X:141.92, Y:207.16, Z:5.41 [[ 4.94413584e-01 -8.69129936e-01 1.29754294e-02 1.41918749e+02] [ 8.68802938e-01 4.94583549e-01 2.38446463e-02 2.07164489e+02] [-2.71415298e-02 -5.16025854e-04 9.99631468e-01 5.40737649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00687500000004 meters Centerline goodness [0,1] 0.996679634264192 Centerline is valid? [True, True] Translation: X:141.93, Y:207.19, Z:5.41 [[ 4.93941032e-01 -8.69394994e-01 1.32136894e-02 1.41932205e+02] [ 8.69055533e-01 4.94117472e-01 2.42982428e-02 2.07188945e+02] [-2.76538854e-02 -5.18469285e-04 9.99617424e-01 5.40735359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters Centerline goodness [0,1] 0.9966081552821173 Centerline is valid? [True, True] Translation: X:141.95, Y:207.21, Z:5.41 [[ 4.93498726e-01 -8.69643757e-01 1.33694708e-02 1.41945744e+02] [ 8.69295880e-01 4.93679518e-01 2.46009303e-02 2.07213991e+02] [-2.79942794e-02 -5.18501927e-04 9.99607949e-01 5.40730901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06687500000004 meters Centerline goodness [0,1] 0.9964389049632763 Centerline is valid? [True, True] Translation: X:141.96, Y:207.24, Z:5.41 [[ 4.93107554e-01 -8.69868009e-01 1.32131417e-02 1.41957557e+02] [ 8.69527876e-01 4.93284289e-01 2.43286356e-02 2.07238209e+02] [-2.76805370e-02 -5.07439013e-04 9.99616692e-01 5.40613601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters Centerline goodness [0,1] 0.9960816205825817 Centerline is valid? [True, True] Translation: X:141.97, Y:207.26, Z:5.40 [[ 4.92311842e-01 -8.70317301e-01 1.32983324e-02 1.41967838e+02] [ 8.69972432e-01 4.92491169e-01 2.45034052e-02 2.07262969e+02] [-2.78750488e-02 -4.94134001e-04 9.99611293e-01 5.40373322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12687500000004 meters Centerline goodness [0,1] 0.9968285967155079 Centerline is valid? [True, True] Translation: X:141.98, Y:207.29, Z:5.40 [[ 4.91281451e-01 -8.70895759e-01 1.35319389e-02 1.41982938e+02] [ 8.70538413e-01 4.91467547e-01 2.49504006e-02 2.07286859e+02] [-2.83797069e-02 -4.77596437e-04 9.99597101e-01 5.40450203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters Centerline goodness [0,1] 0.9968523300135251 Centerline is valid? [True, True] Translation: X:142.00, Y:207.31, Z:5.40 [[ 4.90144733e-01 -8.71530429e-01 1.38870938e-02 1.41995174e+02] [ 8.71153810e-01 4.90341206e-01 2.56230530e-02 2.07310840e+02] [-2.91406847e-02 -4.61209740e-04 9.99575214e-01 5.40397070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18687500000004 meters Centerline goodness [0,1] 0.9969765498254757 Centerline is valid? [True, True] Translation: X:142.01, Y:207.34, Z:5.40 [[ 4.88394604e-01 -8.72508436e-01 1.41329680e-02 1.42009523e+02] [ 8.72118234e-01 4.88598869e-01 2.60946751e-02 2.07335498e+02] [-2.96731763e-02 -4.18879436e-04 9.99559567e-01 5.40388446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters Centerline goodness [0,1] 0.9972318847680173 Centerline is valid? [True, True] Translation: X:142.02, Y:207.36, Z:5.40 [[ 4.86504088e-01 -8.73560078e-01 1.43722683e-02 1.42021660e+02] [ 8.73156452e-01 4.86716194e-01 2.65547989e-02 2.07360014e+02] [-3.01924279e-02 -3.69779386e-04 9.99544036e-01 5.40208695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.246875 meters Centerline goodness [0,1] 0.9972575234457259 Centerline is valid? [True, True] Translation: X:142.04, Y:207.38, Z:5.40 [[ 4.82603736e-01 -8.75716785e-01 1.46200839e-02 1.42036019e+02] [ 8.75299509e-01 4.82825073e-01 2.70318257e-02 2.07384579e+02] [-3.07311666e-02 -2.48707804e-04 9.99527655e-01 5.40113740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters Centerline goodness [0,1] 0.9970361298224127 Centerline is valid? [True, True] Translation: X:142.05, Y:207.41, Z:5.40 [[ 4.80552764e-01 -8.76844785e-01 1.45692829e-02 1.42049098e+02] [ 8.76430461e-01 4.80773532e-01 2.69528929e-02 2.07408496e+02] [-3.06380292e-02 -1.83323801e-04 9.99530529e-01 5.40023077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.306875 meters Centerline goodness [0,1] 0.9974802456148935 Centerline is valid? [True, True] Translation: X:142.06, Y:207.43, Z:5.40 [[ 4.78895203e-01 -8.77747664e-01 1.47791040e-02 1.42063024e+02] [ 8.77321126e-01 4.79123177e-01 2.73609743e-02 2.07433320e+02] [-3.10970426e-02 -1.37019209e-04 9.99516361e-01 5.39999427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters Centerline goodness [0,1] 0.9978538155744702 Centerline is valid? [True, True] Translation: X:142.08, Y:207.46, Z:5.40 [[ 4.77100152e-01 -8.78724246e-01 1.48035098e-02 1.42076039e+02] [ 8.78296240e-01 4.77329752e-01 2.74230420e-02 2.07457694e+02] [-3.11634476e-02 -8.16705526e-05 9.99514298e-01 5.39938174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.366875 meters Centerline goodness [0,1] 0.9975121951219512 Centerline is valid? [True, True] Translation: X:142.09, Y:207.48, Z:5.40 [[ 4.75188630e-01 -8.79763209e-01 1.45760908e-02 1.42087953e+02] [ 8.79348198e-01 4.75412133e-01 2.70194593e-02 2.07482830e+02] [-3.07003766e-02 -2.18806991e-05 9.99528632e-01 5.39853599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters Centerline goodness [0,1] 0.9975864254717441 Centerline is valid? [True, True] Translation: X:142.10, Y:207.51, Z:5.40 [[ 4.74101905e-01 -8.80345278e-01 1.48180907e-02 1.42099824e+02] [ 8.79916071e-01 4.74333418e-01 2.74866518e-02 2.07507456e+02] [-3.12264598e-02 7.20218712e-06 9.99512335e-01 5.39674661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.426875 meters Centerline goodness [0,1] 0.9977547832877782 Centerline is valid? [True, True] Translation: X:142.11, Y:207.53, Z:5.40 [[ 4.73402956e-01 -8.80722892e-01 1.47251417e-02 1.42111713e+02] [ 8.80298581e-01 4.73631912e-01 2.73353306e-02 2.07532168e+02] [-3.10491485e-02 2.18950687e-05 9.99517859e-01 5.39517030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters Centerline goodness [0,1] 0.9970174587778855 Centerline is valid? [True, True] Translation: X:142.12, Y:207.56, Z:5.39 [[ 4.72809608e-01 -8.81036297e-01 1.50371848e-02 1.42123797e+02] [ 8.80593577e-01 4.73048667e-01 2.79268993e-02 2.07557421e+02] [-3.17179322e-02 3.75420402e-05 9.99496859e-01 5.39428447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.486875 meters Centerline goodness [0,1] 0.9971309781419436 Centerline is valid? [True, True] Translation: X:142.14, Y:207.58, Z:5.39 [[ 4.72688681e-01 -8.81101753e-01 1.50036991e-02 1.42135911e+02] [ 8.80660469e-01 4.72926737e-01 2.78826011e-02 2.07583268e+02] [-3.16630592e-02 3.33747012e-05 9.99498599e-01 5.39381304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters Centerline goodness [0,1] 0.9970869544108365 Centerline is valid? [True, True] Translation: X:142.14, Y:207.61, Z:5.39 [[ 4.73647075e-01 -8.80587915e-01 1.49456572e-02 1.42144789e+02] [ 8.80149199e-01 4.73882816e-01 2.77932259e-02 2.07608829e+02] [-3.15568690e-02 -9.77190162e-06 9.99501958e-01 5.39235548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.546875 meters Centerline goodness [0,1] 0.9973879604324377 Centerline is valid? [True, True] Translation: X:142.15, Y:207.63, Z:5.39 [[ 4.74050490e-01 -8.80369465e-01 1.50245719e-02 1.42154929e+02] [ 8.79925410e-01 4.74288524e-01 2.79583374e-02 2.07633824e+02] [-3.17396485e-02 -3.31609727e-05 9.99496170e-01 5.39091569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters Centerline goodness [0,1] 0.9970882664356531 Centerline is valid? [True, True] Translation: X:142.17, Y:207.66, Z:5.39 [[ 4.74470430e-01 -8.80140564e-01 1.51788892e-02 1.42165878e+02] [ 8.79686569e-01 4.74713160e-01 2.82658254e-02 2.07659948e+02] [-3.20835180e-02 -5.86333091e-05 9.99485190e-01 5.38972937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.606875 meters Centerline goodness [0,1] 0.9968708629197256 Centerline is valid? [True, True] Translation: X:142.17, Y:207.69, Z:5.39 [[ 4.76605047e-01 -8.78983446e-01 1.53535247e-02 1.42173658e+02] [ 8.78517676e-01 4.76852261e-01 2.86114267e-02 2.07685918e+02] [-3.24703334e-02 -1.48007496e-04 9.99472689e-01 5.38869292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters Centerline goodness [0,1] 0.9971356360572873 Centerline is valid? [True, True] Translation: X:142.18, Y:207.71, Z:5.39 [[ 4.77658041e-01 -8.78415078e-01 1.51573733e-02 1.42184203e+02] [ 8.77960530e-01 4.77898436e-01 2.82558361e-02 2.07711928e+02] [-3.20640375e-02 -1.89051811e-04 9.99485799e-01 5.38686177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.666875 meters Centerline goodness [0,1] 0.9968060325160298 Centerline is valid? [True, True] Translation: X:142.19, Y:207.74, Z:5.39 [[ 4.78991882e-01 -8.77691947e-01 1.49539962e-02 1.42194189e+02] [ 8.77248566e-01 4.79225194e-01 2.78956620e-02 2.07737642e+02] [-3.16501297e-02 -2.43423915e-04 9.99498980e-01 5.38504112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters Centerline goodness [0,1] 0.9968877184582237 Centerline is valid? [True, True] Translation: X:142.20, Y:207.76, Z:5.38 [[ 4.80065687e-01 -8.77103378e-01 1.50532160e-02 1.42204176e+02] [ 8.76653423e-01 4.80301551e-01 2.80926296e-02 2.07764296e+02] [-3.18702234e-02 -2.89854175e-04 9.99491973e-01 5.38327535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.726875 meters Centerline goodness [0,1] 0.9970763036809815 Centerline is valid? [True, True] Translation: X:142.22, Y:207.79, Z:5.38 [[ 4.81699747e-01 -8.76210281e-01 1.48626104e-02 1.42215352e+02] [ 8.75770683e-01 4.81928852e-01 2.77541265e-02 2.07790188e+02] [-3.14811717e-02 -3.52917282e-04 9.99504283e-01 5.38260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters Centerline goodness [0,1] 0.9968521963084848 Centerline is valid? [True, True] Translation: X:142.23, Y:207.82, Z:5.38 [[ 4.83096322e-01 -8.75440807e-01 1.48773693e-02 1.42225058e+02] [ 8.74999409e-01 4.83325173e-01 2.77994844e-02 2.07815635e+02] [-3.15274102e-02 -4.12139305e-04 9.99502803e-01 5.38081373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.786875 meters Centerline goodness [0,1] 0.9959896537813531 Centerline is valid? [True, True] Translation: X:142.23, Y:207.84, Z:5.38 [[ 4.86088575e-01 -8.73782069e-01 1.49262221e-02 1.42230155e+02] [ 8.73336461e-01 4.86317401e-01 2.79071861e-02 2.07843566e+02] [-3.16436804e-02 -5.29750401e-04 9.99499073e-01 5.37739099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters Centerline goodness [0,1] 0.9965602082984975 Centerline is valid? [True, True] Translation: X:142.24, Y:207.87, Z:5.38 [[ 4.87391434e-01 -8.73054286e-01 1.50267650e-02 1.42244031e+02] [ 8.72601760e-01 4.87622667e-01 2.81123280e-02 2.07868769e+02] [-3.18709797e-02 -5.89326253e-04 9.99491818e-01 5.37766123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.846875 meters Centerline goodness [0,1] 0.9968410802080612 Centerline is valid? [True, True] Translation: X:142.25, Y:207.90, Z:5.38 [[ 4.87941673e-01 -8.72742699e-01 1.52677929e-02 1.42252753e+02] [ 8.72274766e-01 4.88180076e-01 2.85822550e-02 2.07895357e+02] [-3.23983867e-02 -6.28762797e-04 9.99474837e-01 5.37563201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters Centerline goodness [0,1] 0.9967588951645575 Centerline is valid? [True, True] Translation: X:142.26, Y:207.92, Z:5.37 [[ 4.88521164e-01 -8.72417031e-01 1.53491539e-02 1.42263904e+02] [ 8.71943368e-01 4.88761788e-01 2.87520045e-02 2.07921658e+02] [-3.25858183e-02 -6.62369727e-04 9.99468722e-01 5.37452528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.906875 meters Centerline goodness [0,1] 0.9963580966889625 Centerline is valid? [True, True] Translation: X:142.28, Y:207.95, Z:5.37 [[ 4.89438999e-01 -8.71897142e-01 1.56473679e-02 1.42275129e+02] [ 8.71403991e-01 4.89688529e-01 2.93296644e-02 2.07948069e+02] [-3.32347872e-02 -7.19902776e-04 9.99447313e-01 5.37361290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters Centerline goodness [0,1] 0.9961955487920867 Centerline is valid? [True, True] Translation: X:142.29, Y:207.97, Z:5.37 [[ 4.89705149e-01 -8.71742371e-01 1.59406955e-02 1.42288144e+02] [ 8.71229836e-01 4.89963949e-01 2.98981767e-02 2.07973224e+02] [-3.38738736e-02 -7.53281609e-04 9.99425832e-01 5.37262477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.966875 meters Centerline goodness [0,1] 0.9956772676531364 Centerline is valid? [True, True] Translation: X:142.30, Y:208.00, Z:5.37 [[ 4.89987795e-01 -8.71586255e-01 1.57911679e-02 1.42298185e+02] [ 8.71082542e-01 4.90241585e-01 2.96377042e-02 2.07998795e+02] [-3.35733028e-02 -7.66702677e-04 9.99435964e-01 5.37054452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters Centerline goodness [0,1] 0.9958807793376104 Centerline is valid? [True, True] Translation: X:142.31, Y:208.02, Z:5.37 [[ 4.89721402e-01 -8.71739348e-01 1.56030953e-02 1.42310711e+02] [ 8.71247082e-01 4.89969323e-01 2.93016007e-02 2.08023966e+02] [-3.31883964e-02 -7.55469700e-04 9.99448828e-01 5.36887100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.026875 meters Centerline goodness [0,1] 0.9961492750178275 Centerline is valid? [True, True] Translation: X:142.32, Y:208.05, Z:5.37 [[ 4.89594373e-01 -8.71815218e-01 1.53484430e-02 1.42319172e+02] [ 8.71338338e-01 4.89834326e-01 2.88415137e-02 2.08050209e+02] [-3.26626648e-02 -7.46955969e-04 9.99466154e-01 5.36519805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters Centerline goodness [0,1] 0.9964244275532192 Centerline is valid? [True, True] Translation: X:142.33, Y:208.07, Z:5.36 [[ 4.89568408e-01 -8.71833366e-01 1.51445023e-02 1.42334906e+02] [ 8.71368460e-01 4.89802028e-01 2.84777164e-02 2.08073736e+02] [-3.22456313e-02 -7.45348624e-04 9.99479697e-01 5.36466066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.086875 meters Centerline goodness [0,1] 0.9958257239759979 Centerline is valid? [True, True] Translation: X:142.35, Y:208.10, Z:5.36 [[ 4.89641514e-01 -8.71797784e-01 1.48260567e-02 1.42349263e+02] [ 8.71351654e-01 4.89865365e-01 2.78965998e-02 2.08098364e+02] [-3.15829656e-02 -7.40624332e-04 9.99500859e-01 5.36307703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters Centerline goodness [0,1] 0.9960649519971554 Centerline is valid? [True, True] Translation: X:142.36, Y:208.12, Z:5.36 [[ 4.89528795e-01 -8.71864029e-01 1.46517335e-02 1.42361867e+02] [ 8.71427815e-01 4.89747458e-01 2.75860736e-02 2.08123504e+02] [-3.12269546e-02 -7.36249257e-04 9.99512049e-01 5.36176745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.146875 meters Centerline goodness [0,1] 0.9960270257410667 Centerline is valid? [True, True] Translation: X:142.37, Y:208.15, Z:5.36 [[ 4.89705183e-01 -8.71766792e-01 1.45428525e-02 1.42372898e+02] [ 8.71336444e-01 4.89920509e-01 2.73988444e-02 2.08147770e+02] [-3.10102444e-02 -7.45638773e-04 9.99518789e-01 5.36014910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters Centerline goodness [0,1] 0.9954286802695174 Centerline is valid? [True, True] Translation: X:142.39, Y:208.17, Z:5.36 [[ 4.89752490e-01 -8.71737986e-01 1.46759491e-02 1.42387000e+02] [ 8.71299080e-01 4.89971734e-01 2.76696992e-02 2.08172457e+02] [-3.13115281e-02 -7.64163087e-04 9.99509382e-01 5.35966928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.206875 meters Centerline goodness [0,1] 0.9955152694397646 Centerline is valid? [True, True] Translation: X:142.40, Y:208.20, Z:5.36 [[ 4.89700042e-01 -8.71764745e-01 1.48357529e-02 1.42399598e+02] [ 8.71315644e-01 4.89924098e-01 2.79897582e-02 2.08197709e+02] [-3.16688772e-02 -7.79962125e-04 9.99498111e-01 5.35810665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters Centerline goodness [0,1] 0.9955781666032713 Centerline is valid? [True, True] Translation: X:142.41, Y:208.22, Z:5.36 [[ 4.90186931e-01 -8.71496049e-01 1.45398926e-02 1.42413850e+02] [ 8.71064021e-01 4.90401888e-01 2.74492233e-02 2.08222651e+02] [-3.10522804e-02 -7.90073180e-04 9.99517449e-01 5.35692855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.266875 meters Centerline goodness [0,1] 0.9946549471433662 Centerline is valid? [True, True] Translation: X:142.42, Y:208.25, Z:5.36 [[ 4.90177601e-01 -8.71495511e-01 1.48826691e-02 1.42424646e+02] [ 8.71042237e-01 4.90402798e-01 2.81161257e-02 2.08247335e+02] [-3.18015799e-02 -8.18461636e-04 9.99493867e-01 5.35542101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters Centerline goodness [0,1] 0.9952964652223489 Centerline is valid? [True, True] Translation: X:142.44, Y:208.27, Z:5.36 [[ 4.90120730e-01 -8.71518141e-01 1.54207446e-02 1.42436813e+02] [ 8.71030997e-01 4.90362519e-01 2.91479326e-02 2.08271249e+02] [-3.29647072e-02 -8.54059493e-04 9.99456151e-01 5.35580636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32687500000003 meters Centerline goodness [0,1] 0.9954640448370856 Centerline is valid? [True, True] Translation: X:142.45, Y:208.30, Z:5.36 [[ 4.90013452e-01 -8.71570512e-01 1.58637687e-02 1.42452273e+02] [ 8.71054537e-01 4.90269380e-01 2.99988185e-02 2.08295334e+02] [-3.39236057e-02 -8.81616887e-04 9.99424040e-01 5.35603691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters Centerline goodness [0,1] 0.9955660936573799 Centerline is valid? [True, True] Translation: X:142.46, Y:208.32, Z:5.35 [[ 4.89564682e-01 -8.71820015e-01 1.60088755e-02 1.42464405e+02] [ 8.71293988e-01 4.89825565e-01 3.02936028e-02 2.08319611e+02] [-3.42521258e-02 -8.82241028e-04 9.99412834e-01 5.35471843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38687500000003 meters Centerline goodness [0,1] 0.9957470062725717 Centerline is valid? [True, True] Translation: X:142.48, Y:208.34, Z:5.35 [[ 4.89752982e-01 -8.71715312e-01 1.59509006e-02 1.42477902e+02] [ 8.71192300e-01 4.90011847e-01 3.02054121e-02 2.08343869e+02] [-3.41466505e-02 -8.96888848e-04 9.99416431e-01 5.35364174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters Centerline goodness [0,1] 0.9953680609990736 Centerline is valid? [True, True] Translation: X:142.49, Y:208.37, Z:5.35 [[ 4.89515642e-01 -8.71853193e-01 1.56986389e-02 1.42491895e+02] [ 8.71346005e-01 4.89766507e-01 2.97474214e-02 2.08367921e+02] [-3.36240518e-02 -8.82881800e-04 9.99434162e-01 5.35214615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44687500000003 meters Centerline goodness [0,1] 0.9954312908982749 Centerline is valid? [True, True] Translation: X:142.50, Y:208.39, Z:5.35 [[ 4.89790788e-01 -8.71707884e-01 1.51772469e-02 1.42500276e+02] [ 8.71233178e-01 4.90025106e-01 2.87775231e-02 2.08394402e+02] [-3.25228257e-02 -8.72044704e-04 9.99470613e-01 5.34866790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters Centerline goodness [0,1] 0.9953838100223671 Centerline is valid? [True, True] Translation: X:142.52, Y:208.42, Z:5.35 [[ 4.90038010e-01 -8.71575957e-01 1.47681828e-02 1.42516438e+02] [ 8.71125913e-01 4.90259729e-01 2.80186046e-02 2.08418474e+02] [-3.16605874e-02 -8.65234563e-04 9.99498303e-01 5.34761830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50687500000004 meters Centerline goodness [0,1] 0.9952211126961483 Centerline is valid? [True, True] Translation: X:142.53, Y:208.44, Z:5.35 [[ 4.90677106e-01 -8.71227190e-01 1.41124619e-02 1.42529987e+02] [ 8.70815607e-01 4.90879263e-01 2.67904371e-02 2.08443955e+02] [-3.02680721e-02 -8.56102051e-04 9.99541450e-01 5.34567442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters Centerline goodness [0,1] 0.9960021892773006 Centerline is valid? [True, True] Translation: X:142.54, Y:208.47, Z:5.34 [[ 4.90729761e-01 -8.71201114e-01 1.38895780e-02 1.42540946e+02] [ 8.70801961e-01 4.90925548e-01 2.63827836e-02 2.08468663e+02] [-2.98034591e-02 -8.51745363e-04 9.99555415e-01 5.34318734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56687500000004 meters Centerline goodness [0,1] 0.9951612903225806 Centerline is valid? [True, True] Translation: X:142.56, Y:208.49, Z:5.34 [[ 4.91076155e-01 -8.71010506e-01 1.35980698e-02 1.42555152e+02] [ 8.70627331e-01 4.91263644e-01 2.58472800e-02 2.08492914e+02] [-2.91934898e-02 -8.54131656e-04 9.99573414e-01 5.34175633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters Centerline goodness [0,1] 0.995766239326404 Centerline is valid? [True, True] Translation: X:142.57, Y:208.52, Z:5.34 [[ 4.90875777e-01 -8.71123386e-01 1.36020906e-02 1.42566536e+02] [ 8.70739503e-01 4.91063450e-01 2.58728887e-02 2.08517303e+02] [-2.92179679e-02 -8.56496758e-04 9.99572697e-01 5.34014504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62687500000004 meters Centerline goodness [0,1] 0.9956497967527991 Centerline is valid? [True, True] Translation: X:142.58, Y:208.54, Z:5.34 [[ 4.89659290e-01 -8.71808061e-01 1.35825270e-02 1.42582916e+02] [ 8.71425226e-01 4.89846949e-01 2.58465011e-02 2.08541012e+02] [-2.91865474e-02 -8.19822697e-04 9.99573646e-01 5.33999384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters Centerline goodness [0,1] 0.9956780888603928 Centerline is valid? [True, True] Translation: X:142.60, Y:208.57, Z:5.34 [[ 4.88325518e-01 -8.72554943e-01 1.36403841e-02 1.42598682e+02] [ 8.72168613e-01 4.88515355e-01 2.59741797e-02 2.08565639e+02] [-2.93274360e-02 -7.87139883e-04 9.99569548e-01 5.33998007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68687500000004 meters Centerline goodness [0,1] 0.9958597058963499 Centerline is valid? [True, True] Translation: X:142.61, Y:208.59, Z:5.34 [[ 4.85137182e-01 -8.74327497e-01 1.39047767e-02 1.42612930e+02] [ 8.73926207e-01 4.85335899e-01 2.64962372e-02 2.08588934e+02] [-2.99148761e-02 -7.02561160e-04 9.99552203e-01 5.33944809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters Centerline goodness [0,1] 0.9957087684165356 Centerline is valid? [True, True] Translation: X:142.63, Y:208.61, Z:5.34 [[ 4.82793655e-01 -8.75620403e-01 1.41137184e-02 1.42627836e+02] [ 8.75207254e-01 4.82999488e-01 2.69027410e-02 2.08612627e+02] [-3.03735077e-02 -6.36043979e-04 9.99538416e-01 5.33922730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.746875 meters Centerline goodness [0,1] 0.9961376153350976 Centerline is valid? [True, True] Translation: X:142.64, Y:208.64, Z:5.34 [[ 4.80860504e-01 -8.76681582e-01 1.42330088e-02 1.42644664e+02] [ 8.76261357e-01 4.81070748e-01 2.71471955e-02 2.08635697e+02] [-3.06465305e-02 -5.82178506e-04 9.99530115e-01 5.33981012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters Centerline goodness [0,1] 0.9965447396640057 Centerline is valid? [True, True] Translation: X:142.66, Y:208.66, Z:5.34 [[ 4.78807847e-01 -8.77799338e-01 1.45384946e-02 1.42659787e+02] [ 8.77360801e-01 4.79028225e-01 2.77485985e-02 2.08659816e+02] [-3.13220507e-02 -5.30741450e-04 9.99509203e-01 5.33892619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.806875 meters Centerline goodness [0,1] 0.9961255051105301 Centerline is valid? [True, True] Translation: X:142.67, Y:208.68, Z:5.34 [[ 4.76586827e-01 -8.79009467e-01 1.43998032e-02 1.42671854e+02] [ 8.78579244e-01 4.76804100e-01 2.75020409e-02 2.08684828e+02] [-3.10404395e-02 -4.55742163e-04 9.99518026e-01 5.33616770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters Centerline goodness [0,1] 0.9969302524807844 Centerline is valid? [True, True] Translation: X:142.69, Y:208.71, Z:5.34 [[ 4.72590578e-01 -8.81173065e-01 1.38627301e-02 1.42690430e+02] [ 8.80774764e-01 4.72793753e-01 2.64930536e-02 2.08707312e+02] [-2.98991775e-02 -3.10424699e-04 9.99552871e-01 5.33613231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.866875 meters Centerline goodness [0,1] 0.9969302524807844 Centerline is valid? [True, True] Translation: X:142.70, Y:208.73, Z:5.34 [[ 4.72347488e-01 -8.81303505e-01 1.38558169e-02 1.42703147e+02] [ 8.80905154e-01 4.72550565e-01 2.64966683e-02 2.08731805e+02] [-2.98991808e-02 -3.09974185e-04 9.99552871e-01 5.33500480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters Centerline goodness [0,1] 0.9968221595086205 Centerline is valid? [True, True] Translation: X:142.72, Y:208.76, Z:5.33 [[ 4.70404569e-01 -8.82348107e-01 1.34669827e-02 1.42715384e+02] [ 8.81971757e-01 4.70597236e-01 2.57694032e-02 2.08755804e+02] [-2.90751089e-02 -2.44546629e-04 9.99577200e-01 5.33122422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.926875 meters Centerline goodness [0,1] 0.9975085421412301 Centerline is valid? [True, True] Translation: X:142.73, Y:208.78, Z:5.33 [[ 4.69127404e-01 -8.83032432e-01 1.31606426e-02 1.42730883e+02] [ 8.82672782e-01 4.69311924e-01 2.52007529e-02 2.08779706e+02] [-2.84295286e-02 -2.05822785e-04 9.99595778e-01 5.33204474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters Centerline goodness [0,1] 0.9974157756229404 Centerline is valid? [True, True] Translation: X:142.74, Y:208.80, Z:5.33 [[ 4.67941419e-01 -8.83664408e-01 1.29631158e-02 1.42744677e+02] [ 8.83315260e-01 4.68120907e-01 2.48388198e-02 2.08804155e+02] [-2.80174865e-02 -1.72594580e-04 9.99607418e-01 5.33113256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.986875 meters Centerline goodness [0,1] 0.9977187938122282 Centerline is valid? [True, True] Translation: X:142.76, Y:208.83, Z:5.33 [[ 4.66684670e-01 -8.84331272e-01 1.27914260e-02 1.42758584e+02] [ 8.83991119e-01 4.66859917e-01 2.45259039e-02 2.08829022e+02] [-2.76608279e-02 -1.38356349e-04 9.99617357e-01 5.33061853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters Centerline goodness [0,1] 0.996953541507997 Centerline is valid? [True, True] Translation: X:142.77, Y:208.85, Z:5.33 [[ 4.65601019e-01 -8.84903588e-01 1.27016084e-02 1.42772189e+02] [ 8.84567967e-01 4.65774223e-01 2.43697589e-02 2.08852668e+02] [-2.74809688e-02 -1.11148682e-04 9.99622321e-01 5.32994890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.046875 meters Centerline goodness [0,1] 0.9974538359032934 Centerline is valid? [True, True] Translation: X:142.78, Y:208.88, Z:5.33 [[ 4.65181534e-01 -8.85121358e-01 1.28965439e-02 1.42784941e+02] [ 8.84774920e-01 4.65360257e-01 2.47622962e-02 2.08876098e+02] [-2.79191763e-02 -1.08424368e-04 9.99610178e-01 5.32846025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters Centerline goodness [0,1] 0.9971838380945562 Centerline is valid? [True, True] Translation: X:142.80, Y:208.90, Z:5.33 [[ 4.65222273e-01 -8.85093945e-01 1.33021015e-02 1.42797954e+02] [ 8.84724805e-01 4.65412391e-01 2.55602460e-02 2.08900670e+02] [-2.88141819e-02 -1.22496565e-04 9.99584778e-01 5.32906651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.106875 meters Centerline goodness [0,1] 0.9974742661075104 Centerline is valid? [True, True] Translation: X:142.81, Y:208.93, Z:5.33 [[ 4.65580897e-01 -8.84903732e-01 1.34094272e-02 1.42810109e+02] [ 8.84528024e-01 4.65773941e-01 2.57839132e-02 2.08925751e+02] [-2.90620428e-02 -1.43483323e-04 9.99577599e-01 5.32779625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters Centerline goodness [0,1] 0.9965945083470268 Centerline is valid? [True, True] Translation: X:142.82, Y:208.95, Z:5.33 [[ 4.66050579e-01 -8.84659667e-01 1.31958877e-02 1.42821569e+02] [ 8.84295268e-01 4.66237329e-01 2.53895955e-02 2.08950101e+02] [-2.86135665e-02 -1.63774639e-04 9.99590535e-01 5.32605749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.166875 meters Centerline goodness [0,1] 0.9974528054848002 Centerline is valid? [True, True] Translation: X:142.83, Y:208.98, Z:5.33 [[ 4.66757337e-01 -8.84283661e-01 1.34162307e-02 1.42834491e+02] [ 8.83906277e-01 4.66950069e-01 2.58326416e-02 2.08975404e+02] [-2.91080928e-02 -1.98884456e-04 9.99576250e-01 5.32619701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters Centerline goodness [0,1] 0.9971781136407117 Centerline is valid? [True, True] Translation: X:142.85, Y:209.00, Z:5.33 [[ 4.67474099e-01 -8.83906087e-01 1.33415173e-02 1.42847100e+02] [ 8.83532243e-01 4.67664384e-01 2.57060100e-02 2.09000976e+02] [-2.89610512e-02 -2.29233146e-04 9.99580514e-01 5.32559683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.226875 meters Centerline goodness [0,1] 0.9971113445378151 Centerline is valid? [True, True] Translation: X:142.86, Y:209.03, Z:5.32 [[ 4.69266060e-01 -8.82955945e-01 1.33477979e-02 1.42859290e+02] [ 8.82580849e-01 4.69455760e-01 2.57358533e-02 2.09026742e+02] [-2.89898253e-02 -2.96451655e-04 9.99579663e-01 5.32408531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters Centerline goodness [0,1] 0.9975093996216203 Centerline is valid? [True, True] Translation: X:142.87, Y:209.05, Z:5.32 [[ 4.69881883e-01 -8.82631966e-01 1.31083482e-02 1.42870917e+02] [ 8.82269582e-01 4.70064582e-01 2.52917812e-02 2.09050811e+02] [-2.84851048e-02 -3.19052950e-04 9.99594166e-01 5.32293051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.286875 meters Centerline goodness [0,1] 0.997125748502994 Centerline is valid? [True, True] Translation: X:142.88, Y:209.08, Z:5.32 [[ 4.70290932e-01 -8.82416185e-01 1.29659482e-02 1.42884330e+02] [ 8.82061267e-01 4.70469516e-01 2.50270917e-02 2.09075409e+02] [-2.81843942e-02 -3.33253544e-04 9.99602686e-01 5.32198649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters Centerline goodness [0,1] 0.9975586404978458 Centerline is valid? [True, True] Translation: X:142.90, Y:209.10, Z:5.32 [[ 4.70523985e-01 -8.82291020e-01 1.30282741e-02 1.42896926e+02] [ 8.81932142e-01 4.70704189e-01 2.51647163e-02 2.09100664e+02] [-2.83350665e-02 -3.50548901e-04 9.99598420e-01 5.32063677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.346875 meters Centerline goodness [0,1] 0.997399312845963 Centerline is valid? [True, True] Translation: X:142.91, Y:209.13, Z:5.32 [[ 4.70892636e-01 -8.82095385e-01 1.29559454e-02 1.42909194e+02] [ 8.81739928e-01 4.71070690e-01 2.50420448e-02 2.09125526e+02] [-2.81926384e-02 -3.68340115e-04 9.99602441e-01 5.31936491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters Centerline goodness [0,1] 0.9973014280938052 Centerline is valid? [True, True] Translation: X:142.92, Y:209.15, Z:5.32 [[ 4.71257873e-01 -8.81901800e-01 1.28543049e-02 1.42920964e+02] [ 8.81551366e-01 4.71432994e-01 2.48620466e-02 2.09149733e+02] [-2.79858270e-02 -3.84705117e-04 9.99608246e-01 5.31688851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.406875 meters Centerline goodness [0,1] 0.9971922920016318 Centerline is valid? [True, True] Translation: X:142.93, Y:209.17, Z:5.32 [[ 4.71523092e-01 -8.81762149e-01 1.27077212e-02 1.42932803e+02] [ 8.81419110e-01 4.71694133e-01 2.45966969e-02 2.09173917e+02] [-2.76825939e-02 -3.97082317e-04 9.99616685e-01 5.31543001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters Centerline goodness [0,1] 0.9968405179635702 Centerline is valid? [True, True] Translation: X:142.95, Y:209.20, Z:5.32 [[ 4.71660256e-01 -8.81688176e-01 1.27500369e-02 1.42946559e+02] [ 8.81342368e-01 4.71832377e-01 2.46949184e-02 2.09198525e+02] [-2.77890978e-02 -4.10463861e-04 9.99613724e-01 5.31552529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.466875 meters Centerline goodness [0,1] 0.9969246293938157 Centerline is valid? [True, True] Translation: X:142.96, Y:209.22, Z:5.31 [[ 4.71871909e-01 -8.81574741e-01 1.27623550e-02 1.42958266e+02] [ 8.81227765e-01 4.72044273e-01 2.47352206e-02 2.09223328e+02] [-2.78303423e-02 -4.25314192e-04 9.99612571e-01 5.31410193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters Centerline goodness [0,1] 0.9972468278668901 Centerline is valid? [True, True] Translation: X:142.97, Y:209.25, Z:5.31 [[ 4.72018174e-01 -8.81496269e-01 1.27738198e-02 1.42971958e+02] [ 8.81148142e-01 4.72190782e-01 2.47753455e-02 2.09247494e+02] [-2.78710546e-02 -4.38785736e-04 9.99611430e-01 5.31410909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.526875 meters Centerline goodness [0,1] 0.996856477815372 Centerline is valid? [True, True] Translation: X:142.99, Y:209.27, Z:5.31 [[ 4.72152356e-01 -8.81424837e-01 1.27439756e-02 1.42986318e+02] [ 8.81077863e-01 4.72324099e-01 2.47334720e-02 2.09271808e+02] [-2.78199833e-02 -4.49532247e-04 9.99612848e-01 5.31468857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters Centerline goodness [0,1] 0.9974134214686018 Centerline is valid? [True, True] Translation: X:143.00, Y:209.30, Z:5.31 [[ 4.72420166e-01 -8.81276961e-01 1.30424379e-02 1.42997967e+02] [ 8.80912975e-01 4.72599927e-01 2.53306233e-02 2.09295886e+02] [-2.84871499e-02 -4.77444492e-04 9.99594045e-01 5.31333856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.586875 meters Centerline goodness [0,1] 0.9975520195838433 Centerline is valid? [True, True] Translation: X:143.01, Y:209.32, Z:5.31 [[ 4.72628486e-01 -8.81163283e-01 1.31750804e-02 1.43010620e+02] [ 8.80791239e-01 4.72811823e-01 2.56080757e-02 2.09321240e+02] [-2.87942298e-02 -4.98610652e-04 9.99585236e-01 5.31228641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters Centerline goodness [0,1] 0.9973835813730196 Centerline is valid? [True, True] Translation: X:143.02, Y:209.35, Z:5.31 [[ 4.72889018e-01 -8.81024808e-01 1.30867881e-02 1.43024324e+02] [ 8.80657190e-01 4.73069789e-01 2.54536641e-02 2.09346112e+02] [-2.86162736e-02 -5.11784225e-04 9.99590340e-01 5.31150921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.646875 meters Centerline goodness [0,1] 0.9968627263147811 Centerline is valid? [True, True] Translation: X:143.04, Y:209.37, Z:5.31 [[ 4.73018990e-01 -8.80952886e-01 1.32305351e-02 1.43035885e+02] [ 8.80576601e-01 4.73203689e-01 2.57510927e-02 2.09370274e+02] [-2.89462375e-02 -5.30256205e-04 9.99580829e-01 5.30881231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters Centerline goodness [0,1] 0.9978670373388295 Centerline is valid? [True, True] Translation: X:143.05, Y:209.40, Z:5.31 [[ 4.73224766e-01 -8.80842593e-01 1.32154292e-02 1.43049435e+02] [ 8.80466483e-01 4.73408944e-01 2.57438318e-02 2.09395159e+02] [-2.89325659e-02 -5.46876314e-04 9.99581216e-01 5.30762850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.706875 meters Centerline goodness [0,1] 0.9974859331976536 Centerline is valid? [True, True] Translation: X:143.06, Y:209.42, Z:5.31 [[ 4.72845729e-01 -8.81048656e-01 1.30454246e-02 1.43061767e+02] [ 8.80681962e-01 4.73025352e-01 2.54224194e-02 2.09419047e+02] [-2.85692050e-02 -5.32012280e-04 9.99591675e-01 5.30586072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters Centerline goodness [0,1] 0.9973087274125336 Centerline is valid? [True, True] Translation: X:143.08, Y:209.44, Z:5.31 [[ 4.72252588e-01 -8.81370339e-01 1.27991722e-02 1.43075763e+02] [ 8.81017197e-01 4.72425728e-01 2.49525665e-02 2.09442961e+02] [-2.80391102e-02 -5.07623304e-04 9.99606698e-01 5.30530016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.766875 meters Centerline goodness [0,1] 0.997191146108417 Centerline is valid? [True, True] Translation: X:143.09, Y:209.47, Z:5.30 [[ 4.70819532e-01 -8.82133770e-01 1.29992355e-02 1.43090588e+02] [ 8.81769279e-01 4.70998709e-01 2.53604933e-02 2.09466674e+02] [-2.84939707e-02 -4.77889081e-04 9.99593850e-01 5.30496647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters Centerline goodness [0,1] 0.997501021217291 Centerline is valid? [True, True] Translation: X:143.10, Y:209.49, Z:5.30 [[ 4.69711140e-01 -8.82721947e-01 1.31685039e-02 1.43103920e+02] [ 8.82347609e-01 4.69895474e-01 2.57087749e-02 2.09491267e+02] [-2.88815202e-02 -4.56500064e-04 9.99582738e-01 5.30367716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82687500000003 meters Centerline goodness [0,1] 0.9973714671553969 Centerline is valid? [True, True] Translation: X:143.12, Y:209.52, Z:5.30 [[ 4.68530803e-01 -8.83349486e-01 1.31366337e-02 1.43117239e+02] [ 8.82976709e-01 4.68714737e-01 2.56637228e-02 2.09515226e+02] [-2.88273701e-02 -4.24903082e-04 9.99584315e-01 5.30266295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters Centerline goodness [0,1] 0.9971537459597665 Centerline is valid? [True, True] Translation: X:143.13, Y:209.54, Z:5.30 [[ 4.66448968e-01 -8.84451568e-01 1.30684436e-02 1.43131060e+02] [ 8.84082557e-01 4.66631858e-01 2.55487889e-02 2.09538169e+02] [-2.86948185e-02 -3.63623179e-04 9.99588153e-01 5.30052815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88687500000003 meters Centerline goodness [0,1] 0.9975838991036265 Centerline is valid? [True, True] Translation: X:143.15, Y:209.56, Z:5.30 [[ 4.65113638e-01 -8.85151262e-01 1.32871279e-02 1.43145940e+02] [ 8.84769466e-01 4.65303268e-01 2.59973074e-02 2.09562653e+02] [-2.91940935e-02 -3.35657170e-04 9.99573705e-01 5.30015682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters Centerline goodness [0,1] 0.997965806170388 Centerline is valid? [True, True] Translation: X:143.16, Y:209.59, Z:5.30 [[ 4.63591863e-01 -8.85946255e-01 1.34839812e-02 1.43159514e+02] [ 8.85553185e-01 4.63787825e-01 2.63895677e-02 2.09586143e+02] [-2.96334450e-02 -2.93206387e-04 9.99560790e-01 5.29919538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94687500000003 meters Centerline goodness [0,1] 0.9975989522700814 Centerline is valid? [True, True] Translation: X:143.17, Y:209.61, Z:5.30 [[ 4.62422006e-01 -8.86554254e-01 1.36909574e-02 1.43174290e+02] [ 8.86148615e-01 4.62624559e-01 2.68169747e-02 2.09610713e+02] [-3.01084761e-02 -2.68536247e-04 9.99546601e-01 5.29917938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters Centerline goodness [0,1] 0.9974797654243203 Centerline is valid? [True, True] Translation: X:143.19, Y:209.63, Z:5.30 [[ 4.61069972e-01 -8.87254238e-01 1.39426435e-02 1.43187573e+02] [ 8.86833579e-01 4.61280677e-01 2.73192371e-02 2.09634172e+02] [-3.06705810e-02 -2.31275460e-04 9.99529520e-01 5.29829531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00687500000004 meters Centerline goodness [0,1] 0.9975481866291207 Centerline is valid? [True, True] Translation: X:143.20, Y:209.66, Z:5.30 [[ 4.59987691e-01 -8.87814465e-01 1.40285305e-02 1.43201680e+02] [ 8.87388254e-01 4.60201514e-01 2.75073238e-02 2.09658370e+02] [-3.08773509e-02 -2.04277143e-04 9.99523160e-01 5.29778151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters Centerline goodness [0,1] 0.9978449841400518 Centerline is valid? [True, True] Translation: X:143.21, Y:209.68, Z:5.30 [[ 4.58240223e-01 -8.88719828e-01 1.38911609e-02 1.43214839e+02] [ 8.88301721e-01 4.58450699e-01 2.72581772e-02 2.09681698e+02] [-3.05932950e-02 -1.51251013e-04 9.99531904e-01 5.29602939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06687500000004 meters Centerline goodness [0,1] 0.9978458187099116 Centerline is valid? [True, True] Translation: X:143.23, Y:209.71, Z:5.29 [[ 4.57791009e-01 -8.88955603e-01 1.36135184e-02 1.43228451e+02] [ 8.88553802e-01 4.57993359e-01 2.67249736e-02 2.09706504e+02] [-2.99922161e-02 -1.38109117e-04 9.99550123e-01 5.29482995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters Centerline goodness [0,1] 0.9981026514230115 Centerline is valid? [True, True] Translation: X:143.24, Y:209.73, Z:5.29 [[ 4.57522848e-01 -8.89096599e-01 1.34194597e-02 1.43242068e+02] [ 8.88705770e-01 4.57719587e-01 2.63597159e-02 2.09731387e+02] [-2.95786833e-02 -1.34221012e-04 9.99562446e-01 5.29404975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12687500000004 meters Centerline goodness [0,1] 0.9980238600600161 Centerline is valid? [True, True] Translation: X:143.26, Y:209.76, Z:5.29 [[ 4.56724802e-01 -8.89507366e-01 1.33828299e-02 1.43255227e+02] [ 8.89118318e-01 4.56920816e-01 2.63056135e-02 2.09755505e+02] [-2.95139305e-02 -1.15506862e-04 9.99564362e-01 5.29218621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters Centerline goodness [0,1] 0.9979794537221871 Centerline is valid? [True, True] Translation: X:143.27, Y:209.78, Z:5.29 [[ 4.56445420e-01 -8.89652654e-01 1.32564196e-02 1.43267773e+02] [ 8.89270437e-01 4.56637867e-01 2.60758314e-02 2.09779745e+02] [-2.92518158e-02 -1.13651727e-04 9.99572068e-01 5.29038677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18687500000004 meters Centerline goodness [0,1] 0.9978782040338512 Centerline is valid? [True, True] Translation: X:143.28, Y:209.80, Z:5.29 [[ 4.56243126e-01 -8.89755340e-01 1.33283379e-02 1.43281004e+02] [ 8.89368439e-01 4.56437751e-01 2.62365887e-02 2.09804555e+02] [-2.94277015e-02 -1.16460217e-04 9.99566905e-01 5.29006753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters Centerline goodness [0,1] 0.9978575776019477 Centerline is valid? [True, True] Translation: X:143.29, Y:209.83, Z:5.29 [[ 4.56584142e-01 -8.89579194e-01 1.34081833e-02 1.43292858e+02] [ 8.89187039e-01 4.56780954e-01 2.64115506e-02 2.09828581e+02] [-2.96197687e-02 -1.36712388e-04 9.99561229e-01 5.28865707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.246875 meters Centerline goodness [0,1] 0.9981020512446164 Centerline is valid? [True, True] Translation: X:143.31, Y:209.85, Z:5.29 [[ 4.56840278e-01 -8.89443277e-01 1.36973415e-02 1.43305538e+02] [ 8.89033349e-01 4.57045547e-01 2.70013411e-02 2.09853457e+02] [-3.02764702e-02 -1.57906769e-04 9.99541550e-01 5.28841725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters Centerline goodness [0,1] 0.9976837177549129 Centerline is valid? [True, True] Translation: X:143.32, Y:209.88, Z:5.29 [[ 4.58986558e-01 -8.88336922e-01 1.37423793e-02 1.43316026e+02] [ 8.87923209e-01 4.59192177e-01 2.71093849e-02 2.09878864e+02] [-3.03926606e-02 -2.40665759e-04 9.99538007e-01 5.28652468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.306875 meters Centerline goodness [0,1] 0.997708211429686 Centerline is valid? [True, True] Translation: X:143.33, Y:209.90, Z:5.29 [[ 4.59998787e-01 -8.87813283e-01 1.37364597e-02 1.43327452e+02] [ 8.87399216e-01 4.60203754e-01 2.71134154e-02 2.09904306e+02] [-3.03932206e-02 -2.82414657e-04 9.99537979e-01 5.28503280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters Centerline goodness [0,1] 0.9974148863525509 Centerline is valid? [True, True] Translation: X:143.34, Y:209.93, Z:5.28 [[ 4.61572316e-01 -8.86994364e-01 1.38562493e-02 1.43338320e+02] [ 8.86572080e-01 4.61780118e-01 2.73691281e-02 2.09928995e+02] [-3.06748028e-02 -3.48268110e-04 9.99529357e-01 5.28342108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.366875 meters Centerline goodness [0,1] 0.9980770166983107 Centerline is valid? [True, True] Translation: X:143.35, Y:209.95, Z:5.28 [[ 4.62995612e-01 -8.86251114e-01 1.39292898e-02 1.43350288e+02] [ 8.85823515e-01 4.63204918e-01 2.75300647e-02 2.09954488e+02] [-3.08506661e-02 -4.07406716e-04 9.99523922e-01 5.28288342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters Centerline goodness [0,1] 0.9976395580863386 Centerline is valid? [True, True] Translation: X:143.36, Y:209.98, Z:5.28 [[ 4.64393383e-01 -8.85515782e-01 1.41628413e-02 1.43362955e+02] [ 8.85072861e-01 4.64609059e-01 2.80080946e-02 2.09979914e+02] [-3.13817942e-02 -4.71627395e-04 9.99507359e-01 5.28246056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.426875 meters Centerline goodness [0,1] 0.997611736608666 Centerline is valid? [True, True] Translation: X:143.38, Y:210.01, Z:5.28 [[ 4.65662046e-01 -8.84847005e-01 1.43051267e-02 1.43375256e+02] [ 8.84394206e-01 4.65881418e-01 2.83088751e-02 2.10005337e+02] [-3.17135160e-02 -5.30997543e-04 9.99496859e-01 5.28184026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters Centerline goodness [0,1] 0.9972738115522235 Centerline is valid? [True, True] Translation: X:143.38, Y:210.03, Z:5.28 [[ 4.68173413e-01 -8.83511201e-01 1.48866798e-02 1.43382940e+02] [ 8.83019440e-01 4.68409571e-01 2.94812077e-02 2.10032033e+02] [-3.30200406e-02 -6.57089970e-04 9.99454474e-01 5.27966310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.486875 meters Centerline goodness [0,1] 0.997739371399402 Centerline is valid? [True, True] Translation: X:143.40, Y:210.06, Z:5.28 [[ 4.69259713e-01 -8.82934015e-01 1.49280807e-02 1.43396781e+02] [ 8.82438570e-01 4.69496564e-01 2.95828761e-02 2.10056691e+02] [-3.31284101e-02 -7.08937738e-04 9.99450852e-01 5.27984433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters Centerline goodness [0,1] 0.9973643751372722 Centerline is valid? [True, True] Translation: X:143.41, Y:210.08, Z:5.28 [[ 4.70274059e-01 -8.82390810e-01 1.51250544e-02 1.43408393e+02] [ 8.81881240e-01 4.70516599e-01 2.99934834e-02 2.10082117e+02] [-3.35825633e-02 -7.66655449e-04 9.99435653e-01 5.27855857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.546875 meters Centerline goodness [0,1] 0.9965681740738938 Centerline is valid? [True, True] Translation: X:143.42, Y:210.11, Z:5.28 [[ 4.71579066e-01 -8.81691077e-01 1.52980221e-02 1.43416815e+02] [ 8.81168723e-01 4.71826395e-01 3.03568006e-02 2.10108938e+02] [-3.39833309e-02 -8.35493088e-04 9.99422051e-01 5.27574001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters Centerline goodness [0,1] 0.9970294618943267 Centerline is valid? [True, True] Translation: X:143.43, Y:210.13, Z:5.28 [[ 4.71785553e-01 -8.81586438e-01 1.49581210e-02 1.43433762e+02] [ 8.81086642e-01 4.72021891e-01 2.96928188e-02 2.10132447e+02] [-3.32373469e-02 -8.29242357e-04 9.99447143e-01 5.27535516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.606875 meters Centerline goodness [0,1] 0.9969592293470857 Centerline is valid? [True, True] Translation: X:143.44, Y:210.16, Z:5.27 [[ 4.71983749e-01 -8.81484774e-01 1.46946713e-02 1.43444657e+02] [ 8.81001730e-01 4.72211713e-01 2.91898978e-02 2.10157100e+02] [-3.26694464e-02 -8.31126550e-04 9.99465866e-01 5.27330102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters Centerline goodness [0,1] 0.9974204224666602 Centerline is valid? [True, True] Translation: X:143.46, Y:210.18, Z:5.27 [[ 4.72065412e-01 -8.81448210e-01 1.42583477e-02 1.43458429e+02] [ 8.80992876e-01 4.72279987e-01 2.83401876e-02 2.10181381e+02] [-3.17143398e-02 -8.16919607e-04 9.99496640e-01 5.27110064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.666875 meters Centerline goodness [0,1] 0.9973546899648101 Centerline is valid? [True, True] Translation: X:143.47, Y:210.21, Z:5.27 [[ 4.71587904e-01 -8.81705422e-01 1.41561899e-02 1.43471018e+02] [ 8.81256084e-01 4.71799644e-01 2.81568940e-02 2.10206074e+02] [-3.15049715e-02 -8.03222130e-04 9.99503272e-01 5.26904384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters Centerline goodness [0,1] 0.9971008137211909 Centerline is valid? [True, True] Translation: X:143.48, Y:210.23, Z:5.27 [[ 4.71037852e-01 -8.82004207e-01 1.38535584e-02 1.43483274e+02] [ 8.81573438e-01 4.71240892e-01 2.75734376e-02 2.10230690e+02] [-3.08482511e-02 -7.75203714e-04 9.99523779e-01 5.26728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.726875 meters Centerline goodness [0,1] 0.9977589398811264 Centerline is valid? [True, True] Translation: X:143.50, Y:210.25, Z:5.27 [[ 4.70212418e-01 -8.82444447e-01 1.38593058e-02 1.43497309e+02] [ 8.82012862e-01 4.70416014e-01 2.76059018e-02 2.10254920e+02] [-3.08803141e-02 -7.56551871e-04 9.99522803e-01 5.26668884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters Centerline goodness [0,1] 0.9972458504959907 Centerline is valid? [True, True] Translation: X:143.51, Y:210.28, Z:5.27 [[ 4.69314576e-01 -8.82921018e-01 1.39393368e-02 1.43508657e+02] [ 8.82484040e-01 4.69520959e-01 2.77846803e-02 2.10279171e+02] [-3.10764890e-02 -7.38513207e-04 9.99516736e-01 5.26510103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.786875 meters Centerline goodness [0,1] 0.9972458504959907 Centerline is valid? [True, True] Translation: X:143.52, Y:210.30, Z:5.26 [[ 4.69077309e-01 -8.83047224e-01 1.39312235e-02 1.43520938e+02] [ 8.82610181e-01 4.69283555e-01 2.77887473e-02 2.10303894e+02] [-3.10764702e-02 -7.39231141e-04 9.99516736e-01 5.26397386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters Centerline goodness [0,1] 0.9972030353147193 Centerline is valid? [True, True] Translation: X:143.53, Y:210.33, Z:5.26 [[ 4.67233302e-01 -8.84016807e-01 1.43988405e-02 1.43534794e+02] [ 8.83549726e-01 4.67454581e-01 2.87418960e-02 2.10328109e+02] [-3.21391231e-02 -7.07079337e-04 9.99483155e-01 5.26356042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.846875 meters Centerline goodness [0,1] 0.9975006066488716 Centerline is valid? [True, True] Translation: X:143.55, Y:210.35, Z:5.26 [[ 4.66133003e-01 -8.84590928e-01 1.47957156e-02 1.43551080e+02] [ 8.84097394e-01 4.66367245e-01 2.95531832e-02 2.10351508e+02] [-3.30427149e-02 -6.94860478e-04 9.99453699e-01 5.26401977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters Centerline goodness [0,1] 0.997564302416212 Centerline is valid? [True, True] Translation: X:143.56, Y:210.38, Z:5.26 [[ 4.64743568e-01 -8.85317162e-01 1.50644668e-02 1.43564365e+02] [ 8.84805177e-01 4.64987183e-01 3.01117630e-02 2.10376632e+02] [-3.36632446e-02 -6.65129941e-04 9.99433011e-01 5.26319272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.906875 meters Centerline goodness [0,1] 0.9976946224034168 Centerline is valid? [True, True] Translation: X:143.58, Y:210.40, Z:5.26 [[ 4.63842859e-01 -8.85786654e-01 1.52251727e-02 1.43578692e+02] [ 8.85263252e-01 4.64092216e-01 3.04530654e-02 2.10400890e+02] [-3.40408031e-02 -6.47151023e-04 9.99420234e-01 5.26263008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters Centerline goodness [0,1] 0.9976115037777236 Centerline is valid? [True, True] Translation: X:143.59, Y:210.42, Z:5.26 [[ 4.62495512e-01 -8.86489708e-01 1.52937562e-02 1.43591644e+02] [ 8.85961172e-01 4.62747908e-01 3.06133255e-02 2.10424204e+02] [-3.42155517e-02 -6.08851487e-04 9.99414291e-01 5.26164235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.966875 meters Centerline goodness [0,1] 0.9976325295323636 Centerline is valid? [True, True] Translation: X:143.61, Y:210.45, Z:5.26 [[ 4.60622543e-01 -8.87466132e-01 1.51900390e-02 1.43606862e+02] [ 8.86944777e-01 4.60872622e-01 3.04202097e-02 2.10447950e+02] [-3.39975790e-02 -5.39508588e-04 9.99421770e-01 5.26052512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters Centerline goodness [0,1] 0.9975632340757347 Centerline is valid? [True, True] Translation: X:143.62, Y:210.47, Z:5.26 [[ 4.59800857e-01 -8.87894394e-01 1.50571403e-02 1.43619407e+02] [ 8.87381686e-01 4.60047045e-01 3.01738347e-02 2.10471885e+02] [-3.37181715e-02 -5.12524522e-04 9.99431249e-01 5.25933753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.026875 meters Centerline goodness [0,1] 0.9979453060026418 Centerline is valid? [True, True] Translation: X:143.63, Y:210.50, Z:5.26 [[ 4.59128803e-01 -8.88244587e-01 1.49096305e-02 1.43632301e+02] [ 8.87741393e-01 4.59370562e-01 2.98982552e-02 2.10496348e+02] [-3.34060087e-02 -4.91253993e-04 9.99441743e-01 5.25795463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters Centerline goodness [0,1] 0.9980726536387812 Centerline is valid? [True, True] Translation: X:143.64, Y:210.52, Z:5.26 [[ 4.57902627e-01 -8.88877920e-01 1.48737232e-02 1.43644684e+02] [ 8.88376810e-01 4.58143905e-01 2.98463655e-02 2.10520396e+02] [-3.33440809e-02 -4.53258448e-04 9.99443829e-01 5.25703562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.086875 meters Centerline goodness [0,1] 0.9979942272882931 Centerline is valid? [True, True] Translation: X:143.66, Y:210.55, Z:5.26 [[ 4.57947680e-01 -8.88853175e-01 1.49651229e-02 1.43656699e+02] [ 8.88345103e-01 4.58191896e-01 3.00527002e-02 2.10545063e+02] [-3.35693360e-02 -4.68370718e-04 9.99436281e-01 5.25560919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters Centerline goodness [0,1] 0.9973862914651425 Centerline is valid? [True, True] Translation: X:143.67, Y:210.57, Z:5.25 [[ 4.57283747e-01 -8.89196948e-01 1.48446064e-02 1.43667313e+02] [ 8.88696787e-01 4.57524414e-01 2.98233441e-02 2.10568566e+02] [-3.33105964e-02 -4.45376571e-04 9.99444949e-01 5.25394626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.146875 meters Centerline goodness [0,1] 0.9978007477457664 Centerline is valid? [True, True] Translation: X:143.68, Y:210.59, Z:5.25 [[ 4.56836108e-01 -8.89429035e-01 1.47228359e-02 1.43679530e+02] [ 8.88936448e-01 4.57073082e-01 2.96005091e-02 2.10591729e+02] [-3.30569643e-02 -4.34915958e-04 9.99453375e-01 5.25326715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters Centerline goodness [0,1] 0.9977691157363144 Centerline is valid? [True, True] Translation: X:143.69, Y:210.62, Z:5.25 [[ 4.55985160e-01 -8.89867460e-01 1.46095249e-02 1.43692730e+02] [ 8.89381866e-01 4.56218956e-01 2.93966140e-02 2.10616931e+02] [-3.28242325e-02 -4.10973211e-04 9.99461055e-01 5.25241798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.206875 meters Centerline goodness [0,1] 0.9982660935821042 Centerline is valid? [True, True] Translation: X:143.70, Y:210.64, Z:5.25 [[ 4.55961511e-01 -8.89880241e-01 1.45690171e-02 1.43704427e+02] [ 8.89396683e-01 4.56194017e-01 2.93352745e-02 2.10642434e+02] [-3.27511796e-02 -4.18120624e-04 9.99463449e-01 5.25109270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters Centerline goodness [0,1] 0.9981136697697207 Centerline is valid? [True, True] Translation: X:143.72, Y:210.67, Z:5.25 [[ 4.55749175e-01 -8.89987383e-01 1.46678913e-02 1.43716340e+02] [ 8.89496612e-01 4.55984955e-01 2.95550018e-02 2.10667476e+02] [-3.29919165e-02 -4.22628051e-04 9.99455529e-01 5.25002338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.266875 meters Centerline goodness [0,1] 0.9980168931325744 Centerline is valid? [True, True] Translation: X:143.73, Y:210.69, Z:5.25 [[ 4.55221095e-01 -8.90259445e-01 1.45559605e-02 1.43728977e+02] [ 8.89775602e-01 4.55453569e-01 2.93500358e-02 2.10692319e+02] [-3.27587108e-02 -4.09216944e-04 9.99463206e-01 5.24949052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters Centerline goodness [0,1] 0.9980686013250861 Centerline is valid? [True, True] Translation: X:143.74, Y:210.72, Z:5.25 [[ 4.54731310e-01 -8.90508832e-01 1.46101424e-02 1.43740377e+02] [ 8.90020817e-01 4.54965777e-01 2.94802863e-02 2.10716911e+02] [-3.28995701e-02 -4.02278374e-04 9.99458582e-01 5.24838083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32687500000003 meters Centerline goodness [0,1] 0.9981409001956947 Centerline is valid? [True, True] Translation: X:143.75, Y:210.74, Z:5.25 [[ 4.54220886e-01 -8.90768999e-01 1.46279668e-02 1.43752781e+02] [ 8.90279124e-01 4.54456196e-01 2.95406125e-02 2.10742364e+02] [-3.29616320e-02 -3.94989751e-04 9.99456540e-01 5.24773881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters Centerline goodness [0,1] 0.9979938837920489 Centerline is valid? [True, True] Translation: X:143.76, Y:210.77, Z:5.25 [[ 4.53542178e-01 -8.91114329e-01 1.46542175e-02 1.43763163e+02] [ 8.90622464e-01 4.53778703e-01 2.96060009e-02 2.10767741e+02] [-3.30321034e-02 -3.76194840e-04 9.99454220e-01 5.24544234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38687500000003 meters Centerline goodness [0,1] 0.9981197958635509 Centerline is valid? [True, True] Translation: X:143.78, Y:210.79, Z:5.25 [[ 4.52758454e-01 -8.91514377e-01 1.45567456e-02 1.43776435e+02] [ 8.91028791e-01 4.52992266e-01 2.94227870e-02 2.10792119e+02] [-3.28249307e-02 -3.50936145e-04 9.99461055e-01 5.24559746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters Centerline goodness [0,1] 0.9980025333723083 Centerline is valid? [True, True] Translation: X:143.79, Y:210.82, Z:5.24 [[ 4.52510066e-01 -8.91639748e-01 1.46013703e-02 1.43787626e+02] [ 8.91150576e-01 4.52745443e-01 2.95332993e-02 2.10816384e+02] [-3.29437674e-02 -3.52095647e-04 9.99457145e-01 5.24402031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44687500000003 meters Centerline goodness [0,1] 0.9984162565177136 Centerline is valid? [True, True] Translation: X:143.80, Y:210.84, Z:5.24 [[ 4.52430472e-01 -8.91682476e-01 1.44578291e-02 1.43799864e+02] [ 8.91202196e-01 4.52661281e-01 2.92645116e-02 2.10841790e+02] [-3.26391516e-02 -3.55307774e-04 9.99467138e-01 5.24329128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters Centerline goodness [0,1] 0.998083222127866 Centerline is valid? [True, True] Translation: X:143.81, Y:210.87, Z:5.24 [[ 4.52464151e-01 -8.91665994e-01 1.44203989e-02 1.43810823e+02] [ 8.91187524e-01 4.52693741e-01 2.92091409e-02 2.10867027e+02] [-3.25728220e-02 -3.64809587e-04 9.99469298e-01 5.24159980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50687500000004 meters Centerline goodness [0,1] 0.9978361819552163 Centerline is valid? [True, True] Translation: X:143.82, Y:210.89, Z:5.24 [[ 4.52663200e-01 -8.91565459e-01 1.43895862e-02 1.43820672e+02] [ 8.91088275e-01 4.52891695e-01 2.91684474e-02 2.10892436e+02] [-3.25225043e-02 -3.81091168e-04 9.99470931e-01 5.23923257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters Centerline goodness [0,1] 0.9980334555342446 Centerline is valid? [True, True] Translation: X:143.83, Y:210.92, Z:5.24 [[ 4.54007757e-01 -8.90885021e-01 1.41716966e-02 1.43831740e+02] [ 8.90421160e-01 4.54228679e-01 2.87482952e-02 2.10919164e+02] [-3.20486166e-02 -4.33170463e-04 9.99486217e-01 5.23863151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56687500000004 meters Centerline goodness [0,1] 0.9977254579330704 Centerline is valid? [True, True] Translation: X:143.84, Y:210.94, Z:5.24 [[ 4.54854517e-01 -8.90456438e-01 1.39535101e-02 1.43842545e+02] [ 8.90006000e-01 4.55068255e-01 2.83231843e-02 2.10944944e+02] [-3.15703613e-02 -4.64220552e-04 9.99501424e-01 5.23738100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters Centerline goodness [0,1] 0.9980363160319038 Centerline is valid? [True, True] Translation: X:143.85, Y:210.97, Z:5.24 [[ 4.55117788e-01 -8.90321600e-01 1.39730901e-02 1.43853163e+02] [ 8.89869273e-01 4.55331984e-01 2.83806534e-02 2.10970696e+02] [-3.16303035e-02 -4.82316689e-04 9.99499520e-01 5.23607074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62687500000004 meters Centerline goodness [0,1] 0.997478543373903 Centerline is valid? [True, True] Translation: X:143.86, Y:211.00, Z:5.23 [[ 4.55828528e-01 -8.89964064e-01 1.35763857e-02 1.43863336e+02] [ 8.89536289e-01 4.56030387e-01 2.75948793e-02 2.10996664e+02] [-3.07496953e-02 -5.01845416e-04 9.99526990e-01 5.23382624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters Centerline goodness [0,1] 0.9978444099980623 Centerline is valid? [True, True] Translation: X:143.87, Y:211.02, Z:5.23 [[ 4.56420203e-01 -8.89665119e-01 1.32881314e-02 1.43873813e+02] [ 8.89254676e-01 4.56613302e-01 2.70261558e-02 2.11022585e+02] [-3.01117657e-02 -5.18750578e-04 9.99546403e-01 5.23227195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68687500000004 meters Centerline goodness [0,1] 0.998097073346983 Centerline is valid? [True, True] Translation: X:143.89, Y:211.05, Z:5.23 [[ 4.56605201e-01 -8.89571896e-01 1.31731394e-02 1.43885055e+02] [ 8.89168010e-01 4.56794881e-01 2.68083421e-02 2.11048003e+02] [-2.98653703e-02 -5.27694319e-04 9.99553791e-01 5.23046447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters Centerline goodness [0,1] 0.9979422872082889 Centerline is valid? [True, True] Translation: X:143.90, Y:211.07, Z:5.23 [[ 4.56443158e-01 -8.89656290e-01 1.30892991e-02 1.43896694e+02] [ 8.89256969e-01 4.56630493e-01 2.66577593e-02 2.11073002e+02] [-2.96932163e-02 -5.28001387e-04 9.99558920e-01 5.22949751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.746875 meters Centerline goodness [0,1] 0.9980202800579431 Centerline is valid? [True, True] Translation: X:143.91, Y:211.10, Z:5.23 [[ 4.55589668e-01 -8.90091714e-01 1.32209787e-02 1.43907672e+02] [ 8.89684138e-01 4.55781176e-01 2.69379674e-02 2.11097478e+02] [-3.00031348e-02 -5.10164591e-04 9.99549674e-01 5.22854366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters Centerline goodness [0,1] 0.9981877053933887 Centerline is valid? [True, True] Translation: X:143.92, Y:211.12, Z:5.23 [[ 4.54435299e-01 -8.90677458e-01 1.34990969e-02 1.43920180e+02] [ 8.90252166e-01 4.54635486e-01 2.75255603e-02 2.11122196e+02] [-3.06535646e-02 -4.90985989e-04 9.99529948e-01 5.22853706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.806875 meters Centerline goodness [0,1] 0.9978837505711469 Centerline is valid? [True, True] Translation: X:143.93, Y:211.15, Z:5.23 [[ 4.53164826e-01 -8.91317997e-01 1.39236927e-02 1.43932943e+02] [ 8.90865173e-01 4.53378437e-01 2.84119035e-02 2.11146528e+02] [-3.16367429e-02 -4.71142344e-04 9.99499322e-01 5.22844630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters Centerline goodness [0,1] 0.9978514870606412 Centerline is valid? [True, True] Translation: X:143.95, Y:211.17, Z:5.23 [[ 4.52042719e-01 -8.91884759e-01 1.41052326e-02 1.43945845e+02] [ 8.91419647e-01 4.52262510e-01 2.88034025e-02 2.11171016e+02] [-3.20685836e-02 -4.46686902e-04 9.99485571e-01 5.22812651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.866875 meters Centerline goodness [0,1] 0.9981639407629309 Centerline is valid? [True, True] Translation: X:143.96, Y:211.20, Z:5.23 [[ 4.50686716e-01 -8.92567772e-01 1.42918467e-02 1.43959463e+02] [ 8.92089990e-01 4.50913077e-01 2.92035330e-02 2.11195378e+02] [-3.25105129e-02 -4.12031045e-04 9.99471309e-01 5.22819685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters Centerline goodness [0,1] 0.9980704293294742 Centerline is valid? [True, True] Translation: X:143.97, Y:211.22, Z:5.23 [[ 4.49545648e-01 -8.93139950e-01 1.44824391e-02 1.43972316e+02] [ 8.92648924e-01 4.49778703e-01 2.96144575e-02 2.11220768e+02] [-3.29637478e-02 -3.85316810e-04 9.99456474e-01 5.22716124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.926875 meters Centerline goodness [0,1] 0.9978532490713493 Centerline is valid? [True, True] Translation: X:143.98, Y:211.25, Z:5.23 [[ 4.48959121e-01 -8.93434395e-01 1.45151573e-02 1.43983911e+02] [ 8.92940602e-01 4.49193546e-01 2.97025084e-02 2.11246050e+02] [-3.30573576e-02 -3.74038755e-04 9.99453386e-01 5.22536364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters Centerline goodness [0,1] 0.9979266616842257 Centerline is valid? [True, True] Translation: X:144.00, Y:211.27, Z:5.22 [[ 4.48907685e-01 -8.93462840e-01 1.43542068e-02 1.43996048e+02] [ 8.92979352e-01 4.49136963e-01 2.93915841e-02 2.11271363e+02] [-3.27072930e-02 -3.76097706e-04 9.99464903e-01 5.22411339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.986875 meters Centerline goodness [0,1] 0.9980995910512389 Centerline is valid? [True, True] Translation: X:144.01, Y:211.30, Z:5.22 [[ 4.49049337e-01 -8.93394195e-01 1.41952614e-02 1.44007451e+02] [ 8.92920674e-01 4.49273484e-01 2.90861879e-02 2.11296200e+02] [-3.23629860e-02 -3.85890994e-04 9.99476107e-01 5.22310088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters Centerline goodness [0,1] 0.9980004336408972 Centerline is valid? [True, True] Translation: X:144.02, Y:211.32, Z:5.22 [[ 4.49587073e-01 -8.93128274e-01 1.39050393e-02 1.44017816e+02] [ 8.92673059e-01 4.49801868e-01 2.85147117e-02 2.11320691e+02] [-3.17218079e-02 -4.07191773e-04 9.99496654e-01 5.22116418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.046875 meters Centerline goodness [0,1] 0.9979087543868084 Centerline is valid? [True, True] Translation: X:144.03, Y:211.35, Z:5.22 [[ 4.50183325e-01 -8.92830681e-01 1.37240115e-02 1.44030094e+02] [ 8.92386766e-01 4.50392264e-01 2.81543598e-02 2.11346239e+02] [-3.13182649e-02 -4.27497085e-04 9.99509371e-01 5.21988100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters Centerline goodness [0,1] 0.9977469379928573 Centerline is valid? [True, True] Translation: X:144.04, Y:211.37, Z:5.22 [[ 4.51608490e-01 -8.92109086e-01 1.38256878e-02 1.44039697e+02] [ 8.91657519e-01 4.51819805e-01 2.83854166e-02 2.11371579e+02] [-3.15696077e-02 -4.91316622e-04 9.99501435e-01 5.21781415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.106875 meters Centerline goodness [0,1] 0.9979568781097518 Centerline is valid? [True, True] Translation: X:144.05, Y:211.40, Z:5.22 [[ 4.52057348e-01 -8.91880840e-01 1.38824236e-02 1.44052471e+02] [ 8.91425130e-01 4.52270167e-01 2.85120030e-02 2.11396249e+02] [-3.17079152e-02 -5.13919231e-04 9.99497046e-01 5.21785398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters Centerline goodness [0,1] 0.9982693139752896 Centerline is valid? [True, True] Translation: X:144.06, Y:211.42, Z:5.22 [[ 4.52404048e-01 -8.91700825e-01 1.41497635e-02 1.44063151e+02] [ 8.91226550e-01 4.52624943e-01 2.90843142e-02 2.11421444e+02] [-3.23390428e-02 -5.47216570e-04 9.99476807e-01 5.21675240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.166875 meters Centerline goodness [0,1] 0.9979351740696278 Centerline is valid? [True, True] Translation: X:144.08, Y:211.45, Z:5.22 [[ 4.53272448e-01 -8.91255841e-01 1.43914623e-02 1.44075473e+02] [ 8.90764515e-01 4.53500465e-01 2.95957416e-02 2.11446912e+02] [-3.29039124e-02 -5.95530345e-04 9.99458342e-01 5.21627740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters Centerline goodness [0,1] 0.9981511273321008 Centerline is valid? [True, True] Translation: X:144.09, Y:211.47, Z:5.22 [[ 4.53232351e-01 -8.91276705e-01 1.43621135e-02 1.44086871e+02] [ 8.90786710e-01 4.53459449e-01 2.95561443e-02 2.11471997e+02] [-3.28553390e-02 -6.02220936e-04 9.99459936e-01 5.21514696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.226875 meters Centerline goodness [0,1] 0.998223374627869 Centerline is valid? [True, True] Translation: X:144.10, Y:211.50, Z:5.21 [[ 4.53384236e-01 -8.91198062e-01 1.44481449e-02 1.44099374e+02] [ 8.90701387e-01 4.53613963e-01 2.97558838e-02 2.11497375e+02] [-3.30722663e-02 -6.21865923e-04 9.99452770e-01 5.21419501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters Centerline goodness [0,1] 0.997891255900889 Centerline is valid? [True, True] Translation: X:144.11, Y:211.52, Z:5.21 [[ 4.53360983e-01 -8.91207208e-01 1.46127413e-02 1.44111956e+02] [ 8.90698441e-01 4.53595972e-01 3.01161457e-02 2.11522326e+02] [-3.34680067e-02 -6.37939478e-04 9.99439586e-01 5.21348823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.286875 meters Centerline goodness [0,1] 0.9975933769734309 Centerline is valid? [True, True] Translation: X:144.12, Y:211.55, Z:5.21 [[ 4.53268428e-01 -8.91254398e-01 1.46058442e-02 1.44123960e+02] [ 8.90745368e-01 4.53503234e-01 3.01248387e-02 2.11547840e+02] [-3.34726926e-02 -6.44550241e-04 9.99439425e-01 5.21202326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters Centerline goodness [0,1] 0.9980978980569668 Centerline is valid? [True, True] Translation: X:144.14, Y:211.57, Z:5.21 [[ 4.52468666e-01 -8.91659894e-01 1.46540157e-02 1.44137173e+02] [ 8.91147274e-01 4.52705475e-01 3.02372069e-02 2.11571635e+02] [-3.35952578e-02 -6.22502544e-04 9.99435326e-01 5.21144106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.346875 meters Centerline goodness [0,1] 0.9978613480716088 Centerline is valid? [True, True] Translation: X:144.15, Y:211.60, Z:5.21 [[ 4.51297907e-01 -8.92253192e-01 1.46437759e-02 1.44151288e+02] [ 8.91741108e-01 4.51535048e-01 3.02307164e-02 2.11595925e+02] [-3.35856312e-02 -5.84602119e-04 9.99435673e-01 5.21046512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters Centerline goodness [0,1] 0.9980736816758969 Centerline is valid? [True, True] Translation: X:144.16, Y:211.62, Z:5.21 [[ 4.50583058e-01 -8.92613393e-01 1.47050812e-02 1.44164290e+02] [ 8.92096456e-01 4.50822589e-01 3.03793836e-02 2.11620454e+02] [-3.37464275e-02 -5.70084713e-04 9.99430265e-01 5.20936033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.406875 meters Centerline goodness [0,1] 0.9978614508494125 Centerline is valid? [True, True] Translation: X:144.18, Y:211.64, Z:5.21 [[ 4.49596999e-01 -8.93111685e-01 1.46307126e-02 1.44176261e+02] [ 8.92599503e-01 4.49834667e-01 3.02473219e-02 2.11644688e+02] [-3.35956383e-02 -5.39738364e-04 9.99435361e-01 5.20821819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters Centerline goodness [0,1] 0.9974651763513024 Centerline is valid? [True, True] Translation: X:144.19, Y:211.67, Z:5.21 [[ 4.48105528e-01 -8.93859878e-01 1.46953706e-02 1.44188873e+02] [ 8.93342775e-01 4.48346152e-01 3.04041883e-02 2.11668217e+02] [-3.37656970e-02 -4.96281683e-04 9.99429653e-01 5.20773045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.466875 meters Centerline goodness [0,1] 0.9981167153584277 Centerline is valid? [True, True] Translation: X:144.20, Y:211.69, Z:5.21 [[ 4.47151100e-01 -8.94335920e-01 1.48039527e-02 1.44202320e+02] [ 8.93810635e-01 4.47395841e-01 3.06514237e-02 2.11693484e+02] [-3.40358961e-02 -4.73887442e-04 9.99420499e-01 5.20756243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters Centerline goodness [0,1] 0.9980724749421742 Centerline is valid? [True, True] Translation: X:144.22, Y:211.72, Z:5.21 [[ 4.46187489e-01 -8.94815042e-01 1.49252974e-02 1.44215018e+02] [ 8.94280609e-01 4.46436823e-01 3.09250008e-02 2.11718816e+02] [-3.43353583e-02 -4.50944360e-04 9.99410266e-01 5.20699036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.526875 meters Centerline goodness [0,1] 0.9984053734083935 Centerline is valid? [True, True] Translation: X:144.23, Y:211.74, Z:5.21 [[ 4.45263988e-01 -8.95276114e-01 1.48546112e-02 1.44227874e+02] [ 8.94746249e-01 4.45511504e-01 3.08001648e-02 2.11743911e+02] [-3.41925520e-02 -4.23096536e-04 9.99415174e-01 5.20579732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters Centerline goodness [0,1] 0.9982598607888631 Centerline is valid? [True, True] Translation: X:144.24, Y:211.77, Z:5.20 [[ 4.44610249e-01 -8.95601678e-01 1.48108335e-02 1.44240051e+02] [ 8.95074372e-01 4.44856683e-01 3.07310853e-02 2.11769495e+02] [-3.41115099e-02 -4.06558009e-04 9.99417950e-01 5.20458965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.586875 meters Centerline goodness [0,1] 0.9981158965192396 Centerline is valid? [True, True] Translation: X:144.25, Y:211.79, Z:5.20 [[ 4.44356244e-01 -8.95729624e-01 1.46959050e-02 1.44252739e+02] [ 8.95209821e-01 4.44599009e-01 3.05138929e-02 2.11794622e+02] [-3.38659826e-02 -4.03120410e-04 9.99426302e-01 5.20345933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters Centerline goodness [0,1] 0.998646002079354 Centerline is valid? [True, True] Translation: X:144.26, Y:211.82, Z:5.20 [[ 4.43721331e-01 -8.96047009e-01 1.45306011e-02 1.44264973e+02] [ 8.95538297e-01 4.43959019e-01 3.01918615e-02 2.11819721e+02] [-3.35043186e-02 -3.84063155e-04 9.99438499e-01 5.20290158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.646875 meters Centerline goodness [0,1] 0.9980707085322915 Centerline is valid? [True, True] Translation: X:144.28, Y:211.84, Z:5.20 [[ 4.43203623e-01 -8.96307936e-01 1.42348856e-02 1.44276941e+02] [ 8.95819195e-01 4.43432012e-01 2.95976560e-02 2.11844567e+02] [-3.28408179e-02 -3.65904657e-04 9.99460528e-01 5.20146136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters Centerline goodness [0,1] 0.9980707085322915 Centerline is valid? [True, True] Translation: X:144.29, Y:211.87, Z:5.20 [[ 4.42959268e-01 -8.96428862e-01 1.42261112e-02 1.44288821e+02] [ 8.95940047e-01 4.43187501e-01 2.96018724e-02 2.11869482e+02] [-3.28408075e-02 -3.66680965e-04 9.99460528e-01 5.20033449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.706875 meters Centerline goodness [0,1] 0.9979190863337205 Centerline is valid? [True, True] Translation: X:144.30, Y:211.89, Z:5.20 [[ 4.42254996e-01 -8.96779775e-01 1.40197750e-02 1.44301152e+02] [ 8.96304569e-01 4.42477024e-01 2.91925070e-02 2.11894422e+02] [-3.23826782e-02 -3.44543616e-04 9.99475484e-01 5.19829529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters Centerline goodness [0,1] 0.9981360896613493 Centerline is valid? [True, True] Translation: X:144.31, Y:211.92, Z:5.20 [[ 4.40505528e-01 -8.97647146e-01 1.35823718e-02 1.44314245e+02] [ 8.97200946e-01 4.40714786e-01 2.83008687e-02 2.11918914e+02] [-3.13901461e-02 -2.80572286e-04 9.99507169e-01 5.19611179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.766875 meters Centerline goodness [0,1] 0.9984723939768677 Centerline is valid? [True, True] Translation: X:144.33, Y:211.94, Z:5.20 [[ 4.39093491e-01 -8.98342960e-01 1.32978683e-02 1.44327486e+02] [ 8.97914992e-01 4.39294744e-01 2.77271424e-02 2.11943759e+02] [-3.07501668e-02 -2.34452455e-04 9.99527074e-01 5.19545429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters Centerline goodness [0,1] 0.9981568161424103 Centerline is valid? [True, True] Translation: X:144.34, Y:211.97, Z:5.19 [[ 4.37558648e-01 -8.99091944e-01 1.32704482e-02 1.44339875e+02] [ 8.98665489e-01 4.37759796e-01 2.76893257e-02 2.11967537e+02] [-3.07045184e-02 -1.90010140e-04 9.99528487e-01 5.19446087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82687500000003 meters Centerline goodness [0,1] 0.9982790382005041 Centerline is valid? [True, True] Translation: X:144.35, Y:211.99, Z:5.19 [[ 4.35983730e-01 -8.99855896e-01 1.33248926e-02 1.44352828e+02] [ 8.99425640e-01 4.36187282e-01 2.78239872e-02 2.11992139e+02] [-3.08497277e-02 -1.46055660e-04 9.99524023e-01 5.19428045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters Centerline goodness [0,1] 0.9985949952762773 Centerline is valid? [True, True] Translation: X:144.37, Y:212.02, Z:5.19 [[ 4.33835724e-01 -9.00889687e-01 1.35770246e-02 1.44365857e+02] [ 9.00442857e-01 4.34048113e-01 2.83706986e-02 2.12016854e+02] [-3.14519517e-02 -8.28877166e-05 9.99505262e-01 5.19450484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88687500000003 meters Centerline goodness [0,1] 0.9987433542774287 Centerline is valid? [True, True] Translation: X:144.38, Y:212.04, Z:5.19 [[ 4.32919724e-01 -9.01330409e-01 1.35648804e-02 1.44378004e+02] [ 9.00883971e-01 4.33132186e-01 2.83651331e-02 2.12042077e+02] [-3.14417433e-02 -5.94422732e-05 9.99505584e-01 5.19386999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters Centerline goodness [0,1] 0.9986199883788495 Centerline is valid? [True, True] Translation: X:144.39, Y:212.07, Z:5.19 [[ 4.32084269e-01 -9.01732227e-01 1.34972623e-02 1.44389881e+02] [ 9.01289806e-01 4.32295026e-01 2.82435151e-02 2.12067983e+02] [-3.13028871e-02 -3.86335915e-05 9.99509944e-01 5.19237420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94687500000003 meters Centerline goodness [0,1] 0.9987658802177859 Centerline is valid? [True, True] Translation: X:144.40, Y:212.09, Z:5.19 [[ 4.31202697e-01 -9.02154649e-01 1.34619471e-02 1.44401474e+02] [ 9.01714121e-01 4.31412783e-01 2.81896223e-02 2.12093410e+02] [-3.12390549e-02 -1.66133320e-05 9.99511941e-01 5.19069229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters Centerline goodness [0,1] 0.9985241459401916 Centerline is valid? [True, True] Translation: X:144.41, Y:212.12, Z:5.19 [[ 4.30654941e-01 -9.02419102e-01 1.32697214e-02 1.44412694e+02] [ 9.01990605e-01 4.30859332e-01 2.78062138e-02 2.12118180e+02] [-3.08102418e-02 -5.71933699e-06 9.99525252e-01 5.18893437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00687500000004 meters Centerline goodness [0,1] 0.9987450526112559 Centerline is valid? [True, True] Translation: X:144.42, Y:212.14, Z:5.19 [[ 4.29372867e-01 -9.03030670e-01 1.32117224e-02 1.44423934e+02] [ 9.02605549e-01 4.29576079e-01 2.77058743e-02 2.12143414e+02] [-3.06946942e-02 2.88232105e-05 9.99528806e-01 5.18745114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters Centerline goodness [0,1] 0.9983813688304786 Centerline is valid? [True, True] Translation: X:144.44, Y:212.17, Z:5.19 [[ 4.28794706e-01 -9.03309145e-01 1.29494747e-02 1.44435546e+02] [ 9.02900306e-01 4.28990195e-01 2.71744407e-02 2.12168541e+02] [-3.01021185e-02 3.98283163e-05 9.99546828e-01 5.18658886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06687500000004 meters Centerline goodness [0,1] 0.9982381193734463 Centerline is valid? [True, True] Translation: X:144.45, Y:212.19, Z:5.19 [[ 4.28360553e-01 -9.03514577e-01 1.29864130e-02 1.44446567e+02] [ 9.03102913e-01 4.28557357e-01 2.72712524e-02 2.12192849e+02] [-3.02053969e-02 4.61387012e-05 9.99543712e-01 5.18539966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters Centerline goodness [0,1] 0.9984312021818358 Centerline is valid? [True, True] Translation: X:144.46, Y:212.22, Z:5.18 [[ 4.28379936e-01 -9.03504303e-01 1.30615708e-02 1.44457727e+02] [ 9.03087207e-01 4.28579016e-01 2.74503990e-02 2.12218832e+02] [-3.03994688e-02 3.65373200e-05 9.99537829e-01 5.18460513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12687500000004 meters Centerline goodness [0,1] 0.9988420620944202 Centerline is valid? [True, True] Translation: X:144.47, Y:212.25, Z:5.18 [[ 4.28462946e-01 -9.03464955e-01 1.30605730e-02 1.44468642e+02] [ 9.03047318e-01 4.28661958e-01 2.74675585e-02 2.12245216e+02] [-3.04145473e-02 2.54844223e-05 9.99537370e-01 5.18383854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters Centerline goodness [0,1] 0.9986273990415874 Centerline is valid? [True, True] Translation: X:144.48, Y:212.27, Z:5.18 [[ 4.29891441e-01 -9.02788958e-01 1.28626078e-02 1.44477957e+02] [ 9.02383035e-01 4.30083825e-01 2.70695787e-02 2.12270701e+02] [-2.99701163e-02 -2.99811246e-05 9.99550795e-01 5.18196551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18687500000004 meters Centerline goodness [0,1] 0.9982919142589073 Centerline is valid? [True, True] Translation: X:144.49, Y:212.30, Z:5.18 [[ 4.30188979e-01 -9.02650323e-01 1.26426260e-02 1.44488566e+02] [ 9.02257526e-01 4.30374711e-01 2.66263925e-02 2.12296408e+02] [-2.94753883e-02 -4.74761804e-05 9.99565505e-01 5.17994694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters Centerline goodness [0,1] 0.9982969537059246 Centerline is valid? [True, True] Translation: X:144.50, Y:212.32, Z:5.18 [[ 4.31262768e-01 -9.02141362e-01 1.23849455e-02 1.44497764e+02] [ 9.01763702e-01 4.31440557e-01 2.61011796e-02 2.12321597e+02] [-2.88903216e-02 -8.81726790e-05 9.99582584e-01 5.17827165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.246875 meters Centerline goodness [0,1] 0.9983171458794114 Centerline is valid? [True, True] Translation: X:144.51, Y:212.35, Z:5.18 [[ 4.31498252e-01 -9.02028366e-01 1.24131110e-02 1.44508652e+02] [ 9.01648364e-01 4.31676749e-01 2.61803514e-02 2.12346859e+02] [-2.89738711e-02 -1.04514635e-04 9.99580164e-01 5.17677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters Centerline goodness [0,1] 0.9981256758380391 Centerline is valid? [True, True] Translation: X:144.52, Y:212.37, Z:5.18 [[ 4.31851765e-01 -9.01858432e-01 1.24668551e-02 1.44519180e+02] [ 9.01474494e-01 4.32031658e-01 2.63131754e-02 2.12371486e+02] [-2.91168352e-02 -1.24839312e-04 9.99576007e-01 5.17575262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.306875 meters Centerline goodness [0,1] 0.9980551286976566 Centerline is valid? [True, True] Translation: X:144.53, Y:212.40, Z:5.17 [[ 4.32067189e-01 -9.01756212e-01 1.23967299e-02 1.44529931e+02] [ 9.01375992e-01 4.32244971e-01 2.61840708e-02 2.12396875e+02] [-2.89700727e-02 -1.39163190e-04 9.99580270e-01 5.17452259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters Centerline goodness [0,1] 0.9981605351170568 Centerline is valid? [True, True] Translation: X:144.54, Y:212.42, Z:5.17 [[ 4.32585842e-01 -9.01507518e-01 1.23969667e-02 1.44540607e+02] [ 9.01126623e-01 4.32763410e-01 2.62038434e-02 2.12422776e+02] [-2.89879154e-02 -1.64174945e-04 9.99579749e-01 5.17300467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.366875 meters Centerline goodness [0,1] 0.9982719308772351 Centerline is valid? [True, True] Translation: X:144.55, Y:212.45, Z:5.17 [[ 4.33309755e-01 -9.01161625e-01 1.22630619e-02 1.44552557e+02] [ 9.00788291e-01 4.33483205e-01 2.59377078e-02 2.12448752e+02] [-2.86898983e-02 -1.92639203e-04 9.99588342e-01 5.17270693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters Centerline goodness [0,1] 0.9982076711674035 Centerline is valid? [True, True] Translation: X:144.56, Y:212.47, Z:5.17 [[ 4.34642465e-01 -9.00520496e-01 1.21968314e-02 1.44562966e+02] [ 9.00150417e-01 4.34813497e-01 2.58156981e-02 2.12474939e+02] [-2.85509122e-02 -2.41615814e-04 9.99592310e-01 5.17138189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.426875 meters Centerline goodness [0,1] 0.998114378460951 Centerline is valid? [True, True] Translation: X:144.57, Y:212.50, Z:5.17 [[ 4.35304682e-01 -9.00200877e-01 1.21743256e-02 1.44573193e+02] [ 8.99831526e-01 4.35474807e-01 2.57859795e-02 2.12499646e+02] [-2.85141734e-02 -2.69915653e-04 9.99593352e-01 5.16966228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters Centerline goodness [0,1] 0.9983517271033395 Centerline is valid? [True, True] Translation: X:144.58, Y:212.53, Z:5.17 [[ 4.35871519e-01 -8.99926691e-01 1.21642685e-02 1.44584650e+02] [ 8.99557276e-01 4.36041125e-01 2.57845893e-02 2.12525686e+02] [-2.85083615e-02 -2.96311869e-04 9.99593510e-01 5.16884114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.486875 meters Centerline goodness [0,1] 0.998489860491874 Centerline is valid? [True, True] Translation: X:144.60, Y:212.55, Z:5.17 [[ 4.36227446e-01 -8.99754203e-01 1.21651155e-02 1.44595826e+02] [ 8.99384146e-01 4.36396924e-01 2.58047170e-02 2.12551269e+02] [-2.85267216e-02 -3.15613808e-04 9.99592980e-01 5.16830024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters Centerline goodness [0,1] 0.9979227353039491 Centerline is valid? [True, True] Translation: X:144.61, Y:212.58, Z:5.17 [[ 4.37549686e-01 -8.99106342e-01 1.25721067e-02 1.44605480e+02] [ 8.98710271e-01 4.37730102e-01 2.66872063e-02 2.12576489e+02] [-2.94978260e-02 -3.78297350e-04 9.99564773e-01 5.16741254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.546875 meters Centerline goodness [0,1] 0.9978978046391629 Centerline is valid? [True, True] Translation: X:144.62, Y:212.60, Z:5.17 [[ 4.38003404e-01 -8.98878865e-01 1.30308632e-02 1.44616612e+02] [ 8.98452581e-01 4.38197000e-01 2.76830091e-02 2.12602712e+02] [-3.05937569e-02 -4.17639568e-04 9.99531814e-01 5.16644063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters Centerline goodness [0,1] 0.9981890101510746 Centerline is valid? [True, True] Translation: X:144.63, Y:212.63, Z:5.17 [[ 4.38588209e-01 -8.98592168e-01 1.31338760e-02 1.44628587e+02] [ 8.98158398e-01 4.38784587e-01 2.79209319e-02 2.12628301e+02] [-3.08524731e-02 -4.49490466e-04 9.99523848e-01 5.16577862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.606875 meters Centerline goodness [0,1] 0.9978581627796288 Centerline is valid? [True, True] Translation: X:144.64, Y:212.65, Z:5.16 [[ 4.38879151e-01 -8.98450509e-01 1.31062335e-02 1.44639997e+02] [ 8.98017905e-01 4.39074555e-01 2.78814962e-02 2.12653678e+02] [-3.08047580e-02 -4.66975072e-04 9.99525312e-01 5.16424610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters Centerline goodness [0,1] 0.9979887947134033 Centerline is valid? [True, True] Translation: X:144.65, Y:212.68, Z:5.16 [[ 4.39257006e-01 -8.98269871e-01 1.28265779e-02 1.44650844e+02] [ 8.97854893e-01 4.39443979e-01 2.73053179e-02 2.12679083e+02] [-3.01641069e-02 -4.77646452e-04 9.99544846e-01 5.16242875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.666875 meters Centerline goodness [0,1] 0.9979929754139488 Centerline is valid? [True, True] Translation: X:144.66, Y:212.70, Z:5.16 [[ 4.39741133e-01 -8.98038678e-01 1.24204966e-02 1.44662038e+02] [ 8.97648930e-01 4.39916238e-01 2.64594277e-02 2.12704262e+02] [-2.92255677e-02 -4.86053209e-04 9.99572724e-01 5.15921575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters Centerline goodness [0,1] 0.9977745872218234 Centerline is valid? [True, True] Translation: X:144.67, Y:212.73, Z:5.16 [[ 4.39771408e-01 -8.98026877e-01 1.21998561e-02 1.44674222e+02] [ 8.97650413e-01 4.39940329e-01 2.60046797e-02 2.12729413e+02] [-2.87201100e-02 -4.84908763e-04 9.99587375e-01 5.15701921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.726875 meters Centerline goodness [0,1] 0.9975867918667718 Centerline is valid? [True, True] Translation: X:144.69, Y:212.75, Z:5.16 [[ 4.40053570e-01 -8.97891288e-01 1.20037946e-02 1.44685416e+02] [ 8.97526297e-01 4.40216983e-01 2.56037711e-02 2.12754209e+02] [-2.82736773e-02 -4.93309539e-04 9.99600098e-01 5.15512817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters Centerline goodness [0,1] 0.9978944849862423 Centerline is valid? [True, True] Translation: X:144.70, Y:212.78, Z:5.15 [[ 4.40430182e-01 -8.97708256e-01 1.18803167e-02 1.44697370e+02] [ 8.97350144e-01 4.40590092e-01 2.53592062e-02 2.12779684e+02] [-2.79995186e-02 -5.08155945e-04 9.99607807e-01 5.15382868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.786875 meters Centerline goodness [0,1] 0.9977770872672515 Centerline is valid? [True, True] Translation: X:144.71, Y:212.81, Z:5.15 [[ 4.40920343e-01 -8.97468096e-01 1.18434462e-02 1.44708787e+02] [ 8.97111632e-01 4.41079059e-01 2.52979070e-02 2.12805146e+02] [-2.79279605e-02 -5.29468483e-04 9.99609798e-01 5.15216934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters Centerline goodness [0,1] 0.9978156505040806 Centerline is valid? [True, True] Translation: X:144.72, Y:212.83, Z:5.15 [[ 4.42279262e-01 -8.96797551e-01 1.19669004e-02 1.44722498e+02] [ 8.96432864e-01 4.42440741e-01 2.55795177e-02 2.12830527e+02] [-2.82342931e-02 -5.85767444e-04 9.99601161e-01 5.15286951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.846875 meters Centerline goodness [0,1] 0.9978722895598747 Centerline is valid? [True, True] Translation: X:144.73, Y:212.86, Z:5.15 [[ 4.43004493e-01 -8.96438889e-01 1.20140275e-02 1.44731551e+02] [ 8.96070619e-01 4.43166936e-01 2.57004338e-02 2.12856076e+02] [-2.83630880e-02 -6.19990621e-04 9.99597494e-01 5.15054480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters Centerline goodness [0,1] 0.998149839011966 Centerline is valid? [True, True] Translation: X:144.74, Y:212.88, Z:5.15 [[ 4.43838554e-01 -8.96025513e-01 1.20672742e-02 1.44743077e+02] [ 8.95653555e-01 4.44002088e-01 2.58235391e-02 2.12881793e+02] [-2.84964447e-02 -6.53385213e-04 9.99593680e-01 5.14986759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.906875 meters Centerline goodness [0,1] 0.997955256194371 Centerline is valid? [True, True] Translation: X:144.75, Y:212.91, Z:5.15 [[ 4.44973512e-01 -8.95460671e-01 1.21967537e-02 1.44753728e+02] [ 8.95079901e-01 4.45140078e-01 2.61205368e-02 2.12907234e+02] [-2.88191773e-02 -7.05877939e-04 9.99584392e-01 5.14824811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters Centerline goodness [0,1] 0.9979760986892829 Centerline is valid? [True, True] Translation: X:144.77, Y:212.93, Z:5.15 [[ 4.45829512e-01 -8.95033546e-01 1.22881078e-02 1.44767132e+02] [ 8.94646551e-01 4.45998203e-01 2.63277743e-02 2.12932367e+02] [-2.90447152e-02 -7.44185530e-04 9.99577836e-01 5.14816697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.966875 meters Centerline goodness [0,1] 0.9981517042726836 Centerline is valid? [True, True] Translation: X:144.78, Y:212.96, Z:5.15 [[ 4.46655200e-01 -8.94621441e-01 1.23130303e-02 1.44778557e+02] [ 8.94232239e-01 4.46824205e-01 2.63975995e-02 2.12957205e+02] [-2.91176185e-02 -7.79916405e-04 9.99575688e-01 5.14707685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters Centerline goodness [0,1] 0.9979318968834167 Centerline is valid? [True, True] Translation: X:144.79, Y:212.98, Z:5.15 [[ 4.47630022e-01 -8.94132193e-01 1.24492669e-02 1.44789678e+02] [ 8.93733620e-01 4.47802338e-01 2.67073315e-02 2.12983009e+02] [-2.94546957e-02 -8.28675020e-04 9.99565773e-01 5.14513017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.026875 meters Centerline goodness [0,1] 0.9979747323753496 Centerline is valid? [True, True] Translation: X:144.80, Y:213.01, Z:5.14 [[ 4.47754717e-01 -8.94066203e-01 1.27018611e-02 1.44801843e+02] [ 8.93650763e-01 4.47934023e-01 2.72658262e-02 2.13008078e+02] [-3.00670495e-02 -8.57374447e-04 9.99547516e-01 5.14478998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters Centerline goodness [0,1] 0.9977515050409806 Centerline is valid? [True, True] Translation: X:144.82, Y:213.03, Z:5.15 [[ 4.47855221e-01 -8.94013592e-01 1.28607349e-02 1.44816309e+02] [ 8.93587068e-01 4.48038974e-01 2.76266147e-02 2.13032615e+02] [-3.04606795e-02 -8.80537218e-04 9.99535578e-01 5.14525557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.086875 meters Centerline goodness [0,1] 0.9979711615100355 Centerline is valid? [True, True] Translation: X:144.83, Y:213.06, Z:5.15 [[ 4.47923750e-01 -8.93971224e-01 1.34076582e-02 1.44829480e+02] [ 8.93506911e-01 4.48123403e-01 2.88238792e-02 2.13057454e+02] [-3.17760039e-02 -9.31064789e-04 9.99494582e-01 5.14526933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters Centerline goodness [0,1] 0.9978271366489618 Centerline is valid? [True, True] Translation: X:144.84, Y:213.08, Z:5.14 [[ 4.47859083e-01 -8.94002642e-01 1.34728614e-02 1.44836374e+02] [ 8.93533113e-01 4.48060696e-01 2.89860069e-02 2.13084039e+02] [-3.19502264e-02 -9.43198677e-04 9.99489016e-01 5.14256808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.146875 meters Centerline goodness [0,1] 0.997922404213171 Centerline is valid? [True, True] Translation: X:144.85, Y:213.11, Z:5.14 [[ 4.47366806e-01 -8.94251799e-01 1.32914142e-02 1.44852904e+02] [ 8.93794282e-01 4.47563258e-01 2.86166381e-02 2.13107206e+02] [-3.15392287e-02 -9.22343965e-04 9.99502089e-01 5.14307983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters Centerline goodness [0,1] 0.9979534346182554 Centerline is valid? [True, True] Translation: X:144.87, Y:213.13, Z:5.14 [[ 4.46912844e-01 -8.94478676e-01 1.32968963e-02 1.44865488e+02] [ 8.94020207e-01 4.47109672e-01 2.86498037e-02 2.13132611e+02] [-3.15718095e-02 -9.16271325e-04 9.99501066e-01 5.14181436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.206875 meters Centerline goodness [0,1] 0.9979207465970359 Centerline is valid? [True, True] Translation: X:144.88, Y:213.16, Z:5.14 [[ 4.46474875e-01 -8.94698122e-01 1.32460052e-02 1.44876991e+02] [ 8.94242615e-01 4.46670403e-01 2.85604009e-02 2.13156788e+02] [-3.14695355e-02 -9.06359065e-04 9.99504301e-01 5.13987172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters Centerline goodness [0,1] 0.998237694034715 Centerline is valid? [True, True] Translation: X:144.89, Y:213.18, Z:5.14 [[ 4.45810423e-01 -8.95027184e-01 1.33942832e-02 1.44890345e+02] [ 8.94560842e-01 4.46010677e-01 2.89028801e-02 2.13181450e+02] [-3.18428567e-02 -9.03203955e-04 9.99492480e-01 5.13902425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.266875 meters Centerline goodness [0,1] 0.9979172216705819 Centerline is valid? [True, True] Translation: X:144.90, Y:213.21, Z:5.14 [[ 4.44252254e-01 -8.95811092e-01 1.27445227e-02 1.44902402e+02] [ 8.95388656e-01 4.44434275e-01 2.75196371e-02 2.13206117e+02] [-3.03164988e-02 -8.14359800e-04 9.99540018e-01 5.13615901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters Centerline goodness [0,1] 0.9984096768752561 Centerline is valid? [True, True] Translation: X:144.92, Y:213.23, Z:5.14 [[ 4.42721524e-01 -8.96569510e-01 1.26793798e-02 1.44917763e+02] [ 8.96151074e-01 4.42902387e-01 2.73994188e-02 2.13230474e+02] [-3.01812111e-02 -7.67672673e-04 9.99544149e-01 5.13580548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32687500000003 meters Centerline goodness [0,1] 0.9984025945736622 Centerline is valid? [True, True] Translation: X:144.93, Y:213.26, Z:5.13 [[ 4.41223110e-01 -8.97309958e-01 1.25302091e-02 1.44931571e+02] [ 8.96901017e-01 4.41400413e-01 2.70968922e-02 2.13255565e+02] [-2.98451507e-02 -7.17417733e-04 9.99554277e-01 5.13434172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters Centerline goodness [0,1] 0.9985241816466262 Centerline is valid? [True, True] Translation: X:144.95, Y:213.28, Z:5.13 [[ 4.38245451e-01 -8.98768045e-01 1.25269768e-02 1.44946271e+02] [ 8.98359355e-01 4.38424005e-01 2.71083211e-02 2.13279378e+02] [-2.98562201e-02 -6.26371608e-04 9.99554007e-01 5.13315613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38687500000003 meters Centerline goodness [0,1] 0.9984277870498028 Centerline is valid? [True, True] Translation: X:144.96, Y:213.30, Z:5.13 [[ 4.36093263e-01 -8.99811098e-01 1.27535559e-02 1.44959482e+02] [ 8.99387256e-01 4.36279334e-01 2.76207691e-02 2.13303310e+02] [-3.04175875e-02 -5.74845745e-04 9.99537113e-01 5.13231088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters Centerline goodness [0,1] 0.9985008583794762 Centerline is valid? [True, True] Translation: X:144.97, Y:213.33, Z:5.13 [[ 4.33729830e-01 -9.00948991e-01 1.30134811e-02 1.44973827e+02] [ 9.00507834e-01 4.33924712e-01 2.81954824e-02 2.13328509e+02] [-3.10495625e-02 -5.10480131e-04 9.99517716e-01 5.13137361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44687500000003 meters Centerline goodness [0,1] 0.998447016573245 Centerline is valid? [True, True] Translation: X:144.99, Y:213.35, Z:5.13 [[ 4.30985584e-01 -9.02257780e-01 1.35027289e-02 1.44988520e+02] [ 9.01782825e-01 4.31196827e-01 2.92751324e-02 2.13353558e+02] [-3.22360498e-02 -4.40631079e-04 9.99480186e-01 5.13094873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters Centerline goodness [0,1] 0.9986481919567421 Centerline is valid? [True, True] Translation: X:145.00, Y:213.38, Z:5.13 [[ 4.28044755e-01 -9.03651567e-01 1.38395620e-02 1.45002347e+02] [ 9.03152632e-01 4.28268281e-01 3.00266847e-02 2.13376931e+02] [-3.30607061e-02 -3.53528008e-04 9.99453283e-01 5.13060812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50687500000004 meters Centerline goodness [0,1] 0.998742716216543 Centerline is valid? [True, True] Translation: X:145.02, Y:213.40, Z:5.13 [[ 4.25465358e-01 -9.04863123e-01 1.42112036e-02 1.45015899e+02] [ 9.04337185e-01 4.25702542e-01 3.08480237e-02 2.13400254e+02] [-3.39629846e-02 -2.73045544e-04 9.99423054e-01 5.12990443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters Centerline goodness [0,1] 0.9987107446058041 Centerline is valid? [True, True] Translation: X:145.03, Y:213.42, Z:5.13 [[ 4.21413946e-01 -9.06752786e-01 1.44800072e-02 1.45031709e+02] [ 9.06207314e-01 4.21662623e-01 3.14473792e-02 2.13423938e+02] [-3.46206766e-02 -1.30475769e-04 9.99400516e-01 5.12981090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56687500000004 meters Centerline goodness [0,1] 0.9989293101350529 Centerline is valid? [True, True] Translation: X:145.04, Y:213.45, Z:5.13 [[ 4.19714937e-01 -9.07539359e-01 1.45493481e-02 1.45044675e+02] [ 9.06988363e-01 4.19967030e-01 3.16196579e-02 2.13448550e+02] [-3.48063306e-02 -7.51532600e-05 9.99394073e-01 5.12859610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters Centerline goodness [0,1] 0.9989293101350529 Centerline is valid? [True, True] Translation: X:145.06, Y:213.47, Z:5.13 [[ 4.19456664e-01 -9.07658903e-01 1.45403892e-02 1.45056118e+02] [ 9.07107836e-01 4.19708601e-01 3.16237769e-02 2.13473679e+02] [-3.48063291e-02 -7.51030193e-05 9.99394073e-01 5.12746889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62687500000004 meters Centerline goodness [0,1] 0.9985177985663953 Centerline is valid? [True, True] Translation: X:145.07, Y:213.50, Z:5.13 [[ 4.17932454e-01 -9.08365528e-01 1.43014710e-02 1.45068481e+02] [ 9.07832011e-01 4.18177077e-01 3.11283095e-02 2.13497804e+02] [-3.42564306e-02 -2.61975808e-05 9.99413076e-01 5.12613568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters Centerline goodness [0,1] 0.9987088601427562 Centerline is valid? [True, True] Translation: X:145.08, Y:213.52, Z:5.12 [[ 4.17076580e-01 -9.08761526e-01 1.41285266e-02 1.45080967e+02] [ 9.08240540e-01 4.17315815e-01 3.07673869e-02 2.13523039e+02] [-3.38562751e-02 -2.55859028e-07 9.99426712e-01 5.12443530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68687500000004 meters Centerline goodness [0,1] 0.9986589944896864 Centerline is valid? [True, True] Translation: X:145.09, Y:213.55, Z:5.12 [[ 4.16235391e-01 -9.09150473e-01 1.39110019e-02 1.45093744e+02] [ 9.08644916e-01 4.16467785e-01 3.03150072e-02 2.13548337e+02] [-3.33543873e-02 2.19823309e-05 9.99443587e-01 5.12250356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters Centerline goodness [0,1] 0.9987326037680665 Centerline is valid? [True, True] Translation: X:145.11, Y:213.57, Z:5.12 [[ 4.15868874e-01 -9.09320353e-01 1.37686258e-02 1.45105311e+02] [ 9.08824474e-01 4.16096737e-01 3.00263300e-02 2.13573387e+02] [-3.30326332e-02 2.62480191e-05 9.99454273e-01 5.12074406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.746875 meters Centerline goodness [0,1] 0.9987872025614282 Centerline is valid? [True, True] Translation: X:145.12, Y:213.60, Z:5.12 [[ 4.15431175e-01 -9.09522255e-01 1.36457625e-02 1.45116964e+02] [ 9.09034663e-01 4.15655226e-01 2.97777692e-02 2.13598333e+02] [-3.27554763e-02 3.38574572e-05 9.99463395e-01 5.11877903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters Centerline goodness [0,1] 0.9988055481071594 Centerline is valid? [True, True] Translation: X:145.13, Y:213.62, Z:5.12 [[ 4.15395347e-01 -9.09539514e-01 1.35859166e-02 1.45128929e+02] [ 9.09055374e-01 4.15617458e-01 2.96724798e-02 2.13624113e+02] [-3.26348370e-02 2.45404302e-05 9.99467342e-01 5.11728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.806875 meters Centerline goodness [0,1] 0.9987816467262848 Centerline is valid? [True, True] Translation: X:145.14, Y:213.65, Z:5.12 [[ 4.15044462e-01 -9.09700034e-01 1.35625341e-02 1.45140693e+02] [ 9.09217304e-01 4.15265995e-01 2.96318670e-02 2.13648909e+02] [-3.25881696e-02 3.27484099e-05 9.99468864e-01 5.11625282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters Centerline goodness [0,1] 0.998703871267516 Centerline is valid? [True, True] Translation: X:145.15, Y:213.67, Z:5.12 [[ 4.15491919e-01 -9.09491174e-01 1.38661033e-02 1.45153577e+02] [ 9.08985539e-01 4.15723230e-01 3.03230251e-02 2.13674067e+02] [-3.33429849e-02 5.11551063e-06 9.99443968e-01 5.11518837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.866875 meters Centerline goodness [0,1] 0.9988985166691144 Centerline is valid? [True, True] Translation: X:145.17, Y:213.70, Z:5.11 [[ 4.15353140e-01 -9.09552311e-01 1.40129526e-02 1.45165767e+02] [ 9.09035538e-01 4.15589453e-01 3.06561237e-02 2.13699832e+02] [-3.37069834e-02 5.15463986e-06 9.99431758e-01 5.11478081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters Centerline goodness [0,1] 0.9988033603594804 Centerline is valid? [True, True] Translation: X:145.18, Y:213.72, Z:5.11 [[ 4.15085558e-01 -9.09673729e-01 1.40600910e-02 1.45177197e+02] [ 9.09152779e-01 4.15323616e-01 3.07817693e-02 2.13724537e+02] [-3.38408547e-02 5.70292554e-06 9.99427234e-01 5.11360688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.926875 meters Centerline goodness [0,1] 0.9989492461451995 Centerline is valid? [True, True] Translation: X:145.19, Y:213.75, Z:5.11 [[ 4.14556642e-01 -9.09912669e-01 1.42029894e-02 1.45188915e+02] [ 9.09380461e-01 4.14799872e-01 3.11165934e-02 2.13749526e+02] [-3.42047808e-02 1.63305615e-05 9.99414845e-01 5.11261040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters Centerline goodness [0,1] 0.9990205440877592 Centerline is valid? [True, True] Translation: X:145.20, Y:213.77, Z:5.11 [[ 4.13853029e-01 -9.10230806e-01 1.43369918e-02 1.45200335e+02] [ 9.09687879e-01 4.14101290e-01 3.14338079e-02 2.13774060e+02] [-3.45489871e-02 3.32111033e-05 9.99403005e-01 5.11148434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.986875 meters Centerline goodness [0,1] 0.9987740590903519 Centerline is valid? [True, True] Translation: X:145.21, Y:213.80, Z:5.11 [[ 4.13150053e-01 -9.10550890e-01 1.42866885e-02 1.45211836e+02] [ 9.10011099e-01 4.13396993e-01 3.13484662e-02 2.13798011e+02] [-3.44504479e-02 4.94246632e-05 9.99406406e-01 5.11069444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters Centerline goodness [0,1] 0.9984317184934696 Centerline is valid? [True, True] Translation: X:145.22, Y:213.82, Z:5.11 [[ 4.12783669e-01 -9.10719120e-01 1.41537181e-02 1.45223459e+02] [ 9.10188506e-01 4.13026249e-01 3.10837666e-02 2.13823974e+02] [-3.41544377e-02 5.16802712e-05 9.99416566e-01 5.10930077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.046875 meters Centerline goodness [0,1] 0.9987036493493787 Centerline is valid? [True, True] Translation: X:145.23, Y:213.85, Z:5.11 [[ 4.12672720e-01 -9.10772346e-01 1.39628358e-02 1.45234082e+02] [ 9.10255338e-01 4.12908867e-01 3.06836553e-02 2.13848238e+02] [-3.37112034e-02 4.74383709e-05 9.99431615e-01 5.10782781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters Centerline goodness [0,1] 0.9989751598262652 Centerline is valid? [True, True] Translation: X:145.24, Y:213.87, Z:5.11 [[ 4.12913636e-01 -9.10663928e-01 1.39118064e-02 1.45244729e+02] [ 9.10149737e-01 4.13147926e-01 3.05981698e-02 2.13873743e+02] [-3.36122835e-02 2.74254126e-05 9.99434947e-01 5.10663212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.106875 meters Centerline goodness [0,1] 0.9989744841899646 Centerline is valid? [True, True] Translation: X:145.25, Y:213.90, Z:5.11 [[ 4.12999001e-01 -9.10625275e-01 1.39080252e-02 1.45254281e+02] [ 9.10110586e-01 4.13233115e-01 3.06123156e-02 2.13898042e+02] [-3.36236050e-02 1.49852088e-05 9.99434567e-01 5.10536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters Centerline goodness [0,1] 0.99875272078065 Centerline is valid? [True, True] Translation: X:145.26, Y:213.92, Z:5.10 [[ 4.14227791e-01 -9.10067297e-01 1.38871290e-02 1.45262412e+02] [ 9.09552916e-01 4.14460509e-01 3.05937811e-02 2.13922620e+02] [-3.35980662e-02 -4.17156738e-05 9.99435425e-01 5.10275356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.166875 meters Centerline goodness [0,1] 0.9987816467262848 Centerline is valid? [True, True] Translation: X:145.27, Y:213.95, Z:5.10 [[ 4.14936833e-01 -9.09744393e-01 1.38767267e-02 1.45272150e+02] [ 9.09230044e-01 4.15168801e-01 3.05874939e-02 2.13947624e+02] [-3.35879850e-02 -7.47410130e-05 9.99435762e-01 5.10190814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters Centerline goodness [0,1] 0.998686387077941 Centerline is valid? [True, True] Translation: X:145.28, Y:213.97, Z:5.10 [[ 4.15735541e-01 -9.09377938e-01 1.39902188e-02 1.45281215e+02] [ 9.08854086e-01 4.15970856e-01 3.08625480e-02 2.13971863e+02] [-3.38852436e-02 -1.15590632e-04 9.99425724e-01 5.10080670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.226875 meters Centerline goodness [0,1] 0.9986340130744463 Centerline is valid? [True, True] Translation: X:145.29, Y:214.00, Z:5.10 [[ 4.17616638e-01 -9.08517177e-01 1.38882451e-02 1.45290861e+02] [ 9.07999688e-01 4.17847463e-01 3.06604659e-02 2.13998867e+02] [-3.36587279e-02 -1.93798468e-04 9.99433366e-01 5.10140707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters Centerline goodness [0,1] 0.9983454585269714 Centerline is valid? [True, True] Translation: X:145.30, Y:214.02, Z:5.10 [[ 4.19029899e-01 -9.07866283e-01 1.38836549e-02 1.45299214e+02] [ 9.07348038e-01 4.19259761e-01 3.06723071e-02 2.14024631e+02] [-3.36672113e-02 -2.55306714e-04 9.99433066e-01 5.09893320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.286875 meters Centerline goodness [0,1] 0.9983717313113638 Centerline is valid? [True, True] Translation: X:145.31, Y:214.05, Z:5.10 [[ 4.20080424e-01 -9.07381387e-01 1.38367820e-02 1.45310684e+02] [ 9.06865582e-01 4.20308133e-01 3.05923135e-02 2.14050681e+02] [-3.35746079e-02 -3.03130717e-04 9.99436168e-01 5.09959331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters Centerline goodness [0,1] 0.998467824310521 Centerline is valid? [True, True] Translation: X:145.32, Y:214.08, Z:5.10 [[ 4.21355155e-01 -9.06787248e-01 1.40257286e-02 1.45318967e+02] [ 9.06256204e-01 4.21588371e-01 3.10312350e-02 2.14076260e+02] [-3.40518122e-02 -3.64267228e-04 9.99420002e-01 5.09804338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.346875 meters Centerline goodness [0,1] 0.9988813773649141 Centerline is valid? [True, True] Translation: X:145.33, Y:214.10, Z:5.10 [[ 4.22369312e-01 -9.06315208e-01 1.40323683e-02 1.45331222e+02] [ 9.05782565e-01 4.22602145e-01 3.10704369e-02 2.14102137e+02] [-3.40897184e-02 -4.12924535e-04 9.99418691e-01 5.09852576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters Centerline goodness [0,1] 0.9986894794321077 Centerline is valid? [True, True] Translation: X:145.34, Y:214.13, Z:5.10 [[ 4.23608800e-01 -9.05735692e-01 1.40869363e-02 1.45340378e+02] [ 9.05197751e-01 4.23842700e-01 3.12153204e-02 2.14127611e+02] [-3.42434750e-02 -4.71621360e-04 9.99413409e-01 5.09692537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.406875 meters Centerline goodness [0,1] 0.9983507154984235 Centerline is valid? [True, True] Translation: X:145.35, Y:214.15, Z:5.10 [[ 4.26306652e-01 -9.04466776e-01 1.42298588e-02 1.45350441e+02] [ 9.03916366e-01 4.26543671e-01 3.15547074e-02 2.14154425e+02] [-3.46098407e-02 -5.89379371e-04 9.99400726e-01 5.09659548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters Centerline goodness [0,1] 0.997989389791914 Centerline is valid? [True, True] Translation: X:145.36, Y:214.18, Z:5.10 [[ 4.27465270e-01 -9.03920863e-01 1.41603954e-02 1.45361241e+02] [ 9.03374751e-01 4.27699268e-01 3.14228515e-02 2.14181088e+02] [-3.44601618e-02 -6.40033978e-04 9.99405867e-01 5.09537539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.466875 meters Centerline goodness [0,1] 0.9980887405041854 Centerline is valid? [True, True] Translation: X:145.37, Y:214.21, Z:5.09 [[ 4.28239355e-01 -9.03554405e-01 1.41595169e-02 1.45369884e+02] [ 9.03007383e-01 4.28472841e-01 3.14434441e-02 2.14207051e+02] [-3.44778309e-02 -6.79171964e-04 9.99405232e-01 5.09372991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters Centerline goodness [0,1] 0.9983024541662625 Centerline is valid? [True, True] Translation: X:145.38, Y:214.23, Z:5.09 [[ 4.28919703e-01 -9.03231544e-01 1.41656593e-02 1.45381626e+02] [ 9.02683155e-01 4.29152964e-01 3.14778409e-02 2.14232384e+02] [-3.45110135e-02 -7.14364181e-04 9.99404062e-01 5.09298395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.526875 meters Centerline goodness [0,1] 0.9985232169660582 Centerline is valid? [True, True] Translation: X:145.39, Y:214.26, Z:5.09 [[ 4.28922670e-01 -9.03233259e-01 1.39650783e-02 1.45392884e+02] [ 9.02699564e-01 4.29149358e-01 3.10536020e-02 2.14258443e+02] [-3.40417505e-02 -7.13323730e-04 9.99420157e-01 5.09192022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters Centerline goodness [0,1] 0.9985465468375282 Centerline is valid? [True, True] Translation: X:145.40, Y:214.28, Z:5.09 [[ 4.28966361e-01 -9.03212298e-01 1.39787674e-02 1.45404850e+02] [ 9.02676740e-01 4.29193451e-01 3.11076325e-02 2.14283924e+02] [-3.40963916e-02 -7.25819695e-04 9.99418285e-01 5.09098299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.586875 meters Centerline goodness [0,1] 0.9985960155890683 Centerline is valid? [True, True] Translation: X:145.42, Y:214.31, Z:5.09 [[ 4.28737782e-01 -9.03319810e-01 1.40440482e-02 1.45415026e+02] [ 9.02778460e-01 4.28967115e-01 3.12772400e-02 2.14309151e+02] [-3.42777854e-02 -7.31070243e-04 9.99412077e-01 5.08949485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters Centerline goodness [0,1] 0.9984761259735861 Centerline is valid? [True, True] Translation: X:145.43, Y:214.33, Z:5.09 [[ 4.27999809e-01 -9.03667787e-01 1.41666777e-02 1.45427200e+02] [ 9.03116217e-01 4.28233595e-01 3.15766768e-02 2.14334093e+02] [-3.46014730e-02 -7.20655267e-04 9.99400930e-01 5.08821670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.646875 meters Centerline goodness [0,1] 0.9981853375272199 Centerline is valid? [True, True] Translation: X:145.44, Y:214.36, Z:5.09 [[ 4.26760956e-01 -9.04255472e-01 1.40402083e-02 1.45437954e+02] [ 9.03713201e-01 4.26991314e-01 3.13188184e-02 2.14359490e+02] [-3.43152600e-02 -6.77327274e-04 9.99410829e-01 5.08652987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters Centerline goodness [0,1] 0.9984490488307283 Centerline is valid? [True, True] Translation: X:145.45, Y:214.38, Z:5.09 [[ 4.23438081e-01 -9.05813648e-01 1.42065434e-02 1.45453300e+02] [ 9.05258434e-01 4.23675950e-01 3.17152512e-02 2.14384373e+02] [-3.47470781e-02 -5.68851848e-04 9.99395976e-01 5.08621823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.706875 meters Centerline goodness [0,1] 0.9987435668204991 Centerline is valid? [True, True] Translation: X:145.47, Y:214.41, Z:5.09 [[ 4.21324598e-01 -9.06800972e-01 1.40563224e-02 1.45465129e+02] [ 9.06257273e-01 4.21558721e-01 3.14006372e-02 2.14408329e+02] [-3.43996937e-02 -4.91216479e-04 9.99408035e-01 5.08502714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters Centerline goodness [0,1] 0.9986862912054495 Centerline is valid? [True, True] Translation: X:145.48, Y:214.43, Z:5.08 [[ 4.19218305e-01 -9.07778213e-01 1.39545308e-02 1.45478324e+02] [ 9.07242079e-01 4.19450284e-01 3.11972505e-02 2.14433491e+02] [-3.41734162e-02 -4.18320943e-04 9.99415831e-01 5.08371849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.766875 meters Centerline goodness [0,1] 0.998957777885501 Centerline is valid? [True, True] Translation: X:145.49, Y:214.46, Z:5.08 [[ 4.17125296e-01 -9.08740616e-01 1.40349956e-02 1.45491531e+02] [ 9.08198002e-01 4.17361198e-01 3.14009502e-02 2.14458743e+02] [-3.43929814e-02 -3.51575662e-04 9.99408325e-01 5.08278582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters Centerline goodness [0,1] 0.9986601378839923 Centerline is valid? [True, True] Translation: X:145.50, Y:214.48, Z:5.08 [[ 4.15258420e-01 -9.09597881e-01 1.38614474e-02 1.45504247e+02] [ 9.09068372e-01 4.15489607e-01 3.10335469e-02 2.14483398e+02] [-3.39873358e-02 -2.85938226e-04 9.99422223e-01 5.08161915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82687500000003 meters Centerline goodness [0,1] 0.998926698377851 Centerline is valid? [True, True] Translation: X:145.52, Y:214.51, Z:5.08 [[ 4.12176441e-01 -9.11002552e-01 1.35989547e-02 1.45517463e+02] [ 9.10492912e-01 4.12400678e-01 3.04686244e-02 2.14507659e+02] [-3.33652128e-02 -1.76697305e-04 9.99443211e-01 5.07935482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters Centerline goodness [0,1] 0.9989775797852918 Centerline is valid? [True, True] Translation: X:145.53, Y:214.53, Z:5.08 [[ 4.10411214e-01 -9.11800256e-01 1.35251152e-02 1.45529822e+02] [ 9.11295809e-01 4.10633996e-01 3.03260626e-02 2.14532952e+02] [-3.32051837e-02 -1.20775341e-04 9.99448549e-01 5.07764837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88687500000003 meters Centerline goodness [0,1] 0.9989293361884368 Centerline is valid? [True, True] Translation: X:145.54, Y:214.56, Z:5.08 [[ 4.08693892e-01 -9.12575039e-01 1.32702873e-02 1.45542471e+02] [ 9.12089057e-01 4.08909273e-01 2.97784970e-02 2.14558109e+02] [-3.26014566e-02 -6.66060271e-05 9.99468429e-01 5.07561735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters Centerline goodness [0,1] 0.9987054541901761 Centerline is valid? [True, True] Translation: X:145.56, Y:214.58, Z:5.07 [[ 4.07045568e-01 -9.13309800e-01 1.33833770e-02 1.45555020e+02] [ 9.12815497e-01 4.07265526e-01 3.00442885e-02 2.14583096e+02] [-3.28903312e-02 -1.28404819e-05 9.99458967e-01 5.07430771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94687500000003 meters Centerline goodness [0,1] 0.9988284396280296 Centerline is valid? [True, True] Translation: X:145.57, Y:214.61, Z:5.07 [[ 4.05557147e-01 -9.13970804e-01 1.34451087e-02 1.45567127e+02] [ 9.13471528e-01 4.05779952e-01 3.02059225e-02 2.14607997e+02] [-3.30630868e-02 3.14962328e-05 9.99453266e-01 5.07370425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters Centerline goodness [0,1] 0.9989244157621981 Centerline is valid? [True, True] Translation: X:145.58, Y:214.63, Z:5.07 [[ 4.04376872e-01 -9.14488517e-01 1.37876123e-02 1.45578998e+02] [ 9.13962965e-01 4.04611849e-01 3.09991895e-02 2.14633610e+02] [-3.39270341e-02 6.60117012e-05 9.99424310e-01 5.07361513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00687500000004 meters Centerline goodness [0,1] 0.9989037491778119 Centerline is valid? [True, True] Translation: X:145.59, Y:214.66, Z:5.07 [[ 4.04367930e-01 -9.14492004e-01 1.38185066e-02 1.45589725e+02] [ 9.13963305e-01 4.04603968e-01 3.10919105e-02 2.14659009e+02] [-3.40243261e-02 5.70364963e-05 9.99421003e-01 5.07180777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters Centerline goodness [0,1] 0.9991227428905621 Centerline is valid? [True, True] Translation: X:145.60, Y:214.68, Z:5.07 [[ 4.04850355e-01 -9.14278107e-01 1.38467774e-02 1.45599729e+02] [ 9.13746315e-01 4.05087080e-01 3.11789967e-02 2.14684878e+02] [-3.41154247e-02 2.96138996e-05 9.99417899e-01 5.07092254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06687500000004 meters Centerline goodness [0,1] 0.998806246497917 Centerline is valid? [True, True] Translation: X:145.61, Y:214.71, Z:5.07 [[ 4.05773008e-01 -9.13868274e-01 1.38940120e-02 1.45609704e+02] [ 9.13331808e-01 4.06010809e-01 3.13086352e-02 2.14711635e+02] [-3.42530874e-02 -1.43560047e-05 9.99413191e-01 5.07003326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters Centerline goodness [0,1] 0.9990515102874653 Centerline is valid? [True, True] Translation: X:145.62, Y:214.74, Z:5.07 [[ 4.06952468e-01 -9.13346711e-01 1.36921132e-02 1.45619324e+02] [ 9.12824641e-01 4.07182736e-01 3.08770981e-02 2.14737879e+02] [-3.37766882e-02 -6.70129310e-05 9.99429403e-01 5.06783713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12687500000004 meters Centerline goodness [0,1] 0.998836899367564 Centerline is valid? [True, True] Translation: X:145.63, Y:214.76, Z:5.06 [[ 4.09746197e-01 -9.12104193e-01 1.31907461e-02 1.45627270e+02] [ 9.11618352e-01 4.09958428e-01 2.97668881e-02 2.14764518e+02] [-3.25581610e-02 -1.71942988e-04 9.99469828e-01 5.06452579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters Centerline goodness [0,1] 0.9987867022567338 Centerline is valid? [True, True] Translation: X:145.64, Y:214.79, Z:5.06 [[ 4.11464413e-01 -9.11332919e-01 1.30133847e-02 1.45637145e+02] [ 9.10859060e-01 4.11670080e-01 2.93856793e-02 2.14790671e+02] [-3.21373580e-02 -2.37801992e-04 9.99483433e-01 5.06258921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18687500000004 meters Centerline goodness [0,1] 0.9984449411993391 Centerline is valid? [True, True] Translation: X:145.65, Y:214.82, Z:5.06 [[ 4.12856193e-01 -9.10705975e-01 1.28215229e-02 1.45647238e+02] [ 9.10244996e-01 4.13055133e-01 2.89741971e-02 2.14817671e+02] [-3.16829702e-02 -2.91449612e-04 9.99497926e-01 5.06101522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters Centerline goodness [0,1] 0.9986919238408992 Centerline is valid? [True, True] Translation: X:145.66, Y:214.84, Z:5.06 [[ 4.13768130e-01 -9.10292320e-01 1.27994649e-02 1.45656839e+02] [ 9.09832097e-01 4.13965919e-01 2.89443234e-02 2.14842923e+02] [-3.16463375e-02 -3.30874598e-04 9.99499074e-01 5.05942320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.246875 meters Centerline goodness [0,1] 0.9988809691779988 Centerline is valid? [True, True] Translation: X:145.67, Y:214.87, Z:5.06 [[ 4.14623940e-01 -9.09905944e-01 1.25762629e-02 1.45666634e+02] [ 9.09460749e-01 4.14814467e-01 2.84623246e-02 2.14868926e+02] [-3.11148542e-02 -3.63543652e-04 9.99515750e-01 5.05726707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters Centerline goodness [0,1] 0.9985216063595163 Centerline is valid? [True, True] Translation: X:145.68, Y:214.89, Z:5.06 [[ 4.15778358e-01 -9.09379027e-01 1.25754751e-02 1.45678196e+02] [ 9.08933030e-01 4.15968287e-01 2.84803731e-02 2.14894510e+02] [-3.11304528e-02 -4.11258084e-04 9.99515245e-01 5.05601830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.306875 meters Centerline goodness [0,1] 0.9986850115670279 Centerline is valid? [True, True] Translation: X:145.69, Y:214.92, Z:5.05 [[ 4.15841868e-01 -9.09347945e-01 1.27222548e-02 1.45688596e+02] [ 9.08890810e-01 4.16036216e-01 2.88333489e-02 2.14919062e+02] [-3.15124653e-02 -4.26973161e-04 9.99503268e-01 5.05456990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters Centerline goodness [0,1] 0.9986139143544975 Centerline is valid? [True, True] Translation: X:145.70, Y:214.94, Z:5.05 [[ 4.15672945e-01 -9.09426939e-01 1.25954423e-02 1.45700751e+02] [ 9.08978209e-01 4.15863512e-01 2.85684337e-02 2.14944745e+02] [-3.12188881e-02 -4.26142418e-04 9.99512481e-01 5.05323066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.366875 meters Centerline goodness [0,1] 0.9989266460127338 Centerline is valid? [True, True] Translation: X:145.71, Y:214.97, Z:5.05 [[ 4.15285126e-01 -9.09605079e-01 1.25245501e-02 1.45713462e+02] [ 9.09160810e-01 4.15473735e-01 2.84288129e-02 2.14970213e+02] [-3.10626142e-02 -4.19233021e-04 9.99517353e-01 5.05209139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters Centerline goodness [0,1] 0.9987082937291316 Centerline is valid? [True, True] Translation: X:145.73, Y:214.99, Z:5.05 [[ 4.13805708e-01 -9.10279614e-01 1.24843906e-02 1.45725842e+02] [ 9.09837885e-01 4.13993820e-01 2.83573530e-02 2.14994673e+02] [-3.09815809e-02 -3.75662978e-04 9.99519885e-01 5.04979492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.426875 meters Centerline goodness [0,1] 0.9987543049754525 Centerline is valid? [True, True] Translation: X:145.74, Y:215.02, Z:5.05 [[ 4.12903029e-01 -9.10691149e-01 1.23580321e-02 1.45738779e+02] [ 9.10257802e-01 4.13087774e-01 2.80931366e-02 2.15019582e+02] [-3.06891228e-02 -3.50746029e-04 9.99528916e-01 5.04934697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters Centerline goodness [0,1] 0.9988284110324628 Centerline is valid? [True, True] Translation: X:145.75, Y:215.04, Z:5.05 [[ 4.11913648e-01 -9.11138841e-01 1.23757423e-02 1.45751349e+02] [ 9.10703795e-01 4.12099388e-01 2.81547970e-02 2.15044980e+02] [-3.07529650e-02 -3.26709652e-04 9.99526962e-01 5.04904090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.486875 meters Centerline goodness [0,1] 0.9988284110324628 Centerline is valid? [True, True] Translation: X:145.76, Y:215.07, Z:5.05 [[ 4.11657231e-01 -9.11254827e-01 1.23678467e-02 1.45762381e+02] [ 9.10819729e-01 4.11842850e-01 2.81582646e-02 2.15070291e+02] [-3.07529638e-02 -3.26674448e-04 9.99526962e-01 5.04791361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters Centerline goodness [0,1] 0.998827752948934 Centerline is valid? [True, True] Translation: X:145.77, Y:215.09, Z:5.05 [[ 4.10758314e-01 -9.11660432e-01 1.23638368e-02 1.45773506e+02] [ 9.11225147e-01 4.10944235e-01 2.81703160e-02 2.15094566e+02] [-3.07626099e-02 -3.04952491e-04 9.99526672e-01 5.04713894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.546875 meters Centerline goodness [0,1] 0.9989495028461144 Centerline is valid? [True, True] Translation: X:145.79, Y:215.12, Z:5.05 [[ 4.09886370e-01 -9.12049845e-01 1.25794945e-02 1.45785078e+02] [ 9.11598657e-01 4.10079255e-01 2.86861091e-02 2.15120692e+02] [-3.13217511e-02 -2.90594823e-04 9.99509311e-01 5.04610935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters Centerline goodness [0,1] 0.9987554904831625 Centerline is valid? [True, True] Translation: X:145.80, Y:215.15, Z:5.04 [[ 4.09382513e-01 -9.12276629e-01 1.25423652e-02 1.45796302e+02] [ 9.11827588e-01 4.09574504e-01 2.86212598e-02 2.15146563e+02] [-3.12475394e-02 -2.80568705e-04 9.99511637e-01 5.04481317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.606875 meters Centerline goodness [0,1] 0.9989514241123684 Centerline is valid? [True, True] Translation: X:145.81, Y:215.17, Z:5.04 [[ 4.08822222e-01 -9.12528296e-01 1.25100062e-02 1.45807069e+02] [ 9.12080989e-01 4.09013492e-01 2.85697708e-02 2.15172699e+02] [-3.11874856e-02 -2.69818340e-04 9.99513516e-01 5.04288985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters Centerline goodness [0,1] 0.9989038292896814 Centerline is valid? [True, True] Translation: X:145.82, Y:215.20, Z:5.04 [[ 4.08412090e-01 -9.12711294e-01 1.25562386e-02 1.45817661e+02] [ 9.12260139e-01 4.08604973e-01 2.86951946e-02 2.15197785e+02] [-3.13209697e-02 -2.64908442e-04 9.99509343e-01 5.04137218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.666875 meters Centerline goodness [0,1] 0.9987609931490209 Centerline is valid? [True, True] Translation: X:145.83, Y:215.22, Z:5.04 [[ 4.08395243e-01 -9.12718225e-01 1.26002716e-02 1.45828012e+02] [ 9.12263141e-01 4.08589483e-01 2.88200702e-02 2.15224261e+02] [-3.14529417e-02 -2.75216256e-04 9.99505196e-01 5.04014523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters Centerline goodness [0,1] 0.9988810236201319 Centerline is valid? [True, True] Translation: X:145.84, Y:215.25, Z:5.04 [[ 4.08415649e-01 -9.12709810e-01 1.25483027e-02 1.45838315e+02] [ 9.12257817e-01 4.08608275e-01 2.87220036e-02 2.15249467e+02] [-3.13421948e-02 -2.83228569e-04 9.99508673e-01 5.03927446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.726875 meters Centerline goodness [0,1] 0.9986346125713171 Centerline is valid? [True, True] Translation: X:145.85, Y:215.28, Z:5.04 [[ 4.08409479e-01 -9.12712584e-01 1.25473323e-02 1.45849374e+02] [ 9.12259932e-01 4.08602072e-01 2.87430692e-02 2.15275754e+02] [-3.13610270e-02 -2.92513429e-04 9.99508079e-01 5.03789402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters Centerline goodness [0,1] 0.9991246626303888 Centerline is valid? [True, True] Translation: X:145.86, Y:215.30, Z:5.04 [[ 4.08522284e-01 -9.12662230e-01 1.25378644e-02 1.45860804e+02] [ 9.12209630e-01 4.08714524e-01 2.87407065e-02 2.15301851e+02] [-3.13549645e-02 -3.04058436e-04 9.99508266e-01 5.03753303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.786875 meters Centerline goodness [0,1] 0.9990294324606314 Centerline is valid? [True, True] Translation: X:145.87, Y:215.33, Z:5.04 [[ 4.08741413e-01 -9.12564156e-01 1.25347145e-02 1.45870539e+02] [ 9.12111065e-01 4.08933441e-01 2.87549315e-02 2.15327141e+02] [-3.13665837e-02 -3.20279542e-04 9.99507896e-01 5.03636348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters Centerline goodness [0,1] 0.99878265527232 Centerline is valid? [True, True] Translation: X:145.88, Y:215.35, Z:5.04 [[ 4.09044804e-01 -9.12430213e-01 1.23877172e-02 1.45881194e+02] [ 9.11986930e-01 4.09232201e-01 2.84401949e-02 2.15352792e+02] [-3.10191459e-02 -3.35877755e-04 9.99518734e-01 5.03541964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.846875 meters Centerline goodness [0,1] 0.9988580591865494 Centerline is valid? [True, True] Translation: X:145.89, Y:215.38, Z:5.03 [[ 4.10283714e-01 -9.11873556e-01 1.24053229e-02 1.45888630e+02] [ 9.11428015e-01 4.10471031e-01 2.85045026e-02 2.15378974e+02] [-3.10845279e-02 -3.88374361e-04 9.99516684e-01 5.03233246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters Centerline goodness [0,1] 0.99888020643151 Centerline is valid? [True, True] Translation: X:145.90, Y:215.40, Z:5.03 [[ 4.10580581e-01 -9.11739450e-01 1.24403013e-02 1.45899378e+02] [ 9.11290872e-01 4.10768804e-01 2.85996025e-02 2.15404899e+02] [-3.11854736e-02 -4.05708405e-04 9.99513532e-01 5.03115621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.906875 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:145.91, Y:215.43, Z:5.03 [[ 4.10540840e-01 -9.11757351e-01 1.24398762e-02 1.45909272e+02] [ 9.11308200e-01 4.10729062e-01 2.86182343e-02 2.15429733e+02] [-3.12023042e-02 -4.12392751e-04 9.99513004e-01 5.02930188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters Centerline goodness [0,1] 0.9988847403384571 Centerline is valid? [True, True] Translation: X:145.92, Y:215.46, Z:5.03 [[ 4.10347823e-01 -9.11842974e-01 1.25321528e-02 1.45920541e+02] [ 9.11386413e-01 4.10538933e-01 2.88546586e-02 2.15455393e+02] [-3.14558544e-02 -4.18812558e-04 9.99505054e-01 5.02842261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.966875 meters Centerline goodness [0,1] 0.9988344988344988 Centerline is valid? [True, True] Translation: X:145.93, Y:215.48, Z:5.03 [[ 4.09621908e-01 -9.12163633e-01 1.29382642e-02 1.45931230e+02] [ 9.11676384e-01 4.09825978e-01 2.98133833e-02 2.15479914e+02] [-3.24971208e-02 -4.16705028e-04 9.99471742e-01 5.02759855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters Centerline goodness [0,1] 0.9989324793167867 Centerline is valid? [True, True] Translation: X:145.94, Y:215.51, Z:5.03 [[ 4.08816829e-01 -9.12522904e-01 1.30671059e-02 1.45943619e+02] [ 9.12025345e-01 4.09025412e-01 3.01327364e-02 2.15505653e+02] [-3.28415905e-02 -4.01238005e-04 9.99460489e-01 5.02747408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.026875 meters Centerline goodness [0,1] 0.9988337625734972 Centerline is valid? [True, True] Translation: X:145.96, Y:215.53, Z:5.03 [[ 4.07802779e-01 -9.12977045e-01 1.30310423e-02 1.45955518e+02] [ 9.12481711e-01 4.08010754e-01 3.00724284e-02 2.15531083e+02] [-3.27722422e-02 -3.73032138e-04 9.99462776e-01 5.02682876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters Centerline goodness [0,1] 0.9988809691779988 Centerline is valid? [True, True] Translation: X:145.97, Y:215.56, Z:5.03 [[ 4.06150083e-01 -9.13710729e-01 1.32217343e-02 1.45967387e+02] [ 9.13200377e-01 4.06365102e-01 3.05364433e-02 2.15556774e+02] [-3.32743273e-02 -3.28286240e-04 9.99446202e-01 5.02548890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.086875 meters Centerline goodness [0,1] 0.9988552500182672 Centerline is valid? [True, True] Translation: X:145.98, Y:215.58, Z:5.02 [[ 4.04166758e-01 -9.14587572e-01 1.33717684e-02 1.45979436e+02] [ 9.14065319e-01 4.04387810e-01 3.09045456e-02 2.15581158e+02] [-3.36722935e-02 -2.67920316e-04 9.99432892e-01 5.02452653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters Centerline goodness [0,1] 0.9989278752436647 Centerline is valid? [True, True] Translation: X:145.99, Y:215.61, Z:5.02 [[ 4.01943873e-01 -9.15567084e-01 1.33430730e-02 1.45992540e+02] [ 9.15046798e-01 4.02165236e-01 3.08622810e-02 2.15606575e+02] [-3.36226087e-02 -1.95368561e-04 9.99434581e-01 5.02386221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.146875 meters Centerline goodness [0,1] 0.9989490406941219 Centerline is valid? [True, True] Translation: X:146.01, Y:215.63, Z:5.02 [[ 3.97606059e-01 -9.17458872e-01 1.33656598e-02 1.46006650e+02] [ 9.16937092e-01 3.97830639e-01 3.09378668e-02 2.15629883e+02] [-3.37014893e-02 -4.56141081e-05 9.99431942e-01 5.02268920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters Centerline goodness [0,1] 0.9988789784081493 Centerline is valid? [True, True] Translation: X:146.02, Y:215.65, Z:5.02 [[ 3.95354588e-01 -9.18432126e-01 1.33108597e-02 1.46019615e+02] [ 9.17914351e-01 3.95578600e-01 3.08353087e-02 2.15654721e+02] [-3.35856294e-02 2.73483703e-05 9.99435843e-01 5.02178765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.206875 meters Centerline goodness [0,1] 0.9991437937276775 Centerline is valid? [True, True] Translation: X:146.03, Y:215.68, Z:5.02 [[ 3.93299823e-01 -9.19313923e-01 1.33101618e-02 1.46032349e+02] [ 9.18795926e-01 3.93524970e-01 3.08568284e-02 2.15679335e+02] [-3.36049930e-02 9.33373103e-05 9.99435188e-01 5.02054810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters Centerline goodness [0,1] 0.9990423337589628 Centerline is valid? [True, True] Translation: X:146.05, Y:215.70, Z:5.02 [[ 3.90154691e-01 -9.20653939e-01 1.32529932e-02 1.46045690e+02] [ 9.20140405e-01 3.90379668e-01 3.07465316e-02 2.15703245e+02] [-3.34806145e-02 1.98711002e-04 9.99439347e-01 5.01945486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.266875 meters Centerline goodness [0,1] 0.999287504299543 Centerline is valid? [True, True] Translation: X:146.06, Y:215.73, Z:5.02 [[ 3.88826968e-01 -9.21215419e-01 1.32567021e-02 1.46057053e+02] [ 9.20701117e-01 3.89052817e-01 3.07791861e-02 2.15729145e+02] [-3.35118181e-02 2.37682782e-04 9.99438293e-01 5.01859140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters Centerline goodness [0,1] 0.9990177782143208 Centerline is valid? [True, True] Translation: X:146.07, Y:215.75, Z:5.02 [[ 3.87949936e-01 -9.21584749e-01 1.32814581e-02 1.46069012e+02] [ 9.21067947e-01 3.88177127e-01 3.08602449e-02 2.15754741e+02] [-3.35958893e-02 2.60895352e-04 9.99435465e-01 5.01731828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32687500000003 meters Centerline goodness [0,1] 0.9990670725719336 Centerline is valid? [True, True] Translation: X:146.08, Y:215.78, Z:5.02 [[ 3.87093366e-01 -9.21944999e-01 1.32719509e-02 1.46080506e+02] [ 9.21428375e-01 3.87320718e-01 3.08611600e-02 2.15779653e+02] [-3.35927937e-02 2.83001892e-04 9.99435563e-01 5.01634864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters Centerline goodness [0,1] 0.9991647217786512 Centerline is valid? [True, True] Translation: X:146.09, Y:215.81, Z:5.02 [[ 3.86423472e-01 -9.22224288e-01 1.33889280e-02 1.46091626e+02] [ 9.21697824e-01 3.86655238e-01 3.11584365e-02 2.15805348e+02] [-3.39119660e-02 3.00194592e-04 9.99424779e-01 5.01574943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38687500000003 meters Centerline goodness [0,1] 0.9992131985935925 Centerline is valid? [True, True] Translation: X:146.10, Y:215.83, Z:5.02 [[ 3.86841928e-01 -9.22046358e-01 1.35586404e-02 1.46101806e+02] [ 9.21505519e-01 3.87079367e-01 3.15775579e-02 2.15830280e+02] [-3.43642422e-02 2.78838524e-04 9.99409336e-01 5.01559102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters Centerline goodness [0,1] 0.9992874867939363 Centerline is valid? [True, True] Translation: X:146.11, Y:215.86, Z:5.01 [[ 3.87641281e-01 -9.21708233e-01 1.37175494e-02 1.46111704e+02] [ 9.21153523e-01 3.87883843e-01 3.19736185e-02 2.15855933e+02] [-3.47911632e-02 2.41674556e-04 9.99394575e-01 5.01463349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44687500000003 meters Centerline goodness [0,1] 0.9990447965906586 Centerline is valid? [True, True] Translation: X:146.12, Y:215.88, Z:5.01 [[ 3.89331714e-01 -9.20995377e-01 1.37234014e-02 1.46121372e+02] [ 9.20438864e-01 3.89573468e-01 3.20126635e-02 2.15882693e+02] [-3.48297882e-02 1.68006892e-04 9.99393245e-01 5.01362129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters Centerline goodness [0,1] 0.9991194383973779 Centerline is valid? [True, True] Translation: X:146.13, Y:215.91, Z:5.01 [[ 3.91012215e-01 -9.20284822e-01 1.36122447e-02 1.46130345e+02] [ 9.19736102e-01 3.91249072e-01 3.17752483e-02 2.15909445e+02] [-3.45680568e-02 9.51626257e-05 9.99402342e-01 5.01257978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50687500000004 meters Centerline goodness [0,1] 0.9991443379620575 Centerline is valid? [True, True] Translation: X:146.14, Y:215.94, Z:5.01 [[ 3.93113310e-01 -9.19389774e-01 1.35782772e-02 1.46138874e+02] [ 9.18842412e-01 3.93347739e-01 3.17203138e-02 2.15935662e+02] [-3.45043168e-02 6.61943022e-06 9.99404549e-01 5.01056095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters Centerline goodness [0,1] 0.9989753098467844 Centerline is valid? [True, True] Translation: X:146.15, Y:215.96, Z:5.01 [[ 3.95241120e-01 -9.18478922e-01 1.34509365e-02 1.46146990e+02] [ 9.17940362e-01 3.95469928e-01 3.14488044e-02 2.15961528e+02] [-3.42045048e-02 -8.27031813e-05 9.99414851e-01 5.00813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56687500000004 meters Centerline goodness [0,1] 0.999049800214404 Centerline is valid? [True, True] Translation: X:146.15, Y:215.99, Z:5.01 [[ 3.99014380e-01 -9.16849790e-01 1.31904082e-02 1.46154535e+02] [ 9.16330244e-01 3.99232276e-01 3.08621773e-02 2.15988756e+02] [-3.35620174e-02 -2.27682583e-04 9.99436611e-01 5.00559872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters Centerline goodness [0,1] 0.999001947419669 Centerline is valid? [True, True] Translation: X:146.16, Y:216.01, Z:5.00 [[ 4.00782206e-01 -9.16080250e-01 1.30613605e-02 1.46163351e+02] [ 9.15569641e-01 4.00994871e-01 3.05834317e-02 2.16014217e+02] [-3.32544163e-02 -2.98710085e-04 9.99446874e-01 5.00351176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62687500000004 meters Centerline goodness [0,1] 0.9993180711154408 Centerline is valid? [True, True] Translation: X:146.17, Y:216.04, Z:5.00 [[ 4.01921743e-01 -9.15581216e-01 1.30364924e-02 1.46173632e+02] [ 9.15071777e-01 4.02132961e-01 3.05405551e-02 2.16040209e+02] [-3.32047618e-02 -3.45586893e-04 9.99448510e-01 5.00264999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters Centerline goodness [0,1] 0.9990253411306043 Centerline is valid? [True, True] Translation: X:146.18, Y:216.07, Z:5.00 [[ 4.02939230e-01 -9.15131847e-01 1.31787208e-02 1.46182462e+02] [ 9.14610166e-01 4.03154492e-01 3.08982136e-02 2.16065727e+02] [-3.35889997e-02 -3.96710364e-04 9.99435652e-01 5.00083265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68687500000004 meters Centerline goodness [0,1] 0.9991748373944277 Centerline is valid? [True, True] Translation: X:146.19, Y:216.09, Z:5.00 [[ 4.04291275e-01 -9.14531318e-01 1.34548685e-02 1.46190658e+02] [ 9.13986251e-01 4.04514833e-01 3.15734418e-02 2.16092391e+02] [-3.43175952e-02 -4.67302207e-04 9.99410869e-01 5.00003634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters Centerline goodness [0,1] 0.9989303252783586 Centerline is valid? [True, True] Translation: X:146.20, Y:216.12, Z:5.00 [[ 4.04685694e-01 -9.14356446e-01 1.34825269e-02 1.46200695e+02] [ 9.13808308e-01 4.04909925e-01 3.16595858e-02 2.16118394e+02] [-3.44073553e-02 -4.91736348e-04 9.99407771e-01 4.99900148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.746875 meters Centerline goodness [0,1] 0.9990295737402655 Centerline is valid? [True, True] Translation: X:146.21, Y:216.14, Z:5.00 [[ 4.04707010e-01 -9.14347516e-01 1.34483073e-02 1.46210434e+02] [ 9.13801326e-01 4.04930080e-01 3.16032762e-02 2.16143901e+02] [-3.43420013e-02 -5.00986332e-04 9.99410014e-01 4.99733215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters Centerline goodness [0,1] 0.999466770080954 Centerline is valid? [True, True] Translation: X:146.22, Y:216.17, Z:5.00 [[ 4.04228605e-01 -9.14559313e-01 1.34349823e-02 1.46220434e+02] [ 9.14013420e-01 4.04451506e-01 3.15982137e-02 2.16170058e+02] [-3.43322394e-02 -4.93147730e-04 9.99410353e-01 4.99543713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.806875 meters Centerline goodness [0,1] 0.9990330456644185 Centerline is valid? [True, True] Translation: X:146.23, Y:216.20, Z:4.99 [[ 4.02763134e-01 -9.15206347e-01 1.33865732e-02 1.46231241e+02] [ 9.14663927e-01 4.02985290e-01 3.15080379e-02 2.16195655e+02] [-3.42309483e-02 -4.46060444e-04 9.99413850e-01 4.99310118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters Centerline goodness [0,1] 0.9991318397762076 Centerline is valid? [True, True] Translation: X:146.24, Y:216.22, Z:4.99 [[ 4.01314041e-01 -9.15843303e-01 1.33448405e-02 1.46241933e+02] [ 9.15303808e-01 4.01535658e-01 3.14333381e-02 2.16220740e+02] [-3.41464415e-02 -4.00056593e-04 9.99416760e-01 4.99105017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.866875 meters Centerline goodness [0,1] 0.9991075520393642 Centerline is valid? [True, True] Translation: X:146.25, Y:216.25, Z:4.99 [[ 3.99718264e-01 -9.16543266e-01 1.31814742e-02 1.46253185e+02] [ 9.16016461e-01 3.99935397e-01 3.10728383e-02 2.16246626e+02] [-3.37513388e-02 -3.45933595e-04 9.99430201e-01 4.98940948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters Centerline goodness [0,1] 0.9989373007438895 Centerline is valid? [True, True] Translation: X:146.27, Y:216.27, Z:4.99 [[ 3.97533828e-01 -9.17494182e-01 1.30874777e-02 1.46265324e+02] [ 9.16974676e-01 3.97749107e-01 3.08721860e-02 2.16271937e+02] [-3.35305837e-02 -2.71852640e-04 9.99437655e-01 4.98863743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.926875 meters Centerline goodness [0,1] 0.9990083923863884 Centerline is valid? [True, True] Translation: X:146.28, Y:216.30, Z:4.99 [[ 3.95342028e-01 -9.18443221e-01 1.29124068e-02 1.46277238e+02] [ 9.17937294e-01 3.95552791e-01 3.04813707e-02 2.16296190e+02] [-3.31029468e-02 -1.97787200e-04 9.99451928e-01 4.98706453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters Centerline goodness [0,1] 0.9991540581041234 Centerline is valid? [True, True] Translation: X:146.29, Y:216.32, Z:4.99 [[ 3.92050311e-01 -9.19853285e-01 1.29030097e-02 1.46289829e+02] [ 9.19348091e-01 3.92262573e-01 3.04821464e-02 2.16320434e+02] [-3.31004703e-02 -8.81776762e-05 9.99452025e-01 4.98607811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.986875 meters Centerline goodness [0,1] 0.9990778489613668 Centerline is valid? [True, True] Translation: X:146.31, Y:216.34, Z:4.99 [[ 3.85497523e-01 -9.22618135e-01 1.29397472e-02 1.46305178e+02] [ 9.22110758e-01 3.85714607e-01 3.05939761e-02 2.16342508e+02] [-3.32176066e-02 1.37978114e-04 9.99448134e-01 4.98502318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters Centerline goodness [0,1] 0.9992962189972334 Centerline is valid? [True, True] Translation: X:146.32, Y:216.37, Z:4.98 [[ 3.82001079e-01 -9.24069012e-01 1.31009865e-02 1.46318036e+02] [ 9.23548827e-01 3.82225581e-01 3.10027326e-02 2.16366381e+02] [-3.36561967e-02 2.56323440e-04 9.99433437e-01 4.98442328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.046875 meters Centerline goodness [0,1] 0.9992244680335418 Centerline is valid? [True, True] Translation: X:146.33, Y:216.39, Z:4.98 [[ 3.78605493e-01 -9.25459487e-01 1.35136531e-02 1.46330901e+02] [ 9.24905930e-01 3.78846398e-01 3.20066864e-02 2.16391772e+02] [-3.47404904e-02 3.80950562e-04 9.99396294e-01 4.98355152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters Centerline goodness [0,1] 0.9993198105186445 Centerline is valid? [True, True] Translation: X:146.34, Y:216.42, Z:4.99 [[ 3.72925172e-01 -9.27753350e-01 1.41611421e-02 1.46343371e+02] [ 9.27146168e-01 3.73193445e-01 3.35654095e-02 2.16417196e+02] [-3.64252665e-02 6.12062510e-04 9.99336192e-01 4.98505360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.106875 meters Centerline goodness [0,1] 0.9994891132465636 Centerline is valid? [True, True] Translation: X:146.36, Y:216.44, Z:4.98 [[ 3.70889193e-01 -9.28568794e-01 1.41845435e-02 1.46358181e+02] [ 9.27959197e-01 3.71159707e-01 3.36482000e-02 2.16440186e+02] [-3.65093995e-02 6.82923812e-04 9.99333076e-01 4.98379620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters Centerline goodness [0,1] 0.9992671845229372 Centerline is valid? [True, True] Translation: X:146.37, Y:216.47, Z:4.98 [[ 3.69017331e-01 -9.29314184e-01 1.41900386e-02 1.46367280e+02] [ 9.28704311e-01 3.69289291e-01 3.36707804e-02 2.16467177e+02] [-3.65309631e-02 7.53248490e-04 9.99332238e-01 4.98392409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.166875 meters Centerline goodness [0,1] 0.9994886031560491 Centerline is valid? [True, True] Translation: X:146.38, Y:216.49, Z:4.98 [[ 3.67368449e-01 -9.29969043e-01 1.40712999e-02 1.46382444e+02] [ 9.29368950e-01 3.67636960e-01 3.34128883e-02 2.16490890e+02] [-3.62460817e-02 8.02588259e-04 9.99342573e-01 4.98192308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters Centerline goodness [0,1] 0.9994170512509108 Centerline is valid? [True, True] Translation: X:146.39, Y:216.52, Z:4.98 [[ 3.66393936e-01 -9.30354887e-01 1.39738432e-02 1.46387976e+02] [ 9.29762553e-01 3.66659381e-01 3.32038187e-02 2.16518682e+02] [-3.60149757e-02 8.26678280e-04 9.99350908e-01 4.98164784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.226875 meters Centerline goodness [0,1] 0.9994423160855439 Centerline is valid? [True, True] Translation: X:146.40, Y:216.54, Z:4.98 [[ 3.66189014e-01 -9.30434464e-01 1.40468450e-02 1.46399148e+02] [ 9.29835039e-01 3.66457392e-01 3.34032889e-02 2.16543890e+02] [-3.62271414e-02 8.29331181e-04 9.99343238e-01 4.98036394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters Centerline goodness [0,1] 0.9993693912199855 Centerline is valid? [True, True] Translation: X:146.41, Y:216.57, Z:4.98 [[ 3.66843189e-01 -9.30176104e-01 1.40886758e-02 1.46408568e+02] [ 9.29571891e-01 3.67112766e-01 3.35308476e-02 2.16570414e+02] [-3.63617259e-02 7.95873972e-04 9.99338377e-01 4.97910614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.286875 meters Centerline goodness [0,1] 0.9993690239285541 Centerline is valid? [True, True] Translation: X:146.42, Y:216.60, Z:4.98 [[ 3.67812543e-01 -9.29792612e-01 1.41291504e-02 1.46416203e+02] [ 9.29183728e-01 3.68083055e-01 3.36521042e-02 2.16597395e+02] [-3.64901787e-02 7.50910675e-04 9.99333730e-01 4.97774449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters Centerline goodness [0,1] 0.9991060210689089 Centerline is valid? [True, True] Translation: X:146.43, Y:216.62, Z:4.98 [[ 3.69045913e-01 -9.29302816e-01 1.41911926e-02 1.46425129e+02] [ 9.28687224e-01 3.69318009e-01 3.38267434e-02 2.16623408e+02] [-3.66763509e-02 6.95557850e-04 9.99326954e-01 4.97665878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.346875 meters Centerline goodness [0,1] 0.9991793188346327 Centerline is valid? [True, True] Translation: X:146.43, Y:216.65, Z:4.98 [[ 3.72127806e-01 -9.28069574e-01 1.44139504e-02 1.46431909e+02] [ 9.27432851e-01 3.72406411e-01 3.43769103e-02 2.16651964e+02] [-3.72720120e-02 5.75366941e-04 9.99304992e-01 4.97563414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters Centerline goodness [0,1] 0.9993482196741098 Centerline is valid? [True, True] Translation: X:146.44, Y:216.68, Z:4.97 [[ 3.73606675e-01 -9.27473297e-01 1.45373724e-02 1.46440789e+02] [ 9.26824276e-01 3.73889050e-01 3.46949574e-02 2.16679111e+02] [-3.76140109e-02 5.11322000e-04 9.99292212e-01 4.97471203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.406875 meters Centerline goodness [0,1] 0.9993482196741098 Centerline is valid? [True, True] Translation: X:146.45, Y:216.70, Z:4.97 [[ 3.73354321e-01 -9.27575059e-01 1.45279446e-02 1.46451376e+02] [ 9.26925961e-01 3.73636519e-01 3.46989045e-02 2.16704604e+02] [-3.76140091e-02 5.11343119e-04 9.99292212e-01 4.97358478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters Centerline goodness [0,1] 0.9992050491424167 Centerline is valid? [True, True] Translation: X:146.46, Y:216.73, Z:4.97 [[ 3.75278210e-01 -9.26798144e-01 1.45418102e-02 1.46459488e+02] [ 9.26146220e-01 3.75559609e-01 3.47585942e-02 2.16731314e+02] [-3.76755172e-02 4.23699523e-04 9.99289936e-01 4.97262351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.466875 meters Centerline goodness [0,1] 0.9991345321665545 Centerline is valid? [True, True] Translation: X:146.47, Y:216.76, Z:4.97 [[ 3.77172607e-01 -9.26028612e-01 1.45545505e-02 1.46468213e+02] [ 9.25373946e-01 3.77453172e-01 3.48161357e-02 2.16758405e+02] [-3.77343990e-02 3.36709152e-04 9.99287747e-01 4.97132009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters Centerline goodness [0,1] 0.9989739184384471 Centerline is valid? [True, True] Translation: X:146.47, Y:216.79, Z:4.97 [[ 3.81492916e-01 -9.24265364e-01 1.40246845e-02 1.46473487e+02] [ 9.23655405e-01 3.81750594e-01 3.35734498e-02 2.16786134e+02] [-3.63847084e-02 1.45942333e-04 9.99337847e-01 4.96891407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.526875 meters Centerline goodness [0,1] 0.9989971586160789 Centerline is valid? [True, True] Translation: X:146.48, Y:216.81, Z:4.97 [[ 3.83914927e-01 -9.23264938e-01 1.38268838e-02 1.46481202e+02] [ 9.22670510e-01 3.84163835e-01 3.31251987e-02 2.16813178e+02] [-3.58951232e-02 4.03996426e-05 9.99355562e-01 4.96652588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters Centerline goodness [0,1] 0.9987119856887299 Centerline is valid? [True, True] Translation: X:146.49, Y:216.84, Z:4.96 [[ 3.86367630e-01 -9.22245070e-01 1.35677651e-02 1.46488945e+02] [ 9.21671221e-01 3.86605776e-01 3.25289820e-02 2.16840149e+02] [-3.52450697e-02 -6.31270949e-05 9.99378698e-01 4.96456910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.586875 meters Centerline goodness [0,1] 0.9989043967036632 Centerline is valid? [True, True] Translation: X:146.50, Y:216.87, Z:4.96 [[ 3.88538350e-01 -9.21335228e-01 1.33920968e-02 1.46497076e+02] [ 9.20774753e-01 3.88769050e-01 3.21322199e-02 2.16867563e+02] [-3.48109789e-02 -1.53495011e-04 9.99393902e-01 4.96295941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters Centerline goodness [0,1] 0.9989540743558049 Centerline is valid? [True, True] Translation: X:146.50, Y:216.89, Z:4.96 [[ 3.90110179e-01 -9.20670128e-01 1.34373888e-02 1.46504935e+02] [ 9.20104594e-01 3.90341473e-01 3.22656276e-02 2.16894001e+02] [-3.49511696e-02 -2.23346639e-04 9.99388996e-01 4.96129927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.646875 meters Centerline goodness [0,1] 0.9984631753162312 Centerline is valid? [True, True] Translation: X:146.51, Y:216.92, Z:4.96 [[ 3.91364074e-01 -9.20138984e-01 1.33571263e-02 1.46513727e+02] [ 9.19578966e-01 3.91591845e-01 3.20991076e-02 2.16920548e+02] [-3.47661820e-02 -2.79505137e-04 9.99395434e-01 4.96035804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters Centerline goodness [0,1] 0.9985985082426718 Centerline is valid? [True, True] Translation: X:146.52, Y:216.95, Z:4.96 [[ 3.93765160e-01 -9.19112990e-01 1.34279807e-02 1.46521861e+02] [ 9.18545531e-01 3.93993865e-01 3.22946176e-02 2.16947408e+02] [-3.49729446e-02 -3.82283603e-04 9.99388186e-01 4.95962307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.706875 meters Centerline goodness [0,1] 0.9987228305858423 Centerline is valid? [True, True] Translation: X:146.53, Y:216.97, Z:4.96 [[ 3.94548255e-01 -9.18777137e-01 1.34255770e-02 1.46530008e+02] [ 9.18208894e-01 3.94776385e-01 3.23115023e-02 2.16972976e+02] [-3.49871703e-02 -4.20962676e-04 9.99387673e-01 4.95817724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters Centerline goodness [0,1] 0.9984371670100164 Centerline is valid? [True, True] Translation: X:146.54, Y:217.00, Z:4.96 [[ 3.95267935e-01 -9.18467586e-01 1.34369958e-02 1.46538787e+02] [ 9.17897220e-01 3.95495994e-01 3.23668474e-02 2.16998552e+02] [-3.50421782e-02 -4.59795846e-04 9.99385729e-01 4.95706712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.766875 meters Centerline goodness [0,1] 0.9986048711279262 Centerline is valid? [True, True] Translation: X:146.55, Y:217.02, Z:4.96 [[ 3.95784797e-01 -9.18243009e-01 1.35709300e-02 1.46549341e+02] [ 9.17660125e-01 3.96017084e-01 3.27164230e-02 2.17024872e+02] [-3.54159468e-02 -4.95161497e-04 9.99372536e-01 4.95680241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters Centerline goodness [0,1] 0.9986978550120744 Centerline is valid? [True, True] Translation: X:146.56, Y:217.05, Z:4.96 [[ 3.97860187e-01 -9.17342715e-01 1.37701022e-02 1.46557998e+02] [ 9.16741090e-01 3.98097966e-01 3.32232412e-02 2.17051594e+02] [-3.59589480e-02 -5.94586454e-04 9.99353091e-01 4.95586165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82687500000003 meters Centerline goodness [0,1] 0.9986059589348582 Centerline is valid? [True, True] Translation: X:146.57, Y:217.08, Z:4.95 [[ 3.98586344e-01 -9.17026823e-01 1.38105948e-02 1.46567187e+02] [ 9.16420611e-01 3.98825029e-01 3.33445526e-02 2.17078133e+02] [-3.60858600e-02 -6.34369554e-04 9.99348492e-01 4.95423237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters Centerline goodness [0,1] 0.9987210761907017 Centerline is valid? [True, True] Translation: X:146.58, Y:217.10, Z:4.95 [[ 3.99797683e-01 -9.16501821e-01 1.36464082e-02 1.46578268e+02] [ 9.15908725e-01 4.00029929e-01 3.29736880e-02 2.17103765e+02] [-3.56794168e-02 -6.83939790e-04 9.99363053e-01 4.95360547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88687500000003 meters Centerline goodness [0,1] 0.9986986252750633 Centerline is valid? [True, True] Translation: X:146.59, Y:217.13, Z:4.95 [[ 4.00579895e-01 -9.16162025e-01 1.35237236e-02 1.46587041e+02] [ 9.15578509e-01 4.00807471e-01 3.27011493e-02 2.17129984e+02] [-3.53799606e-02 -7.17392315e-04 9.99373676e-01 4.95186254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters Centerline goodness [0,1] 0.9989287754713388 Centerline is valid? [True, True] Translation: X:146.60, Y:217.16, Z:4.95 [[ 4.01301902e-01 -9.15847282e-01 1.34365157e-02 1.46597522e+02] [ 9.15270282e-01 4.01526082e-01 3.25133411e-02 2.17156793e+02] [-3.51723666e-02 -7.49622124e-04 9.99380980e-01 4.95065323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94687500000003 meters Centerline goodness [0,1] 0.9984191775004129 Centerline is valid? [True, True] Translation: X:146.60, Y:217.18, Z:4.95 [[ 4.03122385e-01 -9.15050590e-01 1.32197426e-02 1.46604859e+02] [ 9.14490744e-01 4.03338260e-01 3.20144935e-02 2.17183409e+02] [-3.46269091e-02 -8.16426730e-04 9.99399975e-01 4.94785342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters Centerline goodness [0,1] 0.9985027449675594 Centerline is valid? [True, True] Translation: X:146.62, Y:217.21, Z:4.95 [[ 4.03979063e-01 -9.14674300e-01 1.31088270e-02 1.46616967e+02] [ 9.14123128e-01 4.04190805e-01 3.17600232e-02 2.17209654e+02] [-3.43485443e-02 -8.47302519e-04 9.99409555e-01 4.94680182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00687500000004 meters Centerline goodness [0,1] 0.998168106011943 Centerline is valid? [True, True] Translation: X:146.63, Y:217.24, Z:4.95 [[ 4.04441909e-01 -9.14472340e-01 1.29260376e-02 1.46627214e+02] [ 9.13935550e-01 4.04647498e-01 3.13402738e-02 2.17236439e+02] [-3.38903023e-02 -8.61754881e-04 9.99425187e-01 4.94549536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters Centerline goodness [0,1] 0.9984092689759966 Centerline is valid? [True, True] Translation: X:146.64, Y:217.26, Z:4.94 [[ 4.05424665e-01 -9.14038460e-01 1.28270895e-02 1.46639248e+02] [ 9.13508938e-01 4.05626532e-01 3.11213343e-02 2.17262317e+02] [-3.36491043e-02 -8.99695673e-04 9.99433304e-01 4.94432084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06687500000004 meters Centerline goodness [0,1] 0.9984549192992465 Centerline is valid? [True, True] Translation: X:146.65, Y:217.29, Z:4.94 [[ 4.05715388e-01 -9.13911040e-01 1.27135755e-02 1.46649141e+02] [ 9.13390013e-01 4.05913513e-01 3.08691521e-02 2.17287641e+02] [-3.33722710e-02 -9.11637150e-04 9.99442575e-01 4.94296558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters Centerline goodness [0,1] 0.9986386759332234 Centerline is valid? [True, True] Translation: X:146.66, Y:217.31, Z:4.94 [[ 4.06023996e-01 -9.13773824e-01 1.27244777e-02 1.46661483e+02] [ 9.13251131e-01 4.06222265e-01 3.09167142e-02 2.17313452e+02] [-3.34198503e-02 -9.32284224e-04 9.99440966e-01 4.94208376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12687500000004 meters Centerline goodness [0,1] 0.9986625268688799 Centerline is valid? [True, True] Translation: X:146.67, Y:217.34, Z:4.94 [[ 4.06268801e-01 -9.13668359e-01 1.24815991e-02 1.46673390e+02] [ 9.13164615e-01 4.06459420e-01 3.03500674e-02 2.17339174e+02] [-3.28031598e-02 -9.32530892e-04 9.99461397e-01 4.94109229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters Centerline goodness [0,1] 0.9985904051987767 Centerline is valid? [True, True] Translation: X:146.68, Y:217.37, Z:4.94 [[ 4.07334842e-01 -9.13194438e-01 1.24195626e-02 1.46684435e+02] [ 9.12694714e-01 4.07522965e-01 3.02223627e-02 2.17365200e+02] [-3.26601505e-02 -9.75352229e-04 9.99466039e-01 4.93949802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18687500000004 meters Centerline goodness [0,1] 0.9985400062229243 Centerline is valid? [True, True] Translation: X:146.70, Y:217.39, Z:4.94 [[ 4.07067530e-01 -9.13314502e-01 1.23550056e-02 1.46695163e+02] [ 9.12819305e-01 4.07253827e-01 3.00871406e-02 2.17390827e+02] [-3.25106451e-02 -9.69610357e-04 9.99470919e-01 4.93818669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters Centerline goodness [0,1] 0.9983571819718579 Centerline is valid? [True, True] Translation: X:146.71, Y:217.42, Z:4.94 [[ 4.07009540e-01 -9.13337521e-01 1.25621330e-02 1.46706554e+02] [ 9.12824769e-01 4.07202143e-01 3.06162873e-02 2.17416668e+02] [-3.30783314e-02 -9.94094897e-04 9.99452268e-01 4.93706680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.246875 meters Centerline goodness [0,1] 0.998661855719372 Centerline is valid? [True, True] Translation: X:146.72, Y:217.44, Z:4.94 [[ 4.06798095e-01 -9.13431841e-01 1.25531919e-02 1.46717407e+02] [ 9.12919057e-01 4.06990517e-01 3.06188466e-02 2.17442790e+02] [-3.30772595e-02 -9.95640325e-04 9.99452302e-01 4.93565339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters Centerline goodness [0,1] 0.9982737538660721 Centerline is valid? [True, True] Translation: X:146.73, Y:217.47, Z:4.93 [[ 4.05493549e-01 -9.14007963e-01 1.28228555e-02 1.46731715e+02] [ 9.13472323e-01 4.05695064e-01 3.13022431e-02 2.17467747e+02] [-3.38126687e-02 -9.79534029e-04 9.99427708e-01 4.93471312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.306875 meters Centerline goodness [0,1] 0.9986104123242052 Centerline is valid? [True, True] Translation: X:146.74, Y:217.49, Z:4.93 [[ 4.04604744e-01 -9.14402531e-01 1.27676299e-02 1.46744195e+02] [ 9.13870898e-01 4.04805021e-01 3.11909730e-02 2.17493185e+02] [-3.36895053e-02 -9.52050278e-04 9.99431894e-01 4.93361192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters Centerline goodness [0,1] 0.998896167782497 Centerline is valid? [True, True] Translation: X:146.76, Y:217.52, Z:4.93 [[ 4.03268762e-01 -9.14992379e-01 1.27770269e-02 1.46756801e+02] [ 9.14459379e-01 4.03470087e-01 3.12399352e-02 2.17518468e+02] [-3.37394508e-02 -9.14017894e-04 9.99430245e-01 4.93278493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.366875 meters Centerline goodness [0,1] 0.9986372764655255 Centerline is valid? [True, True] Translation: X:146.77, Y:217.54, Z:4.93 [[ 4.00381067e-01 -9.16262200e-01 1.25929115e-02 1.46767627e+02] [ 9.15744202e-01 4.00578245e-01 3.08159957e-02 2.17543689e+02] [-3.32799784e-02 -8.06255556e-04 9.99445743e-01 4.93050581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters Centerline goodness [0,1] 0.9989930713720602 Centerline is valid? [True, True] Translation: X:146.78, Y:217.57, Z:4.93 [[ 3.98713912e-01 -9.16990216e-01 1.24963669e-02 1.46782147e+02] [ 9.16480069e-01 3.98908997e-01 3.05923894e-02 2.17568158e+02] [-3.30378350e-02 -7.44940117e-04 9.99453824e-01 4.92952407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.426875 meters Centerline goodness [0,1] 0.9990434512279694 Centerline is valid? [True, True] Translation: X:146.79, Y:217.59, Z:4.93 [[ 3.96700029e-01 -9.17863907e-01 1.24473122e-02 1.46793837e+02] [ 9.17357363e-01 3.96894680e-01 3.04972586e-02 2.17592564e+02] [-3.29326049e-02 -6.79629836e-04 9.99457344e-01 4.92778488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters Centerline goodness [0,1] 0.9990625676032978 Centerline is valid? [True, True] Translation: X:146.81, Y:217.62, Z:4.93 [[ 3.94529457e-01 -9.18802447e-01 1.21889533e-02 1.46807348e+02] [ 9.18316724e-01 3.94717253e-01 2.98778109e-02 2.17617314e+02] [-3.22629960e-02 -5.94356835e-04 9.99479237e-01 4.92625777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.486875 meters Centerline goodness [0,1] 0.9988944433762738 Centerline is valid? [True, True] Translation: X:146.82, Y:217.64, Z:4.92 [[ 3.90231736e-01 -9.20638473e-01 1.19997329e-02 1.46822648e+02] [ 9.20167774e-01 3.90415935e-01 2.94391723e-02 2.17640575e+02] [-3.17877216e-02 -4.46331796e-04 9.99494543e-01 4.92411775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters Centerline goodness [0,1] 0.998941977060139 Centerline is valid? [True, True] Translation: X:146.84, Y:217.66, Z:4.92 [[ 3.87653162e-01 -9.21728937e-01 1.18656055e-02 1.46836079e+02] [ 9.21268806e-01 3.87834550e-01 2.91229988e-02 2.17664578e+02] [-3.14454025e-02 -3.58210405e-04 9.99505407e-01 4.92355318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.546875 meters Centerline goodness [0,1] 0.9992538929938145 Centerline is valid? [True, True] Translation: X:146.85, Y:217.69, Z:4.92 [[ 3.84864062e-01 -9.22897378e-01 1.18356977e-02 1.46848686e+02] [ 9.22439625e-01 3.85045916e-01 2.90651079e-02 2.17688413e+02] [-3.13813989e-02 -2.68398962e-04 9.99507447e-01 4.92203445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters Centerline goodness [0,1] 0.9994419236648631 Centerline is valid? [True, True] Translation: X:146.87, Y:217.71, Z:4.92 [[ 3.80022999e-01 -9.24902158e-01 1.17693781e-02 1.46865295e+02] [ 9.24449761e-01 3.80205189e-01 2.89249703e-02 2.17712554e+02] [-3.12275460e-02 -1.11955185e-04 9.99512295e-01 4.92134093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.606875 meters Centerline goodness [0,1] 0.9991520701601376 Centerline is valid? [True, True] Translation: X:146.88, Y:217.74, Z:4.92 [[ 3.77499610e-01 -9.25934259e-01 1.18234269e-02 1.46878423e+02] [ 9.25477512e-01 3.77684720e-01 2.90796885e-02 2.17738027e+02] [-3.13914075e-02 -3.52553223e-05 9.99507168e-01 4.92089509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters Centerline goodness [0,1] 0.9993692076277354 Centerline is valid? [True, True] Translation: X:146.89, Y:217.76, Z:4.92 [[ 3.75283448e-01 -9.26831290e-01 1.20868719e-02 1.46891115e+02] [ 9.26353638e-01 3.75478039e-01 2.97519555e-02 2.17763557e+02] [-3.21133983e-02 3.13012887e-05 9.99484231e-01 4.92055473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.666875 meters Centerline goodness [0,1] 0.9993169898768143 Centerline is valid? [True, True] Translation: X:146.90, Y:217.79, Z:4.92 [[ 3.72918492e-01 -9.27783527e-01 1.22280766e-02 1.46903604e+02] [ 9.27294373e-01 3.73118904e-01 3.01235641e-02 2.17788531e+02] [-3.25106731e-02 1.05392555e-04 9.99471383e-01 4.91971824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters Centerline goodness [0,1] 0.9995843012593226 Centerline is valid? [True, True] Translation: X:146.92, Y:217.81, Z:4.92 [[ 3.68593867e-01 -9.29506208e-01 1.25208015e-02 1.46918391e+02] [ 9.28993430e-01 3.68806380e-01 3.08716918e-02 2.17811298e+02] [-3.33131807e-02 2.52625998e-04 9.99444930e-01 4.91876668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.726875 meters Centerline goodness [0,1] 0.9995119213217171 Centerline is valid? [True, True] Translation: X:146.93, Y:217.84, Z:4.92 [[ 3.66195001e-01 -9.30450424e-01 1.27761209e-02 1.46930305e+02] [ 9.29916503e-01 3.66417649e-01 3.15183216e-02 2.17836021e+02] [-3.40076319e-02 3.38873808e-04 9.99421516e-01 4.91787458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters Centerline goodness [0,1] 0.9995343707878936 Centerline is valid? [True, True] Translation: X:146.94, Y:217.86, Z:4.92 [[ 3.64463921e-01 -9.31130337e-01 1.27414680e-02 1.46942231e+02] [ 9.30598763e-01 3.64686361e-01 3.14610938e-02 2.17861224e+02] [-3.39410185e-02 3.90760722e-04 9.99423761e-01 4.91686064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.786875 meters Centerline goodness [0,1] 0.9995336507780669 Centerline is valid? [True, True] Translation: X:146.95, Y:217.89, Z:4.92 [[ 3.61520988e-01 -9.32277072e-01 1.27293695e-02 1.46954886e+02] [ 9.31746373e-01 3.61744693e-01 3.14559052e-02 2.17886478e+02] [-3.39304010e-02 4.88573903e-04 9.99424079e-01 4.91538707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters Centerline goodness [0,1] 0.9996559266632259 Centerline is valid? [True, True] Translation: X:146.97, Y:217.91, Z:4.91 [[ 3.60830569e-01 -9.32544985e-01 1.26945786e-02 1.46965773e+02] [ 9.32016585e-01 3.61053455e-01 3.13924788e-02 2.17911739e+02] [-3.38583201e-02 5.04191817e-04 9.99426516e-01 4.91366687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.846875 meters Centerline goodness [0,1] 0.9995326643053916 Centerline is valid? [True, True] Translation: X:146.98, Y:217.94, Z:4.91 [[ 3.60986856e-01 -9.32487517e-01 1.24708002e-02 1.46975514e+02] [ 9.31976710e-01 3.61201882e-01 3.08644267e-02 2.17937562e+02] [-3.32851691e-02 4.80842988e-04 9.99445780e-01 4.91201122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters Centerline goodness [0,1] 0.9996067443346606 Centerline is valid? [True, True] Translation: X:146.99, Y:217.96, Z:4.91 [[ 3.61659166e-01 -9.32229468e-01 1.22827897e-02 1.46985486e+02] [ 9.31733034e-01 3.61867412e-01 3.04225232e-02 2.17964151e+02] [-3.28055140e-02 4.41696532e-04 9.99461657e-01 4.91016228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.906875 meters Centerline goodness [0,1] 0.9996317572543821 Centerline is valid? [True, True] Translation: X:146.99, Y:217.99, Z:4.91 [[ 3.62815536e-01 -9.31781304e-01 1.21855881e-02 1.46994213e+02] [ 9.31291688e-01 3.63019903e-01 3.02050048e-02 2.17990673e+02] [-3.25680697e-02 3.89491922e-04 9.99469444e-01 4.90865268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters Centerline goodness [0,1] 0.9995116233639383 Centerline is valid? [True, True] Translation: X:147.00, Y:218.02, Z:4.91 [[ 3.65758189e-01 -9.30636526e-01 1.16877201e-02 1.47001436e+02] [ 9.30184782e-01 3.65944783e-01 2.89945866e-02 2.18016891e+02] [-3.12604816e-02 2.66731897e-04 9.99511236e-01 4.90603988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.966875 meters Centerline goodness [0,1] 0.9995091663189928 Centerline is valid? [True, True] Translation: X:147.01, Y:218.04, Z:4.90 [[ 3.67056973e-01 -9.30126808e-01 1.15455281e-02 1.47010358e+02] [ 9.29685285e-01 3.67238444e-01 2.86565173e-02 2.18042278e+02] [-3.08941567e-02 2.15133110e-04 9.99522638e-01 4.90386006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters Centerline goodness [0,1] 0.9992643633064417 Centerline is valid? [True, True] Translation: X:147.02, Y:218.07, Z:4.90 [[ 3.68251097e-01 -9.29655455e-01 1.14831748e-02 1.47018579e+02] [ 9.29217787e-01 3.68430056e-01 2.85236273e-02 2.18068810e+02] [-3.07478925e-02 1.66513199e-04 9.99527158e-01 4.90302488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.026875 meters Centerline goodness [0,1] 0.9993634315933797 Centerline is valid? [True, True] Translation: X:147.03, Y:218.10, Z:4.90 [[ 3.70169107e-01 -9.28892539e-01 1.15534729e-02 1.47025677e+02] [ 9.28448411e-01 3.70349351e-01 2.87211806e-02 2.18096188e+02] [-3.09577116e-02 9.51097466e-05 9.99520691e-01 4.90181478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters Centerline goodness [0,1] 0.9992906587089988 Centerline is valid? [True, True] Translation: X:147.04, Y:218.12, Z:4.90 [[ 3.71010379e-01 -9.28555461e-01 1.16642791e-02 1.47035192e+02] [ 9.28101873e-01 3.71193687e-01 2.90200045e-02 2.18122656e+02] [-3.12763904e-02 5.89164618e-05 9.99510772e-01 4.90112872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.086875 meters Centerline goodness [0,1] 0.9991683381439265 Centerline is valid? [True, True] Translation: X:147.04, Y:218.15, Z:4.90 [[ 3.71174815e-01 -9.28490932e-01 1.15691738e-02 1.47044411e+02] [ 9.28044029e-01 3.71355069e-01 2.88043944e-02 2.18148158e+02] [-3.10408904e-02 4.52368955e-05 9.99518114e-01 4.89972427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters Centerline goodness [0,1] 0.9992697354007936 Centerline is valid? [True, True] Translation: X:147.05, Y:218.17, Z:4.90 [[ 3.71422479e-01 -9.28390897e-01 1.16483415e-02 1.47054006e+02] [ 9.27936966e-01 3.71605088e-01 2.90283531e-02 2.18174289e+02] [-3.12782418e-02 2.71437902e-05 9.99510716e-01 4.89861719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.146875 meters Centerline goodness [0,1] 0.9991958280534166 Centerline is valid? [True, True] Translation: X:147.06, Y:218.20, Z:4.90 [[ 3.71372807e-01 -9.28408207e-01 1.18506731e-02 1.47063500e+02] [ 9.27937679e-01 3.71561839e-01 2.95544355e-02 2.18200682e+02] [-3.18418384e-02 2.09724334e-05 9.99492920e-01 4.89886028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters Centerline goodness [0,1] 0.9992963385339577 Centerline is valid? [True, True] Translation: X:147.07, Y:218.23, Z:4.90 [[ 3.71468255e-01 -9.28362290e-01 1.24416466e-02 1.47072275e+02] [ 9.27842662e-01 3.71676552e-01 3.10569610e-02 2.18227529e+02] [-3.34563797e-02 7.21542168e-06 9.99440179e-01 4.89877031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.206875 meters Centerline goodness [0,1] 0.9992722156182529 Centerline is valid? [True, True] Translation: X:147.08, Y:218.25, Z:4.90 [[ 3.71236643e-01 -9.28453580e-01 1.25421117e-02 1.47081585e+02] [ 9.27925116e-01 3.71448448e-01 3.13213852e-02 2.18253569e+02] [-3.37392002e-02 1.04945613e-05 9.99430671e-01 4.89767338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters Centerline goodness [0,1] 0.9992217709574649 Centerline is valid? [True, True] Translation: X:147.09, Y:218.28, Z:4.90 [[ 3.70358642e-01 -9.28801467e-01 1.27401868e-02 1.47091093e+02] [ 9.28255491e-01 3.70577704e-01 3.18419265e-02 2.18279664e+02] [-3.42960572e-02 3.32157038e-05 9.99411717e-01 4.89711498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.266875 meters Centerline goodness [0,1] 0.9994172211160216 Centerline is valid? [True, True] Translation: X:147.10, Y:218.30, Z:4.90 [[ 3.68715532e-01 -9.29455205e-01 1.27231743e-02 1.47100820e+02] [ 9.28910171e-01 3.68934974e-01 3.18257433e-02 2.18304780e+02] [-3.42746267e-02 8.40401590e-05 9.99412449e-01 4.89575233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters Centerline goodness [0,1] 0.9994172211160216 Centerline is valid? [True, True] Translation: X:147.11, Y:218.33, Z:4.89 [[ 3.68433061e-01 -9.29567331e-01 1.27144255e-02 1.47110629e+02] [ 9.29022244e-01 3.68652370e-01 3.18292378e-02 2.18329704e+02] [-3.42746227e-02 8.50405675e-05 9.99412449e-01 4.89465886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32687500000003 meters Centerline goodness [0,1] 0.9995160197463944 Centerline is valid? [True, True] Translation: X:147.12, Y:218.36, Z:4.89 [[ 3.67159284e-01 -9.30072860e-01 1.25910987e-02 1.47120300e+02] [ 9.29537641e-01 3.67375096e-01 3.15485886e-02 2.18355782e+02] [-3.39681421e-02 1.20542965e-04 9.99422909e-01 4.89314347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters Centerline goodness [0,1] 0.9992986190050064 Centerline is valid? [True, True] Translation: X:147.13, Y:218.38, Z:4.89 [[ 3.65923570e-01 -9.30564530e-01 1.22309182e-02 1.47130089e+02] [ 9.30058997e-01 3.66127889e-01 3.06697083e-02 2.18382325e+02] [-3.30182229e-02 1.52706335e-04 9.99454738e-01 4.89177340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38687500000003 meters Centerline goodness [0,1] 0.9991313160561749 Centerline is valid? [True, True] Translation: X:147.14, Y:218.41, Z:4.89 [[ 3.64321646e-01 -9.31198969e-01 1.17566209e-02 1.47138895e+02] [ 9.30731436e-01 3.64511238e-01 2.95050982e-02 2.18407761e+02] [-3.17605375e-02 1.92910690e-04 9.99495488e-01 4.88893554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters Centerline goodness [0,1] 0.9992269784520244 Centerline is valid? [True, True] Translation: X:147.15, Y:218.43, Z:4.89 [[ 3.63503615e-01 -9.31519933e-01 1.16505708e-02 1.47148091e+02] [ 9.31060487e-01 3.63690209e-01 2.92540950e-02 2.18434131e+02] [-3.14879711e-02 2.13416791e-04 9.99504108e-01 4.88771418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44687500000003 meters Centerline goodness [0,1] 0.999347605470449 Centerline is valid? [True, True] Translation: X:147.16, Y:218.46, Z:4.89 [[ 3.62867265e-01 -9.31766171e-01 1.17962281e-02 1.47157892e+02] [ 9.31294516e-01 3.63058880e-01 2.96441346e-02 2.18460992e+02] [-3.19041272e-02 2.28876462e-04 9.99490908e-01 4.88647246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters Centerline goodness [0,1] 0.9990584031483136 Centerline is valid? [True, True] Translation: X:147.17, Y:218.49, Z:4.89 [[ 3.61993735e-01 -9.32105286e-01 1.18436632e-02 1.47167458e+02] [ 9.31629170e-01 3.62187346e-01 2.97895293e-02 2.18486135e+02] [-3.20566027e-02 2.50279190e-04 9.99486024e-01 4.88546604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50687500000004 meters Centerline goodness [0,1] 0.9991361727654469 Centerline is valid? [True, True] Translation: X:147.18, Y:218.51, Z:4.89 [[ 3.61188608e-01 -9.32415455e-01 1.20087198e-02 1.47176533e+02] [ 9.31925606e-01 3.61388079e-01 3.02211957e-02 2.18512922e+02] [-3.25185181e-02 2.75681860e-04 9.99471095e-01 4.88530842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters Centerline goodness [0,1] 0.999374383406723 Centerline is valid? [True, True] Translation: X:147.19, Y:218.54, Z:4.88 [[ 3.60389859e-01 -9.32721963e-01 1.22020377e-02 1.47185858e+02] [ 9.32215542e-01 3.60596243e-01 3.07332401e-02 2.18539570e+02] [-3.30655770e-02 2.98981097e-04 9.99453140e-01 4.88451575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56687500000004 meters Centerline goodness [0,1] 0.9989944936557338 Centerline is valid? [True, True] Translation: X:147.20, Y:218.56, Z:4.88 [[ 3.59860181e-01 -9.32925277e-01 1.22913661e-02 1.47195604e+02] [ 9.32410672e-01 3.60069897e-01 3.09839903e-02 2.18564867e+02] [-3.33314986e-02 3.10696573e-04 9.99444303e-01 4.88318639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters Centerline goodness [0,1] 0.9990882479965449 Centerline is valid? [True, True] Translation: X:147.20, Y:218.59, Z:4.88 [[ 3.59010319e-01 -9.33247180e-01 1.27000630e-02 1.47203454e+02] [ 9.32696949e-01 3.59234720e-01 3.20439786e-02 2.18592414e+02] [-3.44672563e-02 3.41191005e-04 9.99405769e-01 4.88298363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62687500000004 meters Centerline goodness [0,1] 0.9991367941493826 Centerline is valid? [True, True] Translation: X:147.21, Y:218.62, Z:4.88 [[ 3.58918804e-01 -9.33282417e-01 1.26972948e-02 1.47211996e+02] [ 9.32731543e-01 3.59143171e-01 3.20632526e-02 2.18619270e+02] [-3.44842166e-02 3.35063120e-04 9.99405186e-01 4.88182013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters Centerline goodness [0,1] 0.9993777224642191 Centerline is valid? [True, True] Translation: X:147.22, Y:218.64, Z:4.88 [[ 3.58843511e-01 -9.33309122e-01 1.28614650e-02 1.47220146e+02] [ 9.32742977e-01 3.59073770e-01 3.25048552e-02 2.18644875e+02] [-3.49552926e-02 3.32284806e-04 9.99388822e-01 4.88072163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68687500000004 meters Centerline goodness [0,1] 0.9991882923102633 Centerline is valid? [True, True] Translation: X:147.23, Y:218.67, Z:4.88 [[ 3.59442403e-01 -9.33075371e-01 1.30961774e-02 1.47226533e+02] [ 9.32487152e-01 3.59680773e-01 3.31278188e-02 2.18672156e+02] [-3.56211950e-02 3.04474375e-04 9.99365317e-01 4.87943485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters Centerline goodness [0,1] 0.9990460518470821 Centerline is valid? [True, True] Translation: X:147.24, Y:218.70, Z:4.88 [[ 3.59696850e-01 -9.32976588e-01 1.31477162e-02 1.47235050e+02] [ 9.32382688e-01 3.59936946e-01 3.32853998e-02 2.18698341e+02] [-3.57868475e-02 2.86049516e-04 9.99359405e-01 4.87816833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.746875 meters Centerline goodness [0,1] 0.9987898058943572 Centerline is valid? [True, True] Translation: X:147.24, Y:218.72, Z:4.88 [[ 3.59877275e-01 -9.32905065e-01 1.32848140e-02 1.47243204e+02] [ 9.32297582e-01 3.60122293e-01 3.36623301e-02 2.18724778e+02] [-3.61879160e-02 2.71092285e-04 9.99344966e-01 4.87655130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters Centerline goodness [0,1] 0.9991950567011529 Centerline is valid? [True, True] Translation: X:147.25, Y:218.75, Z:4.88 [[ 3.60082538e-01 -9.32823805e-01 1.34281554e-02 1.47249082e+02] [ 9.32202079e-01 3.60332741e-01 3.40528839e-02 2.18752181e+02] [-3.66039447e-02 2.55905513e-04 9.99329818e-01 4.87501990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.806875 meters Centerline goodness [0,1] 0.999220907996317 Centerline is valid? [True, True] Translation: X:147.26, Y:218.78, Z:4.87 [[ 3.59908546e-01 -9.32891030e-01 1.34225641e-02 1.47257697e+02] [ 9.32268825e-01 3.60158664e-01 3.40672132e-02 2.18777893e+02] [-3.66152504e-02 2.52356893e-04 9.99329405e-01 4.87358370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters Centerline goodness [0,1] 0.9993635077793493 Centerline is valid? [True, True] Translation: X:147.27, Y:218.80, Z:4.87 [[ 3.59210880e-01 -9.33160669e-01 1.33682434e-02 1.47266437e+02] [ 9.32542978e-01 3.59459445e-01 3.39485244e-02 2.18804386e+02] [-3.64847691e-02 2.71782131e-04 9.99334172e-01 4.87223139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.866875 meters Centerline goodness [0,1] 0.9991561972623288 Centerline is valid? [True, True] Translation: X:147.27, Y:218.83, Z:4.87 [[ 3.57860254e-01 -9.33678583e-01 1.34291405e-02 1.47274166e+02] [ 9.33054618e-01 3.58111998e-01 3.41302943e-02 2.18830276e+02] [-3.66758612e-02 3.16245776e-04 9.99327164e-01 4.87124941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters Centerline goodness [0,1] 0.9992487381148022 Centerline is valid? [True, True] Translation: X:147.28, Y:218.86, Z:4.87 [[ 3.57861530e-01 -9.33679080e-01 1.33604281e-02 1.47282667e+02] [ 9.33060444e-01 3.58110713e-01 3.39841979e-02 2.18856990e+02] [-3.65148471e-02 3.04449868e-04 9.99333064e-01 4.87039900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.926875 meters Centerline goodness [0,1] 0.9991791359819879 Centerline is valid? [True, True] Translation: X:147.29, Y:218.88, Z:4.87 [[ 3.57520691e-01 -9.33810024e-01 1.33340022e-02 1.47291506e+02] [ 9.33192931e-01 3.57769123e-01 3.39441978e-02 2.18884046e+02] [-3.64679264e-02 3.07443510e-04 9.99334777e-01 4.86909121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters Centerline goodness [0,1] 0.9996038865717548 Centerline is valid? [True, True] Translation: X:147.30, Y:218.91, Z:4.87 [[ 3.57835157e-01 -9.33689884e-01 1.33117202e-02 1.47298047e+02] [ 9.33073784e-01 3.58082561e-01 3.39145096e-02 2.18910411e+02] [-3.64323294e-02 2.85013296e-04 9.99336082e-01 4.86698224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.986875 meters Centerline goodness [0,1] 0.9991885375127516 Centerline is valid? [True, True] Translation: X:147.31, Y:218.94, Z:4.87 [[ 3.58009896e-01 -9.33622994e-01 1.33048610e-02 1.47306410e+02] [ 9.33006394e-01 3.58256938e-01 3.39269211e-02 2.18936601e+02] [-3.64415124e-02 2.67346920e-04 9.99335752e-01 4.86515294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters Centerline goodness [0,1] 0.9991676493029062 Centerline is valid? [True, True] Translation: X:147.31, Y:218.96, Z:4.86 [[ 3.58460008e-01 -9.33450492e-01 1.32891944e-02 1.47314390e+02] [ 9.32834538e-01 3.58706176e-01 3.39058182e-02 2.18963160e+02] [-3.64163188e-02 2.42739686e-04 9.99336676e-01 4.86357049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.046875 meters Centerline goodness [0,1] 0.9993519868545905 Centerline is valid? [True, True] Translation: X:147.32, Y:218.99, Z:4.86 [[ 3.58923176e-01 -9.33271806e-01 1.33375458e-02 1.47323109e+02] [ 9.32650253e-01 3.59170836e-01 3.40560786e-02 2.18989869e+02] [-3.65740355e-02 2.15749540e-04 9.99330923e-01 4.86283343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters Centerline goodness [0,1] 0.9990039609923328 Centerline is valid? [True, True] Translation: X:147.33, Y:219.02, Z:4.86 [[ 3.60786413e-01 -9.32548252e-01 1.36719091e-02 1.47329984e+02] [ 9.31893567e-01 3.61045342e-01 3.49376824e-02 2.19017818e+02] [-3.75172537e-02 1.35722985e-04 9.99295971e-01 4.86306410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.106875 meters Centerline goodness [0,1] 0.9990982658959537 Centerline is valid? [True, True] Translation: X:147.34, Y:219.05, Z:4.86 [[ 3.61713651e-01 -9.32183875e-01 1.40163231e-02 1.47338328e+02] [ 9.31494373e-01 3.61985103e-01 3.58471626e-02 2.19045228e+02] [-3.84898472e-02 8.97180412e-05 9.99258987e-01 4.86251913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters Centerline goodness [0,1] 0.9990777672745718 Centerline is valid? [True, True] Translation: X:147.35, Y:219.07, Z:4.86 [[ 3.62679101e-01 -9.31805065e-01 1.42544513e-02 1.47346091e+02] [ 9.31090434e-01 3.62959114e-01 3.64867811e-02 2.19071459e+02] [-3.91723505e-02 3.91902174e-05 9.99232468e-01 4.86121771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.166875 meters Centerline goodness [0,1] 0.9988250472284937 Centerline is valid? [True, True] Translation: X:147.35, Y:219.10, Z:4.86 [[ 3.64107345e-01 -9.31247810e-01 1.42603340e-02 1.47353572e+02] [ 9.30531320e-01 3.64386491e-01 3.65232560e-02 2.19098012e+02] [-3.92084752e-02 -2.86983225e-05 9.99231052e-01 4.85967906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters Centerline goodness [0,1] 0.9990361003373649 Centerline is valid? [True, True] Translation: X:147.36, Y:219.13, Z:4.86 [[ 3.67655791e-01 -9.29849652e-01 1.44514172e-02 1.47359031e+02] [ 9.29111479e-01 3.67939652e-01 3.70441901e-02 2.19125955e+02] [-3.97627767e-02 -1.92533459e-04 9.99209130e-01 4.85807019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.226875 meters Centerline goodness [0,1] 0.9989913346476549 Centerline is valid? [True, True] Translation: X:147.37, Y:219.15, Z:4.86 [[ 3.69560422e-01 -9.29096067e-01 1.43385303e-02 1.47365885e+02] [ 9.28367626e-01 3.69838368e-01 3.67849573e-02 2.19152720e+02] [-3.94796978e-02 -2.82836990e-04 9.99220333e-01 4.85631854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters Centerline goodness [0,1] 0.9986979464102154 Centerline is valid? [True, True] Translation: X:147.37, Y:219.18, Z:4.85 [[ 3.74036564e-01 -9.27304188e-01 1.42685411e-02 1.47372522e+02] [ 9.26580264e-01 3.74308308e-01 3.66374861e-02 2.19180717e+02] [-3.93149278e-02 -4.82810802e-04 9.99226753e-01 4.85455102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.286875 meters Centerline goodness [0,1] 0.9990344827586207 Centerline is valid? [True, True] Translation: X:147.38, Y:219.21, Z:4.85 [[ 3.75895358e-01 -9.26554881e-01 1.40972318e-02 1.47382168e+02] [ 9.25846658e-01 3.76159186e-01 3.62247479e-02 2.19207659e+02] [-3.88670202e-02 -5.64839648e-04 9.99244232e-01 4.85304105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters Centerline goodness [0,1] 0.9983576267706836 Centerline is valid? [True, True] Translation: X:147.39, Y:219.23, Z:4.85 [[ 3.77576452e-01 -9.25875944e-01 1.37752897e-02 1.47389126e+02] [ 9.25198196e-01 3.77827127e-01 3.54254298e-02 2.19234537e+02] [-3.80042314e-02 -6.30934961e-04 9.99277379e-01 4.85040098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.346875 meters Centerline goodness [0,1] 0.9980327568853509 Centerline is valid? [True, True] Translation: X:147.40, Y:219.26, Z:4.85 [[ 3.79200470e-01 -9.25216140e-01 1.34943669e-02 1.47396746e+02] [ 9.24564364e-01 3.79439869e-01 3.47292696e-02 2.19260888e+02] [-3.72523816e-02 -6.92944539e-04 9.99305649e-01 4.84808971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters Centerline goodness [0,1] 0.9981492482749166 Centerline is valid? [True, True] Translation: X:147.41, Y:219.29, Z:4.85 [[ 3.83217629e-01 -9.23566059e-01 1.30377277e-02 1.47406562e+02] [ 9.22955851e-01 3.83438441e-01 3.35776586e-02 2.19287758e+02] [-3.60103518e-02 -8.34303673e-04 9.99351069e-01 4.84574028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.406875 meters Centerline goodness [0,1] 0.9984518361678392 Centerline is valid? [True, True] Translation: X:147.41, Y:219.31, Z:4.84 [[ 3.85000232e-01 -9.22826323e-01 1.28996037e-02 1.47414608e+02] [ 9.22227635e-01 3.85215214e-01 3.32479918e-02 2.19314378e+02] [-3.56512456e-02 -9.04113524e-04 9.99363883e-01 4.84403188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters Centerline goodness [0,1] 0.9981278966233648 Centerline is valid? [True, True] Translation: X:147.42, Y:219.34, Z:4.84 [[ 3.88338470e-01 -9.21427647e-01 1.28189161e-02 1.47424380e+02] [ 9.20834725e-01 3.88548603e-01 3.30664758e-02 2.19340915e+02] [-3.54491369e-02 -1.03688152e-03 9.99370944e-01 4.84258594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.466875 meters Centerline goodness [0,1] 0.9982856751011452 Centerline is valid? [True, True] Translation: X:147.44, Y:219.37, Z:4.84 [[ 3.89432049e-01 -9.20965741e-01 1.28367905e-02 1.47435204e+02] [ 9.20369996e-01 3.89642034e-01 3.31384390e-02 2.19366704e+02] [-3.55211202e-02 -1.09057342e-03 9.99368331e-01 4.84134425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters Centerline goodness [0,1] 0.9976206817661862 Centerline is valid? [True, True] Translation: X:147.44, Y:219.39, Z:4.84 [[ 3.90214154e-01 -9.20637678e-01 1.26166013e-02 1.47443607e+02] [ 9.20061166e-01 3.90416484e-01 3.25947909e-02 2.19393334e+02] [-3.49337218e-02 -1.11090388e-03 9.99389014e-01 4.83959766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.526875 meters Centerline goodness [0,1] 0.9986014627324209 Centerline is valid? [True, True] Translation: X:147.46, Y:219.42, Z:4.84 [[ 3.90956805e-01 -9.20320469e-01 1.27675357e-02 1.47458333e+02] [ 9.19729016e-01 3.91163497e-01 3.30099260e-02 2.19418126e+02] [-3.53739045e-02 -1.16278214e-03 9.99373471e-01 4.83941490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters Centerline goodness [0,1] 0.9975642822675154 Centerline is valid? [True, True] Translation: X:147.47, Y:219.44, Z:4.84 [[ 3.91629265e-01 -9.20035256e-01 1.27140046e-02 1.47468789e+02] [ 9.19447665e-01 3.91833768e-01 3.28981758e-02 2.19443665e+02] [-3.52492579e-02 -1.19402659e-03 9.99377839e-01 4.83826068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.586875 meters Centerline goodness [0,1] 0.9979523754745198 Centerline is valid? [True, True] Translation: X:147.48, Y:219.47, Z:4.84 [[ 3.91987871e-01 -9.19881776e-01 1.27681924e-02 1.47481550e+02] [ 9.19288184e-01 3.92193858e-01 3.30637617e-02 2.19468913e+02] [-3.54223585e-02 -1.22294513e-03 9.99371683e-01 4.83718118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters Centerline goodness [0,1] 0.9982009410462219 Centerline is valid? [True, True] Translation: X:147.50, Y:219.49, Z:4.84 [[ 3.92418104e-01 -9.19697591e-01 1.28207614e-02 1.47495197e+02] [ 9.19098070e-01 3.92625477e-01 3.32260867e-02 2.19494289e+02] [-3.55917095e-02 -1.25498086e-03 9.99365626e-01 4.83652353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.646875 meters Centerline goodness [0,1] 0.9982115067474973 Centerline is valid? [True, True] Translation: X:147.51, Y:219.52, Z:4.84 [[ 3.93799620e-01 -9.19105528e-01 1.29184647e-02 1.47507035e+02] [ 9.18495533e-01 3.94009214e-01 3.35066433e-02 2.19519247e+02] [-3.58861352e-02 -1.32935126e-03 9.99355001e-01 4.83540443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters Centerline goodness [0,1] 0.9980761653107109 Centerline is valid? [True, True] Translation: X:147.52, Y:219.55, Z:4.83 [[ 3.94375135e-01 -9.18857133e-01 1.30315966e-02 1.47517900e+02] [ 9.18235244e-01 3.94587986e-01 3.38283526e-02 2.19545350e+02] [-3.62255345e-02 -1.37498983e-03 9.99342694e-01 4.83382489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.706875 meters Centerline goodness [0,1] 0.9982346109175377 Centerline is valid? [True, True] Translation: X:147.53, Y:219.57, Z:4.83 [[ 3.94840677e-01 -9.18657810e-01 1.29872538e-02 1.47529574e+02] [ 9.18039059e-01 3.95051732e-01 3.37404035e-02 2.19570796e+02] [-3.61265222e-02 -1.39927750e-03 9.99346245e-01 4.83254293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters Centerline goodness [0,1] 0.9982694916046958 Centerline is valid? [True, True] Translation: X:147.54, Y:219.60, Z:4.83 [[ 3.95037288e-01 -9.18576408e-01 1.27641536e-02 1.47541779e+02] [ 9.17977807e-01 3.95240994e-01 3.31858638e-02 2.19595635e+02] [-3.55286684e-02 -1.39244392e-03 9.99367688e-01 4.83081877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.766875 meters Centerline goodness [0,1] 0.9981975655430712 Centerline is valid? [True, True] Translation: X:147.55, Y:219.62, Z:4.83 [[ 3.94438462e-01 -9.18839145e-01 1.23662940e-02 1.47554816e+02] [ 9.18276637e-01 3.94630008e-01 3.21741208e-02 2.19620638e+02] [-3.44429523e-02 -1.33503184e-03 9.99405774e-01 4.82945617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters Centerline goodness [0,1] 0.9985002577681961 Centerline is valid? [True, True] Translation: X:147.57, Y:219.65, Z:4.83 [[ 3.93571784e-01 -9.19209586e-01 1.24494191e-02 1.47566185e+02] [ 9.18638727e-01 3.93766415e-01 3.24175774e-02 2.19645352e+02] [-3.47007110e-02 -1.32212528e-03 9.99396874e-01 4.82794538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82687500000003 meters Centerline goodness [0,1] 0.9981562898879591 Centerline is valid? [True, True] Translation: X:147.58, Y:219.67, Z:4.83 [[ 3.91727676e-01 -9.19993463e-01 1.27065187e-02 1.47583348e+02] [ 9.19398152e-01 3.91931580e-01 3.31160787e-02 2.19669074e+02] [-3.54466619e-02 -1.29013477e-03 9.99370737e-01 4.82781988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters Centerline goodness [0,1] 0.9982521198951272 Centerline is valid? [True, True] Translation: X:147.60, Y:219.69, Z:4.83 [[ 3.90221698e-01 -9.20630989e-01 1.28688703e-02 1.47596586e+02] [ 9.20019717e-01 3.90431808e-01 3.35667036e-02 2.19694635e+02] [-3.59269638e-02 -1.25884163e-03 9.99353625e-01 4.82736908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88687500000003 meters Centerline goodness [0,1] 0.9984071890452644 Centerline is valid? [True, True] Translation: X:147.61, Y:219.72, Z:4.83 [[ 3.88081474e-01 -9.21536057e-01 1.28087643e-02 1.47608734e+02] [ 9.20929946e-01 3.88291000e-01 3.34385014e-02 2.19719381e+02] [-3.57883127e-02 -1.18088824e-03 9.99358695e-01 4.82594804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters Centerline goodness [0,1] 0.99847944880019 Centerline is valid? [True, True] Translation: X:147.63, Y:219.74, Z:4.83 [[ 3.82640590e-01 -9.23807526e-01 1.28776665e-02 1.47625718e+02] [ 9.23195527e-01 3.82855968e-01 3.36351918e-02 2.19742858e+02] [-3.60027348e-02 -9.81585565e-04 9.99351209e-01 4.82550812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94687500000003 meters Centerline goodness [0,1] 0.9984982837528604 Centerline is valid? [True, True] Translation: X:147.64, Y:219.77, Z:4.83 [[ 3.80043902e-01 -9.24875928e-01 1.30824666e-02 1.47638425e+02] [ 9.24244243e-01 3.80267939e-01 3.41887952e-02 2.19767899e+02] [-3.65952362e-02 -9.01848741e-04 9.99329763e-01 4.82538919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters Centerline goodness [0,1] 0.9986596136815147 Centerline is valid? [True, True] Translation: X:147.65, Y:219.79, Z:4.82 [[ 3.77599832e-01 -9.25872831e-01 1.33366974e-02 1.47651871e+02] [ 9.25215979e-01 3.77834368e-01 3.48795276e-02 2.19793437e+02] [-3.73330696e-02 -8.31178212e-04 9.99302532e-01 4.82494482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00687500000004 meters Centerline goodness [0,1] 0.9987769490875081 Centerline is valid? [True, True] Translation: X:147.67, Y:219.82, Z:4.83 [[ 3.73182673e-01 -9.27654360e-01 1.38593506e-02 1.47665702e+02] [ 9.26945070e-01 3.73439301e-01 3.62756894e-02 2.19817369e+02] [-3.88269276e-02 -6.90601971e-04 9.99245712e-01 4.82524547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters Centerline goodness [0,1] 0.998681466209575 Centerline is valid? [True, True] Translation: X:147.68, Y:219.84, Z:4.82 [[ 3.70709332e-01 -9.28643022e-01 1.40260045e-02 1.47677794e+02] [ 9.27916051e-01 3.70974083e-01 3.67427857e-02 2.19842678e+02] [-3.93242157e-02 -6.05938827e-04 9.99226320e-01 4.82409267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06687500000004 meters Centerline goodness [0,1] 0.9987982502523675 Centerline is valid? [True, True] Translation: X:147.69, Y:219.87, Z:4.82 [[ 3.68644257e-01 -9.29467326e-01 1.38528637e-02 1.47689134e+02] [ 9.28757658e-01 3.68904076e-01 3.63179766e-02 2.19866988e+02] [-3.88667505e-02 -5.22460258e-04 9.99244266e-01 4.82240680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters Centerline goodness [0,1] 0.9989189708602589 Centerline is valid? [True, True] Translation: X:147.70, Y:219.89, Z:4.82 [[ 3.66392781e-01 -9.30357852e-01 1.38056973e-02 1.47702007e+02] [ 9.29652504e-01 3.66652528e-01 3.62235468e-02 2.19892577e+02] [-3.87627550e-02 -4.37545026e-04 9.99248346e-01 4.82123516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12687500000004 meters Centerline goodness [0,1] 0.9990091592353609 Centerline is valid? [True, True] Translation: X:147.71, Y:219.92, Z:4.82 [[ 3.64927754e-01 -9.30935900e-01 1.36412510e-02 1.47714629e+02] [ 9.30246511e-01 3.65182424e-01 3.58221333e-02 2.19918357e+02] [-3.83296550e-02 -3.82764518e-04 9.99265075e-01 4.82056754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters Centerline goodness [0,1] 0.9988419503486212 Centerline is valid? [True, True] Translation: X:147.72, Y:219.94, Z:4.82 [[ 3.64731710e-01 -9.31010584e-01 1.37866757e-02 1.47723777e+02] [ 9.30305742e-01 3.64991978e-01 3.62226952e-02 2.19944124e+02] [-3.87557386e-02 -3.85742007e-04 9.99248640e-01 4.81951305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18687500000004 meters Centerline goodness [0,1] 0.9987749807840123 Centerline is valid? [True, True] Translation: X:147.73, Y:219.97, Z:4.82 [[ 3.64707923e-01 -9.31019739e-01 1.37976698e-02 1.47734796e+02] [ 9.30312952e-01 3.64968616e-01 3.62728705e-02 2.19970148e+02] [-3.88064749e-02 -3.92852338e-04 9.99246668e-01 4.81846800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters Centerline goodness [0,1] 0.9987749807840123 Centerline is valid? [True, True] Translation: X:147.74, Y:220.00, Z:4.82 [[ 3.64450761e-01 -9.31120586e-01 1.37876056e-02 1.47744522e+02] [ 9.30413726e-01 3.64711257e-01 3.62766955e-02 2.19995981e+02] [-3.88064729e-02 -3.92891797e-04 9.99246668e-01 4.81734081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.246875 meters Centerline goodness [0,1] 0.9986483224716389 Centerline is valid? [True, True] Translation: X:147.75, Y:220.02, Z:4.82 [[ 3.65328148e-01 -9.30779651e-01 1.35861939e-02 1.47752562e+02] [ 9.30091942e-01 3.65580433e-01 3.57760746e-02 2.20022810e+02] [-3.82664889e-02 -4.33597597e-04 9.99267476e-01 4.81518037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters Centerline goodness [0,1] 0.9985587316838818 Centerline is valid? [True, True] Translation: X:147.76, Y:220.05, Z:4.81 [[ 3.65707808e-01 -9.30630584e-01 1.35836393e-02 1.47760946e+02] [ 9.29941884e-01 3.65959704e-01 3.57992597e-02 2.20048477e+02] [-3.82869506e-02 -4.60073721e-04 9.99266680e-01 4.81344486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.306875 meters Centerline goodness [0,1] 0.9985522982265653 Centerline is valid? [True, True] Translation: X:147.77, Y:220.07, Z:4.81 [[ 3.66185371e-01 -9.30442369e-01 1.36114726e-02 1.47770606e+02] [ 9.29749474e-01 3.66437928e-01 3.59048825e-02 2.20074489e+02] [-3.83951837e-02 -4.92583228e-04 9.99262512e-01 4.81258123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters Centerline goodness [0,1] 0.9987274909963986 Centerline is valid? [True, True] Translation: X:147.78, Y:220.10, Z:4.81 [[ 3.66726680e-01 -9.30227399e-01 1.37306053e-02 1.47779807e+02] [ 9.29520977e-01 3.66983249e-01 3.62498052e-02 2.20100079e+02] [-3.87594642e-02 -5.30885095e-04 9.99248429e-01 4.81206967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.366875 meters Centerline goodness [0,1] 0.9988166537867079 Centerline is valid? [True, True] Translation: X:147.79, Y:220.13, Z:4.81 [[ 3.66703957e-01 -9.30234410e-01 1.38618553e-02 1.47789237e+02] [ 9.29513562e-01 3.66965459e-01 3.66181553e-02 2.20126318e+02] [-3.91502902e-02 -5.43239951e-04 9.99233186e-01 4.81059689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters Centerline goodness [0,1] 0.9987702546296297 Centerline is valid? [True, True] Translation: X:147.80, Y:220.15, Z:4.81 [[ 3.66362912e-01 -9.30368557e-01 1.38767544e-02 1.47798237e+02] [ 9.29645075e-01 3.66625224e-01 3.66876038e-02 2.20151789e+02] [-3.92205612e-02 -5.40520960e-04 9.99230432e-01 4.80971434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.426875 meters Centerline goodness [0,1] 0.9985286668757085 Centerline is valid? [True, True] Translation: X:147.81, Y:220.18, Z:4.81 [[ 3.65518878e-01 -9.30697237e-01 1.40926151e-02 1.47807378e+02] [ 9.29950351e-01 3.65790076e-01 3.72822254e-02 2.20177154e+02] [-3.98534029e-02 -5.21924826e-04 9.99205401e-01 4.80827624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters Centerline goodness [0,1] 0.9985787584612049 Centerline is valid? [True, True] Translation: X:147.82, Y:220.20, Z:4.81 [[ 3.64878540e-01 -9.30950646e-01 1.39479616e-02 1.47816575e+02] [ 9.30217883e-01 3.65144688e-01 3.69330133e-02 2.20201355e+02] [-3.94758367e-02 -5.01420610e-04 9.99220400e-01 4.80683484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.486875 meters Centerline goodness [0,1] 0.9985603570314562 Centerline is valid? [True, True] Translation: X:147.83, Y:220.23, Z:4.80 [[ 3.64701443e-01 -9.31021929e-01 1.38211606e-02 1.47825058e+02] [ 9.30301119e-01 3.64962895e-01 3.66321340e-02 2.20226425e+02] [-3.91495308e-02 -5.01950969e-04 9.99233237e-01 4.80462686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters Centerline goodness [0,1] 0.9988445706857955 Centerline is valid? [True, True] Translation: X:147.83, Y:220.25, Z:4.80 [[ 3.64560969e-01 -9.31078611e-01 1.37083880e-02 1.47833250e+02] [ 9.30368243e-01 3.64818264e-01 3.63671043e-02 2.20251554e+02] [-3.88617033e-02 -5.04177883e-04 9.99244472e-01 4.80320711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.546875 meters Centerline goodness [0,1] 0.9987025468524747 Centerline is valid? [True, True] Translation: X:147.84, Y:220.28, Z:4.80 [[ 3.64898028e-01 -9.30948055e-01 1.36069090e-02 1.47841736e+02] [ 9.30246791e-01 3.65151259e-01 3.61312416e-02 2.20277204e+02] [-3.86048890e-02 -5.26435398e-04 9.99254415e-01 4.80143183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters Centerline goodness [0,1] 0.9988238118098896 Centerline is valid? [True, True] Translation: X:147.85, Y:220.30, Z:4.80 [[ 3.65332985e-01 -9.30779371e-01 1.34748977e-02 1.47852287e+02] [ 9.30090342e-01 3.65580989e-01 3.58119517e-02 2.20302928e+02] [-3.82591923e-02 -5.50415029e-04 9.99267697e-01 4.80035775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.606875 meters Centerline goodness [0,1] 0.99867985214344 Centerline is valid? [True, True] Translation: X:147.86, Y:220.33, Z:4.80 [[ 3.67764905e-01 -9.29826057e-01 1.31330799e-02 1.47858774e+02] [ 9.29169867e-01 3.67998761e-01 3.49323739e-02 2.20330846e+02] [-3.73139886e-02 -6.44039072e-04 9.99303383e-01 4.79800367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters Centerline goodness [0,1] 0.998567335243553 Centerline is valid? [True, True] Translation: X:147.86, Y:220.36, Z:4.80 [[ 3.68651299e-01 -9.29476901e-01 1.29965131e-02 1.47863666e+02] [ 9.28833137e-01 3.68879689e-01 3.45944748e-02 2.20357920e+02] [-3.69489149e-02 -6.81706053e-04 9.99316923e-01 4.79554717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.666875 meters Centerline goodness [0,1] 0.9985395867748809 Centerline is valid? [True, True] Translation: X:147.87, Y:220.39, Z:4.79 [[ 3.69543632e-01 -9.29122944e-01 1.29637560e-02 1.47871233e+02] [ 9.28481229e-01 3.69770239e-01 3.45337150e-02 2.20385051e+02] [-3.68796781e-02 -7.25110374e-04 9.99319450e-01 4.79367938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters Centerline goodness [0,1] 0.9988986520458736 Centerline is valid? [True, True] Translation: X:147.88, Y:220.41, Z:4.79 [[ 3.70319014e-01 -9.28815547e-01 1.28649984e-02 1.47883452e+02] [ 9.28182515e-01 3.70541637e-01 3.42945352e-02 2.20410533e+02] [-3.66203150e-02 -7.58851933e-04 9.99328963e-01 4.79351892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.726875 meters Centerline goodness [0,1] 0.9984441572119297 Centerline is valid? [True, True] Translation: X:147.89, Y:220.44, Z:4.79 [[ 3.70908298e-01 -9.28580675e-01 1.28438881e-02 1.47893242e+02] [ 9.27948569e-01 3.71129768e-01 3.42658388e-02 2.20437656e+02] [-3.65853449e-02 -7.91016370e-04 9.99330219e-01 4.79243762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters Centerline goodness [0,1] 0.9985404603531607 Centerline is valid? [True, True] Translation: X:147.90, Y:220.46, Z:4.79 [[ 3.70583955e-01 -9.28709586e-01 1.28855409e-02 1.47900967e+02] [ 9.28072409e-01 3.70807063e-01 3.44053036e-02 2.20463510e+02] [-3.67305849e-02 -7.91338441e-04 9.99324891e-01 4.79120812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.786875 meters Centerline goodness [0,1] 0.9985919190472781 Centerline is valid? [True, True] Translation: X:147.91, Y:220.49, Z:4.79 [[ 3.69645161e-01 -9.29082772e-01 1.29482568e-02 1.47912738e+02] [ 9.28438521e-01 3.69871074e-01 3.46020520e-02 2.20489111e+02] [-3.69373561e-02 -7.68820737e-04 9.99317287e-01 4.79119966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters Centerline goodness [0,1] 0.9988501616960115 Centerline is valid? [True, True] Translation: X:147.92, Y:220.52, Z:4.79 [[ 3.69415631e-01 -9.29173908e-01 1.29591934e-02 1.47922943e+02] [ 9.28527538e-01 3.69642063e-01 3.46605980e-02 2.20515617e+02] [-3.69959863e-02 -7.71198726e-04 9.99315117e-01 4.79012665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.846875 meters Centerline goodness [0,1] 0.9986587790098915 Centerline is valid? [True, True] Translation: X:147.93, Y:220.54, Z:4.79 [[ 3.69110330e-01 -9.29294890e-01 1.29835334e-02 1.47932688e+02] [ 9.28645147e-01 3.69337804e-01 3.47530858e-02 2.20541488e+02] [-3.70911748e-02 -7.70627680e-04 9.99311588e-01 4.78893846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters Centerline goodness [0,1] 0.9987568136176723 Centerline is valid? [True, True] Translation: X:147.94, Y:220.57, Z:4.79 [[ 3.68871929e-01 -9.29392101e-01 1.27993424e-02 1.47942294e+02] [ 9.28759670e-01 3.69093138e-01 3.42889253e-02 2.20567921e+02] [-3.65920058e-02 -7.60709000e-04 9.99329999e-01 4.78767425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.906875 meters Centerline goodness [0,1] 0.9989676118220451 Centerline is valid? [True, True] Translation: X:147.95, Y:220.59, Z:4.78 [[ 3.69846887e-01 -9.29010725e-01 1.23431163e-02 1.47950708e+02] [ 9.28421407e-01 3.70051974e-01 3.30942222e-02 2.20594702e+02] [-3.53124819e-02 -7.80181636e-04 9.99376015e-01 4.78487851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters Centerline goodness [0,1] 0.998947746024154 Centerline is valid? [True, True] Translation: X:147.96, Y:220.62, Z:4.78 [[ 3.69845741e-01 -9.29014275e-01 1.21080618e-02 1.47961065e+02] [ 9.28446391e-01 3.70043077e-01 3.24872350e-02 2.20620638e+02] [-3.46616095e-02 -7.73579235e-04 9.99398806e-01 4.78342154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.966875 meters Centerline goodness [0,1] 0.9990875036019594 Centerline is valid? [True, True] Translation: X:147.97, Y:220.65, Z:4.78 [[ 3.69810953e-01 -9.29029535e-01 1.19992670e-02 1.47971878e+02] [ 9.28470873e-01 3.70004759e-01 3.22228994e-02 2.20647048e+02] [-3.43758111e-02 -7.75411238e-04 9.99408676e-01 4.78211283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters Centerline goodness [0,1] 0.9987744509059451 Centerline is valid? [True, True] Translation: X:147.98, Y:220.67, Z:4.78 [[ 3.69725367e-01 -9.29068133e-01 1.16429013e-02 1.47981255e+02] [ 9.28541321e-01 3.69907865e-01 3.12919689e-02 2.20672082e+02] [-3.33791719e-02 -7.58519760e-04 9.99442472e-01 4.78037487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.026875 meters Centerline goodness [0,1] 0.998848147437128 Centerline is valid? [True, True] Translation: X:147.99, Y:220.70, Z:4.78 [[ 3.69657912e-01 -9.29095752e-01 1.15806847e-02 1.47990037e+02] [ 9.28573592e-01 3.69838481e-01 3.11541592e-02 2.20697574e+02] [-3.32281798e-02 -7.62863396e-04 9.99447500e-01 4.77851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters Centerline goodness [0,1] 0.9988928468277655 Centerline is valid? [True, True] Translation: X:148.00, Y:220.72, Z:4.78 [[ 3.68988304e-01 -9.29364189e-01 1.13945368e-02 1.48001098e+02] [ 9.28857970e-01 3.69163463e-01 3.06791268e-02 2.20723722e+02] [-3.27185284e-02 -7.36332668e-04 9.99464334e-01 4.77737199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.086875 meters Centerline goodness [0,1] 0.9988177672690424 Centerline is valid? [True, True] Translation: X:148.01, Y:220.75, Z:4.78 [[ 3.68204725e-01 -9.29673652e-01 1.14969680e-02 1.48012304e+02] [ 9.29157518e-01 3.68383460e-01 3.09827787e-02 2.20750031e+02] [-3.30391658e-02 -7.25511293e-04 9.99453794e-01 4.77650909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters Centerline goodness [0,1] 0.9989141450702186 Centerline is valid? [True, True] Translation: X:148.02, Y:220.78, Z:4.78 [[ 3.67120809e-01 -9.30099787e-01 1.16917470e-02 1.48023274e+02] [ 9.29565439e-01 3.67306255e-01 3.15310772e-02 2.20775493e+02] [-3.36215000e-02 -7.07470643e-04 9.99434387e-01 4.77601896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.146875 meters Centerline goodness [0,1] 0.9988639934256641 Centerline is valid? [True, True] Translation: X:148.03, Y:220.80, Z:4.78 [[ 3.66082960e-01 -9.30508360e-01 1.17242665e-02 1.48033658e+02] [ 9.29970322e-01 3.66270019e-01 3.16460539e-02 2.20800070e+02] [-3.37411650e-02 -6.81861166e-04 9.99430372e-01 4.77537447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters Centerline goodness [0,1] 0.9989867310012063 Centerline is valid? [True, True] Translation: X:148.05, Y:220.83, Z:4.77 [[ 3.63130805e-01 -9.31662465e-01 1.18772734e-02 1.48047369e+02] [ 9.31109914e-01 3.63324510e-01 3.20878179e-02 2.20825038e+02] [-3.42103201e-02 -5.93028111e-04 9.99414480e-01 4.77480615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.206875 meters Centerline goodness [0,1] 0.9992732910227218 Centerline is valid? [True, True] Translation: X:148.06, Y:220.85, Z:4.77 [[ 3.61727338e-01 -9.32207095e-01 1.19693480e-02 1.48058041e+02] [ 9.31645247e-01 3.61924886e-01 3.23652659e-02 2.20850149e+02] [-3.45031354e-02 -5.56215360e-04 9.99404435e-01 4.77340103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters Centerline goodness [0,1] 0.9993445806529919 Centerline is valid? [True, True] Translation: X:148.07, Y:220.88, Z:4.77 [[ 3.60250355e-01 -9.32780052e-01 1.18767181e-02 1.48070234e+02] [ 9.32226562e-01 3.60445725e-01 3.21327853e-02 2.20875446e+02] [-3.42537334e-02 -5.04055233e-04 9.99413042e-01 4.77282155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.266875 meters Centerline goodness [0,1] 0.9991984260001457 Centerline is valid? [True, True] Translation: X:148.08, Y:220.90, Z:4.77 [[ 3.57974533e-01 -9.33657649e-01 1.17314945e-02 1.48082588e+02] [ 9.33117139e-01 3.58166460e-01 3.17677856e-02 2.20900096e+02] [-3.38620639e-02 -4.25199623e-04 9.99426425e-01 4.77127647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters Centerline goodness [0,1] 0.9992447129909365 Centerline is valid? [True, True] Translation: X:148.09, Y:220.92, Z:4.77 [[ 3.56359326e-01 -9.34277306e-01 1.15734915e-02 1.48092579e+02] [ 9.33751037e-01 3.56547023e-01 3.13563675e-02 2.20924734e+02] [-3.34220365e-02 -3.67374254e-04 9.99441260e-01 4.76968218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32687500000003 meters Centerline goodness [0,1] 0.9994142912924638 Centerline is valid? [True, True] Translation: X:148.10, Y:220.95, Z:4.77 [[ 3.54702421e-01 -9.34908620e-01 1.14919271e-02 1.48103721e+02] [ 9.34389052e-01 3.54888393e-01 3.11661399e-02 2.20949788e+02] [-3.32158444e-02 -3.16774405e-04 9.99448151e-01 4.76845141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters Centerline goodness [0,1] 0.9995373526833544 Centerline is valid? [True, True] Translation: X:148.11, Y:220.97, Z:4.77 [[ 3.52517957e-01 -9.35734434e-01 1.14960153e-02 1.48114793e+02] [ 9.35213986e-01 3.52705268e-01 3.12056657e-02 2.20974354e+02] [-3.32549211e-02 -2.49323200e-04 9.99446871e-01 4.76718391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38687500000003 meters Centerline goodness [0,1] 0.9991923444039257 Centerline is valid? [True, True] Translation: X:148.13, Y:221.00, Z:4.77 [[ 3.48810523e-01 -9.37124466e-01 1.13557876e-02 1.48129088e+02] [ 9.36616455e-01 3.48995299e-01 3.08528398e-02 2.20999215e+02] [-3.28760675e-02 -1.25777622e-04 9.99459428e-01 4.76647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters Centerline goodness [0,1] 0.9994860750819833 Centerline is valid? [True, True] Translation: X:148.14, Y:221.03, Z:4.77 [[ 3.47178437e-01 -9.37729894e-01 1.13920263e-02 1.48140021e+02] [ 9.37218078e-01 3.47365282e-01 3.09779913e-02 2.21025147e+02] [-3.30061829e-02 -7.80776171e-05 9.99455144e-01 4.76516142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44687500000003 meters Centerline goodness [0,1] 0.9993635718307101 Centerline is valid? [True, True] Translation: X:148.15, Y:221.05, Z:4.76 [[ 3.44510614e-01 -9.38714081e-01 1.13274111e-02 1.48151302e+02] [ 9.38207724e-01 3.44696785e-01 3.08284499e-02 2.21049672e+02] [-3.28436222e-02 6.73634781e-06 9.99460503e-01 4.76409796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters Centerline goodness [0,1] 0.9994125422235277 Centerline is valid? [True, True] Translation: X:148.16, Y:221.07, Z:4.76 [[ 3.42961287e-01 -9.39282280e-01 1.12407342e-02 1.48161498e+02] [ 9.38783150e-01 3.43145444e-01 3.06170285e-02 2.21074261e+02] [-3.26152391e-02 5.21563658e-05 9.99467980e-01 4.76292822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50687500000004 meters Centerline goodness [0,1] 0.999483889994839 Centerline is valid? [True, True] Translation: X:148.17, Y:221.10, Z:4.76 [[ 3.41873703e-01 -9.39679834e-01 1.11436710e-02 1.48172060e+02] [ 9.39188474e-01 3.42055265e-01 3.03843184e-02 2.21100259e+02] [-3.23632826e-02 7.84078830e-05 9.99476169e-01 4.76146887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters Centerline goodness [0,1] 0.999483750430208 Centerline is valid? [True, True] Translation: X:148.18, Y:221.13, Z:4.76 [[ 3.40978266e-01 -9.40007332e-01 1.09561330e-02 1.48182491e+02] [ 9.39531763e-01 3.41154225e-01 2.98975013e-02 2.21126206e+02] [-3.18416015e-02 9.92367987e-05 9.99492923e-01 4.76087213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56687500000004 meters Centerline goodness [0,1] 0.9996314858490566 Centerline is valid? [True, True] Translation: X:148.19, Y:221.15, Z:4.76 [[ 3.41234277e-01 -9.39915381e-01 1.08740412e-02 1.48191944e+02] [ 9.39446100e-01 3.41407484e-01 2.96977458e-02 2.21152982e+02] [-3.16258471e-02 8.16868106e-05 9.99499774e-01 4.76051998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters Centerline goodness [0,1] 0.9996811771919069 Centerline is valid? [True, True] Translation: X:148.20, Y:221.18, Z:4.76 [[ 3.41599112e-01 -9.39781760e-01 1.09677119e-02 1.48200934e+02] [ 9.39303469e-01 3.41775131e-01 2.99792104e-02 2.21179000e+02] [-3.19224063e-02 6.11382017e-05 9.99490348e-01 4.75923056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62687500000004 meters Centerline goodness [0,1] 0.9995342680654966 Centerline is valid? [True, True] Translation: X:148.21, Y:221.21, Z:4.76 [[ 3.42010281e-01 -9.39629441e-01 1.12018528e-02 1.48209407e+02] [ 9.39129549e-01 3.42193676e-01 3.06460149e-02 2.21205498e+02] [-3.26291011e-02 3.87388367e-05 9.99467528e-01 4.75885287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters Centerline goodness [0,1] 0.9995350772016541 Centerline is valid? [True, True] Translation: X:148.22, Y:221.23, Z:4.76 [[ 3.44285226e-01 -9.38795711e-01 1.14147468e-02 1.48216414e+02] [ 9.38275246e-01 3.44474398e-01 3.12562216e-02 2.21232904e+02] [-3.32752948e-02 -5.08809313e-05 9.99446223e-01 4.75838399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68687500000004 meters Centerline goodness [0,1] 0.9993860661575109 Centerline is valid? [True, True] Translation: X:148.22, Y:221.26, Z:4.76 [[ 3.45671403e-01 -9.38285405e-01 1.14795738e-02 1.48224940e+02] [ 9.37757832e-01 3.45861949e-01 3.14604724e-02 2.21259580e+02] [-3.34892498e-02 -1.09925367e-04 9.99439072e-01 4.75735111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters Centerline goodness [0,1] 0.9995598591549296 Centerline is valid? [True, True] Translation: X:148.23, Y:221.29, Z:4.76 [[ 3.47125260e-01 -9.37748544e-01 1.14770293e-02 1.48232416e+02] [ 9.37219985e-01 3.47314899e-01 3.14811145e-02 2.21285512e+02] [-3.35075126e-02 -1.71388876e-04 9.99438451e-01 4.75548063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.746875 meters Centerline goodness [0,1] 0.9993643342623832 Centerline is valid? [True, True] Translation: X:148.24, Y:221.31, Z:4.75 [[ 3.50098850e-01 -9.36642730e-01 1.14538979e-02 1.48239143e+02] [ 9.36114775e-01 3.50286046e-01 3.14454069e-02 2.21311919e+02] [-3.34652523e-02 -2.86837730e-04 9.99439840e-01 4.75393769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters Centerline goodness [0,1] 0.99931657310227 Centerline is valid? [True, True] Translation: X:148.25, Y:221.34, Z:4.75 [[ 3.50845706e-01 -9.36362330e-01 1.15272852e-02 1.48248639e+02] [ 9.35826433e-01 3.51034872e-01 3.16765810e-02 2.21338773e+02] [-3.37072362e-02 -3.26054234e-04 9.99431696e-01 4.75316181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.806875 meters Centerline goodness [0,1] 0.9995352364178959 Centerline is valid? [True, True] Translation: X:148.26, Y:221.37, Z:4.75 [[ 3.51527475e-01 -9.36107949e-01 1.14167623e-02 1.48256972e+02] [ 9.35581228e-01 3.51712639e-01 3.14004144e-02 2.21365349e+02] [-3.34095971e-02 -3.56799849e-04 9.99441680e-01 4.75165684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters Centerline goodness [0,1] 0.9993894248381976 Centerline is valid? [True, True] Translation: X:148.27, Y:221.39, Z:4.75 [[ 3.52487178e-01 -9.35747456e-01 1.13793164e-02 1.48266099e+02] [ 9.35223181e-01 3.52670584e-01 3.13218892e-02 2.21391854e+02] [-3.33225283e-02 -3.98363822e-04 9.99444571e-01 4.75021072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.866875 meters Centerline goodness [0,1] 0.9994863893168978 Centerline is valid? [True, True] Translation: X:148.28, Y:221.42, Z:4.75 [[ 3.52612917e-01 -9.35702056e-01 1.12157372e-02 1.48275304e+02] [ 9.35191865e-01 3.52791011e-01 3.08978705e-02 2.21418169e+02] [-3.28680122e-02 -4.06122122e-04 9.99459618e-01 4.74943451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters Centerline goodness [0,1] 0.9993899612015325 Centerline is valid? [True, True] Translation: X:148.28, Y:221.44, Z:4.75 [[ 3.52713592e-01 -9.35666353e-01 1.10271732e-02 1.48284032e+02] [ 9.35172258e-01 3.52885685e-01 3.04062790e-02 2.21443213e+02] [-3.23414637e-02 -4.12401432e-04 9.99476793e-01 4.74734546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.926875 meters Centerline goodness [0,1] 0.9991933906922175 Centerline is valid? [True, True] Translation: X:148.29, Y:221.47, Z:4.75 [[ 3.52416588e-01 -9.35779229e-01 1.09445405e-02 1.48293741e+02] [ 9.35292097e-01 3.52586260e-01 3.01931003e-02 2.21469735e+02] [-3.21129707e-02 -4.04207132e-04 9.99484164e-01 4.74573362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters Centerline goodness [0,1] 0.9994374740137452 Centerline is valid? [True, True] Translation: X:148.30, Y:221.50, Z:4.75 [[ 3.51932831e-01 -9.35961932e-01 1.08878450e-02 1.48304426e+02] [ 9.35479181e-01 3.52100991e-01 3.00598434e-02 2.21496188e+02] [-3.19684901e-02 -3.93693484e-04 9.99488800e-01 4.74519009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.986875 meters Centerline goodness [0,1] 0.9993676120056428 Centerline is valid? [True, True] Translation: X:148.31, Y:221.52, Z:4.74 [[ 3.50989857e-01 -9.36315452e-01 1.09313404e-02 1.48313638e+02] [ 9.35828136e-01 3.51159842e-01 3.02070199e-02 2.21522971e+02] [-3.21219472e-02 -3.72501667e-04 9.99483888e-01 4.74310540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters Centerline goodness [0,1] 0.9996327310121933 Centerline is valid? [True, True] Translation: X:148.32, Y:221.55, Z:4.74 [[ 3.50043462e-01 -9.36670387e-01 1.08701813e-02 1.48322961e+02] [ 9.36187866e-01 3.50212030e-01 3.00635021e-02 2.21547992e+02] [-3.19664604e-02 -3.47000569e-04 9.99488882e-01 4.74155726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.046875 meters Centerline goodness [0,1] 0.9994141483181175 Centerline is valid? [True, True] Translation: X:148.33, Y:221.57, Z:4.74 [[ 3.48725695e-01 -9.37164268e-01 1.06547701e-02 1.48333929e+02] [ 9.36700072e-01 3.48888294e-01 2.94946313e-02 2.21574321e+02] [-3.13586391e-02 -3.05211845e-04 9.99508150e-01 4.74044379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters Centerline goodness [0,1] 0.9993888576527244 Centerline is valid? [True, True] Translation: X:148.34, Y:221.60, Z:4.74 [[ 3.47158569e-01 -9.37747393e-01 1.05239694e-02 1.48344441e+02] [ 9.37294034e-01 3.47317952e-01 2.91570680e-02 2.21599440e+02] [-3.09971281e-02 -2.58072292e-04 9.99519440e-01 4.73925603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.106875 meters Centerline goodness [0,1] 0.9993888576527244 Centerline is valid? [True, True] Translation: X:148.35, Y:221.63, Z:4.74 [[ 3.46903298e-01 -9.37841953e-01 1.05153671e-02 1.48353720e+02] [ 9.37388543e-01 3.47062536e-01 2.91601696e-02 2.21625438e+02] [-3.09971204e-02 -2.58774317e-04 9.99519440e-01 4.73812916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters Centerline goodness [0,1] 0.9992871014528381 Centerline is valid? [True, True] Translation: X:148.37, Y:221.65, Z:4.74 [[ 3.42569998e-01 -9.39436117e-01 1.02751551e-02 1.48367169e+02] [ 9.39003183e-01 3.42724040e-01 2.85176246e-02 2.21650071e+02] [-3.03120292e-02 -1.20879233e-04 9.99540478e-01 4.73721139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.166875 meters Centerline goodness [0,1] 0.999510200083266 Centerline is valid? [True, True] Translation: X:148.38, Y:221.67, Z:4.74 [[ 3.40049895e-01 -9.40350835e-01 1.03138420e-02 1.48378121e+02] [ 9.39914300e-01 3.40206267e-01 2.86496913e-02 2.21674803e+02] [-3.04495949e-02 -4.81969667e-05 9.99536302e-01 4.73631644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters Centerline goodness [0,1] 0.9994851300659524 Centerline is valid? [True, True] Translation: X:148.39, Y:221.70, Z:4.74 [[ 3.37908648e-01 -9.41123605e-01 1.02032495e-02 1.48389373e+02] [ 9.40696017e-01 3.38062657e-01 2.83662208e-02 2.21700191e+02] [-3.01454576e-02 1.29649047e-05 9.99545522e-01 4.73584332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.226875 meters Centerline goodness [0,1] 0.9996320102055837 Centerline is valid? [True, True] Translation: X:148.40, Y:221.73, Z:4.74 [[ 3.35390931e-01 -9.42024634e-01 1.01248213e-02 1.48400502e+02] [ 9.41603278e-01 3.35543710e-01 2.81724351e-02 2.21726422e+02] [-2.99364479e-02 8.47857151e-05 9.99551801e-01 4.73516115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters Centerline goodness [0,1] 0.9995590612904807 Centerline is valid? [True, True] Translation: X:148.41, Y:221.75, Z:4.73 [[ 3.31366828e-01 -9.43448452e-01 1.00520877e-02 1.48412419e+02] [ 9.43033074e-01 3.31519197e-01 2.79936185e-02 2.21751375e+02] [-2.97429960e-02 2.03294601e-04 9.99557559e-01 4.73350438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.286875 meters Centerline goodness [0,1] 0.999657509112704 Centerline is valid? [True, True] Translation: X:148.42, Y:221.78, Z:4.73 [[ 3.29345567e-01 -9.44154090e-01 1.02250165e-02 1.48422443e+02] [ 9.43723767e-01 3.29504150e-01 2.85037958e-02 2.21776084e+02] [-3.02811608e-02 2.61992332e-04 9.99541386e-01 4.73223513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters Centerline goodness [0,1] 0.9998031738221184 Centerline is valid? [True, True] Translation: X:148.43, Y:221.80, Z:4.73 [[ 3.27516893e-01 -9.44788779e-01 1.03367450e-02 1.48432391e+02] [ 9.44348707e-01 3.27679818e-01 2.88349825e-02 2.21801245e+02] [-3.06301106e-02 3.17547859e-04 9.99530738e-01 4.73147327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.346875 meters Centerline goodness [0,1] 0.9997053262284212 Centerline is valid? [True, True] Translation: X:148.44, Y:221.83, Z:4.73 [[ 3.25349505e-01 -9.45534887e-01 1.05583003e-02 1.48442583e+02] [ 9.45075240e-01 3.25520550e-01 2.94815559e-02 2.21826547e+02] [-3.13127833e-02 3.86578586e-04 9.99509560e-01 4.73214291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters Centerline goodness [0,1] 0.9997294172631787 Centerline is valid? [True, True] Translation: X:148.45, Y:221.85, Z:4.73 [[ 3.25108870e-01 -9.45617012e-01 1.06154891e-02 1.48451884e+02] [ 9.45151469e-01 3.25281903e-01 2.96712646e-02 2.21853266e+02] [-3.15106790e-02 3.86853776e-04 9.99503340e-01 4.73146255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.406875 meters Centerline goodness [0,1] 0.9998770894788593 Centerline is valid? [True, True] Translation: X:148.46, Y:221.88, Z:4.73 [[ 3.25199774e-01 -9.45583368e-01 1.08259546e-02 1.48460033e+02] [ 9.45098406e-01 3.25379697e-01 3.02829219e-02 2.21878473e+02] [-3.21575731e-02 3.83593048e-04 9.99482738e-01 4.73063238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters Centerline goodness [0,1] 0.9997053913385053 Centerline is valid? [True, True] Translation: X:148.47, Y:221.90, Z:4.73 [[ 3.25411404e-01 -9.45509628e-01 1.09069942e-02 1.48467669e+02] [ 9.45016295e-01 3.25593932e-01 3.05416887e-02 2.21903244e+02] [-3.24287118e-02 3.68673420e-04 9.99473983e-01 4.72953779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.466875 meters Centerline goodness [0,1] 0.9997795468462951 Centerline is valid? [True, True] Translation: X:148.47, Y:221.93, Z:4.73 [[ 3.27478319e-01 -9.44792572e-01 1.11779297e-02 1.48473698e+02] [ 9.44272897e-01 3.27668901e-01 3.13334939e-02 2.21929459e+02] [-3.32663122e-02 2.93976182e-04 9.99446480e-01 4.72896587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters Centerline goodness [0,1] 0.9996580361504641 Centerline is valid? [True, True] Translation: X:148.48, Y:221.96, Z:4.73 [[ 3.28570312e-01 -9.44412299e-01 1.12676716e-02 1.48479796e+02] [ 9.43883161e-01 3.28763362e-01 3.16106106e-02 2.21955884e+02] [-3.35578470e-02 2.49057313e-04 9.99436746e-01 4.72841247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.526875 meters Centerline goodness [0,1] 0.9996354445146551 Centerline is valid? [True, True] Translation: X:148.49, Y:221.98, Z:4.73 [[ 3.31345448e-01 -9.43441800e-01 1.13033115e-02 1.48485193e+02] [ 9.42907687e-01 3.31538159e-01 3.17418032e-02 2.21981510e+02] [-3.36940230e-02 1.40477342e-04 9.99432185e-01 4.72629521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters Centerline goodness [0,1] 0.9995131569338623 Centerline is valid? [True, True] Translation: X:148.49, Y:222.01, Z:4.72 [[ 3.32399846e-01 -9.43072561e-01 1.11573386e-02 1.48492118e+02] [ 9.42550970e-01 3.32587034e-01 3.13613419e-02 2.22006534e+02] [-3.32868072e-02 9.18550659e-05 9.99445836e-01 4.72463060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.586875 meters Centerline goodness [0,1] 0.9995873786407767 Centerline is valid? [True, True] Translation: X:148.50, Y:222.03, Z:4.72 [[ 3.32859880e-01 -9.42909257e-01 1.12442889e-02 1.48499672e+02] [ 9.42378349e-01 3.33049740e-01 3.16372977e-02 2.22033249e+02] [-3.35760083e-02 6.55872808e-05 9.99436165e-01 4.72446326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters Centerline goodness [0,1] 0.9996848484848485 Centerline is valid? [True, True] Translation: X:148.51, Y:222.06, Z:4.72 [[ 3.34536122e-01 -9.42317141e-01 1.11350400e-02 1.48507310e+02] [ 9.41795281e-01 3.34721386e-01 3.13567079e-02 2.22060635e+02] [-3.32750994e-02 -3.02329736e-06 9.99446231e-01 4.72292615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.646875 meters Centerline goodness [0,1] 0.9995872484036225 Centerline is valid? [True, True] Translation: X:148.52, Y:222.09, Z:4.72 [[ 3.35106606e-01 -9.42114807e-01 1.11019360e-02 1.48515429e+02] [ 9.41595050e-01 3.35290455e-01 3.12901448e-02 2.22087077e+02] [-3.32012819e-02 -3.20062903e-05 9.99448685e-01 4.72155531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters Centerline goodness [0,1] 0.9995387117919833 Centerline is valid? [True, True] Translation: X:148.52, Y:222.11, Z:4.72 [[ 3.35841120e-01 -9.41852108e-01 1.11958888e-02 1.48523372e+02] [ 9.41322460e-01 3.36027679e-01 3.15820378e-02 2.22113913e+02] [-3.35077374e-02 -6.76053747e-05 9.99438456e-01 4.72015011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.706875 meters Centerline goodness [0,1] 0.9993950246829929 Centerline is valid? [True, True] Translation: X:148.53, Y:222.14, Z:4.72 [[ 3.37516727e-01 -9.41253036e-01 1.11884708e-02 1.48530204e+02] [ 9.40722841e-01 3.37702094e-01 3.15884816e-02 2.22141274e+02] [-3.35111242e-02 -1.36390846e-04 9.99438335e-01 4.71822242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters Centerline goodness [0,1] 0.9994681622588599 Centerline is valid? [True, True] Translation: X:148.54, Y:222.17, Z:4.72 [[ 3.38013203e-01 -9.41076536e-01 1.10466240e-02 1.48537741e+02] [ 9.40558716e-01 3.38193624e-01 3.12149739e-02 2.22166832e+02] [-3.31115773e-02 -1.61074802e-04 9.99451648e-01 4.71604786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.766875 meters Centerline goodness [0,1] 0.9994208494208494 Centerline is valid? [True, True] Translation: X:148.55, Y:222.19, Z:4.71 [[ 3.38362370e-01 -9.40953088e-01 1.08716367e-02 1.48546677e+02] [ 9.40450635e-01 3.38536932e-01 3.07465217e-02 2.22193145e+02] [-3.26114850e-02 -1.79228341e-04 9.99468088e-01 4.71499607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters Centerline goodness [0,1] 0.9992030910408114 Centerline is valid? [True, True] Translation: X:148.56, Y:222.22, Z:4.71 [[ 3.38704154e-01 -9.40832637e-01 1.06510891e-02 1.48555064e+02] [ 9.40349483e-01 3.38871527e-01 3.01486010e-02 2.22218890e+02] [-3.19741387e-02 -1.95710255e-04 9.99488677e-01 4.71320427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82687500000003 meters Centerline goodness [0,1] 0.9993227390368381 Centerline is valid? [True, True] Translation: X:148.56, Y:222.25, Z:4.71 [[ 3.38463216e-01 -9.40919893e-01 1.06021631e-02 1.48564026e+02] [ 9.40440288e-01 3.38629172e-01 3.00391316e-02 2.22245491e+02] [-3.18546182e-02 -1.96439772e-04 9.99492494e-01 4.71235518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters Centerline goodness [0,1] 0.9993479363392663 Centerline is valid? [True, True] Translation: X:148.57, Y:222.27, Z:4.71 [[ 3.38051451e-01 -9.41067209e-01 1.06641833e-02 1.48573004e+02] [ 9.40581194e-01 3.38219560e-01 3.02414628e-02 2.22272217e+02] [-3.20660844e-02 -1.92640103e-04 9.99485732e-01 4.71113986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88687500000003 meters Centerline goodness [0,1] 0.9993516317268208 Centerline is valid? [True, True] Translation: X:148.58, Y:222.30, Z:4.71 [[ 3.37901244e-01 -9.41119426e-01 1.08155411e-02 1.48581174e+02] [ 9.40618661e-01 3.38074232e-01 3.06976929e-02 2.22297693e+02] [-3.25466509e-02 -1.99488798e-04 9.99470198e-01 4.71042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters Centerline goodness [0,1] 0.9994225494442038 Centerline is valid? [True, True] Translation: X:148.59, Y:222.32, Z:4.71 [[ 3.38154822e-01 -9.41027089e-01 1.09240130e-02 1.48589754e+02] [ 9.40515194e-01 3.38331153e-01 3.10354856e-02 2.22324049e+02] [-3.29011666e-02 -2.20598869e-04 9.99458586e-01 4.71072797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94687500000003 meters Centerline goodness [0,1] 0.9995191382958262 Centerline is valid? [True, True] Translation: X:148.60, Y:222.35, Z:4.71 [[ 3.37854186e-01 -9.41134966e-01 1.09327247e-02 1.48598280e+02] [ 9.40621475e-01 3.38030957e-01 3.10855609e-02 2.22350284e+02] [-3.29513077e-02 -2.18831261e-04 9.99456934e-01 4.70963960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters Centerline goodness [0,1] 0.9993065518890483 Centerline is valid? [True, True] Translation: X:148.61, Y:222.38, Z:4.71 [[ 3.38061497e-01 -9.41059453e-01 1.10241264e-02 1.48605564e+02] [ 9.40536282e-01 3.38241112e-01 3.13759677e-02 2.22376462e+02] [-3.32554637e-02 -2.38415760e-04 9.99446856e-01 4.70850835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00687500000004 meters Centerline goodness [0,1] 0.9993532004599464 Centerline is valid? [True, True] Translation: X:148.62, Y:222.40, Z:4.71 [[ 3.38124329e-01 -9.41037147e-01 1.10012086e-02 1.48615457e+02] [ 9.40515172e-01 3.38303157e-01 3.13398254e-02 2.22403238e+02] [-3.32136835e-02 -2.49953798e-04 9.99448242e-01 4.70881106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters Centerline goodness [0,1] 0.9994494973671613 Centerline is valid? [True, True] Translation: X:148.62, Y:222.43, Z:4.71 [[ 3.38047972e-01 -9.41063353e-01 1.11055593e-02 1.48622728e+02] [ 9.40530481e-01 3.38230244e-01 3.16656935e-02 2.22429494e+02] [-3.35556597e-02 -2.59406475e-04 9.99436817e-01 4.70669029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06687500000004 meters Centerline goodness [0,1] 0.9994737723347765 Centerline is valid? [True, True] Translation: X:148.63, Y:222.45, Z:4.71 [[ 3.38485487e-01 -9.40906201e-01 1.10948811e-02 1.48628654e+02] [ 9.40373264e-01 3.38667153e-01 3.16651940e-02 2.22454994e+02] [-3.35514491e-02 -2.84879098e-04 9.99436951e-01 4.70503916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters Centerline goodness [0,1] 0.9992384035033439 Centerline is valid? [True, True] Translation: X:148.64, Y:222.48, Z:4.70 [[ 3.38505449e-01 -9.40899011e-01 1.10955944e-02 1.48636487e+02] [ 9.40364919e-01 3.38687117e-01 3.16994570e-02 2.22481491e+02] [-3.35839226e-02 -2.96531213e-04 9.99435857e-01 4.70374054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12687500000004 meters Centerline goodness [0,1] 0.9991646578677296 Centerline is valid? [True, True] Translation: X:148.65, Y:222.51, Z:4.70 [[ 3.38852007e-01 -9.40774633e-01 1.10637611e-02 1.48645716e+02] [ 9.40242548e-01 3.39032429e-01 3.16380103e-02 2.22507605e+02] [-3.35152114e-02 -3.17984335e-04 9.99438157e-01 4.70326999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters Centerline goodness [0,1] 0.9993345533189153 Centerline is valid? [True, True] Translation: X:148.65, Y:222.53, Z:4.70 [[ 3.39136499e-01 -9.40674399e-01 1.08678704e-02 1.48653459e+02] [ 9.40160066e-01 3.39310427e-01 3.11044126e-02 2.22533886e+02] [-3.29467064e-02 -3.31103880e-04 9.99457055e-01 4.70152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18687500000004 meters Centerline goodness [0,1] 0.9992601078810445 Centerline is valid? [True, True] Translation: X:148.66, Y:222.56, Z:4.70 [[ 3.40652008e-01 -9.40129089e-01 1.06538975e-02 1.48658889e+02] [ 9.39633627e-01 3.40818349e-01 3.05204849e-02 2.22560540e+02] [-3.23242394e-02 -3.86104123e-04 9.99477361e-01 4.69898165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters Centerline goodness [0,1] 0.9990941813067626 Centerline is valid? [True, True] Translation: X:148.67, Y:222.59, Z:4.70 [[ 3.41103484e-01 -9.39964158e-01 1.07608215e-02 1.48666975e+02] [ 9.39457708e-01 3.41272926e-01 3.08545678e-02 2.22587443e+02] [-3.26745649e-02 -4.15263860e-04 9.99465958e-01 4.69786495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.246875 meters Centerline goodness [0,1] 0.9992176943318398 Centerline is valid? [True, True] Translation: X:148.67, Y:222.61, Z:4.70 [[ 3.41470783e-01 -9.39829354e-01 1.08852567e-02 1.48674590e+02] [ 9.39310201e-01 3.41643951e-01 3.12371111e-02 2.22613281e+02] [-3.30764361e-02 -4.41928129e-04 9.99452727e-01 4.69717850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters Centerline goodness [0,1] 0.9989819834749876 Centerline is valid? [True, True] Translation: X:148.68, Y:222.64, Z:4.70 [[ 3.42440553e-01 -9.39474284e-01 1.10696725e-02 1.48681427e+02] [ 9.38936144e-01 3.42619066e-01 3.17976983e-02 2.22640806e+02] [-3.36658007e-02 -4.95105795e-04 9.99433024e-01 4.69667109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.306875 meters Centerline goodness [0,1] 0.9992686091777752 Centerline is valid? [True, True] Translation: X:148.69, Y:222.67, Z:4.70 [[ 3.42672391e-01 -9.39388272e-01 1.11940177e-02 1.48689304e+02] [ 9.38836936e-01 3.42854786e-01 3.21839043e-02 2.22668193e+02] [-3.40711048e-02 -5.19178114e-04 9.99419277e-01 4.69587760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters Centerline goodness [0,1] 0.9993167467722175 Centerline is valid? [True, True] Translation: X:148.70, Y:222.69, Z:4.70 [[ 3.42205485e-01 -9.39551774e-01 1.17417991e-02 1.48696362e+02] [ 9.38944105e-01 3.42406446e-01 3.37904477e-02 2.22694443e+02] [-3.57683427e-02 -5.38383482e-04 9.99359963e-01 4.69554270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.366875 meters Centerline goodness [0,1] 0.9992208160181337 Centerline is valid? [True, True] Translation: X:148.71, Y:222.72, Z:4.70 [[ 3.41823254e-01 -9.39690153e-01 1.18016322e-02 1.48705658e+02] [ 9.39075211e-01 3.42026500e-01 3.39944444e-02 2.22720575e+02] [-3.59807157e-02 -5.37471388e-04 9.99352340e-01 4.69532101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters Centerline goodness [0,1] 0.9993389834509785 Centerline is valid? [True, True] Translation: X:148.71, Y:222.75, Z:4.69 [[ 3.40785306e-01 -9.40063532e-01 1.20802064e-02 1.48714709e+02] [ 9.39418271e-01 3.40998951e-01 3.48285412e-02 2.22747258e+02] [-3.68603792e-02 -5.20688494e-04 9.99320290e-01 4.69478508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.426875 meters Centerline goodness [0,1] 0.9995290682615555 Centerline is valid? [True, True] Translation: X:148.72, Y:222.77, Z:4.69 [[ 3.39209862e-01 -9.40631050e-01 1.22432606e-02 1.48723188e+02] [ 9.39967431e-01 3.39430407e-01 3.53302762e-02 2.22773502e+02] [-3.73884897e-02 -4.76111859e-04 9.99300693e-01 4.69347772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters Centerline goodness [0,1] 0.9994787841455613 Centerline is valid? [True, True] Translation: X:148.73, Y:222.80, Z:4.69 [[ 3.38444930e-01 -9.40904848e-01 1.23731849e-02 1.48732641e+02] [ 9.40226058e-01 3.38670716e-01 3.57366115e-02 2.22799871e+02] [-3.78151864e-02 -4.61284063e-04 9.99284644e-01 4.69233290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.486875 meters Centerline goodness [0,1] 0.9993871682458869 Centerline is valid? [True, True] Translation: X:148.74, Y:222.83, Z:4.69 [[ 3.37953934e-01 -9.41084217e-01 1.21505521e-02 1.48741217e+02] [ 9.40428639e-01 3.38171998e-01 3.51236946e-02 2.22825505e+02] [-3.71633311e-02 -4.43463565e-04 9.99309106e-01 4.69076491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters Centerline goodness [0,1] 0.9994334812576716 Centerline is valid? [True, True] Translation: X:148.75, Y:222.85, Z:4.69 [[ 3.37521704e-01 -9.41242985e-01 1.18634952e-02 1.48750595e+02] [ 9.40616986e-01 3.37729865e-01 3.43252771e-02 2.22852399e+02] [-3.63150829e-02 -4.26520946e-04 9.99340299e-01 4.68831964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.546875 meters Centerline goodness [0,1] 0.9994325838711965 Centerline is valid? [True, True] Translation: X:148.76, Y:222.88, Z:4.69 [[ 3.37336843e-01 -9.41311724e-01 1.16658795e-02 1.48758495e+02] [ 9.40705466e-01 3.37538236e-01 3.37811310e-02 2.22878805e+02] [-3.57362550e-02 -4.21463408e-04 9.99361167e-01 4.68595538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters Centerline goodness [0,1] 0.9992233283908777 Centerline is valid? [True, True] Translation: X:148.77, Y:222.91, Z:4.68 [[ 3.37464185e-01 -9.41269498e-01 1.13866798e-02 1.48767526e+02] [ 9.40690799e-01 3.37655966e-01 3.30040897e-02 2.22905620e+02] [-3.49105233e-02 -4.26353364e-04 9.99390351e-01 4.68411907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.606875 meters Centerline goodness [0,1] 0.9992223583749646 Centerline is valid? [True, True] Translation: X:148.78, Y:222.93, Z:4.68 [[ 3.37487296e-01 -9.41263255e-01 1.12165177e-02 1.48775259e+02] [ 9.40700756e-01 3.37673363e-01 3.25390051e-02 2.22931394e+02] [-3.44152891e-02 -4.30114200e-04 9.99407526e-01 4.68227414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters Centerline goodness [0,1] 0.999410446881264 Centerline is valid? [True, True] Translation: X:148.78, Y:222.96, Z:4.68 [[ 3.37287129e-01 -9.41335062e-01 1.12113591e-02 1.48784816e+02] [ 9.40772068e-01 3.37473131e-01 3.25545838e-02 2.22958143e+02] [-3.44283036e-02 -4.32908624e-04 9.99407076e-01 4.68158665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.666875 meters Centerline goodness [0,1] 0.9993633727099102 Centerline is valid? [True, True] Translation: X:148.79, Y:222.98, Z:4.68 [[ 3.37256094e-01 -9.41348317e-01 1.10305857e-02 1.48793300e+02] [ 9.40802370e-01 3.37436154e-01 3.20584344e-02 2.22984811e+02] [-3.39002717e-02 -4.34301222e-04 9.99425126e-01 4.68013347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters Centerline goodness [0,1] 0.9995026642984014 Centerline is valid? [True, True] Translation: X:148.80, Y:223.01, Z:4.68 [[ 3.37863441e-01 -9.41128835e-01 1.11718581e-02 1.48801083e+02] [ 9.40567674e-01 3.38047766e-01 3.24986018e-02 2.23011202e+02] [-3.43619929e-02 -4.72200846e-04 9.99409341e-01 4.67942962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.726875 meters Centerline goodness [0,1] 0.9990562921719436 Centerline is valid? [True, True] Translation: X:148.81, Y:223.04, Z:4.68 [[ 3.38265500e-01 -9.40984365e-01 1.11748272e-02 1.48810513e+02] [ 9.40421735e-01 3.38449668e-01 3.25389497e-02 2.23038106e+02] [-3.44007595e-02 -4.97753677e-04 9.99407995e-01 4.67888731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters Centerline goodness [0,1] 0.9993626363250082 Centerline is valid? [True, True] Translation: X:148.82, Y:223.07, Z:4.68 [[ 3.39789306e-01 -9.40431888e-01 1.14495305e-02 1.48817674e+02] [ 9.39839824e-01 3.39981661e-01 3.33702789e-02 2.23065543e+02] [-3.52751048e-02 -5.78139166e-04 9.99377473e-01 4.67858628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.786875 meters Centerline goodness [0,1] 0.9992461897246236 Centerline is valid? [True, True] Translation: X:148.83, Y:223.09, Z:4.68 [[ 3.40296775e-01 -9.40245850e-01 1.16553010e-02 1.48825811e+02] [ 9.39631146e-01 3.40495755e-01 3.39992574e-02 2.23091969e+02] [-3.59362412e-02 -6.18153779e-04 9.99353894e-01 4.67792316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters Centerline goodness [0,1] 0.9992924361423619 Centerline is valid? [True, True] Translation: X:148.83, Y:223.12, Z:4.68 [[ 3.40612783e-01 -9.40129799e-01 1.17852950e-02 1.48834757e+02] [ 9.39500089e-01 3.40815993e-01 3.44099056e-02 2.23119063e+02] [-3.63663947e-02 -6.48168046e-04 9.99338314e-01 4.67703660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.846875 meters Centerline goodness [0,1] 0.9993857638970919 Centerline is valid? [True, True] Translation: X:148.84, Y:223.15, Z:4.68 [[ 3.41050865e-01 -9.39970711e-01 1.18055318e-02 1.48843360e+02] [ 9.39337600e-01 3.41254458e-01 3.45002716e-02 2.23146221e+02] [-3.64579352e-02 -6.76967543e-04 9.99334959e-01 4.67606958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters Centerline goodness [0,1] 0.9990319000731978 Centerline is valid? [True, True] Translation: X:148.85, Y:223.17, Z:4.67 [[ 3.41102230e-01 -9.39953483e-01 1.16926326e-02 1.48852356e+02] [ 9.39331331e-01 3.41301895e-01 3.42004100e-02 2.23173118e+02] [-3.61375122e-02 -6.82579965e-04 9.99346594e-01 4.67466720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.906875 meters Centerline goodness [0,1] 0.9991493785737914 Centerline is valid? [True, True] Translation: X:148.86, Y:223.20, Z:4.67 [[ 3.42047569e-01 -9.39612636e-01 1.14697200e-02 1.48859385e+02] [ 9.39012728e-01 3.42239072e-01 3.35784757e-02 2.23199463e+02] [-3.54761464e-02 -7.15222946e-04 9.99370267e-01 4.67261816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters Centerline goodness [0,1] 0.999223054103687 Centerline is valid? [True, True] Translation: X:148.87, Y:223.23, Z:4.67 [[ 3.42322752e-01 -9.39514194e-01 1.13230740e-02 1.48867998e+02] [ 9.38928534e-01 3.42509200e-01 3.31761368e-02 2.23225650e+02] [-3.50477085e-02 -7.25389208e-04 9.99385377e-01 4.67142384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.966875 meters Centerline goodness [0,1] 0.9991735732332176 Centerline is valid? [True, True] Translation: X:148.88, Y:223.25, Z:4.67 [[ 3.42541081e-01 -9.39436466e-01 1.11684195e-02 1.48877205e+02] [ 9.38865978e-01 3.42722326e-01 3.27426580e-02 2.23252680e+02] [-3.45873136e-02 -7.30056351e-04 9.99401413e-01 4.67042583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters Centerline goodness [0,1] 0.9991735732332176 Centerline is valid? [True, True] Translation: X:148.89, Y:223.28, Z:4.67 [[ 3.42281685e-01 -9.39531106e-01 1.11601307e-02 1.48886011e+02] [ 9.38960577e-01 3.42462799e-01 3.27454827e-02 2.23278839e+02] [-3.45873292e-02 -7.29256237e-04 9.99401413e-01 4.66929803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.026875 meters Centerline goodness [0,1] 0.9993394824373099 Centerline is valid? [True, True] Translation: X:148.90, Y:223.30, Z:4.67 [[ 3.41935521e-01 -9.39658239e-01 1.10676718e-02 1.48895867e+02] [ 9.39096192e-01 3.42113834e-01 3.25033363e-02 2.23304766e+02] [-3.43284314e-02 -7.20436845e-04 9.99410346e-01 4.66780507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters Centerline goodness [0,1] 0.9994108220211161 Centerline is valid? [True, True] Translation: X:148.91, Y:223.33, Z:4.67 [[ 3.41072442e-01 -9.39974324e-01 1.08563141e-02 1.48905899e+02] [ 9.39432751e-01 3.41244488e-01 3.19109103e-02 2.23330891e+02] [-3.37000937e-02 -6.85155102e-04 9.99431756e-01 4.66639296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.086875 meters Centerline goodness [0,1] 0.999316505220486 Centerline is valid? [True, True] Translation: X:148.92, Y:223.36, Z:4.66 [[ 3.39748532e-01 -9.40454376e-01 1.07936052e-02 1.48915834e+02] [ 9.39918328e-01 3.39919333e-01 3.17550527e-02 2.23357073e+02] [-3.35331334e-02 -6.43625164e-04 9.99437399e-01 4.66489498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters Centerline goodness [0,1] 0.9993843093608658 Centerline is valid? [True, True] Translation: X:148.93, Y:223.38, Z:4.66 [[ 3.36492305e-01 -9.41625875e-01 1.06602089e-02 1.48928156e+02] [ 9.41102647e-01 3.36660705e-01 3.13907400e-02 2.23382767e+02] [-3.31472065e-02 -5.30391624e-04 9.99450340e-01 4.66366046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.146875 meters Centerline goodness [0,1] 0.9992901256477603 Centerline is valid? [True, True] Translation: X:148.94, Y:223.41, Z:4.66 [[ 3.34069939e-01 -9.42487796e-01 1.06785069e-02 1.48939619e+02] [ 9.41962294e-01 3.34240254e-01 3.14720495e-02 2.23409129e+02] [-3.32312095e-02 -4.55114792e-04 9.99447587e-01 4.66270071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters Centerline goodness [0,1] 0.9996685292167818 Centerline is valid? [True, True] Translation: X:148.95, Y:223.43, Z:4.66 [[ 3.28993683e-01 -9.44268966e-01 1.09214153e-02 1.48953287e+02] [ 9.43719270e-01 3.29174779e-01 3.22165191e-02 2.23434957e+02] [-3.40161137e-02 -2.92281241e-04 9.99421242e-01 4.66319880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.206875 meters Centerline goodness [0,1] 0.9995009861464249 Centerline is valid? [True, True] Translation: X:148.96, Y:223.46, Z:4.66 [[ 3.26430341e-01 -9.45156564e-01 1.10590025e-02 1.48964395e+02] [ 9.44592532e-01 3.26617551e-01 3.26484963e-02 2.23460830e+02] [-3.44700049e-02 -2.11208574e-04 9.99405710e-01 4.66282777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters Centerline goodness [0,1] 0.9993356427656243 Centerline is valid? [True, True] Translation: X:148.98, Y:223.49, Z:4.66 [[ 3.23884685e-01 -9.46030272e-01 1.11997993e-02 1.48975348e+02] [ 9.45451234e-01 3.24078243e-01 3.30946507e-02 2.23486962e+02] [-3.49381527e-02 -1.29986478e-04 9.99389468e-01 4.66228866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.266875 meters Centerline goodness [0,1] 0.9994521983518315 Centerline is valid? [True, True] Translation: X:148.99, Y:223.51, Z:4.66 [[ 3.19929382e-01 -9.47371809e-01 1.14824007e-02 1.48987970e+02] [ 9.46762896e-01 3.20135370e-01 3.39612099e-02 2.23512156e+02] [-3.58498155e-02 5.92198629e-06 9.99357189e-01 4.66210193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters Centerline goodness [0,1] 0.999618766232219 Centerline is valid? [True, True] Translation: X:149.00, Y:223.54, Z:4.66 [[ 3.18072908e-01 -9.47998122e-01 1.13660114e-02 1.48998238e+02] [ 9.47400820e-01 3.18275912e-01 3.36471326e-02 2.23538167e+02] [-3.55149462e-02 6.59271811e-05 9.99369143e-01 4.66089972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32687500000003 meters Centerline goodness [0,1] 0.9996905719658201 Centerline is valid? [True, True] Translation: X:149.01, Y:223.56, Z:4.66 [[ 3.16474924e-01 -9.48534077e-01 1.12573414e-02 1.49008335e+02] [ 9.47947437e-01 3.16675057e-01 3.33551428e-02 2.23564911e+02] [-3.52034088e-02 1.15301622e-04 9.99380161e-01 4.65964440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters Centerline goodness [0,1] 0.9997137745974956 Centerline is valid? [True, True] Translation: X:149.02, Y:223.59, Z:4.66 [[ 3.15450234e-01 -9.48876046e-01 1.11981615e-02 1.49017947e+02] [ 9.48294733e-01 3.15648901e-01 3.32094945e-02 2.23591035e+02] [-3.50463812e-02 1.43214744e-04 9.99385677e-01 4.65805151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38687500000003 meters Centerline goodness [0,1] 0.9996410195046069 Centerline is valid? [True, True] Translation: X:149.03, Y:223.62, Z:4.66 [[ 3.14119259e-01 -9.49320028e-01 1.09806449e-02 1.49027719e+02] [ 9.48760352e-01 3.14311074e-01 3.25936033e-02 2.23616224e+02] [-3.43930987e-02 1.79722032e-04 9.99408366e-01 4.65620593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters Centerline goodness [0,1] 0.9997127468581688 Centerline is valid? [True, True] Translation: X:149.04, Y:223.64, Z:4.65 [[ 3.14181928e-01 -9.49299248e-01 1.09842697e-02 1.49036624e+02] [ 9.48738074e-01 3.14373838e-01 3.26367501e-02 2.23643377e+02] [-3.44352093e-02 1.67317814e-04 9.99406918e-01 4.65497972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44687500000003 meters Centerline goodness [0,1] 0.9996658232682485 Centerline is valid? [True, True] Translation: X:149.05, Y:223.67, Z:4.65 [[ 3.14278250e-01 -9.49268581e-01 1.08785929e-02 1.49045185e+02] [ 9.48717131e-01 3.14466435e-01 3.23522326e-02 2.23669053e+02] [-3.41319103e-02 1.53104422e-04 9.99417325e-01 4.65269058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters Centerline goodness [0,1] 0.9998328557784145 Centerline is valid? [True, True] Translation: X:149.05, Y:223.70, Z:4.65 [[ 3.15666499e-01 -9.48807615e-01 1.08981838e-02 1.49052641e+02] [ 9.48252788e-01 3.15854556e-01 3.24430336e-02 2.23695683e+02] [-3.42244384e-02 9.30543221e-05 9.99414168e-01 4.65152910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50687500000004 meters Centerline goodness [0,1] 0.999617059977981 Centerline is valid? [True, True] Translation: X:149.06, Y:223.72, Z:4.65 [[ 3.16189092e-01 -9.48633962e-01 1.08657664e-02 1.49060761e+02] [ 9.48081349e-01 3.16375730e-01 3.23751794e-02 2.23722153e+02] [-3.41498595e-02 6.49518916e-05 9.99416721e-01 4.65035493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters Centerline goodness [0,1] 0.9995200844651342 Centerline is valid? [True, True] Translation: X:149.07, Y:223.75, Z:4.65 [[ 3.16884105e-01 -9.48402391e-01 1.08336973e-02 1.49069246e+02] [ 9.47851891e-01 3.17069242e-01 3.23092783e-02 2.23748959e+02] [-3.40772290e-02 3.04437415e-05 9.99419202e-01 4.64927412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56687500000004 meters Centerline goodness [0,1] 0.9995447247981214 Centerline is valid? [True, True] Translation: X:149.08, Y:223.77, Z:4.65 [[ 3.17416772e-01 -9.48221041e-01 1.11108454e-02 1.49077103e+02] [ 9.47640802e-01 3.17611174e-01 3.31670488e-02 2.23774847e+02] [-3.49786222e-02 1.31292972e-06 9.99388061e-01 4.64828523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters Centerline goodness [0,1] 0.9995927753557227 Centerline is valid? [True, True] Translation: X:149.09, Y:223.80, Z:4.65 [[ 3.17554677e-01 -9.48173783e-01 1.12028482e-02 1.49085481e+02] [ 9.47582675e-01 3.17752225e-01 3.34753216e-02 2.23801229e+02] [-3.53001523e-02 -1.46200416e-05 9.99376755e-01 4.64733616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62687500000004 meters Centerline goodness [0,1] 0.999688689863263 Centerline is valid? [True, True] Translation: X:149.09, Y:223.83, Z:4.65 [[ 3.18356914e-01 -9.47901184e-01 1.14987418e-02 1.49093161e+02] [ 9.47277088e-01 3.18564503e-01 3.43915095e-02 2.23828453e+02] [-3.62628435e-02 -5.62801795e-05 9.99342285e-01 4.64673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters Centerline goodness [0,1] 0.9995934959349594 Centerline is valid? [True, True] Translation: X:149.10, Y:223.85, Z:4.65 [[ 3.18582328e-01 -9.47823990e-01 1.16182948e-02 1.49101004e+02] [ 9.47185595e-01 3.18794101e-01 3.47817549e-02 2.23854597e+02] [-3.66708255e-02 -7.61709848e-05 9.99327396e-01 4.64554405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.686875 meters Centerline goodness [0,1] 0.9995693573855209 Centerline is valid? [True, True] Translation: X:149.11, Y:223.88, Z:4.64 [[ 3.18659078e-01 -9.47798686e-01 1.15777176e-02 1.49108718e+02] [ 9.47163952e-01 3.18869321e-01 3.46814600e-02 2.23879600e+02] [-3.65628212e-02 -8.55652851e-05 9.99331353e-01 4.64372578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters Centerline goodness [0,1] 0.9997361097783322 Centerline is valid? [True, True] Translation: X:149.12, Y:223.91, Z:4.64 [[ 3.18525343e-01 -9.47842061e-01 1.17061042e-02 1.49117170e+02] [ 9.47191780e-01 3.18740362e-01 3.51043318e-02 2.23906157e+02] [-3.70045701e-02 -9.36936856e-05 9.99315092e-01 4.64321148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.746875 meters Centerline goodness [0,1] 0.999425631207371 Centerline is valid? [True, True] Translation: X:149.13, Y:223.93, Z:4.64 [[ 3.18122167e-01 -9.47976810e-01 1.17581450e-02 1.49125648e+02] [ 9.47319574e-01 3.18339377e-01 3.52939765e-02 2.23932053e+02] [-3.72009518e-02 -8.90754187e-05 9.99307801e-01 4.64139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters Centerline goodness [0,1] 0.999496016127484 Centerline is valid? [True, True] Translation: X:149.13, Y:223.96, Z:4.64 [[ 3.17502337e-01 -9.48185926e-01 1.16496966e-02 1.49133640e+02] [ 9.47540093e-01 3.17715980e-01 3.49904007e-02 2.23956863e+02] [-3.68787003e-02 -7.09793436e-05 9.99319747e-01 4.63983524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.806875 meters Centerline goodness [0,1] 0.999712292311012 Centerline is valid? [True, True] Translation: X:149.14, Y:223.98, Z:4.64 [[ 3.16566089e-01 -9.48499330e-01 1.16160486e-02 1.49142542e+02] [ 9.47856069e-01 3.16779133e-01 3.49264037e-02 2.23983149e+02] [-3.68073923e-02 -4.61728721e-05 9.99322377e-01 4.63864227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters Centerline goodness [0,1] 0.9995933208937371 Centerline is valid? [True, True] Translation: X:149.15, Y:224.01, Z:4.64 [[ 3.14088097e-01 -9.49324885e-01 1.14424387e-02 1.49152144e+02] [ 9.48700130e-01 3.14296453e-01 3.44355011e-02 2.24009351e+02] [-3.62867960e-02 3.96620348e-05 9.99341417e-01 4.63591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.866875 meters Centerline goodness [0,1] 0.9997126092683511 Centerline is valid? [True, True] Translation: X:149.16, Y:224.03, Z:4.63 [[ 3.12431261e-01 -9.49874831e-01 1.11585010e-02 1.49161849e+02] [ 9.49279961e-01 3.12630448e-01 3.36118939e-02 2.24034436e+02] [-3.54155792e-02 9.11349759e-05 9.99372667e-01 4.63412860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters Centerline goodness [0,1] 0.9995918661320913 Centerline is valid? [True, True] Translation: X:149.17, Y:224.06, Z:4.63 [[ 3.09280390e-01 -9.50911261e-01 1.06496280e-02 1.49173237e+02] [ 9.50368983e-01 3.09463630e-01 3.21100855e-02 2.24060273e+02] [-3.38295144e-02 1.90056408e-04 9.99427600e-01 4.63278246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.926875 meters Centerline goodness [0,1] 0.9994963666450823 Centerline is valid? [True, True] Translation: X:149.18, Y:224.09, Z:4.63 [[ 3.07548157e-01 -9.51473377e-01 1.06086363e-02 1.49183171e+02] [ 9.50934653e-01 3.07730976e-01 3.20145605e-02 2.24085318e+02] [-3.37256080e-02 2.42100792e-04 9.99431101e-01 4.63083525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters Centerline goodness [0,1] 0.9996876351578644 Centerline is valid? [True, True] Translation: X:149.19, Y:224.11, Z:4.63 [[ 3.05948647e-01 -9.51987191e-01 1.07616907e-02 1.49192200e+02] [ 9.51431992e-01 3.06137719e-01 3.25094196e-02 2.24112257e+02] [-3.42431105e-02 2.92803855e-04 9.99413490e-01 4.63024548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.986875 meters Centerline goodness [0,1] 0.9998078262749526 Centerline is valid? [True, True] Translation: X:149.20, Y:224.14, Z:4.63 [[ 3.03822214e-01 -9.52664614e-01 1.10542282e-02 1.49202115e+02] [ 9.52078118e-01 3.04023021e-01 3.34254445e-02 2.24137853e+02] [-3.52039780e-02 3.69096199e-04 9.99380080e-01 4.62972091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters Centerline goodness [0,1] 0.9996162977529437 Centerline is valid? [True, True] Translation: X:149.21, Y:224.16, Z:4.63 [[ 3.03436939e-01 -9.52784889e-01 1.12685016e-02 1.49211323e+02] [ 9.52174250e-01 3.03645865e-01 3.41084470e-02 2.24164755e+02] [-3.59196468e-02 3.79814348e-04 9.99354609e-01 4.62960865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.046875 meters Centerline goodness [0,1] 0.9997844775976437 Centerline is valid? [True, True] Translation: X:149.22, Y:224.19, Z:4.63 [[ 3.03881102e-01 -9.52639151e-01 1.16156478e-02 1.49220034e+02] [ 9.51988953e-01 3.04102804e-01 3.51925714e-02 2.24191802e+02] [-3.70581724e-02 3.63610950e-04 9.99313044e-01 4.62889257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters Centerline goodness [0,1] 0.9995215997703679 Centerline is valid? [True, True] Translation: X:149.23, Y:224.22, Z:4.63 [[ 3.04529458e-01 -9.52431384e-01 1.16733437e-02 1.49228004e+02] [ 9.51773332e-01 3.04752931e-01 3.54002194e-02 2.24217370e+02] [-3.72737657e-02 3.29967606e-04 9.99305037e-01 4.62788769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.106875 meters Centerline goodness [0,1] 0.9995923359152059 Centerline is valid? [True, True] Translation: X:149.24, Y:224.24, Z:4.63 [[ 3.04895996e-01 -9.52313783e-01 1.17000009e-02 1.49236007e+02] [ 9.51651337e-01 3.05120247e-01 3.55157526e-02 2.24243192e+02] [-3.73920479e-02 3.05710744e-04 9.99300626e-01 4.62711813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters Centerline goodness [0,1] 0.9998328877005348 Centerline is valid? [True, True] Translation: X:149.24, Y:224.27, Z:4.63 [[ 3.05310078e-01 -9.52181648e-01 1.16561531e-02 1.49243547e+02] [ 9.51522806e-01 3.05532376e-01 3.54163476e-02 2.24269303e+02] [-3.72841284e-02 2.78127674e-04 9.99304666e-01 4.62543271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.166875 meters Centerline goodness [0,1] 0.9997373698787126 Centerline is valid? [True, True] Translation: X:149.25, Y:224.30, Z:4.62 [[ 3.06096260e-01 -9.51930433e-01 1.15554866e-02 1.49251511e+02] [ 9.51281428e-01 3.06314210e-01 3.51461219e-02 2.24296285e+02] [-3.69962728e-02 2.34423328e-04 9.99315376e-01 4.62394905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters Centerline goodness [0,1] 0.9996180472666507 Centerline is valid? [True, True] Translation: X:149.26, Y:224.32, Z:4.62 [[ 3.07008842e-01 -9.51640046e-01 1.12602706e-02 1.49259522e+02] [ 9.51022461e-01 3.07215215e-01 3.42795916e-02 2.24322118e+02] [-3.60811585e-02 1.84632536e-04 9.99348846e-01 4.62289277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.226875 meters Centerline goodness [0,1] 0.9999045323277406 Centerline is valid? [True, True] Translation: X:149.27, Y:224.35, Z:4.62 [[ 3.06950521e-01 -9.51660287e-01 1.11389437e-02 1.49268017e+02] [ 9.51055207e-01 3.07152514e-01 3.39312092e-02 2.24348748e+02] [-3.57123389e-02 1.78548042e-04 9.99362095e-01 4.62193191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters Centerline goodness [0,1] 0.9996904098497297 Centerline is valid? [True, True] Translation: X:149.28, Y:224.38, Z:4.62 [[ 3.06945792e-01 -9.51661895e-01 1.11318648e-02 1.49276531e+02] [ 9.51056490e-01 3.07147536e-01 3.39403015e-02 2.24375604e+02] [-3.57188165e-02 1.69199583e-04 9.99361865e-01 4.62194316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.286875 meters Centerline goodness [0,1] 0.999809994299829 Centerline is valid? [True, True] Translation: X:149.28, Y:224.40, Z:4.62 [[ 3.06982926e-01 -9.51649150e-01 1.11972507e-02 1.49284821e+02] [ 9.51035457e-01 3.07187028e-01 3.41714746e-02 2.24400967e+02] [-3.59589050e-02 1.58923196e-04 9.99353257e-01 4.62126332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters Centerline goodness [0,1] 0.999738232354481 Centerline is valid? [True, True] Translation: X:149.29, Y:224.43, Z:4.62 [[ 3.07051112e-01 -9.51628790e-01 1.10571136e-02 1.49292752e+02] [ 9.51029180e-01 3.07250101e-01 3.37768412e-02 2.24427510e+02] [-3.55403137e-02 1.44421003e-04 9.99368233e-01 4.62038862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.346875 meters Centerline goodness [0,1] 0.999501519179643 Centerline is valid? [True, True] Translation: X:149.30, Y:224.45, Z:4.62 [[ 3.09406279e-01 -9.50866665e-01 1.09699795e-02 1.49298788e+02] [ 9.50274848e-01 3.09600685e-01 3.35429593e-02 2.24454220e+02] [-3.52911950e-02 4.60933998e-05 9.99377071e-01 4.61881757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters Centerline goodness [0,1] 0.9996216599668952 Centerline is valid? [True, True] Translation: X:149.31, Y:224.48, Z:4.62 [[ 3.11019097e-01 -9.50339893e-01 1.10094964e-02 1.49305663e+02] [ 9.49742704e-01 3.11213893e-01 3.36854392e-02 2.24482051e+02] [-3.54389250e-02 -2.06259611e-05 9.99371844e-01 4.61757261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.406875 meters Centerline goodness [0,1] 0.9995965828191742 Centerline is valid? [True, True] Translation: X:149.31, Y:224.51, Z:4.62 [[ 3.12843855e-01 -9.49742885e-01 1.08247784e-02 1.49312518e+02] [ 9.49164166e-01 3.13031059e-01 3.31502922e-02 2.24509779e+02] [-3.48727460e-02 -9.63733951e-05 9.99391756e-01 4.61616615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters Centerline goodness [0,1] 0.9997883647650849 Centerline is valid? [True, True] Translation: X:149.32, Y:224.54, Z:4.62 [[ 3.16954626e-01 -9.48379265e-01 1.07951237e-02 1.49316757e+02] [ 9.47801864e-01 3.17138304e-01 3.30896137e-02 2.24536763e+02] [-3.48050508e-02 -2.56267752e-04 9.99394088e-01 4.61619818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.466875 meters Centerline goodness [0,1] 0.9994335882186349 Centerline is valid? [True, True] Translation: X:149.32, Y:224.56, Z:4.61 [[ 3.19029065e-01 -9.47685403e-01 1.06222860e-02 1.49323463e+02] [ 9.47124884e-01 3.19205677e-01 3.25912636e-02 2.24563676e+02] [-3.42769587e-02 -3.36928914e-04 9.99412316e-01 4.61496123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters Centerline goodness [0,1] 0.9993858799631528 Centerline is valid? [True, True] Translation: X:149.33, Y:224.59, Z:4.61 [[ 3.20983367e-01 -9.47026464e-01 1.05144601e-02 1.49330748e+02] [ 9.46475924e-01 3.21155267e-01 3.22896243e-02 2.24591051e+02] [-3.39559030e-02 -4.12748977e-04 9.99423247e-01 4.61441163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.526875 meters Centerline goodness [0,1] 0.9993887530562348 Centerline is valid? [True, True] Translation: X:149.34, Y:224.62, Z:4.61 [[ 3.22481308e-01 -9.46518789e-01 1.03917057e-02 1.49337609e+02] [ 9.45979833e-01 3.22648355e-01 3.19405006e-02 2.24618364e+02] [-3.35851507e-02 -4.69870453e-04 9.99435749e-01 4.61305289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters Centerline goodness [0,1] 0.9994121934588888 Centerline is valid? [True, True] Translation: X:149.34, Y:224.65, Z:4.61 [[ 3.25771054e-01 -9.45394005e-01 1.01683960e-02 1.49342223e+02] [ 9.44876526e-01 3.25929189e-01 3.12812210e-02 2.24645287e+02] [-3.28872559e-02 -5.82637652e-04 9.99458898e-01 4.61084329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.586875 meters Centerline goodness [0,1] 0.9994362889019378 Centerline is valid? [True, True] Translation: X:149.35, Y:224.67, Z:4.61 [[ 3.26798988e-01 -9.45040549e-01 1.00390166e-02 1.49348302e+02] [ 9.44535097e-01 3.26952560e-01 3.09107447e-02 2.24671773e+02] [-3.24941894e-02 -6.19396541e-04 9.99471732e-01 4.60895428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters Centerline goodness [0,1] 0.9993675926359676 Centerline is valid? [True, True] Translation: X:149.36, Y:224.70, Z:4.61 [[ 3.28756261e-01 -9.44362034e-01 9.98351786e-03 1.49356603e+02] [ 9.43860829e-01 3.28907083e-01 3.07711920e-02 2.24699417e+02] [-3.23427952e-02 -6.93170559e-04 9.99476595e-01 4.60762113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.646875 meters Centerline goodness [0,1] 0.9994364742069548 Centerline is valid? [True, True] Translation: X:149.36, Y:224.73, Z:4.61 [[ 3.29355003e-01 -9.44154148e-01 9.91093277e-03 1.49363776e+02] [ 9.43659295e-01 3.29503309e-01 3.05729334e-02 2.24725430e+02] [-3.21312471e-02 -7.16804752e-04 9.99483401e-01 4.60656913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters Centerline goodness [0,1] 0.9991993783408294 Centerline is valid? [True, True] Translation: X:149.37, Y:224.75, Z:4.61 [[ 3.30112201e-01 -9.43888963e-01 9.97803307e-03 1.49371880e+02] [ 9.43386258e-01 3.30262096e-01 3.08109791e-02 2.24751951e+02] [-3.23775092e-02 -7.57940837e-04 9.99475424e-01 4.60544014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.706875 meters Centerline goodness [0,1] 0.9993662120607497 Centerline is valid? [True, True] Translation: X:149.38, Y:224.78, Z:4.60 [[ 3.31390750e-01 -9.43441993e-01 9.86792732e-03 1.49379169e+02] [ 9.42949236e-01 3.31536667e-01 3.04988125e-02 2.24779108e+02] [-3.20454402e-02 -8.02069820e-04 9.99486091e-01 4.60417400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters Centerline goodness [0,1] 0.9991272143986035 Centerline is valid? [True, True] Translation: X:149.39, Y:224.81, Z:4.60 [[ 3.31925492e-01 -9.43255520e-01 9.72063273e-03 1.49389751e+02] [ 9.42776430e-01 3.32066794e-01 3.00707042e-02 2.24805199e+02] [-3.15922570e-02 -8.16849858e-04 9.99500506e-01 4.60364557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.766875 meters Centerline goodness [0,1] 0.9993895997182768 Centerline is valid? [True, True] Translation: X:149.40, Y:224.83, Z:4.60 [[ 3.32186351e-01 -9.43164067e-01 9.68356000e-03 1.49395167e+02] [ 9.42687749e-01 3.32326424e-01 2.99825894e-02 2.24831549e+02] [-3.14966039e-02 -8.31233588e-04 9.99503513e-01 4.60116430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters Centerline goodness [0,1] 0.999154314172285 Centerline is valid? [True, True] Translation: X:149.40, Y:224.86, Z:4.60 [[ 3.32180034e-01 -9.43169698e-01 9.34588336e-03 1.49404787e+02] [ 9.42725137e-01 3.32310490e-01 2.89664230e-02 2.24857674e+02] [-3.04259875e-02 -8.11468176e-04 9.99536693e-01 4.59831880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82687500000003 meters Centerline goodness [0,1] 0.9993882496882426 Centerline is valid? [True, True] Translation: X:149.41, Y:224.88, Z:4.60 [[ 3.31936421e-01 -9.43255505e-01 9.34153488e-03 1.49411277e+02] [ 9.42810566e-01 3.32066849e-01 2.89800694e-02 2.24883760e+02] [-3.04376240e-02 -8.12242732e-04 9.99536338e-01 4.59621578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters Centerline goodness [0,1] 0.9992679874377199 Centerline is valid? [True, True] Translation: X:149.42, Y:224.91, Z:4.60 [[ 3.31142163e-01 -9.43534532e-01 9.35176612e-03 1.49424111e+02] [ 9.43087911e-01 3.31273231e-01 2.90385790e-02 2.24909384e+02] [-3.04968918e-02 -7.96360294e-04 9.99534544e-01 4.59702420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88687500000003 meters Centerline goodness [0,1] 0.9993619283941865 Centerline is valid? [True, True] Translation: X:149.43, Y:224.94, Z:4.60 [[ 3.30099856e-01 -9.43898602e-01 9.46116355e-03 1.49431990e+02] [ 9.43440635e-01 3.30234487e-01 2.94100592e-02 2.24935726e+02] [-3.08845162e-02 -7.82210135e-04 9.99522653e-01 4.59625741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters Centerline goodness [0,1] 0.9993619283941865 Centerline is valid? [True, True] Translation: X:149.44, Y:224.96, Z:4.60 [[ 3.29818373e-01 -9.43997046e-01 9.45608758e-03 1.49440054e+02] [ 9.43539073e-01 3.29952983e-01 2.94116911e-02 2.24961265e+02] [-3.08846138e-02 -7.78327984e-04 9.99522653e-01 4.59516219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94687500000003 meters Centerline goodness [0,1] 0.999574870099197 Centerline is valid? [True, True] Translation: X:149.45, Y:224.99, Z:4.60 [[ 3.28626346e-01 -9.44410451e-01 9.67595252e-03 1.49452556e+02] [ 9.43929978e-01 3.28767865e-01 3.01311811e-02 2.24987309e+02] [-3.16373446e-02 -7.68478310e-04 9.99499118e-01 4.59621550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters Centerline goodness [0,1] 0.9993818354731336 Centerline is valid? [True, True] Translation: X:149.46, Y:225.01, Z:4.60 [[ 3.27001548e-01 -9.44973811e-01 9.72027870e-03 1.49462728e+02] [ 9.44488611e-01 3.27145187e-01 3.02868152e-02 2.25012324e+02] [-3.18001896e-02 -7.23142918e-04 9.99493984e-01 4.59560091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00687500000004 meters Centerline goodness [0,1] 0.9995250647099333 Centerline is valid? [True, True] Translation: X:149.48, Y:225.04, Z:4.60 [[ 3.22725470e-01 -9.46441214e-01 9.86409022e-03 1.49476285e+02] [ 9.45941623e-01 3.22875636e-01 3.07533660e-02 2.25037438e+02] [-3.22911275e-02 -5.94040992e-04 9.99478329e-01 4.59577080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters Centerline goodness [0,1] 0.9995950259659822 Centerline is valid? [True, True] Translation: X:149.49, Y:225.06, Z:4.59 [[ 3.20576096e-01 -9.47171494e-01 9.85531625e-03 1.49487134e+02] [ 9.46672174e-01 3.20727111e-01 3.07557478e-02 2.25063397e+02] [-3.22918347e-02 -5.29803892e-04 9.99478342e-01 4.59442241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06687500000004 meters Centerline goodness [0,1] 0.9995705799556266 Centerline is valid? [True, True] Translation: X:149.50, Y:225.09, Z:4.59 [[ 3.18316565e-01 -9.47934156e-01 9.76730900e-03 1.49497788e+02] [ 9.47443173e-01 3.18466053e-01 3.05091358e-02 2.25089886e+02] [-3.20312082e-02 -4.57593082e-04 9.99486764e-01 4.59323539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters Centerline goodness [0,1] 0.9996673873274572 Centerline is valid? [True, True] Translation: X:149.50, Y:225.12, Z:4.59 [[ 3.15916540e-01 -9.48743796e-01 9.05257878e-03 1.49504003e+02] [ 9.48321720e-01 3.16046014e-01 2.82989640e-02 2.25115773e+02] [-2.97094980e-02 -3.55353709e-04 9.99558512e-01 4.58886133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12687500000004 meters Centerline goodness [0,1] 0.9995745183784422 Centerline is valid? [True, True] Translation: X:149.51, Y:225.14, Z:4.58 [[ 3.14381960e-01 -9.49258888e-01 8.45852382e-03 1.49510614e+02] [ 9.48889874e-01 3.14495590e-01 2.64675254e-02 2.25141649e+02] [-2.77847022e-02 -2.94704900e-04 9.99613887e-01 4.58380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters Centerline goodness [0,1] 0.9996211583084719 Centerline is valid? [True, True] Translation: X:149.52, Y:225.17, Z:4.58 [[ 3.12189694e-01 -9.49983593e-01 8.29260743e-03 1.49520072e+02] [ 9.49628432e-01 3.12299724e-01 2.59754548e-02 2.25168270e+02] [-2.72660349e-02 -2.34373505e-04 9.99628185e-01 4.58170900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.186875 meters Centerline goodness [0,1] 0.9995980327248652 Centerline is valid? [True, True] Translation: X:149.53, Y:225.19, Z:4.58 [[ 3.10082857e-01 -9.50672096e-01 8.43725618e-03 1.49530696e+02] [ 9.50303983e-01 3.10197569e-01 2.64538922e-02 2.25194440e+02] [-2.77661935e-02 -1.84940337e-04 9.99614428e-01 4.58218625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters Centerline goodness [0,1] 0.999810359132393 Centerline is valid? [True, True] Translation: X:149.54, Y:225.22, Z:4.58 [[ 3.06376689e-01 -9.51870854e-01 8.67186626e-03 1.49540705e+02] [ 9.51481703e-01 3.06499379e-01 2.72157906e-02 2.25220542e+02] [-2.85638395e-02 -8.71617243e-05 9.99591966e-01 4.58358527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.246875 meters Centerline goodness [0,1] 0.99976303879055 Centerline is valid? [True, True] Translation: X:149.55, Y:225.25, Z:4.59 [[ 3.02450511e-01 -9.53118545e-01 9.41956786e-03 1.49550506e+02] [ 9.52659001e-01 3.02597157e-01 2.95937259e-02 2.25247608e+02] [-3.10566634e-02 2.29985782e-05 9.99517625e-01 4.58639211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters Centerline goodness [0,1] 0.9996928529238039 Centerline is valid? [True, True] Translation: X:149.56, Y:225.27, Z:4.59 [[ 3.01260022e-01 -9.53493510e-01 9.61897988e-03 1.49557847e+02] [ 9.53013530e-01 3.01413541e-01 3.02504237e-02 2.25273275e+02] [-3.17428734e-02 5.37746762e-05 9.99496067e-01 4.58609835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.306875 meters Centerline goodness [0,1] 0.9997876657386873 Centerline is valid? [True, True] Translation: X:149.56, Y:225.30, Z:4.58 [[ 3.01201004e-01 -9.53512070e-01 9.62740903e-03 1.49564574e+02] [ 9.53030660e-01 3.01354823e-01 3.02957371e-02 2.25301049e+02] [-3.17886171e-02 5.01095481e-05 9.99494613e-01 4.58495589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters Centerline goodness [0,1] 0.9997889503798894 Centerline is valid? [True, True] Translation: X:149.57, Y:225.33, Z:4.58 [[ 3.03671287e-01 -9.52725107e-01 9.93080017e-03 1.49568107e+02] [ 9.52211447e-01 3.03833621e-01 3.12808254e-02 2.25328090e+02] [-3.28193387e-02 -4.28668984e-05 9.99461299e-01 4.58354856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.366875 meters Centerline goodness [0,1] 0.9996723843399714 Centerline is valid? [True, True] Translation: X:149.57, Y:225.36, Z:4.58 [[ 3.05346403e-01 -9.52189261e-01 9.95921476e-03 1.49574459e+02] [ 9.51671319e-01 3.05508755e-01 3.14022585e-02 2.25355607e+02] [-3.29435206e-02 -1.10667628e-04 9.99457209e-01 4.58262091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters Centerline goodness [0,1] 0.9997425093632959 Centerline is valid? [True, True] Translation: X:149.58, Y:225.38, Z:4.58 [[ 3.07657749e-01 -9.51446084e-01 9.85185560e-03 1.49579897e+02] [ 9.50937929e-01 3.07815384e-01 3.10925289e-02 2.25383031e+02] [-3.26154176e-02 -1.97354307e-04 9.99467956e-01 4.58124401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.426875 meters Centerline goodness [0,1] 0.999581015339494 Centerline is valid? [True, True] Translation: X:149.58, Y:225.41, Z:4.58 [[ 3.12353388e-01 -9.49917595e-01 9.58771410e-03 1.49580404e+02] [ 9.49434677e-01 3.12500297e-01 3.02879251e-02 2.25410774e+02] [-3.17671965e-02 -3.57627795e-04 9.99495231e-01 4.57819971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters Centerline goodness [0,1] 0.9996975478107114 Centerline is valid? [True, True] Translation: X:149.59, Y:225.44, Z:4.58 [[ 3.14154220e-01 -9.49323419e-01 9.60063813e-03 1.49585527e+02] [ 9.48838271e-01 3.14300598e-01 3.03491349e-02 2.25438110e+02] [-3.18286308e-02 -4.24855918e-04 9.99493250e-01 4.57655705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.486875 meters Centerline goodness [0,1] 0.9997222222222222 Centerline is valid? [True, True] Translation: X:149.59, Y:225.47, Z:4.58 [[ 3.15799887e-01 -9.48776950e-01 9.62965551e-03 1.49592364e+02] [ 9.48287622e-01 3.15946289e-01 3.04717764e-02 2.25465759e+02] [-3.19533730e-02 -4.91300418e-04 9.99489240e-01 4.57628092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters Centerline goodness [0,1] 0.9995836706372152 Centerline is valid? [True, True] Translation: X:149.60, Y:225.49, Z:4.58 [[ 3.18242361e-01 -9.47959804e-01 9.69581155e-03 1.49598759e+02] [ 9.47462456e-01 3.18389487e-01 3.07087799e-02 2.25493965e+02] [-3.21977335e-02 -5.86417205e-04 9.99481347e-01 4.57661993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.546875 meters Centerline goodness [0,1] 0.9995397008055236 Centerline is valid? [True, True] Translation: X:149.60, Y:225.52, Z:4.58 [[ 3.18838771e-01 -9.47758560e-01 9.77501866e-03 1.49604916e+02] [ 9.47252045e-01 3.18987974e-01 3.09876537e-02 2.25520191e+02] [-3.24869275e-02 -6.20659013e-04 9.99471968e-01 4.57547610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters Centerline goodness [0,1] 0.999562886787678 Centerline is valid? [True, True] Translation: X:149.61, Y:225.55, Z:4.57 [[ 3.19441329e-01 -9.47553621e-01 9.96855243e-03 1.49607854e+02] [ 9.47025545e-01 3.19596138e-01 3.16374000e-02 2.25547540e+02] [-3.31640438e-02 -6.65819288e-04 9.99449700e-01 4.57289573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.606875 meters Centerline goodness [0,1] 0.9996082046554505 Centerline is valid? [True, True] Translation: X:149.61, Y:225.57, Z:4.57 [[ 3.19301638e-01 -9.47601241e-01 9.91722928e-03 1.49613508e+02] [ 9.47077953e-01 3.19454921e-01 3.14945008e-02 2.25573872e+02] [-3.30123358e-02 -6.63856494e-04 9.99454724e-01 4.57107119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters Centerline goodness [0,1] 0.9994500584312916 Centerline is valid? [True, True] Translation: X:149.62, Y:225.60, Z:4.57 [[ 3.18805543e-01 -9.47768821e-01 9.86343560e-03 1.49622490e+02] [ 9.47250240e-01 3.18957419e-01 3.13551989e-02 2.25600393e+02] [-3.28634959e-02 -6.53069487e-04 9.99459636e-01 4.57070360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.666875 meters Centerline goodness [0,1] 0.9992650773965367 Centerline is valid? [True, True] Translation: X:149.63, Y:225.63, Z:4.57 [[ 3.18578896e-01 -9.47843571e-01 1.00025817e-02 1.49630941e+02] [ 9.47309239e-01 3.18735193e-01 3.18289675e-02 2.25627216e+02] [-3.33570570e-02 -6.64499219e-04 9.99443278e-01 4.57037999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters Centerline goodness [0,1] 0.9992454210779046 Centerline is valid? [True, True] Translation: X:149.64, Y:225.65, Z:4.57 [[ 3.17469063e-01 -9.48214594e-01 1.01230804e-02 1.49638335e+02] [ 9.47666382e-01 3.17629767e-01 3.22453096e-02 2.25654891e+02] [-3.37908649e-02 -6.43585244e-04 9.99428718e-01 4.57004361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.726875 meters Centerline goodness [0,1] 0.9994504739662041 Centerline is valid? [True, True] Translation: X:149.65, Y:225.68, Z:4.57 [[ 3.16731285e-01 -9.48461011e-01 1.01490369e-02 1.49646327e+02] [ 9.47909102e-01 3.16893223e-01 3.23576842e-02 2.25681482e+02] [-3.39061629e-02 -6.28326426e-04 9.99424823e-01 4.56882485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters Centerline goodness [0,1] 0.9993832941230214 Centerline is valid? [True, True] Translation: X:149.65, Y:225.71, Z:4.57 [[ 3.16476089e-01 -9.48547368e-01 1.00387446e-02 1.49652331e+02] [ 9.48006382e-01 3.16634654e-01 3.20374182e-02 2.25707825e+02] [-3.35676232e-02 -6.22282882e-04 9.99436255e-01 4.56685219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.786875 meters Centerline goodness [0,1] 0.9988857051894301 Centerline is valid? [True, True] Translation: X:149.66, Y:225.73, Z:4.56 [[ 3.16282428e-01 -9.48613020e-01 9.93797516e-03 1.49658817e+02] [ 9.48081755e-01 3.16437914e-01 3.17495386e-02 2.25734918e+02] [-3.32627779e-02 -6.19808232e-04 9.99446449e-01 4.56461717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters Centerline goodness [0,1] 0.9993849798410059 Centerline is valid? [True, True] Translation: X:149.67, Y:225.76, Z:4.56 [[ 3.15625948e-01 -9.48832646e-01 9.84230592e-03 1.49666926e+02] [ 9.48310672e-01 3.15778798e-01 3.14741032e-02 2.25762127e+02] [-3.29716481e-02 -6.00479905e-04 9.99456107e-01 4.56381631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.846875 meters Centerline goodness [0,1] 0.999432424455695 Centerline is valid? [True, True] Translation: X:149.67, Y:225.79, Z:4.56 [[ 3.14131973e-01 -9.49328103e-01 9.86183062e-03 1.49674424e+02] [ 9.48803278e-01 3.14286238e-01 3.15673950e-02 2.25787811e+02] [-3.30672528e-02 -5.59390847e-04 9.99452972e-01 4.56266230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters Centerline goodness [0,1] 0.9992987377279102 Centerline is valid? [True, True] Translation: X:149.68, Y:225.81, Z:4.56 [[ 3.12856985e-01 -9.49749030e-01 9.86346392e-03 1.49683180e+02] [ 9.49223190e-01 3.13011989e-01 3.16042869e-02 2.25814781e+02] [-3.31035232e-02 -5.24993206e-04 9.99451790e-01 4.56202688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.906875 meters Centerline goodness [0,1] 0.9992707549964677 Centerline is valid? [True, True] Translation: X:149.69, Y:225.84, Z:4.56 [[ 3.11390520e-01 -9.50231063e-01 9.84230014e-03 1.49691928e+02] [ 9.49706706e-01 3.11545653e-01 3.15670608e-02 2.25841077e+02] [-3.30623276e-02 -4.82385048e-04 9.99453175e-01 4.56140509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters Centerline goodness [0,1] 0.9995909834575532 Centerline is valid? [True, True] Translation: X:149.70, Y:225.87, Z:4.56 [[ 3.09702445e-01 -9.50783075e-01 9.79489523e-03 1.49699837e+02] [ 9.50263040e-01 3.09856997e-01 3.14451347e-02 2.25867168e+02] [-3.29325187e-02 -4.30908181e-04 9.99457485e-01 4.56046531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.966875 meters Centerline goodness [0,1] 0.999432269785398 Centerline is valid? [True, True] Translation: X:149.71, Y:225.89, Z:4.56 [[ 3.08590575e-01 -9.51144011e-01 9.84519658e-03 1.49707859e+02] [ 9.50617741e-01 3.08747319e-01 3.16386258e-02 2.25893886e+02] [-3.31325675e-02 -4.04363173e-04 9.99450884e-01 4.55941903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters Centerline goodness [0,1] 0.9994552140554773 Centerline is valid? [True, True] Translation: X:149.72, Y:225.92, Z:4.56 [[ 3.08021202e-01 -9.51327595e-01 9.93712577e-03 1.49716414e+02] [ 9.50790512e-01 3.08181196e-01 3.19648814e-02 2.25920338e+02] [-3.34715090e-02 -3.97736296e-04 9.99439593e-01 4.55843171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.026875 meters Centerline goodness [0,1] 0.9993429697766097 Centerline is valid? [True, True] Translation: X:149.72, Y:225.95, Z:4.56 [[ 3.07854567e-01 -9.51382144e-01 9.87831613e-03 1.49723921e+02] [ 9.50850385e-01 3.08012753e-01 3.18070559e-02 2.25947219e+02] [-3.33033124e-02 -3.99146705e-04 9.99445211e-01 4.55711296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters Centerline goodness [0,1] 0.9993423738038006 Centerline is valid? [True, True] Translation: X:149.73, Y:225.97, Z:4.56 [[ 3.08249352e-01 -9.51253180e-01 9.98620782e-03 1.49730425e+02] [ 9.50708588e-01 3.08410772e-01 3.21865749e-02 2.25974198e+02] [-3.36974358e-02 -4.27517291e-04 9.99431989e-01 4.55578491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.086875 meters Centerline goodness [0,1] 0.9995232365427839 Centerline is valid? [True, True] Translation: X:149.74, Y:226.00, Z:4.56 [[ 3.08865561e-01 -9.51053495e-01 9.96569696e-03 1.49738263e+02] [ 9.50509980e-01 3.09025953e-01 3.21517843e-02 2.26001611e+02] [-3.36577259e-02 -4.58084473e-04 9.99433313e-01 4.55545371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters Centerline goodness [0,1] 0.9990749932316578 Centerline is valid? [True, True] Translation: X:149.74, Y:226.03, Z:4.55 [[ 3.09640347e-01 -9.50801051e-01 1.00107943e-02 1.49743282e+02] [ 9.50251289e-01 3.09801730e-01 3.23322790e-02 2.26027836e+02] [-3.38429263e-02 -4.98607896e-04 9.99427040e-01 4.55395888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.146875 meters Centerline goodness [0,1] 0.9992771465359507 Centerline is valid? [True, True] Translation: X:149.75, Y:226.06, Z:4.55 [[ 3.12419564e-01 -9.49891781e-01 9.98100260e-03 1.49749657e+02] [ 9.49344147e-01 3.12578378e-01 3.22559754e-02 2.26055941e+02] [-3.37595315e-02 -6.01991365e-04 9.99429803e-01 4.55398781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters Centerline goodness [0,1] 0.9992135361661012 Centerline is valid? [True, True] Translation: X:149.76, Y:226.08, Z:4.55 [[ 3.13580489e-01 -9.49510819e-01 9.82249752e-03 1.49755216e+02] [ 9.48979288e-01 3.13733632e-01 3.17729338e-02 2.26082736e+02] [-3.32503922e-02 -6.42025413e-04 9.99446847e-01 4.55209324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.206875 meters Centerline goodness [0,1] 0.998941274525263 Centerline is valid? [True, True] Translation: X:149.76, Y:226.11, Z:4.55 [[ 3.16289523e-01 -9.48615929e-01 9.42111624e-03 1.49759100e+02] [ 9.48125765e-01 3.16428996e-01 3.04995884e-02 2.26110593e+02] [-3.19135097e-02 -7.14297227e-04 9.99490379e-01 4.54989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters Centerline goodness [0,1] 0.9989693955280727 Centerline is valid? [True, True] Translation: X:149.77, Y:226.14, Z:4.55 [[ 3.17326729e-01 -9.48271625e-01 9.20178081e-03 1.49767652e+02] [ 9.47802992e-01 3.17459253e-01 2.98179860e-02 2.26137919e+02] [-3.11967405e-02 -7.40568559e-04 9.99512989e-01 4.54882266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.266875 meters Centerline goodness [0,1] 0.9989181879648411 Centerline is valid? [True, True] Translation: X:149.77, Y:226.17, Z:4.55 [[ 3.18012792e-01 -9.48045077e-01 8.85413797e-03 1.49774794e+02] [ 9.47610324e-01 3.18135161e-01 2.87174560e-02 2.26165518e+02] [-3.00422554e-02 -7.42245794e-04 9.99548354e-01 4.54753886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters Centerline goodness [0,1] 0.9990981850975087 Centerline is valid? [True, True] Translation: X:149.78, Y:226.19, Z:4.54 [[ 3.18892561e-01 -9.47757057e-01 8.00598571e-03 1.49780651e+02] [ 9.47400843e-01 3.18992267e-01 2.59918465e-02 2.26193027e+02] [-2.71878034e-02 -7.03728881e-04 9.99630096e-01 4.54449819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32687500000003 meters Centerline goodness [0,1] 0.999210164060208 Centerline is valid? [True, True] Translation: X:149.79, Y:226.22, Z:4.54 [[ 3.19157494e-01 -9.47671200e-01 7.60202117e-03 1.49787557e+02] [ 9.47349768e-01 3.19247297e-01 2.46896818e-02 2.26220579e+02] [-2.58246251e-02 -6.78123980e-04 9.99666259e-01 4.54246727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters Centerline goodness [0,1] 0.9991917377638078 Centerline is valid? [True, True] Translation: X:149.79, Y:226.25, Z:4.54 [[ 3.19537637e-01 -9.47545223e-01 7.33134410e-03 1.49794383e+02] [ 9.47245634e-01 3.19621024e-01 2.38350624e-02 2.26246658e+02] [-2.49280512e-02 -6.71615812e-04 9.99689022e-01 4.54064303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38687500000003 meters Centerline goodness [0,1] 0.9991878355818256 Centerline is valid? [True, True] Translation: X:149.80, Y:226.27, Z:4.54 [[ 3.18153297e-01 -9.48014041e-01 6.91796404e-03 1.49803511e+02] [ 9.47747165e-01 3.18227930e-01 2.25009943e-02 2.26273309e+02] [-2.35327479e-02 -6.02284697e-04 9.99722885e-01 4.54000634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters Centerline goodness [0,1] 0.9992753951360899 Centerline is valid? [True, True] Translation: X:149.81, Y:226.30, Z:4.54 [[ 3.16689256e-01 -9.48504847e-01 6.81683619e-03 1.49813268e+02] [ 9.48245335e-01 3.16762112e-01 2.21934407e-02 2.26300025e+02] [-2.32099015e-02 -5.64391102e-04 9.99730455e-01 4.53943485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44687500000003 meters Centerline goodness [0,1] 0.9990723142365825 Centerline is valid? [True, True] Translation: X:149.82, Y:226.33, Z:4.54 [[ 3.12024470e-01 -9.50049724e-01 6.80081865e-03 1.49824941e+02] [ 9.49791274e-01 3.12098243e-01 2.21635562e-02 2.26325723e+02] [-2.31790040e-02 -4.56213676e-04 9.99731227e-01 4.54009114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters Centerline goodness [0,1] 0.9993664298321039 Centerline is valid? [True, True] Translation: X:149.83, Y:226.35, Z:4.54 [[ 3.09123997e-01 -9.50997933e-01 6.72953888e-03 1.49834568e+02] [ 9.50744456e-01 3.09196992e-01 2.19590469e-02 2.26351005e+02] [-2.29637614e-02 -3.89996555e-04 9.99736222e-01 4.53996625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50687500000004 meters Centerline goodness [0,1] 0.999296717257651 Centerline is valid? [True, True] Translation: X:149.85, Y:226.38, Z:4.54 [[ 3.06151191e-01 -9.51958374e-01 6.83387879e-03 1.49846385e+02] [ 9.51696991e-01 3.06227280e-01 2.23089679e-02 2.26377415e+02] [-2.33299289e-02 -3.26135201e-04 9.99727767e-01 4.54147073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters Centerline goodness [0,1] 0.999636090704392 Centerline is valid? [True, True] Translation: X:149.86, Y:226.40, Z:4.54 [[ 3.03338807e-01 -9.52857818e-01 6.89539937e-03 1.49856184e+02] [ 9.52591291e-01 3.03417051e-01 2.25372126e-02 2.26403257e+02] [-2.35669410e-02 -2.67913804e-04 9.99722225e-01 4.54145121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56687500000004 meters Centerline goodness [0,1] 0.9995216073991389 Centerline is valid? [True, True] Translation: X:149.87, Y:226.43, Z:4.54 [[ 2.97694933e-01 -9.54632029e-01 7.44418185e-03 1.49868853e+02] [ 9.54321603e-01 2.97787959e-01 2.43435812e-02 2.26428687e+02] [-2.54559501e-02 -1.42817231e-04 9.99675935e-01 4.54392305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters Centerline goodness [0,1] 0.9996357842021397 Centerline is valid? [True, True] Translation: X:149.88, Y:226.45, Z:4.55 [[ 2.94908206e-01 -9.55495085e-01 7.63491553e-03 1.49879186e+02] [ 9.55168175e-01 2.95007009e-01 2.49924434e-02 2.26454997e+02] [-2.61325104e-02 -7.78483023e-05 9.99658485e-01 4.54502102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62687500000004 meters Centerline goodness [0,1] 0.9996118544225764 Centerline is valid? [True, True] Translation: X:149.89, Y:226.48, Z:4.54 [[ 2.92511734e-01 -9.56230274e-01 7.78126650e-03 1.49888830e+02] [ 9.55890293e-01 2.92615211e-01 2.54967826e-02 2.26480246e+02] [-2.66577123e-02 -2.00709502e-05 9.99644620e-01 4.54479616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters Centerline goodness [0,1] 0.9997712194005949 Centerline is valid? [True, True] Translation: X:149.90, Y:226.51, Z:4.55 [[ 2.89253871e-01 -9.57218851e-01 8.01678056e-03 1.49899795e+02] [ 9.56857562e-01 2.89364937e-01 2.62971367e-02 2.26506321e+02] [-2.74918902e-02 6.43685174e-05 9.99622024e-01 4.54812014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.686875 meters Centerline goodness [0,1] 0.9996338505194746 Centerline is valid? [True, True] Translation: X:149.91, Y:226.53, Z:4.55 [[ 2.88284154e-01 -9.57510111e-01 8.16293222e-03 1.49908554e+02] [ 9.57134895e-01 2.88399687e-01 2.68032330e-02 2.26533491e+02] [-2.80185537e-02 8.60799159e-05 9.99607400e-01 4.54898465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters Centerline goodness [0,1] 0.9998624988541571 Centerline is valid? [True, True] Translation: X:149.92, Y:226.56, Z:4.55 [[ 2.87796016e-01 -9.57652166e-01 8.70528962e-03 1.49917052e+02] [ 9.57224542e-01 2.87927629e-01 2.86156585e-02 2.26560355e+02] [-2.99103408e-02 9.74443409e-05 9.99552581e-01 4.55110645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.746875 meters Centerline goodness [0,1] 0.9996106097393376 Centerline is valid? [True, True] Translation: X:149.92, Y:226.59, Z:4.55 [[ 2.88269425e-01 -9.57507243e-01 8.97877361e-03 1.49924571e+02] [ 9.57051306e-01 2.88409213e-01 2.95452906e-02 2.26586351e+02] [-3.08793908e-02 7.61430831e-05 9.99523115e-01 4.55089474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters Centerline goodness [0,1] 0.9997478510028653 Centerline is valid? [True, True] Translation: X:149.93, Y:226.61, Z:4.55 [[ 2.88915963e-01 -9.57308889e-01 9.34112003e-03 1.49931538e+02] [ 9.56814184e-01 2.89066926e-01 3.07722067e-02 2.26613370e+02] [-3.21587159e-02 4.71344037e-05 9.99482774e-01 4.55206541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.806875 meters Centerline goodness [0,1] 0.9997478510028653 Centerline is valid? [True, True] Translation: X:149.94, Y:226.64, Z:4.55 [[ 2.88654920e-01 -9.57387716e-01 9.33267721e-03 1.49939466e+02] [ 9.56892969e-01 2.88805747e-01 3.07747667e-02 2.26639795e+02] [-3.21587144e-02 4.70853614e-05 9.99482774e-01 4.55093826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters Centerline goodness [0,1] 0.9997032302248602 Centerline is valid? [True, True] Translation: X:149.94, Y:226.67, Z:4.55 [[ 2.91274173e-01 -9.56584049e-01 1.03108175e-02 1.49944736e+02] [ 9.55978289e-01 2.91456607e-01 3.40375913e-02 2.26667257e+02] [-3.55649728e-02 -5.73535468e-05 9.99367365e-01 4.55392570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.866875 meters Centerline goodness [0,1] 0.9995211929136552 Centerline is valid? [True, True] Translation: X:149.95, Y:226.69, Z:4.55 [[ 2.92690246e-01 -9.56144672e-01 1.09446307e-02 1.49950984e+02] [ 9.55460347e-01 2.92894774e-01 3.61687162e-02 2.26694131e+02] [-3.77881504e-02 -1.29069799e-04 9.99285764e-01 4.55463569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters Centerline goodness [0,1] 0.9994540367160308 Centerline is valid? [True, True] Translation: X:149.95, Y:226.72, Z:4.56 [[ 2.95826346e-01 -9.55165524e-01 1.20663016e-02 1.49954373e+02] [ 9.54330904e-01 2.96072180e-01 3.99222946e-02 2.26720327e+02] [-4.17048957e-02 -2.94822051e-04 9.99129929e-01 4.55752753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.926875 meters Centerline goodness [0,1] 0.9994548304295482 Centerline is valid? [True, True] Translation: X:149.96, Y:226.75, Z:4.56 [[ 2.97041885e-01 -9.54781836e-01 1.25604006e-02 1.49960493e+02] [ 9.53875507e-01 2.97307089e-01 4.15934047e-02 2.26747647e+02] [-4.34469235e-02 -3.73924811e-04 9.99055667e-01 4.55694995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters Centerline goodness [0,1] 0.9993661142805397 Centerline is valid? [True, True] Translation: X:149.97, Y:226.78, Z:4.56 [[ 2.98391994e-01 -9.54357057e-01 1.28384874e-02 1.49966119e+02] [ 9.53407844e-01 2.98667706e-01 4.25568365e-02 2.26775831e+02] [-4.44488588e-02 -4.58304739e-04 9.99011556e-01 4.55543993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.986875 meters Centerline goodness [0,1] 0.9990971877398095 Centerline is valid? [True, True] Translation: X:149.97, Y:226.80, Z:4.55 [[ 3.01246309e-01 -9.53455690e-01 1.31494503e-02 1.49968278e+02] [ 9.52457194e-01 3.01532526e-01 4.36282988e-02 2.26803657e+02] [-4.55626367e-02 -6.18575500e-04 9.98961292e-01 4.55271614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters Centerline goodness [0,1] 0.9986039494719776 Centerline is valid? [True, True] Translation: X:149.97, Y:226.83, Z:4.55 [[ 3.02710715e-01 -9.52990232e-01 1.32605220e-02 1.49973101e+02] [ 9.51972815e-01 3.03000201e-01 4.40299628e-02 2.26830475e+02] [-4.59780653e-02 -7.04685059e-04 9.98942201e-01 4.55026215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.046875 meters Centerline goodness [0,1] 0.9991020518116105 Centerline is valid? [True, True] Translation: X:149.98, Y:226.86, Z:4.55 [[ 3.04243133e-01 -9.52503722e-01 1.31444164e-02 1.49979577e+02] [ 9.51501588e-01 3.04525932e-01 4.36884910e-02 2.26858526e+02] [-4.56162660e-02 -7.84990285e-04 9.98958728e-01 4.54784577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters Centerline goodness [0,1] 0.998905345933025 Centerline is valid? [True, True] Translation: X:149.98, Y:226.89, Z:4.54 [[ 3.07191423e-01 -9.51561845e-01 1.27861145e-02 1.49983809e+02] [ 9.50611072e-01 3.07456051e-01 4.25366556e-02 2.26887263e+02] [-4.44074268e-02 -9.12273806e-04 9.99013087e-01 4.54375018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.106875 meters Centerline goodness [0,1] 0.9988662887629209 Centerline is valid? [True, True] Translation: X:149.99, Y:226.91, Z:4.54 [[ 3.08325588e-01 -9.51198808e-01 1.24963628e-02 1.49988620e+02] [ 9.50288704e-01 3.08577245e-01 4.16108608e-02 2.26913977e+02] [-4.34362944e-02 -9.54540702e-04 9.99055743e-01 4.54123062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters Centerline goodness [0,1] 0.999001021178351 Centerline is valid? [True, True] Translation: X:149.99, Y:226.94, Z:4.54 [[ 3.09349433e-01 -9.50869548e-01 1.22487046e-02 1.49994522e+02] [ 9.49993813e-01 3.09590252e-01 4.08121330e-02 2.26941495e+02] [-4.25990940e-02 -9.89016624e-04 9.99091757e-01 4.53849778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.166875 meters Centerline goodness [0,1] 0.998669741042923 Centerline is valid? [True, True] Translation: X:150.00, Y:226.97, Z:4.54 [[ 3.10039382e-01 -9.50648435e-01 1.19639249e-02 1.50000500e+02] [ 9.49811253e-01 3.10268495e-01 3.99004343e-02 2.26968909e+02] [-4.16433144e-02 -1.00723552e-03 9.99132033e-01 4.53526646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters Centerline goodness [0,1] 0.9984552917291906 Centerline is valid? [True, True] Translation: X:150.01, Y:227.00, Z:4.53 [[ 3.10582110e-01 -9.50479888e-01 1.12576920e-02 1.50005231e+02] [ 9.49737228e-01 3.10784528e-01 3.75789166e-02 2.26996358e+02] [-3.92167209e-02 -9.79489971e-04 9.99230248e-01 4.53115989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.226875 meters Centerline goodness [0,1] 0.9988308737564247 Centerline is valid? [True, True] Translation: X:150.01, Y:227.02, Z:4.53 [[ 3.10224639e-01 -9.50601914e-01 1.08016247e-02 1.50012286e+02] [ 9.49917157e-01 3.10411225e-01 3.60869253e-02 2.27022986e+02] [-3.76572458e-02 -9.34404754e-04 9.99290278e-01 4.52891210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters Centerline goodness [0,1] 0.9988359323522952 Centerline is valid? [True, True] Translation: X:150.02, Y:227.05, Z:4.53 [[ 3.09007621e-01 -9.51005968e-01 1.00965076e-02 1.50020549e+02] [ 9.50406843e-01 3.09171391e-01 3.37621682e-02 2.27049553e+02] [-3.52295747e-02 -8.36977327e-04 9.99378895e-01 4.52572556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.286875 meters Centerline goodness [0,1] 0.9988385343618513 Centerline is valid? [True, True] Translation: X:150.03, Y:227.08, Z:4.52 [[ 3.07796040e-01 -9.51402578e-01 9.73307978e-03 1.50025982e+02] [ 9.50844938e-01 3.07948920e-01 3.25786324e-02 2.27076041e+02] [-3.39926863e-02 -7.72924405e-04 9.99421783e-01 4.52313152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters Centerline goodness [0,1] 0.9990538221185583 Centerline is valid? [True, True] Translation: X:150.04, Y:227.10, Z:4.52 [[ 3.06765875e-01 -9.51738049e-01 9.45433681e-03 1.50035653e+02] [ 9.51210975e-01 3.06910673e-01 3.16783784e-02 2.27102680e+02] [-3.30511549e-02 -7.24776524e-04 9.99453399e-01 4.52188744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.346875 meters Centerline goodness [0,1] 0.998950085305569 Centerline is valid? [True, True] Translation: X:150.04, Y:227.13, Z:4.52 [[ 3.05372220e-01 -9.52190608e-01 8.99188999e-03 1.50040833e+02] [ 9.51713051e-01 3.05503881e-01 3.01603543e-02 2.27129011e+02] [-3.14654634e-02 -6.52435288e-04 9.99504627e-01 4.51920010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters Centerline goodness [0,1] 0.9991702150889835 Centerline is valid? [True, True] Translation: X:150.05, Y:227.16, Z:4.52 [[ 3.05037485e-01 -9.52299194e-01 8.85316457e-03 1.50049356e+02] [ 9.51835704e-01 3.05165266e-01 2.97145241e-02 2.27156128e+02] [-3.09987957e-02 -6.37285587e-04 9.99519219e-01 4.51858631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.406875 meters Centerline goodness [0,1] 0.9988984115093965 Centerline is valid? [True, True] Translation: X:150.06, Y:227.18, Z:4.52 [[ 3.04289449e-01 -9.52540286e-01 8.65649789e-03 1.50058911e+02] [ 9.52096424e-01 3.04411949e-01 2.90820386e-02 2.27182615e+02] [-3.03369548e-02 -6.07536815e-04 9.99539544e-01 4.51997330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters Centerline goodness [0,1] 0.9991410448418642 Centerline is valid? [True, True] Translation: X:150.07, Y:227.21, Z:4.52 [[ 3.03905608e-01 -9.52663705e-01 8.55844537e-03 1.50067093e+02] [ 9.52229015e-01 3.04025506e-01 2.87818375e-02 2.27209310e+02] [-3.00213976e-02 -5.97361801e-04 9.99549078e-01 4.51976885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.466875 meters Centerline goodness [0,1] 0.9991631061974189 Centerline is valid? [True, True] Translation: X:150.07, Y:227.24, Z:4.52 [[ 3.03273920e-01 -9.52865865e-01 8.46008897e-03 1.50074220e+02] [ 9.52440234e-01 3.03391343e-01 2.84832243e-02 2.27235616e+02] [-2.97074099e-02 -5.80489981e-04 9.99558469e-01 4.51923087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters Centerline goodness [0,1] 0.9990925388990948 Centerline is valid? [True, True] Translation: X:150.08, Y:227.26, Z:4.52 [[ 3.02560502e-01 -9.53092249e-01 8.50335660e-03 1.50083043e+02] [ 9.52661777e-01 3.02679439e-01 2.86477710e-02 2.27261861e+02] [-2.98777597e-02 -5.66861160e-04 9.99553399e-01 4.51948649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.526875 meters Centerline goodness [0,1] 0.9992043143842277 Centerline is valid? [True, True] Translation: X:150.09, Y:227.29, Z:4.52 [[ 3.01409392e-01 -9.53453201e-01 8.90911552e-03 1.50090887e+02] [ 9.52979684e-01 3.01540498e-01 3.00507829e-02 2.27287967e+02] [-3.13384743e-02 -5.67382110e-04 9.99508668e-01 4.52060913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters Centerline goodness [0,1] 0.9988961497703992 Centerline is valid? [True, True] Translation: X:150.10, Y:227.31, Z:4.52 [[ 3.00373383e-01 -9.53773813e-01 9.55737553e-03 1.50099381e+02] [ 9.53228140e-01 3.00524833e-01 3.22635774e-02 2.27313869e+02] [-3.36443839e-02 -5.80760592e-04 9.99433699e-01 4.52171823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.586875 meters Centerline goodness [0,1] 0.9989213938233287 Centerline is valid? [True, True] Translation: X:150.11, Y:227.34, Z:4.52 [[ 2.99676423e-01 -9.53988801e-01 9.97039790e-03 1.50108123e+02] [ 9.53394177e-01 2.99841661e-01 3.36826491e-02 2.27340481e+02] [-3.51224107e-02 -5.88176508e-04 9.99382845e-01 4.52185613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters Centerline goodness [0,1] 0.9991110123347039 Centerline is valid? [True, True] Translation: X:150.12, Y:227.37, Z:4.52 [[ 2.99430391e-01 -9.54061832e-01 1.03663815e-02 1.50117971e+02] [ 9.53417727e-01 2.99609153e-01 3.50570113e-02 2.27367387e+02] [-3.65524192e-02 -6.13642754e-04 9.99331549e-01 4.52298186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.646875 meters Centerline goodness [0,1] 0.9991357149188902 Centerline is valid? [True, True] Translation: X:150.13, Y:227.39, Z:4.52 [[ 2.98846361e-01 -9.54239377e-01 1.08657324e-02 1.50125308e+02] [ 9.53530284e-01 2.99043160e-01 3.67856863e-02 2.27393423e+02] [-3.83516733e-02 -6.32463573e-04 9.99264104e-01 4.52316243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters Centerline goodness [0,1] 0.9990260746380982 Centerline is valid? [True, True] Translation: X:150.13, Y:227.42, Z:4.52 [[ 2.98167096e-01 -9.54447711e-01 1.12227571e-02 1.50134402e+02] [ 9.53689688e-01 2.98377546e-01 3.80370779e-02 2.27420420e+02] [-3.96530206e-02 -6.38377351e-04 9.99213306e-01 4.52349206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.706875 meters Centerline goodness [0,1] 0.9990712485073636 Centerline is valid? [True, True] Translation: X:150.14, Y:227.45, Z:4.52 [[ 2.96739345e-01 -9.54885208e-01 1.18321605e-02 1.50144367e+02] [ 9.54041160e-01 2.96974492e-01 4.01449298e-02 2.27446532e+02] [-4.18476495e-02 -6.24212050e-04 9.99123808e-01 4.52387059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters Centerline goodness [0,1] 0.9995340994808537 Centerline is valid? [True, True] Translation: X:150.15, Y:227.47, Z:4.52 [[ 2.95984292e-01 -9.55118497e-01 1.19145166e-02 1.50153095e+02] [ 9.54261118e-01 2.96223375e-01 4.04651744e-02 2.27472914e+02] [-4.21783949e-02 -6.07496045e-04 9.99109911e-01 4.52323575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.766875 meters Centerline goodness [0,1] 0.999092237523801 Centerline is valid? [True, True] Translation: X:150.16, Y:227.50, Z:4.52 [[ 2.94781853e-01 -9.55489018e-01 1.20164571e-02 1.50162417e+02] [ 9.54615462e-01 2.95026116e-01 4.08522971e-02 2.27498853e+02] [-4.25790899e-02 -5.71420042e-04 9.99092936e-01 4.52167270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters Centerline goodness [0,1] 0.9991988962570653 Centerline is valid? [True, True] Translation: X:150.17, Y:227.53, Z:4.52 [[ 2.94167337e-01 -9.55678339e-01 1.20203803e-02 1.50171902e+02] [ 9.54802569e-01 2.94412299e-01 4.09078642e-02 2.27525084e+02] [-4.26337075e-02 -5.56667510e-04 9.99090615e-01 4.51997828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82687500000003 meters Centerline goodness [0,1] 0.9992217725797127 Centerline is valid? [True, True] Translation: X:150.18, Y:227.55, Z:4.52 [[ 2.93080240e-01 -9.56012028e-01 1.20405644e-02 1.50179720e+02] [ 9.55131776e-01 2.93327002e-01 4.10190114e-02 2.27550809e+02] [-4.27464909e-02 -5.21535984e-04 9.99085815e-01 4.51612825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters Centerline goodness [0,1] 0.9996211361458403 Centerline is valid? [True, True] Translation: X:150.19, Y:227.58, Z:4.51 [[ 2.91980955e-01 -9.56350049e-01 1.19040533e-02 1.50188019e+02] [ 9.55488104e-01 2.92223125e-01 4.05971553e-02 2.27577170e+02] [-4.23037311e-02 -4.79414833e-04 9.99104681e-01 4.51399885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88687500000003 meters Centerline goodness [0,1] 0.9992219282840185 Centerline is valid? [True, True] Translation: X:150.20, Y:227.60, Z:4.51 [[ 2.91037476e-01 -9.56638908e-01 1.17977840e-02 1.50196923e+02] [ 9.55790827e-01 2.91276161e-01 4.02752243e-02 2.27604299e+02] [-4.19652598e-02 -4.45385925e-04 9.99118971e-01 4.51180009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters Centerline goodness [0,1] 0.9991335451334118 Centerline is valid? [True, True] Translation: X:150.21, Y:227.63, Z:4.51 [[ 2.90136440e-01 -9.56912899e-01 1.17707393e-02 1.50205371e+02] [ 9.56067340e-01 2.90374812e-01 4.02207593e-02 2.27630315e+02] [-4.19056895e-02 -4.15888485e-04 9.99121484e-01 4.50964021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94687500000003 meters Centerline goodness [0,1] 0.9993110498710996 Centerline is valid? [True, True] Translation: X:150.22, Y:227.66, Z:4.51 [[ 2.89208096e-01 -9.57199481e-01 1.13062555e-02 1.50215289e+02] [ 9.56418485e-01 2.89428781e-01 3.86608582e-02 2.27657120e+02] [-4.02785091e-02 -3.67521452e-04 9.99188424e-01 4.50664446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters Centerline goodness [0,1] 0.9992695559785736 Centerline is valid? [True, True] Translation: X:150.22, Y:227.68, Z:4.50 [[ 2.88878780e-01 -9.57303485e-01 1.09127446e-02 1.50223160e+02] [ 9.56574641e-01 2.89084614e-01 3.73502522e-02 2.27684357e+02] [-3.89102332e-02 -3.50840532e-04 9.99242649e-01 4.50403841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00687500000004 meters Centerline goodness [0,1] 0.9993788957654001 Centerline is valid? [True, True] Translation: X:150.23, Y:227.71, Z:4.50 [[ 2.88883939e-01 -9.57306615e-01 1.04935379e-02 1.50230922e+02] [ 9.56631368e-01 2.89074253e-01 3.59513796e-02 2.27710921e+02] [-3.74499052e-02 -3.47328609e-04 9.99298446e-01 4.50132181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters Centerline goodness [0,1] 0.9992254409454047 Centerline is valid? [True, True] Translation: X:150.24, Y:227.74, Z:4.50 [[ 2.89667622e-01 -9.57082732e-01 9.23647609e-03 1.50236830e+02] [ 9.56558555e-01 2.89814645e-01 3.16733687e-02 2.27737796e+02] [-3.29909003e-02 -3.39519169e-04 9.99455594e-01 4.49612542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06687500000004 meters Centerline goodness [0,1] 0.9992702828206886 Centerline is valid? [True, True] Translation: X:150.25, Y:227.77, Z:4.50 [[ 2.89858524e-01 -9.57029263e-01 8.77647218e-03 1.50246056e+02] [ 9.56555171e-01 2.89991168e-01 3.01218788e-02 2.27765098e+02] [-3.13726189e-02 -3.35903499e-04 9.99507702e-01 4.49517948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters Centerline goodness [0,1] 0.9993795701307334 Centerline is valid? [True, True] Translation: X:150.25, Y:227.79, Z:4.49 [[ 2.91075249e-01 -9.56665476e-01 8.14650832e-03 1.50252438e+02] [ 9.56256016e-01 2.91189009e-01 2.79891687e-02 2.27792160e+02] [-2.91484451e-02 -3.56806668e-04 9.99575030e-01 4.49219906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12687500000004 meters Centerline goodness [0,1] 0.9994894788244695 Centerline is valid? [True, True] Translation: X:150.26, Y:227.82, Z:4.49 [[ 2.91166721e-01 -9.56639153e-01 7.96694125e-03 1.50260770e+02] [ 9.56247182e-01 2.91275480e-01 2.73846925e-02 2.27818750e+02] [-2.85178437e-02 -3.55145998e-04 9.99593220e-01 4.49173822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters Centerline goodness [0,1] 0.9994221965420685 Centerline is valid? [True, True] Translation: X:150.27, Y:227.85, Z:4.49 [[ 2.91001138e-01 -9.56690329e-01 7.87092421e-03 1.50268721e+02] [ 9.56306989e-01 2.91107349e-01 2.70823603e-02 2.27845831e+02] [-2.82007161e-02 -3.53977842e-04 9.99602218e-01 4.49133611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.186875 meters Centerline goodness [0,1] 0.9992246859978291 Centerline is valid? [True, True] Translation: X:150.28, Y:227.87, Z:4.49 [[ 2.89646987e-01 -9.57100708e-01 7.92826629e-03 1.50276353e+02] [ 9.56710984e-01 2.89755290e-01 2.73123681e-02 2.27871686e+02] [-2.84379439e-02 -3.25885679e-04 9.99595507e-01 4.49182152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters Centerline goodness [0,1] 0.9996454843569973 Centerline is valid? [True, True] Translation: X:150.28, Y:227.90, Z:4.49 [[ 2.88363568e-01 -9.57487055e-01 8.06172397e-03 1.50284434e+02] [ 9.57083703e-01 2.88476082e-01 2.77909403e-02 2.27897208e+02] [-2.89350801e-02 -2.98150062e-04 9.99581248e-01 4.49157071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.246875 meters Centerline goodness [0,1] 0.9995329597010942 Centerline is valid? [True, True] Translation: X:150.29, Y:227.92, Z:4.49 [[ 2.86778378e-01 -9.57959955e-01 8.41935085e-03 1.50294442e+02] [ 9.57519205e-01 2.86901813e-01 2.90572212e-02 2.27924120e+02] [-3.02511814e-02 -2.71292647e-04 9.99542291e-01 4.49327554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters Centerline goodness [0,1] 0.9995328454163237 Centerline is valid? [True, True] Translation: X:150.30, Y:227.95, Z:4.50 [[ 2.83866580e-01 -9.58822277e-01 8.92219014e-03 1.50304404e+02] [ 9.58326675e-01 2.84006692e-01 3.08250408e-02 2.27950591e+02] [-3.20896975e-02 -1.99826113e-04 9.99484973e-01 4.49547513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.306875 meters Centerline goodness [0,1] 0.9995329597010942 Centerline is valid? [True, True] Translation: X:150.31, Y:227.98, Z:4.50 [[ 2.82523507e-01 -9.59216895e-01 9.13324428e-03 1.50312888e+02] [ 9.58696703e-01 2.82671046e-01 3.15865674e-02 2.27976971e+02] [-3.28800729e-02 -1.67936633e-04 9.99459290e-01 4.49558702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters Centerline goodness [0,1] 0.9995554271233912 Centerline is valid? [True, True] Translation: X:150.32, Y:228.00, Z:4.50 [[ 2.80143952e-01 -9.59908741e-01 9.72492292e-03 1.50322235e+02] [ 9.59318043e-01 2.80312678e-01 3.36703709e-02 2.28003925e+02] [-3.50465025e-02 -1.03256760e-04 9.99385677e-01 4.49735804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.366875 meters Centerline goodness [0,1] 0.9995766205405887 Centerline is valid? [True, True] Translation: X:150.33, Y:228.03, Z:4.50 [[ 2.78934842e-01 -9.60258281e-01 9.96936736e-03 1.50330656e+02] [ 9.59636369e-01 2.79112933e-01 3.45544469e-02 2.28031285e+02] [-3.59637731e-02 -7.14716995e-05 9.99353092e-01 4.49723129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters Centerline goodness [0,1] 0.9993990518373433 Centerline is valid? [True, True] Translation: X:150.34, Y:228.06, Z:4.50 [[ 2.77974211e-01 -9.60533552e-01 1.02778332e-02 1.50338884e+02] [ 9.59871363e-01 2.78164148e-01 3.56605201e-02 2.28058510e+02] [-3.71120507e-02 -4.73071385e-05 9.99311109e-01 4.49628994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.426875 meters Centerline goodness [0,1] 0.9997774266064234 Centerline is valid? [True, True] Translation: X:150.35, Y:228.08, Z:4.50 [[ 2.76013899e-01 -9.61090458e-01 1.10208285e-02 1.50347469e+02] [ 9.60327720e-01 2.76233833e-01 3.82823539e-02 2.28084007e+02] [-3.98371308e-02 1.71453275e-05 9.99206186e-01 4.49628864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters Centerline goodness [0,1] 0.9998220244716352 Centerline is valid? [True, True] Translation: X:150.36, Y:228.11, Z:4.50 [[ 2.75118246e-01 -9.61344916e-01 1.12206265e-02 1.50355699e+02] [ 9.60552660e-01 2.75346963e-01 3.90209913e-02 2.28110515e+02] [-4.06021970e-02 4.26159171e-05 9.99175390e-01 4.49524077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.486875 meters Centerline goodness [0,1] 0.9992659489278406 Centerline is valid? [True, True] Translation: X:150.36, Y:228.14, Z:4.49 [[ 2.74320025e-01 -9.61570815e-01 1.14057862e-02 1.50363706e+02] [ 9.60750591e-01 2.74557032e-01 3.97081553e-02 2.28136635e+02] [-4.13137420e-02 6.53736926e-05 9.99146221e-01 4.49260642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters Centerline goodness [0,1] 0.9996437794995102 Centerline is valid? [True, True] Translation: X:150.37, Y:228.16, Z:4.49 [[ 2.74057205e-01 -9.61646765e-01 1.13202675e-02 1.50371567e+02] [ 9.60837604e-01 2.74290896e-01 3.94411351e-02 2.28163727e+02] [-4.10334863e-02 6.78114200e-05 9.99157770e-01 4.49090615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.546875 meters Centerline goodness [0,1] 0.9996444444444444 Centerline is valid? [True, True] Translation: X:150.38, Y:228.19, Z:4.49 [[ 2.73931728e-01 -9.61682109e-01 1.13547023e-02 1.50379333e+02] [ 9.60866318e-01 2.74166951e-01 3.96030615e-02 2.28190951e+02] [-4.11986398e-02 6.18159716e-05 9.99150974e-01 4.48875916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters Centerline goodness [0,1] 0.9994888207316531 Centerline is valid? [True, True] Translation: X:150.39, Y:228.22, Z:4.49 [[ 2.75305288e-01 -9.61292345e-01 1.11367184e-02 1.50385600e+02] [ 9.60505640e-01 2.75530448e-01 3.88829907e-02 2.28216953e+02] [-4.04464263e-02 -7.81211653e-06 9.99181708e-01 4.48576453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.606875 meters Centerline goodness [0,1] 0.9994892974509282 Centerline is valid? [True, True] Translation: X:150.39, Y:228.24, Z:4.48 [[ 2.76153540e-01 -9.61050202e-01 1.10331915e-02 1.50392812e+02] [ 9.60276158e-01 2.76373852e-01 3.85641605e-02 2.28244243e+02] [-4.01113799e-02 -5.47187220e-05 9.99195213e-01 4.48401686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters Centerline goodness [0,1] 0.9995989572889513 Centerline is valid? [True, True] Translation: X:150.40, Y:228.27, Z:4.48 [[ 2.77325843e-01 -9.60712053e-01 1.10782564e-02 1.50400097e+02] [ 9.59929753e-01 2.77547001e-01 3.87624995e-02 2.28271392e+02] [-4.03143374e-02 -1.15494951e-04 9.99187040e-01 4.48245848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.666875 meters Centerline goodness [0,1] 0.9994890705526924 Centerline is valid? [True, True] Translation: X:150.41, Y:228.30, Z:4.48 [[ 2.79513685e-01 -9.60078361e-01 1.10290868e-02 1.50405299e+02] [ 9.59300843e-01 2.79731109e-01 3.86315915e-02 2.28298197e+02] [-4.01745338e-02 -2.17846265e-04 9.99192654e-01 4.47984368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters Centerline goodness [0,1] 0.9997103580420204 Centerline is valid? [True, True] Translation: X:150.41, Y:228.33, Z:4.48 [[ 2.80920155e-01 -9.59667335e-01 1.10667402e-02 1.50411514e+02] [ 9.58882398e-01 2.81137905e-01 3.88075392e-02 2.28325306e+02] [-4.03536078e-02 -2.90117567e-04 9.99185419e-01 4.47792462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.726875 meters Centerline goodness [0,1] 0.9997103580420204 Centerline is valid? [True, True] Translation: X:150.42, Y:228.35, Z:4.48 [[ 2.80650046e-01 -9.59746487e-01 1.10558459e-02 1.50419002e+02] [ 9.58961489e-01 2.80867578e-01 3.88106425e-02 2.28351858e+02] [-4.03536065e-02 -2.90078149e-04 9.99185419e-01 4.47679744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters Centerline goodness [0,1] 0.999510142281401 Centerline is valid? [True, True] Translation: X:150.42, Y:228.38, Z:4.47 [[ 2.84294972e-01 -9.58677281e-01 1.06882693e-02 1.50423869e+02] [ 9.57941350e-01 2.84495478e-01 3.75591993e-02 2.28380285e+02] [-3.90479154e-02 -4.39156350e-04 9.99237243e-01 4.47294192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.786875 meters Centerline goodness [0,1] 0.9989778004933224 Centerline is valid? [True, True] Translation: X:150.43, Y:228.41, Z:4.47 [[ 2.86206553e-01 -9.58111277e-01 1.04206027e-02 1.50429857e+02] [ 9.57410005e-01 2.86395733e-01 3.66546909e-02 2.28407520e+02] [-3.81036889e-02 -5.14023416e-04 9.99273659e-01 4.47049830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters Centerline goodness [0,1] 0.9992403083454363 Centerline is valid? [True, True] Translation: X:150.44, Y:228.43, Z:4.47 [[ 2.88539247e-01 -9.57415037e-01 1.00772094e-02 1.50435453e+02] [ 9.56757592e-01 2.88714551e-01 3.54798291e-02 2.28434418e+02] [-3.68783589e-02 -5.95876565e-04 9.99319584e-01 4.46834061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.846875 meters Centerline goodness [0,1] 0.9993063014679556 Centerline is valid? [True, True] Translation: X:150.44, Y:228.46, Z:4.47 [[ 2.90567461e-01 -9.56805830e-01 9.65160530e-03 1.50442236e+02] [ 9.56201303e-01 2.90726977e-01 3.40131210e-02 2.28462374e+02] [-3.53499345e-02 -6.54228656e-04 9.99374782e-01 4.46640749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters Centerline goodness [0,1] 0.9993512159108705 Centerline is valid? [True, True] Translation: X:150.45, Y:228.49, Z:4.46 [[ 2.95505679e-01 -9.55300396e-01 8.80614134e-03 1.50446985e+02] [ 9.54795599e-01 2.95635857e-01 3.10613030e-02 2.28490737e+02] [-3.22762862e-02 -7.70726435e-04 9.99478688e-01 4.46357736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.906875 meters Centerline goodness [0,1] 0.999286255966454 Centerline is valid? [True, True] Translation: X:150.45, Y:228.52, Z:4.46 [[ 2.97783219e-01 -9.54595079e-01 8.56677435e-03 1.50450845e+02] [ 9.54116121e-01 2.97905254e-01 3.02470863e-02 2.28518384e+02] [-3.14258068e-02 -8.33377214e-04 9.99505740e-01 4.46123334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters Centerline goodness [0,1] 0.9989990657947417 Centerline is valid? [True, True] Translation: X:150.46, Y:228.55, Z:4.46 [[ 2.99818990e-01 -9.53958709e-01 8.44722387e-03 1.50456474e+02] [ 9.53491769e-01 2.99936621e-01 2.98574907e-02 2.28546731e+02] [-3.10164451e-02 -8.97484271e-04 9.99518471e-01 4.45984692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.966875 meters Centerline goodness [0,1] 0.9988904422697112 Centerline is valid? [True, True] Translation: X:150.46, Y:228.57, Z:4.46 [[ 3.03535413e-01 -9.52780402e-01 8.70394331e-03 1.50461969e+02] [ 9.52283165e-01 3.03658334e-01 3.07959254e-02 2.28574995e+02] [-3.19847791e-02 -1.05903523e-03 9.99487795e-01 4.46008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters Centerline goodness [0,1] 0.9989102393025532 Centerline is valid? [True, True] Translation: X:150.47, Y:228.60, Z:4.46 [[ 3.04763855e-01 -9.52385574e-01 8.98397964e-03 1.50467833e+02] [ 9.51854529e-01 3.04894088e-01 3.18206001e-02 2.28601543e+02] [-3.30446427e-02 -1.14632703e-03 9.99453219e-01 4.46046777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.026875 meters Centerline goodness [0,1] 0.9987737994381772 Centerline is valid? [True, True] Translation: X:150.47, Y:228.63, Z:4.46 [[ 3.06152523e-01 -9.51933215e-01 9.68436873e-03 1.50472680e+02] [ 9.51314573e-01 3.06302897e-01 3.43382911e-02 2.28628908e+02] [-3.56541101e-02 -1.29987336e-03 9.99363345e-01 4.46238368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters Centerline goodness [0,1] 0.9990408208788758 Centerline is valid? [True, True] Translation: X:150.48, Y:228.66, Z:4.46 [[ 3.05975143e-01 -9.51986335e-01 1.00612941e-02 1.50482464e+02] [ 9.51317272e-01 3.06137520e-01 3.57108834e-02 2.28655574e+02] [-3.70764127e-02 -1.35515978e-03 9.99311515e-01 4.46305482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.086875 meters Centerline goodness [0,1] 0.998683388378113 Centerline is valid? [True, True] Translation: X:150.49, Y:228.68, Z:4.46 [[ 3.05937542e-01 -9.51995599e-01 1.03247430e-02 1.50490242e+02] [ 9.51289498e-01 3.06108502e-01 3.66861736e-02 2.28683001e+02] [-3.80855674e-02 -1.40185818e-03 9.99273498e-01 4.46318323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters Centerline goodness [0,1] 0.9991049051199428 Centerline is valid? [True, True] Translation: X:150.50, Y:228.71, Z:4.46 [[ 3.05046573e-01 -9.52277871e-01 1.06510793e-02 1.50499900e+02] [ 9.51524939e-01 3.05229148e-01 3.78874185e-02 2.28709789e+02] [-3.93303701e-02 -1.42265956e-03 9.99225249e-01 4.46373835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.146875 meters Centerline goodness [0,1] 0.9990577889447236 Centerline is valid? [True, True] Translation: X:150.51, Y:228.74, Z:4.46 [[ 3.03751574e-01 -9.52689353e-01 1.08617737e-02 1.50510249e+02] [ 9.51904858e-01 3.03942444e-01 3.86798765e-02 2.28736026e+02] [-4.01512606e-02 -1.40969824e-03 9.99192619e-01 4.46356237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters Centerline goodness [0,1] 0.9991266766688313 Centerline is valid? [True, True] Translation: X:150.52, Y:228.76, Z:4.46 [[ 3.02681136e-01 -9.53029239e-01 1.09270023e-02 1.50515698e+02] [ 9.52233811e-01 3.02875138e-01 3.89540688e-02 2.28762249e+02] [-4.04338839e-02 -1.38560070e-03 9.99181255e-01 4.46264616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.206875 meters Centerline goodness [0,1] 0.9991288225701968 Centerline is valid? [True, True] Translation: X:150.52, Y:228.79, Z:4.46 [[ 3.00051228e-01 -9.53862642e-01 1.07387122e-02 1.50524423e+02] [ 9.53093216e-01 3.00240670e-01 3.83257399e-02 2.28787678e+02] [-3.97816897e-02 -1.26469163e-03 9.99207595e-01 4.46074843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters Centerline goodness [0,1] 0.9993713798212923 Centerline is valid? [True, True] Translation: X:150.53, Y:228.81, Z:4.46 [[ 2.98079988e-01 -9.54480460e-01 1.07411973e-02 1.50534753e+02] [ 9.53709978e-01 2.98271074e-01 3.83620180e-02 2.28814471e+02] [-3.98195850e-02 -1.19096283e-03 9.99206176e-01 4.45913961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.266875 meters Centerline goodness [0,1] 0.9991869735088869 Centerline is valid? [True, True] Translation: X:150.54, Y:228.84, Z:4.46 [[ 2.96059762e-01 -9.55109759e-01 1.06754941e-02 1.50544791e+02] [ 9.54347534e-01 2.96250087e-01 3.81663463e-02 2.28840718e+02] [-3.96156659e-02 -1.11138793e-03 9.99214373e-01 4.45732352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters Centerline goodness [0,1] 0.9991661971830986 Centerline is valid? [True, True] Translation: X:150.56, Y:228.87, Z:4.46 [[ 2.91593895e-01 -9.56484841e-01 1.04761663e-02 1.50556135e+02] [ 9.55750188e-01 2.91780574e-01 3.74923430e-02 2.28866913e+02] [-3.89175995e-02 -9.19940413e-04 9.99242000e-01 4.45517478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32687500000003 meters Centerline goodness [0,1] 0.9992295490595966 Centerline is valid? [True, True] Translation: X:150.57, Y:228.89, Z:4.45 [[ 2.88715040e-01 -9.57359256e-01 1.03383605e-02 1.50566372e+02] [ 9.56642816e-01 2.88898962e-01 3.70393379e-02 2.28893534e+02] [-3.84466946e-02 -8.03695655e-04 9.99260329e-01 4.45367597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters Centerline goodness [0,1] 0.9997052421549066 Centerline is valid? [True, True] Translation: X:150.58, Y:228.92, Z:4.45 [[ 2.84177494e-01 -9.58720105e-01 9.94550757e-03 1.50576999e+02] [ 9.58056508e-01 2.84350824e-01 3.56698153e-02 2.28918686e+02] [-3.70253823e-02 -6.08200445e-04 9.99314140e-01 4.45152456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38687500000003 meters Centerline goodness [0,1] 0.9995015632788073 Centerline is valid? [True, True] Translation: X:150.58, Y:228.94, Z:4.45 [[ 2.81895205e-01 -9.59397302e-01 9.58695069e-03 1.50584735e+02] [ 9.58780340e-01 2.82057723e-01 3.44049533e-02 2.28944345e+02] [-3.57120928e-02 -5.06811507e-04 9.99361991e-01 4.44869795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters Centerline goodness [0,1] 0.999298705999457 Centerline is valid? [True, True] Translation: X:150.59, Y:228.97, Z:4.45 [[ 2.79522272e-01 -9.60095492e-01 9.16213290e-03 1.50593807e+02] [ 9.59531582e-01 2.79672095e-01 3.29038306e-02 2.28970972e+02] [-3.41532124e-02 -4.05997628e-04 9.99416526e-01 4.44563016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44687500000003 meters Centerline goodness [0,1] 0.9995026675106248 Centerline is valid? [True, True] Translation: X:150.61, Y:229.00, Z:4.44 [[ 2.75091081e-01 -9.61381591e-01 8.38648031e-03 1.50605547e+02] [ 9.60908821e-01 2.75218787e-01 3.01472438e-02 2.28997300e+02] [-3.12911222e-02 -2.34594991e-04 9.99510285e-01 4.44244258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters Centerline goodness [0,1] 0.9993423588906275 Centerline is valid? [True, True] Translation: X:150.62, Y:229.02, Z:4.44 [[ 2.72912736e-01 -9.62004489e-01 8.12412497e-03 1.50615381e+02] [ 9.61560288e-01 2.73033579e-01 2.92314343e-02 2.29023853e+02] [-3.03389299e-02 -1.65794756e-04 9.99539655e-01 4.44083196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50687500000004 meters Centerline goodness [0,1] 0.9997957516339869 Centerline is valid? [True, True] Translation: X:150.63, Y:229.05, Z:4.44 [[ 2.70600408e-01 -9.62658922e-01 7.95103208e-03 1.50625047e+02] [ 9.62232860e-01 2.70717177e-01 2.86379761e-02 2.29050482e+02] [-2.97210842e-02 -9.87036733e-05 9.99558226e-01 4.44016028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters Centerline goodness [0,1] 0.9996590599145377 Centerline is valid? [True, True] Translation: X:150.64, Y:229.08, Z:4.44 [[ 2.67618931e-01 -9.63493494e-01 7.77146065e-03 1.50635264e+02] [ 9.63085986e-01 2.67731746e-01 2.80195489e-02 2.29076091e+02] [-2.90773198e-02 -1.39768747e-05 9.99577165e-01 4.43918750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56687500000004 meters Centerline goodness [0,1] 0.999772396212673 Centerline is valid? [True, True] Translation: X:150.64, Y:229.10, Z:4.44 [[ 2.66601955e-01 -9.63776500e-01 7.63250965e-03 1.50643771e+02] [ 9.63382665e-01 2.66711188e-01 2.75496390e-02 2.29102750e+02] [-2.85873704e-02 8.23986645e-06 9.99591298e-01 4.43918138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters Centerline goodness [0,1] 0.9995197035885003 Centerline is valid? [True, True] Translation: X:150.65, Y:229.13, Z:4.44 [[ 2.66228617e-01 -9.63880505e-01 7.52970464e-03 1.50652011e+02] [ 9.63496465e-01 2.66335076e-01 2.72064067e-02 2.29129361e+02] [-2.82291495e-02 1.17197869e-05 9.99601478e-01 4.43922304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62687500000004 meters Centerline goodness [0,1] 0.9996795532056124 Centerline is valid? [True, True] Translation: X:150.66, Y:229.16, Z:4.44 [[ 2.66078539e-01 -9.63922014e-01 7.52078337e-03 1.50660482e+02] [ 9.63538075e-01 2.66184806e-01 2.72034450e-02 2.29155520e+02] [-2.82239177e-02 8.30822641e-06 9.99601626e-01 4.43892472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters Centerline goodness [0,1] 0.9993380506733622 Centerline is valid? [True, True] Translation: X:150.67, Y:229.18, Z:4.44 [[ 2.66151571e-01 -9.63901426e-01 7.57517320e-03 1.50668205e+02] [ 9.63510950e-01 2.66259351e-01 2.74336774e-02 2.29182429e+02] [-2.84603214e-02 -2.75399091e-06 9.99594923e-01 4.43833585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.686875 meters Centerline goodness [0,1] 0.9994043664520859 Centerline is valid? [True, True] Translation: X:150.68, Y:229.21, Z:4.44 [[ 2.66125228e-01 -9.63907516e-01 7.72418877e-03 1.50675603e+02] [ 9.63500629e-01 2.66237300e-01 2.80042619e-02 2.29209223e+02] [-2.90499857e-02 -1.03798502e-05 9.99577960e-01 4.43768300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters Centerline goodness [0,1] 0.9994017349685911 Centerline is valid? [True, True] Translation: X:150.68, Y:229.24, Z:4.44 [[ 2.67154146e-01 -9.63620880e-01 7.96634112e-03 1.50683283e+02] [ 9.63187005e-01 2.67272890e-01 2.89135931e-02 2.29235382e+02] [-2.99909290e-02 -5.13100213e-05 9.99550170e-01 4.43743182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.746875 meters Centerline goodness [0,1] 0.9995860165593377 Centerline is valid? [True, True] Translation: X:150.69, Y:229.26, Z:4.44 [[ 2.67122162e-01 -9.63628032e-01 8.17107457e-03 1.50691488e+02] [ 9.63170512e-01 2.67247099e-01 2.96909505e-02 2.29262252e+02] [-3.07947282e-02 -6.09728148e-05 9.99525728e-01 4.43891584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters Centerline goodness [0,1] 0.9996085655077136 Centerline is valid? [True, True] Translation: X:150.70, Y:229.29, Z:4.44 [[ 2.67792454e-01 -9.63437941e-01 8.63333885e-03 1.50700164e+02] [ 9.62925868e-01 2.67931565e-01 3.14077916e-02 2.29288319e+02] [-3.25726020e-02 -9.75042874e-05 9.99469367e-01 4.44022664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.806875 meters Centerline goodness [0,1] 0.999631726741242 Centerline is valid? [True, True] Translation: X:150.71, Y:229.32, Z:4.44 [[ 2.68234305e-01 -9.63311090e-01 9.06094732e-03 1.50707890e+02] [ 9.62745550e-01 2.68387269e-01 3.30042498e-02 2.29315636e+02] [-3.42252028e-02 -1.29485298e-04 9.99414138e-01 4.44028663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters Centerline goodness [0,1] 0.9994454200942786 Centerline is valid? [True, True] Translation: X:150.72, Y:229.34, Z:4.44 [[ 2.69314982e-01 -9.63006762e-01 9.34967155e-03 1.50715416e+02] [ 9.62403030e-01 2.69477164e-01 3.40949668e-02 2.29342615e+02] [-3.53532065e-02 -1.84133142e-04 9.99374863e-01 4.43982254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.866875 meters Centerline goodness [0,1] 0.9997923252647853 Centerline is valid? [True, True] Translation: X:150.72, Y:229.37, Z:4.44 [[ 2.70209924e-01 -9.62753830e-01 9.57388047e-03 1.50722411e+02] [ 9.62119190e-01 2.70379378e-01 3.49522155e-02 2.29369108e+02] [-3.62389592e-02 -2.33221374e-04 9.99343126e-01 4.43922396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters Centerline goodness [0,1] 0.999263453482484 Centerline is valid? [True, True] Translation: X:150.73, Y:229.40, Z:4.44 [[ 2.72379880e-01 -9.62139790e-01 9.80940741e-03 1.50729619e+02] [ 9.61471525e-01 2.72556254e-01 3.58551999e-02 2.29396633e+02] [-3.71713299e-02 -3.34769165e-04 9.99308851e-01 4.43748623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.926875 meters Centerline goodness [0,1] 0.9997009156582156 Centerline is valid? [True, True] Translation: X:150.74, Y:229.42, Z:4.43 [[ 2.74423500e-01 -9.61560476e-01 9.65365381e-03 1.50736440e+02] [ 9.60911494e-01 2.74592928e-01 3.53245529e-02 2.29422941e+02] [-3.66175190e-02 -4.17580551e-04 9.99329267e-01 4.43459105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters Centerline goodness [0,1] 0.9992644354542111 Centerline is valid? [True, True] Translation: X:150.74, Y:229.45, Z:4.43 [[ 2.75528530e-01 -9.61247543e-01 9.33761760e-03 1.50743150e+02] [ 9.60638983e-01 2.75686336e-01 3.42021814e-02 2.29449059e+02] [-3.54510165e-02 -4.53597288e-04 9.99371312e-01 4.43169544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.986875 meters Centerline goodness [0,1] 0.9996066908821692 Centerline is valid? [True, True] Translation: X:150.75, Y:229.48, Z:4.43 [[ 2.75906112e-01 -9.61142574e-01 8.98715667e-03 1.50750966e+02] [ 9.60578157e-01 2.76052069e-01 3.29371979e-02 2.29475665e+02] [-3.41382664e-02 -4.54707837e-04 9.99417016e-01 4.42967664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters Centerline goodness [0,1] 0.9994203973755593 Centerline is valid? [True, True] Translation: X:150.76, Y:229.50, Z:4.42 [[ 2.77484511e-01 -9.60694170e-01 8.31013018e-03 1.50757645e+02] [ 9.60210400e-01 2.77608504e-01 3.04877964e-02 2.29501203e+02] [-3.15964111e-02 -4.80417862e-04 9.99500593e-01 4.42491461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.046875 meters Centerline goodness [0,1] 0.9994899260392757 Centerline is valid? [True, True] Translation: X:150.76, Y:229.53, Z:4.42 [[ 2.77942331e-01 -9.60563701e-01 8.08928436e-03 1.50764939e+02] [ 9.60104543e-01 2.78059593e-01 2.97006509e-02 2.29528065e+02] [-3.07786703e-02 -4.88509474e-04 9.99526105e-01 4.42295301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters Centerline goodness [0,1] 0.9993946167458322 Centerline is valid? [True, True] Translation: X:150.77, Y:229.55, Z:4.42 [[ 2.78781948e-01 -9.60323249e-01 7.73844046e-03 1.50772858e+02] [ 9.59902036e-01 2.78888878e-01 2.84442563e-02 2.29553721e+02] [-2.94738456e-02 -5.01600422e-04 9.99565426e-01 4.42085802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.106875 meters Centerline goodness [0,1] 0.9995353591673636 Centerline is valid? [True, True] Translation: X:150.78, Y:229.58, Z:4.42 [[ 2.79139068e-01 -9.60221249e-01 7.51889075e-03 1.50780260e+02] [ 9.59823087e-01 2.79239862e-01 2.76539425e-02 2.29580218e+02] [-2.86534772e-02 -5.02490800e-04 9.99589279e-01 4.41939699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters Centerline goodness [0,1] 0.9995363286502527 Centerline is valid? [True, True] Translation: X:150.79, Y:229.61, Z:4.42 [[ 2.79050544e-01 -9.60248231e-01 7.35727288e-03 1.50787879e+02] [ 9.59866212e-01 2.79147073e-01 2.70881150e-02 2.29606048e+02] [-2.80650757e-02 -4.96955565e-04 9.99605975e-01 4.41820876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.166875 meters Centerline goodness [0,1] 0.9996049359763891 Centerline is valid? [True, True] Translation: X:150.80, Y:229.63, Z:4.42 [[ 2.79455419e-01 -9.60132392e-01 7.10341197e-03 1.50797030e+02] [ 9.59775435e-01 2.79545238e-01 2.61834683e-02 2.29632152e+02] [-2.71253210e-02 -4.99431786e-04 9.99631916e-01 4.41785216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters Centerline goodness [0,1] 0.999487812259912 Centerline is valid? [True, True] Translation: X:150.81, Y:229.66, Z:4.42 [[ 2.79613538e-01 -9.60086418e-01 7.09509561e-03 1.50805874e+02] [ 9.59729461e-01 2.79703073e-01 2.61830564e-02 2.29659001e+02] [-2.71225168e-02 -5.11764732e-04 9.99631986e-01 4.41731486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.226875 meters Centerline goodness [0,1] 0.9996269178752973 Centerline is valid? [True, True] Translation: X:150.81, Y:229.68, Z:4.42 [[ 2.79526762e-01 -9.60112262e-01 7.01672784e-03 1.50812576e+02] [ 9.59762425e-01 2.79614349e-01 2.59210889e-02 2.29684964e+02] [-2.68491331e-02 -5.11246337e-04 9.99639366e-01 4.41585338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters Centerline goodness [0,1] 0.9995570062951737 Centerline is valid? [True, True] Translation: X:150.82, Y:229.71, Z:4.42 [[ 2.79081163e-01 -9.60242322e-01 6.95610621e-03 1.50822758e+02] [ 9.59897732e-01 2.79167387e-01 2.57277070e-02 2.29711634e+02] [-2.66467511e-02 -5.02967811e-04 9.99644786e-01 4.41617820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.286875 meters Centerline goodness [0,1] 0.999275175945194 Centerline is valid? [True, True] Translation: X:150.83, Y:229.74, Z:4.42 [[ 2.78826154e-01 -9.60315902e-01 7.02455065e-03 1.50831304e+02] [ 9.59963742e-01 2.78914161e-01 2.60097052e-02 2.29738920e+02] [-2.69367801e-02 -5.08872117e-04 9.99637010e-01 4.41524206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters Centerline goodness [0,1] 0.9996953719976567 Centerline is valid? [True, True] Translation: X:150.84, Y:229.77, Z:4.42 [[ 2.77213340e-01 -9.60780036e-01 7.38147627e-03 1.50843518e+02] [ 9.60390402e-01 2.77311152e-01 2.73642094e-02 2.29765704e+02] [-2.83379518e-02 -4.96624921e-04 9.99598276e-01 4.41774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.346875 meters Centerline goodness [0,1] 0.9995778314609377 Centerline is valid? [True, True] Translation: X:150.85, Y:229.79, Z:4.42 [[ 2.75844383e-01 -9.61171781e-01 7.66053379e-03 1.50851033e+02] [ 9.60751413e-01 2.75950313e-01 2.84279152e-02 2.29791640e+02] [-2.94380366e-02 -4.81812063e-04 9.99566491e-01 4.41705107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters Centerline goodness [0,1] 0.9994371878151161 Centerline is valid? [True, True] Translation: X:150.86, Y:229.82, Z:4.42 [[ 2.74543430e-01 -9.61542428e-01 7.87805606e-03 1.50860497e+02] [ 9.61096898e-01 2.74656045e-01 2.92713289e-02 2.29818785e+02] [-3.03093804e-02 -4.64675808e-04 9.99540457e-01 4.41701600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.406875 meters Centerline goodness [0,1] 0.9996014348345954 Centerline is valid? [True, True] Translation: X:150.87, Y:229.85, Z:4.42 [[ 2.72729601e-01 -9.62056469e-01 8.11878305e-03 1.50869668e+02] [ 9.61582516e-01 2.72850080e-01 3.01976622e-02 2.29845064e+02] [-3.12670668e-02 -4.28916529e-04 9.99510974e-01 4.41687325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters Centerline goodness [0,1] 0.9996464098816652 Centerline is valid? [True, True] Translation: X:150.88, Y:229.87, Z:4.42 [[ 2.69746694e-01 -9.62894847e-01 8.38063989e-03 1.50881824e+02] [ 9.62389068e-01 2.69876620e-01 3.12072511e-02 2.29870868e+02] [-3.23110400e-02 -3.52616604e-04 9.99477800e-01 4.41768856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.466875 meters Centerline goodness [0,1] 0.9997163455856282 Centerline is valid? [True, True] Translation: X:150.89, Y:229.90, Z:4.42 [[ 2.66984217e-01 -9.63662179e-01 8.63897172e-03 1.50891877e+02] [ 9.63123909e-01 2.67123804e-01 3.22057379e-02 2.29896061e+02] [-3.33431265e-02 -2.78023498e-04 9.99443925e-01 4.41720954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters Centerline goodness [0,1] 0.9995976521821452 Centerline is valid? [True, True] Translation: X:150.90, Y:229.92, Z:4.42 [[ 2.65608078e-01 -9.64041646e-01 8.72093166e-03 1.50900037e+02] [ 9.63492052e-01 2.65751099e-01 3.25487079e-02 2.29921628e+02] [-3.36959071e-02 -2.42651409e-04 9.99432102e-01 4.41601087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.526875 meters Centerline goodness [0,1] 0.9997158014399393 Centerline is valid? [True, True] Translation: X:150.91, Y:229.95, Z:4.41 [[ 2.64154220e-01 -9.64439276e-01 8.91241032e-03 1.50908114e+02] [ 9.63864092e-01 2.64304446e-01 3.33042228e-02 2.29948010e+02] [-3.44754902e-02 -2.07098721e-04 9.99405522e-01 4.41478580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters Centerline goodness [0,1] 0.9995738434584971 Centerline is valid? [True, True] Translation: X:150.92, Y:229.98, Z:4.41 [[ 2.62972439e-01 -9.64760578e-01 9.08423994e-03 1.50917039e+02] [ 9.64161848e-01 2.63129237e-01 3.39843487e-02 2.29975057e+02] [-3.51770890e-02 -1.78269488e-04 9.99381079e-01 4.41409853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.586875 meters Centerline goodness [0,1] 0.9996923586624701 Centerline is valid? [True, True] Translation: X:150.93, Y:230.00, Z:4.41 [[ 2.61192466e-01 -9.65243649e-01 9.12106486e-03 1.50925955e+02] [ 9.64638980e-01 2.61351646e-01 3.41607205e-02 2.30001447e+02] [-3.53572238e-02 -1.23988123e-04 9.99374730e-01 4.41266727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters Centerline goodness [0,1] 0.9996923586624701 Centerline is valid? [True, True] Translation: X:150.93, Y:230.03, Z:4.41 [[ 2.60920938e-01 -9.65317173e-01 9.11147066e-03 1.50932998e+02] [ 9.64712460e-01 2.61079948e-01 3.41632790e-02 2.30028136e+02] [-3.53572223e-02 -1.23965530e-04 9.99374730e-01 4.41154012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.646875 meters Centerline goodness [0,1] 0.9996217494089834 Centerline is valid? [True, True] Translation: X:150.94, Y:230.05, Z:4.41 [[ 2.60301230e-01 -9.65485638e-01 8.98618335e-03 1.50940220e+02] [ 9.64896248e-01 2.60456273e-01 3.37307124e-02 2.30054274e+02] [-3.49070263e-02 -1.09411357e-04 9.99390558e-01 4.40983239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters Centerline goodness [0,1] 0.9997632239427949 Centerline is valid? [True, True] Translation: X:150.95, Y:230.08, Z:4.41 [[ 2.60053840e-01 -9.65556359e-01 8.53919631e-03 1.50947429e+02] [ 9.65022997e-01 2.60193979e-01 3.20890617e-02 2.30079897e+02] [-3.32056451e-02 -1.04362922e-04 9.99448535e-01 4.40742902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.706875 meters Centerline goodness [0,1] 0.9997387421622649 Centerline is valid? [True, True] Translation: X:150.95, Y:230.11, Z:4.41 [[ 2.60424920e-01 -9.65458736e-01 8.26376670e-03 1.50954129e+02] [ 9.64958043e-01 2.60555970e-01 3.10895859e-02 2.30107006e+02] [-3.21688861e-02 -1.22314767e-04 9.99482440e-01 4.40531615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters Centerline goodness [0,1] 0.9997386242129025 Centerline is valid? [True, True] Translation: X:150.96, Y:230.13, Z:4.40 [[ 2.60356803e-01 -9.65480288e-01 7.88350709e-03 1.50960723e+02] [ 9.65023706e-01 2.60476101e-01 2.96891775e-02 2.30134263e+02] [-3.07177809e-02 -1.22008099e-04 9.99528090e-01 4.40315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.766875 meters Centerline goodness [0,1] 0.999693685202639 Centerline is valid? [True, True] Translation: X:150.97, Y:230.16, Z:4.40 [[ 2.61188042e-01 -9.65259463e-01 7.41453248e-03 1.50966497e+02] [ 9.64854665e-01 2.61293221e-01 2.79522520e-02 2.30162466e+02] [-2.89185428e-02 -1.46847720e-04 9.99581761e-01 4.40037226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters Centerline goodness [0,1] 0.999692671394799 Centerline is valid? [True, True] Translation: X:150.97, Y:230.19, Z:4.40 [[ 2.61294793e-01 -9.65232919e-01 7.10239564e-03 1.50972786e+02] [ 9.64860789e-01 2.61391259e-01 2.68004983e-02 2.30188899e+02] [-2.77252273e-02 -1.50007581e-04 9.99615571e-01 4.39862242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82687500000003 meters Centerline goodness [0,1] 0.9995278899039256 Centerline is valid? [True, True] Translation: X:150.98, Y:230.22, Z:4.40 [[ 2.61265355e-01 -9.65241852e-01 6.97001868e-03 1.50979329e+02] [ 9.64882620e-01 2.61358265e-01 2.63322194e-02 2.30216048e+02] [-2.72386322e-02 -1.54446760e-04 9.99628948e-01 4.39758140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters Centerline goodness [0,1] 0.999811906329352 Centerline is valid? [True, True] Translation: X:150.98, Y:230.24, Z:4.40 [[ 2.61716065e-01 -9.65120502e-01 6.86422754e-03 1.50984249e+02] [ 9.64771181e-01 2.61806009e-01 2.59650260e-02 2.30242902e+02] [-2.68564749e-02 -1.73055521e-04 9.99639285e-01 4.39631854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88687500000003 meters Centerline goodness [0,1] 0.9997643010347185 Centerline is valid? [True, True] Translation: X:150.99, Y:230.27, Z:4.40 [[ 2.61732913e-01 -9.65115988e-01 6.85653146e-03 1.50990602e+02] [ 9.64766992e-01 2.61822646e-01 2.59528988e-02 2.30270311e+02] [-2.68427528e-02 -1.77772565e-04 9.99639653e-01 4.39588757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters Centerline goodness [0,1] 0.9995289684408856 Centerline is valid? [True, True] Translation: X:151.00, Y:230.30, Z:4.40 [[ 2.61133675e-01 -9.65278221e-01 6.86737907e-03 1.50996709e+02] [ 9.64927392e-01 2.61223905e-01 2.60230591e-02 2.30297572e+02] [-2.69134158e-02 -1.68974887e-04 9.99637754e-01 4.39543647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94687500000003 meters Centerline goodness [0,1] 0.9996487530734106 Centerline is valid? [True, True] Translation: X:151.00, Y:230.32, Z:4.40 [[ 2.60261463e-01 -9.65510934e-01 7.25306992e-03 1.51002598e+02] [ 9.65118732e-01 2.60362459e-01 2.75176719e-02 2.30324462e+02] [-2.84570402e-02 -1.61715911e-04 9.99595003e-01 4.39668057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters Centerline goodness [0,1] 0.9995086914816461 Centerline is valid? [True, True] Translation: X:151.01, Y:230.35, Z:4.40 [[ 2.59448312e-01 -9.65727873e-01 7.49986367e-03 1.51008857e+02] [ 9.65307612e-01 2.59556644e-01 2.84879387e-02 2.30350748e+02] [-2.94582359e-02 -1.51472128e-04 9.99566001e-01 4.39689117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00687500000004 meters Centerline goodness [0,1] 0.9997199990666635 Centerline is valid? [True, True] Translation: X:151.01, Y:230.38, Z:4.40 [[ 2.58313049e-01 -9.66028028e-01 8.01354003e-03 1.51014689e+02] [ 9.65547178e-01 2.58437284e-01 3.04764906e-02 2.30377831e+02] [-3.15121416e-02 -1.35024237e-04 9.99503360e-01 4.39948713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters Centerline goodness [0,1] 0.9996959917683925 Centerline is valid? [True, True] Translation: X:151.02, Y:230.41, Z:4.40 [[ 2.57622700e-01 -9.66210072e-01 8.28497610e-03 1.51021116e+02] [ 9.65694820e-01 2.57755853e-01 3.15504957e-02 2.30405343e+02] [-3.26199079e-02 -1.27365381e-04 9.99467821e-01 4.40001264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06687500000004 meters Centerline goodness [0,1] 0.9995809763251624 Centerline is valid? [True, True] Translation: X:151.03, Y:230.43, Z:4.40 [[ 2.56863839e-01 -9.66409198e-01 8.61565929e-03 1.51027531e+02] [ 9.65850676e-01 2.57008264e-01 3.28515350e-02 2.30433231e+02] [-3.39623212e-02 -1.16931050e-04 9.99423107e-01 4.39970495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters Centerline goodness [0,1] 0.9996286841494546 Centerline is valid? [True, True] Translation: X:151.03, Y:230.46, Z:4.40 [[ 2.55170937e-01 -9.66854802e-01 8.92107045e-03 1.51033061e+02] [ 9.66255429e-01 2.55326826e-01 3.40390531e-02 2.30460585e+02] [-3.51886106e-02 -6.57443049e-05 9.99380687e-01 4.39913478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12687500000004 meters Centerline goodness [0,1] 0.9993492004462625 Centerline is valid? [True, True] Translation: X:151.04, Y:230.49, Z:4.40 [[ 2.54089733e-01 -9.67138257e-01 9.05532587e-03 1.51039209e+02] [ 9.66519425e-01 2.54251037e-01 3.45920546e-02 2.30486730e+02] [-3.57576254e-02 -3.73375675e-05 9.99360491e-01 4.39746303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters Centerline goodness [0,1] 0.9996523109730657 Centerline is valid? [True, True] Translation: X:151.05, Y:230.51, Z:4.40 [[ 2.52842319e-01 -9.67465269e-01 9.03961788e-03 1.51046310e+02] [ 9.66847247e-01 2.53003860e-01 3.45752389e-02 2.30514336e+02] [-3.57374010e-02 -2.15391264e-06 9.99361215e-01 4.39665120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.186875 meters Centerline goodness [0,1] 0.9994893696035652 Centerline is valid? [True, True] Translation: X:151.05, Y:230.54, Z:4.39 [[ 2.51000321e-01 -9.67947144e-01 8.78432807e-03 1.51052818e+02] [ 9.67362587e-01 2.51153982e-01 3.36348510e-02 2.30541769e+02] [-3.47629769e-02 5.52719276e-05 9.99395584e-01 4.39498784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters Centerline goodness [0,1] 0.9996759259259259 Centerline is valid? [True, True] Translation: X:151.06, Y:230.57, Z:4.39 [[ 2.49934030e-01 -9.68224802e-01 8.58568080e-03 1.51059135e+02] [ 9.67665292e-01 2.50081439e-01 3.29113537e-02 2.30568727e+02] [-3.40127083e-02 8.23980729e-05 9.99421397e-01 4.39315596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.246875 meters Centerline goodness [0,1] 0.9995365650199277 Centerline is valid? [True, True] Translation: X:151.06, Y:230.59, Z:4.39 [[ 2.49137027e-01 -9.68432713e-01 8.29591764e-03 1.51064247e+02] [ 9.67909300e-01 2.49275090e-01 3.18357858e-02 2.30594902e+02] [-3.28987821e-02 9.82228142e-05 9.99458684e-01 4.39022580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters Centerline goodness [0,1] 0.9995375294824955 Centerline is valid? [True, True] Translation: X:151.07, Y:230.62, Z:4.39 [[ 2.48788066e-01 -9.68524339e-01 8.06867439e-03 1.51070365e+02] [ 9.68028057e-01 2.48918853e-01 3.10013922e-02 2.30621899e+02] [-3.20340480e-02 9.79268050e-05 9.99486773e-01 4.38881917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.306875 meters Centerline goodness [0,1] 0.9995601953658481 Centerline is valid? [True, True] Translation: X:151.08, Y:230.65, Z:4.39 [[ 2.48469910e-01 -9.68606529e-01 8.00594234e-03 1.51076522e+02] [ 9.68116856e-01 2.48598837e-01 3.07956419e-02 2.30649812e+02] [-3.18191277e-02 9.88973529e-05 9.99493638e-01 4.38724690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters Centerline goodness [0,1] 0.9995160063610593 Centerline is valid? [True, True] Translation: X:151.08, Y:230.68, Z:4.38 [[ 2.48429483e-01 -9.68619016e-01 7.74559257e-03 1.51081713e+02] [ 9.68159562e-01 2.48550184e-01 2.98306503e-02 2.30676712e+02] [-3.08197036e-02 8.81564824e-05 9.99524956e-01 4.38439302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.366875 meters Centerline goodness [0,1] 0.9995389793001705 Centerline is valid? [True, True] Translation: X:151.09, Y:230.70, Z:4.38 [[ 2.48318206e-01 -9.68649096e-01 7.54965598e-03 1.51087290e+02] [ 9.68211997e-01 2.48432932e-01 2.90965290e-02 2.30704397e+02] [-3.00599097e-02 8.44696125e-05 9.99548095e-01 4.38328035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters Centerline goodness [0,1] 0.999609868043603 Centerline is valid? [True, True] Translation: X:151.09, Y:230.73, Z:4.38 [[ 2.48793278e-01 -9.68530371e-01 7.12913681e-03 1.51091888e+02] [ 9.68139677e-01 2.48895392e-01 2.75072790e-02 2.30731148e+02] [-2.84160445e-02 5.83740967e-05 9.99596181e-01 4.38010874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.426875 meters Centerline goodness [0,1] 0.9995635895904633 Centerline is valid? [True, True] Translation: X:151.10, Y:230.76, Z:4.38 [[ 2.48767790e-01 -9.68536676e-01 7.16198595e-03 1.51097948e+02] [ 9.68141587e-01 2.48870859e-01 2.76615694e-02 2.30758922e+02] [-2.85736540e-02 5.25089709e-05 9.99591688e-01 4.38005326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters Centerline goodness [0,1] 0.999680372594233 Centerline is valid? [True, True] Translation: X:151.10, Y:230.79, Z:4.38 [[ 2.48696566e-01 -9.68555148e-01 7.13746624e-03 1.51103994e+02] [ 9.68161867e-01 2.48798961e-01 2.75984637e-02 2.30786209e+02] [-2.85064283e-02 4.65794863e-05 9.99593608e-01 4.37944349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.486875 meters Centerline goodness [0,1] 0.9995881949210706 Centerline is valid? [True, True] Translation: X:151.11, Y:230.81, Z:4.38 [[ 2.49608136e-01 -9.68320881e-01 7.10273569e-03 1.51108443e+02] [ 9.67930441e-01 2.49709172e-01 2.74952780e-02 2.30813682e+02] [-2.83978701e-02 1.19090029e-05 9.99596699e-01 4.37970186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters Centerline goodness [0,1] 0.9994289238641295 Centerline is valid? [True, True] Translation: X:151.11, Y:230.84, Z:4.38 [[ 2.50139702e-01 -9.68183714e-01 7.10109736e-03 1.51114033e+02] [ 9.67792496e-01 2.50240476e-01 2.75206911e-02 2.30841381e+02] [-2.84220669e-02 -1.16287361e-05 9.99596011e-01 4.37876336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.546875 meters Centerline goodness [0,1] 0.9995432642901185 Centerline is valid? [True, True] Translation: X:151.12, Y:230.87, Z:4.38 [[ 2.51859032e-01 -9.67736113e-01 7.33785343e-03 1.51117784e+02] [ 9.67317154e-01 2.51965892e-01 2.84730243e-02 2.30869023e+02] [-2.94032627e-02 -7.31568584e-05 9.99567628e-01 4.37911487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters Centerline goodness [0,1] 0.9995899211737367 Centerline is valid? [True, True] Translation: X:151.12, Y:230.90, Z:4.38 [[ 2.52672507e-01 -9.67521813e-01 7.62535197e-03 1.51123129e+02] [ 9.67068161e-01 2.52787518e-01 2.96250490e-02 2.30896205e+02] [-3.05904749e-02 -1.11200296e-04 9.99531996e-01 4.37883323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.606875 meters Centerline goodness [0,1] 0.9995691707671028 Centerline is valid? [True, True] Translation: X:151.13, Y:230.92, Z:4.38 [[ 2.53449617e-01 -9.67316306e-01 7.90295752e-03 1.51128314e+02] [ 9.66827629e-01 2.53572755e-01 3.07440159e-02 2.30923158e+02] [-3.17431626e-02 -1.51261369e-04 9.99496047e-01 4.37815282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters Centerline goodness [0,1] 0.9995015068089638 Centerline is valid? [True, True] Translation: X:151.13, Y:230.95, Z:4.38 [[ 2.55208952e-01 -9.66849966e-01 8.33871616e-03 1.51132860e+02] [ 9.66304732e-01 2.55345043e-01 3.24664918e-02 2.30950902e+02] [-3.35194763e-02 -2.27998437e-04 9.99438038e-01 4.37847362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.666875 meters Centerline goodness [0,1] 0.9994335818021162 Centerline is valid? [True, True] Translation: X:151.14, Y:230.98, Z:4.38 [[ 2.56011408e-01 -9.66635780e-01 8.56902269e-03 1.51138578e+02] [ 9.66058486e-01 2.56154630e-01 3.34036916e-02 2.30978682e+02] [-3.44841983e-02 -2.73549021e-04 9.99405206e-01 4.37800533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters Centerline goodness [0,1] 0.9995918274790812 Centerline is valid? [True, True] Translation: X:151.14, Y:231.01, Z:4.38 [[ 2.56661055e-01 -9.66461709e-01 8.76737519e-03 1.51144483e+02] [ 9.65855808e-01 2.56810563e-01 3.42183020e-02 2.31006465e+02] [-3.53222332e-02 -3.14485264e-04 9.99375926e-01 4.37728207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.726875 meters Centerline goodness [0,1] 0.9992511912865896 Centerline is valid? [True, True] Translation: X:151.15, Y:231.03, Z:4.38 [[ 2.57600904e-01 -9.66207837e-01 9.17550219e-03 1.51148856e+02] [ 9.65542407e-01 2.57763988e-01 3.58550762e-02 2.31032919e+02] [-3.70085697e-02 -3.76963591e-04 9.99314877e-01 4.37678091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters Centerline goodness [0,1] 0.9995007828632372 Centerline is valid? [True, True] Translation: X:151.15, Y:231.06, Z:4.38 [[ 2.57826120e-01 -9.66145161e-01 9.44565023e-03 1.51154775e+02] [ 9.65438104e-01 2.57998761e-01 3.69581675e-02 2.31060409e+02] [-3.81439207e-02 -4.09590284e-04 9.99272172e-01 4.37590662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.786875 meters Centerline goodness [0,1] 0.9992314473654468 Centerline is valid? [True, True] Translation: X:151.16, Y:231.09, Z:4.37 [[ 2.57756217e-01 -9.66165069e-01 9.31624244e-03 1.51160896e+02] [ 9.65475706e-01 2.57924195e-01 3.64934291e-02 2.31087462e+02] [-3.76615608e-02 -4.11802487e-04 9.99290467e-01 4.37372620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters Centerline goodness [0,1] 0.9994358187398448 Centerline is valid? [True, True] Translation: X:151.17, Y:231.11, Z:4.37 [[ 2.57475789e-01 -9.66240759e-01 9.22022944e-03 1.51167897e+02] [ 9.65564160e-01 2.57640505e-01 3.61555445e-02 2.31114691e+02] [-3.73104654e-02 -4.06454281e-04 9.99303640e-01 4.37150137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.846875 meters Centerline goodness [0,1] 0.9995458364557077 Centerline is valid? [True, True] Translation: X:151.17, Y:231.14, Z:4.37 [[ 2.56818579e-01 -9.66418171e-01 8.95185709e-03 1.51174885e+02] [ 9.65779082e-01 2.56974268e-01 3.51424336e-02 2.31142061e+02] [-3.62626833e-02 -3.79713547e-04 9.99342220e-01 4.36928842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters Centerline goodness [0,1] 0.999522086434082 Centerline is valid? [True, True] Translation: X:151.18, Y:231.17, Z:4.37 [[ 2.55983306e-01 -9.66644119e-01 8.46727470e-03 1.51181826e+02] [ 9.66071292e-01 2.56123082e-01 3.32749878e-02 2.31167657e+02] [-3.43337357e-02 -3.37850348e-04 9.99410366e-01 4.36540927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.906875 meters Centerline goodness [0,1] 0.9995676118519867 Centerline is valid? [True, True] Translation: X:151.19, Y:231.19, Z:4.36 [[ 2.55228952e-01 -9.66846680e-01 8.10425853e-03 1.51188666e+02] [ 9.66320859e-01 2.55357403e-01 3.18840702e-02 2.31194304e+02] [-3.28964899e-02 -3.06423771e-04 9.99458717e-01 4.36280242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters Centerline goodness [0,1] 0.9993628979043891 Centerline is valid? [True, True] Translation: X:151.20, Y:231.22, Z:4.36 [[ 2.53773622e-01 -9.67230735e-01 7.97834249e-03 1.51197206e+02] [ 9.66720032e-01 2.53898870e-01 3.14283987e-02 2.31220722e+02] [-3.24242053e-02 -2.62875067e-04 9.99474163e-01 4.36102463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.966875 meters Centerline goodness [0,1] 0.9992943800787563 Centerline is valid? [True, True] Translation: X:151.20, Y:231.25, Z:4.36 [[ 2.52757916e-01 -9.67496997e-01 7.93700533e-03 1.51204909e+02] [ 9.66990555e-01 2.52882392e-01 3.13011667e-02 2.31247340e+02] [-3.22909137e-02 -2.36608497e-04 9.99478484e-01 4.36014429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters Centerline goodness [0,1] 0.9996359002366648 Centerline is valid? [True, True] Translation: X:151.21, Y:231.27, Z:4.36 [[ 2.51950317e-01 -9.67708129e-01 7.87492534e-03 1.51213039e+02] [ 9.67208553e-01 2.52073262e-01 3.10915624e-02 2.31274494e+02] [-3.20726158e-02 -2.16833842e-04 9.99485518e-01 4.35962007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.026875 meters Centerline goodness [0,1] 0.9995439516588759 Centerline is valid? [True, True] Translation: X:151.22, Y:231.30, Z:4.36 [[ 2.50678231e-01 -9.68038424e-01 7.87612981e-03 1.51220980e+02] [ 9.67537658e-01 2.50801864e-01 3.11336792e-02 2.31301277e+02] [-3.21139458e-02 -1.84083447e-04 9.99484197e-01 4.35881076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters Centerline goodness [0,1] 0.99965719770551 Centerline is valid? [True, True] Translation: X:151.23, Y:231.33, Z:4.36 [[ 2.48475983e-01 -9.68606716e-01 7.79206823e-03 1.51230688e+02] [ 9.68115698e-01 2.48598102e-01 3.08379503e-02 2.31328028e+02] [-3.18069391e-02 -1.18866421e-04 9.99494024e-01 4.35857819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.086875 meters Centerline goodness [0,1] 0.9994292107125734 Centerline is valid? [True, True] Translation: X:151.24, Y:231.35, Z:4.36 [[ 2.47338621e-01 -9.68898002e-01 7.76322884e-03 1.51238502e+02] [ 9.68409600e-01 2.47460407e-01 3.07602600e-02 2.31353979e+02] [-3.17246462e-02 -9.02149413e-05 9.99496643e-01 4.35734198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters Centerline goodness [0,1] 0.9993354720439963 Centerline is valid? [True, True] Translation: X:151.25, Y:231.38, Z:4.36 [[ 2.45032202e-01 -9.69482981e-01 7.87203644e-03 1.51247447e+02] [ 9.68979668e-01 2.45158618e-01 3.12354683e-02 2.31380133e+02] [-3.22121525e-02 -2.58523079e-05 9.99481054e-01 4.35653821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.146875 meters Centerline goodness [0,1] 0.9994716287617735 Centerline is valid? [True, True] Translation: X:151.26, Y:231.41, Z:4.36 [[ 2.43981445e-01 -9.69746806e-01 8.01166534e-03 1.51255512e+02] [ 9.69224768e-01 2.44112949e-01 3.18153703e-02 2.31406924e+02] [-3.28086050e-02 2.74447327e-06 9.99461653e-01 4.35645903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters Centerline goodness [0,1] 0.99949609473419 Centerline is valid? [True, True] Translation: X:151.26, Y:231.43, Z:4.36 [[ 2.42632706e-01 -9.70083560e-01 8.20102971e-03 1.51263517e+02] [ 9.69535425e-01 2.42771261e-01 3.26063716e-02 2.31434006e+02] [-3.36218794e-02 3.98166598e-05 9.99434624e-01 4.35613910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.206875 meters Centerline goodness [0,1] 0.9995871654319856 Centerline is valid? [True, True] Translation: X:151.27, Y:231.46, Z:4.36 [[ 2.40384797e-01 -9.70636412e-01 8.95016675e-03 1.51272507e+02] [ 9.69982205e-01 2.40551330e-01 3.56311584e-02 2.31460125e+02] [-3.67378743e-02 1.16313701e-04 9.99324930e-01 4.35756166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters Centerline goodness [0,1] 0.9993567211156293 Centerline is valid? [True, True] Translation: X:151.28, Y:231.49, Z:4.36 [[ 2.39538164e-01 -9.70841918e-01 9.35080625e-03 1.51280160e+02] [ 9.70126113e-01 2.39720565e-01 3.72743413e-02 2.31486728e+02] [-3.84290736e-02 1.42834033e-04 9.99261320e-01 4.35763494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.266875 meters Centerline goodness [0,1] 0.9996540271242734 Centerline is valid? [True, True] Translation: X:151.29, Y:231.51, Z:4.36 [[ 2.38266989e-01 -9.71150838e-01 9.74122437e-03 1.51288169e+02] [ 9.70372338e-01 2.38465959e-01 3.88781759e-02 2.31513547e+02] [-4.00795235e-02 1.89228748e-04 9.99196475e-01 4.35835733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters Centerline goodness [0,1] 0.9994699239456096 Centerline is valid? [True, True] Translation: X:151.30, Y:231.54, Z:4.36 [[ 2.37898277e-01 -9.71241225e-01 9.74128603e-03 1.51295291e+02] [ 9.70460910e-01 2.38097555e-01 3.89252695e-02 2.31539723e+02] [-4.01252028e-02 1.93282747e-04 9.99194641e-01 4.35702578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32687500000003 meters Centerline goodness [0,1] 0.9996768907659996 Centerline is valid? [True, True] Translation: X:151.30, Y:231.57, Z:4.36 [[ 2.37699722e-01 -9.71290322e-01 9.69293464e-03 1.51301734e+02] [ 9.70515815e-01 2.37897195e-01 3.87811441e-02 2.31567194e+02] [-3.99736719e-02 1.88879176e-04 9.99200716e-01 4.35517721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters Centerline goodness [0,1] 0.9994718471571599 Centerline is valid? [True, True] Translation: X:151.31, Y:231.59, Z:4.35 [[ 2.38053363e-01 -9.71206850e-01 9.37292061e-03 1.51308265e+02] [ 9.70480945e-01 2.38237760e-01 3.75433911e-02 2.31594668e+02] [-3.86953822e-02 1.58910328e-04 9.99251041e-01 4.35216439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38687500000003 meters Centerline goodness [0,1] 0.999630442314355 Centerline is valid? [True, True] Translation: X:151.31, Y:231.62, Z:4.35 [[ 2.38050326e-01 -9.71209144e-01 9.21093229e-03 1.51314734e+02] [ 9.70506512e-01 2.38228414e-01 3.69368804e-02 2.31622381e+02] [-3.80677418e-02 1.46433363e-04 9.99275150e-01 4.35012821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters Centerline goodness [0,1] 0.9993763281899658 Centerline is valid? [True, True] Translation: X:151.32, Y:231.65, Z:4.35 [[ 2.38293283e-01 -9.71152890e-01 8.85299203e-03 1.51321705e+02] [ 9.70502318e-01 2.38457646e-01 3.55415377e-02 2.31649754e+02] [-3.66273307e-02 1.22539613e-04 9.99328987e-01 4.34768441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44687500000003 meters Centerline goodness [0,1] 0.9994918229696018 Centerline is valid? [True, True] Translation: X:151.33, Y:231.68, Z:4.35 [[ 2.37932986e-01 -9.71242844e-01 8.67368225e-03 1.51328504e+02] [ 9.70616995e-01 2.38090998e-01 3.48615110e-02 2.31676782e+02] [-3.59241188e-02 1.24119987e-04 9.99354513e-01 4.34590212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters Centerline goodness [0,1] 0.9996538115349997 Centerline is valid? [True, True] Translation: X:151.34, Y:231.70, Z:4.34 [[ 2.37384620e-01 -9.71378265e-01 8.53281293e-03 1.51335081e+02] [ 9.70771256e-01 2.37537889e-01 3.43354031e-02 2.31703228e+02] [-3.53795306e-02 1.32712926e-04 9.99373940e-01 4.34390086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50687500000004 meters Centerline goodness [0,1] 0.999768593511362 Centerline is valid? [True, True] Translation: X:151.34, Y:231.73, Z:4.34 [[ 2.36925306e-01 -9.71492363e-01 8.30591944e-03 1.51341443e+02] [ 9.70915859e-01 2.37070813e-01 3.34637780e-02 2.31730596e+02] [-3.44788958e-02 1.35933066e-04 9.99405417e-01 4.34215385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters Centerline goodness [0,1] 0.999768593511362 Centerline is valid? [True, True] Translation: X:151.35, Y:231.76, Z:4.34 [[ 2.36648838e-01 -9.71559827e-01 8.29643622e-03 1.51348015e+02] [ 9.70983282e-01 2.36794182e-01 3.34661287e-02 2.31757400e+02] [-3.44788940e-02 1.35980416e-04 9.99405417e-01 4.34102666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56687500000004 meters Centerline goodness [0,1] 0.9995611502482966 Centerline is valid? [True, True] Translation: X:151.35, Y:231.78, Z:4.34 [[ 2.36630424e-01 -9.71565786e-01 8.12189022e-03 1.51354429e+02] [ 9.71011859e-01 2.36769735e-01 3.28033825e-02 2.31783968e+02] [-3.37936619e-02 1.24173417e-04 9.99428823e-01 4.33941172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters Centerline goodness [0,1] 0.9996050277642248 Centerline is valid? [True, True] Translation: X:151.36, Y:231.81, Z:4.34 [[ 2.37170174e-01 -9.71436692e-01 7.81425331e-03 1.51360629e+02] [ 9.70923089e-01 2.37298851e-01 3.15849871e-02 2.31811702e+02] [-3.25371288e-02 9.60220611e-05 9.99470523e-01 4.33888746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62687500000004 meters Centerline goodness [0,1] 0.9997234704459039 Centerline is valid? [True, True] Translation: X:151.37, Y:231.84, Z:4.34 [[ 2.37654432e-01 -9.71318682e-01 7.77107530e-03 1.51366831e+02] [ 9.70809462e-01 2.37781441e-01 3.14479664e-02 2.31838032e+02] [-3.23938148e-02 7.04848403e-05 9.99475180e-01 4.33713321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters Centerline goodness [0,1] 0.9996060163619087 Centerline is valid? [True, True] Translation: X:151.37, Y:231.87, Z:4.34 [[ 2.38756692e-01 -9.71048979e-01 7.68907222e-03 1.51372493e+02] [ 9.70549017e-01 2.38880471e-01 3.11564747e-02 2.31865138e+02] [-3.20912322e-02 2.38046407e-05 9.99484943e-01 4.33658553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.686875 meters Centerline goodness [0,1] 0.9996296296296296 Centerline is valid? [True, True] Translation: X:151.38, Y:231.89, Z:4.34 [[ 2.38943711e-01 -9.71003383e-01 7.63758421e-03 1.51378353e+02] [ 9.70508919e-01 2.39065743e-01 3.09839913e-02 2.31892144e+02] [-3.19114451e-02 8.91373211e-06 9.99490700e-01 4.33602079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters Centerline goodness [0,1] 0.9994692634299428 Centerline is valid? [True, True] Translation: X:151.38, Y:231.92, Z:4.34 [[ 2.40185240e-01 -9.70697019e-01 7.63860397e-03 1.51383927e+02] [ 9.70200980e-01 2.40306670e-01 3.10284214e-02 2.31919125e+02] [-3.19548036e-02 -4.15877658e-05 9.99489314e-01 4.33531297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.746875 meters Centerline goodness [0,1] 0.9994901742677048 Centerline is valid? [True, True] Translation: X:151.39, Y:231.95, Z:4.34 [[ 2.40156689e-01 -9.70703891e-01 7.66293065e-03 1.51390417e+02] [ 9.70203385e-01 2.40278908e-01 3.11678969e-02 2.31946425e+02] [-3.20960394e-02 -5.05776787e-05 9.99484788e-01 4.33519951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters Centerline goodness [0,1] 0.9995151906916613 Centerline is valid? [True, True] Translation: X:151.40, Y:231.97, Z:4.34 [[ 2.40416248e-01 -9.70635436e-01 8.17794652e-03 1.51397034e+02] [ 9.70063888e-01 2.40555286e-01 3.33047541e-02 2.31972710e+02] [-3.42940228e-02 -7.38734240e-05 9.99411784e-01 4.33605889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.806875 meters Centerline goodness [0,1] 0.9996995122853246 Centerline is valid? [True, True] Translation: X:151.40, Y:232.00, Z:4.34 [[ 2.40197033e-01 -9.70687720e-01 8.41042170e-03 1.51403779e+02] [ 9.70081707e-01 2.40344219e-01 3.42948708e-02 2.32000322e+02] [-3.53110062e-02 -7.87299755e-05 9.99376369e-01 4.33653019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters Centerline goodness [0,1] 0.999537037037037 Centerline is valid? [True, True] Translation: X:151.41, Y:232.03, Z:4.34 [[ 2.40233992e-01 -9.70677657e-01 8.51553223e-03 1.51410350e+02] [ 9.70054915e-01 2.40384852e-01 3.47647164e-02 2.32027936e+02] [-3.57923384e-02 -9.11327328e-05 9.99359245e-01 4.33604780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.866875 meters Centerline goodness [0,1] 0.9995364898375397 Centerline is valid? [True, True] Translation: X:151.42, Y:232.05, Z:4.34 [[ 2.40683053e-01 -9.70563603e-01 8.82953495e-03 1.51416126e+02] [ 9.69892389e-01 2.40844924e-01 3.60898281e-02 2.32053920e+02] [-3.71540223e-02 -1.22511261e-04 9.99309543e-01 4.33567401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters Centerline goodness [0,1] 0.9996532753917988 Centerline is valid? [True, True] Translation: X:151.42, Y:232.08, Z:4.34 [[ 2.40405844e-01 -9.70631254e-01 8.94422926e-03 1.51422667e+02] [ 9.69940585e-01 2.40572137e-01 3.66102114e-02 2.32080944e+02] [-3.76867477e-02 -1.25937793e-04 9.99289594e-01 4.33560603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.926875 meters Centerline goodness [0,1] 0.9994228993536473 Centerline is valid? [True, True] Translation: X:151.43, Y:232.11, Z:4.33 [[ 2.41101448e-01 -9.70458850e-01 8.92812296e-03 1.51428296e+02] [ 9.69768744e-01 2.41266642e-01 3.65922197e-02 2.32106609e+02] [-3.76653017e-02 -1.64222546e-04 9.99290397e-01 4.33358684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters Centerline goodness [0,1] 0.9992154872055192 Centerline is valid? [True, True] Translation: X:151.43, Y:232.13, Z:4.33 [[ 2.41405757e-01 -9.70384734e-01 8.75945480e-03 1.51433575e+02] [ 9.69718617e-01 2.41564553e-01 3.59495656e-02 2.32131933e+02] [-3.70008835e-02 -1.84225695e-04 9.99315216e-01 4.33154428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.986875 meters Centerline goodness [0,1] 0.9995600018526237 Centerline is valid? [True, True] Translation: X:151.44, Y:232.16, Z:4.33 [[ 2.41669183e-01 -9.70320845e-01 8.57109575e-03 1.51439820e+02] [ 9.69681304e-01 2.41821044e-01 3.52243136e-02 2.32159255e+02] [-3.62515570e-02 -2.01399785e-04 9.99342676e-01 4.32990323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters Centerline goodness [0,1] 0.9996535316672056 Centerline is valid? [True, True] Translation: X:151.44, Y:232.19, Z:4.33 [[ 2.42416579e-01 -9.70139116e-01 8.01861409e-03 1.51444827e+02] [ 9.69578086e-01 2.42549060e-01 3.29892308e-02 2.32186170e+02] [-3.39490505e-02 -2.22463992e-04 9.99423540e-01 4.32602686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.046875 meters Centerline goodness [0,1] 0.9994694593098358 Centerline is valid? [True, True] Translation: X:151.45, Y:232.21, Z:4.32 [[ 2.42716488e-01 -9.70066815e-01 7.68639473e-03 1.51450597e+02] [ 9.69550083e-01 2.42838054e-01 3.16593779e-02 2.32212769e+02] [-3.25782610e-02 -2.31908381e-04 9.99469161e-01 4.32362872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters Centerline goodness [0,1] 0.9993751591030062 Centerline is valid? [True, True] Translation: X:151.46, Y:232.24, Z:4.32 [[ 2.43011266e-01 -9.69996237e-01 7.26802415e-03 1.51457591e+02] [ 9.69533039e-01 2.43119812e-01 2.99740510e-02 2.32240658e+02] [-3.08417173e-02 -2.37442536e-04 9.99524253e-01 4.32161062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.106875 meters Centerline goodness [0,1] 0.9995611705198975 Centerline is valid? [True, True] Translation: X:151.46, Y:232.27, Z:4.32 [[ 2.42677704e-01 -9.70080303e-01 7.19294110e-03 1.51464471e+02] [ 9.69625652e-01 2.42784169e-01 2.96975290e-02 2.32268353e+02] [-3.05553202e-02 -2.32467966e-04 9.99533050e-01 4.32070305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters Centerline goodness [0,1] 0.9993555959586661 Centerline is valid? [True, True] Translation: X:151.47, Y:232.29, Z:4.32 [[ 2.42490531e-01 -9.70128311e-01 7.02868767e-03 1.51469677e+02] [ 9.69693088e-01 2.42592265e-01 2.90569802e-02 2.32294538e+02] [-2.98941043e-02 -2.30372698e-04 9.99553045e-01 4.31782437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.166875 meters Centerline goodness [0,1] 0.99953825552939 Centerline is valid? [True, True] Translation: X:151.48, Y:232.32, Z:4.32 [[ 2.42179234e-01 -9.70205540e-01 7.10136484e-03 1.51476589e+02] [ 9.69760644e-01 2.42283220e-01 2.93791429e-02 2.32320811e+02] [-3.02243487e-02 -2.28394181e-04 9.99543114e-01 4.31843328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters Centerline goodness [0,1] 0.9994234317343174 Centerline is valid? [True, True] Translation: X:151.48, Y:232.35, Z:4.32 [[ 2.41707302e-01 -9.70323027e-01 7.12770644e-03 1.51483557e+02] [ 9.69873641e-01 2.41812270e-01 2.95287317e-02 2.32348508e+02] [-3.03759751e-02 -2.24335469e-04 9.99538518e-01 4.31816538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.226875 meters Centerline goodness [0,1] 0.9994694960212201 Centerline is valid? [True, True] Translation: X:151.49, Y:232.38, Z:4.32 [[ 2.40887892e-01 -9.70525945e-01 7.23965985e-03 1.51490889e+02] [ 9.70061289e-01 2.40996566e-01 3.00291521e-02 2.32375506e+02] [-3.08888044e-02 -2.10745376e-04 9.99522805e-01 4.31820643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters Centerline goodness [0,1] 0.999492385786802 Centerline is valid? [True, True] Translation: X:151.50, Y:232.40, Z:4.32 [[ 2.39925871e-01 -9.70764026e-01 7.26512707e-03 1.51498145e+02] [ 9.70295058e-01 2.40035768e-01 3.01716935e-02 2.32403184e+02] [-3.10334850e-02 -1.89652959e-04 9.99518327e-01 4.31773898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.286875 meters Centerline goodness [0,1] 0.9994251684256513 Centerline is valid? [True, True] Translation: X:151.50, Y:232.43, Z:4.32 [[ 2.38917321e-01 -9.71012230e-01 7.33234153e-03 1.51504842e+02] [ 9.70533592e-01 2.39029750e-01 3.04848279e-02 2.32429218e+02] [-3.13537884e-02 -1.67069641e-04 9.99508335e-01 4.31649127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters Centerline goodness [0,1] 0.9996987044290448 Centerline is valid? [True, True] Translation: X:151.51, Y:232.46, Z:4.32 [[ 2.37885797e-01 -9.71265242e-01 7.36057103e-03 1.51512144e+02] [ 9.70781770e-01 2.37999600e-01 3.06422171e-02 2.32455991e+02] [-3.15135333e-02 -1.43840057e-04 9.99503315e-01 4.31655381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.346875 meters Centerline goodness [0,1] 0.9995147874306839 Centerline is valid? [True, True] Translation: X:151.52, Y:232.48, Z:4.32 [[ 2.36302812e-01 -9.71651488e-01 7.37340047e-03 1.51519955e+02] [ 9.71165320e-01 2.36417799e-01 3.07334675e-02 2.32483391e+02] [-3.16054225e-02 -1.01613957e-04 9.99500419e-01 4.31532721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters Centerline goodness [0,1] 0.9996526973836536 Centerline is valid? [True, True] Translation: X:151.53, Y:232.51, Z:4.31 [[ 2.34631439e-01 -9.72057589e-01 7.22019660e-03 1.51527267e+02] [ 9.71590505e-01 2.34742498e-01 3.01305452e-02 2.32510029e+02] [-3.09835121e-02 -5.44987165e-05 9.99519894e-01 4.31383351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.406875 meters Centerline goodness [0,1] 0.9996762107405522 Centerline is valid? [True, True] Translation: X:151.53, Y:232.54, Z:4.31 [[ 2.33641132e-01 -9.72295917e-01 7.24363756e-03 1.51534361e+02] [ 9.71824753e-01 2.33753391e-01 3.02655066e-02 2.32537591e+02] [-3.11202534e-02 -3.17209529e-05 9.99515647e-01 4.31250372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters Centerline goodness [0,1] 0.9995373797187269 Centerline is valid? [True, True] Translation: X:151.54, Y:232.56, Z:4.31 [[ 2.32869483e-01 -9.72481101e-01 7.23269658e-03 1.51541650e+02] [ 9.72010319e-01 2.32981775e-01 3.02561015e-02 2.32564761e+02] [-3.11085734e-02 -1.54670070e-05 9.99516011e-01 4.31172288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.466875 meters Centerline goodness [0,1] 0.9995369941661265 Centerline is valid? [True, True] Translation: X:151.55, Y:232.59, Z:4.31 [[ 2.31909804e-01 -9.72709881e-01 7.30279687e-03 1.51548537e+02] [ 9.72228718e-01 2.32024757e-01 3.05913764e-02 2.32590913e+02] [-3.14509637e-02 5.54873983e-06 9.99505296e-01 4.30960617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters Centerline goodness [0,1] 0.9995599508997846 Centerline is valid? [True, True] Translation: X:151.56, Y:232.62, Z:4.31 [[ 2.29947919e-01 -9.73176484e-01 7.17527257e-03 1.51556819e+02] [ 9.72711478e-01 2.30059832e-01 3.00807945e-02 2.32618297e+02] [-3.09246638e-02 6.24538823e-05 9.99521716e-01 4.30912326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.526875 meters Centerline goodness [0,1] 0.9995817552338685 Centerline is valid? [True, True] Translation: X:151.56, Y:232.65, Z:4.31 [[ 2.28672313e-01 -9.73476023e-01 7.30789527e-03 1.51564011e+02] [ 9.72992567e-01 2.28789036e-01 3.06763999e-02 2.32645056e+02] [-3.15347061e-02 9.56844627e-05 9.99502653e-01 4.30791652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters Centerline goodness [0,1] 0.9999073495008455 Centerline is valid? [True, True] Translation: X:151.57, Y:232.67, Z:4.31 [[ 2.27014181e-01 -9.73864289e-01 7.27387979e-03 1.51571919e+02] [ 9.73384232e-01 2.27130641e-01 3.05746341e-02 2.32670996e+02] [-3.14276652e-02 1.39404395e-04 9.99506019e-01 4.30628630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.586875 meters Centerline goodness [0,1] 0.9995821920987884 Centerline is valid? [True, True] Translation: X:151.58, Y:232.70, Z:4.31 [[ 2.26217226e-01 -9.74050033e-01 7.23182807e-03 1.51578126e+02] [ 9.73574855e-01 2.26332737e-01 3.04219376e-02 2.32698542e+02] [-3.12692888e-02 1.58759617e-04 9.99510984e-01 4.30542925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters Centerline goodness [0,1] 0.9996991228273197 Centerline is valid? [True, True] Translation: X:151.58, Y:232.72, Z:4.30 [[ 2.25795525e-01 -9.74147979e-01 7.21780153e-03 1.51584607e+02] [ 9.73673501e-01 2.25910799e-01 3.04010538e-02 2.32724538e+02] [-3.12457044e-02 1.63360182e-04 9.99511720e-01 4.30355311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.646875 meters Centerline goodness [0,1] 0.9995595836906886 Centerline is valid? [True, True] Translation: X:151.59, Y:232.75, Z:4.30 [[ 2.26051745e-01 -9.74090054e-01 7.01246574e-03 1.51590101e+02] [ 9.73640896e-01 2.26160443e-01 2.95780280e-02 2.32750483e+02] [-3.03976053e-02 1.41458592e-04 9.99537876e-01 4.30098008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters Centerline goodness [0,1] 0.9996533475075686 Centerline is valid? [True, True] Translation: X:151.60, Y:232.78, Z:4.30 [[ 2.26296940e-01 -9.74033848e-01 6.91074976e-03 1.51595643e+02] [ 9.73596865e-01 2.26402402e-01 2.91735626e-02 2.32776921e+02] [-2.99806478e-02 1.26396359e-04 9.99550471e-01 4.29890415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.706875 meters Centerline goodness [0,1] 0.999675490241528 Centerline is valid? [True, True] Translation: X:151.60, Y:232.80, Z:4.30 [[ 2.26326100e-01 -9.74027904e-01 6.79250754e-03 1.51601190e+02] [ 9.73604603e-01 2.26427977e-01 2.87132184e-02 2.32804671e+02] [-2.95054897e-02 1.14665848e-04 9.99564612e-01 4.29846183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters Centerline goodness [0,1] 0.9996301860626372 Centerline is valid? [True, True] Translation: X:151.61, Y:232.83, Z:4.30 [[ 2.27303204e-01 -9.73801543e-01 6.61872399e-03 1.51606848e+02] [ 9.73398594e-01 2.27399535e-01 2.80112336e-02 2.32831235e+02] [-2.87824773e-02 7.56134768e-05 9.99585696e-01 4.29622907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.766875 meters Centerline goodness [0,1] 0.999558816699949 Centerline is valid? [True, True] Translation: X:151.61, Y:232.86, Z:4.30 [[ 2.27711220e-01 -9.73706050e-01 6.64291240e-03 1.51612398e+02] [ 9.73298947e-01 2.27808088e-01 2.81537666e-02 2.32857034e+02] [-2.89268020e-02 5.46111085e-05 9.99581531e-01 4.29518892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters Centerline goodness [0,1] 0.9996762556655259 Centerline is valid? [True, True] Translation: X:151.62, Y:232.89, Z:4.30 [[ 2.27665160e-01 -9.73716622e-01 6.67191511e-03 1.51618124e+02] [ 9.73305173e-01 2.27762897e-01 2.83037814e-02 2.32885023e+02] [-2.90794772e-02 5.00245602e-05 9.99577101e-01 4.29617707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82687500000003 meters Centerline goodness [0,1] 0.9993998568889504 Centerline is valid? [True, True] Translation: X:151.62, Y:232.91, Z:4.30 [[ 2.28370439e-01 -9.73548599e-01 7.07586792e-03 1.51623429e+02] [ 9.73084346e-01 2.28480031e-01 3.00621045e-02 2.32911598e+02] [-3.08836142e-02 2.01203301e-05 9.99522987e-01 4.29530458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters Centerline goodness [0,1] 0.9997685988661345 Centerline is valid? [True, True] Translation: X:151.63, Y:232.94, Z:4.30 [[ 2.28132445e-01 -9.73602907e-01 7.27789689e-03 1.51629351e+02] [ 9.73110925e-01 2.28248504e-01 3.09475076e-02 2.32939424e+02] [-3.17917524e-02 2.20704035e-05 9.99494514e-01 4.29507538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88687500000003 meters Centerline goodness [0,1] 0.9996545132091116 Centerline is valid? [True, True] Translation: X:151.64, Y:232.97, Z:4.29 [[ 2.28065769e-01 -9.73616466e-01 7.54863551e-03 1.51635636e+02] [ 9.73085831e-01 2.28190658e-01 3.21401470e-02 2.32967113e+02] [-3.30147044e-02 1.54029317e-05 9.99454866e-01 4.29482204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters Centerline goodness [0,1] 0.9995862639635912 Centerline is valid? [True, True] Translation: X:151.64, Y:232.99, Z:4.30 [[ 2.27784991e-01 -9.73679647e-01 7.87041740e-03 1.51642585e+02] [ 9.73101323e-01 2.27920919e-01 3.35539726e-02 2.32994460e+02] [-3.44646530e-02 1.56222312e-05 9.99405917e-01 4.29587833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94687500000003 meters Centerline goodness [0,1] 0.9997923731746141 Centerline is valid? [True, True] Translation: X:151.65, Y:233.02, Z:4.30 [[ 2.26957459e-01 -9.73872033e-01 7.97337193e-03 1.51649016e+02] [ 9.73277108e-01 2.27097471e-01 3.40354055e-02 2.33021444e+02] [-3.49568622e-02 3.57112182e-05 9.99388821e-01 4.29569622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters Centerline goodness [0,1] 0.9995841995841996 Centerline is valid? [True, True] Translation: X:151.66, Y:233.05, Z:4.29 [[ 2.26333495e-01 -9.74016614e-01 8.04889446e-03 1.51655298e+02] [ 9.73408903e-01 2.26476563e-01 3.44016533e-02 2.33048204e+02] [-3.53306678e-02 4.86190880e-05 9.99375676e-01 4.29464116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00687500000004 meters Centerline goodness [0,1] 0.9995625949629356 Centerline is valid? [True, True] Translation: X:151.66, Y:233.08, Z:4.29 [[ 2.25260098e-01 -9.74264559e-01 8.15213951e-03 1.51661644e+02] [ 9.73639590e-01 2.25407548e-01 3.48910532e-02 2.33075927e+02] [-3.58306704e-02 7.76837144e-05 9.99357872e-01 4.29269591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters Centerline goodness [0,1] 0.9994701071305149 Centerline is valid? [True, True] Translation: X:151.67, Y:233.10, Z:4.29 [[ 2.24516569e-01 -9.74436020e-01 8.17028018e-03 1.51668131e+02] [ 9.73806809e-01 2.24665160e-01 3.50123504e-02 2.33103171e+02] [-3.59528727e-02 9.54216875e-05 9.99353482e-01 4.29089814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06687500000004 meters Centerline goodness [0,1] 0.9998614894501131 Centerline is valid? [True, True] Translation: X:151.67, Y:233.13, Z:4.29 [[ 2.23193511e-01 -9.74740618e-01 8.08600792e-03 1.51674543e+02] [ 9.74123006e-01 2.23339896e-01 3.46938099e-02 2.33130718e+02] [-3.56233939e-02 1.33333110e-04 9.99365277e-01 4.28993331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters Centerline goodness [0,1] 0.9996090336231084 Centerline is valid? [True, True] Translation: X:151.68, Y:233.16, Z:4.29 [[ 2.21969912e-01 -9.75019705e-01 8.11993046e-03 1.51681073e+02] [ 9.74395509e-01 2.22118316e-01 3.48833251e-02 2.33156664e+02] [-3.58155147e-02 1.68975172e-04 9.99358404e-01 4.28820068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12687500000004 meters Centerline goodness [0,1] 0.999884617159736 Centerline is valid? [True, True] Translation: X:151.69, Y:233.18, Z:4.29 [[ 2.20818173e-01 -9.75280121e-01 8.24737695e-03 1.51687158e+02] [ 9.74634596e-01 2.20972042e-01 3.54790083e-02 2.33184326e+02] [-3.64244113e-02 2.03769101e-04 9.99336390e-01 4.28751425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters Centerline goodness [0,1] 0.9995383301401168 Centerline is valid? [True, True] Translation: X:151.69, Y:233.21, Z:4.29 [[ 2.20464254e-01 -9.75360207e-01 8.24500585e-03 1.51693481e+02] [ 9.74713431e-01 2.20618278e-01 3.55148362e-02 2.33211646e+02] [-3.64587570e-02 2.06766066e-04 9.99335137e-01 4.28613399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.186875 meters Centerline goodness [0,1] 0.9996313279107814 Centerline is valid? [True, True] Translation: X:151.70, Y:233.24, Z:4.28 [[ 2.18624710e-01 -9.75774314e-01 8.22948854e-03 1.51699462e+02] [ 9.75128603e-01 2.18779382e-01 3.54935227e-02 2.33238318e+02] [-3.64341102e-02 2.65048536e-04 9.99336022e-01 4.28430221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters Centerline goodness [0,1] 0.9997474051621199 Centerline is valid? [True, True] Translation: X:151.71, Y:233.26, Z:4.28 [[ 2.17504431e-01 -9.76026011e-01 8.06522856e-03 1.51705853e+02] [ 9.75404337e-01 2.17653717e-01 3.48315828e-02 2.33264881e+02] [-3.57519578e-02 2.90835319e-04 9.99360652e-01 4.28286783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.246875 meters Centerline goodness [0,1] 0.9996314807563857 Centerline is valid? [True, True] Translation: X:151.71, Y:233.29, Z:4.28 [[ 2.15154702e-01 -9.76548298e-01 7.86607697e-03 1.51712613e+02] [ 9.75955699e-01 2.15298149e-01 3.40173632e-02 2.33291320e+02] [-3.49131500e-02 3.57947002e-04 9.99390286e-01 4.28042245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters Centerline goodness [0,1] 0.999838869323021 Centerline is valid? [True, True] Translation: X:151.72, Y:233.32, Z:4.28 [[ 2.13572781e-01 -9.76896312e-01 7.76289559e-03 1.51718751e+02] [ 9.76318130e-01 2.13713440e-01 3.36076523e-02 2.33318915e+02] [-3.44902267e-02 4.01375927e-04 9.99404955e-01 4.27889918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.306875 meters Centerline goodness [0,1] 0.9996310898987802 Centerline is valid? [True, True] Translation: X:151.72, Y:233.35, Z:4.28 [[ 2.12687443e-01 -9.77089533e-01 7.75218031e-03 1.51724997e+02] [ 9.76511636e-01 2.12828254e-01 3.36029577e-02 2.33345529e+02] [-3.44829812e-02 4.23167147e-04 9.99405196e-01 4.27718358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters Centerline goodness [0,1] 0.9998849490324213 Centerline is valid? [True, True] Translation: X:151.73, Y:233.37, Z:4.28 [[ 2.11079156e-01 -9.77438025e-01 7.77798861e-03 1.51730577e+02] [ 9.76854978e-01 2.11221884e-01 3.37589613e-02 2.33371481e+02] [-3.46401739e-02 4.72153834e-04 9.99399738e-01 4.27641315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.366875 meters Centerline goodness [0,1] 0.9996790463090326 Centerline is valid? [True, True] Translation: X:151.74, Y:233.40, Z:4.28 [[ 2.10367198e-01 -9.77590421e-01 7.91272643e-03 1.51736169e+02] [ 9.76985276e-01 2.10515377e-01 3.43954284e-02 2.33398055e+02] [-3.52903919e-02 4.94947328e-04 9.99376978e-01 4.27616145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters Centerline goodness [0,1] 0.9996325049382149 Centerline is valid? [True, True] Translation: X:151.74, Y:233.43, Z:4.28 [[ 2.09738053e-01 -9.77723890e-01 8.12059727e-03 1.51742157e+02] [ 9.77084794e-01 2.09894555e-01 3.53494159e-02 2.33425037e+02] [-3.62664376e-02 5.20394437e-04 9.99342021e-01 4.27596750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.426875 meters Centerline goodness [0,1] 0.9996325049382149 Centerline is valid? [True, True] Translation: X:151.75, Y:233.45, Z:4.27 [[ 2.09445390e-01 -9.77786713e-01 8.10998125e-03 1.51748027e+02] [ 9.77147570e-01 2.09601699e-01 3.53518511e-02 2.33451160e+02] [-3.62664361e-02 5.20366242e-04 9.99342021e-01 4.27487449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters Centerline goodness [0,1] 0.9998164842979378 Centerline is valid? [True, True] Translation: X:151.75, Y:233.48, Z:4.27 [[ 2.08873346e-01 -9.77906200e-01 8.44921730e-03 1.51753605e+02] [ 9.77210502e-01 2.09043438e-01 3.68846295e-02 2.33476389e+02] [-3.78359613e-02 5.52447885e-04 9.99283811e-01 4.27493069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.486875 meters Centerline goodness [0,1] 0.9998159692668676 Centerline is valid? [True, True] Translation: X:151.76, Y:233.50, Z:4.28 [[ 2.08156682e-01 -9.78056930e-01 8.68553287e-03 1.51758420e+02] [ 9.77320290e-01 2.08336981e-01 3.79572678e-02 2.33502952e+02] [-3.89338865e-02 5.87488584e-04 9.99241616e-01 4.27551702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters Centerline goodness [0,1] 0.9996321669961837 Centerline is valid? [True, True] Translation: X:151.76, Y:233.53, Z:4.27 [[ 2.08284202e-01 -9.78030645e-01 8.58766182e-03 1.51763557e+02] [ 9.77308556e-01 2.08460397e-01 3.75799087e-02 2.33529223e+02] [-3.85444897e-02 5.65494074e-04 9.99256725e-01 4.27383865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.546875 meters Centerline goodness [0,1] 0.9996333050672656 Centerline is valid? [True, True] Translation: X:151.77, Y:233.56, Z:4.27 [[ 2.08376431e-01 -9.78012096e-01 8.46184120e-03 1.51767717e+02] [ 9.77309133e-01 2.08547463e-01 3.70784798e-02 2.33555170e+02] [-3.80278973e-02 5.43553402e-04 9.99276530e-01 4.27138132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters Centerline goodness [0,1] 0.9997478278810664 Centerline is valid? [True, True] Translation: X:151.77, Y:233.58, Z:4.27 [[ 2.08477647e-01 -9.77991401e-01 8.36006907e-03 1.51772180e+02] [ 9.77303292e-01 2.08644547e-01 3.66841823e-02 2.33581657e+02] [-3.76210977e-02 5.22491027e-04 9.99291939e-01 4.26949547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.606875 meters Centerline goodness [0,1] 0.9997944783174625 Centerline is valid? [True, True] Translation: X:151.78, Y:233.61, Z:4.27 [[ 2.08807202e-01 -9.77921536e-01 8.30794564e-03 1.51777067e+02] [ 9.77240117e-01 2.08971824e-01 3.65038561e-02 2.33608272e+02] [-3.74340336e-02 4.96589708e-04 9.99298978e-01 4.26765302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters Centerline goodness [0,1] 0.9998624547246802 Centerline is valid? [True, True] Translation: X:151.78, Y:233.63, Z:4.27 [[ 2.09122930e-01 -9.77855340e-01 8.15681264e-03 1.51781335e+02] [ 9.77196739e-01 2.09281428e-01 3.58861601e-02 2.33634426e+02] [-3.67985427e-02 4.66191762e-04 9.99322596e-01 4.26620515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.666875 meters Centerline goodness [0,1] 0.9998398499164932 Centerline is valid? [True, True] Translation: X:151.79, Y:233.66, Z:4.26 [[ 2.09060807e-01 -9.77868921e-01 8.12104506e-03 1.51786500e+02] [ 9.77214265e-01 2.09217983e-01 3.57787053e-02 2.33661059e+02] [-3.66859526e-02 4.56076080e-04 9.99326740e-01 4.26490930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters Centerline goodness [0,1] 0.9997483413406543 Centerline is valid? [True, True] Translation: X:151.79, Y:233.69, Z:4.26 [[ 2.09174436e-01 -9.77845471e-01 8.01811304e-03 1.51791681e+02] [ 9.77205633e-01 2.09327600e-01 3.53709837e-02 2.33687724e+02] [-3.62657686e-02 4.36639667e-04 9.99342085e-01 4.26318351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.726875 meters Centerline goodness [0,1] 0.9999089273923636 Centerline is valid? [True, True] Translation: X:151.80, Y:233.71, Z:4.26 [[ 2.09549776e-01 -9.77765953e-01 7.91410705e-03 1.51795517e+02] [ 9.77140950e-01 2.09698773e-01 3.49569461e-02 2.33713968e+02] [-3.58392903e-02 4.07977842e-04 9.99357483e-01 4.26182458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters Centerline goodness [0,1] 0.9996131616074273 Centerline is valid? [True, True] Translation: X:151.80, Y:233.74, Z:4.26 [[ 2.09625906e-01 -9.77749534e-01 7.92646357e-03 1.51798283e+02] [ 9.77120813e-01 2.09775338e-01 3.50603058e-02 2.33742137e+02] [-3.59429742e-02 3.95564179e-04 9.99353764e-01 4.26149499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.786875 meters Centerline goodness [0,1] 0.9998862136452596 Centerline is valid? [True, True] Translation: X:151.80, Y:233.77, Z:4.26 [[ 2.10090088e-01 -9.77651168e-01 7.76844869e-03 1.51802698e+02] [ 9.77045695e-01 2.10233353e-01 3.44041658e-02 2.33769400e+02] [-3.52684599e-02 3.62155143e-04 9.99377809e-01 4.26040637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters Centerline goodness [0,1] 0.9998631730177191 Centerline is valid? [True, True] Translation: X:151.81, Y:233.80, Z:4.26 [[ 2.10161472e-01 -9.77637113e-01 7.60472088e-03 1.51808326e+02] [ 9.77055334e-01 2.10298736e-01 3.37241270e-02 2.33797036e+02] [-3.45692213e-02 3.42720942e-04 9.99402247e-01 4.25921599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.846875 meters Centerline goodness [0,1] 0.9996812168408589 Centerline is valid? [True, True] Translation: X:151.81, Y:233.83, Z:4.26 [[ 2.09972404e-01 -9.77679236e-01 7.40957768e-03 1.51813774e+02] [ 9.77125596e-01 2.10102837e-01 3.28993634e-02 2.33825043e+02] [-3.37217977e-02 3.32129580e-04 9.99431203e-01 4.25752098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters Centerline goodness [0,1] 0.9997951052931132 Centerline is valid? [True, True] Translation: X:151.82, Y:233.85, Z:4.26 [[ 2.09918177e-01 -9.77693773e-01 7.01743879e-03 1.51819102e+02] [ 9.77195995e-01 2.10035211e-01 3.11960998e-02 2.33852447e+02] [-3.19741418e-02 3.08784686e-04 9.99488649e-01 4.25542187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.906875 meters Centerline goodness [0,1] 0.9998403685206723 Centerline is valid? [True, True] Translation: X:151.83, Y:233.88, Z:4.25 [[ 2.09215736e-01 -9.77845267e-01 6.88553809e-03 1.51825228e+02] [ 9.77364870e-01 2.09328770e-01 3.06492701e-02 2.33879738e+02] [-3.14115849e-02 3.17373447e-04 9.99506484e-01 4.25432213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters Centerline goodness [0,1] 0.9997268941031885 Centerline is valid? [True, True] Translation: X:151.83, Y:233.91, Z:4.25 [[ 2.08749811e-01 -9.77944335e-01 6.95662511e-03 1.51831117e+02] [ 9.77452711e-01 2.08865438e-01 3.10068940e-02 2.33907475e+02] [-3.17760149e-02 3.27088811e-04 9.99494961e-01 4.25366618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.966875 meters Centerline goodness [0,1] 0.9998639548330046 Centerline is valid? [True, True] Translation: X:151.84, Y:233.93, Z:4.25 [[ 2.08090400e-01 -9.78083778e-01 7.10698870e-03 1.51837736e+02] [ 9.77569360e-01 2.08211439e-01 3.17197689e-02 2.33933634e+02] [-3.25043477e-02 3.46995005e-04 9.99471534e-01 4.25311353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters Centerline goodness [0,1] 0.9997736532367587 Centerline is valid? [True, True] Translation: X:151.84, Y:233.96, Z:4.25 [[ 2.07698977e-01 -9.78166272e-01 7.20276043e-03 1.51843714e+02] [ 9.77636404e-01 2.07823528e-01 3.21938350e-02 2.33961099e+02] [-3.29878267e-02 3.55054191e-04 9.99455690e-01 4.25334074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.026875 meters Centerline goodness [0,1] 0.9998641365880169 Centerline is valid? [True, True] Translation: X:151.85, Y:233.99, Z:4.25 [[ 2.08123067e-01 -9.78073855e-01 7.50486374e-03 1.51849560e+02] [ 9.77496856e-01 2.08258050e-01 3.35928632e-02 2.33987953e+02] [-3.44192495e-02 3.44530992e-04 9.99407423e-01 4.25401202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters Centerline goodness [0,1] 0.9997734532520786 Centerline is valid? [True, True] Translation: X:151.85, Y:234.02, Z:4.25 [[ 2.08494885e-01 -9.77993952e-01 7.59685853e-03 1.51854847e+02] [ 9.77401572e-01 2.08632982e-01 3.40359397e-02 2.34016008e+02] [-3.48718984e-02 3.28862135e-04 9.99391736e-01 4.25328403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.086875 meters Centerline goodness [0,1] 0.9996839800455972 Centerline is valid? [True, True] Translation: X:151.86, Y:234.04, Z:4.25 [[ 2.09269863e-01 -9.77828032e-01 7.64622221e-03 1.51859692e+02] [ 9.77226233e-01 2.09409298e-01 3.43021174e-02 2.34044225e+02] [-3.51427620e-02 2.93689501e-04 9.99382259e-01 4.25220818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters Centerline goodness [0,1] 0.9999324856532013 Centerline is valid? [True, True] Translation: X:151.86, Y:234.07, Z:4.25 [[ 2.11188580e-01 -9.77415248e-01 7.66925446e-03 1.51862750e+02] [ 9.76808075e-01 2.11327676e-01 3.44470222e-02 2.34072049e+02] [-3.52897704e-02 2.16572007e-04 9.99377099e-01 4.25084687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.146875 meters Centerline goodness [0,1] 0.9997314354773734 Centerline is valid? [True, True] Translation: X:151.87, Y:234.10, Z:4.25 [[ 2.11686046e-01 -9.77307851e-01 7.64085172e-03 1.51867630e+02] [ 9.76703534e-01 2.11823816e-01 3.43638872e-02 2.34099769e+02] [-3.52026111e-02 1.88491468e-04 9.99380178e-01 4.24908211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters Centerline goodness [0,1] 0.9999551066217733 Centerline is valid? [True, True] Translation: X:151.87, Y:234.13, Z:4.25 [[ 2.12893769e-01 -9.77047050e-01 7.43669898e-03 1.51871785e+02] [ 9.76473005e-01 2.13023576e-01 3.34876944e-02 2.34127523e+02] [-3.43032452e-02 1.32414314e-04 9.99411462e-01 4.24706945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.206875 meters Centerline goodness [0,1] 0.9999326069864091 Centerline is valid? [True, True] Translation: X:151.88, Y:234.15, Z:4.25 [[ 2.12853418e-01 -9.77056976e-01 7.28617513e-03 1.51877074e+02] [ 9.76504520e-01 2.12978053e-01 3.28522634e-02 2.34154695e+02] [-3.36503285e-02 1.22266395e-04 9.99433660e-01 4.24577024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters Centerline goodness [0,1] 0.9999327022297995 Centerline is valid? [True, True] Translation: X:151.88, Y:234.18, Z:4.24 [[ 2.12787125e-01 -9.77072018e-01 7.20493746e-03 1.51882374e+02] [ 9.76530416e-01 2.12909039e-01 3.25282524e-02 2.34181258e+02] [-3.33164415e-02 1.14247271e-04 9.99444847e-01 4.24402464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.266875 meters Centerline goodness [0,1] 0.9999101365923796 Centerline is valid? [True, True] Translation: X:151.89, Y:234.21, Z:4.24 [[ 2.12681510e-01 -9.77097350e-01 6.88064284e-03 1.51887267e+02] [ 9.76601985e-01 2.12792757e-01 3.11095833e-02 2.34207520e+02] [-3.18612424e-02 1.03216281e-04 9.99492296e-01 4.24150493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters Centerline goodness [0,1] 0.9998433969440033 Centerline is valid? [True, True] Translation: X:151.89, Y:234.24, Z:4.24 [[ 2.12558692e-01 -9.77124535e-01 6.81510132e-03 1.51892666e+02] [ 9.76637755e-01 2.12667894e-01 3.08392962e-02 2.34235009e+02] [-3.15831862e-02 1.00724784e-04 9.99501122e-01 4.24051699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32687500000003 meters Centerline goodness [0,1] 0.9998212610036195 Centerline is valid? [True, True] Translation: X:151.90, Y:234.26, Z:4.24 [[ 2.12096414e-01 -9.77225287e-01 6.77121114e-03 1.51898287e+02] [ 9.76743551e-01 2.12204446e-01 3.06807463e-02 2.34261184e+02] [-3.14188823e-02 1.06460534e-04 9.99506299e-01 4.23848348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters Centerline goodness [0,1] 0.9997768056423534 Centerline is valid? [True, True] Translation: X:151.90, Y:234.29, Z:4.24 [[ 2.11255668e-01 -9.77408069e-01 6.67153876e-03 1.51904205e+02] [ 9.76939184e-01 2.11360951e-01 3.02717509e-02 2.34288528e+02] [-3.09979563e-02 1.22608680e-04 9.99519440e-01 4.23763109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38687500000003 meters Centerline goodness [0,1] 0.9995299489658878 Centerline is valid? [True, True] Translation: X:151.91, Y:234.32, Z:4.24 [[ 2.10356462e-01 -9.77601869e-01 6.68913004e-03 1.51910376e+02] [ 9.77129326e-01 2.10462741e-01 3.03926810e-02 2.34315888e+02] [-3.11197544e-02 1.42848256e-04 9.99515653e-01 4.23630558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters Centerline goodness [0,1] 0.9996879457917262 Centerline is valid? [True, True] Translation: X:151.92, Y:234.34, Z:4.24 [[ 2.08192791e-01 -9.78064084e-01 6.81244760e-03 1.51916877e+02] [ 9.77572852e-01 2.08304116e-01 3.09953888e-02 2.34343600e+02] [-3.17345375e-02 2.06647321e-04 9.99496311e-01 4.23606769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44687500000003 meters Centerline goodness [0,1] 0.9998657688091456 Centerline is valid? [True, True] Translation: X:151.92, Y:234.37, Z:4.23 [[ 2.06717174e-01 -9.78376834e-01 6.83968436e-03 1.51923620e+02] [ 9.77880507e-01 2.06830148e-01 3.11609371e-02 2.34369815e+02] [-3.19017919e-02 2.46893178e-04 9.99490978e-01 4.23494692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters Centerline goodness [0,1] 0.9997764064037206 Centerline is valid? [True, True] Translation: X:151.93, Y:234.40, Z:4.23 [[ 2.05020904e-01 -9.78733223e-01 6.90705840e-03 1.51930458e+02] [ 9.78225771e-01 2.05137005e-01 3.15142780e-02 2.34397495e+02] [-3.22609641e-02 2.95576781e-04 9.99479436e-01 4.23453300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50687500000004 meters Centerline goodness [0,1] 0.9998221194467914 Centerline is valid? [True, True] Translation: X:151.94, Y:234.43, Z:4.23 [[ 2.03455568e-01 -9.79059968e-01 6.88556239e-03 1.51936382e+02] [ 9.78554570e-01 2.03571768e-01 3.14561345e-02 2.34425460e+02] [-3.21991481e-02 3.37972852e-04 9.99481416e-01 4.23464849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters Centerline goodness [0,1] 0.9997994294883223 Centerline is valid? [True, True] Translation: X:151.94, Y:234.45, Z:4.23 [[ 2.01290244e-01 -9.79506533e-01 7.01353948e-03 1.51942986e+02] [ 9.78980990e-01 2.01411980e-01 3.20848232e-02 2.34451715e+02] [-3.28399049e-02 4.07759924e-04 9.99460542e-01 4.23445205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56687500000004 meters Centerline goodness [0,1] 0.9998441951566952 Centerline is valid? [True, True] Translation: X:151.95, Y:234.48, Z:4.23 [[ 2.00475339e-01 -9.79673210e-01 7.07393008e-03 1.51948985e+02] [ 9.79137097e-01 2.00599645e-01 3.24087429e-02 2.34479330e+02] [-3.31690050e-02 4.29193661e-04 9.99449665e-01 4.23404693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters Centerline goodness [0,1] 0.9998889851018007 Centerline is valid? [True, True] Translation: X:151.96, Y:234.51, Z:4.23 [[ 1.99665689e-01 -9.79837177e-01 7.26084951e-03 1.51955125e+02] [ 9.79270897e-01 1.99797138e-01 3.33108761e-02 2.34505498e+02] [-3.40899318e-02 4.59299584e-04 9.99418664e-01 4.23296298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62687500000004 meters Centerline goodness [0,1] 0.9998212210601591 Centerline is valid? [True, True] Translation: X:151.96, Y:234.53, Z:4.23 [[ 1.99628381e-01 -9.79844344e-01 7.31928045e-03 1.51959523e+02] [ 9.79267239e-01 1.99761998e-01 3.36276479e-02 2.34533009e+02] [-3.44119747e-02 4.54498645e-04 9.99407629e-01 4.23266665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters Centerline goodness [0,1] 0.9999334324450263 Centerline is valid? [True, True] Translation: X:151.96, Y:234.56, Z:4.23 [[ 2.00087215e-01 -9.79749815e-01 7.44358122e-03 1.51964807e+02] [ 9.79151221e-01 2.00225148e-01 3.42458235e-02 2.34560492e+02] [-3.50427314e-02 4.36240209e-04 9.99385720e-01 4.23180160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.686875 meters Centerline goodness [0,1] 0.9999333954975357 Centerline is valid? [True, True] Translation: X:151.97, Y:234.59, Z:4.23 [[ 2.01588325e-01 -9.79441363e-01 7.53410846e-03 1.51969453e+02] [ 9.78826210e-01 2.01728711e-01 3.47098949e-02 2.34587369e+02] [-3.55161528e-02 3.77473265e-04 9.99369031e-01 4.23009709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters Centerline goodness [0,1] 0.9996672729692561 Centerline is valid? [True, True] Translation: X:151.97, Y:234.62, Z:4.23 [[ 2.02461392e-01 -9.79260964e-01 7.57296579e-03 1.51974109e+02] [ 9.78637568e-01 2.02602693e-01 3.49379336e-02 2.34615544e+02] [-3.57476578e-02 3.37606140e-04 9.99360791e-01 4.22836675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.746875 meters Centerline goodness [0,1] 0.9999556825987724 Centerline is valid? [True, True] Translation: X:151.98, Y:234.64, Z:4.23 [[ 2.05223959e-01 -9.78685956e-01 7.54489167e-03 1.51977721e+02] [ 9.78065036e-01 2.05362479e-01 3.48573792e-02 2.34642779e+02] [-3.56638652e-02 2.25825364e-04 9.99363816e-01 4.22716780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters Centerline goodness [0,1] 0.9998673241492161 Centerline is valid? [True, True] Translation: X:151.98, Y:234.67, Z:4.23 [[ 2.06618216e-01 -9.78392221e-01 7.58783367e-03 1.51981932e+02] [ 9.77762815e-01 2.06757428e-01 3.50890776e-02 2.34670186e+02] [-3.58997216e-02 1.69058979e-04 9.99355383e-01 4.22602370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.806875 meters Centerline goodness [0,1] 0.9998001687463919 Centerline is valid? [True, True] Translation: X:151.99, Y:234.70, Z:4.23 [[ 2.08261789e-01 -9.78043988e-01 7.54882452e-03 1.51986444e+02] [ 9.77419133e-01 2.08398532e-01 3.49555357e-02 2.34698485e+02] [-3.57612154e-02 9.84631141e-05 9.99360358e-01 4.22555633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters Centerline goodness [0,1] 0.9997563190890765 Centerline is valid? [True, True] Translation: X:151.99, Y:234.73, Z:4.22 [[ 2.11732040e-01 -9.77299079e-01 7.48685238e-03 1.51989533e+02] [ 9.76682405e-01 2.11864363e-01 3.47126921e-02 2.34726048e+02] [-3.55108792e-02 -3.75121165e-05 9.99369289e-01 4.22385847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.866875 meters Centerline goodness [0,1] 0.9997111432063104 Centerline is valid? [True, True] Translation: X:151.99, Y:234.75, Z:4.22 [[ 2.13385542e-01 -9.76939963e-01 7.41068448e-03 1.51994139e+02] [ 9.76333914e-01 2.13514160e-01 3.44062704e-02 2.34754142e+02] [-3.51951466e-02 -1.06498088e-04 9.99380453e-01 4.22243842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters Centerline goodness [0,1] 0.9995352131379753 Centerline is valid? [True, True] Translation: X:152.00, Y:234.78, Z:4.22 [[ 2.16927107e-01 -9.76161201e-01 7.20695257e-03 1.51996843e+02] [ 9.75586007e-01 2.17046663e-01 3.35065562e-02 2.34781699e+02] [-3.42720452e-02 -2.37478241e-04 9.99412513e-01 4.22010704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.926875 meters Centerline goodness [0,1] 0.9996431598197957 Centerline is valid? [True, True] Translation: X:152.00, Y:234.81, Z:4.22 [[ 2.18285219e-01 -9.75858553e-01 7.18666431e-03 1.52001326e+02] [ 9.75285046e-01 2.18403295e-01 3.34526396e-02 2.34809602e+02] [-3.42146357e-02 -2.93170548e-04 9.99414465e-01 4.21858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters Centerline goodness [0,1] 0.9993792124866974 Centerline is valid? [True, True] Translation: X:152.00, Y:234.84, Z:4.22 [[ 2.20912831e-01 -9.75267309e-01 7.15528183e-03 1.52003984e+02] [ 9.74696815e-01 2.21028327e-01 3.33556082e-02 2.34836516e+02] [-3.41121542e-02 -3.94451428e-04 9.99417933e-01 4.21654943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.986875 meters Centerline goodness [0,1] 0.9994238099459268 Centerline is valid? [True, True] Translation: X:152.01, Y:234.86, Z:4.22 [[ 2.22196686e-01 -9.74975006e-01 7.23673525e-03 1.52009173e+02] [ 9.74390185e-01 2.22314043e-01 3.37673369e-02 2.34864295e+02] [-3.45311374e-02 -4.51586554e-04 9.99403520e-01 4.21601878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters Centerline goodness [0,1] 0.9996909901558293 Centerline is valid? [True, True] Translation: X:152.01, Y:234.89, Z:4.22 [[ 2.22821716e-01 -9.74831674e-01 7.32741410e-03 1.52013435e+02] [ 9.74230356e-01 2.22941624e-01 3.42380855e-02 2.34891509e+02] [-3.50099558e-02 -4.90399710e-04 9.99386843e-01 4.21518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.046875 meters Centerline goodness [0,1] 0.9996677004873726 Centerline is valid? [True, True] Translation: X:152.02, Y:234.92, Z:4.21 [[ 2.23760367e-01 -9.74616362e-01 7.36515750e-03 1.52018828e+02] [ 9.74006909e-01 2.23880900e-01 3.44656853e-02 2.34919406e+02] [-3.52397389e-02 -5.38340105e-04 9.99378743e-01 4.21467064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters Centerline goodness [0,1] 0.9996239520428253 Centerline is valid? [True, True] Translation: X:152.02, Y:234.95, Z:4.21 [[ 2.25603731e-01 -9.74189856e-01 7.55521810e-03 1.52022799e+02] [ 9.73546458e-01 2.25729318e-01 3.54057877e-02 2.34947662e+02] [-3.61973934e-02 -6.32322004e-04 9.99344460e-01 4.21472839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.106875 meters Centerline goodness [0,1] 0.9995132312594035 Centerline is valid? [True, True] Translation: X:152.03, Y:234.97, Z:4.21 [[ 2.26255689e-01 -9.74037539e-01 7.69646228e-03 1.52027096e+02] [ 9.73367945e-01 2.26385533e-01 3.61169426e-02 2.34974554e+02] [-3.69216256e-02 -6.80174041e-04 9.99317933e-01 4.21342666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters Centerline goodness [0,1] 0.9996041433001254 Centerline is valid? [True, True] Translation: X:152.03, Y:235.00, Z:4.21 [[ 2.26833778e-01 -9.73901989e-01 7.83286457e-03 1.52031841e+02] [ 9.73206982e-01 2.26967825e-01 3.67937010e-02 2.35002698e+02] [-3.76112668e-02 -7.23055709e-04 9.99292184e-01 4.21265831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.166875 meters Centerline goodness [0,1] 0.9992983533229548 Centerline is valid? [True, True] Translation: X:152.04, Y:235.03, Z:4.21 [[ 2.28220524e-01 -9.73576552e-01 8.00558753e-03 1.52036793e+02] [ 9.72848309e-01 2.28359469e-01 3.76579358e-02 2.35030782e+02] [-3.84910350e-02 -8.06091542e-04 9.99258620e-01 4.21208309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters Centerline goodness [0,1] 0.9993655516419085 Centerline is valid? [True, True] Translation: X:152.04, Y:235.06, Z:4.21 [[ 2.28299441e-01 -9.73558304e-01 7.97461043e-03 1.52040792e+02] [ 9.72833785e-01 2.28437215e-01 3.75614935e-02 2.35057656e+02] [-3.83900017e-02 -8.17297520e-04 9.99262498e-01 4.21045429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.226875 meters Centerline goodness [0,1] 0.9996037773228554 Centerline is valid? [True, True] Translation: X:152.05, Y:235.09, Z:4.21 [[ 2.28334376e-01 -9.73550593e-01 7.91559542e-03 1.52046394e+02] [ 9.72834653e-01 2.28470048e-01 3.73386635e-02 2.35085036e+02] [-3.81595545e-02 -8.25134899e-04 9.99271318e-01 4.20908642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters Centerline goodness [0,1] 0.9994960340067488 Centerline is valid? [True, True] Translation: X:152.05, Y:235.11, Z:4.21 [[ 2.28267821e-01 -9.73566934e-01 7.82476110e-03 1.52050995e+02] [ 9.72865356e-01 2.28400403e-01 3.69628805e-02 2.35111586e+02] [-3.77730168e-02 -8.24997177e-04 9.99286004e-01 4.20705977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.286875 meters Centerline goodness [0,1] 0.9994522708849112 Centerline is valid? [True, True] Translation: X:152.05, Y:235.14, Z:4.20 [[ 2.27587063e-01 -9.73727720e-01 7.64560200e-03 1.52054808e+02] [ 9.73056726e-01 2.27714088e-01 3.61510996e-02 2.35137981e+02] [-3.69423391e-02 -7.87918139e-04 9.99317088e-01 4.20464807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters Centerline goodness [0,1] 0.9996280575854374 Centerline is valid? [True, True] Translation: X:152.06, Y:235.17, Z:4.20 [[ 2.27106762e-01 -9.73840930e-01 7.50746148e-03 1.52060048e+02] [ 9.73192152e-01 2.27229519e-01 3.55497024e-02 2.35165742e+02] [-3.63256721e-02 -7.67375197e-04 9.99339710e-01 4.20242891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.346875 meters Centerline goodness [0,1] 0.9996272338559369 Centerline is valid? [True, True] Translation: X:152.07, Y:235.19, Z:4.20 [[ 2.26773081e-01 -9.73919743e-01 7.36911424e-03 1.52065196e+02] [ 9.73293028e-01 2.26891537e-01 3.49415402e-02 2.35192851e+02] [-3.57022455e-02 -7.51493214e-04 9.99362189e-01 4.20130762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters Centerline goodness [0,1] 0.9996272338559369 Centerline is valid? [True, True] Translation: X:152.07, Y:235.22, Z:4.20 [[ 2.26502972e-01 -9.73982676e-01 7.35872378e-03 1.52070802e+02] [ 9.73355924e-01 2.26621229e-01 3.49437280e-02 2.35219860e+02] [-3.57022288e-02 -7.52200869e-04 9.99362189e-01 4.20018052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.406875 meters Centerline goodness [0,1] 0.999384845222664 Centerline is valid? [True, True] Translation: X:152.08, Y:235.25, Z:4.20 [[ 2.26187022e-01 -9.74056255e-01 7.33785154e-03 1.52076348e+02] [ 9.73431384e-01 2.26304776e-01 3.48925276e-02 2.35247503e+02] [-3.56478756e-02 -7.49341926e-04 9.99364132e-01 4.19935493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters Centerline goodness [0,1] 0.9993867314979084 Centerline is valid? [True, True] Translation: X:152.08, Y:235.27, Z:4.20 [[ 2.26230184e-01 -9.74046750e-01 7.26857439e-03 1.52080758e+02] [ 9.73431962e-01 2.26345663e-01 3.46100654e-02 2.35274689e+02] [-3.53570320e-02 -7.54378834e-04 9.99374460e-01 4.19776736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.466875 meters Centerline goodness [0,1] 0.999258111676013 Centerline is valid? [True, True] Translation: X:152.08, Y:235.30, Z:4.20 [[ 2.26243413e-01 -9.74043212e-01 7.33074469e-03 1.52084868e+02] [ 9.73415932e-01 2.26360825e-01 3.49599875e-02 2.35301384e+02] [-3.57119319e-02 -7.73603212e-04 9.99361826e-01 4.19706615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters Centerline goodness [0,1] 0.9993899915034531 Centerline is valid? [True, True] Translation: X:152.09, Y:235.33, Z:4.20 [[ 2.26410179e-01 -9.74004755e-01 7.29157167e-03 1.52091917e+02] [ 9.73383001e-01 2.26526210e-01 3.48053193e-02 2.35328360e+02] [-3.55522786e-02 -7.82786675e-04 9.99367511e-01 4.19643738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.526875 meters Centerline goodness [0,1] 0.9995852886609189 Centerline is valid? [True, True] Translation: X:152.10, Y:235.36, Z:4.20 [[ 2.27195464e-01 -9.73822142e-01 7.25647054e-03 1.52095806e+02] [ 9.73204507e-01 2.27309843e-01 3.46875095e-02 2.35356554e+02] [-3.54289320e-02 -8.18814961e-04 9.99371863e-01 4.19542009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters Centerline goodness [0,1] 0.9993224636097391 Centerline is valid? [True, True] Translation: X:152.10, Y:235.38, Z:4.19 [[ 2.27434156e-01 -9.73765643e-01 7.36051429e-03 1.52100820e+02] [ 9.73128413e-01 2.27551641e-01 3.52326815e-02 2.35383883e+02] [-3.59832719e-02 -8.50389610e-04 9.99352031e-01 4.19459054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.586875 meters Centerline goodness [0,1] 0.9992618964918375 Centerline is valid? [True, True] Translation: X:152.10, Y:235.41, Z:4.19 [[ 2.28955440e-01 -9.73408357e-01 7.45499400e-03 1.52102990e+02] [ 9.72752560e-01 2.29074889e-01 3.57372801e-02 2.35411232e+02] [-3.64947190e-02 -9.30380172e-04 9.99333413e-01 4.19379174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters Centerline goodness [0,1] 0.9995003909983491 Centerline is valid? [True, True] Translation: X:152.11, Y:235.44, Z:4.19 [[ 2.29716230e-01 -9.73228817e-01 7.49155914e-03 1.52107227e+02] [ 9.72564726e-01 2.29836290e-01 3.59601699e-02 2.35438876e+02] [-3.67193058e-02 -9.74608506e-04 9.99325144e-01 4.19296663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.646875 meters Centerline goodness [0,1] 0.9993910660693315 Centerline is valid? [True, True] Translation: X:152.11, Y:235.47, Z:4.19 [[ 2.30341768e-01 -9.73080534e-01 7.54617517e-03 1.52112308e+02] [ 9.72404958e-01 2.30463104e-01 3.62678198e-02 2.35467246e+02] [-3.70306244e-02 -1.01605559e-03 9.99313615e-01 4.19186758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters Centerline goodness [0,1] 0.9990895098528041 Centerline is valid? [True, True] Translation: X:152.12, Y:235.50, Z:4.19 [[ 2.32090385e-01 -9.72664702e-01 7.57826090e-03 1.52115846e+02] [ 9.71981323e-01 2.32211477e-01 3.64710464e-02 2.35495868e+02] [-3.72338586e-02 -1.09865114e-03 9.99305976e-01 4.19105318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.706875 meters Centerline goodness [0,1] 0.999093831582127 Centerline is valid? [True, True] Translation: X:152.12, Y:235.52, Z:4.19 [[ 2.33014705e-01 -9.72444009e-01 7.53632822e-03 1.52120032e+02] [ 9.71766305e-01 2.33133765e-01 3.63166099e-02 2.35523084e+02] [-3.70728423e-02 -1.13875430e-03 9.99311917e-01 4.18959445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters Centerline goodness [0,1] 0.9989362625911775 Centerline is valid? [True, True] Translation: X:152.13, Y:235.55, Z:4.19 [[ 2.34609815e-01 -9.72060903e-01 7.47227925e-03 1.52125147e+02] [ 9.71392817e-01 2.34725713e-01 3.60532312e-02 2.35551116e+02] [-3.67998725e-02 -1.19992350e-03 9.99321935e-01 4.18807570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.766875 meters Centerline goodness [0,1] 0.9992852966019102 Centerline is valid? [True, True] Translation: X:152.13, Y:235.58, Z:4.19 [[ 2.34990029e-01 -9.71967837e-01 7.62958191e-03 1.52129726e+02] [ 9.71269382e-01 2.35110521e-01 3.68623277e-02 2.35578145e+02] [-3.76227919e-02 -1.25190016e-03 9.99291228e-01 4.18711243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters Centerline goodness [0,1] 0.9990906138356609 Centerline is valid? [True, True] Translation: X:152.13, Y:235.61, Z:4.19 [[ 2.35461006e-01 -9.71853762e-01 7.64069076e-03 1.52132633e+02] [ 9.71151454e-01 2.35581450e-01 3.69626101e-02 2.35605869e+02] [-3.77222566e-02 -1.28298542e-03 9.99287439e-01 4.18531604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82687500000003 meters Centerline goodness [0,1] 0.9989835420316183 Centerline is valid? [True, True] Translation: X:152.14, Y:235.63, Z:4.18 [[ 2.35261734e-01 -9.71902795e-01 7.54152138e-03 1.52141286e+02] [ 9.71216968e-01 2.35379157e-01 3.65274229e-02 2.35633025e+02] [-3.72762214e-02 -1.26905132e-03 9.99304194e-01 4.18384934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters Centerline goodness [0,1] 0.9990460704607046 Centerline is valid? [True, True] Translation: X:152.14, Y:235.66, Z:4.18 [[ 2.34840482e-01 -9.72005202e-01 7.47236319e-03 1.52144573e+02] [ 9.71330076e-01 2.34955991e-01 3.62431541e-02 2.35659588e+02] [-3.69842108e-02 -1.25322868e-03 9.99315064e-01 4.18223441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88687500000003 meters Centerline goodness [0,1] 0.9991104168022739 Centerline is valid? [True, True] Translation: X:152.16, Y:235.69, Z:4.18 [[ 2.33917390e-01 -9.72229308e-01 7.26818001e-03 1.52155853e+02] [ 9.71588966e-01 2.34027225e-01 3.53006880e-02 2.35686364e+02] [-3.60213155e-02 -1.19576131e-03 9.99350306e-01 4.18041755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters Centerline goodness [0,1] 0.9992183768292153 Centerline is valid? [True, True] Translation: X:152.16, Y:235.71, Z:4.18 [[ 2.33245507e-01 -9.72391333e-01 7.18537025e-03 1.52164277e+02] [ 9.71763825e-01 2.33353229e-01 3.49476719e-02 2.35712987e+02] [-3.56595426e-02 -1.16890456e-03 9.99363313e-01 4.17917055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94687500000003 meters Centerline goodness [0,1] 0.9992359413202934 Centerline is valid? [True, True] Translation: X:152.17, Y:235.74, Z:4.18 [[ 2.33058806e-01 -9.72437392e-01 7.00804036e-03 1.52170249e+02] [ 9.71838842e-01 2.33161339e-01 3.41329165e-02 2.35739179e+02] [-3.48261283e-02 -1.14429091e-03 9.99392731e-01 4.17779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters Centerline goodness [0,1] 0.9994101197238486 Centerline is valid? [True, True] Translation: X:152.18, Y:235.77, Z:4.18 [[ 2.32388277e-01 -9.72597823e-01 7.01173361e-03 1.52177398e+02] [ 9.71996860e-01 2.32491272e-01 3.42039749e-02 2.35765925e+02] [-3.48968784e-02 -1.13321973e-03 9.99390276e-01 4.17573870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00687500000004 meters Centerline goodness [0,1] 0.9994284835029565 Centerline is valid? [True, True] Translation: X:152.19, Y:235.79, Z:4.17 [[ 2.31521506e-01 -9.72805467e-01 6.87864561e-03 1.52187809e+02] [ 9.72225580e-01 2.31621094e-01 3.36019290e-02 2.35792008e+02] [-3.42813796e-02 -1.09197397e-03 9.99411624e-01 4.17458077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters Centerline goodness [0,1] 0.9995610858735489 Centerline is valid? [True, True] Translation: X:152.20, Y:235.82, Z:4.17 [[ 2.30834681e-01 -9.72969366e-01 6.77959577e-03 1.52195840e+02] [ 9.72404514e-01 2.30931770e-01 3.31659191e-02 2.35819066e+02] [-3.38350473e-02 -1.06333482e-03 9.99426865e-01 4.17344083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06687500000004 meters Centerline goodness [0,1] 0.999489943006675 Centerline is valid? [True, True] Translation: X:152.20, Y:235.85, Z:4.17 [[ 2.30113344e-01 -9.73140449e-01 6.74652611e-03 1.52204103e+02] [ 9.72579551e-01 2.30209853e-01 3.30520910e-02 2.35845754e+02] [-3.37174435e-02 -1.04419385e-03 9.99430860e-01 4.17204914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters Centerline goodness [0,1] 0.9996878762206269 Centerline is valid? [True, True] Translation: X:152.21, Y:235.87, Z:4.17 [[ 2.28059330e-01 -9.73623832e-01 6.75105944e-03 1.52213905e+02] [ 9.73060615e-01 2.28157102e-01 3.31266861e-02 2.35871642e+02] [-3.37932332e-02 -9.85659774e-04 9.99428360e-01 4.17068453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12687500000004 meters Centerline goodness [0,1] 0.9995976664654999 Centerline is valid? [True, True] Translation: X:152.22, Y:235.90, Z:4.17 [[ 2.26810805e-01 -9.73914450e-01 6.89219988e-03 1.52222820e+02] [ 9.73326590e-01 2.26913432e-01 3.38473641e-02 2.35898951e+02] [-3.45283697e-02 -9.68586516e-04 9.99403249e-01 4.16953584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters Centerline goodness [0,1] 0.9994816200500349 Centerline is valid? [True, True] Translation: X:152.24, Y:235.93, Z:4.17 [[ 2.24667314e-01 -9.74411361e-01 6.86278382e-03 1.52236164e+02] [ 9.73827166e-01 2.24770308e-01 3.37484675e-02 2.35925547e+02] [-3.44274402e-02 -8.99012205e-04 9.99406796e-01 4.16938480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.186875 meters Centerline goodness [0,1] 0.9995715123359343 Centerline is valid? [True, True] Translation: X:152.24, Y:235.95, Z:4.17 [[ 2.23680433e-01 -9.74638038e-01 6.91073405e-03 1.52244105e+02] [ 9.74044126e-01 2.23785429e-01 3.40311853e-02 2.35951314e+02] [-3.47146093e-02 -8.80750340e-04 9.99396878e-01 4.16814756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters Centerline goodness [0,1] 0.9996148268986769 Centerline is valid? [True, True] Translation: X:152.25, Y:235.98, Z:4.17 [[ 2.23012376e-01 -9.74790593e-01 6.98426103e-03 1.52251427e+02] [ 9.74182139e-01 2.23119986e-01 3.44475104e-02 2.35977702e+02] [-3.51374373e-02 -8.78278774e-04 9.99382104e-01 4.16700300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.246875 meters Centerline goodness [0,1] 0.9997042900686957 Centerline is valid? [True, True] Translation: X:152.26, Y:236.00, Z:4.17 [[ 2.22472042e-01 -9.74913912e-01 7.00394942e-03 1.52260992e+02] [ 9.74300880e-01 2.22580570e-01 3.45786738e-02 2.36004091e+02] [-3.52701732e-02 -8.68834094e-04 9.99377436e-01 4.16667287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters Centerline goodness [0,1] 0.9995432851499166 Centerline is valid? [True, True] Translation: X:152.27, Y:236.03, Z:4.17 [[ 2.22572068e-01 -9.74890584e-01 7.07275910e-03 1.52270257e+02] [ 9.74263653e-01 2.22682629e-01 3.49682739e-02 2.36030281e+02] [-3.56652216e-02 -8.92228937e-04 9.99363395e-01 4.16510792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.306875 meters Centerline goodness [0,1] 0.9995648090886187 Centerline is valid? [True, True] Translation: X:152.28, Y:236.06, Z:4.16 [[ 2.23177795e-01 -9.74751602e-01 7.14044463e-03 1.52277713e+02] [ 9.74110585e-01 2.23290034e-01 3.53571492e-02 2.36057794e+02] [-3.60588280e-02 -9.35347919e-04 9.99349231e-01 4.16458850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters Centerline goodness [0,1] 0.999746841269476 Centerline is valid? [True, True] Translation: X:152.28, Y:236.08, Z:4.16 [[ 2.25071156e-01 -9.74316249e-01 7.12895739e-03 1.52284923e+02] [ 9.73675297e-01 2.25181743e-01 3.53496767e-02 2.36084312e+02] [-3.60470754e-02 -1.01490289e-03 9.99349578e-01 4.16274628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.366875 meters Centerline goodness [0,1] 0.9994446501295816 Centerline is valid? [True, True] Translation: X:152.29, Y:236.11, Z:4.16 [[ 2.26007862e-01 -9.74100005e-01 7.04455274e-03 1.52293322e+02] [ 9.73472179e-01 2.26115190e-01 3.49834011e-02 2.36111745e+02] [-3.56702116e-02 -1.04884759e-03 9.99363065e-01 4.16131073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters Centerline goodness [0,1] 0.999652004454343 Centerline is valid? [True, True] Translation: X:152.30, Y:236.14, Z:4.16 [[ 2.26375661e-01 -9.74014815e-01 7.01423763e-03 1.52298575e+02] [ 9.73390826e-01 2.26481787e-01 3.48754964e-02 2.36137961e+02] [-3.55578473e-02 -1.06736898e-03 9.99367050e-01 4.15956961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.426875 meters Centerline goodness [0,1] 0.9994202764122067 Centerline is valid? [True, True] Translation: X:152.31, Y:236.16, Z:4.16 [[ 2.27734370e-01 -9.73699082e-01 6.86688249e-03 1.52306469e+02] [ 9.73099022e-01 2.27835193e-01 3.41967723e-02 2.36163404e+02] [-3.48618833e-02 -1.10562376e-03 9.99391528e-01 4.15756767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters Centerline goodness [0,1] 0.9995319338154415 Centerline is valid? [True, True] Translation: X:152.31, Y:236.19, Z:4.16 [[ 2.27857255e-01 -9.73671074e-01 6.76105331e-03 1.52313618e+02] [ 9.73088197e-01 2.27954884e-01 3.37035796e-02 2.36189981e+02] [-3.43574157e-02 -1.10050396e-03 9.99409004e-01 4.15599428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.486875 meters Centerline goodness [0,1] 0.9996495982059428 Centerline is valid? [True, True] Translation: X:152.32, Y:236.22, Z:4.15 [[ 2.27484165e-01 -9.73759238e-01 6.62582645e-03 1.52322883e+02] [ 9.73197777e-01 2.27578090e-01 3.30802142e-02 2.36215503e+02] [-3.37200571e-02 -1.07698535e-03 9.99430737e-01 4.15446572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters Centerline goodness [0,1] 0.9995307037097871 Centerline is valid? [True, True] Translation: X:152.33, Y:236.24, Z:4.15 [[ 2.27145683e-01 -9.73838980e-01 6.51768013e-03 1.52330028e+02] [ 9.73294048e-01 2.27236703e-01 3.25910533e-02 2.36241764e+02] [-3.32194942e-02 -1.05929777e-03 9.99447519e-01 4.15281186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.546875 meters Centerline goodness [0,1] 0.9996233432990419 Centerline is valid? [True, True] Translation: X:152.34, Y:236.27, Z:4.15 [[ 2.26262722e-01 -9.74045332e-01 6.39303737e-03 1.52339042e+02] [ 9.73519466e-01 2.26350719e-01 3.20187750e-02 2.36268914e+02] [-3.26348070e-02 -1.02090888e-03 9.99466821e-01 4.15181617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters Centerline goodness [0,1] 0.9995974616404623 Centerline is valid? [True, True] Translation: X:152.35, Y:236.29, Z:4.15 [[ 2.23966891e-01 -9.74577602e-01 6.10981790e-03 1.52345845e+02] [ 9.74096187e-01 2.24048361e-01 3.06422862e-02 2.36294962e+02] [-3.12321804e-02 -9.11307253e-04 9.99511741e-01 4.14906592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.606875 meters Centerline goodness [0,1] 0.9996916069649381 Centerline is valid? [True, True] Translation: X:152.36, Y:236.32, Z:4.15 [[ 2.22115962e-01 -9.75002214e-01 5.93149306e-03 1.52357723e+02] [ 9.74547448e-01 2.22193575e-01 2.97873499e-02 2.36320953e+02] [-3.03606717e-02 -8.35724442e-04 9.99538659e-01 4.14900798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters Centerline goodness [0,1] 0.999502676076351 Centerline is valid? [True, True] Translation: X:152.37, Y:236.35, Z:4.15 [[ 2.18516419e-01 -9.75815974e-01 5.81026553e-03 1.52366917e+02] [ 9.75378549e-01 2.18592470e-01 2.92235725e-02 2.36346759e+02] [-2.97869092e-02 -7.18622053e-04 9.99556013e-01 4.14706676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.666875 meters Centerline goodness [0,1] 0.9995252563615648 Centerline is valid? [True, True] Translation: X:152.38, Y:236.37, Z:4.15 [[ 2.15920209e-01 -9.76392859e-01 5.95385534e-03 1.52375089e+02] [ 9.75932812e-01 2.16001266e-01 2.99766663e-02 2.36374321e+02] [-3.05550432e-02 -6.62005263e-04 9.99532866e-01 4.14665160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters Centerline goodness [0,1] 0.9994267561564 Centerline is valid? [True, True] Translation: X:152.38, Y:236.40, Z:4.15 [[ 2.13572988e-01 -9.76908399e-01 6.04641955e-03 1.52383831e+02] [ 9.76432876e-01 2.13657700e-01 3.04832195e-02 2.36401104e+02] [-3.10711772e-02 -6.06469450e-04 9.99516990e-01 4.14674335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.726875 meters Centerline goodness [0,1] 0.999545117192176 Centerline is valid? [True, True] Translation: X:152.40, Y:236.43, Z:4.15 [[ 2.08068450e-01 -9.78094340e-01 6.24357390e-03 1.52395223e+02] [ 9.77586301e-01 2.08161607e-01 3.15241261e-02 2.36427139e+02] [-3.21332417e-02 -4.55543736e-04 9.99483490e-01 4.14791469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters Centerline goodness [0,1] 0.9996174719678677 Centerline is valid? [True, True] Translation: X:152.40, Y:236.45, Z:4.15 [[ 2.05225507e-01 -9.78694010e-01 6.36598590e-03 1.52403671e+02] [ 9.78164546e-01 2.05323868e-01 3.21905310e-02 2.36453998e+02] [-3.28117688e-02 -3.79336348e-04 9.99461477e-01 4.14816906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.786875 meters Centerline goodness [0,1] 0.9996644697423607 Centerline is valid? [True, True] Translation: X:152.41, Y:236.48, Z:4.15 [[ 2.02794800e-01 -9.79199980e-01 6.45505686e-03 1.52411025e+02] [ 9.78654232e-01 2.02897268e-01 3.26893271e-02 2.36481195e+02] [-3.33191019e-02 -3.11956829e-04 9.99444716e-01 4.14791108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters Centerline goodness [0,1] 0.9998554843682258 Centerline is valid? [True, True] Translation: X:152.42, Y:236.51, Z:4.15 [[ 1.98654389e-01 -9.80048141e-01 6.48647658e-03 1.52419887e+02] [ 9.79495894e-01 1.98760176e-01 3.28965824e-02 2.36508128e+02] [-3.35294876e-02 -1.81573293e-04 9.99437712e-01 4.14781235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.846875 meters Centerline goodness [0,1] 0.9997117671078232 Centerline is valid? [True, True] Translation: X:152.43, Y:236.53, Z:4.15 [[ 1.96974982e-01 -9.80387326e-01 6.44575696e-03 1.52425757e+02] [ 9.79840555e-01 1.97080373e-01 3.27385529e-02 2.36534188e+02] [-3.33667946e-02 -1.32861784e-04 9.99443165e-01 4.14597426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters Centerline goodness [0,1] 0.9996407959960727 Centerline is valid? [True, True] Translation: X:152.43, Y:236.56, Z:4.14 [[ 1.95306044e-01 -9.80721429e-01 6.40530683e-03 1.52431743e+02] [ 9.80179937e-01 1.95411032e-01 3.25855810e-02 2.36561348e+02] [-3.32090451e-02 -8.58076576e-05 9.99448424e-01 4.14445868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.906875 meters Centerline goodness [0,1] 0.9996399423907826 Centerline is valid? [True, True] Translation: X:152.44, Y:236.59, Z:4.14 [[ 1.93913596e-01 -9.80997795e-01 6.39097456e-03 1.52437627e+02] [ 9.80457307e-01 1.94018878e-01 3.25598427e-02 2.36589082e+02] [-3.31811036e-02 -4.77184603e-05 9.99449354e-01 4.14385693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters Centerline goodness [0,1] 0.9997116562943028 Centerline is valid? [True, True] Translation: X:152.44, Y:236.62, Z:4.14 [[ 1.91408458e-01 -9.81489934e-01 6.34919937e-03 1.52443513e+02] [ 9.80955187e-01 1.91513732e-01 3.23946239e-02 2.36615743e+02] [-3.30109562e-02 2.76750298e-05 9.99454989e-01 4.14312643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.966875 meters Centerline goodness [0,1] 0.9996656077579 Centerline is valid? [True, True] Translation: X:152.45, Y:236.64, Z:4.14 [[ 1.90009361e-01 -9.81761751e-01 6.34873183e-03 1.52449151e+02] [ 9.81225521e-01 1.90115384e-01 3.24440676e-02 2.36642754e+02] [-3.30593362e-02 6.48611651e-05 9.99453389e-01 4.14163760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters Centerline goodness [0,1] 0.9996640833073398 Centerline is valid? [True, True] Translation: X:152.46, Y:236.67, Z:4.14 [[ 1.89225079e-01 -9.81912867e-01 6.40249292e-03 1.52455033e+02] [ 9.81365862e-01 1.89333346e-01 3.27708736e-02 2.36670569e+02] [-3.33903478e-02 8.21168406e-05 9.99442383e-01 4.14115416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.026875 meters Centerline goodness [0,1] 0.9997371439495316 Centerline is valid? [True, True] Translation: X:152.46, Y:236.70, Z:4.14 [[ 1.87645453e-01 -9.82214017e-01 6.69401090e-03 1.52459816e+02] [ 9.81614380e-01 1.87764769e-01 3.43161991e-02 2.36697933e+02] [-3.49627512e-02 1.31658635e-04 9.99388607e-01 4.14167259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters Centerline goodness [0,1] 0.9997134259922625 Centerline is valid? [True, True] Translation: X:152.46, Y:236.73, Z:4.14 [[ 1.87295264e-01 -9.82280038e-01 6.81252004e-03 1.52464081e+02] [ 9.81657161e-01 1.87419069e-01 3.49758656e-02 2.36726183e+02] [-3.56328907e-02 1.36745114e-04 9.99364938e-01 4.14089998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.086875 meters Centerline goodness [0,1] 0.9995976712263928 Centerline is valid? [True, True] Translation: X:152.47, Y:236.75, Z:4.14 [[ 1.88507396e-01 -9.82047822e-01 6.85838606e-03 1.52466435e+02] [ 9.81414504e-01 1.88632099e-01 3.52633322e-02 2.36753071e+02] [-3.59239904e-02 8.35206291e-05 9.99354522e-01 4.13931989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters Centerline goodness [0,1] 0.9997390087076186 Centerline is valid? [True, True] Translation: X:152.47, Y:236.78, Z:4.14 [[ 1.89313522e-01 -9.81893425e-01 6.75956850e-03 1.52470017e+02] [ 9.81276234e-01 1.89434156e-01 3.48088009e-02 2.36780646e+02] [-3.54590259e-02 4.32272314e-05 9.99371130e-01 4.13834641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.146875 meters Centerline goodness [0,1] 0.9998574347764102 Centerline is valid? [True, True] Translation: X:152.47, Y:236.81, Z:4.14 [[ 1.90594938e-01 -9.81645962e-01 6.69144517e-03 1.52473314e+02] [ 9.81039233e-01 1.90712364e-01 3.45082236e-02 2.36808764e+02] [-3.51509997e-02 -1.25225038e-05 9.99382013e-01 4.13711131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters Centerline goodness [0,1] 0.9996461346103942 Centerline is valid? [True, True] Translation: X:152.47, Y:236.84, Z:4.13 [[ 1.94257973e-01 -9.80929204e-01 6.46043903e-03 1.52472985e+02] [ 9.80361690e-01 1.94365315e-01 3.33628832e-02 2.36835159e+02] [-3.39823117e-02 -1.47439155e-04 9.99422424e-01 4.13409598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.206875 meters Centerline goodness [0,1] 0.9995986211455825 Centerline is valid? [True, True] Translation: X:152.48, Y:236.86, Z:4.13 [[ 1.96306487e-01 -9.80521693e-01 6.40104359e-03 1.52475375e+02] [ 9.79962481e-01 1.96410688e-01 3.31116020e-02 2.36863428e+02] [-3.37238775e-02 -2.27239714e-04 9.99431162e-01 4.13271825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters Centerline goodness [0,1] 0.9995986211455825 Centerline is valid? [True, True] Translation: X:152.48, Y:236.89, Z:4.13 [[ 1.96027513e-01 -9.80577565e-01 6.39161013e-03 1.52480525e+02] [ 9.80018323e-01 1.96131555e-01 3.31134226e-02 2.36890547e+02] [-3.37238757e-02 -2.27246848e-04 9.99431162e-01 4.13159108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.266875 meters Centerline goodness [0,1] 0.9998590656049609 Centerline is valid? [True, True] Translation: X:152.48, Y:236.92, Z:4.13 [[ 2.00622884e-01 -9.79646949e-01 6.50482383e-03 1.52477864e+02] [ 9.79065419e-01 2.00727906e-01 3.37522300e-02 2.36918341e+02] [-3.43709688e-02 -4.02821669e-04 9.99409063e-01 4.12996676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters Centerline goodness [0,1] 0.9995312426756668 Centerline is valid? [True, True] Translation: X:152.48, Y:236.95, Z:4.13 [[ 2.03218551e-01 -9.79111876e-01 6.49273990e-03 1.52481570e+02] [ 9.78530333e-01 2.03321619e-01 3.37447308e-02 2.36946069e+02] [-3.43599810e-02 -5.04212341e-04 9.99409394e-01 4.12967974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32687500000003 meters Centerline goodness [0,1] 0.9993457332460978 Centerline is valid? [True, True] Translation: X:152.48, Y:236.97, Z:4.13 [[ 2.07731515e-01 -9.78163509e-01 6.61571419e-03 1.52481014e+02] [ 9.77557372e-01 2.07835702e-01 3.44369702e-02 2.36974434e+02] [-3.50599692e-02 -6.86403824e-04 9.99384975e-01 4.12855733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters Centerline goodness [0,1] 0.9995090590298071 Centerline is valid? [True, True] Translation: X:152.48, Y:237.00, Z:4.13 [[ 2.09227982e-01 -9.77844090e-01 6.67732838e-03 1.52484534e+02] [ 9.77224554e-01 2.09333133e-01 3.48110617e-02 2.37002672e+02] [-3.54375770e-02 -7.58198949e-04 9.99371604e-01 4.12764090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38687500000003 meters Centerline goodness [0,1] 0.9996738801276527 Centerline is valid? [True, True] Translation: X:152.49, Y:237.03, Z:4.13 [[ 2.10772831e-01 -9.77512010e-01 6.71452788e-03 1.52486853e+02] [ 9.76883525e-01 2.10878122e-01 3.50570345e-02 2.37029989e+02] [-3.56846193e-02 -8.29758724e-04 9.99362757e-01 4.12711796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters Centerline goodness [0,1] 0.9995101698077999 Centerline is valid? [True, True] Translation: X:152.49, Y:237.06, Z:4.13 [[ 2.13953663e-01 -9.76819416e-01 6.90355952e-03 1.52488082e+02] [ 9.76152746e-01 2.14062749e-01 3.60964899e-02 2.37058363e+02] [-3.67375471e-02 -9.84047638e-04 9.99324464e-01 4.12578898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44687500000003 meters Centerline goodness [0,1] 0.9995099411929431 Centerline is valid? [True, True] Translation: X:152.49, Y:237.09, Z:4.12 [[ 2.15201527e-01 -9.76544534e-01 7.00548276e-03 1.52490485e+02] [ 9.75855742e-01 2.15312919e-01 3.66867433e-02 2.37085954e+02] [-3.73346095e-02 -1.05870258e-03 9.99302260e-01 4.12407764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters Centerline goodness [0,1] 0.9994630935151034 Centerline is valid? [True, True] Translation: X:152.49, Y:237.11, Z:4.12 [[ 2.15935560e-01 -9.76382875e-01 6.95096243e-03 1.52494085e+02] [ 9.75702796e-01 2.16044661e-01 3.64521506e-02 2.37113695e+02] [-3.70929739e-02 -1.08924206e-03 9.99311225e-01 4.12248151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50687500000004 meters Centerline goodness [0,1] 0.9994176702149962 Centerline is valid? [True, True] Translation: X:152.50, Y:237.14, Z:4.12 [[ 2.16958963e-01 -9.76156141e-01 6.92805094e-03 1.52495936e+02] [ 9.75478612e-01 2.17066582e-01 3.63809923e-02 2.37140352e+02] [-3.70173773e-02 -1.13501683e-03 9.99313977e-01 4.12092196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters Centerline goodness [0,1] 0.999422552778676 Centerline is valid? [True, True] Translation: X:152.50, Y:237.17, Z:4.12 [[ 2.16732386e-01 -9.76206331e-01 6.94783663e-03 1.52501301e+02] [ 9.75522755e-01 2.16840712e-01 3.65439387e-02 2.37167368e+02] [-3.71809982e-02 -1.14248232e-03 9.99307895e-01 4.12004873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56687500000004 meters Centerline goodness [0,1] 0.9996522787333674 Centerline is valid? [True, True] Translation: X:152.50, Y:237.19, Z:4.12 [[ 2.16165829e-01 -9.76332426e-01 6.87950427e-03 1.52504365e+02] [ 9.75660004e-01 2.16272355e-01 3.62467223e-02 2.37194013e+02] [-3.68766969e-02 -1.12324563e-03 9.99319192e-01 4.11811946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters Centerline goodness [0,1] 0.9996536356709077 Centerline is valid? [True, True] Translation: X:152.51, Y:237.22, Z:4.12 [[ 2.15497420e-01 -9.76480356e-01 6.85390989e-03 1.52509096e+02] [ 9.75810920e-01 2.15603550e-01 3.61684684e-02 2.37220856e+02] [-3.67955262e-02 -1.10609152e-03 9.99322203e-01 4.11655533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62687500000004 meters Centerline goodness [0,1] 0.9996050185873606 Centerline is valid? [True, True] Translation: X:152.51, Y:237.25, Z:4.11 [[ 2.14924802e-01 -9.76606319e-01 6.88672214e-03 1.52514200e+02] [ 9.75928252e-01 2.15032279e-01 3.64028414e-02 2.37247927e+02] [-3.70321125e-02 -1.10292679e-03 9.99313467e-01 4.11482280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters Centerline goodness [0,1] 0.9991641319742739 Centerline is valid? [True, True] Translation: X:152.52, Y:237.27, Z:4.11 [[ 2.14281526e-01 -9.76747483e-01 6.91250404e-03 1.52518133e+02] [ 9.76062085e-01 2.14390191e-01 3.66012593e-02 2.37273619e+02] [-3.72321609e-02 -1.09594061e-03 9.99306042e-01 4.11327534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.686875 meters Centerline goodness [0,1] 0.9992123430477691 Centerline is valid? [True, True] Translation: X:152.53, Y:237.30, Z:4.11 [[ 2.13277127e-01 -9.76966900e-01 6.96726971e-03 1.52525616e+02] [ 9.76268190e-01 2.13388164e-01 3.69582611e-02 2.37301212e+02] [-3.75937307e-02 -1.08042795e-03 9.99292522e-01 4.11302475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters Centerline goodness [0,1] 0.9995842956120092 Centerline is valid? [True, True] Translation: X:152.53, Y:237.33, Z:4.11 [[ 2.12068840e-01 -9.77230991e-01 6.81154525e-03 1.52529257e+02] [ 9.76561281e-01 2.12175740e-01 3.61872929e-02 2.37328186e+02] [-3.68085888e-02 -1.02230587e-03 9.99321811e-01 4.11178392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.746875 meters Centerline goodness [0,1] 0.9994437878050476 Centerline is valid? [True, True] Translation: X:152.54, Y:237.36, Z:4.11 [[ 2.11579465e-01 -9.77337664e-01 6.72454204e-03 1.52535617e+02] [ 9.76682949e-01 2.11683924e-01 3.57817601e-02 2.37355774e+02] [-3.63943393e-02 -1.00294013e-03 9.99337003e-01 4.11069949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters Centerline goodness [0,1] 0.9993792104476582 Centerline is valid? [True, True] Translation: X:152.54, Y:237.38, Z:4.11 [[ 2.10333439e-01 -9.77606761e-01 6.69813073e-03 1.52538988e+02] [ 9.76955315e-01 2.10437855e-01 3.56962426e-02 2.37382993e+02] [-3.63064284e-02 -9.64339063e-04 9.99340239e-01 4.10887138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.806875 meters Centerline goodness [0,1] 0.9994218583784283 Centerline is valid? [True, True] Translation: X:152.55, Y:237.41, Z:4.11 [[ 2.09447267e-01 -9.77796299e-01 6.80002502e-03 1.52545256e+02] [ 9.77122834e-01 2.09555435e-01 3.62972107e-02 2.37410609e+02] [-3.69162605e-02 -9.57891878e-04 9.99317903e-01 4.10797508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters Centerline goodness [0,1] 0.999559746970364 Centerline is valid? [True, True] Translation: X:152.55, Y:237.44, Z:4.11 [[ 2.07198762e-01 -9.78274604e-01 6.89009092e-03 1.52550833e+02] [ 9.77581256e-01 2.07311350e-01 3.68360178e-02 2.37438020e+02] [-3.74641348e-02 -8.96753533e-04 9.99297571e-01 4.10716410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.866875 meters Centerline goodness [0,1] 0.9996995539531767 Centerline is valid? [True, True] Translation: X:152.56, Y:237.46, Z:4.11 [[ 2.05924430e-01 -9.78544365e-01 6.78640268e-03 1.52555669e+02] [ 9.77869913e-01 2.06034488e-01 3.63348686e-02 2.37464544e+02] [-3.69535139e-02 -8.46018090e-04 9.99316628e-01 4.10578999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters Centerline goodness [0,1] 0.9994433362712808 Centerline is valid? [True, True] Translation: X:152.56, Y:237.49, Z:4.10 [[ 2.04172134e-01 -9.78910765e-01 6.88864538e-03 1.52561857e+02] [ 9.78213757e-01 2.04286728e-01 3.69429009e-02 2.37491873e+02] [-3.75710622e-02 -8.04143232e-04 9.99293635e-01 4.10445831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.926875 meters Centerline goodness [0,1] 0.9993300993300993 Centerline is valid? [True, True] Translation: X:152.57, Y:237.52, Z:4.10 [[ 2.01261003e-01 -9.79513169e-01 6.92537231e-03 1.52569617e+02] [ 9.78806879e-01 2.01378874e-01 3.71973415e-02 2.37519225e+02] [-3.78299095e-02 -7.07772189e-04 9.99283942e-01 4.10383039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters Centerline goodness [0,1] 0.9994904576616639 Centerline is valid? [True, True] Translation: X:152.58, Y:237.55, Z:4.10 [[ 1.99766223e-01 -9.79819201e-01 6.91293150e-03 1.52576229e+02] [ 9.79113562e-01 1.99884710e-01 3.71851406e-02 2.37546580e+02] [-3.78165041e-02 -6.59790116e-04 9.99284482e-01 4.10312964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.986875 meters Centerline goodness [0,1] 0.9994929707305831 Centerline is valid? [True, True] Translation: X:152.58, Y:237.57, Z:4.10 [[ 1.98086587e-01 -9.80160063e-01 6.92491363e-03 1.52580416e+02] [ 9.79449940e-01 1.98206663e-01 3.73086244e-02 2.37573854e+02] [-3.79409877e-02 -6.07731835e-04 9.99279797e-01 4.10174888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters Centerline goodness [0,1] 0.9995851004978794 Centerline is valid? [True, True] Translation: X:152.59, Y:237.60, Z:4.10 [[ 1.95580817e-01 -9.80663174e-01 6.91978273e-03 1.52587219e+02] [ 9.79952174e-01 1.95702497e-01 3.73399124e-02 2.37601476e+02] [-3.79720958e-02 -5.21914460e-04 9.99278664e-01 4.10111124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.046875 meters Centerline goodness [0,1] 0.9997235150453896 Centerline is valid? [True, True] Translation: X:152.59, Y:237.63, Z:4.10 [[ 1.93913797e-01 -9.80994041e-01 6.93761731e-03 1.52593172e+02] [ 9.80277372e-01 1.94037291e-01 3.74940438e-02 2.37628691e+02] [-3.81275901e-02 -4.69823130e-04 9.99272769e-01 4.09976875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters Centerline goodness [0,1] 0.9996540909510193 Centerline is valid? [True, True] Translation: X:152.60, Y:237.66, Z:4.10 [[ 1.90706383e-01 -9.81622918e-01 6.89360525e-03 1.52598826e+02] [ 9.80913496e-01 1.90830608e-01 3.73147887e-02 2.37655960e+02] [-3.79445627e-02 -3.54137963e-04 9.99279783e-01 4.09816171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.106875 meters Centerline goodness [0,1] 0.9997704105060152 Centerline is valid? [True, True] Translation: X:152.61, Y:237.68, Z:4.10 [[ 1.88751622e-01 -9.82000855e-01 6.86625412e-03 1.52605797e+02] [ 9.81295170e-01 1.88876248e-01 3.72229940e-02 2.37683706e+02] [-3.78498843e-02 -2.88078477e-04 9.99283395e-01 4.09681238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters Centerline goodness [0,1] 0.9998851234922458 Centerline is valid? [True, True] Translation: X:152.61, Y:237.71, Z:4.10 [[ 1.84991324e-01 -9.82716706e-01 6.78868555e-03 1.52612663e+02] [ 9.82025374e-01 1.85115784e-01 3.68552802e-02 2.37710861e+02] [-3.74749924e-02 -1.51245634e-04 9.99297554e-01 4.09608395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.166875 meters Centerline goodness [0,1] 0.9996785968456576 Centerline is valid? [True, True] Translation: X:152.62, Y:237.74, Z:4.10 [[ 1.83024833e-01 -9.83084808e-01 6.79486147e-03 1.52618506e+02] [ 9.82390289e-01 1.83150899e-01 3.69468392e-02 2.37738358e+02] [-3.75663613e-02 -8.69831276e-05 9.99294131e-01 4.09500431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters Centerline goodness [0,1] 0.999678530424799 Centerline is valid? [True, True] Translation: X:152.62, Y:237.76, Z:4.09 [[ 1.81084410e-01 -9.83444639e-01 6.71402710e-03 1.52624065e+02] [ 9.82764597e-01 1.81208833e-01 3.65664482e-02 2.37764990e+02] [-3.71777185e-02 -2.33055496e-05 9.99308669e-01 4.09348054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.226875 meters Centerline goodness [0,1] 0.9996094737083917 Centerline is valid? [True, True] Translation: X:152.63, Y:237.79, Z:4.09 [[ 1.78060190e-01 -9.83997798e-01 6.54995142e-03 1.52630086e+02] [ 9.83349565e-01 1.78180600e-01 3.57114433e-02 2.37792216e+02] [-3.63070559e-02 8.21055016e-05 9.99340678e-01 4.09186061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters Centerline goodness [0,1] 0.9997713972201902 Centerline is valid? [True, True] Translation: X:152.64, Y:237.82, Z:4.09 [[ 1.75970872e-01 -9.84373886e-01 6.50422846e-03 1.52635080e+02] [ 9.83732968e-01 1.76090973e-01 3.55164339e-02 2.37818641e+02] [-3.61067860e-02 1.48566107e-04 9.99347926e-01 4.09078991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.286875 meters Centerline goodness [0,1] 0.9997247832668226 Centerline is valid? [True, True] Translation: X:152.64, Y:237.85, Z:4.09 [[ 1.74535487e-01 -9.84629660e-01 6.46504233e-03 1.52639937e+02] [ 9.83994543e-01 1.74655080e-01 3.53601836e-02 2.37846505e+02] [-3.59458380e-02 1.89959516e-04 9.99353721e-01 4.08978038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters Centerline goodness [0,1] 0.9997703208617561 Centerline is valid? [True, True] Translation: X:152.64, Y:237.87, Z:4.09 [[ 1.73026706e-01 -9.84895979e-01 6.45528223e-03 1.52644758e+02] [ 9.84260951e-01 1.73146921e-01 3.53627472e-02 2.37873837e+02] [-3.59463398e-02 2.34982573e-04 9.99353694e-01 4.08875948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.346875 meters Centerline goodness [0,1] 0.9995875249203694 Centerline is valid? [True, True] Translation: X:152.65, Y:237.90, Z:4.09 [[ 1.70532955e-01 -9.85330797e-01 6.46004098e-03 1.52649848e+02] [ 9.84693105e-01 1.70654976e-01 3.54452924e-02 2.37901045e+02] [-3.60277763e-02 3.16567346e-04 9.99350739e-01 4.08807143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters Centerline goodness [0,1] 0.9996573308356559 Centerline is valid? [True, True] Translation: X:152.65, Y:237.93, Z:4.09 [[ 1.69237237e-01 -9.85554215e-01 6.45336324e-03 1.52654620e+02] [ 9.84915987e-01 1.69359862e-01 3.54645544e-02 2.37928588e+02] [-3.60451818e-02 3.54097421e-04 9.99350099e-01 4.08709005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.406875 meters Centerline goodness [0,1] 0.9997029386225492 Centerline is valid? [True, True] Translation: X:152.66, Y:237.95, Z:4.09 [[ 1.68359587e-01 -9.85704040e-01 6.52649176e-03 1.52658909e+02] [ 9.85049206e-01 1.68485611e-01 3.59257763e-02 2.37954829e+02] [-3.65118028e-02 3.80466654e-04 9.99333149e-01 4.08616866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters Centerline goodness [0,1] 0.9995652671319071 Centerline is valid? [True, True] Translation: X:152.66, Y:237.98, Z:4.09 [[ 1.66960802e-01 -9.85941880e-01 6.53450142e-03 1.52662660e+02] [ 9.85284174e-01 1.67088083e-01 3.60092946e-02 2.37982010e+02] [-3.65949089e-02 4.26200118e-04 9.99330091e-01 4.08520379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.466875 meters Centerline goodness [0,1] 0.9997943750142795 Centerline is valid? [True, True] Translation: X:152.67, Y:238.01, Z:4.08 [[ 1.66765642e-01 -9.85974744e-01 6.55936511e-03 1.52666555e+02] [ 9.85309820e-01 1.66894050e-01 3.62068205e-02 2.38009693e+02] [-3.67937296e-02 4.24953179e-04 9.99322791e-01 4.08447472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters Centerline goodness [0,1] 0.9996574247476362 Centerline is valid? [True, True] Translation: X:152.67, Y:238.04, Z:4.08 [[ 1.66823445e-01 -9.85964856e-01 6.57575195e-03 1.52668784e+02] [ 9.85294498e-01 1.66952480e-01 3.63541025e-02 2.38036887e+02] [-3.69417055e-02 4.14335600e-04 9.99317336e-01 4.08349609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.526875 meters Centerline goodness [0,1] 0.9995662892622352 Centerline is valid? [True, True] Translation: X:152.67, Y:238.06, Z:4.08 [[ 1.66881497e-01 -9.85955111e-01 6.56392178e-03 1.52672405e+02] [ 9.85284947e-01 1.67010053e-01 3.63485151e-02 2.38064052e+02] [-3.69342451e-02 4.01438723e-04 9.99317617e-01 4.08223937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters Centerline goodness [0,1] 0.9996580417189103 Centerline is valid? [True, True] Translation: X:152.67, Y:238.09, Z:4.08 [[ 1.67137224e-01 -9.85911539e-01 6.60200924e-03 1.52674713e+02] [ 9.85231157e-01 1.67267125e-01 3.66234423e-02 2.38089929e+02] [-3.72117734e-02 3.83364724e-04 9.99307329e-01 4.08073768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.586875 meters Centerline goodness [0,1] 0.9997730058564489 Centerline is valid? [True, True] Translation: X:152.68, Y:238.12, Z:4.08 [[ 1.67012837e-01 -9.85932971e-01 6.54896530e-03 1.52678226e+02] [ 9.85261047e-01 1.67140770e-01 3.63954870e-02 2.38115696e+02] [-3.69781097e-02 3.73926858e-04 9.99316006e-01 4.07953207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters Centerline goodness [0,1] 0.9998638436925591 Centerline is valid? [True, True] Translation: X:152.68, Y:238.14, Z:4.08 [[ 1.67321747e-01 -9.85880748e-01 6.52565463e-03 1.52681667e+02] [ 9.85211121e-01 1.67448585e-01 3.63320549e-02 2.38142563e+02] [-3.69117851e-02 3.50004611e-04 9.99318467e-01 4.07852713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.646875 meters Centerline goodness [0,1] 0.9995467319372677 Centerline is valid? [True, True] Translation: X:152.68, Y:238.17, Z:4.08 [[ 1.68566588e-01 -9.85668873e-01 6.49453750e-03 1.52681901e+02] [ 9.85003189e-01 1.68691400e-01 3.62205648e-02 2.38170770e+02] [-3.67970559e-02 2.91563131e-04 9.99322716e-01 4.07803896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters Centerline goodness [0,1] 0.9998414855072464 Centerline is valid? [True, True] Translation: X:152.68, Y:238.20, Z:4.08 [[ 1.69235041e-01 -9.85554454e-01 6.47445987e-03 1.52684797e+02] [ 9.84890634e-01 1.69358650e-01 3.61674960e-02 2.38197500e+02] [-3.67415426e-02 2.55827220e-04 9.99324769e-01 4.07697436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.706875 meters Centerline goodness [0,1] 0.9997525643332733 Centerline is valid? [True, True] Translation: X:152.68, Y:238.23, Z:4.08 [[ 1.72090673e-01 -9.85058410e-01 6.68795740e-03 1.52684838e+02] [ 9.84347118e-01 1.72220523e-01 3.74278282e-02 2.38225490e+02] [-3.80204004e-02 1.42291439e-04 9.99276953e-01 4.07589003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters Centerline goodness [0,1] 0.9994830879874144 Centerline is valid? [True, True] Translation: X:152.69, Y:238.25, Z:4.07 [[ 1.73810953e-01 -9.84756383e-01 6.67976153e-03 1.52686976e+02] [ 9.84044362e-01 1.73939249e-01 3.74410425e-02 2.38253526e+02] [-3.80321783e-02 6.55183907e-05 9.99276513e-01 4.07463056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.766875 meters Centerline goodness [0,1] 0.9995963763566239 Centerline is valid? [True, True] Translation: X:152.69, Y:238.28, Z:4.07 [[ 1.75431089e-01 -9.84469621e-01 6.59537659e-03 1.52689182e+02] [ 9.83773090e-01 1.75555022e-01 3.70262283e-02 2.38281866e+02] [-3.76090484e-02 -7.19754101e-06 9.99292529e-01 4.07366987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters Centerline goodness [0,1] 0.9997992460574157 Centerline is valid? [True, True] Translation: X:152.69, Y:238.31, Z:4.07 [[ 1.78892485e-01 -9.83847075e-01 6.51250460e-03 1.52688294e+02] [ 9.83165316e-01 1.79010927e-01 3.66203410e-02 2.38309235e+02] [-3.71946248e-02 -1.48235162e-04 9.99308030e-01 4.07200416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82687500000003 meters Centerline goodness [0,1] 0.9997548528002496 Centerline is valid? [True, True] Translation: X:152.69, Y:238.34, Z:4.07 [[ 1.80441771e-01 -9.83564440e-01 6.46213695e-03 1.52689922e+02] [ 9.82890668e-01 1.80557318e-01 3.64004114e-02 2.38336198e+02] [-3.69689364e-02 -2.16580588e-04 9.99316392e-01 4.07026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters Centerline goodness [0,1] 0.9997784424504265 Centerline is valid? [True, True] Translation: X:152.69, Y:238.36, Z:4.07 [[ 1.84001764e-01 -9.82905663e-01 6.30943287e-03 1.52690637e+02] [ 9.82260831e-01 1.84109570e-01 3.55995326e-02 2.38364866e+02] [-3.61526092e-02 -3.52868034e-04 9.99346218e-01 4.06927372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88687500000003 meters Centerline goodness [0,1] 0.9994910153138001 Centerline is valid? [True, True] Translation: X:152.69, Y:238.39, Z:4.07 [[ 1.85590175e-01 -9.82607309e-01 6.25804967e-03 1.52693302e+02] [ 9.81970802e-01 1.85695185e-01 3.53644284e-02 2.38392689e+02] [-3.59114355e-02 -4.18068414e-04 9.99354889e-01 4.06834599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters Centerline goodness [0,1] 0.9998230245111052 Centerline is valid? [True, True] Translation: X:152.70, Y:238.42, Z:4.07 [[ 1.87296171e-01 -9.82283295e-01 6.29863688e-03 1.52696033e+02] [ 9.81636424e-01 1.87401400e-01 3.56461309e-02 2.38421448e+02] [-3.61949723e-02 -4.93412440e-04 9.99344626e-01 4.06767046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94687500000003 meters Centerline goodness [0,1] 0.9996919963039557 Centerline is valid? [True, True] Translation: X:152.70, Y:238.45, Z:4.07 [[ 1.90054974e-01 -9.81752560e-01 6.40452528e-03 1.52697552e+02] [ 9.81081322e-01 1.90161856e-01 3.63030020e-02 2.38450123e+02] [-3.68584616e-02 -6.16205981e-04 9.99320306e-01 4.06717976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters Centerline goodness [0,1] 0.9994923633795356 Centerline is valid? [True, True] Translation: X:152.70, Y:238.48, Z:4.07 [[ 1.91434104e-01 -9.81484192e-01 6.46258741e-03 1.52701002e+02] [ 9.80798404e-01 1.91541931e-01 3.66903068e-02 2.38478657e+02] [-3.72488126e-02 -6.85280580e-04 9.99305787e-01 4.06636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00687500000004 meters Centerline goodness [0,1] 0.9995598978963119 Centerline is valid? [True, True] Translation: X:152.70, Y:238.51, Z:4.07 [[ 1.94358411e-01 -9.80908164e-01 6.63183941e-03 1.52702216e+02] [ 9.80183264e-01 1.94469754e-01 3.77131828e-02 2.38506950e+02] [-3.82828611e-02 -8.29456298e-04 9.99266598e-01 4.06588835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters Centerline goodness [0,1] 0.9994306236860546 Centerline is valid? [True, True] Translation: X:152.70, Y:238.53, Z:4.07 [[ 1.95545668e-01 -9.80671919e-01 6.66930622e-03 1.52704830e+02] [ 9.79936209e-01 1.95657328e-01 3.79899622e-02 2.38534220e+02] [-3.85605878e-02 -8.93277885e-04 9.99255865e-01 4.06511924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06687500000004 meters Centerline goodness [0,1] 0.9994973117104515 Centerline is valid? [True, True] Translation: X:152.71, Y:238.56, Z:4.06 [[ 1.96791282e-01 -9.80422340e-01 6.72504418e-03 1.52707916e+02] [ 9.79672592e-01 1.96903827e-01 3.83470407e-02 2.38562358e+02] [-3.89204823e-02 -9.58021827e-04 9.99241852e-01 4.06417098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters Centerline goodness [0,1] 0.9993900712309669 Centerline is valid? [True, True] Translation: X:152.71, Y:238.59, Z:4.06 [[ 1.99429645e-01 -9.79888887e-01 6.75170199e-03 1.52708844e+02] [ 9.79130494e-01 1.99540984e-01 3.85599811e-02 2.38590441e+02] [-3.91317382e-02 -1.07920604e-03 9.99233477e-01 4.06341244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12687500000004 meters Centerline goodness [0,1] 0.9994312340034563 Centerline is valid? [True, True] Translation: X:152.71, Y:238.62, Z:4.06 [[ 2.00644787e-01 -9.79641189e-01 6.69405305e-03 1.52714307e+02] [ 9.78893114e-01 2.00753237e-01 3.82937210e-02 2.38618175e+02] [-3.88579592e-02 -1.13067305e-03 9.99244105e-01 4.06209881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters Centerline goodness [0,1] 0.9995634998581374 Centerline is valid? [True, True] Translation: X:152.72, Y:238.65, Z:4.06 [[ 2.02514849e-01 -9.79256341e-01 6.68995409e-03 1.52715615e+02] [ 9.78506560e-01 2.02621665e-01 3.83324132e-02 2.38646054e+02] [-3.88927883e-02 -1.21671889e-03 9.99242649e-01 4.06060313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.186875 meters Centerline goodness [0,1] 0.9995634998581374 Centerline is valid? [True, True] Translation: X:152.72, Y:238.67, Z:4.06 [[ 2.02231211e-01 -9.79315029e-01 6.67914926e-03 1.52720288e+02] [ 9.78565219e-01 2.02337822e-01 3.83342957e-02 2.38673251e+02] [-3.88927964e-02 -1.21640789e-03 9.99242649e-01 4.05947531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters Centerline goodness [0,1] 0.9993266870832519 Centerline is valid? [True, True] Translation: X:152.72, Y:238.70, Z:4.06 [[ 2.03064294e-01 -9.79143216e-01 6.59204989e-03 1.52722749e+02] [ 9.78410223e-01 2.03167440e-01 3.79002121e-02 2.38700704e+02] [-3.84490255e-02 -1.24645079e-03 9.99259785e-01 4.05786000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.246875 meters Centerline goodness [0,1] 0.9995434187067879 Centerline is valid? [True, True] Translation: X:152.73, Y:238.73, Z:4.06 [[ 2.02932683e-01 -9.79171189e-01 6.48917625e-03 1.52727761e+02] [ 9.78459516e-01 2.03032687e-01 3.73457428e-02 2.38728093e+02] [-3.78853902e-02 -1.22927552e-03 9.99281335e-01 4.05684770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters Centerline goodness [0,1] 0.9993925456675489 Centerline is valid? [True, True] Translation: X:152.73, Y:238.76, Z:4.06 [[ 2.03369130e-01 -9.79080963e-01 6.43926612e-03 1.52730288e+02] [ 9.78377749e-01 2.03467211e-01 3.71224188e-02 2.38755247e+02] [-3.76560330e-02 -1.24951930e-03 9.99289979e-01 4.05512288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.306875 meters Centerline goodness [0,1] 0.9994588627459469 Centerline is valid? [True, True] Translation: X:152.74, Y:238.78, Z:4.05 [[ 2.03246055e-01 -9.79107991e-01 6.21156527e-03 1.52735626e+02] [ 9.78451770e-01 2.03337345e-01 3.58616611e-02 2.38782413e+02] [-3.63754821e-02 -1.21102412e-03 9.99337459e-01 4.05285625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters Centerline goodness [0,1] 0.9992857297461094 Centerline is valid? [True, True] Translation: X:152.74, Y:238.81, Z:4.05 [[ 2.03162058e-01 -9.79125577e-01 6.18735982e-03 1.52738689e+02] [ 9.78472288e-01 2.03252621e-01 3.57820292e-02 2.38809048e+02] [-3.62926971e-02 -1.21539058e-03 9.99340464e-01 4.05101560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.366875 meters Centerline goodness [0,1] 0.9993703180979264 Centerline is valid? [True, True] Translation: X:152.74, Y:238.84, Z:4.05 [[ 2.02777561e-01 -9.79205434e-01 6.16273507e-03 1.52744724e+02] [ 9.78555050e-01 2.02867582e-01 3.57037543e-02 2.38836052e+02] [-3.62115294e-02 -1.20934467e-03 9.99343416e-01 4.05041782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters Centerline goodness [0,1] 0.9993262041384107 Centerline is valid? [True, True] Translation: X:152.75, Y:238.86, Z:4.05 [[ 2.02386240e-01 -9.79285793e-01 6.25656987e-03 1.52750278e+02] [ 9.78613159e-01 2.02479213e-01 3.63105057e-02 2.38864074e+02] [-3.68251877e-02 -1.22598510e-03 9.99320971e-01 4.04947806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.426875 meters Centerline goodness [0,1] 0.9991981970268279 Centerline is valid? [True, True] Translation: X:152.75, Y:238.89, Z:4.05 [[ 2.01818475e-01 -9.79402860e-01 6.27216667e-03 1.52754705e+02] [ 9.78724558e-01 2.01912226e-01 3.64649412e-02 2.38890988e+02] [-3.69802949e-02 -1.22057529e-03 9.99315250e-01 4.04860638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters Centerline goodness [0,1] 0.999434499858625 Centerline is valid? [True, True] Translation: X:152.76, Y:238.92, Z:4.05 [[ 2.01179682e-01 -9.79534192e-01 6.28499253e-03 1.52762409e+02] [ 9.78851557e-01 2.01274209e-01 3.65830857e-02 2.38918130e+02] [-3.70993902e-02 -1.20769884e-03 9.99310851e-01 4.04845985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.486875 meters Centerline goodness [0,1] 0.9996082187010273 Centerline is valid? [True, True] Translation: X:152.77, Y:238.95, Z:4.05 [[ 2.00894668e-01 -9.79592513e-01 6.31194712e-03 1.52768313e+02] [ 9.78901649e-01 2.00990129e-01 3.68039321e-02 2.38946038e+02] [-3.73214955e-02 -1.21493827e-03 9.99302572e-01 4.04714753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters Centerline goodness [0,1] 0.9992605319819918 Centerline is valid? [True, True] Translation: X:152.77, Y:238.97, Z:4.05 [[ 2.00609063e-01 -9.79651063e-01 6.30858333e-03 1.52771555e+02] [ 9.78958494e-01 2.00704544e-01 3.68504199e-02 2.38972979e+02] [-3.73667144e-02 -1.21668698e-03 9.99300880e-01 4.04562314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.546875 meters Centerline goodness [0,1] 0.9993235576503448 Centerline is valid? [True, True] Translation: X:152.78, Y:239.00, Z:4.04 [[ 2.00148247e-01 -9.79745636e-01 6.25851246e-03 1.52776818e+02] [ 9.79062338e-01 2.00242484e-01 3.66044486e-02 2.38999628e+02] [-3.71162689e-02 -1.19884237e-03 9.99310235e-01 4.04422308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters Centerline goodness [0,1] 0.9993001181050698 Centerline is valid? [True, True] Translation: X:152.78, Y:239.03, Z:4.04 [[ 1.99986444e-01 -9.79778738e-01 6.24875862e-03 1.52784669e+02] [ 9.79095981e-01 2.00080449e-01 3.65906323e-02 2.39026337e+02] [-3.71009780e-02 -1.19949599e-03 9.99310802e-01 4.04334872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.606875 meters Centerline goodness [0,1] 0.9997599249219756 Centerline is valid? [True, True] Translation: X:152.79, Y:239.05, Z:4.04 [[ 1.99682849e-01 -9.79841181e-01 6.16596653e-03 1.52790972e+02] [ 9.79174187e-01 1.99774514e-01 3.61670311e-02 2.39054101e+02] [-3.66697494e-02 -1.18438052e-03 9.99326737e-01 4.04185115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters Centerline goodness [0,1] 0.9993637420742009 Centerline is valid? [True, True] Translation: X:152.80, Y:239.08, Z:4.04 [[ 1.99617777e-01 -9.79854619e-01 6.13754782e-03 1.52796566e+02] [ 9.79191527e-01 1.99708572e-01 3.60616219e-02 2.39081760e+02] [-3.65608677e-02 -1.18870599e-03 9.99330721e-01 4.04005462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.666875 meters Centerline goodness [0,1] 0.999539372669445 Centerline is valid? [True, True] Translation: X:152.80, Y:239.11, Z:4.04 [[ 1.99129201e-01 -9.79954191e-01 6.11108887e-03 1.52803070e+02] [ 9.79294624e-01 1.99219470e-01 3.59672388e-02 2.39108759e+02] [-3.64636943e-02 -1.17757104e-03 9.99334285e-01 4.03901401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters Centerline goodness [0,1] 0.9999780668085013 Centerline is valid? [True, True] Translation: X:152.81, Y:239.14, Z:4.04 [[ 1.98528890e-01 -9.80076342e-01 6.05345871e-03 1.52810906e+02] [ 9.79427013e-01 1.98617793e-01 3.56889059e-02 2.39136325e+02] [-3.61801769e-02 -1.15635791e-03 9.99344614e-01 4.03745323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.726875 meters Centerline goodness [0,1] 0.9995808977611117 Centerline is valid? [True, True] Translation: X:152.82, Y:239.16, Z:4.04 [[ 1.98402609e-01 -9.80102022e-01 6.03588864e-03 1.52816108e+02] [ 9.79454280e-01 1.98491009e-01 3.56459466e-02 2.39163049e+02] [-3.61347340e-02 -1.16037185e-03 9.99346254e-01 4.03551687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters Centerline goodness [0,1] 0.9993190704212978 Centerline is valid? [True, True] Translation: X:152.82, Y:239.19, Z:4.03 [[ 1.97925703e-01 -9.80198222e-01 6.07130666e-03 1.52822772e+02] [ 9.79540484e-01 1.98015385e-01 3.59214066e-02 2.39190884e+02] [-3.64123110e-02 -1.16267898e-03 9.99336176e-01 4.03428261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.786875 meters Centerline goodness [0,1] 0.9992522048958585 Centerline is valid? [True, True] Translation: X:152.83, Y:239.22, Z:4.03 [[ 1.97402333e-01 -9.80304128e-01 6.01125888e-03 1.52828634e+02] [ 9.79657240e-01 1.97490528e-01 3.56256037e-02 2.39217187e+02] [-3.61110931e-02 -1.14360400e-03 9.99347127e-01 4.03278892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters Centerline goodness [0,1] 0.9994008787112235 Centerline is valid? [True, True] Translation: X:152.84, Y:239.24, Z:4.03 [[ 1.95993194e-01 -9.80587325e-01 5.93004157e-03 1.52840029e+02] [ 9.79955687e-01 1.96079859e-01 3.52070950e-02 2.39243661e+02] [-3.56863929e-02 -1.08917303e-03 9.99362444e-01 4.03151677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.846875 meters Centerline goodness [0,1] 0.9995086763293656 Centerline is valid? [True, True] Translation: X:152.85, Y:239.27, Z:4.03 [[ 1.94977869e-01 -9.80789788e-01 5.91796578e-03 1.52846905e+02] [ 9.80158713e-01 1.95064770e-01 3.51942162e-02 2.39270805e+02] [-3.56725144e-02 -1.06154753e-03 9.99362970e-01 4.03037313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters Centerline goodness [0,1] 0.99933041692706 Centerline is valid? [True, True] Translation: X:152.85, Y:239.30, Z:4.03 [[ 1.94236565e-01 -9.80936760e-01 5.93553888e-03 1.52852731e+02] [ 9.80299806e-01 1.94324399e-01 3.53598424e-02 2.39297105e+02] [-3.58391893e-02 -1.04956671e-03 9.99357019e-01 4.02940221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.906875 meters Centerline goodness [0,1] 0.9992795389048992 Centerline is valid? [True, True] Translation: X:152.86, Y:239.32, Z:4.03 [[ 1.92684550e-01 -9.81242378e-01 6.00500953e-03 1.52862797e+02] [ 9.80588168e-01 1.92775416e-01 3.58396839e-02 2.39323973e+02] [-3.63250348e-02 -1.01731207e-03 9.99339510e-01 4.02854537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters Centerline goodness [0,1] 0.9995051064021235 Centerline is valid? [True, True] Translation: X:152.87, Y:239.35, Z:4.03 [[ 1.91915441e-01 -9.81393147e-01 5.99618642e-03 1.52870228e+02] [ 9.80738785e-01 1.92006493e-01 3.58460896e-02 2.39350927e+02] [-3.63304134e-02 -9.98725537e-04 9.99339334e-01 4.02738950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.966875 meters Centerline goodness [0,1] 0.9993452246556784 Centerline is valid? [True, True] Translation: X:152.87, Y:239.38, Z:4.03 [[ 1.91248861e-01 -9.81523284e-01 5.99296337e-03 1.52874941e+02] [ 9.80867407e-01 1.91340197e-01 3.58895460e-02 2.39377521e+02] [-3.63731199e-02 -9.85532354e-04 9.99337793e-01 4.02573272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters Centerline goodness [0,1] 0.9994778304992394 Centerline is valid? [True, True] Translation: X:152.89, Y:239.40, Z:4.02 [[ 1.90042779e-01 -9.81757823e-01 5.94299318e-03 1.52885705e+02] [ 9.81110571e-01 1.90133329e-01 3.56562017e-02 2.39404016e+02] [-3.61357160e-02 -9.45470210e-04 9.99346444e-01 4.02444318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.026875 meters Centerline goodness [0,1] 0.9994990436287458 Centerline is valid? [True, True] Translation: X:152.89, Y:239.43, Z:4.02 [[ 1.89430091e-01 -9.81876711e-01 5.86216524e-03 1.52889084e+02] [ 9.81244835e-01 1.89518534e-01 3.52320878e-02 2.39430865e+02] [-3.57045555e-02 -9.21798229e-04 9.99361964e-01 4.02286006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters Centerline goodness [0,1] 0.9993165975670874 Centerline is valid? [True, True] Translation: X:152.90, Y:239.46, Z:4.02 [[ 1.88579271e-01 -9.82040403e-01 5.87418007e-03 1.52899516e+02] [ 9.81403592e-01 1.88668565e-01 3.53717779e-02 2.39457410e+02] [-3.58447882e-02 -9.05442666e-04 9.99356959e-01 4.02201352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.086875 meters Centerline goodness [0,1] 0.9994507506407909 Centerline is valid? [True, True] Translation: X:152.90, Y:239.48, Z:4.02 [[ 1.87939722e-01 -9.82162768e-01 5.91245760e-03 1.52904806e+02] [ 9.81515349e-01 1.88030546e-01 3.56669840e-02 2.39483901e+02] [-3.61425064e-02 -9.00075187e-04 9.99346241e-01 4.02120677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters Centerline goodness [0,1] 0.9994763444287601 Centerline is valid? [True, True] Translation: X:152.91, Y:239.51, Z:4.02 [[ 1.87376116e-01 -9.82269975e-01 5.99063447e-03 1.52911996e+02] [ 9.81603731e-01 1.87469698e-01 3.61832448e-02 2.39511411e+02] [-3.66647774e-02 -8.99446729e-04 9.99327216e-01 4.02042320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.146875 meters Centerline goodness [0,1] 0.9996088987047645 Centerline is valid? [True, True] Translation: X:152.92, Y:239.54, Z:4.02 [[ 1.86814310e-01 -9.82376631e-01 6.04711274e-03 1.52921546e+02] [ 9.81695461e-01 1.86909995e-01 3.65879204e-02 2.39538497e+02] [-3.70733839e-02 -8.98723980e-04 9.99312142e-01 4.02081785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters Centerline goodness [0,1] 0.9996543300917178 Centerline is valid? [True, True] Translation: X:152.93, Y:239.57, Z:4.02 [[ 1.86954518e-01 -9.82349220e-01 6.16580050e-03 1.52926135e+02] [ 9.81638452e-01 1.87053830e-01 3.73739689e-02 2.39565433e+02] [-3.78676258e-02 -9.34645496e-04 9.99282327e-01 4.01959468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.206875 meters Centerline goodness [0,1] 0.9993302540415704 Centerline is valid? [True, True] Translation: X:152.93, Y:239.59, Z:4.02 [[ 1.87838211e-01 -9.82180404e-01 6.20159599e-03 1.52932619e+02] [ 9.81458742e-01 1.87937967e-01 3.76571184e-02 2.39592617e+02] [-3.81515991e-02 -9.86835146e-04 9.99271475e-01 4.01849180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters Centerline goodness [0,1] 0.9992429977289932 Centerline is valid? [True, True] Translation: X:152.94, Y:239.62, Z:4.02 [[ 1.87886459e-01 -9.82171147e-01 6.20617383e-03 1.52936501e+02] [ 9.81445889e-01 1.87986261e-01 3.77509271e-02 2.39619173e+02] [-3.82445468e-02 -1.00186424e-03 9.99267907e-01 4.01669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.266875 meters Centerline goodness [0,1] 0.99974519932362 Centerline is valid? [True, True] Translation: X:152.94, Y:239.65, Z:4.02 [[ 1.87871161e-01 -9.82174347e-01 6.16278253e-03 1.52940928e+02] [ 9.81456584e-01 1.87969515e-01 3.75557721e-02 2.39645103e+02] [-3.80447312e-02 -1.00714303e-03 9.99275530e-01 4.01594847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters Centerline goodness [0,1] 0.9992813427299704 Centerline is valid? [True, True] Translation: X:152.95, Y:239.67, Z:4.01 [[ 1.87541653e-01 -9.82237893e-01 6.07040890e-03 1.52949163e+02] [ 9.81538768e-01 1.87637244e-01 3.70663224e-02 2.39671213e+02] [-3.75469812e-02 -9.93137694e-04 9.99294370e-01 4.01394259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32687500000003 meters Centerline goodness [0,1] 0.9992363939281748 Centerline is valid? [True, True] Translation: X:152.95, Y:239.70, Z:4.01 [[ 1.86634274e-01 -9.82410815e-01 6.05302780e-03 1.52954501e+02] [ 9.81713118e-01 1.86729892e-01 3.70310923e-02 2.39697588e+02] [-3.75100268e-02 -9.68934229e-04 9.99295782e-01 4.01287023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters Centerline goodness [0,1] 0.9993745656706046 Centerline is valid? [True, True] Translation: X:152.96, Y:239.72, Z:4.01 [[ 1.85755872e-01 -9.82577085e-01 6.08507684e-03 1.52959941e+02] [ 9.81869369e-01 1.85853067e-01 3.72985294e-02 2.39723982e+02] [-3.77796105e-02 -9.53670299e-04 9.99285641e-01 4.01231882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38687500000003 meters Centerline goodness [0,1] 0.9996044671940437 Centerline is valid? [True, True] Translation: X:152.97, Y:239.75, Z:4.01 [[ 1.83794358e-01 -9.82945492e-01 6.14767471e-03 1.52966242e+02] [ 9.82220493e-01 1.83894937e-01 3.77565135e-02 2.39750791e+02] [-3.82431210e-02 -9.01062055e-04 9.99268058e-01 4.01204629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters Centerline goodness [0,1] 0.9993473193473194 Centerline is valid? [True, True] Translation: X:152.97, Y:239.78, Z:4.01 [[ 1.82762969e-01 -9.83137289e-01 6.22636384e-03 1.52972657e+02] [ 9.82391900e-01 1.82866878e-01 3.82865393e-02 2.39777159e+02] [-3.87795202e-02 -8.80632197e-04 9.99247403e-01 4.01072323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44687500000003 meters Centerline goodness [0,1] 0.9993500464252554 Centerline is valid? [True, True] Translation: X:152.98, Y:239.80, Z:4.01 [[ 1.81493108e-01 -9.83372680e-01 6.19877565e-03 1.52978048e+02] [ 9.82631264e-01 1.81596993e-01 3.81880939e-02 2.39803584e+02] [-3.86788072e-02 -8.39765098e-04 9.99251342e-01 4.00951756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters Centerline goodness [0,1] 0.9993704679521556 Centerline is valid? [True, True] Translation: X:152.99, Y:239.83, Z:4.01 [[ 1.79473681e-01 -9.83743250e-01 6.19808173e-03 1.52985423e+02] [ 9.82999418e-01 1.79579009e-01 3.82560345e-02 2.39829443e+02] [-3.87471610e-02 -7.73240584e-04 9.99248748e-01 4.00857838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50687500000004 meters Centerline goodness [0,1] 0.9994616104868914 Centerline is valid? [True, True] Translation: X:152.99, Y:239.86, Z:4.01 [[ 1.78514717e-01 -9.83918020e-01 6.15033083e-03 1.52992201e+02] [ 9.83183320e-01 1.78619097e-01 3.80233834e-02 2.39855703e+02] [-3.85104587e-02 -7.40830827e-04 9.99257923e-01 4.00770107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters Centerline goodness [0,1] 0.9992068675935429 Centerline is valid? [True, True] Translation: X:153.00, Y:239.88, Z:4.01 [[ 1.77969901e-01 -9.84016221e-01 6.22822348e-03 1.52997955e+02] [ 9.83259852e-01 1.78077302e-01 3.85815662e-02 2.39883233e+02] [-3.90739922e-02 -7.42395427e-04 9.99236044e-01 4.00684277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56687500000004 meters Centerline goodness [0,1] 0.9994867008866075 Centerline is valid? [True, True] Translation: X:153.00, Y:239.91, Z:4.01 [[ 1.77535126e-01 -9.84094442e-01 6.27757440e-03 1.53001242e+02] [ 9.83323313e-01 1.77644522e-01 3.89574996e-02 2.39910367e+02] [-3.94530356e-02 -7.43439363e-04 9.99221149e-01 4.00615289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters Centerline goodness [0,1] 0.9993015296500664 Centerline is valid? [True, True] Translation: X:153.01, Y:239.94, Z:4.00 [[ 1.77504917e-01 -9.84099954e-01 6.26778081e-03 1.53006467e+02] [ 9.83328312e-01 1.77613940e-01 3.89707410e-02 2.39937837e+02] [-3.94643497e-02 -7.54211824e-04 9.99220694e-01 4.00481803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62687500000004 meters Centerline goodness [0,1] 0.9993469996968213 Centerline is valid? [True, True] Translation: X:153.01, Y:239.96, Z:4.00 [[ 1.77046700e-01 -9.84182209e-01 6.31238313e-03 1.53010073e+02] [ 9.83396805e-01 1.77157592e-01 3.93180927e-02 2.39964779e+02] [-3.98144539e-02 -7.53561158e-04 9.99206806e-01 4.00371120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters Centerline goodness [0,1] 0.9994624032910268 Centerline is valid? [True, True] Translation: X:153.01, Y:239.99, Z:4.00 [[ 1.77102490e-01 -9.84172554e-01 6.25236535e-03 1.53012424e+02] [ 9.83398989e-01 1.77211183e-01 3.90208373e-02 2.39991276e+02] [-3.95112261e-02 -7.62117695e-04 9.99218836e-01 4.00283956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.686875 meters Centerline goodness [0,1] 0.9996267089729831 Centerline is valid? [True, True] Translation: X:153.02, Y:240.02, Z:4.00 [[ 1.76791063e-01 -9.84228299e-01 6.29096472e-03 1.53018029e+02] [ 9.83442042e-01 1.76901288e-01 3.93406281e-02 2.40018051e+02] [-3.98330393e-02 -7.68272258e-04 9.99206054e-01 4.00156170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters Centerline goodness [0,1] 0.999603868111383 Centerline is valid? [True, True] Translation: X:153.02, Y:240.05, Z:4.00 [[ 1.76642300e-01 -9.84255168e-01 6.26591494e-03 1.53019678e+02] [ 9.83471970e-01 1.76751706e-01 3.92647283e-02 2.40045118e+02] [-3.97540229e-02 -7.73460212e-04 9.99209197e-01 3.99975608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.746875 meters Centerline goodness [0,1] 0.9995329939756222 Centerline is valid? [True, True] Translation: X:153.02, Y:240.07, Z:4.00 [[ 1.76709155e-01 -9.84243350e-01 6.23722652e-03 1.53023175e+02] [ 9.83464370e-01 1.76817452e-01 3.91589331e-02 2.40072624e+02] [-3.96447700e-02 -7.85651931e-04 9.99213528e-01 3.99813090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters Centerline goodness [0,1] 0.9993700860882346 Centerline is valid? [True, True] Translation: X:153.03, Y:240.10, Z:4.00 [[ 1.76165681e-01 -9.84340983e-01 6.20333698e-03 1.53028553e+02] [ 9.83567571e-01 1.76273173e-01 3.90205339e-02 2.40099764e+02] [-3.95029926e-02 -7.72677828e-04 9.99219153e-01 3.99672671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.806875 meters Centerline goodness [0,1] 0.9996966161026838 Centerline is valid? [True, True] Translation: X:153.03, Y:240.13, Z:4.00 [[ 1.75141182e-01 -9.84523336e-01 6.27432779e-03 1.53031633e+02] [ 9.83729028e-01 1.75251911e-01 3.95470177e-02 2.40125774e+02] [-4.00345497e-02 -7.54073042e-04 9.99198012e-01 3.99596201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters Centerline goodness [0,1] 0.9993233784414373 Centerline is valid? [True, True] Translation: X:153.03, Y:240.15, Z:3.99 [[ 1.74358461e-01 -9.84662155e-01 6.29025351e-03 1.53034544e+02] [ 9.83860531e-01 1.74470325e-01 3.97311130e-02 2.40152412e+02] [-4.02191859e-02 -7.38723533e-04 9.99190608e-01 3.99486777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.866875 meters Centerline goodness [0,1] 0.9994178736087179 Centerline is valid? [True, True] Translation: X:153.04, Y:240.18, Z:3.99 [[ 1.73032399e-01 -9.84895618e-01 6.35689100e-03 1.53042592e+02] [ 9.84074059e-01 1.73147696e-01 4.02258950e-02 2.40180070e+02] [-4.07189887e-02 -7.04731592e-04 9.99170390e-01 3.99330683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters Centerline goodness [0,1] 0.9994197651209209 Centerline is valid? [True, True] Translation: X:153.05, Y:240.21, Z:3.99 [[ 1.72086350e-01 -9.85061560e-01 6.32541620e-03 1.53045846e+02] [ 9.84245389e-01 1.72201243e-01 4.00967196e-02 2.40206758e+02] [-4.05869817e-02 -6.74336407e-04 9.99175781e-01 3.99197588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.926875 meters Centerline goodness [0,1] 0.9996500968065501 Centerline is valid? [True, True] Translation: X:153.05, Y:240.24, Z:3.99 [[ 1.70958212e-01 -9.85257574e-01 6.38766015e-03 1.53050011e+02] [ 9.84423100e-01 1.71076293e-01 4.05470451e-02 2.40235015e+02] [-4.10420606e-02 -6.43690110e-04 9.99157212e-01 3.99082324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters Centerline goodness [0,1] 0.999463243873979 Centerline is valid? [True, True] Translation: X:153.05, Y:240.26, Z:3.99 [[ 1.69892099e-01 -9.85442108e-01 6.36607176e-03 1.53053392e+02] [ 9.84610595e-01 1.70010239e-01 4.04783143e-02 2.40261064e+02] [-4.09713328e-02 -6.08844062e-04 9.99160137e-01 3.98907990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.986875 meters Centerline goodness [0,1] 0.9995813174544101 Centerline is valid? [True, True] Translation: X:153.06, Y:240.29, Z:3.99 [[ 1.67910899e-01 -9.85781823e-01 6.33469324e-03 1.53057718e+02] [ 9.84955198e-01 1.68029487e-01 4.03652035e-02 2.40287655e+02] [-4.08556991e-02 -5.38368582e-04 9.99164912e-01 3.98854027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters Centerline goodness [0,1] 0.9994410285075461 Centerline is valid? [True, True] Translation: X:153.06, Y:240.32, Z:3.99 [[ 1.67133398e-01 -9.85914080e-01 6.31297610e-03 1.53062905e+02] [ 9.85089981e-01 1.67251782e-01 4.03059731e-02 2.40315352e+02] [-4.07940829e-02 -5.17624755e-04 9.99167441e-01 3.98681674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.046875 meters Centerline goodness [0,1] 0.9994410285075461 Centerline is valid? [True, True] Translation: X:153.07, Y:240.34, Z:3.99 [[ 1.66859229e-01 -9.85960590e-01 6.30180284e-03 1.53067085e+02] [ 9.85136458e-01 1.66977385e-01 4.03077200e-02 2.40342634e+02] [-4.07940819e-02 -5.17579333e-04 9.99167441e-01 3.98568951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters Centerline goodness [0,1] 0.9994168960208984 Centerline is valid? [True, True] Translation: X:153.07, Y:240.37, Z:3.98 [[ 1.65614258e-01 -9.86171889e-01 6.07647377e-03 1.53070753e+02] [ 9.85403117e-01 1.65725056e-01 3.89346052e-02 2.40369309e+02] [-3.94032371e-02 -4.60349572e-04 9.99223285e-01 3.98307784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.106875 meters Centerline goodness [0,1] 0.9997902097902098 Centerline is valid? [True, True] Translation: X:153.07, Y:240.40, Z:3.98 [[ 1.64926398e-01 -9.86288132e-01 5.91635307e-03 1.53074831e+02] [ 9.85556507e-01 1.65031912e-01 3.79847240e-02 2.40397034e+02] [-3.84402695e-02 -4.33783451e-04 9.99260806e-01 3.98107013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters Centerline goodness [0,1] 0.9997197113026417 Centerline is valid? [True, True] Translation: X:153.08, Y:240.42, Z:3.98 [[ 1.64180746e-01 -9.86412600e-01 5.90460195e-03 1.53078575e+02] [ 9.85681306e-01 1.64286363e-01 3.79783351e-02 2.40423721e+02] [-3.84323539e-02 -4.15255618e-04 9.99261118e-01 3.97942900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.166875 meters Centerline goodness [0,1] 0.9997431766711027 Centerline is valid? [True, True] Translation: X:153.08, Y:240.45, Z:3.98 [[ 1.63462081e-01 -9.86532462e-01 5.81800320e-03 1.53082091e+02] [ 9.85819643e-01 1.63565112e-01 3.74978156e-02 2.40451098e+02] [-3.79444347e-02 -3.93969146e-04 9.99279773e-01 3.97721586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters Centerline goodness [0,1] 0.999579596412556 Centerline is valid? [True, True] Translation: X:153.09, Y:240.48, Z:3.98 [[ 1.63164841e-01 -9.86582054e-01 5.75190916e-03 1.53085911e+02] [ 9.85882530e-01 1.63265726e-01 3.71475388e-02 2.40478367e+02] [-3.75881848e-02 -3.90465496e-04 9.99293238e-01 3.97554637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.226875 meters Centerline goodness [0,1] 0.9997189563914001 Centerline is valid? [True, True] Translation: X:153.09, Y:240.50, Z:3.97 [[ 1.62361632e-01 -9.86715035e-01 5.66928283e-03 1.53088888e+02] [ 9.86032816e-01 1.62460167e-01 3.66876052e-02 2.40504591e+02] [-3.71212443e-02 -3.66560539e-04 9.99310702e-01 3.97426415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters Centerline goodness [0,1] 0.9997193048115833 Centerline is valid? [True, True] Translation: X:153.09, Y:240.53, Z:3.97 [[ 1.61789255e-01 -9.86809377e-01 5.61165081e-03 1.53092841e+02] [ 9.86138134e-01 1.61886158e-01 3.63930334e-02 2.40531984e+02] [-3.68214352e-02 -3.54138900e-04 9.99321798e-01 3.97284124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.286875 meters Centerline goodness [0,1] 0.9997192259996724 Centerline is valid? [True, True] Translation: X:153.10, Y:240.56, Z:3.97 [[ 1.61356649e-01 -9.86880396e-01 5.57807506e-03 1.53097651e+02] [ 9.86214510e-01 1.61452662e-01 3.62488491e-02 2.40560046e+02] [-3.66738736e-02 -3.47814267e-04 9.99327227e-01 3.97194359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters Centerline goodness [0,1] 0.9996036464526358 Centerline is valid? [True, True] Translation: X:153.10, Y:240.59, Z:3.97 [[ 1.59820697e-01 -9.87129388e-01 5.73718962e-03 1.53101571e+02] [ 9.86422373e-01 1.59923338e-01 3.73554313e-02 2.40587811e+02] [-3.77921545e-02 -3.10878869e-04 9.99285573e-01 3.97129589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.346875 meters Centerline goodness [0,1] 0.9995112755707604 Centerline is valid? [True, True] Translation: X:153.10, Y:240.61, Z:3.97 [[ 1.58744659e-01 -9.87302664e-01 5.79505509e-03 1.53104995e+02] [ 9.86578675e-01 1.58850146e-01 3.78040801e-02 2.40614674e+02] [-3.82446144e-02 -2.83918027e-04 9.99268367e-01 3.96978542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters Centerline goodness [0,1] 0.9996497536600742 Centerline is valid? [True, True] Translation: X:153.11, Y:240.64, Z:3.97 [[ 1.57696728e-01 -9.87470806e-01 5.75749022e-03 1.53109327e+02] [ 9.86753446e-01 1.57801592e-01 3.76336849e-02 2.40642764e+02] [-3.80707063e-02 -2.53485667e-04 9.99275016e-01 3.96880811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.406875 meters Centerline goodness [0,1] 0.9994878837961777 Centerline is valid? [True, True] Translation: X:153.11, Y:240.67, Z:3.97 [[ 1.56523205e-01 -9.87657052e-01 5.83390078e-03 1.53113289e+02] [ 9.86917814e-01 1.56631729e-01 3.82064174e-02 2.40669689e+02] [-3.86486115e-02 -2.22610293e-04 9.99252839e-01 3.96753510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters Centerline goodness [0,1] 0.999767344469778 Centerline is valid? [True, True] Translation: X:153.12, Y:240.70, Z:3.97 [[ 1.54563101e-01 -9.87965144e-01 5.92645995e-03 1.53116740e+02] [ 9.87199339e-01 1.54676596e-01 3.88923591e-02 2.40696161e+02] [-3.93409798e-02 -1.60726288e-04 9.99225831e-01 3.96705228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.466875 meters Centerline goodness [0,1] 0.9997436076731231 Centerline is valid? [True, True] Translation: X:153.12, Y:240.72, Z:3.97 [[ 1.53815957e-01 -9.88082007e-01 5.88213803e-03 1.53120379e+02] [ 9.87325696e-01 1.53928325e-01 3.86528346e-02 2.40724469e+02] [-3.90975980e-02 -1.37836718e-04 9.99235387e-01 3.96567535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters Centerline goodness [0,1] 0.9998834716136851 Centerline is valid? [True, True] Translation: X:153.12, Y:240.75, Z:3.96 [[ 1.53497855e-01 -9.88131846e-01 5.81916066e-03 1.53123695e+02] [ 9.87388980e-01 1.53608059e-01 3.83088190e-02 2.40752514e+02] [-3.87480341e-02 -1.34546420e-04 9.99249004e-01 3.96394509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.526875 meters Centerline goodness [0,1] 0.9997441800972116 Centerline is valid? [True, True] Translation: X:153.13, Y:240.78, Z:3.96 [[ 1.53071042e-01 -9.88198737e-01 5.70203781e-03 1.53126538e+02] [ 9.87482935e-01 1.53177156e-01 3.76060029e-02 2.40780001e+02] [-3.80356264e-02 -1.25724998e-04 9.99276376e-01 3.96186957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters Centerline goodness [0,1] 0.9996306129516334 Centerline is valid? [True, True] Translation: X:153.13, Y:240.81, Z:3.96 [[ 1.53254743e-01 -9.88171076e-01 5.55943035e-03 1.53127942e+02] [ 9.87488161e-01 1.53355483e-01 3.67318308e-02 2.40807830e+02] [-3.71499019e-02 -1.39455650e-04 9.99309694e-01 3.95875850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.586875 meters Centerline goodness [0,1] 0.9998608921450431 Centerline is valid? [True, True] Translation: X:153.13, Y:240.84, Z:3.96 [[ 1.53302772e-01 -9.88163666e-01 5.55244813e-03 1.53130856e+02] [ 9.87479939e-01 1.53403216e-01 3.67535410e-02 2.40835605e+02] [-3.71702772e-02 -1.51488584e-04 9.99308935e-01 3.95754011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters Centerline goodness [0,1] 0.9997467596749315 Centerline is valid? [True, True] Translation: X:153.13, Y:240.86, Z:3.96 [[ 1.53685124e-01 -9.88104340e-01 5.54032792e-03 1.53132742e+02] [ 9.87421015e-01 1.53784854e-01 3.67417663e-02 2.40862580e+02] [-3.71567173e-02 -1.76026675e-04 9.99309435e-01 3.95622254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.646875 meters Centerline goodness [0,1] 0.9997014651173471 Centerline is valid? [True, True] Translation: X:153.14, Y:240.89, Z:3.96 [[ 1.53741096e-01 -9.88095757e-01 5.51814760e-03 1.53135531e+02] [ 9.87415219e-01 1.53839979e-01 3.66666785e-02 2.40889327e+02] [-3.70791012e-02 -1.88472429e-04 9.99312316e-01 3.95511847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters Centerline goodness [0,1] 0.99990820003213 Centerline is valid? [True, True] Translation: X:153.14, Y:240.92, Z:3.95 [[ 1.53652111e-01 -9.88109655e-01 5.50808686e-03 1.53137253e+02] [ 9.87428784e-01 1.53750680e-01 3.66759427e-02 2.40917086e+02] [-3.70867251e-02 -1.96492516e-04 9.99312031e-01 3.95441680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.706875 meters Centerline goodness [0,1] 0.9996784122754628 Centerline is valid? [True, True] Translation: X:153.14, Y:240.95, Z:3.95 [[ 1.53866848e-01 -9.88075928e-01 5.56355856e-03 1.53140551e+02] [ 9.87378271e-01 1.53967243e-01 3.71246209e-02 2.40945045e+02] [-3.75385501e-02 -2.18911557e-04 9.99295156e-01 3.95334876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters Centerline goodness [0,1] 0.9996560185291352 Centerline is valid? [True, True] Translation: X:153.14, Y:240.97, Z:3.95 [[ 1.53989307e-01 -9.88056684e-01 5.59316330e-03 1.53143473e+02] [ 9.87348792e-01 1.54090669e-01 3.73955694e-02 2.40973166e+02] [-3.78107966e-02 -2.36114785e-04 9.99284888e-01 3.95192507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.766875 meters Centerline goodness [0,1] 0.9996801827527128 Centerline is valid? [True, True] Translation: X:153.15, Y:241.00, Z:3.95 [[ 1.53828230e-01 -9.88081708e-01 5.60489339e-03 1.53146185e+02] [ 9.87368090e-01 1.53930116e-01 3.75469663e-02 2.41000335e+02] [-3.79622325e-02 -2.41690471e-04 9.99279145e-01 3.95123826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters Centerline goodness [0,1] 0.9996567584265806 Centerline is valid? [True, True] Translation: X:153.15, Y:241.03, Z:3.95 [[ 1.53907590e-01 -9.88068648e-01 5.72724100e-03 1.53148556e+02] [ 9.87320356e-01 1.54013891e-01 3.84478362e-02 2.41028072e+02] [-3.88711762e-02 -2.62792202e-04 9.99244196e-01 3.95047458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82687500000003 meters Centerline goodness [0,1] 0.9995215420017771 Centerline is valid? [True, True] Translation: X:153.15, Y:241.06, Z:3.95 [[ 1.53427803e-01 -9.88143082e-01 5.75833371e-03 1.53151840e+02] [ 9.87383750e-01 1.53535609e-01 3.87317364e-02 2.41055992e+02] [-3.91566066e-02 -2.56840097e-04 9.99233053e-01 3.94988511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters Centerline goodness [0,1] 0.9997487494575272 Centerline is valid? [True, True] Translation: X:153.15, Y:241.08, Z:3.95 [[ 1.53063974e-01 -9.88199037e-01 5.83810301e-03 1.53154740e+02] [ 9.87415492e-01 1.53175054e-01 3.93452521e-02 2.41084256e+02] [-3.97751920e-02 -2.57707275e-04 9.99208621e-01 3.94910537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88687500000003 meters Centerline goodness [0,1] 0.9997256578496148 Centerline is valid? [True, True] Translation: X:153.16, Y:241.11, Z:3.95 [[ 1.53298236e-01 -9.88162541e-01 5.86880230e-03 1.53156105e+02] [ 9.87367640e-01 1.53410278e-01 3.96286557e-02 2.41111819e+02] [-4.00598877e-02 -2.80337515e-04 9.99197241e-01 3.94784140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters Centerline goodness [0,1] 0.9996587651849492 Centerline is valid? [True, True] Translation: X:153.16, Y:241.14, Z:3.95 [[ 1.53464926e-01 -9.88137035e-01 5.80666729e-03 1.53159017e+02] [ 9.87355732e-01 1.53574455e-01 3.92879855e-02 2.41139749e+02] [-3.97136692e-02 -2.96081560e-04 9.99211057e-01 3.94648054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94687500000003 meters Centerline goodness [0,1] 0.9998866058874223 Centerline is valid? [True, True] Translation: X:153.16, Y:241.17, Z:3.94 [[ 1.54576810e-01 -9.87964021e-01 5.75343610e-03 1.53159757e+02] [ 9.87193929e-01 1.54683452e-01 3.90022523e-02 2.41167280e+02] [-3.94227833e-02 -3.49086562e-04 9.99222559e-01 3.94422202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters Centerline goodness [0,1] 0.9997510805367609 Centerline is valid? [True, True] Translation: X:153.16, Y:241.19, Z:3.94 [[ 1.55001787e-01 -9.87897751e-01 5.69903169e-03 1.53161542e+02] [ 9.87139057e-01 1.55106069e-01 3.87116327e-02 2.41194699e+02] [-3.91270893e-02 -3.74635494e-04 9.99234172e-01 3.94225143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00687500000004 meters Centerline goodness [0,1] 0.9998414998641427 Centerline is valid? [True, True] Translation: X:153.16, Y:241.22, Z:3.94 [[ 1.56170064e-01 -9.87714136e-01 5.62995164e-03 1.53164163e+02] [ 9.86970477e-01 1.56270925e-01 3.83233055e-02 2.41222505e+02] [-3.87322684e-02 -4.28357034e-04 9.99249532e-01 3.94012118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters Centerline goodness [0,1] 0.9996625421822273 Centerline is valid? [True, True] Translation: X:153.16, Y:241.25, Z:3.94 [[ 1.57752275e-01 -9.87462931e-01 5.58381237e-03 1.53164056e+02] [ 9.86728353e-01 1.57850281e-01 3.80847137e-02 2.41249953e+02] [-3.84886494e-02 -4.98244255e-04 9.99258913e-01 3.93707145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06687500000004 meters Centerline goodness [0,1] 0.9997523470743184 Centerline is valid? [True, True] Translation: X:153.17, Y:241.28, Z:3.94 [[ 1.58167574e-01 -9.87397008e-01 5.49239720e-03 1.53167595e+02] [ 9.86684643e-01 1.58262077e-01 3.75037311e-02 2.41277589e+02] [-3.79003100e-02 -5.12610187e-04 9.99281394e-01 3.93567877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters Centerline goodness [0,1] 0.9995282595022015 Centerline is valid? [True, True] Translation: X:153.17, Y:241.30, Z:3.93 [[ 1.58502568e-01 -9.87343563e-01 5.44292710e-03 1.53170388e+02] [ 9.86641167e-01 1.58595101e-01 3.72397797e-02 2.41304257e+02] [-3.76316783e-02 -5.32384749e-04 9.99291536e-01 3.93430788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12687500000004 meters Centerline goodness [0,1] 0.9995499549954996 Centerline is valid? [True, True] Translation: X:153.17, Y:241.33, Z:3.93 [[ 1.58817780e-01 -9.87292869e-01 5.45010185e-03 1.53174277e+02] [ 9.86586647e-01 1.58910304e-01 3.73403827e-02 2.41332135e+02] [-3.77319709e-02 -5.53318987e-04 9.99287742e-01 3.93316215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters Centerline goodness [0,1] 0.9995498840951546 Centerline is valid? [True, True] Translation: X:153.18, Y:241.36, Z:3.93 [[ 1.59033649e-01 -9.87257563e-01 5.55010912e-03 1.53177218e+02] [ 9.86522193e-01 1.59129393e-01 3.81024926e-02 2.41360122e+02] [-3.85001595e-02 -5.84272603e-04 9.99258423e-01 3.93166247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.186875 meters Centerline goodness [0,1] 0.999684833749803 Centerline is valid? [True, True] Translation: X:153.18, Y:241.39, Z:3.93 [[ 1.58659484e-01 -9.87317846e-01 5.53531792e-03 1.53180316e+02] [ 9.86583508e-01 1.58754952e-01 3.80768426e-02 2.41387336e+02] [-3.84727053e-02 -5.80198807e-04 9.99259483e-01 3.93044482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters Centerline goodness [0,1] 0.9996858098251756 Centerline is valid? [True, True] Translation: X:153.18, Y:241.42, Z:3.93 [[ 1.57837829e-01 -9.87449165e-01 5.60051014e-03 1.53184255e+02] [ 9.86694268e-01 1.57936138e-01 3.86082589e-02 2.41415244e+02] [-3.90082159e-02 -5.67852523e-04 9.99238729e-01 3.92888195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.246875 meters Centerline goodness [0,1] 0.9996854498067763 Centerline is valid? [True, True] Translation: X:153.19, Y:241.44, Z:3.93 [[ 1.57391635e-01 -9.87520299e-01 5.61532959e-03 1.53188645e+02] [ 9.86758435e-01 1.57490764e-01 3.87872344e-02 2.41443401e+02] [-3.91875439e-02 -5.63812410e-04 9.99231714e-01 3.92758983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters Centerline goodness [0,1] 0.9995720527951709 Centerline is valid? [True, True] Translation: X:153.19, Y:241.47, Z:3.93 [[ 1.56676966e-01 -9.87633995e-01 5.60528594e-03 1.53192734e+02] [ 9.86871906e-01 1.56776249e-01 3.87949636e-02 2.41470736e+02] [-3.91940006e-02 -5.46577984e-04 9.99231470e-01 3.92612356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.306875 meters Centerline goodness [0,1] 0.9996405705941818 Centerline is valid? [True, True] Translation: X:153.20, Y:241.50, Z:3.92 [[ 1.55163604e-01 -9.87873076e-01 5.57145602e-03 1.53196566e+02] [ 9.87117331e-01 1.55262808e-01 3.86372188e-02 2.41497333e+02] [-3.90337081e-02 -4.95409315e-04 9.99237772e-01 3.92398499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters Centerline goodness [0,1] 0.9995954237935762 Centerline is valid? [True, True] Translation: X:153.20, Y:241.53, Z:3.92 [[ 1.54590163e-01 -9.87962971e-01 5.57221117e-03 1.53200979e+02] [ 9.87203949e-01 1.54689795e-01 3.87224828e-02 2.41525450e+02] [-3.91183433e-02 -4.85206065e-04 9.99234467e-01 3.92248319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.366875 meters Centerline goodness [0,1] 0.9994836797916761 Centerline is valid? [True, True] Translation: X:153.20, Y:241.55, Z:3.92 [[ 1.54001882e-01 -9.88055170e-01 5.51381191e-03 1.53204412e+02] [ 9.87309109e-01 1.54099844e-01 3.83922023e-02 2.41552433e+02] [-3.87832915e-02 -4.68634667e-04 9.99247535e-01 3.92078493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters Centerline goodness [0,1] 0.9996850251979842 Centerline is valid? [True, True] Translation: X:153.21, Y:241.58, Z:3.92 [[ 1.53656533e-01 -9.88109108e-01 5.48283145e-03 1.53209093e+02] [ 9.87368326e-01 1.53753619e-01 3.82572012e-02 2.41580632e+02] [-3.86452942e-02 -4.64894784e-04 9.99252883e-01 3.91958127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.426875 meters Centerline goodness [0,1] 0.9997078257742616 Centerline is valid? [True, True] Translation: X:153.21, Y:241.61, Z:3.92 [[ 1.53899161e-01 -9.88071487e-01 5.45764337e-03 1.53211915e+02] [ 9.87334731e-01 1.53995143e-01 3.81526591e-02 2.41607441e+02] [-3.85380051e-02 -4.83141362e-04 9.99257018e-01 3.91776367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters Centerline goodness [0,1] 0.9997062611564272 Centerline is valid? [True, True] Translation: X:153.22, Y:241.63, Z:3.92 [[ 1.54341085e-01 -9.88003189e-01 5.34116320e-03 1.53216330e+02] [ 9.87294556e-01 1.54432661e-01 3.74167502e-02 2.41634967e+02] [-3.77927186e-02 -5.01640464e-04 9.99285474e-01 3.91651683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.486875 meters Centerline goodness [0,1] 0.9995735703384505 Centerline is valid? [True, True] Translation: X:153.22, Y:241.66, Z:3.91 [[ 1.55296993e-01 -9.87854159e-01 5.19659726e-03 1.53218931e+02] [ 9.87180599e-01 1.55382993e-01 3.64772726e-02 2.41662324e+02] [-3.68416883e-02 -5.34830745e-04 9.99320971e-01 3.91392448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters Centerline goodness [0,1] 0.9997292968485642 Centerline is valid? [True, True] Translation: X:153.22, Y:241.69, Z:3.91 [[ 1.55619259e-01 -9.87803469e-01 5.19157119e-03 1.53221853e+02] [ 9.87128783e-01 1.55704838e-01 3.65071183e-02 2.41688773e+02] [-3.68702109e-02 -5.56461358e-04 9.99319908e-01 3.91218679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.546875 meters Centerline goodness [0,1] 0.9996158799737894 Centerline is valid? [True, True] Translation: X:153.23, Y:241.72, Z:3.91 [[ 1.56376334e-01 -9.87684139e-01 5.14619405e-03 1.53225491e+02] [ 9.87018309e-01 1.56459870e-01 3.62652178e-02 2.41716181e+02] [-3.66237533e-02 -5.91634040e-04 9.99328950e-01 3.91114500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters Centerline goodness [0,1] 0.9995698535238052 Centerline is valid? [True, True] Translation: X:153.23, Y:241.74, Z:3.91 [[ 1.56538862e-01 -9.87658412e-01 5.14263128e-03 1.53230029e+02] [ 9.86990852e-01 1.56622130e-01 3.63120781e-02 2.41744109e+02] [-3.66693792e-02 -6.08521347e-04 9.99327267e-01 3.91040090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.606875 meters Centerline goodness [0,1] 0.9995000454504136 Centerline is valid? [True, True] Translation: X:153.23, Y:241.77, Z:3.91 [[ 1.56923750e-01 -9.87597319e-01 5.14515577e-03 1.53233115e+02] [ 9.86926400e-01 1.57006794e-01 3.64025691e-02 2.41770802e+02] [-3.67589041e-02 -6.34537608e-04 9.99323962e-01 3.90975671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters Centerline goodness [0,1] 0.9994781977403694 Centerline is valid? [True, True] Translation: X:153.24, Y:241.80, Z:3.91 [[ 1.58130532e-01 -9.87405064e-01 5.09647838e-03 1.53235602e+02] [ 9.86743911e-01 1.58211156e-01 3.61342494e-02 2.41797479e+02] [-3.64854605e-02 -6.85009063e-04 9.99333949e-01 3.90806878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.666875 meters Centerline goodness [0,1] 0.9995913084939718 Centerline is valid? [True, True] Translation: X:153.24, Y:241.82, Z:3.91 [[ 1.58624955e-01 -9.87325951e-01 5.05860383e-03 1.53239320e+02] [ 9.86671863e-01 1.58704007e-01 3.59398522e-02 2.41824645e+02] [-3.62871695e-02 -7.09775361e-04 9.99341152e-01 3.90687314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters Centerline goodness [0,1] 0.9996361982719418 Centerline is valid? [True, True] Translation: X:153.24, Y:241.85, Z:3.91 [[ 1.58711329e-01 -9.87311917e-01 5.08842801e-03 1.53244484e+02] [ 9.86647128e-01 1.58791200e-01 3.62325645e-02 2.41851839e+02] [-3.65808403e-02 -7.30035590e-04 9.99330430e-01 3.90621748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.726875 meters Centerline goodness [0,1] 0.9994091043385378 Centerline is valid? [True, True] Translation: X:153.25, Y:241.88, Z:3.91 [[ 1.59076496e-01 -9.87252964e-01 5.12387914e-03 1.53248113e+02] [ 9.86575992e-01 1.59157175e-01 3.65623493e-02 2.41878284e+02] [-3.69117898e-02 -7.61114260e-04 9.99318238e-01 3.90529727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters Centerline goodness [0,1] 0.9994993742177722 Centerline is valid? [True, True] Translation: X:153.25, Y:241.91, Z:3.90 [[ 1.58733581e-01 -9.87308169e-01 5.12145165e-03 1.53253415e+02] [ 9.86629941e-01 1.58814380e-01 3.65971577e-02 2.41906101e+02] [-3.69460329e-02 -7.56220363e-04 9.99316976e-01 3.90451386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.786875 meters Centerline goodness [0,1] 0.9995216727786256 Centerline is valid? [True, True] Translation: X:153.26, Y:241.93, Z:3.90 [[ 1.57703086e-01 -9.87473420e-01 5.09713175e-03 1.53257648e+02] [ 9.86798928e-01 1.57783766e-01 3.64987601e-02 2.41932707e+02] [-3.68458001e-02 -7.26122955e-04 9.99320699e-01 3.90419080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters Centerline goodness [0,1] 0.9997054958995968 Centerline is valid? [True, True] Translation: X:153.26, Y:241.96, Z:3.90 [[ 1.56563229e-01 -9.87654654e-01 5.12256601e-03 1.53260466e+02] [ 9.86970520e-01 1.56645446e-01 3.67613536e-02 2.41959842e+02] [-3.71099486e-02 -6.99654594e-04 9.99310944e-01 3.90269665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.846875 meters Centerline goodness [0,1] 0.9997499033717573 Centerline is valid? [True, True] Translation: X:153.27, Y:241.99, Z:3.90 [[ 1.55744034e-01 -9.87784537e-01 5.05010778e-03 1.53267288e+02] [ 9.87116920e-01 1.55824444e-01 3.63170542e-02 2.41987421e+02] [-3.66603548e-02 -6.71117688e-04 9.99327558e-01 3.90211853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters Centerline goodness [0,1] 0.9995215638028843 Centerline is valid? [True, True] Translation: X:153.27, Y:242.01, Z:3.90 [[ 1.54650169e-01 -9.87956469e-01 5.03389962e-03 1.53272713e+02] [ 9.87290464e-01 1.54730750e-01 3.62758056e-02 2.42014883e+02] [-3.66178158e-02 -6.40138352e-04 9.99329138e-01 3.90093758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.906875 meters Centerline goodness [0,1] 0.9998860398860399 Centerline is valid? [True, True] Translation: X:153.28, Y:242.04, Z:3.90 [[ 1.52829717e-01 -9.88240117e-01 4.95469699e-03 1.53277317e+02] [ 9.87592355e-01 1.52908930e-01 3.57798878e-02 2.42041844e+02] [-3.61167379e-02 -5.75009264e-04 9.99347412e-01 3.89954605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters Centerline goodness [0,1] 0.99940958739242 Centerline is valid? [True, True] Translation: X:153.28, Y:242.07, Z:3.90 [[ 1.52190562e-01 -9.88338957e-01 4.91323580e-03 1.53281732e+02] [ 9.87699277e-01 1.52268824e-01 3.55576215e-02 2.42069494e+02] [-3.58911151e-02 -5.58734935e-04 9.99355550e-01 3.89744796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.966875 meters Centerline goodness [0,1] 0.9997034130315751 Centerline is valid? [True, True] Translation: X:153.29, Y:242.10, Z:3.90 [[ 1.50952466e-01 -9.88529100e-01 4.85505159e-03 1.53286631e+02] [ 9.87902016e-01 1.51029632e-01 3.52087757e-02 2.42095974e+02] [-3.55381560e-02 -5.18536263e-04 9.99368186e-01 3.89681850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters Centerline goodness [0,1] 0.9997034130315751 Centerline is valid? [True, True] Translation: X:153.29, Y:242.12, Z:3.90 [[ 1.50679587e-01 -9.88570783e-01 4.84454104e-03 1.53290312e+02] [ 9.87943674e-01 1.50756552e-01 3.52102216e-02 2.42123319e+02] [-3.55381426e-02 -5.19327972e-04 9.99368186e-01 3.89569162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.026875 meters Centerline goodness [0,1] 0.9997048808172532 Centerline is valid? [True, True] Translation: X:153.29, Y:242.15, Z:3.89 [[ 1.50511193e-01 -9.88596775e-01 4.77472913e-03 1.53294993e+02] [ 9.87985169e-01 1.50586024e-01 3.47729220e-02 2.42151441e+02] [-3.50954061e-02 -5.16352407e-04 9.99383833e-01 3.89408528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters Centerline goodness [0,1] 0.9996360575938857 Centerline is valid? [True, True] Translation: X:153.30, Y:242.18, Z:3.89 [[ 1.49851366e-01 -9.88697272e-01 4.71941357e-03 1.53299094e+02] [ 9.88097408e-01 1.49924839e-01 3.44391479e-02 2.42178041e+02] [-3.47574489e-02 -4.97513043e-04 9.99395653e-01 3.89254664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.086875 meters Centerline goodness [0,1] 0.9995454958640123 Centerline is valid? [True, True] Translation: X:153.30, Y:242.21, Z:3.89 [[ 1.49179346e-01 -9.88799380e-01 4.61624000e-03 1.53304682e+02] [ 9.88223056e-01 1.49249998e-01 3.37583965e-02 2.42205403e+02] [-3.40692554e-02 -4.74180700e-04 9.99419362e-01 3.89098122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters Centerline goodness [0,1] 0.9995898183806942 Centerline is valid? [True, True] Translation: X:153.31, Y:242.23, Z:3.89 [[ 1.48675119e-01 -9.88875425e-01 4.59379074e-03 1.53309827e+02] [ 9.88302424e-01 1.48745346e-01 3.36621624e-02 2.42232606e+02] [-3.39709902e-02 -4.64671489e-04 9.99422711e-01 3.88988282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.146875 meters Centerline goodness [0,1] 0.9995662397552679 Centerline is valid? [True, True] Translation: X:153.31, Y:242.26, Z:3.89 [[ 1.48243078e-01 -9.88940421e-01 4.56447010e-03 1.53314519e+02] [ 9.88372357e-01 1.48312627e-01 3.35178786e-02 2.42260291e+02] [-3.38241535e-02 -4.57397420e-04 9.99427695e-01 3.88881962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters Centerline goodness [0,1] 0.9995900799344127 Centerline is valid? [True, True] Translation: X:153.32, Y:242.29, Z:3.89 [[ 1.47781848e-01 -9.89009667e-01 4.51700813e-03 1.53318486e+02] [ 9.88451059e-01 1.47850187e-01 3.32389328e-02 2.42287162e+02] [-3.35414664e-02 -4.47269430e-04 9.99437227e-01 3.88763507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.206875 meters Centerline goodness [0,1] 0.9997494019820025 Centerline is valid? [True, True] Translation: X:153.32, Y:242.31, Z:3.89 [[ 1.47603310e-01 -9.89036193e-01 4.54666081e-03 1.53323028e+02] [ 9.88467654e-01 1.47672618e-01 3.35334918e-02 2.42314047e+02] [-3.38372543e-02 -4.55427244e-04 9.99427252e-01 3.88623120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters Centerline goodness [0,1] 0.9995636998254799 Centerline is valid? [True, True] Translation: X:153.33, Y:242.34, Z:3.89 [[ 1.47134481e-01 -9.89106037e-01 4.54889368e-03 1.53327367e+02] [ 9.88534419e-01 1.47204093e-01 3.36252406e-02 2.42341967e+02] [-3.39285442e-02 -4.50694366e-04 9.99424160e-01 3.88549396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.266875 meters Centerline goodness [0,1] 0.9994968553459119 Centerline is valid? [True, True] Translation: X:153.33, Y:242.37, Z:3.88 [[ 1.47148341e-01 -9.89103908e-01 4.56337861e-03 1.53331500e+02] [ 9.88526214e-01 1.47218355e-01 3.38035592e-02 2.42369275e+02] [-3.41070456e-02 -4.63118256e-04 9.99418078e-01 3.88475986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters Centerline goodness [0,1] 0.9997028707259097 Centerline is valid? [True, True] Translation: X:153.34, Y:242.40, Z:3.88 [[ 1.46718173e-01 -9.89167831e-01 4.55851833e-03 1.53335199e+02] [ 9.88588981e-01 1.46788257e-01 3.38383449e-02 2.42396210e+02] [-3.41409392e-02 -4.58199152e-04 9.99416923e-01 3.88390932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32687500000003 meters Centerline goodness [0,1] 0.9993163483888611 Centerline is valid? [True, True] Translation: X:153.34, Y:242.42, Z:3.88 [[ 1.47403000e-01 -9.89066313e-01 4.49269266e-03 1.53338597e+02] [ 9.88501549e-01 1.47470651e-01 3.34229778e-02 2.42422969e+02] [-3.37200818e-02 -4.85613548e-04 9.99431198e-01 3.88216836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters Centerline goodness [0,1] 0.9995419043038091 Centerline is valid? [True, True] Translation: X:153.34, Y:242.45, Z:3.88 [[ 1.47557072e-01 -9.89043551e-01 4.44581898e-03 1.53341473e+02] [ 9.88487922e-01 1.47623195e-01 3.31514833e-02 2.42450258e+02] [-3.34445668e-02 -4.97097454e-04 9.99440450e-01 3.88107292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38687500000003 meters Centerline goodness [0,1] 0.9995865395658665 Centerline is valid? [True, True] Translation: X:153.34, Y:242.48, Z:3.88 [[ 1.48174201e-01 -9.88951485e-01 4.40066910e-03 1.53344755e+02] [ 9.88404542e-01 1.48238609e-01 3.28903791e-02 2.42477297e+02] [-3.31793383e-02 -5.23864308e-04 9.99449277e-01 3.87982758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters Centerline goodness [0,1] 0.9996790683813584 Centerline is valid? [True, True] Translation: X:153.35, Y:242.51, Z:3.88 [[ 1.48476253e-01 -9.88906538e-01 4.31982372e-03 1.53348927e+02] [ 9.88377011e-01 1.48538116e-01 3.23622121e-02 2.42505039e+02] [-3.26448616e-02 -5.35405531e-04 9.99466871e-01 3.87907262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44687500000003 meters Centerline goodness [0,1] 0.9994263555219017 Centerline is valid? [True, True] Translation: X:153.35, Y:242.53, Z:3.88 [[ 1.48909136e-01 -9.88841480e-01 4.31242971e-03 1.53352158e+02] [ 9.88311466e-01 1.48970517e-01 3.23763965e-02 2.42533036e+02] [-3.26575487e-02 -5.59117493e-04 9.99466444e-01 3.87757526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters Centerline goodness [0,1] 0.9994955516830231 Centerline is valid? [True, True] Translation: X:153.35, Y:242.56, Z:3.88 [[ 1.48636390e-01 -9.88882771e-01 4.25317349e-03 1.53354985e+02] [ 9.88365070e-01 1.48696202e-01 3.19988622e-02 2.42560261e+02] [-3.22755543e-02 -5.52507232e-04 9.99478856e-01 3.87658780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50687500000004 meters Centerline goodness [0,1] 0.9996787517209729 Centerline is valid? [True, True] Translation: X:153.36, Y:242.59, Z:3.88 [[ 1.48504276e-01 -9.88902615e-01 4.25407808e-03 1.53360089e+02] [ 9.88382308e-01 1.48564142e-01 3.20797207e-02 2.42587939e+02] [-3.23557232e-02 -5.59320197e-04 9.99476260e-01 3.87644224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters Centerline goodness [0,1] 0.9995194508009153 Centerline is valid? [True, True] Translation: X:153.36, Y:242.62, Z:3.88 [[ 1.47520767e-01 -9.89049828e-01 4.24975058e-03 1.53364650e+02] [ 9.88528127e-01 1.47580986e-01 3.21246721e-02 2.42615908e+02] [-3.24000838e-02 -5.38058281e-04 9.99474835e-01 3.87589054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56687500000004 meters Centerline goodness [0,1] 0.999496360056774 Centerline is valid? [True, True] Translation: X:153.37, Y:242.64, Z:3.88 [[ 1.47169018e-01 -9.89102004e-01 4.30189868e-03 1.53368510e+02] [ 9.88566010e-01 1.47230891e-01 3.25623896e-02 2.42643086e+02] [-3.28408971e-02 -5.39464079e-04 9.99460447e-01 3.87551448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters Centerline goodness [0,1] 0.9996786706144277 Centerline is valid? [True, True] Translation: X:153.37, Y:242.67, Z:3.88 [[ 1.46439948e-01 -9.89209974e-01 4.35526970e-03 1.53372748e+02] [ 9.88658966e-01 1.46503743e-01 3.30166848e-02 2.42670480e+02] [-3.32984972e-02 -5.29085159e-04 9.99445311e-01 3.87512686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62687500000004 meters Centerline goodness [0,1] 0.9994480601614424 Centerline is valid? [True, True] Translation: X:153.38, Y:242.70, Z:3.87 [[ 1.46274460e-01 -9.89234214e-01 4.41048280e-03 1.53375900e+02] [ 9.88666652e-01 1.46339937e-01 3.35093025e-02 2.42697441e+02] [-3.37939783e-02 -5.41057846e-04 9.99428674e-01 3.87378013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters Centerline goodness [0,1] 0.9996806423650714 Centerline is valid? [True, True] Translation: X:153.38, Y:242.72, Z:3.87 [[ 1.46224117e-01 -9.89241900e-01 4.35561582e-03 1.53377846e+02] [ 9.88685819e-01 1.46287963e-01 3.31690083e-02 2.42724487e+02] [-3.34493470e-02 -5.43773369e-04 9.99440266e-01 3.87212298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.686875 meters Centerline goodness [0,1] 0.9996570252658055 Centerline is valid? [True, True] Translation: X:153.38, Y:242.75, Z:3.87 [[ 1.46000555e-01 -9.89275217e-01 4.28762396e-03 1.53380836e+02] [ 9.88733998e-01 1.46062507e-01 3.27234696e-02 2.42751267e+02] [-3.29987786e-02 -5.38325158e-04 9.99455247e-01 3.87060949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters Centerline goodness [0,1] 0.9995396584265525 Centerline is valid? [True, True] Translation: X:153.38, Y:242.78, Z:3.87 [[ 1.46617526e-01 -9.89184095e-01 4.25754618e-03 1.53383290e+02] [ 9.88647829e-01 1.46678235e-01 3.25724622e-02 2.42778645e+02] [-3.28446509e-02 -5.66480035e-04 9.99460308e-01 3.86843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.746875 meters Centerline goodness [0,1] 0.9996769951318552 Centerline is valid? [True, True] Translation: X:153.39, Y:242.81, Z:3.87 [[ 1.46405154e-01 -9.89215857e-01 4.18557326e-03 1.53387395e+02] [ 9.88695274e-01 1.46463901e-01 3.20933235e-02 2.42806830e+02] [-3.23602599e-02 -5.60371477e-04 9.99476113e-01 3.86799844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters Centerline goodness [0,1] 0.999723737827198 Centerline is valid? [True, True] Translation: X:153.39, Y:242.83, Z:3.87 [[ 1.46345186e-01 -9.89224638e-01 4.20748690e-03 1.53390606e+02] [ 9.88696271e-01 1.46404541e-01 3.23325631e-02 2.42834419e+02] [-3.26001632e-02 -5.71788363e-04 9.99468310e-01 3.86737718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.806875 meters Centerline goodness [0,1] 0.9996339259157572 Centerline is valid? [True, True] Translation: X:153.39, Y:242.86, Z:3.87 [[ 1.46997276e-01 -9.89127802e-01 4.24173819e-03 1.53392822e+02] [ 9.88588439e-01 1.47057204e-01 3.26661464e-02 2.42862077e+02] [-3.29347718e-02 -6.08501210e-04 9.99457318e-01 3.86653256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters Centerline goodness [0,1] 0.9997021218092663 Centerline is valid? [True, True] Translation: X:153.39, Y:242.89, Z:3.86 [[ 1.47116373e-01 -9.89110302e-01 4.19332093e-03 1.53394999e+02] [ 9.88580494e-01 1.47174828e-01 3.23755615e-02 2.42888556e+02] [-3.26401527e-02 -6.17539916e-04 9.99466977e-01 3.86488662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.866875 meters Centerline goodness [0,1] 0.9995650382308502 Centerline is valid? [True, True] Translation: X:153.40, Y:242.92, Z:3.86 [[ 1.47525427e-01 -9.89049272e-01 4.21741855e-03 1.53397493e+02] [ 9.88511429e-01 1.47584296e-01 3.26194779e-02 2.42915295e+02] [-3.28846956e-02 -6.43235964e-04 9.99458945e-01 3.86346118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters Centerline goodness [0,1] 0.9997250166135796 Centerline is valid? [True, True] Translation: X:153.40, Y:242.94, Z:3.86 [[ 1.47623774e-01 -9.89034865e-01 4.15410073e-03 1.53399905e+02] [ 9.88510572e-01 1.47680789e-01 3.22061113e-02 2.42942006e+02] [-3.24664479e-02 -6.48015232e-04 9.99472616e-01 3.86213511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.926875 meters Centerline goodness [0,1] 0.9994261711846122 Centerline is valid? [True, True] Translation: X:153.40, Y:242.97, Z:3.86 [[ 1.49041853e-01 -9.88822250e-01 4.13323939e-03 1.53401665e+02] [ 9.88300555e-01 1.49097497e-01 3.21239721e-02 2.42970258e+02] [-3.23811540e-02 -7.02933558e-04 9.99475346e-01 3.86009929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters Centerline goodness [0,1] 0.9992449203734212 Centerline is valid? [True, True] Translation: X:153.40, Y:243.00, Z:3.86 [[ 1.49144860e-01 -9.88806935e-01 4.08124338e-03 1.53404368e+02] [ 9.88296375e-01 1.49199018e-01 3.17793510e-02 2.42996990e+02] [-3.20325601e-02 -7.06248818e-04 9.99486576e-01 3.85894952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.986875 meters Centerline goodness [0,1] 0.999563679786892 Centerline is valid? [True, True] Translation: X:153.41, Y:243.02, Z:3.86 [[ 1.49828062e-01 -9.88703518e-01 4.11158713e-03 1.53406213e+02] [ 9.88182702e-01 1.49882610e-01 3.20959623e-02 2.43023674e+02] [-3.23496463e-02 -7.45876535e-04 9.99476335e-01 3.85857621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters Centerline goodness [0,1] 0.9996554892053284 Centerline is valid? [True, True] Translation: X:153.41, Y:243.05, Z:3.86 [[ 1.49582789e-01 -9.88740541e-01 4.13916489e-03 1.53411418e+02] [ 9.88210293e-01 1.49638147e-01 3.23858330e-02 2.43051031e+02] [-3.26405630e-02 -7.53997862e-04 9.99466870e-01 3.85833220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.046875 meters Centerline goodness [0,1] 0.9993123051531267 Centerline is valid? [True, True] Translation: X:153.41, Y:243.08, Z:3.86 [[ 1.49600347e-01 -9.88737700e-01 4.18283414e-03 1.53412433e+02] [ 9.88193583e-01 1.49656808e-01 3.28067439e-02 2.43078124e+02] [-3.30632542e-02 -7.74450421e-04 9.99452961e-01 3.85655453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters Centerline goodness [0,1] 0.9993109309323105 Centerline is valid? [True, True] Translation: X:153.42, Y:243.11, Z:3.86 [[ 1.48971049e-01 -9.88832679e-01 4.19047679e-03 1.53417353e+02] [ 9.88284976e-01 1.49028026e-01 3.29158480e-02 2.43105736e+02] [-3.31727647e-02 -7.62123153e-04 9.99449342e-01 3.85589596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.106875 meters Centerline goodness [0,1] 0.9997246569684732 Centerline is valid? [True, True] Translation: X:153.42, Y:243.13, Z:3.85 [[ 1.48325647e-01 -9.88929848e-01 4.15425700e-03 1.53420331e+02] [ 9.88389332e-01 1.48381944e-01 3.27005556e-02 2.43132668e+02] [-3.29549722e-02 -7.44307755e-04 9.99456560e-01 3.85411248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters Centerline goodness [0,1] 0.9994492760274444 Centerline is valid? [True, True] Translation: X:153.42, Y:243.16, Z:3.85 [[ 1.47825679e-01 -9.89005049e-01 4.07217152e-03 1.53423683e+02] [ 9.88483179e-01 1.47879981e-01 3.21327783e-02 2.43159834e+02] [-3.23816726e-02 -7.24776728e-04 9.99475313e-01 3.85221925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.166875 meters Centerline goodness [0,1] 0.9995190215524152 Centerline is valid? [True, True] Translation: X:153.43, Y:243.19, Z:3.85 [[ 1.46684114e-01 -9.89175645e-01 3.91328516e-03 1.53428483e+02] [ 9.88691368e-01 1.46734767e-01 3.09562234e-02 2.43188018e+02] [-3.11953573e-02 -6.71754961e-04 9.99513081e-01 3.85081641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters Centerline goodness [0,1] 0.9993608035612374 Centerline is valid? [True, True] Translation: X:153.43, Y:243.21, Z:3.85 [[ 1.45596933e-01 -9.89336146e-01 3.94003007e-03 1.53428633e+02] [ 9.88843025e-01 1.45648773e-01 3.12395057e-02 2.43214742e+02] [-3.14802328e-02 -6.52304972e-04 9.99504162e-01 3.84780611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.226875 meters Centerline goodness [0,1] 0.9995651775906261 Centerline is valid? [True, True] Translation: X:153.44, Y:243.24, Z:3.85 [[ 1.44475407e-01 -9.89500745e-01 3.89003076e-03 1.53436270e+02] [ 9.89018722e-01 1.44526458e-01 3.08880382e-02 2.43241968e+02] [-3.11259491e-02 -6.15248632e-04 9.99515281e-01 3.84937753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters Centerline goodness [0,1] 0.9992690559400625 Centerline is valid? [True, True] Translation: X:153.44, Y:243.27, Z:3.85 [[ 1.42678382e-01 -9.89761422e-01 3.89950748e-03 1.53439622e+02] [ 9.89274914e-01 1.42730521e-01 3.10345361e-02 2.43269133e+02] [-3.12733654e-02 -5.70272476e-04 9.99510706e-01 3.84849422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.286875 meters Centerline goodness [0,1] 0.9996335738005268 Centerline is valid? [True, True] Translation: X:153.44, Y:243.30, Z:3.85 [[ 1.41289854e-01 -9.89960484e-01 3.92654685e-03 1.53443119e+02] [ 9.89464944e-01 1.41343371e-01 3.13237352e-02 2.43296859e+02] [-3.15642514e-02 -5.40545523e-04 9.99501579e-01 3.84783064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters Centerline goodness [0,1] 0.9994972003199635 Centerline is valid? [True, True] Translation: X:153.45, Y:243.32, Z:3.85 [[ 1.39829831e-01 -9.90167890e-01 3.89466425e-03 1.53446804e+02] [ 9.89678237e-01 1.39883166e-01 3.11397865e-02 2.43324979e+02] [-3.13784146e-02 -4.99806615e-04 9.99507451e-01 3.84658989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.346875 meters Centerline goodness [0,1] 0.9994976710201845 Centerline is valid? [True, True] Translation: X:153.45, Y:243.35, Z:3.85 [[ 1.37471341e-01 -9.90497839e-01 3.95745785e-03 1.53450205e+02] [ 9.89989806e-01 1.37527578e-01 3.17230093e-02 2.43352112e+02] [-3.19658318e-02 -4.43161697e-04 9.99488864e-01 3.84539298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters Centerline goodness [0,1] 0.9996335150487883 Centerline is valid? [True, True] Translation: X:153.45, Y:243.38, Z:3.84 [[ 1.36033440e-01 -9.90696311e-01 3.96513566e-03 1.53453055e+02] [ 9.90184967e-01 1.36090618e-01 3.18288343e-02 2.43378754e+02] [-3.20723265e-02 -4.03568110e-04 9.99485469e-01 3.84415278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.406875 meters Centerline goodness [0,1] 0.9996563180203918 Centerline is valid? [True, True] Translation: X:153.46, Y:243.41, Z:3.84 [[ 1.34557967e-01 -9.90897994e-01 3.91402418e-03 1.53458109e+02] [ 9.90397528e-01 1.34614397e-01 3.14912765e-02 2.43406546e+02] [-3.17315267e-02 -3.60962268e-04 9.99496363e-01 3.84379913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters Centerline goodness [0,1] 0.9998169880813488 Centerline is valid? [True, True] Translation: X:153.46, Y:243.43, Z:3.84 [[ 1.32260602e-01 -9.91207425e-01 3.86959454e-03 1.53461542e+02] [ 9.90716194e-01 1.32316872e-01 3.12036656e-02 2.43433274e+02] [-3.14413177e-02 -2.93345633e-04 9.99505557e-01 3.84266113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.466875 meters Centerline goodness [0,1] 0.9997714024459938 Centerline is valid? [True, True] Translation: X:153.46, Y:243.46, Z:3.84 [[ 1.31578671e-01 -9.91298200e-01 3.86416924e-03 1.53464382e+02] [ 9.90806133e-01 1.31635100e-01 3.12315177e-02 2.43460373e+02] [-3.14684076e-02 -2.80759016e-04 9.99504708e-01 3.84102096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters Centerline goodness [0,1] 0.9997249472815622 Centerline is valid? [True, True] Translation: X:153.47, Y:243.49, Z:3.84 [[ 1.31161908e-01 -9.91353471e-01 3.85355713e-03 1.53467207e+02] [ 9.90861664e-01 1.31218213e-01 3.12240702e-02 2.43487057e+02] [-3.14597472e-02 -2.77066605e-04 9.99504981e-01 3.84005337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.526875 meters Centerline goodness [0,1] 0.999429718509056 Centerline is valid? [True, True] Translation: X:153.47, Y:243.51, Z:3.84 [[ 1.30806425e-01 -9.91400324e-01 3.88294581e-03 1.53469057e+02] [ 9.90898475e-01 1.30863748e-01 3.15419115e-02 2.43513398e+02] [-3.17787982e-02 -2.78279598e-04 9.99494888e-01 3.83852419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters Centerline goodness [0,1] 0.9994967287367891 Centerline is valid? [True, True] Translation: X:153.47, Y:243.54, Z:3.84 [[ 1.30728291e-01 -9.91410664e-01 3.87415212e-03 1.53472709e+02] [ 9.90908330e-01 1.30785370e-01 3.15573904e-02 2.43541233e+02] [-3.17930158e-02 -2.86514100e-04 9.99494433e-01 3.83833454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.586875 meters Centerline goodness [0,1] 0.9995910485061911 Centerline is valid? [True, True] Translation: X:153.47, Y:243.57, Z:3.84 [[ 1.30684377e-01 -9.91416651e-01 3.82323920e-03 1.53474557e+02] [ 9.90925208e-01 1.30739968e-01 3.12136605e-02 2.43568176e+02] [-3.14455929e-02 -2.90593673e-04 9.99505423e-01 3.83625853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters Centerline goodness [0,1] 0.999726414664174 Centerline is valid? [True, True] Translation: X:153.48, Y:243.60, Z:3.84 [[ 1.30864478e-01 -9.91393013e-01 3.79230143e-03 1.53477889e+02] [ 9.90906856e-01 1.30919059e-01 3.10451836e-02 2.43595559e+02] [-3.12744627e-02 -3.04894244e-04 9.99510788e-01 3.83599352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.646875 meters Centerline goodness [0,1] 0.9996809771215022 Centerline is valid? [True, True] Translation: X:153.48, Y:243.62, Z:3.84 [[ 1.30550927e-01 -9.91434349e-01 3.79311173e-03 1.53481502e+02] [ 9.90946551e-01 1.30605672e-01 3.10980839e-02 2.43623612e+02] [-3.13271105e-02 -3.01112691e-04 9.99509140e-01 3.83510152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters Centerline goodness [0,1] 0.9997480704486637 Centerline is valid? [True, True] Translation: X:153.49, Y:243.65, Z:3.83 [[ 1.30484063e-01 -9.91443161e-01 3.79039041e-03 1.53485241e+02] [ 9.90953798e-01 1.30538741e-01 3.11481394e-02 2.43651005e+02] [-3.13764025e-02 -3.08234008e-04 9.99507592e-01 3.83482122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.706875 meters Centerline goodness [0,1] 0.9995435978183975 Centerline is valid? [True, True] Translation: X:153.49, Y:243.68, Z:3.83 [[ 1.30823222e-01 -9.91398020e-01 3.90520604e-03 1.53488141e+02] [ 9.90875983e-01 1.30881057e-01 3.21704193e-02 2.43677545e+02] [-3.24048075e-02 -3.39063033e-04 9.99474769e-01 3.83409108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters Centerline goodness [0,1] 0.9996568840496832 Centerline is valid? [True, True] Translation: X:153.49, Y:243.71, Z:3.83 [[ 1.30587374e-01 -9.91428756e-01 3.99495402e-03 1.53491614e+02] [ 9.90879571e-01 1.30647997e-01 3.29966097e-02 2.43705734e+02] [-3.32357204e-02 -3.50422276e-04 9.99447479e-01 3.83333848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.766875 meters Centerline goodness [0,1] 0.9998172347619483 Centerline is valid? [True, True] Translation: X:153.49, Y:243.73, Z:3.83 [[ 1.30862654e-01 -9.91392288e-01 4.03690835e-03 1.53494053e+02] [ 9.90828616e-01 1.30924369e-01 3.34284929e-02 2.43732657e+02] [-3.36692798e-02 -3.74656995e-04 9.99432959e-01 3.83172883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters Centerline goodness [0,1] 0.9995434311151695 Centerline is valid? [True, True] Translation: X:153.50, Y:243.76, Z:3.83 [[ 1.30892397e-01 -9.91388525e-01 3.99661762e-03 1.53497183e+02] [ 9.90834297e-01 1.30952850e-01 3.31473540e-02 2.43760988e+02] [-3.33852748e-02 -3.78750799e-04 9.99442485e-01 3.83022614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82687500000003 meters Centerline goodness [0,1] 0.9997261399424894 Centerline is valid? [True, True] Translation: X:153.50, Y:243.79, Z:3.83 [[ 1.31902011e-01 -9.91254908e-01 3.94540880e-03 1.53500530e+02] [ 9.90712258e-01 1.31960344e-01 3.27977127e-02 2.43788918e+02] [-3.30315312e-02 -4.17319389e-04 9.99454223e-01 3.82865302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters Centerline goodness [0,1] 0.9997261399424894 Centerline is valid? [True, True] Translation: X:153.50, Y:243.82, Z:3.83 [[ 1.31626709e-01 -9.91291539e-01 3.93623165e-03 1.53503740e+02] [ 9.90748872e-01 1.31684890e-01 3.27988137e-02 2.43816323e+02] [-3.30315288e-02 -4.17382860e-04 9.99454223e-01 3.82752581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88687500000003 meters Centerline goodness [0,1] 0.9997946471353275 Centerline is valid? [True, True] Translation: X:153.51, Y:243.84, Z:3.83 [[ 1.32007620e-01 -9.91241251e-01 3.84319681e-03 1.53506863e+02] [ 9.90721555e-01 1.32062854e-01 3.20967857e-02 2.43844639e+02] [-3.23232015e-02 -4.29482375e-04 9.99477377e-01 3.82581334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters Centerline goodness [0,1] 0.9998634377276038 Centerline is valid? [True, True] Translation: X:153.51, Y:243.87, Z:3.82 [[ 1.32468802e-01 -9.91180006e-01 3.76999143e-03 1.53509034e+02] [ 9.90677387e-01 1.32521685e-01 3.15644899e-02 2.43871132e+02] [-3.17856969e-02 -4.46464905e-04 9.99494607e-01 3.82387565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94687500000003 meters Centerline goodness [0,1] 0.9996575498835669 Centerline is valid? [True, True] Translation: X:153.51, Y:243.90, Z:3.82 [[ 1.33237005e-01 -9.91077393e-01 3.67449897e-03 1.53512258e+02] [ 9.90598465e-01 1.33286852e-01 3.08106494e-02 2.43898883e+02] [-3.10255005e-02 -4.65165604e-04 9.99518485e-01 3.82250306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters Centerline goodness [0,1] 0.9995906485945601 Centerline is valid? [True, True] Translation: X:153.51, Y:243.93, Z:3.82 [[ 1.34450965e-01 -9.90913309e-01 3.70849323e-03 1.53514412e+02] [ 9.90423113e-01 1.34501103e-01 3.11690692e-02 2.43926231e+02] [-3.13846419e-02 -5.17734013e-04 9.99507247e-01 3.82132422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00687500000004 meters Centerline goodness [0,1] 0.9997262773722628 Centerline is valid? [True, True] Translation: X:153.52, Y:243.95, Z:3.82 [[ 1.34607092e-01 -9.90891957e-01 3.74976916e-03 1.53518271e+02] [ 9.90388190e-01 1.34658230e-01 3.15973629e-02 2.43953958e+02] [-3.18145100e-02 -5.39502032e-04 9.99493645e-01 3.82077529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters Centerline goodness [0,1] 0.9997950119576358 Centerline is valid? [True, True] Translation: X:153.52, Y:243.98, Z:3.82 [[ 1.34579861e-01 -9.90895444e-01 3.80526225e-03 1.53522917e+02] [ 9.90374143e-01 1.34632495e-01 3.21426336e-02 2.43981787e+02] [-3.23623011e-02 -5.57117825e-04 9.99476048e-01 3.82055868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06687500000004 meters Centerline goodness [0,1] 0.999771845767739 Centerline is valid? [True, True] Translation: X:153.52, Y:244.01, Z:3.82 [[ 1.33915501e-01 -9.90985634e-01 3.75661944e-03 1.53524252e+02] [ 9.90474966e-01 1.33967094e-01 3.18144590e-02 2.44008681e+02] [-3.20309352e-02 -5.39611702e-04 9.99486732e-01 3.81831458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters Centerline goodness [0,1] 0.999520723023553 Centerline is valid? [True, True] Translation: X:153.53, Y:244.04, Z:3.82 [[ 1.33921121e-01 -9.90984862e-01 3.75974479e-03 1.53530289e+02] [ 9.90471712e-01 1.33972770e-01 3.18917523e-02 2.44036799e+02] [-3.21079472e-02 -5.47058374e-04 9.99484257e-01 3.81843001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12687500000004 meters Centerline goodness [0,1] 0.9995448235053142 Centerline is valid? [True, True] Translation: X:153.53, Y:244.06, Z:3.82 [[ 1.33653699e-01 -9.91020880e-01 3.78216491e-03 1.53532757e+02] [ 9.90499064e-01 1.33706063e-01 3.21604394e-02 2.44063312e+02] [-3.23773653e-02 -5.52130892e-04 9.99475563e-01 3.81677137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters Centerline goodness [0,1] 0.999565773836731 Centerline is valid? [True, True] Translation: X:153.54, Y:244.09, Z:3.82 [[ 1.34136728e-01 -9.90955735e-01 3.75093291e-03 1.53535318e+02] [ 9.90439916e-01 1.34187936e-01 3.19745386e-02 2.44089346e+02] [-3.21886824e-02 -5.73886331e-04 9.99481645e-01 3.81546843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.186875 meters Centerline goodness [0,1] 0.9997707158251937 Centerline is valid? [True, True] Translation: X:153.54, Y:244.12, Z:3.81 [[ 1.34919206e-01 -9.90849737e-01 3.68880128e-03 1.53537873e+02] [ 9.90347910e-01 1.34968283e-01 3.15369508e-02 2.44117431e+02] [-3.17462505e-02 -6.01743725e-04 9.99495780e-01 3.81379837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters Centerline goodness [0,1] 0.999495771355229 Centerline is valid? [True, True] Translation: X:153.54, Y:244.15, Z:3.81 [[ 1.37085343e-01 -9.90552746e-01 3.58703850e-03 1.53542085e+02] [ 9.90075945e-01 1.37130666e-01 3.07376614e-02 2.44145425e+02] [-3.09391679e-02 -6.62242332e-04 9.99521050e-01 3.81302648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.246875 meters Centerline goodness [0,1] 0.9994719441638351 Centerline is valid? [True, True] Translation: X:153.54, Y:244.17, Z:3.81 [[ 1.38212202e-01 -9.90396265e-01 3.55322242e-03 1.53542883e+02] [ 9.89926187e-01 1.38256094e-01 3.05187857e-02 2.44172621e+02] [-3.07169461e-02 -7.00640674e-04 9.99527878e-01 3.81079454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters Centerline goodness [0,1] 0.9994047891580056 Centerline is valid? [True, True] Translation: X:153.55, Y:244.20, Z:3.81 [[ 1.39332086e-01 -9.90239521e-01 3.50163029e-03 1.53545179e+02] [ 9.89781030e-01 1.39374149e-01 3.01389884e-02 2.44199780e+02] [-3.03328542e-02 -7.33480871e-04 9.99539584e-01 3.80922246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.306875 meters Centerline goodness [0,1] 0.9994465199944652 Centerline is valid? [True, True] Translation: X:153.55, Y:244.23, Z:3.81 [[ 1.41617658e-01 -9.89915515e-01 3.42217920e-03 1.53549622e+02] [ 9.89475301e-01 1.41656766e-01 2.95294555e-02 2.44227692e+02] [-2.97164410e-02 -7.95730542e-04 9.99558052e-01 3.80819638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters Centerline goodness [0,1] 0.9995384260327718 Centerline is valid? [True, True] Translation: X:153.55, Y:244.26, Z:3.81 [[ 1.42397336e-01 -9.89803481e-01 3.47397258e-03 1.53553193e+02] [ 9.89347725e-01 1.42437220e-01 3.00452697e-02 2.44255847e+02] [-3.02337355e-02 -8.41399484e-04 9.99542502e-01 3.80773346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.366875 meters Centerline goodness [0,1] 0.9995604598977491 Centerline is valid? [True, True] Translation: X:153.56, Y:244.28, Z:3.81 [[ 1.42147013e-01 -9.89839316e-01 3.51489470e-03 1.53557698e+02] [ 9.89370423e-01 1.42187896e-01 3.04756930e-02 2.44283551e+02] [-3.06658146e-02 -8.54495874e-04 9.99529328e-01 3.80746298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters Centerline goodness [0,1] 0.9995613832586915 Centerline is valid? [True, True] Translation: X:153.56, Y:244.31, Z:3.81 [[ 1.41777861e-01 -9.89892102e-01 3.55870540e-03 1.53560632e+02] [ 9.89409050e-01 1.41819881e-01 3.09330490e-02 2.44310439e+02] [-3.11250761e-02 -8.64606190e-04 9.99515123e-01 3.80637131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.426875 meters Centerline goodness [0,1] 0.9996527375853687 Centerline is valid? [True, True] Translation: X:153.56, Y:244.34, Z:3.81 [[ 1.41031855e-01 -9.89998496e-01 3.60476762e-03 1.53563259e+02] [ 9.89500275e-01 1.41075272e-01 3.14161473e-02 2.44336843e+02] [-3.16104822e-02 -8.63758978e-04 9.99499891e-01 3.80519198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters Centerline goodness [0,1] 0.9996983408748115 Centerline is valid? [True, True] Translation: X:153.57, Y:244.36, Z:3.81 [[ 1.39864185e-01 -9.90163913e-01 3.66537750e-03 1.53570847e+02] [ 9.89645699e-01 1.39909599e-01 3.20420806e-02 2.44364739e+02] [-3.22397334e-02 -8.54114415e-04 9.99479800e-01 3.80606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.486875 meters Centerline goodness [0,1] 0.9993518068384378 Centerline is valid? [True, True] Translation: X:153.57, Y:244.39, Z:3.80 [[ 1.39523724e-01 -9.90211936e-01 3.66776564e-03 1.53573766e+02] [ 9.89690563e-01 1.39569309e-01 3.21402777e-02 2.44390418e+02] [-3.23375941e-02 -8.54378195e-04 9.99476638e-01 3.80408351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters Centerline goodness [0,1] 0.9996054402822262 Centerline is valid? [True, True] Translation: X:153.58, Y:244.42, Z:3.80 [[ 1.38918673e-01 -9.90297193e-01 3.61562330e-03 1.53577661e+02] [ 9.89787836e-01 1.38963210e-01 3.17689416e-02 2.44416300e+02] [-3.19631323e-02 -8.34599231e-04 9.99488700e-01 3.80315468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.546875 meters Centerline goodness [0,1] 0.9995369084004816 Centerline is valid? [True, True] Translation: X:153.58, Y:244.44, Z:3.80 [[ 1.38830473e-01 -9.90309705e-01 3.57617522e-03 1.53580257e+02] [ 9.89808496e-01 1.38874012e-01 3.15142896e-02 2.44442099e+02] [-3.17055446e-02 -8.35415104e-04 9.99496904e-01 3.80120450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters Centerline goodness [0,1] 0.999721344974921 Centerline is valid? [True, True] Translation: X:153.58, Y:244.47, Z:3.80 [[ 1.39176281e-01 -9.90261587e-01 3.45706483e-03 1.53584489e+02] [ 9.89790419e-01 1.39216731e-01 3.05553475e-02 2.44469994e+02] [-3.07390681e-02 -8.30809965e-04 9.99527098e-01 3.79962378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.606875 meters Centerline goodness [0,1] 0.9995590521942955 Centerline is valid? [True, True] Translation: X:153.59, Y:244.50, Z:3.80 [[ 1.38838566e-01 -9.90309071e-01 3.43451955e-03 1.53588085e+02] [ 9.89842139e-01 1.38878598e-01 3.04183155e-02 2.44495979e+02] [-3.06005150e-02 -8.23603125e-04 9.99531355e-01 3.79817599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters Centerline goodness [0,1] 0.9996047706507335 Centerline is valid? [True, True] Translation: X:153.59, Y:244.52, Z:3.80 [[ 1.38752120e-01 -9.90321253e-01 3.41553454e-03 1.53591410e+02] [ 9.89856765e-01 1.38791679e-01 3.03389936e-02 2.44523245e+02] [-3.05193979e-02 -8.28709719e-04 9.99533831e-01 3.79709433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.666875 meters Centerline goodness [0,1] 0.9995800671892497 Centerline is valid? [True, True] Translation: X:153.60, Y:244.55, Z:3.80 [[ 1.38836548e-01 -9.90309754e-01 3.31734067e-03 1.53595245e+02] [ 9.89869210e-01 1.38873762e-01 2.95470040e-02 2.44550194e+02] [-2.97213778e-02 -8.18470644e-04 9.99557887e-01 3.79534226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters Centerline goodness [0,1] 0.9995111731843576 Centerline is valid? [True, True] Translation: X:153.60, Y:244.58, Z:3.79 [[ 1.38911735e-01 -9.90299461e-01 3.24138743e-03 1.53600158e+02] [ 9.89877019e-01 1.38947183e-01 2.89338429e-02 2.44577227e+02] [-2.91035507e-02 -8.10675397e-04 9.99576073e-01 3.79418136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.726875 meters Centerline goodness [0,1] 0.9995571921320033 Centerline is valid? [True, True] Translation: X:153.61, Y:244.61, Z:3.79 [[ 1.39430733e-01 -9.90226786e-01 3.15943454e-03 1.53607811e+02] [ 9.89823166e-01 1.39464137e-01 2.82817042e-02 2.44605341e+02] [-2.84459289e-02 -8.16057258e-04 9.99595000e-01 3.79345986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters Centerline goodness [0,1] 0.9993463441964703 Centerline is valid? [True, True] Translation: X:153.61, Y:244.63, Z:3.79 [[ 1.39721943e-01 -9.90185739e-01 3.15940389e-03 1.53609110e+02] [ 9.89779952e-01 1.39755164e-01 2.83573846e-02 2.44632506e+02] [-2.85206208e-02 -8.35034249e-04 9.99592856e-01 3.79121448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.786875 meters Centerline goodness [0,1] 0.9994151362732483 Centerline is valid? [True, True] Translation: X:153.62, Y:244.66, Z:3.79 [[ 1.39549325e-01 -9.90210135e-01 3.14223431e-03 1.53615507e+02] [ 9.89807505e-01 1.39582219e-01 2.82472571e-02 2.44660406e+02] [-2.84093203e-02 -8.31678555e-04 9.99596028e-01 3.79158830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters Centerline goodness [0,1] 0.9994845723121617 Centerline is valid? [True, True] Translation: X:153.62, Y:244.69, Z:3.79 [[ 1.38351215e-01 -9.90378233e-01 3.14601630e-03 1.53621678e+02] [ 9.89972551e-01 1.38384617e-01 2.83556960e-02 2.44688229e+02] [-2.85182243e-02 -8.08575196e-04 9.99592946e-01 3.79109239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.846875 meters Centerline goodness [0,1] 0.9994604232158776 Centerline is valid? [True, True] Translation: X:153.63, Y:244.72, Z:3.79 [[ 1.36496604e-01 -9.90635593e-01 3.13028362e-03 1.53625226e+02] [ 9.90231940e-01 1.36530370e-01 2.82871675e-02 2.44715222e+02] [-2.84496537e-02 -7.61395484e-04 9.99594937e-01 3.78975354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters Centerline goodness [0,1] 0.999412497356238 Centerline is valid? [True, True] Translation: X:153.63, Y:244.74, Z:3.79 [[ 1.34137550e-01 -9.90957897e-01 3.09261029e-03 1.53631941e+02] [ 9.90561918e-01 1.34171396e-01 2.80200640e-02 2.44743272e+02] [-2.81816435e-02 -6.95120757e-04 9.99602577e-01 3.78897556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.906875 meters Centerline goodness [0,1] 0.9995327321153217 Centerline is valid? [True, True] Translation: X:153.64, Y:244.77, Z:3.79 [[ 1.31585892e-01 -9.91299909e-01 3.10551903e-03 1.53635957e+02] [ 9.90898709e-01 1.31621004e-01 2.82074491e-02 2.44770368e+02] [-2.83707932e-02 -6.34447564e-04 9.99597267e-01 3.78734843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters Centerline goodness [0,1] 0.9995767792903999 Centerline is valid? [True, True] Translation: X:153.64, Y:244.80, Z:3.79 [[ 1.27153497e-01 -9.91878317e-01 3.06471130e-03 1.53643288e+02] [ 9.91485837e-01 1.27189404e-01 2.79050237e-02 2.44797834e+02] [-2.80681867e-02 -5.09603500e-04 9.99605881e-01 3.78641370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.966875 meters Centerline goodness [0,1] 0.9995990471473384 Centerline is valid? [True, True] Translation: X:153.65, Y:244.83, Z:3.79 [[ 1.25530642e-01 -9.92085208e-01 2.99976513e-03 1.53648086e+02] [ 9.91707333e-01 1.25565627e-01 2.73831902e-02 2.44825860e+02] [-2.75431253e-02 -4.62540373e-04 9.99620509e-01 3.78504384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters Centerline goodness [0,1] 0.9995757618609913 Centerline is valid? [True, True] Translation: X:153.65, Y:244.85, Z:3.78 [[ 1.24282719e-01 -9.92242373e-01 2.97985933e-03 1.53652561e+02] [ 9.91867617e-01 1.24317681e-01 2.72716827e-02 2.44853663e+02] [-2.74305683e-02 -4.33772912e-04 9.99623617e-01 3.78356507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.026875 meters Centerline goodness [0,1] 0.999669288734557 Centerline is valid? [True, True] Translation: X:153.66, Y:244.88, Z:3.78 [[ 1.22742655e-01 -9.92433985e-01 3.00419618e-03 1.53656775e+02] [ 9.92051119e-01 1.22778751e-01 2.75672750e-02 2.44881816e+02] [-2.77275521e-02 -4.03364339e-04 9.99615436e-01 3.78239420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters Centerline goodness [0,1] 0.999692125518058 Centerline is valid? [True, True] Translation: X:153.66, Y:244.91, Z:3.78 [[ 1.21413653e-01 -9.92597410e-01 3.01759849e-03 1.53660166e+02] [ 9.92209147e-01 1.21450563e-01 2.77627249e-02 2.44908653e+02] [-2.79236979e-02 -3.76685023e-04 9.99609987e-01 3.78106560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.086875 meters Centerline goodness [0,1] 0.9996460511102196 Centerline is valid? [True, True] Translation: X:153.66, Y:244.94, Z:3.78 [[ 1.21083726e-01 -9.92637560e-01 3.06686479e-03 1.53664076e+02] [ 9.92234361e-01 1.21121954e-01 2.82921292e-02 2.44935652e+02] [-2.84552947e-02 -3.82667781e-04 9.99594993e-01 3.78154919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters Centerline goodness [0,1] 0.9996217136372234 Centerline is valid? [True, True] Translation: X:153.67, Y:244.96, Z:3.78 [[ 1.21387414e-01 -9.92600335e-01 3.10976692e-03 1.53665744e+02] [ 9.92183335e-01 1.21426559e-01 2.87718609e-02 2.44961646e+02] [-2.89365671e-02 -4.07082886e-04 9.99581167e-01 3.78018724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.146875 meters Centerline goodness [0,1] 0.9997158418186124 Centerline is valid? [True, True] Translation: X:153.67, Y:244.99, Z:3.78 [[ 1.22820341e-01 -9.92423886e-01 3.16136482e-03 1.53668182e+02] [ 9.91990042e-01 1.22860128e-01 2.93452645e-02 2.44989222e+02] [-2.95113472e-02 -4.68152966e-04 9.99564336e-01 3.78088629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters Centerline goodness [0,1] 0.9996927222445459 Centerline is valid? [True, True] Translation: X:153.67, Y:245.02, Z:3.78 [[ 1.23653252e-01 -9.92320584e-01 3.11958341e-03 1.53670038e+02] [ 9.91895743e-01 1.23691601e-01 2.90382891e-02 2.45017221e+02] [-2.92011583e-02 -4.96377375e-04 9.99573432e-01 3.77978621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.206875 meters Centerline goodness [0,1] 0.9998350418286791 Centerline is valid? [True, True] Translation: X:153.67, Y:245.04, Z:3.78 [[ 1.25740251e-01 -9.92058404e-01 3.08418217e-03 1.53668970e+02] [ 9.91640936e-01 1.25776821e-01 2.87827221e-02 2.45044810e+02] [-2.89420600e-02 -5.60745430e-04 9.99580934e-01 3.77786058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters Centerline goodness [0,1] 0.9998346873228793 Centerline is valid? [True, True] Translation: X:153.67, Y:245.07, Z:3.78 [[ 1.26498945e-01 -9.91961927e-01 3.09077399e-03 1.53671361e+02] [ 9.91540454e-01 1.26535306e-01 2.89196069e-02 2.45072732e+02] [-2.90782410e-02 -5.93672326e-04 9.99576962e-01 3.77783386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.266875 meters Centerline goodness [0,1] 0.9996937501472355 Centerline is valid? [True, True] Translation: X:153.67, Y:245.10, Z:3.78 [[ 1.27037787e-01 -9.91893062e-01 3.09089570e-03 1.53672476e+02] [ 9.91469356e-01 1.27073875e-01 2.89956399e-02 2.45100288e+02] [-2.91533461e-02 -6.19013548e-04 9.99574759e-01 3.77623634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters Centerline goodness [0,1] 0.9995292345353545 Centerline is valid? [True, True] Translation: X:153.67, Y:245.13, Z:3.77 [[ 1.27603444e-01 -9.91820408e-01 3.10482636e-03 1.53673541e+02] [ 9.91390553e-01 1.27639564e-01 2.92046896e-02 2.45127368e+02] [-2.93621058e-02 -6.48523450e-04 9.99568630e-01 3.77476855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32687500000003 meters Centerline goodness [0,1] 0.9995756018201967 Centerline is valid? [True, True] Translation: X:153.68, Y:245.15, Z:3.77 [[ 1.27329307e-01 -9.91855661e-01 3.09754298e-03 1.53675369e+02] [ 9.91425301e-01 1.27365321e-01 2.92223845e-02 2.45154168e+02] [-2.93789071e-02 -6.49883497e-04 9.99568135e-01 3.77365255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters Centerline goodness [0,1] 0.9995081276057526 Centerline is valid? [True, True] Translation: X:153.68, Y:245.18, Z:3.77 [[ 1.26823003e-01 -9.91920587e-01 3.07830136e-03 1.53677640e+02] [ 9.91493354e-01 1.26858739e-01 2.91168212e-02 2.45180275e+02] [-2.92720838e-02 -6.40567375e-04 9.99571275e-01 3.77294326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38687500000003 meters Centerline goodness [0,1] 0.9996476226273256 Centerline is valid? [True, True] Translation: X:153.68, Y:245.21, Z:3.77 [[ 1.26167775e-01 -9.92004068e-01 3.10202052e-03 1.53679622e+02] [ 9.91567458e-01 1.26204291e-01 2.94355806e-02 2.45207712e+02] [-2.95917040e-02 -6.37959114e-04 9.99561866e-01 3.77277874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters Centerline goodness [0,1] 0.9992750403404972 Centerline is valid? [True, True] Translation: X:153.68, Y:245.23, Z:3.77 [[ 1.25931640e-01 -9.92034059e-01 3.10617625e-03 1.53682420e+02] [ 9.91593745e-01 1.25968303e-01 2.95606289e-02 2.45234478e+02] [-2.97164304e-02 -6.42553524e-04 9.99558163e-01 3.77157440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44687500000003 meters Centerline goodness [0,1] 0.9995067180306305 Centerline is valid? [True, True] Translation: X:153.68, Y:245.26, Z:3.77 [[ 1.24872241e-01 -9.92168173e-01 3.03980525e-03 1.53684632e+02] [ 9.91744078e-01 1.24907755e-01 2.90126887e-02 2.45261962e+02] [-2.91651616e-02 -6.08170614e-04 9.99574421e-01 3.77039314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters Centerline goodness [0,1] 0.9996953148803525 Centerline is valid? [True, True] Translation: X:153.69, Y:245.29, Z:3.77 [[ 1.23865863e-01 -9.92294306e-01 3.04282285e-03 1.53685226e+02] [ 9.91866848e-01 1.23901827e-01 2.91288965e-02 2.45288006e+02] [-2.92814494e-02 -5.90000792e-04 9.99571032e-01 3.76855673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50687500000004 meters Centerline goodness [0,1] 0.9995772166764533 Centerline is valid? [True, True] Translation: X:153.69, Y:245.32, Z:3.77 [[ 1.21623695e-01 -9.92571731e-01 3.00599136e-03 1.53690276e+02] [ 9.92152078e-01 1.21659690e-01 2.88647391e-02 2.45316047e+02] [-2.90160320e-02 -5.28235646e-04 9.99578807e-01 3.76815984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters Centerline goodness [0,1] 0.9994844152800563 Centerline is valid? [True, True] Translation: X:153.69, Y:245.34, Z:3.77 [[ 1.19757081e-01 -9.92798599e-01 3.03027254e-03 1.53693254e+02] [ 9.92369984e-01 1.19794425e-01 2.91737996e-02 2.45342112e+02] [-2.93267171e-02 -4.86617565e-04 9.99569761e-01 3.76728592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56687500000004 meters Centerline goodness [0,1] 0.9996714925968511 Centerline is valid? [True, True] Translation: X:153.70, Y:245.37, Z:3.77 [[ 1.17982948e-01 -9.93011028e-01 3.02018641e-03 1.53696183e+02] [ 9.92582452e-01 1.18020761e-01 2.91749207e-02 2.45369476e+02] [-2.93274628e-02 -4.44359132e-04 9.99569759e-01 3.76610909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters Centerline goodness [0,1] 0.9993660632527999 Centerline is valid? [True, True] Translation: X:153.70, Y:245.40, Z:3.77 [[ 1.16536051e-01 -9.93181799e-01 3.04358173e-03 1.53700179e+02] [ 9.92744071e-01 1.16575051e-01 2.94867154e-02 2.45396976e+02] [-2.96404747e-02 -4.14767657e-04 9.99560539e-01 3.76556469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62687500000004 meters Centerline goodness [0,1] 0.9997423585899988 Centerline is valid? [True, True] Translation: X:153.70, Y:245.42, Z:3.77 [[ 1.13917018e-01 -9.93485660e-01 3.02603184e-03 1.53702628e+02] [ 9.93050679e-01 1.13956683e-01 2.93976779e-02 2.45423747e+02] [-2.95510080e-02 -3.43892821e-04 9.99563214e-01 3.76501780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters Centerline goodness [0,1] 0.9995069728130722 Centerline is valid? [True, True] Translation: X:153.71, Y:245.45, Z:3.76 [[ 1.12807942e-01 -9.93612176e-01 3.03519814e-03 1.53706029e+02] [ 9.93172119e-01 1.12848310e-01 2.95702579e-02 2.45451694e+02] [-2.97238853e-02 -3.21285784e-04 9.99558096e-01 3.76448846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.686875 meters Centerline goodness [0,1] 0.9995328303473406 Centerline is valid? [True, True] Translation: X:153.71, Y:245.48, Z:3.76 [[ 1.11688004e-01 -9.93738574e-01 3.07194318e-03 1.53708471e+02] [ 9.93285321e-01 1.11729838e-01 3.00119112e-02 2.45478956e+02] [-3.01672215e-02 -3.00654380e-04 9.99544821e-01 3.76348379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters Centerline goodness [0,1] 0.9996741912962532 Centerline is valid? [True, True] Translation: X:153.71, Y:245.51, Z:3.76 [[ 1.09889464e-01 -9.93939048e-01 3.07808200e-03 1.53710069e+02] [ 9.93481245e-01 1.09932265e-01 3.01647766e-02 2.45505338e+02] [-3.03203299e-02 -2.56774387e-04 9.99540200e-01 3.76208361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.746875 meters Centerline goodness [0,1] 0.9996493360763045 Centerline is valid? [True, True] Translation: X:153.71, Y:245.53, Z:3.76 [[ 1.09203572e-01 -9.94014561e-01 3.10353259e-03 1.53711573e+02] [ 9.93547163e-01 1.09247389e-01 3.04802083e-02 2.45531130e+02] [-3.06368237e-02 -2.45041631e-04 9.99530552e-01 3.76064522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters Centerline goodness [0,1] 0.9997904442581727 Centerline is valid? [True, True] Translation: X:153.71, Y:245.56, Z:3.76 [[ 1.08212798e-01 -9.94123041e-01 3.06089607e-03 1.53713822e+02] [ 9.93665441e-01 1.08255851e-01 3.01606117e-02 2.45558690e+02] [-3.03147190e-02 -2.22257536e-04 9.99540379e-01 3.75959533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.806875 meters Centerline goodness [0,1] 0.9997904442581727 Centerline is valid? [True, True] Translation: X:153.72, Y:245.59, Z:3.76 [[ 1.07939054e-01 -9.94152826e-01 3.05259097e-03 1.53716520e+02] [ 9.93695214e-01 1.07981982e-01 3.01614519e-02 2.45586154e+02] [-3.03147174e-02 -2.22253556e-04 9.99540379e-01 3.75846814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters Centerline goodness [0,1] 0.9998835584536563 Centerline is valid? [True, True] Translation: X:153.72, Y:245.61, Z:3.76 [[ 1.07410472e-01 -9.94210064e-01 3.05594682e-03 1.53719388e+02] [ 9.93748938e-01 1.07453720e-01 3.02778325e-02 2.45614597e+02] [-3.04308986e-02 -2.15312374e-04 9.99536850e-01 3.75761546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.866875 meters Centerline goodness [0,1] 0.9997678036547705 Centerline is valid? [True, True] Translation: X:153.72, Y:245.64, Z:3.76 [[ 1.06508394e-01 -9.94306920e-01 3.11606613e-03 1.53721161e+02] [ 9.93824772e-01 1.06553778e-01 3.09614940e-02 2.45641755e+02] [-3.11172563e-02 -2.00835302e-04 9.99515721e-01 3.75519174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters Centerline goodness [0,1] 0.9997443643969324 Centerline is valid? [True, True] Translation: X:153.72, Y:245.67, Z:3.76 [[ 1.05500544e-01 -9.94414251e-01 3.15163820e-03 1.53724234e+02] [ 9.93918070e-01 1.05547453e-01 3.14102739e-02 2.45670189e+02] [-3.15674714e-02 -1.81330838e-04 9.99501607e-01 3.75521319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.926875 meters Centerline goodness [0,1] 0.9997906538577842 Centerline is valid? [True, True] Translation: X:153.73, Y:245.70, Z:3.75 [[ 1.05368593e-01 -9.94428140e-01 3.18332616e-03 1.53727049e+02] [ 9.93919028e-01 1.05416500e-01 3.18170905e-02 2.45698522e+02] [-3.19753852e-02 -1.88553626e-04 9.99488639e-01 3.75451600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters Centerline goodness [0,1] 0.9996275778595037 Centerline is valid? [True, True] Translation: X:153.73, Y:245.73, Z:3.75 [[ 1.05259487e-01 -9.94439737e-01 3.17014917e-03 1.53728826e+02] [ 9.93931980e-01 1.05307036e-01 3.17749544e-02 2.45725734e+02] [-3.19321164e-02 -1.93702753e-04 9.99490021e-01 3.75282615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.986875 meters Centerline goodness [0,1] 0.9996747438607904 Centerline is valid? [True, True] Translation: X:153.73, Y:245.75, Z:3.75 [[ 1.05288866e-01 -9.94436289e-01 3.27430830e-03 1.53731183e+02] [ 9.93891110e-01 1.05339553e-01 3.29247492e-02 2.45753455e+02] [-3.30864796e-02 -2.12303614e-04 9.99452470e-01 3.75172863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters Centerline goodness [0,1] 0.9997678952743478 Centerline is valid? [True, True] Translation: X:153.73, Y:245.78, Z:3.75 [[ 1.05160251e-01 -9.94449954e-01 3.25741148e-03 1.53734340e+02] [ 9.93907371e-01 1.05210466e-01 3.28465376e-02 2.45781790e+02] [-3.30069516e-02 -2.16584862e-04 9.99455099e-01 3.75102733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.046875 meters Centerline goodness [0,1] 0.999652165847324 Centerline is valid? [True, True] Translation: X:153.74, Y:245.81, Z:3.75 [[ 1.05212872e-01 -9.94444323e-01 3.27708760e-03 1.53736594e+02] [ 9.93891966e-01 1.05263645e-01 3.31409966e-02 2.45808657e+02] [-3.33018341e-02 -2.29788409e-04 9.99445314e-01 3.74938808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters Centerline goodness [0,1] 0.9997904637735147 Centerline is valid? [True, True] Translation: X:153.74, Y:245.84, Z:3.75 [[ 1.04465962e-01 -9.94522872e-01 3.33472791e-03 1.53739711e+02] [ 9.93947387e-01 1.04518943e-01 3.38287254e-02 2.45835833e+02] [-3.39919834e-02 -2.19406253e-04 9.99422081e-01 3.74832023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:245.86, Z:3.75 [[ 1.04063433e-01 -9.94565079e-01 3.33239652e-03 1.53742569e+02] [ 9.93986821e-01 1.04116550e-01 3.39108070e-02 2.45862994e+02] [-3.40734621e-02 -2.16516757e-04 9.99419308e-01 3.74712047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters Centerline goodness [0,1] 0.999697068555716 Centerline is valid? [True, True] Translation: X:153.75, Y:245.89, Z:3.74 [[ 1.04312415e-01 -9.94538978e-01 3.33789465e-03 1.53746005e+02] [ 9.93955174e-01 1.04365539e-01 3.40726736e-02 2.45890109e+02] [-3.42349631e-02 -2.36485223e-04 9.99413784e-01 3.74437542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.166875 meters Centerline goodness [0,1] 0.9997199533255543 Centerline is valid? [True, True] Translation: X:153.75, Y:245.92, Z:3.74 [[ 1.04438002e-01 -9.94525897e-01 3.30831149e-03 1.53749392e+02] [ 9.93948759e-01 1.04490089e-01 3.38775065e-02 2.45917763e+02] [-3.40377433e-02 -2.49806988e-04 9.99420517e-01 3.74305037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters Centerline goodness [0,1] 0.9998360233315374 Centerline is valid? [True, True] Translation: X:153.75, Y:245.95, Z:3.74 [[ 1.05292944e-01 -9.94435578e-01 3.35828947e-03 1.53753002e+02] [ 9.93837312e-01 1.05346076e-01 3.44905910e-02 2.45945280e+02] [-3.46524533e-02 -2.94022472e-04 9.99399380e-01 3.74205426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.226875 meters Centerline goodness [0,1] 0.9997434162953979 Centerline is valid? [True, True] Translation: X:153.76, Y:245.97, Z:3.74 [[ 1.05722562e-01 -9.94389798e-01 3.41618426e-03 1.53755602e+02] [ 9.93766945e-01 1.05777240e-01 3.51913924e-02 2.45971809e+02] [-3.53553161e-02 -3.25633180e-04 9.99374752e-01 3.74051239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters Centerline goodness [0,1] 0.9995326666043556 Centerline is valid? [True, True] Translation: X:153.76, Y:246.00, Z:3.74 [[ 1.06438551e-01 -9.94313325e-01 3.44184893e-03 1.53757650e+02] [ 9.93677948e-01 1.06493566e-01 3.55423145e-02 2.45997932e+02] [-3.57067316e-02 -3.62983058e-04 9.99362245e-01 3.73896205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.286875 meters Centerline goodness [0,1] 0.999743086696562 Centerline is valid? [True, True] Translation: X:153.76, Y:246.02, Z:3.74 [[ 1.07020057e-01 -9.94250840e-01 3.46037232e-03 1.53760719e+02] [ 9.93604360e-01 1.07075245e-01 3.58506421e-02 2.46024668e+02] [-3.60150512e-02 -3.98496744e-04 9.99351168e-01 3.73799668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters Centerline goodness [0,1] 0.9995317804050099 Centerline is valid? [True, True] Translation: X:153.76, Y:246.05, Z:3.74 [[ 1.08864337e-01 -9.94050276e-01 3.55033010e-03 1.53764564e+02] [ 9.93365060e-01 1.08921108e-01 3.69059558e-02 2.46052410e+02] [-3.70730814e-02 -4.90968531e-04 9.99312436e-01 3.73735893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.346875 meters Centerline goodness [0,1] 0.9996947711957925 Centerline is valid? [True, True] Translation: X:153.77, Y:246.08, Z:3.74 [[ 1.09976402e-01 -9.93927806e-01 3.56488489e-03 1.53767220e+02] [ 9.93232808e-01 1.10032807e-01 3.71667858e-02 2.46080018e+02] [-3.73333562e-02 -5.46708759e-04 9.99302718e-01 3.73632616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters Centerline goodness [0,1] 0.9997414259185257 Centerline is valid? [True, True] Translation: X:153.77, Y:246.11, Z:3.73 [[ 1.10794860e-01 -9.93836832e-01 3.58462241e-03 1.53768603e+02] [ 9.93129950e-01 1.10851247e-01 3.74820332e-02 2.46107191e+02] [-3.76483850e-02 -5.92820748e-04 9.99290872e-01 3.73477369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.406875 meters Centerline goodness [0,1] 0.9996947353590382 Centerline is valid? [True, True] Translation: X:153.77, Y:246.14, Z:3.73 [[ 1.13163984e-01 -9.93569800e-01 3.60060956e-03 1.53771676e+02] [ 9.92852003e-01 1.13219093e-01 3.77668705e-02 2.46135106e+02] [-3.79316797e-02 -6.98977103e-04 9.99280090e-01 3.73398215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters Centerline goodness [0,1] 0.9996480773291415 Centerline is valid? [True, True] Translation: X:153.77, Y:246.16, Z:3.73 [[ 1.13657567e-01 -9.93513429e-01 3.60872398e-03 1.53773433e+02] [ 9.92788132e-01 1.13712486e-01 3.79630775e-02 2.46161321e+02] [-3.81271843e-02 -7.32092693e-04 9.99272626e-01 3.73279510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.466875 meters Centerline goodness [0,1] 0.9995547744581137 Centerline is valid? [True, True] Translation: X:153.78, Y:246.19, Z:3.73 [[ 1.14555907e-01 -9.93410343e-01 3.58256404e-03 1.53776106e+02] [ 9.92690395e-01 1.14609283e-01 3.78218566e-02 2.46189251e+02] [-3.79832186e-02 -7.76340164e-04 9.99278076e-01 3.73098613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters Centerline goodness [0,1] 0.9994825112318585 Centerline is valid? [True, True] Translation: X:153.78, Y:246.22, Z:3.73 [[ 1.15792465e-01 -9.93266927e-01 3.59408495e-03 1.53776788e+02] [ 9.92537990e-01 1.15845190e-01 3.80556184e-02 2.46216778e+02] [-3.82157446e-02 -8.39288002e-04 9.99269159e-01 3.72879510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.526875 meters Centerline goodness [0,1] 0.9997889355315307 Centerline is valid? [True, True] Translation: X:153.78, Y:246.24, Z:3.73 [[ 1.16193774e-01 -9.93220145e-01 3.57079125e-03 1.53778906e+02] [ 9.92496171e-01 1.16245428e-01 3.79256046e-02 2.46243731e+02] [-3.80835627e-02 -8.62722496e-04 9.99274186e-01 3.72736446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters Centerline goodness [0,1] 0.9997417597896516 Centerline is valid? [True, True] Translation: X:153.78, Y:246.27, Z:3.73 [[ 1.16350431e-01 -9.93201746e-01 3.58722921e-03 1.53780750e+02] [ 9.92466262e-01 1.16402335e-01 3.82258370e-02 2.46269672e+02] [-3.83835299e-02 -8.87388640e-04 9.99262687e-01 3.72613476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.586875 meters Centerline goodness [0,1] 0.9995079777887116 Centerline is valid? [True, True] Translation: X:153.78, Y:246.30, Z:3.73 [[ 1.15982902e-01 -9.93244575e-01 3.63045754e-03 1.53784349e+02] [ 9.92485983e-01 1.16036221e-01 3.88222628e-02 2.46297131e+02] [-3.89812665e-02 -8.99540478e-04 9.99239537e-01 3.72511301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters Centerline goodness [0,1] 0.9995521614104559 Centerline is valid? [True, True] Translation: X:153.79, Y:246.32, Z:3.72 [[ 1.15020397e-01 -9.93356257e-01 3.69526472e-03 1.53786316e+02] [ 9.92564916e-01 1.15076275e-01 3.96527250e-02 2.46322958e+02] [-3.98145197e-02 -8.93082042e-04 9.99206689e-01 3.72398415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.646875 meters Centerline goodness [0,1] 0.9997887423125675 Centerline is valid? [True, True] Translation: X:153.79, Y:246.35, Z:3.72 [[ 1.13665863e-01 -9.93512199e-01 3.68530864e-03 1.53789714e+02] [ 9.92721101e-01 1.13722427e-01 3.96487813e-02 2.46350330e+02] [-3.98106502e-02 -8.48229276e-04 9.99206882e-01 3.72312898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters Centerline goodness [0,1] 0.9995997645673926 Centerline is valid? [True, True] Translation: X:153.79, Y:246.38, Z:3.72 [[ 1.11301704e-01 -9.93779619e-01 3.74169301e-03 1.53793082e+02] [ 9.92958626e-01 1.11361844e-01 4.03943993e-02 2.46377922e+02] [-4.05598126e-02 -7.80619137e-04 9.99176807e-01 3.72227037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.706875 meters Centerline goodness [0,1] 0.999695421957734 Centerline is valid? [True, True] Translation: X:153.80, Y:246.40, Z:3.72 [[ 1.09645246e-01 -9.93963845e-01 3.71403480e-03 1.53795602e+02] [ 9.93150524e-01 1.09705769e-01 4.02079677e-02 2.46404081e+02] [-4.03727172e-02 -7.20016916e-04 9.99184430e-01 3.72144439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters Centerline goodness [0,1] 0.9997886083382267 Centerline is valid? [True, True] Translation: X:153.80, Y:246.43, Z:3.72 [[ 1.07824109e-01 -9.94162930e-01 3.74567303e-03 1.53799066e+02] [ 9.93329782e-01 1.07887084e-01 4.06979210e-02 2.46431336e+02] [-4.08644741e-02 -6.67528493e-04 9.99164476e-01 3.72037696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.766875 meters Centerline goodness [0,1] 0.9997646394276031 Centerline is valid? [True, True] Translation: X:153.80, Y:246.46, Z:3.72 [[ 1.06222392e-01 -9.94335335e-01 3.74769865e-03 1.53802425e+02] [ 9.93495765e-01 1.06286695e-01 4.08571104e-02 2.46459332e+02] [-4.10239990e-02 -6.16617245e-04 9.99157971e-01 3.71890921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters Centerline goodness [0,1] 0.9997655279139018 Centerline is valid? [True, True] Translation: X:153.80, Y:246.49, Z:3.72 [[ 1.03714619e-01 -9.94599906e-01 3.78222549e-03 1.53804942e+02] [ 9.93739654e-01 1.03782201e-01 4.13612680e-02 2.46487695e+02] [-4.15304410e-02 -5.31220701e-04 9.99137098e-01 3.71863648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82687500000003 meters Centerline goodness [0,1] 0.9997650099870755 Centerline is valid? [True, True] Translation: X:153.81, Y:246.52, Z:3.72 [[ 1.02103652e-01 -9.94766664e-01 3.75891944e-03 1.53807919e+02] [ 9.93911881e-01 1.02171721e-01 4.12324246e-02 2.46516104e+02] [-4.14006967e-02 -4.73946431e-04 9.99142511e-01 3.71811698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters Centerline goodness [0,1] 0.9996728971962617 Centerline is valid? [True, True] Translation: X:153.81, Y:246.54, Z:3.72 [[ 9.93206787e-02 -9.95048257e-01 3.79060427e-03 1.53809069e+02] [ 9.94173685e-01 9.93922824e-02 4.17116096e-02 2.46542967e+02] [-4.18818213e-02 -3.74306366e-04 9.99122501e-01 3.71750163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88687500000003 meters Centerline goodness [0,1] 0.9996727060198715 Centerline is valid? [True, True] Translation: X:153.81, Y:246.57, Z:3.72 [[ 9.80319181e-02 -9.95175913e-01 3.82681605e-03 1.53811719e+02] [ 9.94278895e-01 9.81060052e-02 4.22455918e-02 2.46570327e+02] [-4.24172291e-02 -3.36493961e-04 9.99099928e-01 3.71657780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters Centerline goodness [0,1] 0.9996958423995695 Centerline is valid? [True, True] Translation: X:153.81, Y:246.60, Z:3.72 [[ 9.74072980e-02 -9.95237309e-01 3.81006771e-03 1.53813886e+02] [ 9.94342239e-01 9.74812522e-02 4.22009223e-02 2.46598082e+02] [-4.23713426e-02 -3.22166558e-04 9.99101879e-01 3.71554449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94687500000003 meters Centerline goodness [0,1] 0.9996734313039422 Centerline is valid? [True, True] Translation: X:153.81, Y:246.62, Z:3.71 [[ 9.68711537e-02 -9.95289738e-01 3.78381527e-03 1.53814796e+02] [ 9.94403574e-01 9.69445438e-02 4.19915105e-02 2.46623961e+02] [-4.21605397e-02 -3.05126636e-04 9.99110803e-01 3.71454064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters Centerline goodness [0,1] 0.9997215518841656 Centerline is valid? [True, True] Translation: X:153.81, Y:246.65, Z:3.71 [[ 9.73550772e-02 -9.95242687e-01 3.73940636e-03 1.53813650e+02] [ 9.94372482e-01 9.74262979e-02 4.16110956e-02 2.46651366e+02] [-4.17774551e-02 -3.32688641e-04 9.99126886e-01 3.71183807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00687500000004 meters Centerline goodness [0,1] 0.9997455823850495 Centerline is valid? [True, True] Translation: X:153.81, Y:246.68, Z:3.71 [[ 9.75878441e-02 -9.95220088e-01 3.68640722e-03 1.53814680e+02] [ 9.94368606e-01 9.76568154e-02 4.11609256e-02 2.46679270e+02] [-4.13241828e-02 -3.51158388e-04 9.99145729e-01 3.70980716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters Centerline goodness [0,1] 0.9996292348333874 Centerline is valid? [True, True] Translation: X:153.82, Y:246.71, Z:3.71 [[ 9.83359006e-02 -9.95146531e-01 3.66502124e-03 1.53815219e+02] [ 9.94299531e-01 9.84033918e-02 4.10513820e-02 2.46707498e+02] [-4.12127909e-02 -3.92695722e-04 9.99150315e-01 3.70813185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06687500000004 meters Centerline goodness [0,1] 0.9995611603843311 Centerline is valid? [True, True] Translation: X:153.82, Y:246.73, Z:3.71 [[ 9.88294646e-02 -9.95097845e-01 3.60776049e-03 1.53815727e+02] [ 9.94271927e-01 9.88944049e-02 4.05368074e-02 2.46734513e+02] [-4.06948770e-02 -4.19135992e-04 9.99171532e-01 3.70641262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters Centerline goodness [0,1] 0.9996317013097622 Centerline is valid? [True, True] Translation: X:153.81, Y:246.76, Z:3.71 [[ 1.00741383e-01 -9.94906056e-01 3.62115584e-03 1.53814513e+02] [ 9.94068239e-01 1.00805138e-01 4.08247517e-02 2.46761712e+02] [-4.09818239e-02 -5.13065945e-04 9.99159760e-01 3.70522394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12687500000004 meters Centerline goodness [0,1] 0.9994015421797675 Centerline is valid? [True, True] Translation: X:153.82, Y:246.79, Z:3.70 [[ 1.01737780e-01 -9.94804536e-01 3.65516371e-03 1.53815090e+02] [ 9.93945055e-01 1.01801803e-01 4.13475600e-02 2.46788691e+02] [-4.15048425e-02 -5.73577058e-04 9.99138138e-01 3.70466029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters Centerline goodness [0,1] 0.999838568331719 Centerline is valid? [True, True] Translation: X:153.81, Y:246.82, Z:3.70 [[ 1.03873287e-01 -9.94583627e-01 3.70807111e-03 1.53812920e+02] [ 9.93692589e-01 1.03937174e-01 4.20963499e-02 2.46816125e+02] [-4.22537468e-02 -6.88003442e-04 9.99106675e-01 3.70456507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.186875 meters Centerline goodness [0,1] 0.9998386204352637 Centerline is valid? [True, True] Translation: X:153.81, Y:246.84, Z:3.70 [[ 1.04887275e-01 -9.94477274e-01 3.68918377e-03 1.53813117e+02] [ 9.93589418e-01 1.04949513e-01 4.20198529e-02 2.46844724e+02] [-4.21749668e-02 -7.41813919e-04 9.99109965e-01 3.70324816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters Centerline goodness [0,1] 0.9995636296823683 Centerline is valid? [True, True] Translation: X:153.81, Y:246.87, Z:3.70 [[ 1.05828759e-01 -9.94377611e-01 3.66606443e-03 1.53813664e+02] [ 9.93495361e-01 1.05889288e-01 4.18858713e-02 2.46872822e+02] [-4.20385696e-02 -7.90511772e-04 9.99115676e-01 3.70107999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.246875 meters Centerline goodness [0,1] 0.9995162070633768 Centerline is valid? [True, True] Translation: X:153.81, Y:246.90, Z:3.70 [[ 1.06684455e-01 -9.94286277e-01 3.63690308e-03 1.53814663e+02] [ 9.93412603e-01 1.06743172e-01 4.16808814e-02 2.46901306e+02] [-4.18309429e-02 -8.33756756e-04 9.99124355e-01 3.69940838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters Centerline goodness [0,1] 0.999376846381093 Centerline is valid? [True, True] Translation: X:153.82, Y:246.93, Z:3.70 [[ 1.06163348e-01 -9.94342265e-01 3.57829834e-03 1.53819357e+02] [ 9.93491425e-01 1.06220533e-01 4.11337608e-02 2.46928747e+02] [-4.12811256e-02 -8.11889067e-04 9.99147241e-01 3.69678749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.306875 meters Centerline goodness [0,1] 0.999792717473917 Centerline is valid? [True, True] Translation: X:153.82, Y:246.96, Z:3.70 [[ 1.04661004e-01 -9.94501629e-01 3.54741340e-03 1.53819153e+02] [ 9.93660006e-01 1.04718369e-01 4.09127768e-02 2.46956322e+02] [-4.10593025e-02 -7.57049460e-04 9.99156424e-01 3.69576455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters Centerline goodness [0,1] 0.9995634993567359 Centerline is valid? [True, True] Translation: X:153.83, Y:246.98, Z:3.69 [[ 1.01835458e-01 -9.94795109e-01 3.49725678e-03 1.53826636e+02] [ 9.93973378e-01 1.01893476e-01 4.04307332e-02 2.46983531e+02] [-4.05766433e-02 -6.41102107e-04 9.99176223e-01 3.69396010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.366875 meters Centerline goodness [0,1] 0.9994023538065465 Centerline is valid? [True, True] Translation: X:153.83, Y:247.01, Z:3.69 [[ 1.00083229e-01 -9.94973028e-01 3.46720856e-03 1.53829853e+02] [ 9.94160236e-01 1.00141603e-01 4.02129784e-02 2.47009993e+02] [-4.03580407e-02 -5.77683856e-04 9.99185115e-01 3.69263871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters Centerline goodness [0,1] 0.9996312259432549 Centerline is valid? [True, True] Translation: X:153.83, Y:247.04, Z:3.69 [[ 9.81651174e-02 -9.95164103e-01 3.46657018e-03 1.53831567e+02] [ 9.94345482e-01 9.82249571e-02 4.03598949e-02 2.47036681e+02] [-4.05052223e-02 -5.14965419e-04 9.99179194e-01 3.69193264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.426875 meters Centerline goodness [0,1] 0.9993985936343449 Centerline is valid? [True, True] Translation: X:153.84, Y:247.06, Z:3.69 [[ 9.65183897e-02 -9.95325309e-01 3.42477113e-03 1.53837632e+02] [ 9.94520313e-01 9.65780492e-02 4.00253338e-02 2.47064783e+02] [-4.01689854e-02 -4.57176306e-04 9.99192796e-01 3.69055128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters Centerline goodness [0,1] 0.9997226331360947 Centerline is valid? [True, True] Translation: X:153.84, Y:247.09, Z:3.69 [[ 9.33868891e-02 -9.95623921e-01 3.44928525e-03 1.53842262e+02] [ 9.94804230e-01 9.34499461e-02 4.03936954e-02 2.47092181e+02] [-4.05392649e-02 -3.40877995e-04 9.99177888e-01 3.68892025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.486875 meters Centerline goodness [0,1] 0.9998608889198025 Centerline is valid? [True, True] Translation: X:153.84, Y:247.12, Z:3.69 [[ 9.16301621e-02 -9.95787371e-01 3.38013178e-03 1.53844763e+02] [ 9.94995301e-01 9.16920717e-02 3.97104011e-02 2.47117892e+02] [-3.98530472e-02 -2.75455259e-04 9.99205514e-01 3.68729198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:153.85, Y:247.14, Z:3.69 [[ 9.00950720e-02 -9.95927590e-01 3.33376406e-03 1.53848637e+02] [ 9.95151276e-01 9.01564504e-02 3.93160583e-02 2.47144819e+02] [-3.94565075e-02 -2.24583544e-04 9.99221264e-01 3.68564418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.546875 meters Centerline goodness [0,1] 0.999745228830832 Centerline is valid? [True, True] Translation: X:153.85, Y:247.17, Z:3.68 [[ 8.85906325e-02 -9.96062589e-01 3.31939134e-03 1.53852149e+02] [ 9.95287392e-01 8.86526209e-02 3.92901964e-02 2.47171863e+02] [-3.94297675e-02 -1.76994995e-04 9.99222329e-01 3.68398090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters Centerline goodness [0,1] 0.9997228893404766 Centerline is valid? [True, True] Translation: X:153.86, Y:247.20, Z:3.68 [[ 8.54501505e-02 -9.96336806e-01 3.35285478e-03 1.53856317e+02] [ 9.95540162e-01 8.55158787e-02 3.98349216e-02 2.47197426e+02] [-3.99757209e-02 -6.59984592e-05 9.99200649e-01 3.68339108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.606875 meters Centerline goodness [0,1] 0.999698018537016 Centerline is valid? [True, True] Translation: X:153.86, Y:247.23, Z:3.68 [[ 8.40180335e-02 -9.96458693e-01 3.32298571e-03 1.53859814e+02] [ 9.95670169e-01 8.40837186e-02 3.96338491e-02 2.47225480e+02] [-3.97729025e-02 -2.13603207e-05 9.99208745e-01 3.68262093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters Centerline goodness [0,1] 0.9998375455452668 Centerline is valid? [True, True] Translation: X:153.86, Y:247.25, Z:3.68 [[ 8.27291958e-02 -9.96566578e-01 3.30703758e-03 1.53862765e+02] [ 9.95780356e-01 8.27952655e-02 3.95781191e-02 2.47251906e+02] [-3.97160378e-02 1.88170893e-05 9.99211007e-01 3.68147820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.666875 meters Centerline goodness [0,1] 0.9998375455452668 Centerline is valid? [True, True] Translation: X:153.86, Y:247.28, Z:3.68 [[ 8.24223696e-02 -9.96592027e-01 3.29905794e-03 1.53864877e+02] [ 9.95805799e-01 8.24883644e-02 3.95787843e-02 2.47278599e+02] [-3.97160347e-02 2.30438455e-05 9.99211007e-01 3.68038327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters Centerline goodness [0,1] 0.9998375153780089 Centerline is valid? [True, True] Translation: X:153.87, Y:247.31, Z:3.68 [[ 8.04160450e-02 -9.96756071e-01 3.25509146e-03 1.53868577e+02] [ 9.95985104e-01 8.04818477e-02 3.91962268e-02 2.47306932e+02] [-3.93310528e-02 9.00170727e-05 9.99226231e-01 3.67888364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.726875 meters Centerline goodness [0,1] 0.9996750986307728 Centerline is valid? [True, True] Translation: X:153.87, Y:247.33, Z:3.68 [[ 7.96798624e-02 -9.96815211e-01 3.24891564e-03 1.53871162e+02] [ 9.96041828e-01 7.97459985e-02 3.92587936e-02 2.47333433e+02] [-3.93928506e-02 1.07920605e-04 9.99223795e-01 3.67733557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters Centerline goodness [0,1] 0.9997448979591836 Centerline is valid? [True, True] Translation: X:153.87, Y:247.36, Z:3.68 [[ 7.92786545e-02 -9.96847230e-01 3.23963417e-03 1.53873107e+02] [ 9.96074467e-01 7.93447345e-02 3.92437169e-02 2.47360271e+02] [-3.93770384e-02 1.15727799e-04 9.99224417e-01 3.67577201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.786875 meters Centerline goodness [0,1] 0.9997687647412478 Centerline is valid? [True, True] Translation: X:153.87, Y:247.39, Z:3.67 [[ 7.94139996e-02 -9.96836557e-01 3.20851613e-03 1.53874254e+02] [ 9.96072954e-01 7.94787287e-02 3.90102728e-02 2.47387164e+02] [-3.91418749e-02 9.79543517e-05 9.99233658e-01 3.67416445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters Centerline goodness [0,1] 0.9998145099584966 Centerline is valid? [True, True] Translation: X:153.88, Y:247.41, Z:3.67 [[ 7.95581806e-02 -9.96825047e-01 3.21264159e-03 1.53875745e+02] [ 9.96053633e-01 7.96229783e-02 3.92089507e-02 2.47413785e+02] [-3.93402642e-02 8.05705400e-05 9.99225869e-01 3.67297239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.846875 meters Centerline goodness [0,1] 0.9999307750882618 Centerline is valid? [True, True] Translation: X:153.88, Y:247.44, Z:3.67 [[ 8.09747598e-02 -9.96711108e-01 3.17116308e-03 1.53876106e+02] [ 9.95953451e-01 8.10368303e-02 3.88555774e-02 2.47440144e+02] [-3.89847666e-02 1.20097640e-05 9.99239805e-01 3.67190117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters Centerline goodness [0,1] 0.9998379592120188 Centerline is valid? [True, True] Translation: X:153.88, Y:247.47, Z:3.67 [[ 8.21651719e-02 -9.96613750e-01 3.14926210e-03 1.53877273e+02] [ 9.95860514e-01 8.22254896e-02 3.87402193e-02 2.47468477e+02] [-3.88679849e-02 -4.68710063e-05 9.99244353e-01 3.67105022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.906875 meters Centerline goodness [0,1] 0.999677523379555 Centerline is valid? [True, True] Translation: X:153.88, Y:247.50, Z:3.67 [[ 8.34399535e-02 -9.96507800e-01 3.15885186e-03 1.53877408e+02] [ 9.95744423e-01 8.34996550e-02 3.89980980e-02 2.47495557e+02] [-3.91256719e-02 -1.08590361e-04 9.99234292e-01 3.66966571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters Centerline goodness [0,1] 0.9997920997920998 Centerline is valid? [True, True] Translation: X:153.88, Y:247.52, Z:3.67 [[ 8.47244266e-02 -9.96399469e-01 3.14166902e-03 1.53877475e+02] [ 9.95640515e-01 8.47824915e-02 3.88830843e-02 2.47522195e+02] [-3.90094431e-02 -1.66374063e-04 9.99238828e-01 3.66841450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.966875 meters Centerline goodness [0,1] 0.9997694896500853 Centerline is valid? [True, True] Translation: X:153.88, Y:247.55, Z:3.67 [[ 8.78509065e-02 -9.96128631e-01 3.15721983e-03 1.53876659e+02] [ 9.95355727e-01 8.79070946e-02 3.92341736e-02 2.47550864e+02] [-3.93598256e-02 -3.04200875e-04 9.99225056e-01 3.66668437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters Centerline goodness [0,1] 0.9997467130258583 Centerline is valid? [True, True] Translation: X:153.88, Y:247.58, Z:3.67 [[ 8.90925170e-02 -9.96018462e-01 3.12212161e-03 1.53878029e+02] [ 9.95257381e-01 8.91464737e-02 3.89313737e-02 2.47579101e+02] [-3.90546931e-02 -3.61179495e-04 9.99237009e-01 3.66534363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:247.61, Z:3.66 [[ 8.97182912e-02 -9.95962254e-01 3.13314422e-03 1.53878850e+02] [ 9.95190233e-01 8.97720925e-02 3.92093399e-02 2.47607655e+02] [-3.93322914e-02 -3.99720445e-04 9.99226106e-01 3.66428956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters Centerline goodness [0,1] 0.9996340347666972 Centerline is valid? [True, True] Translation: X:153.88, Y:247.64, Z:3.66 [[ 9.25767225e-02 -9.95700531e-01 3.16260711e-03 1.53878419e+02] [ 9.94908101e-01 9.26292072e-02 3.97202844e-02 2.47635224e+02] [-3.98424581e-02 -5.30670312e-04 9.99205833e-01 3.66297996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.086875 meters Centerline goodness [0,1] 0.9997244862817127 Centerline is valid? [True, True] Translation: X:153.88, Y:247.66, Z:3.66 [[ 9.39730230e-02 -9.95569843e-01 3.12392177e-03 1.53879929e+02] [ 9.94790831e-01 9.40230619e-02 3.93810407e-02 2.47663645e+02] [-3.95002972e-02 -5.93106717e-04 9.99219383e-01 3.66224118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters Centerline goodness [0,1] 0.9993364603592266 Centerline is valid? [True, True] Translation: X:153.88, Y:247.69, Z:3.66 [[ 9.52104412e-02 -9.95452201e-01 3.14455099e-03 1.53880801e+02] [ 9.94657152e-01 9.52600689e-02 3.97827736e-02 2.47691764e+02] [-3.99013997e-02 -6.59985296e-04 9.99203404e-01 3.66111002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.146875 meters Centerline goodness [0,1] 0.9996103509133833 Centerline is valid? [True, True] Translation: X:153.88, Y:247.72, Z:3.66 [[ 9.67690294e-02 -9.95302097e-01 3.08054311e-03 1.53881855e+02] [ 9.94533718e-01 9.68153670e-02 3.91084115e-02 2.47719922e+02] [-3.92229279e-02 -7.20779035e-04 9.99230225e-01 3.65978441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters Centerline goodness [0,1] 0.9997706790194235 Centerline is valid? [True, True] Translation: X:153.88, Y:247.75, Z:3.66 [[ 9.96351856e-02 -9.95019426e-01 3.02850006e-03 1.53882202e+02] [ 9.94271395e-01 9.96777196e-02 3.85842552e-02 2.47748624e+02] [-3.86939574e-02 -8.33198440e-04 9.99250761e-01 3.65747576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.206875 meters Centerline goodness [0,1] 0.999654950312845 Centerline is valid? [True, True] Translation: X:153.88, Y:247.78, Z:3.66 [[ 1.00656850e-01 -9.94916753e-01 2.97543273e-03 1.53881462e+02] [ 9.94189764e-01 1.00697055e-01 3.80370309e-02 2.47775636e+02] [-3.81432966e-02 -8.70542945e-04 9.99271900e-01 3.65549572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters Centerline goodness [0,1] 0.9995438268366672 Centerline is valid? [True, True] Translation: X:153.88, Y:247.80, Z:3.65 [[ 1.01849742e-01 -9.94795455e-01 2.93819191e-03 1.53883852e+02] [ 9.94081908e-01 1.01887986e-01 3.76828683e-02 2.47804013e+02] [-3.77861125e-02 -9.17186983e-04 9.99285429e-01 3.65368058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.266875 meters Centerline goodness [0,1] 0.9996333218746419 Centerline is valid? [True, True] Translation: X:153.89, Y:247.83, Z:3.65 [[ 1.01657828e-01 -9.94815224e-01 2.89077964e-03 1.53886443e+02] [ 9.94119464e-01 1.01694859e-01 3.72108339e-02 2.47832122e+02] [-3.73118815e-02 -9.08992261e-04 9.99303256e-01 3.65280123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters Centerline goodness [0,1] 0.9995438060263224 Centerline is valid? [True, True] Translation: X:153.89, Y:247.86, Z:3.65 [[ 1.01309505e-01 -9.94850713e-01 2.90567376e-03 1.53888560e+02] [ 9.94142469e-01 1.01347036e-01 3.75437084e-02 2.47860352e+02] [-3.76448665e-02 -9.14880823e-04 9.99290762e-01 3.65139670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32687500000003 meters Centerline goodness [0,1] 0.9993123209169055 Centerline is valid? [True, True] Translation: X:153.89, Y:247.89, Z:3.65 [[ 1.00440152e-01 -9.94938902e-01 2.89083178e-03 1.53891903e+02] [ 9.94232993e-01 1.00477797e-01 3.74829041e-02 2.47888753e+02] [-3.75836639e-02 -8.90628245e-04 9.99293088e-01 3.65029598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters Centerline goodness [0,1] 0.9992651955268778 Centerline is valid? [True, True] Translation: X:153.90, Y:247.92, Z:3.65 [[ 9.87536856e-02 -9.95107737e-01 2.88127041e-03 1.53895929e+02] [ 9.94401576e-01 9.87921611e-02 3.74915182e-02 2.47916244e+02] [-3.75927467e-02 -8.37285758e-04 9.99292792e-01 3.64977540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38687500000003 meters Centerline goodness [0,1] 0.999611304188769 Centerline is valid? [True, True] Translation: X:153.90, Y:247.94, Z:3.65 [[ 9.74127734e-02 -9.95239929e-01 2.86957536e-03 1.53897928e+02] [ 9.94534284e-01 9.74517703e-02 3.74794781e-02 2.47943196e+02] [-3.75807183e-02 -7.97088835e-04 9.99293277e-01 3.64867307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters Centerline goodness [0,1] 0.999746782993025 Centerline is valid? [True, True] Translation: X:153.90, Y:247.97, Z:3.65 [[ 9.63400052e-02 -9.95344397e-01 2.85200133e-03 1.53902911e+02] [ 9.94642044e-01 9.63791686e-02 3.73933161e-02 2.47970839e+02] [-3.74941012e-02 -7.65751834e-04 9.99296556e-01 3.64783150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44687500000003 meters Centerline goodness [0,1] 0.9996099307053371 Centerline is valid? [True, True] Translation: X:153.91, Y:248.00, Z:3.65 [[ 9.48043800e-02 -9.95491834e-01 2.85280676e-03 1.53906004e+02] [ 9.94783811e-01 9.48445481e-02 3.75457315e-02 2.47998770e+02] [-3.76470422e-02 -7.21573819e-04 9.99290838e-01 3.64643720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters Centerline goodness [0,1] 0.9998852474065913 Centerline is valid? [True, True] Translation: X:153.91, Y:248.03, Z:3.64 [[ 9.25687413e-02 -9.95702233e-01 2.84442804e-03 1.53910043e+02] [ 9.94993154e-01 9.26101639e-02 3.75763286e-02 2.48025239e+02] [-3.76782573e-02 -6.48207011e-04 9.99289712e-01 3.64483338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50687500000004 meters Centerline goodness [0,1] 0.999725205523369 Centerline is valid? [True, True] Translation: X:153.91, Y:248.05, Z:3.64 [[ 9.08430058e-02 -9.95861271e-01 2.80660743e-03 1.53913184e+02] [ 9.95165882e-01 9.08844512e-02 3.72140346e-02 2.48052103e+02] [-3.73150928e-02 -5.87594800e-04 9.99303377e-01 3.64317134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters Centerline goodness [0,1] 0.9997005091344714 Centerline is valid? [True, True] Translation: X:153.92, Y:248.08, Z:3.64 [[ 8.90064167e-02 -9.96027186e-01 2.77545779e-03 1.53917471e+02] [ 9.95341872e-01 8.90481265e-02 3.69457533e-02 2.48080469e+02] [-3.70461240e-02 -5.25879759e-04 9.99313418e-01 3.64172885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56687500000004 meters Centerline goodness [0,1] 0.9997463158137497 Centerline is valid? [True, True] Translation: X:153.92, Y:248.11, Z:3.64 [[ 8.47804554e-02 -9.96395988e-01 2.70352319e-03 1.53924572e+02] [ 9.95741470e-01 8.48227452e-02 3.61113112e-02 2.48108221e+02] [-3.62104858e-02 -3.69523254e-04 9.99344117e-01 3.64033391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters Centerline goodness [0,1] 0.9999075999075999 Centerline is valid? [True, True] Translation: X:153.93, Y:248.14, Z:3.64 [[ 8.25484599e-02 -9.96583375e-01 2.70707670e-03 1.53928780e+02] [ 9.95922154e-01 8.25922896e-02 3.62984390e-02 2.48135443e+02] [-3.63980045e-02 -3.00342576e-04 9.99337328e-01 3.63870561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62687500000004 meters Centerline goodness [0,1] 0.9995821630028552 Centerline is valid? [True, True] Translation: X:153.94, Y:248.16, Z:3.64 [[ 7.87187161e-02 -9.96893193e-01 2.70668785e-03 1.53935019e+02] [ 9.96227147e-01 7.87650491e-02 3.64353952e-02 2.48161046e+02] [-3.65353899e-02 -1.71671618e-04 9.99332345e-01 3.63770282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters Centerline goodness [0,1] 0.9995343531000442 Centerline is valid? [True, True] Translation: X:153.94, Y:248.19, Z:3.64 [[ 7.71044171e-02 -9.97019326e-01 2.71523944e-03 1.53939152e+02] [ 9.96343190e-01 7.71521091e-02 3.67123828e-02 2.48187975e+02] [-3.68124416e-02 -1.25376549e-04 9.99322184e-01 3.63681064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.686875 meters Centerline goodness [0,1] 0.9998142342969929 Centerline is valid? [True, True] Translation: X:153.94, Y:248.22, Z:3.64 [[ 7.53782772e-02 -9.97151261e-01 2.73462037e-03 1.53942919e+02] [ 9.96459727e-01 7.54278289e-02 3.71302570e-02 2.48215037e+02] [-3.72307491e-02 -7.38757372e-05 9.99306693e-01 3.63658926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters Centerline goodness [0,1] 0.9999768239547604 Centerline is valid? [True, True] Translation: X:153.95, Y:248.24, Z:3.64 [[ 7.41581566e-02 -9.97242650e-01 2.76843429e-03 1.53946599e+02] [ 9.96527799e-01 7.42098022e-02 3.77525088e-02 2.48243014e+02] [-3.78538569e-02 -4.08347298e-05 9.99283285e-01 3.63623972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.746875 meters Centerline goodness [0,1] 0.9999065791624822 Centerline is valid? [True, True] Translation: X:153.95, Y:248.27, Z:3.63 [[ 7.38925565e-02 -9.97262371e-01 2.76640428e-03 1.53950311e+02] [ 9.96542994e-01 7.39443113e-02 3.78721468e-02 2.48270193e+02] [-3.79730268e-02 -4.16289445e-05 9.99278764e-01 3.63498429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters Centerline goodness [0,1] 0.9997894687595031 Centerline is valid? [True, True] Translation: X:153.95, Y:248.30, Z:3.63 [[ 7.43447343e-02 -9.97228830e-01 2.74247345e-03 1.53952364e+02] [ 9.96516061e-01 7.43952675e-02 3.76972693e-02 2.48296782e+02] [-3.77968308e-02 -6.96746345e-05 9.99285442e-01 3.63390200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.806875 meters Centerline goodness [0,1] 0.9997899845988706 Centerline is valid? [True, True] Translation: X:153.95, Y:248.32, Z:3.63 [[ 7.51975929e-02 -9.97164984e-01 2.70488418e-03 1.53954007e+02] [ 9.96465389e-01 7.52461402e-02 3.73463106e-02 2.48323567e+02] [-3.74439653e-02 -1.13029196e-04 9.99298722e-01 3.63271649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters Centerline goodness [0,1] 0.9998124706985466 Centerline is valid? [True, True] Translation: X:153.95, Y:248.35, Z:3.63 [[ 7.76246031e-02 -9.96979081e-01 2.67083566e-03 1.53954099e+02] [ 9.96291076e-01 7.76702433e-02 3.70327472e-02 2.48351019e+02] [-3.71283187e-02 -2.13722571e-04 9.99310483e-01 3.63131063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.866875 meters Centerline goodness [0,1] 0.9998830163075267 Centerline is valid? [True, True] Translation: X:153.95, Y:248.38, Z:3.63 [[ 7.91860451e-02 -9.96856318e-01 2.65559147e-03 1.53954982e+02] [ 9.96170208e-01 7.92300567e-02 3.69799276e-02 2.48378638e+02] [-3.70740771e-02 -2.82873108e-04 9.99312480e-01 3.62991147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters Centerline goodness [0,1] 0.9998363874345549 Centerline is valid? [True, True] Translation: X:153.96, Y:248.41, Z:3.63 [[ 8.07756954e-02 -9.96728803e-01 2.64210796e-03 1.53955544e+02] [ 9.96043659e-01 8.08181227e-02 3.69521241e-02 2.48405964e+02] [-3.70447766e-02 -3.53178639e-04 9.99313544e-01 3.62866049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.926875 meters Centerline goodness [0,1] 0.9998826786803698 Centerline is valid? [True, True] Translation: X:153.96, Y:248.43, Z:3.63 [[ 8.24000566e-02 -9.96595898e-01 2.61664734e-03 1.53956704e+02] [ 9.95918149e-01 8.24405110e-02 3.67505353e-02 2.48434413e+02] [-3.68411505e-02 -4.22279616e-04 9.99321045e-01 3.62744259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters Centerline goodness [0,1] 0.9997423585899988 Centerline is valid? [True, True] Translation: X:153.96, Y:248.46, Z:3.63 [[ 8.48867751e-02 -9.96387240e-01 2.58903159e-03 1.53958103e+02] [ 9.95720714e-01 8.49246837e-02 3.64425264e-02 2.48462505e+02] [-3.65307410e-02 -5.15536159e-04 9.99332397e-01 3.62621603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.986875 meters Centerline goodness [0,1] 0.9996727901650072 Centerline is valid? [True, True] Translation: X:153.96, Y:248.49, Z:3.63 [[ 8.55744229e-02 -9.96328415e-01 2.58995487e-03 1.53958783e+02] [ 9.95656101e-01 8.56118192e-02 3.65998028e-02 2.48489547e+02] [-3.66871543e-02 -5.53302634e-04 9.99326647e-01 3.62523178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters Centerline goodness [0,1] 0.999812786670411 Centerline is valid? [True, True] Translation: X:153.96, Y:248.52, Z:3.63 [[ 8.58110820e-02 -9.96308150e-01 2.55499116e-03 1.53961107e+02] [ 9.95648429e-01 8.58472364e-02 3.62554472e-02 2.48516467e+02] [-3.63409365e-02 -5.67246223e-04 9.99339289e-01 3.62509637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.046875 meters Centerline goodness [0,1] 0.9996965098634294 Centerline is valid? [True, True] Translation: X:153.96, Y:248.54, Z:3.62 [[ 8.63362101e-02 -9.96262747e-01 2.56847375e-03 1.53961825e+02] [ 9.95589793e-01 8.63722940e-02 3.66168247e-02 2.48543223e+02] [-3.67018233e-02 -6.04211627e-04 9.99326078e-01 3.62359604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters Centerline goodness [0,1] 0.9999062199610813 Centerline is valid? [True, True] Translation: X:153.96, Y:248.57, Z:3.62 [[ 8.58424324e-02 -9.96305418e-01 2.56717134e-03 1.53964777e+02] [ 9.95626537e-01 8.58787059e-02 3.67783587e-02 2.48571152e+02] [-3.68629434e-02 -6.01199860e-04 9.99320150e-01 3.62315265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.106875 meters Centerline goodness [0,1] 0.9999063231850117 Centerline is valid? [True, True] Translation: X:153.97, Y:248.60, Z:3.62 [[ 8.51914305e-02 -9.96361292e-01 2.56813205e-03 1.53965917e+02] [ 9.95676488e-01 8.52280892e-02 3.69391842e-02 2.48597761e+02] [-3.70236503e-02 -5.89873246e-04 9.99314216e-01 3.62220519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters Centerline goodness [0,1] 0.9997436256001492 Centerline is valid? [True, True] Translation: X:153.97, Y:248.62, Z:3.62 [[ 8.42048938e-02 -9.96445085e-01 2.59403410e-03 1.53969306e+02] [ 9.95739984e-01 8.42428896e-02 3.74836043e-02 2.48624855e+02] [-3.75688822e-02 -5.73319450e-04 9.99293876e-01 3.62109966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.166875 meters Centerline goodness [0,1] 0.9998826951951952 Centerline is valid? [True, True] Translation: X:153.97, Y:248.65, Z:3.62 [[ 8.32353459e-02 -9.96526514e-01 2.60450230e-03 1.53971060e+02] [ 9.95809236e-01 8.32742464e-02 3.78069384e-02 2.48651643e+02] [-3.78925046e-02 -5.53286153e-04 9.99281668e-01 3.61999292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters Centerline goodness [0,1] 0.9997889107796228 Centerline is valid? [True, True] Translation: X:153.97, Y:248.68, Z:3.62 [[ 8.24778831e-02 -9.96589533e-01 2.58876540e-03 1.53974606e+02] [ 9.95874539e-01 8.25167644e-02 3.77476570e-02 2.48679420e+02] [-3.78325364e-02 -5.35261293e-04 9.99283950e-01 3.61879473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.226875 meters Centerline goodness [0,1] 0.999718290020424 Centerline is valid? [True, True] Translation: X:153.98, Y:248.71, Z:3.62 [[ 8.16874711e-02 -9.96654630e-01 2.58958236e-03 1.53976446e+02] [ 9.95933194e-01 8.17268630e-02 3.79182280e-02 2.48706699e+02] [-3.80030159e-02 -5.18393115e-04 9.99277490e-01 3.61727326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters Centerline goodness [0,1] 0.9998599014640297 Centerline is valid? [True, True] Translation: X:153.98, Y:248.73, Z:3.62 [[ 8.10259893e-02 -9.96708756e-01 2.53878708e-03 1.53978217e+02] [ 9.96009396e-01 8.10642335e-02 3.73346054e-02 2.48733398e+02] [-3.74175329e-02 -4.96417547e-04 9.99299596e-01 3.61575570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.286875 meters Centerline goodness [0,1] 0.999906103286385 Centerline is valid? [True, True] Translation: X:153.98, Y:248.76, Z:3.61 [[ 8.07695692e-02 -9.96729703e-01 2.48492990e-03 1.53979627e+02] [ 9.96053171e-01 8.08062948e-02 3.67208705e-02 2.48761065e+02] [-3.68015804e-02 -4.90806582e-04 9.99322472e-01 3.61410675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters Centerline goodness [0,1] 0.9997645285862297 Centerline is valid? [True, True] Translation: X:153.98, Y:248.79, Z:3.61 [[ 8.04700172e-02 -9.96754127e-01 2.40550385e-03 1.53981277e+02] [ 9.96114628e-01 8.05045512e-02 3.57024642e-02 2.48786949e+02] [-3.57802326e-02 -4.76820341e-04 9.99359569e-01 3.61157054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.346875 meters Centerline goodness [0,1] 0.9999295691982627 Centerline is valid? [True, True] Translation: X:153.98, Y:248.81, Z:3.61 [[ 8.02975920e-02 -9.96768146e-01 2.35800706e-03 1.53983037e+02] [ 9.96147777e-01 8.03308043e-02 3.51648733e-02 2.48813768e+02] [-3.52406462e-02 -4.74731162e-04 9.99378743e-01 3.61007128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters Centerline goodness [0,1] 0.9998826291079812 Centerline is valid? [True, True] Translation: X:153.98, Y:248.84, Z:3.61 [[ 8.02090820e-02 -9.96775375e-01 2.31415344e-03 1.53984324e+02] [ 9.96172546e-01 8.02410519e-02 3.46645771e-02 2.48840275e+02] [-3.47384869e-02 -4.75117784e-04 9.99396324e-01 3.60809280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.406875 meters Centerline goodness [0,1] 0.9998825215572943 Centerline is valid? [True, True] Translation: X:153.99, Y:248.87, Z:3.61 [[ 8.00244143e-02 -9.96790231e-01 2.30855144e-03 1.53986431e+02] [ 9.96184465e-01 8.00562608e-02 3.47491957e-02 2.48867798e+02] [-3.48224728e-02 -4.81040953e-04 9.99393398e-01 3.60608876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters Centerline goodness [0,1] 0.9997883896452 Centerline is valid? [True, True] Translation: X:153.99, Y:248.89, Z:3.60 [[ 7.93957008e-02 -9.96840478e-01 2.32042419e-03 1.53987662e+02] [ 9.96222787e-01 7.94281855e-02 3.50902086e-02 2.48894509e+02] [-3.51636474e-02 -4.74352251e-04 9.99381455e-01 3.60484776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.466875 meters Centerline goodness [0,1] 0.9997412982126058 Centerline is valid? [True, True] Translation: X:153.99, Y:248.92, Z:3.60 [[ 7.90216618e-02 -9.96870179e-01 2.32882311e-03 1.53990728e+02] [ 9.96242211e-01 7.90545385e-02 3.53813013e-02 2.48921174e+02] [-3.54546682e-02 -4.75817336e-04 9.99371172e-01 3.60408497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters Centerline goodness [0,1] 0.9999765511419594 Centerline is valid? [True, True] Translation: X:153.99, Y:248.95, Z:3.60 [[ 7.83935394e-02 -9.96919770e-01 2.32916764e-03 1.53993457e+02] [ 9.96285374e-01 7.84267404e-02 3.55626118e-02 2.48948474e+02] [-3.56357398e-02 -4.67363350e-04 9.99364736e-01 3.60310171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.526875 meters Centerline goodness [0,1] 0.9998351661289943 Centerline is valid? [True, True] Translation: X:154.00, Y:248.98, Z:3.60 [[ 7.71818865e-02 -9.97014189e-01 2.37993996e-03 1.53997713e+02] [ 9.96347569e-01 7.72173034e-02 3.64555979e-02 2.48975777e+02] [-3.65305209e-02 -4.42464430e-04 9.99332440e-01 3.60258381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:249.00, Z:3.60 [[ 7.68192708e-02 -9.97042227e-01 2.36565668e-03 1.54000392e+02] [ 9.96377164e-01 7.68544270e-02 3.64135225e-02 2.49002869e+02] [-3.64876308e-02 -4.40173953e-04 9.99334008e-01 3.60162695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.586875 meters Centerline goodness [0,1] 0.9999294150863489 Centerline is valid? [True, True] Translation: X:154.00, Y:249.03, Z:3.60 [[ 7.60957906e-02 -9.97097692e-01 2.37134444e-03 1.54002971e+02] [ 9.96423248e-01 7.61315295e-02 3.66701673e-02 2.49029866e+02] [-3.67442733e-02 -4.27582647e-04 9.99324610e-01 3.60079357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters Centerline goodness [0,1] 0.9999294150863489 Centerline is valid? [True, True] Translation: X:154.00, Y:249.06, Z:3.60 [[ 7.57793313e-02 -9.97121821e-01 2.35965949e-03 1.54004571e+02] [ 9.96447365e-01 7.58148547e-02 3.66709190e-02 2.49056606e+02] [-3.67442708e-02 -4.27621242e-04 9.99324610e-01 3.59970062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.646875 meters Centerline goodness [0,1] 0.999434415798652 Centerline is valid? [True, True] Translation: X:154.01, Y:249.08, Z:3.60 [[ 7.56256029e-02 -9.97133484e-01 2.36307103e-03 1.54006378e+02] [ 9.96450316e-01 7.56612545e-02 3.69072053e-02 2.49083306e+02] [-3.69802031e-02 -4.36446775e-04 9.99315903e-01 3.59820107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters Centerline goodness [0,1] 0.9998347536649277 Centerline is valid? [True, True] Translation: X:154.01, Y:249.11, Z:3.60 [[ 7.56566989e-02 -9.97131223e-01 2.32118513e-03 1.54008454e+02] [ 9.96465175e-01 7.56909952e-02 3.64421355e-02 2.49110137e+02] [-3.65132840e-02 -4.44111523e-04 9.99333069e-01 3.59688111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.706875 meters Centerline goodness [0,1] 0.9995987158908507 Centerline is valid? [True, True] Translation: X:154.01, Y:249.14, Z:3.60 [[ 7.51709494e-02 -9.97168023e-01 2.29392972e-03 1.54010765e+02] [ 9.96511229e-01 7.52046876e-02 3.61887365e-02 2.49137442e+02] [-3.62587651e-02 -4.34414961e-04 9.99342340e-01 3.59514188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters Centerline goodness [0,1] 0.9999527967901818 Centerline is valid? [True, True] Translation: X:154.01, Y:249.16, Z:3.59 [[ 7.44609098e-02 -9.97221387e-01 2.25350136e-03 1.54012742e+02] [ 9.96581365e-01 7.44938502e-02 3.57246284e-02 2.49164272e+02] [-3.57932355e-02 -4.14290871e-04 9.99359131e-01 3.59351290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.766875 meters Centerline goodness [0,1] 0.9997408105560792 Centerline is valid? [True, True] Translation: X:154.02, Y:249.19, Z:3.59 [[ 7.29247426e-02 -9.97335030e-01 2.19552309e-03 1.54016136e+02] [ 9.96722209e-01 7.29568917e-02 3.49589674e-02 2.49190216e+02] [-3.50259813e-02 -3.61047072e-04 9.99386337e-01 3.59140502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters Centerline goodness [0,1] 0.999905595808454 Centerline is valid? [True, True] Translation: X:154.02, Y:249.22, Z:3.59 [[ 7.14321254e-02 -9.97443089e-01 2.17630890e-03 1.54018844e+02] [ 9.96834684e-01 7.14645590e-02 3.48343079e-02 2.49217255e+02] [-3.49007686e-02 -3.18868455e-04 9.99390732e-01 3.59018728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82687500000003 meters Centerline goodness [0,1] 0.9998582163618318 Centerline is valid? [True, True] Translation: X:154.02, Y:249.24, Z:3.59 [[ 7.01224086e-02 -9.97535989e-01 2.19073129e-03 1.54021267e+02] [ 9.96913396e-01 7.01560337e-02 3.52393426e-02 2.49244362e+02] [-3.53062054e-02 -2.87098204e-04 9.99376500e-01 3.58929707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters Centerline goodness [0,1] 0.9997182040202893 Centerline is valid? [True, True] Translation: X:154.02, Y:249.27, Z:3.59 [[ 6.86171078e-02 -9.97640722e-01 2.16394489e-03 1.54023409e+02] [ 9.97027931e-01 6.86507962e-02 3.49624551e-02 2.49270753e+02] [-3.50285255e-02 -2.41509050e-04 9.99386284e-01 3.58835434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88687500000003 meters Centerline goodness [0,1] 0.9999528335259298 Centerline is valid? [True, True] Translation: X:154.03, Y:249.30, Z:3.59 [[ 6.60382658e-02 -9.97814651e-01 2.20683941e-03 1.54027607e+02] [ 9.97170576e-01 6.60749191e-02 3.58461538e-02 2.49298305e+02] [-3.59136341e-02 -1.66622504e-04 9.99354883e-01 3.58894267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters Centerline goodness [0,1] 0.9999061671631988 Centerline is valid? [True, True] Translation: X:154.03, Y:249.32, Z:3.59 [[ 6.46717238e-02 -9.97904165e-01 2.20137305e-03 1.54029015e+02] [ 9.97257495e-01 6.47090535e-02 3.59197425e-02 2.49324613e+02] [-3.59869094e-02 -1.27655888e-04 9.99352253e-01 3.58791584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94687500000003 meters Centerline goodness [0,1] 0.9998125058591919 Centerline is valid? [True, True] Translation: X:154.03, Y:249.35, Z:3.59 [[ 6.18549385e-02 -9.98082653e-01 2.23248370e-03 1.54031568e+02] [ 9.97410673e-01 6.18952012e-02 3.66187687e-02 2.49350542e+02] [-3.66867378e-02 -3.83486198e-05 9.99326814e-01 3.58779514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters Centerline goodness [0,1] 0.9997896557365555 Centerline is valid? [True, True] Translation: X:154.03, Y:249.38, Z:3.59 [[ 6.07271110e-02 -9.98151833e-01 2.26617876e-03 1.54033196e+02] [ 9.97452275e-01 6.07693797e-02 3.73636457e-02 2.49377316e+02] [-3.74323058e-02 -8.58110741e-06 9.99299166e-01 3.58685700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00687500000004 meters Centerline goodness [0,1] 0.9998831775700935 Centerline is valid? [True, True] Translation: X:154.03, Y:249.40, Z:3.59 [[ 5.95570978e-02 -9.98222350e-01 2.25677893e-03 1.54034424e+02] [ 9.97521194e-01 5.95998356e-02 3.74075805e-02 2.49403012e+02] [-3.74755865e-02 2.32978865e-05 9.99297543e-01 3.58595180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters Centerline goodness [0,1] 0.999976676928818 Centerline is valid? [True, True] Translation: X:154.03, Y:249.43, Z:3.58 [[ 5.86053494e-02 -9.98278844e-01 2.18215838e-03 1.54034566e+02] [ 9.97616141e-01 5.86459438e-02 3.63687857e-02 2.49429996e+02] [-3.64341641e-02 4.55510298e-05 9.99336054e-01 3.58493598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06687500000004 meters Centerline goodness [0,1] 0.9997892715821022 Centerline is valid? [True, True] Translation: X:154.04, Y:249.46, Z:3.58 [[ 5.80849046e-02 -9.98309310e-01 2.15988089e-03 1.54035066e+02] [ 9.97653288e-01 5.81250241e-02 3.61856039e-02 2.49457031e+02] [-3.62499684e-02 5.29749204e-05 9.99342753e-01 3.58296784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters Centerline goodness [0,1] 0.9998831611908211 Centerline is valid? [True, True] Translation: X:154.04, Y:249.48, Z:3.58 [[ 5.77465632e-02 -9.98329020e-01 2.12180893e-03 1.54035903e+02] [ 9.97689353e-01 5.77855066e-02 3.57322066e-02 2.49484607e+02] [-3.57951086e-02 5.34940552e-05 9.99359148e-01 3.58212679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:249.51, Z:3.58 [[ 5.74339002e-02 -9.98347119e-01 2.09192705e-03 1.54035954e+02] [ 9.97718857e-01 5.74719602e-02 3.54126619e-02 2.49510652e+02] [-3.54743561e-02 5.32677756e-05 9.99370586e-01 3.58022105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters Centerline goodness [0,1] 0.9998603644487887 Centerline is valid? [True, True] Translation: X:154.04, Y:249.54, Z:3.58 [[ 5.69398361e-02 -9.98375434e-01 2.08511255e-03 1.54036572e+02] [ 9.97744285e-01 5.69779704e-02 3.54944072e-02 2.49537729e+02] [-3.55555497e-02 5.93634021e-05 9.99367700e-01 3.57988743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.186875 meters Centerline goodness [0,1] 0.9999067229438239 Centerline is valid? [True, True] Translation: X:154.04, Y:249.56, Z:3.58 [[ 5.69794462e-02 -9.98373188e-01 2.07868133e-03 1.54037271e+02] [ 9.97739318e-01 5.70173305e-02 3.55707322e-02 2.49564114e+02] [-3.56313861e-02 4.71814726e-05 9.99364999e-01 3.57863166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters Centerline goodness [0,1] 0.9999301740992459 Centerline is valid? [True, True] Translation: X:154.04, Y:249.59, Z:3.58 [[ 5.68250177e-02 -9.98382011e-01 2.06817063e-03 1.54037715e+02] [ 9.97747454e-01 5.68626264e-02 3.55901712e-02 2.49591928e+02] [-3.56501883e-02 4.10998674e-05 9.99364329e-01 3.57794535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.246875 meters Centerline goodness [0,1] 0.9999069182975356 Centerline is valid? [True, True] Translation: X:154.04, Y:249.62, Z:3.58 [[ 5.83193984e-02 -9.98295807e-01 2.08069376e-03 1.54036694e+02] [ 9.97646531e-01 5.83564989e-02 3.59988715e-02 2.49620124e+02] [-3.60589444e-02 -2.36356141e-05 9.99349665e-01 3.57745273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:249.65, Z:3.58 [[ 5.85245278e-02 -9.98283819e-01 2.07266130e-03 1.54036435e+02] [ 9.97633211e-01 5.85612037e-02 3.60355622e-02 2.49646871e+02] [-3.60950962e-02 -4.12085125e-05 9.99348359e-01 3.57596787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.306875 meters Centerline goodness [0,1] 0.9999071516445764 Centerline is valid? [True, True] Translation: X:154.04, Y:249.67, Z:3.58 [[ 5.94607837e-02 -9.98228438e-01 2.09771879e-03 1.54036319e+02] [ 9.97554794e-01 5.94977104e-02 3.66668131e-02 2.49674567e+02] [-3.67266651e-02 -8.76480070e-05 9.99325345e-01 3.57506057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters Centerline goodness [0,1] 0.9997918256887101 Centerline is valid? [True, True] Translation: X:154.03, Y:249.70, Z:3.57 [[ 6.10828471e-02 -9.98130505e-01 2.09300458e-03 1.54034342e+02] [ 9.97453397e-01 6.11184916e-02 3.67593556e-02 2.49700548e+02] [-3.68185554e-02 -1.57691569e-04 9.99321955e-01 3.57374688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.366875 meters Centerline goodness [0,1] 0.9999071645740014 Centerline is valid? [True, True] Translation: X:154.03, Y:249.73, Z:3.57 [[ 6.15849765e-02 -9.98099602e-01 2.11560095e-03 1.54034280e+02] [ 9.97399528e-01 6.16210056e-02 3.73769179e-02 2.49727973e+02] [-3.74362523e-02 -1.91757225e-04 9.99298999e-01 3.57280326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters Centerline goodness [0,1] 0.9999535639656373 Centerline is valid? [True, True] Translation: X:154.03, Y:249.76, Z:3.57 [[ 6.27029706e-02 -9.98030040e-01 2.09185404e-03 1.54034023e+02] [ 9.97338066e-01 6.27373811e-02 3.71591513e-02 2.49755421e+02] [-3.72171867e-02 -2.43703503e-04 9.99307171e-01 3.57185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.426875 meters Centerline goodness [0,1] 0.9998376096135109 Centerline is valid? [True, True] Translation: X:154.03, Y:249.78, Z:3.57 [[ 6.38149798e-02 -9.97959580e-01 2.07953248e-03 1.54033632e+02] [ 9.97268100e-01 6.38481649e-02 3.71449737e-02 2.49782942e+02] [-3.72019567e-02 -2.96554339e-04 9.99307724e-01 3.57059979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters Centerline goodness [0,1] 0.9997454234071605 Centerline is valid? [True, True] Translation: X:154.03, Y:249.81, Z:3.57 [[ 6.63283541e-02 -9.97795752e-01 2.04632966e-03 1.54031371e+02] [ 9.97118636e-01 6.63587224e-02 3.67552210e-02 2.49811243e+02] [-3.68099952e-02 -3.97479874e-04 9.99322203e-01 3.56887686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.486875 meters Centerline goodness [0,1] 0.9997694418186429 Centerline is valid? [True, True] Translation: X:154.03, Y:249.84, Z:3.57 [[ 6.78187330e-02 -9.97695622e-01 2.01627157e-03 1.54030890e+02] [ 9.97031660e-01 6.78471526e-02 3.63954992e-02 2.49839426e+02] [-3.64484285e-02 -4.58010053e-04 9.99335430e-01 3.56734332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters Centerline goodness [0,1] 0.99981556621173 Centerline is valid? [True, True] Translation: X:154.03, Y:249.87, Z:3.57 [[ 6.87011289e-02 -9.97635298e-01 1.99195744e-03 1.54029754e+02] [ 9.96980565e-01 6.87282038e-02 3.61411964e-02 2.49865240e+02] [-3.61926368e-02 -4.96998132e-04 9.99344708e-01 3.56548602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.546875 meters Centerline goodness [0,1] 0.9995375936372884 Centerline is valid? [True, True] Translation: X:154.03, Y:249.89, Z:3.56 [[ 7.10085846e-02 -9.97473768e-01 1.96558306e-03 1.54027778e+02] [ 9.96830213e-01 7.10333761e-02 3.58299592e-02 2.49893428e+02] [-3.58790664e-02 -5.84882108e-04 9.99355968e-01 3.56340612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters Centerline goodness [0,1] 0.9997005781145634 Centerline is valid? [True, True] Translation: X:154.03, Y:249.92, Z:3.56 [[ 7.18845325e-02 -9.97411041e-01 1.95684123e-03 1.54028540e+02] [ 9.96766703e-01 7.19084318e-02 3.58513178e-02 2.49921885e+02] [-3.58992136e-02 -6.26641046e-04 9.99355219e-01 3.56270074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.606875 meters Centerline goodness [0,1] 0.9997470101195952 Centerline is valid? [True, True] Translation: X:154.03, Y:249.95, Z:3.56 [[ 7.23988674e-02 -9.97373842e-01 1.95508245e-03 1.54029372e+02] [ 9.96723980e-01 7.24222712e-02 3.60044864e-02 2.49950267e+02] [-3.60515245e-02 -6.58006476e-04 9.99349716e-01 3.56188504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters Centerline goodness [0,1] 0.9995615047311331 Centerline is valid? [True, True] Translation: X:154.03, Y:249.98, Z:3.56 [[ 7.28368621e-02 -9.97341943e-01 1.95976839e-03 1.54029411e+02] [ 9.96682032e-01 7.28599611e-02 3.62815880e-02 2.49978118e+02] [-3.63279381e-02 -6.89371076e-04 9.99339685e-01 3.56057386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.666875 meters Centerline goodness [0,1] 0.9999078404718568 Centerline is valid? [True, True] Translation: X:154.03, Y:250.01, Z:3.56 [[ 7.33517646e-02 -9.97304166e-01 1.97959174e-03 1.54028624e+02] [ 9.96623620e-01 7.33748439e-02 3.68441552e-02 2.50005329e+02] [-3.68900817e-02 -7.29675910e-04 9.99319063e-01 3.55990287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters Centerline goodness [0,1] 0.9995613832586915 Centerline is valid? [True, True] Translation: X:154.03, Y:250.03, Z:3.56 [[ 7.34901997e-02 -9.97293972e-01 1.98081627e-03 1.54029905e+02] [ 9.96604761e-01 7.35130561e-02 3.70780342e-02 2.50033798e+02] [-3.71233159e-02 -7.50781215e-04 9.99310410e-01 3.55836149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.726875 meters Centerline goodness [0,1] 0.9996552199696593 Centerline is valid? [True, True] Translation: X:154.03, Y:250.06, Z:3.56 [[ 7.27860554e-02 -9.97345530e-01 2.02090156e-03 1.54030694e+02] [ 9.96620361e-01 7.28101989e-02 3.80332919e-02 2.50061675e+02] [-3.80794759e-02 -7.54221652e-04 9.99274429e-01 3.55749269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters Centerline goodness [0,1] 0.9997237632651182 Centerline is valid? [True, True] Translation: X:154.03, Y:250.09, Z:3.56 [[ 7.19033039e-02 -9.97409550e-01 2.02601658e-03 1.54031557e+02] [ 9.96672986e-01 7.19280672e-02 3.83315963e-02 2.50087819e+02] [-3.83780277e-02 -7.36892419e-04 9.99263020e-01 3.55622941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.786875 meters Centerline goodness [0,1] 0.9997694099199852 Centerline is valid? [True, True] Translation: X:154.03, Y:250.12, Z:3.55 [[ 7.09320019e-02 -9.97479128e-01 2.00981928e-03 1.54034543e+02] [ 9.96745064e-01 7.09569066e-02 3.82674175e-02 2.50116081e+02] [-3.83135608e-02 -7.11107083e-04 9.99265513e-01 3.55470482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters Centerline goodness [0,1] 0.9999079973319226 Centerline is valid? [True, True] Translation: X:154.04, Y:250.14, Z:3.55 [[ 6.91488631e-02 -9.97604364e-01 1.99198541e-03 1.54036230e+02] [ 9.96875403e-01 6.91744831e-02 3.81355595e-02 2.50144279e+02] [-3.81819952e-02 -6.51269324e-04 9.99270590e-01 3.55312503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.846875 meters Centerline goodness [0,1] 0.9998853526552325 Centerline is valid? [True, True] Translation: X:154.04, Y:250.17, Z:3.55 [[ 6.65995346e-02 -9.97777794e-01 1.99382872e-03 1.54036982e+02] [ 9.97039424e-01 6.66269491e-02 3.83827599e-02 2.50172111e+02] [-3.84303082e-02 -5.68348100e-04 9.99261121e-01 3.55154235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters Centerline goodness [0,1] 0.9998391728891441 Centerline is valid? [True, True] Translation: X:154.04, Y:250.20, Z:3.55 [[ 6.50165332e-02 -9.97882185e-01 1.99868581e-03 1.54038793e+02] [ 9.97132434e-01 6.50451540e-02 3.86786345e-02 2.50199298e+02] [-3.87267252e-02 -5.21796276e-04 9.99249703e-01 3.55005672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.906875 meters Centerline goodness [0,1] 0.9998161722466049 Centerline is valid? [True, True] Translation: X:154.04, Y:250.23, Z:3.55 [[ 6.36623130e-02 -9.97969469e-01 2.01206023e-03 1.54040433e+02] [ 9.97200237e-01 6.36922329e-02 3.91789177e-02 2.50227692e+02] [-3.92275164e-02 -4.87793588e-04 9.99230186e-01 3.54868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters Centerline goodness [0,1] 0.9998624610306254 Centerline is valid? [True, True] Translation: X:154.04, Y:250.25, Z:3.55 [[ 6.19684293e-02 -9.98076053e-01 2.02636787e-03 1.54041481e+02] [ 9.97287289e-01 6.20000066e-02 3.96744468e-02 2.50253544e+02] [-3.97237501e-02 -4.37692237e-04 9.99210604e-01 3.54770626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.966875 meters Centerline goodness [0,1] 0.9997470333915923 Centerline is valid? [True, True] Translation: X:154.04, Y:250.28, Z:3.55 [[ 6.00675093e-02 -9.98192225e-01 2.04349503e-03 1.54042644e+02] [ 9.97379504e-01 6.01010513e-02 4.02739285e-02 2.50280802e+02] [-4.03239385e-02 -3.81014516e-04 9.99186587e-01 3.54578790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters Centerline goodness [0,1] 0.9997930749068837 Centerline is valid? [True, True] Translation: X:154.04, Y:250.31, Z:3.54 [[ 5.85500038e-02 -9.98282388e-01 2.04227818e-03 1.54043913e+02] [ 9.97460718e-01 5.85846594e-02 4.04963342e-02 2.50307808e+02] [-4.05464234e-02 -3.33968266e-04 9.99177600e-01 3.54439111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.026875 meters Centerline goodness [0,1] 0.9998401096391046 Centerline is valid? [True, True] Translation: X:154.05, Y:250.33, Z:3.54 [[ 5.59592590e-02 -9.98430944e-01 2.05199669e-03 1.54045370e+02] [ 9.97591241e-01 5.59963378e-02 4.09405267e-02 2.50334863e+02] [-4.09911930e-02 -2.43947609e-04 9.99159478e-01 3.54206052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters Centerline goodness [0,1] 0.9999311484439548 Centerline is valid? [True, True] Translation: X:154.05, Y:250.36, Z:3.54 [[ 5.42638044e-02 -9.98524522e-01 2.05388825e-03 1.54046997e+02] [ 9.97672790e-01 5.43023335e-02 4.12342234e-02 2.50362591e+02] [-4.12849142e-02 -1.88417416e-04 9.99147397e-01 3.54078090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.086875 meters Centerline goodness [0,1] 0.9998163832082444 Centerline is valid? [True, True] Translation: X:154.05, Y:250.39, Z:3.54 [[ 5.26304094e-02 -9.98611919e-01 2.06770203e-03 1.54048514e+02] [ 9.97738960e-01 5.26708401e-02 4.17462663e-02 2.50390386e+02] [-4.17972267e-02 -1.34096211e-04 9.99126105e-01 3.53956261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters Centerline goodness [0,1] 0.9997705737949388 Centerline is valid? [True, True] Translation: X:154.05, Y:250.42, Z:3.54 [[ 5.00841811e-02 -9.98742823e-01 2.08549145e-03 1.54050293e+02] [ 9.97844716e-01 5.01275661e-02 4.23456100e-02 2.50416872e+02] [-4.23969147e-02 -3.98485803e-05 9.99100846e-01 3.53879600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.146875 meters Centerline goodness [0,1] 0.9997489100413157 Centerline is valid? [True, True] Translation: X:154.05, Y:250.44, Z:3.54 [[ 4.81849749e-02 -9.98836295e-01 2.06504678e-03 1.54051961e+02] [ 9.97947050e-01 4.82291955e-02 4.21382245e-02 2.50444103e+02] [-4.21887836e-02 3.03780528e-05 9.99109656e-01 3.53759653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:250.47, Z:3.54 [[ 4.65529938e-02 -9.98913704e-01 2.05672149e-03 1.54053108e+02] [ 9.98020498e-01 4.65983245e-02 4.22336528e-02 2.50472407e+02] [-4.22836143e-02 8.65472275e-05 9.99105644e-01 3.53573866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.206875 meters Centerline goodness [0,1] 0.9999314943368652 Centerline is valid? [True, True] Translation: X:154.05, Y:250.50, Z:3.53 [[ 4.37509184e-02 -9.99040376e-01 2.04551325e-03 1.54054476e+02] [ 9.98146696e-01 4.37982831e-02 4.22478893e-02 2.50500601e+02] [-4.22969372e-02 1.93338335e-04 9.99105065e-01 3.53388662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters Centerline goodness [0,1] 0.9999083598707874 Centerline is valid? [True, True] Translation: X:154.06, Y:250.53, Z:3.53 [[ 4.21173695e-02 -9.99110596e-01 2.03549469e-03 1.54055716e+02] [ 9.98215288e-01 4.21657818e-02 4.22881177e-02 2.50528939e+02] [-4.23363347e-02 2.50797643e-04 9.99103384e-01 3.53228596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.266875 meters Centerline goodness [0,1] 0.9998854130858256 Centerline is valid? [True, True] Translation: X:154.06, Y:250.56, Z:3.53 [[ 4.14386044e-02 -9.99139028e-01 2.01132335e-03 1.54056672e+02] [ 9.98254517e-01 4.14865351e-02 4.20331726e-02 2.50557163e+02] [-4.20804260e-02 2.66016609e-04 9.99114191e-01 3.53014685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters Centerline goodness [0,1] 0.9998629980591391 Centerline is valid? [True, True] Translation: X:154.06, Y:250.58, Z:3.53 [[ 4.02963023e-02 -9.99185843e-01 1.96435691e-03 1.54057819e+02] [ 9.98332283e-01 4.03430587e-02 4.12927414e-02 2.50584471e+02] [-4.13383708e-02 2.97136130e-04 9.99145160e-01 3.52839726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32687500000003 meters Centerline goodness [0,1] 0.9999312887932021 Centerline is valid? [True, True] Translation: X:154.06, Y:250.61, Z:3.52 [[ 4.03716412e-02 -9.99182826e-01 1.95222548e-03 1.54057009e+02] [ 9.98329083e-01 4.04178330e-02 4.12969715e-02 2.50612454e+02] [-4.13421294e-02 2.81736959e-04 9.99145009e-01 3.52499021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters Centerline goodness [0,1] 0.9998628446029352 Centerline is valid? [True, True] Translation: X:154.06, Y:250.64, Z:3.52 [[ 4.10262959e-02 -9.99156178e-01 1.94294557e-03 1.54057412e+02] [ 9.98300414e-01 4.10715564e-02 4.13450276e-02 2.50639822e+02] [-4.13899395e-02 2.43410028e-04 9.99143040e-01 3.52352072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38687500000003 meters Centerline goodness [0,1] 0.9997038454528886 Centerline is valid? [True, True] Translation: X:154.06, Y:250.67, Z:3.52 [[ 4.21696471e-02 -9.99108594e-01 1.93365458e-03 1.54057114e+02] [ 9.98253509e-01 4.22135404e-02 4.13273364e-02 2.50668390e+02] [-4.13721234e-02 1.87518283e-04 9.99143790e-01 3.52186227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters Centerline goodness [0,1] 0.9998636828353971 Centerline is valid? [True, True] Translation: X:154.06, Y:250.70, Z:3.52 [[ 4.57090663e-02 -9.98952936e-01 1.92678883e-03 1.54055233e+02] [ 9.98093367e-01 4.57496492e-02 4.14318756e-02 2.50695404e+02] [-4.14766437e-02 2.93027993e-05 9.99139473e-01 3.52093624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44687500000003 meters Centerline goodness [0,1] 0.9999094346457763 Centerline is valid? [True, True] Translation: X:154.05, Y:250.72, Z:3.52 [[ 4.74961246e-02 -9.98869570e-01 1.92361657e-03 1.54054315e+02] [ 9.98001652e-01 4.75350275e-02 4.16308053e-02 2.50721493e+02] [-4.16751838e-02 -5.75293987e-05 9.99131210e-01 3.51979346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters Centerline goodness [0,1] 0.9999094346457763 Centerline is valid? [True, True] Translation: X:154.06, Y:250.75, Z:3.52 [[ 4.71947506e-02 -9.98883880e-01 1.91027322e-03 1.54055424e+02] [ 9.98015949e-01 4.72333593e-02 4.16314176e-02 2.50748237e+02] [-4.16751806e-02 -5.83012320e-05 9.99131211e-01 3.51870096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50687500000004 meters Centerline goodness [0,1] 0.9997273532819849 Centerline is valid? [True, True] Translation: X:154.05, Y:250.78, Z:3.52 [[ 4.94728925e-02 -9.98773659e-01 1.90000851e-03 1.54054751e+02] [ 9.97903491e-01 4.95090852e-02 4.16829974e-02 2.50775396e+02] [-4.17259476e-02 -1.66153322e-04 9.99129080e-01 3.51732046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters Centerline goodness [0,1] 0.9997963247940618 Centerline is valid? [True, True] Translation: X:154.05, Y:250.80, Z:3.52 [[ 5.45120206e-02 -9.98511280e-01 1.91389969e-03 1.54052936e+02] [ 9.97616050e-01 5.45441772e-02 4.22747019e-02 2.50804245e+02] [-4.23161588e-02 -3.95142369e-04 9.99104192e-01 3.51633286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56687500000004 meters Centerline goodness [0,1] 0.9997290462427746 Centerline is valid? [True, True] Translation: X:154.05, Y:250.83, Z:3.51 [[ 5.68439158e-02 -9.98381245e-01 1.91268473e-03 1.54052352e+02] [ 9.97476315e-01 5.68738163e-02 4.25014033e-02 2.50832736e+02] [-4.25413856e-02 -5.08088480e-04 9.99094576e-01 3.51492383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:154.05, Y:250.86, Z:3.51 [[ 5.87439226e-02 -9.98271257e-01 1.91017232e-03 1.54051922e+02] [ 9.97357699e-01 5.87718737e-02 4.27023186e-02 2.50860854e+02] [-4.27407617e-02 -6.03376625e-04 9.99086014e-01 3.51289600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62687500000004 meters Centerline goodness [0,1] 0.9998415321576528 Centerline is valid? [True, True] Translation: X:154.05, Y:250.89, Z:3.51 [[ 6.27164182e-02 -9.98029657e-01 1.85854202e-03 1.54051008e+02] [ 9.97154506e-01 6.27392514e-02 4.17932729e-02 2.50888629e+02] [-4.18275293e-02 -7.67870827e-04 9.99124551e-01 3.51051004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters Centerline goodness [0,1] 0.9997511650002262 Centerline is valid? [True, True] Translation: X:154.05, Y:250.92, Z:3.51 [[ 6.40265797e-02 -9.97946533e-01 1.82055226e-03 1.54051428e+02] [ 9.97100248e-01 6.40472585e-02 4.10979702e-02 2.50916600e+02] [-4.11301783e-02 -8.16089359e-04 9.99153463e-01 3.50912439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.686875 meters Centerline goodness [0,1] 0.999795793342863 Centerline is valid? [True, True] Translation: X:154.05, Y:250.95, Z:3.51 [[ 6.48256121e-02 -9.97894997e-01 1.79315644e-03 1.54053207e+02] [ 9.97064545e-01 6.48448204e-02 4.07117085e-02 2.50945241e+02] [-4.07422872e-02 -8.51268716e-04 9.99169326e-01 3.50784328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters Centerline goodness [0,1] 0.9997048205081629 Centerline is valid? [True, True] Translation: X:154.05, Y:250.97, Z:3.51 [[ 6.68242614e-02 -9.97763215e-01 1.75664286e-03 1.54053604e+02] [ 9.96956345e-01 6.68408725e-02 4.01290984e-02 2.50972806e+02] [-4.01567538e-02 -9.30301114e-04 9.99192959e-01 3.50564175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.746875 meters Centerline goodness [0,1] 0.9996599025053848 Centerline is valid? [True, True] Translation: X:154.05, Y:251.00, Z:3.50 [[ 6.73858872e-02 -9.97725494e-01 1.72659158e-03 1.54054176e+02] [ 9.96936518e-01 6.74012707e-02 3.96818372e-02 2.50999492e+02] [-3.97079551e-02 -9.52693611e-04 9.99210874e-01 3.50445552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters Centerline goodness [0,1] 0.9996365701306076 Centerline is valid? [True, True] Translation: X:154.06, Y:251.03, Z:3.50 [[ 6.78191913e-02 -9.97696164e-01 1.70918176e-03 1.54057032e+02] [ 9.96912286e-01 6.78336670e-02 3.95536173e-02 2.51027934e+02] [-3.95784323e-02 -9.78590042e-04 9.99215988e-01 3.50324863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.806875 meters Centerline goodness [0,1] 0.9998179169701383 Centerline is valid? [True, True] Translation: X:154.06, Y:251.06, Z:3.50 [[ 6.84065394e-02 -9.97656143e-01 1.66278263e-03 1.54059294e+02] [ 9.96904463e-01 6.84195549e-02 3.87331528e-02 2.51055795e+02] [-3.87561347e-02 -9.91965521e-04 9.99248206e-01 3.50128685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters Centerline goodness [0,1] 0.9997947876051714 Centerline is valid? [True, True] Translation: X:154.06, Y:251.08, Z:3.50 [[ 6.85284964e-02 -9.97647782e-01 1.65767142e-03 1.54060786e+02] [ 9.96891071e-01 6.85410914e-02 3.88627170e-02 2.51083661e+02] [-3.88849220e-02 -1.01068573e-03 9.99243184e-01 3.49993580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.866875 meters Centerline goodness [0,1] 0.9995669713061512 Centerline is valid? [True, True] Translation: X:154.06, Y:251.11, Z:3.50 [[ 6.86258321e-02 -9.97641106e-01 1.64900661e-03 1.54063031e+02] [ 9.96882133e-01 6.86379566e-02 3.89209951e-02 2.51111959e+02] [-3.89423690e-02 -1.02712045e-03 9.99240930e-01 3.49877571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters Centerline goodness [0,1] 0.999726688835239 Centerline is valid? [True, True] Translation: X:154.06, Y:251.14, Z:3.50 [[ 6.84958149e-02 -9.97650081e-01 1.62481220e-03 1.54064054e+02] [ 9.96903243e-01 6.85074193e-02 3.86090353e-02 2.51138959e+02] [-3.86296188e-02 -1.02477678e-03 9.99253072e-01 3.49798382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.926875 meters Centerline goodness [0,1] 0.9998630637210152 Centerline is valid? [True, True] Translation: X:154.07, Y:251.17, Z:3.50 [[ 6.78481212e-02 -9.97694316e-01 1.63816723e-03 1.54066663e+02] [ 9.96923742e-01 6.78601126e-02 3.92180704e-02 2.51165442e+02] [-3.92388121e-02 -1.02774458e-03 9.99229333e-01 3.49721029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters Centerline goodness [0,1] 0.9997253376058595 Centerline is valid? [True, True] Translation: X:154.07, Y:251.19, Z:3.50 [[ 6.72182986e-02 -9.97736962e-01 1.62930705e-03 1.54069182e+02] [ 9.96965762e-01 6.72304122e-02 3.92344268e-02 2.51192451e+02] [-3.92551768e-02 -1.01290808e-03 9.99228705e-01 3.49636026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.986875 meters Centerline goodness [0,1] 0.9996768982229403 Centerline is valid? [True, True] Translation: X:154.07, Y:251.22, Z:3.50 [[ 6.55423890e-02 -9.97848519e-01 1.59039980e-03 1.54074649e+02] [ 9.97102625e-01 6.55548961e-02 3.85864046e-02 2.51219895e+02] [-3.86076452e-02 -9.43253330e-04 9.99254002e-01 3.49509503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters Centerline goodness [0,1] 0.9997921286031042 Centerline is valid? [True, True] Translation: X:154.08, Y:251.25, Z:3.49 [[ 6.44449912e-02 -9.97920048e-01 1.55597211e-03 1.54078610e+02] [ 9.97196435e-01 6.44575211e-02 3.80065534e-02 2.51247785e+02] [-3.80277957e-02 -8.97722159e-04 9.99276279e-01 3.49367021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.046875 meters Centerline goodness [0,1] 0.9997694843364606 Centerline is valid? [True, True] Translation: X:154.08, Y:251.27, Z:3.49 [[ 6.27968717e-02 -9.98025180e-01 1.51413482e-03 1.54080133e+02] [ 9.97330265e-01 6.28096544e-02 3.72463344e-02 2.51274367e+02] [-3.72678818e-02 -8.28860796e-04 9.99304967e-01 3.49183886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters Centerline goodness [0,1] 0.9997690317812269 Centerline is valid? [True, True] Translation: X:154.09, Y:251.30, Z:3.49 [[ 5.85529071e-02 -9.98283215e-01 1.47661233e-03 1.54086824e+02] [ 9.97616015e-01 5.85677595e-02 3.64979895e-02 2.51302278e+02] [-3.65218122e-02 -6.63971274e-04 9.99332636e-01 3.48975841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.106875 meters Centerline goodness [0,1] 0.9999304186478024 Centerline is valid? [True, True] Translation: X:154.09, Y:251.33, Z:3.49 [[ 5.60989884e-02 -9.98424166e-01 1.44474489e-03 1.54091438e+02] [ 9.97776768e-01 5.61146386e-02 3.59537088e-02 2.51329961e+02] [-3.59781231e-02 -5.75433804e-04 9.99352412e-01 3.48925457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters Centerline goodness [0,1] 0.9998836668217775 Centerline is valid? [True, True] Translation: X:154.10, Y:251.36, Z:3.49 [[ 5.35815860e-02 -9.98562448e-01 1.43202539e-03 1.54096046e+02] [ 9.97917514e-01 5.35984440e-02 3.58865177e-02 2.51357976e+02] [-3.59116833e-02 -4.93813322e-04 9.99354845e-01 3.48874865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.166875 meters Centerline goodness [0,1] 0.9998838532834676 Centerline is valid? [True, True] Translation: X:154.10, Y:251.39, Z:3.49 [[ 5.08736916e-02 -9.98704071e-01 1.43033803e-03 1.54099482e+02] [ 9.98051335e-01 5.08921498e-02 3.61043055e-02 2.51385376e+02] [-3.61303098e-02 -4.09208518e-04 9.99347003e-01 3.48811065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters Centerline goodness [0,1] 0.9999766954089956 Centerline is valid? [True, True] Translation: X:154.11, Y:251.41, Z:3.49 [[ 4.62005386e-02 -9.98931187e-01 1.41200021e-03 1.54106919e+02] [ 9.98286007e-01 4.62214405e-02 3.58974564e-02 2.51412071e+02] [-3.59243534e-02 -2.48901770e-04 9.99354481e-01 3.48813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.226875 meters Centerline goodness [0,1] 0.9999532601075017 Centerline is valid? [True, True] Translation: X:154.11, Y:251.44, Z:3.49 [[ 4.37215400e-02 -9.99042773e-01 1.40184943e-03 1.54110600e+02] [ 9.98397952e-01 4.37436797e-02 3.58889918e-02 2.51439003e+02] [-3.59159600e-02 -1.69518390e-04 9.99354799e-01 3.48781835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters Centerline goodness [0,1] 0.9999531055827804 Centerline is valid? [True, True] Translation: X:154.12, Y:251.47, Z:3.49 [[ 3.98103965e-02 -9.99206311e-01 1.37135160e-03 1.54116584e+02] [ 9.98579752e-01 3.98339899e-02 3.53798164e-02 2.51466411e+02] [-3.54063622e-02 -3.90805768e-05 9.99372997e-01 3.48709567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:251.49, Z:3.49 [[ 3.78570761e-02 -9.99282248e-01 1.35272624e-03 1.54119541e+02] [ 9.98662987e-01 3.78812316e-02 3.51745634e-02 2.51493000e+02] [-3.52005597e-02 1.93115007e-05 9.99380268e-01 3.48594456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:251.52, Z:3.49 [[ 3.62083751e-02 -9.99343359e-01 1.34330876e-03 1.54122194e+02] [ 9.98722038e-01 3.62332247e-02 3.52341296e-02 2.51521194e+02] [-3.52596659e-02 6.58214755e-05 9.99378182e-01 3.48529250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:251.55, Z:3.48 [[ 3.47693722e-02 -9.99394492e-01 1.31932973e-03 1.54124603e+02] [ 9.98786345e-01 3.47942338e-02 3.48597024e-02 2.51549080e+02] [-3.48844996e-02 1.05678555e-04 9.99391345e-01 3.48406839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.58, Z:3.48 [[ 3.13910894e-02 -9.99506359e-01 1.27966472e-03 1.54129189e+02] [ 9.98926612e-01 3.14164611e-02 3.40386467e-02 2.51575668e+02] [-3.40620463e-02 2.09780944e-04 9.99419698e-01 3.48336404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.60, Z:3.48 [[ 2.97056514e-02 -9.99557906e-01 1.25154903e-03 1.54131873e+02] [ 9.98994361e-01 2.97309253e-02 3.35609644e-02 2.51603626e+02] [-3.35833370e-02 2.53340112e-04 9.99435889e-01 3.48268630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters Centerline goodness [0,1] 0.9999526795220631 Centerline is valid? [True, True] Translation: X:154.13, Y:251.63, Z:3.48 [[ 2.80741873e-02 -9.99605101e-01 1.21725178e-03 1.54134323e+02] [ 9.99064081e-01 2.80990375e-02 3.28847478e-02 2.51631828e+02] [-3.29059653e-02 2.92899964e-04 9.99458409e-01 3.48119023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.66, Z:3.48 [[ 2.60241417e-02 -9.99660639e-01 1.16219748e-03 1.54137353e+02] [ 9.99160447e-01 2.60478830e-02 3.16213437e-02 2.51658971e+02] [-3.16408854e-02 3.38303425e-04 9.99499245e-01 3.47965005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.69, Z:3.48 [[ 2.59941380e-02 -9.99661449e-01 1.13691912e-03 1.54138185e+02] [ 9.99175255e-01 2.60169518e-02 3.11757543e-02 2.51686569e+02] [-3.11947789e-02 3.25594591e-04 9.99513271e-01 3.47816546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.71, Z:3.48 [[ 2.65182708e-02 -9.99647696e-01 1.12466902e-03 1.54138373e+02] [ 9.99163126e-01 2.65404320e-02 3.11232020e-02 2.51713104e+02] [-3.11420864e-02 2.98394318e-04 9.99514923e-01 3.47675346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.74, Z:3.48 [[ 2.91468672e-02 -9.99574555e-01 1.08099079e-03 1.54136519e+02] [ 9.99121852e-01 2.91661977e-02 3.00808439e-02 2.51739631e+02] [-3.00995746e-02 2.03279153e-04 9.99546884e-01 3.47523422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.77, Z:3.47 [[ 3.04703517e-02 -9.99535132e-01 1.03834132e-03 1.54136044e+02] [ 9.99110037e-01 3.04876731e-02 2.91485011e-02 2.51767386e+02] [-2.91666075e-02 1.49252159e-04 9.99574553e-01 3.47321480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:251.79, Z:3.47 [[ 3.13878942e-02 -9.99506773e-01 1.00541487e-03 1.54135545e+02] [ 9.99101570e-01 3.14037956e-02 2.84579534e-02 2.51794909e+02] [-2.84754910e-02 1.11276341e-04 9.99594485e-01 3.47179558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.82, Z:3.47 [[ 3.39855804e-02 -9.99421843e-01 9.79531515e-04 1.54133335e+02] [ 9.99030716e-01 3.39996817e-02 2.79579945e-02 2.51821648e+02] [-2.79751342e-02 2.84134001e-05 9.99608619e-01 3.46973572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.85, Z:3.47 [[ 3.51894423e-02 -9.99380177e-01 9.81980593e-04 1.54132114e+02] [ 9.98980312e-01 3.52031383e-02 2.82679291e-02 2.51847803e+02] [-2.82849768e-02 -1.37533782e-05 9.99599900e-01 3.46897991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.87, Z:3.47 [[ 3.64957359e-02 -9.99333315e-01 9.93825866e-04 1.54130844e+02] [ 9.98915844e-01 3.65092134e-02 2.88827502e-02 2.51874505e+02] [-2.88997783e-02 -6.13488192e-05 9.99582312e-01 3.46813441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.90, Z:3.47 [[ 3.84713815e-02 -9.99259186e-01 1.01556973e-03 1.54129087e+02] [ 9.98814917e-01 3.84845578e-02 2.97943012e-02 2.51902464e+02] [-2.98113129e-02 -1.31861734e-04 9.99555535e-01 3.46995487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.93, Z:3.47 [[ 3.89785443e-02 -9.99239529e-01 1.01781887e-03 1.54127967e+02] [ 9.98784997e-01 3.89915104e-02 3.01362141e-02 2.51928555e+02] [-3.01529827e-02 -1.58083537e-04 9.99545283e-01 3.46803783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.95, Z:3.47 [[ 3.94090116e-02 -9.99222653e-01 1.01016453e-03 1.54127313e+02] [ 9.98766142e-01 3.94215393e-02 3.02015888e-02 2.51954006e+02] [-3.02179339e-02 -1.81296633e-04 9.99543318e-01 3.46688508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:251.98, Z:3.47 [[ 3.96421506e-02 -9.99213429e-01 1.01151873e-03 1.54127617e+02] [ 9.98745902e-01 3.96545423e-02 3.05637025e-02 2.51981321e+02] [-3.05797733e-02 -2.01360712e-04 9.99532309e-01 3.46731551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.01, Z:3.47 [[ 4.14638249e-02 -9.99139506e-01 9.98898222e-04 1.54125489e+02] [ 9.98675080e-01 4.14750056e-02 3.04616064e-02 2.52008942e+02] [-3.04768237e-02 -2.65479951e-04 9.99535438e-01 3.46602845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88687500000003 meters Centerline goodness [0,1] 0.9999533211968445 Centerline is valid? [True, True] Translation: X:154.12, Y:252.04, Z:3.46 [[ 4.21463811e-02 -9.99110971e-01 9.74335864e-04 1.54124827e+02] [ 9.98660828e-01 4.21566381e-02 2.99894825e-02 2.52036538e+02] [-3.00038957e-02 -2.90917099e-04 9.99549739e-01 3.46489371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters Centerline goodness [0,1] 0.9999535661218425 Centerline is valid? [True, True] Translation: X:154.12, Y:252.06, Z:3.46 [[ 4.36109474e-02 -9.99048123e-01 9.65807058e-04 1.54123506e+02] [ 9.98597123e-01 4.36202789e-02 3.00176148e-02 2.52064876e+02] [-3.00311705e-02 -3.44644468e-04 9.99548903e-01 3.46494279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94687500000003 meters Centerline goodness [0,1] 0.9999073516468244 Centerline is valid? [True, True] Translation: X:154.12, Y:252.09, Z:3.46 [[ 4.39127499e-02 -9.99034918e-01 9.50283527e-04 1.54122420e+02] [ 9.98591265e-01 4.39215684e-02 2.97721468e-02 2.52090990e+02] [-2.97851521e-02 -3.58432006e-04 9.99556260e-01 3.46353605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters Centerline goodness [0,1] 0.9999535801322966 Centerline is valid? [True, True] Translation: X:154.12, Y:252.12, Z:3.46 [[ 4.40643181e-02 -9.99028243e-01 9.51752379e-04 1.54121930e+02] [ 9.98573705e-01 4.40729788e-02 3.01351575e-02 2.52117898e+02] [-3.01478200e-02 -3.77490264e-04 9.99545380e-01 3.46254930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00687500000004 meters Centerline goodness [0,1] 0.9999535833642778 Centerline is valid? [True, True] Translation: X:154.12, Y:252.15, Z:3.46 [[ 4.35175348e-02 -9.99052219e-01 9.41874731e-04 1.54120966e+02] [ 9.98598212e-01 4.35261529e-02 3.01178420e-02 2.52145152e+02] [-3.01302931e-02 -3.70099816e-04 9.99545911e-01 3.46161791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters Centerline goodness [0,1] 0.9998848191660907 Centerline is valid? [True, True] Translation: X:154.12, Y:252.17, Z:3.46 [[ 4.29165151e-02 -9.99078233e-01 9.25818374e-04 1.54121264e+02] [ 9.98630785e-01 4.29250018e-02 2.98998235e-02 2.52172376e+02] [-2.99120036e-02 -3.58645500e-04 9.99552472e-01 3.46053919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06687500000004 meters Centerline goodness [0,1] 0.9998839637967045 Centerline is valid? [True, True] Translation: X:154.12, Y:252.20, Z:3.46 [[ 4.20714090e-02 -9.99114191e-01 9.10762003e-04 1.54121250e+02] [ 9.98672495e-01 4.20798901e-02 2.97074054e-02 2.52198790e+02] [-2.97194151e-02 -3.40279441e-04 9.99558223e-01 3.45886727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:252.23, Z:3.46 [[ 4.00901892e-02 -9.99195674e-01 8.83994682e-04 1.54122779e+02] [ 9.98770326e-01 4.00989153e-02 2.91532599e-02 2.52227111e+02] [-2.91652584e-02 -2.85852049e-04 9.99574562e-01 3.45853519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12687500000004 meters Centerline goodness [0,1] 0.9999768395210413 Centerline is valid? [True, True] Translation: X:154.12, Y:252.26, Z:3.46 [[ 3.90450955e-02 -9.99237067e-01 8.74344752e-04 1.54123577e+02] [ 9.98813192e-01 3.90539982e-02 2.91031475e-02 2.52255412e+02] [-2.91150904e-02 -2.63028100e-04 9.99576031e-01 3.45770729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:252.28, Z:3.46 [[ 3.81478826e-02 -9.99271728e-01 8.67062438e-04 1.54123990e+02] [ 9.98846880e-01 3.81569456e-02 2.91368790e-02 2.52283462e+02] [-2.91487439e-02 -2.45447630e-04 9.99575055e-01 3.45670290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.186875 meters Centerline goodness [0,1] 0.999861811649278 Centerline is valid? [True, True] Translation: X:154.12, Y:252.31, Z:3.46 [[ 3.67820772e-02 -9.99322934e-01 8.67246021e-04 1.54124277e+02] [ 9.98889766e-01 3.67916663e-02 2.94212179e-02 2.52310570e+02] [-2.94332052e-02 -2.15890332e-04 9.99566726e-01 3.45522815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters Centerline goodness [0,1] 0.9999078362249718 Centerline is valid? [True, True] Translation: X:154.12, Y:252.34, Z:3.45 [[ 3.50266987e-02 -9.99386005e-01 8.62489599e-04 1.54124740e+02] [ 9.98949007e-01 3.50368864e-02 2.95516312e-02 2.52337449e+02] [-2.95637056e-02 -1.73512956e-04 9.99562883e-01 3.45486423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.246875 meters Centerline goodness [0,1] 0.9999078850405306 Centerline is valid? [True, True] Translation: X:154.13, Y:252.37, Z:3.45 [[ 3.40915636e-02 -9.99418346e-01 8.57747686e-04 1.54125400e+02] [ 9.98976503e-01 3.41019948e-02 2.97153388e-02 2.52365327e+02] [-2.97273057e-02 -1.56172580e-04 9.99558034e-01 3.45408563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters Centerline goodness [0,1] 0.9999079930994824 Centerline is valid? [True, True] Translation: X:154.13, Y:252.39, Z:3.45 [[ 3.29179212e-02 -9.99457688e-01 8.60546231e-04 1.54125467e+02] [ 9.99004160e-01 3.29289056e-02 3.01060717e-02 2.52392299e+02] [-3.01180816e-02 -1.31340029e-04 9.99546339e-01 3.45183814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.42, Z:3.45 [[ 3.06084927e-02 -9.99531098e-01 8.38852954e-04 1.54126330e+02] [ 9.99091495e-01 3.06199072e-02 2.96412940e-02 2.52419572e+02] [-2.96530808e-02 -6.91844817e-05 9.99560248e-01 3.45151545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters Centerline goodness [0,1] 0.9998622747618501 Centerline is valid? [True, True] Translation: X:154.13, Y:252.45, Z:3.45 [[ 2.96737570e-02 -9.99559286e-01 8.38197252e-04 1.54126851e+02] [ 9.99109671e-01 2.96855472e-02 2.99772300e-02 2.52445947e+02] [-2.99889009e-02 -5.20860567e-05 9.99550230e-01 3.45000169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.47, Z:3.45 [[ 2.86448638e-02 -9.99589295e-01 8.44585519e-04 1.54127551e+02] [ 9.99125254e-01 2.86572981e-02 3.04546695e-02 2.52474447e+02] [-3.04663651e-02 -2.85231397e-05 9.99535792e-01 3.45030543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters Centerline goodness [0,1] 0.9997939230187988 Centerline is valid? [True, True] Translation: X:154.13, Y:252.50, Z:3.45 [[ 2.75765913e-02 -9.99619326e-01 8.57689891e-04 1.54128058e+02] [ 9.99130786e-01 2.75899257e-02 3.12484982e-02 2.52501115e+02] [-3.12602663e-02 -4.78268892e-06 9.99511278e-01 3.45024402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.426875 meters Centerline goodness [0,1] 0.9997939230187988 Centerline is valid? [True, True] Translation: X:154.13, Y:252.53, Z:3.45 [[ 2.73001823e-02 -9.99626921e-01 8.48376272e-04 1.54128730e+02] [ 9.99138377e-01 2.73133605e-02 3.12487506e-02 2.52528701e+02] [-3.12602644e-02 -5.45129551e-06 9.99511278e-01 3.44911721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters Centerline goodness [0,1] 0.9999310994235319 Centerline is valid? [True, True] Translation: X:154.13, Y:252.56, Z:3.45 [[ 2.72015556e-02 -9.99629617e-01 8.39675191e-04 1.54129336e+02] [ 9.99141200e-01 2.72145101e-02 3.12447260e-02 2.52557192e+02] [-3.12560049e-02 -1.09510741e-05 9.99511412e-01 3.44919938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.59, Z:3.45 [[ 2.78624689e-02 -9.99611413e-01 8.40565819e-04 1.54128215e+02] [ 9.99111338e-01 2.78751150e-02 3.16150732e-02 2.52585085e+02] [-3.16262188e-02 -4.10551530e-05 9.99499765e-01 3.44873601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters Centerline goodness [0,1] 0.9999542857142857 Centerline is valid? [True, True] Translation: X:154.13, Y:252.61, Z:3.45 [[ 2.85561974e-02 -9.99591834e-01 8.41942266e-04 1.54127479e+02] [ 9.99079026e-01 2.85685131e-02 3.20146893e-02 2.52612758e+02] [-3.20256750e-02 -7.30509287e-05 9.99487044e-01 3.44700320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.546875 meters Centerline goodness [0,1] 0.9998855258940428 Centerline is valid? [True, True] Translation: X:154.13, Y:252.64, Z:3.45 [[ 2.94357857e-02 -9.99566317e-01 8.44191895e-04 1.54126838e+02] [ 9.99039346e-01 2.94476759e-02 3.24533424e-02 2.52641304e+02] [-3.24641275e-02 -1.11908715e-04 9.99472895e-01 3.44552851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.67, Z:3.44 [[ 2.98856708e-02 -9.99552983e-01 8.25465350e-04 1.54126108e+02] [ 9.99037221e-01 2.98967645e-02 3.21063130e-02 2.52668592e+02] [-3.21166397e-02 -1.34848091e-04 9.99484119e-01 3.44393689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:252.70, Z:3.44 [[ 3.14403902e-02 -9.99505307e-01 8.01951660e-04 1.54125416e+02] [ 9.99011663e-01 3.14500640e-02 3.14100527e-02 2.52697123e+02] [-3.14197358e-02 -1.86385254e-04 9.99506261e-01 3.44339990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:252.72, Z:3.44 [[ 3.24182024e-02 -9.99474085e-01 7.83019096e-04 1.54124408e+02] [ 9.98993247e-01 3.24268925e-02 3.09998377e-02 2.52724641e+02] [-3.10089253e-02 -2.22728225e-04 9.99519083e-01 3.44121701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.666875 meters Centerline goodness [0,1] 0.9998407063535408 Centerline is valid? [True, True] Translation: X:154.12, Y:252.75, Z:3.44 [[ 3.36550621e-02 -9.99433205e-01 7.77830742e-04 1.54124239e+02] [ 9.98946989e-01 3.36629498e-02 3.11724168e-02 2.52752939e+02] [-3.11809325e-02 -2.72097947e-04 9.99513719e-01 3.44101741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters Centerline goodness [0,1] 0.9999547695508616 Centerline is valid? [True, True] Translation: X:154.12, Y:252.78, Z:3.44 [[ 3.48126455e-02 -9.99393549e-01 7.83198754e-04 1.54122210e+02] [ 9.98889186e-01 3.48199571e-02 3.17484650e-02 2.52780151e+02] [-3.17564821e-02 -3.22919295e-04 9.99495584e-01 3.43934005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.726875 meters Centerline goodness [0,1] 0.9996823812332682 Centerline is valid? [True, True] Translation: X:154.12, Y:252.81, Z:3.44 [[ 3.76620673e-02 -9.99290216e-01 7.95242609e-04 1.54120682e+02] [ 9.98756773e-01 3.76679457e-02 3.26501789e-02 2.52808340e+02] [-3.26569595e-02 -4.35419294e-04 9.99466524e-01 3.43985124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters Centerline goodness [0,1] 0.9996614912439068 Centerline is valid? [True, True] Translation: X:154.12, Y:252.84, Z:3.44 [[ 3.86825023e-02 -9.99251240e-01 7.88919167e-04 1.54119845e+02] [ 9.98713983e-01 3.86875738e-02 3.27666314e-02 2.52836212e+02] [-3.27726185e-02 -4.79590693e-04 9.99462718e-01 3.43833123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.786875 meters Centerline goodness [0,1] 0.999637754986529 Centerline is valid? [True, True] Translation: X:154.12, Y:252.86, Z:3.44 [[ 4.04781429e-02 -9.99180115e-01 7.85806587e-04 1.54118154e+02] [ 9.98634636e-01 4.04820104e-02 3.30162271e-02 2.52863573e+02] [-3.30209686e-02 -5.51701882e-04 9.99454507e-01 3.43721150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters Centerline goodness [0,1] 0.9995468141031452 Centerline is valid? [True, True] Translation: X:154.12, Y:252.89, Z:3.44 [[ 4.07063233e-02 -9.99170850e-01 7.79868174e-04 1.54117953e+02] [ 9.98620074e-01 4.07097792e-02 3.31762113e-02 2.52890845e+02] [-3.31804515e-02 -5.71689569e-04 9.99449214e-01 3.43649770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.846875 meters Centerline goodness [0,1] 0.9997060220257343 Centerline is valid? [True, True] Translation: X:154.12, Y:252.92, Z:3.44 [[ 4.06264674e-02 -9.99174103e-01 7.75726760e-04 1.54117857e+02] [ 9.98615553e-01 4.06296949e-02 3.34096631e-02 2.52917574e+02] [-3.34135877e-02 -5.82663782e-04 9.99441440e-01 3.43558007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters Centerline goodness [0,1] 0.9998191436451598 Centerline is valid? [True, True] Translation: X:154.12, Y:252.94, Z:3.43 [[ 4.07713862e-02 -9.99168206e-01 7.68851215e-04 1.54117272e+02] [ 9.98603509e-01 4.07741932e-02 3.35930994e-02 2.52943733e+02] [-3.35965062e-02 -6.01859710e-04 9.99435297e-01 3.43446355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.906875 meters Centerline goodness [0,1] 0.9998186228943252 Centerline is valid? [True, True] Translation: X:154.12, Y:252.97, Z:3.43 [[ 4.11180463e-02 -9.99154007e-01 7.59452750e-04 1.54116871e+02] [ 9.98587028e-01 4.11202992e-02 3.36610930e-02 2.52969976e+02] [-3.36638449e-02 -6.25698718e-04 9.99433016e-01 3.43295277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters Centerline goodness [0,1] 0.9997506630097241 Centerline is valid? [True, True] Translation: X:154.12, Y:253.00, Z:3.43 [[ 4.09088767e-02 -9.99162603e-01 7.45653933e-04 1.54119556e+02] [ 9.98600262e-01 4.09108705e-02 3.35233936e-02 2.52997546e+02] [-3.35258266e-02 -6.26794165e-04 9.99437655e-01 3.43233990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.966875 meters Centerline goodness [0,1] 0.9995473269657327 Centerline is valid? [True, True] Translation: X:154.12, Y:253.02, Z:3.43 [[ 4.08263539e-02 -9.99165984e-01 7.37869348e-04 1.54119142e+02] [ 9.98600098e-01 4.08280661e-02 3.36290681e-02 2.53024797e+02] [-3.36311467e-02 -6.36115832e-04 9.99434111e-01 3.42992313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters Centerline goodness [0,1] 0.9995229982964224 Centerline is valid? [True, True] Translation: X:154.12, Y:253.05, Z:3.43 [[ 4.03928526e-02 -9.99183608e-01 7.30906027e-04 1.54120007e+02] [ 9.98613078e-01 4.03944891e-02 3.37669222e-02 2.53051646e+02] [-3.37688797e-02 -6.34049993e-04 9.99429468e-01 3.42894145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.026875 meters Centerline goodness [0,1] 0.999658757422026 Centerline is valid? [True, True] Translation: X:154.12, Y:253.08, Z:3.43 [[ 3.97288092e-02 -9.99210236e-01 7.24888696e-04 1.54122142e+02] [ 9.98632202e-01 3.97304837e-02 3.39884477e-02 2.53079588e+02] [-3.39904050e-02 -6.26423356e-04 9.99421963e-01 3.42846303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters Centerline goodness [0,1] 0.9999772949163318 Centerline is valid? [True, True] Translation: X:154.12, Y:253.11, Z:3.43 [[ 3.83806564e-02 -9.99262928e-01 7.25108712e-04 1.54124505e+02] [ 9.98668411e-01 3.83828344e-02 3.44697366e-02 2.53107719e+02] [-3.44721617e-02 -5.98827951e-04 9.99405479e-01 3.42793929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.086875 meters Centerline goodness [0,1] 0.9999092764799274 Centerline is valid? [True, True] Translation: X:154.13, Y:253.13, Z:3.43 [[ 3.74168357e-02 -9.99299493e-01 7.09233555e-04 1.54125629e+02] [ 9.98715195e-01 3.74192111e-02 3.41725199e-02 2.53134599e+02] [-3.41751207e-02 -5.70305232e-04 9.99415697e-01 3.42617420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters Centerline goodness [0,1] 0.9997498294291562 Centerline is valid? [True, True] Translation: X:154.13, Y:253.16, Z:3.43 [[ 3.60225301e-02 -9.99350729e-01 7.05736469e-04 1.54127269e+02] [ 9.98754665e-01 3.60254187e-02 3.45150457e-02 2.53162977e+02] [-3.45180605e-02 -5.38461681e-04 9.99403929e-01 3.42513172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:253.19, Z:3.42 [[ 3.35692192e-02 -9.99436147e-01 7.03420858e-04 1.54130477e+02] [ 9.98827223e-01 3.35733197e-02 3.48856701e-02 2.53190486e+02] [-3.48896159e-02 -4.68488805e-04 9.99391062e-01 3.42393498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters Centerline goodness [0,1] 0.9996340515072504 Centerline is valid? [True, True] Translation: X:154.13, Y:253.22, Z:3.42 [[ 3.20851957e-02 -9.99484902e-01 6.85792635e-04 1.54132900e+02] [ 9.98890092e-01 3.20897592e-02 3.44794434e-02 2.53218574e+02] [-3.44836901e-02 -4.21248224e-04 9.99405172e-01 3.42257093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.206875 meters Centerline goodness [0,1] 0.9998168204611545 Centerline is valid? [True, True] Translation: X:154.13, Y:253.25, Z:3.42 [[ 3.04625760e-02 -9.99535681e-01 6.73577362e-04 1.54133941e+02] [ 9.98945375e-01 3.04677329e-02 3.43490161e-02 2.53245457e+02] [-3.43535896e-02 -3.73492523e-04 9.99409671e-01 3.42062136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters Centerline goodness [0,1] 0.9999541210744844 Centerline is valid? [True, True] Translation: X:154.14, Y:253.27, Z:3.42 [[ 2.88356098e-02 -9.99583943e-01 6.69177168e-04 1.54136975e+02] [ 9.98983173e-01 2.88414773e-02 3.46524050e-02 2.53273219e+02] [-3.46572877e-02 -3.30726498e-04 9.99399201e-01 3.42054077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.266875 meters Centerline goodness [0,1] 0.9999540662823546 Centerline is valid? [True, True] Translation: X:154.14, Y:253.30, Z:3.42 [[ 2.56311946e-02 -9.99671247e-01 6.63626498e-04 1.54141198e+02] [ 9.99062591e-01 2.56387436e-02 3.48797149e-02 2.53300148e+02] [-3.48852626e-02 -2.31004353e-04 9.99391297e-01 3.41986278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:253.33, Z:3.42 [[ 2.37355056e-02 -9.99718061e-01 6.51496290e-04 1.54143514e+02] [ 9.99113952e-01 2.37438084e-02 3.47497161e-02 2.53326388e+02] [-3.47553878e-02 -1.73883050e-04 9.99395834e-01 3.41868691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32687500000003 meters Centerline goodness [0,1] 0.9999540007819867 Centerline is valid? [True, True] Translation: X:154.15, Y:253.35, Z:3.42 [[ 2.11228046e-02 -9.99776683e-01 6.41108947e-04 1.54147997e+02] [ 9.99170634e-01 2.11323198e-02 3.48061618e-02 2.53353302e+02] [-3.48119371e-02 -9.46265200e-05 9.99393876e-01 3.41751270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:253.38, Z:3.42 [[ 1.99846864e-02 -9.99800091e-01 6.25263887e-04 1.54150059e+02] [ 9.99203864e-01 1.99943592e-02 3.45233803e-02 2.53381460e+02] [-3.45289805e-02 -6.51728385e-05 9.99403695e-01 3.41702512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38687500000003 meters Centerline goodness [0,1] 0.9999538010209974 Centerline is valid? [True, True] Translation: X:154.15, Y:253.41, Z:3.42 [[ 1.97715883e-02 -9.99804338e-01 6.08795926e-04 1.54151895e+02] [ 9.99220521e-01 1.97808450e-02 3.41623757e-02 2.53408119e+02] [-3.41677339e-02 -6.71230438e-05 9.99416110e-01 3.41532359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.44, Z:3.41 [[ 1.94573995e-02 -9.99810514e-01 5.87623457e-04 1.54155148e+02] [ 9.99255858e-01 1.94661761e-02 3.32986324e-02 2.53435783e+02] [-3.33037616e-02 -6.07186117e-05 9.99445274e-01 3.41430137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.46, Z:3.41 [[ 1.94294750e-02 -9.99811066e-01 5.73189980e-04 1.54156718e+02] [ 9.99264686e-01 1.94378043e-02 3.30493457e-02 2.53463477e+02] [-3.30542431e-02 -6.93629332e-05 9.99453557e-01 3.41310960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters Centerline goodness [0,1] 0.9999767306573589 Centerline is valid? [True, True] Translation: X:154.16, Y:253.49, Z:3.41 [[ 1.95320295e-02 -9.99809075e-01 5.59524412e-04 1.54157818e+02] [ 9.99269234e-01 1.95398678e-02 3.28510622e-02 2.53491587e+02] [-3.28557232e-02 -8.25323875e-05 9.99460102e-01 3.41152653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.52, Z:3.41 [[ 1.98931638e-02 -9.99801966e-01 5.39857669e-04 1.54158794e+02] [ 9.99283814e-01 1.99002325e-02 3.21844565e-02 2.53517365e+02] [-3.21888261e-02 -1.00779632e-04 9.99481800e-01 3.40978946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.54, Z:3.41 [[ 2.15025191e-02 -9.99768654e-01 5.29335726e-04 1.54159891e+02] [ 9.99249800e-01 2.15084116e-02 3.22059742e-02 2.53544544e+02] [-3.22099086e-02 -1.63570957e-04 9.99481113e-01 3.40877863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56687500000004 meters Centerline goodness [0,1] 0.999976680735956 Centerline is valid? [True, True] Translation: X:154.16, Y:253.57, Z:3.41 [[ 2.24546842e-02 -9.99747720e-01 5.33243551e-04 1.54160624e+02] [ 9.99199682e-01 2.24600294e-02 3.30989895e-02 2.53572593e+02] [-3.31026160e-02 -2.10410571e-04 9.99451936e-01 3.40904337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.60, Z:3.41 [[ 2.59232465e-02 -9.99663793e-01 5.34819373e-04 1.54160219e+02] [ 9.99092497e-01 2.59265111e-02 3.37934759e-02 2.53599975e+02] [-3.37959803e-02 -3.41702582e-04 9.99428694e-01 3.40970188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.63, Z:3.41 [[ 2.76349405e-02 -9.99617943e-01 5.27322614e-04 1.54159459e+02] [ 9.99041005e-01 2.76369054e-02 3.39598434e-02 2.53627317e+02] [-3.39614424e-02 -4.11661337e-04 9.99423059e-01 3.40894017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.65, Z:3.41 [[ 2.89811982e-02 -9.99579819e-01 5.25569861e-04 1.54159271e+02] [ 9.98984136e-01 2.89820709e-02 3.45070377e-02 2.53654482e+02] [-3.45077706e-02 -4.75019348e-04 9.99404317e-01 3.40800228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.686875 meters Centerline goodness [0,1] 0.9999067533860176 Centerline is valid? [True, True] Translation: X:154.16, Y:253.68, Z:3.41 [[ 3.21399915e-02 -9.99483246e-01 5.11823420e-04 1.54159733e+02] [ 9.98894275e-01 3.21386231e-02 3.43123405e-02 2.53682899e+02] [-3.43110588e-02 -5.91540849e-04 9.99411027e-01 3.40721008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.71, Z:3.40 [[ 3.29352559e-02 -9.99457362e-01 5.00281074e-04 1.54158595e+02] [ 9.98874627e-01 3.29331370e-02 3.41304504e-02 2.53710071e+02] [-3.41284057e-02 -6.24377044e-04 9.99417261e-01 3.40489898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.746875 meters Centerline goodness [0,1] 0.9998604683612009 Centerline is valid? [True, True] Translation: X:154.16, Y:253.74, Z:3.40 [[ 3.37688659e-02 -9.99429558e-01 4.71322766e-04 1.54159732e+02] [ 9.98891087e-01 3.37661445e-02 3.28091882e-02 2.53737935e+02] [-3.28063872e-02 -6.37128964e-04 9.99461523e-01 3.40185046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.76, Z:3.40 [[ 3.39239402e-02 -9.99424314e-01 4.54559601e-04 1.54160404e+02] [ 9.98904290e-01 3.39209534e-02 3.22426629e-02 2.53764915e+02] [-3.22395204e-02 -6.39736633e-04 9.99479967e-01 3.40088876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.79, Z:3.40 [[ 3.34148545e-02 -9.99441472e-01 4.37988918e-04 1.54160644e+02] [ 9.98938703e-01 3.34119387e-02 3.17034673e-02 2.53790876e+02] [-3.17003940e-02 -6.21842665e-04 9.99497223e-01 3.39921020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters Centerline goodness [0,1] 0.999976686172569 Centerline is valid? [True, True] Translation: X:154.16, Y:253.82, Z:3.40 [[ 3.30312610e-02 -9.99454229e-01 4.23597282e-04 1.54162918e+02] [ 9.98959383e-01 3.30282373e-02 3.14529128e-02 2.53819421e+02] [-3.14497373e-02 -6.15772891e-04 9.99505145e-01 3.39898941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.85, Z:3.40 [[ 3.26347067e-02 -9.99467256e-01 4.24342914e-04 1.54162148e+02] [ 9.98946762e-01 3.26314071e-02 3.22576927e-02 2.53846949e+02] [-3.22543545e-02 -6.28824359e-04 9.99479495e-01 3.39791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.87, Z:3.40 [[ 3.21909980e-02 -9.99481647e-01 4.20405899e-04 1.54163112e+02] [ 9.98955478e-01 3.21876935e-02 3.24330796e-02 2.53874889e+02] [-3.24297998e-02 -6.24086426e-04 9.99473821e-01 3.39786040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.926875 meters Centerline goodness [0,1] 0.999929906542056 Centerline is valid? [True, True] Translation: X:154.16, Y:253.90, Z:3.40 [[ 3.20675808e-02 -9.99485616e-01 4.17184976e-04 1.54163692e+02] [ 9.98945734e-01 3.20639720e-02 3.28530522e-02 2.53902612e+02] [-3.28495297e-02 -6.36772752e-04 9.99460106e-01 3.39676380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters Centerline goodness [0,1] 0.9999066467513069 Centerline is valid? [True, True] Translation: X:154.16, Y:253.93, Z:3.40 [[ 3.13382905e-02 -9.99508751e-01 4.10498316e-04 1.54162890e+02] [ 9.98962355e-01 3.13347329e-02 3.30506794e-02 2.53928722e+02] [-3.30473062e-02 -6.25679428e-04 9.99453593e-01 3.39580094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.96, Z:3.40 [[ 3.14676991e-02 -9.99504690e-01 3.97302692e-04 1.54163061e+02] [ 9.98963416e-01 3.14637340e-02 3.28957020e-02 2.53956044e+02] [-3.28919091e-02 -6.38261198e-04 9.99458711e-01 3.39503209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:253.98, Z:3.39 [[ 3.12988562e-02 -9.99509998e-01 3.82470009e-04 1.54162084e+02] [ 9.98980101e-01 3.12947178e-02 3.25484074e-02 2.53981875e+02] [-3.25444279e-02 -6.36647995e-04 9.99470087e-01 3.39348658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.046875 meters Centerline goodness [0,1] 0.9999068836278139 Centerline is valid? [True, True] Translation: X:154.16, Y:254.01, Z:3.39 [[ 3.10425062e-02 -9.99517996e-01 3.72788740e-04 1.54162934e+02] [ 9.98995138e-01 3.10383263e-02 3.23316708e-02 2.54009501e+02] [-3.23276575e-02 -6.31241952e-04 9.99477125e-01 3.39256323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters Centerline goodness [0,1] 0.9999767970671493 Centerline is valid? [True, True] Translation: X:154.16, Y:254.04, Z:3.39 [[ 2.99692564e-02 -9.99550756e-01 3.60258118e-04 1.54161450e+02] [ 9.99035114e-01 2.99653684e-02 3.21078999e-02 2.54035628e+02] [-3.21042709e-02 -6.02339374e-04 9.99484344e-01 3.39054710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.06, Z:3.39 [[ 2.92931348e-02 -9.99570802e-01 3.50814696e-04 1.54161284e+02] [ 9.99050995e-01 2.92892157e-02 3.22374106e-02 2.54063244e+02] [-3.22338495e-02 -5.93853043e-04 9.99480178e-01 3.38951373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.09, Z:3.39 [[ 2.71119968e-02 -9.99632344e-01 3.40127788e-04 1.54163258e+02] [ 9.99114595e-01 2.71089015e-02 3.21734912e-02 2.54091594e+02] [-3.21708829e-02 -5.32460952e-04 9.99482241e-01 3.38924883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.12, Z:3.39 [[ 2.59369207e-02 -9.99663526e-01 3.32566869e-04 1.54163959e+02] [ 9.99141208e-01 2.59341194e-02 3.23151490e-02 2.54119446e+02] [-3.23129006e-02 -5.05874194e-04 9.99477674e-01 3.38827625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.15, Z:3.39 [[ 2.50108902e-02 -9.99687127e-01 3.20589552e-04 1.54163615e+02] [ 9.99171982e-01 2.50082937e-02 3.20926122e-02 2.54146376e+02] [-3.20905887e-02 -4.82340703e-04 9.99484848e-01 3.38680050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.17, Z:3.39 [[ 2.31846881e-02 -9.99731148e-01 3.20102971e-04 1.54162136e+02] [ 9.99198591e-01 2.31827854e-02 3.26302694e-02 2.54172970e+02] [-3.26289175e-02 -4.36676180e-04 9.99467440e-01 3.38515902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters Centerline goodness [0,1] 0.9999767187390869 Centerline is valid? [True, True] Translation: X:154.16, Y:254.20, Z:3.38 [[ 2.21761596e-02 -9.99754031e-01 3.09858282e-04 1.54163392e+02] [ 9.99218981e-01 2.21744283e-02 3.27066171e-02 2.54200089e+02] [-3.27054432e-02 -4.15690886e-04 9.99464947e-01 3.38494167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.286875 meters Centerline goodness [0,1] 0.9999767187390869 Centerline is valid? [True, True] Translation: X:154.16, Y:254.23, Z:3.38 [[ 2.18651803e-02 -9.99760883e-01 2.99648817e-04 1.54163522e+02] [ 9.99225834e-01 2.18632814e-02 3.27067102e-02 2.54226871e+02] [-3.27054408e-02 -4.15721277e-04 9.99464948e-01 3.38384869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.25, Z:3.38 [[ 2.09937968e-02 -9.99779563e-01 2.91412109e-04 1.54163325e+02] [ 9.99237440e-01 2.09920091e-02 3.29222345e-02 2.54252899e+02] [-3.29210946e-02 -3.99972811e-04 9.99457874e-01 3.38315811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.346875 meters Centerline goodness [0,1] 0.9999536307150144 Centerline is valid? [True, True] Translation: X:154.16, Y:254.28, Z:3.38 [[ 2.01184946e-02 -9.99797562e-01 2.83515988e-04 1.54163092e+02] [ 9.99243294e-01 2.01167812e-02 3.32889461e-02 2.54280118e+02] [-3.32879106e-02 -3.86422033e-04 9.99445729e-01 3.38228509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters Centerline goodness [0,1] 0.9999305587704272 Centerline is valid? [True, True] Translation: X:154.16, Y:254.31, Z:3.38 [[ 1.87032105e-02 -9.99825042e-01 2.75729099e-04 1.54162209e+02] [ 9.99260719e-01 1.87019172e-02 3.35894968e-02 2.54305919e+02] [-3.35887767e-02 -3.52706172e-04 9.99435676e-01 3.38080078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.406875 meters Centerline goodness [0,1] 0.9998845212249988 Centerline is valid? [True, True] Translation: X:154.16, Y:254.33, Z:3.38 [[ 1.78981635e-02 -9.99839780e-01 2.63308445e-04 1.54162398e+02] [ 9.99281850e-01 1.78969716e-02 3.33988355e-02 2.54333072e+02] [-3.33981968e-02 -3.34658468e-04 9.99442069e-01 3.37983732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters Centerline goodness [0,1] 0.9999768668455631 Centerline is valid? [True, True] Translation: X:154.16, Y:254.36, Z:3.38 [[ 1.67746238e-02 -9.99859264e-01 2.53022921e-04 1.54162230e+02] [ 9.99301729e-01 1.67737190e-02 3.33870788e-02 2.54360527e+02] [-3.33866242e-02 -3.07209446e-04 9.99442464e-01 3.37855966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.39, Z:3.38 [[ 1.42969794e-02 -9.99897763e-01 2.43925280e-04 1.54162145e+02] [ 9.99332677e-01 1.42970993e-02 3.36124058e-02 2.54386566e+02] [-3.36124568e-02 -2.36793371e-04 9.99434914e-01 3.37663130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.41, Z:3.38 [[ 1.26117328e-02 -9.99920441e-01 2.36262139e-04 1.54163490e+02] [ 9.99355919e-01 1.26125507e-02 3.35956993e-02 2.54414387e+02] [-3.35960064e-02 -1.87590016e-04 9.99435477e-01 3.37655088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.526875 meters Centerline goodness [0,1] 0.9999769638332181 Centerline is valid? [True, True] Translation: X:154.16, Y:254.44, Z:3.37 [[ 1.09445883e-02 -9.99940081e-01 2.26600161e-04 1.54163738e+02] [ 9.99377392e-01 1.09460304e-02 3.35412100e-02 2.54441537e+02] [-3.35416806e-02 -1.40635655e-04 9.99437310e-01 3.37475290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.47, Z:3.38 [[ 8.72469394e-03 -9.99961915e-01 2.19073136e-04 1.54164695e+02] [ 9.99385593e-01 8.72710227e-03 3.39451612e-02 2.54469938e+02] [-3.39457803e-02 -7.72226066e-05 9.99423673e-01 3.37552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.50, Z:3.37 [[ 7.55979295e-03 -9.99971402e-01 2.09911822e-04 1.54164432e+02] [ 9.99392697e-01 7.56255836e-03 3.40153743e-02 2.54497309e+02] [-3.40159890e-02 -4.73648445e-05 9.99421288e-01 3.37448970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.52, Z:3.37 [[ 6.41616254e-03 -9.99979395e-01 2.04638921e-04 1.54163657e+02] [ 9.99369397e-01 6.41939531e-03 3.49227759e-02 2.54524243e+02] [-3.49233699e-02 -1.95603311e-05 9.99389993e-01 3.37366308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.55, Z:3.37 [[ 5.83562563e-03 -9.99982954e-01 1.93209966e-04 1.54162894e+02] [ 9.99379490e-01 5.83881531e-03 3.47353265e-02 2.54551952e+02] [-3.47358625e-02 -9.61228383e-06 9.99396528e-01 3.37242327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters Centerline goodness [0,1] 0.9999770447398021 Centerline is valid? [True, True] Translation: X:154.16, Y:254.58, Z:3.37 [[ 5.82278122e-03 -9.99983030e-01 1.84387058e-04 1.54162063e+02] [ 9.99373658e-01 5.82566904e-03 3.49049070e-02 2.54578618e+02] [-3.49053889e-02 -1.89720685e-05 9.99390621e-01 3.37037062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.60, Z:3.37 [[ 5.48218589e-03 -9.99984957e-01 1.75107438e-04 1.54161238e+02] [ 9.99369106e-01 5.48495423e-03 3.50899698e-02 2.54604641e+02] [-3.50904025e-02 -1.73727733e-05 9.99384142e-01 3.36868003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters Centerline goodness [0,1] 0.999953931911365 Centerline is valid? [True, True] Translation: X:154.16, Y:254.63, Z:3.37 [[ 5.01913829e-03 -9.99987390e-01 1.65394220e-04 1.54160233e+02] [ 9.99356030e-01 5.02184572e-03 3.55289607e-02 2.54631817e+02] [-3.55293433e-02 -1.30370562e-05 9.99368633e-01 3.36746558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.66, Z:3.37 [[ 4.67687581e-03 -9.99989051e-01 1.55099449e-04 1.54159711e+02] [ 9.99353319e-01 4.67943217e-03 3.56517415e-02 2.54659579e+02] [-3.56520769e-02 -1.17396184e-05 9.99364263e-01 3.36702620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.69, Z:3.37 [[ 5.00570624e-03 -9.99987461e-01 1.46724009e-04 1.54158937e+02] [ 9.99326822e-01 5.00773171e-03 3.63431722e-02 2.54687150e+02] [-3.63434513e-02 -3.52980066e-05 9.99339358e-01 3.36626562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.72, Z:3.37 [[ 5.94272404e-03 -9.99982332e-01 1.38512590e-04 1.54157294e+02] [ 9.99290107e-01 5.94376324e-03 3.72015284e-02 2.54715696e+02] [-3.72016944e-02 -8.26641562e-05 9.99307774e-01 3.36643294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:254.74, Z:3.37 [[ 6.91991463e-03 -9.99976049e-01 1.27837691e-04 1.54155827e+02] [ 9.99282086e-01 6.91987419e-03 3.72482070e-02 2.54742431e+02] [-3.72481995e-02 -1.30008498e-04 9.99306037e-01 3.36527428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:254.77, Z:3.36 [[ 7.93273773e-03 -9.99968528e-01 1.21619254e-04 1.54154356e+02] [ 9.99259090e-01 7.93169023e-03 3.76611043e-02 2.54770690e+02] [-3.76608837e-02 -1.77226518e-04 9.99290562e-01 3.36411577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters Centerline goodness [0,1] 0.999977117752048 Centerline is valid? [True, True] Translation: X:154.15, Y:254.80, Z:3.36 [[ 1.14254114e-02 -9.99934722e-01 1.11348333e-04 1.54149978e+02] [ 9.99223282e-01 1.14214821e-02 3.77144742e-02 2.54798252e+02] [-3.77132840e-02 -3.19641538e-04 9.99288550e-01 3.36179365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:254.82, Z:3.36 [[ 1.25946296e-02 -9.99920679e-01 1.00372160e-04 1.54147498e+02] [ 9.99208669e-01 1.25894487e-02 3.77298540e-02 2.54824683e+02] [-3.77281248e-02 -3.74900802e-04 9.99287971e-01 3.36025094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters Centerline goodness [0,1] 0.9999771339720577 Centerline is valid? [True, True] Translation: X:154.14, Y:254.85, Z:3.36 [[ 1.48650010e-02 -9.99889506e-01 8.74716380e-05 1.54144159e+02] [ 9.99185733e-01 1.48578198e-02 3.75115403e-02 2.54851958e+02] [-3.75086952e-02 -4.70208672e-04 9.99296191e-01 3.35887919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00687500000004 meters Centerline goodness [0,1] 0.9999314849495272 Centerline is valid? [True, True] Translation: X:154.14, Y:254.88, Z:3.36 [[ 1.55687634e-02 -9.99878797e-01 7.63569990e-05 1.54143777e+02] [ 9.99182387e-01 1.55607694e-02 3.73151372e-02 2.54879161e+02] [-3.73118027e-02 -5.04655972e-04 9.99303545e-01 3.35837427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters Centerline goodness [0,1] 0.9997494133995489 Centerline is valid? [True, True] Translation: X:154.14, Y:254.91, Z:3.36 [[ 1.64369356e-02 -9.99864902e-01 6.43474741e-05 1.54142550e+02] [ 9.99181300e-01 1.64280771e-02 3.69709119e-02 2.54906058e+02] [-3.69669743e-02 -5.43393707e-04 9.99316340e-01 3.35739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06687500000004 meters Centerline goodness [0,1] 0.9999543545736718 Centerline is valid? [True, True] Translation: X:154.14, Y:254.93, Z:3.36 [[ 1.67199193e-02 -9.99860211e-01 5.30136431e-05 1.54141762e+02] [ 9.99176358e-01 1.67104443e-02 3.69779308e-02 2.54932914e+02] [-3.69736476e-02 -5.65298039e-04 9.99316081e-01 3.35606635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:254.96, Z:3.35 [[ 1.78934669e-02 -9.99839898e-01 4.02838231e-05 1.54139369e+02] [ 9.99187680e-01 1.78832496e-02 3.61132949e-02 2.54959879e+02] [-3.61082335e-02 -6.05940948e-04 9.99347701e-01 3.35415658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12687500000004 meters Centerline goodness [0,1] 0.9999545134071732 Centerline is valid? [True, True] Translation: X:154.14, Y:254.99, Z:3.35 [[ 1.78364652e-02 -9.99840917e-01 3.31875774e-05 1.54138585e+02] [ 9.99207068e-01 1.78263395e-02 3.56013748e-02 2.54987366e+02] [-3.55963028e-02 -6.01841420e-04 9.99366070e-01 3.35239244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.02, Z:3.35 [[ 1.74061723e-02 -9.99848501e-01 2.20405597e-05 1.54139486e+02] [ 9.99227644e-01 1.73961406e-02 3.52347751e-02 2.55015400e+02] [-3.52298204e-02 -5.91279029e-04 9.99379062e-01 3.35158159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.186875 meters Centerline goodness [0,1] 0.9999088215181218 Centerline is valid? [True, True] Translation: X:154.14, Y:255.04, Z:3.35 [[ 1.70737605e-02 -9.99854233e-01 1.17099530e-05 1.54136763e+02] [ 9.99221381e-01 1.70633704e-02 3.55734809e-02 2.55042492e+02] [-3.55684952e-02 -5.95672258e-04 9.99367063e-01 3.34952711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.07, Z:3.35 [[ 1.70011531e-02 -9.99855470e-01 4.92613939e-06 1.54139505e+02] [ 9.99238708e-01 1.69908390e-02 3.51186094e-02 2.55070728e+02] [-3.51136174e-02 -5.92134468e-04 9.99383151e-01 3.34951343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.246875 meters Centerline goodness [0,1] 0.9999089128751651 Centerline is valid? [True, True] Translation: X:154.14, Y:255.10, Z:3.35 [[ 1.69900642e-02 -9.99855658e-01 -5.07008153e-06 1.54138868e+02] [ 9.99236399e-01 1.69793630e-02 3.51897614e-02 2.55098140e+02] [-3.51845960e-02 -6.02942515e-04 9.99380649e-01 3.34837741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.13, Z:3.35 [[ 1.69640944e-02 -9.99856099e-01 -1.51491931e-05 1.54138828e+02] [ 9.99265303e-01 1.69535499e-02 3.43719430e-02 2.55126077e+02] [-3.43667400e-02 -5.98226950e-04 9.99409110e-01 3.34772789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.306875 meters Centerline goodness [0,1] 0.9998180577666591 Centerline is valid? [True, True] Translation: X:154.14, Y:255.15, Z:3.35 [[ 1.69537073e-02 -9.99856275e-01 -2.46278557e-05 1.54136203e+02] [ 9.99271316e-01 1.69429462e-02 3.42019591e-02 2.55153549e+02] [-3.41966262e-02 -6.04459914e-04 9.99414942e-01 3.34519765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.18, Z:3.34 [[ 1.68759451e-02 -9.99857590e-01 -3.50503670e-05 1.54136621e+02] [ 9.99267146e-01 1.68647748e-02 3.43620426e-02 2.55180507e+02] [-3.43565580e-02 -6.14916627e-04 9.99409450e-01 3.34470525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.366875 meters Centerline goodness [0,1] 0.99981765134938 Centerline is valid? [True, True] Translation: X:154.14, Y:255.21, Z:3.34 [[ 1.70006157e-02 -9.99855478e-01 -4.53581112e-05 1.54137069e+02] [ 9.99274886e-01 1.69891981e-02 3.40744740e-02 2.55208406e+02] [-3.40687789e-02 -6.24612261e-04 9.99419295e-01 3.34418485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters Centerline goodness [0,1] 0.9998858786205007 Centerline is valid? [True, True] Translation: X:154.14, Y:255.24, Z:3.34 [[ 1.65011148e-02 -9.99863846e-01 -5.46145248e-05 1.54138014e+02] [ 9.99286008e-01 1.64897217e-02 3.39935749e-02 2.55236607e+02] [-3.39880459e-02 -6.15507411e-04 9.99422050e-01 3.34351409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.426875 meters Centerline goodness [0,1] 0.9999544242645215 Centerline is valid? [True, True] Translation: X:154.14, Y:255.26, Z:3.34 [[ 1.59319892e-02 -9.99873076e-01 -6.30243617e-05 1.54137630e+02] [ 9.99312767e-01 1.59209513e-02 3.34741150e-02 2.55263221e+02] [-3.34688629e-02 -5.96290289e-04 9.99439583e-01 3.34212932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.29, Z:3.34 [[ 1.53290174e-02 -9.99882501e-01 -7.26243326e-05 1.54137470e+02] [ 9.99330107e-01 1.53181347e-02 3.32369181e-02 2.55291097e+02] [-3.32319004e-02 -5.82064979e-04 9.99447498e-01 3.34065046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.32, Z:3.34 [[ 1.36035846e-02 -9.99907464e-01 -7.81686512e-05 1.54138020e+02] [ 9.99393393e-01 1.35940841e-02 3.20631640e-02 2.55317074e+02] [-3.20591344e-02 -5.14295197e-04 9.99485842e-01 3.33861856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters Centerline goodness [0,1] 0.9999090164680193 Centerline is valid? [True, True] Translation: X:154.14, Y:255.34, Z:3.34 [[ 1.24552036e-02 -9.99922427e-01 -8.79073866e-05 1.54137588e+02] [ 9.99416865e-01 1.24461109e-02 3.17965931e-02 2.55342882e+02] [-3.17930324e-02 -4.83889167e-04 9.99494357e-01 3.33659929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.37, Z:3.34 [[ 9.65222562e-03 -9.99953411e-01 -9.91791368e-05 1.54140879e+02] [ 9.99444555e-01 9.64414989e-03 3.18994030e-02 2.55370823e+02] [-3.18969603e-02 -4.07024283e-04 9.99491080e-01 3.33651796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.40, Z:3.34 [[ 7.82686824e-03 -9.99969364e-01 -1.06613046e-04 1.54142163e+02] [ 9.99473139e-01 7.81962574e-03 3.15007565e-02 2.55398784e+02] [-3.14989577e-02 -3.53109146e-04 9.99503722e-01 3.33596106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:255.43, Z:3.33 [[ 5.96556611e-03 -9.99982199e-01 -1.15656781e-04 1.54143374e+02] [ 9.99484719e-01 5.95895040e-03 3.15402513e-02 2.55426632e+02] [-3.15390006e-02 -3.03752639e-04 9.99502476e-01 3.33497517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters Centerline goodness [0,1] 0.9999543483223008 Centerline is valid? [True, True] Translation: X:154.14, Y:255.46, Z:3.33 [[ 3.94250481e-03 -9.99992220e-01 -1.26225093e-04 1.54144537e+02] [ 9.99483394e-01 3.93647245e-03 3.18974871e-02 2.55455176e+02] [-3.18967421e-02 -2.51915880e-04 9.99491138e-01 3.33359195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:255.48, Z:3.33 [[-9.47964495e-04 -9.99999542e-01 -1.34619649e-04 1.54148038e+02] [ 9.99485876e-01 -9.51791857e-04 3.20480503e-02 2.55481046e+02] [-3.20481638e-02 -1.04170024e-04 9.99486320e-01 3.33202435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:255.51, Z:3.33 [[-3.87796818e-03 -9.99992470e-01 -1.43383849e-04 1.54150614e+02] [ 9.99492653e-01 -3.88056271e-03 3.16129360e-02 2.55509138e+02] [-3.16132544e-02 -2.07171433e-05 9.99500176e-01 3.33220742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:255.54, Z:3.33 [[-6.49419871e-03 -9.99978901e-01 -1.53269251e-04 1.54152676e+02] [ 9.99473567e-01 -6.49578892e-03 3.17866903e-02 2.55537525e+02] [-3.17870152e-02 5.32405177e-05 9.99494664e-01 3.33116828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.56, Z:3.33 [[-1.05256424e-02 -9.99944591e-01 -1.58564444e-04 1.54156637e+02] [ 9.99459565e-01 -1.05254751e-02 3.11415005e-02 2.55564583e+02] [-3.11414440e-02 1.69305547e-04 9.99514973e-01 3.33014155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.59, Z:3.33 [[-1.22563638e-02 -9.99924873e-01 -1.70202774e-04 1.54157858e+02] [ 9.99427725e-01 -1.22556367e-02 3.15281065e-02 2.55592573e+02] [-3.15278239e-02 2.16314573e-04 9.99502851e-01 3.32958927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.62, Z:3.33 [[-1.33669696e-02 -9.99910642e-01 -1.78456491e-04 1.54159452e+02] [ 9.99416198e-01 -1.33659714e-02 3.14422225e-02 2.55619752e+02] [-3.14417982e-02 2.41934926e-04 9.99505555e-01 3.32811459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.65, Z:3.33 [[-1.39190808e-02 -9.99903107e-01 -1.87945996e-04 1.54159549e+02] [ 9.99409016e-01 -1.39181108e-02 3.14309424e-02 2.55648025e+02] [-3.14305129e-02 2.49654905e-04 9.99505908e-01 3.32741490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.68, Z:3.33 [[-1.37007608e-02 -9.99906121e-01 -1.94408614e-04 1.54159375e+02] [ 9.99422654e-01 -1.37001812e-02 3.10912313e-02 2.55675201e+02] [-3.10909760e-02 2.31677150e-04 9.99516532e-01 3.32574122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.70, Z:3.32 [[-1.23567348e-02 -9.99923632e-01 -2.03224818e-04 1.54158992e+02] [ 9.99440564e-01 -1.23570816e-02 3.10783260e-02 2.55701721e+02] [-3.10784639e-02 1.80915506e-04 9.99516931e-01 3.32296862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.73, Z:3.32 [[-1.16507684e-02 -9.99932105e-01 -2.11674302e-04 1.54158299e+02] [ 9.99457226e-01 -1.16517583e-02 3.08137990e-02 2.55728875e+02] [-3.08141732e-02 1.47445025e-04 9.99525120e-01 3.32211981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.966875 meters Centerline goodness [0,1] 0.9999307319325791 Centerline is valid? [True, True] Translation: X:154.16, Y:255.76, Z:3.32 [[-1.07649291e-02 -9.99942032e-01 -2.22149766e-04 1.54157307e+02] [ 9.99464370e-01 -1.07666525e-02 3.09039299e-02 2.55757267e+02] [-3.09045303e-02 1.10647838e-04 9.99522335e-01 3.32144648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.78, Z:3.32 [[-8.93668005e-03 -9.99960040e-01 -2.34489125e-04 1.54156287e+02] [ 9.99467953e-01 -8.93963779e-03 3.13670866e-02 2.55784891e+02] [-3.13679294e-02 4.59532514e-05 9.99507904e-01 3.32087543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.81, Z:3.32 [[-7.81483621e-03 -9.99969434e-01 -2.45479130e-04 1.54155677e+02] [ 9.99467562e-01 -7.81869044e-03 3.16774393e-02 2.55812144e+02] [-3.16783904e-02 2.20557281e-06 9.99498114e-01 3.32066922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:255.84, Z:3.32 [[-6.89226600e-03 -9.99976215e-01 -2.56208075e-04 1.54155094e+02] [ 9.99470871e-01 -6.89692722e-03 3.17869595e-02 2.55839466e+02] [-3.17879705e-02 -3.69883279e-05 9.99494634e-01 3.31987613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:255.87, Z:3.32 [[-5.71860605e-03 -9.99983613e-01 -2.68100036e-04 1.54154020e+02] [ 9.99470805e-01 -5.72425842e-03 3.20209610e-02 2.55866561e+02] [-3.20219710e-02 -8.48428972e-05 9.99487162e-01 3.31913685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:255.89, Z:3.32 [[-2.70601351e-03 -9.99996299e-01 -2.81220594e-04 1.54150774e+02] [ 9.99471650e-01 -2.71370232e-03 3.23891370e-02 2.55892842e+02] [-3.23897803e-02 -1.93426569e-04 9.99475295e-01 3.31795473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.146875 meters Centerline goodness [0,1] 0.9999770868180464 Centerline is valid? [True, True] Translation: X:154.15, Y:255.92, Z:3.32 [[-9.19448390e-04 -9.99999534e-01 -2.94324914e-04 1.54148690e+02] [ 9.99466313e-01 -9.28568755e-04 3.26531296e-02 2.55919624e+02] [-3.26533877e-02 -2.64144969e-04 9.99466701e-01 3.31669250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters Centerline goodness [0,1] 0.999908873448001 Centerline is valid? [True, True] Translation: X:154.15, Y:255.95, Z:3.32 [[ 8.59249744e-04 -9.99999585e-01 -3.01679854e-04 1.54146288e+02] [ 9.99475413e-01 8.49032281e-04 3.23755892e-02 2.55946734e+02] [-3.23753197e-02 -3.29340313e-04 9.99475728e-01 3.31515329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.206875 meters Centerline goodness [0,1] 0.9998629886737304 Centerline is valid? [True, True] Translation: X:154.14, Y:255.97, Z:3.31 [[ 4.25124865e-03 -9.99990917e-01 -3.03837494e-04 1.54143152e+02] [ 9.99489509e-01 4.23949555e-03 3.16661921e-02 2.55974983e+02] [-3.16646164e-02 -4.38303244e-04 9.99498454e-01 3.31309634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters Centerline goodness [0,1] 0.9998629886737304 Centerline is valid? [True, True] Translation: X:154.14, Y:256.00, Z:3.31 [[ 3.94011837e-03 -9.99992189e-01 -3.12301217e-04 1.54142775e+02] [ 9.99490784e-01 3.92825331e-03 3.16661083e-02 2.56001759e+02] [-3.16646342e-02 -4.36910403e-04 9.99498454e-01 3.31200266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.03, Z:3.31 [[ 4.89927302e-03 -9.99987948e-01 -3.17925752e-04 1.54139725e+02] [ 9.99499721e-01 4.88694643e-03 3.12478163e-02 2.56028649e+02] [-3.12458860e-02 -4.70858284e-04 9.99511617e-01 3.30970162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.06, Z:3.31 [[ 6.49806020e-03 -9.99978833e-01 -3.30263271e-04 1.54139471e+02] [ 9.99481661e-01 6.48441489e-03 3.15335129e-02 2.56056791e+02] [-3.15307038e-02 -5.34998747e-04 9.99502641e-01 3.30995081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.08, Z:3.31 [[ 6.80389852e-03 -9.99976797e-01 -3.35954635e-04 1.54137253e+02] [ 9.99487086e-01 6.79005212e-03 3.12963216e-02 2.56083452e+02] [-3.12933143e-02 -5.48719316e-04 9.99510094e-01 3.30815048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.11, Z:3.31 [[ 6.64693054e-03 -9.99977849e-01 -3.46879751e-04 1.54135176e+02] [ 9.99488998e-01 6.63283431e-03 3.12689543e-02 2.56109624e+02] [-3.12659609e-02 -5.54545063e-04 9.99510946e-01 3.30635733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.14, Z:3.31 [[ 6.05605105e-03 -9.99981600e-01 -3.52402599e-04 1.54138080e+02] [ 9.99496226e-01 6.04213137e-03 3.11574539e-02 2.56137507e+02] [-3.11547514e-02 -5.40916200e-04 9.99514427e-01 3.30743341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters Centerline goodness [0,1] 0.9998629198080877 Centerline is valid? [True, True] Translation: X:154.14, Y:256.16, Z:3.31 [[ 5.65878553e-03 -9.99983921e-01 -3.67796186e-04 1.54137708e+02] [ 9.99480857e-01 5.64427206e-03 3.17200113e-02 2.56164684e+02] [-3.17174253e-02 -5.47101988e-04 9.99496726e-01 3.30635070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.19, Z:3.31 [[ 4.94811658e-03 -9.99987686e-01 -3.79352732e-04 1.54138341e+02] [ 9.99479530e-01 4.93350824e-03 3.18799355e-02 2.56192938e+02] [-3.18776714e-02 -5.36900927e-04 9.99491634e-01 3.30627626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters Centerline goodness [0,1] 0.9999771360632874 Centerline is valid? [True, True] Translation: X:154.14, Y:256.22, Z:3.30 [[ 4.49981052e-03 -9.99989797e-01 -3.96899865e-04 1.54136199e+02] [ 9.99461441e-01 4.48453076e-03 3.25071885e-02 2.56219613e+02] [-3.25050769e-02 -5.42962299e-04 9.99471423e-01 3.30415501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.25, Z:3.30 [[ 4.04282428e-03 -9.99991746e-01 -4.03709534e-04 1.54137309e+02] [ 9.99460844e-01 4.02752282e-03 3.25852780e-02 2.56247194e+02] [-3.25833831e-02 -5.35228425e-04 9.99468877e-01 3.30398338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters Centerline goodness [0,1] 0.9999313987788983 Centerline is valid? [True, True] Translation: X:154.14, Y:256.27, Z:3.30 [[ 3.98716319e-03 -9.99991966e-01 -4.13483739e-04 1.54137158e+02] [ 9.99463228e-01 3.97160884e-03 3.25189576e-02 2.56274959e+02] [-3.25170541e-02 -5.42920183e-04 9.99471033e-01 3.30306027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56687500000004 meters Centerline goodness [0,1] 0.9999315521686555 Centerline is valid? [True, True] Translation: X:154.14, Y:256.30, Z:3.30 [[ 3.86438781e-03 -9.99992443e-01 -4.24165494e-04 1.54137000e+02] [ 9.99458791e-01 3.84846806e-03 3.26697789e-02 2.56300781e+02] [-3.26678996e-02 -5.50184627e-04 9.99466110e-01 3.30252588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters Centerline goodness [0,1] 0.9998166651388761 Centerline is valid? [True, True] Translation: X:154.13, Y:256.33, Z:3.30 [[ 3.77132987e-03 -9.99992793e-01 -4.38067306e-04 1.54134834e+02] [ 9.99451914e-01 3.75488175e-03 3.28903170e-02 2.56326802e+02] [-3.28884351e-02 -5.61867442e-04 9.99458871e-01 3.29990305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62687500000004 meters Centerline goodness [0,1] 0.9999540989626365 Centerline is valid? [True, True] Translation: X:154.14, Y:256.35, Z:3.30 [[ 3.90507751e-03 -9.99992273e-01 -4.50983748e-04 1.54135514e+02] [ 9.99447166e-01 3.88805772e-03 3.30188646e-02 2.56354784e+02] [-3.30168561e-02 -5.79675655e-04 9.99454627e-01 3.30021867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters Centerline goodness [0,1] 0.9999312683284457 Centerline is valid? [True, True] Translation: X:154.13, Y:256.38, Z:3.30 [[ 4.36936950e-03 -9.99990348e-01 -4.61661536e-04 1.54134197e+02] [ 9.99441130e-01 4.35166852e-03 3.31434930e-02 2.56380595e+02] [-3.31411641e-02 -6.06219694e-04 9.99450497e-01 3.29909022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.686875 meters Centerline goodness [0,1] 0.9998853211009174 Centerline is valid? [True, True] Translation: X:154.13, Y:256.41, Z:3.30 [[ 4.46639502e-03 -9.99989910e-01 -4.80550021e-04 1.54133955e+02] [ 9.99423797e-01 4.44769606e-03 3.36495321e-02 2.56409140e+02] [-3.36470552e-02 -6.30565229e-04 9.99433579e-01 3.29791933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.44, Z:3.30 [[ 4.55084018e-03 -9.99989526e-01 -4.87379338e-04 1.54133067e+02] [ 9.99428699e-01 4.53196427e-03 3.34923407e-02 2.56436400e+02] [-3.34897812e-02 -6.39519187e-04 9.99438855e-01 3.29664250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.746875 meters Centerline goodness [0,1] 0.9998623979451426 Centerline is valid? [True, True] Translation: X:154.13, Y:256.46, Z:3.29 [[ 4.22398351e-03 -9.99990957e-01 -4.94089014e-04 1.54131866e+02] [ 9.99438158e-01 4.20521896e-03 3.32518447e-02 2.56462655e+02] [-3.32494662e-02 -6.34266657e-04 9.99446882e-01 3.29480221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.49, Z:3.29 [[ 3.98695161e-03 -9.99991927e-01 -4.99744060e-04 1.54131190e+02] [ 9.99450700e-01 3.96835097e-03 3.29021352e-02 2.56489810e+02] [-3.28998865e-02 -6.30648771e-04 9.99458453e-01 3.29350664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.52, Z:3.29 [[ 3.40402607e-03 -9.99994078e-01 -5.06703332e-04 1.54131096e+02] [ 9.99459386e-01 3.38563524e-03 3.27027974e-02 2.56516850e+02] [-3.27008883e-02 -6.17750577e-04 9.99464992e-01 3.29279297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.54, Z:3.29 [[ 2.92768537e-03 -9.99995578e-01 -5.21388367e-04 1.54130356e+02] [ 9.99451502e-01 2.90889264e-03 3.29883879e-02 2.56543413e+02] [-3.29867254e-02 -6.17682007e-04 9.99455599e-01 3.29192723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.866875 meters Centerline goodness [0,1] 0.9999079740486817 Centerline is valid? [True, True] Translation: X:154.13, Y:256.57, Z:3.29 [[ 2.15050611e-03 -9.99997541e-01 -5.42220933e-04 1.54131447e+02] [ 9.99433699e-01 2.13108475e-03 3.35818259e-02 2.56571416e+02] [-3.35805878e-02 -6.14131795e-04 9.99435824e-01 3.29199367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters Centerline goodness [0,1] 0.9999312352442294 Centerline is valid? [True, True] Translation: X:154.13, Y:256.60, Z:3.29 [[ 1.04511431e-03 -9.99999305e-01 -5.46003054e-04 1.54132299e+02] [ 9.99446546e-01 1.02638211e-03 3.32497983e-02 2.56599334e+02] [-3.32492148e-02 -5.80450706e-04 9.99446923e-01 3.29127864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.926875 meters Centerline goodness [0,1] 0.9998167365358623 Centerline is valid? [True, True] Translation: X:154.13, Y:256.63, Z:3.29 [[ 7.75989750e-05 -9.99999840e-01 -5.60346543e-04 1.54131203e+02] [ 9.99438957e-01 5.87878703e-05 3.34928056e-02 2.56626338e+02] [-3.34927673e-02 -5.62631172e-04 9.99438802e-01 3.28972076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters Centerline goodness [0,1] 0.9999771083234136 Centerline is valid? [True, True] Translation: X:154.13, Y:256.65, Z:3.29 [[-2.33423396e-03 -9.99997113e-01 -5.71168897e-04 1.54132225e+02] [ 9.99427884e-01 -2.35217641e-03 3.37397710e-02 2.56653960e+02] [-3.37410171e-02 -4.92085603e-04 9.99430489e-01 3.28857152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.68, Z:3.29 [[-4.06851533e-03 -9.99991555e-01 -5.79999014e-04 1.54132479e+02] [ 9.99422673e-01 -4.08576360e-03 3.37287379e-02 2.56680698e+02] [-3.37308228e-02 -4.42438278e-04 9.99430856e-01 3.28755725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.71, Z:3.29 [[-5.62260584e-03 -9.99984015e-01 -5.96896713e-04 1.54132829e+02] [ 9.99402660e-01 -5.63968900e-03 3.40956954e-02 2.56708186e+02] [-3.40985167e-02 -4.04833507e-04 9.99418395e-01 3.28719532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.74, Z:3.29 [[-8.47242285e-03 -9.99963918e-01 -6.16382115e-04 1.54135481e+02] [ 9.99365394e-01 -8.48867567e-03 3.45940928e-02 2.56736110e+02] [-3.45980768e-02 -3.22895173e-04 9.99401255e-01 3.28816302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.76, Z:3.29 [[-9.75418728e-03 -9.99952234e-01 -6.21063794e-04 1.54135126e+02] [ 9.99363139e-01 -9.76975685e-03 3.43200886e-02 2.56763123e+02] [-3.43245169e-02 -2.85903691e-04 9.99410699e-01 3.28704670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.106875 meters Centerline goodness [0,1] 0.999816744931852 Centerline is valid? [True, True] Translation: X:154.13, Y:256.79, Z:3.29 [[-1.19200213e-02 -9.99928753e-01 -6.34008008e-04 1.54134524e+02] [ 9.99335250e-01 -1.19347877e-02 3.44473440e-02 2.56788975e+02] [-3.44524564e-02 -2.22973476e-04 9.99406313e-01 3.28522629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.82, Z:3.28 [[-1.35299302e-02 -9.99908258e-01 -6.45501235e-04 1.54134372e+02] [ 9.99308161e-01 -1.35441708e-02 3.46374639e-02 2.56815877e+02] [-3.46430290e-02 -1.76412182e-04 9.99399735e-01 3.28391160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.84, Z:3.28 [[-1.44870467e-02 -9.99894844e-01 -6.53012593e-04 1.54134234e+02] [ 9.99300932e-01 -1.45009458e-02 3.44582485e-02 2.56843751e+02] [-3.44640943e-02 -1.53357838e-04 9.99405925e-01 3.28254564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:256.87, Z:3.28 [[-1.62071287e-02 -9.99868441e-01 -6.56162175e-04 1.54134068e+02] [ 9.99285373e-01 -1.62200830e-02 3.41416539e-02 2.56870350e+02] [-3.41478052e-02 -1.02355086e-04 9.99416788e-01 3.28067195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.90, Z:3.28 [[-1.91325851e-02 -9.99816737e-01 -6.60647633e-04 1.54135231e+02] [ 9.99245998e-01 -1.91439828e-02 3.37778660e-02 2.56898189e+02] [-3.37843232e-02 -1.38916058e-05 9.99429147e-01 3.27896942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters Centerline goodness [0,1] 0.9999538809205368 Centerline is valid? [True, True] Translation: X:154.14, Y:256.93, Z:3.28 [[-2.06637480e-02 -9.99786255e-01 -6.73092949e-04 1.54135647e+02] [ 9.99210481e-01 -2.06746880e-02 3.39259782e-02 2.56925909e+02] [-3.39326427e-02 2.84763341e-05 9.99424122e-01 3.27778662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.95, Z:3.28 [[-2.18695405e-02 -9.99760597e-01 -6.87320101e-04 1.54135859e+02] [ 9.99176330e-01 -2.18802544e-02 3.41747945e-02 2.56952009e+02] [-3.41816517e-02 6.06330754e-05 9.99415635e-01 3.27698085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:256.98, Z:3.28 [[-2.26909177e-02 -9.99742283e-01 -6.99871836e-04 1.54135367e+02] [ 9.99156544e-01 -2.27015774e-02 3.42175148e-02 2.56980528e+02] [-3.42245846e-02 7.71452874e-05 9.99414164e-01 3.27639580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.01, Z:3.27 [[-2.33578198e-02 -9.99726918e-01 -7.08507102e-04 1.54134675e+02] [ 9.99142110e-01 -2.33683867e-02 3.41900898e-02 2.57006839e+02] [-3.41973097e-02 9.07066735e-05 9.99415097e-01 3.27440017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.03, Z:3.27 [[-2.35310986e-02 -9.99722847e-01 -7.18240797e-04 1.54133912e+02] [ 9.99140914e-01 -2.35419044e-02 3.41059017e-02 2.57034935e+02] [-3.41133579e-02 8.49255697e-05 9.99417966e-01 3.27367310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.06, Z:3.27 [[-2.43294807e-02 -9.99703725e-01 -7.33882201e-04 1.54133743e+02] [ 9.99112118e-01 -2.43403271e-02 3.43878484e-02 2.57061948e+02] [-3.43955231e-02 1.03407895e-04 9.99408294e-01 3.27216722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.09, Z:3.27 [[-2.46628318e-02 -9.99695549e-01 -7.44574035e-04 1.54133776e+02] [ 9.99103379e-01 -2.46738469e-02 3.44040583e-02 2.57089787e+02] [-3.44119555e-02 1.04595069e-04 9.99407728e-01 3.27031313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.12, Z:3.27 [[-2.51463352e-02 -9.99683505e-01 -7.42720115e-04 1.54133726e+02] [ 9.99108818e-01 -2.51570599e-02 3.38923728e-02 2.57117019e+02] [-3.39003306e-02 1.10210751e-04 9.99425213e-01 3.26823227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.14, Z:3.27 [[-2.50366452e-02 -9.99686257e-01 -7.44518311e-04 1.54133269e+02] [ 9.99124029e-01 -2.50475309e-02 3.35230549e-02 2.57144999e+02] [-3.35311857e-02 9.54386977e-05 9.99437667e-01 3.26723507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.17, Z:3.27 [[-2.49684046e-02 -9.99687947e-01 -7.65943016e-04 1.54133184e+02] [ 9.99107314e-01 -2.49800043e-02 3.40672185e-02 2.57171350e+02] [-3.40757210e-02 8.53448263e-05 9.99419250e-01 3.26587629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters Centerline goodness [0,1] 0.999953603823045 Centerline is valid? [True, True] Translation: X:154.13, Y:257.20, Z:3.26 [[-2.41772228e-02 -9.99707381e-01 -7.83762310e-04 1.54132336e+02] [ 9.99117055e-01 -2.41898767e-02 3.43505646e-02 2.57197413e+02] [-3.43594721e-02 4.74309619e-05 9.99409538e-01 3.26460452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.586875 meters Centerline goodness [0,1] 0.9998605721190714 Centerline is valid? [True, True] Translation: X:154.13, Y:257.23, Z:3.26 [[-2.32111767e-02 -9.99730264e-01 -8.00949767e-04 1.54131006e+02] [ 9.99131276e-01 -2.32249916e-02 3.46019157e-02 2.57225653e+02] [-3.46111843e-02 2.89721411e-06 9.99400853e-01 3.26428205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.25, Z:3.26 [[-1.95477613e-02 -9.99808573e-01 -8.37521538e-04 1.54128330e+02] [ 9.99169897e-01 -1.95652056e-02 3.57312096e-02 2.57252827e+02] [-3.57407560e-02 -1.38361151e-04 9.99361086e-01 3.26343386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:257.28, Z:3.26 [[-1.80937752e-02 -9.99835923e-01 -8.61579587e-04 1.54126116e+02] [ 9.99177203e-01 -1.81131247e-02 3.62881677e-02 2.57279767e+02] [-3.62978196e-02 -2.04280735e-04 9.99340996e-01 3.26297250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:257.31, Z:3.26 [[-1.64128176e-02 -9.99864910e-01 -8.83653807e-04 1.54123553e+02] [ 9.99189794e-01 -1.64342035e-02 3.67378970e-02 2.57305684e+02] [-3.67474563e-02 -2.79965463e-04 9.99324545e-01 3.26194952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.706875 meters Centerline goodness [0,1] 0.9999768282509964 Centerline is valid? [True, True] Translation: X:154.12, Y:257.33, Z:3.26 [[-1.29899384e-02 -9.99915217e-01 -9.05590498e-04 1.54120946e+02] [ 9.99225358e-01 -1.30146119e-02 3.71389864e-02 2.57334079e+02] [-3.71476236e-02 -4.22455844e-04 9.99309700e-01 3.26082773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters Centerline goodness [0,1] 0.9998841197738018 Centerline is valid? [True, True] Translation: X:154.12, Y:257.36, Z:3.26 [[-1.12112520e-02 -9.99936726e-01 -9.22775758e-04 1.54119155e+02] [ 9.99236558e-01 -1.12379311e-02 3.74167156e-02 2.57361090e+02] [-3.74247182e-02 -5.02583046e-04 9.99299323e-01 3.25968123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.766875 meters Centerline goodness [0,1] 0.9998617288502754 Centerline is valid? [True, True] Translation: X:154.12, Y:257.39, Z:3.26 [[-1.07683220e-02 -9.99941594e-01 -9.22818306e-04 1.54117768e+02] [ 9.99252498e-01 -1.07951584e-02 3.71201957e-02 2.57389143e+02] [-3.71279896e-02 -5.22406277e-04 9.99310382e-01 3.25820354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters Centerline goodness [0,1] 0.9998153661519998 Centerline is valid? [True, True] Translation: X:154.12, Y:257.42, Z:3.26 [[-9.79880331e-03 -9.99951551e-01 -9.37252247e-04 1.54116646e+02] [ 9.99256756e-01 -9.82693185e-03 3.72742044e-02 2.57416909e+02] [-3.72816088e-02 -5.71313043e-04 9.99304636e-01 3.25678046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82687500000003 meters Centerline goodness [0,1] 0.9998850098891495 Centerline is valid? [True, True] Translation: X:154.11, Y:257.44, Z:3.25 [[-1.03350653e-02 -9.99946137e-01 -9.53277309e-04 1.54114043e+02] [ 9.99243838e-01 -1.03635322e-02 3.74746551e-02 2.57443857e+02] [-3.74825160e-02 -5.65253470e-04 9.99297124e-01 3.25492191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters Centerline goodness [0,1] 0.9999539838483308 Centerline is valid? [True, True] Translation: X:154.11, Y:257.47, Z:3.25 [[-1.09860436e-02 -9.99939190e-01 -9.60407510e-04 1.54114054e+02] [ 9.99237248e-01 -1.10143152e-02 3.74647511e-02 2.57471135e+02] [-3.74730511e-02 -5.48085567e-04 9.99297488e-01 3.25396404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.50, Z:3.25 [[-1.20657469e-02 -9.99926737e-01 -9.68480589e-04 1.54114499e+02] [ 9.99229547e-01 -1.20934970e-02 3.73371175e-02 2.57498518e+02] [-3.73460944e-02 -5.17234212e-04 9.99302257e-01 3.25311410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters Centerline goodness [0,1] 0.999907514450867 Centerline is valid? [True, True] Translation: X:154.12, Y:257.52, Z:3.25 [[-1.43835512e-02 -9.99896051e-01 -1.00003514e-03 1.54115012e+02] [ 9.99170916e-01 -1.44112016e-02 3.80762132e-02 2.57524618e+02] [-3.80866669e-02 -4.51534860e-04 9.99274338e-01 3.25200849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:257.55, Z:3.25 [[-1.57340228e-02 -9.99875697e-01 -1.01533916e-03 1.54115402e+02] [ 9.99141410e-01 -1.57613754e-02 3.83147714e-02 2.57551611e+02] [-3.83260119e-02 -4.11621915e-04 9.99265204e-01 3.25184079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:257.58, Z:3.25 [[-1.69435316e-02 -9.99855907e-01 -1.03994119e-03 1.54115087e+02] [ 9.99103725e-01 -1.69711177e-02 3.87779288e-02 2.57578809e+02] [-3.87899901e-02 -3.81974060e-04 9.99247312e-01 3.25073361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.60, Z:3.25 [[-1.93752719e-02 -9.99811712e-01 -1.06707261e-03 1.54114585e+02] [ 9.99038195e-01 -1.94022495e-02 3.93222266e-02 2.57604946e+02] [-3.93355264e-02 -3.04167462e-04 9.99226012e-01 3.24991559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.63, Z:3.25 [[-2.09613450e-02 -9.99779703e-01 -1.08082200e-03 1.54113880e+02] [ 9.98999876e-01 -2.09876767e-02 3.94811986e-02 2.57632144e+02] [-3.94951850e-02 -2.52162017e-04 9.99219729e-01 3.24902818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06687500000004 meters Centerline goodness [0,1] 0.9998849543268677 Centerline is valid? [True, True] Translation: X:154.11, Y:257.66, Z:3.25 [[-2.24711487e-02 -9.99746887e-01 -1.09964553e-03 1.54113166e+02] [ 9.98957418e-01 -2.24970968e-02 3.97235237e-02 2.57659141e+02] [-3.97382080e-02 -2.05865847e-04 9.99210104e-01 3.24778055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters Centerline goodness [0,1] 0.9999540081865428 Centerline is valid? [True, True] Translation: X:154.11, Y:257.68, Z:3.25 [[-2.52804075e-02 -9.99679761e-01 -1.13014508e-03 1.54112785e+02] [ 9.98864031e-01 -2.53054251e-02 4.03767568e-02 2.57684959e+02] [-4.03924254e-02 -1.08120411e-04 9.99183887e-01 3.24666042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12687500000004 meters Centerline goodness [0,1] 0.9999540081865428 Centerline is valid? [True, True] Translation: X:154.11, Y:257.71, Z:3.25 [[-2.55795840e-02 -9.99672136e-01 -1.14293430e-03 1.54111903e+02] [ 9.98856415e-01 -2.56048740e-02 4.03763948e-02 2.57711716e+02] [-4.03924215e-02 -1.08815878e-04 9.99183887e-01 3.24556788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.74, Z:3.24 [[-2.74757249e-02 -9.99621783e-01 -1.17298999e-03 1.54111339e+02] [ 9.98780721e-01 -2.75007150e-02 4.09973449e-02 2.57738541e+02] [-4.10140970e-02 -4.51280192e-05 9.99158567e-01 3.24486056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.186875 meters Centerline goodness [0,1] 0.9999075657438646 Centerline is valid? [True, True] Translation: X:154.11, Y:257.77, Z:3.24 [[-2.92819963e-02 -9.99570490e-01 -1.18343030e-03 1.54110818e+02] [ 9.98732064e-01 -2.93058960e-02 4.09320057e-02 2.57765341e+02] [-4.09491065e-02 1.66410507e-05 9.99161233e-01 3.24399197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.79, Z:3.24 [[-3.06775001e-02 -9.99528612e-01 -1.20222378e-03 1.54109935e+02] [ 9.98681364e-01 -3.07009863e-02 4.11458824e-02 2.57792958e+02] [-4.11633962e-02 6.16143248e-05 9.99152426e-01 3.24315628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:257.82, Z:3.24 [[-3.27553322e-02 -9.99462678e-01 -1.20129353e-03 1.54107709e+02] [ 9.98633746e-01 -3.27770818e-02 4.06977075e-02 2.57819922e+02] [-4.07152146e-02 1.33414674e-04 9.99170783e-01 3.24137667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters Centerline goodness [0,1] 0.9999084291012317 Centerline is valid? [True, True] Translation: X:154.11, Y:257.85, Z:3.24 [[-3.38313374e-02 -9.99426839e-01 -1.19731038e-03 1.54105772e+02] [ 9.98619921e-01 -3.38521261e-02 4.01532839e-02 2.57847869e+02] [-4.01708011e-02 1.62781292e-04 9.99192814e-01 3.23898023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:257.87, Z:3.24 [[-3.47097058e-02 -9.99396718e-01 -1.19809513e-03 1.54104686e+02] [ 9.98603482e-01 -3.47298824e-02 3.98110689e-02 2.57873925e+02] [-3.98286613e-02 1.85408522e-04 9.99206507e-01 3.23692518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:257.90, Z:3.23 [[-3.71805534e-02 -9.99307838e-01 -1.20501687e-03 1.54102337e+02] [ 9.98522533e-01 -3.71990993e-02 3.96103222e-02 2.57901506e+02] [-3.96277309e-02 2.69497200e-04 9.99214477e-01 3.23453323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:257.93, Z:3.23 [[-3.83501010e-02 -9.99263613e-01 -1.22562242e-03 1.54100954e+02] [ 9.98467293e-01 -3.83684613e-02 3.98864197e-02 2.57928711e+02] [-3.99040731e-02 3.05904322e-04 9.99203468e-01 3.23365897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:257.96, Z:3.23 [[-3.98257036e-02 -9.99205875e-01 -1.23818477e-03 1.54099709e+02] [ 9.98409050e-01 -3.98433850e-02 3.98982971e-02 2.57955676e+02] [-3.99159464e-02 3.52762877e-04 9.99202979e-01 3.23270844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:257.98, Z:3.23 [[-4.22148789e-02 -9.99107766e-01 -1.25538739e-03 1.54097446e+02] [ 9.98304610e-01 -4.22312733e-02 4.00552661e-02 2.57983760e+02] [-4.00725440e-02 4.37669193e-04 9.99196677e-01 3.23123885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:258.01, Z:3.23 [[-4.33992360e-02 -9.99057008e-01 -1.26513277e-03 1.54095494e+02] [ 9.98255704e-01 -4.34150910e-02 4.00084924e-02 2.58011364e+02] [-4.00256906e-02 4.73412003e-04 9.99198539e-01 3.22952499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.486875 meters Centerline goodness [0,1] 0.9999773412185893 Centerline is valid? [True, True] Translation: X:154.09, Y:258.04, Z:3.23 [[-4.43900257e-02 -9.99013464e-01 -1.27413521e-03 1.54092575e+02] [ 9.98214872e-01 -4.44054807e-02 3.99402348e-02 2.58038205e+02] [-3.99574109e-02 5.01087336e-04 9.99201258e-01 3.22754658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.09, Y:258.07, Z:3.23 [[-4.46503183e-02 -9.99001840e-01 -1.29372578e-03 1.54089888e+02] [ 9.98193595e-01 -4.46662284e-02 4.01805311e-02 2.58065608e+02] [-4.01982103e-02 5.02684713e-04 9.99191599e-01 3.22645840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.546875 meters Centerline goodness [0,1] 0.999909362820629 Centerline is valid? [True, True] Translation: X:154.09, Y:258.09, Z:3.22 [[-4.46662133e-02 -9.99001104e-01 -1.31304223e-03 1.54086645e+02] [ 9.98184366e-01 -4.46827841e-02 4.03908511e-02 2.58093953e+02] [-4.04091752e-02 4.93448147e-04 9.99183094e-01 3.22493975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:258.12, Z:3.22 [[-4.48119956e-02 -9.98994550e-01 -1.33210238e-03 1.54083833e+02] [ 9.98168362e-01 -4.48291044e-02 4.06235540e-02 2.58122135e+02] [-4.06424260e-02 4.90760076e-04 9.99173635e-01 3.22377215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:258.15, Z:3.22 [[-4.33719942e-02 -9.99058096e-01 -1.33842081e-03 1.54078559e+02] [ 9.98238095e-01 -4.33906149e-02 4.04717325e-02 2.58150282e+02] [-4.04916869e-02 4.19277107e-04 9.99179787e-01 3.22188532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters Centerline goodness [0,1] 0.9999329908420818 Centerline is valid? [True, True] Translation: X:154.08, Y:258.18, Z:3.22 [[-4.24644747e-02 -9.99097053e-01 -1.35902996e-03 1.54075295e+02] [ 9.98265913e-01 -4.24845738e-02 4.07458864e-02 2.58178657e+02] [-4.07668328e-02 3.73579379e-04 9.99168617e-01 3.22031096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.666875 meters Centerline goodness [0,1] 0.9999775960569061 Centerline is valid? [True, True] Translation: X:154.07, Y:258.21, Z:3.22 [[-4.15180542e-02 -9.99136839e-01 -1.35236549e-03 1.54071844e+02] [ 9.98327404e-01 -4.15388458e-02 4.02109263e-02 2.58206605e+02] [-4.02323935e-02 3.19375885e-04 9.99190298e-01 3.21888216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters Centerline goodness [0,1] 0.9999107142857143 Centerline is valid? [True, True] Translation: X:154.07, Y:258.23, Z:3.22 [[-4.00087499e-02 -9.99198399e-01 -1.36330492e-03 1.54068494e+02] [ 9.98389422e-01 -4.00312070e-02 4.02002998e-02 2.58234922e+02] [-4.02226499e-02 2.47254524e-04 9.99190711e-01 3.21732280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.726875 meters Centerline goodness [0,1] 0.9999778255759807 Centerline is valid? [True, True] Translation: X:154.06, Y:258.26, Z:3.22 [[-3.69393832e-02 -9.99316595e-01 -1.35079143e-03 1.54062801e+02] [ 9.98535274e-01 -3.69639071e-02 3.95091885e-02 2.58261435e+02] [-3.95321182e-02 1.10632161e-04 9.99218294e-01 3.21541478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters Centerline goodness [0,1] 0.9998892040418366 Centerline is valid? [True, True] Translation: X:154.06, Y:258.29, Z:3.21 [[-3.55232319e-02 -9.99367935e-01 -1.35269635e-03 1.54059524e+02] [ 9.98597633e-01 -3.55489516e-02 3.92305929e-02 2.58289778e+02] [-3.92538836e-02 4.27980770e-05 9.99229268e-01 3.21431240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.786875 meters Centerline goodness [0,1] 0.9999557012492247 Centerline is valid? [True, True] Translation: X:154.06, Y:258.32, Z:3.21 [[-3.35160679e-02 -9.99437249e-01 -1.36322615e-03 1.54056368e+02] [ 9.98667747e-01 -3.35437471e-02 3.92115850e-02 2.58316579e+02] [-3.92352463e-02 -4.71918453e-05 9.99230000e-01 3.21288429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:154.05, Y:258.34, Z:3.21 [[-2.92270824e-02 -9.99571863e-01 -1.36724353e-03 1.54050449e+02] [ 9.98806790e-01 -2.92581967e-02 3.91018491e-02 2.58344064e+02] [-3.91251112e-02 -2.22779151e-04 9.99234295e-01 3.21176772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.846875 meters Centerline goodness [0,1] 0.9999335621747315 Centerline is valid? [True, True] Translation: X:154.05, Y:258.37, Z:3.21 [[-2.69222570e-02 -9.99636577e-01 -1.38047225e-03 1.54046818e+02] [ 9.98870282e-01 -2.69556636e-02 3.91350533e-02 2.58371630e+02] [-3.91580423e-02 -3.25308746e-04 9.99232977e-01 3.21022481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters Centerline goodness [0,1] 0.9999560893143347 Centerline is valid? [True, True] Translation: X:154.04, Y:258.40, Z:3.21 [[-2.49806086e-02 -9.99686991e-01 -1.37438273e-03 1.54043296e+02] [ 9.98938998e-01 -2.50150771e-02 3.86668300e-02 2.58399155e+02] [-3.86891073e-02 -4.07003565e-04 9.99251213e-01 3.20877406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.906875 meters Centerline goodness [0,1] 0.9999779346866725 Centerline is valid? [True, True] Translation: X:154.04, Y:258.43, Z:3.21 [[-2.14787200e-02 -9.99768355e-01 -1.37897716e-03 1.54039718e+02] [ 9.99026865e-01 -2.15158955e-02 3.85018110e-02 2.58427181e+02] [-3.85225622e-02 -5.50665610e-04 9.99257579e-01 3.20717075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters Centerline goodness [0,1] 0.999933964340744 Centerline is valid? [True, True] Translation: X:154.04, Y:258.45, Z:3.21 [[-2.00705642e-02 -9.99797596e-01 -1.39281770e-03 1.54035682e+02] [ 9.99052463e-01 -2.01093765e-02 3.85977946e-02 2.58454849e+02] [-3.86179910e-02 -6.16818439e-04 9.99253857e-01 3.20643919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.966875 meters Centerline goodness [0,1] 0.9999337353389437 Centerline is valid? [True, True] Translation: X:154.03, Y:258.48, Z:3.21 [[-1.73881725e-02 -9.99847819e-01 -1.41060948e-03 1.54034018e+02] [ 9.99094356e-01 -1.74298315e-02 3.88158316e-02 2.58483147e+02] [-3.88345113e-02 -7.34395594e-04 9.99245386e-01 3.20605448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters Centerline goodness [0,1] 0.9999121246073068 Centerline is valid? [True, True] Translation: X:154.03, Y:258.51, Z:3.20 [[-1.63936706e-02 -9.99864595e-01 -1.42814916e-03 1.54028508e+02] [ 9.99103685e-01 -1.64369121e-02 3.90083938e-02 2.58510784e+02] [-3.90265863e-02 -7.87378334e-04 9.99237862e-01 3.20447623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.026875 meters Centerline goodness [0,1] 0.9999122229536976 Centerline is valid? [True, True] Translation: X:154.03, Y:258.54, Z:3.20 [[-1.52306381e-02 -9.99882979e-01 -1.43386550e-03 1.54029120e+02] [ 9.99126552e-01 -1.52748924e-02 3.88948605e-02 2.58539515e+02] [-3.89122111e-02 -8.40219552e-04 9.99242280e-01 3.20306744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters Centerline goodness [0,1] 0.9997162005806973 Centerline is valid? [True, True] Translation: X:154.03, Y:258.57, Z:3.20 [[-1.38344840e-02 -9.99903284e-01 -1.42441117e-03 1.54025099e+02] [ 9.99167406e-01 -1.38789553e-02 3.83649447e-02 2.58566220e+02] [-3.83810036e-02 -8.92465997e-04 9.99262779e-01 3.20039439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.086875 meters Centerline goodness [0,1] 0.9996275686807168 Centerline is valid? [True, True] Translation: X:154.02, Y:258.59, Z:3.20 [[-1.34822723e-02 -9.99908108e-01 -1.41538725e-03 1.54022824e+02] [ 9.99192974e-01 -1.35261664e-02 3.78212106e-02 2.58593551e+02] [-3.78368799e-02 -9.04329134e-04 9.99283520e-01 3.19869329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters Centerline goodness [0,1] 0.999867978084362 Centerline is valid? [True, True] Translation: X:154.02, Y:258.62, Z:3.20 [[-1.30615465e-02 -9.99913680e-01 -1.42432682e-03 1.54022317e+02] [ 9.99201521e-01 -1.31060072e-02 3.77432482e-02 2.58621820e+02] [-3.77586574e-02 -9.30204337e-04 9.99286455e-01 3.19749792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.146875 meters Centerline goodness [0,1] 0.9998244420549057 Centerline is valid? [True, True] Translation: X:154.02, Y:258.65, Z:3.20 [[-1.29644001e-02 -9.99914937e-01 -1.42967223e-03 1.54020557e+02] [ 9.99208058e-01 -1.30090003e-02 3.76034866e-02 2.58648673e+02] [-3.76188866e-02 -9.41033369e-04 9.99291716e-01 3.19607312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:258.68, Z:3.20 [[-1.33970077e-02 -9.99909247e-01 -1.42078527e-03 1.54020610e+02] [ 9.99221925e-01 -1.34404858e-02 3.70796149e-02 2.58676736e+02] [-3.70953459e-02 -9.22923903e-04 9.99311305e-01 3.19507730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.206875 meters Centerline goodness [0,1] 0.9999559723506362 Centerline is valid? [True, True] Translation: X:154.02, Y:258.70, Z:3.19 [[-1.41231191e-02 -9.99899241e-01 -1.42996232e-03 1.54020405e+02] [ 9.99213159e-01 -1.41664076e-02 3.70455853e-02 2.58704640e+02] [-3.70621101e-02 -9.05637951e-04 9.99312554e-01 3.19404823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:258.73, Z:3.19 [[-1.49656205e-02 -9.99886986e-01 -1.43041190e-03 1.54020092e+02] [ 9.99210348e-01 -1.50081226e-02 3.67890872e-02 2.58732729e+02] [-3.68063973e-02 -8.78710858e-04 9.99322029e-01 3.19287473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.266875 meters Centerline goodness [0,1] 0.9999559965677323 Centerline is valid? [True, True] Translation: X:154.02, Y:258.76, Z:3.19 [[-1.56514432e-02 -9.99876476e-01 -1.43702832e-03 1.54020038e+02] [ 9.99203374e-01 -1.56936413e-02 3.66923317e-02 2.58760942e+02] [-3.67103515e-02 -8.61595603e-04 9.99325576e-01 3.19199677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters Centerline goodness [0,1] 0.9999339410754393 Centerline is valid? [True, True] Translation: X:154.02, Y:258.79, Z:3.19 [[-1.73148649e-02 -9.99849060e-01 -1.43305806e-03 1.54021293e+02] [ 9.99189121e-01 -1.73555076e-02 3.63302599e-02 2.58788967e+02] [-3.63496476e-02 -8.02842481e-04 9.99338811e-01 3.19068098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32687500000003 meters Centerline goodness [0,1] 0.9998457368270269 Centerline is valid? [True, True] Translation: X:154.02, Y:258.82, Z:3.19 [[-1.82828754e-02 -9.99831793e-01 -1.45708675e-03 1.54021104e+02] [ 9.99159439e-01 -1.83240202e-02 3.66694048e-02 2.58817112e+02] [-3.66899364e-02 -7.85439823e-04 9.99326389e-01 3.18967808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters Centerline goodness [0,1] 0.9998015347975655 Centerline is valid? [True, True] Translation: X:154.02, Y:258.84, Z:3.19 [[-1.97177029e-02 -9.99804528e-01 -1.45548618e-03 1.54020135e+02] [ 9.99143033e-01 -1.97576048e-02 3.63708173e-02 2.58844601e+02] [-3.63924648e-02 -7.37089905e-04 9.99337303e-01 3.18822444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38687500000003 meters Centerline goodness [0,1] 0.9998234891776802 Centerline is valid? [True, True] Translation: X:154.02, Y:258.87, Z:3.19 [[-2.23099013e-02 -9.99750030e-01 -1.46471188e-03 1.54022603e+02] [ 9.99089802e-01 -2.23483993e-02 3.63334149e-02 2.58873140e+02] [-3.63570667e-02 -6.52783803e-04 9.99338650e-01 3.18736104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters Centerline goodness [0,1] 0.9999117387466901 Centerline is valid? [True, True] Translation: X:154.02, Y:258.90, Z:3.19 [[-2.40150506e-02 -9.99710482e-01 -1.49300206e-03 1.54022217e+02] [ 9.99033978e-01 -2.40537233e-02 3.67767421e-02 2.58900501e+02] [-3.68020069e-02 -6.08364467e-04 9.99322392e-01 3.18598560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:258.93, Z:3.19 [[-2.59352175e-02 -9.99662507e-01 -1.49545236e-03 1.54023023e+02] [ 9.98990184e-01 -2.59726182e-02 3.66610764e-02 2.58928148e+02] [-3.66875444e-02 -5.43129241e-04 9.99326638e-01 3.18537040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters Centerline goodness [0,1] 0.9999336972616969 Centerline is valid? [True, True] Translation: X:154.03, Y:258.96, Z:3.18 [[-2.89901405e-02 -9.99578528e-01 -1.52897397e-03 1.54025953e+02] [ 9.98886374e-01 -2.90269601e-02 3.71947144e-02 2.58956652e+02] [-3.72234194e-02 -4.48991269e-04 9.99306868e-01 3.18398967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:258.98, Z:3.18 [[-3.06827437e-02 -9.99527980e-01 -1.54503996e-03 1.54026790e+02] [ 9.98830403e-01 -3.07190468e-02 3.73385281e-02 2.58983976e+02] [-3.73683657e-02 -3.97584395e-04 9.99301480e-01 3.18328129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.01, Z:3.18 [[-3.32848160e-02 -9.99444740e-01 -1.52732017e-03 1.54029046e+02] [ 9.98772863e-01 -3.33184357e-02 3.66421994e-02 2.59010540e+02] [-3.66727414e-02 -3.05817078e-04 9.99327282e-01 3.18163141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56687500000004 meters Centerline goodness [0,1] 0.9999329009170208 Centerline is valid? [True, True] Translation: X:154.03, Y:259.04, Z:3.18 [[-3.40898741e-02 -9.99417590e-01 -1.53636338e-03 1.54029927e+02] [ 9.98748336e-01 -3.41232636e-02 3.65699989e-02 2.59038831e+02] [-3.66011259e-02 -2.87773712e-04 9.99329913e-01 3.18007740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.07, Z:3.18 [[-3.55912012e-02 -9.99365276e-01 -1.52013958e-03 1.54029386e+02] [ 9.98718581e-01 -3.56228495e-02 3.59473031e-02 2.59066256e+02] [-3.59786382e-02 -2.38783951e-04 9.99352531e-01 3.17790930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.09, Z:3.18 [[-3.73863758e-02 -9.99299714e-01 -1.52986970e-03 1.54031804e+02] [ 9.98653762e-01 -3.74172084e-02 3.59251480e-02 2.59094037e+02] [-3.59572335e-02 -1.84699044e-04 9.99353313e-01 3.17632800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.12, Z:3.18 [[-3.83132251e-02 -9.99264615e-01 -1.52526579e-03 1.54032173e+02] [ 9.98631722e-01 -3.83432367e-02 3.55595160e-02 2.59121486e+02] [-3.55918497e-02 -1.60779067e-04 9.99366396e-01 3.17579168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.15, Z:3.17 [[-3.97821268e-02 -9.99207184e-01 -1.54453101e-03 1.54032434e+02] [ 9.98567487e-01 -3.98119172e-02 3.57489170e-02 2.59147709e+02] [-3.57820655e-02 -1.20150504e-04 9.99359610e-01 3.17475979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.18, Z:3.17 [[-4.09813365e-02 -9.99158696e-01 -1.55924962e-03 1.54032383e+02] [ 9.98516584e-01 -4.10108919e-02 3.58153389e-02 2.59175227e+02] [-3.58491535e-02 -8.91761503e-05 9.99357209e-01 3.17355458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.20, Z:3.17 [[-4.22459601e-02 -9.99105988e-01 -1.58225382e-03 1.54032405e+02] [ 9.98454044e-01 -4.22755440e-02 3.60874097e-02 2.59202602e+02] [-3.61220378e-02 -5.52604496e-05 9.99347385e-01 3.17218789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.23, Z:3.17 [[-4.46323097e-02 -9.99002163e-01 -1.62335951e-03 1.54034146e+02] [ 9.98325573e-01 -4.46618177e-02 3.67610228e-02 2.59230823e+02] [-3.67968434e-02 2.00880405e-05 9.99322767e-01 3.17183764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.26, Z:3.17 [[-4.55085244e-02 -9.98962621e-01 -1.62980869e-03 1.54033668e+02] [ 9.98289225e-01 -4.55376802e-02 3.66734651e-02 2.59259395e+02] [-3.67096385e-02 4.19348258e-05 9.99325973e-01 3.17064212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters Centerline goodness [0,1] 0.9999547910214969 Centerline is valid? [True, True] Translation: X:154.03, Y:259.29, Z:3.17 [[-4.70800605e-02 -9.98889784e-01 -1.63303294e-03 1.54033435e+02] [ 9.98222123e-01 -4.71082898e-02 3.65157727e-02 2.59287049e+02] [-3.65521618e-02 8.90351870e-05 9.99331742e-01 3.16914328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.31, Z:3.17 [[-4.79948601e-02 -9.98846226e-01 -1.64651248e-03 1.54032633e+02] [ 9.98176006e-01 -4.80229629e-02 3.65849201e-02 2.59314528e+02] [-3.66217798e-02 1.12378870e-04 9.99329191e-01 3.16762765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.34, Z:3.17 [[-4.86878923e-02 -9.98812662e-01 -1.65978167e-03 1.54031257e+02] [ 9.98140562e-01 -4.87160097e-02 3.66356120e-02 2.59341789e+02] [-3.66729711e-02 1.27015317e-04 9.99327312e-01 3.16680820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.37, Z:3.17 [[-5.00146433e-02 -9.98747122e-01 -1.64976651e-03 1.54029992e+02] [ 9.98092091e-01 -5.00415822e-02 3.61665435e-02 2.59369932e+02] [-3.62037882e-02 1.62237867e-04 9.99344415e-01 3.16547666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.40, Z:3.16 [[-5.08713607e-02 -9.98703848e-01 -1.65198320e-03 1.54029014e+02] [ 9.98055061e-01 -5.08978504e-02 3.59931076e-02 2.59397731e+02] [-3.60305374e-02 1.82248163e-04 9.99350673e-01 3.16435907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:259.42, Z:3.16 [[-5.24038087e-02 -9.98624589e-01 -1.66490504e-03 1.54028967e+02] [ 9.97973512e-01 -5.24297542e-02 3.60553869e-02 2.59424834e+02] [-3.60930865e-02 2.27908465e-04 9.99348406e-01 3.16216568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters Centerline goodness [0,1] 0.9999550258601304 Centerline is valid? [True, True] Translation: X:154.03, Y:259.45, Z:3.16 [[-5.34023555e-02 -9.98571653e-01 -1.68560925e-03 1.54027121e+02] [ 9.97912751e-01 -5.34283437e-02 3.62705528e-02 2.59452263e+02] [-3.63088052e-02 2.54841993e-04 9.99340585e-01 3.16114243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.046875 meters Centerline goodness [0,1] 0.9999550258601304 Centerline is valid? [True, True] Translation: X:154.03, Y:259.48, Z:3.16 [[-5.37044723e-02 -9.98555432e-01 -1.69659317e-03 1.54025753e+02] [ 9.97896538e-01 -5.37306601e-02 3.62700388e-02 2.59478997e+02] [-3.63088033e-02 2.54838842e-04 9.99340586e-01 3.16004956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:259.51, Z:3.16 [[-5.44259834e-02 -9.98516327e-01 -1.71943623e-03 1.54023792e+02] [ 9.97848301e-01 -5.44524582e-02 3.65198322e-02 2.59506335e+02] [-3.65592762e-02 2.71891260e-04 9.99331449e-01 3.15885782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:259.53, Z:3.16 [[-5.52562961e-02 -9.98470720e-01 -1.72123428e-03 1.54021851e+02] [ 9.97809804e-01 -5.52823389e-02 3.63243407e-02 2.59533075e+02] [-3.63639444e-02 2.89684090e-04 9.99338571e-01 3.15712597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters Centerline goodness [0,1] 0.9999099241110636 Centerline is valid? [True, True] Translation: X:154.02, Y:259.56, Z:3.15 [[-5.66539511e-02 -9.98392390e-01 -1.72223978e-03 1.54020561e+02] [ 9.97739106e-01 -5.66791757e-02 3.61129942e-02 2.59558961e+02] [-3.61525537e-02 3.27597824e-04 9.99346229e-01 3.15499570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:259.59, Z:3.15 [[-5.75960889e-02 -9.98338455e-01 -1.73753937e-03 1.54018852e+02] [ 9.97682607e-01 -5.76212258e-02 3.61829946e-02 2.59586709e+02] [-3.62229941e-02 3.50486165e-04 9.99343671e-01 3.15431058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:259.61, Z:3.15 [[-5.85765417e-02 -9.98281410e-01 -1.73656865e-03 1.54017489e+02] [ 9.97633696e-01 -5.86010852e-02 3.59572031e-02 2.59614993e+02] [-3.59971722e-02 3.73789209e-04 9.99351822e-01 3.15344681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.226875 meters Centerline goodness [0,1] 0.9999549407470825 Centerline is valid? [True, True] Translation: X:154.02, Y:259.64, Z:3.15 [[-5.93714347e-02 -9.98234420e-01 -1.75354802e-03 1.54016510e+02] [ 9.97581634e-01 -5.93960192e-02 3.60970520e-02 2.59643334e+02] [-3.61374735e-02 3.93826468e-04 9.99346751e-01 3.15274778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:259.67, Z:3.15 [[-6.07757467e-02 -9.98149831e-01 -1.79549681e-03 1.54016556e+02] [ 9.97473433e-01 -6.08006557e-02 3.67427520e-02 2.59670062e+02] [-3.67839391e-02 4.42107818e-04 9.99323144e-01 3.15240589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:259.70, Z:3.15 [[-6.10938054e-02 -9.98130351e-01 -1.83036183e-03 1.54013860e+02] [ 9.97436128e-01 -6.11195728e-02 3.72232164e-02 2.59697578e+02] [-3.72654930e-02 4.48438919e-04 9.99305300e-01 3.15147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:259.72, Z:3.15 [[-6.02181219e-02 -9.98183497e-01 -1.86659484e-03 1.54011678e+02] [ 9.97469834e-01 -6.02456438e-02 3.77411322e-02 2.59724343e+02] [-3.77850295e-02 4.10828049e-04 9.99285806e-01 3.15106929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:259.75, Z:3.15 [[-5.95557402e-02 -9.98223154e-01 -1.91029402e-03 1.54009282e+02] [ 9.97484674e-01 -5.95851515e-02 3.83918468e-02 2.59752827e+02] [-3.84374555e-02 3.80965849e-04 9.99260935e-01 3.14984601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:259.78, Z:3.15 [[-5.86500911e-02 -9.98276717e-01 -1.93982878e-03 1.54007567e+02] [ 9.97523345e-01 -5.86811811e-02 3.87775096e-02 2.59780247e+02] [-3.88245164e-02 3.39279983e-04 9.99245987e-01 3.14892557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:259.81, Z:3.15 [[-5.58234508e-02 -9.98438779e-01 -1.93565344e-03 1.54004424e+02] [ 9.97697401e-01 -5.58565808e-02 3.84699656e-02 2.59806825e+02] [-3.85180245e-02 2.16329828e-04 9.99257882e-01 3.14785667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:259.83, Z:3.15 [[-5.44307814e-02 -9.98515637e-01 -1.95251786e-03 1.54001905e+02] [ 9.97771149e-01 -5.44655829e-02 3.85517150e-02 2.59834931e+02] [-3.86008353e-02 1.50233978e-04 9.99254699e-01 3.14657560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.466875 meters Centerline goodness [0,1] 0.9999775205125323 Centerline is valid? [True, True] Translation: X:154.00, Y:259.86, Z:3.15 [[-5.10600199e-02 -9.98693736e-01 -1.92267271e-03 1.53999019e+02] [ 9.97979682e-01 -5.10962055e-02 3.77588597e-02 2.59861602e+02] [-3.78077779e-02 9.17982258e-06 9.99285030e-01 3.14516109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:259.89, Z:3.14 [[-4.93474675e-02 -9.98779801e-01 -1.93278243e-03 1.53996431e+02] [ 9.98066576e-01 -4.93852583e-02 3.77386666e-02 2.59888575e+02] [-3.77880689e-02 -6.67379241e-05 9.99285774e-01 3.14414058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:259.92, Z:3.14 [[-4.72949119e-02 -9.98879124e-01 -1.92010418e-03 1.53993891e+02] [ 9.98183651e-01 -4.73336220e-02 3.72683065e-02 2.59915681e+02] [-3.73174188e-02 -1.54015329e-04 9.99303451e-01 3.14275082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:259.94, Z:3.14 [[-4.56395565e-02 -9.98956125e-01 -1.92127742e-03 1.53991826e+02] [ 9.98268204e-01 -4.56794183e-02 3.70672755e-02 2.59943938e+02] [-3.71163448e-02 -2.26216142e-04 9.99310925e-01 3.14163739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:259.97, Z:3.14 [[-4.40906795e-02 -9.99025724e-01 -1.90130377e-03 1.53989445e+02] [ 9.98359225e-01 -4.41307060e-02 3.64875273e-02 2.59971065e+02] [-3.65358843e-02 -2.89424281e-04 9.99332300e-01 3.13982275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.00, Z:3.14 [[-4.10502794e-02 -9.99155352e-01 -1.85955407e-03 1.53986652e+02] [ 9.98525337e-01 -4.10904253e-02 3.54785537e-02 2.59998253e+02] [-3.55249967e-02 -4.00407309e-04 9.99368708e-01 3.13818427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.03, Z:3.14 [[-3.96786649e-02 -9.99210763e-01 -1.85890004e-03 1.53984220e+02] [ 9.98585719e-01 -3.97195898e-02 3.53399933e-02 2.60025618e+02] [-3.53859364e-02 -4.54027285e-04 9.99373619e-01 3.13623213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters Centerline goodness [0,1] 0.9999317778687407 Centerline is valid? [True, True] Translation: X:153.98, Y:260.05, Z:3.13 [[-3.85747489e-02 -9.99253977e-01 -1.86507932e-03 1.53982396e+02] [ 9.98631771e-01 -3.86165435e-02 3.52611445e-02 2.60053504e+02] [-3.53068618e-02 -5.02337670e-04 9.99376392e-01 3.13475001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.706875 meters Centerline goodness [0,1] 0.9997958674499309 Centerline is valid? [True, True] Translation: X:153.98, Y:260.08, Z:3.13 [[-3.70201469e-02 -9.99312865e-01 -1.81865822e-03 1.53981995e+02] [ 9.98727075e-01 -3.70607159e-02 3.42159643e-02 2.60081837e+02] [-3.42598540e-02 -5.49663180e-04 9.99412808e-01 3.13322623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters Centerline goodness [0,1] 0.9999317390611846 Centerline is valid? [True, True] Translation: X:153.98, Y:260.11, Z:3.13 [[-3.69445426e-02 -9.99315672e-01 -1.81343545e-03 1.53981839e+02] [ 9.98738959e-01 -3.69848302e-02 3.39501665e-02 2.60108690e+02] [-3.39940030e-02 -5.56875258e-04 9.99421882e-01 3.13266749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.14, Z:3.13 [[-3.69190612e-02 -9.99316624e-01 -1.80760886e-03 1.53982108e+02] [ 9.98750291e-01 -3.69589944e-02 3.36435661e-02 2.60137332e+02] [-3.36873824e-02 -5.63261002e-04 9.99432260e-01 3.13210789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.16, Z:3.13 [[-3.69102993e-02 -9.99316955e-01 -1.80389290e-03 1.53981407e+02] [ 9.98758791e-01 -3.69499749e-02 3.34002614e-02 2.60164602e+02] [-3.34441013e-02 -5.68840250e-04 9.99440428e-01 3.13017679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82687500000003 meters Centerline goodness [0,1] 0.9999771887403622 Centerline is valid? [True, True] Translation: X:153.98, Y:260.19, Z:3.13 [[-3.73832083e-02 -9.99299379e-01 -1.80190277e-03 1.53981570e+02] [ 9.98748466e-01 -3.74224321e-02 3.31822879e-02 2.60192302e+02] [-3.32264712e-02 -5.59187247e-04 9.99447692e-01 3.12913057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters Centerline goodness [0,1] 0.9999542051152887 Centerline is valid? [True, True] Translation: X:153.98, Y:260.22, Z:3.13 [[-3.80591930e-02 -9.99273904e-01 -1.77811558e-03 1.53981442e+02] [ 9.98743420e-01 -3.80969274e-02 3.25607886e-02 2.60219980e+02] [-3.26048871e-02 -5.36643898e-04 9.99468175e-01 3.12761475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.25, Z:3.13 [[-3.93286556e-02 -9.99224822e-01 -1.73570135e-03 1.53982610e+02] [ 9.98724724e-01 -3.93638863e-02 3.16134417e-02 2.60246702e+02] [-3.16572596e-02 -4.90173688e-04 9.99498663e-01 3.12626557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters Centerline goodness [0,1] 0.9999308978670475 Centerline is valid? [True, True] Translation: X:153.98, Y:260.27, Z:3.13 [[-4.01842893e-02 -9.99190802e-01 -1.72137218e-03 1.53984206e+02] [ 9.98704655e-01 -4.02184344e-02 3.11687333e-02 2.60274093e+02] [-3.12127426e-02 -4.66649012e-04 9.99512655e-01 3.12607329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94687500000003 meters Centerline goodness [0,1] 0.9999538340796824 Centerline is valid? [True, True] Translation: X:153.99, Y:260.30, Z:3.13 [[-4.16638042e-02 -9.99130173e-01 -1.73925592e-03 1.53986642e+02] [ 9.98639687e-01 -4.16978474e-02 3.13059958e-02 2.60302627e+02] [-3.13512883e-02 -4.32563102e-04 9.99508334e-01 3.12588066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.33, Z:3.12 [[-4.25841185e-02 -9.99091324e-01 -1.76597073e-03 1.53986789e+02] [ 9.98590363e-01 -4.26186879e-02 3.16375352e-02 2.60330983e+02] [-3.16840503e-02 -4.16224810e-04 9.99497848e-01 3.12494792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.36, Z:3.12 [[-4.33088884e-02 -9.99060199e-01 -1.74904007e-03 1.53986525e+02] [ 9.98573707e-01 -4.33423799e-02 3.11767367e-02 2.60357616e+02] [-3.12232443e-02 -3.96315615e-04 9.99512357e-01 3.12339927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.39, Z:3.12 [[-4.45328461e-02 -9.99006381e-01 -1.75369823e-03 1.53987284e+02] [ 9.98522108e-01 -4.45658606e-02 3.11044191e-02 2.60385865e+02] [-3.11516683e-02 -3.65938139e-04 9.99514602e-01 3.12204675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.41, Z:3.12 [[-4.68208763e-02 -9.98901768e-01 -1.75021676e-03 1.53990534e+02] [ 9.98423844e-01 -4.68526118e-02 3.08975949e-02 2.60412403e+02] [-3.09456644e-02 -3.00805680e-04 9.99521023e-01 3.12081159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters Centerline goodness [0,1] 0.9999068619461197 Centerline is valid? [True, True] Translation: X:153.99, Y:260.44, Z:3.12 [[-4.82446497e-02 -9.98833966e-01 -1.77832500e-03 1.53992212e+02] [ 9.98346946e-01 -4.82766547e-02 3.11887781e-02 2.60440305e+02] [-3.12382625e-02 -2.70693661e-04 9.99511930e-01 3.11988645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.47, Z:3.12 [[-4.98954471e-02 -9.98752908e-01 -1.75290697e-03 1.53993797e+02] [ 9.98282608e-01 -4.99257409e-02 3.06472708e-02 2.60467418e+02] [-3.06965660e-02 -2.20737263e-04 9.99528725e-01 3.11941615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:260.49, Z:3.12 [[-5.32911158e-02 -9.98577430e-01 -1.78157886e-03 1.53998409e+02] [ 9.98096791e-01 -5.33207356e-02 3.09789451e-02 2.60494422e+02] [-3.10298705e-02 -1.27285588e-04 9.99518450e-01 3.11780041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:260.52, Z:3.12 [[-5.59098797e-02 -9.98434185e-01 -1.80671290e-03 1.54000308e+02] [ 9.97945579e-01 -5.59390349e-02 3.12321206e-02 2.60521642e+02] [-3.12842826e-02 -5.68170525e-05 9.99510525e-01 3.11655175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:260.55, Z:3.12 [[-5.91473369e-02 -9.98247641e-01 -1.79971004e-03 1.54001996e+02] [ 9.97767664e-01 -5.91747006e-02 3.09522800e-02 2.60547900e+02] [-3.10045378e-02 3.50524527e-05 9.99519243e-01 3.11504554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:260.58, Z:3.12 [[-6.43142266e-02 -9.97928059e-01 -1.80806262e-03 1.54006003e+02] [ 9.97448760e-01 -6.43393690e-02 3.09259915e-02 2.60575570e+02] [-3.09782443e-02 1.85531407e-04 9.99520042e-01 3.11521452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters Centerline goodness [0,1] 0.9999762537993921 Centerline is valid? [True, True] Translation: X:154.01, Y:260.60, Z:3.11 [[-6.68034673e-02 -9.97764482e-01 -1.82648674e-03 1.54006454e+02] [ 9.97280476e-01 -6.68279474e-02 3.10753577e-02 2.60602917e+02] [-3.11279485e-02 2.54422079e-04 9.99515376e-01 3.11379916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:260.63, Z:3.11 [[-6.88184809e-02 -9.97627515e-01 -1.83242024e-03 1.54006361e+02] [ 9.97145355e-01 -6.88421870e-02 3.10144056e-02 2.60629792e+02] [-3.10669723e-02 3.07174953e-04 9.99517258e-01 3.11274127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:260.66, Z:3.11 [[-7.14393827e-02 -9.97443294e-01 -1.81370826e-03 1.54006219e+02] [ 9.96976067e-01 -7.14614303e-02 3.05284474e-02 2.60656366e+02] [-3.05800053e-02 3.72709708e-04 9.99532253e-01 3.11019346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:260.68, Z:3.11 [[-7.24497384e-02 -9.97370338e-01 -1.85602582e-03 1.54003051e+02] [ 9.96884225e-01 -7.24723728e-02 3.11383474e-02 2.60683652e+02] [-3.11909747e-02 4.05722268e-04 9.99513361e-01 3.10910464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:260.71, Z:3.11 [[-7.31559443e-02 -9.97318717e-01 -1.89345626e-03 1.54001660e+02] [ 9.96818113e-01 -7.31792145e-02 3.15982856e-02 2.60709432e+02] [-3.16521233e-02 4.24170926e-04 9.99498856e-01 3.10727508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.426875 meters Centerline goodness [0,1] 0.9999288863604039 Centerline is valid? [True, True] Translation: X:154.00, Y:260.74, Z:3.11 [[-7.30331751e-02 -9.97327534e-01 -1.98644862e-03 1.53996706e+02] [ 9.96783103e-01 -7.30589400e-02 3.29520507e-02 2.60737752e+02] [-3.30091153e-02 4.26534472e-04 9.99454960e-01 3.10839593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.76, Z:3.11 [[-7.30513721e-02 -9.97326041e-01 -2.06508010e-03 1.53994797e+02] [ 9.96743647e-01 -7.30792822e-02 3.40810912e-02 2.60764723e+02] [-3.41408743e-02 4.31314999e-04 9.99416937e-01 3.10808140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.486875 meters Centerline goodness [0,1] 0.9999764028505357 Centerline is valid? [True, True] Translation: X:153.99, Y:260.79, Z:3.11 [[-7.24377295e-02 -9.97370794e-01 -2.06737698e-03 1.53992089e+02] [ 9.96790855e-01 -7.24661053e-02 3.40096443e-02 2.60793229e+02] [-3.40700408e-02 4.02838951e-04 9.99419366e-01 3.10762243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:260.82, Z:3.11 [[-7.09694384e-02 -9.97476341e-01 -2.07060386e-03 1.53987538e+02] [ 9.96899326e-01 -7.09988072e-02 3.39249778e-02 2.60818868e+02] [-3.39863731e-02 3.43453026e-04 9.99422237e-01 3.10690668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.85, Z:3.10 [[-7.04029316e-02 -9.97516511e-01 -2.05842540e-03 1.53983677e+02] [ 9.96952372e-01 -7.04323370e-02 3.35447956e-02 2.60846385e+02] [-3.36064672e-02 3.09499865e-04 9.99435095e-01 3.10465313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:260.87, Z:3.10 [[-6.97009935e-02 -9.97565805e-01 -2.05804221e-03 1.53979399e+02] [ 9.97007510e-01 -6.97308317e-02 3.33711867e-02 2.60873757e+02] [-3.34334637e-02 2.74121330e-04 9.99440908e-01 3.10208195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:260.90, Z:3.10 [[-6.91050394e-02 -9.97607267e-01 -2.05752822e-03 1.53973449e+02] [ 9.97054857e-01 -6.91352376e-02 3.31953506e-02 2.60901529e+02] [-3.32581707e-02 2.42497509e-04 9.99446765e-01 3.10099521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:260.93, Z:3.10 [[-6.96696541e-02 -9.97567872e-01 -2.11658110e-03 1.53971272e+02] [ 9.96988711e-01 -6.97013211e-02 3.39887556e-02 2.60928361e+02] [-3.40536191e-02 2.57777378e-04 9.99419974e-01 3.09909248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:260.96, Z:3.10 [[-7.04086481e-02 -9.97515929e-01 -2.14319792e-03 1.53968813e+02] [ 9.96927797e-01 -7.04407230e-02 3.42501370e-02 2.60955967e+02] [-3.43160257e-02 2.74892262e-04 9.99410994e-01 3.09828279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:260.98, Z:3.10 [[-7.23970475e-02 -9.97373446e-01 -2.20845006e-03 1.53966641e+02] [ 9.96755123e-01 -7.24299210e-02 3.51159635e-02 2.60982350e+02] [-3.51836874e-02 3.41008161e-04 9.99380804e-01 3.09790197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:261.01, Z:3.10 [[-7.34380419e-02 -9.97297216e-01 -2.26222554e-03 1.53964089e+02] [ 9.96655210e-01 -7.34719302e-02 3.57808269e-02 2.61009427e+02] [-3.58503291e-02 3.73014994e-04 9.99357101e-01 3.09719022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:261.04, Z:3.10 [[-7.42983772e-02 -9.97233481e-01 -2.26613349e-03 1.53961229e+02] [ 9.96595506e-01 -7.43318966e-02 3.56674398e-02 2.61037630e+02] [-3.57372111e-02 3.91614440e-04 9.99361145e-01 3.09631316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:261.06, Z:3.10 [[-7.48238596e-02 -9.97194101e-01 -2.30544410e-03 1.53957403e+02] [ 9.96539502e-01 -7.48582685e-02 3.61283958e-02 2.61064548e+02] [-3.61996047e-02 4.05799899e-04 9.99344497e-01 3.09555394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:261.09, Z:3.09 [[-7.49359916e-02 -9.97185645e-01 -2.32085274e-03 1.53954852e+02] [ 9.96528717e-01 -7.49708593e-02 3.61923653e-02 2.61090841e+02] [-3.62645035e-02 3.99314379e-04 9.99342147e-01 3.09404190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:261.12, Z:3.09 [[-7.47143381e-02 -9.97202245e-01 -2.33469255e-03 1.53951482e+02] [ 9.96544230e-01 -7.47498424e-02 3.62223421e-02 2.61118006e+02] [-3.62955187e-02 3.79703921e-04 9.99341028e-01 3.09259589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:261.14, Z:3.09 [[-7.35796201e-02 -9.97286676e-01 -2.30754244e-03 1.53947705e+02] [ 9.96649940e-01 -7.36150903e-02 3.56330640e-02 2.61143844e+02] [-3.57062499e-02 3.22055271e-04 9.99362277e-01 3.09073554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:261.17, Z:3.09 [[-7.28884556e-02 -9.97337443e-01 -2.30192020e-03 1.53944483e+02] [ 9.96710181e-01 -7.29242442e-02 3.53676466e-02 2.61170706e+02] [-3.54413440e-02 2.83545838e-04 9.99371718e-01 3.08960178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:261.20, Z:3.09 [[-7.31918421e-02 -9.97315199e-01 -2.31265981e-03 1.53942620e+02] [ 9.96687948e-01 -7.32278207e-02 3.53669441e-02 2.61197417e+02] [-3.54413419e-02 2.83571627e-04 9.99371718e-01 3.08850887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.966875 meters Centerline goodness [0,1] 0.9999307287337212 Centerline is valid? [True, True] Translation: X:153.94, Y:261.22, Z:3.09 [[-7.23608046e-02 -9.97375859e-01 -2.30432603e-03 1.53939383e+02] [ 9.96758874e-01 -7.23970836e-02 3.50772032e-02 2.61224208e+02] [-3.51519822e-02 2.41357234e-04 9.99381949e-01 3.08694999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:261.25, Z:3.09 [[-7.01790364e-02 -9.97531704e-01 -2.32428617e-03 1.53935329e+02] [ 9.96909875e-01 -7.02173456e-02 3.52168394e-02 2.61250167e+02] [-3.52931190e-02 1.54380013e-04 9.99376992e-01 3.08613370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.026875 meters Centerline goodness [0,1] 0.9999770347234981 Centerline is valid? [True, True] Translation: X:153.93, Y:261.28, Z:3.08 [[-6.93769340e-02 -9.97587737e-01 -2.35551304e-03 1.53932553e+02] [ 9.96955391e-01 -6.94168141e-02 3.55141407e-02 2.61277571e+02] [-3.55919835e-02 1.15520781e-04 9.99366398e-01 3.08496636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:261.30, Z:3.08 [[-6.84803583e-02 -9.97649622e-01 -2.38166651e-03 1.53929986e+02] [ 9.97009134e-01 -6.85217225e-02 3.57429795e-02 2.61304249e+02] [-3.58221659e-02 7.31487799e-05 9.99358178e-01 3.08411568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:261.33, Z:3.08 [[-6.61970636e-02 -9.97803656e-01 -2.41095557e-03 1.53926162e+02] [ 9.97153375e-01 -6.62409507e-02 3.60178280e-02 2.61330492e+02] [-3.60984244e-02 -1.98180305e-05 9.99348239e-01 3.08258276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:261.36, Z:3.08 [[-6.49155485e-02 -9.97887821e-01 -2.42240617e-03 1.53922951e+02] [ 9.97237628e-01 -6.49606840e-02 3.60169778e-02 2.61358115e+02] [-3.60982647e-02 -7.76527091e-05 9.99348242e-01 3.08169965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:261.39, Z:3.08 [[-6.23606383e-02 -9.98050713e-01 -2.43418281e-03 1.53919176e+02] [ 9.97400342e-01 -6.24078648e-02 3.60252300e-02 2.61385099e+02] [-3.61069187e-02 -1.81298421e-04 9.99347916e-01 3.08048420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:261.41, Z:3.08 [[-6.15293700e-02 -9.98102328e-01 -2.42464125e-03 1.53916374e+02] [ 9.97462939e-01 -6.15767294e-02 3.57210392e-02 2.61411103e+02] [-3.58025538e-02 -2.20596745e-04 9.99358859e-01 3.07922646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:261.44, Z:3.08 [[-6.09012670e-02 -9.98140852e-01 -2.42373755e-03 1.53914796e+02] [ 9.97508128e-01 -6.09489503e-02 3.55353280e-02 2.61438651e+02] [-3.56169868e-02 -2.53551410e-04 9.99365482e-01 3.07844474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters Centerline goodness [0,1] 0.9998844171155136 Centerline is valid? [True, True] Translation: X:153.91, Y:261.47, Z:3.08 [[-6.05886686e-02 -9.98159811e-01 -2.45031002e-03 1.53913206e+02] [ 9.97519098e-01 -6.06375602e-02 3.57594035e-02 2.61467175e+02] [-3.58421803e-02 -2.77616396e-04 9.99357424e-01 3.07707633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.266875 meters Centerline goodness [0,1] 0.9999769415237041 Centerline is valid? [True, True] Translation: X:153.91, Y:261.49, Z:3.08 [[-6.03417276e-02 -9.98174832e-01 -2.42518345e-03 1.53910852e+02] [ 9.97552214e-01 -6.03897365e-02 3.52513801e-02 2.61493693e+02] [-3.53334966e-02 -2.92117940e-04 9.99375534e-01 3.07522473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters Centerline goodness [0,1] 0.9998151699281473 Centerline is valid? [True, True] Translation: X:153.91, Y:261.52, Z:3.07 [[-6.06699824e-02 -9.98155040e-01 -2.38087398e-03 1.53910203e+02] [ 9.97559950e-01 -6.07160157e-02 3.44631984e-02 2.61521158e+02] [-3.45441724e-02 -2.84182888e-04 9.99403132e-01 3.07355226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:261.55, Z:3.07 [[-6.10878540e-02 -9.98129691e-01 -2.32257300e-03 1.53908331e+02] [ 9.97568232e-01 -6.11313853e-02 3.34750098e-02 2.61547229e+02] [-3.35543833e-02 -2.72008523e-04 9.99436856e-01 3.07122948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters Centerline goodness [0,1] 0.9999303701984449 Centerline is valid? [True, True] Translation: X:153.91, Y:261.58, Z:3.07 [[-6.15931821e-02 -9.98098597e-01 -2.33884970e-03 1.53909037e+02] [ 9.97534644e-01 -6.16369951e-02 3.35487086e-02 2.61575083e+02] [-3.36290787e-02 -2.66711880e-04 9.99434347e-01 3.07041817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:261.60, Z:3.07 [[-6.17768064e-02 -9.98087211e-01 -2.35501732e-03 1.53907521e+02] [ 9.97520496e-01 -6.18210818e-02 3.36305593e-02 2.61601085e+02] [-3.37118208e-02 -2.71589497e-04 9.99431558e-01 3.06954002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:261.63, Z:3.07 [[-6.14141606e-02 -9.98109580e-01 -2.35967189e-03 1.53905393e+02] [ 9.97546248e-01 -6.14587697e-02 3.35306314e-02 2.61627387e+02] [-3.36122670e-02 -2.94626258e-04 9.99434905e-01 3.06862315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:261.65, Z:3.07 [[-5.95216839e-02 -9.98224108e-01 -2.40831031e-03 1.53903220e+02] [ 9.97641283e-01 -5.95692211e-02 3.41083309e-02 2.61654927e+02] [-3.41912194e-02 -3.72444494e-04 9.99415240e-01 3.06869581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:261.68, Z:3.07 [[-5.87152963e-02 -9.98271822e-01 -2.42553539e-03 1.53900911e+02] [ 9.97685450e-01 -5.87639366e-02 3.42132046e-02 2.61681187e+02] [-3.42966121e-02 -4.11082925e-04 9.99411614e-01 3.06797773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:261.71, Z:3.07 [[-5.78452601e-02 -9.98322513e-01 -2.46689431e-03 1.53899291e+02] [ 9.97721631e-01 -5.78960284e-02 3.46351994e-02 2.61708188e+02] [-3.47199227e-02 -4.57791696e-04 9.99396977e-01 3.06771831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters Centerline goodness [0,1] 0.9999304911955514 Centerline is valid? [True, True] Translation: X:153.90, Y:261.74, Z:3.07 [[-5.57067868e-02 -9.98443978e-01 -2.52515834e-03 1.53895668e+02] [ 9.97820379e-01 -5.57612382e-02 3.52870480e-02 2.61735041e+02] [-3.53729466e-02 -5.53926389e-04 9.99374028e-01 3.06644761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56687500000004 meters Centerline goodness [0,1] 0.9999068532706146 Centerline is valid? [True, True] Translation: X:153.89, Y:261.76, Z:3.07 [[-5.44779058e-02 -9.98511645e-01 -2.57939735e-03 1.53892966e+02] [ 9.97864654e-01 -5.45354602e-02 3.59446296e-02 2.61762579e+02] [-3.60317998e-02 -6.15701302e-04 9.99350454e-01 3.06579307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters Centerline goodness [0,1] 0.9998136805086522 Centerline is valid? [True, True] Translation: X:153.89, Y:261.79, Z:3.06 [[-5.33426764e-02 -9.98572932e-01 -2.58028194e-03 1.53889387e+02] [ 9.97930036e-01 -5.34009243e-02 3.58327290e-02 2.61789424e+02] [-3.59193827e-02 -6.63527180e-04 9.99354470e-01 3.06455454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62687500000004 meters Centerline goodness [0,1] 0.9998837155216521 Centerline is valid? [True, True] Translation: X:153.89, Y:261.82, Z:3.06 [[-5.02874498e-02 -9.98731468e-01 -2.57417361e-03 1.53888009e+02] [ 9.98096885e-01 -5.03472691e-02 3.56056132e-02 2.61817415e+02] [-3.56900490e-02 -7.78759174e-04 9.99362604e-01 3.06388206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:261.84, Z:3.06 [[-4.94397004e-02 -9.98773858e-01 -2.54880594e-03 1.53885527e+02] [ 9.98156825e-01 -4.94987596e-02 3.51116119e-02 2.61844941e+02] [-3.51947228e-02 -8.08200471e-04 9.99380147e-01 3.06294577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:261.87, Z:3.06 [[-4.83754170e-02 -9.98826009e-01 -2.53414320e-03 1.53881780e+02] [ 9.98218955e-01 -4.84343802e-02 3.48285516e-02 2.61871468e+02] [-3.49104028e-02 -8.44784071e-04 9.99390089e-01 3.06081693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:261.90, Z:3.06 [[-4.79586177e-02 -9.98846151e-01 -2.51730265e-03 1.53879604e+02] [ 9.98250341e-01 -4.80169715e-02 3.45054614e-02 2.61899623e+02] [-3.45865206e-02 -8.58064000e-04 9.99401339e-01 3.05929825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.746875 meters Centerline goodness [0,1] 0.9998599047352199 Centerline is valid? [True, True] Translation: X:153.88, Y:261.93, Z:3.06 [[-5.11995872e-02 -9.98685322e-01 -2.49598210e-03 1.53881643e+02] [ 9.98103691e-01 -5.12549623e-02 3.40873870e-02 2.61928021e+02] [-3.41705046e-02 -7.45988799e-04 9.99415739e-01 3.05731531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:261.95, Z:3.06 [[-5.40886798e-02 -9.98533032e-01 -2.48964988e-03 1.53879848e+02] [ 9.97958709e-01 -5.41420137e-02 3.38682235e-02 2.61954739e+02] [-3.39533346e-02 -6.52680283e-04 9.99423206e-01 3.05576148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:261.98, Z:3.06 [[-5.62399005e-02 -9.98413939e-01 -2.58446168e-03 1.53879426e+02] [ 9.97798599e-01 -5.62959762e-02 3.50530833e-02 2.61981518e+02] [-3.51429817e-02 -6.07390332e-04 9.99382110e-01 3.05537362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters Centerline goodness [0,1] 0.9999534526497079 Centerline is valid? [True, True] Translation: X:153.88, Y:262.01, Z:3.06 [[-6.08939492e-02 -9.98140729e-01 -2.64792971e-03 1.53882534e+02] [ 9.97497945e-01 -6.09497566e-02 3.58186733e-02 2.62009898e+02] [-3.59134673e-02 -4.60163973e-04 9.99354797e-01 3.05593841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.04, Z:3.05 [[-6.32177785e-02 -9.97996288e-01 -2.63076589e-03 1.53882449e+02] [ 9.97366371e-01 -6.32713378e-02 3.54550450e-02 2.62038304e+02] [-3.55504554e-02 -3.82448240e-04 9.99367810e-01 3.05458028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.07, Z:3.05 [[-6.57680577e-02 -9.97831512e-01 -2.61459063e-03 1.53881590e+02] [ 9.97213850e-01 -6.58193314e-02 3.51048810e-02 2.62065609e+02] [-3.52008471e-02 -2.98526145e-04 9.99380214e-01 3.05275414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.926875 meters Centerline goodness [0,1] 0.9999060680067631 Centerline is valid? [True, True] Translation: X:153.88, Y:262.09, Z:3.05 [[-7.11721712e-02 -9.97460627e-01 -2.61162355e-03 1.53883798e+02] [ 9.96848853e-01 -7.12199744e-02 3.49296239e-02 2.62093928e+02] [-3.50269243e-02 -1.17376768e-04 9.99386362e-01 3.05196910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters Centerline goodness [0,1] 0.9999766316920992 Centerline is valid? [True, True] Translation: X:153.88, Y:262.12, Z:3.05 [[-7.36019320e-02 -9.97284213e-01 -2.63690391e-03 1.53883531e+02] [ 9.96665140e-01 -7.36491404e-02 3.51340824e-02 2.62121339e+02] [-3.52328714e-02 -4.21738565e-05 9.99379129e-01 3.05097064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.15, Z:3.05 [[-7.62866421e-02 -9.97082290e-01 -2.69362494e-03 1.53883542e+02] [ 9.96441412e-01 -7.63341703e-02 3.57436137e-02 2.62149150e+02] [-3.58449398e-02 4.27208227e-05 9.99357363e-01 3.05042749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:262.18, Z:3.05 [[-8.07367289e-02 -9.96731510e-01 -2.80681319e-03 1.53885401e+02] [ 9.96041226e-01 -8.07852591e-02 3.70893166e-02 2.62176589e+02] [-3.71948396e-02 1.98768441e-04 9.99308013e-01 3.05156612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.046875 meters Centerline goodness [0,1] 0.9999293768685703 Centerline is valid? [True, True] Translation: X:153.88, Y:262.20, Z:3.05 [[-8.30858962e-02 -9.96538305e-01 -2.85314296e-03 1.53884354e+02] [ 9.95830806e-01 -8.31344040e-02 3.75456499e-02 2.62203767e+02] [-3.76528726e-02 2.78266315e-04 9.99290840e-01 3.05116852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.23, Z:3.05 [[-8.50260618e-02 -9.96374574e-01 -2.87700426e-03 1.53883528e+02] [ 9.95660980e-01 -8.50740374e-02 3.77043991e-02 2.62229755e+02] [-3.78124629e-02 3.41335692e-04 9.99284795e-01 3.04974371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.26, Z:3.05 [[-8.72903268e-02 -9.96178785e-01 -2.86819640e-03 1.53881853e+02] [ 9.95475540e-01 -8.73364650e-02 3.74271479e-02 2.62257735e+02] [-3.75346289e-02 4.11808612e-04 9.99295243e-01 3.04774233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.28, Z:3.05 [[-8.78382225e-02 -9.96130648e-01 -2.85970919e-03 1.53879720e+02] [ 9.95436357e-01 -8.78837586e-02 3.71874157e-02 2.62284951e+02] [-3.72948465e-02 4.19818002e-04 9.99304217e-01 3.04640210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:262.31, Z:3.05 [[-8.79956520e-02 -9.96116862e-01 -2.82185995e-03 1.53876776e+02] [ 9.95446050e-01 -8.80399432e-02 3.65531146e-02 2.62312046e+02] [-3.66596102e-02 4.07505808e-04 9.99327727e-01 3.04528417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:262.34, Z:3.04 [[-8.73933416e-02 -9.96170047e-01 -2.76420083e-03 1.53873407e+02] [ 9.95531372e-01 -8.74362828e-02 3.56676896e-02 2.62337995e+02] [-3.57727754e-02 3.65269933e-04 9.99359883e-01 3.04308387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:262.37, Z:3.04 [[-8.68477710e-02 -9.96217773e-01 -2.75917653e-03 1.53869097e+02] [ 9.95586807e-01 -8.68909557e-02 3.54523731e-02 2.62366085e+02] [-3.55580317e-02 3.31959827e-04 9.99367558e-01 3.04210470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:262.39, Z:3.04 [[-8.65126026e-02 -9.96246832e-01 -2.79642449e-03 1.53866323e+02] [ 9.95603505e-01 -8.65572211e-02 3.57981685e-02 2.62393159e+02] [-3.59058627e-02 3.12862699e-04 9.99355128e-01 3.04087823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:262.42, Z:3.04 [[-8.60491275e-02 -9.96286829e-01 -2.84629579e-03 1.53862899e+02] [ 9.95625629e-01 -8.60957035e-02 3.62923721e-02 2.62421292e+02] [-3.64026661e-02 2.89081915e-04 9.99337161e-01 3.04023734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters Centerline goodness [0,1] 0.9999531604955619 Centerline is valid? [True, True] Translation: X:153.86, Y:262.45, Z:3.04 [[-8.40301896e-02 -9.96458581e-01 -3.03689462e-03 1.53859314e+02] [ 9.95711712e-01 -8.40847678e-02 3.85738047e-02 2.62447925e+02] [-3.86925553e-02 2.17492583e-04 9.99251139e-01 3.04053315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:262.47, Z:3.04 [[-8.29395575e-02 -9.96549647e-01 -3.13527664e-03 1.53855367e+02] [ 9.95759637e-01 -8.29986250e-02 3.96733381e-02 2.62474658e+02] [-3.97966748e-02 1.68507183e-04 9.99207784e-01 3.04016790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:262.50, Z:3.04 [[-8.20866207e-02 -9.96620126e-01 -3.17972427e-03 1.53851742e+02] [ 9.95813919e-01 -8.21480899e-02 4.00790574e-02 2.62501300e+02] [-4.02048035e-02 1.23540702e-04 9.99191452e-01 3.03972799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:262.53, Z:3.04 [[-7.89330004e-02 -9.96874630e-01 -3.24856184e-03 1.53845866e+02] [ 9.96039915e-01 -7.89998193e-02 4.07862344e-02 2.62528682e+02] [-4.09153982e-02 -1.63173997e-05 9.99162614e-01 3.03856892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters Centerline goodness [0,1] 0.9999301822243943 Centerline is valid? [True, True] Translation: X:153.84, Y:262.56, Z:3.04 [[-7.71094530e-02 -9.97017440e-01 -3.21811029e-03 1.53841331e+02] [ 9.96204262e-01 -7.71765099e-02 4.02598385e-02 2.62555667e+02] [-4.03881237e-02 -1.01481061e-04 9.99184062e-01 3.03666188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.466875 meters Centerline goodness [0,1] 0.9999305137351183 Centerline is valid? [True, True] Translation: X:153.84, Y:262.58, Z:3.04 [[-7.56446890e-02 -9.97129711e-01 -3.19683804e-03 1.53836887e+02] [ 9.96333510e-01 -7.57120160e-02 3.98400339e-02 2.62581816e+02] [-3.99677206e-02 -1.71429892e-04 9.99200957e-01 3.03513854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:262.61, Z:3.03 [[-7.24373686e-02 -9.97368136e-01 -3.10301354e-03 1.53831318e+02] [ 9.96624137e-01 -7.25031697e-02 3.85177920e-02 2.62609171e+02] [-3.86413967e-02 -3.02410694e-04 9.99253097e-01 3.03273296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.526875 meters Centerline goodness [0,1] 0.9999076191136054 Centerline is valid? [True, True] Translation: X:153.83, Y:262.64, Z:3.03 [[-7.14940432e-02 -9.97436355e-01 -3.05290436e-03 1.53827963e+02] [ 9.96721106e-01 -7.15583747e-02 3.77681939e-02 2.62636929e+02] [-3.78898305e-02 -3.42693329e-04 9.99281864e-01 3.03066980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters Centerline goodness [0,1] 0.9999308054248547 Centerline is valid? [True, True] Translation: X:153.82, Y:262.66, Z:3.03 [[-7.06258987e-02 -9.97498338e-01 -3.00787920e-03 1.53824125e+02] [ 9.96808713e-01 -7.06889051e-02 3.70872996e-02 2.62662941e+02] [-3.72071434e-02 -3.78956332e-04 9.99307503e-01 3.02836831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.586875 meters Centerline goodness [0,1] 0.9999539870243409 Centerline is valid? [True, True] Translation: X:153.82, Y:262.69, Z:3.03 [[-6.93798953e-02 -9.97586088e-01 -2.90287342e-03 1.53820615e+02] [ 9.96949146e-01 -6.94393213e-02 3.56452002e-02 2.62690275e+02] [-3.57607294e-02 -4.20956919e-04 9.99360292e-01 3.02635825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters Centerline goodness [0,1] 0.9998848324311874 Centerline is valid? [True, True] Translation: X:153.82, Y:262.72, Z:3.02 [[-6.89916057e-02 -9.97613098e-01 -2.87488493e-03 1.53818470e+02] [ 9.96991137e-01 -6.90501012e-02 3.52243641e-02 2.62717212e+02] [-3.53387981e-02 -4.36049364e-04 9.99375294e-01 3.02494407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.646875 meters Centerline goodness [0,1] 0.9998847554510671 Centerline is valid? [True, True] Translation: X:153.81, Y:262.74, Z:3.02 [[-6.79350566e-02 -9.97685658e-01 -2.85583672e-03 1.53814767e+02] [ 9.97076662e-01 -6.79933661e-02 3.48573220e-02 2.62743782e+02] [-3.49708282e-02 -4.79454004e-04 9.99388219e-01 3.02301186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters Centerline goodness [0,1] 0.9999076894673682 Centerline is valid? [True, True] Translation: X:153.81, Y:262.77, Z:3.02 [[-6.77659241e-02 -9.97697146e-01 -2.86076417e-03 1.53812595e+02] [ 9.97090371e-01 -6.78244781e-02 3.47941503e-02 2.62770955e+02] [-3.49080543e-02 -4.94582662e-04 9.99390406e-01 3.02190793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.706875 meters Centerline goodness [0,1] 0.9998155874691685 Centerline is valid? [True, True] Translation: X:153.81, Y:262.80, Z:3.02 [[-6.75735030e-02 -9.97710287e-01 -2.82922451e-03 1.53810058e+02] [ 9.97121216e-01 -6.76308241e-02 3.42834233e-02 2.62798156e+02] [-3.43962669e-02 -5.04428777e-04 9.99408146e-01 3.02067351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters Centerline goodness [0,1] 0.9998609211654806 Centerline is valid? [True, True] Translation: X:153.81, Y:262.83, Z:3.02 [[-6.73437673e-02 -9.97725761e-01 -2.85021379e-03 1.53807481e+02] [ 9.97132400e-01 -6.74020123e-02 3.44084970e-02 2.62825588e+02] [-3.45223539e-02 -5.24842700e-04 9.99403788e-01 3.01972066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.766875 meters Centerline goodness [0,1] 0.9998846943246547 Centerline is valid? [True, True] Translation: X:153.81, Y:262.85, Z:3.02 [[-6.73432303e-02 -9.97725787e-01 -2.85347975e-03 1.53805078e+02] [ 9.97135443e-01 -6.74015418e-02 3.43211349e-02 2.62853217e+02] [-3.44354103e-02 -5.34009708e-04 9.99406783e-01 3.01820681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters Centerline goodness [0,1] 0.9999077533324109 Centerline is valid? [True, True] Translation: X:153.80, Y:262.88, Z:3.02 [[-6.77527980e-02 -9.97698042e-01 -2.85939897e-03 1.53804322e+02] [ 9.97109541e-01 -6.78110425e-02 3.42669841e-02 2.62880873e+02] [-3.43820017e-02 -5.29449947e-04 9.99408624e-01 3.01688528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82687500000003 meters Centerline goodness [0,1] 0.9999536704579676 Centerline is valid? [True, True] Translation: X:153.80, Y:262.91, Z:3.02 [[-6.84907239e-02 -9.97647655e-01 -2.85973968e-03 1.53803375e+02] [ 9.97063447e-01 -6.85484805e-02 3.41407034e-02 2.62909476e+02] [-3.42564235e-02 -5.13020416e-04 9.99412945e-01 3.01604079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters Centerline goodness [0,1] 0.9999536704579676 Centerline is valid? [True, True] Translation: X:153.80, Y:262.94, Z:3.01 [[-6.87706144e-02 -9.97628372e-01 -2.86935131e-03 1.53800989e+02] [ 9.97044182e-01 -6.88285360e-02 3.41398953e-02 2.62936972e+02] [-3.42564215e-02 -5.13048446e-04 9.99412945e-01 3.01491358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:262.96, Z:3.01 [[-7.07217019e-02 -9.97491898e-01 -2.89044317e-03 1.53801693e+02] [ 9.96902957e-01 -7.07792659e-02 3.42751949e-02 2.62964887e+02] [-3.43938126e-02 -4.57491233e-04 9.99408253e-01 3.01497977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters Centerline goodness [0,1] 0.9998841063440187 Centerline is valid? [True, True] Translation: X:153.80, Y:262.99, Z:3.01 [[-7.17974914e-02 -9.97414985e-01 -2.91008548e-03 1.53799987e+02] [ 9.96821954e-01 -7.18551468e-02 3.43923003e-02 2.62992202e+02] [-3.45125003e-02 -4.31556211e-04 9.99404173e-01 3.01354883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.02, Z:3.01 [[-7.30825659e-02 -9.97321644e-01 -2.91168057e-03 1.53799731e+02] [ 9.96732055e-01 -7.31394722e-02 3.42903460e-02 2.63020343e+02] [-3.44114630e-02 -3.96138888e-04 9.99407672e-01 3.01305684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.05, Z:3.01 [[-7.44303579e-02 -9.97222019e-01 -2.89254852e-03 1.53798755e+02] [ 9.96643944e-01 -7.44856928e-02 3.39518851e-02 2.63048532e+02] [-3.40730209e-02 -3.55790006e-04 9.99419283e-01 3.01228788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.08, Z:3.01 [[-7.71828322e-02 -9.97012828e-01 -2.86917411e-03 1.53799037e+02] [ 9.96447661e-01 -7.72356770e-02 3.35665024e-02 2.63075291e+02] [-3.36878361e-02 -2.68224108e-04 9.99432368e-01 3.01075378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.10, Z:3.01 [[-7.85163271e-02 -9.96908706e-01 -2.86667045e-03 1.53798191e+02] [ 9.96348274e-01 -7.85682992e-02 3.34236257e-02 2.63102935e+02] [-3.35455329e-02 -2.31901824e-04 9.99437163e-01 3.00971437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.13, Z:3.01 [[-8.00037037e-02 -9.96790334e-01 -2.90466271e-03 1.53797244e+02] [ 9.96219060e-01 -8.00561802e-02 3.37430423e-02 2.63130290e+02] [-3.38672746e-02 -1.94112000e-04 9.99426320e-01 3.00882184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:263.16, Z:3.01 [[-8.14338988e-02 -9.96674508e-01 -2.90602327e-03 1.53796562e+02] [ 9.96106666e-01 -8.14855860e-02 3.36393857e-02 2.63157449e+02] [-3.37643172e-02 -1.55322823e-04 9.99429811e-01 3.00798598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12687500000004 meters Centerline goodness [0,1] 0.9999302957782477 Centerline is valid? [True, True] Translation: X:153.80, Y:263.18, Z:3.01 [[-8.35728480e-02 -9.96497288e-01 -2.95547255e-03 1.53796678e+02] [ 9.95914181e-01 -8.36250366e-02 3.40851608e-02 2.63184661e+02] [-3.42129218e-02 -9.48030659e-05 9.99414562e-01 3.00880178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:263.21, Z:3.01 [[-8.44495201e-02 -9.96423334e-01 -2.96952353e-03 1.53794751e+02] [ 9.95838965e-01 -8.45016792e-02 3.41207078e-02 2.63212962e+02] [-3.42495991e-02 -7.56898386e-05 9.99413308e-01 3.00772858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:263.24, Z:3.01 [[-8.50518959e-02 -9.96371944e-01 -3.02048585e-03 1.53792343e+02] [ 9.95771188e-01 -8.51054878e-02 3.45947455e-02 2.63240376e+02] [-3.47262938e-02 -6.53640883e-05 9.99396858e-01 3.00687456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:263.27, Z:3.01 [[-8.56356686e-02 -9.96321941e-01 -3.02041619e-03 1.53790338e+02] [ 9.95725680e-01 -8.56888995e-02 3.44642309e-02 2.63266295e+02] [-3.45962856e-02 -5.61385019e-05 9.99401368e-01 3.00521417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:263.29, Z:3.00 [[-8.61016233e-02 -9.96281849e-01 -2.99795900e-03 1.53787975e+02] [ 9.95697428e-01 -8.61537873e-02 3.41197459e-02 2.63293592e+02] [-3.42511690e-02 -4.72945543e-05 9.99413255e-01 3.00431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters Centerline goodness [0,1] 0.9999768067538732 Centerline is valid? [True, True] Translation: X:153.79, Y:263.32, Z:3.00 [[-8.63440566e-02 -9.96260820e-01 -3.01373547e-03 1.53785626e+02] [ 9.95674412e-01 -8.63966218e-02 3.41773279e-02 2.63319692e+02] [-3.43099093e-02 -4.96901567e-05 9.99411241e-01 3.00245924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.306875 meters Centerline goodness [0,1] 0.9999302406696896 Centerline is valid? [True, True] Translation: X:153.78, Y:263.35, Z:3.00 [[-8.65414864e-02 -9.96243710e-01 -3.00703707e-03 1.53782942e+02] [ 9.95664252e-01 -8.65936963e-02 3.39739403e-02 2.63346560e+02] [-3.41067148e-02 -5.38440211e-05 9.99418195e-01 3.00170494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:263.37, Z:3.00 [[-8.62071374e-02 -9.96272635e-01 -3.02760268e-03 1.53779823e+02] [ 9.95689355e-01 -8.62602524e-02 3.40863296e-02 2.63374454e+02] [-3.42204392e-02 -7.60668564e-05 9.99414306e-01 3.00112598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.366875 meters Centerline goodness [0,1] 0.9999070891015516 Centerline is valid? [True, True] Translation: X:153.78, Y:263.40, Z:3.00 [[-8.56443521e-02 -9.96321056e-01 -3.06552717e-03 1.53776166e+02] [ 9.95726816e-01 -8.56991326e-02 3.44059192e-02 2.63400081e+02] [-3.45420548e-02 -1.05754944e-04 9.99403240e-01 2.99963492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:263.43, Z:3.00 [[-8.41296683e-02 -9.96449841e-01 -3.14866727e-03 1.53770904e+02] [ 9.95827821e-01 -8.41883896e-02 3.52032208e-02 2.63425788e+02] [-3.53433249e-02 -1.73895181e-04 9.99375214e-01 2.99839364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:263.45, Z:3.00 [[-8.28979317e-02 -9.96553008e-01 -3.16772988e-03 1.53766851e+02] [ 9.95928335e-01 -8.29581136e-02 3.52803468e-02 2.63452413e+02] [-3.54215246e-02 -2.30164166e-04 9.99372434e-01 2.99677565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.76, Y:263.48, Z:2.99 [[-8.18570363e-02 -9.96638992e-01 -3.18511997e-03 1.53763190e+02] [ 9.96010381e-01 -8.19185182e-02 3.53931743e-02 2.63479793e+02] [-3.55351379e-02 -2.75232200e-04 9.99368390e-01 2.99494163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.486875 meters Centerline goodness [0,1] 0.9999535984409076 Centerline is valid? [True, True] Translation: X:153.76, Y:263.51, Z:2.99 [[-7.97325299e-02 -9.96811159e-01 -3.19949328e-03 1.53758383e+02] [ 9.96181502e-01 -7.97958745e-02 3.54264482e-02 2.63507907e+02] [-3.55687853e-02 -3.62635676e-04 9.99367165e-01 2.99311658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:263.54, Z:2.99 [[-7.88524869e-02 -9.96881032e-01 -3.23936436e-03 1.53754395e+02] [ 9.96239561e-01 -7.89179454e-02 3.57588391e-02 2.63535286e+02] [-3.59029524e-02 -4.07509543e-04 9.99355198e-01 2.99141978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.546875 meters Centerline goodness [0,1] 0.9999074673822522 Centerline is valid? [True, True] Translation: X:153.75, Y:263.56, Z:2.99 [[-7.78739685e-02 -9.96957805e-01 -3.28321460e-03 1.53750840e+02] [ 9.96303115e-01 -7.79418051e-02 3.61272604e-02 2.63561538e+02] [-3.62732539e-02 -4.57703796e-04 9.99341804e-01 2.99043117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters Centerline goodness [0,1] 0.9999071861150428 Centerline is valid? [True, True] Translation: X:153.75, Y:263.59, Z:2.99 [[-7.70288256e-02 -9.97023101e-01 -3.39052787e-03 1.53746971e+02] [ 9.96330127e-01 -7.71016894e-02 3.71699844e-02 2.63588338e+02] [-3.73207486e-02 -5.14924815e-04 9.99303206e-01 2.98986492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:263.62, Z:2.99 [[-7.49928198e-02 -9.97177612e-01 -3.58979749e-03 1.53743144e+02] [ 9.96406429e-01 -7.50759956e-02 3.92150998e-02 2.63616295e+02] [-3.93739272e-02 -6.36046377e-04 9.99224344e-01 2.99015970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:263.64, Z:2.99 [[-7.40898994e-02 -9.97244881e-01 -3.65167312e-03 1.53739217e+02] [ 9.96451873e-01 -7.41766042e-02 3.97680260e-02 2.63644558e+02] [-3.99293291e-02 -6.92307475e-04 9.99202267e-01 2.98967094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.666875 meters Centerline goodness [0,1] 0.9999072786277237 Centerline is valid? [True, True] Translation: X:153.74, Y:263.67, Z:2.99 [[-7.29141671e-02 -9.97331233e-01 -3.73308631e-03 1.53735119e+02] [ 9.96507640e-01 -7.30056624e-02 4.05301898e-02 2.63671672e+02] [-4.06945606e-02 -7.64823999e-04 9.99171341e-01 2.98861578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters Centerline goodness [0,1] 0.9998845265588915 Centerline is valid? [True, True] Translation: X:153.73, Y:263.70, Z:2.99 [[-7.03767887e-02 -9.97513333e-01 -3.77604750e-03 1.53730257e+02] [ 9.96676271e-01 -7.04724295e-02 4.08662141e-02 2.63698943e+02] [-4.10307006e-02 -8.87464027e-04 9.99157492e-01 2.98715215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.726875 meters Centerline goodness [0,1] 0.9998611882287618 Centerline is valid? [True, True] Translation: X:153.73, Y:263.73, Z:2.99 [[-6.91660200e-02 -9.97598029e-01 -3.77278278e-03 1.53725917e+02] [ 9.96767509e-01 -6.92623954e-02 4.07093825e-02 2.63726074e+02] [-4.08729118e-02 -9.44881323e-04 9.99163907e-01 2.98521163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters Centerline goodness [0,1] 0.9998143593075602 Centerline is valid? [True, True] Translation: X:153.72, Y:263.75, Z:2.98 [[-6.77986228e-02 -9.97691993e-01 -3.74629236e-03 1.53723111e+02] [ 9.96878369e-01 -6.78946456e-02 4.02968364e-02 2.63753722e+02] [-4.04581842e-02 -1.00252781e-03 9.99180730e-01 2.98282861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:263.78, Z:2.98 [[-6.55418591e-02 -9.97843240e-01 -3.62389673e-03 1.53719249e+02] [ 9.97086603e-01 -6.56333117e-02 3.88661026e-02 2.63781285e+02] [-3.90201261e-02 -1.06598226e-03 9.99237856e-01 2.97944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters Centerline goodness [0,1] 0.9999305394767307 Centerline is valid? [True, True] Translation: X:153.71, Y:263.81, Z:2.98 [[-6.48677616e-02 -9.97887519e-01 -3.55984345e-03 1.53714291e+02] [ 9.97161846e-01 -6.49563804e-02 3.80647050e-02 2.63808321e+02] [-3.82155285e-02 -1.08056785e-03 9.99268936e-01 2.97734346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.846875 meters Centerline goodness [0,1] 0.9998840821625632 Centerline is valid? [True, True] Translation: X:153.71, Y:263.84, Z:2.98 [[-6.47822781e-02 -9.97893168e-01 -3.53283742e-03 1.53712691e+02] [ 9.97182996e-01 -6.48694900e-02 3.76566414e-02 2.63835288e+02] [-3.78064785e-02 -1.08340239e-03 9.99284492e-01 2.97586950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters Centerline goodness [0,1] 0.9999070955754268 Centerline is valid? [True, True] Translation: X:153.71, Y:263.86, Z:2.97 [[-6.52577799e-02 -9.97862201e-01 -3.52842026e-03 1.53709900e+02] [ 9.97158477e-01 -6.53443027e-02 3.74845941e-02 2.63861917e+02] [-3.76350217e-02 -1.07223278e-03 9.99290976e-01 2.97431311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.906875 meters Centerline goodness [0,1] 0.9998368982711217 Centerline is valid? [True, True] Translation: X:153.71, Y:263.89, Z:2.97 [[-6.69649142e-02 -9.97748878e-01 -3.58835315e-03 1.53709992e+02] [ 9.97025819e-01 -6.70530225e-02 3.79922267e-02 2.63889475e+02] [-3.81473115e-02 -1.03353454e-03 9.99271592e-01 2.97338416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters Centerline goodness [0,1] 0.9999302422917732 Centerline is valid? [True, True] Translation: X:153.71, Y:263.92, Z:2.97 [[-6.87725172e-02 -9.97625765e-01 -3.62959958e-03 1.53709069e+02] [ 9.96890330e-01 -6.88612070e-02 3.83119218e-02 2.63916599e+02] [-3.84708989e-02 -9.83505427e-04 9.99259237e-01 2.97316421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:263.94, Z:2.97 [[-7.06749652e-02 -9.97492490e-01 -3.71223768e-03 1.53708190e+02] [ 9.96727645e-01 -7.07661607e-02 3.90660040e-02 2.63944763e+02] [-3.92307464e-02 -9.39101446e-04 9.99229737e-01 2.97317785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters Centerline goodness [0,1] 0.9999533309998834 Centerline is valid? [True, True] Translation: X:153.71, Y:263.97, Z:2.97 [[-7.45741271e-02 -9.97207869e-01 -3.89428692e-03 1.53709959e+02] [ 9.96370833e-01 -7.46710901e-02 4.08581778e-02 2.63973142e+02] [-4.10348870e-02 -8.33190958e-04 9.99157367e-01 2.97333279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.026875 meters Centerline goodness [0,1] 0.999953261199785 Centerline is valid? [True, True] Translation: X:153.71, Y:264.00, Z:2.97 [[-7.64293567e-02 -9.97067256e-01 -3.92936135e-03 1.53708168e+02] [ 9.96220007e-01 -7.65263928e-02 4.11024147e-02 2.64000909e+02] [-4.12825717e-02 -7.73077287e-04 9.99147212e-01 2.97247482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:264.03, Z:2.97 [[-7.81301580e-02 -9.96935410e-01 -3.93286694e-03 1.53706604e+02] [ 9.96091482e-01 -7.82258335e-02 4.10180333e-02 2.64027247e+02] [-4.11999816e-02 -7.12749837e-04 9.99150666e-01 2.97160880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.086875 meters Centerline goodness [0,1] 0.9998363912586187 Centerline is valid? [True, True] Translation: X:153.71, Y:264.05, Z:2.97 [[-7.97538935e-02 -9.96806915e-01 -3.91028635e-03 1.53705196e+02] [ 9.95978271e-01 -7.98470235e-02 4.06415601e-02 2.64054654e+02] [-4.08240129e-02 -6.53237576e-04 9.99166139e-01 2.96994185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.08, Z:2.97 [[-8.30137986e-02 -9.96540908e-01 -3.86365157e-03 1.53704984e+02] [ 9.95736741e-01 -8.31020087e-02 4.00299712e-02 2.64083172e+02] [-4.02125811e-02 -5.24139856e-04 9.99191010e-01 2.96777537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.11, Z:2.97 [[-8.47321470e-02 -9.96396376e-01 -3.83736865e-03 1.53703204e+02] [ 9.95607414e-01 -8.48177424e-02 3.96462958e-02 2.64109155e+02] [-3.98289023e-02 -4.61196915e-04 9.99206408e-01 2.96621412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.14, Z:2.96 [[-8.61923097e-02 -9.96271303e-01 -3.79159620e-03 1.53702204e+02] [ 9.95506052e-01 -8.62746944e-02 3.90432678e-02 2.64135960e+02] [-3.92248061e-02 -4.09327541e-04 9.99230327e-01 2.96445589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.16, Z:2.96 [[-8.88201528e-02 -9.96040545e-01 -3.77006517e-03 1.53701527e+02] [ 9.95288500e-01 -8.88995710e-02 3.86997095e-02 2.64163128e+02] [-3.88816369e-02 -3.14988399e-04 9.99243774e-01 2.96303241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.19, Z:2.96 [[-8.98623489e-02 -9.95947180e-01 -3.73790604e-03 1.53699486e+02] [ 9.95212533e-01 -8.99396109e-02 3.82476324e-02 2.64190715e+02] [-3.84288074e-02 -2.82988850e-04 9.99261301e-01 2.96158838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.22, Z:2.96 [[-9.11132165e-02 -9.95833652e-01 -3.70407802e-03 1.53697745e+02] [ 9.95116423e-01 -9.11881540e-02 3.77892243e-02 2.64217318e+02] [-3.79695492e-02 -2.42891097e-04 9.99278867e-01 2.96024519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:264.24, Z:2.96 [[-9.31303256e-02 -9.95647353e-01 -3.61822761e-03 1.53696669e+02] [ 9.94967348e-01 -9.32004238e-02 3.67920928e-02 2.64243851e+02] [-3.69691702e-02 -1.73558738e-04 9.99316392e-01 2.95783072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:264.27, Z:2.96 [[-9.38132144e-02 -9.95583418e-01 -3.56898308e-03 1.53694627e+02] [ 9.94926065e-01 -9.38809463e-02 3.61730860e-02 2.64271380e+02] [-3.63483841e-02 -1.57360822e-04 9.99339167e-01 2.95600847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:264.30, Z:2.95 [[-9.43495977e-02 -9.95533197e-01 -3.43618021e-03 1.53692584e+02] [ 9.94927397e-01 -9.44120417e-02 3.47252255e-02 2.64298293e+02] [-3.48945315e-02 -1.42438783e-04 9.99390990e-01 2.95381473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:264.33, Z:2.95 [[-9.43607816e-02 -9.95532071e-01 -3.45516140e-03 1.53689582e+02] [ 9.94923309e-01 -9.44238945e-02 3.48100080e-02 2.64325489e+02] [-3.49807292e-02 -1.52921052e-04 9.99387975e-01 2.95267627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:264.35, Z:2.95 [[-9.43154639e-02 -9.95536271e-01 -3.48225726e-03 1.53686310e+02] [ 9.94921709e-01 -9.43795812e-02 3.49755296e-02 2.64352573e+02] [-3.51480623e-02 -1.65840048e-04 9.99382102e-01 2.95190233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44687500000003 meters Centerline goodness [0,1] 0.9999763554252477 Centerline is valid? [True, True] Translation: X:153.68, Y:264.38, Z:2.95 [[-9.39830058e-02 -9.95567571e-01 -3.52238201e-03 1.53683430e+02] [ 9.94942576e-01 -9.40487990e-02 3.52717279e-02 2.64379481e+02] [-3.54466642e-02 -1.89624820e-04 9.99371552e-01 2.95130709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:264.41, Z:2.95 [[-9.31663974e-02 -9.95644111e-01 -3.58149188e-03 1.53679524e+02] [ 9.95002091e-01 -9.32349209e-02 3.57503531e-02 2.64406566e+02] [-3.59285487e-02 -2.32860302e-04 9.99354334e-01 2.95046544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:264.43, Z:2.95 [[-9.30648370e-02 -9.95653535e-01 -3.60202446e-03 1.53675589e+02] [ 9.95008186e-01 -9.31341871e-02 3.58431659e-02 2.64432206e+02] [-3.60228464e-02 -2.48305432e-04 9.99350936e-01 2.94926406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:264.46, Z:2.95 [[-9.29182224e-02 -9.95667085e-01 -3.64136730e-03 1.53672558e+02] [ 9.95012012e-01 -9.29891604e-02 3.61125017e-02 2.64459834e+02] [-3.62946370e-02 -2.67694733e-04 9.99341097e-01 2.94879009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:264.49, Z:2.95 [[-9.23524363e-02 -9.95719539e-01 -3.69146865e-03 1.53666622e+02] [ 9.95049848e-01 -9.24256936e-02 3.65142718e-02 2.64485462e+02] [-3.66991604e-02 -3.01013359e-04 9.99326314e-01 2.94644930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:264.51, Z:2.95 [[-9.21472818e-02 -9.95738738e-01 -3.63927148e-03 1.53663956e+02] [ 9.95092196e-01 -9.22185795e-02 3.58783385e-02 2.64513114e+02] [-3.60610600e-02 -3.15319280e-04 9.99349539e-01 2.94568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:264.54, Z:2.94 [[-9.15796905e-02 -9.95791358e-01 -3.56823476e-03 1.53660505e+02] [ 9.95173501e-01 -9.16485525e-02 3.50748692e-02 2.64539792e+02] [-3.52542752e-02 -3.38867009e-04 9.99378317e-01 2.94436397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters Centerline goodness [0,1] 0.999953191190582 Centerline is valid? [True, True] Translation: X:153.66, Y:264.57, Z:2.94 [[-9.11977261e-02 -9.95826612e-01 -3.51194490e-03 1.53655545e+02] [ 9.95231713e-01 -9.12646263e-02 3.44180909e-02 2.64565786e+02] [-3.45949672e-02 -3.56347315e-04 9.99401351e-01 2.94254434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.686875 meters Centerline goodness [0,1] 0.9999064961780313 Centerline is valid? [True, True] Translation: X:153.65, Y:264.59, Z:2.94 [[-9.03566679e-02 -9.95903582e-01 -3.42467514e-03 1.53650530e+02] [ 9.95341583e-01 -9.04207219e-02 3.34548379e-02 2.64593005e+02] [-3.36274545e-02 -3.85853897e-04 9.99434363e-01 2.94014769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:264.62, Z:2.94 [[-9.01805686e-02 -9.95919713e-01 -3.37497066e-03 1.53646450e+02] [ 9.95376977e-01 -9.02428377e-02 3.28771074e-02 2.64618448e+02] [-3.30475263e-02 -3.94491857e-04 9.99453703e-01 2.93818864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:264.65, Z:2.94 [[-9.04800632e-02 -9.95892517e-01 -3.38411949e-03 1.53643582e+02] [ 9.95349797e-01 -9.05424711e-02 3.28761653e-02 2.64645071e+02] [-3.30475336e-02 -3.93745130e-04 9.99453704e-01 2.93709531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:264.67, Z:2.94 [[-9.06435534e-02 -9.95877928e-01 -3.30122628e-03 1.53640337e+02] [ 9.95364388e-01 -9.07028225e-02 3.19802036e-02 2.64672091e+02] [-3.21478094e-02 -3.87123779e-04 9.99483051e-01 2.93590773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.806875 meters Centerline goodness [0,1] 0.9999532262213803 Centerline is valid? [True, True] Translation: X:153.64, Y:264.70, Z:2.93 [[-9.13377876e-02 -9.95814353e-01 -3.34394777e-03 1.53635858e+02] [ 9.95290546e-01 -9.13981967e-02 3.22970349e-02 2.64698458e+02] [-3.24674817e-02 -3.78259888e-04 9.99472721e-01 2.93404018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters Centerline goodness [0,1] 0.9999532513673975 Centerline is valid? [True, True] Translation: X:153.63, Y:264.73, Z:2.93 [[-9.32630585e-02 -9.95635730e-01 -3.39041782e-03 1.53634349e+02] [ 9.95100596e-01 -9.33240824e-02 3.26407542e-02 2.64726073e+02] [-3.28147088e-02 -3.29630227e-04 9.99461398e-01 2.93419859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.866875 meters Centerline goodness [0,1] 0.9998837452626195 Centerline is valid? [True, True] Translation: X:153.63, Y:264.75, Z:2.93 [[-9.44189923e-02 -9.95526717e-01 -3.40734053e-03 1.53631328e+02] [ 9.94989372e-01 -9.44799701e-02 3.27060346e-02 2.64752377e+02] [-3.28816567e-02 -3.02196789e-04 9.99459206e-01 2.93349531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:264.78, Z:2.93 [[-9.60003171e-02 -9.95375487e-01 -3.40265504e-03 1.53629049e+02] [ 9.94842961e-01 -9.60602493e-02 3.25562679e-02 2.64780800e+02] [-3.27325709e-02 -2.59695380e-04 9.99464112e-01 2.93333236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:264.81, Z:2.93 [[-9.65477241e-02 -9.95322440e-01 -3.43174350e-03 1.53625678e+02] [ 9.94783607e-01 -9.66083657e-02 3.27474987e-02 2.64807415e+02] [-3.29258555e-02 -2.52145705e-04 9.99457765e-01 2.93237982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:264.83, Z:2.93 [[-9.69177729e-02 -9.95286303e-01 -3.48156948e-03 1.53621954e+02] [ 9.94735057e-01 -9.69799564e-02 3.31218195e-02 2.64834971e+02] [-3.33033358e-02 -2.53146234e-04 9.99445258e-01 2.93201016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.986875 meters Centerline goodness [0,1] 0.999976701924421 Centerline is valid? [True, True] Translation: X:153.62, Y:264.86, Z:2.93 [[-9.71203408e-02 -9.95266566e-01 -3.47876736e-03 1.53617511e+02] [ 9.94719459e-01 -9.71822876e-02 3.29969974e-02 2.64861208e+02] [-3.31788829e-02 -2.55717955e-04 9.99449397e-01 2.93075563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:264.89, Z:2.93 [[-9.75280316e-02 -9.95226684e-01 -3.48275982e-03 1.53612765e+02] [ 9.94681858e-01 -9.75898694e-02 3.29274894e-02 2.64888928e+02] [-3.31101982e-02 -2.52884781e-04 9.99451675e-01 2.92989008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.046875 meters Centerline goodness [0,1] 0.9999070264742115 Centerline is valid? [True, True] Translation: X:153.61, Y:264.92, Z:2.93 [[-9.82938622e-02 -9.95151320e-01 -3.48810934e-03 1.53608816e+02] [ 9.94607682e-01 -9.83554491e-02 3.28901948e-02 2.64915420e+02] [-3.30737953e-02 -2.36396068e-04 9.99452884e-01 2.92866867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters Centerline goodness [0,1] 0.9998838694692834 Centerline is valid? [True, True] Translation: X:153.61, Y:264.94, Z:2.93 [[-9.91028201e-02 -9.95070960e-01 -3.52362092e-03 1.53605388e+02] [ 9.94519368e-01 -9.91651952e-02 3.31283897e-02 2.64943184e+02] [-3.33145191e-02 -2.21192413e-04 9.99444893e-01 2.92762252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.106875 meters Centerline goodness [0,1] 0.9999304670297833 Centerline is valid? [True, True] Translation: X:153.60, Y:264.97, Z:2.93 [[-1.01646769e-01 -9.94814190e-01 -3.55823651e-03 1.53601945e+02] [ 9.94254547e-01 -1.01708924e-01 3.33645129e-02 2.64970062e+02] [-3.35533953e-02 -1.46397878e-04 9.99436916e-01 2.92677301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:265.00, Z:2.93 [[-1.03715358e-01 -9.94600561e-01 -3.58456428e-03 1.53598695e+02] [ 9.94035551e-01 -1.03777247e-01 3.35202223e-02 2.64996312e+02] [-3.37112281e-02 -8.66224818e-05 9.99431611e-01 2.92505444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:265.02, Z:2.92 [[-1.05888078e-01 -9.94371489e-01 -3.61355376e-03 1.53595954e+02] [ 9.93800794e-01 -1.05949716e-01 3.36844119e-02 2.65023817e+02] [-3.38776738e-02 -2.43749641e-05 9.99425987e-01 2.92407547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:265.05, Z:2.92 [[-1.10546636e-01 -9.93864300e-01 -3.63247250e-03 1.53594392e+02] [ 9.93290665e-01 -1.10606230e-01 3.37626610e-02 2.65051415e+02] [-3.39572776e-02 1.24247588e-04 9.99423278e-01 2.92291747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:265.08, Z:2.92 [[-1.12631758e-01 -9.93630252e-01 -3.60677281e-03 1.53591678e+02] [ 9.93067848e-01 -1.12689344e-01 3.34269453e-02 2.65079209e+02] [-3.36204690e-02 1.83165515e-04 9.99434655e-01 2.92261215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters Centerline goodness [0,1] 0.999953848993908 Centerline is valid? [True, True] Translation: X:153.59, Y:265.10, Z:2.92 [[-1.15307855e-01 -9.93323246e-01 -3.60926900e-03 1.53589535e+02] [ 9.92762937e-01 -1.15364027e-01 3.33600386e-02 2.65104923e+02] [-3.35536817e-02 2.63525995e-04 9.99436882e-01 2.92077734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:265.13, Z:2.92 [[-1.18975657e-01 -9.92890639e-01 -3.60166465e-03 1.53586194e+02] [ 9.92334920e-01 -1.19029560e-01 3.32170208e-02 2.65132819e+02] [-3.34095735e-02 3.77959259e-04 9.99441673e-01 2.92045301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters Centerline goodness [0,1] 0.9999540272158882 Centerline is valid? [True, True] Translation: X:153.58, Y:265.16, Z:2.92 [[-1.20484154e-01 -9.92708879e-01 -3.55663857e-03 1.53583177e+02] [ 9.92169806e-01 -1.20535931e-01 3.27133746e-02 2.65159194e+02] [-3.29035602e-02 4.12653862e-04 9.99458446e-01 2.91891344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:265.19, Z:2.92 [[-1.21968685e-01 -9.92527660e-01 -3.53336050e-03 1.53579498e+02] [ 9.91997091e-01 -1.22019013e-01 3.24520080e-02 2.65186310e+02] [-3.26406527e-02 4.53045411e-04 9.99467049e-01 2.91756981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:265.21, Z:2.92 [[-1.24033185e-01 -9.92271916e-01 -3.49472153e-03 1.53573228e+02] [ 9.91755663e-01 -1.24081384e-01 3.20080558e-02 2.65213406e+02] [-3.21943247e-02 5.04151234e-04 9.99481501e-01 2.91695398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:265.24, Z:2.92 [[-1.24920596e-01 -9.92160443e-01 -3.53567335e-03 1.53569053e+02] [ 9.91634943e-01 -1.24969507e-01 3.22918375e-02 2.65241626e+02] [-3.24805351e-02 5.27818341e-04 9.99472229e-01 2.91597203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:265.27, Z:2.92 [[-1.25579945e-01 -9.92077165e-01 -3.54640389e-03 1.53564915e+02] [ 9.91551158e-01 -1.25628848e-01 3.23062607e-02 2.65269941e+02] [-3.24958341e-02 5.40577569e-04 9.99471725e-01 2.91538486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:265.30, Z:2.91 [[-1.26472023e-01 -9.91963460e-01 -3.64974689e-03 1.53562033e+02] [ 9.91409116e-01 -1.26523364e-01 3.31632828e-02 2.65296479e+02] [-3.33585430e-02 5.75835109e-04 9.99443283e-01 2.91498222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:265.32, Z:2.92 [[-1.27724507e-01 -9.91802282e-01 -3.83198735e-03 1.53555608e+02] [ 9.91195003e-01 -1.27780401e-01 3.47078443e-02 2.65323635e+02] [-3.49129720e-02 6.34795574e-04 9.99390155e-01 2.91656549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:265.35, Z:2.92 [[-1.28673186e-01 -9.91679431e-01 -3.88806227e-03 1.53549968e+02] [ 9.91057804e-01 -1.28730197e-01 3.51136078e-02 2.65351374e+02] [-3.53219537e-02 6.64885338e-04 9.99375764e-01 2.91627045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:265.38, Z:2.91 [[-1.29700272e-01 -9.91545402e-01 -3.94400538e-03 1.53545671e+02] [ 9.90908998e-01 -1.29758338e-01 3.55264964e-02 2.65377970e+02] [-3.57379018e-02 6.99645844e-04 9.99360952e-01 2.91493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:265.40, Z:2.91 [[-1.29951168e-01 -9.91512512e-01 -3.95373879e-03 1.53540405e+02] [ 9.90876406e-01 -1.30009427e-01 3.55175564e-02 2.65404896e+02] [-3.57301249e-02 6.97881463e-04 9.99361232e-01 2.91368297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters Centerline goodness [0,1] 0.9999551146819875 Centerline is valid? [True, True] Translation: X:153.53, Y:265.43, Z:2.91 [[-1.29890227e-01 -9.91520445e-01 -3.96696246e-03 1.53533811e+02] [ 9.90883600e-01 -1.29948984e-01 3.55380369e-02 2.65432590e+02] [-3.57521929e-02 6.85245656e-04 9.99360451e-01 2.91250860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:265.46, Z:2.91 [[-1.29115259e-01 -9.91621972e-01 -3.88768120e-03 1.53526152e+02] [ 9.91013354e-01 -1.29172224e-01 3.47429061e-02 2.65459942e+02] [-3.49540095e-02 6.33095336e-04 9.99388721e-01 2.91106180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:265.49, Z:2.91 [[-1.28855711e-01 -9.91655664e-01 -3.90506437e-03 1.53523421e+02] [ 9.91044719e-01 -1.28913402e-01 3.48094714e-02 2.65487024e+02] [-3.50224246e-02 6.15305765e-04 9.99386337e-01 2.90893625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:265.51, Z:2.91 [[-1.28011724e-01 -9.91765083e-01 -3.87536821e-03 1.53517022e+02] [ 9.91166635e-01 -1.28069106e-01 3.44529629e-02 2.65514643e+02] [-3.46655606e-02 5.69247505e-04 9.99398807e-01 2.90819443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:265.54, Z:2.91 [[-1.27557664e-01 -9.91823862e-01 -3.80378431e-03 1.53512759e+02] [ 9.91250324e-01 -1.27613257e-01 3.37290917e-02 2.65541786e+02] [-3.39387313e-02 5.31901712e-04 9.99423774e-01 2.90668596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:265.57, Z:2.91 [[-1.25629280e-01 -9.92069900e-01 -3.82059216e-03 1.53506561e+02] [ 9.91493363e-01 -1.25686517e-01 3.38202763e-02 2.65569282e+02] [-3.40322751e-02 4.60725190e-04 9.99420628e-01 2.90551342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:265.60, Z:2.90 [[-1.24266469e-01 -9.92241471e-01 -3.83501184e-03 1.53502823e+02] [ 9.91663622e-01 -1.24324973e-01 3.38609326e-02 2.65596208e+02] [-3.40750093e-02 4.04736814e-04 9.99419196e-01 2.90356558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:265.62, Z:2.90 [[-1.22860638e-01 -9.92416652e-01 -3.80157239e-03 1.53497707e+02] [ 9.91850868e-01 -1.22918951e-01 3.35080238e-02 2.65624386e+02] [-3.37212061e-02 3.46224324e-04 9.99431218e-01 2.90247476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters Centerline goodness [0,1] 0.9999556354118143 Centerline is valid? [True, True] Translation: X:153.49, Y:265.65, Z:2.90 [[-1.19524709e-01 -9.92824007e-01 -3.78619968e-03 1.53491810e+02] [ 9.92265450e-01 -1.19584453e-01 3.32991771e-02 2.65651260e+02] [-3.35129931e-02 2.23159321e-04 9.99438257e-01 2.90115579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:265.68, Z:2.90 [[-1.18381981e-01 -9.92960939e-01 -3.77882028e-03 1.53487295e+02] [ 9.92407737e-01 -1.18442150e-01 3.31412109e-02 2.65679170e+02] [-3.33554995e-02 1.73191722e-04 9.99443536e-01 2.90037007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters Centerline goodness [0,1] 0.9998670094866566 Centerline is valid? [True, True] Translation: X:153.48, Y:265.71, Z:2.90 [[-1.17090680e-01 -9.93114133e-01 -3.75375603e-03 1.53483409e+02] [ 9.92570968e-01 -1.17150773e-01 3.28415927e-02 2.65706046e+02] [-3.30552053e-02 1.19575170e-04 9.99453520e-01 2.89903246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94687500000003 meters Centerline goodness [0,1] 0.9999777851827168 Centerline is valid? [True, True] Translation: X:153.48, Y:265.73, Z:2.90 [[-1.15334720e-01 -9.93319250e-01 -3.84329798e-03 1.53478203e+02] [ 9.92752989e-01 -1.15398725e-01 3.35356039e-02 2.65733083e+02] [-3.37550725e-02 5.23739221e-05 9.99430134e-01 2.89858685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters Centerline goodness [0,1] 0.9998891942203705 Centerline is valid? [True, True] Translation: X:153.47, Y:265.76, Z:2.90 [[-1.14888816e-01 -9.93370644e-01 -3.91458489e-03 1.53473723e+02] [ 9.92786501e-01 -1.14955484e-01 3.40616993e-02 2.65760903e+02] [-3.42858951e-02 2.69612740e-05 9.99412066e-01 2.89815589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:265.79, Z:2.90 [[-1.14121240e-01 -9.93458733e-01 -4.01115183e-03 1.53469390e+02] [ 9.92848458e-01 -1.14191710e-01 3.48165577e-02 2.65787322e+02] [-3.50468536e-02 -9.15717622e-06 9.99385670e-01 2.89746975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters Centerline goodness [0,1] 0.9998449612403101 Centerline is valid? [True, True] Translation: X:153.47, Y:265.81, Z:2.90 [[-1.13768415e-01 -9.93499181e-01 -4.01550619e-03 1.53466079e+02] [ 9.92891126e-01 -1.13839252e-01 3.47539428e-02 2.65813480e+02] [-3.49851359e-02 -3.30594938e-05 9.99387832e-01 2.89610106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:265.84, Z:2.90 [[-1.13777760e-01 -9.93498034e-01 -4.03454203e-03 1.53462494e+02] [ 9.92887749e-01 -1.13849261e-01 3.48175786e-02 2.65840500e+02] [-3.50505255e-02 -4.43812412e-05 9.99385541e-01 2.89515265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters Centerline goodness [0,1] 0.9998227539603411 Centerline is valid? [True, True] Translation: X:153.46, Y:265.87, Z:2.89 [[-1.12941735e-01 -9.93593723e-01 -3.95955150e-03 1.53458356e+02] [ 9.93009106e-01 -1.13011091e-01 3.40794515e-02 2.65868767e+02] [-3.43086023e-02 -8.28783060e-05 9.99411283e-01 2.89363502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12687500000004 meters Centerline goodness [0,1] 0.9999558625559993 Centerline is valid? [True, True] Translation: X:153.45, Y:265.90, Z:2.89 [[-1.12486589e-01 -9.93645409e-01 -3.94565927e-03 1.53454397e+02] [ 9.93067749e-01 -1.12555716e-01 3.38770928e-02 2.65896344e+02] [-3.41059243e-02 -1.07588370e-04 9.99418218e-01 2.89219395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters Centerline goodness [0,1] 0.9998671831765357 Centerline is valid? [True, True] Translation: X:153.45, Y:265.92, Z:2.89 [[-1.11257251e-01 -9.93784110e-01 -3.86870467e-03 1.53449946e+02] [ 9.93231371e-01 -1.11324384e-01 3.31409748e-02 2.65922319e+02] [-3.33656553e-02 -1.55345112e-04 9.99443199e-01 2.89021833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:265.95, Z:2.89 [[-1.10247331e-01 -9.93896915e-01 -3.80108695e-03 1.53446227e+02] [ 9.93366463e-01 -1.10312663e-01 3.24682333e-02 2.65950304e+02] [-3.26893850e-02 -1.96336248e-04 9.99465540e-01 2.88999123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters Centerline goodness [0,1] 0.9998016179161064 Centerline is valid? [True, True] Translation: X:153.44, Y:265.98, Z:2.89 [[-1.07729303e-01 -9.94173279e-01 -3.72672203e-03 1.53440864e+02] [ 9.93666161e-01 -1.07793373e-01 3.17513707e-02 2.65976895e+02] [-3.19680802e-02 -2.82564550e-04 9.99488850e-01 2.88840509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.246875 meters Centerline goodness [0,1] 0.9998895125292792 Centerline is valid? [True, True] Translation: X:153.44, Y:266.00, Z:2.89 [[-1.06674656e-01 -9.94287130e-01 -3.69075370e-03 1.53437237e+02] [ 9.93791364e-01 -1.06738008e-01 3.13962166e-02 2.66004897e+02] [-3.16107978e-02 -3.18658538e-04 9.99500203e-01 2.88687164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters Centerline goodness [0,1] 0.999955857685177 Centerline is valid? [True, True] Translation: X:153.43, Y:266.03, Z:2.89 [[-1.06107796e-01 -9.94347858e-01 -3.67043801e-03 1.53433704e+02] [ 9.93859940e-01 -1.06170706e-01 3.11480401e-02 2.66032963e+02] [-3.13616800e-02 -3.42851429e-04 9.99508043e-01 2.88546845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.306875 meters Centerline goodness [0,1] 0.9999558216076517 Centerline is valid? [True, True] Translation: X:153.43, Y:266.06, Z:2.88 [[-1.05622742e-01 -9.94399733e-01 -3.60647734e-03 1.53430386e+02] [ 9.93930910e-01 -1.05683684e-01 3.05336630e-02 2.66060918e+02] [-3.07438121e-02 -3.59540105e-04 9.99527233e-01 2.88417816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:266.09, Z:2.88 [[-1.04311118e-01 -9.94537795e-01 -3.71023753e-03 1.53427358e+02] [ 9.94044168e-01 -1.04376238e-01 3.13335741e-02 2.66088738e+02] [-3.15496843e-02 -4.19699822e-04 9.99502097e-01 2.88402166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.366875 meters Centerline goodness [0,1] 0.9999778951789385 Centerline is valid? [True, True] Translation: X:153.42, Y:266.12, Z:2.88 [[-1.04017053e-01 -9.94568394e-01 -3.76337233e-03 1.53423951e+02] [ 9.94063046e-01 -1.04084167e-01 3.17040409e-02 2.66116053e+02] [-3.19235446e-02 -4.43268446e-04 9.99490215e-01 2.88355056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters Centerline goodness [0,1] 0.9996904435501702 Centerline is valid? [True, True] Translation: X:153.42, Y:266.14, Z:2.88 [[-1.03344669e-01 -9.94638040e-01 -3.87923638e-03 1.53419451e+02] [ 9.94104025e-01 -1.03416299e-01 3.25922633e-02 2.66142852e+02] [-3.28186811e-02 -4.88127831e-04 9.99461203e-01 2.88170223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.426875 meters Centerline goodness [0,1] 0.9998009157873781 Centerline is valid? [True, True] Translation: X:153.42, Y:266.17, Z:2.88 [[-1.01936465e-01 -9.94782809e-01 -4.01497897e-03 1.53415361e+02] [ 9.94213968e-01 -1.02013953e-01 3.36413387e-02 2.66170658e+02] [-3.38754093e-02 -5.62469035e-04 9.99425905e-01 2.88208358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters Centerline goodness [0,1] 0.9999338580593955 Centerline is valid? [True, True] Translation: X:153.41, Y:266.20, Z:2.88 [[-1.01173027e-01 -9.94860465e-01 -4.08346872e-03 1.53410955e+02] [ 9.94274807e-01 -1.01253584e-01 3.41367889e-02 2.66196301e+02] [-3.43748075e-02 -6.06367825e-04 9.99408828e-01 2.88165813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:266.22, Z:2.88 [[-9.92410107e-02 -9.95054663e-01 -4.17605076e-03 1.53409719e+02] [ 9.94445836e-01 -9.93263813e-02 3.48101831e-02 2.66224601e+02] [-3.50528270e-02 -6.98258545e-04 9.99385217e-01 2.88294594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:266.25, Z:2.88 [[-9.86219413e-02 -9.95116296e-01 -4.15581795e-03 1.53405005e+02] [ 9.94516255e-01 -9.87068032e-02 3.45598929e-02 2.66251089e+02] [-3.48013201e-02 -7.24664770e-04 9.99393988e-01 2.88142645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:266.28, Z:2.88 [[-9.80371233e-02 -9.95174350e-01 -4.09079930e-03 1.53400098e+02] [ 9.94594840e-01 -9.81196530e-02 3.39652555e-02 2.66277745e+02] [-3.42027389e-02 -7.38831928e-04 9.99414642e-01 2.87970675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters Centerline goodness [0,1] 0.9999778270509978 Centerline is valid? [True, True] Translation: X:153.40, Y:266.31, Z:2.88 [[-9.78431120e-02 -9.95193651e-01 -4.04011558e-03 1.53397963e+02] [ 9.94631229e-01 -9.79236585e-02 3.34615465e-02 2.66305369e+02] [-3.36963415e-02 -7.44443282e-04 9.99431840e-01 2.87773731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.606875 meters Centerline goodness [0,1] 0.999867573055531 Centerline is valid? [True, True] Translation: X:153.39, Y:266.33, Z:2.88 [[-9.82005651e-02 -9.95158741e-01 -3.96588920e-03 1.53393282e+02] [ 9.94619489e-01 -9.82779257e-02 3.27646506e-02 2.66332026e+02] [-3.29957879e-02 -7.27043483e-04 9.99455226e-01 2.87526161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters Centerline goodness [0,1] 0.9998225691980128 Centerline is valid? [True, True] Translation: X:153.39, Y:266.36, Z:2.87 [[-9.88964743e-02 -9.95090017e-01 -3.91728830e-03 1.53390624e+02] [ 9.94565433e-01 -9.89715490e-02 3.23145719e-02 2.66358814e+02] [-3.25436080e-02 -7.00202305e-04 9.99470071e-01 2.87334341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.666875 meters Centerline goodness [0,1] 0.9998225691980128 Centerline is valid? [True, True] Translation: X:153.39, Y:266.39, Z:2.87 [[-9.91992840e-02 -9.95059837e-01 -3.92713322e-03 1.53387275e+02] [ 9.94535276e-01 -9.92745185e-02 3.23133750e-02 2.66385370e+02] [-3.25436060e-02 -7.00208853e-04 9.99470071e-01 2.87225027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters Centerline goodness [0,1] 0.9999334501652655 Centerline is valid? [True, True] Translation: X:153.39, Y:266.41, Z:2.87 [[-1.00866627e-01 -9.94892793e-01 -3.77550083e-03 1.53387573e+02] [ 9.94410237e-01 -1.00935304e-01 3.09894208e-02 2.66413423e+02] [-3.12122327e-02 -6.28598337e-04 9.99512582e-01 2.87158751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.726875 meters Centerline goodness [0,1] 0.9998892776473715 Centerline is valid? [True, True] Translation: X:153.38, Y:266.44, Z:2.87 [[-1.01992092e-01 -9.94777966e-01 -3.79630643e-03 1.53384694e+02] [ 9.94292285e-01 -1.02060933e-01 3.10872622e-02 2.66440051e+02] [-3.13123781e-02 -6.03983293e-04 9.99509465e-01 2.87015449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters Centerline goodness [0,1] 0.9999336532719995 Centerline is valid? [True, True] Translation: X:153.38, Y:266.47, Z:2.87 [[-1.03252441e-01 -9.94648065e-01 -3.76310413e-03 1.53382201e+02] [ 9.94173066e-01 -1.03319436e-01 3.07409954e-02 2.66468103e+02] [-3.09652734e-02 -5.67093959e-04 9.99520300e-01 2.86949481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.786875 meters Centerline goodness [0,1] 0.9999334457360901 Centerline is valid? [True, True] Translation: X:153.38, Y:266.49, Z:2.87 [[-1.04107531e-01 -9.94558897e-01 -3.77125036e-03 1.53379669e+02] [ 9.94083862e-01 -1.04174370e-01 3.07404603e-02 2.66494387e+02] [-3.09660659e-02 -5.48625685e-04 9.99520286e-01 2.86838540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:266.52, Z:2.87 [[-1.06417101e-01 -9.94314363e-01 -3.78790768e-03 1.53378407e+02] [ 9.93837716e-01 -1.06483375e-01 3.07877416e-02 2.66522683e+02] [-3.10160429e-02 -4.88223310e-04 9.99518768e-01 2.86755382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.846875 meters Centerline goodness [0,1] 0.9998225022741896 Centerline is valid? [True, True] Translation: X:153.38, Y:266.55, Z:2.87 [[-1.07961495e-01 -9.94147879e-01 -3.78282892e-03 1.53376477e+02] [ 9.93674471e-01 -1.08026824e-01 3.06798091e-02 2.66550266e+02] [-3.09089142e-02 -4.46662479e-04 9.99522106e-01 2.86646463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters Centerline goodness [0,1] 0.9998885595203602 Centerline is valid? [True, True] Translation: X:153.38, Y:266.58, Z:2.87 [[-1.10812562e-01 -9.93834145e-01 -3.77735057e-03 1.53376002e+02] [ 9.93364465e-01 -1.10876318e-01 3.05529410e-02 2.66579015e+02] [-3.07833747e-02 -3.66636161e-04 9.99526012e-01 2.86590256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:266.61, Z:2.86 [[-1.12544775e-01 -9.93639403e-01 -3.79618561e-03 1.53374190e+02] [ 9.93167064e-01 -1.12608319e-01 3.06357592e-02 2.66606745e+02] [-3.08683796e-02 -3.22351894e-04 9.99523406e-01 2.86470889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters Centerline goodness [0,1] 0.99997770047275 Centerline is valid? [True, True] Translation: X:153.37, Y:266.64, Z:2.86 [[-1.14708495e-01 -9.93391870e-01 -3.81482362e-03 1.53373037e+02] [ 9.92916282e-01 -1.14771613e-01 3.07365373e-02 2.66635092e+02] [-3.09712598e-02 -2.62058536e-04 9.99520241e-01 2.86405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.966875 meters Centerline goodness [0,1] 0.9997993042547498 Centerline is valid? [True, True] Translation: X:153.37, Y:266.66, Z:2.86 [[-1.18804773e-01 -9.92910283e-01 -3.82033819e-03 1.53373332e+02] [ 9.92435464e-01 -1.18866094e-01 3.07034498e-02 2.66662620e+02] [-3.09398797e-02 -1.43722736e-04 9.99521237e-01 2.86174679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters Centerline goodness [0,1] 0.9998654919631448 Centerline is valid? [True, True] Translation: X:153.37, Y:266.69, Z:2.86 [[-1.21170263e-01 -9.92624329e-01 -3.83513531e-03 1.53372497e+02] [ 9.92147118e-01 -1.21230917e-01 3.07759767e-02 2.66691108e+02] [-3.10139202e-02 -7.58852370e-05 9.99518950e-01 2.86136580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.026875 meters Centerline goodness [0,1] 0.9998426435877262 Centerline is valid? [True, True] Translation: X:153.37, Y:266.72, Z:2.86 [[-1.23324883e-01 -9.92359060e-01 -3.80378200e-03 1.53371475e+02] [ 9.91891609e-01 -1.23383529e-01 3.04555396e-02 2.66719468e+02] [-3.06921547e-02 -1.70135868e-05 9.99528885e-01 2.86076160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters Centerline goodness [0,1] 0.999864593441809 Centerline is valid? [True, True] Translation: X:153.37, Y:266.75, Z:2.86 [[-1.26722980e-01 -9.91931215e-01 -3.70833826e-03 1.53372252e+02] [ 9.91488645e-01 -1.26777204e-01 2.96278192e-02 2.66746710e+02] [-2.98588915e-02 7.77502772e-05 9.99554121e-01 2.85899549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.086875 meters Centerline goodness [0,1] 0.9998644649754908 Centerline is valid? [True, True] Translation: X:153.37, Y:266.77, Z:2.86 [[-1.27872356e-01 -9.91784015e-01 -3.62316202e-03 1.53370798e+02] [ 9.91363580e-01 -1.27923636e-01 2.88755229e-02 2.66772532e+02] [-2.91017702e-02 1.00510266e-04 9.99576449e-01 2.85704482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters Centerline goodness [0,1] 0.9998870617997832 Centerline is valid? [True, True] Translation: X:153.37, Y:266.80, Z:2.86 [[-1.28983684e-01 -9.91640268e-01 -3.57620318e-03 1.53369081e+02] [ 9.91231928e-01 -1.29033190e-01 2.84552569e-02 2.66798554e+02] [-2.86788275e-02 1.25417089e-04 9.99588670e-01 2.85571883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.146875 meters Centerline goodness [0,1] 0.9998640565524741 Centerline is valid? [True, True] Translation: X:153.37, Y:266.83, Z:2.85 [[-1.29484681e-01 -9.91575102e-01 -3.54028518e-03 1.53366794e+02] [ 9.91176995e-01 -1.29533006e-01 2.80956352e-02 2.66825504e+02] [-2.83175161e-02 1.28905139e-04 9.99598970e-01 2.85470574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:266.85, Z:2.85 [[-1.28300799e-01 -9.91728958e-01 -3.54665079e-03 1.53364172e+02] [ 9.91331447e-01 -1.28349781e-01 2.80766017e-02 2.66853010e+02] [-2.82995908e-02 8.63439576e-05 9.99599483e-01 2.85426319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:266.88, Z:2.85 [[-1.26881964e-01 -9.91911350e-01 -3.58344493e-03 1.53360557e+02] [ 9.91507736e-01 -1.26932551e-01 2.82937674e-02 2.66880456e+02] [-2.85197648e-02 3.69554011e-05 9.99593228e-01 2.85410094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters Centerline goodness [0,1] 0.9998410102661942 Centerline is valid? [True, True] Translation: X:153.36, Y:266.91, Z:2.85 [[-1.22878505e-01 -9.92414638e-01 -3.74965142e-03 1.53356079e+02] [ 9.91974896e-01 -1.22935670e-01 2.95402676e-02 2.66906107e+02] [-2.97771599e-02 -8.96961467e-05 9.99556558e-01 2.85295964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:266.93, Z:2.85 [[-1.20871806e-01 -9.92660643e-01 -3.85407123e-03 1.53351479e+02] [ 9.92198725e-01 -1.20933124e-01 3.02798467e-02 2.66932534e+02] [-3.05236969e-02 -1.64024814e-04 9.99534030e-01 2.85230118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:266.96, Z:2.85 [[-1.18292674e-01 -9.92971178e-01 -3.88363275e-03 1.53346999e+02] [ 9.92504827e-01 -1.18356134e-01 3.04301377e-02 2.66960396e+02] [-3.06759014e-02 -2.54861881e-04 9.99529351e-01 2.85154323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32687500000003 meters Centerline goodness [0,1] 0.9999089128751651 Centerline is valid? [True, True] Translation: X:153.34, Y:266.99, Z:2.85 [[-1.13371878e-01 -9.93544771e-01 -3.95043255e-03 1.53341382e+02] [ 9.93064787e-01 -1.13439899e-01 3.08823167e-02 2.66988070e+02] [-3.11311010e-02 -4.21849209e-04 9.99515221e-01 2.85004379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters Centerline goodness [0,1] 0.9999545495864013 Centerline is valid? [True, True] Translation: X:153.34, Y:267.02, Z:2.85 [[-1.10866915e-01 -9.93827452e-01 -3.93983819e-03 1.53335193e+02] [ 9.93352460e-01 -1.10935739e-01 3.07270432e-02 2.67015200e+02] [-3.09744479e-02 -5.07035467e-04 9.99520048e-01 2.84716194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:267.04, Z:2.85 [[-1.08429493e-01 -9.94096484e-01 -3.90194469e-03 1.53331564e+02] [ 9.93631777e-01 -1.08498122e-01 3.03981670e-02 2.67042697e+02] [-3.06420646e-02 -5.81038394e-04 9.99530253e-01 2.84612469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters Centerline goodness [0,1] 0.9998627347807189 Centerline is valid? [True, True] Translation: X:153.33, Y:267.07, Z:2.84 [[-1.04375734e-01 -9.94530345e-01 -3.88578323e-03 1.53326458e+02] [ 9.94071794e-01 -1.04445628e-01 3.02056288e-02 2.67070545e+02] [-3.04462675e-02 -7.10012822e-04 9.99536153e-01 2.84344658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:267.10, Z:2.84 [[-1.03133588e-01 -9.94659936e-01 -3.88259193e-03 1.53321578e+02] [ 9.94204223e-01 -1.03203889e-01 3.01151046e-02 2.67096843e+02] [-3.03549866e-02 -7.54210501e-04 9.99538897e-01 2.84169113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters Centerline goodness [0,1] 0.9998857873817899 Centerline is valid? [True, True] Translation: X:153.32, Y:267.12, Z:2.84 [[-1.02569511e-01 -9.94718186e-01 -3.90209929e-03 1.53319077e+02] [ 9.94260147e-01 -1.02640724e-01 3.01934212e-02 2.67124527e+02] [-3.04344595e-02 -7.82777368e-04 9.99536458e-01 2.84034642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50687500000004 meters Centerline goodness [0,1] 0.9999312257857454 Centerline is valid? [True, True] Translation: X:153.32, Y:267.15, Z:2.84 [[-1.02131471e-01 -9.94763334e-01 -3.88237368e-03 1.53315761e+02] [ 9.94311937e-01 -1.02202113e-01 2.99749736e-02 2.67152213e+02] [-3.02147915e-02 -7.98902344e-04 9.99543110e-01 2.83875934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters Centerline goodness [0,1] 0.9998619737750173 Centerline is valid? [True, True] Translation: X:153.31, Y:267.18, Z:2.84 [[-1.02846509e-01 -9.94689074e-01 -4.03008468e-03 1.53314602e+02] [ 9.94204937e-01 -1.02922218e-01 3.10412570e-02 2.67178461e+02] [-3.12911844e-02 -8.14245182e-04 9.99509979e-01 2.83737374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.21, Z:2.84 [[-1.03809341e-01 -9.94588824e-01 -4.08557015e-03 1.53312679e+02] [ 9.94092966e-01 -1.03886622e-01 3.14124804e-02 2.67205626e+02] [-3.16669381e-02 -8.00527669e-04 9.99498156e-01 2.83627833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters Centerline goodness [0,1] 0.9999306294223743 Centerline is valid? [True, True] Translation: X:153.31, Y:267.23, Z:2.84 [[-1.04599689e-01 -9.94505757e-01 -4.14785396e-03 1.53310745e+02] [ 9.93997135e-01 -1.04678875e-01 3.18123832e-02 2.67232851e+02] [-3.20717910e-02 -7.95389566e-04 9.99485251e-01 2.83517722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.26, Z:2.83 [[-1.07230328e-01 -9.94224950e-01 -4.29012996e-03 1.53312148e+02] [ 9.93683420e-01 -1.07313536e-01 3.28186734e-02 2.67261579e+02] [-3.30895329e-02 -7.43873910e-04 9.99452115e-01 2.83433829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters Centerline goodness [0,1] 0.9999303443311894 Centerline is valid? [True, True] Translation: X:153.31, Y:267.29, Z:2.83 [[-1.09100259e-01 -9.94021108e-01 -4.37830457e-03 1.53310852e+02] [ 9.93459455e-01 -1.09185809e-01 3.34181185e-02 2.67289705e+02] [-3.36963639e-02 -7.03742697e-04 9.99431869e-01 2.83356327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.686875 meters Centerline goodness [0,1] 0.9998144195972906 Centerline is valid? [True, True] Translation: X:153.31, Y:267.32, Z:2.83 [[-1.12839166e-01 -9.93602562e-01 -4.61201733e-03 1.53310494e+02] [ 9.92981867e-01 -1.12931695e-01 3.51204232e-02 2.67317362e+02] [-3.54165854e-02 -6.16690317e-04 9.99372446e-01 2.83264015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.35, Z:2.83 [[-1.14896821e-01 -9.93366504e-01 -4.65940645e-03 1.53310338e+02] [ 9.92735743e-01 -1.14989903e-01 3.53986734e-02 2.67346104e+02] [-3.56996411e-02 -5.58364274e-04 9.99362409e-01 2.83209178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.746875 meters Centerline goodness [0,1] 0.999930051994684 Centerline is valid? [True, True] Translation: X:153.31, Y:267.37, Z:2.83 [[-1.17219172e-01 -9.93095133e-01 -4.66072025e-03 1.53309785e+02] [ 9.92465344e-01 -1.17310810e-01 3.53654336e-02 2.67374125e+02] [-3.56679928e-02 -4.80096493e-04 9.99363579e-01 2.83108117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters Centerline goodness [0,1] 0.9999765972384741 Centerline is valid? [True, True] Translation: X:153.31, Y:267.40, Z:2.83 [[-1.22508641e-01 -9.92456648e-01 -4.62971657e-03 1.53310394e+02] [ 9.91837471e-01 -1.22595729e-01 3.50530772e-02 2.67401594e+02] [-3.53562430e-02 -2.97621535e-04 9.99374728e-01 2.82879474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.806875 meters Centerline goodness [0,1] 0.9999765214124718 Centerline is valid? [True, True] Translation: X:153.31, Y:267.43, Z:2.83 [[-1.25253620e-01 -9.92113766e-01 -4.66977678e-03 1.53309782e+02] [ 9.91486249e-01 -1.25340463e-01 3.52815229e-02 2.67429460e+02] [-3.55885965e-02 -2.10881014e-04 9.99366503e-01 2.82788971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.46, Z:2.83 [[-1.28602032e-01 -9.91685219e-01 -4.68433898e-03 1.53308962e+02] [ 9.91056496e-01 -1.28687277e-01 3.53073181e-02 2.67458160e+02] [-3.56165603e-02 -1.01851723e-04 9.99365524e-01 2.82676308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.49, Z:2.82 [[-1.35517312e-01 -9.90763950e-01 -4.67476694e-03 1.53311117e+02] [ 9.90139893e-01 -1.35597849e-01 3.51598610e-02 2.67486634e+02] [-3.54690111e-02 1.36096609e-04 9.99370767e-01 2.82473566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.51, Z:2.82 [[-1.38877423e-01 -9.90298615e-01 -4.65984657e-03 1.53311055e+02] [ 9.89680819e-01 -1.38955362e-01 3.49754788e-02 2.67513052e+02] [-3.52836789e-02 2.45543614e-04 9.99377307e-01 2.82350280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.54, Z:2.82 [[-1.42245721e-01 -9.89820082e-01 -4.72874619e-03 1.53309777e+02] [ 9.89186896e-01 -1.42323849e-01 3.54006639e-02 2.67541378e+02] [-3.57133013e-02 3.57979200e-04 9.99362012e-01 2.82316946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.57, Z:2.82 [[-1.45015328e-01 -9.89417692e-01 -4.81519297e-03 1.53309050e+02] [ 9.88763768e-01 -1.45094536e-01 3.59692551e-02 2.67568631e+02] [-3.62872755e-02 4.55004967e-04 9.99341296e-01 2.82312477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.60, Z:2.82 [[-1.47161348e-01 -9.89100293e-01 -4.91409652e-03 1.53307299e+02] [ 9.88422060e-01 -1.47242408e-01 3.66265514e-02 2.67595755e+02] [-3.69508961e-02 5.32811251e-04 9.99316940e-01 2.82257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:267.62, Z:2.82 [[-1.49205162e-01 -9.88792880e-01 -5.14397951e-03 1.53305159e+02] [ 9.88051853e-01 -1.49292483e-01 3.82791160e-02 2.67623615e+02] [-3.86180748e-02 6.28923228e-04 9.99253846e-01 2.82210584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:267.65, Z:2.82 [[-1.49545597e-01 -9.88741136e-01 -5.20389748e-03 1.53301829e+02] [ 9.87985833e-01 -1.49634753e-01 3.86449795e-02 2.67649237e+02] [-3.89885649e-02 6.37809542e-04 9.99239453e-01 2.82083371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:267.68, Z:2.82 [[-1.47311966e-01 -9.89076174e-01 -5.24466036e-03 1.53295578e+02] [ 9.88312946e-01 -1.47404308e-01 3.88521568e-02 2.67676825e+02] [-3.92008281e-02 5.40021856e-04 9.99231206e-01 2.81866883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:267.70, Z:2.82 [[-1.45617149e-01 -9.89326976e-01 -5.27064327e-03 1.53290341e+02] [ 9.88559493e-01 -1.45711767e-01 3.89642007e-02 2.67703323e+02] [-3.93163296e-02 4.63511384e-04 9.99226707e-01 2.81679082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:267.73, Z:2.82 [[-1.43648910e-01 -9.89614952e-01 -5.21886437e-03 1.53284658e+02] [ 9.88866093e-01 -1.43743208e-01 3.84933737e-02 2.67730550e+02] [-3.88437945e-02 3.68773149e-04 9.99245227e-01 2.81509562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:267.76, Z:2.81 [[-1.39446180e-01 -9.90215983e-01 -5.20277260e-03 1.53277555e+02] [ 9.89475380e-01 -1.39543074e-01 3.82910273e-02 2.67757382e+02] [-3.86423982e-02 1.91522105e-04 9.99253085e-01 2.81236251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:267.78, Z:2.81 [[-1.37287874e-01 -9.90517659e-01 -5.17745895e-03 1.53271768e+02] [ 9.89787386e-01 -1.37385433e-01 3.80285960e-02 2.67784251e+02] [-3.83793033e-02 9.62815387e-05 9.99263238e-01 2.81058668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:267.81, Z:2.81 [[-1.33301205e-01 -9.91062042e-01 -5.17862912e-03 1.53264011e+02] [ 9.90335112e-01 -1.33401741e-01 3.79518322e-02 2.67809971e+02] [-3.83034585e-02 -6.95533006e-05 9.99266151e-01 2.80782528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:267.84, Z:2.81 [[-1.31582623e-01 -9.91291512e-01 -5.21063247e-03 1.53258461e+02] [ 9.90559243e-01 -1.31685668e-01 3.80955375e-02 2.67837003e+02] [-3.84499486e-02 -1.48729423e-04 9.99260516e-01 2.80625256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.286875 meters Centerline goodness [0,1] 0.999905260415433 Centerline is valid? [True, True] Translation: X:153.25, Y:267.87, Z:2.80 [[-1.29767379e-01 -9.91530768e-01 -5.21180723e-03 1.53253883e+02] [ 9.90801587e-01 -1.29871793e-01 3.80201482e-02 2.67865113e+02] [-3.83750135e-02 -2.30091908e-04 9.99263381e-01 2.80493235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters Centerline goodness [0,1] 0.9999291617473436 Centerline is valid? [True, True] Translation: X:153.25, Y:267.89, Z:2.80 [[-1.28283458e-01 -9.91723871e-01 -5.20755772e-03 1.53247886e+02] [ 9.90999104e-01 -1.28388768e-01 3.79091159e-02 2.67890924e+02] [-3.82639671e-02 -2.97572551e-04 9.99267622e-01 2.80352827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:267.92, Z:2.80 [[-1.25061903e-01 -9.92135137e-01 -5.23353971e-03 1.53240706e+02] [ 9.91406108e-01 -1.25170614e-01 3.80295555e-02 2.67917699e+02] [-3.83855436e-02 -4.32514646e-04 9.99262910e-01 2.80183274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:267.94, Z:2.80 [[-1.24388301e-01 -9.92219657e-01 -5.26332935e-03 1.53235295e+02] [ 9.91485518e-01 -1.24498715e-01 3.81646128e-02 2.67943159e+02] [-3.85229567e-02 -4.71283492e-04 9.99257604e-01 2.80027107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:267.97, Z:2.80 [[-1.24419048e-01 -9.92215735e-01 -5.27598023e-03 1.53230528e+02] [ 9.91481750e-01 -1.24529925e-01 3.81606669e-02 2.67969370e+02] [-3.85206316e-02 -4.83124250e-04 9.99257688e-01 2.79858174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:267.99, Z:2.80 [[-1.25795560e-01 -9.92041796e-01 -5.34349696e-03 1.53226233e+02] [ 9.91292364e-01 -1.25908205e-01 3.85560891e-02 2.67994772e+02] [-3.89220420e-02 -4.46782920e-04 9.99242150e-01 2.79698687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:268.02, Z:2.80 [[-1.26855510e-01 -9.91906531e-01 -5.39571767e-03 1.53224783e+02] [ 9.91145867e-01 -1.26969513e-01 3.88408641e-02 2.68022138e+02] [-3.92115984e-02 -4.20765642e-04 9.99230841e-01 2.79659450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:268.05, Z:2.80 [[-1.28104243e-01 -9.91745920e-01 -5.41608088e-03 1.53220923e+02] [ 9.90982819e-01 -1.28218109e-01 3.88994776e-02 2.68048309e+02] [-3.92728378e-02 -3.84054969e-04 9.99228451e-01 2.79572458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:268.08, Z:2.79 [[-1.30453250e-01 -9.91439281e-01 -5.48643855e-03 1.53218415e+02] [ 9.90659648e-01 -1.30568209e-01 3.93116468e-02 2.68075068e+02] [-3.96914653e-02 -3.06861204e-04 9.99211936e-01 2.79446694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:268.10, Z:2.79 [[-1.30758657e-01 -9.91398980e-01 -5.49865650e-03 1.53214594e+02] [ 9.90619383e-01 -1.30873860e-01 3.93099377e-02 2.68101574e+02] [-3.96914626e-02 -3.06961062e-04 9.99211936e-01 2.79337412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:268.13, Z:2.79 [[-1.32092595e-01 -9.91222631e-01 -5.40762633e-03 1.53210898e+02] [ 9.90471800e-01 -1.32202981e-01 3.85743996e-02 2.68127900e+02] [-3.89507222e-02 -2.60708836e-04 9.99241099e-01 2.79192642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:268.15, Z:2.79 [[-1.35388681e-01 -9.90778574e-01 -5.26518590e-03 1.53208432e+02] [ 9.90069700e-01 -1.35490950e-01 3.74725322e-02 2.68154608e+02] [-3.78403670e-02 -1.39544336e-04 9.99283787e-01 2.78975443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:268.18, Z:2.79 [[-1.37556268e-01 -9.90480645e-01 -5.13462089e-03 1.53205602e+02] [ 9.89809178e-01 -1.37652050e-01 3.64651230e-02 2.68182371e+02] [-3.68247897e-02 -6.62886354e-05 9.99321735e-01 2.78842204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:268.21, Z:2.79 [[-1.39380775e-01 -9.90225700e-01 -5.10508208e-03 1.53202603e+02] [ 9.89564436e-01 -1.39474235e-01 3.61823865e-02 2.68210205e+02] [-3.65407564e-02 -8.67861453e-06 9.99332164e-01 2.78630100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:268.24, Z:2.78 [[-1.41567049e-01 -9.89915838e-01 -5.04035333e-03 1.53199442e+02] [ 9.89273550e-01 -1.41656736e-01 3.56540661e-02 2.68237043e+02] [-3.60085247e-02 6.11527071e-05 9.99351481e-01 2.78434950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:268.26, Z:2.78 [[-1.45499419e-01 -9.89345720e-01 -4.99653318e-03 1.53196817e+02] [ 9.88716998e-01 -1.45585060e-01 3.52659538e-02 2.68262818e+02] [-3.56176410e-02 1.91018497e-04 9.99365472e-01 2.78287557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.766875 meters Centerline goodness [0,1] 0.9999764899494534 Centerline is valid? [True, True] Translation: X:153.19, Y:268.29, Z:2.78 [[-1.47772584e-01 -9.89008524e-01 -5.04006427e-03 1.53193053e+02] [ 9.88371656e-01 -1.47858276e-01 3.54880130e-02 2.68289997e+02] [-3.58431626e-02 2.62698692e-04 9.99357393e-01 2.78194325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:268.32, Z:2.78 [[-1.49700031e-01 -9.88718057e-01 -5.14823280e-03 1.53189557e+02] [ 9.88056395e-01 -1.49788172e-01 3.61671691e-02 2.68316899e+02] [-3.65302775e-02 3.27481994e-04 9.99332493e-01 2.78090139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:268.34, Z:2.78 [[-1.51700508e-01 -9.88412784e-01 -5.20804337e-03 1.53186464e+02] [ 9.87738473e-01 -1.51789369e-01 3.65061103e-02 2.68342675e+02] [-3.68736318e-02 3.93810660e-04 9.99319859e-01 2.78044094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:268.37, Z:2.78 [[-1.54646793e-01 -9.87955075e-01 -5.39801190e-03 1.53183079e+02] [ 9.87233871e-01 -1.54740140e-01 3.77461806e-02 2.68370860e+02] [-3.81268198e-02 5.08225589e-04 9.99272779e-01 2.78085792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88687500000003 meters Centerline goodness [0,1] 0.999976517553129 Centerline is valid? [True, True] Translation: X:153.18, Y:268.40, Z:2.78 [[-1.55814998e-01 -9.87770942e-01 -5.50025624e-03 1.53178738e+02] [ 9.87024971e-01 -1.55911070e-01 3.83854897e-02 2.68397907e+02] [-3.87736221e-02 5.52144757e-04 9.99247868e-01 2.78023310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:268.43, Z:2.78 [[-1.57258260e-01 -9.87541594e-01 -5.60715814e-03 1.53172306e+02] [ 9.86769657e-01 -1.57357022e-01 3.90437040e-02 2.68425777e+02] [-3.94396074e-02 6.06971460e-04 9.99221772e-01 2.77905436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94687500000003 meters Centerline goodness [0,1] 0.9999765698219306 Centerline is valid? [True, True] Translation: X:153.17, Y:268.45, Z:2.78 [[-1.57467464e-01 -9.87508111e-01 -5.63274986e-03 1.53168129e+02] [ 9.86732223e-01 -1.57567012e-01 3.91427863e-02 2.68452607e+02] [-3.95413546e-02 6.05699510e-04 9.99217751e-01 2.77742340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:268.48, Z:2.78 [[-1.56733946e-01 -9.87624469e-01 -5.69015207e-03 1.53161978e+02] [ 9.86836129e-01 -1.56836168e-01 3.94571965e-02 2.68479080e+02] [-3.98613145e-02 5.69034458e-04 9.99205060e-01 2.77609354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:268.50, Z:2.77 [[-1.55766956e-01 -9.87777095e-01 -5.75030908e-03 1.53157088e+02] [ 9.86975647e-01 -1.55872185e-01 3.97860943e-02 2.68504826e+02] [-4.01961059e-02 5.21943769e-04 9.99191674e-01 2.77457704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:268.53, Z:2.77 [[-1.54409857e-01 -9.87990349e-01 -5.71552914e-03 1.53151482e+02] [ 9.87202313e-01 -1.54514947e-01 3.94553535e-02 2.68531837e+02] [-3.98646431e-02 4.49911898e-04 9.99204988e-01 2.77297760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:268.56, Z:2.77 [[-1.50375414e-01 -9.88612890e-01 -5.63817023e-03 1.53142917e+02] [ 9.87849694e-01 -1.50480832e-01 3.88394289e-02 2.68558671e+02] [-3.92455966e-02 2.70830477e-04 9.99229558e-01 2.77095603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:268.59, Z:2.77 [[-1.48507085e-01 -9.88895142e-01 -5.66069682e-03 1.53136509e+02] [ 9.88129204e-01 -1.48614816e-01 3.89141673e-02 2.68585247e+02] [-3.93232944e-02 1.85529719e-04 9.99226523e-01 2.77022904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:268.61, Z:2.77 [[-1.46036746e-01 -9.89262603e-01 -5.72463687e-03 1.53130191e+02] [ 9.88482970e-01 -1.46148886e-01 3.92672934e-02 2.68610878e+02] [-3.96823142e-02 7.57616958e-05 9.99212344e-01 2.76908438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:268.64, Z:2.77 [[-1.44022331e-01 -9.89557644e-01 -5.76514760e-03 1.53123671e+02] [ 9.88770782e-01 -1.44137672e-01 3.94546959e-02 2.68637610e+02] [-3.98736709e-02 -1.80522116e-05 9.99204729e-01 2.76798466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:268.67, Z:2.77 [[-1.41763576e-01 -9.89883797e-01 -5.75817760e-03 1.53117493e+02] [ 9.89102446e-01 -1.41880420e-01 3.93229940e-02 2.68665339e+02] [-3.97421673e-02 -1.20859288e-04 9.99209961e-01 2.76662717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:268.69, Z:2.77 [[-1.37795066e-01 -9.90444376e-01 -5.69725779e-03 1.53110555e+02] [ 9.89682902e-01 -1.37912495e-01 3.88316598e-02 2.68691967e+02] [-3.92463221e-02 -2.87667495e-04 9.99229525e-01 2.76500059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:268.72, Z:2.76 [[-1.36744373e-01 -9.90590758e-01 -5.56118878e-03 1.53105774e+02] [ 9.89868267e-01 -1.36857006e-01 3.78282177e-02 2.68718461e+02] [-3.82333705e-02 -3.32048386e-04 9.99268782e-01 2.76405910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:268.75, Z:2.76 [[-1.35951507e-01 -9.90699857e-01 -5.56604348e-03 1.53101250e+02] [ 9.89979278e-01 -1.36064886e-01 3.77806281e-02 2.68745084e+02] [-3.81866060e-02 -3.73934378e-04 9.99270556e-01 2.76291621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.306875 meters Centerline goodness [0,1] 0.9999079465169264 Centerline is valid? [True, True] Translation: X:153.10, Y:268.77, Z:2.76 [[-1.35101168e-01 -9.90816199e-01 -5.56184897e-03 1.53097244e+02] [ 9.90099851e-01 -1.35214961e-01 3.76722735e-02 2.68772504e+02] [-3.80783441e-02 -4.17217666e-04 9.99274670e-01 2.76117391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters Centerline goodness [0,1] 0.9999081768513842 Centerline is valid? [True, True] Translation: X:153.09, Y:268.80, Z:2.76 [[-1.34761474e-01 -9.90862133e-01 -5.61954522e-03 1.53092266e+02] [ 9.90133763e-01 -1.34877857e-01 3.79880868e-02 2.68798179e+02] [-3.83989089e-02 -4.44770900e-04 9.99262391e-01 2.75955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.366875 meters Centerline goodness [0,1] 0.9999311010059253 Centerline is valid? [True, True] Translation: X:153.09, Y:268.83, Z:2.76 [[-1.33140138e-01 -9.91081016e-01 -5.66781404e-03 1.53087506e+02] [ 9.90342758e-01 -1.33259708e-01 3.82501246e-02 2.68825777e+02] [-3.86642635e-02 -5.20451715e-04 9.99252122e-01 2.75867238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters Centerline goodness [0,1] 0.999885086529843 Centerline is valid? [True, True] Translation: X:153.08, Y:268.85, Z:2.76 [[-1.32180347e-01 -9.91209328e-01 -5.69416018e-03 1.53083065e+02] [ 9.90467162e-01 -1.32301710e-01 3.83543841e-02 2.68853522e+02] [-3.87705704e-02 -5.70182877e-04 9.99247976e-01 2.75762230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.08, Y:268.88, Z:2.76 [[-1.31787967e-01 -9.91261968e-01 -5.62511016e-03 1.53077656e+02] [ 9.90540477e-01 -1.31906650e-01 3.78179825e-02 2.68879291e+02] [-3.82295172e-02 -5.87944273e-04 9.99268812e-01 2.75678277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters Centerline goodness [0,1] 0.9998394495412845 Centerline is valid? [True, True] Translation: X:153.07, Y:268.91, Z:2.76 [[-1.30678742e-01 -9.91409570e-01 -5.48914067e-03 1.53072811e+02] [ 9.90725796e-01 -1.30792476e-01 3.68201672e-02 2.68907060e+02] [-3.72218045e-02 -6.26620116e-04 9.99306832e-01 2.75522036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.486875 meters Centerline goodness [0,1] 0.9999770278651995 Centerline is valid? [True, True] Translation: X:153.07, Y:268.93, Z:2.75 [[-1.30514965e-01 -9.91431438e-01 -5.43574594e-03 1.53068054e+02] [ 9.90763233e-01 -1.30626568e-01 3.63993813e-02 2.68933589e+02] [-3.67975438e-02 -6.34873249e-04 9.99322539e-01 2.75337193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters Centerline goodness [0,1] 0.9998618530116044 Centerline is valid? [True, True] Translation: X:153.06, Y:268.96, Z:2.75 [[-1.30377810e-01 -9.91450204e-01 -5.30273073e-03 1.53063269e+02] [ 9.90816961e-01 -1.30484062e-01 3.54352807e-02 2.68959830e+02] [-3.58242382e-02 -6.34061234e-04 9.99357905e-01 2.75165296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:268.99, Z:2.75 [[-1.30421499e-01 -9.91445722e-01 -5.06094402e-03 1.53060307e+02] [ 9.90871416e-01 -1.30518215e-01 3.37465944e-02 2.68986931e+02] [-3.41184621e-02 -6.13463318e-04 9.99417608e-01 2.74977646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters Centerline goodness [0,1] 0.9998617702621757 Centerline is valid? [True, True] Translation: X:153.06, Y:269.01, Z:2.75 [[-1.31255935e-01 -9.91336299e-01 -4.92154576e-03 1.53057472e+02] [ 9.90795393e-01 -1.31346900e-01 3.27487587e-02 2.69014997e+02] [-3.31114630e-02 -5.77775919e-04 9.99451498e-01 2.74826975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.606875 meters Centerline goodness [0,1] 0.9998620721362728 Centerline is valid? [True, True] Translation: X:153.05, Y:269.04, Z:2.75 [[-1.32646367e-01 -9.91151393e-01 -4.88431713e-03 1.53053773e+02] [ 9.90620436e-01 -1.32735183e-01 3.24426106e-02 2.69041081e+02] [-3.28038595e-02 -5.35109927e-04 9.99461665e-01 2.74650642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters Centerline goodness [0,1] 0.9999770003909934 Centerline is valid? [True, True] Translation: X:153.05, Y:269.07, Z:2.75 [[-1.34442936e-01 -9.90909401e-01 -4.86373640e-03 1.53051860e+02] [ 9.90385136e-01 -1.34530016e-01 3.22328709e-02 2.69067991e+02] [-3.25941734e-02 -4.83490440e-04 9.99468552e-01 2.74580582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:269.10, Z:2.75 [[-1.39121550e-01 -9.90263302e-01 -4.87725501e-03 1.53052731e+02] [ 9.89737998e-01 -1.39206600e-01 3.22524054e-02 2.69096678e+02] [-3.26173196e-02 -3.40199982e-04 9.99467856e-01 2.74619812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:269.12, Z:2.75 [[-1.41559249e-01 -9.89917462e-01 -4.93936177e-03 1.53050659e+02] [ 9.89380465e-01 -1.41645136e-01 3.26029319e-02 2.69123887e+02] [-3.29738482e-02 -2.71661489e-04 9.99456178e-01 2.74591611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:269.15, Z:2.75 [[-1.43586714e-01 -9.89625175e-01 -4.98676183e-03 1.53048340e+02] [ 9.89079949e-01 -1.43673120e-01 3.28464378e-02 2.69151058e+02] [-3.32221254e-02 -2.15994076e-04 9.99447969e-01 2.74563579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters Centerline goodness [0,1] 0.9999536457609048 Centerline is valid? [True, True] Translation: X:153.05, Y:269.18, Z:2.75 [[-1.46315376e-01 -9.89225049e-01 -5.06095175e-03 1.53046083e+02] [ 9.88665623e-01 -1.46402814e-01 3.32641362e-02 2.69178202e+02] [-3.36466544e-02 -1.36534396e-04 9.99433782e-01 2.74565404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:269.20, Z:2.74 [[-1.47430442e-01 -9.89059412e-01 -5.07397236e-03 1.53042275e+02] [ 9.88499318e-01 -1.47517689e-01 3.32810879e-02 2.69204524e+02] [-3.36654739e-02 -1.08972729e-04 9.99433151e-01 2.74482980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters Centerline goodness [0,1] 0.9999537839399191 Centerline is valid? [True, True] Translation: X:153.04, Y:269.23, Z:2.74 [[-1.48711836e-01 -9.88867964e-01 -4.99385730e-03 1.53038122e+02] [ 9.88327658e-01 -1.48795643e-01 3.26848122e-02 2.69231215e+02] [-3.30640279e-02 -7.49488435e-05 9.99453233e-01 2.74287465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:269.26, Z:2.74 [[-1.49084004e-01 -9.88812013e-01 -4.97620826e-03 1.53033729e+02] [ 9.88277629e-01 -1.49167013e-01 3.25043159e-02 2.69258268e+02] [-3.28829442e-02 -7.20017184e-05 9.99459207e-01 2.74194401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters Centerline goodness [0,1] 0.9999540155887154 Centerline is valid? [True, True] Translation: X:153.03, Y:269.28, Z:2.74 [[-1.49693760e-01 -9.88719631e-01 -5.02680672e-03 1.53029356e+02] [ 9.88176557e-01 -1.49778125e-01 3.27659290e-02 2.69284870e+02] [-3.31492230e-02 -6.25174427e-05 9.99450412e-01 2.74071814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:269.31, Z:2.74 [[-1.49598243e-01 -9.88734339e-01 -4.97714087e-03 1.53023947e+02] [ 9.88204112e-01 -1.49680996e-01 3.23764093e-02 2.69311285e+02] [-3.27566511e-02 -7.49771358e-05 9.99463354e-01 2.74027897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:269.34, Z:2.74 [[-1.49564478e-01 -9.88739471e-01 -4.97251483e-03 1.53018629e+02] [ 9.88212380e-01 -1.49647090e-01 3.22806557e-02 2.69337710e+02] [-3.26612808e-02 -8.58612876e-05 9.99466474e-01 2.73994887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:269.36, Z:2.74 [[-1.49455329e-01 -9.88755587e-01 -5.04907005e-03 1.53013100e+02] [ 9.88214427e-01 -1.49540557e-01 3.27088451e-02 2.69364607e+02] [-3.30960941e-02 -1.01052664e-04 9.99452169e-01 2.73930559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:269.39, Z:2.74 [[-1.49526615e-01 -9.88744744e-01 -5.06187345e-03 1.53007717e+02] [ 9.88203040e-01 -1.49612229e-01 3.27251014e-02 2.69390906e+02] [-3.31140902e-02 -1.08885108e-04 9.99451572e-01 2.73895902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:269.42, Z:2.74 [[-1.49644267e-01 -9.88727297e-01 -4.99260792e-03 1.53001464e+02] [ 9.88202433e-01 -1.49727485e-01 3.22122757e-02 2.69417591e+02] [-3.25966869e-02 -1.13324919e-04 9.99468580e-01 2.73736018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:269.44, Z:2.74 [[-1.50122016e-01 -9.88655163e-01 -4.93437403e-03 1.52996582e+02] [ 9.88144478e-01 -1.50203051e-01 3.17731793e-02 2.69443455e+02] [-3.21538758e-02 -1.06020708e-04 9.99482925e-01 2.73585103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.086875 meters Centerline goodness [0,1] 0.9999771736401196 Centerline is valid? [True, True] Translation: X:152.99, Y:269.47, Z:2.73 [[-1.50488613e-01 -9.88599742e-01 -4.87100933e-03 1.52991894e+02] [ 9.88104208e-01 -1.50567389e-01 3.12975351e-02 2.69470489e+02] [-3.16741503e-02 -1.03142163e-04 9.99498243e-01 2.73400057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.99, Y:269.50, Z:2.73 [[-1.50953155e-01 -9.88529302e-01 -4.79217140e-03 1.52986603e+02] [ 9.88051513e-01 -1.51029172e-01 3.07310517e-02 2.69497376e+02] [-3.11023028e-02 -9.59629908e-05 9.99516202e-01 2.73245614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.146875 meters Centerline goodness [0,1] 0.9999773294037633 Centerline is valid? [True, True] Translation: X:152.98, Y:269.52, Z:2.73 [[-1.51178905e-01 -9.88495015e-01 -4.74801489e-03 1.52982105e+02] [ 9.88027813e-01 -1.51253415e-01 3.03882418e-02 2.69524454e+02] [-3.07567790e-02 -9.71096505e-05 9.99526894e-01 2.73121408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters Centerline goodness [0,1] 0.9999319342030629 Centerline is valid? [True, True] Translation: X:152.98, Y:269.55, Z:2.73 [[-1.51764501e-01 -9.88405926e-01 -4.61102526e-03 1.52977963e+02] [ 9.87966938e-01 -1.51834509e-01 2.94552277e-02 2.69550772e+02] [-2.98138344e-02 -8.52825756e-05 9.99555465e-01 2.72973842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.206875 meters Centerline goodness [0,1] 0.999887079654012 Centerline is valid? [True, True] Translation: X:152.97, Y:269.58, Z:2.73 [[-1.52446827e-01 -9.88300806e-01 -4.63489987e-03 1.52974017e+02] [ 9.87859124e-01 -1.52517251e-01 2.95438668e-02 2.69576782e+02] [-2.99051296e-02 -7.47593712e-05 9.99552739e-01 2.72806065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters Centerline goodness [0,1] 0.9999321987931385 Centerline is valid? [True, True] Translation: X:152.97, Y:269.60, Z:2.73 [[-1.53865234e-01 -9.88080727e-01 -4.68678665e-03 1.52971738e+02] [ 9.87630945e-01 -1.53936592e-01 2.98100927e-02 2.69603860e+02] [-3.01762460e-02 -4.20786489e-05 9.99544593e-01 2.72815751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.266875 meters Centerline goodness [0,1] 0.9999318893883667 Centerline is valid? [True, True] Translation: X:152.97, Y:269.63, Z:2.73 [[-1.55028540e-01 -9.87899034e-01 -4.65305870e-03 1.52968636e+02] [ 9.87457319e-01 -1.55098352e-01 2.95388587e-02 2.69630393e+02] [-2.99030917e-02 -1.53307444e-05 9.99552802e-01 2.72711763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters Centerline goodness [0,1] 0.9998866444489787 Centerline is valid? [True, True] Translation: X:152.97, Y:269.66, Z:2.73 [[-1.56135190e-01 -9.87723793e-01 -4.84887501e-03 1.52965997e+02] [ 9.87246102e-01 -1.56210464e-01 3.07152282e-02 2.69658078e+02] [-3.10956067e-02 8.69501716e-06 9.99516415e-01 2.72849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32687500000003 meters Centerline goodness [0,1] 0.9998863300520608 Centerline is valid? [True, True] Translation: X:152.96, Y:269.68, Z:2.73 [[-1.56177128e-01 -9.87716395e-01 -5.00281927e-03 1.52961992e+02] [ 9.87209990e-01 -1.56257235e-01 3.16245496e-02 2.69683673e+02] [-3.20178129e-02 1.98170235e-07 9.99487298e-01 2.72795657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters Centerline goodness [0,1] 0.999863481228669 Centerline is valid? [True, True] Translation: X:152.96, Y:269.71, Z:2.73 [[-1.55904634e-01 -9.87758572e-01 -5.17181936e-03 1.52957274e+02] [ 9.87219843e-01 -1.55990392e-01 3.26187069e-02 2.69711097e+02] [-3.30261615e-02 -2.03151292e-05 9.99454487e-01 2.72779399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38687500000003 meters Centerline goodness [0,1] 0.9999317452733602 Centerline is valid? [True, True] Translation: X:152.95, Y:269.74, Z:2.73 [[-1.54191053e-01 -9.88027017e-01 -5.26617087e-03 1.52953291e+02] [ 9.87470714e-01 -1.54280930e-01 3.31509295e-02 2.69736949e+02] [-3.35664837e-02 -8.86127918e-05 9.99436483e-01 2.72846483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:269.76, Z:2.73 [[-1.53720402e-01 -9.88100359e-01 -5.26479538e-03 1.52949182e+02] [ 9.87546075e-01 -1.53810492e-01 3.30920168e-02 2.69764988e+02] [-3.35080145e-02 -1.12309887e-04 9.99438443e-01 2.72848373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44687500000003 meters Centerline goodness [0,1] 0.999977213690015 Centerline is valid? [True, True] Translation: X:152.94, Y:269.79, Z:2.73 [[-1.52832360e-01 -9.88237815e-01 -5.31882643e-03 1.52944319e+02] [ 9.87674231e-01 -1.52924807e-01 3.33708975e-02 2.69791361e+02] [-3.37917634e-02 -1.53114770e-04 9.99428884e-01 2.72708869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters Centerline goodness [0,1] 0.999977213690015 Centerline is valid? [True, True] Translation: X:152.94, Y:269.82, Z:2.73 [[-1.53139084e-01 -9.88190278e-01 -5.32872393e-03 1.52939984e+02] [ 9.87626720e-01 -1.53231691e-01 3.33693167e-02 2.69817786e+02] [-3.37917637e-02 -1.52643538e-04 9.99428884e-01 2.72599557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:269.85, Z:2.72 [[-1.51071390e-01 -9.88509713e-01 -5.09723658e-03 1.52934184e+02] [ 9.87996247e-01 -1.51157193e-01 3.18577984e-02 2.69845202e+02] [-3.22622271e-02 -2.23248716e-04 9.99479414e-01 2.72403305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters Centerline goodness [0,1] 0.9999087174806025 Centerline is valid? [True, True] Translation: X:152.93, Y:269.87, Z:2.72 [[-1.50450674e-01 -9.88604743e-01 -5.02555245e-03 1.52929219e+02] [ 9.88107331e-01 -1.50534381e-01 3.13576515e-02 2.69871853e+02] [-3.17568414e-02 -2.48005427e-04 9.99495594e-01 2.72187988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56687500000004 meters Centerline goodness [0,1] 0.9999543420692174 Centerline is valid? [True, True] Translation: X:152.92, Y:269.90, Z:2.72 [[-1.50054586e-01 -9.88665214e-01 -4.97161483e-03 1.52924943e+02] [ 9.88180317e-01 -1.50136686e-01 3.09618701e-02 2.69898799e+02] [-3.13573456e-02 -2.66881334e-04 9.99508202e-01 2.72043606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters Centerline goodness [0,1] 0.9999086612015619 Centerline is valid? [True, True] Translation: X:152.92, Y:269.93, Z:2.72 [[-1.50916402e-01 -9.88534801e-01 -4.81531468e-03 1.52921260e+02] [ 9.88081587e-01 -1.50993012e-01 2.99313713e-02 2.69925959e+02] [-3.03152811e-02 -2.40788922e-04 9.99540357e-01 2.71870251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:269.95, Z:2.72 [[-1.52430924e-01 -9.88302446e-01 -4.80497446e-03 1.52918288e+02] [ 9.87852992e-01 -1.52506501e-01 2.98032443e-02 2.69951837e+02] [-3.01874091e-02 -2.03672336e-04 9.99544236e-01 2.71733733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters Centerline goodness [0,1] 0.999954298249623 Centerline is valid? [True, True] Translation: X:152.92, Y:269.98, Z:2.72 [[-1.56234532e-01 -9.87708199e-01 -4.82544037e-03 1.52918200e+02] [ 9.87255877e-01 -1.56309004e-01 2.98885969e-02 2.69979380e+02] [-3.02754720e-02 -9.43134273e-05 9.99541588e-01 2.71795860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.686875 meters Centerline goodness [0,1] 0.9999079994479967 Centerline is valid? [True, True] Translation: X:152.92, Y:270.01, Z:2.72 [[-1.58576143e-01 -9.87334821e-01 -4.85360110e-03 1.52915800e+02] [ 9.86878805e-01 -1.58650400e-01 3.00045651e-02 2.70005572e+02] [-3.03945777e-02 -3.19078546e-05 9.99537978e-01 2.71730448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters Centerline goodness [0,1] 0.9999081156823559 Centerline is valid? [True, True] Translation: X:152.91, Y:270.03, Z:2.72 [[-1.60685028e-01 -9.86993575e-01 -4.89945563e-03 1.52912960e+02] [ 9.86530704e-01 -1.60759703e-01 3.02239541e-02 2.70032982e+02] [-3.06184836e-02 2.30734987e-05 9.99531144e-01 2.71700941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.746875 meters Centerline goodness [0,1] 0.9997928796630843 Centerline is valid? [True, True] Translation: X:152.91, Y:270.06, Z:2.72 [[-1.64077433e-01 -9.86434762e-01 -5.00562814e-03 1.52910260e+02] [ 9.85953254e-01 -1.64153726e-01 3.08177643e-02 2.70060641e+02] [-3.12214065e-02 1.21184310e-04 9.99512486e-01 2.71632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:270.09, Z:2.72 [[-1.65526522e-01 -9.86192724e-01 -4.98812037e-03 1.52906970e+02] [ 9.85716272e-01 -1.65601589e-01 3.06519970e-02 2.70086511e+02] [-3.10548171e-02 1.56847035e-04 9.99517671e-01 2.71505839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:270.11, Z:2.71 [[-1.66777014e-01 -9.85982183e-01 -4.95608138e-03 1.52902895e+02] [ 9.85513653e-01 -1.66850535e-01 3.03930776e-02 2.70113313e+02] [-3.07939579e-02 1.84580857e-04 9.99525737e-01 2.71364222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters Centerline goodness [0,1] 0.9999081768513842 Centerline is valid? [True, True] Translation: X:152.90, Y:270.14, Z:2.71 [[-1.68170223e-01 -9.85745757e-01 -4.90700458e-03 1.52898885e+02] [ 9.85288072e-01 -1.68241659e-01 3.00359773e-02 2.70140300e+02] [-3.04333998e-02 2.16343921e-04 9.99536773e-01 2.71171865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:270.17, Z:2.71 [[-1.70220445e-01 -9.85394112e-01 -4.84189610e-03 1.52896790e+02] [ 9.84950160e-01 -1.70289088e-01 2.95771747e-02 2.70166898e+02] [-2.99696959e-02 2.65613514e-04 9.99550772e-01 2.71058816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters Centerline goodness [0,1] 0.9999537850078566 Centerline is valid? [True, True] Translation: X:152.89, Y:270.19, Z:2.71 [[-1.71760220e-01 -9.85126963e-01 -4.82628971e-03 1.52893726e+02] [ 9.84686740e-01 -1.71827741e-01 2.94491200e-02 2.70193032e+02] [-2.98404126e-02 3.05803843e-04 9.99554629e-01 2.71012385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.89, Y:270.22, Z:2.71 [[-1.72712350e-01 -9.84960274e-01 -4.86857205e-03 1.52889943e+02] [ 9.84514019e-01 -1.72780646e-01 2.96478496e-02 2.70219769e+02] [-3.00431491e-02 3.27372332e-04 9.99548549e-01 2.70989220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:270.25, Z:2.71 [[-1.73051641e-01 -9.84899673e-01 -5.07579405e-03 1.52883467e+02] [ 9.84416455e-01 -1.73125726e-01 3.08500431e-02 2.70247710e+02] [-3.12629479e-02 3.41955378e-04 9.99511136e-01 2.71239523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:270.27, Z:2.71 [[-1.72730057e-01 -9.84955848e-01 -5.12876720e-03 1.52879381e+02] [ 9.84464156e-01 -1.72805875e-01 3.11200123e-02 2.70273507e+02] [-3.15381192e-02 3.26274016e-04 9.99502497e-01 2.71118962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.87, Y:270.30, Z:2.71 [[-1.70028714e-01 -9.85426374e-01 -5.00982592e-03 1.52872706e+02] [ 9.84959320e-01 -1.70102357e-01 3.03368711e-02 2.70299645e+02] [-3.07469361e-02 2.23664430e-04 9.99527176e-01 2.71031630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.87, Y:270.33, Z:2.71 [[-1.68419062e-01 -9.85702947e-01 -4.97180557e-03 1.52866692e+02] [ 9.85244799e-01 -1.68492353e-01 3.00501845e-02 2.70325170e+02] [-3.04582667e-02 1.62578314e-04 9.99536026e-01 2.70820191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters Centerline goodness [0,1] 0.9998848960611432 Centerline is valid? [True, True] Translation: X:152.86, Y:270.35, Z:2.71 [[-1.66340191e-01 -9.86056333e-01 -4.88357945e-03 1.52860218e+02] [ 9.85616247e-01 -1.66411842e-01 2.94569582e-02 2.70351761e+02] [-2.98589057e-02 8.65408231e-05 9.99554120e-01 2.70605905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.106875 meters Centerline goodness [0,1] 0.999930990062569 Centerline is valid? [True, True] Translation: X:152.85, Y:270.38, Z:2.71 [[-1.64247914e-01 -9.86407303e-01 -4.82232995e-03 1.52853551e+02] [ 9.85979919e-01 -1.64318690e-01 2.90339153e-02 2.70378191e+02] [-2.94316650e-02 1.40395425e-05 9.99566795e-01 2.70503353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters Centerline goodness [0,1] 0.9998389731085091 Centerline is valid? [True, True] Translation: X:152.85, Y:270.40, Z:2.70 [[-1.58732995e-01 -9.87309597e-01 -4.85751434e-03 1.52845335e+02] [ 9.86878032e-01 -1.58807221e-01 2.91893367e-02 2.70403538e+02] [-2.95903206e-02 -1.60463347e-04 9.99562098e-01 2.70397125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:270.43, Z:2.70 [[-1.56233061e-01 -9.87707616e-01 -4.98951921e-03 1.52838938e+02] [ 9.87254410e-01 -1.56312512e-01 2.99186966e-02 2.70430205e+02] [-3.03308488e-02 -2.51635285e-04 9.99539882e-01 2.70399385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters Centerline goodness [0,1] 0.9999538084899995 Centerline is valid? [True, True] Translation: X:152.83, Y:270.46, Z:2.70 [[-1.53758839e-01 -9.88095588e-01 -5.03278170e-03 1.52831954e+02] [ 9.87636499e-01 -1.53840808e-01 3.01189667e-02 2.70456645e+02] [-3.05346654e-02 -3.39501535e-04 9.99533651e-01 2.70300634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.226875 meters Centerline goodness [0,1] 0.9998614094657335 Centerline is valid? [True, True] Translation: X:152.83, Y:270.48, Z:2.70 [[-1.49252494e-01 -9.88785263e-01 -5.23420432e-03 1.52825388e+02] [ 9.88290977e-01 -1.49343387e-01 3.12649518e-02 2.70484429e+02] [-3.16960173e-02 -5.06544892e-04 9.99497427e-01 2.70308561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters Centerline goodness [0,1] 0.9999309789485793 Centerline is valid? [True, True] Translation: X:152.82, Y:270.51, Z:2.70 [[-1.47638022e-01 -9.89027382e-01 -5.27746761e-03 1.52817838e+02] [ 9.88526797e-01 -1.47731213e-01 3.14684092e-02 2.70510863e+02] [-3.19027650e-02 -5.70984462e-04 9.99490814e-01 2.70108452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.286875 meters Centerline goodness [0,1] 0.999930797444119 Centerline is valid? [True, True] Translation: X:152.81, Y:270.54, Z:2.70 [[-1.44239913e-01 -9.89529411e-01 -5.13732923e-03 1.52810679e+02] [ 9.89057034e-01 -1.44329814e-01 3.05792129e-02 2.70536639e+02] [-3.10005003e-02 -6.70368593e-04 9.99519144e-01 2.69919046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.81, Y:270.56, Z:2.70 [[-1.42943581e-01 -9.89717867e-01 -5.06721994e-03 1.52807921e+02] [ 9.89259646e-01 -1.43031619e-01 3.01215675e-02 2.70564931e+02] [-3.05366262e-02 -7.07111477e-04 9.99533398e-01 2.69822673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:270.59, Z:2.69 [[-1.42263429e-01 -9.89816725e-01 -4.89562575e-03 1.52799793e+02] [ 9.89390357e-01 -1.42345870e-01 2.90581245e-02 2.70590980e+02] [-2.94590897e-02 -7.09776476e-04 9.99565735e-01 2.69456691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters Centerline goodness [0,1] 0.9999075700157131 Centerline is valid? [True, True] Translation: X:152.80, Y:270.62, Z:2.69 [[-1.41189876e-01 -9.89971586e-01 -4.65592294e-03 1.52796449e+02] [ 9.89587427e-01 -1.41264825e-01 2.75857439e-02 2.70618558e+02] [-2.79668208e-02 -7.12615046e-04 9.99608598e-01 2.69213819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.406875 meters Centerline goodness [0,1] 0.9999307063334412 Centerline is valid? [True, True] Translation: X:152.79, Y:270.64, Z:2.69 [[-1.41390276e-01 -9.89943472e-01 -4.55096410e-03 1.52791823e+02] [ 9.89577498e-01 -1.41461783e-01 2.69247069e-02 2.70644868e+02] [-2.72977253e-02 -6.96639932e-04 9.99627105e-01 2.68987149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters Centerline goodness [0,1] 0.9998839045230797 Centerline is valid? [True, True] Translation: X:152.79, Y:270.67, Z:2.69 [[-1.41670421e-01 -9.89903405e-01 -4.55423184e-03 1.52786891e+02] [ 9.89538405e-01 -1.41741888e-01 2.68883343e-02 2.70672115e+02] [-2.72623791e-02 -6.97305681e-04 9.99628069e-01 2.68802483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.466875 meters Centerline goodness [0,1] 0.9999302990172162 Centerline is valid? [True, True] Translation: X:152.79, Y:270.70, Z:2.69 [[-1.43180678e-01 -9.89685889e-01 -4.59721616e-03 1.52787077e+02] [ 9.89315182e-01 -1.43252901e-01 2.70938639e-02 2.70700763e+02] [-2.74729793e-02 -6.68777940e-04 9.99622323e-01 2.68861215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters Centerline goodness [0,1] 0.9999301919720768 Centerline is valid? [True, True] Translation: X:152.78, Y:270.73, Z:2.69 [[-1.44161757e-01 -9.89543371e-01 -4.61578957e-03 1.52781138e+02] [ 9.89170972e-01 -1.44234162e-01 2.71531678e-02 2.70726379e+02] [-2.75349917e-02 -6.51356677e-04 9.99620628e-01 2.68645931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:270.75, Z:2.69 [[-1.45074351e-01 -9.89409902e-01 -4.63443674e-03 1.52780922e+02] [ 9.89035451e-01 -1.45146972e-01 2.72255866e-02 2.70754756e+02] [-2.76099395e-02 -6.33887914e-04 9.99618572e-01 2.68745664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:270.78, Z:2.68 [[-1.45887616e-01 -9.89290125e-01 -4.67455638e-03 1.52774594e+02] [ 9.88910321e-01 -1.45961159e-01 2.74174741e-02 2.70780052e+02] [-2.78061401e-02 -6.22847118e-04 9.99613140e-01 2.68479162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:270.81, Z:2.68 [[-1.46889456e-01 -9.89141818e-01 -4.68535443e-03 1.52772694e+02] [ 9.88761798e-01 -1.46962918e-01 2.74227491e-02 2.70807178e+02] [-2.78135613e-02 -6.04586784e-04 9.99612945e-01 2.68418374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters Centerline goodness [0,1] 0.9998595012293643 Centerline is valid? [True, True] Translation: X:152.77, Y:270.83, Z:2.68 [[-1.46866390e-01 -9.89145494e-01 -4.63189736e-03 1.52768811e+02] [ 9.88775422e-01 -1.46938165e-01 2.70617799e-02 2.70834015e+02] [-2.74486401e-02 -6.05440357e-04 9.99623032e-01 2.68319764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:270.86, Z:2.68 [[-1.46734235e-01 -9.89165751e-01 -4.49244245e-03 1.52766196e+02] [ 9.88818918e-01 -1.46801772e-01 2.61990080e-02 2.70861734e+02] [-2.65746599e-02 -5.97920683e-04 9.99646653e-01 2.68236193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:270.89, Z:2.68 [[-1.47078240e-01 -9.89114752e-01 -4.47208315e-03 1.52760383e+02] [ 9.88772263e-01 -1.47145020e-01 2.60337363e-02 2.70886985e+02] [-2.64083974e-02 -5.92875654e-04 9.99651062e-01 2.68054567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:270.91, Z:2.68 [[-1.47410265e-01 -9.89065096e-01 -4.52209262e-03 1.52756792e+02] [ 9.88715807e-01 -1.47478407e-01 2.62901574e-02 2.70914427e+02] [-2.66695881e-02 -5.95625400e-04 9.99644126e-01 2.68023341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:270.94, Z:2.68 [[-1.48352765e-01 -9.88923217e-01 -4.72515613e-03 1.52751500e+02] [ 9.88543158e-01 -1.48426771e-01 2.74211294e-02 2.70940690e+02] [-2.78187311e-02 -6.03020408e-04 9.99612802e-01 2.67955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:270.97, Z:2.68 [[-1.48362250e-01 -9.88920987e-01 -4.89114720e-03 1.52749146e+02] [ 9.88515325e-01 -1.48441508e-01 2.83296681e-02 2.70967600e+02] [-2.87418526e-02 -6.31920659e-04 9.99586668e-01 2.68042683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:270.99, Z:2.68 [[-1.48408966e-01 -9.88913688e-01 -4.94938345e-03 1.52743844e+02] [ 9.88499864e-01 -1.48490067e-01 2.86132477e-02 2.70994518e+02] [-2.90309666e-02 -6.46002382e-04 9.99578304e-01 2.67920143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:271.02, Z:2.68 [[-1.49026471e-01 -9.88821284e-01 -4.85595363e-03 1.52740962e+02] [ 9.88424346e-01 -1.49104259e-01 2.80219963e-02 2.71022763e+02] [-2.84327897e-02 -6.23723587e-04 9.99595512e-01 2.67891494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:271.05, Z:2.68 [[-1.50243475e-01 -9.88637674e-01 -4.73784155e-03 1.52736876e+02] [ 9.88260852e-01 -1.50317037e-01 2.72997740e-02 2.71048701e+02] [-2.77017634e-02 -5.80610418e-04 9.99616064e-01 2.67623531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88687500000003 meters Centerline goodness [0,1] 0.999976468373494 Centerline is valid? [True, True] Translation: X:152.73, Y:271.07, Z:2.67 [[-1.51663753e-01 -9.88420974e-01 -4.69947413e-03 1.52732015e+02] [ 9.88051581e-01 -1.51735568e-01 2.70257243e-02 2.71074717e+02] [-2.74258701e-02 -5.44500056e-04 9.99623692e-01 2.67400015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters Centerline goodness [0,1] 0.9999530196612717 Centerline is valid? [True, True] Translation: X:152.73, Y:271.10, Z:2.67 [[-1.53588233e-01 -9.88124115e-01 -4.62479480e-03 1.52729744e+02] [ 9.87767626e-01 -1.53657062e-01 2.65447408e-02 2.71102342e+02] [-2.69401309e-02 -4.91262735e-04 9.99636928e-01 2.67317187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:271.13, Z:2.67 [[-1.54787645e-01 -9.87936559e-01 -4.70534368e-03 1.52724854e+02] [ 9.87568822e-01 -1.54858421e-01 2.69571966e-02 2.71128175e+02] [-2.73606621e-02 -4.74209743e-04 9.99625515e-01 2.67189520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters Centerline goodness [0,1] 0.9999059089198344 Centerline is valid? [True, True] Translation: X:152.72, Y:271.16, Z:2.67 [[-1.56131268e-01 -9.87724309e-01 -4.86999764e-03 1.52721535e+02] [ 9.87331926e-01 -1.56206521e-01 2.78422532e-02 2.71155589e+02] [-2.82611957e-02 -4.61257842e-04 9.99600466e-01 2.67235696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00687500000004 meters Centerline goodness [0,1] 0.9998585672866134 Centerline is valid? [True, True] Translation: X:152.72, Y:271.18, Z:2.67 [[-1.59620805e-01 -9.87165298e-01 -5.08655344e-03 1.52718945e+02] [ 9.86738706e-01 -1.59701362e-01 2.90206927e-02 2.71184081e+02] [-2.94605502e-02 -3.86792821e-04 9.99565869e-01 2.67265216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters Centerline goodness [0,1] 0.9999529123699205 Centerline is valid? [True, True] Translation: X:152.71, Y:271.21, Z:2.67 [[-1.62230596e-01 -9.86739469e-01 -5.14336931e-03 1.52714891e+02] [ 9.86304402e-01 -1.62311794e-01 2.93003079e-02 2.71211223e+02] [-2.97465998e-02 -3.19521379e-04 9.99557421e-01 2.67057856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:271.24, Z:2.67 [[-1.67789271e-01 -9.85809712e-01 -5.09625534e-03 1.52714364e+02] [ 9.85383492e-01 -1.67866572e-01 2.89860000e-02 2.71239746e+02] [-2.94301713e-02 -1.58226080e-04 9.99566826e-01 2.66915990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:271.27, Z:2.67 [[-1.70620492e-01 -9.85324288e-01 -4.96937763e-03 1.52711268e+02] [ 9.84920046e-01 -1.70692825e-01 2.82216723e-02 2.71266441e+02] [-2.86557363e-02 -7.92440393e-05 9.99589337e-01 2.66738419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:271.29, Z:2.67 [[-1.73262772e-01 -9.84863722e-01 -4.84364182e-03 1.52708255e+02] [ 9.84480821e-01 -1.73330462e-01 2.74602310e-02 2.71292109e+02] [-2.78841360e-02 -1.06367295e-05 9.99611162e-01 2.66541119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:271.32, Z:2.66 [[-1.76014368e-01 -9.84376113e-01 -4.75494448e-03 1.52704962e+02] [ 9.84008319e-01 -1.76078573e-01 2.69065996e-02 2.71318494e+02] [-2.73234578e-02 5.70431965e-05 9.99626643e-01 2.66391035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:271.35, Z:2.66 [[-1.80461292e-01 -9.83570830e-01 -4.70576776e-03 1.52701636e+02] [ 9.83211764e-01 -1.80522557e-01 2.65750609e-02 2.71346714e+02] [-2.69879519e-02 1.69003602e-04 9.99635745e-01 2.66263741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:271.37, Z:2.66 [[-1.82565227e-01 -9.83182246e-01 -4.75494814e-03 1.52697686e+02] [ 9.82816584e-01 -1.82627003e-01 2.68130586e-02 2.71372398e+02] [-2.72305051e-02 2.21890231e-04 9.99629156e-01 2.66130427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:271.40, Z:2.66 [[-1.85377912e-01 -9.82654574e-01 -5.00180518e-03 1.52693713e+02] [ 9.82251428e-01 -1.85445128e-01 2.81467137e-02 2.71399163e+02] [-2.85860573e-02 3.04748731e-04 9.99591289e-01 2.66155880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:271.43, Z:2.66 [[-1.86734767e-01 -9.82396821e-01 -5.15879113e-03 1.52688740e+02] [ 9.81969446e-01 -1.86805694e-01 2.89765527e-02 2.71426317e+02] [-2.94301648e-02 3.45154542e-04 9.99566779e-01 2.66122423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:271.45, Z:2.66 [[-1.87673559e-01 -9.82217216e-01 -5.28928108e-03 1.52683275e+02] [ 9.81769496e-01 -1.87747709e-01 2.96555927e-02 2.71452759e+02] [-3.01212841e-02 3.72715799e-04 9.99546182e-01 2.66027532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:271.48, Z:2.66 [[-1.88342932e-01 -9.82088438e-01 -5.40744801e-03 1.52675966e+02] [ 9.81622118e-01 -1.88420135e-01 3.02633408e-02 2.71479568e+02] [-3.07401492e-02 3.91815786e-04 9.99527333e-01 2.65912045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:271.51, Z:2.66 [[-1.88638518e-01 -9.82031654e-01 -5.41656977e-03 1.52671130e+02] [ 9.81565358e-01 -1.88715861e-01 3.02617076e-02 2.71505911e+02] [-3.07401474e-02 3.91806442e-04 9.99527333e-01 2.65802749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:271.53, Z:2.66 [[-1.88293907e-01 -9.82097869e-01 -5.40184928e-03 1.52664686e+02] [ 9.81635727e-01 -1.88371013e-01 3.01274292e-02 2.71532361e+02] [-3.06056358e-02 3.70163111e-04 9.99531469e-01 2.65698922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:271.56, Z:2.66 [[-1.87588272e-01 -9.82232618e-01 -5.45194737e-03 1.52657947e+02] [ 9.81763555e-01 -1.87667170e-01 3.03538200e-02 2.71558457e+02] [-3.08376636e-02 3.41497404e-04 9.99524348e-01 2.65657907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:271.58, Z:2.66 [[-1.85024318e-01 -9.82718202e-01 -5.56214917e-03 1.52648560e+02] [ 9.82231973e-01 -1.85107726e-01 3.09108405e-02 2.71584026e+02] [-3.14062424e-02 2.55936432e-04 9.99506670e-01 2.65612361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:271.61, Z:2.66 [[-1.83758413e-01 -9.82956116e-01 -5.48806135e-03 1.52640906e+02] [ 9.82484234e-01 -1.83840233e-01 3.04548743e-02 2.71609948e+02] [-3.09447315e-02 2.04405626e-04 9.99521076e-01 2.65569727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:271.63, Z:2.65 [[-1.80342755e-01 -9.83589314e-01 -5.34344144e-03 1.52629894e+02] [ 9.83143712e-01 -1.80421879e-01 2.96038276e-02 2.71634611e+02] [-3.00820822e-02 8.54649760e-05 9.99547428e-01 2.65257742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:271.66, Z:2.65 [[-1.78749773e-01 -9.83880288e-01 -5.30081427e-03 1.52621424e+02] [ 9.83443473e-01 -1.78828351e-01 2.93147945e-02 2.71661121e+02] [-2.97901843e-02 2.69616580e-05 9.99556174e-01 2.65118476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters Centerline goodness [0,1] 0.9999769781522665 Centerline is valid? [True, True] Translation: X:152.61, Y:271.69, Z:2.65 [[-1.77497179e-01 -9.84107190e-01 -5.27154962e-03 1.52613819e+02] [ 9.83676805e-01 -1.77575441e-01 2.91016434e-02 2.71687123e+02] [-2.95752343e-02 -2.00414800e-05 9.99562557e-01 2.64976535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.606875 meters Centerline goodness [0,1] 0.9999770552738453 Centerline is valid? [True, True] Translation: X:152.61, Y:271.71, Z:2.65 [[-1.76003544e-01 -9.84375771e-01 -5.20520599e-03 1.52606748e+02] [ 9.83957709e-01 -1.76080482e-01 2.86860678e-02 2.71712433e+02] [-2.91544053e-02 -7.28529790e-05 9.99574917e-01 2.64836553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters Centerline goodness [0,1] 0.9999771506911916 Centerline is valid? [True, True] Translation: X:152.60, Y:271.74, Z:2.65 [[-1.74330075e-01 -9.84673309e-01 -5.24401371e-03 1.52598042e+02] [ 9.84250748e-01 -1.74408879e-01 2.88445622e-02 2.71738253e+02] [-2.93170731e-02 -1.32949726e-04 9.99570153e-01 2.64775522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:271.76, Z:2.65 [[-1.74009910e-01 -9.84730186e-01 -5.19737948e-03 1.52591070e+02] [ 9.84316556e-01 -1.74087446e-01 2.85390769e-02 2.71763486e+02] [-2.90080890e-02 -1.49784479e-04 9.99579166e-01 2.64620780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters Centerline goodness [0,1] 0.9999773129452334 Centerline is valid? [True, True] Translation: X:152.58, Y:271.79, Z:2.65 [[-1.73826248e-01 -9.84762660e-01 -5.19035192e-03 1.52584524e+02] [ 9.84351726e-01 -1.73903644e-01 2.84464744e-02 2.71789880e+02] [-2.89156469e-02 -1.64387948e-04 9.99581842e-01 2.64518983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.726875 meters Centerline goodness [0,1] 0.999932334897149 Centerline is valid? [True, True] Translation: X:152.58, Y:271.82, Z:2.65 [[-1.73810751e-01 -9.84764510e-01 -5.35571113e-03 1.52576337e+02] [ 9.84328554e-01 -1.73893153e-01 2.92996340e-02 2.71815764e+02] [-2.97845612e-02 -1.79188018e-04 9.99556325e-01 2.64532469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.57, Y:271.84, Z:2.64 [[-1.74322297e-01 -9.84673314e-01 -5.49562293e-03 1.52570031e+02] [ 9.84215882e-01 -1.74408812e-01 3.00110534e-02 2.71842127e+02] [-3.05095685e-02 -1.77283600e-04 9.99534459e-01 2.64488522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.786875 meters Centerline goodness [0,1] 0.9999547429398986 Centerline is valid? [True, True] Translation: X:152.56, Y:271.87, Z:2.65 [[-1.75213347e-01 -9.84514385e-01 -5.63105582e-03 1.52564339e+02] [ 9.84035773e-01 -1.75303735e-01 3.06952586e-02 2.71870043e+02] [-3.12070687e-02 -1.62941360e-04 9.99512928e-01 2.64542137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:271.90, Z:2.65 [[-1.76274821e-01 -9.84323311e-01 -5.89981407e-03 1.52557376e+02] [ 9.83799563e-01 -1.76373466e-01 3.21063969e-02 2.71896038e+02] [-3.26436455e-02 -1.44685138e-04 9.99467044e-01 2.64588439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.846875 meters Centerline goodness [0,1] 0.9999552612741589 Centerline is valid? [True, True] Translation: X:152.55, Y:271.92, Z:2.65 [[-1.77113686e-01 -9.84172063e-01 -6.00779076e-03 1.52551427e+02] [ 9.83630774e-01 -1.77215503e-01 3.26368773e-02 2.71921830e+02] [-3.31849765e-02 -1.29010259e-04 9.99449219e-01 2.64520012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters Centerline goodness [0,1] 0.9999104263704766 Centerline is valid? [True, True] Translation: X:152.54, Y:271.95, Z:2.64 [[-1.78988722e-01 -9.83832706e-01 -6.02024003e-03 1.52544912e+02] [ 9.83290416e-01 -1.79089923e-01 3.26612459e-02 2.71948938e+02] [-3.32113663e-02 -7.36496496e-05 9.99448348e-01 2.64432247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.54, Y:271.98, Z:2.64 [[-1.80209029e-01 -9.83609944e-01 -6.01537701e-03 1.52539140e+02] [ 9.83070100e-01 -1.80309393e-01 3.25837751e-02 2.71975833e+02] [-3.31343541e-02 -4.16468190e-05 9.99450906e-01 2.64257650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters Centerline goodness [0,1] 0.999977666607111 Centerline is valid? [True, True] Translation: X:152.53, Y:272.00, Z:2.64 [[-1.81709636e-01 -9.83334313e-01 -5.93613247e-03 1.52533578e+02] [ 9.82810167e-01 -1.81806572e-01 3.21021288e-02 2.72002363e+02] [-3.26463527e-02 -8.25187500e-07 9.99466966e-01 2.64149065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.966875 meters Centerline goodness [0,1] 0.9999107142857143 Centerline is valid? [True, True] Translation: X:152.53, Y:272.03, Z:2.64 [[-1.84596751e-01 -9.82797566e-01 -5.74314033e-03 1.52528087e+02] [ 9.82308330e-01 -1.84686051e-01 3.10065880e-02 2.72029815e+02] [-3.15338771e-02 8.21808099e-05 9.99502680e-01 2.63979322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:272.06, Z:2.64 [[-1.86072814e-01 -9.82519607e-01 -5.66828390e-03 1.52523286e+02] [ 9.82044512e-01 -1.86159093e-01 3.05510928e-02 2.72056131e+02] [-3.10722503e-02 1.18220724e-04 9.99517134e-01 2.63824608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:272.08, Z:2.64 [[-1.87601613e-01 -9.82229800e-01 -5.50035296e-03 1.52518811e+02] [ 9.81783081e-01 -1.87682164e-01 2.96207103e-02 2.72081854e+02] [-3.01266625e-02 1.56739546e-04 9.99546077e-01 2.63662014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:272.11, Z:2.64 [[-1.89127252e-01 -9.81937602e-01 -5.42479180e-03 1.52514171e+02] [ 9.81504521e-01 -1.89204940e-01 2.91610268e-02 2.72107769e+02] [-2.96607061e-02 1.90687184e-04 9.99560006e-01 2.63536363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.086875 meters Centerline goodness [0,1] 0.9998887058718782 Centerline is valid? [True, True] Translation: X:152.51, Y:272.14, Z:2.64 [[-1.91644398e-01 -9.81448813e-01 -5.53645794e-03 1.52508213e+02] [ 9.80999222e-01 -1.91724175e-01 2.97046728e-02 2.72135427e+02] [-3.02150887e-02 2.61473204e-04 9.99543386e-01 2.63528334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.50, Y:272.16, Z:2.64 [[-1.92962137e-01 -9.81190182e-01 -5.60720348e-03 1.52502809e+02] [ 9.80730351e-01 -1.93043360e-01 3.00373016e-02 2.72162931e+02] [-3.05547388e-02 2.96907254e-04 9.99533051e-01 2.63540288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.146875 meters Centerline goodness [0,1] 0.9999333881031152 Centerline is valid? [True, True] Translation: X:152.50, Y:272.19, Z:2.64 [[-1.93908792e-01 -9.81002648e-01 -5.76063121e-03 1.52497276e+02] [ 9.80518759e-01 -1.93994067e-01 3.08101472e-02 2.72190993e+02] [-3.13423643e-02 3.25951453e-04 9.99508654e-01 2.63548138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:272.22, Z:2.64 [[-1.95242874e-01 -9.80735977e-01 -6.09612246e-03 1.52490490e+02] [ 9.80195725e-01 -1.95337652e-01 3.25506261e-02 2.72218135e+02] [-3.31143724e-02 3.79884636e-04 9.99451497e-01 2.63665728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.206875 meters Centerline goodness [0,1] 0.9999555733262251 Centerline is valid? [True, True] Translation: X:152.49, Y:272.24, Z:2.64 [[-1.95678758e-01 -9.80647473e-01 -6.35276441e-03 1.52485338e+02] [ 9.80062625e-01 -1.95781443e-01 3.38655706e-02 2.72244459e+02] [-3.44539396e-02 4.00665822e-04 9.99406206e-01 2.63595307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters Centerline goodness [0,1] 0.9999779034824112 Centerline is valid? [True, True] Translation: X:152.48, Y:272.27, Z:2.64 [[-1.96129009e-01 -9.80556609e-01 -6.49221792e-03 1.52477923e+02] [ 9.79947829e-01 -1.96235994e-01 3.45497829e-02 2.72271635e+02] [-3.51520248e-02 4.14179815e-04 9.99381891e-01 2.63627993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.47, Y:272.30, Z:2.63 [[-1.96160574e-01 -9.80549475e-01 -6.61486996e-03 1.52472691e+02] [ 9.79919426e-01 -1.96271641e-01 3.51477079e-02 2.72297997e+02] [-3.57623779e-02 4.12554978e-04 9.99360236e-01 2.63485147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.47, Y:272.32, Z:2.63 [[-1.96153642e-01 -9.80550423e-01 -6.67951390e-03 1.52465402e+02] [ 9.79910104e-01 -1.96266919e-01 3.54328127e-02 2.72324867e+02] [-3.60546271e-02 4.04952102e-04 9.99349739e-01 2.63435769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:272.35, Z:2.63 [[-1.95831934e-01 -9.80614440e-01 -6.72107872e-03 1.52459094e+02] [ 9.79968161e-01 -1.95946858e-01 3.55982160e-02 2.72351961e+02] [-3.62250990e-02 3.84824359e-04 9.99343582e-01 2.63310946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters Centerline goodness [0,1] 0.9999337806816175 Centerline is valid? [True, True] Translation: X:152.45, Y:272.38, Z:2.63 [[-1.94102823e-01 -9.80958374e-01 -6.69054006e-03 1.52450409e+02] [ 9.80320100e-01 -1.94217851e-01 3.53825831e-02 2.72379155e+02] [-3.60082635e-02 3.08988358e-04 9.99351444e-01 2.63146762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.44, Y:272.40, Z:2.63 [[-1.92696368e-01 -9.81236566e-01 -6.55067917e-03 1.52443252e+02] [ 9.80626723e-01 -1.92807529e-01 3.45902760e-02 2.72404179e+02] [-3.52042639e-02 2.41649512e-04 9.99380109e-01 2.62984616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:152.43, Y:272.43, Z:2.63 [[-1.88755599e-01 -9.82003386e-01 -6.37759380e-03 1.52433115e+02] [ 9.81427184e-01 -1.88863289e-01 3.36354057e-02 2.72429542e+02] [-3.42345756e-02 8.97272312e-05 9.99413821e-01 2.62730131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44687500000003 meters Centerline goodness [0,1] 0.9999781468531469 Centerline is valid? [True, True] Translation: X:152.43, Y:272.46, Z:2.63 [[-1.86888401e-01 -9.82360992e-01 -6.29345595e-03 1.52425484e+02] [ 9.81801936e-01 -1.86994336e-01 3.31372510e-02 2.72455709e+02] [-3.37295833e-02 1.40406078e-05 9.99430996e-01 2.62561431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.42, Y:272.48, Z:2.62 [[-1.85245070e-01 -9.82672640e-01 -6.22460266e-03 1.52418110e+02] [ 9.82127748e-01 -1.85349613e-01 3.27201355e-02 2.72482768e+02] [-3.33069097e-02 -5.21111794e-05 9.99445170e-01 2.62461789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50687500000004 meters Centerline goodness [0,1] 0.9999122787780433 Centerline is valid? [True, True] Translation: X:152.41, Y:272.51, Z:2.62 [[-1.83989422e-01 -9.82908122e-01 -6.28627094e-03 1.52410807e+02] [ 9.82354211e-01 -1.84096751e-01 3.29938014e-02 2.72509773e+02] [-3.35871574e-02 -1.04834284e-04 9.99435787e-01 2.62301658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters Centerline goodness [0,1] 0.9999343286195875 Centerline is valid? [True, True] Translation: X:152.40, Y:272.54, Z:2.62 [[-1.82406594e-01 -9.83202520e-01 -6.37488456e-03 1.52402678e+02] [ 9.82634801e-01 -1.82517878e-01 3.34076535e-02 2.72535799e+02] [-3.40100195e-02 -1.70407137e-04 9.99421477e-01 2.62168210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56687500000004 meters Centerline goodness [0,1] 0.9998907223254289 Centerline is valid? [True, True] Translation: X:152.40, Y:272.56, Z:2.62 [[-1.81715256e-01 -9.83329810e-01 -6.48458551e-03 1.52396834e+02] [ 9.82744379e-01 -1.81830803e-01 3.39270394e-02 2.72562807e+02] [-3.45405666e-02 -2.07629312e-04 9.99403275e-01 2.62136570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters Centerline goodness [0,1] 0.9998692525604707 Centerline is valid? [True, True] Translation: X:152.39, Y:272.59, Z:2.62 [[-1.79731670e-01 -9.83693326e-01 -6.63081611e-03 1.52388930e+02] [ 9.83083515e-01 -1.79853703e-01 3.46330616e-02 2.72587966e+02] [-3.52608884e-02 -2.93988000e-04 9.99378098e-01 2.62081244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62687500000004 meters Centerline goodness [0,1] 0.9998256548838426 Centerline is valid? [True, True] Translation: X:152.38, Y:272.61, Z:2.62 [[-1.78897493e-01 -9.83844120e-01 -6.81434433e-03 1.52382041e+02] [ 9.83201938e-01 -1.79026902e-01 3.55431680e-02 2.72613012e+02] [-3.61888878e-02 -3.41292911e-04 9.99344909e-01 2.62025090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters Centerline goodness [0,1] 0.9998694346520434 Centerline is valid? [True, True] Translation: X:152.38, Y:272.64, Z:2.62 [[-1.77664281e-01 -9.84066939e-01 -6.90376564e-03 1.52375807e+02] [ 9.83409598e-01 -1.77797917e-01 3.59647504e-02 2.72639115e+02] [-3.66191970e-02 -3.99577857e-04 9.99329212e-01 2.61958028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.686875 meters Centerline goodness [0,1] 0.9999566009894975 Centerline is valid? [True, True] Translation: X:152.37, Y:272.67, Z:2.62 [[-1.75089984e-01 -9.84527640e-01 -6.98733311e-03 1.52367350e+02] [ 9.83857075e-01 -1.75228601e-01 3.63344665e-02 2.72665866e+02] [-3.69966672e-02 -5.12735934e-04 9.99315257e-01 2.61873071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:152.36, Y:272.69, Z:2.62 [[-1.73754814e-01 -9.84763852e-01 -7.02998749e-03 1.52361526e+02] [ 9.84087252e-01 -1.73896017e-01 3.65028247e-02 2.72692914e+02] [-3.71691491e-02 -5.75579540e-04 9.99308823e-01 2.61781027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.746875 meters Centerline goodness [0,1] 0.9999132791327914 Centerline is valid? [True, True] Translation: X:152.35, Y:272.72, Z:2.62 [[-1.72946322e-01 -9.84906234e-01 -7.01990906e-03 1.52354644e+02] [ 9.84233731e-01 -1.73087641e-01 3.63954795e-02 2.72718894e+02] [-3.70611941e-02 -6.14766962e-04 9.99312809e-01 2.61665174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters Centerline goodness [0,1] 0.9998695311820475 Centerline is valid? [True, True] Translation: X:152.35, Y:272.75, Z:2.62 [[-1.71647176e-01 -9.85133513e-01 -7.01484978e-03 1.52348487e+02] [ 9.84464338e-01 -1.71789138e-01 3.63105898e-02 2.72746679e+02] [-3.69758539e-02 -6.73259248e-04 9.99315933e-01 2.61536676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.806875 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:152.34, Y:272.77, Z:2.61 [[-1.69634327e-01 -9.85483278e-01 -6.84859308e-03 1.52339535e+02] [ 9.84847562e-01 -1.69770907e-01 3.53994120e-02 2.72773235e+02] [-3.60482204e-02 -7.39864766e-04 9.99349778e-01 2.61244140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters Centerline goodness [0,1] 0.9999784157133607 Centerline is valid? [True, True] Translation: X:152.33, Y:272.80, Z:2.61 [[-1.69253563e-01 -9.85549601e-01 -6.72425097e-03 1.52333120e+02] [ 9.84938574e-01 -1.69385429e-01 3.47070901e-02 2.72798935e+02] [-3.53445490e-02 -7.48675516e-04 9.99374906e-01 2.61073436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.866875 meters Centerline goodness [0,1] 0.9999134966804352 Centerline is valid? [True, True] Translation: X:152.33, Y:272.83, Z:2.61 [[-1.69129195e-01 -9.85571407e-01 -6.65717088e-03 1.52328715e+02] [ 9.84974016e-01 -1.69258487e-01 3.43184095e-02 2.72826231e+02] [-3.49500258e-02 -7.52895383e-04 9.99388778e-01 2.60951346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters Centerline goodness [0,1] 0.9997832307292118 Centerline is valid? [True, True] Translation: X:152.32, Y:272.85, Z:2.61 [[-1.69501749e-01 -9.85507824e-01 -6.59445853e-03 1.52323215e+02] [ 9.84923323e-01 -1.69628359e-01 3.39450577e-02 2.72852793e+02] [-3.45717271e-02 -7.41289359e-04 9.99401944e-01 2.60769725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.926875 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:152.32, Y:272.88, Z:2.61 [[-1.70512510e-01 -9.85333894e-01 -6.52700500e-03 1.52319353e+02] [ 9.84762982e-01 -1.70635919e-01 3.35447948e-02 2.72880413e+02] [-3.41665648e-02 -7.07745739e-04 9.99415902e-01 2.60647828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters Centerline goodness [0,1] 0.9998484553267952 Centerline is valid? [True, True] Translation: X:152.32, Y:272.91, Z:2.61 [[-1.72570000e-01 -9.84975802e-01 -6.50109806e-03 1.52315574e+02] [ 9.84410895e-01 -1.72691216e-01 3.33606762e-02 2.72908265e+02] [-3.39821413e-02 -6.42699879e-04 9.99422234e-01 2.60564336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.986875 meters Centerline goodness [0,1] 0.9998057120652808 Centerline is valid? [True, True] Translation: X:152.31, Y:272.93, Z:2.61 [[-1.73907386e-01 -9.84739440e-01 -6.66762818e-03 1.52311222e+02] [ 9.84146819e-01 -1.74034051e-01 3.41641411e-02 2.72934993e+02] [-3.48031715e-02 -6.20528609e-04 9.99393993e-01 2.60521382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters Centerline goodness [0,1] 0.999848504523222 Centerline is valid? [True, True] Translation: X:152.31, Y:272.96, Z:2.61 [[-1.75715838e-01 -9.84416909e-01 -6.87705131e-03 1.52307558e+02] [ 9.83788247e-01 -1.75849393e-01 3.51806215e-02 2.72962704e+02] [-3.58417239e-02 -5.83769851e-04 9.99357308e-01 2.60547334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.046875 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:152.30, Y:272.99, Z:2.61 [[-1.78324672e-01 -9.83946460e-01 -7.04802746e-03 1.52304903e+02] [ 9.83287820e-01 -1.78463169e-01 3.59994470e-02 2.72991380e+02] [-3.66793418e-02 -5.10649965e-04 9.99326956e-01 2.60608933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters Centerline goodness [0,1] 0.9998487042600558 Centerline is valid? [True, True] Translation: X:152.30, Y:273.02, Z:2.61 [[-1.79274793e-01 -9.83773368e-01 -7.10698292e-03 1.52300735e+02] [ 9.83105389e-01 -1.79414945e-01 3.62501377e-02 2.73019061e+02] [-3.69370190e-02 -4.88177257e-04 9.99317476e-01 2.60516782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.106875 meters Centerline goodness [0,1] 0.9999565321336202 Centerline is valid? [True, True] Translation: X:152.30, Y:273.05, Z:2.60 [[-1.80398593e-01 -9.83566981e-01 -7.23479360e-03 1.52295767e+02] [ 9.82876702e-01 -1.80543012e-01 3.68457478e-02 2.73046412e+02] [-3.75464523e-02 -4.63989019e-04 9.99294776e-01 2.60417175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters Centerline goodness [0,1] 0.9999567810528136 Centerline is valid? [True, True] Translation: X:152.29, Y:273.07, Z:2.60 [[-1.81228628e-01 -9.83414102e-01 -7.27240705e-03 1.52290982e+02] [ 9.82718598e-01 -1.81373939e-01 3.69817633e-02 2.73074144e+02] [-3.76874127e-02 -4.44575450e-04 9.99289478e-01 2.60243077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.166875 meters Centerline goodness [0,1] 0.9998694119183389 Centerline is valid? [True, True] Translation: X:152.29, Y:273.10, Z:2.60 [[-1.82841849e-01 -9.83115709e-01 -7.23604556e-03 1.52287454e+02] [ 9.82428951e-01 -1.82984560e-01 3.67424481e-02 2.73102045e+02] [-3.74461626e-02 -3.90843496e-04 9.99298570e-01 2.60080542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters Centerline goodness [0,1] 0.9999562765073674 Centerline is valid? [True, True] Translation: X:152.28, Y:273.13, Z:2.60 [[-1.83871093e-01 -9.82923673e-01 -7.24392996e-03 1.52282997e+02] [ 9.82237295e-01 -1.84013375e-01 3.67283702e-02 2.73128958e+02] [-3.74341645e-02 -3.61972609e-04 9.99299030e-01 2.59940117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.226875 meters Centerline goodness [0,1] 0.9997605468239802 Centerline is valid? [True, True] Translation: X:152.28, Y:273.16, Z:2.60 [[-1.84733280e-01 -9.82763219e-01 -7.07600083e-03 1.52279163e+02] [ 9.82110182e-01 -1.84868452e-01 3.58224251e-02 2.73156653e+02] [-3.65130911e-02 -3.31818376e-04 9.99333120e-01 2.59765451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:152.28, Y:273.18, Z:2.60 [[-1.86343831e-01 -9.82460330e-01 -6.90484823e-03 1.52276120e+02] [ 9.81840034e-01 -1.86471512e-01 3.49073504e-02 2.73183187e+02] [-3.55826445e-02 -2.74687034e-04 9.99366699e-01 2.59573015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.286875 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:152.27, Y:273.21, Z:2.59 [[-1.86647791e-01 -9.82402547e-01 -6.91648605e-03 1.52270811e+02] [ 9.81782297e-01 -1.86775694e-01 3.49050440e-02 2.73209418e+02] [-3.55826356e-02 -2.75534206e-04 9.99366700e-01 2.59463764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters Centerline goodness [0,1] 0.9999124496585536 Centerline is valid? [True, True] Translation: X:152.27, Y:273.24, Z:2.59 [[-1.87472979e-01 -9.82245763e-01 -6.86605264e-03 1.52266412e+02] [ 9.81636419e-01 -1.87598496e-01 3.45940135e-02 2.73236800e+02] [-3.52678844e-02 -2.54524539e-04 9.99377862e-01 2.59330267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.26, Y:273.26, Z:2.59 [[-1.88409264e-01 -9.82067154e-01 -6.78633961e-03 1.52262255e+02] [ 9.81473436e-01 -1.88531306e-01 3.41444089e-02 2.73263884e+02] [-3.48115399e-02 -2.27489111e-04 9.99393869e-01 2.59131626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters Centerline goodness [0,1] 0.9999560902783876 Centerline is valid? [True, True] Translation: X:152.26, Y:273.29, Z:2.59 [[-1.88708448e-01 -9.82009543e-01 -6.81026982e-03 1.52257276e+02] [ 9.81413587e-01 -1.88831157e-01 3.42076904e-02 2.73291527e+02] [-3.48782695e-02 -2.28411156e-04 9.99391542e-01 2.58961260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.406875 meters Centerline goodness [0,1] 0.9999562286614725 Centerline is valid? [True, True] Translation: X:152.25, Y:273.32, Z:2.59 [[-1.88891588e-01 -9.81973953e-01 -6.86460277e-03 1.52252283e+02] [ 9.81370204e-01 -1.89016138e-01 3.44299659e-02 2.73319363e+02] [-3.51068505e-02 -2.33185681e-04 9.99383537e-01 2.58812061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters Centerline goodness [0,1] 0.9999779798736045 Centerline is valid? [True, True] Translation: X:152.25, Y:273.35, Z:2.59 [[-1.88765881e-01 -9.81998257e-01 -6.84581089e-03 1.52247872e+02] [ 9.81399567e-01 -1.88889815e-01 3.42859577e-02 2.73347127e+02] [-3.49618547e-02 -2.46456843e-04 9.99388617e-01 2.58634101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.466875 meters Centerline goodness [0,1] 0.9998237419582269 Centerline is valid? [True, True] Translation: X:152.24, Y:273.37, Z:2.58 [[-1.88246835e-01 -9.82097774e-01 -6.86224023e-03 1.52242824e+02] [ 9.81498034e-01 -1.88371669e-01 3.43179698e-02 2.73374387e+02] [-3.49962534e-02 -2.75026080e-04 9.99387406e-01 2.58431491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:273.40, Z:2.58 [[-1.87796277e-01 -9.82183854e-01 -6.88729213e-03 1.52237587e+02] [ 9.81581549e-01 -1.87922286e-01 3.43929952e-02 2.73402379e+02] [-3.50745202e-02 -3.01562437e-04 9.99384654e-01 2.58306717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.526875 meters Centerline goodness [0,1] 0.9999340601371549 Centerline is valid? [True, True] Translation: X:152.23, Y:273.43, Z:2.58 [[-1.85429266e-01 -9.82632659e-01 -7.00325266e-03 1.52232360e+02] [ 9.82012137e-01 -1.85561031e-01 3.49180060e-02 2.73428780e+02] [-3.56111039e-02 -4.02458873e-04 9.99365642e-01 2.58214687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters Centerline goodness [0,1] 0.9998453619634612 Centerline is valid? [True, True] Translation: X:152.23, Y:273.45, Z:2.58 [[-1.84207875e-01 -9.82861263e-01 -7.15515073e-03 1.52227071e+02] [ 9.82215060e-01 -1.84346204e-01 3.56377951e-02 2.73454010e+02] [-3.63460332e-02 -4.63134274e-04 9.99339157e-01 2.58142612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.586875 meters Centerline goodness [0,1] 0.9998681289698674 Centerline is valid? [True, True] Translation: X:152.22, Y:273.48, Z:2.58 [[-1.82751356e-01 -9.83132282e-01 -7.27030778e-03 1.52221169e+02] [ 9.82467122e-01 -1.82895135e-01 3.61624685e-02 2.73481713e+02] [-3.68821941e-02 -5.34098203e-04 9.99319478e-01 2.58037600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters Centerline goodness [0,1] 0.9999557463380094 Centerline is valid? [True, True] Translation: X:152.22, Y:273.51, Z:2.58 [[-1.81659633e-01 -9.83334329e-01 -7.30587347e-03 1.52215586e+02] [ 9.82664713e-01 -1.81805537e-01 3.62878440e-02 2.73509588e+02] [-3.70113310e-02 -5.87187617e-04 9.99314673e-01 2.57924069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:273.54, Z:2.58 [[-1.78823688e-01 -9.83855210e-01 -7.14245155e-03 1.52209759e+02] [ 9.83217484e-01 -1.78964949e-01 3.54249447e-02 2.73535495e+02] [-3.61312649e-02 -6.87763994e-04 9.99346816e-01 2.57642505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.20, Y:273.56, Z:2.57 [[-1.78139142e-01 -9.83980188e-01 -7.03105957e-03 1.52204030e+02] [ 9.83363653e-01 -1.78276435e-01 3.48344519e-02 2.73561803e+02] [-3.55298828e-02 -7.08709052e-04 9.99368363e-01 2.57421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.20, Y:273.59, Z:2.57 [[-1.77419173e-01 -9.84110751e-01 -6.96176261e-03 1.52199947e+02] [ 9.83508241e-01 -1.77554178e-01 3.44391332e-02 2.73589280e+02] [-3.51280113e-02 -7.36788389e-04 9.99382549e-01 2.57305957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters Centerline goodness [0,1] 0.9998437186041839 Centerline is valid? [True, True] Translation: X:152.20, Y:273.62, Z:2.57 [[-1.77119866e-01 -9.84163816e-01 -7.08070335e-03 1.52196075e+02] [ 9.83542419e-01 -1.77259673e-01 3.49759594e-02 2.73617220e+02] [-3.56771968e-02 -7.69234846e-04 9.99363070e-01 2.57143121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.766875 meters Centerline goodness [0,1] 0.9998661700086989 Centerline is valid? [True, True] Translation: X:152.19, Y:273.64, Z:2.57 [[-1.77441206e-01 -9.84106025e-01 -7.06754039e-03 1.52190621e+02] [ 9.83488691e-01 -1.77580253e-01 3.48604035e-02 2.73643849e+02] [-3.55613888e-02 -7.65173991e-04 9.99367201e-01 2.57029700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters Centerline goodness [0,1] 0.9999777173670841 Centerline is valid? [True, True] Translation: X:152.19, Y:273.67, Z:2.57 [[-1.79117827e-01 -9.83802088e-01 -7.08909506e-03 1.52187630e+02] [ 9.83182683e-01 -1.79256626e-01 3.49123654e-02 2.73671108e+02] [-3.56176252e-02 -7.16448478e-04 9.99365234e-01 2.56924665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82687500000003 meters Centerline goodness [0,1] 0.9998662773852771 Centerline is valid? [True, True] Translation: X:152.18, Y:273.70, Z:2.57 [[-1.80536398e-01 -9.83541940e-01 -7.20150247e-03 1.52183864e+02] [ 9.82904507e-01 -1.80678673e-01 3.54111222e-02 2.73697903e+02] [-3.61294818e-02 -6.85392785e-04 9.99346882e-01 2.56793736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters Centerline goodness [0,1] 0.999865813839066 Centerline is valid? [True, True] Translation: X:152.18, Y:273.72, Z:2.57 [[-1.82005440e-01 -9.83271106e-01 -7.20779666e-03 1.52179615e+02] [ 9.82634453e-01 -1.82146973e-01 3.53837759e-02 2.73724170e+02] [-3.61047228e-02 -6.42589621e-04 9.99347805e-01 2.56698043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.18, Y:273.75, Z:2.57 [[-1.85474596e-01 -9.82622029e-01 -7.28853396e-03 1.52176822e+02] [ 9.81972130e-01 -1.85616994e-01 3.57360729e-02 2.73750909e+02] [-3.64679283e-02 -5.29003529e-04 9.99334684e-01 2.56571483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters Centerline goodness [0,1] 0.9999103259651168 Centerline is valid? [True, True] Translation: X:152.18, Y:273.78, Z:2.57 [[-1.87788590e-01 -9.82181948e-01 -7.35300248e-03 1.52175817e+02] [ 9.81521924e-01 -1.87931938e-01 3.60041579e-02 2.73779759e+02] [-3.67444979e-02 -4.55963105e-04 9.99324589e-01 2.56535504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94687500000003 meters Centerline goodness [0,1] 0.9999775749557105 Centerline is valid? [True, True] Translation: X:152.17, Y:273.81, Z:2.56 [[-1.90076803e-01 -9.81741507e-01 -7.37718360e-03 1.52171857e+02] [ 9.81078706e-01 -1.90219527e-01 3.60708240e-02 2.73806346e+02] [-3.68155095e-02 -3.81370846e-04 9.99322007e-01 2.56371603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.17, Y:273.83, Z:2.56 [[-1.92379054e-01 -9.81293470e-01 -7.30931211e-03 1.52168767e+02] [ 9.80644348e-01 -1.92517623e-01 3.56879080e-02 2.73833546e+02] [-3.64274824e-02 -3.02229633e-04 9.99336253e-01 2.56232225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00687500000004 meters Centerline goodness [0,1] 0.9999322355492308 Centerline is valid? [True, True] Translation: X:152.17, Y:273.86, Z:2.56 [[-1.96451188e-01 -9.80487573e-01 -7.14492555e-03 1.52168018e+02] [ 9.79868743e-01 -1.96581011e-01 3.48303367e-02 2.73860338e+02] [-3.55552690e-02 -1.58628208e-04 9.99367699e-01 2.56050741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters Centerline goodness [0,1] 0.999932042133877 Centerline is valid? [True, True] Translation: X:152.16, Y:273.89, Z:2.56 [[-1.98460006e-01 -9.80082885e-01 -7.15298077e-03 1.52164527e+02] [ 9.79463827e-01 -1.98588847e-01 3.48293096e-02 2.73887541e+02] [-3.55561124e-02 -9.38609314e-05 9.99367677e-01 2.55960778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:273.91, Z:2.56 [[-2.00234683e-01 -9.79721019e-01 -7.26620386e-03 1.52160936e+02] [ 9.79083931e-01 -2.00366475e-01 3.53260826e-02 2.73914622e+02] [-3.60656093e-02 -4.07165001e-05 9.99349423e-01 2.55944723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:273.94, Z:2.56 [[-2.02890165e-01 -9.79173713e-01 -7.37701430e-03 1.52158035e+02] [ 9.78518774e-01 -2.03024228e-01 3.58074114e-02 2.73941204e+02] [-3.65593886e-02 4.64246203e-05 9.99331481e-01 2.55851189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12687500000004 meters Centerline goodness [0,1] 0.9999771882199968 Centerline is valid? [True, True] Translation: X:152.15, Y:273.97, Z:2.56 [[-2.03978270e-01 -9.78947822e-01 -7.35037216e-03 1.52153168e+02] [ 9.78299617e-01 -2.04110649e-01 3.56188431e-02 2.73968343e+02] [-3.63692781e-02 7.46036996e-05 9.99338416e-01 2.55674208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:274.00, Z:2.55 [[-2.04476531e-01 -9.78844745e-01 -7.23285466e-03 1.52148170e+02] [ 9.78218944e-01 -2.04604398e-01 3.49962540e-02 2.73995587e+02] [-3.57357731e-02 8.05971701e-05 9.99361270e-01 2.55498758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.186875 meters Centerline goodness [0,1] 0.9999542721265747 Centerline is valid? [True, True] Translation: X:152.14, Y:274.02, Z:2.55 [[-2.04517564e-01 -9.78837376e-01 -7.06801170e-03 1.52144067e+02] [ 9.78241588e-01 -2.04639649e-01 3.41468727e-02 2.74021723e+02] [-3.48706307e-02 6.94122234e-05 9.99391832e-01 2.55260486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.14, Y:274.05, Z:2.55 [[-2.04506889e-01 -9.78839328e-01 -7.10649170e-03 1.52138951e+02] [ 9.78239037e-01 -2.04630316e-01 3.42756569e-02 2.74048235e+02] [-3.50045646e-02 5.77603533e-05 9.99387151e-01 2.55169305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.13, Y:274.07, Z:2.55 [[-2.02857657e-01 -9.79183069e-01 -7.02051340e-03 1.52132869e+02] [ 9.78599305e-01 -2.02979104e-01 3.38065736e-02 2.74073526e+02] [-3.45278420e-02 -1.23472138e-05 9.99403736e-01 2.54972353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.13, Y:274.10, Z:2.55 [[-2.01318155e-01 -9.79500704e-01 -7.02644583e-03 1.52125959e+02] [ 9.78917492e-01 -2.01440723e-01 3.37961328e-02 2.74099667e+02] [-3.45187482e-02 -7.45356350e-05 9.99404048e-01 2.54823603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.306875 meters Centerline goodness [0,1] 0.9999544097198477 Centerline is valid? [True, True] Translation: X:152.12, Y:274.13, Z:2.55 [[-1.99462401e-01 -9.79880012e-01 -7.06481763e-03 1.52118640e+02] [ 9.79292433e-01 -1.99587420e-01 3.39292235e-02 2.74125130e+02] [-3.46566166e-02 -1.50918067e-04 9.99399268e-01 2.54668990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:274.15, Z:2.55 [[-1.97519041e-01 -9.80273079e-01 -7.13578754e-03 1.52111919e+02] [ 9.79675823e-01 -1.97647760e-01 3.42146766e-02 2.74151694e+02] [-3.49500988e-02 -2.32708401e-04 9.99389032e-01 2.54633671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.10, Y:274.18, Z:2.55 [[-1.94134144e-01 -9.80947206e-01 -7.38333045e-03 1.52103153e+02] [ 9.80310373e-01 -1.94274130e-01 3.53431120e-02 2.74178954e+02] [-3.61041171e-02 -3.76650616e-04 9.99347963e-01 2.54570820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters Centerline goodness [0,1] 0.9999318692798583 Centerline is valid? [True, True] Translation: X:152.10, Y:274.21, Z:2.54 [[-1.92932408e-01 -9.81183503e-01 -7.48468064e-03 1.52096477e+02] [ 9.80531058e-01 -1.93077042e-01 3.57784891e-02 2.74205491e+02] [-3.65503832e-02 -4.36131787e-04 9.99331716e-01 2.54465319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:274.23, Z:2.54 [[-1.92004783e-01 -9.81365243e-01 -7.51159579e-03 1.52090143e+02] [ 9.80710313e-01 -1.92151053e-01 3.58504376e-02 2.74230490e+02] [-3.66257345e-02 -4.83243968e-04 9.99328936e-01 2.54348732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:274.26, Z:2.54 [[-1.91086093e-01 -9.81544375e-01 -7.53288843e-03 1.52084714e+02] [ 9.80887804e-01 -1.91233782e-01 3.58992611e-02 2.74258307e+02] [-3.66772606e-02 -5.29068824e-04 9.99327023e-01 2.54296052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.486875 meters Centerline goodness [0,1] 0.9999545413219384 Centerline is valid? [True, True] Translation: X:152.08, Y:274.29, Z:2.54 [[-1.91245873e-01 -9.81513506e-01 -7.50023677e-03 1.52078548e+02] [ 9.80864420e-01 -1.91392152e-01 3.56936033e-02 2.74285586e+02] [-3.64692402e-02 -5.30461083e-04 9.99334635e-01 2.54180568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters Centerline goodness [0,1] 0.9998637478426742 Centerline is valid? [True, True] Translation: X:152.07, Y:274.31, Z:2.54 [[-1.91673927e-01 -9.81429497e-01 -7.56628686e-03 1.52071367e+02] [ 9.80770761e-01 -1.91822479e-01 3.59562279e-02 2.74311085e+02] [-3.67398865e-02 -5.28921522e-04 9.99324722e-01 2.53981812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.07, Y:274.34, Z:2.54 [[-1.92194202e-01 -9.81327975e-01 -7.53617129e-03 1.52065867e+02] [ 9.80675929e-01 -1.92341206e-01 3.57712451e-02 2.74337870e+02] [-3.65528398e-02 -5.15515873e-04 9.99331589e-01 2.53875569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:274.36, Z:2.54 [[-1.92784502e-01 -9.81212425e-01 -7.50415961e-03 1.52060310e+02] [ 9.80567782e-01 -1.92929845e-01 3.55654444e-02 2.74363079e+02] [-3.63450323e-02 -5.01870639e-04 9.99339175e-01 2.53760959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:274.39, Z:2.54 [[-1.93241261e-01 -9.81122732e-01 -7.48325728e-03 1.52055102e+02] [ 9.80483677e-01 -1.93385468e-01 3.54093286e-02 2.74389438e+02] [-3.61880505e-02 -4.94668305e-04 9.99344876e-01 2.53651696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.05, Y:274.42, Z:2.53 [[-1.94655277e-01 -9.80844171e-01 -7.35082764e-03 1.52049171e+02] [ 9.80229224e-01 -1.94793515e-01 3.47297457e-02 2.74416786e+02] [-3.54963622e-02 -4.45167813e-04 9.99369706e-01 2.53454770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.04, Y:274.44, Z:2.53 [[-1.95887785e-01 -9.80598922e-01 -7.33003591e-03 1.52044010e+02] [ 9.79988953e-01 -1.96024454e-01 3.45841830e-02 2.74443967e+02] [-3.53500788e-02 -4.08735231e-04 9.99374907e-01 2.53301157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters Centerline goodness [0,1] 0.9999772572208324 Centerline is valid? [True, True] Translation: X:152.04, Y:274.47, Z:2.53 [[-1.97978771e-01 -9.80180092e-01 -7.16888773e-03 1.52038360e+02] [ 9.79597981e-01 -1.98108239e-01 3.37775122e-02 2.74470942e+02] [-3.45282607e-02 -3.35397587e-04 9.99403666e-01 2.53176371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:274.50, Z:2.53 [[-1.99318119e-01 -9.79909206e-01 -7.08774571e-03 1.52032828e+02] [ 9.79341596e-01 -1.99443883e-01 3.33492976e-02 2.74498101e+02] [-3.40928912e-02 -2.94204926e-04 9.99418625e-01 2.52986442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:274.53, Z:2.53 [[-2.01225667e-01 -9.79519835e-01 -7.00890137e-03 1.52027221e+02] [ 9.78966063e-01 -2.01347557e-01 3.29334053e-02 2.74525859e+02] [-3.36701489e-02 -2.34430134e-04 9.99432972e-01 2.52805304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:274.55, Z:2.53 [[-2.03117691e-01 -9.79129791e-01 -6.93226356e-03 1.52021933e+02] [ 9.78589237e-01 -2.03235877e-01 3.25312682e-02 2.74551745e+02] [-3.32612185e-02 -1.76162420e-04 9.99446677e-01 2.52625852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:274.58, Z:2.53 [[-2.06705986e-01 -9.78376864e-01 -7.16571467e-03 1.52016982e+02] [ 9.77800770e-01 -2.06830142e-01 3.35700386e-02 2.74578913e+02] [-3.43262349e-02 -6.75133982e-05 9.99410679e-01 2.52561505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:274.61, Z:2.53 [[-2.08655298e-01 -9.77962148e-01 -7.28036767e-03 1.52011398e+02] [ 9.77369083e-01 -2.08782272e-01 3.40534521e-02 2.74606447e+02] [-3.48229989e-02 -1.01730665e-05 9.99393495e-01 2.52505311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:274.63, Z:2.52 [[-2.11013342e-01 -9.77454620e-01 -7.47234731e-03 1.52006424e+02] [ 9.76831242e-01 -2.11145594e-01 3.49036323e-02 2.74632545e+02] [-3.56944699e-02 6.59097923e-05 9.99362747e-01 2.52433658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.906875 meters Centerline goodness [0,1] 0.9999321313033052 Centerline is valid? [True, True] Translation: X:152.00, Y:274.66, Z:2.52 [[-2.14339688e-01 -9.76728322e-01 -7.76422514e-03 1.52001407e+02] [ 9.76057073e-01 -2.14480190e-01 3.62055028e-02 2.74659796e+02] [-3.70282125e-02 1.81949299e-04 9.99314204e-01 2.52431894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.00, Y:274.69, Z:2.52 [[-2.15955580e-01 -9.76372141e-01 -7.78656794e-03 1.51995650e+02] [ 9.75698628e-01 -2.16095786e-01 3.62601505e-02 2.74686345e+02] [-3.70860453e-02 2.33238183e-04 9.99312049e-01 2.52331191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.966875 meters Centerline goodness [0,1] 0.999977341731998 Centerline is valid? [True, True] Translation: X:151.99, Y:274.71, Z:2.52 [[-2.17334297e-01 -9.76066043e-01 -7.80274116e-03 1.51989321e+02] [ 9.75391485e-01 -2.17474145e-01 3.62828644e-02 2.74713650e+02] [-3.71113664e-02 2.74783535e-04 9.99311098e-01 2.52215846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.98, Y:274.74, Z:2.52 [[-2.19454551e-01 -9.75592503e-01 -7.67910354e-03 1.51982484e+02] [ 9.74940612e-01 -2.19588600e-01 3.56602003e-02 2.74740049e+02] [-3.64760677e-02 3.39123327e-04 9.99334469e-01 2.51978266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.026875 meters Centerline goodness [0,1] 0.9999773489172783 Centerline is valid? [True, True] Translation: X:151.98, Y:274.77, Z:2.52 [[-2.20362123e-01 -9.75388090e-01 -7.65558582e-03 1.51975482e+02] [ 9.74741946e-01 -2.20494770e-01 3.54992324e-02 2.74767131e+02] [-3.63135451e-02 3.60465609e-04 9.99340381e-01 2.51815340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:274.79, Z:2.52 [[-2.21160703e-01 -9.75208834e-01 -7.46143718e-03 1.51968247e+02] [ 9.74596570e-01 -2.21286224e-01 3.45533337e-02 2.74794333e+02] [-3.53478295e-02 3.69948497e-04 9.99375002e-01 2.51589797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.086875 meters Centerline goodness [0,1] 0.9999775391941063 Centerline is valid? [True, True] Translation: X:151.96, Y:274.82, Z:2.51 [[-2.21420906e-01 -9.75150009e-01 -7.43257959e-03 1.51962074e+02] [ 9.74544024e-01 -2.21545312e-01 3.43746841e-02 2.74819775e+02] [-3.51671267e-02 3.67897679e-04 9.99381378e-01 2.51482284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters Centerline goodness [0,1] 0.9999100173216656 Centerline is valid? [True, True] Translation: X:151.95, Y:274.85, Z:2.51 [[-2.21812099e-01 -9.75061286e-01 -7.40816644e-03 1.51954877e+02] [ 9.74461181e-01 -2.21935469e-01 3.42060642e-02 2.74847244e+02] [-3.49971439e-02 3.68348298e-04 9.99387344e-01 2.51362527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.95, Y:274.87, Z:2.51 [[-2.22178598e-01 -9.74978755e-01 -7.28689105e-03 1.51949252e+02] [ 9.74399625e-01 -2.22297761e-01 3.36017392e-02 2.74873360e+02] [-3.43808414e-02 3.65243391e-04 9.99408737e-01 2.51142041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:274.90, Z:2.51 [[-2.22470661e-01 -9.74912079e-01 -7.29682632e-03 1.51943454e+02] [ 9.74332984e-01 -2.22589994e-01 3.35995813e-02 2.74899492e+02] [-3.43808382e-02 3.65382509e-04 9.99408737e-01 2.51032744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.93, Y:274.93, Z:2.51 [[-2.22451783e-01 -9.74916631e-01 -7.26401194e-03 1.51934210e+02] [ 9.74344398e-01 -2.22570074e-01 3.33999420e-02 2.74926290e+02] [-3.41789106e-02 3.52227310e-04 9.99415668e-01 2.50882558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.93, Y:274.95, Z:2.51 [[-2.22047020e-01 -9.75008547e-01 -7.31124342e-03 1.51926916e+02] [ 9.74430461e-01 -2.22167109e-01 3.35715855e-02 2.74953379e+02] [-3.43569006e-02 3.30172228e-04 9.99409573e-01 2.50773241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:274.98, Z:2.51 [[-2.21479684e-01 -9.75136701e-01 -7.42718003e-03 1.51919949e+02] [ 9.74541874e-01 -2.21603973e-01 3.40560556e-02 2.74980725e+02] [-3.48552023e-02 3.04626490e-04 9.99392326e-01 2.50694910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:275.01, Z:2.51 [[-2.20683598e-01 -9.75316544e-01 -7.50921528e-03 1.51913227e+02] [ 9.74710269e-01 -2.20811155e-01 3.43849585e-02 2.75006618e+02] [-3.51943374e-02 2.68887119e-04 9.99380451e-01 2.50630014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32687500000003 meters Centerline goodness [0,1] 0.9999110755413276 Centerline is valid? [True, True] Translation: X:151.90, Y:275.03, Z:2.51 [[-2.18557969e-01 -9.75793052e-01 -7.76752744e-03 1.51904503e+02] [ 9.75146566e-01 -2.18695873e-01 3.55146497e-02 2.75033122e+02] [-3.63536746e-02 1.87531997e-04 9.99338969e-01 2.50612244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.90, Y:275.06, Z:2.50 [[-2.17868882e-01 -9.75947052e-01 -7.77836385e-03 1.51897150e+02] [ 9.75300589e-01 -2.18007636e-01 3.55166431e-02 2.75060189e+02] [-3.63581059e-02 1.51728473e-04 9.99338814e-01 2.50489080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:275.09, Z:2.50 [[-2.15949743e-01 -9.76373845e-01 -7.73460936e-03 1.51888475e+02] [ 9.75736593e-01 -2.16088201e-01 3.52702493e-02 2.75087391e+02] [-3.61083067e-02 6.96598886e-05 9.99347880e-01 2.50304692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.88, Y:275.11, Z:2.50 [[-2.15145463e-01 -9.76550915e-01 -7.79355331e-03 1.51881465e+02] [ 9.75905752e-01 -2.15286573e-01 3.54916105e-02 2.75114367e+02] [-3.63372121e-02 3.00854422e-05 9.99339585e-01 2.50207348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44687500000003 meters Centerline goodness [0,1] 0.9998672390140284 Centerline is valid? [True, True] Translation: X:151.87, Y:275.14, Z:2.50 [[-2.14832263e-01 -9.76619150e-01 -7.88253803e-03 1.51874870e+02] [ 9.75961006e-01 -2.14976826e-01 3.58480100e-02 2.75140319e+02] [-3.67044161e-02 8.25939982e-06 9.99326166e-01 2.50106519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.87, Y:275.17, Z:2.50 [[-2.15056466e-01 -9.76568828e-01 -8.00250773e-03 1.51867908e+02] [ 9.75892430e-01 -2.15205306e-01 3.63406211e-02 2.75167611e+02] [-3.72112999e-02 5.69883871e-06 9.99307420e-01 2.49998884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50687500000004 meters Centerline goodness [0,1] 0.9999335621747315 Centerline is valid? [True, True] Translation: X:151.86, Y:275.19, Z:2.50 [[-2.15310083e-01 -9.76513462e-01 -7.93897530e-03 1.51861640e+02] [ 9.75849484e-01 -2.15456398e-01 3.60045223e-02 2.75193889e+02] [-3.68694038e-02 4.89176048e-06 9.99320092e-01 2.49757521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:275.22, Z:2.50 [[-2.15965468e-01 -9.76369084e-01 -7.89486066e-03 1.51855570e+02] [ 9.75714222e-01 -2.16109721e-01 3.57539451e-02 2.75221642e+02] [-3.66152028e-02 1.84896544e-05 9.99329438e-01 2.49625308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:275.25, Z:2.49 [[-2.16717693e-01 -9.76205039e-01 -7.56070773e-03 1.51850722e+02] [ 9.75605838e-01 -2.16849536e-01 3.41983443e-02 2.75248250e+02] [-3.50241320e-02 3.51156789e-05 9.99386466e-01 2.49387695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:275.28, Z:2.49 [[-2.17303905e-01 -9.76075557e-01 -7.45119561e-03 1.51845208e+02] [ 9.75495245e-01 -2.17431611e-01 3.36529494e-02 2.75275447e+02] [-3.44679468e-02 4.43114472e-05 9.99405803e-01 2.49277478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62687500000004 meters Centerline goodness [0,1] 0.9998669652557592 Centerline is valid? [True, True] Translation: X:151.84, Y:275.30, Z:2.49 [[-2.17616492e-01 -9.76006314e-01 -7.39846247e-03 1.51839329e+02] [ 9.75435648e-01 -2.17742216e-01 3.33710142e-02 2.75303056e+02] [-3.41812782e-02 4.53590125e-05 9.99415648e-01 2.49085374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:275.33, Z:2.49 [[-2.18135934e-01 -9.75890305e-01 -7.40447687e-03 1.51833342e+02] [ 9.75320148e-01 -2.18261561e-01 3.33541694e-02 2.75330652e+02] [-3.41661233e-02 5.40074097e-05 9.99416166e-01 2.48956449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:275.36, Z:2.49 [[-2.18641113e-01 -9.75776866e-01 -7.45458560e-03 1.51827686e+02] [ 9.75200442e-01 -2.18768149e-01 3.35349811e-02 2.75358642e+02] [-3.43534847e-02 6.24104150e-05 9.99409743e-01 2.48793511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.82, Y:275.39, Z:2.49 [[-2.18540022e-01 -9.75799286e-01 -7.48409139e-03 1.51821860e+02] [ 9.75219841e-01 -2.18668129e-01 3.36230627e-02 2.75386027e+02] [-3.44458928e-02 4.93504465e-05 9.99406563e-01 2.48722186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.746875 meters Centerline goodness [0,1] 0.9998661132681751 Centerline is valid? [True, True] Translation: X:151.82, Y:275.41, Z:2.49 [[-2.17201613e-01 -9.76097264e-01 -7.58884185e-03 1.51815287e+02] [ 9.75503245e-01 -2.17334146e-01 3.40483135e-02 2.75412625e+02] [-3.48837801e-02 -7.59125454e-06 9.99391376e-01 2.48619479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters Centerline goodness [0,1] 0.9998437360478614 Centerline is valid? [True, True] Translation: X:151.81, Y:275.44, Z:2.49 [[-2.16087756e-01 -9.76342891e-01 -7.78726520e-03 1.51808432e+02] [ 9.75719330e-01 -2.16228019e-01 3.48888773e-02 2.75439232e+02] [-3.57473322e-02 -5.91259826e-05 9.99360858e-01 2.48615535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.806875 meters Centerline goodness [0,1] 0.999843791841471 Centerline is valid? [True, True] Translation: X:151.80, Y:275.47, Z:2.49 [[-2.14966963e-01 -9.76588878e-01 -7.96046283e-03 1.51801320e+02] [ 9.75939392e-01 -2.15114275e-01 3.56111158e-02 2.75466202e+02] [-3.64898288e-02 -1.13715826e-04 9.99334018e-01 2.48563790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters Centerline goodness [0,1] 0.9998001376829295 Centerline is valid? [True, True] Translation: X:151.79, Y:275.49, Z:2.48 [[-2.12184733e-01 -9.77195630e-01 -8.14488054e-03 1.51792346e+02] [ 9.76518021e-01 -2.12340871e-01 3.63855509e-02 2.75492261e+02] [-3.72852924e-02 -2.33164225e-04 9.99304635e-01 2.48494014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.866875 meters Centerline goodness [0,1] 0.9999335356802623 Centerline is valid? [True, True] Translation: X:151.78, Y:275.52, Z:2.48 [[-2.10900048e-01 -9.77473034e-01 -8.22416291e-03 1.51784898e+02] [ 9.76783649e-01 -2.11060138e-01 3.67058625e-02 2.75517538e+02] [-3.76147838e-02 -2.91959687e-04 9.99292271e-01 2.48445578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters Centerline goodness [0,1] 0.9998220798861311 Centerline is valid? [True, True] Translation: X:151.78, Y:275.54, Z:2.48 [[-2.09627722e-01 -9.77746239e-01 -8.27711337e-03 1.51777787e+02] [ 9.77050304e-01 -2.09790768e-01 3.68854690e-02 2.75542421e+02] [-3.78010906e-02 -3.54939294e-04 9.99285220e-01 2.48295763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.77, Y:275.57, Z:2.48 [[-2.07721227e-01 -9.78154060e-01 -8.15639049e-03 1.51769880e+02] [ 9.77480627e-01 -2.07880847e-01 3.62929455e-02 2.75568300e+02] [-3.71956494e-02 -4.33898508e-04 9.99307908e-01 2.48132857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:275.59, Z:2.48 [[-2.07323787e-01 -9.78238086e-01 -8.19115403e-03 1.51763396e+02] [ 9.77560769e-01 -2.07485024e-01 3.63992931e-02 2.75594459e+02] [-3.73067166e-02 -4.60911538e-04 9.99303756e-01 2.48019956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.986875 meters Centerline goodness [0,1] 0.9998450504692757 Centerline is valid? [True, True] Translation: X:151.76, Y:275.62, Z:2.48 [[-2.06854610e-01 -9.78336287e-01 -8.32348867e-03 1.51756195e+02] [ 9.77639008e-01 -2.07021406e-01 3.69338194e-02 2.75620048e+02] [-3.78568361e-02 -4.97436397e-04 9.99283049e-01 2.47864550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.75, Y:275.65, Z:2.48 [[-2.07057675e-01 -9.78292962e-01 -8.36655396e-03 1.51749823e+02] [ 9.77590545e-01 -2.07226027e-01 3.70688452e-02 2.75646155e+02] [-3.79979581e-02 -5.03675150e-04 9.99277690e-01 2.47753070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:275.67, Z:2.48 [[-2.07069342e-01 -9.78290184e-01 -8.40253669e-03 1.51743720e+02] [ 9.77583713e-01 -2.07239110e-01 3.71757509e-02 2.75671266e+02] [-3.81100064e-02 -5.16224735e-04 9.99273417e-01 2.47621489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters Centerline goodness [0,1] 0.9999556019268764 Centerline is valid? [True, True] Translation: X:151.74, Y:275.70, Z:2.47 [[-2.07583185e-01 -9.78181590e-01 -8.36645144e-03 1.51737872e+02] [ 9.77483160e-01 -2.07751103e-01 3.69614841e-02 2.75697994e+02] [-3.78931828e-02 -5.05482805e-04 9.99281668e-01 2.47474054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.106875 meters Centerline goodness [0,1] 0.9999556845627174 Centerline is valid? [True, True] Translation: X:151.73, Y:275.72, Z:2.47 [[-2.08237723e-01 -9.78044392e-01 -8.13749315e-03 1.51732271e+02] [ 9.77385349e-01 -2.08396114e-01 3.59017961e-02 2.75723846e+02] [-3.68093722e-02 -4.77358320e-04 9.99322191e-01 2.47260892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.73, Y:275.75, Z:2.47 [[-2.08695625e-01 -9.77946852e-01 -8.12959778e-03 1.51728319e+02] [ 9.77290954e-01 -2.08853376e-01 3.58142366e-02 2.75752094e+02] [-3.67223139e-02 -4.70707894e-04 9.99325398e-01 2.47195600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.166875 meters Centerline goodness [0,1] 0.9999779020175458 Centerline is valid? [True, True] Translation: X:151.72, Y:275.78, Z:2.47 [[-2.09007621e-01 -9.77879319e-01 -8.23718696e-03 1.51721960e+02] [ 9.77207678e-01 -2.09169336e-01 3.62400803e-02 2.75779522e+02] [-3.71613920e-02 -4.74989377e-04 9.99309164e-01 2.47057313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:275.81, Z:2.47 [[-2.08992605e-01 -9.77881560e-01 -8.35140806e-03 1.51715134e+02] [ 9.77192959e-01 -2.09158822e-01 3.66947939e-02 2.75805757e+02] [-3.76299329e-02 -4.91996604e-04 9.99291622e-01 2.46928076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.71, Y:275.83, Z:2.47 [[-2.08998751e-01 -9.77879829e-01 -8.40014720e-03 1.51709001e+02] [ 9.77185203e-01 -2.09166882e-01 3.68550580e-02 2.75832437e+02] [-3.77968504e-02 -5.05838468e-04 9.99285316e-01 2.46751998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters Centerline goodness [0,1] 0.9998667821221608 Centerline is valid? [True, True] Translation: X:151.70, Y:275.86, Z:2.47 [[-2.09004795e-01 -9.77879115e-01 -8.33259662e-03 1.51702966e+02] [ 9.77197617e-01 -2.09170202e-01 3.65053929e-02 2.75860153e+02] [-3.74407922e-02 -5.12791407e-04 9.99298716e-01 2.46610465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.286875 meters Centerline goodness [0,1] 0.9999777044501917 Centerline is valid? [True, True] Translation: X:151.70, Y:275.89, Z:2.46 [[-2.08691892e-01 -9.77946067e-01 -8.31769543e-03 1.51697108e+02] [ 9.77268814e-01 -2.08856901e-01 3.63931432e-02 2.75886682e+02] [-3.73277394e-02 -5.33670416e-04 9.99302935e-01 2.46493779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.69, Y:275.91, Z:2.46 [[-2.08255071e-01 -9.78038058e-01 -8.44882389e-03 1.51691595e+02] [ 9.77341308e-01 -2.08425605e-01 3.69152262e-02 2.75913814e+02] [-3.78654474e-02 -5.69601525e-04 9.99282684e-01 2.46449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.346875 meters Centerline goodness [0,1] 0.9999777476134315 Centerline is valid? [True, True] Translation: X:151.68, Y:275.94, Z:2.46 [[-2.08021855e-01 -9.78086561e-01 -8.57828286e-03 1.51684696e+02] [ 9.77370231e-01 -2.08197796e-01 3.74314064e-02 2.75940793e+02] [-3.83971351e-02 -5.97607705e-04 9.99262379e-01 2.46360903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:275.97, Z:2.46 [[-2.07173641e-01 -9.78264972e-01 -8.75937654e-03 1.51677314e+02] [ 9.77520193e-01 -2.07357700e-01 3.81714129e-02 2.75966987e+02] [-3.91580804e-02 -6.54356860e-04 9.99232814e-01 2.46241833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.406875 meters Centerline goodness [0,1] 0.999977693508811 Centerline is valid? [True, True] Translation: X:151.67, Y:275.99, Z:2.46 [[-2.07225628e-01 -9.78254288e-01 -8.72278697e-03 1.51671985e+02] [ 9.77517722e-01 -2.07408081e-01 3.79603785e-02 2.75994502e+02] [-3.89440796e-02 -6.60315575e-04 9.99241173e-01 2.46126978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters Centerline goodness [0,1] 0.9999111604664076 Centerline is valid? [True, True] Translation: X:151.66, Y:276.02, Z:2.46 [[-2.07176513e-01 -9.78264382e-01 -8.75739656e-03 1.51664173e+02] [ 9.77523913e-01 -2.07360419e-01 3.80612227e-02 2.76020363e+02] [-3.90498759e-02 -6.75173161e-04 9.99237035e-01 2.45942426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.466875 meters Centerline goodness [0,1] 0.9998205634308271 Centerline is valid? [True, True] Translation: X:151.66, Y:276.05, Z:2.46 [[-2.07352328e-01 -9.78229296e-01 -8.51208703e-03 1.51661352e+02] [ 9.77531586e-01 -2.07525921e-01 3.69457837e-02 2.76048086e+02] [-3.79079267e-02 -6.60039668e-04 9.99281018e-01 2.45752384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters Centerline goodness [0,1] 0.9997545574224067 Centerline is valid? [True, True] Translation: X:151.66, Y:276.07, Z:2.46 [[-2.07862926e-01 -9.78121789e-01 -8.41251157e-03 1.51655418e+02] [ 9.77441967e-01 -2.08032097e-01 3.64670667e-02 2.76074415e+02] [-3.74193050e-02 -6.42590678e-04 9.99299446e-01 2.45561225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.526875 meters Centerline goodness [0,1] 0.9999328768962277 Centerline is valid? [True, True] Translation: X:151.65, Y:276.10, Z:2.45 [[-2.08372837e-01 -9.78013935e-01 -8.33688613e-03 1.51649564e+02] [ 9.77348007e-01 -2.08538603e-01 3.60904930e-02 2.76101356e+02] [-3.70355676e-02 -6.27760635e-04 9.99313751e-01 2.45411760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters Centerline goodness [0,1] 0.9999553421904656 Centerline is valid? [True, True] Translation: X:151.64, Y:276.13, Z:2.45 [[-2.08794757e-01 -9.77924172e-01 -8.31048594e-03 1.51644412e+02] [ 9.77264249e-01 -2.08959158e-01 3.59257219e-02 2.76128500e+02] [-3.68691840e-02 -6.20438423e-04 9.99319908e-01 2.45225285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.586875 meters Centerline goodness [0,1] 0.9999329923387907 Centerline is valid? [True, True] Translation: X:151.64, Y:276.16, Z:2.45 [[-2.09350934e-01 -9.77804898e-01 -8.35275014e-03 1.51639025e+02] [ 9.77140055e-01 -2.09516601e-01 3.60569841e-02 2.76155623e+02] [-3.70067354e-02 -6.13243443e-04 9.99314828e-01 2.45108231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters Centerline goodness [0,1] 0.9999776116061434 Centerline is valid? [True, True] Translation: X:151.63, Y:276.18, Z:2.45 [[-2.10264625e-01 -9.77608456e-01 -8.39614470e-03 1.51633447e+02] [ 9.76938433e-01 -2.10431359e-01 3.61931155e-02 2.76181029e+02] [-3.71495079e-02 -5.92384602e-04 9.99309543e-01 2.44945261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.63, Y:276.21, Z:2.45 [[-2.11536773e-01 -9.77335296e-01 -8.24086664e-03 1.51630749e+02] [ 9.76691544e-01 -2.11696530e-01 3.54712013e-02 2.76209712e+02] [-3.64118199e-02 -5.45321300e-04 9.99336721e-01 2.44811945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters Centerline goodness [0,1] 0.9999774906586233 Centerline is valid? [True, True] Translation: X:151.63, Y:276.24, Z:2.45 [[-2.12230463e-01 -9.77184639e-01 -8.27111627e-03 1.51625622e+02] [ 9.76537585e-01 -2.12390912e-01 3.55590475e-02 2.76237341e+02] [-3.65044649e-02 -5.30342808e-04 9.99333349e-01 2.44664664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:276.26, Z:2.44 [[-2.13888665e-01 -9.76823172e-01 -8.25408233e-03 1.51620614e+02] [ 9.76180162e-01 -2.14047338e-01 3.54404954e-02 2.76264488e+02] [-3.63858615e-02 -4.77151190e-04 9.99337701e-01 2.44463856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:276.29, Z:2.44 [[-2.14719013e-01 -9.76639998e-01 -8.37020513e-03 1.51616160e+02] [ 9.75980327e-01 -2.14881598e-01 3.58928943e-02 2.76292454e+02] [-3.68530393e-02 -4.62268694e-04 9.99320589e-01 2.44400936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:276.32, Z:2.44 [[-2.15414027e-01 -9.76486602e-01 -8.40909981e-03 1.51611327e+02] [ 9.75822348e-01 -2.15577632e-01 3.60143063e-02 2.76318918e+02] [-3.69803014e-02 -4.47800756e-04 9.99315894e-01 2.44349908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:276.35, Z:2.44 [[-2.16071196e-01 -9.76340661e-01 -8.49427385e-03 1.51606608e+02] [ 9.75664733e-01 -2.16237652e-01 3.63263908e-02 2.76346999e+02] [-3.73037142e-02 -4.38476733e-04 9.99303878e-01 2.44281949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:276.37, Z:2.44 [[-2.16792935e-01 -9.76180532e-01 -8.50833548e-03 1.51601883e+02] [ 9.75503967e-01 -2.16959422e-01 3.63403408e-02 2.76374271e+02] [-3.73206968e-02 -4.21585877e-04 9.99303251e-01 2.44227500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:276.40, Z:2.44 [[-2.17464555e-01 -9.76028269e-01 -8.83092326e-03 1.51597588e+02] [ 9.75301254e-01 -2.17643379e-01 3.76672761e-02 2.76401322e+02] [-3.86863182e-02 -4.21513103e-04 9.99251315e-01 2.44159946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.59, Y:276.43, Z:2.44 [[-2.18021689e-01 -9.75902526e-01 -8.98900679e-03 1.51592695e+02] [ 9.75150546e-01 -2.18206525e-01 3.83056788e-02 2.76428805e+02] [-3.93440687e-02 -4.14166072e-04 9.99225637e-01 2.44062591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.59, Y:276.45, Z:2.44 [[-2.18186124e-01 -9.75865093e-01 -9.06286352e-03 1.51587173e+02] [ 9.75102612e-01 -2.18373860e-01 3.85714109e-02 2.76454524e+02] [-3.96195860e-02 -4.21475242e-04 9.99214747e-01 2.43944990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:276.48, Z:2.44 [[-2.18528945e-01 -9.75788170e-01 -9.08558866e-03 1.51583453e+02] [ 9.75024086e-01 -2.18717330e-01 3.86103892e-02 2.76481588e+02] [-3.96627367e-02 -4.21180162e-04 9.99213035e-01 2.43705964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:276.51, Z:2.44 [[-2.18812834e-01 -9.75725352e-01 -8.99896918e-03 1.51578159e+02] [ 9.74977796e-01 -2.18997405e-01 3.81894587e-02 2.76507013e+02] [-3.92331739e-02 -4.17451463e-04 9.99229995e-01 2.43518558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:276.53, Z:2.43 [[-2.19149849e-01 -9.75649372e-01 -9.03585114e-03 1.51573600e+02] [ 9.74897833e-01 -2.19335652e-01 3.82895228e-02 2.76533478e+02] [-3.93390332e-02 -4.17888542e-04 9.99225833e-01 2.43361829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:276.56, Z:2.43 [[-2.19092551e-01 -9.75661631e-01 -9.10146291e-03 1.51569345e+02] [ 9.74901230e-01 -2.19281083e-01 3.85149224e-02 2.76559489e+02] [-3.95733107e-02 -4.34694787e-04 9.99216575e-01 2.43223791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:276.59, Z:2.43 [[-2.18924620e-01 -9.75698137e-01 -9.22799700e-03 1.51564313e+02] [ 9.74918724e-01 -2.19118538e-01 3.89942095e-02 2.76586175e+02] [-4.00686028e-02 -4.59754555e-04 9.99196825e-01 2.43067204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:276.61, Z:2.43 [[-2.19227226e-01 -9.75630076e-01 -9.24008368e-03 1.51558030e+02] [ 9.74850722e-01 -2.19421385e-01 3.89913452e-02 2.76612203e+02] [-4.00686010e-02 -4.59737813e-04 9.99196825e-01 2.42957914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:276.64, Z:2.43 [[-2.19201180e-01 -9.75636003e-01 -9.23210458e-03 1.51552949e+02] [ 9.74860151e-01 -2.19395000e-01 3.89039899e-02 2.76639348e+02] [-3.99816108e-02 -4.72210388e-04 9.99200304e-01 2.42861250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:276.67, Z:2.43 [[-2.19154105e-01 -9.75646772e-01 -9.21167625e-03 1.51548440e+02] [ 9.74876515e-01 -2.19347080e-01 3.87638874e-02 2.76665573e+02] [-3.98404159e-02 -4.84981804e-04 9.99205938e-01 2.42760883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:276.69, Z:2.43 [[-2.19410563e-01 -9.75588583e-01 -9.26940564e-03 1.51543613e+02] [ 9.74810892e-01 -2.19605730e-01 3.89492934e-02 2.76692253e+02] [-4.00341006e-02 -4.90031192e-04 9.99198194e-01 2.42641873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:276.72, Z:2.42 [[-2.19700890e-01 -9.75521851e-01 -9.41474261e-03 1.51538349e+02] [ 9.74721737e-01 -2.19901958e-01 3.95052551e-02 2.76719286e+02] [-4.06085599e-02 -4.97414572e-04 9.99175008e-01 2.42490029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:276.75, Z:2.42 [[-2.21063964e-01 -9.75213565e-01 -9.44600587e-03 1.51535639e+02] [ 9.74410049e-01 -2.21265219e-01 3.95823187e-02 2.76745626e+02] [-4.06912866e-02 -4.54058778e-04 9.99171663e-01 2.42310396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters Centerline goodness [0,1] 0.9999767706566935 Centerline is valid? [True, True] Translation: X:151.53, Y:276.77, Z:2.42 [[-2.22081995e-01 -9.74982173e-01 -9.45245873e-03 1.51530986e+02] [ 9.74179662e-01 -2.22282661e-01 3.95525629e-02 2.76772261e+02] [-4.06641614e-02 -4.24480966e-04 9.99172781e-01 2.42135408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:276.80, Z:2.42 [[-2.22844489e-01 -9.74807609e-01 -9.51099244e-03 1.51526152e+02] [ 9.73997163e-01 -2.23046990e-01 3.97437710e-02 2.76799560e+02] [-4.08639286e-02 -4.06999306e-04 9.99164638e-01 2.42029860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:276.83, Z:2.42 [[-2.23537125e-01 -9.74648292e-01 -9.58436563e-03 1.51523040e+02] [ 9.73827272e-01 -2.23742156e-01 3.99986381e-02 2.76826321e+02] [-4.11290310e-02 -3.92336054e-04 9.99153766e-01 2.41914282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:276.85, Z:2.42 [[-2.23797610e-01 -9.74588284e-01 -9.60759039e-03 1.51518715e+02] [ 9.73765595e-01 -2.24003392e-01 4.00380668e-02 2.76853045e+02] [-4.11727637e-02 -3.95117331e-04 9.99151964e-01 2.41789911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:276.88, Z:2.42 [[-2.23930225e-01 -9.74559100e-01 -9.47711627e-03 1.51513009e+02] [ 9.73760770e-01 -2.24130328e-01 3.94405799e-02 2.76878805e+02] [-4.05612853e-02 -3.96506114e-04 9.99176974e-01 2.41628519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:276.91, Z:2.41 [[-2.24060861e-01 -9.74530018e-01 -9.37945470e-03 1.51508568e+02] [ 9.73750285e-01 -2.24256736e-01 3.89781720e-02 2.76905859e+02] [-4.00888046e-02 -3.99763904e-04 9.99196041e-01 2.41455824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:276.93, Z:2.41 [[-2.24976052e-01 -9.74321672e-01 -9.11345835e-03 1.51505176e+02] [ 9.73587366e-01 -2.25160269e-01 3.78218811e-02 2.76932447e+02] [-3.89026672e-02 -3.63730416e-04 9.99242939e-01 2.41166303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:276.96, Z:2.41 [[-2.26037831e-01 -9.74078040e-01 -8.88094127e-03 1.51500699e+02] [ 9.73382528e-01 -2.26211994e-01 3.68047386e-02 2.76958458e+02] [-3.78596631e-02 -3.25289792e-04 9.99283013e-01 2.40960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:276.98, Z:2.41 [[-2.27296895e-01 -9.73785542e-01 -8.82269593e-03 1.51496145e+02] [ 9.73100862e-01 -2.27467880e-01 3.65113105e-02 2.76984919e+02] [-3.75610662e-02 -2.86465499e-04 9.99294293e-01 2.40784498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:277.01, Z:2.41 [[-2.27321745e-01 -9.73776694e-01 -9.15283452e-03 1.51490235e+02] [ 9.73041840e-01 -2.27505726e-01 3.78248810e-02 2.77011418e+02] [-3.89153099e-02 -3.07672979e-04 9.99242465e-01 2.40777435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:277.04, Z:2.41 [[-2.27610834e-01 -9.73707952e-01 -9.28078715e-03 1.51483791e+02] [ 9.72954428e-01 -2.27799753e-01 3.83008263e-02 2.77037172e+02] [-3.94079801e-02 -3.12099953e-04 9.99223155e-01 2.40758979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:277.06, Z:2.41 [[-2.28496924e-01 -9.73498748e-01 -9.45221196e-03 1.51478200e+02] [ 9.72719215e-01 -2.28692156e-01 3.89515942e-02 2.77063923e+02] [-4.00809749e-02 -2.94028750e-04 9.99196392e-01 2.40755337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:277.09, Z:2.41 [[-2.31483964e-01 -9.72791417e-01 -9.59338272e-03 1.51473749e+02] [ 9.71990014e-01 -2.31682593e-01 3.94789750e-02 2.77091214e+02] [-4.06274278e-02 -1.85922568e-04 9.99174348e-01 2.40669433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:277.12, Z:2.40 [[-2.35471441e-01 -9.71834627e-01 -9.52141419e-03 1.51469082e+02] [ 9.71046531e-01 -2.35663862e-01 3.91302724e-02 2.77116777e+02] [-4.02720070e-02 -3.16745689e-05 9.99188753e-01 2.40419487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:277.14, Z:2.40 [[-2.44994722e-01 -9.69479103e-01 -9.37305484e-03 1.51466624e+02] [ 9.68715725e-01 -2.45173713e-01 3.84667997e-02 2.77144943e+02] [-3.95907852e-02 3.44337286e-04 9.99215918e-01 2.40055310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:277.17, Z:2.40 [[-2.48360618e-01 -9.68618566e-01 -9.75076409e-03 1.51462802e+02] [ 9.67793754e-01 -2.48551472e-01 3.99676794e-02 2.77172730e+02] [-4.11370031e-02 4.89668984e-04 9.99153395e-01 2.40218058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:277.20, Z:2.40 [[-2.50966567e-01 -9.67944936e-01 -9.91882387e-03 1.51457030e+02] [ 9.67092921e-01 -2.51161785e-01 4.06083642e-02 2.77199878e+02] [-4.17978900e-02 5.98917404e-04 9.99125907e-01 2.40209695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.45, Y:277.23, Z:2.40 [[-2.54869730e-01 -9.66928555e-01 -9.51794076e-03 1.51449338e+02] [ 9.66145106e-01 -2.55046360e-01 3.89228439e-02 2.77226752e+02] [-4.00631253e-02 7.24542821e-04 9.99196888e-01 2.39946446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:277.25, Z:2.40 [[-2.56411084e-01 -9.66523686e-01 -9.23692738e-03 1.51442200e+02] [ 9.65787303e-01 -2.56576299e-01 3.77291523e-02 2.77253146e+02] [-3.88360960e-02 7.53265650e-04 9.99245310e-01 2.39712115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:277.28, Z:2.39 [[-2.57139930e-01 -9.66333993e-01 -8.81311531e-03 1.51434097e+02] [ 9.65664592e-01 -2.57289854e-01 3.59698094e-02 2.77279097e+02] [-3.70263747e-02 7.38760863e-04 9.99314016e-01 2.39442352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.42, Y:277.31, Z:2.39 [[-2.57034685e-01 -9.66363724e-01 -8.62115289e-03 1.51424969e+02] [ 9.65724835e-01 -2.57178254e-01 3.51409754e-02 2.77305355e+02] [-3.61761369e-02 7.06788094e-04 9.99345179e-01 2.39159927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:277.33, Z:2.39 [[-2.55554549e-01 -9.66755663e-01 -8.68104581e-03 1.51414651e+02] [ 9.66109826e-01 -2.55701142e-01 3.53373743e-02 2.77331143e+02] [-3.63823600e-02 6.43783103e-04 9.99337735e-01 2.39086706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:277.36, Z:2.39 [[-2.54770287e-01 -9.66959502e-01 -9.02345578e-03 1.51405980e+02] [ 9.66263501e-01 -2.54929261e-01 3.66867717e-02 2.77357586e+02] [-3.77749654e-02 6.27663392e-04 9.99286074e-01 2.39234556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.40, Y:277.38, Z:2.39 [[-2.53835828e-01 -9.67204078e-01 -9.14574729e-03 1.51396614e+02] [ 9.66491096e-01 -2.53999858e-01 3.71353320e-02 2.77383700e+02] [-3.82404630e-02 5.86994420e-04 9.99268394e-01 2.39219024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:277.41, Z:2.39 [[-2.52328702e-01 -9.67598806e-01 -9.09818666e-03 1.51383740e+02] [ 9.66895304e-01 -2.52492155e-01 3.68942111e-02 2.77408337e+02] [-3.79960154e-02 5.12474455e-04 9.99277759e-01 2.38977538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:277.43, Z:2.39 [[-2.51572100e-01 -9.67796298e-01 -9.04451195e-03 1.51376372e+02] [ 9.67103018e-01 -2.51734197e-01 3.66284909e-02 2.77433295e+02] [-3.77257308e-02 4.67731567e-04 9.99288022e-01 2.38852591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.37, Y:277.46, Z:2.39 [[-2.48826762e-01 -9.68503347e-01 -9.30099999e-03 1.51365079e+02] [ 9.67772768e-01 -2.49000277e-01 3.76129266e-02 2.77459258e+02] [-3.87441969e-02 3.57848233e-04 9.99249098e-01 2.38934337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.36, Y:277.49, Z:2.39 [[-2.47230875e-01 -9.68911766e-01 -9.32117160e-03 1.51356256e+02] [ 9.68179988e-01 -2.47406365e-01 3.76510423e-02 2.77485215e+02] [-3.87866551e-02 2.83928334e-04 9.99247474e-01 2.38936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:277.51, Z:2.39 [[-2.45690004e-01 -9.69302778e-01 -9.40997587e-03 1.51347217e+02] [ 9.68559235e-01 -2.45870048e-01 3.79595615e-02 2.77510186e+02] [-3.91079396e-02 2.12165782e-04 9.99234969e-01 2.38863984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.34, Y:277.54, Z:2.39 [[-2.44311342e-01 -9.69651383e-01 -9.38958151e-03 1.51337596e+02] [ 9.68912764e-01 -2.44491666e-01 3.78402002e-02 2.77535795e+02] [-3.89874768e-02 1.47104715e-04 9.99239688e-01 2.38764289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:277.56, Z:2.38 [[-2.41424802e-01 -9.70375383e-01 -9.25640486e-03 1.51325624e+02] [ 9.69659989e-01 -2.41602185e-01 3.72543973e-02 2.77560172e+02] [-3.83871177e-02 1.85700613e-05 9.99262943e-01 2.38484632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.32, Y:277.59, Z:2.38 [[-2.39988156e-01 -9.70732236e-01 -9.19846593e-03 1.51316084e+02] [ 9.70028013e-01 -2.40164369e-01 3.69692958e-02 2.77586300e+02] [-3.80964310e-02 -5.05764968e-05 9.99274066e-01 2.38252392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:277.61, Z:2.38 [[-2.38874992e-01 -9.71008530e-01 -9.00958008e-03 1.51307859e+02] [ 9.70334850e-01 -2.39044815e-01 3.61642830e-02 2.77610845e+02] [-3.72695207e-02 -1.03566724e-04 9.99305245e-01 2.38091575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:277.64, Z:2.38 [[-2.36466949e-01 -9.71598224e-01 -8.95956334e-03 1.51299877e+02] [ 9.70933665e-01 -2.36636537e-01 3.59300263e-02 2.77637158e+02] [-3.70297097e-02 -2.02877967e-04 9.99314145e-01 2.38050864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.29, Y:277.66, Z:2.38 [[-2.36007162e-01 -9.71711142e-01 -8.83607444e-03 1.51292296e+02] [ 9.71066551e-01 -2.36172405e-01 3.53885429e-02 2.77663052e+02] [-3.64742784e-02 -2.28466740e-04 9.99334566e-01 2.37959089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.28, Y:277.69, Z:2.38 [[-2.35878902e-01 -9.71743995e-01 -8.64586025e-03 1.51283648e+02] [ 9.71128466e-01 -2.36037180e-01 3.45825568e-02 2.77688219e+02] [-3.56461363e-02 -2.38945482e-04 9.99364446e-01 2.37692635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.28, Y:277.71, Z:2.38 [[-2.35907701e-01 -9.71739593e-01 -8.34986357e-03 1.51276151e+02] [ 9.71167039e-01 -2.36055303e-01 3.33538176e-02 2.77714716e+02] [-3.43822547e-02 -2.40689842e-04 9.99408727e-01 2.37530239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:277.74, Z:2.37 [[-2.36178537e-01 -9.71674431e-01 -8.27639038e-03 1.51268340e+02] [ 9.71113290e-01 -2.36323387e-01 3.30187177e-02 2.77739958e+02] [-3.40393483e-02 -2.39000239e-04 9.99420465e-01 2.37259825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.26, Y:277.77, Z:2.37 [[-2.36829167e-01 -9.71516537e-01 -8.21977750e-03 1.51262568e+02] [ 9.70964448e-01 -2.36971662e-01 3.27486222e-02 2.77766416e+02] [-3.37636823e-02 -2.25282798e-04 9.99429819e-01 2.37250760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.26, Y:277.79, Z:2.37 [[-2.38780517e-01 -9.71037514e-01 -8.36731857e-03 1.51257488e+02] [ 9.70466630e-01 -2.38927015e-01 3.32926701e-02 2.77794324e+02] [-3.43276100e-02 -1.70562480e-04 9.99410619e-01 2.37315849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.25, Y:277.82, Z:2.37 [[-2.40373060e-01 -9.70644614e-01 -8.35611219e-03 1.51251285e+02] [ 9.70076319e-01 -2.40518227e-01 3.32102157e-02 2.77820002e+02] [-3.42451143e-02 -1.23225372e-04 9.99413456e-01 2.37231608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.25, Y:277.85, Z:2.37 [[-2.41700535e-01 -9.70314305e-01 -8.42616179e-03 1.51245133e+02] [ 9.69737950e-01 -2.41847350e-01 3.34390126e-02 2.77845737e+02] [-3.44841972e-02 -8.89416304e-05 9.99405239e-01 2.37148007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters Centerline goodness [0,1] 0.9999774256174093 Centerline is valid? [True, True] Translation: X:151.24, Y:277.87, Z:2.37 [[-2.44231996e-01 -9.69677536e-01 -8.72975631e-03 1.51239442e+02] [ 9.69059721e-01 -2.44387963e-01 3.46089778e-02 2.77872806e+02] [-3.56929957e-02 -7.03548197e-06 9.99362802e-01 2.37181234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.23, Y:277.90, Z:2.37 [[-2.45326941e-01 -9.69400349e-01 -8.81218919e-03 1.51233118e+02] [ 9.68772270e-01 -2.45485157e-01 3.48902153e-02 2.77899091e+02] [-3.59858485e-02 2.25052650e-05 9.99352299e-01 2.37166417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.23, Y:277.93, Z:2.37 [[-2.46405342e-01 -9.69125549e-01 -8.94861236e-03 1.51226701e+02] [ 9.68479382e-01 -2.46567774e-01 3.53838783e-02 2.77925715e+02] [-3.64978599e-02 5.22300451e-05 9.99333730e-01 2.37111855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.22, Y:277.95, Z:2.37 [[-2.47562495e-01 -9.68831045e-01 -8.90041597e-03 1.51220491e+02] [ 9.68193301e-01 -2.47722424e-01 3.51473012e-02 2.77951822e+02] [-3.62566292e-02 8.38304727e-05 9.99342509e-01 2.37059164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:277.98, Z:2.37 [[-2.49382833e-01 -9.68367074e-01 -8.56814696e-03 1.51214451e+02] [ 9.67777267e-01 -2.49529943e-01 3.37930225e-02 2.77977124e+02] [-3.48620596e-02 1.35341854e-04 9.99392124e-01 2.36833217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:278.00, Z:2.37 [[-2.49945597e-01 -9.68222828e-01 -8.47078391e-03 1.51207694e+02] [ 9.67647835e-01 -2.50089055e-01 3.33636305e-02 2.78002011e+02] [-3.44218790e-02 1.42356842e-04 9.99407381e-01 2.36629573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters Centerline goodness [0,1] 0.99995472244861 Centerline is valid? [True, True] Translation: X:151.20, Y:278.03, Z:2.36 [[-2.50662388e-01 -9.68039175e-01 -8.27787568e-03 1.51200547e+02] [ 9.67491429e-01 -2.50798988e-01 3.25607361e-02 2.78027852e+02] [-3.35961510e-02 1.52978102e-04 9.99435478e-01 2.36484473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.19, Y:278.05, Z:2.36 [[-2.50782586e-01 -9.68008862e-01 -8.18150683e-03 1.51194509e+02] [ 9.67475140e-01 -2.50915965e-01 3.21408045e-02 2.78052989e+02] [-3.31654543e-02 1.44949600e-04 9.99449864e-01 2.36277570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.19, Y:278.08, Z:2.36 [[-2.50785312e-01 -9.68009468e-01 -8.02478987e-03 1.51187682e+02] [ 9.67497397e-01 -2.50913636e-01 3.14822710e-02 2.78079364e+02] [-3.24886656e-02 1.31327837e-04 9.99472095e-01 2.36115654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:278.11, Z:2.36 [[-2.50353730e-01 -9.68121589e-01 -7.97486567e-03 1.51180436e+02] [ 9.67617181e-01 -2.50480692e-01 3.12476369e-02 2.78106129e+02] [-3.22490618e-02 1.06345409e-04 9.99479858e-01 2.35995937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:278.13, Z:2.36 [[-2.49099675e-01 -9.68443615e-01 -8.14348322e-03 1.51172863e+02] [ 9.67919138e-01 -2.49232746e-01 3.18681832e-02 2.78132891e+02] [-3.28921612e-02 5.61208340e-05 9.99458905e-01 2.36059776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:278.16, Z:2.36 [[-2.48586257e-01 -9.68574186e-01 -8.30177777e-03 1.51166113e+02] [ 9.68030625e-01 -2.48724840e-01 3.24447829e-02 2.78158708e+02] [-3.34900376e-02 2.89520255e-05 9.99439051e-01 2.36003910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters Centerline goodness [0,1] 0.9998869749988698 Centerline is valid? [True, True] Translation: X:151.16, Y:278.19, Z:2.36 [[-2.46581814e-01 -9.69082388e-01 -8.75975641e-03 1.51158793e+02] [ 9.68479353e-01 -2.46737353e-01 3.41821861e-02 2.78185545e+02] [-3.52867136e-02 -5.49377590e-05 9.99377228e-01 2.36053846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:278.21, Z:2.36 [[-2.45513188e-01 -9.69352698e-01 -8.86686582e-03 1.51151679e+02] [ 9.68736043e-01 -2.45673231e-01 3.45708370e-02 2.78211660e+02] [-3.56896857e-02 -1.02056096e-04 9.99362915e-01 2.35983588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters Centerline goodness [0,1] 0.9999773801714583 Centerline is valid? [True, True] Translation: X:151.14, Y:278.24, Z:2.36 [[-2.44469214e-01 -9.69615979e-01 -8.92510078e-03 1.51144587e+02] [ 9.68992971e-01 -2.44632032e-01 3.47532811e-02 2.78238303e+02] [-3.58807022e-02 -1.52252590e-04 9.99356069e-01 2.35863870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.986875 meters Centerline goodness [0,1] 0.9999773801714583 Centerline is valid? [True, True] Translation: X:151.14, Y:278.26, Z:2.36 [[-2.44765070e-01 -9.69541239e-01 -8.93570818e-03 1.51137808e+02] [ 9.68918281e-01 -2.44928078e-01 3.47505533e-02 2.78264202e+02] [-3.58807003e-02 -1.52249391e-04 9.99356069e-01 2.35754585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:278.29, Z:2.36 [[-2.41620040e-01 -9.70330422e-01 -8.86731563e-03 1.51131134e+02] [ 9.69719048e-01 -2.41782539e-01 3.44408459e-02 2.78291399e+02] [-3.55629627e-02 -2.77206315e-04 9.99367399e-01 2.35673124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.12, Y:278.32, Z:2.36 [[-2.40278531e-01 -9.70664089e-01 -8.80073709e-03 1.51124153e+02] [ 9.70063463e-01 -2.40439419e-01 3.41432800e-02 2.78318754e+02] [-3.52576999e-02 -3.33376334e-04 9.99378198e-01 2.35538078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.12, Y:278.35, Z:2.35 [[-2.38701614e-01 -9.71053362e-01 -8.76967153e-03 1.51117028e+02] [ 9.70458625e-01 -2.38862322e-01 3.39830713e-02 2.78346092e+02] [-3.50941197e-02 -3.98789402e-04 9.99383932e-01 2.35387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:278.37, Z:2.35 [[-2.37787645e-01 -9.71277796e-01 -8.74519484e-03 1.51109433e+02] [ 9.70687900e-01 -2.37947996e-01 3.38489638e-02 2.78372245e+02] [-3.49576485e-02 -4.39989426e-04 9.99388698e-01 2.35253652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:278.40, Z:2.35 [[-2.35801644e-01 -9.71760978e-01 -8.84226279e-03 1.51102777e+02] [ 9.71159780e-01 -2.35966783e-01 3.41812704e-02 2.78399304e+02] [-3.53025051e-02 -5.27250238e-04 9.99376533e-01 2.35158735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:278.43, Z:2.35 [[-2.35586612e-01 -9.71812861e-01 -8.87192854e-03 1.51096362e+02] [ 9.71209007e-01 -2.35752974e-01 3.42578502e-02 2.78425061e+02] [-3.53838029e-02 -5.45806058e-04 9.99373648e-01 2.35087479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.09, Y:278.45, Z:2.35 [[-2.34748009e-01 -9.72015359e-01 -8.91707081e-03 1.51090638e+02] [ 9.71407164e-01 -2.34916567e-01 3.43850106e-02 2.78452090e+02] [-3.55175261e-02 -5.90293678e-04 9.99368879e-01 2.34952229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:278.48, Z:2.35 [[-2.34777409e-01 -9.72009025e-01 -8.83311462e-03 1.51083830e+02] [ 9.71413695e-01 -2.34942766e-01 3.40195572e-02 2.78479638e+02] [-3.51425930e-02 -5.93585038e-04 9.99382132e-01 2.34791509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:278.51, Z:2.35 [[-2.35415340e-01 -9.71855262e-01 -8.77310349e-03 1.51077535e+02] [ 9.71269270e-01 -2.35578051e-01 3.37488848e-02 2.78505165e+02] [-3.48657819e-02 -5.76040618e-04 9.99391838e-01 2.34648318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:278.53, Z:2.34 [[-2.36861086e-01 -9.71506272e-01 -8.50821769e-03 1.51073250e+02] [ 9.70955919e-01 -2.37013287e-01 3.27002293e-02 2.78531799e+02] [-3.37850385e-02 -5.15692497e-04 9.99428990e-01 2.34405123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:278.56, Z:2.34 [[-2.38110776e-01 -9.71202195e-01 -8.33998813e-03 1.51067819e+02] [ 9.70674526e-01 -2.38256319e-01 3.20139279e-02 2.78559043e+02] [-3.30790520e-02 -4.72552796e-04 9.99452627e-01 2.34275333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.06, Y:278.58, Z:2.34 [[-2.39328378e-01 -9.70902701e-01 -8.35901949e-03 1.51062220e+02] [ 9.70373791e-01 -2.39473903e-01 3.20461512e-02 2.78584810e+02] [-3.31154618e-02 -4.41820051e-04 9.99451435e-01 2.34191144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.06, Y:278.61, Z:2.34 [[-2.41563477e-01 -9.70347708e-01 -8.50958472e-03 1.51058099e+02] [ 9.69800760e-01 -2.41713011e-01 3.25777026e-02 2.78612423e+02] [-3.36685764e-02 -3.83018620e-04 9.99432979e-01 2.34201209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:278.64, Z:2.34 [[-2.42739708e-01 -9.70054437e-01 -8.47490908e-03 1.51052155e+02] [ 9.69513048e-01 -2.42887356e-01 3.24065128e-02 2.78638714e+02] [-3.34945297e-02 -3.50187472e-04 9.99438839e-01 2.34105861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:278.67, Z:2.34 [[-2.43888036e-01 -9.69765239e-01 -8.60271916e-03 1.51046054e+02] [ 9.69208660e-01 -2.44039495e-01 3.28526751e-02 2.78665336e+02] [-3.39587855e-02 -3.25455503e-04 9.99423181e-01 2.34006440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:278.69, Z:2.34 [[-2.46101102e-01 -9.69205481e-01 -8.65927411e-03 1.51040427e+02] [ 9.68642642e-01 -2.46253259e-01 3.30267267e-02 2.78691057e+02] [-3.41420591e-02 -2.59828310e-04 9.99416956e-01 2.33813191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters Centerline goodness [0,1] 0.999908111460798 Centerline is valid? [True, True] Translation: X:151.03, Y:278.72, Z:2.34 [[-2.47642278e-01 -9.68812438e-01 -8.70409626e-03 1.51034990e+02] [ 9.68245048e-01 -2.47795101e-01 3.31529132e-02 2.78718126e+02] [-3.42757871e-02 -2.17635129e-04 9.99412389e-01 2.33744439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.03, Y:278.74, Z:2.34 [[-2.48927324e-01 -9.68483419e-01 -8.66344991e-03 1.51029491e+02] [ 9.67922527e-01 -2.49077969e-01 3.29567417e-02 2.78744790e+02] [-3.40759324e-02 -1.81714811e-04 9.99419230e-01 2.33664363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:278.77, Z:2.34 [[-2.51088859e-01 -9.67924308e-01 -8.77039215e-03 1.51024693e+02] [ 9.67350593e-01 -2.51241957e-01 3.33213004e-02 2.78770331e+02] [-3.44559871e-02 -1.17436755e-04 9.99406209e-01 2.33639093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:278.80, Z:2.34 [[-2.52520755e-01 -9.67551618e-01 -8.78268197e-03 1.51018149e+02] [ 9.66977602e-01 -2.52673427e-01 3.33235120e-02 2.78797106e+02] [-3.44613683e-02 -7.77783489e-05 9.99406028e-01 2.33586651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:278.82, Z:2.34 [[-2.54959112e-01 -9.66909245e-01 -9.07545069e-03 1.51012837e+02] [ 9.66297504e-01 -2.55120584e-01 3.43892518e-02 2.78822789e+02] [-3.55666198e-02 -1.73225184e-06 9.99367308e-01 2.33513387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:278.85, Z:2.33 [[-2.56493111e-01 -9.66501689e-01 -9.26115731e-03 1.51006569e+02] [ 9.65866109e-01 -2.56660248e-01 3.50453503e-02 2.78848594e+02] [-3.62483612e-02 4.38529470e-05 9.99342811e-01 2.33457295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.00, Y:278.87, Z:2.33 [[-2.57723529e-01 -9.66172546e-01 -9.44424932e-03 1.50999865e+02] [ 9.65513130e-01 -2.57896501e-01 3.56901942e-02 2.78874629e+02] [-3.69185246e-02 7.96560782e-05 9.99318276e-01 2.33393563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.99, Y:278.90, Z:2.33 [[-2.58949223e-01 -9.65843360e-01 -9.58662788e-03 1.50993030e+02] [ 9.65165373e-01 -2.59126590e-01 3.61830499e-02 2.78900697e+02] [-3.74313087e-02 1.16891375e-04 9.99299196e-01 2.33309649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.99, Y:278.93, Z:2.33 [[-2.60384430e-01 -9.65457512e-01 -9.57817105e-03 1.50986054e+02] [ 9.64782103e-01 -2.60560486e-01 3.61071424e-02 2.78926718e+02] [-3.73556048e-02 1.60889708e-04 9.99302023e-01 2.33243883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.98, Y:278.95, Z:2.33 [[-2.61034994e-01 -9.65282698e-01 -9.48916957e-03 1.50979366e+02] [ 9.64621301e-01 -2.61207355e-01 3.57276231e-02 2.78951704e+02] [-3.69658973e-02 1.72704771e-04 9.99316513e-01 2.33070696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.97, Y:278.98, Z:2.33 [[-2.61512209e-01 -9.65156661e-01 -9.16425228e-03 1.50970898e+02] [ 9.64541272e-01 -2.61672675e-01 3.44607876e-02 2.78977557e+02] [-3.56580932e-02 1.72617143e-04 9.99364033e-01 2.32839906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:279.00, Z:2.33 [[-2.61875507e-01 -9.65059634e-01 -9.00678447e-03 1.50964156e+02] [ 9.64466616e-01 -2.62030292e-01 3.38270868e-02 2.79002790e+02] [-3.50052063e-02 1.71742562e-04 9.99387115e-01 2.32608179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:279.03, Z:2.32 [[-2.61863458e-01 -9.65064425e-01 -8.84225581e-03 1.50957236e+02] [ 9.64494444e-01 -2.62012656e-01 3.31637848e-02 2.79027804e+02] [-3.43219718e-02 1.56076761e-04 9.99410815e-01 2.32431834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:279.05, Z:2.32 [[-2.61307488e-01 -9.65216251e-01 -8.71700778e-03 1.50948684e+02] [ 9.64663366e-01 -2.61452813e-01 3.26652419e-02 2.79054861e+02] [-3.38081086e-02 1.26694243e-04 9.99428334e-01 2.32389047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.94, Y:279.08, Z:2.32 [[-2.61151824e-01 -9.65257871e-01 -8.77306494e-03 1.50941053e+02] [ 9.64699140e-01 -2.61299119e-01 3.28380806e-02 2.79081025e+02] [-3.39896100e-02 1.12356462e-04 9.99422180e-01 2.32229105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.93, Y:279.11, Z:2.32 [[-2.60935966e-01 -9.65315293e-01 -8.87726626e-03 1.50932902e+02] [ 9.64744608e-01 -2.61086911e-01 3.31883447e-02 2.79107041e+02] [-3.43549548e-02 9.57380406e-05 9.99409690e-01 2.32123059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:279.13, Z:2.32 [[-2.60580282e-01 -9.65410904e-01 -8.92772463e-03 1.50924913e+02] [ 9.64835221e-01 -2.60733163e-01 3.33348849e-02 2.79133108e+02] [-3.45096153e-02 7.26305442e-05 9.99404363e-01 2.31965166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:279.16, Z:2.32 [[-2.59101196e-01 -9.65806238e-01 -9.21310651e-03 1.50915355e+02] [ 9.65194980e-01 -2.59264944e-01 3.43560670e-02 2.79158648e+02] [-3.55699393e-02 9.25389900e-06 9.99367189e-01 2.31866072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.91, Y:279.18, Z:2.32 [[-2.58025137e-01 -9.66092905e-01 -9.35558321e-03 1.50907132e+02] [ 9.65464380e-01 -2.58194687e-01 3.48430030e-02 2.79183406e+02] [-3.60771398e-02 -4.21117218e-05 9.99349007e-01 2.31787663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.90, Y:279.21, Z:2.32 [[-2.55039035e-01 -9.66883599e-01 -9.54972833e-03 1.50897132e+02] [ 9.66231068e-01 -2.55217707e-01 3.55168215e-02 2.79207789e+02] [-3.67778919e-02 -1.69068351e-04 9.99323450e-01 2.31699014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:279.23, Z:2.32 [[-2.53841240e-01 -9.67198099e-01 -9.61571538e-03 1.50888497e+02] [ 9.66537999e-01 -2.54023201e-01 3.57282801e-02 2.79234136e+02] [-3.69989394e-02 -2.24643399e-04 9.99315280e-01 2.31580605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.88, Y:279.26, Z:2.31 [[-2.53029509e-01 -9.67412265e-01 -9.46454434e-03 1.50879217e+02] [ 9.66774295e-01 -2.53206323e-01 3.51286233e-02 2.79258958e+02] [-3.63803434e-02 -2.61499882e-04 9.99337982e-01 2.31345390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.87, Y:279.28, Z:2.31 [[-2.50863542e-01 -9.67977664e-01 -9.31266654e-03 1.50868900e+02] [ 9.67362040e-01 -2.51036094e-01 3.45190231e-02 2.79283807e+02] [-3.57514588e-02 -3.49155718e-04 9.99360651e-01 2.31071018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.86, Y:279.31, Z:2.31 [[-2.50235017e-01 -9.68141100e-01 -9.23294628e-03 1.50860708e+02] [ 9.67537429e-01 -2.50405007e-01 3.41856103e-02 2.79310057e+02] [-3.54084703e-02 -3.78784345e-04 9.99372852e-01 2.30927796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:279.34, Z:2.31 [[-2.49843240e-01 -9.68243093e-01 -9.14700523e-03 1.50853578e+02] [ 9.67652052e-01 -2.50010306e-01 3.38282929e-02 2.79336687e+02] [-3.50408565e-02 -3.99348082e-04 9.99385801e-01 2.30835612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:279.36, Z:2.31 [[-2.48889758e-01 -9.68492150e-01 -8.76604050e-03 1.50845503e+02] [ 9.67950769e-01 -2.49043719e-01 3.23810802e-02 2.79363303e+02] [-3.35439493e-02 -4.25776421e-04 9.99437153e-01 2.30586509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.84, Y:279.39, Z:2.30 [[-2.49172624e-01 -9.68420923e-01 -8.59759975e-03 1.50838154e+02] [ 9.67901198e-01 -2.49320560e-01 3.17258439e-02 2.79389271e+02] [-3.28675294e-02 -4.16415342e-04 9.99459630e-01 2.30381277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:279.41, Z:2.30 [[-2.49687756e-01 -9.68288698e-01 -8.54531350e-03 1.50831067e+02] [ 9.67776447e-01 -2.49833611e-01 3.14946958e-02 2.79414349e+02] [-3.26308645e-02 -4.06113202e-04 9.99467389e-01 2.30172133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:279.44, Z:2.30 [[-2.50714833e-01 -9.68021931e-01 -8.69563565e-03 1.50826133e+02] [ 9.67492753e-01 -2.50865284e-01 3.20059589e-02 2.79440850e+02] [-3.31639032e-02 -3.88595843e-04 9.99449851e-01 2.30157927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.82, Y:279.47, Z:2.30 [[-2.51628873e-01 -9.67782515e-01 -8.93943157e-03 1.50819300e+02] [ 9.67224534e-01 -2.51787332e-01 3.28609371e-02 2.79467549e+02] [-3.40530760e-02 -3.77676950e-04 9.99419954e-01 2.30102005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.81, Y:279.49, Z:2.30 [[-2.52525169e-01 -9.67546506e-01 -9.20860826e-03 1.50812546e+02] [ 9.66955770e-01 -2.52692747e-01 3.38070147e-02 2.79494480e+02] [-3.50368075e-02 -3.67194782e-04 9.99385955e-01 2.30101300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.81, Y:279.52, Z:2.30 [[-2.53476782e-01 -9.67294110e-01 -9.57208730e-03 1.50805439e+02] [ 9.66657311e-01 -2.53657203e-01 3.50950972e-02 2.79519807e+02] [-3.63753097e-02 -3.57135859e-04 9.99338136e-01 2.30042429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.80, Y:279.55, Z:2.30 [[-2.55217523e-01 -9.66829957e-01 -1.01907377e-02 1.50800821e+02] [ 9.66109229e-01 -2.55420699e-01 3.73259114e-02 2.79547297e+02] [-3.86907346e-02 -3.19139092e-04 9.99251182e-01 2.30169142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:279.57, Z:2.30 [[-2.56291550e-01 -9.66544790e-01 -1.02864377e-02 1.50794594e+02] [ 9.65811852e-01 -2.56497731e-01 3.76348264e-02 2.79573007e+02] [-3.90141933e-02 -2.89275482e-04 9.99238615e-01 2.30105879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:279.60, Z:2.30 [[-2.58296502e-01 -9.66010796e-01 -1.02984953e-02 1.50788995e+02] [ 9.65277628e-01 -2.58501630e-01 3.76298815e-02 2.79598561e+02] [-3.90130496e-02 -2.21240383e-04 9.99238677e-01 2.29969612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.78, Y:279.62, Z:2.30 [[-2.59591997e-01 -9.65664309e-01 -1.02195001e-02 1.50782311e+02] [ 9.64943917e-01 -2.59793015e-01 3.72937970e-02 2.79624177e+02] [-3.86682434e-02 -1.80073236e-04 9.99252088e-01 2.29810786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.78, Y:279.65, Z:2.30 [[-2.60600523e-01 -9.65393429e-01 -1.01437350e-02 1.50775847e+02] [ 9.64685267e-01 -2.60797824e-01 3.69706772e-02 2.79650703e+02] [-3.83367129e-02 -1.50933881e-04 9.99264867e-01 2.29583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.77, Y:279.68, Z:2.29 [[-2.62877780e-01 -9.64782333e-01 -9.50383156e-03 1.50771573e+02] [ 9.64161685e-01 -2.63049512e-01 3.46005671e-02 2.79676450e+02] [-3.58819941e-02 -6.75099755e-05 9.99356032e-01 2.29301479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.77, Y:279.70, Z:2.29 [[-2.64330837e-01 -9.64387492e-01 -9.27220985e-03 1.50765635e+02] [ 9.63797923e-01 -2.64493412e-01 3.37164533e-02 2.79703049e+02] [-3.49681643e-02 -2.42382546e-05 9.99388426e-01 2.29120642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:279.73, Z:2.29 [[-2.65700190e-01 -9.64011150e-01 -9.26889030e-03 1.50759223e+02] [ 9.63423197e-01 -2.65861812e-01 3.36636463e-02 2.79729930e+02] [-3.49163743e-02 1.45733011e-05 9.99390237e-01 2.28966467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:279.76, Z:2.29 [[-2.68063408e-01 -9.63358079e-01 -9.12254373e-03 1.50752992e+02] [ 9.62789552e-01 -2.68218574e-01 3.30919026e-02 2.79757778e+02] [-3.43261874e-02 8.76383920e-05 9.99410679e-01 2.28832315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:279.78, Z:2.29 [[-2.69202250e-01 -9.63040364e-01 -9.13265813e-03 1.50746425e+02] [ 9.62471646e-01 -2.69357092e-01 3.30921129e-02 2.79784378e+02] [-3.43289867e-02 1.18546747e-04 9.99410580e-01 2.28682595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.74, Y:279.81, Z:2.29 [[-2.70431607e-01 -9.62694728e-01 -9.25238228e-03 1.50739114e+02] [ 9.62112176e-01 -2.70589794e-01 3.34861719e-02 2.79810638e+02] [-3.47405614e-02 1.53889623e-04 9.99396353e-01 2.28606517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:279.84, Z:2.28 [[-2.71434911e-01 -9.62411062e-01 -9.38276613e-03 1.50732116e+02] [ 9.61813318e-01 -2.71596970e-01 3.39149961e-02 2.79836406e+02] [-3.51884983e-02 1.81244529e-04 9.99380677e-01 2.28466495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.72, Y:279.86, Z:2.28 [[-2.71730611e-01 -9.62327199e-01 -9.42533230e-03 1.50724518e+02] [ 9.61725044e-01 -2.71893964e-01 3.40383975e-02 2.79862739e+02] [-3.53187667e-02 1.84696404e-04 9.99376081e-01 2.28401406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.72, Y:279.89, Z:2.28 [[-2.71363346e-01 -9.62429100e-01 -9.60012605e-03 1.50716073e+02] [ 9.61805968e-01 -2.71533057e-01 3.46277042e-02 2.79888836e+02] [-3.59334618e-02 1.63231146e-04 9.99354171e-01 2.28403556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.71, Y:279.91, Z:2.28 [[-2.71662512e-01 -9.62344590e-01 -9.61093848e-03 1.50708810e+02] [ 9.61721512e-01 -2.71832419e-01 3.46247027e-02 2.79914610e+02] [-3.59334600e-02 1.63187427e-04 9.99354171e-01 2.28294275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:279.94, Z:2.28 [[-2.71129343e-01 -9.62493196e-01 -9.78402992e-03 1.50700829e+02] [ 9.61849146e-01 -2.71305787e-01 3.52049729e-02 2.79940709e+02] [-3.65390108e-02 1.34340354e-04 9.99332218e-01 2.28217906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.69, Y:279.97, Z:2.28 [[-2.70693628e-01 -9.62615183e-01 -9.84725882e-03 1.50692523e+02] [ 9.61964434e-01 -2.70872659e-01 3.53896962e-02 2.79966926e+02] [-3.67340121e-02 1.07052522e-04 9.99325073e-01 2.28129298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.68, Y:279.99, Z:2.28 [[-2.68903365e-01 -9.63115450e-01 -9.98052095e-03 1.50683264e+02] [ 9.62448967e-01 -2.69088516e-01 3.58239738e-02 2.79991398e+02] [-3.71882662e-02 2.74450132e-05 9.99308277e-01 2.28023579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:280.02, Z:2.28 [[-2.68597174e-01 -9.63199774e-01 -1.00873334e-02 1.50674760e+02] [ 9.62520244e-01 -2.68786525e-01 3.61743546e-02 2.80017374e+02] [-3.75544695e-02 7.06679835e-06 9.99294582e-01 2.27893894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:280.04, Z:2.28 [[-2.68397624e-01 -9.63254183e-01 -1.02026245e-02 1.50665625e+02] [ 9.62560715e-01 -2.68591471e-01 3.65443742e-02 2.80042991e+02] [-3.79418593e-02 -1.22223611e-05 9.99279948e-01 2.27754983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:280.07, Z:2.28 [[-2.68534650e-01 -9.63214658e-01 -1.03278530e-02 1.50657718e+02] [ 9.62505742e-01 -2.68733181e-01 3.69482540e-02 2.80069213e+02] [-3.83645366e-02 -1.87313410e-05 9.99263810e-01 2.27731794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.65, Y:280.09, Z:2.28 [[-2.68503239e-01 -9.63223493e-01 -1.03205258e-02 1.50649943e+02] [ 9.62517291e-01 -2.68701510e-01 3.68776826e-02 2.80094405e+02] [-3.82945911e-02 -3.19073274e-05 9.99266493e-01 2.27623171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:280.12, Z:2.27 [[-2.69514201e-01 -9.62944379e-01 -1.00109308e-02 1.50641499e+02] [ 9.62281347e-01 -2.69700061e-01 3.57279352e-02 2.80120708e+02] [-3.71039630e-02 -4.14604536e-06 9.99311411e-01 2.27356337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.63, Y:280.15, Z:2.27 [[-2.70114410e-01 -9.62778714e-01 -9.76492851e-03 1.50634350e+02] [ 9.62149212e-01 -2.70290858e-01 3.48101374e-02 2.80146169e+02] [-3.61538302e-02 7.40143335e-06 9.99346237e-01 2.27139942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.63, Y:280.17, Z:2.27 [[-2.71085138e-01 -9.62508256e-01 -9.52390649e-03 1.50627018e+02] [ 9.61910733e-01 -2.71252384e-01 3.39099537e-02 2.80172357e+02] [-3.52219927e-02 3.13366106e-05 9.99379513e-01 2.26958881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.62, Y:280.20, Z:2.27 [[-2.71953108e-01 -9.62263819e-01 -9.47890410e-03 1.50619495e+02] [ 9.61673151e-01 -2.72118246e-01 3.37107031e-02 2.80198502e+02] [-3.50179727e-02 5.21229022e-05 9.99386681e-01 2.26874034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:280.22, Z:2.27 [[-2.73197520e-01 -9.61907921e-01 -9.81160744e-03 1.50611765e+02] [ 9.61276383e-01 -2.73373635e-01 3.48506868e-02 2.80223498e+02] [-3.62053865e-02 8.94546808e-05 9.99344366e-01 2.26763521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.60, Y:280.25, Z:2.27 [[-2.73981420e-01 -9.61682551e-01 -1.00425408e-02 1.50603810e+02] [ 9.61022477e-01 -2.74165387e-01 3.56249779e-02 2.80249636e+02] [-3.70132368e-02 1.09474621e-04 9.99314769e-01 2.26778203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.60, Y:280.27, Z:2.27 [[-2.74151470e-01 -9.61632031e-01 -1.02375847e-02 1.50596229e+02] [ 9.60947740e-01 -2.74342533e-01 3.62714060e-02 2.80274510e+02] [-3.76883508e-02 1.06075427e-04 9.99289536e-01 2.26658005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.59, Y:280.30, Z:2.27 [[-2.74094030e-01 -9.61648392e-01 -1.02387727e-02 1.50587590e+02] [ 9.60965193e-01 -2.74285181e-01 3.62427444e-02 2.80300659e+02] [-3.76611205e-02 9.48156952e-05 9.99290564e-01 2.26597343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.58, Y:280.33, Z:2.26 [[-2.73764831e-01 -9.61740162e-01 -1.04249144e-02 1.50577372e+02] [ 9.61033652e-01 -2.73963239e-01 3.68573312e-02 2.80325966e+02] [-3.83032190e-02 7.15474505e-05 9.99266160e-01 2.26449714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.57, Y:280.35, Z:2.26 [[-2.74091541e-01 -9.61646296e-01 -1.04990024e-02 1.50568722e+02] [ 9.60931342e-01 -2.74292539e-01 3.70750412e-02 2.80350999e+02] [-3.85328741e-02 7.31346986e-05 9.99257330e-01 2.26308752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:280.38, Z:2.26 [[-2.74837889e-01 -9.61432570e-01 -1.05616083e-02 1.50559715e+02] [ 9.60710726e-01 -2.75040733e-01 3.72491106e-02 2.80378162e+02] [-3.87173806e-02 9.08165475e-05 9.99250197e-01 2.26192739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.55, Y:280.41, Z:2.26 [[-2.77015242e-01 -9.60806902e-01 -1.06137653e-02 1.50550823e+02] [ 9.60079016e-01 -2.77218448e-01 3.73927154e-02 2.80405312e+02] [-3.88695106e-02 1.68298767e-04 9.99244281e-01 2.26033815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:280.43, Z:2.26 [[-2.78717334e-01 -9.60316221e-01 -1.04596545e-02 1.50543623e+02] [ 9.59610471e-01 -2.78913440e-01 3.68108204e-02 2.80431309e+02] [-3.82673661e-02 2.22619746e-04 9.99267511e-01 2.25945274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:280.46, Z:2.26 [[-2.80355060e-01 -9.59838291e-01 -1.05591616e-02 1.50535585e+02] [ 9.59120355e-01 -2.80553698e-01 3.71182905e-02 2.80457995e+02] [-3.85899683e-02 2.78793750e-04 9.99255091e-01 2.25841190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.53, Y:280.48, Z:2.26 [[-2.82788370e-01 -9.59127063e-01 -1.02963838e-02 1.50526378e+02] [ 9.58445364e-01 -2.82975531e-01 3.61570623e-02 2.80484610e+02] [-3.75928416e-02 3.56275403e-04 9.99293076e-01 2.25713817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.52, Y:280.51, Z:2.25 [[-2.84033629e-01 -9.58761377e-01 -1.00756990e-02 1.50518132e+02] [ 9.58109713e-01 -2.84212022e-01 3.53454995e-02 2.80510761e+02] [-3.67515346e-02 3.85685362e-04 9.99324360e-01 2.25483760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.51, Y:280.54, Z:2.25 [[-2.85638617e-01 -9.58286712e-01 -9.85692833e-03 1.50509079e+02] [ 9.57664137e-01 -2.85808322e-01 3.45398773e-02 2.80537053e+02] [-3.59162976e-02 4.26296022e-04 9.99354711e-01 2.25274117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:280.56, Z:2.25 [[-2.86731061e-01 -9.57961008e-01 -9.79821370e-03 1.50500351e+02] [ 9.57346938e-01 -2.86898066e-01 3.42978214e-02 2.80564120e+02] [-3.56670642e-02 4.53960848e-04 9.99363625e-01 2.25085347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.49, Y:280.59, Z:2.25 [[-2.89560863e-01 -9.57109077e-01 -9.83469530e-03 1.50490718e+02] [ 9.56491244e-01 -2.89727305e-01 3.43887860e-02 2.80590858e+02] [-3.57631990e-02 5.50846610e-04 9.99360140e-01 2.24907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.48, Y:280.62, Z:2.25 [[-2.90430035e-01 -9.56845009e-01 -9.90064536e-03 1.50482010e+02] [ 9.56220054e-01 -2.90598169e-01 3.45819762e-02 2.80617608e+02] [-3.59667008e-02 5.76448946e-04 9.99352823e-01 2.24834127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:280.64, Z:2.25 [[-2.91754208e-01 -9.56439787e-01 -1.01200673e-02 1.50472466e+02] [ 9.55787995e-01 -2.91928995e-01 3.53096461e-02 2.80644422e+02] [-3.67258915e-02 6.29099038e-04 9.99325179e-01 2.24924984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.746875 meters Centerline goodness [0,1] 0.999955415858579 Centerline is valid? [True, True] Translation: X:150.47, Y:280.67, Z:2.25 [[-2.92230107e-01 -9.56292501e-01 -1.03061369e-02 1.50466035e+02] [ 9.55617869e-01 -2.92411066e-01 3.59201532e-02 2.80670662e+02] [-3.73638016e-02 6.48221648e-04 9.99301519e-01 2.24859411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:280.70, Z:2.25 [[-2.92052166e-01 -9.56345139e-01 -1.04645607e-02 1.50454260e+02] [ 9.55651210e-01 -2.92238885e-01 3.64307292e-02 2.80696793e+02] [-3.78985024e-02 6.39203281e-04 9.99281389e-01 2.24869964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.44, Y:280.72, Z:2.25 [[-2.89198601e-01 -9.57209944e-01 -1.06439284e-02 1.50442260e+02] [ 9.56494160e-01 -2.89393935e-01 3.70144730e-02 2.80721470e+02] [-3.85109100e-02 5.23678482e-04 9.99258043e-01 2.24782561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.43, Y:280.75, Z:2.25 [[-2.87261195e-01 -9.57793491e-01 -1.06129100e-02 1.50431489e+02] [ 9.57083328e-01 -2.87456845e-01 3.68790652e-02 2.80746962e+02] [-3.83732823e-02 4.36485135e-04 9.99263379e-01 2.24631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:280.77, Z:2.24 [[-2.83100778e-01 -9.59034521e-01 -1.03313622e-02 1.50418234e+02] [ 9.58363897e-01 -2.83289119e-01 3.58596673e-02 2.80771106e+02] [-3.73174213e-02 2.50695201e-04 9.99303431e-01 2.24326724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.41, Y:280.80, Z:2.24 [[-2.81386511e-01 -9.59540690e-01 -1.01634187e-02 1.50407271e+02] [ 9.58893332e-01 -2.81569946e-01 3.52412272e-02 2.80797653e+02] [-3.66771047e-02 1.70771593e-04 9.99327154e-01 2.24169491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.926875 meters Centerline goodness [0,1] 0.9999780200457183 Centerline is valid? [True, True] Translation: X:150.40, Y:280.82, Z:2.24 [[-2.79959133e-01 -9.59958273e-01 -1.01487761e-02 1.50397421e+02] [ 9.59314406e-01 -2.80143004e-01 3.51534990e-02 2.80823244e+02] [-3.65890008e-02 1.05676005e-04 9.99330393e-01 2.23968230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:280.85, Z:2.24 [[-2.76883209e-01 -9.60851078e-01 -1.00445923e-02 1.50385580e+02] [ 9.60222333e-01 -2.77065344e-01 3.47543805e-02 2.80848337e+02] [-3.61767924e-02 -2.21374611e-05 9.99345405e-01 2.23826005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.986875 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:150.38, Y:280.87, Z:2.24 [[-2.76060124e-01 -9.61088856e-01 -9.95079533e-03 1.50376555e+02] [ 9.60473347e-01 -2.76239400e-01 3.43910318e-02 2.80874224e+02] [-3.58016391e-02 -6.34812127e-05 9.99358914e-01 2.23710387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.37, Y:280.90, Z:2.23 [[-2.76180972e-01 -9.61057848e-01 -9.58559468e-03 1.50367983e+02] [ 9.60487931e-01 -2.76347260e-01 3.30926929e-02 2.80900179e+02] [-3.44529451e-02 -6.72759062e-05 9.99406319e-01 2.23495066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.046875 meters Centerline goodness [0,1] 0.9999342177392829 Centerline is valid? [True, True] Translation: X:150.36, Y:280.93, Z:2.23 [[-2.77316236e-01 -9.60732516e-01 -9.42006490e-03 1.50360215e+02] [ 9.60183178e-01 -2.77476181e-01 3.24843575e-02 2.80927102e+02] [-3.38226222e-02 -3.65481030e-05 9.99427851e-01 2.23327339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters Centerline goodness [0,1] 0.9999341917651963 Centerline is valid? [True, True] Translation: X:150.35, Y:280.95, Z:2.23 [[-2.79017177e-01 -9.60241708e-01 -9.23452801e-03 1.50353501e+02] [ 9.59714604e-01 -2.79169951e-01 3.18122197e-02 2.80953722e+02] [-3.31254229e-02 1.36443517e-05 9.99451202e-01 2.23103844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:280.98, Z:2.23 [[-2.81231578e-01 -9.59597000e-01 -9.07725974e-03 1.50347712e+02] [ 9.59088460e-01 -2.81378021e-01 3.12367662e-02 2.80980119e+02] [-3.25288485e-02 7.88699806e-05 9.99470794e-01 2.23018544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.34, Y:281.01, Z:2.23 [[-2.86001582e-01 -9.58186709e-01 -9.01804112e-03 1.50343853e+02] [ 9.57685233e-01 -2.86143631e-01 3.09970443e-02 2.81008576e+02] [-3.22814109e-02 2.28758880e-04 9.99478793e-01 2.23051773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.166875 meters Centerline goodness [0,1] 0.9999780759449268 Centerline is valid? [True, True] Translation: X:150.34, Y:281.04, Z:2.23 [[-2.90716302e-01 -9.56768516e-01 -8.83389350e-03 1.50341158e+02] [ 9.56287612e-01 -2.90850251e-01 3.03337093e-02 2.81036003e+02] [-3.15916782e-02 3.70760887e-04 9.99500790e-01 2.22770805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:281.06, Z:2.23 [[-2.93315610e-01 -9.55975046e-01 -8.81272413e-03 1.50332901e+02] [ 9.55497142e-01 -2.93447632e-01 3.02274671e-02 2.81063115e+02] [-3.14827773e-02 4.45655251e-04 9.99504195e-01 2.22808254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:281.09, Z:2.23 [[-2.95026881e-01 -9.55449053e-01 -8.73190721e-03 1.50327456e+02] [ 9.54980596e-01 -2.95155668e-01 2.99197842e-02 2.81089496e+02] [-3.11641014e-02 4.88338680e-04 9.99514162e-01 2.22726832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:281.12, Z:2.23 [[-2.96731087e-01 -9.54918405e-01 -9.02788691e-03 1.50321427e+02] [ 9.54418563e-01 -2.96867876e-01 3.08977595e-02 2.81116784e+02] [-3.21849288e-02 5.51942910e-04 9.99481779e-01 2.22771309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:281.14, Z:2.23 [[-2.96792545e-01 -9.54898988e-01 -9.06130847e-03 1.50315262e+02] [ 9.54396420e-01 -2.96930333e-01 3.09814575e-02 2.81142383e+02] [-3.22747397e-02 5.46985234e-04 9.99478885e-01 2.22709005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters Centerline goodness [0,1] 0.9999779701716124 Centerline is valid? [True, True] Translation: X:150.31, Y:281.17, Z:2.23 [[-2.96254585e-01 -9.55066388e-01 -9.02307259e-03 1.50307430e+02] [ 9.54569356e-01 -2.96391514e-01 3.08125656e-02 2.81168185e+02] [-3.21024079e-02 5.15215252e-04 9.99484452e-01 2.22628163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.30, Y:281.19, Z:2.22 [[-2.92771637e-01 -9.56143455e-01 -8.62911829e-03 1.50297040e+02] [ 9.55690338e-01 -2.92898541e-01 2.94350462e-02 2.81194240e+02] [-3.06715830e-02 3.70981697e-04 9.99529447e-01 2.22444378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:281.22, Z:2.22 [[-2.90731058e-01 -9.56768342e-01 -8.35415036e-03 1.50287849e+02] [ 9.56344670e-01 -2.90850918e-01 2.84713124e-02 2.81219507e+02] [-2.96702627e-02 2.88047604e-04 9.99559699e-01 2.22334360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.28, Y:281.24, Z:2.22 [[-2.86378851e-01 -9.58081774e-01 -8.15277375e-03 1.50277507e+02] [ 9.57679702e-01 -2.86494841e-01 2.77541631e-02 2.81244638e+02] [-2.89264855e-02 1.40459407e-04 9.99581532e-01 2.22182392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.27, Y:281.27, Z:2.22 [[-2.84222582e-01 -9.58723130e-01 -8.21481737e-03 1.50268487e+02] [ 9.58316100e-01 -2.84341264e-01 2.79337986e-02 2.81269313e+02] [-2.91165904e-02 6.70245915e-05 9.99576020e-01 2.22002355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.466875 meters Centerline goodness [0,1] 0.9999780759449268 Centerline is valid? [True, True] Translation: X:150.26, Y:281.30, Z:2.22 [[-2.82845591e-01 -9.59129598e-01 -8.29367633e-03 1.50259505e+02] [ 9.58715938e-01 -2.82967159e-01 2.81662410e-02 2.81296179e+02] [-2.93619135e-02 1.54174120e-05 9.99568846e-01 2.22065286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters Centerline goodness [0,1] 0.9998031108485922 Centerline is valid? [True, True] Translation: X:150.25, Y:281.32, Z:2.22 [[-2.81950351e-01 -9.59392388e-01 -8.38125708e-03 1.50251549e+02] [ 9.58970953e-01 -2.82074894e-01 2.84335455e-02 2.81323083e+02] [-2.96430693e-02 -2.05339379e-05 9.99560547e-01 2.22031119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.24, Y:281.35, Z:2.22 [[-2.80520480e-01 -9.59808995e-01 -8.65753180e-03 1.50243951e+02] [ 9.59360572e-01 -2.80654034e-01 2.93360818e-02 2.81349025e+02] [-3.05868064e-02 -7.63229262e-05 9.99532111e-01 2.22072134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.24, Y:281.38, Z:2.22 [[-2.79990823e-01 -9.59961426e-01 -8.89942004e-03 1.50235787e+02] [ 9.59488333e-01 -2.80132202e-01 3.01345160e-02 2.81375919e+02] [-3.14209871e-02 -1.01501770e-04 9.99506234e-01 2.22051249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.586875 meters Centerline goodness [0,1] 0.9999781306040327 Centerline is valid? [True, True] Translation: X:150.23, Y:281.40, Z:2.22 [[-2.79179611e-01 -9.60195767e-01 -9.10129272e-03 1.50228112e+02] [ 9.59702082e-01 -2.79327888e-01 3.07870960e-02 2.81400563e+02] [-3.21038841e-02 -1.39400090e-04 9.99484528e-01 2.21975844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.22, Y:281.43, Z:2.22 [[-2.79146360e-01 -9.60205350e-01 -9.11015655e-03 1.50220741e+02] [ 9.59711952e-01 -2.79294938e-01 3.07783605e-02 2.81427474e+02] [-3.20979670e-02 -1.51458812e-04 9.99484716e-01 2.21958620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.21, Y:281.45, Z:2.22 [[-2.77828006e-01 -9.60588060e-01 -9.06520274e-03 1.50212117e+02] [ 9.60100711e-01 -2.77975786e-01 3.05955378e-02 2.81453007e+02] [-3.19096152e-02 -2.03210326e-04 9.99490738e-01 2.21786454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.20, Y:281.48, Z:2.22 [[-2.77329045e-01 -9.60733845e-01 -8.89267583e-03 1.50204147e+02] [ 9.60265913e-01 -2.77471491e-01 2.99824624e-02 2.81478409e+02] [-3.12726304e-02 -2.24325825e-04 9.99510867e-01 2.21662782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.20, Y:281.50, Z:2.22 [[-2.76668787e-01 -9.60925412e-01 -8.75986544e-03 1.50196235e+02] [ 9.60472542e-01 -2.76807315e-01 2.94992606e-02 2.81504902e+02] [-3.07713840e-02 -2.52085584e-04 9.99526417e-01 2.21523425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:281.53, Z:2.22 [[-2.74777296e-01 -9.61468413e-01 -8.71368967e-03 1.50187994e+02] [ 9.61021638e-01 -2.74915237e-01 2.93091096e-02 2.81532613e+02] [-3.05753092e-02 -3.20566430e-04 9.99532415e-01 2.21525478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.18, Y:281.56, Z:2.21 [[-2.74008427e-01 -9.61688462e-01 -8.64205509e-03 1.50179520e+02] [ 9.61249940e-01 -2.74144452e-01 2.90408549e-02 2.81557999e+02] [-3.02974266e-02 -3.49735964e-04 9.99540866e-01 2.21368005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.17, Y:281.58, Z:2.21 [[-2.74307648e-01 -9.61603078e-01 -8.65072514e-03 1.50171772e+02] [ 9.61164596e-01 -2.74443799e-01 2.90382716e-02 2.81583620e+02] [-3.02974292e-02 -3.49350738e-04 9.99540866e-01 2.21258692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:281.61, Z:2.21 [[-2.73435861e-01 -9.61853056e-01 -8.45746860e-03 1.50164310e+02] [ 9.61435037e-01 -2.73566366e-01 2.83568924e-02 2.81610904e+02] [-2.95888426e-02 -3.77515333e-04 9.99562083e-01 2.21069491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:281.64, Z:2.21 [[-2.73596246e-01 -9.61807786e-01 -8.41883034e-03 1.50157542e+02] [ 9.61394378e-01 -2.73725481e-01 2.81994717e-02 2.81638661e+02] [-2.94269198e-02 -3.78546583e-04 9.99566863e-01 2.20974170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.15, Y:281.66, Z:2.21 [[-2.74032761e-01 -9.61684922e-01 -8.25571497e-03 1.50150341e+02] [ 9.61288059e-01 -2.74156848e-01 2.76277109e-02 2.81664233e+02] [-2.88325138e-02 -3.65222338e-04 9.99584190e-01 2.20798182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.15, Y:281.69, Z:2.21 [[-2.74900931e-01 -9.61440160e-01 -7.89282526e-03 1.50145295e+02] [ 9.61078156e-01 -2.75014014e-01 2.63831289e-02 2.81689939e+02] [-2.75364372e-02 -3.32875246e-04 9.99620745e-01 2.20590882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:281.72, Z:2.21 [[-2.75324875e-01 -9.61319214e-01 -7.84740559e-03 1.50139821e+02] [ 9.60962155e-01 -2.75436492e-01 2.62006629e-02 2.81716743e+02] [-2.73486625e-02 -3.27365552e-04 9.99625902e-01 2.20580283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters Centerline goodness [0,1] 0.9998892874540543 Centerline is valid? [True, True] Translation: X:150.13, Y:281.74, Z:2.20 [[-2.75849762e-01 -9.61168569e-01 -7.86708486e-03 1.50132891e+02] [ 9.60810461e-01 -2.75961735e-01 2.62369582e-02 2.81742359e+02] [-2.73891539e-02 -3.21318764e-04 9.99624795e-01 2.20452737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.13, Y:281.77, Z:2.20 [[-2.76952758e-01 -9.60849121e-01 -8.13241807e-03 1.50127575e+02] [ 9.60467418e-01 -2.77071958e-01 2.70826476e-02 2.81769697e+02] [-2.82756031e-02 -3.10308653e-04 9.99600117e-01 2.20400509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.12, Y:281.80, Z:2.20 [[-2.78052931e-01 -9.60529928e-01 -8.29605179e-03 1.50121266e+02] [ 9.60133082e-01 -2.78176516e-01 2.76096206e-02 2.81796107e+02] [-2.88276337e-02 -2.88377845e-04 9.99584356e-01 2.20320104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.12, Y:281.82, Z:2.20 [[-2.79111099e-01 -9.60222779e-01 -8.31916423e-03 1.50115132e+02] [ 9.59824470e-01 -2.79234925e-01 2.76557829e-02 2.81822685e+02] [-2.88787140e-02 -2.65901419e-04 9.99582888e-01 2.20240078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.11, Y:281.85, Z:2.20 [[-2.81517343e-01 -9.59519846e-01 -8.34567776e-03 1.50110712e+02] [ 9.59119586e-01 -2.81640948e-01 2.77127275e-02 2.81850245e+02] [-2.89413967e-02 -2.02889563e-04 9.99581089e-01 2.20142747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.10, Y:281.88, Z:2.20 [[-2.82877734e-01 -9.59117995e-01 -8.53575935e-03 1.50104653e+02] [ 9.58700063e-01 -2.83006433e-01 2.83116241e-02 2.81876911e+02] [-2.95698629e-02 -1.74504962e-04 9.99562701e-01 2.20053618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.10, Y:281.90, Z:2.20 [[-2.84013231e-01 -9.58780362e-01 -8.75800352e-03 1.50099148e+02] [ 9.58341222e-01 -2.84148192e-01 2.90156292e-02 2.81902267e+02] [-3.03081863e-02 -1.52333192e-04 9.99540590e-01 2.19950622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.09, Y:281.93, Z:2.20 [[-2.84421944e-01 -9.58658729e-01 -8.80906584e-03 1.50092224e+02] [ 9.58215464e-01 -2.84558289e-01 2.91497127e-02 2.81928206e+02] [-3.04513192e-02 -1.50165130e-04 9.99536240e-01 2.19886061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:281.95, Z:2.20 [[-2.84987793e-01 -9.58490011e-01 -8.88014051e-03 1.50084899e+02] [ 9.58040478e-01 -2.85126075e-01 2.93523957e-02 2.81954921e+02] [-3.06659377e-02 -1.42459570e-04 9.99529679e-01 2.19804685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:281.98, Z:2.20 [[-2.85824725e-01 -9.58241087e-01 -8.84567407e-03 1.50077684e+02] [ 9.57795929e-01 -2.85961542e-01 2.92053906e-02 2.81980815e+02] [-3.05153278e-02 -1.24727882e-04 9.99534291e-01 2.19649479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.07, Y:282.01, Z:2.19 [[-2.86315391e-01 -9.58093680e-01 -8.94407596e-03 1.50069846e+02] [ 9.57639516e-01 -2.86455032e-01 2.94969955e-02 2.82005752e+02] [-3.08229606e-02 -1.19756766e-04 9.99524852e-01 2.19398815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.06, Y:282.03, Z:2.19 [[-2.86836854e-01 -9.57938124e-01 -8.89771028e-03 1.50062566e+02] [ 9.57489652e-01 -2.86974803e-01 2.93091776e-02 2.82031752e+02] [-3.06297973e-02 -1.12513220e-04 9.99530791e-01 2.19386391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.06, Y:282.06, Z:2.19 [[-2.88869580e-01 -9.57328794e-01 -8.71476354e-03 1.50056165e+02] [ 9.56899319e-01 -2.89001000e-01 2.86725504e-02 2.82056744e+02] [-2.99676335e-02 -5.65237171e-05 9.99550868e-01 2.19144393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.05, Y:282.08, Z:2.19 [[-2.90528771e-01 -9.56825326e-01 -8.85035309e-03 1.50049333e+02] [ 9.56382861e-01 -2.90663543e-01 2.90951400e-02 2.82082989e+02] [-3.04114418e-02 -1.13507483e-05 9.99537465e-01 2.19024658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:282.11, Z:2.19 [[-2.92708029e-01 -9.56161338e-01 -8.80374385e-03 1.50043073e+02] [ 9.55724241e-01 -2.92840389e-01 2.89081495e-02 2.82108939e+02] [-3.02189467e-02 4.76960269e-05 9.99543302e-01 2.18907369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:282.14, Z:2.19 [[-2.97223588e-01 -9.54766256e-01 -8.91826187e-03 1.50037544e+02] [ 9.54317789e-01 -2.97357297e-01 2.92608124e-02 2.82136497e+02] [-3.05891465e-02 1.86147690e-04 9.99532025e-01 2.18916949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters Centerline goodness [0,1] 0.9999775472630114 Centerline is valid? [True, True] Translation: X:150.03, Y:282.16, Z:2.19 [[-2.99206390e-01 -9.54146414e-01 -8.95304764e-03 1.50031807e+02] [ 9.53695112e-01 -2.99340213e-01 2.93439927e-02 2.82161828e+02] [-3.06784725e-02 2.41432346e-04 9.99529276e-01 2.18773623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.486875 meters Centerline goodness [0,1] 0.9999774342773328 Centerline is valid? [True, True] Translation: X:150.03, Y:282.19, Z:2.19 [[-3.01685703e-01 -9.53363818e-01 -9.11961228e-03 1.50025269e+02] [ 9.52895952e-01 -3.01823339e-01 2.98659804e-02 2.82187898e+02] [-3.12256569e-02 3.20097667e-04 9.99512309e-01 2.18787159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.02, Y:282.21, Z:2.19 [[-3.04748874e-01 -9.52388762e-01 -9.15259475e-03 1.50020390e+02] [ 9.51918287e-01 -3.04886008e-01 2.99348779e-02 2.82214250e+02] [-3.13001394e-02 4.10098017e-04 9.99509946e-01 2.18759127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:282.24, Z:2.19 [[-3.06392514e-01 -9.51862127e-01 -9.06190620e-03 1.50011985e+02] [ 9.51401266e-01 -3.06526157e-01 2.96200255e-02 2.82240627e+02] [-3.09718918e-02 4.53845032e-04 9.99520153e-01 2.18603378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:282.27, Z:2.18 [[-3.07354656e-01 -9.51553710e-01 -8.86856696e-03 1.50003981e+02] [ 9.51112973e-01 -3.07482225e-01 2.89619528e-02 2.82266796e+02] [-3.02857803e-02 4.66581949e-04 9.99541172e-01 2.18387935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:282.29, Z:2.18 [[-3.08644205e-01 -9.51137724e-01 -8.70537492e-03 1.49996719e+02] [ 9.50713815e-01 -3.08766563e-01 2.83980862e-02 2.82293062e+02] [-2.96984198e-02 4.88584544e-04 9.99558785e-01 2.18095873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.99, Y:282.32, Z:2.18 [[-3.09076082e-01 -9.50997060e-01 -8.75033475e-03 1.49988452e+02] [ 9.50569559e-01 -3.09199526e-01 2.85160815e-02 2.82319465e+02] [-2.98243090e-02 4.95836886e-04 9.99555033e-01 2.18004445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.666875 meters Centerline goodness [0,1] 0.9999096167751266 Centerline is valid? [True, True] Translation: X:149.98, Y:282.35, Z:2.18 [[-3.08786832e-01 -9.51088584e-01 -9.01097638e-03 1.49978947e+02] [ 9.50636305e-01 -3.08917892e-01 2.93317495e-02 2.82346428e+02] [-3.06807439e-02 4.91096709e-04 9.99529115e-01 2.18107709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.97, Y:282.37, Z:2.18 [[-3.08527494e-01 -9.51172083e-01 -9.08043005e-03 1.49971522e+02] [ 9.50713708e-01 -3.08660721e-01 2.95297270e-02 2.82371325e+02] [-3.08906241e-02 4.77843358e-04 9.99522657e-01 2.18050160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.726875 meters Centerline goodness [0,1] 0.9999325023624173 Centerline is valid? [True, True] Translation: X:149.96, Y:282.40, Z:2.18 [[-3.08005359e-01 -9.51340600e-01 -9.15214871e-03 1.49962802e+02] [ 9.50876182e-01 -3.08140971e-01 2.97258863e-02 2.82397909e+02] [-3.10995945e-02 4.53172063e-04 9.99516188e-01 2.17991011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.96, Y:282.42, Z:2.18 [[-3.05660379e-01 -9.52096611e-01 -9.15298602e-03 1.49955785e+02] [ 9.51633362e-01 -3.05797170e-01 2.96990659e-02 2.82423924e+02] [-3.10753372e-02 3.67540869e-04 9.99516978e-01 2.17679368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.95, Y:282.45, Z:2.18 [[-3.04279431e-01 -9.52538967e-01 -9.14028516e-03 1.49947011e+02] [ 9.52078059e-01 -3.04416522e-01 2.96302335e-02 2.82448152e+02] [-3.10064058e-02 3.13605643e-04 9.99519137e-01 2.17513398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.93, Y:282.47, Z:2.18 [[-2.99955436e-01 -9.53907362e-01 -9.35317511e-03 1.49933834e+02] [ 9.53426613e-01 -3.00101180e-01 3.02815991e-02 2.82473347e+02] [-3.16927392e-02 1.65564201e-04 9.99497645e-01 2.17538116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.846875 meters Centerline goodness [0,1] 0.9999775078722447 Centerline is valid? [True, True] Translation: X:149.92, Y:282.50, Z:2.17 [[-2.97885520e-01 -9.54553903e-01 -9.54266630e-03 1.49924700e+02] [ 9.54054773e-01 -2.98038315e-01 3.08650766e-02 2.82497748e+02] [-3.23064596e-02 9.00330646e-05 9.99478006e-01 2.17342890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.91, Y:282.52, Z:2.17 [[-2.96241192e-01 -9.55068023e-01 -9.28584714e-03 1.49914965e+02] [ 9.54596741e-01 -2.96386691e-01 2.99998589e-02 2.82523108e+02] [-3.14041075e-02 2.29545547e-05 9.99506769e-01 2.17233367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.91, Y:282.55, Z:2.17 [[-2.93859511e-01 -9.55806775e-01 -8.94403694e-03 1.49905458e+02] [ 9.55370816e-01 -2.93995586e-01 2.88652124e-02 2.82549176e+02] [-3.02190730e-02 -6.25546536e-05 9.99543298e-01 2.17049855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.90, Y:282.58, Z:2.17 [[-2.93389320e-01 -9.55951786e-01 -8.88200772e-03 1.49897311e+02] [ 9.55522866e-01 -2.93523722e-01 2.86334967e-02 2.82575235e+02] [-2.99793222e-02 -8.61993718e-05 9.99550515e-01 2.16909279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.89, Y:282.60, Z:2.17 [[-2.93664483e-01 -9.55866928e-01 -8.92121877e-03 1.49890146e+02] [ 9.55435124e-01 -2.93799948e-01 2.87282975e-02 2.82600792e+02] [-3.00814831e-02 -8.71651138e-05 9.99547446e-01 2.16913433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:282.63, Z:2.17 [[-2.94443726e-01 -9.55626202e-01 -9.02518754e-03 1.49882403e+02] [ 9.55185219e-01 -2.94582003e-01 2.90282709e-02 2.82626921e+02] [-3.03988341e-02 -7.35335081e-05 9.99537846e-01 2.16883041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.026875 meters Centerline goodness [0,1] 0.9999322523824579 Centerline is valid? [True, True] Translation: X:149.87, Y:282.65, Z:2.17 [[-2.95314407e-01 -9.55356875e-01 -9.09079553e-03 1.49874997e+02] [ 9.54910313e-01 -2.95454291e-01 2.92071086e-02 2.82651801e+02] [-3.05891265e-02 -5.56144655e-05 9.99532042e-01 2.16778175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters Centerline goodness [0,1] 0.999887769073646 Centerline is valid? [True, True] Translation: X:149.87, Y:282.68, Z:2.17 [[-2.96547611e-01 -9.54975614e-01 -9.00506107e-03 1.49867256e+02] [ 9.54538263e-01 -2.96684303e-01 2.88985837e-02 2.82676576e+02] [-3.02691030e-02 -2.58693922e-05 9.99541785e-01 2.16627618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.086875 meters Centerline goodness [0,1] 0.9997520623901186 Centerline is valid? [True, True] Translation: X:149.86, Y:282.70, Z:2.16 [[-2.98323044e-01 -9.54421781e-01 -9.07880548e-03 1.49859087e+02] [ 9.53978022e-01 -2.98461158e-01 2.91010371e-02 2.82702132e+02] [-3.04843345e-02 2.05290796e-05 9.99535244e-01 2.16490087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters Centerline goodness [0,1] 0.9996842295200289 Centerline is valid? [True, True] Translation: X:149.85, Y:282.73, Z:2.16 [[-2.99078816e-01 -9.54185687e-01 -9.02977023e-03 1.49850900e+02] [ 9.53747536e-01 -2.99215096e-01 2.89130279e-02 2.82727759e+02] [-3.02902410e-02 3.51530331e-05 9.99541145e-01 2.16438985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.146875 meters Centerline goodness [0,1] 0.9999099585809472 Centerline is valid? [True, True] Translation: X:149.84, Y:282.75, Z:2.16 [[-3.00489388e-01 -9.53739398e-01 -9.34277819e-03 1.49842813e+02] [ 9.53271162e-01 -3.00634587e-01 2.98820419e-02 2.82753312e+02] [-3.13084429e-02 7.30354671e-05 9.99509768e-01 2.16492986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters Centerline goodness [0,1] 0.9998196776738419 Centerline is valid? [True, True] Translation: X:149.83, Y:282.78, Z:2.16 [[-3.01232152e-01 -9.53503535e-01 -9.49730020e-03 1.49834478e+02] [ 9.53020688e-01 -3.01381818e-01 3.03408565e-02 2.82779014e+02] [-3.17924275e-02 8.85179081e-05 9.99494489e-01 2.16456381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.206875 meters Centerline goodness [0,1] 0.9999773694215625 Centerline is valid? [True, True] Translation: X:149.83, Y:282.81, Z:2.16 [[-3.02104595e-01 -9.53227004e-01 -9.54425446e-03 1.49825432e+02] [ 9.52740319e-01 -3.02255302e-01 3.04568180e-02 2.82806039e+02] [-3.19170629e-02 1.07948625e-04 9.99490515e-01 2.16417210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters Centerline goodness [0,1] 0.9998649864986499 Centerline is valid? [True, True] Translation: X:149.82, Y:282.83, Z:2.16 [[-3.02473951e-01 -9.53109652e-01 -9.56553647e-03 1.49816470e+02] [ 9.52621649e-01 -3.02625144e-01 3.04961638e-02 2.82830975e+02] [-3.19609600e-02 1.11958043e-04 9.99489112e-01 2.16144647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.266875 meters Centerline goodness [0,1] 0.9998872604284104 Centerline is valid? [True, True] Translation: X:149.81, Y:282.86, Z:2.16 [[-3.01722106e-01 -9.53349031e-01 -9.45493990e-03 1.49806350e+02] [ 9.52873469e-01 -3.01870204e-01 3.01086758e-02 2.82856628e+02] [-3.15582415e-02 7.50917040e-05 9.99501912e-01 2.16063528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters Centerline goodness [0,1] 0.9997530198931249 Centerline is valid? [True, True] Translation: X:149.80, Y:282.88, Z:2.16 [[-3.01329044e-01 -9.53474580e-01 -9.32911039e-03 1.49797633e+02] [ 9.53012624e-01 -3.01473419e-01 2.96768699e-02 2.82881093e+02] [-3.11086199e-02 5.17428794e-05 9.99516008e-01 2.15818699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32687500000003 meters Centerline goodness [0,1] 0.9998877413560844 Centerline is valid? [True, True] Translation: X:149.79, Y:282.91, Z:2.16 [[-3.00526366e-01 -9.53728863e-01 -9.22819032e-03 1.49787760e+02] [ 9.53277999e-01 -3.00668017e-01 2.93223604e-02 2.82906962e+02] [-3.07402031e-02 1.51116160e-05 9.99527408e-01 2.15681355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters Centerline goodness [0,1] 0.9998195597257308 Centerline is valid? [True, True] Translation: X:149.78, Y:282.93, Z:2.16 [[-2.99465185e-01 -9.54062748e-01 -9.21283634e-03 1.49777526e+02] [ 9.53614511e-01 -2.99606864e-01 2.92419467e-02 2.82933726e+02] [-3.06588811e-02 -2.85494196e-05 9.99529906e-01 2.15639670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38687500000003 meters Centerline goodness [0,1] 0.9997077272420692 Centerline is valid? [True, True] Translation: X:149.77, Y:282.96, Z:2.15 [[-2.98392719e-01 -9.54399452e-01 -9.13624950e-03 1.49767858e+02] [ 9.53959601e-01 -2.98532546e-01 2.89723952e-02 2.82958654e+02] [-3.03787059e-02 -7.04611467e-05 9.99538458e-01 2.15448237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters Centerline goodness [0,1] 0.9999551730320961 Centerline is valid? [True, True] Translation: X:149.76, Y:282.98, Z:2.15 [[-2.95861982e-01 -9.55188968e-01 -8.92880766e-03 1.49756274e+02] [ 9.54770211e-01 -2.95996640e-01 2.82813291e-02 2.82983767e+02] [-2.96569106e-02 -1.57589492e-04 9.99560125e-01 2.15214473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44687500000003 meters Centerline goodness [0,1] 0.9999549468372679 Centerline is valid? [True, True] Translation: X:149.75, Y:283.01, Z:2.15 [[-2.94796640e-01 -9.55517188e-01 -9.04677596e-03 1.49746937e+02] [ 9.55088312e-01 -2.94935353e-01 2.86261148e-02 2.83009500e+02] [-3.00209588e-02 -2.01587537e-04 9.99549249e-01 2.15199267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters Centerline goodness [0,1] 0.9999102112280859 Centerline is valid? [True, True] Translation: X:149.74, Y:283.03, Z:2.15 [[-2.93358793e-01 -9.55956098e-01 -9.41043308e-03 1.49736220e+02] [ 9.55493329e-01 -2.93509569e-01 2.97427671e-02 2.83033942e+02] [-3.11948318e-02 -2.66303766e-04 9.99513287e-01 2.15058867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50687500000004 meters Centerline goodness [0,1] 0.9999550349603183 Centerline is valid? [True, True] Translation: X:149.73, Y:283.06, Z:2.15 [[-2.93485649e-01 -9.55914914e-01 -9.63596273e-03 1.49727170e+02] [ 9.55430827e-01 -2.93643662e-01 3.04192990e-02 2.83058173e+02] [-3.19078009e-02 -2.78868139e-04 9.99490778e-01 2.14955737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters Centerline goodness [0,1] 0.9999775442378515 Centerline is valid? [True, True] Translation: X:149.72, Y:283.08, Z:2.15 [[-2.94350673e-01 -9.55643302e-01 -1.01765196e-02 1.49718456e+02] [ 9.55104497e-01 -2.94526407e-01 3.20872994e-02 2.83083653e+02] [-3.36612665e-02 -2.74721514e-04 9.99433261e-01 2.15001597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.71, Y:283.11, Z:2.15 [[-2.95242052e-01 -9.55364242e-01 -1.05496752e-02 1.49710421e+02] [ 9.54786283e-01 -2.95430357e-01 3.32273808e-02 2.83109781e+02] [-3.48609458e-02 -2.62565042e-04 9.99392138e-01 2.14968800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.70, Y:283.14, Z:2.15 [[-2.96231249e-01 -9.55056232e-01 -1.07070451e-02 1.49702641e+02] [ 9.54461974e-01 -2.96424588e-01 3.36868631e-02 2.83135513e+02] [-3.53466799e-02 -2.40365892e-04 9.99375082e-01 2.14926666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.70, Y:283.16, Z:2.15 [[-2.98129408e-01 -9.54460095e-01 -1.11706425e-02 1.49695054e+02] [ 9.53814257e-01 -2.98338553e-01 3.51065807e-02 2.83160340e+02] [-3.68404636e-02 -1.88413966e-04 9.99321142e-01 2.14881241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.69, Y:283.19, Z:2.15 [[-2.99168809e-01 -9.54135540e-01 -1.11083574e-02 1.49687466e+02] [ 9.53498078e-01 -2.99374926e-01 3.48721686e-02 2.83186317e+02] [-3.65983391e-02 -1.59132302e-04 9.99330044e-01 2.14790324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.68, Y:283.21, Z:2.15 [[-2.99461985e-01 -9.54043440e-01 -1.11190791e-02 1.49679227e+02] [ 9.53406042e-01 -2.99668298e-01 3.48687494e-02 2.83211784e+02] [-3.65983371e-02 -1.59132293e-04 9.99330044e-01 2.14681042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.67, Y:283.24, Z:2.14 [[-3.00751050e-01 -9.53639845e-01 -1.09476646e-02 1.49671137e+02] [ 9.53022967e-01 -3.00950214e-01 3.42956873e-02 2.83237129e+02] [-3.60004359e-02 -1.18911869e-04 9.99351767e-01 2.14468080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.66, Y:283.26, Z:2.14 [[-3.01289934e-01 -9.53477171e-01 -1.02791236e-02 1.49662543e+02] [ 9.52934392e-01 -3.01465211e-01 3.21678561e-02 2.83263056e+02] [-3.37701146e-02 -1.03479207e-04 9.99429622e-01 2.14121204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.65, Y:283.29, Z:2.14 [[-3.01467418e-01 -9.53425372e-01 -9.87195569e-03 1.49653927e+02] [ 9.52925711e-01 -3.01628992e-01 3.08632440e-02 2.83287967e+02] [-3.24034680e-02 -1.02977921e-04 9.99474864e-01 2.13850178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:283.31, Z:2.14 [[-3.00267786e-01 -9.53808210e-01 -9.44221695e-03 1.49644642e+02] [ 9.53352288e-01 -3.00416173e-01 2.94879182e-02 2.83314057e+02] [-3.09624132e-02 -1.47487219e-04 9.99520539e-01 2.13646988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:283.34, Z:2.13 [[-2.99572435e-01 -9.54028268e-01 -9.29626422e-03 1.49635478e+02] [ 9.53587212e-01 -2.99716589e-01 2.90068196e-02 2.83338345e+02] [-3.04595705e-02 -1.75155092e-04 9.99535984e-01 2.13455390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.63, Y:283.36, Z:2.13 [[-2.98369209e-01 -9.54405682e-01 -9.25258444e-03 1.49625686e+02] [ 9.53969944e-01 -2.98512555e-01 2.88374928e-02 2.83364048e+02] [-3.02846796e-02 -2.22467550e-04 9.99541289e-01 2.13339439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.62, Y:283.39, Z:2.13 [[-2.97092787e-01 -9.54803668e-01 -9.26456640e-03 1.49616099e+02] [ 9.54367890e-01 -2.97237081e-01 2.88452397e-02 2.83389305e+02] [-3.02953133e-02 -2.72092046e-04 9.99540955e-01 2.13237959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.926875 meters Centerline goodness [0,1] 0.9999777510790727 Centerline is valid? [True, True] Translation: X:149.61, Y:283.41, Z:2.13 [[-2.95131188e-01 -9.55411265e-01 -9.32185736e-03 1.49605771e+02] [ 9.54971440e-01 -2.95278166e-01 2.89888432e-02 2.83413892e+02] [-3.04488083e-02 -3.46595794e-04 9.99536267e-01 2.13134495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.60, Y:283.44, Z:2.13 [[-2.94699063e-01 -9.55544151e-01 -9.37217426e-03 1.49596666e+02] [ 9.55100081e-01 -2.94847827e-01 2.91306424e-02 2.83438776e+02] [-3.05989802e-02 -3.66591368e-04 9.99531674e-01 2.13046114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:283.47, Z:2.13 [[-2.93701168e-01 -9.55847340e-01 -9.77169977e-03 1.49587630e+02] [ 9.55365882e-01 -2.93863372e-01 3.03372755e-02 2.83465093e+02] [-3.18693488e-02 -4.25455309e-04 9.99491953e-01 2.13146162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.58, Y:283.49, Z:2.13 [[-2.93891319e-01 -9.55786755e-01 -9.97857204e-03 1.49578888e+02] [ 9.55285736e-01 -2.94060347e-01 3.09463396e-02 2.83490741e+02] [-3.25124038e-02 -4.37526990e-04 9.99471236e-01 2.13120049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.57, Y:283.52, Z:2.13 [[-2.94266953e-01 -9.55669640e-01 -1.01242443e-02 1.49570682e+02] [ 9.55154906e-01 -2.94440734e-01 3.13649564e-02 2.83516889e+02] [-3.29555265e-02 -4.40551408e-04 9.99456722e-01 2.13111883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters Centerline goodness [0,1] 0.9999112334117438 Centerline is valid? [True, True] Translation: X:149.56, Y:283.54, Z:2.13 [[-2.94462188e-01 -9.55604773e-01 -1.05611537e-02 1.49560684e+02] [ 9.55045897e-01 -2.94651155e-01 3.26807553e-02 2.83543444e+02] [-3.43417419e-02 -4.63139790e-04 9.99410041e-01 2.13092530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.55, Y:283.57, Z:2.13 [[-2.94698143e-01 -9.55529658e-01 -1.07739696e-02 1.49549896e+02] [ 9.54949087e-01 -2.94894642e-01 3.33075344e-02 2.83567948e+02] [-3.50035229e-02 -4.72923882e-04 9.99387077e-01 2.12917775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters Centerline goodness [0,1] 0.9999113514471877 Centerline is valid? [True, True] Translation: X:149.54, Y:283.59, Z:2.13 [[-2.95061393e-01 -9.55417041e-01 -1.08190322e-02 1.49542039e+02] [ 9.54832876e-01 -2.95259299e-01 3.34084760e-02 2.83593614e+02] [-3.51134471e-02 -4.72816140e-04 9.99383221e-01 2.12833690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.166875 meters Centerline goodness [0,1] 0.9999334973731462 Centerline is valid? [True, True] Translation: X:149.53, Y:283.62, Z:2.13 [[-2.96437728e-01 -9.54993061e-01 -1.06267146e-02 1.49533705e+02] [ 9.54430385e-01 -2.96627835e-01 3.27806081e-02 2.83619248e+02] [-3.44574326e-02 -4.25050294e-04 9.99406076e-01 2.12675670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:283.64, Z:2.12 [[-2.97221883e-01 -9.54750672e-01 -1.05027262e-02 1.49524835e+02] [ 9.54202040e-01 -2.97407117e-01 3.23647096e-02 2.83644378e+02] [-3.40238137e-02 -4.02222834e-04 9.99420942e-01 2.12487556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:283.67, Z:2.12 [[-2.98275352e-01 -9.54425229e-01 -1.02125966e-02 1.49515653e+02] [ 9.53907421e-01 -2.98449911e-01 3.14369470e-02 2.83669315e+02] [-3.30521639e-02 -3.65005300e-04 9.99453561e-01 2.12174002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.51, Y:283.69, Z:2.12 [[-2.98936889e-01 -9.54222670e-01 -9.78939676e-03 1.49507316e+02] [ 9.53747784e-01 -2.99096944e-01 3.01028558e-02 2.83693671e+02] [-3.16528060e-02 -3.37761411e-04 9.99498867e-01 2.11955117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:283.72, Z:2.12 [[-2.99699796e-01 -9.53985551e-01 -9.57085530e-03 1.49498264e+02] [ 9.53532490e-01 -2.99852413e-01 2.93993314e-02 2.83719481e+02] [-3.09163814e-02 -3.15147863e-04 9.99521925e-01 2.11742221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.49, Y:283.75, Z:2.12 [[-3.00445405e-01 -9.53750626e-01 -9.60741428e-03 1.49489107e+02] [ 9.53294921e-01 -3.00598824e-01 2.94811834e-02 2.83745327e+02] [-3.10056745e-02 -3.01213156e-04 9.99519163e-01 2.11604101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.346875 meters Centerline goodness [0,1] 0.9999336106931044 Centerline is valid? [True, True] Translation: X:149.48, Y:283.77, Z:2.11 [[-3.00778203e-01 -9.53645058e-01 -9.67348465e-03 1.49480617e+02] [ 9.53183957e-01 -3.00933569e-01 2.96535371e-02 2.83770995e+02] [-3.11900254e-02 -3.01472770e-04 9.99513427e-01 2.11467765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.47, Y:283.80, Z:2.11 [[-3.01270950e-01 -9.53489783e-01 -9.64614653e-03 1.49471864e+02] [ 9.53032130e-01 -3.01425193e-01 2.95400001e-02 2.83795598e+02] [-3.10736799e-02 -2.93543690e-04 9.99517054e-01 2.11328520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.406875 meters Centerline goodness [0,1] 0.9999779502557771 Centerline is valid? [True, True] Translation: X:149.46, Y:283.82, Z:2.11 [[-3.01359221e-01 -9.53462081e-01 -9.62701778e-03 1.49463038e+02] [ 9.53007211e-01 -3.01512802e-01 2.94497104e-02 2.83821493e+02] [-3.09818513e-02 -2.99675576e-04 9.99519902e-01 2.11306699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:283.85, Z:2.11 [[-3.01661427e-01 -9.53366122e-01 -9.66544761e-03 1.49454411e+02] [ 9.52908515e-01 -3.01816082e-01 2.95366782e-02 2.83846051e+02] [-3.10764558e-02 -3.00210852e-04 9.99516965e-01 2.11148104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:283.87, Z:2.11 [[-3.02514526e-01 -9.53095615e-01 -9.68045676e-03 1.49446039e+02] [ 9.52637472e-01 -3.02669241e-01 2.95495871e-02 2.83872414e+02] [-3.10935584e-02 -2.82786535e-04 9.99516438e-01 2.11069600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters Centerline goodness [0,1] 0.9999335827669419 Centerline is valid? [True, True] Translation: X:149.44, Y:283.90, Z:2.11 [[-3.03664408e-01 -9.52728359e-01 -9.82862221e-03 1.49437858e+02] [ 9.52256872e-01 -3.03823316e-01 2.99706882e-02 2.83897119e+02] [-3.15400891e-02 -2.58341776e-04 9.99502454e-01 2.10903681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.43, Y:283.92, Z:2.11 [[-3.04609673e-01 -9.52424583e-01 -1.00179813e-02 1.49429766e+02] [ 9.51935683e-01 -3.04774268e-01 3.05139523e-02 2.83923579e+02] [-3.21154613e-02 -2.41628792e-04 9.99484136e-01 2.10861239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters Centerline goodness [0,1] 0.9999556482015346 Centerline is valid? [True, True] Translation: X:149.42, Y:283.95, Z:2.11 [[-3.07130901e-01 -9.51613648e-01 -1.01031727e-02 1.49423664e+02] [ 9.51116987e-01 -3.07296984e-01 3.07414989e-02 2.83949266e+02] [-3.23587044e-02 -1.67634872e-04 9.99476306e-01 2.10778615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:283.97, Z:2.11 [[-3.08975991e-01 -9.51016181e-01 -1.01025236e-02 1.49416739e+02] [ 9.50520349e-01 -3.09141085e-01 3.07059529e-02 2.83974815e+02] [-3.23249632e-02 -1.15252008e-04 9.99477405e-01 2.10607488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:284.00, Z:2.10 [[-3.10604481e-01 -9.50485272e-01 -1.01293447e-02 1.49409845e+02] [ 9.49987601e-01 -3.10769597e-01 3.07541053e-02 2.83999721e+02] [-3.23792165e-02 -7.03889759e-05 9.99475653e-01 2.10465105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:284.03, Z:2.10 [[-3.11929534e-01 -9.50052488e-01 -1.00117472e-02 1.49402711e+02] [ 9.49567089e-01 -3.12090161e-01 3.03656996e-02 2.84026211e+02] [-3.19735762e-02 -3.48670830e-05 9.99488714e-01 2.10411549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:284.05, Z:2.10 [[-3.12730756e-01 -9.49790818e-01 -9.84259450e-03 1.49396202e+02] [ 9.49322503e-01 -3.12885606e-01 2.98225246e-02 2.84051886e+02] [-3.14047662e-02 -1.73757647e-05 9.99506749e-01 2.10171398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:284.08, Z:2.10 [[-3.12529037e-01 -9.49857219e-01 -9.84195558e-03 1.49387731e+02] [ 9.49390071e-01 -3.12683965e-01 2.97864394e-02 2.84078973e+02] [-3.13702862e-02 -3.47276797e-05 9.99507831e-01 2.10099185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:284.10, Z:2.10 [[-3.10812899e-01 -9.50420469e-01 -9.81193796e-03 1.49378703e+02] [ 9.49957267e-01 -3.10967719e-01 2.96693271e-02 2.84103477e+02] [-3.12495317e-02 -9.93122161e-05 9.99511609e-01 2.09880557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:284.13, Z:2.10 [[-3.09797545e-01 -9.50750696e-01 -9.92946870e-03 1.49369466e+02] [ 9.50277586e-01 -3.09956598e-01 2.99902855e-02 2.84128964e+02] [-3.15909892e-02 -1.44834712e-04 9.99500870e-01 2.09738482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:284.15, Z:2.10 [[-3.08566183e-01 -9.51148773e-01 -1.01450405e-02 1.49360048e+02] [ 9.50656147e-01 -3.08732848e-01 3.06091185e-02 2.84154991e+02] [-3.22459328e-02 -1.99506297e-04 9.99479945e-01 2.09618643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.35, Y:284.18, Z:2.10 [[-3.05868337e-01 -9.52019086e-01 -1.02088200e-02 1.49349747e+02] [ 9.51521776e-01 -3.06038507e-01 3.07691671e-02 2.84180679e+02] [-3.24171263e-02 -3.02600540e-04 9.99474381e-01 2.09546977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:284.21, Z:2.09 [[-3.04996111e-01 -9.52299035e-01 -1.01941404e-02 1.49340147e+02] [ 9.51804259e-01 -3.05166237e-01 3.06956108e-02 2.84206211e+02] [-3.23423080e-02 -3.40784284e-04 9.99476793e-01 2.09425426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:284.23, Z:2.09 [[-3.03536755e-01 -9.52765117e-01 -1.02014881e-02 1.49330670e+02] [ 9.52270944e-01 -3.03707872e-01 3.06851390e-02 2.84232487e+02] [-3.23340023e-02 -4.00513144e-04 9.99477039e-01 2.09333607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:284.26, Z:2.09 [[-3.03475137e-01 -9.52786139e-01 -1.00705063e-02 1.49322720e+02] [ 9.52305413e-01 -3.03641910e-01 3.02653344e-02 2.84258843e+02] [-3.18942188e-02 -4.05421132e-04 9.99491168e-01 2.09273665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94687500000003 meters Centerline goodness [0,1] 0.9999775880230395 Centerline is valid? [True, True] Translation: X:149.31, Y:284.28, Z:2.09 [[-3.03314235e-01 -9.52839499e-01 -9.86734266e-03 1.49313768e+02] [ 9.52378935e-01 -3.03474414e-01 2.96250512e-02 2.84283880e+02] [-3.12224050e-02 -4.11749550e-04 9.99512377e-01 2.09090546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:284.31, Z:2.09 [[-3.04302600e-01 -9.52525336e-01 -9.76786451e-03 1.49304523e+02] [ 9.52074851e-01 -3.04459086e-01 2.92940820e-02 2.84309303e+02] [-3.08772704e-02 -3.85472829e-04 9.99523109e-01 2.08841739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:284.34, Z:2.09 [[-3.05725053e-01 -9.52069829e-01 -9.75868649e-03 1.49296525e+02] [ 9.51620877e-01 -3.05880563e-01 2.92367397e-02 2.84335097e+02] [-3.08204103e-02 -3.48166012e-04 9.99524878e-01 2.08691754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:284.36, Z:2.09 [[-3.08512709e-01 -9.51170406e-01 -9.73483915e-03 1.49290144e+02] [ 9.50724231e-01 -3.08666142e-01 2.91315729e-02 2.84363096e+02] [-3.07139053e-02 -2.67686987e-04 9.99528181e-01 2.08652498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:284.39, Z:2.08 [[-3.10455923e-01 -9.50538423e-01 -9.68635407e-03 1.49281840e+02] [ 9.50096772e-01 -3.10606926e-01 2.89734676e-02 2.84388430e+02] [-3.05490428e-02 -2.07989113e-04 9.99533247e-01 2.08455438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:284.42, Z:2.08 [[-3.14798197e-01 -9.49106062e-01 -9.98891469e-03 1.49275125e+02] [ 9.48636621e-01 -3.14956627e-01 2.98476979e-02 2.84416229e+02] [-3.14747059e-02 -7.98487848e-05 9.99504546e-01 2.08445667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:284.44, Z:2.08 [[-3.17410444e-01 -9.48234737e-01 -1.00743830e-02 1.49268132e+02] [ 9.47757685e-01 -3.17570281e-01 3.00746877e-02 2.84441991e+02] [-3.17171882e-02 -2.05390152e-06 9.99496883e-01 2.08365725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:284.47, Z:2.08 [[-3.19638732e-01 -9.47485753e-01 -1.00909970e-02 1.49260738e+02] [ 9.47007724e-01 -3.19797972e-01 3.00936620e-02 2.84468915e+02] [-3.17403964e-02 6.28478372e-05 9.99496145e-01 2.08366425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:284.49, Z:2.08 [[-3.22115748e-01 -9.46646334e-01 -1.01075746e-02 1.49253391e+02] [ 9.46167202e-01 -3.22274261e-01 3.01152074e-02 2.84494742e+02] [-3.17658618e-02 1.37126948e-04 9.99495328e-01 2.08174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters Centerline goodness [0,1] 0.9999553890078515 Centerline is valid? [True, True] Translation: X:149.25, Y:284.52, Z:2.08 [[-3.25770053e-01 -9.45397457e-01 -9.87525211e-03 1.49245261e+02] [ 9.44940414e-01 -3.25919605e-01 2.93943044e-02 2.84521749e+02] [-3.10078389e-02 2.44259278e-04 9.99519112e-01 2.08034603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.246875 meters Centerline goodness [0,1] 0.9999553860224408 Centerline is valid? [True, True] Translation: X:149.24, Y:284.55, Z:2.08 [[-3.27106072e-01 -9.44935666e-01 -9.90981444e-03 1.49236789e+02] [ 9.44476070e-01 -3.27256029e-01 2.94694013e-02 2.84548796e+02] [-3.10897348e-02 2.80037493e-04 9.99516558e-01 2.07911107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:284.58, Z:2.08 [[-3.28143078e-01 -9.44576729e-01 -9.84501516e-03 1.49227647e+02] [ 9.44123796e-01 -3.28290591e-01 2.92497275e-02 2.84575662e+02] [-3.08606377e-02 3.03182524e-04 9.99523651e-01 2.07844670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:284.60, Z:2.08 [[-3.28384438e-01 -9.44492408e-01 -9.88694741e-03 1.49217426e+02] [ 9.44036410e-01 -3.28533102e-01 2.93471860e-02 2.84601225e+02] [-3.09663839e-02 3.03520849e-04 9.99520380e-01 2.07643367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.21, Y:284.63, Z:2.07 [[-3.27875472e-01 -9.44669386e-01 -9.87047331e-03 1.49207856e+02] [ 9.44215853e-01 -3.28023893e-01 2.92702592e-02 2.84625285e+02] [-3.08884688e-02 2.77142650e-04 9.99522799e-01 2.07479723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:284.65, Z:2.07 [[-3.25812359e-01 -9.45382267e-01 -9.93358019e-03 1.49195926e+02] [ 9.44924233e-01 -3.25963693e-01 2.94255758e-02 2.84650160e+02] [-3.10564041e-02 2.00735629e-04 9.99517613e-01 2.07447511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:284.68, Z:2.07 [[-3.24905545e-01 -9.45694231e-01 -9.94019753e-03 1.49185082e+02] [ 9.45236702e-01 -3.25057525e-01 2.94139948e-02 2.84675736e+02] [-3.10477813e-02 1.60930490e-04 9.99517888e-01 2.07303279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:284.70, Z:2.07 [[-3.23912325e-01 -9.46035153e-01 -9.91441709e-03 1.49174095e+02] [ 9.45580984e-01 -3.24064000e-01 2.93108687e-02 2.84701463e+02] [-3.09420178e-02 1.19267366e-04 9.99521174e-01 2.07153332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.16, Y:284.73, Z:2.07 [[-3.21684137e-01 -9.46795707e-01 -9.85925449e-03 1.49162286e+02] [ 9.46347706e-01 -3.21835187e-01 2.91227171e-02 2.84725044e+02] [-3.07463186e-02 3.80332623e-05 9.99527219e-01 2.07013767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.15, Y:284.75, Z:2.07 [[-3.20518361e-01 -9.47189289e-01 -1.00215128e-02 1.49151757e+02] [ 9.46727653e-01 -3.20674992e-01 2.95685772e-02 2.84750465e+02] [-3.12206881e-02 -1.03714331e-05 9.99512515e-01 2.06898308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:284.78, Z:2.07 [[-3.19242543e-01 -9.47619859e-01 -1.00400307e-02 1.49140904e+02] [ 9.47157672e-01 -3.19400375e-01 2.95929887e-02 2.84775656e+02] [-3.12496934e-02 -6.21511437e-05 9.99511607e-01 2.06792267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:284.80, Z:2.07 [[-3.16064567e-01 -9.48682207e-01 -1.02595885e-02 1.49127931e+02] [ 9.48201159e-01 -3.16230986e-01 3.02080386e-02 2.84800565e+02] [-3.19022285e-02 -1.80463069e-04 9.99490978e-01 2.06790723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters Centerline goodness [0,1] 0.9999344219293068 Centerline is valid? [True, True] Translation: X:149.12, Y:284.82, Z:2.07 [[-3.14571252e-01 -9.49178125e-01 -1.02865981e-02 1.49116602e+02] [ 9.48695792e-01 -3.14739303e-01 3.02566751e-02 2.84824732e+02] [-3.19565708e-02 -2.40972127e-04 9.99489229e-01 2.06588626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.606875 meters Centerline goodness [0,1] 0.9999344219293068 Centerline is valid? [True, True] Translation: X:149.11, Y:284.85, Z:2.06 [[-3.14857975e-01 -9.49083001e-01 -1.02913409e-02 1.49107869e+02] [ 9.48600670e-01 -3.15026031e-01 3.02550618e-02 2.84850026e+02] [-3.19566051e-02 -2.36325410e-04 9.99489229e-01 2.06479139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.10, Y:284.87, Z:2.06 [[-3.12559989e-01 -9.49840719e-01 -1.04337019e-02 1.49095058e+02] [ 9.49346383e-01 -3.12733915e-01 3.06421960e-02 2.84873968e+02] [-3.23681780e-02 -3.27672713e-04 9.99475960e-01 2.06349660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:284.90, Z:2.06 [[-3.12081969e-01 -9.49997771e-01 -1.04441224e-02 1.49084770e+02] [ 9.49503444e-01 -3.12256482e-01 3.06447294e-02 2.84898864e+02] [-3.23736696e-02 -3.53062644e-04 9.99475773e-01 2.06217210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters Centerline goodness [0,1] 0.9998911292078562 Centerline is valid? [True, True] Translation: X:149.08, Y:284.92, Z:2.06 [[-3.11793419e-01 -9.50092997e-01 -1.04000812e-02 1.49075469e+02] [ 9.49603836e-01 -3.11966602e-01 3.04859768e-02 2.84924378e+02] [-3.22089911e-02 -3.70629992e-04 9.99481087e-01 2.06110269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.07, Y:284.95, Z:2.06 [[-3.11893381e-01 -9.50061441e-01 -1.02847938e-02 1.49065778e+02] [ 9.49583979e-01 -3.12062686e-01 3.01188819e-02 2.84950191e+02] [-3.18242887e-02 -3.72395455e-04 9.99493410e-01 2.06081240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:284.97, Z:2.06 [[-3.12288108e-01 -9.49931685e-01 -1.02923219e-02 1.49055801e+02] [ 9.49454487e-01 -3.12457450e-01 3.01084476e-02 2.84973987e+02] [-3.18168810e-02 -3.69581105e-04 9.99493647e-01 2.05898019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.05, Y:285.00, Z:2.06 [[-3.12778580e-01 -9.49771119e-01 -1.02167330e-02 1.49046056e+02] [ 9.49301495e-01 -3.12945193e-01 2.98659975e-02 2.84999455e+02] [-3.15631394e-02 -3.57315614e-04 9.99501696e-01 2.05698344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters Centerline goodness [0,1] 0.9998911126113373 Centerline is valid? [True, True] Translation: X:149.04, Y:285.02, Z:2.06 [[-3.14176335e-01 -9.49309686e-01 -1.02152496e-02 1.49036626e+02] [ 9.48840935e-01 -3.14342199e-01 2.98305716e-02 2.85023482e+02] [-3.15295346e-02 -3.20587352e-04 9.99502769e-01 2.05569443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.846875 meters Centerline goodness [0,1] 0.9999782594517034 Centerline is valid? [True, True] Translation: X:149.03, Y:285.05, Z:2.06 [[-3.15182877e-01 -9.48974208e-01 -1.03781658e-02 1.49027858e+02] [ 9.48490883e-01 -3.15353553e-01 3.02850159e-02 2.85049481e+02] [-3.20124905e-02 -2.98277166e-04 9.99487424e-01 2.05538308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.02, Y:285.07, Z:2.05 [[-3.17919165e-01 -9.48059074e-01 -1.05544833e-02 1.49019487e+02] [ 9.47559670e-01 -3.18094239e-01 3.07689186e-02 2.85074530e+02] [-3.25280728e-02 -2.18973806e-04 9.99470798e-01 2.05446638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:285.10, Z:2.05 [[-3.20127431e-01 -9.47314640e-01 -1.06489480e-02 1.49011419e+02] [ 9.46806908e-01 -3.20304462e-01 3.10117990e-02 2.85099404e+02] [-3.27888368e-02 -1.54769998e-04 9.99462290e-01 2.05351898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.00, Y:285.13, Z:2.05 [[-3.22490169e-01 -9.46512932e-01 -1.06470761e-02 1.49003451e+02] [ 9.46005988e-01 -3.22665868e-01 3.09743253e-02 2.85125120e+02] [-3.27530475e-02 -8.32823626e-05 9.99463472e-01 2.05235572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.966875 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:149.00, Y:285.15, Z:2.05 [[-3.27534790e-01 -9.44779232e-01 -1.06379172e-02 1.48995986e+02] [ 9.44273220e-01 -3.27707487e-01 3.09174475e-02 2.85152107e+02] [-3.26962874e-02 8.14393663e-05 9.99465330e-01 2.05179605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:285.18, Z:2.05 [[-3.30098275e-01 -9.43886738e-01 -1.06280426e-02 1.48987535e+02] [ 9.43382114e-01 -3.30269285e-01 3.08607648e-02 2.85178453e+02] [-3.26391827e-02 1.60779915e-04 9.99467187e-01 2.05013851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.026875 meters Centerline goodness [0,1] 0.9999782476289916 Centerline is valid? [True, True] Translation: X:148.98, Y:285.21, Z:2.05 [[-3.35313524e-01 -9.42044113e-01 -1.08503274e-02 1.48979877e+02] [ 9.41518148e-01 -3.35488859e-01 3.14770107e-02 2.85205750e+02] [-3.32928966e-02 3.38887176e-04 9.99445580e-01 2.04907996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:285.23, Z:2.05 [[-3.38122141e-01 -9.41038042e-01 -1.09918691e-02 1.48971638e+02] [ 9.40498703e-01 -3.38300481e-01 3.18586560e-02 2.85232099e+02] [-3.36987619e-02 4.34278378e-04 9.99431941e-01 2.04862783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.96, Y:285.26, Z:2.05 [[-3.40486692e-01 -9.40183206e-01 -1.11513156e-02 1.48963190e+02] [ 9.39628736e-01 -3.40668862e-01 3.22887763e-02 2.85259194e+02] [-3.41562712e-02 5.15802009e-04 9.99416371e-01 2.04873605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:285.28, Z:2.05 [[-3.42580975e-01 -9.39421033e-01 -1.12426729e-02 1.48954848e+02] [ 9.38858035e-01 -3.42764901e-01 3.25240170e-02 2.85284902e+02] [-3.44073393e-02 5.86835656e-04 9.99407720e-01 2.04768517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:285.31, Z:2.05 [[-3.45383290e-01 -9.38395087e-01 -1.11823300e-02 1.48948422e+02] [ 9.37838623e-01 -3.45563606e-01 3.23189112e-02 2.85311374e+02] [-3.41921138e-02 6.75190938e-04 9.99415051e-01 2.04513853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.93, Y:285.34, Z:2.05 [[-3.46356716e-01 -9.38031846e-01 -1.15447710e-02 1.48934195e+02] [ 9.37439651e-01 -3.46548313e-01 3.33341663e-02 2.85335427e+02] [-3.52693305e-02 7.22986296e-04 9.99377582e-01 2.04590034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:285.36, Z:2.05 [[-3.46344429e-01 -9.38034537e-01 -1.16937696e-02 1.48923413e+02] [ 9.37428144e-01 -3.46541034e-01 3.37311030e-02 2.85360068e+02] [-3.56933105e-02 7.20510892e-04 9.99362531e-01 2.04525745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.91, Y:285.38, Z:2.04 [[-3.46071619e-01 -9.38132426e-01 -1.19157709e-02 1.48910030e+02] [ 9.37504090e-01 -3.46275966e-01 3.43371108e-02 2.85384943e+02] [-3.63389021e-02 7.12015610e-04 9.99339270e-01 2.04480536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.90, Y:285.41, Z:2.04 [[-3.45320686e-01 -9.38409329e-01 -1.18976704e-02 1.48900836e+02] [ 9.37784243e-01 -3.45524935e-01 3.42524752e-02 2.85410729e+02] [-3.62537841e-02 6.70640429e-04 9.99342390e-01 2.04338546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:285.43, Z:2.04 [[-3.43337387e-01 -9.39136197e-01 -1.19432880e-02 1.48884574e+02] [ 9.38507547e-01 -3.43544548e-01 3.43617330e-02 2.85434826e+02] [-3.63733987e-02 5.88801688e-04 9.99338096e-01 2.04264851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.87, Y:285.46, Z:2.04 [[-3.42443617e-01 -9.39463329e-01 -1.18753142e-02 1.48872223e+02] [ 9.38843131e-01 -3.42649036e-01 3.41352200e-02 2.85460753e+02] [-3.61378524e-02 5.40331070e-04 9.99346668e-01 2.04098963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.86, Y:285.48, Z:2.04 [[-3.40922321e-01 -9.40019791e-01 -1.16087362e-02 1.48858763e+02] [ 9.39428416e-01 -3.41119596e-01 3.33417623e-02 2.85484750e+02] [-3.53018839e-02 4.61374359e-04 9.99376588e-01 2.03755220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.85, Y:285.51, Z:2.04 [[-3.40806790e-01 -9.40064543e-01 -1.13748315e-02 1.48848837e+02] [ 9.39497786e-01 -3.40996281e-01 3.26411670e-02 2.85508567e+02] [-3.45635790e-02 4.37702393e-04 9.99402405e-01 2.03545569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.84, Y:285.53, Z:2.03 [[-3.41008835e-01 -9.39993550e-01 -1.11848390e-02 1.48837334e+02] [ 9.39446695e-01 -3.41191947e-01 3.20618544e-02 2.85534115e+02] [-3.39541133e-02 4.25815588e-04 9.99423302e-01 2.03388014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:285.56, Z:2.03 [[-3.41122627e-01 -9.39955981e-01 -1.08676820e-02 1.48825373e+02] [ 9.39440577e-01 -3.41295454e-01 3.11258148e-02 2.85559497e+02] [-3.29659862e-02 4.08178294e-04 9.99456391e-01 2.03236190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:148.81, Y:285.59, Z:2.03 [[-3.40764126e-01 -9.40086805e-01 -1.07985369e-02 1.48814534e+02] [ 9.39578917e-01 -3.40934966e-01 3.08999677e-02 2.85585082e+02] [-3.27302508e-02 3.83522899e-04 9.99464148e-01 2.03108711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.80, Y:285.61, Z:2.03 [[-3.39695066e-01 -9.40472950e-01 -1.08577871e-02 1.48801911e+02] [ 9.39960590e-01 -3.39868379e-01 3.10414911e-02 2.85609693e+02] [-3.28839012e-02 3.38749424e-04 9.99459121e-01 2.03022448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:285.63, Z:2.03 [[-3.39231553e-01 -9.40638639e-01 -1.09957010e-02 1.48791435e+02] [ 9.40114226e-01 -3.39409563e-01 3.14068496e-02 2.85634248e+02] [-3.32745423e-02 3.16979373e-04 9.99446199e-01 2.02893665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.78, Y:285.66, Z:2.03 [[-3.38581714e-01 -9.40873071e-01 -1.09675602e-02 1.48780065e+02] [ 9.40352563e-01 -3.38759184e-01 3.12933305e-02 2.85659417e+02] [-3.31584137e-02 2.81976161e-04 9.99450069e-01 2.02787944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.77, Y:285.68, Z:2.03 [[-3.36893175e-01 -9.41478939e-01 -1.09725459e-02 1.48767082e+02] [ 9.40959333e-01 -3.37071748e-01 3.12757023e-02 2.85684166e+02] [-3.31439502e-02 2.11851125e-04 9.99450566e-01 2.02611188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.76, Y:285.71, Z:2.03 [[-3.35972930e-01 -9.41807961e-01 -1.09524451e-02 1.48755791e+02] [ 9.41291342e-01 -3.36151360e-01 3.11908982e-02 2.85710242e+02] [-3.30575155e-02 1.69855653e-04 9.99453437e-01 2.02500321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.74, Y:285.73, Z:2.02 [[-3.33837610e-01 -9.42570089e-01 -1.06806879e-02 1.48744282e+02] [ 9.42080024e-01 -3.34008413e-01 3.03909255e-02 2.85734606e+02] [-3.22130170e-02 8.35712654e-05 9.99481023e-01 2.02360887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.686875 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:148.73, Y:285.76, Z:2.02 [[-3.32825670e-01 -9.42928264e-01 -1.06471482e-02 1.48733683e+02] [ 9.42442360e-01 -3.32995926e-01 3.02673318e-02 2.85759834e+02] [-3.20853796e-02 3.94215433e-05 9.99485131e-01 2.02261659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters Centerline goodness [0,1] 0.9999576459626014 Centerline is valid? [True, True] Translation: X:148.72, Y:285.79, Z:2.02 [[-3.31719991e-01 -9.43318132e-01 -1.06183917e-02 1.48722775e+02] [ 9.42836033e-01 -3.31889895e-01 3.01548197e-02 2.85785424e+02] [-3.19697251e-02 -8.44582708e-06 9.99488838e-01 2.02169101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.71, Y:285.81, Z:2.02 [[-3.29010096e-01 -9.44269437e-01 -1.03724232e-02 1.48710950e+02] [ 9.43810692e-01 -3.29173540e-01 2.94305742e-02 2.85810633e+02] [-3.12047190e-02 -1.06647865e-04 9.99513008e-01 2.01990696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters Centerline goodness [0,1] 0.9999364137346333 Centerline is valid? [True, True] Translation: X:148.70, Y:285.84, Z:2.02 [[-3.27888973e-01 -9.44660598e-01 -1.02555101e-02 1.48701051e+02] [ 9.44213111e-01 -3.28049282e-01 2.90735368e-02 2.85835889e+02] [-3.08289374e-02 -1.50494966e-04 9.99524664e-01 2.01854725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.69, Y:285.86, Z:2.02 [[-3.25434905e-01 -9.45513075e-01 -9.85632420e-03 1.48690394e+02] [ 9.45100915e-01 -3.25584046e-01 2.79157697e-02 2.85862721e+02] [-2.96037872e-02 -2.30455159e-04 9.99561685e-01 2.01750338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.68, Y:285.89, Z:2.02 [[-3.24400912e-01 -9.45870181e-01 -9.67721290e-03 1.48680892e+02] [ 9.45473726e-01 -3.24545112e-01 2.73843586e-02 2.85887491e+02] [-2.90427404e-02 -2.66039635e-04 9.99578135e-01 2.01604788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.67, Y:285.91, Z:2.02 [[-3.23445148e-01 -9.46198279e-01 -9.59440151e-03 1.48671402e+02] [ 9.45809230e-01 -3.23587279e-01 2.71325126e-02 2.85913962e+02] [-2.87773630e-02 -2.98593964e-04 9.99585801e-01 2.01566278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.66, Y:285.94, Z:2.01 [[-3.22546137e-01 -9.46504770e-01 -9.62858158e-03 1.48661450e+02] [ 9.46113778e-01 -3.22689647e-01 2.72049713e-02 2.85939647e+02] [-2.88566787e-02 -3.34875306e-04 9.99583503e-01 2.01447314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.65, Y:285.96, Z:2.01 [[-3.20085320e-01 -9.47338698e-01 -9.73543557e-03 1.48650167e+02] [ 9.46940141e-01 -3.20233059e-01 2.74801316e-02 2.85964048e+02] [-2.91506004e-02 -4.22887992e-04 9.99574941e-01 2.01295294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.64, Y:285.99, Z:2.01 [[-3.18347711e-01 -9.47925156e-01 -9.62460824e-03 1.48639503e+02] [ 9.47536620e-01 -3.18492808e-01 2.71419617e-02 2.85989195e+02] [-2.87939168e-02 -4.79087391e-04 9.99585254e-01 2.01147196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.986875 meters Centerline goodness [0,1] 0.9999788717515318 Centerline is valid? [True, True] Translation: X:148.63, Y:286.02, Z:2.01 [[-3.17775812e-01 -9.48117058e-01 -9.62175070e-03 1.48631404e+02] [ 9.47729545e-01 -3.17921045e-01 2.71093838e-02 2.86015228e+02] [-2.87618263e-02 -5.04110940e-04 9.99586166e-01 2.01137634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters Centerline goodness [0,1] 0.9999364325973641 Centerline is valid? [True, True] Translation: X:148.62, Y:286.04, Z:2.01 [[-3.17392415e-01 -9.48244391e-01 -9.72776004e-03 1.48622672e+02] [ 9.47849148e-01 -3.17541011e-01 2.73806274e-02 2.86040590e+02] [-2.90524892e-02 -5.30045598e-04 9.99577747e-01 2.01062756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.61, Y:286.07, Z:2.01 [[-3.17273853e-01 -9.48281734e-01 -9.95265064e-03 1.48614289e+02] [ 9.47868901e-01 -3.17429432e-01 2.79839566e-02 2.86067344e+02] [-2.96959391e-02 -5.55230307e-04 9.99558824e-01 2.01038049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters Centerline goodness [0,1] 0.9999365897994124 Centerline is valid? [True, True] Translation: X:148.61, Y:286.09, Z:2.01 [[-3.17532909e-01 -9.48194727e-01 -9.98053115e-03 1.48605684e+02] [ 9.47780273e-01 -3.17689234e-01 2.80375507e-02 2.86092717e+02] [-2.97557650e-02 -5.56505511e-04 9.99557044e-01 2.00958574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.106875 meters Centerline goodness [0,1] 0.9999788377703475 Centerline is valid? [True, True] Translation: X:148.60, Y:286.12, Z:2.01 [[-3.18101330e-01 -9.48003452e-01 -1.00497897e-02 1.48598283e+02] [ 9.47583906e-01 -3.18259566e-01 2.82061837e-02 2.86117609e+02] [-2.99380012e-02 -5.50594415e-04 9.99551606e-01 2.00833074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.59, Y:286.14, Z:2.01 [[-3.18484626e-01 -9.47875079e-01 -1.00188078e-02 1.48590443e+02] [ 9.47458944e-01 -3.18641704e-01 2.80893859e-02 2.86143611e+02] [-2.98176389e-02 -5.46371435e-04 9.99555206e-01 2.00740651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.58, Y:286.17, Z:2.01 [[-3.18832085e-01 -9.47760459e-01 -9.80885059e-03 1.48582710e+02] [ 9.47362333e-01 -3.18982488e-01 2.74732941e-02 2.86170716e+02] [-2.91669534e-02 -5.33167940e-04 9.99574412e-01 2.00700054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters Centerline goodness [0,1] 0.9999149117209104 Centerline is valid? [True, True] Translation: X:148.58, Y:286.20, Z:2.01 [[-3.18768527e-01 -9.47786743e-01 -9.32284151e-03 1.48575865e+02] [ 9.47427710e-01 -3.18904410e-01 2.60904459e-02 2.86197600e+02] [-2.77012741e-02 -5.15905362e-04 9.99616113e-01 2.00567787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.226875 meters Centerline goodness [0,1] 0.9999145682492898 Centerline is valid? [True, True] Translation: X:148.57, Y:286.22, Z:2.00 [[-3.18633280e-01 -9.47835319e-01 -9.00230981e-03 1.48566507e+02] [ 9.47501125e-01 -3.18760019e-01 2.51727845e-02 2.86223011e+02] [-2.67292307e-02 -5.08811766e-04 9.99642581e-01 2.00295420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.56, Y:286.25, Z:2.00 [[-3.18345035e-01 -9.47935856e-01 -8.60526234e-03 1.48558318e+02] [ 9.47631183e-01 -3.18460923e-01 2.40370869e-02 2.86248623e+02] [-2.55260564e-02 -5.02527644e-04 9.99674031e-01 1.99967398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.55, Y:286.28, Z:2.00 [[-3.18714153e-01 -9.47814518e-01 -8.30229836e-03 1.48551939e+02] [ 9.47531126e-01 -3.18821910e-01 2.31809139e-02 2.86275832e+02] [-2.46181614e-02 -4.78600763e-04 9.99696813e-01 1.99914684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.54, Y:286.30, Z:2.00 [[-3.19268339e-01 -9.47629152e-01 -8.16810963e-03 1.48544762e+02] [ 9.47355258e-01 -3.19372472e-01 2.27868071e-02 2.86303465e+02] [-2.42021121e-02 -4.62995553e-04 9.99706979e-01 1.99806229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.346875 meters Centerline goodness [0,1] 0.9999139840440402 Centerline is valid? [True, True] Translation: X:148.54, Y:286.33, Z:2.00 [[-3.20920513e-01 -9.47071861e-01 -8.05691459e-03 1.48540099e+02] [ 9.46805660e-01 -3.21021358e-01 2.24573107e-02 2.86331928e+02] [-2.38551287e-02 -4.21320656e-04 9.99715337e-01 1.99793012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.53, Y:286.36, Z:2.00 [[-3.22277108e-01 -9.46611041e-01 -8.06242948e-03 1.48532827e+02] [ 9.46344810e-01 -3.22377700e-01 2.24526095e-02 2.86359565e+02] [-2.38530355e-02 -3.93876235e-04 9.99715398e-01 1.99719618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.53, Y:286.39, Z:2.00 [[-3.23832525e-01 -9.46081009e-01 -7.95111585e-03 1.48525482e+02] [ 9.45822374e-01 -3.23929927e-01 2.21232934e-02 2.86386708e+02] [-2.35060321e-02 -3.56101302e-04 9.99723632e-01 1.99594181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters Centerline goodness [0,1] 0.9999135378163976 Centerline is valid? [True, True] Translation: X:148.52, Y:286.41, Z:2.00 [[-3.26154798e-01 -9.45282871e-01 -7.95870735e-03 1.48521518e+02] [ 9.45023965e-01 -3.26251743e-01 2.21247922e-02 2.86414848e+02] [-2.35107292e-02 -3.05062061e-04 9.99723538e-01 1.99534706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.466875 meters Centerline goodness [0,1] 0.9998922135034923 Centerline is valid? [True, True] Translation: X:148.52, Y:286.44, Z:1.99 [[-3.27325246e-01 -9.44878477e-01 -7.92766997e-03 1.48515014e+02] [ 9.44621920e-01 -3.27421113e-01 2.20191299e-02 2.86442067e+02] [-2.34010885e-02 -2.81233716e-04 9.99726117e-01 1.99445785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters Centerline goodness [0,1] 0.9998922135034923 Centerline is valid? [True, True] Translation: X:148.51, Y:286.47, Z:1.99 [[-3.27589344e-01 -9.44786895e-01 -7.93382417e-03 1.48505590e+02] [ 9.44530365e-01 -3.27685283e-01 2.20169115e-02 2.86467986e+02] [-2.34010869e-02 -2.81232251e-04 9.99726118e-01 1.99333056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.526875 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:148.50, Y:286.49, Z:1.99 [[-3.28466414e-01 -9.44481847e-01 -7.99102099e-03 1.48500858e+02] [ 9.44221917e-01 -3.28563495e-01 2.21585518e-02 2.86494377e+02] [-2.35539077e-02 -2.66957106e-04 9.99722533e-01 1.99352767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters Centerline goodness [0,1] 0.9998702646600934 Centerline is valid? [True, True] Translation: X:148.49, Y:286.52, Z:1.99 [[-3.28356822e-01 -9.44520114e-01 -7.97190609e-03 1.48492788e+02] [ 9.44261993e-01 -3.28453463e-01 2.20819297e-02 2.86520356e+02] [-2.34752270e-02 -2.76815654e-04 9.99724381e-01 1.99297337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.48, Y:286.55, Z:1.99 [[-3.28280052e-01 -9.44547767e-01 -7.85643261e-03 1.48484243e+02] [ 9.44297537e-01 -3.28373928e-01 2.17422536e-02 2.86545297e+02] [-2.31164448e-02 -2.81261817e-04 9.99732740e-01 1.99102797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters Centerline goodness [0,1] 0.9998486060946861 Centerline is valid? [True, True] Translation: X:148.48, Y:286.57, Z:1.99 [[-3.27998775e-01 -9.44648094e-01 -7.53540274e-03 1.48475787e+02] [ 9.44418424e-01 -3.28085199e-01 2.08312739e-02 2.86572125e+02] [-2.21504773e-02 -2.83940862e-04 9.99754608e-01 1.98936632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.646875 meters Centerline goodness [0,1] 0.9998909368524376 Centerline is valid? [True, True] Translation: X:148.47, Y:286.60, Z:1.99 [[-3.26853701e-01 -9.45047828e-01 -7.15971674e-03 1.48468645e+02] [ 9.44840900e-01 -3.26931970e-01 1.97777959e-02 2.86599257e+02] [-2.10317033e-02 -3.00347426e-04 9.99778764e-01 1.98799868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.46, Y:286.63, Z:1.99 [[-3.26509538e-01 -9.45168600e-01 -6.91659248e-03 1.48460585e+02] [ 9.44975823e-01 -3.26582649e-01 1.90910228e-02 2.86625771e+02] [-2.03030744e-02 -3.02611639e-04 9.99793826e-01 1.98732684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.45, Y:286.65, Z:1.98 [[-3.26310556e-01 -9.45240784e-01 -6.42512267e-03 1.48453723e+02] [ 9.45074784e-01 -3.26373676e-01 1.77165360e-02 2.86651790e+02] [-1.88433833e-02 -2.91128713e-04 9.99822405e-01 1.98492663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.45, Y:286.68, Z:1.98 [[-3.26956729e-01 -9.45020103e-01 -6.02508782e-03 1.48446176e+02] [ 9.44874159e-01 -3.27012134e-01 1.66098826e-02 2.86678041e+02] [-1.76669498e-02 -2.62236888e-04 9.99843893e-01 1.98362261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.766875 meters Centerline goodness [0,1] 0.9999560835291276 Centerline is valid? [True, True] Translation: X:148.44, Y:286.70, Z:1.98 [[-3.27667145e-01 -9.44775372e-01 -5.80848940e-03 1.48439120e+02] [ 9.44639896e-01 -3.27718533e-01 1.60009265e-02 2.86704107e+02] [-1.70208309e-02 -2.43952907e-04 9.99855105e-01 1.98303627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.43, Y:286.73, Z:1.98 [[-3.28554286e-01 -9.44470469e-01 -5.25497938e-03 1.48434159e+02] [ 9.44359728e-01 -3.28596241e-01 1.44642703e-02 2.86732390e+02] [-1.53878427e-02 -2.10292876e-04 9.99881578e-01 1.98351650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82687500000003 meters Centerline goodness [0,1] 0.9999779764788794 Centerline is valid? [True, True] Translation: X:148.43, Y:286.76, Z:1.98 [[-3.28917458e-01 -9.44345538e-01 -4.98103352e-03 1.48426328e+02] [ 9.44246157e-01 -3.28955113e-01 1.37013951e-02 2.86758361e+02] [-1.45773877e-02 -1.96693720e-04 9.99893725e-01 1.98208309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters Centerline goodness [0,1] 0.9998892089519167 Centerline is valid? [True, True] Translation: X:148.42, Y:286.79, Z:1.98 [[-3.29070698e-01 -9.44295161e-01 -4.37312289e-03 1.48420698e+02] [ 9.44218660e-01 -3.29099709e-01 1.20209817e-02 2.86786208e+02] [-1.27905483e-02 -1.73431389e-04 9.99918183e-01 1.98281376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:286.81, Z:1.98 [[-3.29215821e-01 -9.44246497e-01 -3.93661477e-03 1.48413256e+02] [ 9.44184559e-01 -3.29239319e-01 1.08161263e-02 2.86813468e+02] [-1.15091777e-02 -1.56050999e-04 9.99933755e-01 1.98446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters Centerline goodness [0,1] 0.9999778275426265 Centerline is valid? [True, True] Translation: X:148.40, Y:286.84, Z:1.98 [[-3.29273876e-01 -9.44227049e-01 -3.74101280e-03 1.48404511e+02] [ 9.44171177e-01 -3.29295093e-01 1.02727629e-02 2.86839421e+02] [-1.09317178e-02 -1.49603982e-04 9.99940236e-01 1.98326516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.40, Y:286.87, Z:1.99 [[-3.29634234e-01 -9.44102778e-01 -3.34892784e-03 1.48397321e+02] [ 9.44058059e-01 -3.29651219e-01 9.18991091e-03 2.86866780e+02] [-9.78019857e-03 -1.32273075e-04 9.99952164e-01 1.98515154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters Centerline goodness [0,1] 0.9999776994781678 Centerline is valid? [True, True] Translation: X:148.39, Y:286.89, Z:1.99 [[-3.29949133e-01 -9.43992638e-01 -3.38670940e-03 1.48389278e+02] [ 9.43946936e-01 -3.29966487e-01 9.28971187e-03 2.86891438e+02] [-9.88692022e-03 -1.31741583e-04 9.99951115e-01 1.98517587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:286.92, Z:1.99 [[-3.30611396e-01 -9.43758608e-01 -3.97431840e-03 1.48381363e+02] [ 9.43695932e-01 -3.30635247e-01 1.08775197e-02 2.86919126e+02] [-1.15798026e-02 -1.54316145e-04 9.99932940e-01 1.99028638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.37, Y:286.94, Z:1.99 [[-3.30891150e-01 -9.43658612e-01 -4.41269020e-03 1.48372039e+02] [ 9.43581489e-01 -3.30920528e-01 1.20655662e-02 2.86944922e+02] [-1.28460252e-02 -1.71343718e-04 9.99917472e-01 1.99172069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.36, Y:286.97, Z:2.00 [[-3.30825675e-01 -9.43674903e-01 -5.66123713e-03 1.48362864e+02] [ 9.43548322e-01 -3.30874032e-01 1.54576336e-02 2.86971687e+02] [-1.64601372e-02 -2.27868717e-04 9.99864497e-01 1.99924846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.35, Y:287.00, Z:2.00 [[-3.30647243e-01 -9.43733480e-01 -6.28649683e-03 1.48352956e+02] [ 9.43577746e-01 -3.30706895e-01 1.71460313e-02 2.86997733e+02] [-1.82602716e-02 -2.62510541e-04 9.99833233e-01 2.00143019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.126875 meters Centerline goodness [0,1] 0.999888303100706 Centerline is valid? [True, True] Translation: X:148.34, Y:287.02, Z:2.00 [[-3.30362173e-01 -9.43829365e-01 -6.85305503e-03 1.48342767e+02] [ 9.43644636e-01 -3.30433111e-01 1.86751115e-02 2.87022449e+02] [-1.98905950e-02 -2.97298199e-04 9.99802118e-01 2.00294210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.33, Y:287.05, Z:2.01 [[-3.29432433e-01 -9.44144341e-01 -8.10770155e-03 1.48331449e+02] [ 9.43886647e-01 -3.29531963e-01 2.20609171e-02 2.87048912e+02] [-2.35004369e-02 -3.85169628e-04 9.99723752e-01 2.00835249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.186875 meters Centerline goodness [0,1] 0.9998214365430115 Centerline is valid? [True, True] Translation: X:148.32, Y:287.07, Z:2.01 [[-3.28903130e-01 -9.44323258e-01 -8.73589196e-03 1.48320385e+02] [ 9.44024672e-01 -3.29018837e-01 2.37492023e-02 2.87074602e+02] [-2.53011971e-02 -4.35710562e-04 9.99679779e-01 2.00916908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:287.10, Z:2.01 [[-3.28142539e-01 -9.44577682e-01 -9.77122934e-03 1.48307769e+02] [ 9.44204998e-01 -3.28287579e-01 2.65365345e-02 2.87099450e+02] [-2.82735914e-02 -5.18277766e-04 9.99600088e-01 2.01090248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.246875 meters Centerline goodness [0,1] 0.9999335062171687 Centerline is valid? [True, True] Translation: X:148.30, Y:287.12, Z:2.01 [[-3.28301391e-01 -9.44516213e-01 -1.03595954e-02 1.48297731e+02] [ 9.44097998e-01 -3.28464335e-01 2.81096015e-02 2.87123749e+02] [-2.99527320e-02 -5.52052047e-04 9.99551164e-01 2.01089748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:287.15, Z:2.01 [[-3.29319597e-01 -9.44155026e-01 -1.09494172e-02 1.48287884e+02] [ 9.43688701e-01 -3.29501097e-01 2.96759558e-02 2.87150182e+02] [-3.16265478e-02 -5.59967488e-04 9.99499599e-01 2.01179351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.28, Y:287.18, Z:2.01 [[-3.30525029e-01 -9.43725336e-01 -1.16487938e-02 1.48278218e+02] [ 9.43198227e-01 -3.30729760e-01 3.15425217e-02 2.87175303e+02] [-3.36200797e-02 -5.61528740e-04 9.99434528e-01 2.01220519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:287.20, Z:2.01 [[-3.32788047e-01 -9.42918984e-01 -1.24862307e-02 1.48270311e+02] [ 9.42313890e-01 -3.33021794e-01 3.37789516e-02 2.87202896e+02] [-3.60090016e-02 -5.24717256e-04 9.99351328e-01 2.01327397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.366875 meters Centerline goodness [0,1] 0.9998669475551614 Centerline is valid? [True, True] Translation: X:148.26, Y:287.23, Z:2.01 [[-3.34185207e-01 -9.42419706e-01 -1.28586366e-02 1.48260522e+02] [ 9.41778683e-01 -3.34432135e-01 3.47571618e-02 2.87227885e+02] [-3.70561755e-02 -4.94660542e-04 9.99313062e-01 2.01214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters Centerline goodness [0,1] 0.9999337528983107 Centerline is valid? [True, True] Translation: X:148.25, Y:287.25, Z:2.01 [[-3.36389989e-01 -9.41624863e-01 -1.35791396e-02 1.48249974e+02] [ 9.40910677e-01 -3.36663664e-01 3.66698035e-02 2.87254159e+02] [-3.91008016e-02 -4.41402657e-04 9.99235174e-01 2.01080048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.426875 meters Centerline goodness [0,1] 0.9999341021416804 Centerline is valid? [True, True] Translation: X:148.24, Y:287.28, Z:2.01 [[-3.37311288e-01 -9.41291530e-01 -1.38329334e-02 1.48239533e+02] [ 9.40551394e-01 -3.37594547e-01 3.73228727e-02 2.87277992e+02] [-3.98016268e-02 -4.21158556e-04 9.99207513e-01 2.00931826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.23, Y:287.30, Z:2.01 [[-3.37959316e-01 -9.41058219e-01 -1.38898722e-02 1.48230227e+02] [ 9.40313292e-01 -3.38244381e-01 3.74386417e-02 2.87303405e+02] [-3.99301127e-02 -4.08093694e-04 9.99202392e-01 2.00797784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.22, Y:287.33, Z:2.00 [[-3.38585791e-01 -9.40843625e-01 -1.31505055e-02 1.48219047e+02] [ 9.40176994e-01 -3.38840869e-01 3.54130597e-02 2.87326872e+02] [-3.77740802e-02 -3.73443938e-04 9.99286235e-01 2.00312834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters Centerline goodness [0,1] 0.999934964989486 Centerline is valid? [True, True] Translation: X:148.21, Y:287.35, Z:2.00 [[-3.38423597e-01 -9.40912643e-01 -1.23639408e-02 1.48208827e+02] [ 9.40324253e-01 -3.38649176e-01 3.32721445e-02 2.87350410e+02] [-3.54932197e-02 -3.66034571e-04 9.99369850e-01 1.99971642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.20, Y:287.38, Z:2.00 [[-3.38813013e-01 -9.40782569e-01 -1.15714818e-02 1.48199217e+02] [ 9.40267848e-01 -3.39010388e-01 3.11180068e-02 2.87376534e+02] [-3.31981309e-02 -3.37106618e-04 9.99448733e-01 1.99707232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.19, Y:287.40, Z:1.99 [[-3.38070523e-01 -9.41070895e-01 -9.68979666e-03 1.48186413e+02] [ 9.40710771e-01 -3.38209213e-01 2.60340654e-02 2.87400436e+02] [-2.77770797e-02 -3.13946000e-04 9.99614093e-01 1.99070086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.606875 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:148.18, Y:287.43, Z:1.99 [[-3.37979801e-01 -9.41111036e-01 -8.92594279e-03 1.48175649e+02] [ 9.40805499e-01 -3.38097520e-01 2.39808506e-02 2.87426439e+02] [-2.55864823e-02 -2.92532946e-04 9.99672570e-01 1.98750647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.16, Y:287.45, Z:1.98 [[-3.38020871e-01 -9.41102307e-01 -8.26675877e-03 1.48163946e+02] [ 9.40840611e-01 -3.38121831e-01 2.21939604e-02 2.87451283e+02] [-2.36819589e-02 -2.75680537e-04 9.99719505e-01 1.98343647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:287.48, Z:1.98 [[-3.38287032e-01 -9.41015321e-01 -7.21452414e-03 1.48152868e+02] [ 9.40816273e-01 -3.38363869e-01 1.93554042e-02 2.87476526e+02] [-2.06548662e-02 -2.39859469e-04 9.99786637e-01 1.98153607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.14, Y:287.50, Z:1.98 [[-3.38663070e-01 -9.40882082e-01 -6.94498266e-03 1.48142836e+02] [ 9.40697876e-01 -3.38734197e-01 1.86185348e-02 2.87502173e+02] [-1.98703489e-02 -2.27720288e-04 9.99802539e-01 1.98115861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.13, Y:287.53, Z:1.98 [[-3.38991495e-01 -9.40766454e-01 -6.57612406e-03 1.48132618e+02] [ 9.40601597e-01 -3.39055206e-01 1.76126037e-02 2.87528345e+02] [-1.87990158e-02 -2.14989934e-04 9.99823260e-01 1.98040184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters Centerline goodness [0,1] 0.9999346020534955 Centerline is valid? [True, True] Translation: X:148.12, Y:287.55, Z:1.98 [[-3.39513591e-01 -9.40580200e-01 -6.27760454e-03 1.48122669e+02] [ 9.40430170e-01 -3.39571564e-01 1.68002492e-02 2.87554637e+02] [-1.79336778e-02 -1.99735760e-04 9.99839159e-01 1.98062921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.11, Y:287.58, Z:1.98 [[-3.41352639e-01 -9.39915261e-01 -6.13818770e-03 1.48112459e+02] [ 9.39771946e-01 -3.41407783e-01 1.64139019e-02 2.87581445e+02] [-1.75233020e-02 -1.65567859e-04 9.99846441e-01 1.98292087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.10, Y:287.61, Z:1.98 [[-3.42222408e-01 -9.39596863e-01 -6.44660820e-03 1.48102600e+02] [ 9.39439070e-01 -3.42283083e-01 1.72199172e-02 2.87605644e+02] [-1.83863451e-02 -1.63154094e-04 9.99830944e-01 1.98320572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:287.63, Z:1.99 [[-3.43980004e-01 -9.38945975e-01 -7.62975896e-03 1.48091707e+02] [ 9.38725171e-01 -3.44064575e-01 2.03622784e-02 2.87631733e+02] [-2.17442091e-02 -1.58030183e-04 9.99763554e-01 1.98811582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.08, Y:287.66, Z:1.99 [[-3.44580103e-01 -9.38718894e-01 -8.44932498e-03 1.48080666e+02] [ 9.38448617e-01 -3.44683638e-01 2.25251418e-02 2.87658292e+02] [-2.40571202e-02 -1.67541678e-04 9.99710572e-01 1.98977989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.906875 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:148.07, Y:287.68, Z:1.99 [[-3.45139225e-01 -9.38504376e-01 -9.40491700e-03 1.48069919e+02] [ 9.38170026e-01 -3.45267295e-01 2.50499023e-02 2.87684333e+02] [-2.67566531e-02 -1.77707374e-04 9.99641961e-01 1.99166910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.06, Y:287.71, Z:2.00 [[-3.45880919e-01 -9.38212383e-01 -1.11317104e-02 1.48057642e+02] [ 9.37744864e-01 -3.46059947e-01 2.96155785e-02 2.87708815e+02] [-3.16379415e-02 -1.95240706e-04 9.99499376e-01 1.99544961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.05, Y:287.73, Z:2.00 [[-3.46272942e-01 -9.38060058e-01 -1.17633451e-02 1.48047172e+02] [ 9.37538528e-01 -3.46472636e-01 3.12765202e-02 2.87734677e+02] [-3.34149316e-02 -1.98376605e-04 9.99441546e-01 1.99685725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.03, Y:287.76, Z:2.00 [[-3.46690885e-01 -9.37896676e-01 -1.24601204e-02 1.48034285e+02] [ 9.37312472e-01 -3.46914662e-01 3.30990584e-02 2.87759213e+02] [-3.53660954e-02 -2.03884379e-04 9.99374403e-01 1.99658340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:287.79, Z:2.00 [[-3.47183190e-01 -9.37711849e-01 -1.26617555e-02 1.48023385e+02] [ 9.37109549e-01 -3.47413944e-01 3.36042434e-02 2.87785233e+02] [-3.59099676e-02 -1.98623580e-04 9.99355009e-01 1.99594678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters Centerline goodness [0,1] 0.9999786561939725 Centerline is valid? [True, True] Translation: X:148.01, Y:287.81, Z:1.99 [[-3.47599238e-01 -9.37554316e-01 -1.29102556e-02 1.48011910e+02] [ 9.36929171e-01 -3.47838851e-01 3.42324614e-02 2.87810021e+02] [-3.65854804e-02 -1.96817559e-04 9.99330508e-01 1.99406352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.00, Y:287.84, Z:1.99 [[-3.49819041e-01 -9.36728180e-01 -1.29211167e-02 1.48000584e+02] [ 9.36102174e-01 -3.50057571e-01 3.42405644e-02 2.87835680e+02] [-3.65972363e-02 -1.17484047e-04 9.99330090e-01 1.99161255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:287.86, Z:1.99 [[-3.51782038e-01 -9.35992687e-01 -1.29262759e-02 1.47991035e+02] [ 9.35366792e-01 -3.52019443e-01 3.42239195e-02 2.87860790e+02] [-3.65836388e-02 -5.14491320e-05 9.99330593e-01 1.98953303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.98, Y:287.89, Z:1.99 [[-3.54196887e-01 -9.35083918e-01 -1.27527230e-02 1.47982091e+02] [ 9.34474827e-01 -3.54426389e-01 3.37451197e-02 2.87886318e+02] [-3.60744203e-02 3.53177466e-05 9.99349106e-01 1.98790138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters Centerline goodness [0,1] 0.999893141843517 Centerline is valid? [True, True] Translation: X:147.97, Y:287.91, Z:1.99 [[-3.56671785e-01 -9.34146479e-01 -1.24737412e-02 1.47972942e+02] [ 9.33564267e-01 -3.56889819e-01 3.29760034e-02 2.87912739e+02] [-3.52561687e-02 1.16570947e-04 9.99378301e-01 1.98608842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.96, Y:287.94, Z:1.98 [[-3.61054467e-01 -9.32472179e-01 -1.16321538e-02 1.47964227e+02] [ 9.31965861e-01 -3.61241707e-01 3.07256030e-02 2.87937796e+02] [-3.28527891e-02 2.52845952e-04 9.99460169e-01 1.98203895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.95, Y:287.96, Z:1.98 [[-3.62913381e-01 -9.31754360e-01 -1.13000141e-02 1.47954511e+02] [ 9.31276783e-01 -3.63089137e-01 2.98300722e-02 2.87963231e+02] [-3.18972122e-02 3.02291600e-04 9.99491109e-01 1.97926362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:287.99, Z:1.98 [[-3.65880809e-01 -9.30603786e-01 -1.03839866e-02 1.47943816e+02] [ 9.30200701e-01 -3.66027953e-01 2.73896644e-02 2.87988737e+02] [-2.92897548e-02 3.62160931e-04 9.99570897e-01 1.97605226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.93, Y:288.01, Z:1.97 [[-3.67215655e-01 -9.30082394e-01 -9.97010450e-03 1.47933409e+02] [ 9.29711207e-01 -3.67350780e-01 2.62768926e-02 2.88014860e+02] [-2.81022009e-02 3.79968433e-04 9.99604983e-01 1.97359568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:288.04, Z:1.97 [[-3.68128349e-01 -9.29725720e-01 -9.57106847e-03 1.47922962e+02] [ 9.29384078e-01 -3.68252548e-01 2.52050804e-02 2.88040524e+02] [-2.69583818e-02 3.83505970e-04 9.99636483e-01 1.97183286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.91, Y:288.07, Z:1.97 [[-3.68690767e-01 -9.29512897e-01 -8.53772693e-03 1.47910769e+02] [ 9.29241387e-01 -3.68789442e-01 2.24675936e-02 2.88066782e+02] [-2.40325415e-02 3.49985099e-04 9.99711116e-01 1.97025534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.90, Y:288.09, Z:1.97 [[-3.68511320e-01 -9.29587277e-01 -8.17932335e-03 1.47899887e+02] [ 9.29338433e-01 -3.68601938e-01 2.15101795e-02 2.88092148e+02] [-2.30105036e-02 3.25385095e-04 9.99735170e-01 1.96860780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.89, Y:288.12, Z:1.97 [[-3.68775513e-01 -9.29482441e-01 -8.18613403e-03 1.47890012e+02] [ 9.29233629e-01 -3.68866218e-01 2.15075863e-02 2.88117903e+02] [-2.30105121e-02 3.24640139e-04 9.99735170e-01 1.96748079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.88, Y:288.14, Z:1.96 [[-3.67170970e-01 -9.30123524e-01 -7.46387472e-03 1.47877500e+02] [ 9.29917089e-01 -3.67246737e-01 1.95969964e-02 2.88142484e+02] [-2.09687110e-02 2.54663537e-04 9.99780100e-01 1.96481960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:288.17, Z:1.96 [[-3.66420034e-01 -9.30421162e-01 -7.26776883e-03 1.47865413e+02] [ 9.30225846e-01 -3.66492034e-01 1.90647427e-02 2.88167734e+02] [-2.04018194e-02 2.25037244e-04 9.99791836e-01 1.96479686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.85, Y:288.19, Z:1.96 [[-3.65406469e-01 -9.30819291e-01 -7.31845828e-03 1.47853590e+02] [ 9.30621675e-01 -3.65479696e-01 1.91804346e-02 2.88193863e+02] [-2.05282664e-02 1.97938965e-04 9.99789253e-01 1.96496445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:288.22, Z:1.97 [[-3.63222473e-01 -9.31667675e-01 -8.04848586e-03 1.47840850e+02] [ 9.31429294e-01 -3.63311599e-01 2.10749346e-02 2.88219213e+02] [-2.25589436e-02 1.58294376e-04 9.99745502e-01 1.96757657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.83, Y:288.24, Z:1.97 [[-3.62475162e-01 -9.31953497e-01 -8.62769499e-03 1.47829787e+02] [ 9.31680168e-01 -3.62577798e-01 2.25699895e-02 2.88244630e+02] [-2.41623913e-02 1.42808267e-04 9.99708037e-01 1.96811755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.82, Y:288.27, Z:1.97 [[-3.60534737e-01 -9.32684616e-01 -1.06822069e-02 1.47817050e+02] [ 9.32266829e-01 -3.60692938e-01 2.79135023e-02 2.88269442e+02] [-2.98874907e-02 1.05120034e-04 9.99553264e-01 1.97220286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.80, Y:288.30, Z:1.97 [[-3.59579623e-01 -9.33039577e-01 -1.18170428e-02 1.47804961e+02] [ 9.32529447e-01 -3.59773738e-01 3.08494362e-02 2.88295240e+02] [-3.30352066e-02 7.30883017e-05 9.99454186e-01 1.97351857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.79, Y:288.32, Z:1.97 [[-3.58292865e-01 -9.33522352e-01 -1.27374212e-02 1.47792742e+02] [ 9.32931031e-01 -3.58519202e-01 3.32215666e-02 2.88321039e+02] [-3.55796851e-02 1.99148020e-05 9.99366842e-01 1.97452034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:288.34, Z:1.97 [[-3.56341752e-01 -9.34252605e-01 -1.38789388e-02 1.47779755e+02] [ 9.33552400e-01 -3.56611924e-01 3.61642370e-02 2.88344716e+02] [-3.87359277e-02 -6.98890706e-05 9.99249480e-01 1.97483712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.77, Y:288.37, Z:1.97 [[-3.55710072e-01 -9.34490810e-01 -1.40452953e-02 1.47768391e+02] [ 9.33774798e-01 -3.55987240e-01 3.65747541e-02 2.88370510e+02] [-3.91787175e-02 -1.05134339e-04 9.99232214e-01 1.97368242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.76, Y:288.40, Z:1.97 [[-3.54471764e-01 -9.34966209e-01 -1.37097148e-02 1.47756085e+02] [ 9.34285485e-01 -3.54736748e-01 3.56717313e-02 2.88396055e+02] [-3.82152030e-02 -1.64166035e-04 9.99269519e-01 1.97059397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:288.42, Z:1.97 [[-3.53836524e-01 -9.35211940e-01 -1.33544981e-02 1.47744910e+02] [ 9.34567284e-01 -3.54088393e-01 3.47188894e-02 2.88421588e+02] [-3.71981927e-02 -1.95865852e-04 9.99307889e-01 1.96803987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.73, Y:288.45, Z:1.96 [[-3.52891123e-01 -9.35575057e-01 -1.29293281e-02 1.47733173e+02] [ 9.34972029e-01 -3.53127819e-01 3.35864420e-02 2.88446412e+02] [-3.59883428e-02 -2.36202905e-04 9.99352182e-01 1.96472891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.72, Y:288.47, Z:1.96 [[-3.51845307e-01 -9.35973516e-01 -1.25879578e-02 1.47722038e+02] [ 9.35403160e-01 -3.52070303e-01 3.26715422e-02 2.88471650e+02] [-3.50115444e-02 -2.79486714e-04 9.99386869e-01 1.96289678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:288.50, Z:1.96 [[-3.49802668e-01 -9.36751155e-01 -1.16347326e-02 1.47709069e+02] [ 9.36265173e-01 -3.49995941e-01 3.01722987e-02 2.88497330e+02] [-3.23360449e-02 -3.38844315e-04 9.99476996e-01 1.95881411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.70, Y:288.52, Z:1.96 [[-3.49472990e-01 -9.36880668e-01 -1.11014472e-02 1.47697757e+02] [ 9.36438970e-01 -3.49649104e-01 2.87673378e-02 2.88522465e+02] [-3.08331738e-02 -3.42420222e-04 9.99524486e-01 1.95583930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:288.55, Z:1.95 [[-3.49250522e-01 -9.36968369e-01 -1.06933496e-02 1.47687436e+02] [ 9.36559159e-01 -3.49414019e-01 2.76908784e-02 2.88548751e+02] [-2.96818835e-02 -3.43900757e-04 9.99559337e-01 1.95387946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.68, Y:288.57, Z:1.95 [[-3.49165794e-01 -9.37009905e-01 -9.78191309e-03 1.47676894e+02] [ 9.36667994e-01 -3.49302637e-01 2.53127572e-02 2.88573780e+02] [-2.71351522e-02 -3.24055963e-04 9.99631721e-01 1.95115192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:288.60, Z:1.95 [[-3.49503185e-01 -9.36886024e-01 -9.59693173e-03 1.47667144e+02] [ 9.36557436e-01 -3.49634777e-01 2.48131217e-02 2.88599217e+02] [-2.66024880e-02 -3.15812729e-04 9.99646041e-01 1.95004094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.66, Y:288.63, Z:1.95 [[-3.49448137e-01 -9.36909284e-01 -9.32706414e-03 1.47657846e+02] [ 9.36599492e-01 -3.49572445e-01 2.40935210e-02 2.88625560e+02] [-2.58339281e-02 -3.16287532e-04 9.99666198e-01 1.95050189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:288.65, Z:1.95 [[-3.49300762e-01 -9.36965987e-01 -9.14967597e-03 1.47647546e+02] [ 9.36668372e-01 -3.49420428e-01 2.36161941e-02 2.88651484e+02] [-2.53246543e-02 -3.21057503e-04 9.99679228e-01 1.95029432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:288.68, Z:1.95 [[-3.48625581e-01 -9.37217370e-01 -9.15451913e-03 1.47634931e+02] [ 9.36920012e-01 -3.48745583e-01 2.36095341e-02 2.88675314e+02] [-2.53198635e-02 -3.46164631e-04 9.99679341e-01 1.94895580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:288.70, Z:1.95 [[-3.47920273e-01 -9.37477075e-01 -9.39241124e-03 1.47625325e+02] [ 9.37164746e-01 -3.48046818e-01 2.42002216e-02 2.88702319e+02] [-2.59561518e-02 -3.82488993e-04 9.99663009e-01 1.95251454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.61, Y:288.73, Z:1.95 [[-3.47852195e-01 -9.37500704e-01 -9.55412578e-03 1.47612667e+02] [ 9.37178081e-01 -3.47983150e-01 2.45961991e-02 2.88726402e+02] [-2.63836288e-02 -3.98075400e-04 9.99651812e-01 1.94992723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.61, Y:288.75, Z:1.95 [[-3.48134794e-01 -9.37392796e-01 -9.84440918e-03 1.47605156e+02] [ 9.37050877e-01 -3.48273712e-01 2.53194574e-02 2.88754087e+02] [-2.71628258e-02 -4.10128197e-04 9.99630938e-01 1.95309688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:288.78, Z:1.95 [[-3.48557725e-01 -9.37229709e-01 -1.03915830e-02 1.47594740e+02] [ 9.36849341e-01 -3.48712330e-01 2.67025070e-02 2.88778772e+02] [-2.86500560e-02 -4.27982642e-04 9.99589411e-01 1.95310675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:288.81, Z:1.96 [[-3.49763959e-01 -9.36765909e-01 -1.16105265e-02 1.47585852e+02] [ 9.36291758e-01 -3.49956329e-01 2.98045475e-02 2.88805927e+02] [-3.19830613e-02 -4.46283795e-04 9.99488311e-01 1.95671268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:288.83, Z:1.96 [[-3.50592819e-01 -9.36447293e-01 -1.22940000e-02 1.47575901e+02] [ 9.35916395e-01 -3.50808015e-01 3.15315570e-02 2.88832102e+02] [-3.38404749e-02 -4.51418698e-04 9.99427145e-01 1.95709835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.57, Y:288.86, Z:1.96 [[-3.51682754e-01 -9.36031768e-01 -1.27972547e-02 1.47566055e+02] [ 9.35457257e-01 -3.51915241e-01 3.27930549e-02 2.88858819e+02] [-3.51988901e-02 -4.38532958e-04 9.99380231e-01 1.95755956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:288.89, Z:1.96 [[-3.53848398e-01 -9.35200482e-01 -1.38336271e-02 1.47557270e+02] [ 9.34529730e-01 -3.54118485e-01 3.54158415e-02 2.88885468e+02] [-3.80196551e-02 -3.96097060e-04 9.99276913e-01 1.95814694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.55, Y:288.91, Z:1.96 [[-3.55020219e-01 -9.34755038e-01 -1.39162659e-02 1.47548089e+02] [ 9.34077016e-01 -3.55292679e-01 3.55983290e-02 2.88910698e+02] [-3.82200648e-02 -3.60737553e-04 9.99269281e-01 1.95744841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.54, Y:288.94, Z:1.96 [[-3.56369614e-01 -9.34242009e-01 -1.38768619e-02 1.47539212e+02] [ 9.33568629e-01 -3.56639551e-01 3.54661190e-02 2.88937315e+02] [-3.80829760e-02 -3.15955842e-04 9.99274530e-01 1.95588160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.53, Y:288.96, Z:1.95 [[-3.58081412e-01 -9.33593722e-01 -1.34337072e-02 1.47531328e+02] [ 9.32963234e-01 -3.58333225e-01 3.43060272e-02 2.88963977e+02] [-3.68416352e-02 -2.48804223e-04 9.99321086e-01 1.95363321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.52, Y:288.99, Z:1.95 [[-3.58570820e-01 -9.33411124e-01 -1.30629755e-02 1.47521473e+02] [ 9.32815871e-01 -3.58808611e-01 3.33306503e-02 2.88988574e+02] [-3.57983078e-02 -2.33952224e-04 9.99359008e-01 1.95084552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.51, Y:289.01, Z:1.95 [[-3.58834759e-01 -9.33317516e-01 -1.24912175e-02 1.47511214e+02] [ 9.32773784e-01 -3.59052038e-01 3.18543790e-02 2.89014685e+02] [-3.42152469e-02 -2.21021809e-04 9.99414463e-01 1.94729914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.50, Y:289.04, Z:1.94 [[-3.58213715e-01 -9.33575556e-01 -1.09368996e-02 1.47500963e+02] [ 9.33159450e-01 -3.58380569e-01 2.78712919e-02 2.89040819e+02] [-2.99395291e-02 -2.21992218e-04 9.99551687e-01 1.94158420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:289.07, Z:1.94 [[-3.58076623e-01 -9.33635941e-01 -1.02499471e-02 1.47491013e+02] [ 9.33271054e-01 -3.58223228e-01 2.61009466e-02 2.89067097e+02] [-2.80405510e-02 -2.19840113e-04 9.99606762e-01 1.93896546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.48, Y:289.09, Z:1.94 [[-3.57627159e-01 -9.33819063e-01 -9.20719915e-03 1.47482393e+02] [ 9.33525178e-01 -3.57745594e-01 2.34271453e-02 2.89092096e+02] [-2.51705498e-02 -2.16968804e-04 9.99683148e-01 1.93626766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:289.12, Z:1.93 [[-3.58021840e-01 -9.33669745e-01 -9.00943364e-03 1.47473323e+02] [ 9.33388558e-01 -3.58135122e-01 2.29136277e-02 2.89116601e+02] [-2.46203556e-02 -2.05723124e-04 9.99696852e-01 1.93492993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:289.14, Z:1.93 [[-3.57769298e-01 -9.33768882e-01 -8.76384756e-03 1.47463704e+02] [ 9.33503381e-01 -3.57876556e-01 2.22667520e-02 2.89143502e+02] [-2.39283757e-02 -2.14721081e-04 9.99713652e-01 1.93493061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.45, Y:289.17, Z:1.93 [[-3.57774703e-01 -9.33766467e-01 -8.80036917e-03 1.47453939e+02] [ 9.33499186e-01 -3.57882852e-01 2.23413282e-02 2.89170110e+02] [-2.40110843e-02 -2.21975399e-04 9.99711668e-01 1.93498638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.44, Y:289.20, Z:1.94 [[-3.57522358e-01 -9.33861369e-01 -8.98369318e-03 1.47443634e+02] [ 9.33583345e-01 -3.57635129e-01 2.27871063e-02 2.89196655e+02] [-2.44928825e-02 -2.40126382e-04 9.99699976e-01 1.93507689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:289.22, Z:1.94 [[-3.56760675e-01 -9.34145130e-01 -9.73128062e-03 1.47434637e+02] [ 9.33819615e-01 -3.56893252e-01 2.46603786e-02 2.89221869e+02] [-2.65094010e-02 -2.89407400e-04 9.99648522e-01 1.93653826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.42, Y:289.25, Z:1.94 [[-3.56172868e-01 -9.34366750e-01 -9.98320875e-03 1.47424723e+02] [ 9.34024855e-01 -3.56312606e-01 2.52764164e-02 2.89247490e+02] [-2.71745862e-02 -3.21791370e-04 9.99630651e-01 1.93625882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:289.27, Z:1.94 [[-3.55688749e-01 -9.34548055e-01 -1.02687519e-02 1.47414697e+02] [ 9.34187036e-01 -3.55836772e-01 2.59763836e-02 2.89273156e+02] [-2.79301783e-02 -3.53427543e-04 9.99609814e-01 1.93660394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.40, Y:289.30, Z:1.94 [[-3.54586811e-01 -9.34956396e-01 -1.11682653e-02 1.47404709e+02] [ 9.34530428e-01 -3.54762389e-01 2.82227963e-02 2.89298019e+02] [-3.03491644e-02 -4.29652385e-04 9.99539266e-01 1.93713857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:289.32, Z:1.94 [[-3.54308562e-01 -9.35059099e-01 -1.13984364e-02 1.47394477e+02] [ 9.34616278e-01 -3.54491569e-01 2.87774348e-02 2.89323558e+02] [-3.09492519e-02 -4.57072627e-04 9.99520853e-01 1.93702943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:289.35, Z:1.94 [[-3.54243085e-01 -9.35073071e-01 -1.22551482e-02 1.47385585e+02] [ 9.34562178e-01 -3.54454649e-01 3.09101305e-02 2.89348816e+02] [-3.32471249e-02 -5.03498035e-04 9.99447035e-01 1.93772616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.38, Y:289.38, Z:1.94 [[-3.54738317e-01 -9.34878874e-01 -1.27364488e-02 1.47378059e+02] [ 9.34328049e-01 -3.54966512e-01 3.20916337e-02 2.89376314e+02] [-3.45228032e-02 -5.15889188e-04 9.99403777e-01 1.93843547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.37, Y:289.40, Z:1.94 [[-3.55629838e-01 -9.34535223e-01 -1.30895324e-02 1.47369200e+02] [ 9.33954240e-01 -3.55870287e-01 3.29517223e-02 2.89402085e+02] [-3.54527207e-02 -5.06408589e-04 9.99371226e-01 1.93784537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.36, Y:289.43, Z:1.94 [[-3.58316640e-01 -9.33503384e-01 -1.34394265e-02 1.47362152e+02] [ 9.32890925e-01 -3.58568340e-01 3.38122395e-02 2.89428446e+02] [-3.63827928e-02 -4.22031014e-04 9.99337838e-01 1.93615119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.35, Y:289.45, Z:1.93 [[-3.60097960e-01 -9.32813973e-01 -1.36949474e-02 1.47354053e+02] [ 9.32178559e-01 -3.60358095e-01 3.44264164e-02 2.89454953e+02] [-3.70485274e-02 -3.69254050e-04 9.99313399e-01 1.93485907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.34, Y:289.48, Z:1.93 [[-3.61733565e-01 -9.32180803e-01 -1.37032335e-02 1.47344358e+02] [ 9.31545222e-01 -3.61992889e-01 3.44187063e-02 2.89479693e+02] [-3.70449304e-02 -3.14780369e-04 9.99313551e-01 1.93239752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.34, Y:289.51, Z:1.93 [[-3.64854284e-01 -9.30967516e-01 -1.34474845e-02 1.47338774e+02] [ 9.30355648e-01 -3.65101964e-01 3.37479579e-02 2.89506978e+02] [-3.63279555e-02 -1.97856156e-04 9.99339902e-01 1.92984324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:289.53, Z:1.93 [[-3.66431968e-01 -9.30349941e-01 -1.32891183e-02 1.47330177e+02] [ 9.29753070e-01 -3.66672833e-01 3.33206126e-02 2.89534154e+02] [-3.58725886e-02 -1.45860908e-04 9.99356361e-01 1.92822573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:289.56, Z:1.93 [[-3.67905514e-01 -9.29773850e-01 -1.28887595e-02 1.47321621e+02] [ 9.29212942e-01 -3.68131197e-01 3.22913291e-02 2.89559518e+02] [-3.47683879e-02 -9.62440416e-05 9.99395392e-01 1.92543031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.31, Y:289.59, Z:1.92 [[-3.70325087e-01 -9.28825463e-01 -1.19410565e-02 1.47313925e+02] [ 9.28344284e-01 -3.70517555e-01 2.98936916e-02 2.89585196e+02] [-3.21903931e-02 -1.50276329e-05 9.99481755e-01 1.92191777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:289.61, Z:1.92 [[-3.71368206e-01 -9.28415045e-01 -1.14524671e-02 1.47304508e+02] [ 9.27973031e-01 -3.71544753e-01 2.86452529e-02 2.89611379e+02] [-3.08497878e-02 1.03555953e-05 9.99524032e-01 1.92017199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:289.64, Z:1.92 [[-3.72650000e-01 -9.27910939e-01 -1.06427120e-02 1.47295727e+02] [ 9.27529590e-01 -3.72801942e-01 2.66002274e-02 2.89637924e+02] [-2.86502657e-02 4.11444352e-05 9.99589496e-01 1.91754222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.29, Y:289.66, Z:1.92 [[-3.73094961e-01 -9.27734444e-01 -1.04379776e-02 1.47286284e+02] [ 9.27368105e-01 -3.73240940e-01 2.60691174e-02 2.89663211e+02] [-2.80810987e-02 4.64088664e-05 9.99605647e-01 1.91628116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:289.69, Z:1.92 [[-3.73490725e-01 -9.27577846e-01 -1.01989021e-02 1.47276627e+02] [ 9.27228635e-01 -3.73629946e-01 2.54503911e-02 2.89688190e+02] [-2.74178342e-02 4.87709530e-05 9.99624059e-01 1.91557234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:289.71, Z:1.91 [[-3.73093444e-01 -9.27739090e-01 -1.00729256e-02 1.47266303e+02] [ 9.27399168e-01 -3.73229394e-01 2.51117891e-02 2.89713958e+02] [-2.70567003e-02 2.74210122e-05 9.99633900e-01 1.91499691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.26, Y:289.74, Z:1.91 [[-3.73383659e-01 -9.27622240e-01 -1.00807832e-02 1.47256233e+02] [ 9.27282362e-01 -3.73519716e-01 2.51086336e-02 2.89738749e+02] [-2.70566983e-02 2.74210107e-05 9.99633900e-01 1.91390400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:289.76, Z:1.92 [[-3.71542991e-01 -9.28357100e-01 -1.04355671e-02 1.47244934e+02] [ 9.27993877e-01 -3.71689513e-01 2.59667002e-02 2.89764426e+02] [-2.79851613e-02 -3.63968960e-05 9.99608338e-01 1.91592688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.23, Y:289.79, Z:1.92 [[-3.69367988e-01 -9.29217419e-01 -1.10578762e-02 1.47233459e+02] [ 9.28810678e-01 -3.69533454e-01 2.74909254e-02 2.89789075e+02] [-2.96313020e-02 -1.16405715e-04 9.99560890e-01 1.91775651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.22, Y:289.81, Z:1.92 [[-3.68385567e-01 -9.29598466e-01 -1.17799174e-02 1.47222229e+02] [ 9.29137929e-01 -3.68573825e-01 2.92582514e-02 2.89814858e+02] [-3.15401949e-02 -1.66850572e-04 9.99502470e-01 1.91844783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.21, Y:289.84, Z:1.92 [[-3.67475200e-01 -9.29950771e-01 -1.23911948e-02 1.47211029e+02] [ 9.29442273e-01 -3.67683991e-01 3.07496983e-02 2.89840792e+02] [-3.31517496e-02 -2.17148701e-04 9.99450306e-01 1.91884695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.20, Y:289.87, Z:1.92 [[-3.65974851e-01 -9.30525815e-01 -1.35689324e-02 1.47199905e+02] [ 9.29917525e-01 -3.66226178e-01 3.36419888e-02 2.89867185e+02] [-3.62740373e-02 -3.05866229e-04 9.99341834e-01 1.92122361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:289.89, Z:1.92 [[-3.65532245e-01 -9.30694628e-01 -1.39171699e-02 1.47188729e+02] [ 9.30055919e-01 -3.65796929e-01 3.44760024e-02 2.89893285e+02] [-3.71774882e-02 -3.41655724e-04 9.99308620e-01 1.92109328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:289.92, Z:1.92 [[-3.65033706e-01 -9.30883609e-01 -1.43561576e-02 1.47177564e+02] [ 9.30205266e-01 -3.65315698e-01 3.55331312e-02 2.89919040e+02] [-3.83217391e-02 -3.83382796e-04 9.99265379e-01 1.92061037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.17, Y:289.94, Z:1.92 [[-3.64485296e-01 -9.31097201e-01 -1.44385085e-02 1.47166304e+02] [ 9.30412353e-01 -3.64770923e-01 3.57075128e-02 2.89944646e+02] [-3.85139133e-02 -4.18903320e-04 9.99257976e-01 1.91924404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.15, Y:289.97, Z:1.92 [[-3.63040944e-01 -9.31662935e-01 -1.43335093e-02 1.47154830e+02] [ 9.30989547e-01 -3.63323465e-01 3.54192551e-02 2.89970249e+02] [-3.82065074e-02 -4.85707527e-04 9.99269747e-01 1.91702857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.14, Y:289.99, Z:1.91 [[-3.62681120e-01 -9.31808496e-01 -1.39761526e-02 1.47144294e+02] [ 9.31169377e-01 -3.62949968e-01 3.45095954e-02 2.89993795e+02] [-3.72289783e-02 -4.98186553e-04 9.99306637e-01 1.91480121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.13, Y:290.02, Z:1.91 [[-3.62458329e-01 -9.31897140e-01 -1.38448995e-02 1.47133724e+02] [ 9.31271230e-01 -3.62722286e-01 3.41531780e-02 2.90019356e+02] [-3.68491025e-02 -5.14252789e-04 9.99320709e-01 1.91264937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.12, Y:290.04, Z:1.91 [[-3.61998617e-01 -9.32087779e-01 -1.30144022e-02 1.47123542e+02] [ 9.31535795e-01 -3.62232124e-01 3.20772804e-02 2.90044021e+02] [-3.46130756e-02 -5.11450306e-04 9.99400657e-01 1.90863117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.11, Y:290.07, Z:1.91 [[-3.62173940e-01 -9.32027735e-01 -1.24233147e-02 1.47113428e+02] [ 9.31525525e-01 -3.62386617e-01 3.05963306e-02 2.90068890e+02] [-3.30186717e-02 -4.91441134e-04 9.99454614e-01 1.90587570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:290.09, Z:1.90 [[-3.62854611e-01 -9.31773097e-01 -1.16373099e-02 1.47104281e+02] [ 9.31333016e-01 -3.63040901e-01 2.86376875e-02 2.90093954e+02] [-3.09086462e-02 -4.46894008e-04 9.99522114e-01 1.90311440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.09, Y:290.12, Z:1.90 [[-3.63528345e-01 -9.31515733e-01 -1.12063136e-02 1.47094961e+02] [ 9.31108316e-01 -3.63700788e-01 2.75506967e-02 2.90117924e+02] [-2.97396525e-02 -4.18832594e-04 9.99557591e-01 1.90178402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.09, Y:290.14, Z:1.90 [[-3.64078092e-01 -9.31303774e-01 -1.09737433e-02 1.47085833e+02] [ 9.30913506e-01 -3.64243216e-01 2.69615340e-02 2.90143248e+02] [-2.91064899e-02 -3.99502014e-04 9.99576237e-01 1.90094459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:290.17, Z:1.90 [[-3.64873420e-01 -9.30991779e-01 -1.10314878e-02 1.47076453e+02] [ 9.30597927e-01 -3.65039941e-01 2.70802636e-02 2.90168293e+02] [-2.92384364e-02 -3.85011261e-04 9.99572391e-01 1.89996125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.07, Y:290.19, Z:1.90 [[-3.66832672e-01 -9.30223553e-01 -1.08596303e-02 1.47069497e+02] [ 9.29842224e-01 -3.66993234e-01 2.66346396e-02 2.90193692e+02] [-2.87615799e-02 -3.27286761e-04 9.99586247e-01 1.89994313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.06, Y:290.22, Z:1.90 [[-3.68380898e-01 -9.29610017e-01 -1.09877561e-02 1.47061037e+02] [ 9.29220084e-01 -3.68544613e-01 2.69240324e-02 2.90220068e+02] [-2.90783285e-02 -2.91744437e-04 9.99577093e-01 1.89976828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:290.25, Z:1.90 [[-3.71602637e-01 -9.28320449e-01 -1.15162773e-02 1.47054956e+02] [ 9.27892295e-01 -3.71780984e-01 2.81919932e-02 2.90246160e+02] [-3.04527367e-02 -2.09645960e-04 9.99536186e-01 1.90062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:290.27, Z:1.90 [[-3.73406001e-01 -9.27593793e-01 -1.17351602e-02 1.47046727e+02] [ 9.27149388e-01 -3.73590324e-01 2.87103333e-02 2.90271824e+02] [-3.10156693e-02 -1.59635900e-04 9.99518886e-01 1.90046551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.04, Y:290.30, Z:1.90 [[-3.75072861e-01 -9.26915515e-01 -1.21645611e-02 1.47038704e+02] [ 9.26438439e-01 -3.75270055e-01 2.97355740e-02 2.90298541e+02] [-3.21273604e-02 -1.16710151e-04 9.99483776e-01 1.90160753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.03, Y:290.32, Z:1.90 [[-3.78830896e-01 -9.25377284e-01 -1.28075769e-02 1.47033257e+02] [ 9.24848503e-01 -3.79047334e-01 3.12788310e-02 2.90324477e+02] [-3.37993976e-02 4.31921212e-06 9.99428637e-01 1.90231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.03, Y:290.35, Z:1.90 [[-3.80919684e-01 -9.24515139e-01 -1.31130362e-02 1.47025365e+02] [ 9.23961350e-01 -3.81145317e-01 3.19948487e-02 2.90350427e+02] [-3.45776944e-02 7.15290113e-05 9.99402010e-01 1.90288173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:290.38, Z:1.90 [[-3.84352280e-01 -9.23085359e-01 -1.36654719e-02 1.47019927e+02] [ 9.22484116e-01 -3.84595088e-01 3.33117756e-02 2.90376506e+02] [-3.60052857e-02 1.97276152e-04 9.99351580e-01 1.90343363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.01, Y:290.40, Z:1.90 [[-3.86381546e-01 -9.22232206e-01 -1.40377740e-02 1.47010891e+02] [ 9.21598415e-01 -3.86636372e-01 3.41859162e-02 2.90403129e+02] [-3.69548669e-02 2.71616813e-04 9.99316899e-01 1.90335963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.00, Y:290.43, Z:1.90 [[-3.87926205e-01 -9.21579054e-01 -1.43285344e-02 1.47001526e+02] [ 9.20919350e-01 -3.88190596e-01 3.48656220e-02 2.90430068e+02] [-3.76936292e-02 3.29863844e-04 9.99289288e-01 1.90251512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:290.46, Z:1.90 [[-3.89247765e-01 -9.21020583e-01 -1.43966125e-02 1.46992026e+02] [ 9.20355272e-01 -3.89513728e-01 3.50032598e-02 2.90456926e+02] [-3.78464009e-02 3.74942457e-04 9.99283498e-01 1.90168240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:290.48, Z:1.90 [[-3.90201394e-01 -9.20615348e-01 -1.45001298e-02 1.46982557e+02] [ 9.19941235e-01 -3.90470507e-01 3.52265154e-02 2.90482868e+02] [-3.80919438e-02 4.06168079e-04 9.99274156e-01 1.89996858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.97, Y:290.51, Z:1.90 [[-3.90808972e-01 -9.20362002e-01 -1.42173188e-02 1.46974090e+02] [ 9.19714759e-01 -3.91067276e-01 3.45130095e-02 2.90507866e+02] [-3.73243906e-02 4.12115841e-04 9.99303117e-01 1.89760156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.96, Y:290.53, Z:1.90 [[-3.90687150e-01 -9.20419299e-01 -1.38515409e-02 1.46963622e+02] [ 9.19806102e-01 -3.90932433e-01 3.35941724e-02 2.90533357e+02] [-3.63357412e-02 3.84079622e-04 9.99339565e-01 1.89520254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:290.56, Z:1.89 [[-3.89416434e-01 -9.20971629e-01 -1.28879424e-02 1.46953102e+02] [ 9.20441945e-01 -3.89629527e-01 3.12323127e-02 2.90557011e+02] [-3.37855968e-02 2.99773044e-04 9.99429059e-01 1.89167891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.94, Y:290.58, Z:1.89 [[-3.88484492e-01 -9.21369509e-01 -1.25708693e-02 1.46942334e+02] [ 9.20866680e-01 -3.88687748e-01 3.04367022e-02 2.90580413e+02] [-3.29295923e-02 2.48092081e-04 9.99457643e-01 1.88937367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:290.60, Z:1.89 [[-3.85185344e-01 -9.22761312e-01 -1.19921701e-02 1.46929474e+02] [ 9.22305185e-01 -3.85371961e-01 2.90102986e-02 2.90604353e+02] [-3.13910274e-02 1.13901177e-04 9.99507174e-01 1.88730572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.92, Y:290.63, Z:1.89 [[-3.83620697e-01 -9.23414915e-01 -1.18344903e-02 1.46917517e+02] [ 9.22971763e-01 -3.83803194e-01 2.86047834e-02 2.90629014e+02] [-3.09561988e-02 5.04866146e-05 9.99520741e-01 1.88600936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.91, Y:290.65, Z:1.89 [[-3.81705731e-01 -9.24209316e-01 -1.17420542e-02 1.46906169e+02] [ 9.23774155e-01 -3.81886292e-01 2.83579106e-02 2.90652385e+02] [-3.06927747e-02 -2.26292416e-05 9.99528866e-01 1.88525850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:290.68, Z:1.89 [[-3.80115047e-01 -9.24864081e-01 -1.17890655e-02 1.46894277e+02] [ 9.24426541e-01 -3.80297809e-01 2.84455143e-02 2.90676569e+02] [-3.07915903e-02 -8.55570741e-05 9.99525823e-01 1.88500902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.88, Y:290.70, Z:1.89 [[-3.76658968e-01 -9.26268641e-01 -1.24268403e-02 1.46880961e+02] [ 9.25784084e-01 -3.76863843e-01 2.99578553e-02 2.90699248e+02] [-3.24322487e-02 -2.20676076e-04 9.99473912e-01 1.88594500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.87, Y:290.72, Z:1.89 [[-3.75489546e-01 -9.26734053e-01 -1.30994521e-02 1.46868898e+02] [ 9.26196910e-01 -3.75717864e-01 3.15494833e-02 2.90723269e+02] [-3.41596787e-02 -2.86170857e-04 9.99416347e-01 1.88602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:290.75, Z:1.89 [[-3.74379817e-01 -9.27173345e-01 -1.37601135e-02 1.46856402e+02] [ 9.26581973e-01 -3.74632438e-01 3.31116929e-02 2.90747971e+02] [-3.58552639e-02 -3.53523518e-04 9.99356931e-01 1.88665080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.85, Y:290.77, Z:1.89 [[-3.72101785e-01 -9.28077824e-01 -1.45538204e-02 1.46845164e+02] [ 9.27418084e-01 -3.72385988e-01 3.49910425e-02 2.90773871e+02] [-3.78940494e-02 -4.77246938e-04 9.99281649e-01 1.88837229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:290.80, Z:1.89 [[-3.71344844e-01 -9.28380900e-01 -1.45571615e-02 1.46831224e+02] [ 9.27722146e-01 -3.71629701e-01 3.49712052e-02 2.90797522e+02] [-3.78764725e-02 -5.18624366e-04 9.99282294e-01 1.88662512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.82, Y:290.82, Z:1.89 [[-3.69662725e-01 -9.29054017e-01 -1.44257573e-02 1.46821045e+02] [ 9.28408708e-01 -3.69943619e-01 3.46264203e-02 2.90823740e+02] [-3.75065318e-02 -5.92901808e-04 9.99296207e-01 1.88549618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.81, Y:290.85, Z:1.88 [[-3.68663566e-01 -9.29451767e-01 -1.43731797e-02 1.46810078e+02] [ 9.28812461e-01 -3.68943089e-01 3.44733165e-02 2.90849250e+02] [-3.73441703e-02 -6.40932584e-04 9.99302258e-01 1.88382190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:290.87, Z:1.88 [[-3.68091124e-01 -9.29679756e-01 -1.42994813e-02 1.46798300e+02] [ 9.29048169e-01 -3.68368159e-01 3.42695118e-02 2.90874021e+02] [-3.71271450e-02 -6.70603865e-04 9.99310325e-01 1.88195629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.79, Y:290.90, Z:1.88 [[-3.66264784e-01 -9.30406878e-01 -1.38978255e-02 1.46786007e+02] [ 9.29811783e-01 -3.66527631e-01 3.32797764e-02 2.90898548e+02] [-3.60576699e-02 -7.33151805e-04 9.99349442e-01 1.87878416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.78, Y:290.93, Z:1.88 [[-3.65593939e-01 -9.30674351e-01 -1.36500389e-02 1.46775711e+02] [ 9.30101426e-01 -3.65847893e-01 3.26597144e-02 2.90925135e+02] [-3.53893965e-02 -7.55727013e-04 9.99373313e-01 1.87767521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.76, Y:290.95, Z:1.87 [[-3.64630211e-01 -9.31060009e-01 -1.31175101e-02 1.46764461e+02] [ 9.30531983e-01 -3.64865271e-01 3.13618156e-02 2.90949596e+02] [-3.39858561e-02 -7.70797232e-04 9.99422017e-01 1.87475487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.75, Y:290.98, Z:1.87 [[-3.64668734e-01 -9.31045730e-01 -1.30599422e-02 1.46754540e+02] [ 9.30523201e-01 -3.64901694e-01 3.11981884e-02 2.90975058e+02] [-3.38125351e-02 -7.75575332e-04 9.99427892e-01 1.87327329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.75, Y:291.00, Z:1.87 [[-3.65671216e-01 -9.30652940e-01 -1.30256265e-02 1.46746289e+02] [ 9.30133851e-01 -3.65902373e-01 3.10881501e-02 2.91002203e+02] [-3.36983859e-02 -7.47534517e-04 9.99431769e-01 1.87298935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters Centerline goodness [0,1] 0.9999563785469694 Centerline is valid? [True, True] Translation: X:146.73, Y:291.03, Z:1.87 [[-3.66567290e-01 -9.30301001e-01 -1.29795993e-02 1.46734568e+02] [ 9.29786188e-01 -3.66796302e-01 3.09534775e-02 2.91026768e+02] [-3.35569201e-02 -7.21719733e-04 9.99436547e-01 1.87120227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.866875 meters Centerline goodness [0,1] 0.9999563861569662 Centerline is valid? [True, True] Translation: X:146.73, Y:291.05, Z:1.87 [[-3.67831643e-01 -9.29802168e-01 -1.29542162e-02 1.46726557e+02] [ 9.29289936e-01 -3.68059045e-01 3.08667278e-02 2.91054381e+02] [-3.34678669e-02 -6.84463546e-04 9.99439560e-01 1.87124042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.72, Y:291.08, Z:1.87 [[-3.69132240e-01 -9.29285351e-01 -1.30432138e-02 1.46716882e+02] [ 9.28766582e-01 -3.69362034e-01 3.10535673e-02 2.91080903e+02] [-3.36752932e-02 -6.51228238e-04 9.99432614e-01 1.87050107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.71, Y:291.11, Z:1.87 [[-3.71305727e-01 -9.28410632e-01 -1.36291895e-02 1.46708919e+02] [ 9.27844560e-01 -3.71555283e-01 3.24213518e-02 2.91107817e+02] [-3.51643251e-02 -6.07535740e-04 9.99381359e-01 1.87191626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.70, Y:291.13, Z:1.87 [[-3.72336027e-01 -9.27994953e-01 -1.38293339e-02 1.46699089e+02] [ 9.27412796e-01 -3.72592302e-01 3.28706986e-02 2.91133579e+02] [-3.56565457e-02 -5.86555855e-04 9.99363931e-01 1.87101798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:291.16, Z:1.87 [[-3.73376406e-01 -9.27576254e-01 -1.38691290e-02 1.46689453e+02] [ 9.26991395e-01 -3.73633486e-01 3.29389152e-02 2.91160528e+02] [-3.57353265e-02 -5.57949425e-04 9.99361133e-01 1.87025051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.68, Y:291.19, Z:1.87 [[-3.74991425e-01 -9.26915956e-01 -1.44305891e-02 1.46680688e+02] [ 9.26283271e-01 -3.75268617e-01 3.42456851e-02 2.91186382e+02] [-3.71582192e-02 -5.24974972e-04 9.99309257e-01 1.86978163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.046875 meters Centerline goodness [0,1] 0.9999562831974469 Centerline is valid? [True, True] Translation: X:146.67, Y:291.21, Z:1.87 [[-3.75885003e-01 -9.26548590e-01 -1.47707782e-02 1.46670951e+02] [ 9.25886537e-01 -3.76174760e-01 3.50238614e-02 2.91211566e+02] [-3.80077033e-02 -5.11120431e-04 9.99277315e-01 1.86912760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.66, Y:291.24, Z:1.87 [[-3.77940758e-01 -9.25705394e-01 -1.51758389e-02 1.46663539e+02] [ 9.25007032e-01 -3.78245054e-01 3.59537081e-02 2.91239305e+02] [-3.90227275e-02 -4.49385977e-04 9.99238222e-01 1.86924914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.106875 meters Centerline goodness [0,1] 0.9999780855539971 Centerline is valid? [True, True] Translation: X:146.65, Y:291.26, Z:1.87 [[-3.79104829e-01 -9.25224012e-01 -1.54937400e-02 1.46654441e+02] [ 9.24496889e-01 -3.79421074e-01 3.66762984e-02 2.91264901e+02] [-3.98124434e-02 -4.19752609e-04 9.99207082e-01 1.86872200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:291.29, Z:1.87 [[-3.80203439e-01 -9.24770006e-01 -1.56773974e-02 1.46644844e+02] [ 9.24026035e-01 -3.80526329e-01 3.70890704e-02 2.91289813e+02] [-4.02645223e-02 -3.84931315e-04 9.99188981e-01 1.86789052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:291.32, Z:1.87 [[-3.82408573e-01 -9.23857183e-01 -1.58615456e-02 1.46637304e+02] [ 9.23096126e-01 -3.82737264e-01 3.74930618e-02 2.91317249e+02] [-4.07090390e-02 -3.04063063e-04 9.99170997e-01 1.86646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:291.34, Z:1.86 [[-3.83390124e-01 -9.23451429e-01 -1.57946391e-02 1.46627605e+02] [ 9.22697622e-01 -3.83715239e-01 3.73056741e-02 2.91344149e+02] [-4.05106218e-02 -2.71048910e-04 9.99179071e-01 1.86480503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.62, Y:291.37, Z:1.86 [[-3.83652416e-01 -9.23342320e-01 -1.58045309e-02 1.46616777e+02] [ 9.22588594e-01 -3.83977716e-01 3.73014829e-02 2.91369524e+02] [-4.05106255e-02 -2.70275930e-04 9.99179071e-01 1.86367764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:291.40, Z:1.86 [[-3.84393129e-01 -9.23038234e-01 -1.55672931e-02 1.46607201e+02] [ 9.22307866e-01 -3.84708146e-01 3.67129716e-02 2.91395457e+02] [-3.98763410e-02 -2.45622879e-04 9.99204592e-01 1.86165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:291.42, Z:1.86 [[-3.85349585e-01 -9.22649967e-01 -1.49243259e-02 1.46598945e+02] [ 9.21979430e-01 -3.85638426e-01 3.51700998e-02 2.91420988e+02] [-3.82050850e-02 -2.07138148e-04 9.99269898e-01 1.85859013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.59, Y:291.45, Z:1.86 [[-3.85841291e-01 -9.22447229e-01 -1.47515096e-02 1.46589162e+02] [ 9.21793074e-01 -3.86123129e-01 3.47341142e-02 2.91447643e+02] [-3.77362865e-02 -1.95983899e-04 9.99287713e-01 1.85703535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:291.47, Z:1.85 [[-3.85801152e-01 -9.22471141e-01 -1.42991463e-02 1.46580192e+02] [ 9.21857436e-01 -3.86065997e-01 3.36439255e-02 2.91473556e+02] [-3.65559645e-02 -2.01909136e-04 9.99331587e-01 1.85481449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:291.50, Z:1.85 [[-3.85721064e-01 -9.22508687e-01 -1.40350923e-02 1.46570155e+02] [ 9.21918487e-01 -3.85976265e-01 3.29943408e-02 2.91499104e+02] [-3.58547785e-02 -2.12598839e-04 9.99356988e-01 1.85320356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.406875 meters Centerline goodness [0,1] 0.9999555930547538 Centerline is valid? [True, True] Translation: X:146.56, Y:291.52, Z:1.85 [[-3.85599947e-01 -9.22559298e-01 -1.40364774e-02 1.46560219e+02] [ 9.21970044e-01 -3.85855270e-01 3.29688858e-02 2.91523157e+02] [-3.58318009e-02 -2.28411071e-04 9.99357809e-01 1.85213362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:291.55, Z:1.85 [[-3.85262295e-01 -9.22697125e-01 -1.42471122e-02 1.46550044e+02] [ 9.22091299e-01 -3.85525550e-01 3.34318212e-02 2.91549383e+02] [-3.63400710e-02 -2.57118041e-04 9.99339448e-01 1.85152141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.54, Y:291.57, Z:1.85 [[-3.84435703e-01 -9.23039301e-01 -1.44096902e-02 1.46540724e+02] [ 9.22420769e-01 -3.84705546e-01 3.37871057e-02 2.91574392e+02] [-3.67303141e-02 -3.02827768e-04 9.99325168e-01 1.85196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.53, Y:291.60, Z:1.85 [[-3.83931578e-01 -9.23247385e-01 -1.45192835e-02 1.46530368e+02] [ 9.22620732e-01 -3.84205872e-01 3.40122349e-02 2.91599446e+02] [-3.69801009e-02 -3.37420911e-04 9.99315945e-01 1.85110053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.52, Y:291.62, Z:1.85 [[-3.82630777e-01 -9.23786161e-01 -1.45882528e-02 1.46520914e+02] [ 9.23155049e-01 -3.82908562e-01 3.41436435e-02 2.91624529e+02] [-3.71273923e-02 -4.02810381e-04 9.99310460e-01 1.85035190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:291.65, Z:1.85 [[-3.82295174e-01 -9.23920391e-01 -1.48832381e-02 1.46510461e+02] [ 9.23264479e-01 -3.82584531e-01 3.48106043e-02 2.91648706e+02] [-3.78563238e-02 -4.33239004e-04 9.99283099e-01 1.84958738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.50, Y:291.67, Z:1.85 [[-3.82152758e-01 -9.23971844e-01 -1.53395484e-02 1.46500973e+02] [ 9.23276436e-01 -3.82460215e-01 3.58442121e-02 2.91674819e+02] [-3.89858097e-02 -4.64679076e-04 9.99239656e-01 1.84913945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters Centerline goodness [0,1] 0.9999327761220785 Centerline is valid? [True, True] Translation: X:146.49, Y:291.70, Z:1.85 [[-3.81570138e-01 -9.24204068e-01 -1.58452073e-02 1.46491774e+02] [ 9.23463587e-01 -3.81898643e-01 3.69922967e-02 2.91700836e+02] [-4.02396942e-02 -5.17316190e-04 9.99189922e-01 1.84868178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:291.73, Z:1.85 [[-3.81513279e-01 -9.24224583e-01 -1.60168008e-02 1.46481602e+02] [ 9.23469330e-01 -3.81848964e-01 3.73599527e-02 2.91725158e+02] [-4.06449855e-02 -5.37706263e-04 9.99173506e-01 1.84758796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.47, Y:291.75, Z:1.85 [[-3.81761714e-01 -9.24122693e-01 -1.59763284e-02 1.46472387e+02] [ 9.23372543e-01 -3.82095484e-01 3.72315423e-02 2.91750885e+02] [-4.05109960e-02 -5.38525587e-04 9.99178948e-01 1.84652085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.47, Y:291.78, Z:1.84 [[-3.82367992e-01 -9.23879797e-01 -1.55189729e-02 1.46465269e+02] [ 9.23172949e-01 -3.82682454e-01 3.61364872e-02 2.91776038e+02] [-3.93246092e-02 -5.09259927e-04 9.99226359e-01 1.84438385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:291.80, Z:1.84 [[-3.82892924e-01 -9.23666831e-01 -1.52510192e-02 1.46456515e+02] [ 9.22985202e-01 -3.83196221e-01 3.54820120e-02 2.91802393e+02] [-3.86176906e-02 -4.90653708e-04 9.99253938e-01 1.84269356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.45, Y:291.83, Z:1.84 [[-3.83940423e-01 -9.23237632e-01 -1.49005489e-02 1.46448590e+02] [ 9.22587734e-01 -3.84229195e-01 3.46381049e-02 2.91828105e+02] [-3.77044278e-02 -4.48095046e-04 9.99288835e-01 1.84014985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.44, Y:291.85, Z:1.84 [[-3.84331533e-01 -9.23075603e-01 -1.48561196e-02 1.46439519e+02] [ 9.22430541e-01 -3.84618300e-01 3.45059600e-02 2.91853563e+02] [-3.75655453e-02 -4.42009944e-04 9.99294068e-01 1.83867253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:291.88, Z:1.84 [[-3.84888999e-01 -9.22846482e-01 -1.46570460e-02 1.46430229e+02] [ 9.22219494e-01 -3.85167743e-01 3.40149046e-02 2.91878859e+02] [-3.70359563e-02 -4.25050927e-04 9.99313843e-01 1.83746036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters Centerline goodness [0,1] 0.9998632416292481 Centerline is valid? [True, True] Translation: X:146.42, Y:291.91, Z:1.84 [[-3.85251559e-01 -9.22694988e-01 -1.46695351e-02 1.46422063e+02] [ 9.22067896e-01 -3.85530519e-01 3.40149110e-02 2.91905469e+02] [-3.70409414e-02 -4.22009873e-04 9.99313660e-01 1.83664508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:291.93, Z:1.84 [[-3.85537753e-01 -9.22577672e-01 -1.45286106e-02 1.46412529e+02] [ 9.21963518e-01 -3.85811179e-01 3.36601408e-02 2.91929521e+02] [-3.66593947e-02 -4.17593901e-04 9.99327731e-01 1.83577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:291.95, Z:1.83 [[-3.85381871e-01 -9.22645680e-01 -1.43444075e-02 1.46402157e+02] [ 9.22048111e-01 -3.85648498e-01 3.32041786e-02 2.91954813e+02] [-3.61675911e-02 -4.29945365e-04 9.99345646e-01 1.83414044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.39, Y:291.98, Z:1.83 [[-3.84704146e-01 -9.22932655e-01 -1.40724961e-02 1.46391980e+02] [ 9.22358662e-01 -3.84961173e-01 3.25483418e-02 2.91979980e+02] [-3.54572921e-02 -4.58406650e-04 9.99371087e-01 1.83216840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.38, Y:292.01, Z:1.83 [[-3.84463846e-01 -9.23034596e-01 -1.39529846e-02 1.46382820e+02] [ 9.22471312e-01 -3.84716662e-01 3.22454391e-02 2.92006120e+02] [-3.51316015e-02 -4.74022459e-04 9.99382582e-01 1.83182950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00687500000004 meters Centerline goodness [0,1] 0.9999311595034306 Centerline is valid? [True, True] Translation: X:146.37, Y:292.03, Z:1.83 [[-3.84254329e-01 -9.23122498e-01 -1.39091730e-02 1.46371166e+02] [ 9.22563718e-01 -3.84505675e-01 3.21181121e-02 2.92029263e+02] [-3.49971078e-02 -4.90574779e-04 9.99387293e-01 1.82998594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:292.06, Z:1.83 [[-3.84283517e-01 -9.23109252e-01 -1.39816465e-02 1.46362659e+02] [ 9.22545681e-01 -3.84537456e-01 3.22554034e-02 2.92055290e+02] [-3.51517281e-02 -5.03487679e-04 9.99381860e-01 1.83042984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.35, Y:292.08, Z:1.83 [[-3.83897400e-01 -9.23265069e-01 -1.42968389e-02 1.46352202e+02] [ 9.22676973e-01 -3.84163143e-01 3.29527429e-02 2.92081879e+02] [-3.59164350e-02 -5.40891723e-04 9.99354650e-01 1.83015459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:292.11, Z:1.83 [[-3.83934208e-01 -9.23247515e-01 -1.44412552e-02 1.46340183e+02] [ 9.22648396e-01 -3.84205308e-01 3.32598627e-02 2.92105072e+02] [-3.62554925e-02 -5.54601893e-04 9.99342400e-01 1.82892813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:292.13, Z:1.83 [[-3.83214228e-01 -9.23539465e-01 -1.48900321e-02 1.46329875e+02] [ 9.22903977e-01 -3.83502909e-01 3.42603037e-02 2.92130456e+02] [-3.73511132e-02 -6.13033971e-04 9.99302016e-01 1.82877035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.32, Y:292.16, Z:1.83 [[-3.82845545e-01 -9.23690840e-01 -1.49840154e-02 1.46318771e+02] [ 9.23048530e-01 -3.83138119e-01 3.44469609e-02 2.92155459e+02] [-3.75592897e-02 -6.43107840e-04 9.99294194e-01 1.82821203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:292.18, Z:1.83 [[-3.82828612e-01 -9.23696724e-01 -1.50537713e-02 1.46307082e+02] [ 9.23049558e-01 -3.83123908e-01 3.45772410e-02 2.92180482e+02] [-3.77063439e-02 -6.58219769e-04 9.99288646e-01 1.82698151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:292.20, Z:1.83 [[-3.82256288e-01 -9.23929411e-01 -1.53158239e-02 1.46294940e+02] [ 9.23260886e-01 -3.82562344e-01 3.51480950e-02 2.92204888e+02] [-3.83336162e-02 -7.04920814e-04 9.99264748e-01 1.82560192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.246875 meters Centerline goodness [0,1] 0.9999539573645195 Centerline is valid? [True, True] Translation: X:146.28, Y:292.23, Z:1.82 [[-3.82604144e-01 -9.23786193e-01 -1.52688745e-02 1.46283435e+02] [ 9.23122809e-01 -3.82908056e-01 3.50100024e-02 2.92229429e+02] [-3.81883319e-02 -7.00074348e-04 9.99270314e-01 1.82453510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:292.25, Z:1.82 [[-3.82800163e-01 -9.23707292e-01 -1.51285964e-02 1.46271610e+02] [ 9.23057130e-01 -3.83098359e-01 3.46580717e-02 2.92252903e+02] [-3.78096540e-02 -6.97443238e-04 9.99284716e-01 1.82309084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:292.28, Z:1.82 [[-3.83384528e-01 -9.23468178e-01 -1.49274010e-02 1.46260267e+02] [ 9.22835835e-01 -3.83674433e-01 3.41753076e-02 2.92277307e+02] [-3.72870711e-02 -6.73256392e-04 9.99304369e-01 1.82114339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.25, Y:292.30, Z:1.82 [[-3.84570889e-01 -9.22983410e-01 -1.43824948e-02 1.46248596e+02] [ 9.22397016e-01 -3.84839250e-01 3.29013140e-02 2.92301946e+02] [-3.59023155e-02 -6.13482702e-04 9.99355116e-01 1.81835053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:292.33, Z:1.82 [[-3.85402004e-01 -9.22639342e-01 -1.42105832e-02 1.46237975e+02] [ 9.22067614e-01 -3.85663458e-01 3.24809516e-02 2.92327606e+02] [-3.54487065e-02 -5.84894733e-04 9.99371326e-01 1.81678592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:292.35, Z:1.81 [[-3.87316814e-01 -9.21840746e-01 -1.39758527e-02 1.46226000e+02] [ 9.21288116e-01 -3.87568543e-01 3.19191453e-02 2.92350663e+02] [-3.48409696e-02 -5.12965319e-04 9.99392737e-01 1.81428811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:292.38, Z:1.81 [[-3.88783631e-01 -9.21221647e-01 -1.40700055e-02 1.46216074e+02] [ 9.20662180e-01 -3.89037856e-01 3.21044733e-02 2.92375637e+02] [-3.50491006e-02 -4.72028217e-04 9.99385480e-01 1.81355937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:292.40, Z:1.81 [[-3.89665284e-01 -9.20846434e-01 -1.42412090e-02 1.46204859e+02] [ 9.20274022e-01 -3.89925171e-01 3.24666787e-02 2.92399979e+02] [-3.54498312e-02 -4.54677100e-04 9.99371354e-01 1.81261008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.19, Y:292.42, Z:1.81 [[-3.91639205e-01 -9.20001319e-01 -1.47073634e-02 1.46193611e+02] [ 9.19391286e-01 -3.91915057e-01 3.35000279e-02 2.92424024e+02] [-3.65841070e-02 -4.01897456e-04 9.99330497e-01 1.81213314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:292.45, Z:1.81 [[-3.92730403e-01 -9.19532592e-01 -1.49212119e-02 1.46182299e+02] [ 9.18905482e-01 -3.93013577e-01 3.39565041e-02 2.92448277e+02] [-3.70883511e-02 -3.75431900e-04 9.99311920e-01 1.81120006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.17, Y:292.47, Z:1.81 [[-3.93857299e-01 -9.19046314e-01 -1.51756573e-02 1.46171117e+02] [ 9.18398436e-01 -3.94149403e-01 3.45044962e-02 2.92473697e+02] [-3.76927063e-02 -3.47452251e-04 9.99289317e-01 1.81060144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.16, Y:292.50, Z:1.81 [[-3.95375514e-01 -9.18388127e-01 -1.55387104e-02 1.46159273e+02] [ 9.17709461e-01 -3.95680625e-01 3.53013967e-02 2.92498380e+02] [-3.85687503e-02 -3.02713646e-04 9.99255903e-01 1.80950624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.15, Y:292.52, Z:1.81 [[-3.96302642e-01 -9.17985285e-01 -1.57235994e-02 1.46147921e+02] [ 9.17291224e-01 -3.96614344e-01 3.56913353e-02 2.92523332e+02] [-3.90003257e-02 -2.78549271e-04 9.99239159e-01 1.80835553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.14, Y:292.55, Z:1.81 [[-3.97305416e-01 -9.17550624e-01 -1.57879462e-02 1.46136051e+02] [ 9.16851722e-01 -3.97618902e-01 3.58068311e-02 2.92548391e+02] [-3.91321661e-02 -2.48957744e-04 9.99234012e-01 1.80673101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.12, Y:292.57, Z:1.80 [[-3.97429421e-01 -9.17498993e-01 -1.56669516e-02 1.46124166e+02] [ 9.16811527e-01 -3.97738024e-01 3.55118045e-02 2.92573223e+02] [-3.88133872e-02 -2.50205924e-04 9.99246445e-01 1.80487224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.11, Y:292.60, Z:1.80 [[-3.97226892e-01 -9.17593714e-01 -1.52503343e-02 1.46111368e+02] [ 9.16943484e-01 -3.97519442e-01 3.45389554e-02 2.92596582e+02] [-3.77550327e-02 -2.63892734e-04 9.99286990e-01 1.80187168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:292.62, Z:1.80 [[-3.96759890e-01 -9.17802790e-01 -1.48198694e-02 1.46099380e+02] [ 9.17189978e-01 -3.97036467e-01 3.35348910e-02 2.92619589e+02] [-3.66624451e-02 -2.87336042e-04 9.99327665e-01 1.79949423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.09, Y:292.64, Z:1.80 [[-3.96376972e-01 -9.17974125e-01 -1.44499845e-02 1.46086779e+02] [ 9.17392656e-01 -3.96640154e-01 3.26696056e-02 2.92643864e+02] [-3.57212967e-02 -3.06830323e-04 9.99361744e-01 1.79719421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:292.67, Z:1.79 [[-3.94880629e-01 -9.18626356e-01 -1.39608692e-02 1.46073068e+02] [ 9.18084885e-01 -3.95127176e-01 3.15381998e-02 2.92668117e+02] [-3.44881404e-02 -3.63438773e-04 9.99405041e-01 1.79440113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters Centerline goodness [0,1] 0.9998872146530723 Centerline is valid? [True, True] Translation: X:146.06, Y:292.69, Z:1.79 [[-3.94387174e-01 -9.18839082e-01 -1.39103788e-02 1.46060251e+02] [ 9.18302442e-01 -3.94632221e-01 3.14012046e-02 2.92691567e+02] [-3.43421377e-02 -3.89702473e-04 9.99410059e-01 1.79262460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:292.72, Z:1.79 [[-3.93066779e-01 -9.19409748e-01 -1.35728899e-02 1.46047345e+02] [ 9.18900100e-01 -3.93300805e-01 3.06118113e-02 2.92716865e+02] [-3.34830262e-02 -4.39643821e-04 9.99439190e-01 1.79223996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.04, Y:292.74, Z:1.79 [[-3.92512001e-01 -9.19646575e-01 -1.35833204e-02 1.46035192e+02] [ 9.19137039e-01 -3.92746683e-01 3.06128350e-02 2.92741160e+02] [-3.34877929e-02 -4.69027761e-04 9.99439017e-01 1.79179041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.02, Y:292.76, Z:1.79 [[-3.91874864e-01 -9.19914586e-01 -1.38291484e-02 1.46023197e+02] [ 9.19387557e-01 -3.92118468e-01 3.11388340e-02 2.92764619e+02] [-3.40677321e-02 -5.11820644e-04 9.99419395e-01 1.79143751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:292.79, Z:1.79 [[-3.91248010e-01 -9.20180755e-01 -1.38698364e-02 1.46010916e+02] [ 9.19651443e-01 -3.91493399e-01 3.12112353e-02 2.92789262e+02] [-3.41499274e-02 -5.44081403e-04 9.99416573e-01 1.79083079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.00, Y:292.81, Z:1.79 [[-3.89347513e-01 -9.20977598e-01 -1.44491241e-02 1.45996710e+02] [ 9.20404703e-01 -3.89614989e-01 3.24860510e-02 2.92812999e+02] [-3.55485205e-02 -6.50678594e-04 9.99367740e-01 1.79046364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.98, Y:292.84, Z:1.79 [[-3.88460648e-01 -9.21346274e-01 -1.48110682e-02 1.45983942e+02] [ 9.20745559e-01 -3.88742249e-01 3.32728148e-02 2.92838417e+02] [-3.64134719e-02 -7.12046068e-04 9.99336556e-01 1.78969560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.97, Y:292.86, Z:1.79 [[-3.86987390e-01 -9.21953025e-01 -1.56006131e-02 1.45970604e+02] [ 9.21288075e-01 -3.87300846e-01 3.50191127e-02 2.92862984e+02] [-3.83281076e-02 -8.20703774e-04 9.99264871e-01 1.78961450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.96, Y:292.89, Z:1.79 [[-3.86691590e-01 -9.22071838e-01 -1.59103803e-02 1.45958835e+02] [ 9.21381357e-01 -3.87017813e-01 3.56876421e-02 2.92887353e+02] [-3.90641703e-02 -8.59416759e-04 9.99236334e-01 1.78917046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.95, Y:292.91, Z:1.79 [[-3.86731529e-01 -9.22051014e-01 -1.61447084e-02 1.45947064e+02] [ 9.21341225e-01 -3.87067371e-01 3.61828319e-02 2.92912345e+02] [-3.96115067e-02 -8.81743473e-04 9.99214767e-01 1.78872316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.94, Y:292.94, Z:1.79 [[-3.87014885e-01 -9.21931921e-01 -1.61558505e-02 1.45936042e+02] [ 9.21222236e-01 -3.87350946e-01 3.61778561e-02 2.92936745e+02] [-3.96115044e-02 -8.81759884e-04 9.99214767e-01 1.78763010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.92, Y:292.96, Z:1.79 [[-3.86935767e-01 -9.21958129e-01 -1.65505387e-02 1.45923730e+02] [ 9.21214626e-01 -3.87288478e-01 3.70303710e-02 2.92960153e+02] [-4.05502845e-02 -9.18223312e-04 9.99177077e-01 1.78680341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.91, Y:292.98, Z:1.79 [[-3.87313306e-01 -9.21800394e-01 -1.65056392e-02 1.45911918e+02] [ 9.21062066e-01 -3.87663775e-01 3.68980720e-02 2.92984761e+02] [-4.04112957e-02 -9.11603868e-04 9.99182714e-01 1.78533617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.90, Y:293.01, Z:1.78 [[-3.87644620e-01 -9.21662872e-01 -1.64072823e-02 1.45901198e+02] [ 9.20934378e-01 -3.87990637e-01 3.66488416e-02 2.93009561e+02] [-4.01437485e-02 -9.03304014e-04 9.99193507e-01 1.78310079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:293.04, Z:1.78 [[-3.88298898e-01 -9.21391089e-01 -1.61995805e-02 1.45890460e+02] [ 9.20681856e-01 -3.88635683e-01 3.61555894e-02 2.93035624e+02] [-3.96091730e-02 -8.75484328e-04 9.99214865e-01 1.78053053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.266875 meters Centerline goodness [0,1] 0.9998428202537331 Centerline is valid? [True, True] Translation: X:145.88, Y:293.06, Z:1.78 [[-3.88620263e-01 -9.21258465e-01 -1.60353103e-02 1.45878393e+02] [ 9.20564484e-01 -3.88949989e-01 3.57622333e-02 2.93059810e+02] [-3.91831939e-02 -8.63608620e-04 9.99231671e-01 1.77825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:293.08, Z:1.78 [[-3.89399725e-01 -9.20934494e-01 -1.57324883e-02 1.45864367e+02] [ 9.20267342e-01 -3.89716530e-01 3.50577453e-02 2.93082490e+02] [-3.84170977e-02 -8.26618765e-04 9.99261449e-01 1.77611850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:293.11, Z:1.77 [[-3.90483567e-01 -9.20481147e-01 -1.53961832e-02 1.45855975e+02] [ 9.19842999e-01 -3.90786201e-01 3.42783010e-02 2.93108891e+02] [-3.75691457e-02 -7.76958059e-04 9.99293728e-01 1.77457850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.84, Y:293.13, Z:1.77 [[-3.91399071e-01 -9.20095457e-01 -1.52025600e-02 1.45841932e+02] [ 9.19474016e-01 -3.91693504e-01 3.38191221e-02 2.93131273e+02] [-3.70715646e-02 -7.41585932e-04 9.99312338e-01 1.77259777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.83, Y:293.16, Z:1.77 [[-3.92235878e-01 -9.19738918e-01 -1.52098237e-02 1.45833007e+02] [ 9.19117736e-01 -3.92530005e-01 3.38050828e-02 2.93157538e+02] [-3.70621625e-02 -7.20052322e-04 9.99312703e-01 1.77184985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.82, Y:293.18, Z:1.77 [[-3.93671502e-01 -9.19122155e-01 -1.54016902e-02 1.45822669e+02] [ 9.18485803e-01 -3.93972079e-01 3.42027951e-02 2.93183432e+02] [-3.75043827e-02 -6.81568051e-04 9.99296231e-01 1.77139053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44687500000003 meters Centerline goodness [0,1] 0.9999552452559971 Centerline is valid? [True, True] Translation: X:145.81, Y:293.21, Z:1.77 [[-3.94360514e-01 -9.18823612e-01 -1.55869951e-02 1.45811053e+02] [ 9.18172621e-01 -3.94667859e-01 3.45878416e-02 2.93208641e+02] [-3.79318115e-02 -6.71473158e-04 9.99280104e-01 1.77027768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:293.23, Z:1.77 [[-3.95136534e-01 -9.18484987e-01 -1.58885961e-02 1.45799574e+02] [ 9.17809324e-01 -3.95455294e-01 3.52300178e-02 2.93233830e+02] [-3.86414719e-02 -6.62034540e-04 9.99252920e-01 1.76948711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.79, Y:293.26, Z:1.77 [[-3.95642153e-01 -9.18263124e-01 -1.61283077e-02 1.45786825e+02] [ 9.17567810e-01 -3.95970200e-01 3.57339486e-02 2.93256945e+02] [-3.91994964e-02 -6.60959618e-04 9.99231186e-01 1.76816094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.78, Y:293.28, Z:1.77 [[-3.95892331e-01 -9.18153631e-01 -1.62225557e-02 1.45775576e+02] [ 9.17450997e-01 -3.96224014e-01 3.59193453e-02 2.93281836e+02] [-3.94072435e-02 -6.63206587e-04 9.99223013e-01 1.76718091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.76, Y:293.31, Z:1.77 [[-3.95875400e-01 -9.18158690e-01 -1.63489417e-02 1.45763754e+02] [ 9.17446274e-01 -3.96212262e-01 3.61687432e-02 2.93305067e+02] [-3.96862970e-02 -6.80959959e-04 9.99211957e-01 1.76618259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.75, Y:293.33, Z:1.76 [[-3.95972648e-01 -9.18115085e-01 -1.64424156e-02 1.45751167e+02] [ 9.17395387e-01 -3.96313279e-01 3.63522972e-02 2.93329124e+02] [-3.98919401e-02 -6.89680864e-04 9.99203762e-01 1.76410915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.74, Y:293.35, Z:1.76 [[-3.96100409e-01 -9.18062251e-01 -1.63146771e-02 1.45738381e+02] [ 9.17354821e-01 -3.96435651e-01 3.60403450e-02 2.93352219e+02] [-3.95549999e-02 -6.90752336e-04 9.99217156e-01 1.76240000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.73, Y:293.38, Z:1.76 [[-3.96266951e-01 -9.17990386e-01 -1.63142616e-02 1.45726519e+02] [ 9.17284170e-01 -3.96602027e-01 3.60081182e-02 2.93376901e+02] [-3.95253755e-02 -6.95986667e-04 9.99218325e-01 1.76103187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.72, Y:293.40, Z:1.76 [[-3.96881446e-01 -9.17724338e-01 -1.63449329e-02 1.45715149e+02] [ 9.17016417e-01 -3.97217287e-01 3.60460458e-02 2.93400166e+02] [-3.95728234e-02 -6.82565018e-04 9.99216456e-01 1.75977265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.70, Y:293.42, Z:1.76 [[-3.97524868e-01 -9.17447564e-01 -1.62464178e-02 1.45703470e+02] [ 9.16749138e-01 -3.97856164e-01 3.57979279e-02 2.93424517e+02] [-3.93064592e-02 -6.63322911e-04 9.99226982e-01 1.75804047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.69, Y:293.45, Z:1.76 [[-3.98039112e-01 -9.17229079e-01 -1.59900794e-02 1.45691264e+02] [ 9.16553441e-01 -3.98359641e-01 3.52049045e-02 2.93448139e+02] [-3.86607645e-02 -6.42833398e-04 9.99252186e-01 1.75674807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:293.47, Z:1.76 [[-3.98293349e-01 -9.17119589e-01 -1.59395387e-02 1.45679503e+02] [ 9.16449283e-01 -3.98611651e-01 3.50636999e-02 2.93471185e+02] [-3.85112918e-02 -6.42140379e-04 9.99257959e-01 1.75516920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.67, Y:293.50, Z:1.75 [[-3.98284390e-01 -9.17123640e-01 -1.59302980e-02 1.45667626e+02] [ 9.16455260e-01 -3.98602310e-01 3.50136439e-02 2.93495470e+02] [-3.84616942e-02 -6.54017577e-04 9.99259861e-01 1.75322479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.66, Y:293.52, Z:1.75 [[-3.98139127e-01 -9.17191476e-01 -1.56534831e-02 1.45656512e+02] [ 9.16547208e-01 -3.98446183e-01 3.43781211e-02 2.93520223e+02] [-3.77683903e-02 -6.59881108e-04 9.99286302e-01 1.75234040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.64, Y:293.55, Z:1.75 [[-3.98070199e-01 -9.17223729e-01 -1.55160764e-02 1.45644469e+02] [ 9.16591811e-01 -3.98371918e-01 3.40480064e-02 2.93545463e+02] [-3.74108085e-02 -6.68411924e-04 9.99299747e-01 1.75121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.63, Y:293.57, Z:1.75 [[-3.98345724e-01 -9.17102237e-01 -1.56259940e-02 1.45631442e+02] [ 9.16462227e-01 -3.98651521e-01 3.42629758e-02 2.93569218e+02] [-3.76519780e-02 -6.72123316e-04 9.99290687e-01 1.74986417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.62, Y:293.60, Z:1.75 [[-3.99031241e-01 -9.16801457e-01 -1.57847246e-02 1.45619916e+02] [ 9.16149212e-01 -3.99342774e-01 3.45827918e-02 2.93595210e+02] [-3.80090697e-02 -6.61548652e-04 9.99277175e-01 1.74905660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:293.62, Z:1.75 [[-3.99654827e-01 -9.16527428e-01 -1.59214478e-02 1.45606383e+02] [ 9.15864630e-01 -3.99971310e-01 3.48558619e-02 2.93618782e+02] [-3.83144758e-02 -6.51577481e-04 9.99265518e-01 1.74765735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.60, Y:293.65, Z:1.75 [[-4.00145530e-01 -9.16311673e-01 -1.60147938e-02 1.45596265e+02] [ 9.15641989e-01 -4.00465356e-01 3.50320808e-02 2.93645182e+02] [-3.85136746e-02 -6.45887175e-04 9.99257864e-01 1.74683902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.58, Y:293.67, Z:1.75 [[-4.01327028e-01 -9.15793383e-01 -1.60964605e-02 1.45584811e+02] [ 9.15117446e-01 -4.01649234e-01 3.51845604e-02 2.93668863e+02] [-3.86869186e-02 -6.09636797e-04 9.99251195e-01 1.74607547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:293.69, Z:1.75 [[-4.02058818e-01 -9.15468899e-01 -1.62911450e-02 1.45573137e+02] [ 9.14777484e-01 -4.02388291e-01 3.55783280e-02 2.93693562e+02] [-3.91262187e-02 -5.98192196e-04 9.99234097e-01 1.74508928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.56, Y:293.72, Z:1.74 [[-4.02869346e-01 -9.15111651e-01 -1.63388233e-02 1.45560778e+02] [ 9.14417055e-01 -4.03200116e-01 3.56527113e-02 2.93717873e+02] [-3.92140269e-02 -5.77114213e-04 9.99230668e-01 1.74374710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:293.74, Z:1.74 [[-4.03330564e-01 -9.14906406e-01 -1.64536967e-02 1.45548704e+02] [ 9.14203037e-01 -4.03665628e-01 3.58729462e-02 2.93741696e+02] [-3.94621801e-02 -5.73363895e-04 9.99220900e-01 1.74248282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.54, Y:293.77, Z:1.74 [[-4.03727802e-01 -9.14732027e-01 -1.64067259e-02 1.45536539e+02] [ 9.14033417e-01 -4.04060640e-01 3.57478839e-02 2.93766588e+02] [-3.93290464e-02 -5.63881143e-04 9.99226155e-01 1.74083471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:293.79, Z:1.74 [[-4.04291764e-01 -9.14484356e-01 -1.63257938e-02 1.45524259e+02] [ 9.13793578e-01 -4.04620885e-01 3.55420335e-02 2.93790227e+02] [-3.91083907e-02 -5.49054143e-04 9.99234823e-01 1.73918904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.51, Y:293.81, Z:1.74 [[-4.04674927e-01 -9.14318424e-01 -1.61252297e-02 1.45512183e+02] [ 9.13645562e-01 -4.04995715e-01 3.50750288e-02 2.93813518e+02] [-3.86003940e-02 -5.38759827e-04 9.99254582e-01 1.73792225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.50, Y:293.84, Z:1.74 [[-4.05571047e-01 -9.13927938e-01 -1.57432440e-02 1.45500841e+02] [ 9.13287385e-01 -4.05876179e-01 3.42152065e-02 2.93837777e+02] [-3.76600408e-02 -5.01409024e-04 9.99290483e-01 1.73580965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.49, Y:293.86, Z:1.73 [[-4.06161024e-01 -9.13665133e-01 -1.57875469e-02 1.45489079e+02] [ 9.13021831e-01 -4.06467445e-01 3.42834131e-02 2.93862545e+02] [-3.77406831e-02 -4.89788835e-04 9.99287447e-01 1.73433820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:293.89, Z:1.73 [[-4.06677750e-01 -9.13436319e-01 -1.57257467e-02 1.45477679e+02] [ 9.12798938e-01 -4.06981404e-01 3.41208992e-02 2.93886004e+02] [-3.75673550e-02 -4.78234335e-04 9.99293983e-01 1.73324249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:293.91, Z:1.73 [[-4.07744720e-01 -9.12960699e-01 -1.57164066e-02 1.45466576e+02] [ 9.12324506e-01 -4.08047259e-01 3.40797465e-02 2.93911439e+02] [-3.75265058e-02 -4.42626244e-04 9.99295535e-01 1.73298797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.46, Y:293.94, Z:1.73 [[-4.08506350e-01 -9.12615727e-01 -1.59717372e-02 1.45455628e+02] [ 9.11959522e-01 -4.08818236e-01 3.46046143e-02 2.93935112e+02] [-3.81102527e-02 -4.29373146e-04 9.99273448e-01 1.73211560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.44, Y:293.96, Z:1.73 [[-4.09233733e-01 -9.12290963e-01 -1.59043972e-02 1.45444368e+02] [ 9.11641160e-01 -4.09542465e-01 3.44291353e-02 2.93959740e+02] [-3.79229150e-02 -4.09539574e-04 9.99280584e-01 1.73140064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:293.98, Z:1.73 [[-4.09887892e-01 -9.11994008e-01 -1.60886869e-02 1.45432770e+02] [ 9.11329931e-01 -4.10203329e-01 3.47992330e-02 2.93983806e+02] [-3.83363249e-02 -3.98317636e-04 9.99264814e-01 1.73032891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:294.01, Z:1.73 [[-4.11207336e-01 -9.11397758e-01 -1.62065611e-02 1.45421873e+02] [ 9.10724282e-01 -4.11526427e-01 3.50325728e-02 2.94009157e+02] [-3.85980365e-02 -3.54057761e-04 9.99254755e-01 1.72939336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.41, Y:294.03, Z:1.73 [[-4.12111656e-01 -9.10986694e-01 -1.63470834e-02 1.45410640e+02] [ 9.10302267e-01 -4.12435613e-01 3.53079064e-02 2.94033701e+02] [-3.89071523e-02 -3.29987278e-04 9.99242776e-01 1.72841351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.40, Y:294.06, Z:1.73 [[-4.12591518e-01 -9.10769853e-01 -1.63252520e-02 1.45398932e+02] [ 9.10088173e-01 -4.12914243e-01 3.52327388e-02 2.94058721e+02] [-3.88298454e-02 -3.20689551e-04 9.99245786e-01 1.72745627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:294.08, Z:1.73 [[-4.12503280e-01 -9.10813334e-01 -1.61280476e-02 1.45387074e+02] [ 9.10149138e-01 -4.12818313e-01 3.47791190e-02 2.94083320e+02] [-3.83352387e-02 -3.32428018e-04 9.99264879e-01 1.72646620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.37, Y:294.11, Z:1.72 [[-4.12536813e-01 -9.10803155e-01 -1.58426982e-02 1.45374525e+02] [ 9.10163277e-01 -4.12840768e-01 3.41366375e-02 2.94106262e+02] [-3.76322688e-02 -3.36822480e-04 9.99291599e-01 1.72437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.36, Y:294.13, Z:1.72 [[-4.12430597e-01 -9.10855726e-01 -1.55836333e-02 1.45363610e+02] [ 9.10237702e-01 -4.12724759e-01 3.35499471e-02 2.94131736e+02] [-3.69909127e-02 -3.47785802e-04 9.99315541e-01 1.72373965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:145.35, Y:294.16, Z:1.72 [[-4.11663574e-01 -9.11213054e-01 -1.49623718e-02 1.45350250e+02] [ 9.10644391e-01 -4.11935227e-01 3.21894757e-02 2.94156046e+02] [-3.54949985e-02 -3.74165346e-04 9.99369784e-01 1.72206967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.34, Y:294.18, Z:1.72 [[-4.11285237e-01 -9.11387553e-01 -1.47371077e-02 1.45337217e+02] [ 9.10836810e-01 -4.11548994e-01 3.16817256e-02 2.94181406e+02] [-3.49393722e-02 -3.92874120e-04 9.99389357e-01 1.72052293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.32, Y:294.21, Z:1.72 [[-4.10236862e-01 -9.11859984e-01 -1.47338688e-02 1.45323337e+02] [ 9.11310610e-01 -4.10501125e-01 3.16512078e-02 2.94206306e+02] [-3.49097395e-02 -4.42638828e-04 9.99390371e-01 1.71960587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.31, Y:294.23, Z:1.72 [[-4.09667492e-01 -9.12111091e-01 -1.50300832e-02 1.45310629e+02] [ 9.11540444e-01 -4.09942830e-01 3.22629020e-02 2.94230622e+02] [-3.55888256e-02 -4.83466560e-04 9.99366400e-01 1.71889511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.30, Y:294.26, Z:1.72 [[-4.09221569e-01 -9.12309038e-01 -1.51633602e-02 1.45297557e+02] [ 9.11729302e-01 -4.09502080e-01 3.25227121e-02 2.94255994e+02] [-3.58801917e-02 -5.15884557e-04 9.99355965e-01 1.71853344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.28, Y:294.28, Z:1.72 [[-4.08322805e-01 -9.12702902e-01 -1.56811730e-02 1.45283961e+02] [ 9.12084128e-01 -4.08623392e-01 3.36075385e-02 2.94281152e+02] [-3.70813920e-02 -5.79824587e-04 9.99312080e-01 1.71912712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.27, Y:294.31, Z:1.72 [[-4.07803520e-01 -9.12929899e-01 -1.59777291e-02 1.45271355e+02] [ 9.12288652e-01 -4.08115929e-01 3.42170101e-02 2.94306144e+02] [-3.77584973e-02 -6.22483839e-04 9.99286700e-01 1.71844477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.26, Y:294.33, Z:1.72 [[-4.07325391e-01 -9.13140403e-01 -1.61440293e-02 1.45257764e+02] [ 9.12486904e-01 -4.07644661e-01 3.45468010e-02 2.94330145e+02] [-3.81271071e-02 -6.59426120e-04 9.99272680e-01 1.71768283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.24, Y:294.35, Z:1.72 [[-4.06831044e-01 -9.13357203e-01 -1.63438434e-02 1.45244074e+02] [ 9.12688678e-01 -4.07158605e-01 3.49463531e-02 2.94352525e+02] [-3.85730398e-02 -6.99579475e-04 9.99255538e-01 1.71699127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:294.38, Z:1.72 [[-4.06487042e-01 -9.13510030e-01 -1.63618198e-02 1.45231773e+02] [ 9.12841349e-01 -4.06815554e-01 3.49539063e-02 2.94377939e+02] [-3.85869868e-02 -7.27435740e-04 9.99254980e-01 1.71577311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.22, Y:294.40, Z:1.71 [[-4.05627802e-01 -9.13893762e-01 -1.62565998e-02 1.45217491e+02] [ 9.13234946e-01 -4.05952706e-01 3.47035281e-02 2.94401365e+02] [-3.83147486e-02 -7.69379158e-04 9.99265424e-01 1.71441089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:294.43, Z:1.71 [[-4.05370937e-01 -9.14009077e-01 -1.61805660e-02 1.45204342e+02] [ 9.13357527e-01 -4.05692971e-01 3.45143472e-02 2.94425138e+02] [-3.81107686e-02 -7.87528499e-04 9.99273210e-01 1.71282149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.19, Y:294.45, Z:1.71 [[-4.05157924e-01 -9.14109981e-01 -1.58113667e-02 1.45191136e+02] [ 9.13488926e-01 -4.05465558e-01 3.36995922e-02 2.94448510e+02] [-3.72160982e-02 -7.89851555e-04 9.99306929e-01 1.71088742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.18, Y:294.47, Z:1.71 [[-4.04569876e-01 -9.14374747e-01 -1.55575361e-02 1.45177074e+02] [ 9.13774693e-01 -4.04868079e-01 3.31307906e-02 2.94471813e+02] [-3.65927080e-02 -8.12362922e-04 9.99329932e-01 1.70886676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:294.50, Z:1.71 [[-4.04848994e-01 -9.14251091e-01 -1.55639171e-02 1.45165585e+02] [ 9.13651060e-01 -4.05147245e-01 3.31277926e-02 2.94495980e+02] [-3.65927986e-02 -8.08235860e-04 9.99329932e-01 1.70777200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.15, Y:294.52, Z:1.71 [[-4.04263226e-01 -9.14522785e-01 -1.48094762e-02 1.45153018e+02] [ 9.13980545e-01 -4.04533599e-01 3.14980886e-02 2.94521434e+02] [-3.47966504e-02 -8.02054190e-04 9.99394091e-01 1.70616817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:294.55, Z:1.70 [[-4.04110844e-01 -9.14591443e-01 -1.47281752e-02 1.45140305e+02] [ 9.14055964e-01 -4.04378329e-01 3.13027532e-02 2.94545218e+02] [-3.45849850e-02 -8.12594331e-04 9.99401430e-01 1.70495560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.13, Y:294.57, Z:1.70 [[-4.03861133e-01 -9.14707742e-01 -1.43503312e-02 1.45126366e+02] [ 9.14200295e-01 -4.04115192e-01 3.04751127e-02 2.94569080e+02] [-3.36750084e-02 -8.11363458e-04 9.99432507e-01 1.70380592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.11, Y:294.59, Z:1.70 [[-4.03939488e-01 -9.14675437e-01 -1.42033185e-02 1.45113374e+02] [ 9.14179071e-01 -4.04188309e-01 3.01402850e-02 2.94593064e+02] [-3.33093937e-02 -8.09525212e-04 9.99444760e-01 1.70273130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:294.62, Z:1.70 [[-4.03602989e-01 -9.14825821e-01 -1.40835151e-02 1.45100472e+02] [ 9.14338689e-01 -4.03847790e-01 2.98617532e-02 2.94617012e+02] [-3.30058993e-02 -8.24809933e-04 9.99454817e-01 1.70159708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:294.64, Z:1.70 [[-4.03672523e-01 -9.14796389e-01 -1.40021774e-02 1.45087931e+02] [ 9.14315577e-01 -4.03914451e-01 2.96671793e-02 2.94641307e+02] [-3.27951103e-02 -8.26583762e-04 9.99461754e-01 1.70127866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.08, Y:294.67, Z:1.70 [[-4.03281453e-01 -9.14966580e-01 -1.41501900e-02 1.45075410e+02] [ 9.14476480e-01 -4.03528710e-01 2.99557745e-02 2.94666727e+02] [-3.31185405e-02 -8.59407641e-04 9.99451061e-01 1.70154718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.06, Y:294.69, Z:1.70 [[-4.03245089e-01 -9.14976468e-01 -1.45416924e-02 1.45062437e+02] [ 9.14459661e-01 -4.03506214e-01 3.07613934e-02 2.94691138e+02] [-3.40136144e-02 -8.93410286e-04 9.99420970e-01 1.70127809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.05, Y:294.71, Z:1.70 [[-4.03481739e-01 -9.14869526e-01 -1.47049810e-02 1.45050291e+02] [ 9.14341739e-01 -4.03748603e-01 3.10845767e-02 2.94714403e+02] [-3.43754475e-02 -9.03318796e-04 9.99408581e-01 1.70032725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:294.74, Z:1.70 [[-4.04021065e-01 -9.14629752e-01 -1.48120130e-02 1.45037623e+02] [ 9.14095034e-01 -4.04291487e-01 3.12835865e-02 2.94737976e+02] [-3.46012697e-02 -9.00359547e-04 9.99400791e-01 1.69952575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.02, Y:294.76, Z:1.70 [[-4.04671013e-01 -9.14342251e-01 -1.48195604e-02 1.45024975e+02] [ 9.13807720e-01 -4.04941306e-01 3.12728361e-02 2.94760769e+02] [-3.45951275e-02 -8.87018400e-04 9.99401016e-01 1.69774550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:294.79, Z:1.70 [[-4.05404539e-01 -9.14021150e-01 -1.45772780e-02 1.45013122e+02] [ 9.13504624e-01 -4.05665632e-01 3.07359133e-02 2.94785313e+02] [-3.40067755e-02 -8.55932052e-04 9.99421236e-01 1.69664707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:294.81, Z:1.69 [[-4.06878790e-01 -9.13368476e-01 -1.44110141e-02 1.45001340e+02] [ 9.12864045e-01 -4.07133128e-01 3.03619950e-02 2.94809124e+02] [-3.35988903e-02 -8.01644845e-04 9.99435076e-01 1.69472148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:294.84, Z:1.69 [[-4.07924568e-01 -9.12905226e-01 -1.41984035e-02 1.44992549e+02] [ 9.12416114e-01 -4.08170879e-01 2.98892560e-02 2.94836022e+02] [-3.30814328e-02 -7.62290286e-04 9.99452369e-01 1.69406329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:294.86, Z:1.69 [[-4.09110556e-01 -9.12374597e-01 -1.41826784e-02 1.44980874e+02] [ 9.11886975e-01 -4.09355672e-01 2.98341840e-02 2.94861043e+02] [-3.30257114e-02 -7.27520133e-04 9.99454238e-01 1.69198762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:294.89, Z:1.69 [[-4.10404966e-01 -9.11797534e-01 -1.38932151e-02 1.44969604e+02] [ 9.11329957e-01 -4.10639503e-01 2.92045805e-02 2.94887066e+02] [-3.23337674e-02 -6.75598235e-04 9.99476899e-01 1.69061946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.96, Y:294.91, Z:1.69 [[-4.13101784e-01 -9.10585157e-01 -1.34754279e-02 1.44959188e+02] [ 9.10145272e-01 -4.13321116e-01 2.83061773e-02 2.94912174e+02] [-3.13448639e-02 -5.71264666e-04 9.99508466e-01 1.68803525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.95, Y:294.94, Z:1.69 [[-4.14618042e-01 -9.09898938e-01 -1.32590012e-02 1.44947686e+02] [ 9.09473325e-01 -4.14829667e-01 2.78319626e-02 2.94936924e+02] [-3.08245002e-02 -5.19074070e-04 9.99524677e-01 1.68599130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.94, Y:294.96, Z:1.69 [[-4.16971393e-01 -9.08822687e-01 -1.32733099e-02 1.44938524e+02] [ 9.08396348e-01 -4.17182360e-01 2.78379972e-02 2.94964598e+02] [-3.08371942e-02 -4.49777792e-04 9.99524319e-01 1.68592647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.93, Y:294.99, Z:1.69 [[-4.18174067e-01 -9.08270808e-01 -1.32132386e-02 1.44927101e+02] [ 9.07848320e-01 -4.18382566e-01 2.77030016e-02 2.94990106e+02] [-3.06900163e-02 -4.10939587e-04 9.99528866e-01 1.68528247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.92, Y:295.01, Z:1.68 [[-4.19362611e-01 -9.07720558e-01 -1.33562005e-02 1.44915206e+02] [ 9.07289239e-01 -4.19575072e-01 2.79820785e-02 2.95014012e+02] [-3.10038367e-02 -3.83299504e-04 9.99519192e-01 1.68307564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.91, Y:295.04, Z:1.68 [[-4.21096401e-01 -9.06912501e-01 -1.36943740e-02 1.44905576e+02] [ 9.06459330e-01 -4.21318880e-01 2.86685417e-02 2.95040108e+02] [-3.17695572e-02 -3.41173368e-04 9.99495162e-01 1.68361191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.89, Y:295.07, Z:1.68 [[-4.21574463e-01 -9.06688571e-01 -1.38133018e-02 1.44894002e+02] [ 9.06228153e-01 -4.21800571e-01 2.88931358e-02 2.95065880e+02] [-3.20235346e-02 -3.37394740e-04 9.99487058e-01 1.68284896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:295.09, Z:1.68 [[-4.22116452e-01 -9.06435891e-01 -1.38447530e-02 1.44882586e+02] [ 9.05973967e-01 -4.22343306e-01 2.89361744e-02 2.95090197e+02] [-3.20760258e-02 -3.28550555e-04 9.99485378e-01 1.68188232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.87, Y:295.12, Z:1.68 [[-4.21308122e-01 -9.06808703e-01 -1.40514353e-02 1.44870806e+02] [ 9.06333555e-01 -4.21542217e-01 2.93538086e-02 2.95115285e+02] [-3.25415623e-02 -3.68289356e-04 9.99470315e-01 1.68154767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.86, Y:295.14, Z:1.68 [[-4.20850904e-01 -9.07020439e-01 -1.40868718e-02 1.44858378e+02] [ 9.06543721e-01 -4.21086414e-01 2.94060254e-02 2.95140071e+02] [-3.26036564e-02 -3.94812799e-04 9.99468281e-01 1.68065848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:295.16, Z:1.68 [[-4.19970011e-01 -9.07427020e-01 -1.41913324e-02 1.44845417e+02] [ 9.06944151e-01 -4.20209485e-01 2.96022743e-02 2.95163670e+02] [-3.28252361e-02 -4.38678474e-04 9.99461010e-01 1.67970366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.83, Y:295.19, Z:1.68 [[-4.16895780e-01 -9.08842788e-01 -1.42371363e-02 1.44830400e+02] [ 9.08358392e-01 -4.17138433e-01 2.96742191e-02 2.95187573e+02] [-3.29080567e-02 -5.61365531e-04 9.99458226e-01 1.67829386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.82, Y:295.21, Z:1.68 [[-4.15428181e-01 -9.09514426e-01 -1.42455651e-02 1.44816665e+02] [ 9.09030558e-01 -4.15671890e-01 2.96702515e-02 2.95212497e+02] [-3.29070028e-02 -6.23795399e-04 9.99458223e-01 1.67697807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.80, Y:295.24, Z:1.68 [[-4.11975812e-01 -9.11087535e-01 -1.39797936e-02 1.44801546e+02] [ 9.10623126e-01 -4.12212265e-01 2.90959012e-02 2.95236546e+02] [-3.22715553e-02 -7.43515781e-04 9.99478861e-01 1.67530816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.79, Y:295.26, Z:1.67 [[-4.10747540e-01 -9.11643641e-01 -1.38683338e-02 1.44787948e+02] [ 9.11187577e-01 -4.10980838e-01 2.88435324e-02 2.95259943e+02] [-3.19946423e-02 -7.89243493e-04 9.99487729e-01 1.67386282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.77, Y:295.28, Z:1.67 [[-4.09312692e-01 -9.12286124e-01 -1.40409653e-02 1.44774526e+02] [ 9.11819745e-01 -4.09552549e-01 2.91798221e-02 2.95283998e+02] [-3.23708599e-02 -8.59157852e-04 9.99475557e-01 1.67249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.76, Y:295.31, Z:1.67 [[-4.08348183e-01 -9.12717845e-01 -1.40676002e-02 1.44762044e+02] [ 9.12250666e-01 -4.08589425e-01 2.92130762e-02 2.95308548e+02] [-3.24111686e-02 -9.04071032e-04 9.99474211e-01 1.67123355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:295.33, Z:1.67 [[-4.06797229e-01 -9.13408920e-01 -1.41477458e-02 1.44747251e+02] [ 9.12937560e-01 -4.07042008e-01 2.93566978e-02 2.95331547e+02] [-3.25733965e-02 -9.73785250e-04 9.99468872e-01 1.66953152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.74, Y:295.36, Z:1.67 [[-4.06581042e-01 -9.13506086e-01 -1.40885804e-02 1.44736229e+02] [ 9.13039449e-01 -4.06823866e-01 2.92114149e-02 2.95357384e+02] [-3.24163761e-02 -9.86622194e-04 9.99473964e-01 1.66893333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:295.38, Z:1.67 [[-4.06236476e-01 -9.13657436e-01 -1.42132161e-02 1.44721399e+02] [ 9.13183355e-01 -4.06483771e-01 2.94466298e-02 2.95379962e+02] [-3.26815739e-02 -1.01697720e-03 9.99465297e-01 1.66710051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.71, Y:295.41, Z:1.67 [[-4.05763720e-01 -9.13865480e-01 -1.43418326e-02 1.44711532e+02] [ 9.13383395e-01 -4.06015744e-01 2.96983212e-02 2.95406515e+02] [-3.29632804e-02 -1.04909047e-03 9.99456013e-01 1.66783428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.70, Y:295.43, Z:1.67 [[-4.05326877e-01 -9.14057651e-01 -1.44476369e-02 1.44698453e+02] [ 9.13569243e-01 -4.05582843e-01 2.98964064e-02 2.95431919e+02] [-3.31867527e-02 -1.08109971e-03 9.99448583e-01 1.66674247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.69, Y:295.46, Z:1.67 [[-4.05394758e-01 -9.14026783e-01 -1.44958434e-02 1.44685191e+02] [ 9.13535772e-01 -4.05652376e-01 2.99757035e-02 2.95455915e+02] [-3.32788692e-02 -1.09047847e-03 9.99445510e-01 1.66500007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.67, Y:295.48, Z:1.66 [[-4.04936002e-01 -9.14230951e-01 -1.44430867e-02 1.44673201e+02] [ 9.13744417e-01 -4.05191968e-01 2.98430851e-02 2.95481458e+02] [-3.31356948e-02 -1.11275022e-03 9.99450243e-01 1.66360038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.66, Y:295.51, Z:1.66 [[-4.05402570e-01 -9.14030386e-01 -1.40431216e-02 1.44660516e+02] [ 9.13570921e-01 -4.05644303e-01 2.89977979e-02 2.95505935e+02] [-3.22013807e-02 -1.07360570e-03 9.99480824e-01 1.66255267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.65, Y:295.53, Z:1.66 [[-4.05583881e-01 -9.13950155e-01 -1.40295905e-02 1.44648739e+02] [ 9.13492259e-01 -4.05825033e-01 2.89471105e-02 2.95531143e+02] [-3.21497751e-02 -1.07544094e-03 9.99482484e-01 1.66105531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:295.55, Z:1.66 [[-4.05618864e-01 -9.13938809e-01 -1.37546440e-02 1.44632570e+02] [ 9.13499312e-01 -4.05850621e-01 2.83598494e-02 2.95553297e+02] [-3.15014978e-02 -1.06156789e-03 9.99503141e-01 1.65832527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.62, Y:295.58, Z:1.66 [[-4.05750466e-01 -9.13882086e-01 -1.36415756e-02 1.44622997e+02] [ 9.13450439e-01 -4.05978343e-01 2.81048191e-02 2.95580198e+02] [-3.12226750e-02 -1.05735973e-03 9.99511894e-01 1.65845928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.61, Y:295.61, Z:1.66 [[-4.05625878e-01 -9.13936566e-01 -1.36967347e-02 1.44610484e+02] [ 9.13502098e-01 -4.05855639e-01 2.81978291e-02 2.95605217e+02] [-3.13299241e-02 -1.07422671e-03 9.99508520e-01 1.65752242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:295.63, Z:1.66 [[-4.05255569e-01 -9.14103709e-01 -1.35031040e-02 1.44596042e+02] [ 9.13682140e-01 -4.05479030e-01 2.77795364e-02 2.95628311e+02] [-3.08686027e-02 -1.07973316e-03 9.99522868e-01 1.65617086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.58, Y:295.65, Z:1.66 [[-4.04975240e-01 -9.14226611e-01 -1.35925950e-02 1.44584608e+02] [ 9.13800191e-01 -4.05201780e-01 2.79415273e-02 2.95654404e+02] [-3.10526315e-02 -1.10528915e-03 9.99517140e-01 1.65543192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.57, Y:295.68, Z:1.65 [[-4.04950697e-01 -9.14239150e-01 -1.34799995e-02 1.44572186e+02] [ 9.13820390e-01 -4.05173488e-01 2.76900702e-02 2.95679141e+02] [-3.07770846e-02 -1.10518522e-03 9.99525662e-01 1.65463775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.56, Y:295.70, Z:1.65 [[-4.04329128e-01 -9.14511904e-01 -1.36357740e-02 1.44557823e+02] [ 9.14084222e-01 -4.04557364e-01 2.79888128e-02 2.95704039e+02] [-3.11125553e-02 -1.14755364e-03 9.99515229e-01 1.65371298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:295.73, Z:1.65 [[-4.03817784e-01 -9.14734222e-01 -1.38744785e-02 1.44544470e+02] [ 9.14292195e-01 -4.04054303e-01 2.84587684e-02 2.95729597e+02] [-3.16382521e-02 -1.19317060e-03 9.99498673e-01 1.65306271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56687500000004 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:144.53, Y:295.75, Z:1.65 [[-4.03895583e-01 -9.14697074e-01 -1.40578071e-02 1.44530881e+02] [ 9.14243909e-01 -4.04138329e-01 2.88146755e-02 2.95754543e+02] [-3.20379981e-02 -1.21414439e-03 9.99485914e-01 1.65207113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.52, Y:295.78, Z:1.65 [[-4.04137131e-01 -9.14585466e-01 -1.43737560e-02 1.44517758e+02] [ 9.14112350e-01 -4.04390757e-01 2.94402295e-02 2.95779457e+02] [-3.27382201e-02 -1.24133797e-03 9.99463190e-01 1.65162502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.51, Y:295.80, Z:1.65 [[-4.04703129e-01 -9.14332503e-01 -1.45413486e-02 1.44505776e+02] [ 9.13848849e-01 -4.04962376e-01 2.97616385e-02 2.95804606e+02] [-3.31007325e-02 -1.24396646e-03 9.99451246e-01 1.65120664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.49, Y:295.83, Z:1.65 [[-4.06381178e-01 -9.13581401e-01 -1.49453108e-02 1.44494497e+02] [ 9.13070762e-01 -4.06654060e-01 3.05656603e-02 2.95830539e+02] [-3.40017900e-02 -1.22481734e-03 9.99421021e-01 1.65081908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.686875 meters Centerline goodness [0,1] 0.9999148791283623 Centerline is valid? [True, True] Translation: X:144.48, Y:295.86, Z:1.65 [[-4.07433328e-01 -9.13111465e-01 -1.50178540e-02 1.44483829e+02] [ 9.12596307e-01 -4.07708244e-01 3.06915080e-02 2.95857080e+02] [-3.41476707e-02 -1.20049488e-03 9.99416077e-01 1.64999297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.47, Y:295.88, Z:1.65 [[-4.08554531e-01 -9.12611326e-01 -1.49587325e-02 1.44470866e+02] [ 9.12100640e-01 -4.08826632e-01 3.05484271e-02 2.95880670e+02] [-3.39943688e-02 -1.16317123e-03 9.99421348e-01 1.64819906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.46, Y:295.91, Z:1.65 [[-4.10724816e-01 -9.11641737e-01 -1.46447216e-02 1.44457958e+02] [ 9.11152140e-01 -4.10984436e-01 2.98926594e-02 2.95906134e+02] [-3.32701487e-02 -1.06591241e-03 9.99445827e-01 1.64562671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.45, Y:295.93, Z:1.64 [[-4.11905214e-01 -9.11111204e-01 -1.45075315e-02 1.44445450e+02] [ 9.10631076e-01 -4.12159350e-01 2.95924678e-02 2.95931322e+02] [-3.29414437e-02 -1.02171727e-03 9.99456761e-01 1.64370994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.43, Y:295.96, Z:1.64 [[-4.13342220e-01 -9.10464016e-01 -1.42647926e-02 1.44433634e+02] [ 9.10000106e-01 -4.13587172e-01 2.90767568e-02 2.95956309e+02] [-3.23730760e-02 -9.62311626e-04 9.99475391e-01 1.64218630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:295.98, Z:1.64 [[-4.14716410e-01 -9.09842242e-01 -1.40496900e-02 1.44421660e+02] [ 9.09392510e-01 -4.14953334e-01 2.86180600e-02 2.95980431e+02] [-3.18678855e-02 -9.08303733e-04 9.99491677e-01 1.64115846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.866875 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:144.41, Y:296.01, Z:1.64 [[-4.17407704e-01 -9.08613959e-01 -1.38377390e-02 1.44410314e+02] [ 9.08177656e-01 -4.17636226e-01 2.81660688e-02 2.96005715e+02] [-3.13712244e-02 -8.10391247e-04 9.99507473e-01 1.64016718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.40, Y:296.03, Z:1.64 [[-4.19048848e-01 -9.07857175e-01 -1.39073207e-02 1.44398132e+02] [ 9.07416694e-01 -4.19278861e-01 2.82874625e-02 2.96031146e+02] [-3.15120214e-02 -7.65906392e-04 9.99503079e-01 1.63875046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.39, Y:296.06, Z:1.64 [[-4.19335842e-01 -9.07724531e-01 -1.39149875e-02 1.44386222e+02] [ 9.07284102e-01 -4.19565955e-01 2.82836902e-02 2.96055109e+02] [-3.15120545e-02 -7.64481893e-04 9.99503080e-01 1.63765673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:296.08, Z:1.64 [[-4.21727257e-01 -9.06616120e-01 -1.39044149e-02 1.44375088e+02] [ 9.06176487e-01 -4.21955845e-01 2.82389881e-02 2.96080650e+02] [-3.14689710e-02 -6.90702836e-04 9.99504491e-01 1.63714330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.36, Y:296.11, Z:1.64 [[-4.23108234e-01 -9.05970249e-01 -1.40474478e-02 1.44362990e+02] [ 9.05521824e-01 -4.23340850e-01 2.85087866e-02 2.96106135e+02] [-3.17749710e-02 -6.57968261e-04 9.99494832e-01 1.63654083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:296.13, Z:1.64 [[-4.24628835e-01 -9.05256103e-01 -1.42034961e-02 1.44351880e+02] [ 9.04797896e-01 -4.24865865e-01 2.88056321e-02 2.96129520e+02] [-3.21110549e-02 -6.19591378e-04 9.99484115e-01 1.63605907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:296.16, Z:1.64 [[-4.26756938e-01 -9.04249345e-01 -1.45477677e-02 1.44341130e+02] [ 9.03768938e-01 -4.27004448e-01 2.94772422e-02 2.96156031e+02] [-3.28667384e-02 -5.68202959e-04 9.99459581e-01 1.63610172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.33, Y:296.18, Z:1.64 [[-4.28006425e-01 -9.03655569e-01 -1.47347588e-02 1.44329039e+02] [ 9.03163119e-01 -4.28259644e-01 2.98338492e-02 2.96179761e+02] [-3.32698265e-02 -5.38811587e-04 9.99446261e-01 1.63549680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.32, Y:296.21, Z:1.63 [[-4.30319101e-01 -9.02553394e-01 -1.49279030e-02 1.44317193e+02] [ 9.02047788e-01 -4.30577698e-01 3.02098198e-02 2.96205666e+02] [-3.36935975e-02 -4.65819332e-04 9.99432101e-01 1.63434232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:296.23, Z:1.63 [[-4.31553213e-01 -9.01961594e-01 -1.50700711e-02 1.44304980e+02] [ 9.01446695e-01 -4.31816044e-01 3.04755806e-02 2.96231099e+02] [-3.39953017e-02 -4.33031094e-04 9.99421899e-01 1.63363770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.29, Y:296.26, Z:1.63 [[-4.32754849e-01 -9.01385390e-01 -1.50870526e-02 1.44293560e+02] [ 9.00869697e-01 -4.33017575e-01 3.04888381e-02 2.96255376e+02] [-3.40151522e-02 -3.97275930e-04 9.99421238e-01 1.63279153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.28, Y:296.28, Z:1.63 [[-4.35099208e-01 -9.00255101e-01 -1.51470244e-02 1.44282867e+02] [ 8.99735434e-01 -4.35362666e-01 3.05859211e-02 2.96279617e+02] [-3.41295804e-02 -3.20404482e-04 9.99417365e-01 1.63141739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.226875 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:144.27, Y:296.30, Z:1.63 [[-4.36129960e-01 -8.99754170e-01 -1.52673589e-02 1.44271076e+02] [ 8.99226801e-01 -4.36397006e-01 3.08028232e-02 2.96304472e+02] [-3.43775983e-02 -2.94784297e-04 9.99408872e-01 1.63085900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.26, Y:296.33, Z:1.63 [[-4.36766009e-01 -8.99444244e-01 -1.53461672e-02 1.44259001e+02] [ 8.98912060e-01 -4.37035436e-01 3.09376080e-02 2.96329220e+02] [-3.45334723e-02 -2.82359210e-04 9.99403502e-01 1.62957699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:296.35, Z:1.63 [[-4.37734798e-01 -8.98979716e-01 -1.49571561e-02 1.44247157e+02] [ 8.98474657e-01 -4.37990192e-01 3.01310858e-02 2.96352713e+02] [-3.36383226e-02 -2.49200894e-04 9.99434040e-01 1.62690469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:296.38, Z:1.63 [[-4.37994179e-01 -8.98856474e-01 -1.47695311e-02 1.44235041e+02] [ 8.98364737e-01 -4.38243059e-01 2.97291158e-02 2.96376641e+02] [-3.31948527e-02 -2.47246231e-04 9.99448868e-01 1.62515915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.22, Y:296.40, Z:1.62 [[-4.38649590e-01 -8.98537890e-01 -1.47036392e-02 1.44223211e+02] [ 8.98051088e-01 -4.38895895e-01 2.95742716e-02 2.96400759e+02] [-3.30269705e-02 -2.31877045e-04 9.99454434e-01 1.62378314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:296.43, Z:1.62 [[-4.39063918e-01 -8.98338941e-01 -1.44921876e-02 1.44210951e+02] [ 8.97866637e-01 -4.39302968e-01 2.91273919e-02 2.96425546e+02] [-3.25327314e-02 -2.23264899e-04 9.99470646e-01 1.62243836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.20, Y:296.45, Z:1.62 [[-4.39319795e-01 -8.98213085e-01 -1.45386612e-02 1.44199648e+02] [ 8.97738384e-01 -4.39560240e-01 2.91991472e-02 2.96449616e+02] [-3.26176735e-02 -2.24150845e-04 9.99467877e-01 1.62179887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.19, Y:296.47, Z:1.62 [[-4.39452014e-01 -8.98143463e-01 -1.48407224e-02 1.44187424e+02] [ 8.97649594e-01 -4.39702473e-01 2.97815770e-02 2.96473621e+02] [-3.32736310e-02 -2.34194496e-04 9.99446252e-01 1.62129933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:296.50, Z:1.62 [[-4.39204121e-01 -8.98262746e-01 -1.49592764e-02 1.44175034e+02] [ 8.97761769e-01 -4.39458729e-01 2.99972006e-02 2.96497530e+02] [-3.35193524e-02 -2.54972278e-04 9.99438036e-01 1.62049463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.16, Y:296.52, Z:1.62 [[-4.38561634e-01 -8.98573331e-01 -1.51546123e-02 1.44163433e+02] [ 8.98060120e-01 -4.38823294e-01 3.03667151e-02 2.96521842e+02] [-3.39369173e-02 -2.92076762e-04 9.99423934e-01 1.62062801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:296.55, Z:1.62 [[-4.38143630e-01 -8.98775326e-01 -1.52667427e-02 1.44151015e+02] [ 8.98255455e-01 -4.38409410e-01 3.05667718e-02 2.96546519e+02] [-3.41657439e-02 -3.20798512e-04 9.99416129e-01 1.61984937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.14, Y:296.57, Z:1.62 [[-4.36801555e-01 -8.99424557e-01 -1.54876760e-02 1.44138049e+02] [ 8.98890745e-01 -4.37075870e-01 3.09856846e-02 2.96569982e+02] [-3.46385751e-02 -3.87133439e-04 9.99399830e-01 1.61959016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:296.60, Z:1.62 [[-4.36055686e-01 -8.99785438e-01 -1.55436413e-02 1.44125422e+02] [ 8.99248511e-01 -4.36332426e-01 3.10826351e-02 2.96595078e+02] [-3.47498972e-02 -4.23836540e-04 9.99395950e-01 1.61869979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.11, Y:296.62, Z:1.62 [[-4.35195345e-01 -9.00200307e-01 -1.56338780e-02 1.44112285e+02] [ 8.99658170e-01 -4.35475816e-01 3.12408457e-02 2.96618632e+02] [-3.49311947e-02 -4.69275443e-04 9.99389609e-01 1.61757202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.10, Y:296.64, Z:1.62 [[-4.33605728e-01 -9.00969418e-01 -1.54977802e-02 1.44098445e+02] [ 9.00438003e-01 -4.33882265e-01 3.09448219e-02 2.96641376e+02] [-3.46045501e-02 -5.36938275e-04 9.99400939e-01 1.61561840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:296.67, Z:1.61 [[-4.32985366e-01 -9.01268868e-01 -1.54304820e-02 1.44085307e+02] [ 9.00742809e-01 -4.33259861e-01 3.07942310e-02 2.96665747e+02] [-3.44392902e-02 -5.65444294e-04 9.99406632e-01 1.61416975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.07, Y:296.69, Z:1.61 [[-4.32619423e-01 -9.01447388e-01 -1.52656559e-02 1.44072596e+02] [ 9.00933428e-01 -4.32888282e-01 3.04416446e-02 2.96689818e+02] [-3.40498646e-02 -5.83692911e-04 9.99419965e-01 1.61301647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:296.71, Z:1.61 [[-4.32061017e-01 -9.01715966e-01 -1.52182063e-02 1.44059851e+02] [ 9.01206181e-01 -4.32328510e-01 3.03229027e-02 2.96713617e+02] [-3.39219099e-02 -6.13397350e-04 9.99424298e-01 1.61139552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.05, Y:296.74, Z:1.61 [[-4.31826023e-01 -9.01827900e-01 -1.52553160e-02 1.44047911e+02] [ 9.01316450e-01 -4.32094940e-01 3.03746532e-02 2.96737713e+02] [-3.39844545e-02 -6.33301587e-04 9.99422161e-01 1.61050647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.04, Y:296.76, Z:1.61 [[-4.31789182e-01 -9.01846486e-01 -1.51992611e-02 1.44035209e+02] [ 9.01339601e-01 -4.32056133e-01 3.02394118e-02 2.96762000e+02] [-3.38382412e-02 -6.42645046e-04 9.99427116e-01 1.60952438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.02, Y:296.79, Z:1.61 [[-4.31458359e-01 -9.02003033e-01 -1.53040406e-02 1.44022808e+02] [ 9.01490061e-01 -4.31729174e-01 3.04235038e-02 2.96786825e+02] [-3.40492935e-02 -6.69965456e-04 9.99419930e-01 1.60848687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:296.81, Z:1.61 [[-4.30477734e-01 -9.02473754e-01 -1.51671975e-02 1.44007752e+02] [ 9.01970907e-01 -4.30744262e-01 3.01307706e-02 2.96809706e+02] [-3.37254130e-02 -7.09745059e-04 9.99430884e-01 1.60622393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.00, Y:296.84, Z:1.61 [[-4.30321735e-01 -9.02549452e-01 -1.50894434e-02 1.43996973e+02] [ 9.02052543e-01 -4.30585608e-01 2.99540388e-02 2.96835521e+02] [-3.35322984e-02 -7.21596859e-04 9.99437374e-01 1.60582626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.98, Y:296.86, Z:1.60 [[-4.29742982e-01 -9.02823866e-01 -1.51669470e-02 1.43982483e+02] [ 9.02322722e-01 -4.30009878e-01 3.00866959e-02 2.96858140e+02] [-3.36849241e-02 -7.55934459e-04 9.99432216e-01 1.60397288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.97, Y:296.88, Z:1.60 [[-4.29783713e-01 -9.02802461e-01 -1.52864410e-02 1.43972601e+02] [ 9.02294155e-01 -4.30054790e-01 3.03007412e-02 2.96884394e+02] [-3.39295910e-02 -7.70101319e-04 9.99423929e-01 1.60378268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:296.91, Z:1.60 [[-4.30179226e-01 -9.02617428e-01 -1.50868372e-02 1.43960953e+02] [ 9.02122896e-01 -4.30443039e-01 2.98842856e-02 2.96910522e+02] [-3.34681011e-02 -7.54582460e-04 9.99439501e-01 1.60310741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.95, Y:296.93, Z:1.60 [[-4.30854980e-01 -9.02297120e-01 -1.49630714e-02 1.43948542e+02] [ 9.01811181e-01 -4.31114104e-01 2.96179620e-02 2.96934075e+02] [-3.31749929e-02 -7.32818658e-04 9.99449290e-01 1.60158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.94, Y:296.96, Z:1.60 [[-4.31283454e-01 -9.02092112e-01 -1.49800994e-02 1.43936102e+02] [ 9.01605712e-01 -4.31542919e-01 2.96285081e-02 2.96959623e+02] [-3.31921993e-02 -7.27857890e-04 9.99448722e-01 1.60033804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06687500000004 meters Centerline goodness [0,1] 0.999957604663487 Centerline is valid? [True, True] Translation: X:143.92, Y:296.99, Z:1.60 [[-4.31711210e-01 -9.01889696e-01 -1.48461289e-02 1.43923770e+02] [ 9.01412520e-01 -4.31965815e-01 2.93428563e-02 2.96985187e+02] [-3.28770399e-02 -7.14846425e-04 9.99459148e-01 1.59935357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.91, Y:297.01, Z:1.60 [[-4.32433066e-01 -9.01545627e-01 -1.47352067e-02 1.43911454e+02] [ 9.01076030e-01 -4.32683491e-01 2.91029983e-02 2.97010886e+02] [-3.26133615e-02 -6.92442774e-04 9.99467803e-01 1.59823139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:297.04, Z:1.60 [[-4.32797942e-01 -9.01370027e-01 -1.47653854e-02 1.43898963e+02] [ 9.00899079e-01 -4.33049189e-01 2.91418767e-02 2.97036321e+02] [-3.26617524e-02 -6.89577871e-04 9.99466225e-01 1.59736148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:297.06, Z:1.60 [[-4.33345539e-01 -9.01106915e-01 -1.47638394e-02 1.43886331e+02] [ 9.00636635e-01 -4.33596432e-01 2.91167560e-02 2.97059996e+02] [-3.26388582e-02 -6.79238285e-04 9.99466980e-01 1.59602058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:297.09, Z:1.60 [[-4.34311018e-01 -9.00645757e-01 -1.45313325e-02 1.43874944e+02] [ 9.00190337e-01 -4.34553576e-01 2.86451851e-02 2.97085669e+02] [-3.21138069e-02 -6.40045555e-04 9.99484014e-01 1.59501132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:297.11, Z:1.59 [[-4.35116502e-01 -9.00256140e-01 -1.45778274e-02 1.43862677e+02] [ 8.99798237e-01 -4.35360191e-01 2.87164958e-02 2.97111109e+02] [-3.21988074e-02 -6.22082156e-04 9.99481290e-01 1.59397607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.85, Y:297.14, Z:1.59 [[-4.36773800e-01 -8.99455188e-01 -1.44572719e-02 1.43851498e+02] [ 8.99005023e-01 -4.37012636e-01 2.84591806e-02 2.97136791e+02] [-3.19157681e-02 -5.66935585e-04 9.99490401e-01 1.59356753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:297.16, Z:1.59 [[-4.37762799e-01 -8.98972280e-01 -1.45798443e-02 1.43839641e+02] [ 8.98514837e-01 -4.38005186e-01 2.86800603e-02 2.97162195e+02] [-3.21686266e-02 -5.45142925e-04 9.99482307e-01 1.59275559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:297.19, Z:1.59 [[-4.38841574e-01 -8.98446555e-01 -1.45554779e-02 1.43827896e+02] [ 8.97990972e-01 -4.39082594e-01 2.86127726e-02 2.97187159e+02] [-3.20981039e-02 -5.14213563e-04 9.99484591e-01 1.59187777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:297.21, Z:1.59 [[-4.39884527e-01 -8.97934005e-01 -1.47012244e-02 1.43816672e+02] [ 8.97469722e-01 -4.40129846e-01 2.88758909e-02 2.97212556e+02] [-3.23990920e-02 -4.91846123e-04 9.99474891e-01 1.59151134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:297.24, Z:1.59 [[-4.41413352e-01 -8.97170492e-01 -1.54712971e-02 1.43805107e+02] [ 8.96656598e-01 -4.41684151e-01 3.03653742e-02 2.97238508e+02] [-3.40763444e-02 -4.68759024e-04 9.99419123e-01 1.59142687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:297.26, Z:1.59 [[-4.42107650e-01 -8.96827048e-01 -1.55586850e-02 1.43792807e+02] [ 8.96307833e-01 -4.42381103e-01 3.05160273e-02 2.97263550e+02] [-3.42504669e-02 -4.54002135e-04 9.99413178e-01 1.59086044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.78, Y:297.29, Z:1.59 [[-4.42644584e-01 -8.96555621e-01 -1.59307995e-02 1.43781010e+02] [ 8.96011882e-01 -4.42930934e-01 3.12233204e-02 2.97289161e+02] [-3.50496873e-02 -4.53352012e-04 9.99385468e-01 1.59008960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:297.31, Z:1.59 [[-4.43628413e-01 -8.96067770e-01 -1.60119696e-02 1.43769022e+02] [ 8.95518947e-01 -4.43917075e-01 3.13599316e-02 2.97313898e+02] [-3.52086107e-02 -4.26865514e-04 9.99379893e-01 1.58842722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.76, Y:297.34, Z:1.59 [[-4.44120770e-01 -8.95821212e-01 -1.61585253e-02 1.43756861e+02] [ 8.95262988e-01 -4.44414422e-01 3.16228484e-02 2.97339096e+02] [-3.55095000e-02 -4.21765884e-04 9.99369250e-01 1.58725630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:297.36, Z:1.59 [[-4.44453185e-01 -8.95655125e-01 -1.62253691e-02 1.43744330e+02] [ 8.95092997e-01 -4.44749053e-01 3.17302091e-02 2.97362789e+02] [-3.56355419e-02 -4.20621760e-04 9.99364764e-01 1.58579266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.73, Y:297.39, Z:1.58 [[-4.44161385e-01 -8.95797614e-01 -1.63492505e-02 1.43732355e+02] [ 8.95227530e-01 -4.44461965e-01 3.19567223e-02 2.97388154e+02] [-3.58933756e-02 -4.42357101e-04 9.99355527e-01 1.58434178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.72, Y:297.41, Z:1.58 [[-4.44442309e-01 -8.95660029e-01 -1.62525689e-02 1.43719389e+02] [ 8.95097405e-01 -4.44739159e-01 3.17445544e-02 2.97411721e+02] [-3.56604823e-02 -4.39009184e-04 9.99363866e-01 1.58292547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:297.44, Z:1.58 [[-4.44501307e-01 -8.95628928e-01 -1.63527479e-02 1.43707424e+02] [ 8.95059886e-01 -4.44801781e-01 3.19245176e-02 2.97436970e+02] [-3.58662528e-02 -4.46198957e-04 9.99356499e-01 1.58187353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:297.46, Z:1.58 [[-4.44482036e-01 -8.95641947e-01 -1.61624037e-02 1.43695094e+02] [ 8.95086862e-01 -4.44775560e-01 3.15311141e-02 2.97462248e+02] [-3.54292305e-02 -4.51741410e-04 9.99372086e-01 1.58104355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:297.49, Z:1.58 [[-4.44698088e-01 -8.95535365e-01 -1.61251684e-02 1.43682489e+02] [ 8.94983552e-01 -4.44990119e-01 3.14362131e-02 2.97487014e+02] [-3.53277812e-02 -4.52136630e-04 9.99375677e-01 1.57995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.67, Y:297.51, Z:1.58 [[-4.45045566e-01 -8.95362395e-01 -1.61438831e-02 1.43669830e+02] [ 8.94809971e-01 -4.45338051e-01 3.14505436e-02 2.97512512e+02] [-3.53491195e-02 -4.48782602e-04 9.99374924e-01 1.57857071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:297.54, Z:1.58 [[-4.45735141e-01 -8.95018311e-01 -1.61989661e-02 1.43657242e+02] [ 8.94462673e-01 -4.46029186e-01 3.15355493e-02 2.97536963e+02] [-3.54501058e-02 -4.32867951e-04 9.99371354e-01 1.57710282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:297.56, Z:1.58 [[-4.46143911e-01 -8.94814371e-01 -1.62127006e-02 1.43645148e+02] [ 8.94258502e-01 -4.46438191e-01 3.15384301e-02 2.97561902e+02] [-3.54590092e-02 -4.27666856e-04 9.99371040e-01 1.57613422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:297.59, Z:1.57 [[-4.46818500e-01 -8.94476927e-01 -1.62559491e-02 1.43632821e+02] [ 8.93918654e-01 -4.47113921e-01 3.16003363e-02 2.97586976e+02] [-3.55340328e-02 -4.11881245e-04 9.99368382e-01 1.57479576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.62, Y:297.61, Z:1.57 [[-4.47768486e-01 -8.93998841e-01 -1.64150877e-02 1.43621336e+02] [ 8.93430065e-01 -4.48069104e-01 3.18872538e-02 2.97613139e+02] [-3.58622616e-02 -3.87625517e-04 9.99356667e-01 1.57358853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:297.64, Z:1.57 [[-4.48024253e-01 -8.93870525e-01 -1.64241586e-02 1.43608642e+02] [ 8.93301834e-01 -4.48325032e-01 3.18825808e-02 2.97637625e+02] [-3.58622607e-02 -3.87561598e-04 9.99356667e-01 1.57246141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:297.66, Z:1.57 [[-4.48890947e-01 -8.93436062e-01 -1.63988165e-02 1.43596467e+02] [ 8.92869634e-01 -4.49190241e-01 3.18110662e-02 2.97663214e+02] [-3.57873421e-02 -3.62305684e-04 9.99359362e-01 1.57176384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.59, Y:297.69, Z:1.57 [[-4.49477576e-01 -8.93142988e-01 -1.62945082e-02 1.43585051e+02] [ 8.92584338e-01 -4.49772701e-01 3.15866580e-02 2.97688841e+02] [-3.55402271e-02 -3.46728363e-04 9.99368186e-01 1.57068376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.57, Y:297.71, Z:1.57 [[-4.49786054e-01 -8.92988888e-01 -1.62281248e-02 1.43572727e+02] [ 8.92435450e-01 -4.50078581e-01 3.14362589e-02 2.97714391e+02] [-3.53761612e-02 -3.42963000e-04 9.99374009e-01 1.56958737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.56, Y:297.74, Z:1.57 [[-4.49862395e-01 -8.92951642e-01 -1.61614087e-02 1.43560436e+02] [ 8.92403488e-01 -4.50152467e-01 3.12853156e-02 2.97740114e+02] [-3.52113719e-02 -3.48410487e-04 9.99379827e-01 1.56837894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:143.55, Y:297.76, Z:1.57 [[-4.49942509e-01 -8.92909033e-01 -1.62848839e-02 1.43548799e+02] [ 8.92353233e-01 -4.50236971e-01 3.15020291e-02 2.97764429e+02] [-3.54605031e-02 -3.57766773e-04 9.99371015e-01 1.56688283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.54, Y:297.79, Z:1.57 [[-4.50222623e-01 -8.92764293e-01 -1.64774586e-02 1.43536780e+02] [ 8.92196037e-01 -4.50523902e-01 3.18503455e-02 2.97790155e+02] [-3.58583401e-02 -3.61377158e-04 9.99356818e-01 1.56568645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.52, Y:297.82, Z:1.56 [[-4.50481014e-01 -8.92631094e-01 -1.66308891e-02 1.43524610e+02] [ 8.92052946e-01 -4.50787752e-01 3.21238921e-02 2.97815715e+02] [-3.61717860e-02 -3.64430124e-04 9.99345520e-01 1.56449865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.51, Y:297.84, Z:1.56 [[-4.50584572e-01 -8.92581377e-01 -1.64932703e-02 1.43513268e+02] [ 8.92013527e-01 -4.50886183e-01 3.18357996e-02 2.97840707e+02] [-3.58526295e-02 -3.67500019e-04 9.99357020e-01 1.56321991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.50, Y:297.87, Z:1.56 [[-4.50538779e-01 -8.92609644e-01 -1.62120820e-02 1.43501196e+02] [ 8.92061833e-01 -4.50830216e-01 3.12698247e-02 2.97866103e+02] [-3.52206436e-02 -3.73910906e-04 9.99379491e-01 1.56195384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.49, Y:297.89, Z:1.56 [[-4.50512988e-01 -8.92622879e-01 -1.62001092e-02 1.43488977e+02] [ 8.92076696e-01 -4.50804002e-01 3.12237243e-02 2.97890727e+02] [-3.51740847e-02 -3.85046519e-04 9.99381126e-01 1.56023045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.48, Y:297.92, Z:1.56 [[-4.50309013e-01 -8.92730040e-01 -1.59645808e-02 1.43477618e+02] [ 8.92200201e-01 -4.50591744e-01 3.07551919e-02 2.97916985e+02] [-3.46495920e-02 -3.94262045e-04 9.99399445e-01 1.55902780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.47, Y:297.94, Z:1.56 [[-4.50316346e-01 -8.92723142e-01 -1.61425019e-02 1.43465969e+02] [ 8.92182180e-01 -4.50605399e-01 3.10762303e-02 2.97942072e+02] [-3.50163685e-02 -4.07918085e-04 9.99386656e-01 1.55797124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:297.97, Z:1.56 [[-4.50259432e-01 -8.92748196e-01 -1.63432702e-02 1.43454787e+02] [ 8.92194494e-01 -4.50555743e-01 3.14405354e-02 2.97967172e+02] [-3.54320355e-02 -4.24978058e-04 9.99371998e-01 1.55738872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.44, Y:297.99, Z:1.56 [[-4.50412045e-01 -8.92666545e-01 -1.65960968e-02 1.43443054e+02] [ 8.92096378e-01 -4.50717484e-01 3.19030046e-02 2.97991908e+02] [-3.59588959e-02 -4.35820346e-04 9.99353175e-01 1.55677842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.43, Y:298.02, Z:1.56 [[-4.50639741e-01 -8.92545014e-01 -1.69476244e-02 1.43431223e+02] [ 8.91951299e-01 -4.50958089e-01 3.25527457e-02 2.98017615e+02] [-3.66974592e-02 -4.46894733e-04 9.99326321e-01 1.55610952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.42, Y:298.04, Z:1.56 [[-4.50799233e-01 -8.92462002e-01 -1.70770718e-02 1.43419162e+02] [ 8.91859970e-01 -4.51122343e-01 3.27784373e-02 2.98042679e+02] [-3.69573584e-02 -4.53862389e-04 9.99316740e-01 1.55514204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.41, Y:298.07, Z:1.55 [[-4.51060177e-01 -8.92326404e-01 -1.72714970e-02 1.43408245e+02] [ 8.91711347e-01 -4.51390494e-01 3.31284713e-02 2.98068468e+02] [-3.73575992e-02 -4.58255709e-04 9.99301856e-01 1.55479585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:298.09, Z:1.55 [[-4.51315818e-01 -8.92192355e-01 -1.75166775e-02 1.43395952e+02] [ 8.91560499e-01 -4.51655385e-01 3.35751501e-02 2.98093642e+02] [-3.78669939e-02 -4.64181375e-04 9.99282680e-01 1.55369097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.39, Y:298.12, Z:1.55 [[-4.51290933e-01 -8.92201814e-01 -1.76753071e-02 1.43385219e+02] [ 8.91559377e-01 -4.51636682e-01 3.38553615e-02 2.98117300e+02] [-3.81886320e-02 -4.79968142e-04 9.99270433e-01 1.55262275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.37, Y:298.14, Z:1.55 [[-4.51365527e-01 -8.92161946e-01 -1.77826607e-02 1.43373485e+02] [ 8.91512423e-01 -4.51715423e-01 3.40407984e-02 2.98140325e+02] [-3.84026070e-02 -4.88620001e-04 9.99262228e-01 1.55090094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.36, Y:298.16, Z:1.55 [[-4.50754956e-01 -8.92477485e-01 -1.74329810e-02 1.43362252e+02] [ 8.91854512e-01 -4.51091644e-01 3.33445356e-02 2.98163987e+02] [-3.76231193e-02 -5.17468059e-04 9.99291866e-01 1.54882241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:298.19, Z:1.55 [[-4.50747306e-01 -8.92487305e-01 -1.71253417e-02 1.43350865e+02] [ 8.91886808e-01 -4.51072216e-01 3.27380314e-02 2.98188996e+02] [-3.69430432e-02 -5.17286907e-04 9.99317239e-01 1.54700756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.34, Y:298.21, Z:1.55 [[-4.50568752e-01 -8.92581210e-01 -1.69287707e-02 1.43338433e+02] [ 8.91995401e-01 -4.50886352e-01 3.23373038e-02 2.98214436e+02] [-3.64966214e-02 -5.30207018e-04 9.99333636e-01 1.54528549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:298.24, Z:1.54 [[-4.50507910e-01 -8.92617125e-01 -1.66520611e-02 1.43326633e+02] [ 8.92051098e-01 -4.50815242e-01 3.17876557e-02 2.98237520e+02] [-3.58812088e-02 -5.33899038e-04 9.99355919e-01 1.54344709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.31, Y:298.26, Z:1.54 [[-4.50194213e-01 -8.92774948e-01 -1.66752188e-02 1.43314034e+02] [ 8.92208395e-01 -4.50502586e-01 3.18056438e-02 2.98262188e+02] [-3.59075112e-02 -5.59053384e-04 9.99354961e-01 1.54191805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:298.29, Z:1.54 [[-4.49220084e-01 -8.93260191e-01 -1.69572204e-02 1.43302564e+02] [ 8.92675590e-01 -4.49539595e-01 3.23178519e-02 2.98287812e+02] [-3.64911925e-02 -6.19468606e-04 9.99333783e-01 1.54163956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.29, Y:298.31, Z:1.54 [[-4.48596521e-01 -8.93572177e-01 -1.70272366e-02 1.43290071e+02] [ 8.92983786e-01 -4.48919072e-01 3.24287743e-02 2.98311626e+02] [-3.66213017e-02 -6.57610877e-04 9.99328999e-01 1.54025081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.28, Y:298.34, Z:1.54 [[-4.48241585e-01 -8.93752433e-01 -1.69135875e-02 1.43277258e+02] [ 8.93172572e-01 -4.48560066e-01 3.21966612e-02 2.98336300e+02] [-3.63626042e-02 -6.74870018e-04 9.99338434e-01 1.53893039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.26, Y:298.36, Z:1.54 [[-4.47147094e-01 -8.94298513e-01 -1.70189636e-02 1.43264581e+02] [ 8.93712621e-01 -4.47470257e-01 3.23747006e-02 2.98361576e+02] [-3.65681267e-02 -7.33809238e-04 9.99330893e-01 1.53766439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:298.39, Z:1.54 [[-4.46015530e-01 -8.94861662e-01 -1.71100363e-02 1.43251682e+02] [ 8.94270723e-01 -4.46342890e-01 3.25253456e-02 2.98386818e+02] [-3.67426278e-02 -7.94195275e-04 9.99324446e-01 1.53610775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.24, Y:298.41, Z:1.53 [[-4.45489053e-01 -8.95124119e-01 -1.70972541e-02 1.43238812e+02] [ 8.94535076e-01 -4.45816253e-01 3.24787093e-02 2.98411671e+02] [-3.66947098e-02 -8.25184089e-04 9.99326182e-01 1.53468324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.23, Y:298.44, Z:1.53 [[-4.44864787e-01 -8.95436736e-01 -1.69815893e-02 1.43226378e+02] [ 8.94856667e-01 -4.45187962e-01 3.22369962e-02 2.98436627e+02] [-3.64261898e-02 -8.54983907e-04 9.99335980e-01 1.53315797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:298.46, Z:1.53 [[-4.44577818e-01 -8.95580523e-01 -1.69142362e-02 1.43213268e+02] [ 8.95005958e-01 -4.44898601e-01 3.20869243e-02 2.98461335e+02] [-3.62615445e-02 -8.73207405e-04 9.99341952e-01 1.53150453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.20, Y:298.48, Z:1.53 [[-4.43985025e-01 -8.95876999e-01 -1.67839300e-02 1.43199353e+02] [ 8.95312245e-01 -4.44301241e-01 3.18180890e-02 2.98484672e+02] [-3.59622150e-02 -9.00103027e-04 9.99352745e-01 1.52943398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.19, Y:298.51, Z:1.53 [[-4.42566969e-01 -8.96581977e-01 -1.65902397e-02 1.43188353e+02] [ 8.96031489e-01 -4.42876781e-01 3.14281320e-02 2.98510541e+02] [-3.55253287e-02 -9.56324090e-04 9.99368319e-01 1.52806591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:298.54, Z:1.53 [[-4.42102084e-01 -8.96811013e-01 -1.66058640e-02 1.43175872e+02] [ 8.96260412e-01 -4.42412745e-01 3.14362287e-02 2.98536170e+02] [-3.55390020e-02 -9.85156296e-04 9.99367805e-01 1.52680923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.16, Y:298.56, Z:1.53 [[-4.40645079e-01 -8.97522013e-01 -1.69159801e-02 1.43163038e+02] [ 8.96951993e-01 -4.40968351e-01 3.20005494e-02 2.98561168e+02] [-3.61806094e-02 -1.07193743e-03 9.99344693e-01 1.52514638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:298.59, Z:1.52 [[-4.40153149e-01 -8.97758672e-01 -1.71631003e-02 1.43150021e+02] [ 8.97172891e-01 -4.40486229e-01 3.24451161e-02 2.98585588e+02] [-3.66879937e-02 -1.11744826e-03 9.99326144e-01 1.52436101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.14, Y:298.61, Z:1.52 [[-4.39665548e-01 -8.97993603e-01 -1.73693671e-02 1.43137109e+02] [ 8.97394690e-01 -4.40006978e-01 3.28120315e-02 2.98610153e+02] [-3.71076372e-02 -1.16085797e-03 9.99310600e-01 1.52311647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.12, Y:298.63, Z:1.52 [[-4.39372726e-01 -8.98132885e-01 -1.75763578e-02 1.43124142e+02] [ 8.97520586e-01 -4.39722513e-01 3.31799562e-02 2.98634171e+02] [-3.75287300e-02 -1.19677512e-03 9.99294832e-01 1.52232696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.11, Y:298.66, Z:1.52 [[-4.38711998e-01 -8.98450425e-01 -1.78498418e-02 1.43113022e+02] [ 8.97820132e-01 -4.39073184e-01 3.36711931e-02 2.98659796e+02] [-3.80892847e-02 -1.25399096e-03 9.99273553e-01 1.52144972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:298.68, Z:1.52 [[-4.38948465e-01 -8.98336658e-01 -1.77621562e-02 1.43100138e+02] [ 8.97713316e-01 -4.39305920e-01 3.34829868e-02 2.98684210e+02] [-3.78820149e-02 -1.24801846e-03 9.99281440e-01 1.52013743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.09, Y:298.71, Z:1.52 [[-4.38877152e-01 -8.98370562e-01 -1.78095163e-02 1.43087063e+02] [ 8.97744905e-01 -4.39236533e-01 3.35463033e-02 2.98708668e+02] [-3.79596016e-02 -1.26569645e-03 9.99278473e-01 1.51890553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:298.73, Z:1.52 [[-4.38780597e-01 -8.98418133e-01 -1.77889489e-02 1.43075215e+02] [ 8.97794929e-01 -4.39139183e-01 3.34820032e-02 2.98733569e+02] [-3.78926633e-02 -1.27957474e-03 9.99280996e-01 1.51664541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters Centerline goodness [0,1] 0.9998870745533799 Centerline is valid? [True, True] Translation: X:143.06, Y:298.76, Z:1.51 [[-4.39284628e-01 -8.98174383e-01 -1.76576830e-02 1.43062005e+02] [ 8.97561093e-01 -4.39637567e-01 3.32098459e-02 2.98756438e+02] [-3.75912136e-02 -1.26027446e-03 9.99292406e-01 1.51485369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:298.78, Z:1.51 [[-4.39863939e-01 -8.97893170e-01 -1.75377082e-02 1.43052639e+02] [ 8.97288950e-01 -4.40211676e-01 3.29578453e-02 2.98782604e+02] [-3.73129281e-02 -1.23942412e-03 9.99302862e-01 1.51304854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters Centerline goodness [0,1] 0.9999317530369899 Centerline is valid? [True, True] Translation: X:143.04, Y:298.81, Z:1.51 [[-4.40395505e-01 -8.97635824e-01 -1.73702535e-02 1.43040816e+02] [ 8.97043822e-01 -4.40736254e-01 3.26180294e-02 2.98808339e+02] [-3.69348122e-02 -1.21704505e-03 9.99316936e-01 1.51165686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.03, Y:298.83, Z:1.51 [[-4.40864844e-01 -8.97403854e-01 -1.74502894e-02 1.43027152e+02] [ 8.96807029e-01 -4.41208400e-01 3.27460051e-02 2.98830307e+02] [-3.70856054e-02 -1.21297972e-03 9.99311356e-01 1.51006926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.01, Y:298.86, Z:1.51 [[-4.41467834e-01 -8.97109276e-01 -1.73521790e-02 1.43014983e+02] [ 8.96519895e-01 -4.41807111e-01 3.25354271e-02 2.98855128e+02] [-3.68541495e-02 -1.19322914e-03 9.99319943e-01 1.50877074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.01, Y:298.88, Z:1.51 [[-4.41920481e-01 -8.96886682e-01 -1.73369109e-02 1.43005302e+02] [ 8.96299066e-01 -4.42258835e-01 3.24824222e-02 2.98882217e+02] [-3.68004539e-02 -1.18440934e-03 9.99321932e-01 1.50731169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:298.91, Z:1.51 [[-4.42174729e-01 -8.96761642e-01 -1.73224572e-02 1.42992694e+02] [ 8.96175714e-01 -4.42512327e-01 3.24334848e-02 2.98905047e+02] [-3.67505059e-02 -1.18269814e-03 9.99323772e-01 1.50650131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.98, Y:298.93, Z:1.50 [[-4.42533899e-01 -8.96579386e-01 -1.75827579e-02 1.42981321e+02] [ 8.95976591e-01 -4.42881442e-01 3.28934198e-02 2.98930436e+02] [-3.72786393e-02 -1.19728622e-03 9.99304193e-01 1.50499933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.97, Y:298.95, Z:1.50 [[-4.42839088e-01 -8.96427099e-01 -1.76634870e-02 1.42968654e+02] [ 8.95819520e-01 -4.43189594e-01 3.30207670e-02 2.98954853e+02] [-3.74289839e-02 -1.20041012e-03 9.99298569e-01 1.50315798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.96, Y:298.98, Z:1.50 [[-4.43447987e-01 -8.96128004e-01 -1.75636687e-02 1.42955811e+02] [ 8.95527962e-01 -4.43794106e-01 3.28094750e-02 2.98979089e+02] [-3.71961421e-02 -1.17946081e-03 9.99307288e-01 1.50153205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.94, Y:299.00, Z:1.50 [[-4.43847971e-01 -8.95932810e-01 -1.74177701e-02 1.42943692e+02] [ 8.95343440e-01 -4.44188074e-01 3.25127678e-02 2.99003204e+02] [-3.68660211e-02 -1.16416023e-03 9.99319539e-01 1.49964806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:299.03, Z:1.50 [[-4.44898367e-01 -8.95416549e-01 -1.71652910e-02 1.42932587e+02] [ 8.94844613e-01 -4.45227986e-01 3.20181064e-02 2.99027149e+02] [-3.63120103e-02 -1.11546495e-03 9.99339879e-01 1.49811399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.92, Y:299.05, Z:1.50 [[-4.45777773e-01 -8.94978197e-01 -1.72106047e-02 1.42923765e+02] [ 8.94403822e-01 -4.46108542e-01 3.20775812e-02 2.99053519e+02] [-3.63865335e-02 -1.09375793e-03 9.99337192e-01 1.49748461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.91, Y:299.08, Z:1.50 [[-4.47317690e-01 -8.94198339e-01 -1.77824289e-02 1.42909833e+02] [ 8.93585543e-01 -4.47669713e-01 3.31165306e-02 2.99077390e+02] [-3.75734015e-02 -1.07651142e-03 9.99293291e-01 1.49696420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.90, Y:299.10, Z:1.50 [[-4.48341147e-01 -8.93678523e-01 -1.81359880e-02 1.42901351e+02] [ 8.93041574e-01 -4.48706548e-01 3.37517603e-02 2.99103468e+02] [-3.83009599e-02 -1.06388830e-03 9.99265683e-01 1.49721930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:299.13, Z:1.50 [[-4.49479591e-01 -8.93100546e-01 -1.84258374e-02 1.42888901e+02] [ 8.92443619e-01 -4.49855896e-01 3.42645529e-02 2.99128117e+02] [-3.88906625e-02 -1.04280378e-03 9.99242928e-01 1.49606441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.88, Y:299.15, Z:1.50 [[-4.51605675e-01 -8.92017019e-01 -1.89196032e-02 1.42878420e+02] [ 8.91324547e-01 -4.52000733e-01 3.51552252e-02 2.99153460e+02] [-3.99107338e-02 -9.87207543e-04 9.99202762e-01 1.49582982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.87, Y:299.18, Z:1.49 [[-4.52706020e-01 -8.91456372e-01 -1.90472023e-02 1.42867471e+02] [ 8.90754963e-01 -4.53105534e-01 3.53690630e-02 2.99178437e+02] [-4.01603694e-02 -9.54602232e-04 9.99192791e-01 1.49494893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:299.20, Z:1.49 [[-4.52991356e-01 -8.91311171e-01 -1.90585310e-02 1.42854672e+02] [ 8.90609890e-01 -4.53391095e-01 3.53629575e-02 2.99201970e+02] [-4.01603673e-02 -9.54602183e-04 9.99192791e-01 1.49385585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.84, Y:299.23, Z:1.49 [[-4.54006178e-01 -8.90794052e-01 -1.90878647e-02 1.42842678e+02] [ 8.90091247e-01 -4.54406322e-01 3.53902094e-02 2.99226894e+02] [-4.01990344e-02 -9.22567604e-04 9.99191266e-01 1.49321324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:299.25, Z:1.49 [[-4.54824249e-01 -8.90374685e-01 -1.91787096e-02 1.42830442e+02] [ 8.89665911e-01 -4.55227532e-01 3.55311223e-02 2.99249725e+02] [-4.03666885e-02 -9.02228186e-04 9.99184526e-01 1.49177766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:299.27, Z:1.49 [[-4.56269585e-01 -8.89636330e-01 -1.91119329e-02 1.42818840e+02] [ 8.88932673e-01 -4.56668905e-01 3.53866300e-02 2.99273804e+02] [-4.02090571e-02 -8.43378619e-04 9.99190933e-01 1.48996177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.81, Y:299.30, Z:1.49 [[-4.57319152e-01 -8.89097814e-01 -1.90858761e-02 1.42806470e+02] [ 8.88396673e-01 -4.57716535e-01 3.53118302e-02 2.99298500e+02] [-4.01315921e-02 -8.07052570e-04 9.99194077e-01 1.48845808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.79, Y:299.32, Z:1.49 [[-4.58141054e-01 -8.88675767e-01 -1.90303970e-02 1.42794464e+02] [ 8.87979385e-01 -4.58535466e-01 3.51829289e-02 2.99322520e+02] [-3.99923283e-02 -7.79856056e-04 9.99199682e-01 1.48671069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:299.35, Z:1.48 [[-4.59818278e-01 -8.87813125e-01 -1.88416192e-02 1.42783815e+02] [ 8.87130797e-01 -4.60203598e-01 3.48080160e-02 2.99346191e+02] [-3.95739944e-02 -7.09618724e-04 9.99216391e-01 1.48488827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.77, Y:299.37, Z:1.48 [[-4.60852248e-01 -8.87279362e-01 -1.87227056e-02 1.42772162e+02] [ 8.86605949e-01 -4.61231924e-01 3.45688356e-02 2.99371337e+02] [-3.93077239e-02 -6.68536570e-04 9.99226929e-01 1.48319442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.76, Y:299.40, Z:1.48 [[-4.62886784e-01 -8.86233166e-01 -1.80721048e-02 1.42760405e+02] [ 8.85605863e-01 -4.63239086e-01 3.33437404e-02 2.99395047e+02] [-3.79220339e-02 -5.70385216e-04 9.99280538e-01 1.48035533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.75, Y:299.42, Z:1.48 [[-4.64274773e-01 -8.85511449e-01 -1.78440201e-02 1.42749457e+02] [ 8.84900305e-01 -4.64617269e-01 3.28974749e-02 2.99419618e+02] [-3.74217306e-02 -5.16711139e-04 9.99299428e-01 1.47909236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.74, Y:299.44, Z:1.48 [[-4.65639070e-01 -8.84797130e-01 -1.77283724e-02 1.42737676e+02] [ 8.84194262e-01 -4.65976201e-01 3.26601764e-02 2.99443023e+02] [-3.71586300e-02 -4.67470928e-04 9.99309270e-01 1.47758013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:299.47, Z:1.48 [[-4.68720366e-01 -8.83166583e-01 -1.78327021e-02 1.42727891e+02] [ 8.82556330e-01 -4.69059339e-01 3.28277397e-02 2.99469488e+02] [-3.73569581e-02 -3.51333959e-04 9.99301923e-01 1.47693257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:299.49, Z:1.48 [[-4.70489378e-01 -8.82220269e-01 -1.80870698e-02 1.42716731e+02] [ 8.81592636e-01 -4.70836821e-01 3.32733004e-02 2.99492826e+02] [-3.78704385e-02 -2.90693072e-04 9.99282615e-01 1.47571630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:299.52, Z:1.47 [[-4.72367979e-01 -8.81210573e-01 -1.83417290e-02 1.42705101e+02] [ 8.80565412e-01 -4.72723889e-01 3.37146805e-02 2.99516991e+02] [-3.83803064e-02 -2.25356625e-04 9.99263179e-01 1.47457015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.70, Y:299.54, Z:1.47 [[-4.75557820e-01 -8.79489028e-01 -1.85421092e-02 1.42695590e+02] [ 8.78829349e-01 -4.75919153e-01 3.40578181e-02 2.99542749e+02] [-3.87780222e-02 -9.88880830e-05 9.99247845e-01 1.47408033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.68, Y:299.57, Z:1.47 [[-4.77169721e-01 -8.78611457e-01 -1.87340734e-02 1.42684080e+02] [ 8.77938366e-01 -4.77537335e-01 3.43848803e-02 2.99567497e+02] [-3.91571693e-02 -3.99380634e-05 9.99233063e-01 1.47314710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.67, Y:299.59, Z:1.47 [[-4.78596106e-01 -8.77834135e-01 -1.87882505e-02 1.42672661e+02] [ 8.77157572e-01 -4.78964749e-01 3.44581412e-02 2.99591547e+02] [-3.92474423e-02 1.12759783e-05 9.99229522e-01 1.47228716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:299.62, Z:1.47 [[-4.79810977e-01 -8.77168899e-01 -1.88719116e-02 1.42660726e+02] [ 8.76486563e-01 -4.80181965e-01 3.45916990e-02 2.99616411e+02] [-3.94047141e-02 5.64999233e-05 9.99223331e-01 1.47112463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.65, Y:299.64, Z:1.47 [[-4.81502294e-01 -8.76251380e-01 -1.84135660e-02 1.42650163e+02] [ 8.75602073e-01 -4.81854237e-01 3.37269116e-02 2.99640222e+02] [-3.84259076e-02 1.16628744e-04 9.99261445e-01 1.46904645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.64, Y:299.66, Z:1.47 [[-4.82305859e-01 -8.75814732e-01 -1.81552373e-02 1.42637851e+02] [ 8.75184191e-01 -4.82647424e-01 3.32279351e-02 2.99664678e+02] [-3.78640936e-02 1.36851091e-04 9.99282889e-01 1.46684652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.63, Y:299.69, Z:1.46 [[-4.83567833e-01 -8.75133832e-01 -1.74048056e-02 1.42626286e+02] [ 8.74554676e-01 -4.83880922e-01 3.18335107e-02 2.99689439e+02] [-3.62804356e-02 1.72207676e-04 9.99341633e-01 1.46490969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.61, Y:299.71, Z:1.46 [[-4.83954653e-01 -8.74921190e-01 -1.73437461e-02 1.42614818e+02] [ 8.74346825e-01 -4.84265300e-01 3.16977701e-02 2.99713249e+02] [-3.61320251e-02 1.75833962e-04 9.99347010e-01 1.46295485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.60, Y:299.74, Z:1.46 [[-4.84795570e-01 -8.74459853e-01 -1.71236837e-02 1.42603077e+02] [ 8.73900569e-01 -4.85097853e-01 3.12709073e-02 2.99736861e+02] [-3.56518152e-02 1.95600400e-04 9.99364253e-01 1.46144649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.59, Y:299.76, Z:1.46 [[-4.85717736e-01 -8.73944855e-01 -1.72821044e-02 1.42591212e+02] [ 8.73375731e-01 -4.86025041e-01 3.15355626e-02 2.99761175e+02] [-3.59598781e-02 2.23611506e-04 9.99353209e-01 1.46073606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.58, Y:299.79, Z:1.46 [[-4.85954204e-01 -8.73813059e-01 -1.72988266e-02 1.42578829e+02] [ 8.73243607e-01 -4.86261955e-01 3.15422650e-02 2.99785413e+02] [-3.59738043e-02 2.22006568e-04 9.99352709e-01 1.46004084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:299.81, Z:1.46 [[-4.85946109e-01 -8.73815687e-01 -1.73932522e-02 1.42566112e+02] [ 8.73240866e-01 -4.86257237e-01 3.16905255e-02 2.99809759e+02] [-3.61492730e-02 2.11388897e-04 9.99346379e-01 1.45902240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:299.83, Z:1.46 [[-4.85608221e-01 -8.74001123e-01 -1.75126517e-02 1.42553430e+02] [ 8.73419404e-01 -4.85923865e-01 3.18832527e-02 2.99833232e+02] [-3.63758140e-02 1.86879835e-04 9.99338164e-01 1.45829197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:299.86, Z:1.46 [[-4.84264081e-01 -8.74743235e-01 -1.76796953e-02 1.42539940e+02] [ 8.74151525e-01 -4.84586687e-01 3.21691622e-02 2.99856654e+02] [-3.67071020e-02 1.23637174e-04 9.99326060e-01 1.45736038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:299.88, Z:1.46 [[-4.83369864e-01 -8.75234248e-01 -1.78489839e-02 1.42526742e+02] [ 8.74632407e-01 -4.83699293e-01 3.24522262e-02 2.99879249e+02] [-3.70368407e-02 7.51284819e-05 9.99313898e-01 1.45617727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.51, Y:299.90, Z:1.46 [[-4.82333655e-01 -8.75803279e-01 -1.79683756e-02 1.42512990e+02] [ 8.75194427e-01 -4.82668226e-01 3.26511761e-02 2.99902828e+02] [-3.72687710e-02 2.29388720e-05 9.99305278e-01 1.45514770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:299.93, Z:1.45 [[-4.79464782e-01 -8.77371001e-01 -1.82660620e-02 1.42498476e+02] [ 8.76743915e-01 -4.79812582e-01 3.31661422e-02 2.99925037e+02] [-3.78632978e-02 -1.12661561e-04 9.99282922e-01 1.45409833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.48, Y:299.95, Z:1.45 [[-4.78368530e-01 -8.77970881e-01 -1.81846611e-02 1.42484458e+02] [ 8.77350512e-01 -4.78714011e-01 3.29996149e-02 2.99948516e+02] [-3.76779530e-02 -1.68344437e-04 9.99289920e-01 1.45291142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:299.97, Z:1.45 [[-4.77091197e-01 -8.78664663e-01 -1.82318049e-02 1.42470917e+02] [ 8.78042507e-01 -4.77439372e-01 3.30605812e-02 2.99970712e+02] [-3.77537459e-02 -2.35387396e-04 9.99287045e-01 1.45189373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.46, Y:299.99, Z:1.45 [[-4.74915122e-01 -8.79844781e-01 -1.81325479e-02 1.42455579e+02] [ 8.79231209e-01 -4.75261030e-01 3.28547541e-02 2.99994770e+02] [-3.75247773e-02 -3.39482507e-04 9.99295640e-01 1.44994982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.44, Y:300.02, Z:1.45 [[-4.74068624e-01 -8.80299669e-01 -1.82053102e-02 1.42441750e+02] [ 8.79682304e-01 -4.74417900e-01 3.29651430e-02 3.00018736e+02] [-3.76561295e-02 -3.87149240e-04 9.99290681e-01 1.44838616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:300.04, Z:1.45 [[-4.73677107e-01 -8.80513633e-01 -1.80482861e-02 1.42428242e+02] [ 8.79907922e-01 -4.74020646e-01 3.26569419e-02 3.00042197e+02] [-3.73101427e-02 -4.11984110e-04 9.99303649e-01 1.44683083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.41, Y:300.07, Z:1.44 [[-4.72371335e-01 -8.81217253e-01 -1.79297037e-02 1.42414159e+02] [ 8.80620900e-01 -4.72711250e-01 3.24176578e-02 3.00065895e+02] [-3.70425720e-02 -4.76099489e-04 9.99313575e-01 1.44481516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.40, Y:300.09, Z:1.44 [[-4.72229049e-01 -8.81296250e-01 -1.77944994e-02 1.42400260e+02] [ 8.80709443e-01 -4.72563946e-01 3.21588748e-02 3.00088593e+02] [-3.67505347e-02 -4.85428793e-04 9.99324353e-01 1.44345824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.39, Y:300.11, Z:1.44 [[-4.72045343e-01 -8.81389917e-01 -1.80279918e-02 1.42386842e+02] [ 8.80788636e-01 -4.72389196e-01 3.25549716e-02 3.00112620e+02] [-3.72098523e-02 -5.11427548e-04 9.99307343e-01 1.44198826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.37, Y:300.14, Z:1.44 [[-4.72387631e-01 -8.81204064e-01 -1.81472694e-02 1.42373530e+02] [ 8.80595576e-01 -4.72735799e-01 3.27459215e-02 3.00135287e+02] [-3.74347030e-02 -5.11636831e-04 9.99298945e-01 1.44037746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.36, Y:300.16, Z:1.44 [[-4.73054176e-01 -8.80843136e-01 -1.83061706e-02 1.42360659e+02] [ 8.80224659e-01 -4.73407984e-01 3.30065113e-02 3.00158868e+02] [-3.77398463e-02 -4.99674782e-04 9.99287473e-01 1.43905279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:300.18, Z:1.44 [[-4.74167826e-01 -8.80242484e-01 -1.83859012e-02 1.42348023e+02] [ 8.79619072e-01 -4.74523922e-01 3.31260619e-02 3.00183570e+02] [-3.78835169e-02 -4.65276609e-04 9.99282054e-01 1.43799819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.34, Y:300.21, Z:1.44 [[-4.75171436e-01 -8.79702653e-01 -1.83125186e-02 1.42335499e+02] [ 8.79084714e-01 -4.75523980e-01 3.29698307e-02 3.00206908e+02] [-3.77116893e-02 -4.31933401e-04 9.99288568e-01 1.43699735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.32, Y:300.23, Z:1.44 [[-4.77513185e-01 -8.78433299e-01 -1.83329719e-02 1.42323434e+02] [ 8.77814001e-01 -4.77864857e-01 3.29811939e-02 3.00231736e+02] [-3.77324620e-02 -3.43984436e-04 9.99287818e-01 1.43585711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:300.26, Z:1.43 [[-4.79018789e-01 -8.77609650e-01 -1.85013871e-02 1.42310789e+02] [ 8.76979221e-01 -4.79375861e-01 3.32600277e-02 3.00256111e+02] [-3.80584396e-02 -2.93153861e-04 9.99275472e-01 1.43485433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.30, Y:300.28, Z:1.43 [[-4.82439112e-01 -8.75735168e-01 -1.84504443e-02 1.42299214e+02] [ 8.75107729e-01 -4.82791768e-01 3.31447069e-02 3.00280433e+02] [-3.79337081e-02 -1.55823486e-04 9.99280246e-01 1.43374742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.29, Y:300.30, Z:1.43 [[-4.84346029e-01 -8.74680115e-01 -1.85369838e-02 1.42287148e+02] [ 8.74046922e-01 -4.84700617e-01 3.32759666e-02 3.00303301e+02] [-3.80907138e-02 -8.51113450e-05 9.99274282e-01 1.43183996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.146875 meters Centerline goodness [0,1] 0.9999760714029337 Centerline is valid? [True, True] Translation: X:142.27, Y:300.33, Z:1.43 [[-4.86051110e-01 -8.73736074e-01 -1.84279911e-02 1.42274482e+02] [ 8.73110571e-01 -4.86400320e-01 3.30553988e-02 3.00327946e+02] [-3.78450751e-02 -2.30605633e-05 9.99283618e-01 1.43074168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.26, Y:300.35, Z:1.43 [[-4.87831538e-01 -8.72745438e-01 -1.83246154e-02 1.42262394e+02] [ 8.72127149e-01 -4.88175583e-01 3.28456367e-02 3.00351273e+02] [-3.76115094e-02 4.17428153e-05 9.99292436e-01 1.42870136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:300.38, Z:1.43 [[-4.91550886e-01 -8.70662414e-01 -1.80190970e-02 1.42252034e+02] [ 8.70064097e-01 -4.91881009e-01 3.22728956e-02 3.00375176e+02] [-3.69620488e-02 1.86001032e-04 9.99316653e-01 1.42712252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.24, Y:300.40, Z:1.43 [[-4.93360192e-01 -8.69640646e-01 -1.79127972e-02 1.42239336e+02] [ 8.69049556e-01 -4.93685209e-01 3.20590591e-02 3.00399833e+02] [-3.67231439e-02 2.49555060e-04 9.99325447e-01 1.42642567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:300.42, Z:1.43 [[-4.94954054e-01 -8.68738312e-01 -1.77265306e-02 1.42226775e+02] [ 8.68159690e-01 -4.95271293e-01 3.17032987e-02 3.00424469e+02] [-3.63213120e-02 3.02216928e-04 9.99340118e-01 1.42552958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.21, Y:300.45, Z:1.42 [[-4.97620475e-01 -8.67212550e-01 -1.77835958e-02 1.42214298e+02] [ 8.66630059e-01 -4.97937979e-01 3.17822201e-02 3.00449232e+02] [-3.64170679e-02 4.03684793e-04 9.99336597e-01 1.42421687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.20, Y:300.47, Z:1.42 [[-4.98477648e-01 -8.66723237e-01 -1.76313898e-02 1.42201638e+02] [ 8.66151075e-01 -4.98789184e-01 3.14907186e-02 3.00472169e+02] [-3.60880841e-02 4.25972124e-04 9.99348522e-01 1.42309090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:300.49, Z:1.42 [[-4.99786361e-01 -8.65967810e-01 -1.77015837e-02 1.42188852e+02] [ 8.65391475e-01 -5.00099522e-01 3.15921316e-02 3.00494899e+02] [-3.62103225e-02 4.70516831e-04 9.99344080e-01 1.42125847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.18, Y:300.52, Z:1.42 [[-5.00296878e-01 -8.65671620e-01 -1.77673856e-02 1.42175418e+02] [ 8.65091677e-01 -5.00612040e-01 3.16855839e-02 3.00518297e+02] [-3.63238779e-02 4.81781335e-04 9.99339954e-01 1.42022584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.16, Y:300.54, Z:1.42 [[-5.00698363e-01 -8.65438241e-01 -1.78269622e-02 1.42160675e+02] [ 8.64855067e-01 -5.01015381e-01 3.17695055e-02 3.00541745e+02] [-3.64261272e-02 4.89200747e-04 9.99336229e-01 1.41964706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.15, Y:300.57, Z:1.42 [[-5.00819989e-01 -8.65369492e-01 -1.77476965e-02 1.42146763e+02] [ 8.64792302e-01 -5.01134126e-01 3.16047899e-02 3.00565592e+02] [-3.62437973e-02 4.80239215e-04 9.99342862e-01 1.41855933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:300.59, Z:1.42 [[-5.00193180e-01 -8.65731676e-01 -1.77608731e-02 1.42132695e+02] [ 8.65154707e-01 -5.00508212e-01 3.16048018e-02 3.00588180e+02] [-3.62507408e-02 4.42603320e-04 9.99342628e-01 1.41721201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.12, Y:300.61, Z:1.42 [[-4.99586883e-01 -8.66082753e-01 -1.77090765e-02 1.42118234e+02] [ 8.65510252e-01 -4.99900492e-01 3.14881304e-02 3.00611464e+02] [-3.61241027e-02 4.03669689e-04 9.99347230e-01 1.41594674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.10, Y:300.63, Z:1.41 [[-4.98718552e-01 -8.66578403e-01 -1.79353646e-02 1.42103255e+02] [ 8.65992340e-01 -4.99040821e-01 3.18673062e-02 3.00633989e+02] [-3.65659984e-02 3.60928485e-04 9.99331175e-01 1.41490028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.09, Y:300.66, Z:1.41 [[-4.95953760e-01 -8.68155688e-01 -1.83185600e-02 1.42087215e+02] [ 8.67546286e-01 -4.96291895e-01 3.25237775e-02 3.00655724e+02] [-3.73270553e-02 2.38091072e-04 9.99303074e-01 1.41424864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.07, Y:300.68, Z:1.41 [[-4.94509214e-01 -8.68980340e-01 -1.82703423e-02 1.42073163e+02] [ 8.68375572e-01 -4.94846584e-01 3.24148708e-02 3.00677760e+02] [-3.72089019e-02 1.63933357e-04 9.99307496e-01 1.41280124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.06, Y:300.70, Z:1.41 [[-4.94772500e-01 -8.68830237e-01 -1.82809200e-02 1.42059895e+02] [ 8.68225587e-01 -4.95110081e-01 3.24089040e-02 3.00701026e+02] [-3.72089036e-02 1.63071990e-04 9.99307496e-01 1.41170890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.04, Y:300.72, Z:1.41 [[-4.93382306e-01 -8.69618780e-01 -1.83596726e-02 1.42044486e+02] [ 8.69010317e-01 -4.93723778e-01 3.25253736e-02 3.00724217e+02] [-3.73492827e-02 9.26989230e-05 9.99302268e-01 1.41089017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.03, Y:300.75, Z:1.41 [[-4.91899962e-01 -8.70457257e-01 -1.84008614e-02 1.42029568e+02] [ 8.69847510e-01 -4.92244009e-01 3.25752233e-02 3.00746676e+02] [-3.74130532e-02 1.78076677e-05 9.99299886e-01 1.40995829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.01, Y:300.77, Z:1.41 [[-4.88302605e-01 -8.72477572e-01 -1.85324584e-02 1.42012232e+02] [ 8.71861400e-01 -4.88654135e-01 3.27846732e-02 3.00768367e+02] [-3.76598545e-02 -1.48893799e-04 9.99290605e-01 1.40860569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:300.79, Z:1.41 [[-4.86771448e-01 -8.73333458e-01 -1.84994379e-02 1.41997321e+02] [ 8.72720979e-01 -4.87122798e-01 3.27027822e-02 3.00790733e+02] [-3.75719319e-02 -2.26066908e-04 9.99293900e-01 1.40673046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:300.81, Z:1.40 [[-4.83870043e-01 -8.74950104e-01 -1.82235115e-02 1.41980670e+02] [ 8.74357774e-01 -4.84212957e-01 3.21915516e-02 3.00812226e+02] [-3.69900618e-02 -3.57341500e-04 9.99315570e-01 1.40410279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.97, Y:300.83, Z:1.40 [[-4.83089762e-01 -8.75382540e-01 -1.81573929e-02 1.41966465e+02] [ 8.74795605e-01 -4.83430708e-01 3.20530778e-02 3.00834415e+02] [-3.68365459e-02 -3.99493724e-04 9.99321224e-01 1.40248187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:300.86, Z:1.40 [[-4.82684440e-01 -8.75606905e-01 -1.81184888e-02 1.41952211e+02] [ 8.75023542e-01 -4.83024187e-01 3.19599011e-02 3.00857765e+02] [-3.67359784e-02 -4.27557316e-04 9.99324915e-01 1.40116563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.94, Y:300.88, Z:1.40 [[-4.81874582e-01 -8.76051032e-01 -1.82065044e-02 1.41937981e+02] [ 8.75463164e-01 -4.82218170e-01 3.20918212e-02 3.00880633e+02] [-3.68935803e-02 -4.74891005e-04 9.99319087e-01 1.40058095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.92, Y:300.90, Z:1.40 [[-4.82445801e-01 -8.75733422e-01 -1.83581868e-02 1.41924400e+02] [ 8.75136354e-01 -4.82794736e-01 3.23358027e-02 3.00904211e+02] [-3.71807790e-02 -4.65644435e-04 9.99308447e-01 1.39940861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:300.93, Z:1.40 [[-4.82785102e-01 -8.75546676e-01 -1.83456569e-02 1.41910707e+02] [ 8.74951151e-01 -4.83133319e-01 3.22905436e-02 3.00926845e+02] [-3.71352762e-02 -4.62160231e-04 9.99310141e-01 1.39793825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.90, Y:300.95, Z:1.40 [[-4.84461254e-01 -8.74614962e-01 -1.86000344e-02 1.41897605e+02] [ 8.74003061e-01 -4.84818008e-01 3.27131065e-02 3.00951132e+02] [-3.76290040e-02 -4.08254466e-04 9.99291695e-01 1.39679353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:300.98, Z:1.40 [[-4.85765577e-01 -8.73892986e-01 -1.85162789e-02 1.41885307e+02] [ 8.73286923e-01 -4.86118213e-01 3.25427756e-02 3.00975237e+02] [-3.74400038e-02 -3.61864042e-04 9.99298812e-01 1.39541178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.87, Y:301.00, Z:1.39 [[-4.87077867e-01 -8.73161945e-01 -1.85302472e-02 1.41872654e+02] [ 8.72555327e-01 -4.87430116e-01 3.25435709e-02 3.00998462e+02] [-3.74480081e-02 -3.17412801e-04 9.99298527e-01 1.39402675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:301.02, Z:1.39 [[-4.88480356e-01 -8.72375494e-01 -1.86531191e-02 1.41860154e+02] [ 8.71761182e-01 -4.88836295e-01 3.27340366e-02 3.01022212e+02] [-3.76746930e-02 -2.71131352e-04 9.99290020e-01 1.39298133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.85, Y:301.05, Z:1.39 [[-4.91312165e-01 -8.70778137e-01 -1.89153996e-02 1.41847790e+02] [ 8.70146171e-01 -4.91676122e-01 3.31697345e-02 3.01046040e+02] [-3.81837299e-02 -1.62468495e-04 9.99270722e-01 1.39188543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:301.07, Z:1.39 [[-4.92658526e-01 -8.70012251e-01 -1.91379498e-02 1.41834589e+02] [ 8.69365696e-01 -4.93030091e-01 3.35352947e-02 3.01070404e+02] [-3.86117023e-02 -1.16428254e-04 9.99254283e-01 1.39084287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.82, Y:301.09, Z:1.39 [[-4.94146354e-01 -8.69163099e-01 -1.93620298e-02 1.41821383e+02] [ 8.68501656e-01 -4.94525534e-01 3.39023740e-02 3.01094840e+02] [-3.90417105e-02 -6.32203986e-05 9.99237580e-01 1.38986885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.81, Y:301.12, Z:1.39 [[-4.96762944e-01 -8.67662286e-01 -1.97163854e-02 1.41809297e+02] [ 8.66976261e-01 -4.97154057e-01 3.44964677e-02 3.01118574e+02] [-3.97333650e-02 4.29287245e-05 9.99210317e-01 1.38855067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:301.14, Z:1.39 [[-4.98037771e-01 -8.66929531e-01 -1.97880704e-02 1.41796863e+02] [ 8.66239002e-01 -4.98430718e-01 3.45949404e-02 3.01141922e+02] [-3.98543576e-02 8.83886031e-05 9.99205496e-01 1.38748580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:301.17, Z:1.39 [[-4.99246166e-01 -8.66230900e-01 -1.99322020e-02 1.41783746e+02] [ 8.65530801e-01 -4.99643883e-01 3.48198520e-02 3.01165399e+02] [-4.01210345e-02 1.31742844e-04 9.99194818e-01 1.38632701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.77, Y:301.19, Z:1.38 [[-5.00546279e-01 -8.65470617e-01 -2.03478068e-02 1.41770184e+02] [ 8.64741469e-01 -5.00959656e-01 3.55192280e-02 3.01188877e+02] [-4.09342785e-02 1.83425046e-04 9.99161824e-01 1.38445023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.76, Y:301.21, Z:1.38 [[-5.00904521e-01 -8.65260461e-01 -2.04693773e-02 1.41756952e+02] [ 8.64523479e-01 -5.01322550e-01 3.57051064e-02 3.01211431e+02] [-4.11559772e-02 1.88591909e-04 9.99152716e-01 1.38289265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.74, Y:301.23, Z:1.38 [[-5.00768468e-01 -8.65339131e-01 -2.04726771e-02 1.41742402e+02] [ 8.64603108e-01 -5.01186752e-01 3.56834138e-02 3.01234666e+02] [-4.11388888e-02 1.68388172e-04 9.99153423e-01 1.38155239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.73, Y:301.26, Z:1.38 [[-4.99865934e-01 -8.65860185e-01 -2.04985126e-02 1.41727726e+02] [ 8.65123823e-01 -5.00286046e-01 3.57021472e-02 3.01256618e+02] [-4.11681876e-02 1.12535532e-04 9.99152224e-01 1.37994697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:301.28, Z:1.38 [[-4.99044259e-01 -8.66329508e-01 -2.06884315e-02 1.41713185e+02] [ 8.65581004e-01 -4.99472902e-01 3.60048086e-02 3.01279380e+02] [-4.15253391e-02 6.04797085e-05 9.99137449e-01 1.37890363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.70, Y:301.30, Z:1.38 [[-4.98379478e-01 -8.66707615e-01 -2.08759632e-02 1.41698792e+02] [ 8.65946907e-01 -4.98816509e-01 3.63048825e-02 3.01301630e+02] [-4.18789932e-02 1.61326252e-05 9.99122690e-01 1.37749585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.68, Y:301.32, Z:1.38 [[-4.96916136e-01 -8.67537238e-01 -2.12954176e-02 1.41682957e+02] [ 8.66747607e-01 -4.97372231e-01 3.70060712e-02 3.01324281e+02] [-4.26958941e-02 -6.88383187e-05 9.99088112e-01 1.37631670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.67, Y:301.35, Z:1.38 [[-4.96294065e-01 -8.67890683e-01 -2.14000646e-02 1.41668460e+02] [ 8.67094734e-01 -4.96755220e-01 3.71614549e-02 3.01346979e+02] [-4.28826743e-02 -1.12873798e-04 9.99080109e-01 1.37513548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:301.37, Z:1.37 [[-4.96011995e-01 -8.68048329e-01 -2.15452580e-02 1.41653865e+02] [ 8.67242852e-01 -4.96479685e-01 3.73865934e-02 3.01369678e+02] [-4.31501529e-02 -1.40772245e-04 9.99068588e-01 1.37400697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.526875 meters Centerline goodness [0,1] 0.9999308038288548 Centerline is valid? [True, True] Translation: X:141.64, Y:301.39, Z:1.37 [[-4.95515330e-01 -8.68333325e-01 -2.14894146e-02 1.41639141e+02] [ 8.67533423e-01 -4.95981053e-01 3.72633082e-02 3.01392941e+02] [-4.30153148e-02 -1.78244943e-04 9.99074397e-01 1.37248460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.62, Y:301.42, Z:1.37 [[-4.94533774e-01 -8.68889382e-01 -2.16237860e-02 1.41624001e+02] [ 8.68081131e-01 -4.95006246e-01 3.74695409e-02 3.01416051e+02] [-4.32607954e-02 -2.41247162e-04 9.99063784e-01 1.37118798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:301.44, Z:1.37 [[-4.94095673e-01 -8.69141995e-01 -2.14862485e-02 1.41609793e+02] [ 8.68345402e-01 -4.94562551e-01 3.72041219e-02 3.01437714e+02] [-4.29619586e-02 -2.75089432e-04 9.99076671e-01 1.37010540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:301.46, Z:1.37 [[-4.92984734e-01 -8.69776963e-01 -2.13092913e-02 1.41594342e+02] [ 8.68994940e-01 -4.93444951e-01 3.68764873e-02 3.01460348e+02] [-4.25892814e-02 -3.38120994e-04 9.99092608e-01 1.36842920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.58, Y:301.48, Z:1.37 [[-4.92600047e-01 -8.69992481e-01 -2.14074039e-02 1.41579838e+02] [ 8.69204612e-01 -4.93064848e-01 3.70188879e-02 3.01482536e+02] [-4.27613925e-02 -3.71908306e-04 9.99085244e-01 1.36676566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.57, Y:301.50, Z:1.37 [[-4.92300995e-01 -8.70166664e-01 -2.12063210e-02 1.41565391e+02] [ 8.69394873e-01 -4.92757364e-01 3.66433385e-02 3.01504859e+02] [-4.23353825e-02 -3.97114733e-04 9.99103377e-01 1.36527601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.55, Y:301.53, Z:1.36 [[-4.92036163e-01 -8.70317248e-01 -2.11731225e-02 1.41551142e+02] [ 8.69549176e-01 -4.92491328e-01 3.65584723e-02 3.01528013e+02] [-4.22450483e-02 -4.22980761e-04 9.99107190e-01 1.36392405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.54, Y:301.55, Z:1.36 [[-4.91857541e-01 -8.70420034e-01 -2.10979716e-02 1.41537375e+02] [ 8.69658586e-01 -4.92309627e-01 3.64029635e-02 3.01551657e+02] [-4.20726032e-02 -4.42960071e-04 9.99114458e-01 1.36240617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.52, Y:301.57, Z:1.36 [[-4.92110366e-01 -8.70277205e-01 -2.10944248e-02 1.41523006e+02] [ 8.69517001e-01 -4.92562067e-01 3.63702465e-02 3.01573322e+02] [-4.20425099e-02 -4.43785645e-04 9.99115724e-01 1.36193610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:301.60, Z:1.36 [[-4.92653215e-01 -8.69952678e-01 -2.17978848e-02 1.41509457e+02] [ 8.69141553e-01 -4.93135016e-01 3.75608529e-02 3.01597557e+02] [-4.34254649e-02 -4.40972470e-04 9.99056572e-01 1.36098124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.50, Y:301.62, Z:1.36 [[-4.93207108e-01 -8.69635801e-01 -2.19162635e-02 1.41496084e+02] [ 8.68816689e-01 -4.93693620e-01 3.77381720e-02 3.01621562e+02] [-4.36383849e-02 -4.28480777e-04 9.99047300e-01 1.36005397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters Centerline goodness [0,1] 0.9996308686122967 Centerline is valid? [True, True] Translation: X:141.48, Y:301.65, Z:1.36 [[-4.93719145e-01 -8.69341536e-01 -2.20612733e-02 1.41483701e+02] [ 8.68512431e-01 -4.94211613e-01 3.79610199e-02 3.01646824e+02] [-4.39040288e-02 -4.18407866e-04 9.99035666e-01 1.35737720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.47, Y:301.67, Z:1.36 [[-4.95316799e-01 -8.68425027e-01 -2.23436997e-02 1.41470681e+02] [ 8.67574759e-01 -4.95820377e-01 3.84212335e-02 3.01670512e+02] [-4.44444224e-02 -3.54147520e-04 9.99011796e-01 1.35701386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters Centerline goodness [0,1] 0.9998613870535508 Centerline is valid? [True, True] Translation: X:141.46, Y:301.69, Z:1.36 [[-4.96241880e-01 -8.67892562e-01 -2.25054809e-02 1.41457630e+02] [ 8.67030671e-01 -4.96751846e-01 3.86706613e-02 3.01693044e+02] [-4.47416185e-02 -3.22940522e-04 9.98998540e-01 1.35574588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.44, Y:301.72, Z:1.35 [[-4.97322584e-01 -8.67279107e-01 -2.22979156e-02 1.41444753e+02] [ 8.66433726e-01 -4.97822129e-01 3.82848220e-02 3.01716865e+02] [-4.43040220e-02 -2.79759470e-04 9.99018056e-01 1.35403790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:301.74, Z:1.35 [[-4.97895680e-01 -8.66955761e-01 -2.20816740e-02 1.41431448e+02] [ 8.66127603e-01 -4.98385032e-01 3.78858287e-02 3.01739489e+02] [-4.38505132e-02 -2.62356954e-04 9.99038069e-01 1.35259448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.42, Y:301.76, Z:1.35 [[-4.98723892e-01 -8.66483169e-01 -2.19407693e-02 1.41418076e+02] [ 8.65666343e-01 -4.99206233e-01 3.76154137e-02 3.01763172e+02] [-4.35460916e-02 -2.33679997e-04 9.99051392e-01 1.35035113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:301.79, Z:1.35 [[-5.00648737e-01 -8.65390192e-01 -2.12286972e-02 1.41405522e+02] [ 8.64625632e-01 -5.01098587e-01 3.63692414e-02 3.01785899e+02] [-4.21112549e-02 -1.46660936e-04 9.99112917e-01 1.34775936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.39, Y:301.81, Z:1.35 [[-5.03083547e-01 -8.63989190e-01 -2.07273888e-02 1.41392681e+02] [ 8.63260209e-01 -5.03510356e-01 3.54842605e-02 3.01810422e+02] [-4.10944724e-02 -4.15823362e-05 9.99155265e-01 1.34522647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.38, Y:301.83, Z:1.34 [[-5.06582251e-01 -8.61946713e-01 -2.05496293e-02 1.41381972e+02] [ 8.61229537e-01 -5.06998867e-01 3.51544182e-02 3.01834462e+02] [-4.07198740e-02 1.10656530e-04 9.99170596e-01 1.34438790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:301.86, Z:1.34 [[-5.07965062e-01 -8.61136712e-01 -2.03729927e-02 1.41368730e+02] [ 8.60432234e-01 -5.08373423e-01 3.48257621e-02 3.01858494e+02] [-4.03468303e-02 1.60690778e-04 9.99185722e-01 1.34327450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.35, Y:301.88, Z:1.34 [[-5.08955528e-01 -8.60558524e-01 -2.00822467e-02 1.41354231e+02] [ 8.59874533e-01 -5.09351538e-01 3.43044973e-02 3.01882593e+02] [-3.97499508e-02 1.91251002e-04 9.99209640e-01 1.34175154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.34, Y:301.90, Z:1.34 [[-5.09818377e-01 -8.60057610e-01 -1.96501860e-02 1.41339910e+02] [ 8.59403201e-01 -5.10196885e-01 3.35451598e-02 3.01904680e+02] [-3.88762337e-02 2.14506149e-04 9.99244010e-01 1.33937566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.33, Y:301.93, Z:1.34 [[-5.09785395e-01 -8.60080463e-01 -1.95050961e-02 1.41326254e+02] [ 8.59436685e-01 -5.10158366e-01 3.32719895e-02 3.01926878e+02] [-3.85672761e-02 1.98179176e-04 9.99255986e-01 1.33785297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.31, Y:301.95, Z:1.34 [[-5.08986112e-01 -8.60553569e-01 -1.95113694e-02 1.41311799e+02] [ 8.59910707e-01 -5.09359925e-01 3.32572210e-02 3.01949753e+02] [-3.85579298e-02 1.49428179e-04 9.99256355e-01 1.33726916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:301.97, Z:1.34 [[-5.08669897e-01 -8.60734946e-01 -1.97557523e-02 1.41298292e+02] [ 8.60076968e-01 -5.09053374e-01 3.36492388e-02 3.01972698e+02] [-3.90198081e-02 1.24887295e-04 9.99238429e-01 1.33672769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.29, Y:302.00, Z:1.34 [[-5.08628922e-01 -8.60756013e-01 -1.98923590e-02 1.41285012e+02] [ 8.60089942e-01 -5.09017754e-01 3.38558522e-02 3.01995354e+02] [-3.92671923e-02 1.10847735e-04 9.99228740e-01 1.33604594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:302.02, Z:1.33 [[-5.08771539e-01 -8.60672914e-01 -1.98407937e-02 1.41271277e+02] [ 8.60010946e-01 -5.09158251e-01 3.37497888e-02 3.02018931e+02] [-3.91496328e-02 1.07632186e-04 9.99233353e-01 1.33482084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:302.04, Z:1.33 [[-5.08932475e-01 -8.60576991e-01 -1.98740819e-02 1.41257218e+02] [ 8.59913650e-01 -5.09320363e-01 3.37828763e-02 3.02042870e+02] [-3.91950406e-02 1.03208605e-04 9.99231574e-01 1.33341409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.24, Y:302.07, Z:1.33 [[-5.09057461e-01 -8.60505355e-01 -1.97745930e-02 1.41243641e+02] [ 8.59849491e-01 -5.09441384e-01 3.35906082e-02 3.02066459e+02] [-3.89788943e-02 9.63759805e-05 9.99240029e-01 1.33256958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.23, Y:302.09, Z:1.33 [[-5.09070213e-01 -8.60492749e-01 -1.99936562e-02 1.41230595e+02] [ 8.59823207e-01 -5.09462679e-01 3.39386556e-02 3.02090115e+02] [-3.93899887e-02 8.61490452e-05 9.99223910e-01 1.33218060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.22, Y:302.11, Z:1.33 [[-5.09165508e-01 -8.60435032e-01 -2.00509742e-02 1.41217661e+02] [ 8.59762578e-01 -5.09560153e-01 3.40111776e-02 3.02112866e+02] [-3.94815862e-02 7.82412195e-05 9.99220295e-01 1.33117471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.20, Y:302.14, Z:1.33 [[-5.09513383e-01 -8.60232200e-01 -1.99166744e-02 1.41203930e+02] [ 8.59569576e-01 -5.09902496e-01 3.37578097e-02 3.02136866e+02] [-3.91951168e-02 8.02884648e-05 9.99231573e-01 1.32970059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.19, Y:302.16, Z:1.33 [[-5.09816981e-01 -8.60052549e-01 -1.99062648e-02 1.41190539e+02] [ 8.59391421e-01 -5.10205456e-01 3.37161496e-02 3.02159430e+02] [-3.91539453e-02 8.17924609e-05 9.99233187e-01 1.32778782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.18, Y:302.18, Z:1.33 [[-5.10076736e-01 -8.59898336e-01 -1.99141993e-02 1.41176814e+02] [ 8.59237273e-01 -5.10465322e-01 3.37114624e-02 3.02182422e+02] [-3.91539386e-02 8.44104031e-05 9.99233187e-01 1.32669375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.16, Y:302.21, Z:1.32 [[-5.10017629e-01 -8.59943762e-01 -1.94613653e-02 1.41163035e+02] [ 8.59313314e-01 -5.10388795e-01 3.29227213e-02 3.02205619e+02] [-3.82445516e-02 6.77580029e-05 9.99268407e-01 1.32469467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.15, Y:302.23, Z:1.32 [[-5.10251445e-01 -8.59804790e-01 -1.94726895e-02 1.41149465e+02] [ 8.59174374e-01 -5.10622873e-01 3.29192349e-02 3.02228751e+02] [-3.82473165e-02 6.66513861e-05 9.99268301e-01 1.32381204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters Centerline goodness [0,1] 0.9999299817952668 Centerline is valid? [True, True] Translation: X:141.14, Y:302.25, Z:1.32 [[-5.10433453e-01 -8.59703221e-01 -1.91849345e-02 1.41135766e+02] [ 8.59092075e-01 -5.10793861e-01 3.24104638e-02 3.02252838e+02] [-3.76629269e-02 6.17597762e-05 9.99290498e-01 1.32265389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.12, Y:302.28, Z:1.32 [[-5.11019851e-01 -8.59362961e-01 -1.88152507e-02 1.41122413e+02] [ 8.58775770e-01 -5.11366108e-01 3.17628753e-02 3.02275531e+02] [-3.69173201e-02 7.33784172e-05 9.99318321e-01 1.32172139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:302.30, Z:1.32 [[-5.11144401e-01 -8.59290756e-01 -1.87295797e-02 1.41108167e+02] [ 8.58709478e-01 -5.11487430e-01 3.16012880e-02 3.02298683e+02] [-3.67346393e-02 6.95538147e-05 9.99325053e-01 1.32018946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:302.32, Z:1.32 [[-5.11019265e-01 -8.59364315e-01 -1.87692491e-02 1.41093742e+02] [ 8.58781457e-01 -5.11363835e-01 3.16455116e-02 3.02321310e+02] [-3.67929386e-02 5.27830381e-05 9.99322909e-01 1.31887874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.08, Y:302.34, Z:1.32 [[-5.09564303e-01 -8.60229307e-01 -1.87018926e-02 1.41078322e+02] [ 8.59652026e-01 -5.09907383e-01 3.15096041e-02 3.02342312e+02] [-3.66417180e-02 -2.09504236e-05 9.99328467e-01 1.31734658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.786875 meters Centerline goodness [0,1] 0.9999767517552425 Centerline is valid? [True, True] Translation: X:141.06, Y:302.37, Z:1.32 [[-5.08816186e-01 -8.60674388e-01 -1.85926166e-02 1.41063210e+02] [ 8.60104985e-01 -5.09155765e-01 3.13021023e-02 3.02365008e+02] [-3.64074557e-02 -6.45858694e-05 9.99337027e-01 1.31600153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.05, Y:302.39, Z:1.31 [[-5.08326566e-01 -8.60962439e-01 -1.86488650e-02 1.41048024e+02] [ 8.60390585e-01 -5.08668525e-01 3.13747122e-02 3.02387633e+02] [-3.64985394e-02 -9.67081626e-05 9.99333702e-01 1.31481637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.03, Y:302.41, Z:1.31 [[-5.06561555e-01 -8.62006443e-01 -1.84467486e-02 1.41031625e+02] [ 8.61448374e-01 -5.06897286e-01 3.10135606e-02 3.02409859e+02] [-3.60844959e-02 -1.80644135e-04 9.99348726e-01 1.31400537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.02, Y:302.43, Z:1.31 [[-5.05811360e-01 -8.62446385e-01 -1.84689340e-02 1.41015994e+02] [ 8.61888072e-01 -5.06148380e-01 3.10285214e-02 3.02431319e+02] [-3.61084571e-02 -2.23575313e-04 9.99347852e-01 1.31192169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:302.45, Z:1.31 [[-5.05095647e-01 -8.62863262e-01 -1.85843668e-02 1.41000695e+02] [ 8.62299104e-01 -5.05437355e-01 3.11983229e-02 3.02454217e+02] [-3.63131199e-02 -2.67145715e-04 9.99340425e-01 1.31121887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.98, Y:302.48, Z:1.31 [[-5.03230741e-01 -8.63947211e-01 -1.88158910e-02 1.40983457e+02] [ 8.63370489e-01 -5.03582253e-01 3.15644175e-02 3.02475816e+02] [-3.67453393e-02 -3.60899805e-04 9.99324597e-01 1.31019222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:302.50, Z:1.31 [[-5.02612447e-01 -8.64304155e-01 -1.89487530e-02 1.40967965e+02] [ 8.63720288e-01 -5.02969350e-01 3.17663027e-02 3.02498294e+02] [-3.69863894e-02 -4.00283320e-04 9.99315689e-01 1.30918089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters Centerline goodness [0,1] 0.999930901050304 Centerline is valid? [True, True] Translation: X:140.95, Y:302.52, Z:1.31 [[-5.01782674e-01 -8.64782420e-01 -1.91184200e-02 1.40952542e+02] [ 8.64189234e-01 -5.02146555e-01 3.20281982e-02 3.02520344e+02] [-3.72976715e-02 -4.50737826e-04 9.99304098e-01 1.30820498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:302.54, Z:1.31 [[-5.00280485e-01 -8.65653629e-01 -1.90586306e-02 1.40936305e+02] [ 8.65065608e-01 -5.00643105e-01 3.19057160e-02 3.02543732e+02] [-3.71608709e-02 -5.25158824e-04 9.99309158e-01 1.30738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.92, Y:302.57, Z:1.31 [[-4.99402463e-01 -8.66164098e-01 -1.88927180e-02 1.40919748e+02] [ 8.65587373e-01 -4.99759374e-01 3.16080184e-02 3.02565723e+02] [-3.68195437e-02 -5.68175944e-04 9.99321769e-01 1.30557755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.90, Y:302.59, Z:1.30 [[-4.98439849e-01 -8.66725037e-01 -1.85856894e-02 1.40904544e+02] [ 8.66167992e-01 -4.98785865e-01 3.10752304e-02 3.02588789e+02] [-3.62039594e-02 -6.09196083e-04 9.99344236e-01 1.30423468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.89, Y:302.61, Z:1.30 [[-4.96026087e-01 -8.68119732e-01 -1.80624705e-02 1.40887173e+02] [ 8.67595233e-01 -4.96354350e-01 3.01806537e-02 3.02611300e+02] [-3.51658068e-02 -7.00521762e-04 9.99381246e-01 1.30210054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.87, Y:302.63, Z:1.30 [[-4.95115425e-01 -8.68642595e-01 -1.79097233e-02 1.40871343e+02] [ 8.68127916e-01 -4.95438688e-01 2.99069801e-02 3.02633077e+02] [-3.48516466e-02 -7.40523627e-04 9.99392222e-01 1.30021783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.86, Y:302.66, Z:1.30 [[-4.94314248e-01 -8.69103635e-01 -1.76719186e-02 1.40855659e+02] [ 8.68603499e-01 -4.94629433e-01 2.94904513e-02 3.02656744e+02] [-3.43713095e-02 -7.72340066e-04 9.99408834e-01 1.29833390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.84, Y:302.68, Z:1.30 [[-4.93190745e-01 -8.69746360e-01 -1.74401368e-02 1.40839451e+02] [ 8.69260257e-01 -4.93498333e-01 2.90860998e-02 3.02678777e+02] [-3.39042079e-02 -8.15022585e-04 9.99424755e-01 1.29584455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:302.70, Z:1.29 [[-4.93242919e-01 -8.69722015e-01 -1.71766814e-02 1.40826285e+02] [ 8.69251078e-01 -4.93541244e-01 2.86287275e-02 3.02702934e+02] [-3.33764353e-02 -8.09931665e-04 9.99442523e-01 1.29487625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.81, Y:302.73, Z:1.29 [[-4.93461041e-01 -8.69599265e-01 -1.71265339e-02 1.40811891e+02] [ 8.69131677e-01 -4.93757494e-01 2.85248294e-02 3.02725890e+02] [-3.32615252e-02 -8.09321065e-04 9.99446355e-01 1.29365302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:302.75, Z:1.29 [[-4.94881713e-01 -8.68786804e-01 -1.73660677e-02 1.40799045e+02] [ 8.68306260e-01 -4.95185711e-01 2.89024465e-02 3.02750579e+02] [-3.37094927e-02 -7.75773075e-04 9.99431372e-01 1.29349409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.79, Y:302.77, Z:1.29 [[-4.95954214e-01 -8.68178518e-01 -1.71895067e-02 1.40785845e+02] [ 8.67707921e-01 -4.96251468e-01 2.85909695e-02 3.02774317e+02] [-3.33523835e-02 -7.35659292e-04 9.99443384e-01 1.29262180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.77, Y:302.80, Z:1.29 [[-4.97293580e-01 -8.67411272e-01 -1.72273344e-02 1.40772673e+02] [ 8.66938826e-01 -4.97591400e-01 2.86333785e-02 3.02796838e+02] [-3.34090888e-02 -6.95849787e-04 9.99441518e-01 1.29123945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.76, Y:302.82, Z:1.29 [[-5.00145381e-01 -8.65765122e-01 -1.74742902e-02 1.40760673e+02] [ 8.65278801e-01 -5.00450184e-01 2.90208567e-02 3.02821767e+02] [-3.38702573e-02 -6.05485408e-04 9.99426055e-01 1.28997213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:302.85, Z:1.29 [[-5.02115543e-01 -8.64625918e-01 -1.73782434e-02 1.40747384e+02] [ 8.64144856e-01 -5.02415899e-01 2.88432270e-02 3.02847011e+02] [-3.36697074e-02 -5.34687105e-04 9.99432872e-01 1.28899021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.74, Y:302.87, Z:1.29 [[-5.05200669e-01 -8.62821101e-01 -1.76644290e-02 1.40735699e+02] [ 8.62323590e-01 -5.05509211e-01 2.92995499e-02 3.02872547e+02] [-3.42098015e-02 -4.30301659e-04 9.99414581e-01 1.28833068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.72, Y:302.90, Z:1.29 [[-5.06946563e-01 -8.61793646e-01 -1.78014945e-02 1.40722341e+02] [ 8.61288379e-01 -5.07258881e-01 2.95085710e-02 3.02896630e+02] [-3.44602652e-02 -3.72951740e-04 9.99405999e-01 1.28722211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:302.92, Z:1.29 [[-5.08469419e-01 -8.60895988e-01 -1.78030450e-02 1.40708972e+02] [ 8.60390802e-01 -5.08780890e-01 2.94902457e-02 3.02920587e+02] [-3.44458833e-02 -3.22688058e-04 9.99406512e-01 1.28623445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.70, Y:302.94, Z:1.29 [[-5.09654731e-01 -8.60193156e-01 -1.78826709e-02 1.40695655e+02] [ 8.59683734e-01 -5.09968286e-01 2.96011081e-02 3.02944845e+02] [-3.45822656e-02 -2.87096464e-04 9.99401813e-01 1.28533528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.68, Y:302.97, Z:1.28 [[-5.11764251e-01 -8.58944009e-01 -1.76788143e-02 1.40682633e+02] [ 8.58446102e-01 -5.12069473e-01 2.92428682e-02 3.02969289e+02] [-3.41707676e-02 -2.10854623e-04 9.99415987e-01 1.28373476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.67, Y:302.99, Z:1.28 [[-5.12704733e-01 -8.58388698e-01 -1.73982352e-02 1.40669426e+02] [ 8.57906823e-01 -5.12999814e-01 2.87588897e-02 3.02991885e+02] [-3.36115973e-02 -1.81245841e-04 9.99434954e-01 1.28257292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:303.02, Z:1.28 [[-5.13550822e-01 -8.57885370e-01 -1.72698026e-02 1.40655211e+02] [ 8.57411012e-01 -5.13841092e-01 2.85252455e-02 3.03015712e+02] [-3.33453250e-02 -1.58155604e-04 9.99443878e-01 1.28119553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.64, Y:303.04, Z:1.28 [[-5.14668056e-01 -8.57216141e-01 -1.72418319e-02 1.40641287e+02] [ 8.56743606e-01 -5.14956768e-01 2.84591117e-02 3.03038373e+02] [-3.32744079e-02 -1.24833587e-04 9.99446246e-01 1.27963478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:303.06, Z:1.28 [[-5.15290766e-01 -8.56841620e-01 -1.72587316e-02 1.40627315e+02] [ 8.56368660e-01 -5.15579698e-01 2.84656508e-02 3.03061623e+02] [-3.32888060e-02 -1.11749870e-04 9.99445768e-01 1.27860267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.61, Y:303.09, Z:1.28 [[-5.16217893e-01 -8.56281906e-01 -1.73316060e-02 1.40613270e+02] [ 8.55805287e-01 -5.16508751e-01 2.85660575e-02 3.03085220e+02] [-3.34125243e-02 -8.61699945e-05 9.99441642e-01 1.27811941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:303.11, Z:1.28 [[-5.17820276e-01 -8.55311083e-01 -1.74675107e-02 1.40599419e+02] [ 8.54827098e-01 -5.18114804e-01 2.87694551e-02 3.03107522e+02] [-3.36570096e-02 -3.42942906e-05 9.99433442e-01 1.27662109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:303.13, Z:1.28 [[-5.18597108e-01 -8.54834533e-01 -1.77471287e-02 1.40585178e+02] [ 8.54335415e-01 -5.18900685e-01 2.92075009e-02 3.03130454e+02] [-3.41765776e-02 -1.50750153e-05 9.99415810e-01 1.27629447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:303.15, Z:1.28 [[-5.19406785e-01 -8.54339959e-01 -1.78836567e-02 1.40571291e+02] [ 8.53833554e-01 -5.19714570e-01 2.94113541e-02 3.03152297e+02] [-3.44216920e-02 6.79075939e-06 9.99407398e-01 1.27519376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:303.18, Z:1.27 [[-5.20551477e-01 -8.53641778e-01 -1.79408653e-02 1.40556136e+02] [ 8.53132479e-01 -5.20860551e-01 2.94832137e-02 3.03175093e+02] [-3.45127920e-02 4.15955356e-05 9.99404255e-01 1.27442669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.54, Y:303.20, Z:1.27 [[-5.21361701e-01 -8.53146011e-01 -1.79961461e-02 1.40541311e+02] [ 8.52633980e-01 -5.21672196e-01 2.95536005e-02 3.03197747e+02] [-3.46016255e-02 6.39897400e-05 9.99401182e-01 1.27380413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.53, Y:303.22, Z:1.27 [[-5.21794700e-01 -8.52880354e-01 -1.80386428e-02 1.40526055e+02] [ 8.52366468e-01 -5.22106403e-01 2.96024812e-02 3.03218887e+02] [-3.46654656e-02 7.08835107e-05 9.99398970e-01 1.27254252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.51, Y:303.24, Z:1.27 [[-5.21777533e-01 -8.52889997e-01 -1.80792336e-02 1.40510247e+02] [ 8.52374576e-01 -5.22090652e-01 2.96468040e-02 3.03241471e+02] [-3.47244615e-02 5.87572185e-05 9.99396922e-01 1.27202275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.49, Y:303.26, Z:1.27 [[-5.21660990e-01 -8.52967453e-01 -1.77858360e-02 1.40494966e+02] [ 8.52469368e-01 -5.21964101e-01 2.91453872e-02 3.03263069e+02] [-3.41436345e-02 4.21311507e-05 9.99416935e-01 1.27024053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.48, Y:303.29, Z:1.27 [[-5.21197001e-01 -8.53246822e-01 -1.79874212e-02 1.40478781e+02] [ 8.52738342e-01 -5.21507297e-01 2.94526693e-02 3.03285691e+02] [-3.45109679e-02 1.20791945e-05 9.99404319e-01 1.26965308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.46, Y:303.31, Z:1.27 [[-5.19789250e-01 -8.54106049e-01 -1.79441438e-02 1.40460985e+02] [ 8.53601167e-01 -5.20098888e-01 2.93631394e-02 3.03307498e+02] [-3.44119642e-02 -5.44979259e-05 9.99407731e-01 1.26833217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.45, Y:303.33, Z:1.27 [[-5.19233973e-01 -8.54443046e-01 -1.79767457e-02 1.40445226e+02] [ 8.53937216e-01 -5.19545065e-01 2.93965546e-02 3.03329275e+02] [-3.44574111e-02 -8.73223493e-05 9.99406163e-01 1.26698383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.43, Y:303.35, Z:1.27 [[-5.18675254e-01 -8.54783841e-01 -1.79043763e-02 1.40429534e+02] [ 8.54282700e-01 -5.18984173e-01 2.92659433e-02 3.03351134e+02] [-3.43081433e-02 -1.15878408e-04 9.99411296e-01 1.26558681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.41, Y:303.37, Z:1.26 [[-5.16994623e-01 -8.55793780e-01 -1.82638161e-02 1.40412073e+02] [ 8.55273694e-01 -5.17317086e-01 2.98318691e-02 3.03371887e+02] [-3.49781121e-02 -1.97645584e-04 9.99388059e-01 1.26494706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.40, Y:303.39, Z:1.26 [[-5.16116289e-01 -8.56320593e-01 -1.84124403e-02 1.40396244e+02] [ 8.55793097e-01 -5.16444558e-01 3.00532020e-02 3.03393294e+02] [-3.52441803e-02 -2.46292262e-04 9.99378701e-01 1.26379735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:303.42, Z:1.26 [[-5.15336310e-01 -8.56788500e-01 -1.84920147e-02 1.40380305e+02] [ 8.56257540e-01 -5.15667899e-01 3.01602805e-02 3.03415165e+02] [-3.53767198e-02 -2.91239382e-04 9.99374006e-01 1.26257941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.36, Y:303.44, Z:1.26 [[-5.14445388e-01 -8.57325099e-01 -1.84286962e-02 1.40364826e+02] [ 8.56798849e-01 -5.14775252e-01 3.00361755e-02 3.03437600e+02] [-3.52374039e-02 -3.37713705e-04 9.99378913e-01 1.26174562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:303.46, Z:1.26 [[-5.12422795e-01 -8.58536240e-01 -1.83957213e-02 1.40346814e+02] [ 8.58013407e-01 -5.12752706e-01 2.99609007e-02 3.03458156e+02] [-3.51549749e-02 -4.31127065e-04 9.99381780e-01 1.25949028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.33, Y:303.48, Z:1.26 [[-5.11504282e-01 -8.59081064e-01 -1.85227952e-02 1.40330857e+02] [ 8.58552060e-01 -5.11839323e-01 3.01474485e-02 3.03481452e+02] [-3.53797971e-02 -4.82235016e-04 9.99373823e-01 1.25825678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:303.50, Z:1.26 [[-5.09579264e-01 -8.60226988e-01 -1.83984245e-02 1.40312434e+02] [ 8.59706505e-01 -5.09910978e-01 2.99252174e-02 3.03501655e+02] [-3.51240383e-02 -5.67974975e-04 9.99382799e-01 1.25583776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.30, Y:303.52, Z:1.25 [[-5.08895464e-01 -8.60629675e-01 -1.84924202e-02 1.40296678e+02] [ 8.60104580e-01 -5.09230985e-01 3.00651844e-02 3.03524337e+02] [-3.52919032e-02 -6.05379358e-04 9.99376863e-01 1.25461456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.28, Y:303.55, Z:1.25 [[-5.08043433e-01 -8.61138443e-01 -1.82332599e-02 1.40281597e+02] [ 8.60629000e-01 -5.08370111e-01 2.96235449e-02 3.03548464e+02] [-3.47792177e-02 -6.42024816e-04 9.99394814e-01 1.25360063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.26, Y:303.57, Z:1.25 [[-5.07048989e-01 -8.61728381e-01 -1.80421700e-02 1.40264417e+02] [ 8.61230557e-01 -5.07369421e-01 2.92950374e-02 3.03570042e+02] [-3.43984105e-02 -6.84449013e-04 9.99407965e-01 1.25133487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:303.59, Z:1.25 [[-5.07139544e-01 -8.61675090e-01 -1.80422439e-02 1.40249689e+02] [ 8.61177894e-01 -5.07459913e-01 2.92757951e-02 3.03592619e+02] [-3.43819388e-02 -6.90668238e-04 9.99408528e-01 1.24984803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.24, Y:303.62, Z:1.25 [[-5.07404805e-01 -8.61518726e-01 -1.80512604e-02 1.40235539e+02] [ 8.61021629e-01 -5.07725326e-01 2.92702341e-02 3.03615342e+02] [-3.43819369e-02 -6.90668197e-04 9.99408528e-01 1.24875501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.22, Y:303.64, Z:1.25 [[-5.07385491e-01 -8.61529848e-01 -1.80633494e-02 1.40221546e+02] [ 8.61032783e-01 -5.07706439e-01 2.92697369e-02 3.03638862e+02] [-3.43876308e-02 -7.02096213e-04 9.99408324e-01 1.24777919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.21, Y:303.66, Z:1.25 [[-5.07605242e-01 -8.61404818e-01 -1.78510099e-02 1.40207178e+02] [ 8.60919979e-01 -5.07918553e-01 2.89055861e-02 3.03661966e+02] [-3.39662702e-02 -6.95664080e-04 9.99422738e-01 1.24664251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.19, Y:303.68, Z:1.25 [[-5.07858124e-01 -8.61252040e-01 -1.80291562e-02 1.40192735e+02] [ 8.60758085e-01 -5.08177558e-01 2.91734118e-02 3.03683964e+02] [-3.42876730e-02 -7.02787753e-04 9.99411758e-01 1.24530340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.18, Y:303.71, Z:1.24 [[-5.08246678e-01 -8.61022627e-01 -1.80374517e-02 1.40179298e+02] [ 8.60528834e-01 -5.08566168e-01 2.91646899e-02 3.03709185e+02] [-3.42846956e-02 -6.98890507e-04 9.99411863e-01 1.24442107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:303.73, Z:1.24 [[-5.08860504e-01 -8.60661845e-01 -1.79492636e-02 1.40164642e+02] [ 8.60173268e-01 -5.09176517e-01 2.90038561e-02 3.03732110e+02] [-3.41018558e-02 -6.80559932e-04 9.99418131e-01 1.24318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:303.76, Z:1.24 [[-5.10321860e-01 -8.59790825e-01 -1.82026440e-02 1.40151749e+02] [ 8.59288501e-01 -5.10645988e-01 2.93929836e-02 3.03757119e+02] [-3.45669247e-02 -6.41440605e-04 9.99402179e-01 1.24196276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.14, Y:303.78, Z:1.24 [[-5.11272263e-01 -8.59226214e-01 -1.81930383e-02 1.40138247e+02] [ 8.58724702e-01 -5.11595483e-01 2.93589322e-02 3.03781311e+02] [-3.45334404e-02 -6.12403731e-04 9.99403355e-01 1.24076075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.13, Y:303.81, Z:1.24 [[-5.13491655e-01 -8.57899013e-01 -1.83194761e-02 1.40125897e+02] [ 8.57390319e-01 -5.13818057e-01 2.95439675e-02 3.03805652e+02] [-3.47586182e-02 -5.36360670e-04 9.99395593e-01 1.23948844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.11, Y:303.83, Z:1.24 [[-5.15085214e-01 -8.56938303e-01 -1.85463198e-02 1.40112724e+02] [ 8.56416966e-01 -5.15418769e-01 2.98910127e-02 3.03829743e+02] [-3.51738750e-02 -4.86964272e-04 9.99381089e-01 1.23856361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.10, Y:303.85, Z:1.24 [[-5.16697630e-01 -8.55964648e-01 -1.86569414e-02 1.40099753e+02] [ 8.55437194e-01 -5.17034170e-01 3.00478595e-02 3.03853461e+02] [-3.53661817e-02 -4.34183830e-04 9.99374327e-01 1.23776277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:303.88, Z:1.24 [[-5.19714800e-01 -8.54131923e-01 -1.88463420e-02 1.40087700e+02] [ 8.53593276e-01 -5.20056298e-01 3.03309338e-02 3.03879207e+02] [-3.57077777e-02 -3.23675612e-04 9.99362222e-01 1.23695756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:303.90, Z:1.24 [[-5.21409560e-01 -8.53100289e-01 -1.87608206e-02 1.40074579e+02] [ 8.52566510e-01 -5.21746901e-01 3.01747880e-02 3.03902011e+02] [-3.55305204e-02 -2.61424395e-04 9.99368558e-01 1.23561098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:303.93, Z:1.23 [[-5.23040508e-01 -8.52098196e-01 -1.89021691e-02 1.40061633e+02] [ 8.51556511e-01 -5.23381909e-01 3.03790551e-02 3.03926287e+02] [-3.57789914e-02 -2.06788727e-04 9.99359706e-01 1.23466126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.05, Y:303.95, Z:1.23 [[-5.25833047e-01 -8.50376756e-01 -1.89467515e-02 1.40049973e+02] [ 8.49832156e-01 -5.26174270e-01 3.04293488e-02 3.03951049e+02] [-3.58457040e-02 -1.00801465e-04 9.99357331e-01 1.23350121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.04, Y:303.97, Z:1.23 [[-5.27237944e-01 -8.49510254e-01 -1.87743899e-02 1.40036806e+02] [ 8.48975719e-01 -5.27572104e-01 3.01314508e-02 3.03974605e+02] [-3.55018209e-02 -5.25569866e-05 9.99369610e-01 1.23184623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:304.00, Z:1.23 [[-5.28499959e-01 -8.48729911e-01 -1.85831203e-02 1.40023809e+02] [ 8.48206450e-01 -5.28826568e-01 2.98040330e-02 3.03997521e+02] [-3.51228220e-02 -1.08922536e-05 9.99383003e-01 1.23019049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.01, Y:304.02, Z:1.23 [[-5.30501379e-01 -8.47486661e-01 -1.82933575e-02 1.40010377e+02] [ 8.46979409e-01 -5.30816688e-01 2.93176359e-02 3.04022783e+02] [-3.45567248e-02 5.89491003e-05 9.99402736e-01 1.22809277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.00, Y:304.05, Z:1.23 [[-5.31548750e-01 -8.46836140e-01 -1.80133057e-02 1.39996065e+02] [ 8.46344538e-01 -5.31853875e-01 2.88509807e-02 3.04047092e+02] [-3.40124995e-02 9.02398207e-05 9.99421403e-01 1.22677520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.98, Y:304.07, Z:1.23 [[-5.33216797e-01 -8.45785210e-01 -1.80893602e-02 1.39983636e+02] [ 8.45289467e-01 -5.33523529e-01 2.89544780e-02 3.04071200e+02] [-3.41403686e-02 1.48268367e-04 9.99417037e-01 1.22527044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.97, Y:304.09, Z:1.22 [[-5.34089594e-01 -8.45236733e-01 -1.79769709e-02 1.39969906e+02] [ 8.44747465e-01 -5.34392025e-01 2.87555970e-02 3.04094436e+02] [-3.39120367e-02 1.72064493e-04 9.99424807e-01 1.22433120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.96, Y:304.12, Z:1.22 [[-5.34748083e-01 -8.44821850e-01 -1.79033147e-02 1.39955953e+02] [ 8.44337017e-01 -5.35047667e-01 2.86180967e-02 3.04117984e+02] [-3.37563202e-02 1.87040996e-04 9.99430076e-01 1.22340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.94, Y:304.14, Z:1.22 [[-5.35248476e-01 -8.44502586e-01 -1.80125118e-02 1.39942227e+02] [ 8.44012321e-01 -5.35551438e-01 2.87725433e-02 3.04140913e+02] [-3.39451138e-02 1.97678092e-04 9.99423679e-01 1.22241923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:304.16, Z:1.22 [[-5.36226170e-01 -8.43880187e-01 -1.81031952e-02 1.39928349e+02] [ 8.43385350e-01 -5.36531620e-01 2.88958891e-02 3.04164241e+02] [-3.40976049e-02 2.26762315e-04 9.99418482e-01 1.22219000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.91, Y:304.19, Z:1.22 [[-5.36503332e-01 -8.43697098e-01 -1.84223173e-02 1.39914984e+02] [ 8.43185307e-01 -5.36819479e-01 2.93834159e-02 3.04186329e+02] [-3.46801615e-02 2.30873265e-04 9.99398436e-01 1.22103077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:304.21, Z:1.22 [[-5.36157947e-01 -8.43902351e-01 -1.90650892e-02 1.39898410e+02] [ 8.43354933e-01 -5.36496761e-01 3.03921351e-02 3.04208692e+02] [-3.58763529e-02 2.16347703e-04 9.99356213e-01 1.22075522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:304.23, Z:1.22 [[-5.35831862e-01 -8.44106879e-01 -1.91779136e-02 1.39882728e+02] [ 8.43553843e-01 -5.36174915e-01 3.05511694e-02 3.04231082e+02] [-3.60711685e-02 1.92687256e-04 9.99349205e-01 1.22005811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.87, Y:304.25, Z:1.22 [[-5.35334779e-01 -8.44420513e-01 -1.92528259e-02 1.39866845e+02] [ 8.43864108e-01 -5.35680848e-01 3.06495893e-02 3.04252899e+02] [-3.61945121e-02 1.61022376e-04 9.99344751e-01 1.21897508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.85, Y:304.27, Z:1.22 [[-5.33475729e-01 -8.45601303e-01 -1.90284910e-02 1.39850068e+02] [ 8.45059277e-01 -5.33814979e-01 3.02718842e-02 3.04273144e+02] [-3.57556383e-02 6.91126890e-05 9.99360560e-01 1.21725209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.83, Y:304.30, Z:1.22 [[-5.32730372e-01 -8.46072797e-01 -1.89518565e-02 1.39833577e+02] [ 8.45536208e-01 -5.33067370e-01 3.01280589e-02 3.04295252e+02] [-3.55931474e-02 2.56511346e-05 9.99366363e-01 1.21610983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:304.32, Z:1.21 [[-5.31579581e-01 -8.46801956e-01 -1.86974756e-02 1.39817860e+02] [ 8.46280844e-01 -5.31908306e-01 2.97033272e-02 3.04315994e+02] [-3.50981782e-02 -3.36332161e-05 9.99383869e-01 1.21406621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:304.34, Z:1.21 [[-5.30748647e-01 -8.47325413e-01 -1.85881254e-02 1.39801462e+02] [ 8.46811458e-01 -5.31074042e-01 2.95079167e-02 3.04338160e+02] [-3.48744786e-02 -7.93506751e-05 9.99391697e-01 1.21261146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.78, Y:304.36, Z:1.21 [[-5.28609012e-01 -8.48677857e-01 -1.78439729e-02 1.39783478e+02] [ 8.48205643e-01 -5.28910074e-01 2.83076288e-02 3.04359053e+02] [-3.34619147e-02 -1.71690812e-04 9.99439979e-01 1.21010201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:304.38, Z:1.21 [[-5.27895238e-01 -8.49125408e-01 -1.76821627e-02 1.39767617e+02] [ 8.48662562e-01 -5.28191251e-01 2.80331666e-02 3.04381101e+02] [-3.31432377e-02 -2.07614333e-04 9.99450590e-01 1.20904935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.75, Y:304.40, Z:1.21 [[-5.26676237e-01 -8.49877449e-01 -1.79014670e-02 1.39750880e+02] [ 8.49404140e-01 -5.26980312e-01 2.83611878e-02 3.04402216e+02] [-3.35372547e-02 -2.68416517e-04 9.99437432e-01 1.20794288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:304.42, Z:1.21 [[-5.26303049e-01 -8.50101727e-01 -1.82250831e-02 1.39735396e+02] [ 8.49612022e-01 -5.26618423e-01 2.88521875e-02 3.04423093e+02] [-3.41249589e-02 -2.99255442e-04 9.99417529e-01 1.20654521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.72, Y:304.45, Z:1.21 [[-5.26021263e-01 -8.50271083e-01 -1.84585166e-02 1.39720812e+02] [ 8.49769605e-01 -5.26344925e-01 2.91999851e-02 3.04445844e+02] [-3.45434495e-02 -3.25673267e-04 9.99403144e-01 1.20627716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.70, Y:304.47, Z:1.20 [[-5.25973722e-01 -8.50295568e-01 -1.86839495e-02 1.39704950e+02] [ 8.49782509e-01 -5.26305358e-01 2.95357113e-02 3.04466884e+02] [-3.49475472e-02 -3.42285486e-04 9.99389089e-01 1.20464782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.69, Y:304.49, Z:1.20 [[-5.25681668e-01 -8.50474818e-01 -1.87447941e-02 1.39689580e+02] [ 8.49959298e-01 -5.26015636e-01 2.96098362e-02 3.04489622e+02] [-3.50424748e-02 -3.66963919e-04 9.99385757e-01 1.20374956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.67, Y:304.51, Z:1.20 [[-5.25464611e-01 -8.50609521e-01 -1.87185907e-02 1.39674390e+02] [ 8.50096252e-01 -5.25797769e-01 2.95477162e-02 3.04511945e+02] [-3.49757619e-02 -3.86324582e-04 9.99388086e-01 1.20242992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.66, Y:304.54, Z:1.20 [[-5.24860535e-01 -8.50977874e-01 -1.89229322e-02 1.39658627e+02] [ 8.50454332e-01 -5.25201367e-01 2.98488364e-02 3.04535138e+02] [-3.53390492e-02 -4.26613416e-04 9.99375290e-01 1.20157515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.64, Y:304.56, Z:1.20 [[-5.24851804e-01 -8.50986423e-01 -1.87800803e-02 1.39643227e+02] [ 8.50471407e-01 -5.25187509e-01 2.96051726e-02 3.04557179e+02] [-3.50566635e-02 -4.33593060e-04 9.99385232e-01 1.20006292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.63, Y:304.58, Z:1.20 [[-5.24701331e-01 -8.51082942e-01 -1.86101886e-02 1.39627844e+02] [ 8.50577929e-01 -5.25031072e-01 2.93182382e-02 3.04580183e+02] [-3.47231797e-02 -4.46097099e-04 9.99396869e-01 1.19883280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.61, Y:304.60, Z:1.20 [[-5.24650909e-01 -8.51120221e-01 -1.83246438e-02 1.39612627e+02] [ 8.50631299e-01 -5.24970632e-01 2.88483784e-02 3.04603267e+02] [-3.41733381e-02 -4.52187597e-04 9.99415819e-01 1.19727049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.60, Y:304.63, Z:1.20 [[-5.24773935e-01 -8.51045269e-01 -1.82829625e-02 1.39597205e+02] [ 8.50559176e-01 -5.25092127e-01 2.87636389e-02 3.04625887e+02] [-3.40793985e-02 -4.56333541e-04 9.99419024e-01 1.19519461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:304.65, Z:1.19 [[-5.24971720e-01 -8.50922392e-01 -1.83242219e-02 1.39582367e+02] [ 8.50434434e-01 -5.25291230e-01 2.88166274e-02 3.04648923e+02] [-3.41462666e-02 -4.55634809e-04 9.99416742e-01 1.19421341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.57, Y:304.67, Z:1.19 [[-5.25062496e-01 -8.50869604e-01 -1.81739354e-02 1.39567369e+02] [ 8.50390258e-01 -5.25376728e-01 2.85605090e-02 3.04671921e+02] [-3.38494317e-02 -4.58885437e-04 9.99426838e-01 1.19259086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:304.69, Z:1.19 [[-5.25071766e-01 -8.50870164e-01 -1.78774954e-02 1.39553107e+02] [ 8.50406970e-01 -5.25375819e-01 2.80754995e-02 3.04694651e+02] [-3.32810086e-02 -4.61494614e-04 9.99445927e-01 1.19125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.54, Y:304.72, Z:1.19 [[-5.25414785e-01 -8.50658603e-01 -1.78674286e-02 1.39538836e+02] [ 8.50196454e-01 -5.25718300e-01 2.80402952e-02 3.04716500e+02] [-3.32459526e-02 -4.58038791e-04 9.99447096e-01 1.18986698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.52, Y:304.74, Z:1.19 [[-5.25845608e-01 -8.50397727e-01 -1.76097520e-02 1.39524590e+02] [ 8.49949332e-01 -5.26140198e-01 2.76156819e-02 3.04739644e+02] [-3.27495115e-02 -4.45811918e-04 9.99463491e-01 1.18894804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.51, Y:304.76, Z:1.19 [[-5.26927180e-01 -8.49728885e-01 -1.75661227e-02 1.39510848e+02] [ 8.49282959e-01 -5.27219737e-01 2.75282610e-02 3.04763151e+02] [-3.26527651e-02 -4.13219750e-04 9.99466671e-01 1.18771813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.50, Y:304.79, Z:1.19 [[-5.27692407e-01 -8.49250973e-01 -1.77061823e-02 1.39496962e+02] [ 8.48798274e-01 -5.27989231e-01 2.77283634e-02 3.04786509e+02] [-3.28970131e-02 -3.96930203e-04 9.99458668e-01 1.18644166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.48, Y:304.81, Z:1.19 [[-5.29938400e-01 -8.47851061e-01 -1.77163959e-02 1.39484714e+02] [ 8.47397680e-01 -5.30234360e-01 2.77253640e-02 3.04809924e+02] [-3.29008211e-02 -3.20097737e-04 9.99458570e-01 1.18516851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.47, Y:304.83, Z:1.18 [[-5.31221643e-01 -8.47049660e-01 -1.76192813e-02 1.39471571e+02] [ 8.46601455e-01 -5.31513683e-01 2.75532337e-02 3.04833523e+02] [-3.27038464e-02 -2.79635059e-04 9.99465047e-01 1.18402479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.46, Y:304.86, Z:1.18 [[-5.32546985e-01 -8.46214729e-01 -1.77296362e-02 1.39458334e+02] [ 8.45761053e-01 -5.32841979e-01 2.77068035e-02 3.04856846e+02] [-3.28929996e-02 -2.39861104e-04 9.99458850e-01 1.18279371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.45, Y:304.88, Z:1.18 [[-5.35206738e-01 -8.44530462e-01 -1.79456571e-02 1.39445856e+02] [ 8.44065348e-01 -5.35507495e-01 2.80251972e-02 3.04881670e+02] [-3.32781666e-02 -1.48032907e-04 9.99446117e-01 1.18136707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:304.90, Z:1.18 [[-5.36651108e-01 -8.43613757e-01 -1.79281061e-02 1.39432991e+02] [ 8.43149665e-01 -5.36950481e-01 2.79789837e-02 3.04904074e+02] [-3.32299607e-02 -1.01124060e-04 9.99447727e-01 1.17988785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.42, Y:304.93, Z:1.18 [[-5.38083519e-01 -8.42696883e-01 -1.81132514e-02 1.39419863e+02] [ 8.42223319e-01 -5.38388299e-01 2.82475027e-02 3.04927089e+02] [-3.35560451e-02 -5.58870817e-05 9.99436836e-01 1.17890240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:304.95, Z:1.18 [[-5.40425397e-01 -8.41189106e-01 -1.84737163e-02 1.39407836e+02] [ 8.40696334e-01 -5.40741053e-01 2.87886591e-02 3.04951434e+02] [-3.42062033e-02 2.73369514e-05 9.99414796e-01 1.17839617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.39, Y:304.97, Z:1.18 [[-5.41608986e-01 -8.40418928e-01 -1.88608454e-02 1.39394991e+02] [ 8.39905563e-01 -5.41937285e-01 2.93704702e-02 3.04973811e+02] [-3.49048945e-02 6.59815963e-05 9.99390636e-01 1.17742358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:305.00, Z:1.18 [[-5.42729747e-01 -8.39688930e-01 -1.91552345e-02 1.39381276e+02] [ 8.39159499e-01 -5.43067666e-01 2.98135138e-02 3.04997414e+02] [-3.54366660e-02 1.06383847e-04 9.99371918e-01 1.17649862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.37, Y:305.02, Z:1.18 [[-5.43615919e-01 -8.39106882e-01 -1.95287765e-02 1.39367654e+02] [ 8.38556978e-01 -5.43966564e-01 3.03738707e-02 3.05020494e+02] [-3.61099254e-02 1.35727866e-04 9.99347815e-01 1.17563865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.35, Y:305.04, Z:1.17 [[-5.43707187e-01 -8.39033959e-01 -2.01124785e-02 1.39354354e+02] [ 8.38451437e-01 -5.44079037e-01 3.12600258e-02 3.05043413e+02] [-3.71710011e-02 1.32964192e-04 9.99308911e-01 1.17497657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.34, Y:305.07, Z:1.17 [[-5.43338478e-01 -8.39268148e-01 -2.03045370e-02 1.39340244e+02] [ 8.38675454e-01 -5.43717725e-01 3.15359853e-02 3.05065221e+02] [-3.75070847e-02 1.05797505e-04 9.99296356e-01 1.17389359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:305.09, Z:1.17 [[-5.43590425e-01 -8.39104742e-01 -2.03145990e-02 1.39325646e+02] [ 8.38512176e-01 -5.43969872e-01 3.15295021e-02 3.05087656e+02] [-3.75070845e-02 1.05096830e-04 9.99296356e-01 1.17280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.31, Y:305.11, Z:1.17 [[-5.41092022e-01 -8.40711394e-01 -2.05858135e-02 1.39309615e+02] [ 8.40104861e-01 -5.41483473e-01 3.19291432e-02 3.05109194e+02] [-3.79900723e-02 -1.76373296e-05 9.99278116e-01 1.17160767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.29, Y:305.13, Z:1.17 [[-5.39543191e-01 -8.41698759e-01 -2.08888449e-02 1.39293693e+02] [ 8.41075838e-01 -5.39947394e-01 3.23766305e-02 3.05131357e+02] [-3.85302471e-02 -1.00512184e-04 9.99257429e-01 1.17028602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.28, Y:305.15, Z:1.17 [[-5.38183220e-01 -8.42567357e-01 -2.09540316e-02 1.39278195e+02] [ 8.41942065e-01 -5.38590957e-01 3.24552151e-02 3.05152236e+02] [-3.86313567e-02 -1.75228445e-04 9.99253515e-01 1.16851429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.26, Y:305.17, Z:1.17 [[-5.34158326e-01 -8.45127555e-01 -2.08398440e-02 1.39260214e+02] [ 8.44511907e-01 -5.34564570e-01 3.22545936e-02 3.05172166e+02] [-3.83994881e-02 -3.70436679e-04 9.99262399e-01 1.16567392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.25, Y:305.20, Z:1.16 [[-5.32334847e-01 -8.46277955e-01 -2.08142647e-02 1.39245121e+02] [ 8.45665285e-01 -5.32741410e-01 3.21996172e-02 3.05195665e+02] [-3.83384470e-02 -4.60922795e-04 9.99264705e-01 1.16465208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.23, Y:305.22, Z:1.16 [[-5.30514364e-01 -8.47420188e-01 -2.08214897e-02 1.39229032e+02] [ 8.46808723e-01 -5.30922516e-01 3.21911226e-02 3.05217229e+02] [-3.83340049e-02 -5.53966179e-04 9.99264828e-01 1.16316957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:305.24, Z:1.16 [[-5.28893643e-01 -8.48432036e-01 -2.08469234e-02 1.39212930e+02] [ 8.47820678e-01 -5.29303950e-01 3.22091083e-02 3.05238471e+02] [-3.83615982e-02 -6.39260070e-04 9.99263719e-01 1.16148702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:305.26, Z:1.16 [[-5.25924162e-01 -8.50273895e-01 -2.09303509e-02 1.39193635e+02] [ 8.49659624e-01 -5.26339899e-01 3.23238785e-02 3.05257527e+02] [-3.85006288e-02 -7.83765398e-04 9.99258269e-01 1.15869933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.18, Y:305.28, Z:1.16 [[-5.24907019e-01 -8.50902020e-01 -2.09373676e-02 1.39180021e+02] [ 8.50288444e-01 -5.25323757e-01 3.23189282e-02 3.05281974e+02] [-3.84991379e-02 -8.38369438e-04 9.99258282e-01 1.15774796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:305.30, Z:1.16 [[-5.22942932e-01 -8.52114380e-01 -2.07791590e-02 1.39163062e+02] [ 8.51511720e-01 -5.23354773e-01 3.20557654e-02 3.05304470e+02] [-3.81900507e-02 -9.30361448e-04 9.99270061e-01 1.15543303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.15, Y:305.33, Z:1.15 [[-5.22194929e-01 -8.52575720e-01 -2.06663495e-02 1.39147208e+02] [ 8.51980662e-01 -5.22602816e-01 3.18629488e-02 3.05327540e+02] [-3.79658690e-02 -9.68659863e-04 9.99278567e-01 1.15390990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.13, Y:305.35, Z:1.15 [[-5.21562937e-01 -8.52967140e-01 -2.04734266e-02 1.39131334e+02] [ 8.52384137e-01 -5.21963661e-01 3.15470931e-02 3.05349588e+02] [-3.75950185e-02 -9.97429556e-04 9.99292560e-01 1.15256758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.12, Y:305.37, Z:1.15 [[-5.20563111e-01 -8.53578826e-01 -2.04263549e-02 1.39118638e+02] [ 8.52999704e-01 -5.20962654e-01 3.14550068e-02 3.05374736e+02] [-3.74906958e-02 -1.04935849e-03 9.99296426e-01 1.15110029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.10, Y:305.39, Z:1.15 [[-5.20383858e-01 -8.53693322e-01 -2.02077236e-02 1.39099663e+02] [ 8.53127362e-01 -5.20774995e-01 3.10983864e-02 3.05394804e+02] [-3.70721620e-02 -1.05666359e-03 9.99312032e-01 1.14896550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.09, Y:305.42, Z:1.15 [[-5.20450063e-01 -8.53654999e-01 -2.01215116e-02 1.39087045e+02] [ 8.53094324e-01 -5.20837813e-01 3.09523428e-02 3.05418622e+02] [-3.69026662e-02 -1.05639859e-03 9.99318306e-01 1.14778657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.08, Y:305.44, Z:1.15 [[-5.21261649e-01 -8.53166842e-01 -1.98149773e-02 1.39075127e+02] [ 8.52623504e-01 -5.21637140e-01 3.04606998e-02 3.05443216e+02] [-3.63242871e-02 -1.01672082e-03 9.99339538e-01 1.14653293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.06, Y:305.47, Z:1.15 [[-5.21808215e-01 -8.52842091e-01 -1.94050226e-02 1.39060826e+02] [ 8.52321506e-01 -5.22167981e-01 2.98102257e-02 3.05466782e+02] [-3.55560967e-02 -9.84097398e-04 9.99367198e-01 1.14530352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.05, Y:305.49, Z:1.14 [[-5.22421920e-01 -8.52467736e-01 -1.93415764e-02 1.39047655e+02] [ 8.51951035e-01 -5.22778945e-01 2.96919114e-02 3.05491183e+02] [-3.54227653e-02 -9.66370663e-04 9.99371950e-01 1.14405766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.03, Y:305.51, Z:1.14 [[-5.23321545e-01 -8.51922818e-01 -1.90282150e-02 1.39032679e+02] [ 8.51422991e-01 -5.23666554e-01 2.91929813e-02 3.05514063e+02] [-3.48346067e-02 -9.23743599e-04 9.99392664e-01 1.14234339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:305.54, Z:1.14 [[-5.25635491e-01 -8.50504583e-01 -1.86891667e-02 1.39017305e+02] [ 8.50022152e-01 -5.25966990e-01 2.86542714e-02 3.05536562e+02] [-3.42004739e-02 -8.24503697e-04 9.99414653e-01 1.14022418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.01, Y:305.56, Z:1.14 [[-5.27051863e-01 -8.49628452e-01 -1.86501400e-02 1.39007198e+02] [ 8.49148056e-01 -5.27381166e-01 2.85776963e-02 3.05564011e+02] [-3.41161564e-02 -7.74802037e-04 9.99417574e-01 1.14070937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.99, Y:305.59, Z:1.14 [[-5.28602081e-01 -8.48661035e-01 -1.88225216e-02 1.38993484e+02] [ 8.48171718e-01 -5.28936590e-01 2.88239428e-02 3.05588709e+02] [-3.44176776e-02 -7.28334321e-04 9.99407271e-01 1.14034958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.98, Y:305.62, Z:1.14 [[-5.31528205e-01 -8.46820942e-01 -1.92888469e-02 1.38981741e+02] [ 8.46306553e-01 -5.31877702e-01 2.95182555e-02 3.05615027e+02] [-3.52559845e-02 -6.34492198e-04 9.99378113e-01 1.14029054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.97, Y:305.64, Z:1.14 [[-5.33434302e-01 -8.45615276e-01 -1.95614585e-02 1.38967666e+02] [ 8.45085816e-01 -5.33792546e-01 2.99246012e-02 3.05639634e+02] [-3.57464606e-02 -5.68302437e-04 9.99360729e-01 1.13960101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.95, Y:305.66, Z:1.14 [[-5.35463914e-01 -8.44329752e-01 -1.96384076e-02 1.38953743e+02] [ 8.43795905e-01 -5.35823690e-01 3.00240738e-02 3.05662185e+02] [-3.58729427e-02 -4.93999821e-04 9.99356237e-01 1.13878732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:305.69, Z:1.14 [[-5.39445105e-01 -8.41781069e-01 -2.00900769e-02 1.38941878e+02] [ 8.41221460e-01 -5.39818964e-01 3.06910651e-02 3.05687924e+02] [-3.66801621e-02 -3.44058993e-04 9.99326997e-01 1.13847577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:305.71, Z:1.14 [[-5.41828280e-01 -8.40254013e-01 -1.98823868e-02 1.38928767e+02] [ 8.39705519e-01 -5.42192893e-01 3.03563658e-02 3.05712002e+02] [-3.62871470e-02 -2.47412428e-04 9.99341374e-01 1.13743577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.92, Y:305.74, Z:1.14 [[-5.44276471e-01 -8.38669253e-01 -1.99250554e-02 1.38916057e+02] [ 8.38118065e-01 -5.44641039e-01 3.04014400e-02 3.05736631e+02] [-3.63487558e-02 -1.52760393e-04 9.99339154e-01 1.13663920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.91, Y:305.76, Z:1.14 [[-5.48615659e-01 -8.35849645e-01 -1.93966201e-02 1.38905208e+02] [ 8.35326237e-01 -5.48958441e-01 2.95754511e-02 3.05760495e+02] [-3.53685687e-02 2.30499470e-05 9.99374336e-01 1.13542505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.89, Y:305.78, Z:1.13 [[-5.50588521e-01 -8.34551048e-01 -1.94121033e-02 1.38891228e+02] [ 8.34026757e-01 -5.50930613e-01 2.95775031e-02 3.05784180e+02] [-3.53786581e-02 9.48200572e-05 9.99373975e-01 1.13406319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:305.81, Z:1.13 [[-5.53358200e-01 -8.32726823e-01 -1.89931738e-02 1.38877627e+02] [ 8.32224526e-01 -5.53684025e-01 2.89195299e-02 3.05807448e+02] [-3.45982852e-02 1.96273955e-04 9.99401281e-01 1.13226069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.86, Y:305.83, Z:1.13 [[-5.54516176e-01 -8.31960910e-01 -1.87844115e-02 1.38862936e+02] [ 8.31469828e-01 -5.54834201e-01 2.85820522e-02 3.05830800e+02] [-3.42013841e-02 2.30538861e-04 9.99414935e-01 1.13096166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.85, Y:305.85, Z:1.13 [[-5.55418811e-01 -8.31367140e-01 -1.84016988e-02 1.38849090e+02] [ 8.30896169e-01 -5.55723506e-01 2.79810856e-02 3.05853234e+02] [-3.34888117e-02 2.51320254e-04 9.99439061e-01 1.12906004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.83, Y:305.88, Z:1.13 [[-5.56310512e-01 -8.30778175e-01 -1.80620757e-02 1.38834888e+02] [ 8.30324806e-01 -5.56603586e-01 2.74438523e-02 3.05875467e+02] [-3.28531696e-02 2.69914020e-04 9.99460152e-01 1.12728626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.82, Y:305.90, Z:1.13 [[-5.57755219e-01 -8.29815063e-01 -1.77785439e-02 1.38820212e+02] [ 8.29375731e-01 -5.58038406e-01 2.70006514e-02 3.05898263e+02] [-3.23266576e-02 3.14661423e-04 9.99477307e-01 1.12606859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.81, Y:305.92, Z:1.13 [[-5.58839394e-01 -8.29088778e-01 -1.76161679e-02 1.38805792e+02] [ 8.28657647e-01 -5.59116875e-01 2.67362068e-02 3.05920980e+02] [-3.20161858e-02 3.43473412e-04 9.99487292e-01 1.12530992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.79, Y:305.94, Z:1.12 [[-5.59750017e-01 -8.28473651e-01 -1.76445085e-02 1.38791985e+02] [ 8.28041442e-01 -5.60027923e-01 2.67599713e-02 3.05943545e+02] [-3.20513486e-02 3.68510131e-04 9.99486156e-01 1.12420622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:305.97, Z:1.12 [[-5.61029932e-01 -8.27601454e-01 -1.79234325e-02 1.38776933e+02] [ 8.27155460e-01 -5.61316007e-01 2.71695561e-02 3.05966858e+02] [-3.25462737e-02 4.17469172e-04 9.99470143e-01 1.12356890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.76, Y:305.99, Z:1.12 [[-5.62724939e-01 -8.26434578e-01 -1.86153390e-02 1.38763564e+02] [ 8.25953493e-01 -5.63032544e-01 2.81989850e-02 3.05989174e+02] [-3.37856579e-02 4.92867914e-04 9.99428980e-01 1.12374343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:306.01, Z:1.12 [[-5.63287526e-01 -8.26045260e-01 -1.88783165e-02 1.38748559e+02] [ 8.25550963e-01 -5.63603554e-01 2.85769562e-02 3.06011557e+02] [-3.42457455e-02 5.12030564e-04 9.99413311e-01 1.12349986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.73, Y:306.03, Z:1.12 [[-5.63487714e-01 -8.25905781e-01 -1.90062441e-02 1.38733672e+02] [ 8.25405338e-01 -5.63807926e-01 2.87515331e-02 3.06032716e+02] [-3.44619284e-02 5.13280331e-04 9.99405880e-01 1.12244430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.72, Y:306.05, Z:1.12 [[-5.63160235e-01 -8.26129789e-01 -1.89768732e-02 1.38718450e+02] [ 8.25631742e-01 -5.63479666e-01 2.86861068e-02 3.06054142e+02] [-3.43915296e-02 4.86965793e-04 9.99408318e-01 1.12146048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:306.08, Z:1.12 [[-5.62797255e-01 -8.26374638e-01 -1.90842143e-02 1.38703186e+02] [ 8.25871555e-01 -5.63120538e-01 2.88346036e-02 3.06075014e+02] [-3.45748981e-02 4.66925992e-04 9.99402000e-01 1.11989209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.69, Y:306.10, Z:1.12 [[-5.60894101e-01 -8.27671361e-01 -1.89189267e-02 1.38685784e+02] [ 8.27178351e-01 -5.61212954e-01 2.85656517e-02 3.06095123e+02] [-3.42605186e-02 3.72978920e-04 9.99412867e-01 1.11828076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.67, Y:306.12, Z:1.12 [[-5.59909771e-01 -8.28338535e-01 -1.88764654e-02 1.38669272e+02] [ 8.27848776e-01 -5.60227784e-01 2.84821733e-02 3.06116423e+02] [-3.41680021e-02 3.20588373e-04 9.99416052e-01 1.11686185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.65, Y:306.14, Z:1.12 [[-5.57290942e-01 -8.30113201e-01 -1.84086706e-02 1.38650530e+02] [ 8.29648948e-01 -5.57594866e-01 2.77594846e-02 3.06136300e+02] [-3.33080949e-02 1.97375117e-04 9.99445112e-01 1.11578643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.63, Y:306.16, Z:1.11 [[-5.56205261e-01 -8.30844989e-01 -1.82294338e-02 1.38634000e+02] [ 8.30390720e-01 -5.56503895e-01 2.74712002e-02 3.06158096e+02] [-3.29690599e-02 1.42073439e-04 9.99456363e-01 1.11442453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:306.18, Z:1.11 [[-5.55294402e-01 -8.31456456e-01 -1.81187262e-02 1.38617321e+02] [ 8.31008606e-01 -5.55589914e-01 2.72863417e-02 3.06180174e+02] [-3.27539865e-02 9.51354165e-05 9.99463440e-01 1.11325050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.60, Y:306.20, Z:1.11 [[-5.54222841e-01 -8.32175516e-01 -1.79151456e-02 1.38601526e+02] [ 8.31738621e-01 -5.54512316e-01 2.69621626e-02 3.06201051e+02] [-3.23714205e-02 4.23279032e-05 9.99475907e-01 1.11204945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.58, Y:306.22, Z:1.11 [[-5.51586718e-01 -8.33926600e-01 -1.78470878e-02 1.38583929e+02] [ 8.33494541e-01 -5.51875367e-01 2.68407922e-02 3.06221729e+02] [-3.22326187e-02 -7.04257608e-05 9.99480392e-01 1.11136951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.57, Y:306.24, Z:1.11 [[-5.50667310e-01 -8.34535159e-01 -1.77927703e-02 1.38568062e+02] [ 8.34106612e-01 -5.50954677e-01 2.67414296e-02 3.06242317e+02] [-3.21196732e-02 -1.15436308e-04 9.99484024e-01 1.10983709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.55, Y:306.26, Z:1.11 [[-5.49997271e-01 -8.34976721e-01 -1.78010806e-02 1.38552351e+02] [ 8.34548613e-01 -5.50285247e-01 2.67349850e-02 3.06263008e+02] [-3.21187621e-02 -1.51698380e-04 9.99484048e-01 1.10858896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.54, Y:306.29, Z:1.11 [[-5.49407279e-01 -8.35363714e-01 -1.78635810e-02 1.38536415e+02] [ 8.34933397e-01 -5.49697582e-01 2.68102775e-02 3.06285780e+02] [-3.22159003e-02 -1.85138756e-04 9.99480916e-01 1.10836561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.52, Y:306.31, Z:1.11 [[-5.49213739e-01 -8.35490074e-01 -1.79054269e-02 1.38519762e+02] [ 8.35058393e-01 -5.49505500e-01 2.68548918e-02 3.06306017e+02] [-3.22761261e-02 -2.03001528e-04 9.99478970e-01 1.10548828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.50, Y:306.33, Z:1.10 [[-5.49462353e-01 -8.35325175e-01 -1.79714839e-02 1.38504754e+02] [ 8.34890856e-01 -5.49756136e-01 2.69341543e-02 3.06328562e+02] [-3.23787107e-02 -2.04923752e-04 9.99475651e-01 1.10495948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.49, Y:306.35, Z:1.10 [[-5.50118031e-01 -8.34899750e-01 -1.76793598e-02 1.38489829e+02] [ 8.34479758e-01 -5.50402011e-01 2.64794465e-02 3.06351144e+02] [-3.18384384e-02 -1.86246906e-04 9.99493011e-01 1.10413634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06687500000004 meters Centerline goodness [0,1] 0.9999325160274435 Centerline is valid? [True, True] Translation: X:138.47, Y:306.37, Z:1.10 [[-5.51015992e-01 -8.34309172e-01 -1.75949172e-02 1.38474791e+02] [ 8.33893445e-01 -5.51296816e-01 2.63352253e-02 3.06373795e+02] [-3.16717418e-02 -1.61155819e-04 9.99498312e-01 1.10313153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.46, Y:306.40, Z:1.10 [[-5.52010886e-01 -8.33651904e-01 -1.75637373e-02 1.38459981e+02] [ 8.33237878e-01 -5.52290218e-01 2.62707669e-02 3.06396869e+02] [-3.16009551e-02 -1.33021886e-04 9.99500556e-01 1.10214107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.45, Y:306.42, Z:1.10 [[-5.54351109e-01 -8.32102022e-01 -1.73514383e-02 1.38445220e+02] [ 8.31697730e-01 -5.54622594e-01 2.59357623e-02 3.06420337e+02] [-3.12047000e-02 -5.36332465e-05 9.99513013e-01 1.10067691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.43, Y:306.44, Z:1.10 [[-5.55716391e-01 -8.31188878e-01 -1.74453857e-02 1.38430177e+02] [ 8.30780305e-01 -5.55990152e-01 2.60583126e-02 3.06443272e+02] [-3.13588423e-02 -1.22514542e-05 9.99508190e-01 1.09928352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.42, Y:306.47, Z:1.10 [[-5.57160838e-01 -8.30221104e-01 -1.74561747e-02 1.38416363e+02] [ 8.29812140e-01 -5.57434227e-01 2.60556190e-02 3.06465156e+02] [-3.13625940e-02 3.18248429e-05 9.99508072e-01 1.09802241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.40, Y:306.49, Z:1.10 [[-5.59789616e-01 -8.28446727e-01 -1.76523651e-02 1.38402388e+02] [ 8.28028022e-01 -5.60067857e-01 2.63361062e-02 3.06488119e+02] [-3.17045833e-02 1.26025753e-04 9.99497275e-01 1.09858721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.39, Y:306.51, Z:1.10 [[-5.60051792e-01 -8.28269321e-01 -1.76613080e-02 1.38387390e+02] [ 8.27850717e-01 -5.60330185e-01 2.63301070e-02 3.06510300e+02] [-3.17045838e-02 1.25297145e-04 9.99497275e-01 1.09749473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters Centerline goodness [0,1] 0.9999547981738462 Centerline is valid? [True, True] Translation: X:138.37, Y:306.53, Z:1.10 [[-5.61620377e-01 -8.27203463e-01 -1.78040339e-02 1.38372288e+02] [ 8.26778130e-01 -5.61902483e-01 2.65240380e-02 3.06534307e+02] [-3.19449070e-02 1.76454410e-04 9.99489616e-01 1.09675598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.36, Y:306.56, Z:1.10 [[-5.63201584e-01 -8.26127068e-01 -1.78337483e-02 1.38358313e+02] [ 8.25700271e-01 -5.63483819e-01 2.65527361e-02 3.06556441e+02] [-3.19849626e-02 2.29212232e-04 9.99488324e-01 1.09574910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.34, Y:306.58, Z:1.09 [[-5.64498124e-01 -8.25239569e-01 -1.79310385e-02 1.38344374e+02] [ 8.24808281e-01 -5.64782774e-01 2.66780447e-02 3.06578919e+02] [-3.21429197e-02 2.70037085e-04 9.99483246e-01 1.09446236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.366875 meters Centerline goodness [0,1] 0.9999774378412527 Centerline is valid? [True, True] Translation: X:138.33, Y:306.60, Z:1.09 [[-5.66574710e-01 -8.23813362e-01 -1.80178438e-02 1.38329862e+02] [ 8.23377805e-01 -5.66861031e-01 2.67873609e-02 3.06602404e+02] [-3.22813994e-02 3.41548586e-04 9.99478761e-01 1.09381128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:306.63, Z:1.09 [[-5.67542040e-01 -8.23146000e-01 -1.80747466e-02 1.38314294e+02] [ 8.22707887e-01 -5.67829662e-01 2.68553110e-02 3.06625390e+02] [-3.23692191e-02 3.71281388e-04 9.99475911e-01 1.09297695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:306.65, Z:1.09 [[-5.68460055e-01 -8.22510800e-01 -1.81425021e-02 1.38300181e+02] [ 8.22069654e-01 -5.68749352e-01 2.69380395e-02 3.06647507e+02] [-3.24753647e-02 3.98799019e-04 9.99472457e-01 1.09151093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:306.67, Z:1.09 [[-5.69801521e-01 -8.21579220e-01 -1.82705276e-02 1.38284629e+02] [ 8.21131981e-01 -5.70094192e-01 2.71086948e-02 3.06670429e+02] [-3.26878620e-02 4.44061004e-04 9.99465510e-01 1.09135379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.27, Y:306.69, Z:1.09 [[-5.70646622e-01 -8.20989598e-01 -1.83987036e-02 1.38269731e+02] [ 8.20536368e-01 -5.70942955e-01 2.72802412e-02 3.06692812e+02] [-3.29014044e-02 4.70572029e-04 9.99458491e-01 1.09045354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.25, Y:306.72, Z:1.09 [[-5.71113399e-01 -8.20662646e-01 -1.85015570e-02 1.38254479e+02] [ 8.20204778e-01 -5.71412802e-01 2.74140835e-02 3.06715208e+02] [-3.30697409e-02 4.81484950e-04 9.99452931e-01 1.08966934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.24, Y:306.74, Z:1.09 [[-5.72170517e-01 -8.19922181e-01 -1.86685815e-02 1.38238640e+02] [ 8.19456239e-01 -5.72474758e-01 2.76428001e-02 3.06737286e+02] [-3.33522366e-02 5.18309646e-04 9.99443525e-01 1.08842976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.22, Y:306.76, Z:1.09 [[-5.72908578e-01 -8.19408249e-01 -1.85979387e-02 1.38224613e+02] [ 8.18946166e-01 -5.73210114e-01 2.75198554e-02 3.06759510e+02] [-3.32105230e-02 5.35650611e-04 9.99448235e-01 1.08662642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.21, Y:306.78, Z:1.09 [[-5.73654477e-01 -8.18879211e-01 -1.89044498e-02 1.38208390e+02] [ 8.18402170e-01 -5.73965608e-01 2.79529766e-02 3.06781297e+02] [-3.37406155e-02 5.63907398e-04 9.99430464e-01 1.08607247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.19, Y:306.80, Z:1.09 [[-5.74206097e-01 -8.18481379e-01 -1.93801709e-02 1.38193924e+02] [ 8.17980473e-01 -5.74532752e-01 2.86367264e-02 3.06803477e+02] [-3.45731702e-02 5.90781535e-04 9.99401995e-01 1.08553043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:306.83, Z:1.09 [[-5.74402979e-01 -8.18335654e-01 -1.96970586e-02 1.38177658e+02] [ 8.17818883e-01 -5.74740289e-01 2.90839344e-02 3.06825378e+02] [-3.51211136e-02 5.97272056e-04 9.99382885e-01 1.08501510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.16, Y:306.85, Z:1.08 [[-5.74341892e-01 -8.18376250e-01 -1.97915086e-02 1.38162488e+02] [ 8.17855236e-01 -5.74682495e-01 2.92034909e-02 3.06847436e+02] [-3.52732769e-02 5.86199237e-04 9.99377532e-01 1.08375686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.14, Y:306.87, Z:1.08 [[-5.73173881e-01 -8.19194233e-01 -1.98118765e-02 1.38144351e+02] [ 8.18673326e-01 -5.73515939e-01 2.92139085e-02 3.06868545e+02] [-3.52942923e-02 5.25194432e-04 9.99376824e-01 1.08226715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.13, Y:306.89, Z:1.08 [[-5.72228102e-01 -8.19860601e-01 -1.95855459e-02 1.38128755e+02] [ 8.19352580e-01 -5.72562989e-01 2.88612948e-02 3.06889849e+02] [-3.48761972e-02 4.67776422e-04 9.99391531e-01 1.08048648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.11, Y:306.91, Z:1.08 [[-5.71250252e-01 -8.20544752e-01 -1.94796926e-02 1.38110941e+02] [ 8.20043302e-01 -5.71582137e-01 2.86852472e-02 3.06910692e+02] [-3.46717734e-02 4.12263261e-04 9.99398668e-01 1.07953576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.09, Y:306.93, Z:1.08 [[-5.68678968e-01 -8.22330259e-01 -1.94210272e-02 1.38092527e+02] [ 8.21833538e-01 -5.69010421e-01 2.85792898e-02 3.06931723e+02] [-3.45523817e-02 2.91589497e-04 9.99402846e-01 1.07799893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.08, Y:306.95, Z:1.08 [[-5.67650957e-01 -8.23037903e-01 -1.95192437e-02 1.38075939e+02] [ 8.22537196e-01 -5.67986402e-01 2.87055581e-02 3.06953557e+02] [-3.47124273e-02 2.39433589e-04 9.99397313e-01 1.07698471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.06, Y:306.98, Z:1.08 [[-5.66482714e-01 -8.23835036e-01 -1.98284833e-02 1.38058865e+02] [ 8.23319540e-01 -5.66829605e-01 2.91399027e-02 3.06975462e+02] [-3.52458441e-02 1.82073424e-04 9.99378656e-01 1.07600796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.04, Y:307.00, Z:1.07 [[-5.65579664e-01 -8.24457755e-01 -1.97244449e-02 1.38042803e+02] [ 8.23948630e-01 -5.65923486e-01 2.89700508e-02 3.06996899e+02] [-3.50471096e-02 1.32942235e-04 9.99385653e-01 1.07492344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.03, Y:307.02, Z:1.07 [[-5.63670383e-01 -8.25751592e-01 -2.02486570e-02 1.38025758e+02] [ 8.25216663e-01 -5.64033959e-01 2.97178666e-02 3.07017870e+02] [-3.59605058e-02 4.15521137e-05 9.99353211e-01 1.07425377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.01, Y:307.04, Z:1.07 [[-5.63156159e-01 -8.26092020e-01 -2.06667499e-02 1.38009934e+02] [ 8.25535760e-01 -5.63535247e-01 3.03106321e-02 3.07039672e+02] [-3.66858133e-02 8.47804004e-06 9.99326849e-01 1.07329290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.99, Y:307.06, Z:1.07 [[-5.61758288e-01 -8.27038001e-01 -2.08751244e-02 1.37993928e+02] [ 8.26471886e-01 -5.62146014e-01 3.05954244e-02 3.07060405e+02] [-3.70384466e-02 -6.54702389e-05 9.99313839e-01 1.07201809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.98, Y:307.08, Z:1.07 [[-5.61044625e-01 -8.27517776e-01 -2.10537127e-02 1.37978153e+02] [ 8.26943096e-01 -5.61439505e-01 3.08350141e-02 3.07082340e+02] [-3.73369083e-02 -1.10403385e-04 9.99302728e-01 1.07089624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.96, Y:307.10, Z:1.07 [[-5.60451319e-01 -8.27920285e-01 -2.10314113e-02 1.37962575e+02] [ 8.27347871e-01 -5.60845771e-01 3.07818378e-02 3.07103560e+02] [-3.72802860e-02 -1.48571736e-04 9.99304837e-01 1.06933369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.95, Y:307.13, Z:1.07 [[-5.59661563e-01 -8.28457676e-01 -2.09000865e-02 1.37947314e+02] [ 8.27893562e-01 -5.60051641e-01 3.05681055e-02 3.07125737e+02] [-3.70295093e-02 -1.95253342e-04 9.99314153e-01 1.06799445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.93, Y:307.15, Z:1.07 [[-5.59325072e-01 -8.28687972e-01 -2.07776200e-02 1.37932789e+02] [ 8.28131361e-01 -5.59710816e-01 3.03685886e-02 3.07147071e+02] [-3.67955428e-02 -2.20685734e-04 9.99322790e-01 1.06652599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.92, Y:307.17, Z:1.06 [[-5.59395488e-01 -8.28647142e-01 -2.05086089e-02 1.37918036e+02] [ 8.28105592e-01 -5.59771260e-01 2.99543832e-02 3.07168559e+02] [-3.63017438e-02 -2.26946907e-04 9.99340849e-01 1.06492391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.90, Y:307.19, Z:1.06 [[-5.59251830e-01 -8.28748511e-01 -2.03297093e-02 1.37903082e+02] [ 8.28217191e-01 -5.59621164e-01 2.96721684e-02 3.07191653e+02] [-3.59677010e-02 -2.43200297e-04 9.99352923e-01 1.06338133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.89, Y:307.21, Z:1.06 [[-5.59296263e-01 -8.28737734e-01 -1.95309723e-02 1.37889340e+02] [ 8.28247955e-01 -5.59637123e-01 2.84888572e-02 3.07214605e+02] [-3.45400481e-02 -2.42776499e-04 9.99403285e-01 1.06065379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.87, Y:307.24, Z:1.06 [[-5.59376824e-01 -8.28692034e-01 -1.91593909e-02 1.37874788e+02] [ 8.28221349e-01 -5.59704791e-01 2.79274962e-02 3.07237318e+02] [-3.38668965e-02 -2.46222459e-04 9.99426322e-01 1.05868118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:307.26, Z:1.06 [[-5.59823700e-01 -8.28406284e-01 -1.84513817e-02 1.37861969e+02] [ 8.27970146e-01 -5.60127642e-01 2.68786566e-02 3.07261061e+02] [-3.26015769e-02 -2.29884174e-04 9.99468401e-01 1.05599535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.85, Y:307.28, Z:1.05 [[-5.60137173e-01 -8.28196438e-01 -1.83577532e-02 1.37847629e+02] [ 8.27765182e-01 -5.60437872e-01 2.67244253e-02 3.07283004e+02] [-3.24214540e-02 -2.26564895e-04 9.99474261e-01 1.05344106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:307.31, Z:1.05 [[-5.60518727e-01 -8.27942996e-01 -1.81425543e-02 1.37833482e+02] [ 8.27522271e-01 -5.60812221e-01 2.63920991e-02 3.07306777e+02] [-3.20257198e-02 -2.20101996e-04 9.99487021e-01 1.05194685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.82, Y:307.33, Z:1.05 [[-5.61290772e-01 -8.27419910e-01 -1.81373004e-02 1.37822313e+02] [ 8.26999692e-01 -5.61583700e-01 2.63677450e-02 3.07331629e+02] [-3.20028095e-02 -1.99569922e-04 9.99487759e-01 1.05146717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.81, Y:307.36, Z:1.05 [[-5.61880058e-01 -8.27018401e-01 -1.82034373e-02 1.37808851e+02] [ 8.26595464e-01 -5.62174821e-01 2.64463392e-02 3.07355472e+02] [-3.21051232e-02 -1.87208119e-04 9.99484480e-01 1.05097217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.80, Y:307.38, Z:1.05 [[-5.62693213e-01 -8.26465260e-01 -1.82077424e-02 1.37796996e+02] [ 8.26042400e-01 -5.62987697e-01 2.64349361e-02 3.07380664e+02] [-3.20982913e-02 -1.65608090e-04 9.99484703e-01 1.05081295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.78, Y:307.40, Z:1.05 [[-5.62915084e-01 -8.26306427e-01 -1.85552669e-02 1.37782909e+02] [ 8.25867781e-01 -5.63220792e-01 2.69211470e-02 3.07404495e+02] [-3.26958289e-02 -1.69877344e-04 9.99465334e-01 1.05012312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.77, Y:307.43, Z:1.05 [[-5.63032671e-01 -8.26225888e-01 -1.85740042e-02 1.37768595e+02] [ 8.25786908e-01 -5.63338931e-01 2.69301320e-02 3.07428042e+02] [-3.27138319e-02 -1.75625291e-04 9.99464744e-01 1.04936402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.75, Y:307.45, Z:1.05 [[-5.63295845e-01 -8.26039254e-01 -1.88928963e-02 1.37754109e+02] [ 8.25585589e-01 -5.63612561e-01 2.73736435e-02 3.07451453e+02] [-3.32599777e-02 -1.78243222e-04 9.99446718e-01 1.04875902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.74, Y:307.47, Z:1.05 [[-5.63248625e-01 -8.26065337e-01 -1.91584205e-02 1.37741059e+02] [ 8.25599521e-01 -5.63574327e-01 2.77382363e-02 3.07474095e+02] [-3.37107894e-02 -1.93659344e-04 9.99431611e-01 1.04822650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.73, Y:307.50, Z:1.05 [[-5.63518920e-01 -8.25882143e-01 -1.91079316e-02 1.37727297e+02] [ 8.25419124e-01 -5.63842753e-01 2.76517516e-02 3.07495927e+02] [-3.36109566e-02 -1.89766932e-04 9.99434974e-01 1.04695262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.71, Y:307.52, Z:1.05 [[-5.63865560e-01 -8.25640443e-01 -1.93258523e-02 1.37713563e+02] [ 8.25167347e-01 -5.64196617e-01 2.79468441e-02 3.07520086e+02] [-3.39776253e-02 -1.88799332e-04 9.99422576e-01 1.04695485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.70, Y:307.54, Z:1.05 [[-5.65301268e-01 -8.24656306e-01 -1.94023993e-02 1.37700657e+02] [ 8.24179439e-01 -5.65634120e-01 2.80409598e-02 3.07543588e+02] [-3.40988134e-02 -1.39468438e-04 9.99418457e-01 1.04553155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:307.57, Z:1.04 [[-5.66374511e-01 -8.23913829e-01 -1.96447384e-02 1.37686448e+02] [ 8.23425247e-01 -5.66715088e-01 2.83702517e-02 3.07566887e+02] [-3.45076124e-02 -1.07786128e-04 9.99404429e-01 1.04482687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.67, Y:307.59, Z:1.04 [[-5.67429050e-01 -8.23181877e-01 -1.98964785e-02 1.37672355e+02] [ 8.22680916e-01 -5.67777766e-01 2.87144353e-02 3.07589759e+02] [-3.49339808e-02 -7.50483967e-05 9.99389619e-01 1.04398520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.66, Y:307.61, Z:1.04 [[-5.69484750e-01 -8.21763089e-01 -1.98127214e-02 1.37659413e+02] [ 8.21266140e-01 -5.69829294e-01 2.85745230e-02 3.07613606e+02] [-3.47713573e-02 1.23784914e-06 9.99395294e-01 1.04255278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.65, Y:307.64, Z:1.04 [[-5.70549843e-01 -8.21024517e-01 -1.97893431e-02 1.37645404e+02] [ 8.20528990e-01 -5.70892933e-01 2.85208025e-02 3.07636308e+02] [-3.47138742e-02 3.48096913e-05 9.99397291e-01 1.04118911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.63, Y:307.66, Z:1.04 [[-5.71771280e-01 -8.20175123e-01 -1.97578000e-02 1.37630867e+02] [ 8.19681153e-01 -5.72112543e-01 2.84612900e-02 3.07659526e+02] [-3.46469272e-02 7.82519747e-05 9.99399612e-01 1.04051202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.62, Y:307.68, Z:1.04 [[-5.73449613e-01 -8.18995340e-01 -2.00542690e-02 1.37617307e+02] [ 8.18486387e-01 -5.73800150e-01 2.88690329e-02 3.07682932e+02] [-3.51507460e-02 1.40789534e-04 9.99382012e-01 1.03929562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.60, Y:307.71, Z:1.04 [[-5.74257240e-01 -8.18423635e-01 -2.02824132e-02 1.37602697e+02] [ 8.17903378e-01 -5.74615285e-01 2.91777126e-02 3.07705206e+02] [-3.55343142e-02 1.66458452e-04 9.99368443e-01 1.03762661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.59, Y:307.73, Z:1.04 [[-5.74720555e-01 -8.18094862e-01 -2.04225499e-02 1.37586932e+02] [ 8.17567935e-01 -5.75083269e-01 2.93582127e-02 3.07727976e+02] [-3.57624697e-02 1.75946351e-04 9.99360303e-01 1.03639667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.57, Y:307.75, Z:1.03 [[-5.74851765e-01 -8.18005765e-01 -2.02981802e-02 1.37571122e+02] [ 8.17485856e-01 -5.75209996e-01 2.91605300e-02 3.07750490e+02] [-3.55291978e-02 1.69506896e-04 9.99368624e-01 1.03499686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.56, Y:307.77, Z:1.03 [[-5.75043309e-01 -8.17869448e-01 -2.03656123e-02 1.37555894e+02] [ 8.17346676e-01 -5.75403804e-01 2.92382233e-02 3.07772456e+02] [-3.56315003e-02 1.67479180e-04 9.99364982e-01 1.03370831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.54, Y:307.79, Z:1.03 [[-5.75130967e-01 -8.17800451e-01 -2.06589719e-02 1.37539895e+02] [ 8.17263215e-01 -5.75501864e-01 2.96385289e-02 3.07794985e+02] [-3.61276791e-02 1.62217986e-04 9.99347169e-01 1.03269026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.52, Y:307.82, Z:1.03 [[-5.75074212e-01 -8.17836662e-01 -2.08049345e-02 1.37523558e+02] [ 8.17292539e-01 -5.75450408e-01 2.98283911e-02 3.07817034e+02] [-3.63669599e-02 1.49820768e-04 9.99338492e-01 1.03224120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.51, Y:307.84, Z:1.03 [[-5.75105017e-01 -8.17808424e-01 -2.10618419e-02 1.37508204e+02] [ 8.17251501e-01 -5.75490540e-01 3.01765415e-02 3.07838363e+02] [-3.67995206e-02 1.41858567e-04 9.99322658e-01 1.03082612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.49, Y:307.86, Z:1.03 [[-5.75218341e-01 -8.17721335e-01 -2.13466403e-02 1.37491887e+02] [ 8.17149991e-01 -5.75614281e-01 3.05629258e-02 3.07860373e+02] [-3.72793874e-02 1.36948534e-04 9.99304873e-01 1.02943635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.48, Y:307.88, Z:1.03 [[-5.75613020e-01 -8.17447268e-01 -2.12041575e-02 1.37475978e+02] [ 8.16884072e-01 -5.76003424e-01 3.03392328e-02 3.07882197e+02] [-3.70143903e-02 1.42318916e-04 9.99314723e-01 1.02804120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.46, Y:307.90, Z:1.03 [[-5.76180638e-01 -8.17048209e-01 -2.11682695e-02 1.37460525e+02] [ 8.16487381e-01 -5.76569336e-01 3.02680849e-02 3.07904855e+02] [-3.69354597e-02 1.56259552e-04 9.99317641e-01 1.02650440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.45, Y:307.93, Z:1.03 [[-5.76655312e-01 -8.16720336e-01 -2.08936281e-02 1.37445706e+02] [ 8.16174458e-01 -5.77033678e-01 2.98561130e-02 3.07926477e+02] [-3.64404217e-02 1.63840568e-04 9.99335814e-01 1.02546161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.43, Y:307.95, Z:1.02 [[-5.76904109e-01 -8.16544364e-01 -2.09033703e-02 1.37430251e+02] [ 8.15998618e-01 -5.77282665e-01 2.98492902e-02 3.07948345e+02] [-3.64404230e-02 1.63056903e-04 9.99335814e-01 1.02436922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.42, Y:307.97, Z:1.02 [[-5.78065987e-01 -8.15720717e-01 -2.09625136e-02 1.37415135e+02] [ 8.15172043e-01 -5.78445909e-01 2.99143928e-02 3.07969486e+02] [-3.65274702e-02 2.04437961e-04 9.99332628e-01 1.02293867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.40, Y:307.99, Z:1.02 [[-5.78888384e-01 -8.15135775e-01 -2.10215758e-02 1.37399170e+02] [ 8.14584372e-01 -5.79269898e-01 2.99780983e-02 3.07991432e+02] [-3.66133865e-02 2.30125714e-04 9.99329479e-01 1.02142752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.38, Y:308.01, Z:1.02 [[-5.79892073e-01 -8.14425637e-01 -2.08821953e-02 1.37384212e+02] [ 8.13881745e-01 -5.80267881e-01 2.97605788e-02 3.08012662e+02] [-3.63550456e-02 2.62286163e-04 9.99338902e-01 1.01970220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.37, Y:308.03, Z:1.02 [[-5.81742312e-01 -8.13114776e-01 -2.04998586e-02 1.37367850e+02] [ 8.12590491e-01 -5.82103302e-01 2.91965740e-02 3.08034660e+02] [-3.56732011e-02 3.26892247e-04 9.99363455e-01 1.01777997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.35, Y:308.06, Z:1.02 [[-5.82855061e-01 -8.12317232e-01 -2.05108152e-02 1.37353060e+02] [ 8.11792584e-01 -5.83215725e-01 2.91927866e-02 3.08056419e+02] [-3.56760336e-02 3.64635749e-04 9.99363341e-01 1.01636024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.34, Y:308.08, Z:1.02 [[-5.83851194e-01 -8.11602701e-01 -2.04655495e-02 1.37337397e+02] [ 8.11080658e-01 -5.84209636e-01 2.91078669e-02 3.08078647e+02] [-3.55801946e-02 3.95451476e-04 9.99366746e-01 1.01542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.32, Y:308.10, Z:1.01 [[-5.84771646e-01 -8.10944922e-01 -2.02597110e-02 1.37323285e+02] [ 8.10433596e-01 -5.85122344e-01 2.87963335e-02 3.08101079e+02] [-3.52066500e-02 4.20128943e-04 9.99379965e-01 1.01363247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.31, Y:308.12, Z:1.01 [[-5.85462055e-01 -8.10438172e-01 -2.05949469e-02 1.37305953e+02] [ 8.09910212e-01 -5.85824010e-01 2.92519737e-02 3.08121945e+02] [-3.57719305e-02 4.45862783e-04 9.99359880e-01 1.01328212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.29, Y:308.14, Z:1.01 [[-5.85587168e-01 -8.10346962e-01 -2.06269227e-02 1.37289971e+02] [ 8.09817992e-01 -5.85950174e-01 2.92782066e-02 3.08143160e+02] [-3.58118547e-02 4.40888978e-04 9.99358453e-01 1.01184501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.27, Y:308.16, Z:1.01 [[-5.84947677e-01 -8.10820147e-01 -2.01718854e-02 1.37272845e+02] [ 8.10315224e-01 -5.85295256e-01 2.86129755e-02 3.08164513e+02] [-3.50064858e-02 3.91507705e-04 9.99387008e-01 1.01018812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.26, Y:308.19, Z:1.01 [[-5.84665684e-01 -8.11029888e-01 -1.99137927e-02 1.37256391e+02] [ 8.10538556e-01 -5.85004606e-01 2.82287165e-02 3.08186234e+02] [-3.45439932e-02 3.63465044e-04 9.99403112e-01 1.00894332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.24, Y:308.21, Z:1.01 [[-5.84350386e-01 -8.11264420e-01 -1.96129445e-02 1.37239430e+02] [ 8.10788562e-01 -5.84679339e-01 2.77845156e-02 3.08207630e+02] [-3.40078724e-02 3.33941302e-04 9.99421509e-01 1.00747115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:308.23, Z:1.01 [[-5.83568617e-01 -8.11842842e-01 -1.89438531e-02 1.37222879e+02] [ 8.11399767e-01 -5.83875947e-01 2.68197099e-02 3.08227831e+02] [-3.28342497e-02 2.80103021e-04 9.99460771e-01 1.00512632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.586875 meters Centerline goodness [0,1] 0.9999542532994807 Centerline is valid? [True, True] Translation: X:137.21, Y:308.25, Z:1.00 [[-5.83179125e-01 -8.12123560e-01 -1.89058818e-02 1.37205804e+02] [ 8.11683031e-01 -5.83485441e-01 2.67468983e-02 3.08249309e+02] [-3.27530930e-02 2.52649281e-04 9.99463442e-01 1.00369263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.19, Y:308.27, Z:1.00 [[-5.82866130e-01 -8.12343957e-01 -1.90884888e-02 1.37188738e+02] [ 8.11895583e-01 -5.83178568e-01 2.69874100e-02 3.08271259e+02] [-3.30550570e-02 2.32187504e-04 9.99453505e-01 1.00256306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:308.29, Z:1.00 [[-5.82592016e-01 -8.12539278e-01 -1.91432599e-02 1.37171438e+02] [ 8.12088962e-01 -5.82906405e-01 2.70488679e-02 3.08292294e+02] [-3.31369964e-02 2.12424439e-04 9.99450796e-01 1.00285396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.16, Y:308.31, Z:1.00 [[-5.82612095e-01 -8.12518245e-01 -1.94228637e-02 1.37155959e+02] [ 8.12055311e-01 -5.82935725e-01 2.74246595e-02 3.08313662e+02] [-3.36053174e-02 2.05498717e-04 9.99435161e-01 1.00168996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.14, Y:308.34, Z:1.00 [[-5.82761136e-01 -8.12415064e-01 -1.92671183e-02 1.37139471e+02] [ 8.11959894e-01 -5.83079516e-01 2.71920582e-02 3.08335301e+02] [-3.33254998e-02 2.02347360e-04 9.99444531e-01 1.00167818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.12, Y:308.36, Z:1.00 [[-5.83060361e-01 -8.12188736e-01 -1.97502384e-02 1.37123707e+02] [ 8.11710963e-01 -5.83394732e-01 2.78549868e-02 3.08356339e+02] [-3.41456916e-02 2.09653655e-04 9.99416844e-01 1.00094279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:308.38, Z:1.00 [[-5.82914863e-01 -8.12283665e-01 -2.01372677e-02 1.37106602e+02] [ 8.11787742e-01 -5.83262556e-01 2.83805154e-02 3.08377446e+02] [-3.47983432e-02 1.96237208e-04 9.99394335e-01 1.00107862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:308.40, Z:1.00 [[-5.83043689e-01 -8.12193712e-01 -2.00357616e-02 1.37089899e+02] [ 8.11703369e-01 -5.83387812e-01 2.82188284e-02 3.08399501e+02] [-3.46077741e-02 1.89714682e-04 9.99400954e-01 1.00028353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.07, Y:308.42, Z:1.00 [[-5.83010135e-01 -8.12214248e-01 -2.01791440e-02 1.37074192e+02] [ 8.11717528e-01 -5.83359223e-01 2.84019621e-02 3.08420125e+02] [-3.48401681e-02 1.78866895e-04 9.99392881e-01 9.99491448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.06, Y:308.44, Z:1.00 [[-5.82171069e-01 -8.12815443e-01 -2.01966091e-02 1.37056318e+02] [ 8.12318914e-01 -5.82521278e-01 2.84067451e-02 3.08441086e+02] [-3.48543956e-02 1.31497563e-04 9.99392392e-01 9.98828222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.04, Y:308.46, Z:1.00 [[-5.82146986e-01 -8.12832376e-01 -2.02092922e-02 1.37039817e+02] [ 8.12335890e-01 -5.82497652e-01 2.84057744e-02 3.08462297e+02] [-3.48609984e-02 1.19602569e-04 9.99392164e-01 9.97524541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.02, Y:308.48, Z:1.00 [[-5.82074324e-01 -8.12881351e-01 -2.03320077e-02 1.37023307e+02] [ 8.12379543e-01 -5.82429307e-01 2.85583853e-02 3.08483261e+02] [-3.50565360e-02 1.05795661e-04 9.99385325e-01 9.96363550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:308.50, Z:1.00 [[-5.82270988e-01 -8.12738679e-01 -2.04043144e-02 1.37006405e+02] [ 8.12233704e-01 -5.82628379e-01 2.86458056e-02 3.08504900e+02] [-3.51696868e-02 1.06549724e-04 9.99381350e-01 9.95643958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.99, Y:308.53, Z:0.99 [[-5.82474819e-01 -8.12584962e-01 -2.07066284e-02 1.36990716e+02] [ 8.12065527e-01 -5.82842747e-01 2.90501546e-02 3.08525557e+02] [-3.56744270e-02 1.05844483e-04 9.99363459e-01 9.94420042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.97, Y:308.55, Z:0.99 [[-5.83203148e-01 -8.12055305e-01 -2.09826240e-02 1.36974149e+02] [ 8.11522112e-01 -5.83580470e-01 2.94227249e-02 3.08546990e+02] [-3.61379294e-02 1.31562383e-04 9.99346803e-01 9.94274607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.96, Y:308.57, Z:0.99 [[-5.83693798e-01 -8.11700965e-01 -2.10497759e-02 1.36958086e+02] [ 8.11164810e-01 -5.84073217e-01 2.94979563e-02 3.08568481e+02] [-3.62381299e-02 1.42936631e-04 9.99343173e-01 9.93453665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.94, Y:308.59, Z:0.99 [[-5.83876176e-01 -8.11570605e-01 -2.10181828e-02 1.36942430e+02] [ 8.11036677e-01 -5.84254339e-01 2.94342550e-02 3.08589222e+02] [-3.61679407e-02 1.39443096e-04 9.99345716e-01 9.92496800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:308.61, Z:0.99 [[-5.84875158e-01 -8.10853879e-01 -2.09054303e-02 1.36924563e+02] [ 8.10325711e-01 -5.85248628e-01 2.92623500e-02 3.08610591e+02] [-3.59623644e-02 1.74613907e-04 9.99353130e-01 9.91264881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.91, Y:308.63, Z:0.99 [[-5.85501145e-01 -8.10399154e-01 -2.10147541e-02 1.36908908e+02] [ 8.09865796e-01 -5.85878122e-01 2.93975971e-02 3.08632178e+02] [-3.61358725e-02 1.93196254e-04 9.99346867e-01 9.89514016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.89, Y:308.65, Z:0.99 [[-5.86279533e-01 -8.09840826e-01 -2.08361586e-02 1.36893322e+02] [ 8.09316798e-01 -5.86649631e-01 2.91295555e-02 3.08653034e+02] [-3.58138280e-02 2.15009021e-04 9.99358456e-01 9.87972730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.88, Y:308.67, Z:0.99 [[-5.87060120e-01 -8.09277159e-01 -2.07580216e-02 1.36876993e+02] [ 8.08757409e-01 -5.87426952e-01 2.90005218e-02 3.08674679e+02] [-3.56632813e-02 2.36846014e-04 9.99363835e-01 9.86518885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.86, Y:308.70, Z:0.98 [[-5.88646932e-01 -8.08131658e-01 -2.04453442e-02 1.36860321e+02] [ 8.07627398e-01 -5.89001815e-01 2.85455513e-02 3.08695785e+02] [-3.51109086e-02 2.91031034e-04 9.99383380e-01 9.84871465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.84, Y:308.72, Z:0.98 [[-5.89465560e-01 -8.07534555e-01 -2.04523084e-02 1.36844717e+02] [ 8.07030248e-01 -5.89820179e-01 2.85365559e-02 3.08717080e+02] [-3.51074392e-02 3.15685415e-04 9.99383494e-01 9.83169112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:308.74, Z:0.98 [[-5.90053423e-01 -8.07123414e-01 -1.97168232e-02 1.36827473e+02] [ 8.06655131e-01 -5.90382668e-01 2.74919063e-02 3.08738474e+02] [-3.38298320e-02 3.17016825e-04 9.99427557e-01 9.80747494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:308.76, Z:0.98 [[-5.90178873e-01 -8.07037528e-01 -1.94763210e-02 1.36810228e+02] [ 8.06581132e-01 -5.90500071e-01 2.71393228e-02 3.08760105e+02] [-3.34032209e-02 3.07821938e-04 9.99441909e-01 9.79180724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.79, Y:308.78, Z:0.98 [[-5.90109491e-01 -8.07091620e-01 -1.93366401e-02 1.36792946e+02] [ 8.06642360e-01 -5.90426144e-01 2.69271478e-02 3.08781681e+02] [-3.31495332e-02 2.92212519e-04 9.99450360e-01 9.77862888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.78, Y:308.80, Z:0.98 [[-5.89663470e-01 -8.07421912e-01 -1.91532834e-02 1.36776738e+02] [ 8.06981876e-01 -5.89974396e-01 2.66545199e-02 3.08801891e+02] [-3.28213902e-02 2.60844112e-04 9.99461199e-01 9.75108920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:308.82, Z:0.97 [[-5.89263932e-01 -8.07716778e-01 -1.90164226e-02 1.36759518e+02] [ 8.07283770e-01 -5.89570651e-01 2.64454579e-02 3.08822725e+02] [-3.25719647e-02 2.31705177e-04 9.99469366e-01 9.74197465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.74, Y:308.84, Z:0.97 [[-5.87690870e-01 -8.08862891e-01 -1.89806259e-02 1.36740539e+02] [ 8.08432653e-01 -5.87997277e-01 2.63789146e-02 3.08842847e+02] [-3.24974815e-02 1.58089558e-04 9.99471805e-01 9.73027150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.72, Y:308.86, Z:0.97 [[-5.86750391e-01 -8.09543460e-01 -1.90621480e-02 1.36724172e+02] [ 8.09110444e-01 -5.87059941e-01 2.64748111e-02 3.08863376e+02] [-3.26231337e-02 1.10722698e-04 9.99467718e-01 9.71407449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.71, Y:308.88, Z:0.97 [[-5.85775317e-01 -8.10246374e-01 -1.91857099e-02 1.36706304e+02] [ 8.09808726e-01 -5.86089422e-01 2.66273664e-02 3.08884727e+02] [-3.28192687e-02 6.08987286e-05 9.99461301e-01 9.70402213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:308.91, Z:0.97 [[-5.84866539e-01 -8.10897890e-01 -1.93841132e-02 1.36689369e+02] [ 8.10452050e-01 -5.85187673e-01 2.68861175e-02 3.08905288e+02] [-3.31452401e-02 1.48961924e-05 9.99450545e-01 9.68635481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.67, Y:308.93, Z:0.97 [[-5.83674820e-01 -8.11749817e-01 -1.96453129e-02 1.36671448e+02] [ 8.11293024e-01 -5.84005336e-01 2.72286039e-02 3.08927359e+02] [-3.35757817e-02 -4.54548243e-05 9.99436173e-01 9.68921700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.65, Y:308.95, Z:0.97 [[-5.81341147e-01 -8.13408964e-01 -2.02071327e-02 1.36653018e+02] [ 8.12927257e-01 -5.81692215e-01 2.79900377e-02 3.08947711e+02] [-3.45216794e-02 -1.55168284e-04 9.99403937e-01 9.68775736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:308.97, Z:0.97 [[-5.80269614e-01 -8.14171488e-01 -2.02968754e-02 1.36635391e+02] [ 8.13686585e-01 -5.80624442e-01 2.80962307e-02 3.08969620e+02] [-3.46600120e-02 -2.11906317e-04 9.99399139e-01 9.68080650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.62, Y:308.99, Z:0.97 [[-5.77956659e-01 -8.15822834e-01 -1.99800754e-02 1.36616004e+02] [ 8.15354482e-01 -5.78301828e-01 2.76417118e-02 3.08989326e+02] [-3.41052538e-02 -3.15132642e-04 9.99418197e-01 9.65737044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.666875 meters Centerline goodness [0,1] 0.9999777510790727 Centerline is valid? [True, True] Translation: X:136.60, Y:309.01, Z:0.96 [[-5.76883900e-01 -8.16583288e-01 -1.99173343e-02 1.36598297e+02] [ 8.16118912e-01 -5.77227510e-01 2.75376868e-02 3.09010181e+02] [-3.39836481e-02 -3.68865096e-04 9.99422321e-01 9.63999025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.58, Y:309.03, Z:0.96 [[-5.75755918e-01 -8.17382531e-01 -1.97717239e-02 1.36580977e+02] [ 8.16925977e-01 -5.76095147e-01 2.73190375e-02 3.09032527e+02] [-3.37204981e-02 -4.22937342e-04 9.99431213e-01 9.62796711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.56, Y:309.05, Z:0.96 [[-5.73248636e-01 -8.19148204e-01 -1.95504978e-02 1.36562060e+02] [ 8.18703353e-01 -5.73581677e-01 2.69977570e-02 3.09053262e+02] [-3.33289715e-02 -5.29630717e-04 9.99444295e-01 9.60457861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.54, Y:309.08, Z:0.96 [[-5.72549769e-01 -8.19640150e-01 -1.94109749e-02 1.36544793e+02] [ 8.19202430e-01 -5.72878440e-01 2.67893905e-02 3.09075231e+02] [-3.30777891e-02 -5.63258457e-04 9.99452621e-01 9.59402223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.786875 meters Centerline goodness [0,1] 0.9999777861696693 Centerline is valid? [True, True] Translation: X:136.53, Y:309.10, Z:0.96 [[-5.72343722e-01 -8.19783640e-01 -1.94279966e-02 1.36528059e+02] [ 8.19345762e-01 -5.72673071e-01 2.67969654e-02 3.09097688e+02] [-3.30936043e-02 -5.81171736e-04 9.99452088e-01 9.58298491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.51, Y:309.12, Z:0.96 [[-5.72515823e-01 -8.19662007e-01 -1.94891405e-02 1.36511868e+02] [ 8.19221816e-01 -5.72847145e-01 2.68656648e-02 3.09119616e+02] [-3.31850633e-02 -5.84910874e-04 9.99449053e-01 9.57375027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.846875 meters Centerline goodness [0,1] 0.999977798006261 Centerline is valid? [True, True] Translation: X:136.50, Y:309.14, Z:0.96 [[-5.73163149e-01 -8.19209452e-01 -1.94904571e-02 1.36495767e+02] [ 8.18769529e-01 -5.73494159e-01 2.68497308e-02 3.09140530e+02] [-3.31732165e-02 -5.68916111e-04 9.99449455e-01 9.55879991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.48, Y:309.16, Z:0.95 [[-5.73796157e-01 -8.18768702e-01 -1.93851092e-02 1.36479728e+02] [ 8.18333891e-01 -5.74123252e-01 2.66858425e-02 3.09163119e+02] [-3.29789746e-02 -5.51258004e-04 9.99455894e-01 9.54519007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.46, Y:309.18, Z:0.95 [[-5.75250493e-01 -8.17750606e-01 -1.92565718e-02 1.36464433e+02] [ 8.17321534e-01 -5.75572494e-01 2.64917732e-02 3.09184021e+02] [-3.27472166e-02 -4.99405207e-04 9.99463541e-01 9.52282835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters Centerline goodness [0,1] 0.9999778078604559 Centerline is valid? [True, True] Translation: X:136.45, Y:309.20, Z:0.95 [[-5.76465449e-01 -8.16899043e-01 -1.90667203e-02 1.36449243e+02] [ 8.16478506e-01 -5.76780500e-01 2.62126576e-02 3.09204967e+02] [-3.24104074e-02 -4.56875824e-04 9.99474540e-01 9.49976323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.44, Y:309.23, Z:0.95 [[-5.79141354e-01 -8.15011566e-01 -1.87467001e-02 1.36435276e+02] [ 8.14604607e-01 -5.79444580e-01 2.57548617e-02 3.09229215e+02] [-3.18531840e-02 -3.55442792e-04 9.99492495e-01 9.48308993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.42, Y:309.25, Z:0.95 [[-5.80882249e-01 -8.13778272e-01 -1.84590653e-02 1.36420432e+02] [ 8.13383520e-01 -5.81175395e-01 2.53458219e-02 3.09252176e+02] [-3.13538337e-02 -2.91361458e-04 9.99508305e-01 9.47127105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:309.28, Z:0.95 [[-5.82546757e-01 -8.12591955e-01 -1.82644915e-02 1.36405397e+02] [ 8.12205406e-01 -5.82832961e-01 2.50622740e-02 3.09275042e+02] [-3.10105499e-02 -2.34572331e-04 9.99519030e-01 9.45633237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.39, Y:309.30, Z:0.94 [[-5.82801249e-01 -8.12409272e-01 -1.82723351e-02 1.36389538e+02] [ 8.12022814e-01 -5.83087574e-01 2.50565535e-02 3.09296605e+02] [-3.10105480e-02 -2.34562241e-04 9.99519030e-01 9.44540380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:309.32, Z:0.94 [[-5.86050767e-01 -8.10066426e-01 -1.83543946e-02 1.36375633e+02] [ 8.09675852e-01 -5.86338103e-01 2.51523903e-02 3.09319573e+02] [-3.11369878e-02 -1.20532472e-04 9.99515119e-01 9.43249759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters Centerline goodness [0,1] 0.9999776775748918 Centerline is valid? [True, True] Translation: X:136.36, Y:309.34, Z:0.94 [[-5.87794178e-01 -8.08803130e-01 -1.83166960e-02 1.36360648e+02] [ 8.08414053e-01 -5.88079496e-01 2.50843710e-02 3.09342073e+02] [-3.10599911e-02 -6.30271818e-05 9.99517520e-01 9.42352333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.35, Y:309.36, Z:0.94 [[-5.89552519e-01 -8.07519383e-01 -1.84464937e-02 1.36345709e+02] [ 8.07124655e-01 -5.89841034e-01 2.52456960e-02 3.09364687e+02] [-3.12668878e-02 -4.95621934e-06 9.99511071e-01 9.42309539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.33, Y:309.39, Z:0.94 [[-5.91313471e-01 -8.06231259e-01 -1.84264698e-02 1.36330384e+02] [ 8.05837282e-01 -5.91600502e-01 2.52016040e-02 3.09387760e+02] [-3.12194297e-02 5.33115962e-05 9.99512553e-01 9.41192515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:309.41, Z:0.94 [[-5.93680439e-01 -8.04490026e-01 -1.84210325e-02 1.36316605e+02] [ 8.04095948e-01 -5.93966144e-01 2.51778969e-02 3.09410238e+02] [-3.11968366e-02 1.35347348e-04 9.99513251e-01 9.40355165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.30, Y:309.43, Z:0.94 [[-5.94849782e-01 -8.03622623e-01 -1.85584881e-02 1.36301304e+02] [ 8.03222776e-01 -5.95139186e-01 2.53479885e-02 3.09432347e+02] [-3.14151005e-02 1.71645131e-04 9.99506409e-01 9.40026571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.29, Y:309.46, Z:0.94 [[-5.96227532e-01 -8.02604168e-01 -1.84195351e-02 1.36286099e+02] [ 8.02210315e-01 -5.96511947e-01 2.51417277e-02 3.09455436e+02] [-3.11663282e-02 2.13849178e-04 9.99514189e-01 9.39622967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.27, Y:309.48, Z:0.94 [[-5.96582804e-01 -8.02339508e-01 -1.84464712e-02 1.36271209e+02] [ 8.01944891e-01 -5.96867880e-01 2.51619714e-02 3.09477078e+02] [-3.11985500e-02 2.18146107e-04 9.99513183e-01 9.38142529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.25, Y:309.50, Z:0.94 [[-5.96440664e-01 -8.02440190e-01 -1.86621365e-02 1.36254708e+02] [ 8.02036914e-01 -5.96732519e-01 2.54379434e-02 3.09499380e+02] [-3.15487319e-02 2.04501512e-04 9.99502194e-01 9.38057853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.24, Y:309.52, Z:0.94 [[-5.96039240e-01 -8.02739541e-01 -1.86132854e-02 1.36239038e+02] [ 8.02339038e-01 -5.96329773e-01 2.53549021e-02 3.09520034e+02] [-3.14530387e-02 1.78351046e-04 9.99505215e-01 9.36779988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.22, Y:309.54, Z:0.94 [[-5.95196702e-01 -8.03364793e-01 -1.85982577e-02 1.36222200e+02] [ 8.02965802e-01 -5.95487188e-01 2.53165891e-02 3.09541767e+02] [-3.14134805e-02 1.34585367e-04 9.99506466e-01 9.35530313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:309.56, Z:0.93 [[-5.93974252e-01 -8.04270226e-01 -1.85469937e-02 1.36205266e+02] [ 8.03874382e-01 -5.94263744e-01 2.52305477e-02 3.09563042e+02] [-3.13139843e-02 7.68426314e-05 9.99509594e-01 9.34097609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.19, Y:309.58, Z:0.93 [[-5.91056494e-01 -8.06434572e-01 -1.77623828e-02 1.36187504e+02] [ 8.06072933e-01 -5.91323329e-01 2.41484250e-02 3.09583244e+02] [-2.99774361e-02 -4.46926086e-05 9.99550575e-01 9.32316079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.17, Y:309.60, Z:0.93 [[-5.89689613e-01 -8.07441871e-01 -1.74294465e-02 1.36170248e+02] [ 8.07094542e-01 -5.89947128e-01 2.36809115e-02 3.09604583e+02] [-2.94034114e-02 -1.02823637e-04 9.99567621e-01 9.31101264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:309.63, Z:0.93 [[-5.88141631e-01 -8.08564119e-01 -1.77055730e-02 1.36153370e+02] [ 8.08206680e-01 -5.88408053e-01 2.40400950e-02 3.09626167e+02] [-2.98560600e-02 -1.70781710e-04 9.99554194e-01 9.30225443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.14, Y:309.65, Z:0.93 [[-5.85480278e-01 -8.10492145e-01 -1.77574333e-02 1.36136227e+02] [ 8.10134033e-01 -5.85749438e-01 2.40924056e-02 3.09646635e+02] [-2.99281120e-02 -2.80272723e-04 9.99552014e-01 9.29410460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56687500000004 meters Centerline goodness [0,1] 0.999977658124623 Centerline is valid? [True, True] Translation: X:136.12, Y:309.67, Z:0.93 [[-5.84185601e-01 -8.11421625e-01 -1.79479916e-02 1.36119788e+02] [ 8.11056483e-01 -5.84461148e-01 2.43423123e-02 3.09667990e+02] [-3.02417824e-02 -3.36406616e-04 9.99542556e-01 9.28451004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:309.69, Z:0.93 [[-5.83361567e-01 -8.12017195e-01 -1.78145151e-02 1.36102308e+02] [ 8.11658227e-01 -5.83633390e-01 2.41451370e-02 3.09689174e+02] [-3.00034123e-02 -3.73952818e-04 9.99549726e-01 9.26724913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:309.71, Z:0.93 [[-5.81539551e-01 -8.13327721e-01 -1.76002530e-02 1.36086162e+02] [ 8.12978378e-01 -5.81805655e-01 2.38398031e-02 3.09711995e+02] [-2.96294995e-02 -4.44836752e-04 9.99560851e-01 9.26429403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:309.73, Z:0.93 [[-5.80790930e-01 -8.13868503e-01 -1.73192269e-02 1.36069919e+02] [ 8.13530850e-01 -5.81048911e-01 2.34460679e-02 3.09734468e+02] [-2.91453341e-02 -4.72461823e-04 9.99575073e-01 9.25261734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.05, Y:309.76, Z:0.92 [[-5.80237859e-01 -8.14271464e-01 -1.69118184e-02 1.36053565e+02] [ 8.13950038e-01 -5.80484060e-01 2.28821245e-02 3.09755677e+02] [-2.84493021e-02 -4.88300340e-04 9.99595117e-01 9.23371619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.04, Y:309.78, Z:0.92 [[-5.78699816e-01 -8.15379878e-01 -1.61918708e-02 1.36036838e+02] [ 8.15086024e-01 -5.78926054e-01 2.18951301e-02 3.09777738e+02] [-2.72267444e-02 -5.27059831e-04 9.99629145e-01 9.21341424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.02, Y:309.80, Z:0.92 [[-5.78358619e-01 -8.15625945e-01 -1.59883115e-02 1.36021545e+02] [ 8.15339844e-01 -5.78579319e-01 2.16081219e-02 3.09801133e+02] [-2.68746512e-02 -5.38663861e-04 9.99638666e-01 9.21138022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.01, Y:309.82, Z:0.92 [[-5.77974966e-01 -8.15900285e-01 -1.58638997e-02 1.36005000e+02] [ 8.15619047e-01 -5.78192370e-01 2.14278504e-02 3.09822957e+02] [-2.66553750e-02 -5.54137659e-04 9.99644529e-01 9.19667145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.806875 meters Centerline goodness [0,1] 0.9999096514805864 Centerline is valid? [True, True] Translation: X:135.99, Y:309.85, Z:0.92 [[-5.77759186e-01 -8.16051793e-01 -1.59309225e-02 1.35990388e+02] [ 8.15768580e-01 -5.77978499e-01 2.15053145e-02 3.09845548e+02] [-2.67571811e-02 -5.71052948e-04 9.99641799e-01 9.19086391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.97, Y:309.87, Z:0.92 [[-5.77846802e-01 -8.15988407e-01 -1.59997979e-02 1.35974827e+02] [ 8.15703097e-01 -5.78067976e-01 2.15840830e-02 3.09868452e+02] [-2.68613323e-02 -5.78791346e-04 9.99639002e-01 9.18652063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.96, Y:309.89, Z:0.92 [[-5.77852541e-01 -8.15983732e-01 -1.60309322e-02 1.35959317e+02] [ 8.15697694e-01 -5.78074566e-01 2.16117668e-02 3.09890558e+02] [-2.69019243e-02 -5.87980077e-04 9.99637905e-01 9.18207521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.94, Y:309.91, Z:0.92 [[-5.77525954e-01 -8.16202369e-01 -1.66573253e-02 1.35942089e+02] [ 8.15894054e-01 -5.77765780e-01 2.24409414e-02 3.09910944e+02] [-2.79403820e-02 -6.30386616e-04 9.99609393e-01 9.16992450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.93, Y:309.93, Z:0.92 [[-5.77380325e-01 -8.16303120e-01 -1.67683208e-02 1.35927195e+02] [ 8.15991181e-01 -5.77623402e-01 2.25742900e-02 3.09933637e+02] [-2.81132379e-02 -6.48851003e-04 9.99604534e-01 9.16518089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.91, Y:309.96, Z:0.92 [[-5.77474765e-01 -8.16238403e-01 -1.66663137e-02 1.35911944e+02] [ 8.15930618e-01 -5.77714849e-01 2.24227468e-02 3.09956754e+02] [-2.79306840e-02 -6.49985209e-04 9.99609651e-01 9.15800544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:309.98, Z:0.92 [[-5.78179043e-01 -8.15735895e-01 -1.68506363e-02 1.35896507e+02] [ 8.15421471e-01 -5.78424186e-01 2.26558220e-02 3.09978938e+02] [-2.82279828e-02 -6.41249146e-04 9.99601305e-01 9.15028322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.88, Y:310.00, Z:0.91 [[-5.78952155e-01 -8.15188682e-01 -1.67873620e-02 1.35881387e+02] [ 8.14876795e-01 -5.79195156e-01 2.25561813e-02 3.10001866e+02] [-2.81107024e-02 -6.20682016e-04 9.99604623e-01 9.14572711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.046875 meters Centerline goodness [0,1] 0.9999773504563884 Centerline is valid? [True, True] Translation: X:135.87, Y:310.02, Z:0.91 [[-5.79904665e-01 -8.14511994e-01 -1.67568023e-02 1.35866565e+02] [ 8.14201371e-01 -5.80146410e-01 2.25004462e-02 3.10024373e+02] [-2.80482819e-02 -5.95297684e-04 9.99606392e-01 9.13691821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.85, Y:310.05, Z:0.91 [[-5.81882903e-01 -8.13099073e-01 -1.67983655e-02 1.35852091e+02] [ 8.12786795e-01 -5.82125080e-01 2.25392315e-02 3.10047324e+02] [-2.81053781e-02 -5.38296194e-04 9.99604821e-01 9.12793302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:310.07, Z:0.91 [[-5.83190367e-01 -8.12156197e-01 -1.70677418e-02 1.35836588e+02] [ 8.11833660e-01 -5.83439848e-01 2.28922067e-02 3.10070797e+02] [-2.85500482e-02 -5.05652842e-04 9.99592236e-01 9.12159782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.82, Y:310.10, Z:0.91 [[-5.85844307e-01 -8.10225111e-01 -1.79365107e-02 1.35822537e+02] [ 8.09868431e-01 -5.86118653e-01 2.40426384e-02 3.10095810e+02] [-2.99928728e-02 -4.40970982e-04 9.99550015e-01 9.12070972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:310.12, Z:0.91 [[-5.87151667e-01 -8.09275801e-01 -1.80443092e-02 1.35808623e+02] [ 8.08914723e-01 -5.87428733e-01 2.41755149e-02 3.10119073e+02] [-3.01644049e-02 -4.01613531e-04 9.99544870e-01 9.12296204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:310.14, Z:0.91 [[-5.88402165e-01 -8.08363912e-01 -1.81845843e-02 1.35793490e+02] [ 8.07997242e-01 -5.88682981e-01 2.43475792e-02 3.10140328e+02] [-3.03866596e-02 -3.66925659e-04 9.99538151e-01 9.10975394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.78, Y:310.16, Z:0.91 [[-5.89739190e-01 -8.07381348e-01 -1.85215228e-02 1.35779463e+02] [ 8.07001028e-01 -5.90029871e-01 2.47808917e-02 3.10163638e+02] [-3.09358815e-02 -3.32624991e-04 9.99521316e-01 9.10611568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:310.18, Z:0.91 [[-5.90481549e-01 -8.06834930e-01 -1.86798476e-02 1.35763338e+02] [ 8.06448317e-01 -5.90776858e-01 2.49762988e-02 3.10184974e+02] [-3.11873720e-02 -3.16288018e-04 9.99513506e-01 9.09287115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.75, Y:310.21, Z:0.91 [[-5.90739410e-01 -8.06645167e-01 -1.87223000e-02 1.35747841e+02] [ 8.06257199e-01 -5.91035934e-01 2.50170652e-02 3.10207924e+02] [-3.12454468e-02 -3.16422810e-04 9.99511692e-01 9.09299331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:310.23, Z:0.91 [[-5.90286923e-01 -8.06981594e-01 -1.84947396e-02 1.35731561e+02] [ 8.06603655e-01 -5.90576490e-01 2.46972316e-02 3.10229040e+02] [-3.08527698e-02 -3.39471741e-04 9.99523882e-01 9.07522022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.72, Y:310.25, Z:0.91 [[-5.90040604e-01 -8.07173703e-01 -1.79638259e-02 1.35715519e+02] [ 8.06817729e-01 -5.90313893e-01 2.39720556e-02 3.10250598e+02] [-2.99539089e-02 -3.49047058e-04 9.99551220e-01 9.06087143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:310.27, Z:0.90 [[-5.89681904e-01 -8.07448327e-01 -1.73911535e-02 1.35699332e+02] [ 8.07115293e-01 -5.89938191e-01 2.31912652e-02 3.10271765e+02] [-2.89854540e-02 -3.61196523e-04 9.99579768e-01 9.03942569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.68, Y:310.29, Z:0.90 [[-5.88969292e-01 -8.07984377e-01 -1.66258399e-02 1.35682651e+02] [ 8.07680428e-01 -5.89203790e-01 2.21634909e-02 3.10294744e+02] [-2.77037623e-02 -3.74749964e-04 9.99616107e-01 9.01671527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.67, Y:310.32, Z:0.90 [[-5.88798102e-01 -8.08117401e-01 -1.62191336e-02 1.35667281e+02] [ 8.07828478e-01 -5.89021326e-01 2.16108017e-02 3.10317859e+02] [-2.70174805e-02 -3.77878951e-04 9.99634890e-01 9.01586135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.65, Y:310.34, Z:0.90 [[-5.89008274e-01 -8.07964151e-01 -1.62229226e-02 1.35650759e+02] [ 8.07675411e-01 -5.89231522e-01 2.16019225e-02 3.10338842e+02] [-2.70126363e-02 -3.79144595e-04 9.99635020e-01 8.99273863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.64, Y:310.36, Z:0.90 [[-5.88878003e-01 -8.08053685e-01 -1.64905778e-02 1.35636758e+02] [ 8.07755813e-01 -5.89108719e-01 2.19423084e-02 3.10361944e+02] [-2.74453063e-02 -3.99017329e-04 9.99623227e-01 9.00240003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:310.38, Z:0.90 [[-5.89145054e-01 -8.07857107e-01 -1.65831149e-02 1.35620746e+02] [ 8.07556257e-01 -5.89378260e-01 2.20489980e-02 3.10383362e+02] [-2.75861672e-02 -4.01740109e-04 9.99619349e-01 8.99306007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.61, Y:310.40, Z:0.90 [[-5.89432035e-01 -8.07645123e-01 -1.67102273e-02 1.35605056e+02] [ 8.07339826e-01 -5.89668717e-01 2.22083156e-02 3.10404872e+02] [-2.77899361e-02 -4.00539281e-04 9.99613705e-01 8.98740204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.59, Y:310.43, Z:0.90 [[-5.89382118e-01 -8.07667260e-01 -1.73872764e-02 1.35589564e+02] [ 8.07337222e-01 -5.89638376e-01 2.30910174e-02 3.10427287e+02] [-2.89020642e-02 -4.27962656e-04 9.99582156e-01 8.98931573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters Centerline goodness [0,1] 0.9999769712601326 Centerline is valid? [True, True] Translation: X:135.57, Y:310.45, Z:0.90 [[-5.89564947e-01 -8.07527750e-01 -1.76665014e-02 1.35573485e+02] [ 8.07187404e-01 -5.89829418e-01 2.34468013e-02 3.10448487e+02] [-2.93541650e-02 -4.36765232e-04 9.99568978e-01 8.98110581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.646875 meters Centerline goodness [0,1] 0.9999769191709367 Centerline is valid? [True, True] Translation: X:135.56, Y:310.47, Z:0.90 [[-5.89669422e-01 -8.07445960e-01 -1.79163050e-02 1.35557340e+02] [ 8.07096372e-01 -5.89941370e-01 2.37618676e-02 3.10470366e+02] [-2.97559936e-02 -4.48538002e-04 9.99557092e-01 8.97269685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:310.49, Z:0.90 [[-5.89980432e-01 -8.07214354e-01 -1.81128802e-02 1.35541581e+02] [ 8.06857401e-01 -5.90258235e-01 2.40072903e-02 3.10491400e+02] [-3.00703060e-02 -4.50679919e-04 9.99547684e-01 8.96431354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.706875 meters Centerline goodness [0,1] 0.9999769945707186 Centerline is valid? [True, True] Translation: X:135.53, Y:310.51, Z:0.89 [[-5.90156522e-01 -8.07081986e-01 -1.82742290e-02 1.35525245e+02] [ 8.06719084e-01 -5.90439208e-01 2.42045567e-02 3.10512543e+02] [-3.03248830e-02 -4.57692313e-04 9.99539990e-01 8.94922329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:310.53, Z:0.89 [[-5.90918908e-01 -8.06529304e-01 -1.80367866e-02 1.35510327e+02] [ 8.06175985e-01 -5.91193956e-01 2.38743963e-02 3.10534930e+02] [-2.99186395e-02 -4.32992071e-04 9.99552244e-01 8.94557176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.49, Y:310.56, Z:0.89 [[-5.91751021e-01 -8.05921059e-01 -1.79436793e-02 1.35494860e+02] [ 8.05571539e-01 -5.92022871e-01 2.37364072e-02 3.10556104e+02] [-2.97527390e-02 -4.08874122e-04 9.99557206e-01 8.93235956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.48, Y:310.58, Z:0.89 [[-5.93321931e-01 -8.04769280e-01 -1.77620951e-02 1.35481005e+02] [ 8.04426746e-01 -5.93587634e-01 2.34804456e-02 3.10579630e+02] [-2.94397012e-02 -3.56841010e-04 9.99566494e-01 8.92681357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.47, Y:310.60, Z:0.89 [[-5.94562460e-01 -8.03850625e-01 -1.78788840e-02 1.35465712e+02] [ 8.03503602e-01 -5.94831126e-01 2.36197686e-02 3.10601345e+02] [-2.96216825e-02 -3.22319990e-04 9.99561130e-01 8.91476753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.45, Y:310.62, Z:0.89 [[-5.97315528e-01 -8.01814948e-01 -1.75199739e-02 1.35451811e+02] [ 8.01481279e-01 -5.97572371e-01 2.31305215e-02 3.10623485e+02] [-2.90158503e-02 -2.25711389e-04 9.99578926e-01 8.89841619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:310.65, Z:0.89 [[-5.99027195e-01 -8.00534571e-01 -1.76301201e-02 1.35437074e+02] [ 8.00196602e-01 -5.99286552e-01 2.32599877e-02 3.10646038e+02] [-2.91859181e-02 -1.74197008e-04 9.99573985e-01 8.88627720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters Centerline goodness [0,1] 0.9999767884499327 Centerline is valid? [True, True] Translation: X:135.42, Y:310.67, Z:0.89 [[-6.00547792e-01 -7.99394154e-01 -1.76447143e-02 1.35422515e+02] [ 7.99055555e-01 -6.00806932e-01 2.32647938e-02 3.10668972e+02] [-2.91988068e-02 -1.27486448e-04 9.99573616e-01 8.88360990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:310.69, Z:0.89 [[-6.04249215e-01 -7.96593580e-01 -1.79319585e-02 1.35409083e+02] [ 7.96243080e-01 -6.04515235e-01 2.36281445e-02 3.10692740e+02] [-2.96621703e-02 -9.10065946e-07 9.99559981e-01 8.87988070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.39, Y:310.71, Z:0.89 [[-6.04493386e-01 -7.96408143e-01 -1.79392499e-02 1.35392796e+02] [ 7.96057725e-01 -6.04759514e-01 2.36226066e-02 3.10713997e+02] [-2.96621684e-02 -9.69026380e-07 9.99559981e-01 8.86895283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:310.74, Z:0.89 [[-6.06098680e-01 -7.95182112e-01 -1.81603751e-02 1.35378238e+02] [ 7.94822905e-01 -6.06370684e-01 2.38985836e-02 3.10736297e+02] [-3.00156453e-02 5.06178814e-05 9.99549428e-01 8.86092223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.36, Y:310.76, Z:0.89 [[-6.07977341e-01 -7.93741341e-01 -1.83912135e-02 1.35363285e+02] [ 7.93372792e-01 -6.08255432e-01 2.41855743e-02 3.10758968e+02] [-3.03836456e-02 1.13192744e-04 9.99538304e-01 8.85020021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:310.78, Z:0.89 [[-6.10458905e-01 -7.91828991e-01 -1.86218887e-02 1.35348721e+02] [ 7.91450709e-01 -6.10742834e-01 2.44737797e-02 3.10781865e+02] [-3.07522333e-02 2.01929691e-04 9.99527018e-01 8.85897708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.33, Y:310.80, Z:0.88 [[-6.11723803e-01 -7.90849478e-01 -1.87374646e-02 1.35333726e+02] [ 7.90466524e-01 -6.12010658e-01 2.46095549e-02 3.10803617e+02] [-3.09299816e-02 2.42912012e-04 9.99521524e-01 8.84135527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:310.83, Z:0.88 [[-6.12668637e-01 -7.90123107e-01 -1.85098985e-02 1.35317820e+02] [ 7.89749584e-01 -6.12948125e-01 2.42938213e-02 3.10825689e+02] [-3.05407172e-02 2.65877760e-04 9.99533488e-01 8.82788570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.30, Y:310.85, Z:0.88 [[-6.13915055e-01 -7.89158720e-01 -1.83526588e-02 1.35302570e+02] [ 7.88791553e-01 -6.14189241e-01 2.40720069e-02 3.10848623e+02] [-3.02686397e-02 3.01745171e-04 9.99541754e-01 8.81229281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:310.87, Z:0.88 [[-6.14200402e-01 -7.88941271e-01 -1.81531534e-02 1.35287242e+02] [ 7.88582391e-01 -6.14468535e-01 2.37956274e-02 3.10870316e+02] [-2.99278941e-02 3.00026788e-04 9.99552015e-01 8.79620286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.27, Y:310.89, Z:0.88 [[-6.14432071e-01 -7.88760133e-01 -1.81846797e-02 1.35270798e+02] [ 7.88400413e-01 -6.14701035e-01 2.38207136e-02 3.10891681e+02] [-2.99669707e-02 2.99401370e-04 9.99550845e-01 8.78866403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.26, Y:310.91, Z:0.88 [[-6.14363897e-01 -7.88814757e-01 -1.81185045e-02 1.35255211e+02] [ 7.88458118e-01 -6.14630943e-01 2.37191945e-02 3.10912822e+02] [-2.98462442e-02 2.86534859e-04 9.99554461e-01 8.76880111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.24, Y:310.93, Z:0.88 [[-6.13670284e-01 -7.89352843e-01 -1.81898552e-02 1.35237988e+02] [ 7.88994116e-01 -6.13939757e-01 2.37962169e-02 3.10934303e+02] [-2.99510868e-02 2.51342467e-04 9.99551334e-01 8.76120332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.22, Y:310.95, Z:0.88 [[-6.12034572e-01 -7.90610975e-01 -1.86539133e-02 1.35220496e+02] [ 7.90234771e-01 -6.12318750e-01 2.43876044e-02 3.10954823e+02] [-3.07032486e-02 1.85086162e-04 9.99528527e-01 8.77126088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:310.98, Z:0.88 [[-6.10994495e-01 -7.91410200e-01 -1.88579568e-02 1.35204362e+02] [ 7.91026599e-01 -6.11285430e-01 2.46382248e-02 3.10975296e+02] [-3.10265366e-02 1.36674232e-04 9.99518552e-01 8.75114914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.19, Y:311.00, Z:0.87 [[-6.09891610e-01 -7.92249458e-01 -1.93137338e-02 1.35186803e+02] [ 7.91848090e-01 -6.10197336e-01 2.52153522e-02 3.10996074e+02] [-3.17620380e-02 8.50885843e-05 9.99495456e-01 8.74489458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:311.02, Z:0.87 [[-6.08808385e-01 -7.93073390e-01 -1.96710025e-02 1.35169295e+02] [ 7.92657992e-01 -6.09126093e-01 2.56653712e-02 3.11016721e+02] [-3.23366439e-02 3.29158378e-05 9.99477033e-01 8.74426452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.15, Y:311.04, Z:0.87 [[-6.06507431e-01 -7.94823653e-01 -2.01021558e-02 1.35150892e+02] [ 7.94391378e-01 -6.06840469e-01 2.62103854e-02 3.11036134e+02] [-3.30314359e-02 -7.21857836e-05 9.99454311e-01 8.72735828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.13, Y:311.06, Z:0.87 [[-6.05586795e-01 -7.95519392e-01 -2.03354494e-02 1.35133102e+02] [ 7.95078039e-01 -6.05928116e-01 2.64958570e-02 3.11057043e+02] [-3.33997886e-02 -1.22728072e-04 9.99442064e-01 8.71530915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.12, Y:311.08, Z:0.87 [[-6.04760218e-01 -7.96145757e-01 -2.04208884e-02 1.35115844e+02] [ 7.95701610e-01 -6.05104872e-01 2.65902543e-02 3.11077439e+02] [-3.35264972e-02 -1.68205750e-04 9.99437815e-01 8.70071597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters Centerline goodness [0,1] 0.999976539039039 Centerline is valid? [True, True] Translation: X:135.10, Y:311.10, Z:0.87 [[-6.04078434e-01 -7.96666172e-01 -2.03040711e-02 1.35098791e+02] [ 7.96227980e-01 -6.04419529e-01 2.64203833e-02 3.11098289e+02] [-3.33204027e-02 -2.06685732e-04 9.99444700e-01 8.68869601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.08, Y:311.12, Z:0.87 [[-6.03233752e-01 -7.97311981e-01 -2.00660156e-02 1.35081742e+02] [ 7.96884900e-01 -6.03567347e-01 2.60943279e-02 3.11119119e+02] [-3.29165121e-02 -2.49325535e-04 9.99458074e-01 8.67485912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.07, Y:311.14, Z:0.87 [[-6.03374569e-01 -7.97211552e-01 -1.98209760e-02 1.35065126e+02] [ 7.96795311e-01 -6.03699991e-01 2.57595249e-02 3.11139414e+02] [-3.25017138e-02 -2.50618558e-04 9.99471648e-01 8.65287762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:311.16, Z:0.86 [[-6.03589011e-01 -7.97047552e-01 -1.98873262e-02 1.35048855e+02] [ 7.96629009e-01 -6.03916497e-01 2.58280203e-02 3.11161586e+02] [-3.25964447e-02 -2.53311699e-04 9.99468563e-01 8.64138778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.03, Y:311.18, Z:0.86 [[-6.04030332e-01 -7.96708292e-01 -2.00812276e-02 1.35032703e+02] [ 7.96281911e-01 -6.04363993e-01 2.60630361e-02 3.11183459e+02] [-3.29010079e-02 -2.47453960e-04 9.99458585e-01 8.63182892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.666875 meters Centerline goodness [0,1] 0.9999764739095657 Centerline is valid? [True, True] Translation: X:135.02, Y:311.21, Z:0.86 [[-6.04685444e-01 -7.96207051e-01 -2.02446668e-02 1.35016069e+02] [ 7.95774001e-01 -6.05024196e-01 2.62575928e-02 3.11205706e+02] [-3.31549938e-02 -2.32595298e-04 9.99450195e-01 8.61916386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.00, Y:311.23, Z:0.86 [[-6.06084299e-01 -7.95135360e-01 -2.05324537e-02 1.35001322e+02] [ 7.94689840e-01 -6.06431962e-01 2.66145246e-02 3.11227507e+02] [-3.36136858e-02 -1.86286848e-04 9.99434883e-01 8.60914695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.726875 meters Centerline goodness [0,1] 0.9999765230660875 Centerline is valid? [True, True] Translation: X:134.99, Y:311.25, Z:0.86 [[-6.07080202e-01 -7.94375378e-01 -2.05277154e-02 1.34985872e+02] [ 7.93930247e-01 -6.07427143e-01 2.65900024e-02 3.11250077e+02] [-3.35915347e-02 -1.55310147e-04 9.99435633e-01 8.60331032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:311.27, Z:0.86 [[-6.08587906e-01 -7.93225958e-01 -2.03307585e-02 1.34971324e+02] [ 7.92789252e-01 -6.08927392e-01 2.63179062e-02 3.11273134e+02] [-3.32560021e-02 -1.01247372e-04 9.99446861e-01 8.59202401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.96, Y:311.29, Z:0.86 [[-6.09205546e-01 -7.92746304e-01 -2.05402167e-02 1.34955929e+02] [ 7.92300859e-01 -6.09551713e-01 2.65717524e-02 3.11294092e+02] [-3.35849828e-02 -8.63724094e-05 9.99435862e-01 8.57552223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.94, Y:311.32, Z:0.86 [[-6.09382868e-01 -7.92609314e-01 -2.05668726e-02 1.34939444e+02] [ 7.92163252e-01 -6.09729832e-01 2.65878600e-02 3.11316230e+02] [-3.36140212e-02 -9.01342751e-05 9.99434885e-01 8.56201988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:311.34, Z:0.85 [[-6.09558294e-01 -7.92474371e-01 -2.05683730e-02 1.34922880e+02] [ 7.92028724e-01 -6.09905208e-01 2.65732417e-02 3.11337878e+02] [-3.36033708e-02 -9.28023648e-05 9.99435243e-01 8.54950163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.91, Y:311.36, Z:0.85 [[-6.09050791e-01 -7.92863606e-01 -2.06018435e-02 1.34906497e+02] [ 7.92417290e-01 -6.09399120e-01 2.65998517e-02 3.11359186e+02] [-3.36447996e-02 -1.24596229e-04 9.99433846e-01 8.53618715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.906875 meters Centerline goodness [0,1] 0.9999765236172411 Centerline is valid? [True, True] Translation: X:134.89, Y:311.38, Z:0.85 [[-6.08835744e-01 -7.93023304e-01 -2.08104996e-02 1.34889709e+02] [ 7.92568569e-01 -6.09191283e-01 2.68522716e-02 3.11380705e+02] [-3.39720521e-02 -1.45125191e-04 9.99422773e-01 8.52600335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.87, Y:311.40, Z:0.85 [[-6.08654948e-01 -7.93170295e-01 -2.04948219e-02 1.34873077e+02] [ 7.92729890e-01 -6.08999883e-01 2.64284610e-02 3.11401826e+02] [-3.34436144e-02 -1.61044368e-04 9.99440593e-01 8.51306752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.86, Y:311.42, Z:0.85 [[-6.08068087e-01 -7.93617214e-01 -2.06135506e-02 1.34855904e+02] [ 7.93172520e-01 -6.08417355e-01 2.65645475e-02 3.11423228e+02] [-3.36237241e-02 -1.97048268e-04 9.99434543e-01 8.49928666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.84, Y:311.44, Z:0.85 [[-6.07175208e-01 -7.94305909e-01 -2.04056420e-02 1.34839067e+02] [ 7.93871071e-01 -6.07517954e-01 2.62803653e-02 3.11444899e+02] [-3.32714433e-02 -2.42662604e-04 9.99446323e-01 8.48729571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.82, Y:311.47, Z:0.85 [[-6.06958019e-01 -7.94474167e-01 -2.03165368e-02 1.34822303e+02] [ 7.94043763e-01 -6.07297892e-01 2.61490325e-02 3.11466140e+02] [-3.31129208e-02 -2.60854386e-04 9.99451583e-01 8.47754643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.81, Y:311.49, Z:0.85 [[-6.06534191e-01 -7.94795870e-01 -2.03911837e-02 1.34805577e+02] [ 7.94363058e-01 -6.06876793e-01 2.62276818e-02 3.11486678e+02] [-3.32205893e-02 -2.90017232e-04 9.99448002e-01 8.47127526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.79, Y:311.51, Z:0.85 [[-6.06802853e-01 -7.94583314e-01 -2.06798195e-02 1.34788974e+02] [ 7.94138453e-01 -6.07155065e-01 2.65865531e-02 3.11508383e+02] [-3.36810886e-02 -2.89843621e-04 9.99432589e-01 8.46661623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters Centerline goodness [0,1] 0.9999296682686672 Centerline is valid? [True, True] Translation: X:134.77, Y:311.53, Z:0.85 [[-6.07250136e-01 -7.94238008e-01 -2.08148925e-02 1.34771958e+02] [ 7.93787679e-01 -6.07606704e-01 2.67434625e-02 3.11530225e+02] [-3.38879426e-02 -2.82633991e-04 9.99425599e-01 8.45901298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:311.55, Z:0.84 [[-6.08207155e-01 -7.93502020e-01 -2.09427813e-02 1.34755964e+02] [ 7.93046279e-01 -6.08567564e-01 2.68908831e-02 3.11550746e+02] [-3.40830674e-02 -2.53367226e-04 9.99418971e-01 8.44572138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:311.57, Z:0.84 [[-6.08745475e-01 -7.93078834e-01 -2.13286136e-02 1.34739696e+02] [ 7.92606521e-01 -6.09118956e-01 2.73678580e-02 3.11571905e+02] [-3.46965317e-02 -2.45138516e-04 9.99397864e-01 8.43312776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.72, Y:311.59, Z:0.84 [[-6.09301203e-01 -7.92651728e-01 -2.13373420e-02 1.34723197e+02] [ 7.92179393e-01 -6.09674654e-01 2.73610122e-02 3.11593799e+02] [-3.46965902e-02 -2.31904990e-04 9.99397865e-01 8.42330688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.71, Y:311.62, Z:0.84 [[-6.09837850e-01 -7.92238698e-01 -2.13457428e-02 1.34707522e+02] [ 7.91766319e-01 -6.10211272e-01 2.73550669e-02 3.11615662e+02] [-3.46971554e-02 -2.18684969e-04 9.99397848e-01 8.42281714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:311.64, Z:0.84 [[-6.10142929e-01 -7.92008470e-01 -2.11705119e-02 1.34691222e+02] [ 7.91544293e-01 -6.10510064e-01 2.71126109e-02 3.11635812e+02] [-3.43982280e-02 -2.14830111e-04 9.99408183e-01 8.40839727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:311.66, Z:0.84 [[-6.10599232e-01 -7.91657955e-01 -2.11248527e-02 1.34674347e+02] [ 7.91195999e-01 -6.10964517e-01 2.70416390e-02 3.11657573e+02] [-3.43142641e-02 -2.02294935e-04 9.99411072e-01 8.39920717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.66, Y:311.68, Z:0.84 [[-6.11365237e-01 -7.91065703e-01 -2.11565853e-02 1.34657791e+02] [ 7.90602586e-01 -6.11731168e-01 2.70652891e-02 3.11678666e+02] [-3.43525646e-02 -1.79674100e-04 9.99409760e-01 8.39302537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:311.70, Z:0.84 [[-6.12003822e-01 -7.90573442e-01 -2.10939797e-02 1.34641392e+02] [ 7.90113345e-01 -6.12367216e-01 2.69683909e-02 3.11698777e+02] [-3.42377552e-02 -1.61876537e-04 9.99413703e-01 8.38131811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.62, Y:311.72, Z:0.84 [[-6.12867012e-01 -7.89902932e-01 -2.11514653e-02 1.34624195e+02] [ 7.89440546e-01 -6.13231881e-01 2.70237716e-02 3.11720398e+02] [-3.43169093e-02 -1.35846120e-04 9.99410992e-01 8.37042270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.61, Y:311.74, Z:0.84 [[-6.16574921e-01 -7.87024608e-01 -2.06792788e-02 1.34608844e+02] [ 7.86581552e-01 -6.16921605e-01 2.64044763e-02 3.11742595e+02] [-3.35384665e-02 1.43986932e-05 9.99437427e-01 8.35230894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.59, Y:311.77, Z:0.83 [[-6.22989416e-01 -7.81975377e-01 -1.99674053e-02 1.34591888e+02] [ 7.81560211e-01 -6.23309263e-01 2.54793827e-02 3.11765406e+02] [-3.23701185e-02 2.67656228e-04 9.99475915e-01 8.31158918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:311.79, Z:0.83 [[-6.25708468e-01 -7.79778979e-01 -2.08244299e-02 1.34577312e+02] [ 7.79326710e-01 -6.26054785e-01 2.65572102e-02 3.11788317e+02] [-3.37459882e-02 3.88036846e-04 9.99430367e-01 8.32623363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:311.81, Z:0.83 [[-6.28252326e-01 -7.77713501e-01 -2.14645086e-02 1.34560977e+02] [ 7.77232377e-01 -6.28618690e-01 2.73564527e-02 3.11811516e+02] [-3.47684739e-02 5.03844020e-04 9.99395267e-01 8.33450929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.54, Y:311.83, Z:0.83 [[-6.33022614e-01 -7.73856435e-01 -2.07023679e-02 1.34543489e+02] [ 7.73407279e-01 -6.33360682e-01 2.63709664e-02 3.11833213e+02] [-3.35194079e-02 6.82056033e-04 9.99437834e-01 8.31613095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.53, Y:311.85, Z:0.83 [[-6.35366472e-01 -7.71946995e-01 -2.01812740e-02 1.34527007e+02] [ 7.71519671e-01 -6.35686454e-01 2.56929734e-02 3.11854970e+02] [-3.26625761e-02 7.54204030e-04 9.99466151e-01 8.28288569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:311.87, Z:0.83 [[-6.38215990e-01 -7.69609162e-01 -1.95470866e-02 1.34505987e+02] [ 7.69207633e-01 -6.38514711e-01 2.48712707e-02 3.11873444e+02] [-3.16222602e-02 8.37474406e-04 9.99499540e-01 8.26053154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:311.89, Z:0.82 [[-6.38986146e-01 -7.68962208e-01 -1.98451094e-02 1.34490127e+02] [ 7.68548570e-01 -6.39293644e-01 2.52335524e-02 3.11894043e+02] [-3.20905005e-02 8.71959959e-04 9.99484587e-01 8.24217278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.47, Y:311.92, Z:0.82 [[-6.39278882e-01 -7.68707719e-01 -2.02719770e-02 1.34474720e+02] [ 7.68276371e-01 -6.39599593e-01 2.57639034e-02 3.11915099e+02] [-3.27708596e-02 8.95838440e-04 9.99462490e-01 8.23480949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:311.94, Z:0.82 [[-6.39196191e-01 -7.68769278e-01 -2.05432774e-02 1.34456347e+02] [ 7.68326935e-01 -6.39525605e-01 2.60906346e-02 3.11935105e+02] [-3.31956303e-02 8.93080858e-04 9.99448474e-01 8.23818111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:311.95, Z:0.82 [[-6.37887994e-01 -7.69848828e-01 -2.07771449e-02 1.34436404e+02] [ 7.69397502e-01 -6.38225732e-01 2.63704336e-02 3.11953909e+02] [-3.35617559e-02 8.35499567e-04 9.99436296e-01 8.23339476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.42, Y:311.97, Z:0.82 [[-6.37065048e-01 -7.70541882e-01 -2.03305864e-02 1.34416088e+02] [ 7.70110530e-01 -6.37388900e-01 2.57907141e-02 3.11972356e+02] [-3.28313155e-02 7.73563825e-04 9.99460608e-01 8.21362830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.40, Y:311.99, Z:0.82 [[-6.35771078e-01 -7.71608303e-01 -2.03902993e-02 1.34396386e+02] [ 7.71175508e-01 -6.36097574e-01 2.58498042e-02 3.11991686e+02] [-3.29161435e-02 7.10058450e-04 9.99457865e-01 8.18573514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.806875 meters Centerline goodness [0,1] 0.9999772090161132 Centerline is valid? [True, True] Translation: X:134.37, Y:312.01, Z:0.82 [[-6.32496664e-01 -7.74283352e-01 -2.08149481e-02 1.34372588e+02] [ 7.73834273e-01 -6.32838812e-01 2.63733785e-02 3.12009066e+02] [-3.35929749e-02 5.73753701e-04 9.99435432e-01 8.17984886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:312.03, Z:0.82 [[-6.30877006e-01 -7.75602969e-01 -2.08383527e-02 1.34352218e+02] [ 7.75154061e-01 -6.31220872e-01 2.63892511e-02 3.12029221e+02] [-3.36211847e-02 4.95438016e-04 9.99434525e-01 8.18109832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.34, Y:312.05, Z:0.82 [[-6.31117137e-01 -7.75407396e-01 -2.08453976e-02 1.34335532e+02] [ 7.74958565e-01 -6.31461103e-01 2.63836847e-02 3.12050167e+02] [-3.36211620e-02 4.96876131e-04 9.99434525e-01 8.17016254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.32, Y:312.07, Z:0.82 [[-6.29406176e-01 -7.76792653e-01 -2.10009667e-02 1.34316353e+02] [ 7.76338456e-01 -6.29756304e-01 2.65631239e-02 3.12070071e+02] [-3.38595306e-02 4.15136193e-04 9.99426515e-01 8.16368420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.29, Y:312.09, Z:0.81 [[-6.25726223e-01 -7.79762952e-01 -2.08909821e-02 1.34292450e+02] [ 7.79315656e-01 -6.26074819e-01 2.64088909e-02 3.12087554e+02] [-3.36719926e-02 2.44066176e-04 9.99432908e-01 8.14296927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.27, Y:312.11, Z:0.81 [[-6.23828452e-01 -7.81290372e-01 -2.05770819e-02 1.34271871e+02] [ 7.80857668e-01 -6.24167711e-01 2.59994562e-02 3.12106094e+02] [-3.31566749e-02 1.51428288e-04 9.99450155e-01 8.11921822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.25, Y:312.13, Z:0.81 [[-6.21860266e-01 -7.82866707e-01 -2.02368391e-02 1.34251379e+02] [ 7.82449548e-01 -6.22189454e-01 2.55536472e-02 3.12125079e+02] [-3.25962476e-02 5.64922352e-05 9.99468600e-01 8.09855984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.23, Y:312.14, Z:0.81 [[-6.18151797e-01 -7.85796532e-01 -2.03018771e-02 1.34229398e+02] [ 7.85378820e-01 -6.18485084e-01 2.56185341e-02 3.12141553e+02] [-3.26873634e-02 -1.08521392e-04 9.99465619e-01 8.08209493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.21, Y:312.16, Z:0.81 [[-6.16921565e-01 -7.86755841e-01 -2.05676903e-02 1.34210340e+02] [ 7.86328046e-01 -6.17264302e-01 2.59419768e-02 3.12161444e+02] [-3.31057028e-02 -1.68786775e-04 9.99451842e-01 8.08180350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters Centerline goodness [0,1] 0.9999776646118109 Centerline is valid? [True, True] Translation: X:134.19, Y:312.18, Z:0.81 [[-6.16005346e-01 -7.87474593e-01 -2.05226364e-02 1.34191579e+02] [ 7.87049613e-01 -6.16347076e-01 2.58686777e-02 3.12180158e+02] [-3.30199934e-02 -2.17089222e-04 9.99454668e-01 8.06875988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:312.20, Z:0.81 [[-6.14974140e-01 -7.88275507e-01 -2.07010226e-02 1.34170618e+02] [ 7.87844159e-01 -6.15322396e-01 2.60754717e-02 3.12198389e+02] [-3.32924585e-02 -2.73438954e-04 9.99445615e-01 8.05303848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.15, Y:312.22, Z:0.80 [[-6.15011601e-01 -7.88243515e-01 -2.08060407e-02 1.34151975e+02] [ 7.87808323e-01 -6.15363372e-01 2.61909513e-02 3.12218335e+02] [-3.34481229e-02 -2.83433088e-04 9.99440415e-01 8.03850453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.13, Y:312.24, Z:0.80 [[-6.15546076e-01 -7.87813832e-01 -2.12695487e-02 1.34134191e+02] [ 7.87359373e-01 -6.15913378e-01 2.67568370e-02 3.12238751e+02] [-3.41796059e-02 -2.76712530e-04 9.99415668e-01 8.02985189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.12, Y:312.26, Z:0.80 [[-6.16244980e-01 -7.87262864e-01 -2.14314638e-02 1.34117313e+02] [ 7.86801719e-01 -6.16617479e-01 2.69432658e-02 3.12258618e+02] [-3.44264478e-02 -2.58660240e-04 9.99407201e-01 8.02152960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.10, Y:312.28, Z:0.80 [[-6.17187380e-01 -7.86513069e-01 -2.18387284e-02 1.34100674e+02] [ 7.86034420e-01 -6.17573589e-01 2.74363478e-02 3.12279944e+02] [-3.50660680e-02 -2.32624608e-04 9.99384969e-01 8.02493072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.08, Y:312.30, Z:0.80 [[-6.17934293e-01 -7.85925175e-01 -2.18821539e-02 1.34083690e+02] [ 7.85444904e-01 -6.18321579e-01 2.74723058e-02 3.12300384e+02] [-3.51213846e-02 -2.11146418e-04 9.99383032e-01 8.01210540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.07, Y:312.32, Z:0.80 [[-6.19167035e-01 -7.84967914e-01 -2.13905779e-02 1.34066370e+02] [ 7.84508833e-01 -6.19536398e-01 2.68429240e-02 3.12320144e+02] [-3.43230756e-02 -1.60843690e-04 9.99410777e-01 7.99307073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:312.34, Z:0.80 [[-6.19779138e-01 -7.84491045e-01 -2.11570573e-02 1.34049112e+02] [ 7.84042260e-01 -6.20140129e-01 2.65321394e-02 3.12341773e+02] [-3.39345660e-02 -1.43960575e-04 9.99424046e-01 7.98184718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:312.36, Z:0.80 [[-6.20076834e-01 -7.84260879e-01 -2.09664778e-02 1.34031467e+02] [ 7.83820582e-01 -6.20431184e-01 2.62762348e-02 3.12362894e+02] [-3.36156796e-02 -1.40672317e-04 9.99434823e-01 7.96774925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.01, Y:312.38, Z:0.80 [[-6.20323229e-01 -7.84069069e-01 -2.08515205e-02 1.34014244e+02] [ 7.83634037e-01 -6.20673566e-01 2.61155297e-02 3.12383102e+02] [-3.34183666e-02 -1.39891445e-04 9.99441441e-01 7.95148635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:312.40, Z:0.80 [[-6.20306920e-01 -7.84080042e-01 -2.09239594e-02 1.33997180e+02] [ 7.83642591e-01 -6.20659701e-01 2.61882557e-02 3.12404711e+02] [-3.35203471e-02 -1.52149543e-04 9.99438024e-01 7.95725967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:312.43, Z:0.79 [[-6.20671610e-01 -7.83792655e-01 -2.08764392e-02 1.33980371e+02] [ 7.83357587e-01 -6.21022586e-01 2.61120536e-02 3.12425161e+02] [-3.34311761e-02 -1.46706715e-04 9.99441011e-01 7.94446331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:312.45, Z:0.79 [[-6.20924528e-01 -7.83597590e-01 -2.06772241e-02 1.33962983e+02] [ 7.83171262e-01 -6.21268699e-01 2.58452921e-02 3.12446710e+02] [-3.30984207e-02 -1.45831863e-04 9.99452087e-01 7.93728549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.95, Y:312.47, Z:0.79 [[-6.22027413e-01 -7.82722099e-01 -2.06884751e-02 1.33946274e+02] [ 7.82295368e-01 -6.22371355e-01 2.58428666e-02 3.12467026e+02] [-3.31036971e-02 -1.09526803e-04 9.99451916e-01 7.91753674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:312.49, Z:0.79 [[-6.23037392e-01 -7.81918179e-01 -2.06970658e-02 1.33929873e+02] [ 7.81491232e-01 -6.23381067e-01 2.58360039e-02 3.12488789e+02] [-3.31038001e-02 -7.77789069e-05 9.99451916e-01 7.91421118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:312.51, Z:0.79 [[-6.24383234e-01 -7.80857323e-01 -2.01846013e-02 1.33914918e+02] [ 7.80451213e-01 -6.24709404e-01 2.51806243e-02 3.12510052e+02] [-3.22719851e-02 -3.07369356e-05 9.99479123e-01 7.90381963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:312.53, Z:0.79 [[-6.25127295e-01 -7.80265885e-01 -2.00253447e-02 1.33898823e+02] [ 7.79866398e-01 -6.25447959e-01 2.49650327e-02 3.12530984e+02] [-3.20041743e-02 -1.07700514e-05 9.99487735e-01 7.88987698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:312.55, Z:0.79 [[-6.25810434e-01 -7.79721063e-01 -1.99089200e-02 1.33881629e+02] [ 7.79326465e-01 -6.26127035e-01 2.48031638e-02 3.12552784e+02] [-3.18050623e-02 6.53044942e-06 9.99494091e-01 7.88473016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.646875 meters Centerline goodness [0,1] 0.999977959003747 Centerline is valid? [True, True] Translation: X:133.86, Y:312.57, Z:0.79 [[-6.26168169e-01 -7.79434830e-01 -1.98688129e-02 1.33864881e+02] [ 7.79042177e-01 -6.26483317e-01 2.47374434e-02 3.12573561e+02] [-3.17287048e-02 1.11563426e-05 9.99496518e-01 7.86716703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:312.59, Z:0.78 [[-6.26573391e-01 -7.79127414e-01 -1.91378784e-02 1.33848059e+02] [ 7.78763461e-01 -6.26865593e-01 2.38117658e-02 3.12594531e+02] [-3.05492770e-02 1.59383789e-05 9.99533262e-01 7.84995836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:312.62, Z:0.78 [[-6.26826366e-01 -7.78930846e-01 -1.88532311e-02 1.33830700e+02] [ 7.78577993e-01 -6.27109828e-01 2.34429479e-02 3.12616080e+02] [-3.00834818e-02 1.59470058e-05 9.99547390e-01 7.83937346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.81, Y:312.64, Z:0.78 [[-6.27107031e-01 -7.78712407e-01 -1.85407215e-02 1.33814648e+02] [ 7.78371483e-01 -6.27381053e-01 2.30401530e-02 3.12636479e+02] [-2.95737504e-02 1.70731065e-05 9.99562601e-01 7.82123050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:312.66, Z:0.78 [[-6.27535320e-01 -7.78377849e-01 -1.80927233e-02 1.33798990e+02] [ 7.78053499e-01 -6.27796085e-01 2.24683949e-02 3.12658581e+02] [-2.88474417e-02 2.26047493e-05 9.99583826e-01 7.81237566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.78, Y:312.68, Z:0.78 [[-6.28145829e-01 -7.77892679e-01 -1.77707081e-02 1.33782523e+02] [ 7.77579957e-01 -6.28397151e-01 2.20551912e-02 3.12680459e+02] [-2.83236341e-02 3.57299031e-05 9.99598805e-01 7.80842947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.77, Y:312.70, Z:0.78 [[-6.28531700e-01 -7.77583804e-01 -1.76445297e-02 1.33766031e+02] [ 7.77275778e-01 -6.28779314e-01 2.18846627e-02 3.12702157e+02] [-2.81116746e-02 4.05386817e-05 9.99604788e-01 7.80369667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:133.75, Y:312.72, Z:0.78 [[-6.28187818e-01 -7.77847828e-01 -1.82434188e-02 1.33749677e+02] [ 7.77519079e-01 -6.28452668e-01 2.26125038e-02 3.12722504e+02] [-2.90542122e-02 2.02932531e-05 9.99577837e-01 7.80091915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:312.74, Z:0.78 [[-6.27702713e-01 -7.78238920e-01 -1.82616487e-02 1.33733561e+02] [ 7.77910128e-01 -6.27968298e-01 2.26196629e-02 3.12742698e+02] [-2.90712384e-02 -7.49772749e-06 9.99577342e-01 7.79350581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:312.76, Z:0.78 [[-6.27012530e-01 -7.78797367e-01 -1.81644909e-02 1.33715838e+02] [ 7.78472727e-01 -6.27275585e-01 2.24845007e-02 3.12763946e+02] [-2.89050116e-02 -4.24970488e-05 9.99582162e-01 7.80099225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:312.78, Z:0.78 [[-6.25368130e-01 -7.80118839e-01 -1.81465921e-02 1.33697484e+02] [ 7.79795801e-01 -6.25631348e-01 2.24482506e-02 3.12783835e+02] [-2.88653801e-02 -1.12215848e-04 9.99583302e-01 7.79493096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.68, Y:312.80, Z:0.78 [[-6.24745060e-01 -7.80621734e-01 -1.79810297e-02 1.33679662e+02] [ 7.80305178e-01 -6.25003750e-01 2.22293008e-02 3.12804519e+02] [-2.85908864e-02 -1.43044690e-04 9.99591187e-01 7.78738070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.66, Y:312.83, Z:0.78 [[-6.24130182e-01 -7.81114531e-01 -1.79333513e-02 1.33661899e+02] [ 7.80800261e-01 -6.24387748e-01 2.21561131e-02 3.12825459e+02] [-2.85038267e-02 -1.74066463e-04 9.99593668e-01 7.78409599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:312.85, Z:0.78 [[-6.24076070e-01 -7.81163182e-01 -1.76958292e-02 1.33645070e+02] [ 7.80857631e-01 -6.24326877e-01 2.18474377e-02 3.12845222e+02] [-2.81143957e-02 -1.83460171e-04 9.99604695e-01 7.76981634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.63, Y:312.87, Z:0.78 [[-6.24075923e-01 -7.81169259e-01 -1.74307521e-02 1.33627558e+02] [ 7.80873050e-01 -6.24319272e-01 2.15110689e-02 3.12866364e+02] [-2.76861402e-02 -1.86664359e-04 9.99616648e-01 7.75991648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.61, Y:312.89, Z:0.78 [[-6.24332837e-01 -7.80970226e-01 -1.71468407e-02 1.33610731e+02] [ 7.80683860e-01 -6.24568229e-01 2.11480056e-02 3.12888426e+02] [-2.72253346e-02 -1.82867461e-04 9.99629305e-01 7.75772497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.59, Y:312.91, Z:0.77 [[-6.24634133e-01 -7.80743489e-01 -1.64864911e-02 1.33594646e+02] [ 7.80478993e-01 -6.24851642e-01 2.03215960e-02 3.12909659e+02] [-2.61675648e-02 -1.73797444e-04 9.99657556e-01 7.74123249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:312.93, Z:0.77 [[-6.24826055e-01 -7.80596319e-01 -1.61798198e-02 1.33578052e+02] [ 7.80341875e-01 -6.25035484e-01 1.99299112e-02 3.12930784e+02] [-2.56701768e-02 -1.73063145e-04 9.99670452e-01 7.73325050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.186875 meters Centerline goodness [0,1] 0.9999555743130678 Centerline is valid? [True, True] Translation: X:133.56, Y:312.95, Z:0.77 [[-6.25078429e-01 -7.80400542e-01 -1.58729913e-02 1.33561219e+02] [ 7.80155894e-01 -6.25279910e-01 1.95401045e-02 3.12951753e+02] [-2.51741707e-02 -1.69309867e-04 9.99683066e-01 7.71680705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:312.97, Z:0.77 [[-6.25545719e-01 -7.80029531e-01 -1.56997860e-02 1.33544757e+02] [ 7.79790367e-01 -6.25742682e-01 1.93152513e-02 3.12973181e+02] [-2.48904926e-02 -1.59969070e-04 9.99690171e-01 7.71336199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.53, Y:313.00, Z:0.77 [[-6.25797136e-01 -7.79828636e-01 -1.56602114e-02 1.33528663e+02] [ 7.79590909e-01 -6.25993029e-01 1.92546717e-02 3.12995925e+02] [-2.48185275e-02 -1.59040010e-04 9.99691960e-01 7.71397285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters Centerline goodness [0,1] 0.9999553860224408 Centerline is valid? [True, True] Translation: X:133.51, Y:313.02, Z:0.77 [[-6.26185709e-01 -7.79516114e-01 -1.56871213e-02 1.33512321e+02] [ 7.79277771e-01 -6.26382155e-01 1.92756737e-02 3.13016862e+02] [-2.48518311e-02 -1.54473542e-04 9.99691134e-01 7.70047742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.50, Y:313.04, Z:0.77 [[-6.26619227e-01 -7.79164173e-01 -1.58598637e-02 1.33496094e+02] [ 7.78920785e-01 -6.26819885e-01 1.94741324e-02 3.13039411e+02] [-2.51148242e-02 -1.50711697e-04 9.99684562e-01 7.70744848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:313.06, Z:0.77 [[-6.26832449e-01 -7.78985916e-01 -1.61871693e-02 1.33481034e+02] [ 7.78732700e-01 -6.27041401e-01 1.98610736e-02 3.13060614e+02] [-2.56215219e-02 -1.55912645e-04 9.99671703e-01 7.70676589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:313.08, Z:0.77 [[-6.26938063e-01 -7.78893106e-01 -1.65588416e-02 1.33464470e+02] [ 7.78628325e-01 -6.27156682e-01 2.03083034e-02 3.13082775e+02] [-2.62029857e-02 -1.61134666e-04 9.99656630e-01 7.70838440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:313.10, Z:0.77 [[-6.26999227e-01 -7.78841918e-01 -1.66504207e-02 1.33447645e+02] [ 7.78574530e-01 -6.27220247e-01 2.04074015e-02 3.13104649e+02] [-2.63376207e-02 -1.68168487e-04 9.99653091e-01 7.70315234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:313.13, Z:0.77 [[-6.26848537e-01 -7.78967950e-01 -1.64269844e-02 1.33431687e+02] [ 7.78708064e-01 -6.27063714e-01 2.01208718e-02 3.13126648e+02] [-2.59742801e-02 -1.79086184e-04 9.99662595e-01 7.69104339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:313.15, Z:0.77 [[-6.26734902e-01 -7.79058654e-01 -1.64613500e-02 1.33415001e+02] [ 7.78798043e-01 -6.26951016e-01 2.01502372e-02 3.13146894e+02] [-2.60186767e-02 -1.91210205e-04 9.99661439e-01 7.66740368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:313.17, Z:0.77 [[-6.26336776e-01 -7.79393325e-01 -1.57571460e-02 1.33399153e+02] [ 7.79154979e-01 -6.26534918e-01 1.92747463e-02 3.13170091e+02] [-2.48950107e-02 -2.04776325e-04 9.99690050e-01 7.66506850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:313.19, Z:0.76 [[-6.25919089e-01 -7.79732978e-01 -1.55492219e-02 1.33383089e+02] [ 7.79501259e-01 -6.26112158e-01 1.90092893e-02 3.13190201e+02] [-2.45577266e-02 -2.22361006e-04 9.99698389e-01 7.64571848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.37, Y:313.21, Z:0.76 [[-6.25681932e-01 -7.79925525e-01 -1.54368232e-02 1.33366364e+02] [ 7.79697410e-01 -6.25872288e-01 1.88633976e-02 3.13211303e+02] [-2.43735251e-02 -2.33563999e-04 9.99702894e-01 7.63529803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:313.23, Z:0.76 [[-6.24534946e-01 -7.80841110e-01 -1.55968578e-02 1.33349332e+02] [ 7.80608875e-01 -6.24729607e-01 1.90447413e-02 3.13231605e+02] [-2.46147358e-02 -2.80939159e-04 9.99696972e-01 7.61203256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.33, Y:313.25, Z:0.76 [[-6.24146951e-01 -7.81147569e-01 -1.57816041e-02 1.33332633e+02] [ 7.80910101e-01 -6.24346366e-01 1.92621447e-02 3.13252799e+02] [-2.48997647e-02 -3.01605165e-04 9.99689907e-01 7.60848511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters Centerline goodness [0,1] 0.9999319450115693 Centerline is valid? [True, True] Translation: X:133.32, Y:313.27, Z:0.76 [[-6.23850392e-01 -7.81375951e-01 -1.61960351e-02 1.33315913e+02] [ 7.81126250e-01 -6.24060507e-01 1.97551351e-02 3.13274098e+02] [-2.55434933e-02 -3.26899410e-04 9.99673658e-01 7.59860170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.30, Y:313.29, Z:0.76 [[-6.23845222e-01 -7.81374391e-01 -1.64681242e-02 1.33299704e+02] [ 7.81116553e-01 -6.24062453e-01 2.00744924e-02 3.13294874e+02] [-2.59628323e-02 -3.40148226e-04 9.99662851e-01 7.59325664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.28, Y:313.32, Z:0.76 [[-6.23793612e-01 -7.81413637e-01 -1.65607553e-02 1.33282934e+02] [ 7.81153252e-01 -6.24013305e-01 2.01740577e-02 3.13315603e+02] [-2.60984155e-02 -3.52039567e-04 9.99659316e-01 7.57592970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.27, Y:313.34, Z:0.76 [[-6.23797388e-01 -7.81415224e-01 -1.63421419e-02 1.33268130e+02] [ 7.81162004e-01 -6.24011315e-01 1.98947997e-02 3.13338292e+02] [-2.57437808e-02 -3.55536178e-04 9.99668511e-01 7.57259216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters Centerline goodness [0,1] 0.9998861903352833 Centerline is valid? [True, True] Translation: X:133.25, Y:313.36, Z:0.76 [[-6.23855196e-01 -7.81362342e-01 -1.66608729e-02 1.33251629e+02] [ 7.81099467e-01 -6.24077523e-01 2.02698625e-02 3.13359861e+02] [-2.62357835e-02 -3.68339875e-04 9.99655715e-01 7.56062418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.786875 meters Centerline goodness [0,1] 0.9998861903352833 Centerline is valid? [True, True] Translation: X:133.23, Y:313.38, Z:0.75 [[-6.24092807e-01 -7.81172438e-01 -1.66670502e-02 1.33234527e+02] [ 7.80909631e-01 -6.24315214e-01 2.02647810e-02 3.13380462e+02] [-2.62357814e-02 -3.68355949e-04 9.99655715e-01 7.54969457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.22, Y:313.40, Z:0.75 [[-6.24557565e-01 -7.80796143e-01 -1.68887790e-02 1.33219003e+02] [ 7.80526504e-01 -6.24785763e-01 2.05213872e-02 3.13402575e+02] [-2.65748886e-02 -3.65351990e-04 9.99646759e-01 7.53995053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.20, Y:313.42, Z:0.75 [[-6.25017966e-01 -7.80432488e-01 -1.66635462e-02 1.33203823e+02] [ 7.80170180e-01 -6.25239959e-01 2.02357117e-02 3.13424898e+02] [-2.62113218e-02 -3.52718491e-04 9.99656362e-01 7.53885058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.19, Y:313.45, Z:0.75 [[-6.25630074e-01 -7.79941031e-01 -1.67032290e-02 1.33187661e+02] [ 7.79677684e-01 -6.25852915e-01 2.02691464e-02 3.13445946e+02] [-2.62625036e-02 -3.42147330e-04 9.99655022e-01 7.52141115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.17, Y:313.47, Z:0.75 [[-6.26594665e-01 -7.79163533e-01 -1.68319698e-02 1.33172123e+02] [ 7.78896062e-01 -6.26820619e-01 2.04165598e-02 3.13468158e+02] [-2.64584646e-02 -3.17447546e-04 9.99649863e-01 7.51512275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters Centerline goodness [0,1] 0.9999770363056009 Centerline is valid? [True, True] Translation: X:133.16, Y:313.49, Z:0.75 [[-6.27919617e-01 -7.78094022e-01 -1.69306494e-02 1.33157122e+02] [ 7.77823366e-01 -6.28147763e-01 2.05231067e-02 3.13491654e+02] [-2.66038562e-02 -2.82193464e-04 9.99646015e-01 7.50884152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.14, Y:313.51, Z:0.75 [[-6.28605696e-01 -7.77536980e-01 -1.70623409e-02 1.33140822e+02] [ 7.77262246e-01 -6.28837159e-01 2.06695288e-02 3.13514016e+02] [-2.68007570e-02 -2.68929875e-04 9.99640759e-01 7.49703541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:313.54, Z:0.75 [[-6.29328637e-01 -7.76951720e-01 -1.70730904e-02 1.33124531e+02] [ 7.76676772e-01 -6.29560133e-01 2.06695884e-02 3.13536103e+02] [-2.68078093e-02 -2.52308857e-04 9.99640574e-01 7.48504484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.11, Y:313.56, Z:0.75 [[-6.29997123e-01 -7.76408273e-01 -1.71411181e-02 1.33109352e+02] [ 7.76131276e-01 -6.30230225e-01 2.07389797e-02 3.13559259e+02] [-2.69047661e-02 -2.38260341e-04 9.99637973e-01 7.47698867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:313.58, Z:0.75 [[-6.30000887e-01 -7.76401867e-01 -1.72922788e-02 1.33093073e+02] [ 7.76120321e-01 -6.30238113e-01 2.09085749e-02 3.13580557e+02] [-2.71317097e-02 -2.48468259e-04 9.99631837e-01 7.46654567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.08, Y:313.60, Z:0.75 [[-6.30175177e-01 -7.76249152e-01 -1.77904710e-02 1.33077556e+02] [ 7.75951472e-01 -6.30426196e-01 2.14971065e-02 3.13602895e+02] [-2.79026896e-02 -2.57599260e-04 9.99610611e-01 7.46217402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.06, Y:313.62, Z:0.75 [[-6.30409318e-01 -7.76054597e-01 -1.79820720e-02 1.33061191e+02] [ 7.75750773e-01 -6.30665676e-01 2.17150386e-02 3.13624772e+02] [-2.81927311e-02 -2.60243633e-04 9.99602472e-01 7.45715433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.04, Y:313.65, Z:0.74 [[-6.30886166e-01 -7.75658996e-01 -1.83239738e-02 1.33044530e+02] [ 7.75343748e-01 -6.31152166e-01 2.21137194e-02 3.13646331e+02] [-2.87179211e-02 -2.56138929e-04 9.99587523e-01 7.44593573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.03, Y:313.67, Z:0.74 [[-6.31403160e-01 -7.75226982e-01 -1.87929477e-02 1.33028085e+02] [ 7.74895623e-01 -6.31682723e-01 2.26651831e-02 3.13668497e+02] [-2.94418419e-02 -2.51704673e-04 9.99566463e-01 7.43855351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.01, Y:313.69, Z:0.74 [[-6.32554511e-01 -7.74285701e-01 -1.88797105e-02 1.33013693e+02] [ 7.73951320e-01 -6.32836159e-01 2.27541018e-02 3.13690699e+02] [-2.95659392e-02 -2.18767177e-04 9.99562808e-01 7.41959782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters Centerline goodness [0,1] 0.9999766070927295 Centerline is valid? [True, True] Translation: X:133.00, Y:313.71, Z:0.74 [[-6.33658484e-01 -7.73382881e-01 -1.88638592e-02 1.32998097e+02] [ 7.73048951e-01 -6.33939182e-01 2.27251836e-02 3.13712671e+02] [-2.95338074e-02 -1.82681226e-04 9.99563765e-01 7.41379193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.98, Y:313.73, Z:0.74 [[-6.34839888e-01 -7.72414145e-01 -1.88336111e-02 1.32982036e+02] [ 7.72081270e-01 -6.35119176e-01 2.26747782e-02 3.13734536e+02] [-2.94759070e-02 -1.46224729e-04 9.99565480e-01 7.40394688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:313.76, Z:0.74 [[-6.36455867e-01 -7.71082412e-01 -1.88638069e-02 1.32965837e+02] [ 7.70748297e-01 -6.36735349e-01 2.26970797e-02 3.13756769e+02] [-2.95125717e-02 -9.35574857e-05 9.99564405e-01 7.39297100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.95, Y:313.78, Z:0.74 [[-6.37160237e-01 -7.70500596e-01 -1.88590344e-02 1.32948499e+02] [ 7.70166815e-01 -6.37439272e-01 2.26771142e-02 3.13777828e+02] [-2.94942192e-02 -7.56469414e-05 9.99564948e-01 7.37865127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.93, Y:313.80, Z:0.74 [[-6.38089175e-01 -7.69739105e-01 -1.85449329e-02 1.32930907e+02] [ 7.69416423e-01 -6.38358604e-01 2.22858770e-02 3.13799059e+02] [-2.89926285e-02 -4.83991360e-05 9.99579624e-01 7.36290525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.91, Y:313.82, Z:0.73 [[-6.39637866e-01 -7.68453097e-01 -1.85266848e-02 1.32913118e+02] [ 7.68130909e-01 -6.39906116e-01 2.22501394e-02 3.13819929e+02] [-2.89535275e-02 1.11241801e-06 9.99580759e-01 7.34826977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.90, Y:313.84, Z:0.73 [[-6.40833241e-01 -7.67457197e-01 -1.84988321e-02 1.32896367e+02] [ 7.67135954e-01 -6.41100186e-01 2.22031472e-02 3.13840256e+02] [-2.88995698e-02 3.73955877e-05 9.99582320e-01 7.33607876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.88, Y:313.86, Z:0.73 [[-6.43603582e-01 -7.65135374e-01 -1.85010602e-02 1.32878959e+02] [ 7.64813514e-01 -6.43869429e-01 2.21911452e-02 3.13861809e+02] [-2.88914973e-02 1.32439697e-04 9.99582545e-01 7.33324716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.86, Y:313.88, Z:0.73 [[-6.45837247e-01 -7.63248162e-01 -1.86143073e-02 1.32862724e+02] [ 7.62921970e-01 -6.46105408e-01 2.23129654e-02 3.13882332e+02] [-2.90571344e-02 2.09280138e-04 9.99577730e-01 7.31314247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.85, Y:313.90, Z:0.73 [[-6.48047498e-01 -7.61368558e-01 -1.87712316e-02 1.32845201e+02] [ 7.61036522e-01 -6.48319240e-01 2.24849864e-02 3.13904797e+02] [-2.92891123e-02 2.85746396e-04 9.99570941e-01 7.30092363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.83, Y:313.93, Z:0.73 [[-6.53009730e-01 -7.57101732e-01 -1.93716439e-02 1.32828462e+02] [ 7.56746622e-01 -6.53296819e-01 2.31908811e-02 3.13927827e+02] [-3.02132896e-02 4.84444958e-04 9.99543357e-01 7.30594613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.81, Y:313.95, Z:0.73 [[-6.55505796e-01 -7.54928450e-01 -1.98792957e-02 1.32811909e+02] [ 7.54553898e-01 -6.55806897e-01 2.37850730e-02 3.13949228e+02] [-3.09930076e-02 5.91253139e-04 9.99519426e-01 7.29958458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.80, Y:313.97, Z:0.73 [[-6.57752637e-01 -7.52963304e-01 -2.01923508e-02 1.32795046e+02] [ 7.52576386e-01 -6.58062150e-01 2.41451885e-02 3.13970304e+02] [-3.14682627e-02 6.85274987e-04 9.99504517e-01 7.29406276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.78, Y:313.99, Z:0.73 [[-6.61448462e-01 -7.49704014e-01 -2.07321957e-02 1.32776000e+02] [ 7.49295005e-01 -6.61772743e-01 2.47756328e-02 3.13990705e+02] [-3.22943934e-02 8.53273575e-04 9.99478036e-01 7.28320535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.76, Y:314.01, Z:0.73 [[-6.62766856e-01 -7.48530754e-01 -2.10191574e-02 1.32761730e+02] [ 7.48110236e-01 -6.63099447e-01 2.51037622e-02 3.14013324e+02] [-3.27287296e-02 9.13294753e-04 9.99463854e-01 7.26163486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.74, Y:314.03, Z:0.73 [[-6.64009546e-01 -7.47409958e-01 -2.16720413e-02 1.32739021e+02] [ 7.46962687e-01 -6.64362380e-01 2.58722347e-02 3.14031122e+02] [-3.37352548e-02 9.91204593e-04 9.99430313e-01 7.26305012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.72, Y:314.05, Z:0.72 [[-6.64772005e-01 -7.46726312e-01 -2.18631297e-02 1.32721414e+02] [ 7.46271238e-01 -6.65130636e-01 2.60859293e-02 3.14051574e+02] [-3.40208872e-02 1.02537070e-03 9.99420596e-01 7.24576952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.70, Y:314.07, Z:0.72 [[-6.66276155e-01 -7.45388382e-01 -2.17312159e-02 1.32701370e+02] [ 7.44938588e-01 -6.66629583e-01 2.59133063e-02 3.14071320e+02] [-3.38021488e-02 1.07699681e-03 9.99427964e-01 7.22139847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.68, Y:314.09, Z:0.72 [[-6.66563653e-01 -7.45142025e-01 -2.13602212e-02 1.32682326e+02] [ 7.44707772e-01 -6.66904967e-01 2.54578072e-02 3.14090824e+02] [-3.32149196e-02 1.06212627e-03 9.99447668e-01 7.20736327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.66, Y:314.11, Z:0.72 [[-6.66835379e-01 -7.44898459e-01 -2.13743574e-02 1.32663376e+02] [ 7.44464029e-01 -6.67177002e-01 2.54589440e-02 3.14111027e+02] [-3.32248079e-02 1.06448430e-03 9.99447337e-01 7.19495524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.65, Y:314.13, Z:0.72 [[-6.66888230e-01 -7.44858806e-01 -2.11056273e-02 1.32646484e+02] [ 7.44435709e-01 -6.67221306e-01 2.51237531e-02 3.14131409e+02] [-3.27957729e-02 1.04295260e-03 9.99461530e-01 7.18033707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.63, Y:314.15, Z:0.72 [[-6.65916307e-01 -7.45699406e-01 -2.20877472e-02 1.32625615e+02] [ 7.45237102e-01 -6.66281714e-01 2.62743120e-02 3.14150355e+02] [-3.43094010e-02 1.03588408e-03 9.99410722e-01 7.17432763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.61, Y:314.17, Z:0.72 [[-6.65241269e-01 -7.46286321e-01 -2.26004833e-02 1.32606037e+02] [ 7.45803146e-01 -6.65624285e-01 2.68696625e-02 3.14170168e+02] [-3.50958921e-02 1.01929681e-03 9.99383430e-01 7.16637200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.59, Y:314.19, Z:0.72 [[-6.64361975e-01 -7.47056314e-01 -2.30223772e-02 1.32587342e+02] [ 7.46555959e-01 -6.64760025e-01 2.73552270e-02 3.14189601e+02] [-3.57402511e-02 9.86279748e-04 9.99360626e-01 7.15741175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.56, Y:314.21, Z:0.72 [[-6.62165757e-01 -7.48974927e-01 -2.39388572e-02 1.32562769e+02] [ 7.48435754e-01 -6.62597717e-01 2.84286562e-02 3.14206090e+02] [-3.71541829e-02 9.07785999e-04 9.99309133e-01 7.15730941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.54, Y:314.23, Z:0.71 [[-6.60933813e-01 -7.50049301e-01 -2.43421552e-02 1.32542655e+02] [ 7.49493126e-01 -6.61381374e-01 2.88917497e-02 3.14226442e+02] [-3.77696847e-02 8.51256302e-04 9.99286108e-01 7.14697313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.52, Y:314.25, Z:0.71 [[-6.59731150e-01 -7.51097871e-01 -2.46332692e-02 1.32522623e+02] [ 7.50529627e-01 -6.60190400e-01 2.92218223e-02 3.14246414e+02] [-3.82110964e-02 7.90548131e-04 9.99269377e-01 7.13771912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.50, Y:314.26, Z:0.71 [[-6.56996333e-01 -7.53462847e-01 -2.54863989e-02 1.32501747e+02] [ 7.52857015e-01 -6.57490149e-01 3.02162045e-02 3.14264516e+02] [-3.95238437e-02 6.64321368e-04 9.99218407e-01 7.13166818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.48, Y:314.28, Z:0.71 [[-6.55758805e-01 -7.54536408e-01 -2.55968586e-02 1.32482638e+02] [ 7.53926617e-01 -6.56257919e-01 3.03347987e-02 3.14283428e+02] [-3.96868513e-02 5.94158337e-04 9.99211990e-01 7.12027910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.46, Y:314.30, Z:0.71 [[-6.54624082e-01 -7.55519066e-01 -2.56564323e-02 1.32461689e+02] [ 7.54907930e-01 -6.55126451e-01 3.03866802e-02 3.14302074e+02] [-3.97659237e-02 5.23608467e-04 9.99208886e-01 7.10640378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.44, Y:314.32, Z:0.71 [[-6.52770660e-01 -7.57137397e-01 -2.51679912e-02 1.32441338e+02] [ 7.56551207e-01 -6.53255538e-01 2.97905039e-02 3.14319877e+02] [-3.89966342e-02 4.05492808e-04 9.99239260e-01 7.08175441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.42, Y:314.34, Z:0.71 [[-6.52231310e-01 -7.57615049e-01 -2.47740988e-02 1.32423002e+02] [ 7.57048118e-01 -6.52701546e-01 2.93059370e-02 3.14339118e+02] [-3.83727115e-02 3.59064833e-04 9.99263432e-01 7.05812105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.40, Y:314.36, Z:0.70 [[-6.51695415e-01 -7.58083409e-01 -2.45485533e-02 1.32403800e+02] [ 7.57527822e-01 -6.52157531e-01 2.90198664e-02 3.14359168e+02] [-3.80090032e-02 3.15901746e-04 9.99277347e-01 7.03569776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.38, Y:314.38, Z:0.70 [[-6.50848241e-01 -7.58828125e-01 -2.40092551e-02 1.32384730e+02] [ 7.58297797e-01 -6.51290881e-01 2.83661659e-02 3.14377391e+02] [-3.71620534e-02 2.55903894e-04 9.99309220e-01 7.01234195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:314.40, Z:0.70 [[-6.50264287e-01 -7.59334248e-01 -2.38297448e-02 1.32365951e+02] [ 7.58812843e-01 -6.50700741e-01 2.81356560e-02 3.14397655e+02] [-3.68703998e-02 2.13295928e-04 9.99320033e-01 6.99619778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.35, Y:314.42, Z:0.70 [[-6.50255558e-01 -7.59349685e-01 -2.35746690e-02 1.32347695e+02] [ 7.58840013e-01 -6.50682731e-01 2.78175879e-02 3.14417700e+02] [-3.64629066e-02 1.99138991e-04 9.99334987e-01 6.98369237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.33, Y:314.44, Z:0.70 [[-6.49614551e-01 -7.59892241e-01 -2.37637964e-02 1.32328111e+02] [ 7.59375353e-01 -6.50049042e-01 2.80234765e-02 3.14437351e+02] [-3.67424554e-02 1.58816791e-04 9.99324755e-01 6.97541750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:314.46, Z:0.70 [[-6.49300932e-01 -7.60156160e-01 -2.38937837e-02 1.32309450e+02] [ 7.59634449e-01 -6.49740406e-01 2.81586266e-02 3.14457815e+02] [-3.69297102e-02 1.32881211e-04 9.99317857e-01 6.96562754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.29, Y:314.48, Z:0.70 [[-6.49057804e-01 -7.60352109e-01 -2.42618639e-02 1.32291871e+02] [ 7.59815022e-01 -6.49511092e-01 2.85740188e-02 3.14477135e+02] [-3.74846651e-02 1.11661245e-04 9.99297197e-01 6.95726714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.27, Y:314.50, Z:0.69 [[-6.48726377e-01 -7.60629138e-01 -2.44417968e-02 1.32273097e+02] [ 7.60084982e-01 -6.49186650e-01 2.87665338e-02 3.14497568e+02] [-3.77479520e-02 8.37666066e-05 9.99287289e-01 6.94483712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:314.52, Z:0.69 [[-6.48055143e-01 -7.61180089e-01 -2.50879131e-02 1.32253849e+02] [ 7.60607926e-01 -6.48540569e-01 2.95078482e-02 3.14517122e+02] [-3.87313159e-02 4.06472588e-05 9.99249660e-01 6.93210790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.24, Y:314.54, Z:0.69 [[-6.48065517e-01 -7.61162423e-01 -2.53545164e-02 1.32236177e+02] [ 7.60578765e-01 -6.48561304e-01 2.98023056e-02 3.14536781e+02] [-3.91283534e-02 2.97398603e-05 9.99234192e-01 6.91706343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.22, Y:314.56, Z:0.69 [[-6.48135471e-01 -7.61096621e-01 -2.55410464e-02 1.32218159e+02] [ 7.60505085e-01 -6.48638523e-01 3.00013778e-02 3.14557143e+02] [-3.94008539e-02 2.08615066e-05 9.99223485e-01 6.90986777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.20, Y:314.58, Z:0.69 [[-6.48045278e-01 -7.61159712e-01 -2.59462884e-02 1.32200945e+02] [ 7.60550075e-01 -6.48564486e-01 3.04580248e-02 3.14577468e+02] [-4.00112626e-02 4.72754301e-06 9.99199229e-01 6.90826493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.18, Y:314.60, Z:0.69 [[-6.48345726e-01 -7.60893723e-01 -2.62404631e-02 1.32183193e+02] [ 7.60270787e-01 -6.48876524e-01 3.07829110e-02 3.14598490e+02] [-4.04493442e-02 8.11121231e-06 9.99181590e-01 6.90402806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:314.62, Z:0.69 [[-6.48591792e-01 -7.60677369e-01 -2.64315498e-02 1.32165986e+02] [ 7.60045938e-01 -6.49130141e-01 3.09876176e-02 3.14618680e+02] [-4.07290951e-02 9.12242677e-06 9.99170226e-01 6.89660365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.15, Y:314.64, Z:0.69 [[-6.49103480e-01 -7.60241101e-01 -2.64223497e-02 1.32148481e+02] [ 7.59610572e-01 -6.49641030e-01 3.09566024e-02 3.14639516e+02] [-4.06995240e-02 2.33421808e-05 9.99171431e-01 6.88567414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.13, Y:314.66, Z:0.69 [[-6.49586094e-01 -7.59845204e-01 -2.59455749e-02 1.32131166e+02] [ 7.59237648e-01 -6.50104041e-01 3.03797452e-02 3.14660145e+02] [-3.99512267e-02 3.54027479e-05 9.99201630e-01 6.86531968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.11, Y:314.68, Z:0.69 [[-6.49816040e-01 -7.59648250e-01 -2.59547722e-02 1.32113690e+02] [ 7.59040851e-01 -6.50334172e-01 3.03718853e-02 3.14680415e+02] [-3.99512248e-02 3.54058840e-05 9.99201630e-01 6.85439218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.10, Y:314.70, Z:0.68 [[-6.50044466e-01 -7.59453886e-01 -2.59227111e-02 1.32096281e+02] [ 7.58848574e-01 -6.50561138e-01 3.03157994e-02 3.14701018e+02] [-3.98877601e-02 3.52053007e-05 9.99204166e-01 6.83712231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.08, Y:314.72, Z:0.68 [[-6.50492647e-01 -7.59084632e-01 -2.54919331e-02 1.32079055e+02] [ 7.58499698e-01 -6.50991951e-01 2.97941037e-02 3.14721559e+02] [-3.92112895e-02 4.52218674e-05 9.99230941e-01 6.81656477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.06, Y:314.74, Z:0.68 [[-6.50818792e-01 -7.58810884e-01 -2.53168244e-02 1.32061389e+02] [ 7.58234450e-01 -6.51311016e-01 2.95716031e-02 3.14742733e+02] [-3.89283809e-02 4.96666227e-05 9.99242002e-01 6.80475991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:314.76, Z:0.68 [[-6.51008749e-01 -7.58658176e-01 -2.50076358e-02 1.32044592e+02] [ 7.58096322e-01 -6.51488887e-01 2.91923886e-02 3.14763241e+02] [-3.84392411e-02 4.63036563e-05 9.99260938e-01 6.79556335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:314.78, Z:0.68 [[-6.51201878e-01 -7.58511088e-01 -2.44344559e-02 1.32027838e+02] [ 7.57975289e-01 -6.51660132e-01 2.85049826e-02 3.14783755e+02] [-3.75443061e-02 4.17844539e-05 9.99294963e-01 6.77867530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters Centerline goodness [0,1] 0.9999777391923779 Centerline is valid? [True, True] Translation: X:132.01, Y:314.80, Z:0.68 [[-6.51421702e-01 -7.58320260e-01 -2.44979574e-02 1.32010359e+02] [ 7.57782238e-01 -6.51882184e-01 2.85604264e-02 3.14804359e+02] [-3.76277319e-02 4.07646574e-05 9.99291825e-01 6.76929636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.99, Y:314.83, Z:0.68 [[-6.51343183e-01 -7.58387562e-01 -2.45023131e-02 1.31992457e+02] [ 7.57850053e-01 -6.51803886e-01 2.85480628e-02 3.14825414e+02] [-3.76211986e-02 2.55067927e-05 9.99292072e-01 6.76159982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.97, Y:314.85, Z:0.68 [[-6.50998771e-01 -7.58690394e-01 -2.42793332e-02 1.31974766e+02] [ 7.58163489e-01 -6.51451368e-01 2.82708070e-02 3.14846064e+02] [-3.72655945e-02 -3.44334819e-06 9.99305396e-01 6.75259647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.96, Y:314.87, Z:0.67 [[-6.49956857e-01 -7.59588744e-01 -2.41044408e-02 1.31956621e+02] [ 7.59070663e-01 -6.50403672e-01 2.80498191e-02 3.14865644e+02] [-3.69839436e-02 -6.58016278e-05 9.99315858e-01 6.73401609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.94, Y:314.89, Z:0.67 [[-6.49557354e-01 -7.59928058e-01 -2.41783242e-02 1.31938532e+02] [ 7.59407719e-01 -6.50007183e-01 2.81172278e-02 3.14885074e+02] [-3.70831547e-02 -9.74540067e-05 9.99312179e-01 6.71459243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00687500000004 meters Centerline goodness [0,1] 0.9999335062171687 Centerline is valid? [True, True] Translation: X:131.92, Y:314.90, Z:0.67 [[-6.48670987e-01 -7.60698653e-01 -2.37383530e-02 1.31921378e+02] [ 7.60198250e-01 -6.49105182e-01 2.75877501e-02 3.14903188e+02] [-3.63946523e-02 -1.50481357e-04 9.99337484e-01 6.69455708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:314.92, Z:0.67 [[-6.48725656e-01 -7.60651670e-01 -2.37499458e-02 1.31903718e+02] [ 7.60151246e-01 -6.49160236e-01 2.75875019e-02 3.14924491e+02] [-3.64019999e-02 -1.56830617e-04 9.99337215e-01 6.68739650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:314.94, Z:0.67 [[-6.48688788e-01 -7.60689522e-01 -2.35437484e-02 1.31886471e+02] [ 7.60198399e-01 -6.49115878e-01 2.73307770e-02 3.14943832e+02] [-3.60728566e-02 -1.68751220e-04 9.99349148e-01 6.67033505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:314.96, Z:0.67 [[-6.48780962e-01 -7.60619687e-01 -2.32584392e-02 1.31869436e+02] [ 7.60140997e-01 -6.49197706e-01 2.69815442e-02 3.14963408e+02] [-3.56220190e-02 -1.74580980e-04 9.99365319e-01 6.65552619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.85, Y:314.99, Z:0.66 [[-6.49119218e-01 -7.60344117e-01 -2.28268382e-02 1.31853151e+02] [ 7.59883449e-01 -6.49520436e-01 2.64640759e-02 3.14985027e+02] [-3.49483023e-02 -1.67396260e-04 9.99389107e-01 6.64337928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:315.00, Z:0.66 [[-6.49609485e-01 -7.59932006e-01 -2.26022778e-02 1.31836761e+02] [ 7.59480665e-01 -6.50002555e-01 2.61877324e-02 3.15004982e+02] [-3.45924344e-02 -1.54193646e-04 9.99401491e-01 6.62582467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:315.03, Z:0.66 [[-6.49930935e-01 -7.59659936e-01 -2.25069286e-02 1.31819486e+02] [ 7.59212821e-01 -6.50320505e-01 2.60601633e-02 3.15026242e+02] [-3.44335791e-02 -1.50242510e-04 9.99406977e-01 6.61291254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.80, Y:315.05, Z:0.66 [[-6.50484631e-01 -7.59191467e-01 -2.23172881e-02 1.31802567e+02] [ 7.58752119e-01 -6.50867343e-01 2.58248571e-02 3.15047007e+02] [-3.41316051e-02 -1.34617013e-04 9.99417338e-01 6.59758479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:315.07, Z:0.66 [[-6.50711269e-01 -7.58999018e-01 -2.22561488e-02 1.31786443e+02] [ 7.58562547e-01 -6.51091755e-01 2.57369216e-02 3.15067029e+02] [-3.40250932e-02 -1.35376020e-04 9.99420970e-01 6.57190141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.77, Y:315.09, Z:0.66 [[-6.50836719e-01 -7.58888153e-01 -2.23681916e-02 1.31769030e+02] [ 7.58447625e-01 -6.51220970e-01 2.58543525e-02 3.15088427e+02] [-3.41871973e-02 -1.38139812e-04 9.99415437e-01 6.56171341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.75, Y:315.11, Z:0.65 [[-6.50814084e-01 -7.58906412e-01 -2.24072944e-02 1.31751637e+02] [ 7.58464915e-01 -6.51199690e-01 2.58831319e-02 3.15109287e+02] [-3.42344979e-02 -1.50039833e-04 9.99413817e-01 6.54872099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.73, Y:315.13, Z:0.65 [[-6.49690633e-01 -7.59871764e-01 -2.22931552e-02 1.31734411e+02] [ 7.59435864e-01 -6.50072964e-01 2.57353710e-02 3.15129409e+02] [-3.40477592e-02 -2.10192120e-04 9.99420185e-01 6.52900884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.72, Y:315.15, Z:0.65 [[-6.49102138e-01 -7.60379220e-01 -2.21326923e-02 1.31716514e+02] [ 7.59950439e-01 -6.49479315e-01 2.55332898e-02 3.15149918e+02] [-3.37897089e-02 -2.46036228e-04 9.99428934e-01 6.51906756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:315.17, Z:0.65 [[-6.48458900e-01 -7.60926077e-01 -2.21937229e-02 1.31698587e+02] [ 7.60495783e-01 -6.48838519e-01 2.55879006e-02 3.15169546e+02] [-3.38706432e-02 -2.85530790e-04 9.99426184e-01 6.50372325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.426875 meters Centerline goodness [0,1] 0.9999775028121485 Centerline is valid? [True, True] Translation: X:131.68, Y:315.19, Z:0.65 [[-6.48054064e-01 -7.61262021e-01 -2.24958861e-02 1.31680401e+02] [ 7.60820724e-01 -6.48444318e-01 2.59189540e-02 3.15189605e+02] [-3.43184448e-02 -3.18452860e-04 9.99410898e-01 6.48928757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.66, Y:315.21, Z:0.65 [[-6.47202607e-01 -7.61979259e-01 -2.27243285e-02 1.31662953e+02] [ 7.61529953e-01 -6.47601322e-01 2.61659869e-02 3.15208693e+02] [-3.46542445e-02 -3.70561875e-04 9.99399293e-01 6.47081350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:315.23, Z:0.65 [[-6.47685567e-01 -7.61565328e-01 -2.28398291e-02 1.31645841e+02] [ 7.61111781e-01 -6.48088051e-01 2.62818441e-02 3.15230435e+02] [-3.48175616e-02 -3.61291906e-04 9.99393620e-01 6.45925208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.63, Y:315.25, Z:0.64 [[-6.48258557e-01 -7.61077749e-01 -2.28364473e-02 1.31629022e+02] [ 7.60624603e-01 -6.48660574e-01 2.62616353e-02 3.15251160e+02] [-3.48002493e-02 -3.45633870e-04 9.99394228e-01 6.44293630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.546875 meters Centerline goodness [0,1] 0.9999774515772621 Centerline is valid? [True, True] Translation: X:131.61, Y:315.27, Z:0.64 [[-6.49296096e-01 -7.60207607e-01 -2.23377345e-02 1.31612179e+02] [ 7.59774086e-01 -6.49680154e-01 2.56716994e-02 3.15271715e+02] [-3.40282039e-02 -3.03097639e-04 9.99420827e-01 6.41813168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters Centerline goodness [0,1] 0.9999548522540013 Centerline is valid? [True, True] Translation: X:131.60, Y:315.30, Z:0.64 [[-6.51334193e-01 -7.58471749e-01 -2.20085381e-02 1.31597443e+02] [ 7.58050467e-01 -6.51705883e-01 2.52770809e-02 3.15295096e+02] [-3.35150455e-02 -2.19755507e-04 9.99438189e-01 6.40438638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:315.32, Z:0.64 [[-6.52698005e-01 -7.57306655e-01 -2.17242840e-02 1.31580490e+02] [ 7.56896045e-01 -6.53059417e-01 2.49354152e-02 3.15315551e+02] [-3.30710041e-02 -1.67728901e-04 9.99452991e-01 6.37344258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:315.34, Z:0.64 [[-6.53866937e-01 -7.56298499e-01 -2.16935450e-02 1.31564113e+02] [ 7.55889040e-01 -6.54226692e-01 2.48836183e-02 3.15337736e+02] [-3.30119394e-02 -1.27337566e-04 9.99454949e-01 6.36390723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.55, Y:315.36, Z:0.63 [[-6.55733249e-01 -7.54685246e-01 -2.15426217e-02 1.31548248e+02] [ 7.54281095e-01 -6.56087018e-01 2.46952328e-02 3.15360364e+02] [-3.27709622e-02 -5.57070338e-05 9.99462886e-01 6.34303146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.53, Y:315.38, Z:0.63 [[-6.56634636e-01 -7.53902702e-01 -2.14865143e-02 1.31531272e+02] [ 7.53500730e-01 -6.56986084e-01 2.46157347e-02 3.15381392e+02] [-3.26742098e-02 -2.65601934e-05 9.99466055e-01 6.32150126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.52, Y:315.40, Z:0.63 [[-6.57483767e-01 -7.53167829e-01 -2.12912655e-02 1.31515080e+02] [ 7.52773220e-01 -6.57828414e-01 2.43773909e-02 3.15401525e+02] [-3.23662660e-02 2.44353802e-07 9.99476075e-01 6.30266212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.50, Y:315.42, Z:0.63 [[-6.59143821e-01 -7.51724488e-01 -2.09694440e-02 1.31499353e+02] [ 7.51341480e-01 -6.59477286e-01 2.39935417e-02 3.15424510e+02] [-3.18654049e-02 5.99816379e-05 9.99492167e-01 6.28358091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.48, Y:315.45, Z:0.63 [[-6.60373711e-01 -7.50640102e-01 -2.11186669e-02 1.31482711e+02] [ 7.50251549e-01 -6.60711303e-01 2.41492827e-02 3.15446411e+02] [-3.20807619e-02 1.03238867e-04 9.99485275e-01 6.27306695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:315.47, Z:0.63 [[-6.61630269e-01 -7.49526348e-01 -2.13457452e-02 1.31465842e+02] [ 7.49129306e-01 -6.61974495e-01 2.43936809e-02 3.15468454e+02] [-3.24140454e-02 1.48874330e-04 9.99474516e-01 6.26021150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.45, Y:315.49, Z:0.63 [[-6.64414986e-01 -7.47045029e-01 -2.18277500e-02 1.31452166e+02] [ 7.46629025e-01 -6.64773385e-01 2.49288187e-02 3.15491448e+02] [-3.31334573e-02 2.65849042e-04 9.99450901e-01 6.25003160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.44, Y:315.51, Z:0.62 [[-6.65953577e-01 -7.45662144e-01 -2.22216141e-02 1.31436039e+02] [ 7.45230788e-01 -6.66324140e-01 2.53616443e-02 3.15513133e+02] [-3.37180159e-02 3.29446779e-04 9.99431332e-01 6.24104168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:315.54, Z:0.62 [[-6.67531193e-01 -7.44243702e-01 -2.24369680e-02 1.31420714e+02] [ 7.43803709e-01 -6.67908045e-01 2.55907341e-02 3.15535090e+02] [-3.40315741e-02 3.93913270e-04 9.99420681e-01 6.22928227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.41, Y:315.56, Z:0.62 [[-6.70409780e-01 -7.41635171e-01 -2.29782429e-02 1.31406163e+02] [ 7.41172580e-01 -6.70803243e-01 2.61957179e-02 3.15559079e+02] [-3.48415456e-02 5.31021919e-04 9.99392708e-01 6.21340818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:315.58, Z:0.62 [[-6.71423124e-01 -7.40722473e-01 -2.28299540e-02 1.31388989e+02] [ 7.40265817e-01 -6.71810911e-01 2.60119243e-02 3.15580708e+02] [-3.46050291e-02 5.64772947e-04 9.99400907e-01 6.20298748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.37, Y:315.60, Z:0.62 [[-6.72193586e-01 -7.40014406e-01 -2.31184403e-02 1.31373139e+02] [ 7.39546247e-01 -6.72590753e-01 2.63254154e-02 3.15601947e+02] [-3.50304358e-02 5.98619636e-04 9.99386067e-01 6.18898931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:315.62, Z:0.62 [[-6.72707302e-01 -7.39530519e-01 -2.36536710e-02 1.31356112e+02] [ 7.39040770e-01 -6.73122737e-01 2.69169407e-02 3.15623440e+02] [-3.58277229e-02 6.26195367e-04 9.99357785e-01 6.18284753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.34, Y:315.64, Z:0.62 [[-6.72883374e-01 -7.39371859e-01 -2.36054939e-02 1.31339877e+02] [ 7.38884574e-01 -6.73297013e-01 2.68462232e-02 3.15643921e+02] [-3.57428505e-02 6.22641995e-04 9.99360826e-01 6.16985239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.32, Y:315.66, Z:0.62 [[-6.72946017e-01 -7.39309119e-01 -2.37841060e-02 1.31320712e+02] [ 7.38815007e-01 -6.73365906e-01 2.70322581e-02 3.15662837e+02] [-3.60006010e-02 6.19195990e-04 9.99351576e-01 6.16367430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.30, Y:315.68, Z:0.62 [[-6.73125706e-01 -7.39140795e-01 -2.39305051e-02 1.31302706e+02] [ 7.38641084e-01 -6.73550667e-01 2.71817761e-02 3.15682846e+02] [-3.62095673e-02 6.20698056e-04 9.99344026e-01 6.15179895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.29, Y:315.70, Z:0.61 [[-6.72541526e-01 -7.39657941e-01 -2.43726618e-02 1.31285680e+02] [ 7.39140568e-01 -6.72982749e-01 2.76665968e-02 3.15702386e+02] [-3.68661989e-02 5.92112124e-04 9.99320035e-01 6.14432622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.27, Y:315.72, Z:0.61 [[-6.72320966e-01 -7.39851280e-01 -2.45886675e-02 1.31267793e+02] [ 7.39325502e-01 -6.72770209e-01 2.78934947e-02 3.15722184e+02] [-3.71795607e-02 5.74352377e-04 9.99308436e-01 6.13225698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.25, Y:315.74, Z:0.61 [[-6.71824923e-01 -7.40298161e-01 -2.46962696e-02 1.31250055e+02] [ 7.39768759e-01 -6.72278470e-01 2.79971643e-02 3.15741609e+02] [-3.73290196e-02 5.39664032e-04 9.99302884e-01 6.11982554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:315.76, Z:0.61 [[-6.70957709e-01 -7.41072574e-01 -2.50437977e-02 1.31229414e+02] [ 7.40529191e-01 -6.71424750e-01 2.83782142e-02 3.15760159e+02] [-3.78453419e-02 4.94918360e-04 9.99283486e-01 6.11491336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.21, Y:315.78, Z:0.61 [[-6.70631128e-01 -7.41358812e-01 -2.53180245e-02 1.31211893e+02] [ 7.40804359e-01 -6.71108702e-01 2.86707561e-02 3.15780143e+02] [-3.82464642e-02 4.71798604e-04 9.99268225e-01 6.10340682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.19, Y:315.80, Z:0.61 [[-6.70459783e-01 -7.41507199e-01 -2.55098776e-02 1.31192745e+02] [ 7.40945157e-01 -6.70944758e-01 2.88687694e-02 3.15799185e+02] [-3.85221190e-02 4.53928601e-04 9.99257645e-01 6.09125448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.17, Y:315.82, Z:0.61 [[-6.70277594e-01 -7.41658546e-01 -2.58949400e-02 1.31174263e+02] [ 7.41080238e-01 -6.70777465e-01 2.92860452e-02 3.15819144e+02] [-3.90899879e-02 4.39551658e-04 9.99235598e-01 6.07824953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:315.84, Z:0.61 [[-6.70094838e-01 -7.41814959e-01 -2.61433466e-02 1.31154731e+02] [ 7.41226344e-01 -6.70604495e-01 2.95485851e-02 3.15838645e+02] [-3.94514282e-02 4.22217134e-04 9.99221400e-01 6.07143405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.14, Y:315.86, Z:0.61 [[-6.70364242e-01 -7.41569567e-01 -2.61984800e-02 1.31137195e+02] [ 7.40979022e-01 -6.70875843e-01 2.95920931e-02 3.15858496e+02] [-3.95205230e-02 4.24957002e-04 9.99218669e-01 6.06112956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.12, Y:315.88, Z:0.60 [[-6.70573553e-01 -7.41379207e-01 -2.62294185e-02 1.31118094e+02] [ 7.40787904e-01 -6.71086203e-01 2.96072439e-02 3.15878231e+02] [-3.95523959e-02 4.23398775e-04 9.99217408e-01 6.04985538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.10, Y:315.90, Z:0.60 [[-6.70789090e-01 -7.41188491e-01 -2.61077979e-02 1.31098883e+02] [ 7.40603214e-01 -6.71296837e-01 2.94522593e-02 3.15897339e+02] [-3.93557578e-02 4.20735225e-04 9.99225173e-01 6.03687297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:315.92, Z:0.60 [[-6.70547659e-01 -7.41411149e-01 -2.59874068e-02 1.31080120e+02] [ 7.40832143e-01 -6.71050932e-01 2.92981600e-02 3.15915345e+02] [-3.91608560e-02 3.93506394e-04 9.99232842e-01 6.02556419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:315.94, Z:0.60 [[-6.70639306e-01 -7.41321613e-01 -2.61760910e-02 1.31060865e+02] [ 7.40734655e-01 -6.71149843e-01 2.94967658e-02 3.15935268e+02] [-3.94346693e-02 3.92152822e-04 9.99222074e-01 6.01912670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:315.95, Z:0.60 [[-6.70092614e-01 -7.41808407e-01 -2.63851399e-02 1.31039771e+02] [ 7.41213138e-01 -6.70611781e-01 2.97140148e-02 3.15953544e+02] [-3.97362917e-02 3.54129494e-04 9.99210139e-01 6.00575017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.02, Y:315.97, Z:0.60 [[-6.69934436e-01 -7.41956336e-01 -2.62420842e-02 1.31020233e+02] [ 7.41368330e-01 -6.70448123e-01 2.95349579e-02 3.15972516e+02] [-3.95076052e-02 3.31435255e-04 9.99219215e-01 5.98944165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.00, Y:315.99, Z:0.60 [[-6.69872629e-01 -7.42011051e-01 -2.62728298e-02 1.31001810e+02] [ 7.41422433e-01 -6.70387575e-01 2.95512452e-02 3.15991381e+02] [-3.95403292e-02 3.16304903e-04 9.99217925e-01 5.97261384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.98, Y:316.01, Z:0.60 [[-6.70095634e-01 -7.41809326e-01 -2.62824009e-02 1.30983926e+02] [ 7.41220887e-01 -6.70610784e-01 2.95427303e-02 3.16011304e+02] [-3.95403343e-02 3.15390109e-04 9.99217925e-01 5.96169061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:316.03, Z:0.60 [[-6.69934646e-01 -7.41957065e-01 -2.62161034e-02 1.30964450e+02] [ 7.41372406e-01 -6.70447334e-01 2.94504267e-02 3.16031115e+02] [-3.94274687e-02 2.93965502e-04 9.99222392e-01 5.95091488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:316.05, Z:0.59 [[-6.69509050e-01 -7.42327642e-01 -2.65951652e-02 1.30944675e+02] [ 7.41726984e-01 -6.70037015e-01 2.98576546e-02 3.16050504e+02] [-3.99839074e-02 2.63618286e-04 9.99200289e-01 5.94361700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.93, Y:316.07, Z:0.59 [[-6.69627934e-01 -7.42229618e-01 -2.63367465e-02 1.30926007e+02] [ 7.41641215e-01 -6.70145603e-01 2.95496112e-02 3.16069855e+02] [-3.95820515e-02 2.54828412e-04 9.99216291e-01 5.92973829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:316.09, Z:0.59 [[-6.69584100e-01 -7.42289240e-01 -2.57646660e-02 1.30906840e+02] [ 7.41726841e-01 -6.70079570e-01 2.88905444e-02 3.16089059e+02] [-3.87095165e-02 2.34304792e-04 9.99250478e-01 5.91221972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.89, Y:316.11, Z:0.59 [[-6.69423531e-01 -7.42472062e-01 -2.46449254e-02 1.30886904e+02] [ 7.41958238e-01 -6.69877000e-01 2.76184210e-02 3.16108182e+02] [-3.70149747e-02 2.02915536e-04 9.99314690e-01 5.88379544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.87, Y:316.13, Z:0.59 [[-6.69617651e-01 -7.42297593e-01 -2.46269023e-02 1.30868794e+02] [ 7.41785046e-01 -6.70070327e-01 2.75808462e-02 3.16127963e+02] [-3.69749522e-02 2.00753579e-04 9.99316172e-01 5.86854307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:316.15, Z:0.59 [[-6.69813039e-01 -7.42129368e-01 -2.43822478e-02 1.30850295e+02] [ 7.41627464e-01 -6.70256640e-01 2.72899599e-02 3.16148540e+02] [-3.65950441e-02 1.96626411e-04 9.99330158e-01 5.86109552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.83, Y:316.17, Z:0.58 [[-6.69844324e-01 -7.42109058e-01 -2.41397629e-02 1.30832432e+02] [ 7.41617700e-01 -6.70279130e-01 2.70013919e-02 3.16167754e+02] [-3.62183568e-02 1.84253643e-04 9.99343883e-01 5.84875329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.81, Y:316.19, Z:0.58 [[-6.69753648e-01 -7.42204910e-01 -2.37049188e-02 1.30814513e+02] [ 7.41731581e-01 -6.70172996e-01 2.65031515e-02 3.16186823e+02] [-3.55571656e-02 1.67895552e-04 9.99367630e-01 5.83375826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.80, Y:316.21, Z:0.58 [[-6.69626503e-01 -7.42316712e-01 -2.37959111e-02 1.30795656e+02] [ 7.41840435e-01 -6.70049159e-01 2.65874698e-02 3.16206634e+02] [-3.56807534e-02 1.50905362e-04 9.99363228e-01 5.81903261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.78, Y:316.23, Z:0.58 [[-6.69254383e-01 -7.42664693e-01 -2.34034940e-02 1.30776806e+02] [ 7.42204756e-01 -6.69663452e-01 2.61335160e-02 3.16226350e+02] [-3.50809042e-02 1.19785538e-04 9.99384468e-01 5.80808951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.76, Y:316.25, Z:0.58 [[-6.69262415e-01 -7.42662794e-01 -2.32334661e-02 1.30759176e+02] [ 7.42210106e-01 -6.69665561e-01 2.59267392e-02 3.16246032e+02] [-3.48134766e-02 1.07678812e-04 9.99393821e-01 5.79093031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.74, Y:316.27, Z:0.58 [[-6.69063134e-01 -7.42841933e-01 -2.32461825e-02 1.30740645e+02] [ 7.42389282e-01 -6.69466843e-01 2.59287644e-02 3.16265975e+02] [-3.48235219e-02 9.02636050e-05 9.99393473e-01 5.77996036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:316.28, Z:0.58 [[-6.68890560e-01 -7.43001272e-01 -2.31198719e-02 1.30723140e+02] [ 7.42554146e-01 -6.69290000e-01 2.57727807e-02 3.16284984e+02] [-3.46231079e-02 7.14129884e-05 9.99400438e-01 5.77114387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.70, Y:316.31, Z:0.58 [[-6.69068170e-01 -7.42839995e-01 -2.31630176e-02 1.30704701e+02] [ 7.42391662e-01 -6.69468996e-01 2.58047191e-02 3.16305198e+02] [-3.46756995e-02 6.90850970e-05 9.99398615e-01 5.77248951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:316.33, Z:0.58 [[-6.69245980e-01 -7.42679317e-01 -2.31786565e-02 1.30686295e+02] [ 7.42230826e-01 -6.69647241e-01 2.58064638e-02 3.16325365e+02] [-3.46874502e-02 6.69588008e-05 9.99398207e-01 5.76805573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.67, Y:316.35, Z:0.58 [[-6.69405448e-01 -7.42519298e-01 -2.36946736e-02 1.30667823e+02] [ 7.42051099e-01 -6.69824669e-01 2.63643472e-02 3.16345261e+02] [-3.54473135e-02 6.57790478e-05 9.99371544e-01 5.75670827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:316.37, Z:0.58 [[-6.69103132e-01 -7.42786439e-01 -2.38600986e-02 1.30648485e+02] [ 7.42312429e-01 -6.69528419e-01 2.65321115e-02 3.16365178e+02] [-3.56827067e-02 4.10711450e-05 9.99363169e-01 5.75594557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:316.39, Z:0.58 [[-6.68813038e-01 -7.43032297e-01 -2.43336457e-02 1.30629691e+02] [ 7.42540055e-01 -6.69255561e-01 2.70418373e-02 3.16385318e+02] [-3.63783862e-02 1.72267227e-05 9.99338087e-01 5.75396462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:316.40, Z:0.57 [[-6.68626279e-01 -7.43194087e-01 -2.45244218e-02 1.30611762e+02] [ 7.42694840e-01 -6.69075892e-01 2.72364758e-02 3.16404272e+02] [-3.66506872e-02 -3.13798649e-06 9.99328138e-01 5.74317966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:316.42, Z:0.57 [[-6.68780649e-01 -7.43044886e-01 -2.48342668e-02 1.30593374e+02] [ 7.42533534e-01 -6.69241584e-01 2.75618213e-02 3.16424267e+02] [-3.70997944e-02 -7.46319275e-06 9.99311566e-01 5.73613793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:316.45, Z:0.57 [[-6.70062409e-01 -7.41901804e-01 -2.44557140e-02 1.30575680e+02] [ 7.41405760e-01 -6.70508547e-01 2.71253997e-02 3.16445250e+02] [-3.65221482e-02 4.41034259e-05 9.99332843e-01 5.72196504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.56, Y:316.47, Z:0.57 [[-6.71077495e-01 -7.40999301e-01 -2.39798052e-02 1.30558190e+02] [ 7.40522384e-01 -6.71505792e-01 2.65813874e-02 3.16466564e+02] [-3.57993676e-02 8.05884150e-05 9.99358994e-01 5.70603665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.54, Y:316.49, Z:0.57 [[-6.73531317e-01 -7.38785024e-01 -2.35000885e-02 1.30542742e+02] [ 7.38326197e-01 -6.73941136e-01 2.60340514e-02 3.16488521e+02] [-3.50712436e-02 1.84017936e-04 9.99384798e-01 5.68869361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:316.51, Z:0.57 [[-6.74746060e-01 -7.37685081e-01 -2.32050900e-02 1.30526122e+02] [ 7.37237622e-01 -6.75144925e-01 2.56908325e-02 3.16509098e+02] [-3.46185426e-02 2.27122674e-04 9.99400573e-01 5.67354396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:316.53, Z:0.57 [[-6.75738650e-01 -7.36792282e-01 -2.26806256e-02 1.30508680e+02] [ 7.36364852e-01 -6.76119123e-01 2.50945525e-02 3.16530249e+02] [-3.38242773e-02 2.56143548e-04 9.99427763e-01 5.66384436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:316.55, Z:0.57 [[-6.77183968e-01 -7.35468968e-01 -2.25226778e-02 1.30492060e+02] [ 7.35047262e-01 -6.77558338e-01 2.49042294e-02 3.16551276e+02] [-3.35767160e-02 3.09512265e-04 9.99436095e-01 5.65295723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.47, Y:316.57, Z:0.56 [[-6.77998323e-01 -7.34706607e-01 -2.29014568e-02 1.30474164e+02] [ 7.34270546e-01 -6.78384908e-01 2.53116903e-02 3.16571852e+02] [-3.41326688e-02 3.45418416e-04 9.99417251e-01 5.64519855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.46, Y:316.59, Z:0.56 [[-6.78559072e-01 -7.34172928e-01 -2.34029442e-02 1.30456043e+02] [ 7.33717796e-01 -6.78962426e-01 2.58499548e-02 3.16592366e+02] [-3.48680568e-02 3.69564687e-04 9.99391856e-01 5.64205088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.44, Y:316.61, Z:0.56 [[-6.79970141e-01 -7.32848477e-01 -2.39523959e-02 1.30439080e+02] [ 7.32371493e-01 -6.80391740e-01 2.64400535e-02 3.16613779e+02] [-3.56735652e-02 4.36394986e-04 9.99363401e-01 5.64787042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.42, Y:316.63, Z:0.56 [[-6.80448298e-01 -7.32401826e-01 -2.40349684e-02 1.30422680e+02] [ 7.31921858e-01 -6.80872501e-01 2.65147242e-02 3.16634282e+02] [-3.57841815e-02 4.50180232e-04 9.99359440e-01 5.63668187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:316.65, Z:0.56 [[-6.80885669e-01 -7.31987583e-01 -2.42669505e-02 1.30404189e+02] [ 7.31498682e-01 -6.81317813e-01 2.67528602e-02 3.16654141e+02] [-3.61162671e-02 4.64396758e-04 9.99347487e-01 5.62837066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:316.67, Z:0.56 [[-6.81138790e-01 -7.31764281e-01 -2.38953027e-02 1.30386036e+02] [ 7.31290674e-01 -6.81557648e-01 2.63272304e-02 3.16674864e+02] [-3.55513532e-02 4.58085863e-04 9.99367746e-01 5.61150920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.37, Y:316.69, Z:0.56 [[-6.81318006e-01 -7.31601723e-01 -2.37632828e-02 1.30367285e+02] [ 7.31133808e-01 -6.81732142e-01 2.61656466e-02 3.16694396e+02] [-3.53430259e-02 4.52986730e-04 9.99375137e-01 5.59848317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:316.71, Z:0.56 [[-6.81527630e-01 -7.31416601e-01 -2.34487964e-02 1.30350182e+02] [ 7.30961444e-01 -6.81930757e-01 2.58032909e-02 3.16714890e+02] [-3.48634109e-02 4.45489635e-04 9.99391987e-01 5.57211949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:316.73, Z:0.56 [[-6.81518448e-01 -7.31433938e-01 -2.31732489e-02 1.30331112e+02] [ 7.30990015e-01 -6.81912173e-01 2.54830556e-02 3.16734075e+02] [-3.44412922e-02 4.27758947e-04 9.99406631e-01 5.56076335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.31, Y:316.75, Z:0.55 [[-6.81262025e-01 -7.31706481e-01 -2.20834644e-02 1.30314084e+02] [ 7.31303943e-01 -6.81619746e-01 2.42706609e-02 3.16753828e+02] [-3.28115252e-02 3.84954965e-04 9.99461483e-01 5.53111272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:316.77, Z:0.55 [[-6.81276490e-01 -7.31710457e-01 -2.14976826e-02 1.30295466e+02] [ 7.31329479e-01 -6.81615488e-01 2.36118533e-02 3.16773559e+02] [-3.19301934e-02 3.64311538e-04 9.99490035e-01 5.52127242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.28, Y:316.79, Z:0.55 [[-6.81602717e-01 -7.31417401e-01 -2.11263084e-02 1.30278138e+02] [ 7.31049768e-01 -6.81929948e-01 2.31901556e-02 3.16793510e+02] [-3.13683458e-02 3.62090236e-04 9.99507827e-01 5.50396303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.26, Y:316.81, Z:0.55 [[-6.82680721e-01 -7.30414923e-01 -2.10017481e-02 1.30260565e+02] [ 7.30051609e-01 -6.83003575e-01 2.30383270e-02 3.16814061e+02] [-3.11718069e-02 3.95461660e-04 9.99513963e-01 5.49647299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:316.83, Z:0.55 [[-6.83767474e-01 -7.29390639e-01 -2.12446972e-02 1.30243477e+02] [ 7.29018825e-01 -6.84097291e-01 2.32905242e-02 3.16834232e+02] [-3.15213301e-02 4.37518720e-04 9.99502984e-01 5.48718414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.23, Y:316.85, Z:0.55 [[-6.84657968e-01 -7.28537471e-01 -2.18316417e-02 1.30225009e+02] [ 7.28144908e-01 -6.85005784e-01 2.39179708e-02 3.16854019e+02] [-3.23799388e-02 4.79030489e-04 9.99475518e-01 5.48938963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:316.87, Z:0.55 [[-6.85863223e-01 -7.27386793e-01 -2.23627505e-02 1.30208273e+02] [ 7.26974798e-01 -6.86227489e-01 2.44841913e-02 3.16874710e+02] [-3.31554115e-02 5.35650323e-04 9.99450065e-01 5.48662344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:316.90, Z:0.55 [[-6.88203579e-01 -7.25143060e-01 -2.33104549e-02 1.30190408e+02] [ 7.24694731e-01 -6.88597930e-01 2.55036830e-02 3.16896508e+02] [-3.45453497e-02 6.58762088e-04 9.99402914e-01 5.50347056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.17, Y:316.92, Z:0.55 [[-6.89696776e-01 -7.23710222e-01 -2.37038447e-02 1.30172036e+02] [ 7.23246296e-01 -6.90103599e-01 2.59194519e-02 3.16918248e+02] [-3.51162808e-02 7.32844522e-04 9.99382965e-01 5.49864937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.16, Y:316.94, Z:0.55 [[-6.92389125e-01 -7.21129990e-01 -2.38503021e-02 1.30156581e+02] [ 7.20659300e-01 -6.92799249e-01 2.60648020e-02 3.16940042e+02] [-3.53195818e-02 8.59043462e-04 9.99375700e-01 5.48359454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.14, Y:316.96, Z:0.55 [[-6.93768531e-01 -7.19815235e-01 -2.34787730e-02 1.30136391e+02] [ 7.19358739e-01 -6.94165117e-01 2.56474940e-02 3.16959639e+02] [-3.47596021e-02 9.03763670e-04 9.99395294e-01 5.47513565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.12, Y:316.98, Z:0.55 [[-6.95061932e-01 -7.18568204e-01 -2.34232007e-02 1.30117699e+02] [ 7.18113663e-01 -6.95455840e-01 2.55722773e-02 3.16979922e+02] [-3.46652272e-02 9.53796015e-04 9.99398525e-01 5.45908930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:317.00, Z:0.54 [[-6.97616324e-01 -7.16110930e-01 -2.27288330e-02 1.30098174e+02] [ 7.15681933e-01 -6.97985715e-01 2.48055078e-02 3.17000332e+02] [-3.36278960e-02 1.03811204e-03 9.99433883e-01 5.44326724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.08, Y:317.02, Z:0.54 [[-6.99077368e-01 -7.14691430e-01 -2.25165339e-02 1.30079325e+02] [ 7.14270114e-01 -6.99439046e-01 2.45606407e-02 3.17020472e+02] [-3.33022224e-02 1.08690078e-03 9.99444736e-01 5.42928680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.06, Y:317.04, Z:0.54 [[-7.00421457e-01 -7.13384556e-01 -2.21869077e-02 1.30061508e+02] [ 7.12975291e-01 -7.00771871e-01 2.41871496e-02 3.17040922e+02] [-3.28026998e-02 1.12248159e-03 9.99461216e-01 5.41078317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.04, Y:317.06, Z:0.54 [[-7.03364240e-01 -7.10509679e-01 -2.13246923e-02 1.30044908e+02] [ 7.10130723e-01 -7.03686408e-01 2.32335211e-02 3.17061428e+02] [-3.15135377e-02 1.19830874e-03 9.99502607e-01 5.38763528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:317.08, Z:0.54 [[-7.04833436e-01 -7.09063487e-01 -2.09475133e-02 1.30026113e+02] [ 7.08697475e-01 -7.05143565e-01 2.28131859e-02 3.17082770e+02] [-3.09470013e-02 1.23404640e-03 9.99520265e-01 5.37720290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.01, Y:317.10, Z:0.54 [[-7.06052837e-01 -7.07854437e-01 -2.07722769e-02 1.30007481e+02] [ 7.07494370e-01 -7.06357196e-01 2.26103564e-02 3.17104116e+02] [-3.06774884e-02 1.26783734e-03 9.99528531e-01 5.36196732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.99, Y:317.12, Z:0.54 [[-7.07297456e-01 -7.06615904e-01 -2.05978931e-02 1.29988691e+02] [ 7.06261694e-01 -7.07596120e-01 2.24087369e-02 3.17124674e+02] [-3.04093591e-02 1.30213975e-03 9.99536680e-01 5.35250120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.97, Y:317.14, Z:0.53 [[-7.08166151e-01 -7.05738957e-01 -2.08141220e-02 1.29967205e+02] [ 7.05377263e-01 -7.08470687e-01 2.26318969e-02 3.17142624e+02] [-3.07184067e-02 1.34533491e-03 9.99527173e-01 5.34941781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.95, Y:317.16, Z:0.53 [[-7.08104678e-01 -7.05796154e-01 -2.09655337e-02 1.29947216e+02] [ 7.05429573e-01 -7.08413708e-01 2.27845391e-02 3.17161518e+02] [-3.09335116e-02 1.34413121e-03 9.99520541e-01 5.33742696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.93, Y:317.18, Z:0.53 [[-7.07884681e-01 -7.06014433e-01 -2.10451632e-02 1.29926170e+02] [ 7.05645592e-01 -7.08196196e-01 2.28570698e-02 3.17179005e+02] [-3.10415257e-02 1.32974290e-03 9.99517211e-01 5.33017453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.91, Y:317.20, Z:0.53 [[-7.06560409e-01 -7.07332542e-01 -2.12852856e-02 1.29905567e+02] [ 7.06956315e-01 -7.06879797e-01 2.31023818e-02 3.17196450e+02] [-3.13872048e-02 1.27546127e-03 9.99506487e-01 5.31997176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.89, Y:317.22, Z:0.53 [[-7.05699777e-01 -7.08185103e-01 -2.14868355e-02 1.29887816e+02] [ 7.07802488e-01 -7.06025722e-01 2.33091859e-02 3.17217290e+02] [-3.16774768e-02 1.24085170e-03 9.99497373e-01 5.30187425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:317.24, Z:0.53 [[-7.04739574e-01 -7.09138214e-01 -2.15667824e-02 1.29866121e+02] [ 7.08753580e-01 -7.05068485e-01 2.33836220e-02 3.17235295e+02] [-3.17882785e-02 1.19382956e-03 9.99493912e-01 5.29587567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:317.25, Z:0.53 [[-7.04951766e-01 -7.08927093e-01 -2.15727669e-02 1.29847866e+02] [ 7.08542530e-01 -7.05280758e-01 2.33780992e-02 3.17254904e+02] [-3.17882253e-02 1.19520951e-03 9.99493912e-01 5.28493357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.83, Y:317.27, Z:0.53 [[-7.02393454e-01 -7.11449122e-01 -2.19905173e-02 1.29825219e+02] [ 7.11051219e-01 -7.02736761e-01 2.38161576e-02 3.17270819e+02] [-3.23975293e-02 1.09192910e-03 9.99474466e-01 5.27380287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.80, Y:317.29, Z:0.53 [[-7.01422378e-01 -7.12408134e-01 -2.19385256e-02 1.29803847e+02] [ 7.12013052e-01 -7.01764618e-01 2.37451807e-02 3.17289283e+02] [-3.23119409e-02 1.03488451e-03 9.99477297e-01 5.26229598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:317.31, Z:0.52 [[-7.00227763e-01 -7.13581993e-01 -2.19503817e-02 1.29782568e+02] [ 7.13187469e-01 -7.00571048e-01 2.37453206e-02 3.17307860e+02] [-3.23220351e-02 9.72395584e-04 9.99477033e-01 5.24872529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.76, Y:317.32, Z:0.52 [[-6.97728772e-01 -7.16047812e-01 -2.12153758e-02 1.29759104e+02] [ 7.15680779e-01 -6.98050755e-01 2.29383091e-02 3.17324613e+02] [-3.12343351e-02 8.21281581e-04 9.99511752e-01 5.22776187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.74, Y:317.34, Z:0.52 [[-6.96641081e-01 -7.17110187e-01 -2.10756714e-02 1.29737535e+02] [ 7.16748816e-01 -6.96959397e-01 2.27757292e-02 3.17342356e+02] [-3.10215946e-02 7.60546053e-04 9.99518425e-01 5.21273868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:317.36, Z:0.52 [[-6.95302406e-01 -7.18419593e-01 -2.06845862e-02 1.29717640e+02] [ 7.18072459e-01 -6.95609678e-01 2.23409632e-02 3.17361238e+02] [-3.04385840e-02 6.80693772e-04 9.99536407e-01 5.18804087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.70, Y:317.38, Z:0.52 [[-6.93017921e-01 -7.20637712e-01 -2.01853649e-02 1.29695210e+02] [ 7.20308413e-01 -6.93311598e-01 2.17903076e-02 3.17378283e+02] [-2.96976651e-02 5.61385510e-04 9.99558769e-01 5.16592370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:317.40, Z:0.51 [[-6.92203816e-01 -7.21428103e-01 -1.98838956e-02 1.29677079e+02] [ 7.21109206e-01 -6.92489155e-01 2.14542369e-02 3.17397104e+02] [-2.92470715e-02 5.12244455e-04 9.99572082e-01 5.14621738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:317.42, Z:0.51 [[-6.91530089e-01 -7.22068391e-01 -2.00841780e-02 1.29656977e+02] [ 7.21743731e-01 -6.91821515e-01 2.16558983e-02 3.17415081e+02] [-2.95317061e-02 4.80075681e-04 9.99563729e-01 5.13964645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.64, Y:317.43, Z:0.51 [[-6.91187069e-01 -7.22396940e-01 -2.00772549e-02 1.29637857e+02] [ 7.22073034e-01 -6.91478454e-01 2.16351906e-02 3.17434023e+02] [-2.95121847e-02 4.56719589e-04 9.99564316e-01 5.12911615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.62, Y:317.45, Z:0.51 [[-6.90639615e-01 -7.22892659e-01 -2.10505472e-02 1.29619609e+02] [ 7.22537255e-01 -6.90960205e-01 2.26696034e-02 3.17452872e+02] [-3.09327802e-02 4.46721586e-04 9.99521367e-01 5.12172360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.60, Y:317.47, Z:0.51 [[-6.90677441e-01 -7.22843849e-01 -2.14812215e-02 1.29598383e+02] [ 7.22474202e-01 -6.91011266e-01 2.31183348e-02 3.17471000e+02] [-3.15547121e-02 4.47683946e-04 9.99501926e-01 5.13668321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.58, Y:317.49, Z:0.51 [[-6.90240346e-01 -7.23239032e-01 -2.22163722e-02 1.29579371e+02] [ 7.22844359e-01 -6.90597650e-01 2.38939052e-02 3.17489444e+02] [-3.26235793e-02 4.33558106e-04 9.99467615e-01 5.13483109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.56, Y:317.51, Z:0.51 [[-6.90111514e-01 -7.23354862e-01 -2.24464070e-02 1.29560620e+02] [ 7.22952603e-01 -6.90476333e-01 2.41240100e-02 3.17508459e+02] [-3.29489327e-02 4.20568741e-04 9.99456948e-01 5.12465684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.54, Y:317.53, Z:0.51 [[-6.90032055e-01 -7.23430226e-01 -2.24604252e-02 1.29541216e+02] [ 7.23027861e-01 -6.90397379e-01 2.41282360e-02 3.17527657e+02] [-3.29617139e-02 4.09743105e-04 9.99456531e-01 5.11610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.52, Y:317.55, Z:0.51 [[-6.89713187e-01 -7.23732817e-01 -2.25061807e-02 1.29522475e+02] [ 7.23329462e-01 -6.90080184e-01 2.41625536e-02 3.17546472e+02] [-3.30183023e-02 3.85848326e-04 9.99454673e-01 5.10212083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.50, Y:317.56, Z:0.51 [[-6.88622262e-01 -7.24774240e-01 -2.23982368e-02 1.29501738e+02] [ 7.24375812e-01 -6.88986354e-01 2.40309452e-02 3.17564427e+02] [-3.28490896e-02 3.23502899e-04 9.99460271e-01 5.08557390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.48, Y:317.58, Z:0.51 [[-6.88304149e-01 -7.25074831e-01 -2.24474445e-02 1.29481812e+02] [ 7.24675295e-01 -6.88670022e-01 2.40690222e-02 3.17583560e+02] [-3.29107244e-02 2.99699385e-04 9.99458250e-01 5.07618220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.46, Y:317.60, Z:0.51 [[-6.88010241e-01 -7.25358213e-01 -2.23018133e-02 1.29462249e+02] [ 7.24964478e-01 -6.88371548e-01 2.38980756e-02 3.17602705e+02] [-3.26865991e-02 2.74098334e-04 9.99465613e-01 5.06012192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:317.62, Z:0.50 [[-6.87933914e-01 -7.25441329e-01 -2.19501414e-02 1.29443931e+02] [ 7.25060414e-01 -6.88283963e-01 2.35070760e-02 3.17621706e+02] [-3.21609347e-02 2.56136210e-04 9.99482671e-01 5.04012980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:129.42, Y:317.64, Z:0.50 [[-6.87949751e-01 -7.25426570e-01 -2.19415582e-02 1.29424117e+02] [ 7.25046442e-01 -6.88299521e-01 2.34824730e-02 3.17640807e+02] [-3.21371739e-02 2.46112769e-04 9.99483437e-01 5.03437946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.41, Y:317.66, Z:0.50 [[-6.88526523e-01 -7.24884921e-01 -2.17503471e-02 1.29405724e+02] [ 7.24511585e-01 -6.88869932e-01 2.32632639e-02 3.17660466e+02] [-3.18463494e-02 2.58995791e-04 9.99492743e-01 5.02149114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:317.68, Z:0.50 [[-6.89129880e-01 -7.24316819e-01 -2.15674537e-02 1.29388576e+02] [ 7.23949908e-01 -6.89467238e-01 2.30534031e-02 3.17680095e+02] [-3.15680203e-02 2.73032768e-04 9.99501569e-01 5.00359806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.37, Y:317.70, Z:0.50 [[-6.89670156e-01 -7.23804518e-01 -2.14964201e-02 1.29370618e+02] [ 7.23440259e-01 -6.90005028e-01 2.29619985e-02 3.17700467e+02] [-3.14526362e-02 2.84829346e-04 9.99505203e-01 5.00123430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.35, Y:317.72, Z:0.50 [[-6.90023955e-01 -7.23463910e-01 -2.16081392e-02 1.29353259e+02] [ 7.23096136e-01 -6.90362141e-01 2.30671327e-02 3.17720049e+02] [-3.16056793e-02 2.92112181e-04 9.99500373e-01 4.99414066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.266875 meters Centerline goodness [0,1] 0.9999780951546482 Centerline is valid? [True, True] Translation: X:129.33, Y:317.74, Z:0.50 [[-6.90080666e-01 -7.23405195e-01 -2.17623231e-02 1.29334381e+02] [ 7.23032610e-01 -6.90423669e-01 2.32164113e-02 3.17740090e+02] [-3.18200954e-02 2.86327297e-04 9.99493572e-01 4.99262128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.32, Y:317.76, Z:0.50 [[-6.90258898e-01 -7.23217404e-01 -2.23437118e-02 1.29317128e+02] [ 7.22825046e-01 -6.90620374e-01 2.38212434e-02 3.17759627e+02] [-3.26589604e-02 2.92230681e-04 9.99466511e-01 4.97712413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:317.78, Z:0.50 [[-6.89907410e-01 -7.23533339e-01 -2.29624497e-02 1.29298239e+02] [ 7.23119686e-01 -6.90289384e-01 2.44639901e-02 3.17779226e+02] [-3.35512477e-02 2.73288641e-04 9.99436961e-01 4.97724498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.28, Y:317.80, Z:0.50 [[-6.89803299e-01 -7.23621691e-01 -2.33035987e-02 1.29281464e+02] [ 7.23196245e-01 -6.90196769e-01 2.48115194e-02 3.17799329e+02] [-3.40382221e-02 2.61992836e-04 9.99420497e-01 4.95949747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.26, Y:317.82, Z:0.50 [[-6.89755786e-01 -7.23662025e-01 -2.34569889e-02 1.29263118e+02] [ 7.23231567e-01 -6.90154484e-01 2.49577309e-02 3.17819717e+02] [-3.42499082e-02 2.49904395e-04 9.99413269e-01 4.95529338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.25, Y:317.84, Z:0.49 [[-6.89009002e-01 -7.24365511e-01 -2.36896983e-02 1.29245079e+02] [ 7.23927416e-01 -6.89416104e-01 2.51899100e-02 3.17840886e+02] [-3.45787616e-02 2.06452682e-04 9.99401954e-01 4.94662990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.23, Y:317.86, Z:0.49 [[-6.88712259e-01 -7.24650193e-01 -2.36119232e-02 1.29227910e+02] [ 7.24215621e-01 -6.89116873e-01 2.50932053e-02 3.17860546e+02] [-3.44551707e-02 1.81874483e-04 9.99406228e-01 4.93426543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.21, Y:317.88, Z:0.49 [[-6.88381710e-01 -7.24976645e-01 -2.32268176e-02 1.29209577e+02] [ 7.24556851e-01 -6.88773432e-01 2.46683606e-02 3.17880513e+02] [-3.38820002e-02 1.52098434e-04 9.99425829e-01 4.92090661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.19, Y:317.90, Z:0.49 [[-6.87260007e-01 -7.26054389e-01 -2.27751401e-02 1.29192567e+02] [ 7.25651831e-01 -6.87637271e-01 2.41744595e-02 3.17900960e+02] [-3.32130076e-02 8.73171157e-05 9.99448292e-01 4.89405808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:317.92, Z:0.49 [[-6.86573823e-01 -7.26712365e-01 -2.24838638e-02 1.29173907e+02] [ 7.26320886e-01 -6.86941873e-01 2.38502492e-02 3.17921382e+02] [-3.27773785e-02 4.44569164e-05 9.99462676e-01 4.89442656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.16, Y:317.94, Z:0.49 [[-6.85234757e-01 -7.27987235e-01 -2.20887387e-02 1.29157624e+02] [ 7.27610516e-01 -6.85590683e-01 2.34169356e-02 3.17941627e+02] [-3.21910637e-02 -2.59004086e-05 9.99481733e-01 4.87236449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:317.96, Z:0.49 [[-6.84679786e-01 -7.28511010e-01 -2.20294851e-02 1.29139550e+02] [ 7.28137080e-01 -6.85034090e-01 2.33385555e-02 3.17962683e+02] [-3.20933430e-02 -6.10477530e-05 9.99484874e-01 4.86562331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.12, Y:317.98, Z:0.48 [[-6.84389645e-01 -7.28782974e-01 -2.20497585e-02 1.29122274e+02] [ 7.28408987e-01 -6.84744748e-01 2.33447551e-02 3.17982591e+02] [-3.21117164e-02 -8.43335899e-05 9.99484282e-01 4.84627740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.10, Y:318.00, Z:0.48 [[-6.84429272e-01 -7.28744525e-01 -2.20904579e-02 1.29104413e+02] [ 7.28369470e-01 -6.84785666e-01 2.33774687e-02 3.18003792e+02] [-3.21634313e-02 -8.97912731e-05 9.99482619e-01 4.83524365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.09, Y:318.03, Z:0.48 [[-6.84338073e-01 -7.28829415e-01 -2.21152912e-02 1.29088302e+02] [ 7.28454006e-01 -6.84695314e-01 2.33899105e-02 3.18026447e+02] [-3.21894910e-02 -1.03366157e-04 9.99481779e-01 4.83284988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.07, Y:318.05, Z:0.48 [[-6.84451402e-01 -7.28717900e-01 -2.22822858e-02 1.29070486e+02] [ 7.28337212e-01 -6.84813997e-01 2.35519622e-02 3.18047491e+02] [-3.24219576e-02 -1.08844414e-04 9.99474264e-01 4.82206366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.05, Y:318.07, Z:0.48 [[-6.84555807e-01 -7.28615105e-01 -2.24360357e-02 1.29053770e+02] [ 7.28229560e-01 -6.84923365e-01 2.37000630e-02 3.18067438e+02] [-3.26351890e-02 -1.14568643e-04 9.99467324e-01 4.81630438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:318.09, Z:0.48 [[-6.84564193e-01 -7.28592784e-01 -2.29002464e-02 1.29037621e+02] [ 7.28191638e-01 -6.84947107e-01 2.41743521e-02 3.18089563e+02] [-3.32987160e-02 -1.26872100e-04 9.99445436e-01 4.81398351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.02, Y:318.11, Z:0.48 [[-6.85009476e-01 -7.28165517e-01 -2.31732149e-02 1.29020292e+02] [ 7.27755005e-01 -6.85401318e-01 2.44476243e-02 3.18110304e+02] [-3.36848690e-02 -1.17568823e-04 9.99432497e-01 4.81002379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.00, Y:318.13, Z:0.48 [[-6.85474777e-01 -7.27725611e-01 -2.32328554e-02 1.29003322e+02] [ 7.27313228e-01 -6.85868372e-01 2.44958053e-02 3.18130342e+02] [-3.37609056e-02 -1.06306380e-04 9.99429932e-01 4.80111538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.99, Y:318.15, Z:0.48 [[-6.86919509e-01 -7.26370589e-01 -2.29642275e-02 1.28987481e+02] [ 7.25967441e-01 -6.87303255e-01 2.41973188e-02 3.18152362e+02] [-3.33596091e-02 -4.96711453e-05 9.99443412e-01 4.78465885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.97, Y:318.17, Z:0.48 [[-6.87885137e-01 -7.25458309e-01 -2.28971373e-02 1.28970038e+02] [ 7.25057486e-01 -6.88266112e-01 2.41122724e-02 3.18173897e+02] [-3.32517721e-02 -1.52669546e-05 9.99447007e-01 4.77610994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:318.19, Z:0.48 [[-6.88894797e-01 -7.24498561e-01 -2.29301836e-02 1.28953896e+02] [ 7.24096553e-01 -6.89276312e-01 2.41318749e-02 3.18194087e+02] [-3.32887410e-02 2.06561945e-05 9.99445776e-01 4.75459759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.94, Y:318.22, Z:0.47 [[-6.91300236e-01 -7.22223889e-01 -2.22853717e-02 1.28940190e+02] [ 7.21843485e-01 -6.91659339e-01 2.34380524e-02 3.18216814e+02] [-3.23414068e-02 1.16180760e-04 9.99476873e-01 4.73197788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.92, Y:318.24, Z:0.47 [[-6.92422490e-01 -7.21154422e-01 -2.20770391e-02 1.28922980e+02] [ 7.20781036e-01 -6.92774333e-01 2.32039329e-02 3.18238543e+02] [-3.20280248e-02 1.54213870e-04 9.99486959e-01 4.71604197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.91, Y:318.26, Z:0.47 [[-6.93322175e-01 -7.20290843e-01 -2.20332198e-02 1.28905567e+02] [ 7.19918942e-01 -6.93672161e-01 2.31441013e-02 3.18259353e+02] [-3.19543154e-02 1.84186359e-04 9.99489314e-01 4.70698705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.89, Y:318.28, Z:0.47 [[-6.93916040e-01 -7.19713134e-01 -2.22156289e-02 1.28889198e+02] [ 7.19335213e-01 -6.94271535e-01 2.33213853e-02 3.18281013e+02] [-3.22083861e-02 2.02599199e-04 9.99481155e-01 4.70888782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:318.30, Z:0.47 [[-6.94261073e-01 -7.19363488e-01 -2.27537812e-02 1.28872032e+02] [ 7.18967335e-01 -6.94633807e-01 2.38714353e-02 3.18301116e+02] [-3.29777846e-02 2.13782864e-04 9.99456062e-01 4.70375471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.85, Y:318.32, Z:0.47 [[-6.94304139e-01 -7.19306496e-01 -2.32363283e-02 1.28853814e+02] [ 7.18893875e-01 -6.94692825e-01 2.43613554e-02 3.18321907e+02] [-3.36653917e-02 2.09735776e-04 9.99433138e-01 4.70216227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.84, Y:318.34, Z:0.47 [[-6.94213098e-01 -7.19376261e-01 -2.37901157e-02 1.28835587e+02] [ 7.18944305e-01 -6.94620584e-01 2.49265023e-02 3.18341972e+02] [-3.44566380e-02 2.00536170e-04 9.99406174e-01 4.69654047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.82, Y:318.36, Z:0.47 [[-6.93622426e-01 -7.19919573e-01 -2.45711110e-02 1.28817806e+02] [ 7.19459691e-01 -6.94057477e-01 2.57288162e-02 3.18362614e+02] [-3.55764416e-02 1.68159968e-04 9.99366944e-01 4.69429235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.80, Y:318.38, Z:0.47 [[-6.93359136e-01 -7.20162331e-01 -2.48862492e-02 1.28799007e+02] [ 7.19691302e-01 -6.93805589e-01 2.60429183e-02 3.18382956e+02] [-3.60213475e-02 1.46678212e-04 9.99351010e-01 4.68418129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.78, Y:318.40, Z:0.47 [[-6.92956043e-01 -7.20546966e-01 -2.49798507e-02 1.28780447e+02] [ 7.20073207e-01 -6.93406127e-01 2.61250834e-02 3.18403149e+02] [-3.61455311e-02 1.16213263e-04 9.99346530e-01 4.67423918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:318.42, Z:0.47 [[-6.92184679e-01 -7.21287392e-01 -2.49973610e-02 1.28762573e+02] [ 7.20814015e-01 -6.92635902e-01 2.61278159e-02 3.18423477e+02] [-3.61597339e-02 6.68257305e-05 9.99346021e-01 4.66520445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.74, Y:318.44, Z:0.47 [[-6.91869865e-01 -7.21588204e-01 -2.50310550e-02 1.28744346e+02] [ 7.21114319e-01 -6.92322513e-01 2.61472132e-02 3.18443121e+02] [-3.61970835e-02 4.02167120e-05 9.99344670e-01 4.65381263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:318.46, Z:0.46 [[-6.91407406e-01 -7.22042445e-01 -2.47084375e-02 1.28725598e+02] [ 7.21581541e-01 -6.91848761e-01 2.57947988e-02 3.18463205e+02] [-3.57194415e-02 5.56253920e-06 9.99361857e-01 4.64070386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.71, Y:318.48, Z:0.46 [[-6.90930153e-01 -7.22508786e-01 -2.44249352e-02 1.28706664e+02] [ 7.22059238e-01 -6.91361738e-01 2.54834070e-02 3.18483049e+02] [-3.52984511e-02 -2.89958632e-05 9.99376815e-01 4.62631111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.69, Y:318.50, Z:0.46 [[-6.89852400e-01 -7.23542422e-01 -2.42905072e-02 1.28687693e+02] [ 7.23098989e-01 -6.90279910e-01 2.53277960e-02 3.18502570e+02] [-3.50929840e-02 -9.20002747e-05 9.99384047e-01 4.60796498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:318.52, Z:0.46 [[-6.89087893e-01 -7.24278574e-01 -2.40504327e-02 1.28668578e+02] [ 7.23844864e-01 -6.89507453e-01 2.50616198e-02 3.18522184e+02] [-3.47345468e-02 -1.39123399e-04 9.99396564e-01 4.58985199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.65, Y:318.54, Z:0.46 [[-6.89308572e-01 -7.24068390e-01 -2.40553398e-02 1.28649939e+02] [ 7.23634716e-01 -6.89728170e-01 2.50569088e-02 3.18541414e+02] [-3.47345611e-02 -1.35336954e-04 9.99396564e-01 4.57890530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.63, Y:318.56, Z:0.46 [[-6.89057879e-01 -7.24315529e-01 -2.37960953e-02 1.28631237e+02] [ 7.23891816e-01 -6.89468629e-01 2.47719351e-02 3.18561044e+02] [-3.43493585e-02 -1.56501565e-04 9.99409874e-01 4.56454055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.61, Y:318.58, Z:0.46 [[-6.88899215e-01 -7.24472101e-01 -2.36229966e-02 1.28612505e+02] [ 7.24055129e-01 -6.89304102e-01 2.45769165e-02 3.18580931e+02] [-3.40887188e-02 -1.73333341e-04 9.99418796e-01 4.55245664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.59, Y:318.60, Z:0.45 [[-6.88842922e-01 -7.24526791e-01 -2.35872389e-02 1.28594342e+02] [ 7.24111620e-01 -6.89246613e-01 2.45248496e-02 3.18601821e+02] [-3.40263352e-02 -1.86024691e-04 9.99420919e-01 4.54211922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.58, Y:318.62, Z:0.45 [[-6.89381691e-01 -7.24012521e-01 -2.36379491e-02 1.28575703e+02] [ 7.23595773e-01 -6.89786807e-01 2.45625245e-02 3.18622167e+02] [-3.40887207e-02 -1.71365384e-04 9.99418796e-01 4.53183897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.56, Y:318.64, Z:0.45 [[-6.90744006e-01 -7.22706015e-01 -2.38481227e-02 1.28559160e+02] [ 7.22281524e-01 -6.91155555e-01 2.47668834e-02 3.18643575e+02] [-3.43819381e-02 -1.17482155e-04 9.99408759e-01 4.53211867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.54, Y:318.66, Z:0.45 [[-6.91760800e-01 -7.21723553e-01 -2.41269207e-02 1.28541537e+02] [ 7.21289049e-01 -6.92181411e-01 2.50400095e-02 3.18663975e+02] [-3.47721707e-02 -8.07866899e-05 9.99395262e-01 4.52437355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.52, Y:318.68, Z:0.45 [[-6.93090039e-01 -7.20443009e-01 -2.42501406e-02 1.28524428e+02] [ 7.20003828e-01 -6.93514146e-01 2.51518808e-02 3.18683813e+02] [-3.49383122e-02 -2.76760544e-05 9.99389470e-01 4.51033645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.51, Y:318.71, Z:0.45 [[-6.95698812e-01 -7.17936064e-01 -2.38950092e-02 1.28507684e+02] [ 7.17508743e-01 -6.96109044e-01 2.47669792e-02 3.18705576e+02] [-3.44146396e-02 8.54800200e-05 9.99407637e-01 4.50180110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.49, Y:318.73, Z:0.45 [[-6.96678778e-01 -7.16975079e-01 -2.41953561e-02 1.28489345e+02] [ 7.16536910e-01 -6.97098788e-01 2.50626414e-02 3.18725211e+02] [-3.48358427e-02 1.23744655e-04 9.99393040e-01 4.48824771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.47, Y:318.75, Z:0.45 [[-6.97654057e-01 -7.16032774e-01 -2.39975723e-02 1.28470647e+02] [ 7.15601712e-01 -6.98066646e-01 2.48424497e-02 3.18745252e+02] [-3.45399129e-02 1.58731998e-04 9.99403307e-01 4.47280151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.45, Y:318.77, Z:0.45 [[-6.99194635e-01 -7.14546643e-01 -2.34511730e-02 1.28453465e+02] [ 7.14134642e-01 -6.99587770e-01 2.42624096e-02 3.18765246e+02] [-3.37427772e-02 2.16851568e-04 9.99430527e-01 4.46053227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.43, Y:318.79, Z:0.44 [[-7.00099155e-01 -7.13665709e-01 -2.32900995e-02 1.28434690e+02] [ 7.13259387e-01 -7.00486399e-01 2.40801093e-02 3.18785251e+02] [-3.34995462e-02 2.46582101e-04 9.99438702e-01 4.44954051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.42, Y:318.80, Z:0.44 [[-7.00781456e-01 -7.12994342e-01 -2.33327971e-02 1.28416346e+02] [ 7.12586646e-01 -7.01169734e-01 2.41096590e-02 3.18804031e+02] [-3.35503016e-02 2.68962304e-04 9.99436994e-01 4.43619768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.40, Y:318.82, Z:0.44 [[-7.01790495e-01 -7.12002499e-01 -2.32925473e-02 1.28396479e+02] [ 7.11596182e-01 -7.02176864e-01 2.40525477e-02 3.18822903e+02] [-3.34809619e-02 3.04961669e-04 9.99439309e-01 4.42034687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.38, Y:318.84, Z:0.44 [[-7.02545850e-01 -7.11263028e-01 -2.31134962e-02 1.28376488e+02] [ 7.10863005e-01 -7.02925883e-01 2.38535293e-02 3.18841541e+02] [-3.32132082e-02 3.27668669e-04 9.99448235e-01 4.41225181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.36, Y:318.86, Z:0.44 [[-7.03188796e-01 -7.10625784e-01 -2.31627499e-02 1.28357049e+02] [ 7.10224206e-01 -7.03570092e-01 2.38893824e-02 3.18860514e+02] [-3.32730292e-02 3.48000398e-04 9.99446239e-01 4.39412562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.34, Y:318.88, Z:0.44 [[-7.04411739e-01 -7.09412966e-01 -2.31807185e-02 1.28337167e+02] [ 7.09010598e-01 -7.04792940e-01 2.38931653e-02 3.18878837e+02] [-3.32877279e-02 3.95251037e-04 9.99445732e-01 4.38505401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.32, Y:318.90, Z:0.44 [[-7.05108547e-01 -7.08710967e-01 -2.34670730e-02 1.28318774e+02] [ 7.08298713e-01 -7.05498821e-01 2.41732475e-02 3.18898293e+02] [-3.36878379e-02 4.23065757e-04 9.99432314e-01 4.37495202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.30, Y:318.92, Z:0.44 [[-7.05570124e-01 -7.08236899e-01 -2.39017758e-02 1.28299202e+02] [ 7.07809524e-01 -7.05974716e-01 2.46044312e-02 3.18917666e+02] [-3.42998155e-02 4.42247055e-04 9.99411490e-01 4.37744303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.28, Y:318.94, Z:0.44 [[-7.06129083e-01 -7.07655649e-01 -2.46008393e-02 1.28279524e+02] [ 7.07203104e-01 -7.06557329e-01 2.53083053e-02 3.18937140e+02] [-3.52914685e-02 4.73140489e-04 9.99376950e-01 4.37818462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:318.96, Z:0.44 [[-7.06268964e-01 -7.07478157e-01 -2.56672414e-02 1.28258093e+02] [ 7.06986004e-01 -7.06735039e-01 2.63889005e-02 3.18955112e+02] [-3.68095096e-02 4.91280917e-04 9.99322180e-01 4.38498536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.24, Y:318.97, Z:0.44 [[-7.06280402e-01 -7.07461044e-01 -2.58237137e-02 1.28237311e+02] [ 7.06963465e-01 -7.06752175e-01 2.65334338e-02 3.18973613e+02] [-3.70223367e-02 4.83622194e-04 9.99314321e-01 4.37753417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.22, Y:318.99, Z:0.44 [[-7.06062821e-01 -7.07671983e-01 -2.59934086e-02 1.28218871e+02] [ 7.07168626e-01 -7.06540976e-01 2.66905126e-02 3.18992109e+02] [-3.72535362e-02 4.63455626e-04 9.99305739e-01 4.36394090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.20, Y:319.01, Z:0.43 [[-7.04968838e-01 -7.08750809e-01 -2.62912215e-02 1.28196500e+02] [ 7.08237085e-01 -7.05458807e-01 2.69833672e-02 3.19008574e+02] [-3.76718571e-02 4.02014957e-04 9.99290083e-01 4.34182016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.18, Y:319.03, Z:0.43 [[-7.04258794e-01 -7.09456369e-01 -2.62909233e-02 1.28176121e+02] [ 7.08943772e-01 -7.04749272e-01 2.69664916e-02 3.19026442e+02] [-3.76600583e-02 3.52602548e-04 9.99290546e-01 4.32835419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.15, Y:319.04, Z:0.43 [[-7.02154575e-01 -7.11558784e-01 -2.57497493e-02 1.28154160e+02] [ 7.11069072e-01 -7.02626535e-01 2.63955911e-02 3.19042819e+02] [-3.68744718e-02 2.23934770e-04 9.99319880e-01 4.30567389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.13, Y:319.06, Z:0.43 [[-7.01311154e-01 -7.12402188e-01 -2.54123489e-02 1.28134130e+02] [ 7.11926351e-01 -7.01771397e-01 2.60341404e-02 3.19060291e+02] [-3.63804382e-02 1.66312192e-04 9.99337999e-01 4.28106579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.11, Y:319.08, Z:0.43 [[-7.00177229e-01 -7.13519271e-01 -2.53396600e-02 1.28113022e+02] [ 7.13047486e-01 -7.00635598e-01 2.59430438e-02 3.19077617e+02] [-3.62647295e-02 9.63476347e-05 9.99342214e-01 4.27419514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:319.09, Z:0.43 [[-6.97858784e-01 -7.15794628e-01 -2.51230695e-02 1.28091225e+02] [ 7.15332920e-01 -6.98310854e-01 2.57053242e-02 3.19093360e+02] [-3.59434451e-02 -3.26723494e-05 9.99353825e-01 4.26070424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.07, Y:319.11, Z:0.43 [[-6.96942896e-01 -7.16685956e-01 -2.51364501e-02 1.28070675e+02] [ 7.16224953e-01 -6.97396037e-01 2.57018142e-02 3.19110851e+02] [-3.59501899e-02 -9.06560054e-05 9.99353579e-01 4.25222799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.05, Y:319.13, Z:0.42 [[-6.96114197e-01 -7.17490665e-01 -2.51430150e-02 1.28050478e+02] [ 7.17030519e-01 -6.96568106e-01 2.56925926e-02 3.19127770e+02] [-3.59480176e-02 -1.43330622e-04 9.99353651e-01 4.23629319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.03, Y:319.14, Z:0.42 [[-6.94884783e-01 -7.18680848e-01 -2.51590214e-02 1.28028800e+02] [ 7.18221503e-01 -6.95340055e-01 2.56920452e-02 3.19144081e+02] [-3.59584561e-02 -2.16738893e-04 9.99353262e-01 4.22327763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.01, Y:319.16, Z:0.42 [[-6.94616595e-01 -7.18952624e-01 -2.47973883e-02 1.28008606e+02] [ 7.18507104e-01 -6.95059039e-01 2.53075857e-02 3.19162764e+02] [-3.54306041e-02 -2.38030699e-04 9.99372111e-01 4.21387243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.99, Y:319.18, Z:0.42 [[-6.94564650e-01 -7.18995714e-01 -2.50022032e-02 1.27989262e+02] [ 7.18543384e-01 -6.95014460e-01 2.55010880e-02 3.19181424e+02] [-3.57120657e-02 -2.53013469e-04 9.99362089e-01 4.20369108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:319.20, Z:0.42 [[-6.94732872e-01 -7.18827381e-01 -2.51680725e-02 1.27969854e+02] [ 7.18369495e-01 -6.95188557e-01 2.56542319e-02 3.19199095e+02] [-3.59375203e-02 -2.57137357e-04 9.99354006e-01 4.18969954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.95, Y:319.22, Z:0.42 [[-6.95065770e-01 -7.18507534e-01 -2.51097195e-02 1.27950251e+02] [ 7.18052163e-01 -6.95519130e-01 2.55779421e-02 3.19218407e+02] [-3.58422344e-02 -2.51736427e-04 9.99357429e-01 4.17634116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.93, Y:319.24, Z:0.42 [[-6.96329689e-01 -7.17289141e-01 -2.49249478e-02 1.27931080e+02] [ 7.16840229e-01 -6.96775609e-01 2.53739374e-02 3.19236903e+02] [-3.55675454e-02 -1.98579384e-04 9.99367255e-01 4.16071391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.91, Y:319.26, Z:0.41 [[-6.97212431e-01 -7.16442035e-01 -2.46096891e-02 1.27912451e+02] [ 7.16004463e-01 -6.97646604e-01 2.50364918e-02 3.19256244e+02] [-3.51060611e-02 -1.64893900e-04 9.99383579e-01 4.14741464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.89, Y:319.28, Z:0.41 [[-6.98330726e-01 -7.15358416e-01 -2.44240507e-02 1.27894011e+02] [ 7.14927315e-01 -6.98757699e-01 2.48316723e-02 3.19275030e+02] [-3.48300392e-02 -1.20701221e-04 9.99393243e-01 4.12892138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.88, Y:319.30, Z:0.41 [[-7.00285833e-01 -7.13453109e-01 -2.41746394e-02 1.27875897e+02] [ 7.13030015e-01 -7.00702976e-01 2.45669921e-02 3.19295658e+02] [-3.44666387e-02 -3.33269343e-05 9.99405848e-01 4.11342089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.86, Y:319.31, Z:0.41 [[-7.01331120e-01 -7.12438263e-01 -2.37987523e-02 1.27858216e+02] [ 7.12028125e-01 -7.01734794e-01 2.41708236e-02 3.19314480e+02] [-3.39206321e-02 6.36982786e-06 9.99424530e-01 4.10109222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.84, Y:319.33, Z:0.41 [[-7.02444340e-01 -7.11343947e-01 -2.37010249e-02 1.27839492e+02] [ 7.10937064e-01 -7.02844070e-01 2.40562897e-02 3.19334219e+02] [-3.37704209e-02 4.82675111e-05 9.99429616e-01 4.09099169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.82, Y:319.35, Z:0.41 [[-7.04483275e-01 -7.09314531e-01 -2.40043888e-02 1.27821292e+02] [ 7.08896486e-01 -7.04892103e-01 2.43494471e-02 3.19354515e+02] [-3.41919208e-02 1.37151355e-04 9.99415276e-01 4.08261065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.80, Y:319.37, Z:0.41 [[-7.05836927e-01 -7.07962538e-01 -2.41511310e-02 1.27803045e+02] [ 7.07539097e-01 -7.06249961e-01 2.44830402e-02 3.19374405e+02] [-3.43898106e-02 1.93164482e-04 9.99408477e-01 4.07708839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:319.39, Z:0.41 [[-7.07106010e-01 -7.06675167e-01 -2.47244694e-02 1.27784869e+02] [ 7.06231146e-01 -7.07538088e-01 2.50484087e-02 3.19394695e+02] [-3.51945922e-02 2.50690029e-04 9.99380447e-01 4.07413025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:319.42, Z:0.41 [[-7.09134409e-01 -7.04617372e-01 -2.53524735e-02 1.27768518e+02] [ 7.04149766e-01 -7.09587370e-01 2.56685002e-02 3.19415571e+02] [-3.60762661e-02 3.50478448e-04 9.99348978e-01 4.07785578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:319.43, Z:0.41 [[-7.10267079e-01 -7.03455918e-01 -2.58930233e-02 1.27751098e+02] [ 7.02968018e-01 -7.10738775e-01 2.61984642e-02 3.19434824e+02] [-3.68326404e-02 4.05939426e-04 9.99321366e-01 4.07047598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:319.45, Z:0.41 [[-7.11030911e-01 -7.02662659e-01 -2.64618807e-02 1.27731995e+02] [ 7.02153186e-01 -7.11523008e-01 2.67565418e-02 3.19454070e+02] [-3.76290597e-02 4.44434468e-04 9.99291677e-01 4.06667538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.71, Y:319.47, Z:0.41 [[-7.11162749e-01 -7.02535038e-01 -2.63071034e-02 1.27712798e+02] [ 7.02032050e-01 -7.11649021e-01 2.65833065e-02 3.19473656e+02] [-3.73971287e-02 4.36627650e-04 9.99300387e-01 4.05624256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:319.49, Z:0.40 [[-7.11417411e-01 -7.02277507e-01 -2.62977292e-02 1.27694841e+02] [ 7.01775330e-01 -7.11903162e-01 2.65570171e-02 3.19492775e+02] [-3.73718323e-02 4.38026779e-04 9.99301333e-01 4.03867683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.68, Y:319.51, Z:0.40 [[-7.11250832e-01 -7.02456851e-01 -2.60120414e-02 1.27675437e+02] [ 7.01966293e-01 -7.11726214e-01 2.62510902e-02 3.19511639e+02] [-3.69537099e-02 4.11533413e-04 9.99316894e-01 4.02933339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:319.53, Z:0.40 [[-7.10564108e-01 -7.03151212e-01 -2.60196608e-02 1.27656780e+02] [ 7.02661450e-01 -7.11040253e-01 2.62420429e-02 3.19530830e+02] [-3.69531505e-02 3.63641223e-04 9.99316933e-01 4.01539052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:319.55, Z:0.40 [[-7.09998546e-01 -7.03723181e-01 -2.59951810e-02 1.27637221e+02] [ 7.03235339e-01 -7.10474194e-01 2.62007079e-02 3.19549430e+02] [-3.69069508e-02 3.21734577e-04 9.99318655e-01 4.00087082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:319.57, Z:0.40 [[-7.09493009e-01 -7.04247073e-01 -2.56072321e-02 1.27617403e+02] [ 7.03774600e-01 -7.09954916e-01 2.57939730e-02 3.19568138e+02] [-3.63453103e-02 2.78923961e-04 9.99339252e-01 3.98569723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.60, Y:319.59, Z:0.40 [[-7.07696169e-01 -7.06073328e-01 -2.50317362e-02 1.27596793e+02] [ 7.05623536e-01 -7.08138706e-01 2.51991860e-02 3.19585586e+02] [-3.55184143e-02 1.70385204e-04 9.99369008e-01 3.96361907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:319.60, Z:0.39 [[-7.06982728e-01 -7.06788379e-01 -2.50122088e-02 1.27577968e+02] [ 7.06340307e-01 -7.07425030e-01 2.51634278e-02 3.19603201e+02] [-3.54794809e-02 1.22977522e-04 9.99370397e-01 3.94617075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:319.62, Z:0.39 [[-7.06208922e-01 -7.07559080e-01 -2.50819985e-02 1.27558110e+02] [ 7.07109402e-01 -7.06654188e-01 2.52220341e-02 3.19621672e+02] [-3.55703786e-02 7.63085810e-05 9.99367171e-01 3.93515562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:319.64, Z:0.39 [[-7.05561743e-01 -7.08206804e-01 -2.50149931e-02 1.27538477e+02] [ 7.07760467e-01 -7.06005044e-01 2.51396023e-02 3.19639758e+02] [-3.54647487e-02 3.29184253e-05 9.99370927e-01 3.92371463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:319.66, Z:0.39 [[-7.03951578e-01 -7.09788970e-01 -2.55302517e-02 1.27517744e+02] [ 7.09325691e-01 -7.04414377e-01 2.56407712e-02 3.19658157e+02] [-3.61834129e-02 -5.94020507e-05 9.99345164e-01 3.92367652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:319.68, Z:0.39 [[-7.03436179e-01 -7.10281070e-01 -2.60450115e-02 1.27497988e+02] [ 7.09799889e-01 -7.03918171e-01 2.61405037e-02 3.19676191e+02] [-3.69006618e-02 -9.85702359e-05 9.99318934e-01 3.91489763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:319.69, Z:0.39 [[-7.02451830e-01 -7.11243812e-01 -2.63375475e-02 1.27477370e+02] [ 7.10752907e-01 -7.02945385e-01 2.64214090e-02 3.19694685e+02] [-3.73059212e-02 -1.59721335e-04 9.99303879e-01 3.90865064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:319.71, Z:0.39 [[-7.02668479e-01 -7.11029478e-01 -2.63455907e-02 1.27458382e+02] [ 7.10538723e-01 -7.03162183e-01 2.64133863e-02 3.19713558e+02] [-3.73059193e-02 -1.59708375e-04 9.99303879e-01 3.89772304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:319.73, Z:0.39 [[-7.00551248e-01 -7.13101454e-01 -2.67257415e-02 1.27436614e+02] [ 7.12598563e-01 -7.01060793e-01 2.67778479e-02 3.19729790e+02] [-3.78316918e-02 -2.85470176e-04 9.99284085e-01 3.89033232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.42, Y:319.75, Z:0.39 [[-6.99485222e-01 -7.14148992e-01 -2.66766160e-02 1.27415879e+02] [ 7.13649282e-01 -6.99993638e-01 2.67134627e-02 3.19747889e+02] [-3.77508539e-02 -3.52075457e-04 9.99287120e-01 3.87755686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:319.77, Z:0.39 [[-6.98788871e-01 -7.14829007e-01 -2.67133710e-02 1.27395373e+02] [ 7.14329027e-01 -6.99299171e-01 2.67340713e-02 3.19766255e+02] [-3.77909278e-02 -4.00664778e-04 9.99285587e-01 3.86186436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.37, Y:319.78, Z:0.38 [[-6.97412555e-01 -7.16189042e-01 -2.62485142e-02 1.27373976e+02] [ 7.15707865e-01 -6.97906175e-01 2.62530481e-02 3.19784453e+02] [-3.71211455e-02 -4.77062733e-04 9.99310659e-01 3.84265318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:319.75, Z:0.38 [[-6.47292659e-01 -7.61810281e-01 -2.56380671e-02 1.27361913e+02] [ 7.61363467e-01 -6.47795168e-01 2.62124222e-02 3.19750873e+02] [-3.65771087e-02 -2.55277923e-03 9.99327573e-01 3.83301628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:319.77, Z:0.38 [[-6.47192920e-01 -7.61958366e-01 -2.36806405e-02 1.27343845e+02] [ 7.61476537e-01 -6.47625821e-01 2.70975915e-02 3.19770723e+02] [-3.59834308e-02 -4.94882787e-04 9.99352264e-01 3.80804744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:319.79, Z:0.38 [[-6.47809072e-01 -7.61448366e-01 -2.32334062e-02 1.27326060e+02] [ 7.60984820e-01 -6.48225397e-01 2.65694811e-02 3.19790339e+02] [-3.52917719e-02 -4.68318523e-04 9.99376942e-01 3.79138344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:319.81, Z:0.38 [[-6.48670349e-01 -7.60707423e-01 -2.34733003e-02 1.27308700e+02] [ 7.60234417e-01 -6.49094769e-01 2.68255748e-02 3.19810720e+02] [-3.56428103e-02 -4.44255776e-04 9.99364494e-01 3.78134627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:319.83, Z:0.38 [[-6.49674552e-01 -7.59844656e-01 -2.36447798e-02 1.27291654e+02] [ 7.59364746e-01 -6.50104554e-01 2.70046778e-02 3.19831552e+02] [-3.58909391e-02 -4.10760279e-04 9.99355628e-01 3.77227021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:319.85, Z:0.38 [[-6.51846007e-01 -7.57968336e-01 -2.40994778e-02 1.27275572e+02] [ 7.57469127e-01 -6.52291266e-01 2.75068356e-02 3.19853642e+02] [-3.65691893e-02 -3.24389470e-04 9.99331071e-01 3.76903252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:319.88, Z:0.38 [[-6.53045261e-01 -7.56924479e-01 -2.44381132e-02 1.27258481e+02] [ 7.56411060e-01 -6.53502299e-01 2.78756943e-02 3.19875601e+02] [-3.70701585e-02 -2.81169046e-04 9.99312626e-01 3.76233951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:319.90, Z:0.38 [[-6.54408589e-01 -7.55742074e-01 -2.45624912e-02 1.27241775e+02] [ 7.55223204e-01 -6.54869350e-01 2.80008244e-02 3.19896663e+02] [-3.72466238e-02 -2.26183279e-04 9.99306078e-01 3.75207591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:319.92, Z:0.37 [[-6.55906541e-01 -7.54443525e-01 -2.45270549e-02 1.27225130e+02] [ 7.53925895e-01 -6.56364944e-01 2.79428669e-02 3.19917767e+02] [-3.71800141e-02 -1.63672610e-04 9.99308571e-01 3.74064275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.21, Y:319.94, Z:0.37 [[-6.57801420e-01 -7.52787895e-01 -2.46510955e-02 1.27209543e+02] [ 7.52264507e-01 -6.58263153e-01 2.80665695e-02 3.19939586e+02] [-3.73550816e-02 -8.19148958e-05 9.99302052e-01 3.73141435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.19, Y:319.96, Z:0.37 [[-6.58490453e-01 -7.52183056e-01 -2.47178789e-02 1.27192138e+02] [ 7.51657098e-01 -6.58954207e-01 2.81240015e-02 3.19960176e+02] [-3.74423477e-02 -5.99826151e-05 9.99298788e-01 3.71899526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:319.98, Z:0.37 [[-6.59203595e-01 -7.51570621e-01 -2.43356130e-02 1.27175466e+02] [ 7.51061005e-01 -6.59652637e-01 2.76724751e-02 3.19980083e+02] [-3.68508706e-02 -3.57349221e-05 9.99320775e-01 3.69794077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.16, Y:320.00, Z:0.37 [[-6.59371480e-01 -7.51430924e-01 -2.41001627e-02 1.27157702e+02] [ 7.50931668e-01 -6.59811765e-01 2.73873138e-02 3.20000708e+02] [-3.64812454e-02 -3.91617410e-05 9.99334337e-01 3.68903263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.14, Y:320.02, Z:0.37 [[-6.59489870e-01 -7.51331582e-01 -2.39575941e-02 1.27139573e+02] [ 7.50838764e-01 -6.59924884e-01 2.72084147e-02 3.20021027e+02] [-3.62527538e-02 -4.46164526e-05 9.99342652e-01 3.67361174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:320.04, Z:0.36 [[-6.59325530e-01 -7.51504493e-01 -2.30399933e-02 1.27121960e+02] [ 7.51049359e-01 -6.59727969e-01 2.61508617e-02 3.20040550e+02] [-3.48526180e-02 -6.22414065e-05 9.99392461e-01 3.64645925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.10, Y:320.06, Z:0.36 [[-6.59302007e-01 -7.51537452e-01 -2.26345359e-02 1.27103812e+02] [ 7.51098790e-01 -6.59690422e-01 2.56740191e-02 3.20060863e+02] [-3.42267735e-02 -7.38402035e-05 9.99414090e-01 3.62895224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.09, Y:320.08, Z:0.36 [[-6.59295598e-01 -7.51552206e-01 -2.23292583e-02 1.27085562e+02] [ 7.51125826e-01 -6.59673612e-01 2.53124508e-02 3.20081377e+02] [-3.37536507e-02 -8.36951857e-05 9.99430180e-01 3.61475066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.07, Y:320.10, Z:0.36 [[-6.59311420e-01 -7.51551028e-01 -2.18975857e-02 1.27067937e+02] [ 7.51141476e-01 -6.59674953e-01 2.48080318e-02 3.20101532e+02] [-3.30897906e-02 -9.19661514e-05 9.99452379e-01 3.59966533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.05, Y:320.12, Z:0.36 [[-6.59720595e-01 -7.51195163e-01 -2.17844834e-02 1.27050549e+02] [ 7.50790148e-01 -6.60080162e-01 2.46644269e-02 3.20121603e+02] [-3.29073036e-02 -8.39451335e-05 9.99458405e-01 3.58453191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.03, Y:320.14, Z:0.36 [[-6.60222052e-01 -7.50754159e-01 -2.17952890e-02 1.27033515e+02] [ 7.50349048e-01 -6.60581704e-01 2.46600532e-02 3.20141826e+02] [-3.29112066e-02 -7.29633817e-05 9.99458277e-01 3.57142439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.02, Y:320.16, Z:0.36 [[-6.60760022e-01 -7.50282638e-01 -2.17291724e-02 1.27015736e+02] [ 7.49880262e-01 -6.61117205e-01 2.45689544e-02 3.20162868e+02] [-3.27991897e-02 -6.00946502e-05 9.99461960e-01 3.55980668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:320.18, Z:0.36 [[-6.62112985e-01 -7.49078741e-01 -2.20779463e-02 1.26999438e+02] [ 7.48663186e-01 -6.62480973e-01 2.49478187e-02 3.20184875e+02] [-3.33141000e-02 -1.06709148e-05 9.99444931e-01 3.55260027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.98, Y:320.21, Z:0.35 [[-6.63027529e-01 -7.48270500e-01 -2.20398272e-02 1.26982445e+02] [ 7.47856437e-01 -6.63393743e-01 2.48895774e-02 3.20206318e+02] [-3.32452200e-02 1.98483689e-05 9.99447225e-01 3.54552840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.97, Y:320.23, Z:0.35 [[-6.64358932e-01 -7.47094164e-01 -2.18521957e-02 1.26966486e+02] [ 7.46686989e-01 -6.64718215e-01 2.46624391e-02 3.20226869e+02] [-3.29507169e-02 6.79615280e-05 9.99456975e-01 3.53381199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.95, Y:320.25, Z:0.35 [[-6.66588763e-01 -7.45109987e-01 -2.16916702e-02 1.26951782e+02] [ 7.44708279e-01 -6.66941590e-01 2.44641624e-02 3.20248746e+02] [-3.26955688e-02 1.53569390e-04 9.99465345e-01 3.51170014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.93, Y:320.27, Z:0.35 [[-6.67586023e-01 -7.44219042e-01 -2.16083185e-02 1.26933703e+02] [ 7.43820298e-01 -6.67935611e-01 2.43594509e-02 3.20269775e+02] [-3.25617326e-02 1.89323055e-04 9.99469708e-01 3.50703559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:320.29, Z:0.35 [[-6.68645677e-01 -7.43267886e-01 -2.15825775e-02 1.26916737e+02] [ 7.42870091e-01 -6.68993871e-01 2.43152150e-02 3.20290277e+02] [-3.25113305e-02 2.25212077e-04 9.99471342e-01 3.49043136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:320.31, Z:0.35 [[-6.69732676e-01 -7.42274468e-01 -2.20625811e-02 1.26899209e+02] [ 7.41858810e-01 -6.70095920e-01 2.48387550e-02 3.20310733e+02] [-3.32212192e-02 2.68005710e-04 9.99447987e-01 3.48796439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:320.33, Z:0.35 [[-6.70218074e-01 -7.41835504e-01 -2.20866043e-02 1.26880460e+02] [ 7.41419216e-01 -6.70581842e-01 2.48503378e-02 3.20331180e+02] [-3.32457386e-02 2.79712704e-04 9.99447169e-01 3.48019163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.86, Y:320.35, Z:0.35 [[-6.70822202e-01 -7.41274201e-01 -2.25860961e-02 1.26861079e+02] [ 7.40839106e-01 -6.71202255e-01 2.53959107e-02 3.20351081e+02] [-3.39851721e-02 3.03477461e-04 9.99422291e-01 3.47774744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.84, Y:320.37, Z:0.35 [[-6.71354085e-01 -7.40787860e-01 -2.27385052e-02 1.26842272e+02] [ 7.40347151e-01 -6.71738971e-01 2.55509435e-02 3.20371103e+02] [-3.42021688e-02 3.19342783e-04 9.99414884e-01 3.47158098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.82, Y:320.39, Z:0.35 [[-6.72019916e-01 -7.40182270e-01 -2.27912046e-02 1.26824805e+02] [ 7.39739723e-01 -6.72406195e-01 2.55939793e-02 3.20391205e+02] [-3.42691569e-02 3.40104416e-04 9.99412582e-01 3.45445426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:320.41, Z:0.34 [[-6.72905845e-01 -7.39375630e-01 -2.28342235e-02 1.26806640e+02] [ 7.38931541e-01 -6.73293058e-01 2.56249178e-02 3.20409904e+02] [-3.43205639e-02 3.70228957e-04 9.99410807e-01 3.44555433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.79, Y:320.43, Z:0.34 [[-6.73428581e-01 -7.38899663e-01 -2.28305421e-02 1.26787407e+02] [ 7.38456003e-01 -6.73815361e-01 2.56045118e-02 3.20428861e+02] [-3.43027351e-02 3.83459162e-04 9.99411414e-01 3.43961312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.77, Y:320.45, Z:0.34 [[-6.73905081e-01 -7.38469078e-01 -2.27015928e-02 1.26768350e+02] [ 7.38030702e-01 -6.74287229e-01 2.54443610e-02 3.20447938e+02] [-3.40972679e-02 3.92611670e-04 9.99418442e-01 3.42959250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:320.47, Z:0.34 [[-6.74327399e-01 -7.38078731e-01 -2.28549031e-02 1.26748516e+02] [ 7.37634757e-01 -6.74714476e-01 2.55996367e-02 3.20467850e+02] [-3.43150813e-02 4.03965492e-04 9.99410983e-01 3.41942807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.73, Y:320.49, Z:0.34 [[-6.74872710e-01 -7.37571156e-01 -2.31433637e-02 1.26729635e+02] [ 7.37116108e-01 -6.75269287e-01 2.59081707e-02 3.20486543e+02] [-3.47371221e-02 4.25371200e-04 9.99396394e-01 3.42009115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.71, Y:320.51, Z:0.34 [[-6.75121170e-01 -7.37337346e-01 -2.33461799e-02 1.26711401e+02] [ 7.36874770e-01 -6.75524577e-01 2.61174043e-02 3.20506053e+02] [-3.50282558e-02 4.29201588e-04 9.99386230e-01 3.40903703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:320.53, Z:0.34 [[-6.75066078e-01 -7.37380058e-01 -2.35890064e-02 1.26691370e+02] [ 7.36908466e-01 -6.75477960e-01 2.63711512e-02 3.20525383e+02] [-3.53794149e-02 4.19331138e-04 9.99373865e-01 3.40178341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:320.54, Z:0.34 [[-6.74773365e-01 -7.37647601e-01 -2.35992090e-02 1.26672951e+02] [ 7.37176344e-01 -6.75185797e-01 2.63662044e-02 3.20544165e+02] [-3.53828181e-02 3.94433856e-04 9.99373754e-01 3.38998333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.65, Y:320.56, Z:0.34 [[-6.73888663e-01 -7.38452062e-01 -2.37196421e-02 1.26651089e+02] [ 7.37977104e-01 -6.74305891e-01 2.64831796e-02 3.20561596e+02] [-3.55508530e-02 3.42161713e-04 9.99367810e-01 3.37359348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:320.58, Z:0.34 [[-6.73452303e-01 -7.38850818e-01 -2.36952328e-02 1.26631197e+02] [ 7.38377663e-01 -6.73868958e-01 2.64396246e-02 3.20580255e+02] [-3.55024201e-02 3.09795455e-04 9.99369542e-01 3.35852340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.61, Y:320.60, Z:0.33 [[-6.72302810e-01 -7.39900336e-01 -2.35886527e-02 1.26610642e+02] [ 7.39432664e-01 -6.72716459e-01 2.63040203e-02 3.20596645e+02] [-3.53308284e-02 2.42046432e-04 9.99375642e-01 3.34190177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:320.61, Z:0.33 [[-6.72076617e-01 -7.40104006e-01 -2.36448864e-02 1.26592135e+02] [ 7.39634650e-01 -6.72492387e-01 2.63547967e-02 3.20614880e+02] [-3.54062967e-02 2.23865403e-04 9.99372975e-01 3.32732500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:320.63, Z:0.33 [[-6.71693191e-01 -7.40455481e-01 -2.35358683e-02 1.26572777e+02] [ 7.39991251e-01 -6.72105381e-01 2.62165216e-02 3.20633834e+02] [-3.52307508e-02 1.93122435e-04 9.99379186e-01 3.31680547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.55, Y:320.65, Z:0.33 [[-6.70226864e-01 -7.41793204e-01 -2.32119415e-02 1.26551536e+02] [ 7.41342993e-01 -6.70628683e-01 2.58405821e-02 3.20650813e+02] [-3.47349620e-02 1.11042079e-04 9.99396553e-01 3.30744198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.53, Y:320.67, Z:0.33 [[-6.69184296e-01 -7.42734053e-01 -2.32056845e-02 1.26531372e+02] [ 7.42285196e-01 -6.69586532e-01 2.58179040e-02 3.20669437e+02] [-3.47140503e-02 5.16999027e-05 9.99397284e-01 3.29974695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:126.51, Y:320.69, Z:0.33 [[-6.67919507e-01 -7.43873099e-01 -2.31591095e-02 1.26511716e+02] [ 7.43427312e-01 -6.68320890e-01 2.57491707e-02 3.20687699e+02] [-3.46318320e-02 -1.87411237e-05 9.99400138e-01 3.28871343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.49, Y:320.70, Z:0.33 [[-6.65459519e-01 -7.46064807e-01 -2.34719430e-02 1.26489582e+02] [ 7.45608682e-01 -6.65873323e-01 2.60846741e-02 3.20704904e+02] [-3.50901980e-02 -1.42589819e-04 9.99384139e-01 3.28067732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.47, Y:320.72, Z:0.33 [[-6.64283536e-01 -7.47108560e-01 -2.35835359e-02 1.26469539e+02] [ 7.46649333e-01 -6.64702005e-01 2.61919447e-02 3.20723283e+02] [-3.52442497e-02 -2.09753655e-04 9.99378706e-01 3.26640824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94687500000003 meters Centerline goodness [0,1] 0.9999779866599159 Centerline is valid? [True, True] Translation: X:126.45, Y:320.74, Z:0.32 [[-6.62921917e-01 -7.48321623e-01 -2.34367259e-02 1.26449317e+02] [ 7.47869432e-01 -6.63336014e-01 2.60124077e-02 3.20741222e+02] [-3.50120715e-02 -2.83415724e-04 9.99386849e-01 3.24703586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.43, Y:320.76, Z:0.32 [[-6.60388460e-01 -7.50568530e-01 -2.31076519e-02 1.26427250e+02] [ 7.50130841e-01 -6.60792491e-01 2.56321189e-02 3.20759155e+02] [-3.45080246e-02 -4.06606824e-04 9.99404338e-01 3.22798067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:320.78, Z:0.32 [[-6.59571743e-01 -7.51304410e-01 -2.25122297e-02 1.26408037e+02] [ 7.50889912e-01 -6.59955671e-01 2.49570074e-02 3.20777540e+02] [-3.36073834e-02 -4.43269348e-04 9.99435014e-01 3.21155220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:320.80, Z:0.32 [[-6.58987106e-01 -7.51811708e-01 -2.26969118e-02 1.26388563e+02] [ 7.51390977e-01 -6.59377682e-01 2.51529946e-02 3.20796696e+02] [-3.38761529e-02 -4.78755620e-04 9.99425924e-01 3.19468101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.37, Y:320.82, Z:0.32 [[-6.58488826e-01 -7.52253943e-01 -2.25049224e-02 1.26368889e+02] [ 7.51841081e-01 -6.58873089e-01 2.49247018e-02 3.20816191e+02] [-3.35775929e-02 -5.07487594e-04 9.99435985e-01 3.18139120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.35, Y:320.84, Z:0.32 [[-6.57897761e-01 -7.52768962e-01 -2.25704572e-02 1.26349494e+02] [ 7.52354522e-01 -6.58284583e-01 2.49816144e-02 3.20835699e+02] [-3.36631679e-02 -5.45637359e-04 9.99433086e-01 3.17593554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:320.86, Z:0.32 [[-6.57857037e-01 -7.52803778e-01 -2.25962628e-02 1.26331038e+02] [ 7.52388937e-01 -6.58244757e-01 2.49945479e-02 3.20855682e+02] [-3.36898616e-02 -5.58338928e-04 9.99432180e-01 3.16736246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:320.88, Z:0.32 [[-6.58076774e-01 -7.52614784e-01 -2.24932579e-02 1.26312656e+02] [ 7.52204121e-01 -6.58460840e-01 2.48652790e-02 3.20875919e+02] [-3.35249061e-02 -5.56258654e-04 9.99437728e-01 3.15743559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:320.90, Z:0.31 [[-6.58816389e-01 -7.51956104e-01 -2.28688259e-02 1.26294660e+02] [ 7.51531755e-01 -6.59212958e-01 2.52645427e-02 3.20895303e+02] [-3.40732534e-02 -5.41954087e-04 9.99419191e-01 3.14437999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters Centerline goodness [0,1] 0.9999779166574653 Centerline is valid? [True, True] Translation: X:126.28, Y:320.92, Z:0.31 [[-6.59635764e-01 -7.51238631e-01 -2.28293467e-02 1.26278136e+02] [ 7.50815877e-01 -6.60030495e-01 2.52044447e-02 3.20916760e+02] [-3.40026176e-02 -5.14882831e-04 9.99421611e-01 3.14130589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.246875 meters Centerline goodness [0,1] 0.9999779166574653 Centerline is valid? [True, True] Translation: X:126.26, Y:320.94, Z:0.31 [[-6.59874504e-01 -7.51028690e-01 -2.28373650e-02 1.26260085e+02] [ 7.50606063e-01 -6.60269370e-01 2.51971769e-02 3.20936528e+02] [-3.40026154e-02 -5.14889984e-04 9.99421611e-01 3.13038907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters Centerline goodness [0,1] 0.9999561008801774 Centerline is valid? [True, True] Translation: X:126.24, Y:320.96, Z:0.31 [[-6.61038239e-01 -7.50001573e-01 -2.29365693e-02 1.26242529e+02] [ 7.49575196e-01 -6.61435873e-01 2.52905395e-02 3.20955762e+02] [-3.41390141e-02 -4.74669711e-04 9.99416981e-01 3.11101998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:320.98, Z:0.31 [[-6.63681569e-01 -7.47669402e-01 -2.27429166e-02 1.26227090e+02] [ 7.47249403e-01 -6.64071031e-01 2.50598497e-02 3.20979234e+02] [-3.38393949e-02 -3.62870497e-04 9.99427218e-01 3.10458164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:321.00, Z:0.31 [[-6.65323960e-01 -7.46212710e-01 -2.25968890e-02 1.26210294e+02] [ 7.45797702e-01 -6.65707521e-01 2.48854125e-02 3.21000267e+02] [-3.36127301e-02 -2.95846694e-04 9.99434889e-01 3.08992744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.19, Y:321.02, Z:0.31 [[-6.67018205e-01 -7.44718298e-01 -2.19401639e-02 1.26193396e+02] [ 7.44326729e-01 -6.67378908e-01 2.41477342e-02 3.21020962e+02] [-3.26256622e-02 -2.23672129e-04 9.99467616e-01 3.06781172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.18, Y:321.04, Z:0.31 [[-6.69916535e-01 -7.42134472e-01 -2.11721694e-02 1.26178255e+02] [ 7.41769013e-01 -6.70251008e-01 2.32876965e-02 3.21044152e+02] [-3.14732702e-02 -1.04046297e-04 9.99504589e-01 3.05000264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.16, Y:321.06, Z:0.30 [[-6.71335280e-01 -7.40865804e-01 -2.06591845e-02 1.26161907e+02] [ 7.40517666e-01 -6.71653078e-01 2.27096712e-02 3.21064464e+02] [-3.07006237e-02 -5.26875555e-05 9.99528623e-01 3.01968684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.15, Y:321.09, Z:0.30 [[-6.74080345e-01 -7.38383117e-01 -2.01509690e-02 1.26147030e+02] [ 7.38051225e-01 -6.74381472e-01 2.21363729e-02 3.21087340e+02] [-2.99345642e-02 4.92464803e-05 9.99551859e-01 3.01062689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.13, Y:321.11, Z:0.30 [[-6.75668800e-01 -7.36929432e-01 -2.01664388e-02 1.26130116e+02] [ 7.36596797e-01 -6.75969675e-01 2.21395020e-02 3.21109162e+02] [-2.99471517e-02 1.04436521e-04 9.99551478e-01 2.99617404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.11, Y:321.13, Z:0.30 [[-6.77336882e-01 -7.35385772e-01 -2.05551582e-02 1.26114066e+02] [ 7.35039905e-01 -6.77648684e-01 2.25521314e-02 3.21130515e+02] [-3.05136925e-02 1.66528822e-04 9.99534335e-01 2.98217308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.10, Y:321.15, Z:0.30 [[-6.79017919e-01 -7.33819209e-01 -2.10721235e-02 1.26097755e+02] [ 7.33455459e-01 -6.79344769e-01 2.31035802e-02 3.21151948e+02] [-3.12690878e-02 2.32280984e-04 9.99510976e-01 2.97742389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:321.18, Z:0.30 [[-6.82169612e-01 -7.30882637e-01 -2.13351953e-02 1.26082622e+02] [ 7.30508772e-01 -6.82503069e-01 2.33772066e-02 3.21175164e+02] [-3.16473307e-02 3.61672658e-04 9.99499032e-01 2.97703707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.07, Y:321.20, Z:0.30 [[-6.83295998e-01 -7.29815006e-01 -2.18320162e-02 1.26065638e+02] [ 7.29423427e-01 -6.83644563e-01 2.39076565e-02 3.21196280e+02] [-3.23735057e-02 4.11221921e-04 9.99475756e-01 2.96935081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:321.22, Z:0.30 [[-6.83895852e-01 -7.29251380e-01 -2.18835176e-02 1.26048070e+02] [ 7.28858132e-01 -6.84245746e-01 2.39495833e-02 3.21216990e+02] [-3.24389705e-02 4.29040911e-04 9.99473626e-01 2.96085716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:321.24, Z:0.29 [[-6.84127448e-01 -7.29024433e-01 -2.22038487e-02 1.26030528e+02] [ 7.28619981e-01 -6.84487535e-01 2.42844992e-02 3.21236876e+02] [-3.29022509e-02 4.35524620e-04 9.99458479e-01 2.94579625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.01, Y:321.26, Z:0.29 [[-6.83055481e-01 -7.30029226e-01 -2.21932119e-02 1.26011091e+02] [ 7.29626036e-01 -6.83415821e-01 2.42623658e-02 3.21256148e+02] [-3.28794283e-02 3.79796757e-04 9.99459253e-01 2.92621052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:321.27, Z:0.29 [[-6.82248910e-01 -7.30780766e-01 -2.22687551e-02 1.25992761e+02] [ 7.30375696e-01 -6.82612159e-01 2.43306839e-02 3.21274395e+02] [-3.29813188e-02 3.35025099e-04 9.99455912e-01 2.91053177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:321.29, Z:0.29 [[-6.81284552e-01 -7.31675590e-01 -2.24096171e-02 1.25973782e+02] [ 7.31266369e-01 -6.81652955e-01 2.44692885e-02 3.21293000e+02] [-3.31791628e-02 2.83148931e-04 9.99449380e-01 2.89780152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.95, Y:321.31, Z:0.29 [[-6.78535325e-01 -7.34235730e-01 -2.20840429e-02 1.25952687e+02] [ 7.33840148e-01 -6.78894595e-01 2.40990959e-02 3.21310619e+02] [-3.26871546e-02 1.45930596e-04 9.99465622e-01 2.88996154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.93, Y:321.33, Z:0.29 [[-6.77424706e-01 -7.35252955e-01 -2.23351563e-02 1.25932866e+02] [ 7.34849355e-01 -6.77792803e-01 2.43586049e-02 3.21329569e+02] [-3.30483444e-02 8.81455801e-05 9.99453750e-01 2.87914164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.91, Y:321.35, Z:0.29 [[-6.76623642e-01 -7.35988980e-01 -2.23756134e-02 1.25913697e+02] [ 7.35584791e-01 -6.76993515e-01 2.43884196e-02 3.21347861e+02] [-3.30977532e-02 4.26204248e-05 9.99452118e-01 2.86198930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.89, Y:321.37, Z:0.28 [[-6.75152696e-01 -7.37336744e-01 -2.24357797e-02 1.25894043e+02] [ 7.36931626e-01 -6.75525370e-01 2.44387589e-02 3.21365244e+02] [-3.31755333e-02 -3.37416832e-05 9.99449540e-01 2.84796703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:321.38, Z:0.28 [[-6.74827317e-01 -7.37622796e-01 -2.28189275e-02 1.25875646e+02] [ 7.37204410e-01 -6.75213009e-01 2.48404939e-02 3.21383858e+02] [-3.37305513e-02 -5.91701682e-05 9.99430961e-01 2.84066194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:321.40, Z:0.28 [[-6.75004742e-01 -7.37451027e-01 -2.31210164e-02 1.25857784e+02] [ 7.37021909e-01 -6.75400607e-01 2.51540520e-02 3.21402281e+02] [-3.41658300e-02 -6.15912090e-05 9.99416176e-01 2.83259539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.84, Y:321.42, Z:0.28 [[-6.75710010e-01 -7.36809735e-01 -2.29651423e-02 1.25839826e+02] [ 7.36386581e-01 -6.76100150e-01 2.49677871e-02 3.21422250e+02] [-3.39232448e-02 -4.02389395e-05 9.99424440e-01 2.82080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:321.44, Z:0.28 [[-6.76534842e-01 -7.36052613e-01 -2.29599409e-02 1.25822490e+02] [ 7.35629749e-01 -6.76924332e-01 2.49463776e-02 3.21441892e+02] [-3.39039891e-02 -1.29219070e-05 9.99425094e-01 2.81083149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.80, Y:321.46, Z:0.28 [[-6.77378796e-01 -7.35277161e-01 -2.29229865e-02 1.25804673e+02] [ 7.34855740e-01 -6.77766550e-01 2.48906369e-02 3.21462380e+02] [-3.38379504e-02 1.53014340e-05 9.99427332e-01 2.81742079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters Centerline goodness [0,1] 0.9999777059413666 Centerline is valid? [True, True] Translation: X:125.79, Y:321.48, Z:0.28 [[-6.78917186e-01 -7.33860019e-01 -2.28238301e-02 1.25787155e+02] [ 7.33441955e-01 -6.79300719e-01 2.47675682e-02 3.21482393e+02] [-3.36801722e-02 7.51731245e-05 9.99432659e-01 2.79575850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:321.50, Z:0.28 [[-6.79747601e-01 -7.33089928e-01 -2.28551205e-02 1.25768603e+02] [ 7.32670843e-01 -6.80131713e-01 2.47848684e-02 3.21502471e+02] [-3.37140297e-02 1.02174443e-04 9.99431515e-01 2.78277335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:321.52, Z:0.28 [[-6.80266618e-01 -7.32608075e-01 -2.28634391e-02 1.25750163e+02] [ 7.32188922e-01 -6.80650714e-01 2.47787678e-02 3.21522083e+02] [-3.37151415e-02 1.15811711e-04 9.99431476e-01 2.77271624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:321.54, Z:0.28 [[-6.80758696e-01 -7.32151127e-01 -2.28544340e-02 1.25732193e+02] [ 7.31732566e-01 -6.81142211e-01 2.47535967e-02 3.21541797e+02] [-3.36904934e-02 1.27892626e-04 9.99432306e-01 2.75143409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:321.56, Z:0.27 [[-6.81289889e-01 -7.31656018e-01 -2.28813997e-02 1.25713593e+02] [ 7.31236745e-01 -6.81674007e-01 2.47663267e-02 3.21561218e+02] [-3.37180874e-02 1.41327691e-04 9.99431374e-01 2.74830332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:321.58, Z:0.27 [[-6.81357114e-01 -7.31577882e-01 -2.33727463e-02 1.25694626e+02] [ 7.31140921e-01 -6.81757863e-01 2.52818216e-02 3.21581281e+02] [-3.44301750e-02 1.37177730e-04 9.99407096e-01 2.73996491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:321.60, Z:0.27 [[-6.81475855e-01 -7.31461038e-01 -2.35671126e-02 1.25677041e+02] [ 7.31017269e-01 -6.81883225e-01 2.54758870e-02 3.21600134e+02] [-3.47046374e-02 1.33235591e-04 9.99397604e-01 2.72545568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:321.62, Z:0.27 [[-6.81073420e-01 -7.31820569e-01 -2.40343660e-02 1.25657997e+02] [ 7.31359881e-01 -6.81497354e-01 2.59630727e-02 3.21619234e+02] [-3.53796675e-02 1.04987716e-04 9.99373938e-01 2.71828525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:321.64, Z:0.27 [[-6.80832273e-01 -7.32038276e-01 -2.42358984e-02 1.25639050e+02] [ 7.31570533e-01 -6.81263500e-01 2.61648413e-02 3.21638545e+02] [-3.56646982e-02 8.35992776e-05 9.99363809e-01 2.71485780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:321.66, Z:0.27 [[-6.79718900e-01 -7.33054256e-01 -2.47724702e-02 1.25620019e+02] [ 7.32566859e-01 -6.80170168e-01 2.67271107e-02 3.21656597e+02] [-3.64419175e-02 1.94316259e-05 9.99335773e-01 2.71085587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:321.68, Z:0.27 [[-6.79018337e-01 -7.33690424e-01 -2.51487500e-02 1.25600952e+02] [ 7.33189212e-01 -6.79483893e-01 2.71149271e-02 3.21675592e+02] [-3.69821329e-02 -2.72594796e-05 9.99315927e-01 2.70432947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:321.69, Z:0.27 [[-6.78342225e-01 -7.34310583e-01 -2.52941557e-02 1.25581539e+02] [ 7.33804614e-01 -6.78813644e-01 2.72548340e-02 3.21694696e+02] [-3.71835310e-02 -7.28634332e-05 9.99308451e-01 2.69665449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:321.71, Z:0.27 [[-6.76678576e-01 -7.35842261e-01 -2.53430614e-02 1.25562004e+02] [ 7.35336045e-01 -6.77152965e-01 2.72903522e-02 3.21713170e+02] [-3.72425236e-02 -1.68869898e-04 9.99306242e-01 2.68397064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:321.73, Z:0.27 [[-6.76024548e-01 -7.36435789e-01 -2.55565649e-02 1.25543159e+02] [ 7.35922084e-01 -6.76507415e-01 2.75028116e-02 3.21731865e+02] [-3.75432604e-02 -2.15064716e-04 9.99294980e-01 2.67161781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:321.75, Z:0.27 [[-6.75391749e-01 -7.37019002e-01 -2.54750213e-02 1.25523787e+02] [ 7.36509666e-01 -6.75871973e-01 2.73968745e-02 3.21751262e+02] [-3.74098700e-02 -2.58976415e-04 9.99299972e-01 2.65364503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:321.77, Z:0.26 [[-6.74406011e-01 -7.37916242e-01 -2.56154502e-02 1.25504808e+02] [ 7.37402566e-01 -6.74892225e-01 2.75307161e-02 3.21770965e+02] [-3.76030307e-02 -3.22018267e-04 9.99292704e-01 2.64244158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:321.79, Z:0.26 [[-6.74222135e-01 -7.38087610e-01 -2.55184880e-02 1.25486606e+02] [ 7.37578572e-01 -6.74704797e-01 2.74096115e-02 3.21790516e+02] [-3.74481409e-02 -3.41723149e-04 9.99298514e-01 2.62747439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56687500000004 meters Centerline goodness [0,1] 0.9999777188565317 Centerline is valid? [True, True] Translation: X:125.47, Y:321.81, Z:0.26 [[-6.73984611e-01 -7.38312618e-01 -2.52828514e-02 1.25468747e+02] [ 7.37813764e-01 -6.74458558e-01 2.71386021e-02 3.21809151e+02] [-3.70890078e-02 -3.63035568e-04 9.99311900e-01 2.61158751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:321.83, Z:0.26 [[-6.73737384e-01 -7.38541113e-01 -2.51984451e-02 1.25450683e+02] [ 7.38046199e-01 -6.74208334e-01 2.70357081e-02 3.21829170e+02] [-3.69559837e-02 -3.82649412e-04 9.99316821e-01 2.59824711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:321.85, Z:0.26 [[-6.73027646e-01 -7.39216585e-01 -2.43439746e-02 1.25432179e+02] [ 7.38755704e-01 -6.73467644e-01 2.61025348e-02 3.21848326e+02] [-3.56903058e-02 -4.16522576e-04 9.99362811e-01 2.56768321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:321.87, Z:0.25 [[-6.73011005e-01 -7.39238063e-01 -2.41510536e-02 1.25413856e+02] [ 7.38784811e-01 -6.73444065e-01 2.58861794e-02 3.21868489e+02] [-3.54004329e-02 -4.20747951e-04 9.99373120e-01 2.54901866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:321.89, Z:0.25 [[-6.72976258e-01 -7.39268615e-01 -2.41840836e-02 1.25395478e+02] [ 7.38814690e-01 -6.73410518e-01 2.59061310e-02 3.21889103e+02] [-3.54374059e-02 -4.33345170e-04 9.99371804e-01 2.53339092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:321.91, Z:0.25 [[-6.73562142e-01 -7.38734581e-01 -2.41921383e-02 1.25379060e+02] [ 7.38280552e-01 -6.73996325e-01 2.58994349e-02 3.21911170e+02] [-3.54382205e-02 -4.15706340e-04 9.99371783e-01 2.52501423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:321.93, Z:0.25 [[-6.73917422e-01 -7.38412540e-01 -2.41294486e-02 1.25361426e+02] [ 7.37961202e-01 -6.74349134e-01 2.58168448e-02 3.21932301e+02] [-3.53351547e-02 -4.08175436e-04 9.99375435e-01 2.51456694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.34, Y:321.95, Z:0.25 [[-6.74365678e-01 -7.38005298e-01 -2.40647399e-02 1.25343703e+02] [ 7.37556661e-01 -6.74794800e-01 2.57322522e-02 3.21953575e+02] [-3.52292998e-02 -3.96161455e-04 9.99379177e-01 2.50404814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:321.98, Z:0.25 [[-6.75197289e-01 -7.37242534e-01 -2.41260560e-02 1.25327599e+02] [ 7.36791663e-01 -6.75628086e-01 2.57824482e-02 3.21975882e+02] [-3.53081585e-02 -3.67637819e-04 9.99376405e-01 2.49037421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:322.00, Z:0.25 [[-6.75575539e-01 -7.36895838e-01 -2.41291362e-02 1.25310235e+02] [ 7.36445170e-01 -6.76006209e-01 2.57704767e-02 3.21996874e+02] [-3.53016029e-02 -3.59882171e-04 9.99376639e-01 2.47626083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:322.02, Z:0.25 [[-6.75905821e-01 -7.36597675e-01 -2.39830180e-02 1.25292814e+02] [ 7.36152784e-01 -6.76331088e-01 2.55995744e-02 3.22017142e+02] [-3.50770477e-02 -3.52264102e-04 9.99384549e-01 2.45989968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:322.04, Z:0.24 [[-6.76044210e-01 -7.36473138e-01 -2.39069807e-02 1.25276857e+02] [ 7.36031537e-01 -6.76466696e-01 2.55026633e-02 3.22040044e+02] [-3.49543026e-02 -3.55363895e-04 9.99388848e-01 2.44863522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:322.06, Z:0.24 [[-6.75977387e-01 -7.36533601e-01 -2.39337898e-02 1.25258506e+02] [ 7.36091586e-01 -6.76400856e-01 2.55158761e-02 3.22059451e+02] [-3.49821360e-02 -3.69305967e-04 9.99387870e-01 2.42698095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:322.08, Z:0.24 [[-6.75791962e-01 -7.36704596e-01 -2.39073743e-02 1.25242754e+02] [ 7.36264230e-01 -6.76214601e-01 2.54714997e-02 3.22082453e+02] [-3.49314865e-02 -3.88709805e-04 9.99389634e-01 2.42799654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:322.10, Z:0.24 [[-6.75678050e-01 -7.36807146e-01 -2.39666789e-02 1.25224955e+02] [ 7.36365207e-01 -6.76102851e-01 2.55189449e-02 3.22103695e+02] [-3.50064809e-02 -4.05637489e-04 9.99387003e-01 2.42024583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:322.12, Z:0.24 [[-6.75701414e-01 -7.36780622e-01 -2.41228955e-02 1.25207079e+02] [ 7.36333450e-01 -6.76131748e-01 2.56692265e-02 3.22124422e+02] [-3.52228441e-02 -4.17762182e-04 9.99379396e-01 2.41379464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:322.15, Z:0.24 [[-6.76074759e-01 -7.36426298e-01 -2.44791189e-02 1.25189117e+02] [ 7.35966167e-01 -6.76517653e-01 2.60320285e-02 3.22145465e+02] [-3.57312264e-02 -4.16205929e-04 9.99361349e-01 2.40728626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:322.17, Z:0.24 [[-6.77439566e-01 -7.35148248e-01 -2.51533075e-02 1.25173531e+02] [ 7.34662149e-01 -6.77906275e-01 2.67321794e-02 3.22167758e+02] [-3.67036998e-02 -3.69747002e-04 9.99326124e-01 2.40948374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:322.19, Z:0.24 [[-6.77662183e-01 -7.34942765e-01 -2.51614345e-02 1.25155091e+02] [ 7.34456809e-01 -6.78129041e-01 2.67245275e-02 3.22187169e+02] [-3.67036976e-02 -3.69785262e-04 9.99326124e-01 2.39856820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:322.21, Z:0.24 [[-6.78559434e-01 -7.34098211e-01 -2.56302759e-02 1.25137934e+02] [ 7.33593997e-01 -6.79043224e-01 2.72056506e-02 3.22208419e+02] [-3.73756846e-02 -3.41565656e-04 9.99301227e-01 2.39228375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:322.23, Z:0.24 [[-6.79768898e-01 -7.32980202e-01 -2.55786704e-02 1.25120818e+02] [ 7.32477841e-01 -6.80249909e-01 2.71343643e-02 3.22230250e+02] [-3.72888401e-02 -2.90712381e-04 9.99304487e-01 2.38535140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:322.25, Z:0.24 [[-6.80674738e-01 -7.32130141e-01 -2.58332529e-02 1.25103692e+02] [ 7.31617775e-01 -6.81164730e-01 2.73869021e-02 3.22251093e+02] [-3.76474773e-02 -2.58494592e-04 9.99291049e-01 2.37695188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:322.27, Z:0.24 [[-6.82243437e-01 -7.30671284e-01 -2.57559020e-02 1.25087628e+02] [ 7.30161604e-01 -6.82729403e-01 2.72872526e-02 3.22272082e+02] [-3.75223235e-02 -1.89421712e-04 9.99295772e-01 2.36194472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:322.29, Z:0.24 [[-6.83346408e-01 -7.29648491e-01 -2.55101031e-02 1.25070422e+02] [ 7.29148256e-01 -6.83822389e-01 2.70140894e-02 3.22293044e+02] [-3.71551692e-02 -1.40666232e-04 9.99309498e-01 2.35075259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:322.32, Z:0.23 [[-6.85805507e-01 -7.27359684e-01 -2.48736203e-02 1.25054476e+02] [ 7.26883155e-01 -6.86256431e-01 2.63246826e-02 3.22315221e+02] [-3.62171947e-02 -2.66033131e-05 9.99343942e-01 2.33808889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:322.33, Z:0.23 [[-6.87262879e-01 -7.25999288e-01 -2.43878937e-02 1.25037811e+02] [ 7.25540894e-01 -6.87695451e-01 2.57949333e-02 3.22334961e+02] [-3.54985467e-02 3.34859503e-05 9.99369727e-01 2.32133301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:322.36, Z:0.23 [[-6.88595321e-01 -7.24745156e-01 -2.41027756e-02 1.25019999e+02] [ 7.24297235e-01 -6.89017019e-01 2.54767325e-02 3.22355631e+02] [-3.50713611e-02 8.55850310e-05 9.99384807e-01 2.30672313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:322.38, Z:0.23 [[-6.91224571e-01 -7.22246742e-01 -2.38377078e-02 1.25003116e+02] [ 7.21807665e-01 -6.91635456e-01 2.51811728e-02 3.22376833e+02] [-3.46740239e-02 1.99605172e-04 9.99398655e-01 2.28926644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:322.40, Z:0.23 [[-6.92466998e-01 -7.21056698e-01 -2.38053526e-02 1.24984872e+02] [ 7.20618643e-01 -6.92876018e-01 2.51315475e-02 3.22397230e+02] [-3.46154286e-02 2.48186408e-04 9.99400676e-01 2.27817560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:322.42, Z:0.23 [[-6.93784897e-01 -7.19795592e-01 -2.35970928e-02 1.24967195e+02] [ 7.19364957e-01 -6.94186011e-01 2.48965981e-02 3.22417177e+02] [-3.43012333e-02 2.97962055e-04 9.99411495e-01 2.26414144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:322.44, Z:0.23 [[-6.94871829e-01 -7.18755717e-01 -2.33101007e-02 1.24948097e+02] [ 7.18335449e-01 -6.95262618e-01 2.45779155e-02 3.22436580e+02] [-3.38721589e-02 3.34029393e-04 9.99426118e-01 2.25559585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:322.46, Z:0.23 [[-6.95259857e-01 -7.18375077e-01 -2.34729653e-02 1.24928560e+02] [ 7.17949208e-01 -6.95655899e-01 2.47346953e-02 3.22455349e+02] [-3.40978954e-02 3.44643859e-04 9.99418438e-01 2.25239374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:322.47, Z:0.22 [[-6.95482252e-01 -7.18160918e-01 -2.34378418e-02 1.24910177e+02] [ 7.17736757e-01 -6.95876985e-01 2.46813823e-02 3.22474136e+02] [-3.40350588e-02 3.43262772e-04 9.99420581e-01 2.23976909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:322.49, Z:0.22 [[-6.95518923e-01 -7.18127957e-01 -2.33594990e-02 1.24892062e+02] [ 7.17706985e-01 -6.95911004e-01 2.45877673e-02 3.22492508e+02] [-3.39132955e-02 3.35981796e-04 9.99424722e-01 2.22781210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:322.51, Z:0.22 [[-6.94837247e-01 -7.18789656e-01 -2.32944090e-02 1.24870791e+02] [ 7.18371938e-01 -6.95227549e-01 2.45033466e-02 3.22510278e+02] [-3.38076670e-02 2.91788139e-04 9.99428315e-01 2.21606052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:322.53, Z:0.22 [[-6.94639604e-01 -7.18980759e-01 -2.32913999e-02 1.24850848e+02] [ 7.18563764e-01 -6.95029923e-01 2.44851432e-02 3.22528815e+02] [-3.37925667e-02 2.71994159e-04 9.99428831e-01 2.19844007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:322.55, Z:0.22 [[-6.93510807e-01 -7.20079039e-01 -2.29986534e-02 1.24829292e+02] [ 7.19673550e-01 -6.93892020e-01 2.41628954e-02 3.22546210e+02] [-3.33577766e-02 2.05706573e-04 9.99443453e-01 2.18578774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:322.56, Z:0.22 [[-6.92952990e-01 -7.20612366e-01 -2.31078290e-02 1.24810392e+02] [ 7.20203825e-01 -6.93338149e-01 2.42623693e-02 3.22564076e+02] [-3.35053028e-02 1.70334503e-04 9.99438525e-01 2.16914178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:322.58, Z:0.22 [[-6.92323506e-01 -7.21226613e-01 -2.28108658e-02 1.24790140e+02] [ 7.20829362e-01 -6.92699182e-01 2.39348063e-02 3.22582968e+02] [-3.30634874e-02 1.27887186e-04 9.99453245e-01 2.16036759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:322.60, Z:0.22 [[-6.90955347e-01 -7.22539254e-01 -2.27537873e-02 1.24768715e+02] [ 7.22145173e-01 -6.91329895e-01 2.38605441e-02 3.22600588e+02] [-3.29705531e-02 5.50328419e-05 9.99456322e-01 2.16318801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:322.62, Z:0.21 [[-6.90568410e-01 -7.22907420e-01 -2.28064270e-02 1.24749720e+02] [ 7.22512208e-01 -6.90944905e-01 2.39007727e-02 3.22618171e+02] [-3.30360305e-02 2.71966887e-05 9.99454161e-01 2.14786214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:322.64, Z:0.21 [[-6.89959229e-01 -7.23492234e-01 -2.26991287e-02 1.24729793e+02] [ 7.23101573e-01 -6.90332520e-01 2.37724154e-02 3.22636247e+02] [-3.28691047e-02 -1.17782998e-05 9.99459665e-01 2.13314890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:322.65, Z:0.21 [[-6.89328535e-01 -7.24106318e-01 -2.22757928e-02 1.24710347e+02] [ 7.23730862e-01 -6.89688363e-01 2.33152687e-02 3.22653671e+02] [-3.22460884e-02 -4.97987110e-05 9.99479958e-01 2.11596695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:322.67, Z:0.21 [[-6.88493746e-01 -7.24901125e-01 -2.22423192e-02 1.24689540e+02] [ 7.24527694e-01 -6.88852923e-01 2.32652352e-02 3.22670551e+02] [-3.21866818e-02 -9.72072424e-05 9.99481870e-01 2.09401862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:322.69, Z:0.21 [[-6.88137360e-01 -7.25239465e-01 -2.22416827e-02 1.24669512e+02] [ 7.24866713e-01 -6.88496698e-01 2.32496339e-02 3.22689695e+02] [-3.21748772e-02 -1.23313766e-04 9.99482247e-01 2.08962250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:322.71, Z:0.21 [[-6.87823689e-01 -7.25532623e-01 -2.23827059e-02 1.24649544e+02] [ 7.25155756e-01 -6.88187758e-01 2.33824363e-02 3.22708592e+02] [-3.23682245e-02 -1.47954460e-04 9.99476001e-01 2.08398835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:322.73, Z:0.21 [[-6.86967684e-01 -7.26324723e-01 -2.29738501e-02 1.24629813e+02] [ 7.25928637e-01 -6.87351698e-01 2.39845290e-02 3.22725596e+02] [-3.32116713e-02 -2.00779352e-04 9.99448320e-01 2.07938106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:322.74, Z:0.21 [[-6.86938971e-01 -7.26348184e-01 -2.30903621e-02 1.24610183e+02] [ 7.25948625e-01 -6.87326901e-01 2.40899148e-02 3.22744713e+02] [-3.33682929e-02 -2.14115305e-04 9.99443101e-01 2.07114444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:322.76, Z:0.21 [[-6.86788425e-01 -7.26487471e-01 -2.31864754e-02 1.24590495e+02] [ 7.26085155e-01 -6.87179671e-01 2.41753461e-02 3.22762950e+02] [-3.34963606e-02 -2.32007678e-04 9.99438813e-01 2.06300808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:322.78, Z:0.21 [[-6.87066888e-01 -7.26218269e-01 -2.33691557e-02 1.24571573e+02] [ 7.25809938e-01 -6.87464161e-01 2.43508046e-02 3.22780839e+02] [-3.37494561e-02 -2.30933884e-04 9.99430298e-01 2.05088174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:322.80, Z:0.20 [[-6.87297994e-01 -7.25991596e-01 -2.36150303e-02 1.24552429e+02] [ 7.25575044e-01 -6.87703532e-01 2.45907987e-02 3.22799973e+02] [-3.40928530e-02 -2.33270102e-04 9.99418642e-01 2.04056792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:322.82, Z:0.20 [[-6.88123032e-01 -7.25191893e-01 -2.41539019e-02 1.24533427e+02] [ 7.24756171e-01 -6.88546785e-01 2.51359965e-02 3.22818500e+02] [-3.48595124e-02 -2.09031317e-04 9.99392201e-01 2.02813943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:322.84, Z:0.20 [[-6.88873608e-01 -7.24472841e-01 -2.43362879e-02 1.24514808e+02] [ 7.24030656e-01 -6.89303321e-01 2.53089022e-02 3.22838133e+02] [-3.51106964e-02 -1.85583722e-04 9.99383412e-01 2.01578678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:322.86, Z:0.20 [[-6.89619374e-01 -7.23768692e-01 -2.41660567e-02 1.24496499e+02] [ 7.23332790e-01 -6.90042647e-01 2.51161315e-02 3.22857519e+02] [-3.48538794e-02 -1.59530350e-04 9.99392406e-01 2.00635005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:322.88, Z:0.20 [[-6.90937296e-01 -7.22497942e-01 -2.45433726e-02 1.24478927e+02] [ 7.22047923e-01 -6.91373063e-01 2.54967527e-02 3.22876679e+02] [-3.53899781e-02 -1.04833876e-04 9.99373573e-01 1.99818109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:322.90, Z:0.20 [[-6.91770457e-01 -7.21696807e-01 -2.46445718e-02 1.24460740e+02] [ 7.21243140e-01 -6.92209299e-01 2.55855415e-02 3.22896481e+02] [-3.55242054e-02 -7.54066172e-05 9.99368813e-01 1.98583683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:322.92, Z:0.20 [[-6.92901490e-01 -7.20609775e-01 -2.46794826e-02 1.24441914e+02] [ 7.20154679e-01 -6.93340862e-01 2.56063899e-02 3.22916903e+02] [-3.55635086e-02 -3.03391224e-05 9.99367418e-01 1.97633944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:322.94, Z:0.20 [[-6.95052625e-01 -7.18531623e-01 -2.47821690e-02 1.24423816e+02] [ 7.18071967e-01 -6.95494286e-01 2.56972407e-02 3.22937673e+02] [-3.57001370e-02 6.55537393e-05 9.99362545e-01 1.96832130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:322.96, Z:0.20 [[-6.96140523e-01 -7.17457304e-01 -2.53651102e-02 1.24404898e+02] [ 7.16975657e-01 -6.96602472e-01 2.62850374e-02 3.22957622e+02] [-3.65277905e-02 1.11913119e-04 9.99332631e-01 1.95443207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:322.98, Z:0.19 [[-6.97107171e-01 -7.16501315e-01 -2.58352114e-02 1.24386317e+02] [ 7.16001610e-01 -6.97585724e-01 2.67554240e-02 3.22977624e+02] [-3.71925711e-02 1.53344990e-04 9.99308105e-01 1.94816875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:323.00, Z:0.19 [[-6.98273424e-01 -7.15348464e-01 -2.62830903e-02 1.24368376e+02] [ 7.14831095e-01 -6.98767868e-01 2.72024437e-02 3.22997029e+02] [-3.78250052e-02 2.06773296e-04 9.99284357e-01 1.94031145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:323.02, Z:0.19 [[-6.99711757e-01 -7.13916510e-01 -2.69568829e-02 1.24348818e+02] [ 7.13371913e-01 -7.00230776e-01 2.78814346e-02 3.23017436e+02] [-3.87810555e-02 2.78684479e-04 9.99247693e-01 1.93659684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:323.04, Z:0.19 [[-7.00372655e-01 -7.13266722e-01 -2.69949395e-02 1.24331505e+02] [ 7.12720711e-01 -7.00892639e-01 2.79051563e-02 3.23036559e+02] [-3.88243737e-02 3.04155933e-04 9.99246003e-01 1.92152404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:323.06, Z:0.19 [[-7.00889998e-01 -7.12756964e-01 -2.70318603e-02 1.24312804e+02] [ 7.12209807e-01 -7.01411012e-01 2.79245895e-02 3.23055728e+02] [-3.88638901e-02 3.19709495e-04 9.99244462e-01 1.90821957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:323.07, Z:0.19 [[-7.01061222e-01 -7.12600083e-01 -2.67261076e-02 1.24293068e+02] [ 7.12065746e-01 -7.01570398e-01 2.75925589e-02 3.23074529e+02] [-3.84127057e-02 3.13327261e-04 9.99261911e-01 1.88789504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:323.09, Z:0.19 [[-7.01180891e-01 -7.12493552e-01 -2.64252812e-02 1.24273290e+02] [ 7.11971720e-01 -7.01678591e-01 2.72658293e-02 3.23093284e+02] [-3.79687817e-02 3.04225536e-04 9.99278880e-01 1.87137371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:323.11, Z:0.18 [[-7.01080860e-01 -7.12593484e-01 -2.63847141e-02 1.24254903e+02] [ 7.12073960e-01 -7.01577112e-01 2.72071862e-02 3.23112327e+02] [-3.78985751e-02 2.86569619e-04 9.99281550e-01 1.84709422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:323.13, Z:0.18 [[-7.00904627e-01 -7.12783169e-01 -2.59395165e-02 1.24234570e+02] [ 7.12281805e-01 -7.01384407e-01 2.67309492e-02 3.23129974e+02] [-3.72469430e-02 2.59600341e-04 9.99306058e-01 1.82821882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:323.15, Z:0.18 [[-7.00867008e-01 -7.12820942e-01 -2.59179838e-02 1.24215518e+02] [ 7.12321047e-01 -7.01346023e-01 2.66923509e-02 3.23149050e+02] [-3.72043416e-02 2.45862728e-04 9.99307649e-01 1.81880591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:323.17, Z:0.18 [[-7.00682446e-01 -7.13005135e-01 -2.58415944e-02 1.24196014e+02] [ 7.12508919e-01 -7.01158775e-01 2.65972314e-02 3.23168121e+02] [-3.70830232e-02 2.23846683e-04 9.99312163e-01 1.81176409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.18, Y:323.19, Z:0.18 [[-7.00570950e-01 -7.13109651e-01 -2.59801676e-02 1.24177885e+02] [ 7.12608800e-01 -7.01052482e-01 2.67229438e-02 3.23186785e+02] [-3.72698501e-02 2.07622109e-04 9.99305216e-01 1.80004379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:323.21, Z:0.18 [[-7.00624648e-01 -7.13043152e-01 -2.63546148e-02 1.24157863e+02] [ 7.12528400e-01 -7.01120120e-01 2.70897974e-02 3.23205988e+02] [-3.77939452e-02 2.01368200e-04 9.99285533e-01 1.79206283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.14, Y:323.22, Z:0.18 [[-7.00709132e-01 -7.12955375e-01 -2.64829211e-02 1.24139715e+02] [ 7.12436187e-01 -7.01209380e-01 2.72044908e-02 3.23224806e+02] [-3.79656606e-02 1.95043767e-04 9.99279025e-01 1.77690534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:323.24, Z:0.18 [[-7.00369016e-01 -7.13264926e-01 -2.71364328e-02 1.24120937e+02] [ 7.12720758e-01 -7.00894512e-01 2.78568535e-02 3.23244189e+02] [-3.88890934e-02 1.69378074e-04 9.99243519e-01 1.77154419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:323.26, Z:0.18 [[-7.00466634e-01 -7.13155102e-01 -2.75008339e-02 1.24102723e+02] [ 7.12596817e-01 -7.01006258e-01 2.82135212e-02 3.23262830e+02] [-3.93988732e-02 1.65623576e-04 9.99223549e-01 1.75980090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:323.28, Z:0.17 [[-7.00336385e-01 -7.13285597e-01 -2.74336388e-02 1.24083288e+02] [ 7.12730844e-01 -7.00873481e-01 2.81266535e-02 3.23282244e+02] [-3.92898468e-02 1.45318342e-04 9.99227845e-01 1.74868453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:323.30, Z:0.17 [[-6.99703869e-01 -7.13895672e-01 -2.77031426e-02 1.24063939e+02] [ 7.13331135e-01 -7.00252068e-01 2.83854238e-02 3.23301818e+02] [-3.96634141e-02 9.98767116e-05 9.99213092e-01 1.73252730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:323.32, Z:0.17 [[-6.99704724e-01 -7.13889310e-01 -2.78451511e-02 1.24045596e+02] [ 7.13319669e-01 -7.00258556e-01 2.85132462e-02 3.23320807e+02] [-3.98541070e-02 8.83590427e-05 9.99205506e-01 1.71600494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.03, Y:323.34, Z:0.17 [[-6.99272820e-01 -7.14317872e-01 -2.77037985e-02 1.24027026e+02] [ 7.13755061e-01 -6.99821388e-01 2.83502788e-02 3.23340792e+02] [-3.96388215e-02 5.08530071e-05 9.99214072e-01 1.69984922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.01, Y:323.36, Z:0.17 [[-6.99330317e-01 -7.14274505e-01 -2.73685645e-02 1.24009394e+02] [ 7.13725895e-01 -6.99865651e-01 2.79895983e-02 3.23360460e+02] [-3.91465747e-02 4.03214621e-05 9.99233478e-01 1.68253514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:323.38, Z:0.17 [[-6.99515705e-01 -7.14104988e-01 -2.70526370e-02 1.23991043e+02] [ 7.13569559e-01 -7.00038617e-01 2.76481454e-02 3.23381070e+02] [-3.86815691e-02 3.63736953e-05 9.99251587e-01 1.66646225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.97, Y:323.40, Z:0.17 [[-6.99712786e-01 -7.13932043e-01 -2.65151790e-02 1.23972455e+02] [ 7.13418181e-01 -7.00214993e-01 2.70825264e-02 3.23401640e+02] [-3.79014092e-02 3.35792446e-05 9.99281483e-01 1.65071296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:323.42, Z:0.16 [[-6.98958787e-01 -7.14689543e-01 -2.59898164e-02 1.23954440e+02] [ 7.14196968e-01 -6.99441818e-01 2.65298945e-02 3.23421054e+02] [-3.71390026e-02 -1.85451529e-05 9.99310109e-01 1.62274530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:323.44, Z:0.16 [[-6.99175703e-01 -7.14477022e-01 -2.59984962e-02 1.23935615e+02] [ 7.13984616e-01 -6.99658906e-01 2.65213856e-02 3.23440091e+02] [-3.71390000e-02 -1.94178973e-05 9.99310109e-01 1.61183416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:323.46, Z:0.16 [[-6.98562206e-01 -7.15078288e-01 -2.59593263e-02 1.23916693e+02] [ 7.14588372e-01 -6.99044375e-01 2.64654445e-02 3.23459192e+02] [-3.70715858e-02 -6.24734153e-05 9.99312611e-01 1.59471321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:323.48, Z:0.16 [[-6.97865640e-01 -7.15764252e-01 -2.57892372e-02 1.23897524e+02] [ 7.15281810e-01 -6.98341982e-01 2.62756179e-02 3.23477805e+02] [-3.68168550e-02 -1.09721430e-04 9.99322024e-01 1.57553598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:323.50, Z:0.16 [[-6.95629540e-01 -7.17931290e-01 -2.59654967e-02 1.23877578e+02] [ 7.17444394e-01 -6.96113932e-01 2.64373822e-02 3.23496545e+02] [-3.70551679e-02 -2.38176015e-04 9.99313193e-01 1.56307388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:323.52, Z:0.16 [[-6.95058200e-01 -7.18485893e-01 -2.59252615e-02 1.23858531e+02] [ 7.18001491e-01 -6.95541475e-01 2.63802154e-02 3.23515705e+02] [-3.69859073e-02 -2.78591376e-04 9.99315748e-01 1.55235894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:323.54, Z:0.15 [[-6.94609445e-01 -7.18914430e-01 -2.60722463e-02 1.23839259e+02] [ 7.18425438e-01 -6.95098513e-01 2.65131313e-02 3.23535591e+02] [-3.71834523e-02 -3.14693601e-04 9.99308407e-01 1.54409469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:323.55, Z:0.15 [[-6.93727416e-01 -7.19740138e-01 -2.67657678e-02 1.23820920e+02] [ 7.19226052e-01 -6.94243466e-01 2.72010415e-02 3.23554479e+02] [-3.81596408e-02 -3.80529246e-04 9.99271583e-01 1.53799109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:323.57, Z:0.15 [[-6.93487845e-01 -7.19968152e-01 -2.68415322e-02 1.23801389e+02] [ 7.19452007e-01 -6.94006984e-01 2.72601569e-02 3.23573810e+02] [-3.82546556e-02 -4.06606732e-04 9.99267940e-01 1.52561634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:323.59, Z:0.15 [[-6.92637844e-01 -7.20771346e-01 -2.72301980e-02 1.23781867e+02] [ 7.20241429e-01 -6.93172739e-01 2.76376115e-02 3.23592658e+02] [-3.87956294e-02 -4.69461069e-04 9.99247056e-01 1.51584894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:323.61, Z:0.15 [[-6.92422481e-01 -7.20974908e-01 -2.73183068e-02 1.23763063e+02] [ 7.20442387e-01 -6.92960993e-01 2.77097510e-02 3.23610718e+02] [-3.89085562e-02 -4.94411605e-04 9.99242653e-01 1.50137210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:323.63, Z:0.15 [[-6.92005621e-01 -7.21382361e-01 -2.71239691e-02 1.23743494e+02] [ 7.20858196e-01 -6.92536798e-01 2.74999155e-02 3.23629861e+02] [-3.86223007e-02 -5.22439299e-04 9.99253744e-01 1.48543558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:323.65, Z:0.15 [[-6.91007333e-01 -7.22364697e-01 -2.64217917e-02 1.23723292e+02] [ 7.21868642e-01 -6.91512051e-01 2.67721446e-02 3.23649081e+02] [-3.76102395e-02 -5.73314693e-04 9.99292320e-01 1.46465516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.70, Y:323.67, Z:0.15 [[-6.90751517e-01 -7.22610438e-01 -2.63912088e-02 1.23703442e+02] [ 7.22116248e-01 -6.91255235e-01 2.67268437e-02 3.23668074e+02] [-3.75561575e-02 -5.95912798e-04 9.99294341e-01 1.45059149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:323.69, Z:0.14 [[-6.91010297e-01 -7.22354070e-01 -2.66339482e-02 1.23684962e+02] [ 7.21851181e-01 -6.91523130e-01 2.69561347e-02 3.23688032e+02] [-3.78898648e-02 -5.98780356e-04 9.99281742e-01 1.44304135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:323.71, Z:0.14 [[-6.91154323e-01 -7.22210917e-01 -2.67786033e-02 1.23665199e+02] [ 7.21703096e-01 -6.91672628e-01 2.70853494e-02 3.23705527e+02] [-3.80833620e-02 -6.06044591e-04 9.99274382e-01 1.43021329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:323.73, Z:0.14 [[-6.91327576e-01 -7.22041511e-01 -2.68745046e-02 1.23646630e+02] [ 7.21530608e-01 -6.91849465e-01 2.71642905e-02 3.23725307e+02] [-3.82068570e-02 -6.11354558e-04 9.99269664e-01 1.41886580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:323.74, Z:0.14 [[-6.91971296e-01 -7.21436316e-01 -2.65587786e-02 1.23627028e+02] [ 7.20937529e-01 -6.92480544e-01 2.68286390e-02 3.23743268e+02] [-3.77465919e-02 -5.82572108e-04 9.99287174e-01 1.40254739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:323.76, Z:0.14 [[-6.92480066e-01 -7.20960638e-01 -2.62129045e-02 1.23608731e+02] [ 7.20475063e-01 -6.92975788e-01 2.64620648e-02 3.23764035e+02] [-3.72430153e-02 -5.61291639e-04 9.99306081e-01 1.39235373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:323.78, Z:0.14 [[-6.93957528e-01 -7.19539484e-01 -2.61893369e-02 1.23590663e+02] [ 7.19054376e-01 -6.94451356e-01 2.64219303e-02 3.23783130e+02] [-3.71988426e-02 -4.95859830e-04 9.99307761e-01 1.37610898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:323.80, Z:0.14 [[-6.94822738e-01 -7.18701911e-01 -2.62473797e-02 1.23572065e+02] [ 7.18214698e-01 -6.95318163e-01 2.64631755e-02 3.23803035e+02] [-3.72694146e-02 -4.64037850e-04 9.99305146e-01 1.36740114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:323.82, Z:0.14 [[-6.95981280e-01 -7.17567981e-01 -2.65753667e-02 1.23553327e+02] [ 7.17068318e-01 -6.96488346e-01 2.67770583e-02 3.23823219e+02] [-3.77237929e-02 -4.20022238e-04 9.99288116e-01 1.36106501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:323.84, Z:0.14 [[-6.98408098e-01 -7.15190854e-01 -2.69846386e-02 1.23535323e+02] [ 7.14674565e-01 -6.98929143e-01 2.71720359e-02 3.23844152e+02] [-3.82935419e-02 -3.08064931e-04 9.99266486e-01 1.35463008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:323.86, Z:0.13 [[-6.99757557e-01 -7.13859408e-01 -2.72783136e-02 1.23516764e+02] [ 7.13331391e-01 -7.00289000e-01 2.74525640e-02 3.23864571e+02] [-3.86999741e-02 -2.48338249e-04 9.99250845e-01 1.34442936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:323.88, Z:0.13 [[-7.01342591e-01 -7.12296033e-01 -2.74395806e-02 1.23499208e+02] [ 7.11761218e-01 -7.01879142e-01 2.75978069e-02 3.23884293e+02] [-3.89170776e-02 -1.74911873e-04 9.99242428e-01 1.33622720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:323.91, Z:0.13 [[-7.04625888e-01 -7.09031790e-01 -2.78617957e-02 1.23482690e+02] [ 7.08478546e-01 -7.05176518e-01 2.80040941e-02 3.23905681e+02] [-3.95032770e-02 -7.07483431e-06 9.99219441e-01 1.32653011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:323.93, Z:0.13 [[-7.06453590e-01 -7.07197991e-01 -2.81838148e-02 1.23464728e+02] [ 7.06631113e-01 -7.07015555e-01 2.83103359e-02 3.23925757e+02] [-3.99474082e-02 8.43780077e-05 9.99201780e-01 1.31289246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:323.95, Z:0.13 [[-7.08099759e-01 -7.05554895e-01 -2.80539008e-02 1.23446625e+02] [ 7.04992625e-01 -7.08655250e-01 2.81626650e-02 3.23945924e+02] [-3.97508502e-02 1.64183176e-04 9.99209609e-01 1.30208996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:323.97, Z:0.13 [[-7.11086238e-01 -7.02550645e-01 -2.79097205e-02 1.23430371e+02] [ 7.01992515e-01 -7.11633676e-01 2.80003467e-02 3.23967639e+02] [-3.95331587e-02 3.18246311e-04 9.99218208e-01 1.28908759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:323.99, Z:0.13 [[-7.12229926e-01 -7.01388480e-01 -2.79773673e-02 1.23412201e+02] [ 7.00827405e-01 -7.12779111e-01 2.80515030e-02 3.23987304e+02] [-3.96166841e-02 3.71814212e-04 9.99214882e-01 1.27951672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:324.01, Z:0.13 [[-7.13238341e-01 -7.00358459e-01 -2.80909072e-02 1.23394227e+02] [ 6.99792554e-01 -7.13791182e-01 2.81518998e-02 3.24006608e+02] [-3.97674630e-02 4.21206573e-04 9.99208873e-01 1.26905866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:324.03, Z:0.13 [[-7.13606096e-01 -6.99973426e-01 -2.83468208e-02 1.23374515e+02] [ 6.99397600e-01 -7.14168758e-01 2.83898201e-02 3.24025151e+02] [-4.01165335e-02 4.33450267e-04 9.99194914e-01 1.25591724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:324.04, Z:0.12 [[-7.13154331e-01 -7.00432774e-01 -2.83694994e-02 1.23355399e+02] [ 6.99857106e-01 -7.13718272e-01 2.83946879e-02 3.24043860e+02] [-4.01364001e-02 3.95198903e-04 9.99194132e-01 1.24620194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:324.06, Z:0.12 [[-7.12244168e-01 -7.01361938e-01 -2.82785729e-02 1.23334168e+02] [ 7.00791431e-01 -7.12805250e-01 2.82850829e-02 3.24061415e+02] [-3.99951957e-02 3.28503770e-04 9.99199818e-01 1.23232163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:323.40, Z:0.85 [[-7.50939570e-01 6.59709480e-01 2.95493487e-02 1.22648640e+02] [ 6.59056659e-01 7.51516059e-01 -2.94607009e-02 3.23401396e+02] [-4.16423138e-02 -2.64851102e-03 -9.99129072e-01 8.54262055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:323.42, Z:0.85 [[-7.97180180e-01 6.02910308e-01 3.16689292e-02 1.22671546e+02] [ 6.02294872e-01 7.97804246e-01 -2.73728370e-02 3.23420286e+02] [-4.17689718e-02 -2.74704941e-03 -9.99123519e-01 8.53526553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:323.44, Z:0.85 [[-8.40272696e-01 5.41092012e-01 3.40768296e-02 1.22700887e+02] [ 5.40502994e-01 8.40958282e-01 -2.54102578e-02 3.23437996e+02] [-4.24064796e-02 -2.93291741e-03 -9.99096136e-01 8.53749251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:323.46, Z:0.85 [[-8.77322667e-01 4.78545681e-01 3.60412206e-02 1.22717870e+02] [ 4.77999031e-01 8.78057510e-01 -2.30637353e-02 3.23461102e+02] [-4.26833154e-02 -3.00666924e-03 -9.99084128e-01 8.53252170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:323.48, Z:0.85 [[-9.10031613e-01 4.12728889e-01 3.86953106e-02 1.22744594e+02] [ 4.12208293e-01 9.10848573e-01 -2.09570957e-02 3.23480236e+02] [-4.38951672e-02 -3.12109173e-03 -9.99031267e-01 8.53334629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:323.50, Z:0.85 [[-9.37149543e-01 3.46616478e-01 4.00967714e-02 1.22760986e+02] [ 3.46154719e-01 9.38001691e-01 -1.81587087e-02 3.23503513e+02] [-4.39049470e-02 -3.13773895e-03 -9.99030785e-01 8.52763731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:324.35, Z:0.11 [[-9.06756034e-01 -4.20262862e-01 -3.42435550e-02 1.23126925e+02] [ 4.20058494e-01 -9.07399448e-01 1.33080380e-02 3.24347090e+02] [-3.66654571e-02 -2.31715236e-03 9.99324910e-01 1.13198117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:323.52, Z:0.85 [[-9.38347790e-01 3.43360628e-01 4.00862010e-02 1.22719344e+02] [ 3.42903866e-01 9.39198444e-01 -1.79783425e-02 3.23519089e+02] [-4.38219526e-02 -3.12422463e-03 -9.99034472e-01 8.50591726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:324.36, Z:0.11 [[-9.09171373e-01 -4.14991286e-01 -3.44912590e-02 1.23082832e+02] [ 4.14782857e-01 -9.09822760e-01 1.33314226e-02 3.24362973e+02] [-3.69133567e-02 -2.18583519e-03 9.99316079e-01 1.10895796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:323.54, Z:0.85 [[-9.38739878e-01 3.42347444e-01 3.95685363e-02 1.22669350e+02] [ 3.41907865e-01 9.39568663e-01 -1.75994031e-02 3.23536609e+02] [-4.32024674e-02 -2.99246771e-03 -9.99061856e-01 8.48565228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:323.55, Z:0.85 [[-9.59765536e-01 2.77885075e-01 4.03732810e-02 1.22699028e+02] [ 2.77514080e-01 9.60610129e-01 -1.46326583e-02 3.23553688e+02] [-4.28491800e-02 -2.83976724e-03 -9.99077516e-01 8.48577343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:323.58, Z:0.85 [[-9.76627034e-01 2.10899535e-01 4.14852158e-02 1.22711472e+02] [ 2.10589251e-01 9.77503872e-01 -1.17621721e-02 3.23577294e+02] [-4.30325956e-02 -2.75091477e-03 -9.99069882e-01 8.47988921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:324.47, Z:0.11 [[-9.62028709e-01 -2.70611097e-01 -3.56426244e-02 1.22945279e+02] [ 2.70501335e-01 -9.62686706e-01 7.95829693e-03 3.24469980e+02] [-3.64662841e-02 -1.98526737e-03 9.99332912e-01 1.05839013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:323.59, Z:0.85 [[-9.76400966e-01 2.11734045e-01 4.25423084e-02 1.22657047e+02] [ 2.11419693e-01 9.77324032e-01 -1.18088964e-02 3.23587004e+02] [-4.40779657e-02 -2.53593607e-03 -9.99024876e-01 8.46023938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:323.61, Z:0.85 [[-9.88645935e-01 1.43727469e-01 4.38364051e-02 1.22664527e+02] [ 1.43478555e-01 9.89614398e-01 -8.78910353e-03 3.23611482e+02] [-4.46443732e-02 -2.39972743e-03 -9.99000061e-01 8.45361304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:324.52, Z:0.10 [[-9.81272638e-01 -1.89655750e-01 -3.36854160e-02 1.22835303e+02] [ 1.89606384e-01 -9.81849014e-01 4.68317892e-03 3.24523745e+02] [-3.39621843e-02 -1.79149458e-03 9.99421513e-01 1.01567035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:323.62, Z:0.84 [[-9.88532370e-01 1.43811224e-01 4.60661069e-02 1.22591348e+02] [ 1.43552456e-01 9.89602739e-01 -8.89443647e-03 3.23620028e+02] [-4.68662654e-02 -2.17953560e-03 -9.98898795e-01 8.44266712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:324.54, Z:0.10 [[-9.83331883e-01 -1.79035038e-01 -3.16995836e-02 1.22752399e+02] [ 1.78994346e-01 -9.83841392e-01 4.13993059e-03 3.24536366e+02] [-3.19285551e-02 -1.60312049e-03 9.99488868e-01 9.63769723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:323.63, Z:0.84 [[-9.88909001e-01 1.41370427e-01 4.55344860e-02 1.22510884e+02] [ 1.41125894e-01 9.89954674e-01 -8.55719339e-03 3.23631360e+02] [-4.62868113e-02 -2.03619052e-03 -9.98926116e-01 8.40135769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:323.66, Z:0.84 [[-9.96406734e-01 7.14866933e-02 4.54232755e-02 1.22520244e+02] [ 7.13242783e-02 9.97439686e-01 -5.18839186e-03 3.23656446e+02] [-4.56778786e-02 -1.92996625e-03 -9.98954357e-01 8.38453078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:324.58, Z:0.10 [[-9.94381760e-01 -1.00291859e-01 -3.38594005e-02 1.22608817e+02] [ 1.00293352e-01 -9.94956528e-01 1.65862393e-03 3.24581688e+02] [-3.38549781e-02 -1.74656740e-03 9.99425230e-01 9.57246658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:323.66, Z:0.83 [[-9.96895712e-01 6.57717372e-02 4.32783794e-02 1.22422601e+02] [ 6.56212643e-02 9.97832620e-01 -4.88992202e-03 3.23663714e+02] [-4.35061974e-02 -2.03476032e-03 -9.99051085e-01 8.31156438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:324.59, Z:0.09 [[-9.94886500e-01 -9.47259419e-02 -3.50406597e-02 1.22503610e+02] [ 9.47254508e-02 -9.95502021e-01 1.67788989e-03 3.24586427e+02] [-3.50419873e-02 -1.64993229e-03 9.99384479e-01 9.35913137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:323.67, Z:0.83 [[-9.97484640e-01 5.73269532e-02 4.16894827e-02 1.22321408e+02] [ 5.71870707e-02 9.98353152e-01 -4.54118955e-03 3.23673530e+02] [-4.18811590e-02 -2.14566743e-03 -9.99120295e-01 8.25014739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:323.70, Z:0.82 [[-9.99042507e-01 -1.49920447e-02 4.11012009e-02 1.22323472e+02] [-1.50657591e-02 9.99885403e-01 -1.48431395e-03 3.23702023e+02] [-4.10742380e-02 -2.10211352e-03 -9.99153886e-01 8.23498605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:323.73, Z:0.82 [[-9.95248712e-01 -8.88778852e-02 3.97583072e-02 1.22321698e+02] [-8.88959857e-02 9.96040045e-01 1.31588831e-03 3.23733506e+02] [-3.97178195e-02 -2.22471776e-03 -9.99208459e-01 8.20898563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:323.76, Z:0.82 [[-9.86021246e-01 -1.61920494e-01 3.92919197e-02 1.22301755e+02] [-1.61884809e-01 9.86801106e-01 4.10928509e-03 3.23759909e+02] [-3.94386873e-02 -2.30892251e-03 -9.99219325e-01 8.19019464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:323.78, Z:0.82 [[-9.71251565e-01 -2.34870464e-01 3.88106102e-02 1.22259964e+02] [-2.34780879e-01 9.72023726e-01 6.91479146e-03 3.23780404e+02] [-3.93489142e-02 -2.39598717e-03 -9.99222659e-01 8.16575967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:323.79, Z:0.81 [[-9.50819636e-01 -3.07337477e-01 3.85447160e-02 1.22202653e+02] [-3.07189471e-01 9.51597373e-01 9.85233383e-03 3.23793258e+02] [-3.97070419e-02 -2.47273843e-03 -9.99208305e-01 8.13118024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:323.80, Z:0.81 [[-9.25303195e-01 -3.77358262e-01 3.76130273e-02 1.22133619e+02] [-3.77154825e-01 9.26063999e-01 1.26375504e-02 3.23796026e+02] [-3.96009545e-02 -2.49236895e-03 -9.99212466e-01 8.09328098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:323.79, Z:0.80 [[-8.93081147e-01 -4.48408390e-01 3.65510819e-02 1.22054643e+02] [-4.48151354e-01 8.93824949e-01 1.54053101e-02 3.23791972e+02] [-3.95781392e-02 -2.62222488e-03 -9.99213038e-01 8.04439993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:323.78, Z:0.80 [[-8.55914206e-01 -5.15945052e-01 3.48076835e-02 1.21969201e+02] [-5.15644364e-01 8.56617431e-01 1.78175840e-02 3.23777993e+02] [-3.90097628e-02 -2.69806253e-03 -9.99235187e-01 7.99866484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.87, Y:323.75, Z:0.79 [[-8.12633773e-01 -5.81882035e-01 3.22435615e-02 1.21874263e+02] [-5.81558674e-01 8.13268298e-01 1.96005995e-02 3.23753184e+02] [-3.76279031e-02 -2.82341371e-03 -9.99287831e-01 7.94823028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:323.72, Z:0.79 [[-7.64927033e-01 -6.43391930e-01 3.05525547e-02 1.21783695e+02] [-6.43025673e-01 7.65531476e-01 2.18984719e-02 3.23719418e+02] [-3.74782424e-02 -2.89534388e-03 -9.99293249e-01 7.90029185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:323.67, Z:0.79 [[-7.12561063e-01 -7.01011016e-01 2.89876969e-02 1.21688827e+02] [-7.00593855e-01 7.13144339e-01 2.43598415e-02 3.23671715e+02] [-3.77489291e-02 -2.95072777e-03 -9.99282899e-01 7.85441460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:323.62, Z:0.78 [[-6.55821945e-01 -7.54425499e-01 2.71982227e-02 1.21597519e+02] [-7.53959066e-01 6.56378829e-01 2.66938218e-02 3.23616077e+02] [-3.79908373e-02 -2.99995244e-03 -9.99273584e-01 7.80771100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:323.55, Z:0.78 [[-5.94520903e-01 -8.03672160e-01 2.56116271e-02 1.21504644e+02] [-8.03138825e-01 5.95064394e-01 2.94345681e-02 3.23547641e+02] [-3.88963103e-02 -3.07022613e-03 -9.99238535e-01 7.76787195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters Centerline goodness [0,1] 0.9999557355642609 Centerline is valid? [True, True] Translation: X:121.42, Y:323.48, Z:0.77 [[-5.30144290e-01 -8.47581529e-01 2.35070989e-02 1.21422038e+02] [-8.46994344e-01 5.30656105e-01 3.16966859e-02 3.23476338e+02] [-3.93397110e-02 -3.10656277e-03 -9.99221065e-01 7.71889868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:323.39, Z:0.77 [[-4.62887312e-01 -8.86167021e-01 2.10558001e-02 1.21342148e+02] [-8.85537193e-01 4.63355480e-01 3.35496368e-02 3.23394094e+02] [-3.94869021e-02 -3.11599293e-03 -9.99215230e-01 7.67094141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:323.30, Z:0.76 [[-3.92257629e-01 -9.19672159e-01 1.83595613e-02 1.21265628e+02] [-9.19012311e-01 3.92674387e-01 3.49742451e-02 3.23299321e+02] [-3.93741690e-02 -3.15374841e-03 -9.99219560e-01 7.61733501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:323.21, Z:0.76 [[-3.18518684e-01 -9.47787607e-01 1.56365211e-02 1.21198932e+02] [-9.47092887e-01 3.18886131e-01 3.64238763e-02 3.23207670e+02] [-3.95083683e-02 -3.20755279e-03 -9.99214091e-01 7.57617868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters Centerline goodness [0,1] 0.9999558420913186 Centerline is valid? [True, True] Translation: X:121.14, Y:323.10, Z:0.75 [[-2.43526284e-01 -9.69809425e-01 1.28307304e-02 1.21138689e+02] [-9.69078052e-01 2.43842668e-01 3.77952658e-02 3.23101579e+02] [-3.97828845e-02 -3.22983855e-03 -9.99203128e-01 7.52226577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:322.99, Z:0.75 [[-1.67437650e-01 -9.85832543e-01 9.94139391e-03 1.21087624e+02] [-9.85059639e-01 1.67701312e-01 3.91634830e-02 3.22994010e+02] [-4.02758208e-02 -3.23542432e-03 -9.99183362e-01 7.46938065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:322.87, Z:0.74 [[-9.07599945e-02 -9.95848972e-01 6.88826312e-03 1.21043918e+02] [-9.95048620e-01 9.09640578e-02 4.00472718e-02 3.22870421e+02] [-4.05076189e-02 -3.21946654e-03 -9.99174043e-01 7.41086121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:322.74, Z:0.73 [[-1.41962220e-02 -9.99892232e-01 3.74053006e-03 1.21010177e+02] [-9.99096787e-01 1.43345719e-02 4.00016347e-02 3.22736806e+02] [-4.00509427e-02 -3.16927948e-03 -9.99192613e-01 7.34483263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:322.64, Z:0.73 [[ 6.10962399e-02 -9.98131643e-01 6.86948714e-04 1.20986424e+02] [-9.97378571e-01 -6.10233811e-02 3.88861429e-02 3.22644869e+02] [-3.87715697e-02 -3.06094504e-03 -9.99243412e-01 7.29040821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:322.53, Z:0.72 [[ 1.37028487e-01 -9.90564644e-01 -2.20912749e-03 1.20971967e+02] [-9.89846064e-01 -1.37013479e-01 3.78427734e-02 3.22526931e+02] [-3.77883936e-02 -2.99884183e-03 -9.99281264e-01 7.22820245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:322.40, Z:0.72 [[ 2.11966788e-01 -9.77263995e-01 -5.01646546e-03 1.20967702e+02] [-9.76570567e-01 -2.12005924e-01 3.69244525e-02 3.22404080e+02] [-3.71484583e-02 -2.92782506e-03 -9.99305469e-01 7.16461608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:322.29, Z:0.71 [[ 2.84742335e-01 -9.58573849e-01 -7.61434565e-03 1.20972857e+02] [-9.57918768e-01 -2.84830094e-01 3.55450643e-02 3.22285152e+02] [-3.62413639e-02 -2.82726001e-03 -9.99339067e-01 7.09892412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:322.16, Z:0.70 [[ 3.57300240e-01 -9.33933719e-01 -1.02150744e-02 1.20986454e+02] [-9.33301690e-01 -3.57435416e-01 3.44656142e-02 3.22163424e+02] [-3.58398286e-02 -2.78082603e-03 -9.99353678e-01 7.04496939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:322.04, Z:0.70 [[ 4.28334910e-01 -9.03527336e-01 -1.29444243e-02 1.21011118e+02] [-9.02901727e-01 -4.28521568e-01 3.37303605e-02 3.22037889e+02] [-3.60232678e-02 -2.76034793e-03 -9.99347139e-01 6.99157085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:321.92, Z:0.69 [[ 4.97250575e-01 -8.67464189e-01 -1.57399824e-02 1.21042269e+02] [-8.66841183e-01 -4.97491982e-01 3.29862252e-02 3.21920511e+02] [-3.64448841e-02 -2.75835450e-03 -9.99331858e-01 6.94185781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:321.81, Z:0.69 [[ 5.64094666e-01 -8.25500409e-01 -1.86086640e-02 1.21075540e+02] [-8.24877689e-01 -5.64394559e-01 3.21804351e-02 3.21814870e+02] [-3.70675911e-02 -2.80294004e-03 -9.99308830e-01 6.90543993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:321.71, Z:0.69 [[ 6.26925065e-01 -7.78790745e-01 -2.12117378e-02 1.21121881e+02] [-7.78184981e-01 -6.27277431e-01 3.08408753e-02 3.21706554e+02] [-3.73242326e-02 -2.82826196e-03 -9.99299206e-01 6.85864367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.666875 meters Centerline goodness [0,1] 0.9999779195831218 Centerline is valid? [True, True] Translation: X:121.18, Y:321.60, Z:0.68 [[ 6.85803629e-01 -7.27390270e-01 -2.40161942e-02 1.21179175e+02] [-7.26792697e-01 -6.86218068e-01 2.96165248e-02 3.21599579e+02] [-3.80231183e-02 -2.85632563e-03 -9.99272778e-01 6.80862213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:321.51, Z:0.68 [[ 7.41064603e-01 -6.70889047e-01 -2.70396120e-02 1.21236390e+02] [-6.70293695e-01 -7.41551962e-01 2.84086330e-02 3.21505280e+02] [-3.91103181e-02 -2.92815087e-03 -9.99230608e-01 6.75482778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:321.50, Z:0.67 [[ 7.91586429e-01 -6.10355405e-01 -2.92780566e-02 1.21235391e+02] [-6.09794429e-01 -7.92122044e-01 2.63328956e-02 3.21496279e+02] [-3.92642192e-02 -2.99116699e-03 -9.99224386e-01 6.73666278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:321.49, Z:0.67 [[ 8.37316197e-01 -5.45844991e-01 -3.09003525e-02 1.21231502e+02] [-5.45337124e-01 -8.37880728e-01 2.37340863e-02 3.21489280e+02] [-3.88459419e-02 -3.02182552e-03 -9.99240642e-01 6.72648003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:321.49, Z:0.67 [[ 8.77745332e-01 -4.78045072e-01 -3.21875960e-02 1.21228352e+02] [-4.77594285e-01 -8.78330046e-01 2.09768825e-02 3.21486771e+02] [-3.82992279e-02 -3.03974881e-03 -9.99261692e-01 6.71228022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:321.49, Z:0.67 [[ 9.12751503e-01 -4.07110127e-01 -3.38531872e-02 1.21223723e+02] [-4.06703708e-01 -9.13373935e-01 1.84431000e-02 3.21486109e+02] [-3.84289916e-02 -3.06575046e-03 -9.99256631e-01 6.69853052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:321.48, Z:0.67 [[ 9.41861391e-01 -3.34181723e-01 -3.49241570e-02 1.21219806e+02] [-3.33829996e-01 -9.42503680e-01 1.56315743e-02 3.21484505e+02] [-3.81399330e-02 -3.06404511e-03 -9.99267710e-01 6.68933470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:321.48, Z:0.67 [[ 9.65092782e-01 -2.59456319e-01 -3.57538837e-02 1.21215284e+02] [-2.59160181e-01 -9.65750023e-01 1.27629718e-02 3.21484427e+02] [-3.78407477e-02 -3.05146901e-03 -9.99279123e-01 6.66695525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:321.48, Z:0.66 [[ 9.82436461e-01 -1.82981241e-01 -3.65577112e-02 1.21211900e+02] [-1.82738558e-01 -9.83111683e-01 9.90142430e-03 3.21481845e+02] [-3.77520879e-02 -3.04701681e-03 -9.99282490e-01 6.64643200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:321.48, Z:0.66 [[ 9.93698345e-01 -1.05887559e-01 -3.67617081e-02 1.21203787e+02] [-1.05702376e-01 -9.94373521e-01 6.95042575e-03 3.21479536e+02] [-3.72908327e-02 -3.02082669e-03 -9.99299889e-01 6.63615663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:321.48, Z:0.66 [[ 9.98872205e-01 -2.85910627e-02 -3.79060606e-02 1.21197308e+02] [-2.84571882e-02 -9.99586740e-01 4.06670676e-03 3.21479299e+02] [-3.80066670e-02 -2.98342044e-03 -9.99273032e-01 6.63196392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:321.48, Z:0.66 [[ 9.98026484e-01 4.94080991e-02 -3.87553567e-02 1.21190158e+02] [ 4.94858747e-02 -9.98774272e-01 1.04953797e-03 3.21477795e+02] [-3.86559975e-02 -2.96530942e-03 -9.99248178e-01 6.62476824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:321.48, Z:0.66 [[ 9.91121657e-01 1.26933439e-01 -3.95697243e-02 1.21182761e+02] [ 1.26950170e-01 -9.91906873e-01 -2.09977018e-03 3.21476465e+02] [-3.95160125e-02 -2.94225554e-03 -9.99214606e-01 6.62084861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters Centerline goodness [0,1] 0.999955571352408 Centerline is valid? [True, True] Translation: X:121.18, Y:321.47, Z:0.66 [[ 9.78267413e-01 2.03317299e-01 -4.06810173e-02 1.21176055e+02] [ 2.03264033e-01 -9.79108598e-01 -5.48501457e-03 3.21473142e+02] [-4.09463322e-02 -2.90317663e-03 -9.99157130e-01 6.62687045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:321.47, Z:0.66 [[ 9.59532034e-01 2.78647873e-01 -4.06649622e-02 1.21169662e+02] [ 2.78523086e-01 -9.60389062e-01 -8.81706687e-03 3.21468663e+02] [-4.15110419e-02 -2.86587268e-03 -9.99133935e-01 6.62251887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:321.46, Z:0.66 [[ 9.35021976e-01 3.52256693e-01 -4.06094420e-02 1.21164604e+02] [ 3.52054388e-01 -9.35899156e-01 -1.22669109e-02 3.21462435e+02] [-4.23274440e-02 -2.82690094e-03 -9.99099793e-01 6.61377704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.146875 meters Centerline goodness [0,1] 0.9999777178635888 Centerline is valid? [True, True] Translation: X:121.16, Y:321.45, Z:0.66 [[ 9.04890542e-01 4.23717260e-01 -4.04572602e-02 1.21159914e+02] [ 4.23429748e-01 -9.05790221e-01 -1.58532023e-02 3.21454998e+02] [-4.33630661e-02 -2.78539459e-03 -9.99055497e-01 6.60660160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:321.45, Z:0.66 [[ 8.69922244e-01 4.91661625e-01 -3.87831956e-02 1.21154028e+02] [ 4.91308993e-01 -8.70782183e-01 -1.88112735e-02 3.21448473e+02] [-4.30204970e-02 -2.69018749e-03 -9.99070568e-01 6.60027891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:321.44, Z:0.66 [[ 8.29265027e-01 5.57669006e-01 -3.63977208e-02 1.21149506e+02] [ 5.57269503e-01 -8.30059205e-01 -2.12700928e-02 3.21441312e+02] [-4.20739347e-02 -2.64479566e-03 -9.99110999e-01 6.57434420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters Centerline goodness [0,1] 0.9999552672780139 Centerline is valid? [True, True] Translation: X:121.14, Y:321.43, Z:0.66 [[ 7.83422225e-01 6.20549099e-01 -3.41823471e-02 1.21144933e+02] [ 6.20101160e-01 -7.84163234e-01 -2.37186357e-02 3.21433819e+02] [-4.15231179e-02 -2.61480677e-03 -9.99134122e-01 6.55599580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:321.42, Z:0.65 [[ 7.33137167e-01 6.79347315e-01 -3.15772138e-02 1.21141834e+02] [ 6.78864439e-01 -7.33812398e-01 -2.57378888e-02 3.21424552e+02] [-4.06567167e-02 -2.56724465e-03 -9.99169876e-01 6.53791501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:321.42, Z:0.65 [[ 6.78392925e-01 7.34116706e-01 -2.92523761e-02 1.21137135e+02] [ 7.33590036e-01 -6.79018636e-01 -2.79168644e-02 3.21415581e+02] [-4.03571451e-02 -2.52064835e-03 -9.99182139e-01 6.52635355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.41, Z:0.65 [[ 6.18951341e-01 7.84963379e-01 -2.70505321e-02 1.21134452e+02] [ 7.84385035e-01 -6.19537094e-01 -3.02308784e-02 3.21405785e+02] [-4.04889405e-02 -2.50658984e-03 -9.99176843e-01 6.52326507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.40, Z:0.65 [[ 5.54851682e-01 8.31561653e-01 -2.53934853e-02 1.21133711e+02] [ 8.30891881e-01 -5.55426692e-01 -3.34644933e-02 3.21395460e+02] [-4.19320089e-02 -2.53141037e-03 -9.99117260e-01 6.52683968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38687500000003 meters Centerline goodness [0,1] 0.9999549924612372 Centerline is valid? [True, True] Translation: X:121.13, Y:321.38, Z:0.65 [[ 4.87399945e-01 8.72876348e-01 -2.29820558e-02 1.21133756e+02] [ 8.72142198e-01 -4.87934789e-01 -3.58835282e-02 3.21384990e+02] [-4.25356276e-02 -2.55399103e-03 -9.99091686e-01 6.52138171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.37, Z:0.65 [[ 4.16741930e-01 9.08797448e-01 -2.03313122e-02 1.21133377e+02] [ 9.08002133e-01 -4.17229584e-01 -3.80998643e-02 3.21373741e+02] [-4.31078844e-02 -2.58306387e-03 -9.99067084e-01 6.51872901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.36, Z:0.65 [[ 3.42795773e-01 9.39249071e-01 -1.73850632e-02 1.21132022e+02] [ 9.38405876e-01 -3.43226150e-01 -3.98775827e-02 3.21363035e+02] [-4.34219908e-02 -2.64437863e-03 -9.99053321e-01 6.51316131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.35, Z:0.65 [[ 2.67350822e-01 9.63495957e-01 -1.41095473e-02 1.21130756e+02] [ 9.62635311e-01 -2.67709530e-01 -4.08027604e-02 3.21352586e+02] [-4.30905550e-02 -2.67369695e-03 -9.99067593e-01 6.50103003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:321.34, Z:0.65 [[ 1.89072667e-01 9.81902480e-01 -1.09108126e-02 1.21134927e+02] [ 9.81005785e-01 -1.89367194e-01 -4.20442222e-02 3.21341700e+02] [-4.33494760e-02 -2.75415710e-03 -9.99056173e-01 6.48604277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:321.33, Z:0.65 [[ 1.10469726e-01 9.93850386e-01 -7.60594695e-03 1.21139407e+02] [ 9.92921512e-01 -1.10695939e-01 -4.30497515e-02 3.21330131e+02] [-4.36269596e-02 -2.79641407e-03 -9.99043977e-01 6.48346972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:321.32, Z:0.65 [[ 3.14717271e-02 9.99495822e-01 -4.19906378e-03 1.21144514e+02] [ 9.98554976e-01 -3.16246406e-02 -4.34493067e-02 3.21319716e+02] [-4.35601944e-02 -2.82557131e-03 -9.99046809e-01 6.47732327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:321.31, Z:0.65 [[-4.80242754e-02 9.98845863e-01 -7.81354064e-04 1.21149973e+02] [ 9.97904391e-01 4.79450188e-02 -4.34522949e-02 3.21308810e+02] [-4.33646830e-02 -2.86648163e-03 -9.99055197e-01 6.46649975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:321.30, Z:0.64 [[-1.28327045e-01 9.91728683e-01 2.52746943e-03 1.21155300e+02] [ 9.90822592e-01 1.28318077e-01 -4.24860336e-02 3.21299057e+02] [-4.24589381e-02 -2.94783332e-03 -9.99093864e-01 6.44116756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:321.29, Z:0.64 [[-2.06838602e-01 9.78358493e-01 5.69670007e-03 1.21162694e+02] [ 9.77488779e-01 2.06895510e-01 -4.13513527e-02 3.21288540e+02] [-4.16350688e-02 -2.98459560e-03 -9.99128427e-01 6.42915737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:321.28, Z:0.64 [[-2.83684876e-01 9.58877655e-01 8.74830966e-03 1.21167858e+02] [ 9.58041905e-01 2.83803822e-01 -4.01385032e-02 3.21279308e+02] [-4.09707175e-02 -3.00543905e-03 -9.99155828e-01 6.41580440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:321.27, Z:0.64 [[-3.58859866e-01 9.33316955e-01 1.17922719e-02 1.21176057e+02] [ 9.32502321e-01 3.59040720e-01 -3.91047742e-02 3.21270638e+02] [-4.07310545e-02 -3.03681311e-03 -9.99165531e-01 6.39946005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:321.26, Z:0.64 [[-4.32467107e-01 9.01524427e-01 1.50302875e-02 1.21185654e+02] [ 9.00707663e-01 4.32717048e-01 -3.84923651e-02 3.21262241e+02] [-4.12056690e-02 -3.10878664e-03 -9.99145849e-01 6.40217197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:321.25, Z:0.64 [[-5.02118862e-01 8.64607473e-01 1.81814783e-02 1.21192420e+02] [ 8.63799438e-01 5.02438206e-01 -3.75017199e-02 3.21253659e+02] [-4.15593367e-02 -3.12517016e-03 -9.99131150e-01 6.40368395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:321.25, Z:0.64 [[-5.68054503e-01 8.22707396e-01 2.16014271e-02 1.21199631e+02] [ 8.21892178e-01 5.68456506e-01 -3.67484640e-02 3.21245886e+02] [-4.25127050e-02 -3.12108647e-03 -9.99091051e-01 6.40602130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:321.24, Z:0.64 [[-6.30185094e-01 7.76032207e-01 2.53132683e-02 1.21207252e+02] [ 7.75199863e-01 6.30685633e-01 -3.60666658e-02 3.21237601e+02] [-4.39536089e-02 -3.10583302e-03 -9.99028745e-01 6.41915355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:321.23, Z:0.64 [[-6.89001034e-01 7.24219178e-01 2.80028040e-02 1.21214835e+02] [ 7.23432188e-01 6.89562904e-01 -3.38949980e-02 3.21229361e+02] [-4.38571025e-02 -3.09555897e-03 -9.99033019e-01 6.41109530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:321.22, Z:0.64 [[-7.43260662e-01 6.68300483e-01 3.06276483e-02 1.21224944e+02] [ 6.67558283e-01 7.43885104e-01 -3.16368540e-02 3.21224661e+02] [-4.39263761e-02 -3.06868880e-03 -9.99030058e-01 6.38892306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:321.86, Z:-0.11 [[-6.78017686e-01 -7.34921604e-01 -1.35001306e-02 1.21877992e+02] [ 7.34812950e-01 -6.78150816e-01 1.27042793e-02 3.21861372e+02] [-1.84917739e-02 -1.30634475e-03 9.99828159e-01 -1.06236609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:321.88, Z:-0.11 [[-6.79072645e-01 -7.33964093e-01 -1.25320479e-02 1.21860467e+02] [ 7.33844455e-01 -6.79188244e-01 1.32531187e-02 3.21880591e+02] [-1.82389329e-02 -1.96743481e-04 9.99833637e-01 -1.07899779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:321.90, Z:-0.11 [[-6.79930301e-01 -7.33169849e-01 -1.25203349e-02 1.21842262e+02] [ 7.33050467e-01 -6.80045543e-01 1.32315307e-02 3.21901593e+02] [-1.82153573e-02 -1.81518734e-04 9.99834070e-01 -1.08813029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:321.92, Z:-0.11 [[-6.81571486e-01 -7.31638842e-01 -1.28419011e-02 1.21825255e+02] [ 7.31513119e-01 -6.81692440e-01 1.35636764e-02 3.21923702e+02] [-1.86779394e-02 -1.49404056e-04 9.99825541e-01 -1.08330308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:321.94, Z:-0.11 [[-6.82549406e-01 -7.30716816e-01 -1.33881717e-02 1.21807752e+02] [ 7.30580194e-01 -6.82680684e-01 1.41302708e-02 3.21943652e+02] [-1.94650727e-02 -1.36525089e-04 9.99810528e-01 -1.08654572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.79, Y:321.96, Z:-0.11 [[-6.83679995e-01 -7.29645691e-01 -1.41007145e-02 1.21789869e+02] [ 7.29494042e-01 -6.83825381e-01 1.48758465e-02 3.21964623e+02] [-2.04965237e-02 -1.16068569e-04 9.99789917e-01 -1.08166368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:321.98, Z:-0.11 [[-6.84921872e-01 -7.28469964e-01 -1.46130275e-02 1.21772608e+02] [ 7.28307032e-01 -6.85077735e-01 1.54066197e-02 3.21983957e+02] [-2.12343195e-02 -9.04399172e-05 9.99774522e-01 -1.08887139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:322.01, Z:-0.11 [[-6.87104224e-01 -7.26395976e-01 -1.53841226e-02 1.21755811e+02] [ 7.26215125e-01 -6.87276425e-01 1.62082384e-02 3.22005501e+02] [-2.23467439e-02 -3.54334498e-05 9.99750280e-01 -1.08917127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:322.03, Z:-0.11 [[-6.88210089e-01 -7.25338775e-01 -1.58282782e-02 1.21738169e+02] [ 7.25147283e-01 -6.88392084e-01 1.66660194e-02 3.22026298e+02] [-2.29845715e-02 -8.11024668e-06 9.99735820e-01 -1.08691833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:322.05, Z:-0.11 [[-6.89159890e-01 -7.24433723e-01 -1.59507759e-02 1.21719656e+02] [ 7.24239255e-01 -6.89344458e-01 1.67845256e-02 3.22046918e+02] [-2.31548553e-02 1.50437686e-05 9.99731890e-01 -1.09247172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:322.07, Z:-0.11 [[-6.89920144e-01 -7.23704765e-01 -1.61742689e-02 1.21700856e+02] [ 7.23504857e-01 -6.90109710e-01 1.70091182e-02 3.22067296e+02] [-2.34715999e-02 3.27711511e-05 9.99724504e-01 -1.09907894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:322.09, Z:-0.11 [[-6.90481278e-01 -7.23172370e-01 -1.60414544e-02 1.21683016e+02] [ 7.22975824e-01 -6.90667591e-01 1.68593254e-02 3.22086668e+02] [-2.32715110e-02 4.34648753e-05 9.99729181e-01 -1.10916445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:322.11, Z:-0.11 [[-6.90913149e-01 -7.22767444e-01 -1.56920932e-02 1.21664833e+02] [ 7.22579499e-01 -6.91091325e-01 1.64817493e-02 3.22105681e+02] [-2.27571413e-02 4.86724777e-05 9.99741022e-01 -1.12201015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:322.13, Z:-0.11 [[-6.91523548e-01 -7.22193884e-01 -1.52044925e-02 1.21645199e+02] [ 7.22017518e-01 -6.91690676e-01 1.59596953e-02 3.22125150e+02] [-2.20428000e-02 5.85951843e-05 9.99757026e-01 -1.14305696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:322.14, Z:-0.12 [[-6.91708022e-01 -7.22027588e-01 -1.47028737e-02 1.21626497e+02] [ 7.21862820e-01 -6.91864264e-01 1.54243485e-02 3.22144240e+02] [-2.13091981e-02 5.56877110e-05 9.99772932e-01 -1.16817815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:322.16, Z:-0.12 [[-6.92264430e-01 -7.21502073e-01 -1.43079677e-02 1.21607679e+02] [ 7.21346121e-01 -6.92412272e-01 1.50006315e-02 3.22163631e+02] [-2.07299991e-02 6.34066235e-05 9.99785108e-01 -1.17539275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:322.18, Z:-0.12 [[-6.92875392e-01 -7.20926985e-01 -1.37103282e-02 1.21588861e+02] [ 7.20783840e-01 -6.93011022e-01 1.43658726e-02 3.22183499e+02] [-1.98581538e-02 7.15765771e-05 9.99802805e-01 -1.18430743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:322.20, Z:-0.12 [[-6.94295492e-01 -7.19571621e-01 -1.30557203e-02 1.21571267e+02] [ 7.19441737e-01 -6.94418226e-01 1.36716694e-02 3.22203507e+02] [-1.89038754e-02 9.93483217e-05 9.99821301e-01 -1.21453687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:322.22, Z:-0.12 [[-6.95140517e-01 -7.18756281e-01 -1.30026984e-02 1.21552383e+02] [ 7.18627454e-01 -6.95262105e-01 1.36083331e-02 3.22223586e+02] [-1.88213584e-02 1.15607704e-04 9.99822856e-01 -1.21651681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:322.24, Z:-0.12 [[-6.96252559e-01 -7.17678004e-01 -1.30635699e-02 1.21534750e+02] [ 7.17547932e-01 -6.96375088e-01 1.36639107e-02 3.22242993e+02] [-1.89034328e-02 1.39795193e-04 9.99821304e-01 -1.22578880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:322.26, Z:-0.12 [[-6.98409950e-01 -7.15568109e-01 -1.36317224e-02 1.21516538e+02] [ 7.15426268e-01 -6.98542942e-01 1.42482693e-02 3.22263815e+02] [-1.97179506e-02 1.98640772e-04 9.99805563e-01 -1.22641320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:322.28, Z:-0.12 [[-6.99397316e-01 -7.14602468e-01 -1.36640665e-02 1.21497765e+02] [ 7.14459941e-01 -6.99530745e-01 1.42733766e-02 3.22284236e+02] [-1.97582248e-02 2.20333162e-04 9.99804763e-01 -1.23267625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:322.30, Z:-0.12 [[-7.00085113e-01 -7.13927470e-01 -1.37259367e-02 1.21479097e+02] [ 7.13783692e-01 -7.00219617e-01 1.43292692e-02 3.22303687e+02] [-1.98412291e-02 2.34358291e-04 9.99803116e-01 -1.23597356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:322.32, Z:-0.13 [[-7.00326135e-01 -7.13690567e-01 -1.37506181e-02 1.21460784e+02] [ 7.13546424e-01 -7.00461076e-01 1.43451004e-02 3.22322290e+02] [-1.98697356e-02 2.34544347e-04 9.99802550e-01 -1.25153041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:322.34, Z:-0.12 [[-7.00207761e-01 -7.13809405e-01 -1.36097431e-02 1.21439901e+02] [ 7.13668326e-01 -7.00339977e-01 1.41928862e-02 3.22340473e+02] [-1.96624628e-02 2.25126550e-04 9.99806650e-01 -1.24723242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:322.36, Z:-0.13 [[-6.99858548e-01 -7.14156007e-01 -1.33869770e-02 1.21420469e+02] [ 7.14019739e-01 -6.99986540e-01 1.39519457e-02 3.22359187e+02] [-1.93345696e-02 2.05822634e-04 9.99813049e-01 -1.25713832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:322.38, Z:-0.13 [[-6.98708876e-01 -7.15288438e-01 -1.29752964e-02 1.21399192e+02] [ 7.15160775e-01 -6.98829324e-01 1.35145134e-02 3.22377259e+02] [-1.87342928e-02 1.63287406e-04 9.99824484e-01 -1.27170266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:322.40, Z:-0.13 [[-6.98270957e-01 -7.15718242e-01 -1.28479305e-02 1.21379648e+02] [ 7.15593284e-01 -6.98389130e-01 1.33743973e-02 3.22396284e+02] [-1.85451551e-02 1.45060421e-04 9.99828013e-01 -1.28511996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:322.42, Z:-0.13 [[-6.97843522e-01 -7.16143143e-01 -1.23861973e-02 1.21359868e+02] [ 7.16027207e-01 -6.97953425e-01 1.28862486e-02 3.22415676e+02] [-1.78733874e-02 1.23730838e-04 9.99840251e-01 -1.29608833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:322.43, Z:-0.13 [[-6.96809977e-01 -7.17163667e-01 -1.14948207e-02 1.21339703e+02] [ 7.17064063e-01 -6.96904777e-01 1.19524904e-02 3.22433913e+02] [-1.65826872e-02 8.60917292e-05 9.99862494e-01 -1.30678446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:322.45, Z:-0.13 [[-6.96398459e-01 -7.17565858e-01 -1.13325564e-02 1.21320066e+02] [ 7.17469218e-01 -6.96490657e-01 1.17765027e-02 3.22452498e+02] [-1.63434359e-02 7.03779832e-05 9.99866435e-01 -1.32341256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:322.47, Z:-0.13 [[-6.96193689e-01 -7.17764304e-01 -1.13468603e-02 1.21300303e+02] [ 7.17667567e-01 -6.96286148e-01 1.17839910e-02 3.22471260e+02] [-1.63587897e-02 6.06665387e-05 9.99866184e-01 -1.33863695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:322.49, Z:-0.14 [[-6.95504896e-01 -7.18426882e-01 -1.16513720e-02 1.21280781e+02] [ 7.18325110e-01 -6.95602482e-01 1.20922625e-02 3.22489620e+02] [-1.67921297e-02 4.07547303e-05 9.99859001e-01 -1.35162448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:322.51, Z:-0.14 [[-6.95654110e-01 -7.18280305e-01 -1.17797630e-02 1.21262419e+02] [ 7.18176412e-01 -6.95753837e-01 1.22163284e-02 3.22508010e+02] [-1.69705634e-02 3.83911462e-05 9.99855989e-01 -1.36105661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:322.53, Z:-0.14 [[-6.95895263e-01 -7.18034615e-01 -1.24930009e-02 1.21243081e+02] [ 7.17917820e-01 -6.96007392e-01 1.29504153e-02 3.22527075e+02] [-1.79940674e-02 4.31846784e-05 9.99838093e-01 -1.35889691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:322.55, Z:-0.14 [[-6.96127141e-01 -7.17807093e-01 -1.26483541e-02 1.21223815e+02] [ 7.17687485e-01 -6.96242038e-01 1.31034194e-02 3.22546213e+02] [-1.82120432e-02 4.40804256e-05 9.99834146e-01 -1.35681839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:322.56, Z:-0.14 [[-6.95629341e-01 -7.18278612e-01 -1.32535133e-02 1.21204308e+02] [ 7.18147565e-01 -6.95755586e-01 1.37200839e-02 3.22563316e+02] [-1.90760487e-02 2.61146298e-05 9.99818035e-01 -1.35171680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:322.58, Z:-0.14 [[-6.95471880e-01 -7.18425024e-01 -1.35775251e-02 1.21184048e+02] [ 7.18287630e-01 -6.95604402e-01 1.40497766e-02 3.22581337e+02] [-1.95382973e-02 1.86562080e-05 9.99809109e-01 -1.35733218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:322.60, Z:-0.14 [[-6.95276045e-01 -7.18608334e-01 -1.39026597e-02 1.21163148e+02] [ 7.18464499e-01 -6.95415029e-01 1.43771074e-02 3.22599602e+02] [-1.99996277e-02 7.49087324e-06 9.99799987e-01 -1.36286728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:322.62, Z:-0.14 [[-6.95105948e-01 -7.18771897e-01 -1.39528454e-02 1.21141862e+02] [ 7.18627233e-01 -6.95245971e-01 1.44200891e-02 3.22616284e+02] [-2.00654144e-02 -3.40504738e-06 9.99798669e-01 -1.37704277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:322.64, Z:-0.14 [[-6.95732509e-01 -7.18175391e-01 -1.34307500e-02 1.21121654e+02] [ 7.18041391e-01 -6.95862133e-01 1.38727393e-02 3.22635021e+02] [-1.93090103e-02 7.88126764e-06 9.99813564e-01 -1.38665475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:322.65, Z:-0.14 [[-6.97525153e-01 -7.16437283e-01 -1.32770901e-02 1.21102245e+02] [ 7.16306172e-01 -6.97651502e-01 1.37058724e-02 3.22652399e+02] [-1.90821799e-02 4.97291380e-05 9.99817917e-01 -1.41351492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:322.67, Z:-0.14 [[-6.98594329e-01 -7.15404972e-01 -1.27157346e-02 1.21083267e+02] [ 7.15284692e-01 -6.98710041e-01 1.31182001e-02 3.22671266e+02] [-1.82694370e-02 6.89298488e-05 9.99833098e-01 -1.42945568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:322.69, Z:-0.14 [[-6.99865045e-01 -7.14164651e-01 -1.25606457e-02 1.21063890e+02] [ 7.14047238e-01 -6.99977744e-01 1.29498736e-02 3.22690397e+02] [-1.80405144e-02 9.42695163e-05 9.99837252e-01 -1.44077008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:322.71, Z:-0.15 [[-7.00949161e-01 -7.13103652e-01 -1.23877381e-02 1.21044930e+02] [ 7.12989412e-01 -7.01058606e-01 1.27643740e-02 3.22708845e+02] [-1.77868521e-02 1.14851090e-04 9.99841795e-01 -1.45166289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:322.73, Z:-0.15 [[-7.03095487e-01 -7.10990518e-01 -1.22155429e-02 1.21023437e+02] [ 7.10879264e-01 -7.03201576e-01 1.25783543e-02 3.22727546e+02] [-1.75330797e-02 1.60007932e-04 9.99846271e-01 -1.45776684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:322.75, Z:-0.15 [[-7.04096774e-01 -7.10002318e-01 -1.20183588e-02 1.21003510e+02] [ 7.09894581e-01 -7.04199316e-01 1.23695904e-02 3.22745996e+02] [-1.72457579e-02 1.77620894e-04 9.99851265e-01 -1.46373134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:322.76, Z:-0.15 [[-7.05004640e-01 -7.09101050e-01 -1.20066022e-02 1.20985154e+02] [ 7.08993552e-01 -7.05106845e-01 1.23482908e-02 3.22764894e+02] [-1.72221234e-02 1.92998775e-04 9.99851670e-01 -1.48446897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:322.78, Z:-0.15 [[-7.05572555e-01 -7.08532348e-01 -1.22180556e-02 1.20964001e+02] [ 7.08421034e-01 -7.05678304e-01 1.25606217e-02 3.22782378e+02] [-1.75216236e-02 2.06902361e-04 9.99846463e-01 -1.48165310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:322.80, Z:-0.15 [[-7.05575640e-01 -7.08519230e-01 -1.27873547e-02 1.20943144e+02] [ 7.08397452e-01 -7.05691474e-01 1.31374665e-02 3.22800128e+02] [-1.83320749e-02 2.10946831e-04 9.99831931e-01 -1.47907108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:322.82, Z:-0.15 [[-7.05466633e-01 -7.08608490e-01 -1.38144236e-02 1.20922319e+02] [ 7.08466572e-01 -7.05601843e-01 1.41829320e-02 3.22817766e+02] [-1.97976288e-02 2.18527970e-04 9.99803984e-01 -1.47946593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:322.84, Z:-0.15 [[-7.05156982e-01 -7.08904299e-01 -1.44335280e-02 1.20900864e+02] [ 7.08749634e-01 -7.05304651e-01 1.48089959e-02 3.22835561e+02] [-2.06781953e-02 2.12909210e-04 9.99786161e-01 -1.47437297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:322.85, Z:-0.15 [[-7.04519300e-01 -7.09506012e-01 -1.59303329e-02 1.20877211e+02] [ 7.09318022e-01 -7.04699352e-01 1.63330032e-02 3.22851903e+02] [-2.28144592e-02 2.07243690e-04 9.99739695e-01 -1.45708867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:322.87, Z:-0.15 [[-7.04173152e-01 -7.09829114e-01 -1.68166774e-02 1.20858204e+02] [ 7.09619973e-01 -7.04373898e-01 1.72309272e-02 3.22869692e+02] [-2.40762425e-02 2.00106164e-04 9.99710105e-01 -1.46680040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:322.89, Z:-0.15 [[-7.03926946e-01 -7.10052963e-01 -1.76534583e-02 1.20837771e+02] [ 7.09822784e-01 -7.04148245e-01 1.80793727e-02 3.22887522e+02] [-2.52679638e-02 1.95730656e-04 9.99680695e-01 -1.46026579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:322.90, Z:-0.14 [[-7.03612310e-01 -7.10333900e-01 -1.88538375e-02 1.20815404e+02] [ 7.10071792e-01 -7.03864841e-01 1.92960280e-02 3.22904495e+02] [-2.69771762e-02 1.89344698e-04 9.99636032e-01 -1.44637546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:322.92, Z:-0.15 [[-7.03475344e-01 -7.10461111e-01 -1.91689970e-02 1.20795905e+02] [ 7.10190515e-01 -7.03736440e-01 1.96075333e-02 3.22921922e+02] [-2.74203116e-02 1.79776395e-04 9.99623976e-01 -1.45334712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:322.94, Z:-0.15 [[-7.03778450e-01 -7.10158972e-01 -1.92387185e-02 1.20775620e+02] [ 7.09886657e-01 -7.04041335e-01 1.96655351e-02 3.22939839e+02] [-2.75105093e-02 1.82870250e-04 9.99621498e-01 -1.46634624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:322.96, Z:-0.15 [[-7.04053511e-01 -7.09900706e-01 -1.86986969e-02 1.20753952e+02] [ 7.09643683e-01 -7.04301751e-01 1.91020248e-02 3.22957035e+02] [-2.67300658e-02 1.79435542e-04 9.99642672e-01 -1.49048037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:322.98, Z:-0.15 [[-7.04625842e-01 -7.09348366e-01 -1.80919285e-02 1.20734390e+02] [ 7.09107863e-01 -7.04858043e-01 1.84710155e-02 3.22975522e+02] [-2.58546260e-02 1.86026130e-04 9.99665696e-01 -1.50827982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:322.99, Z:-0.15 [[-7.04849610e-01 -7.09125870e-01 -1.80977543e-02 1.20715579e+02] [ 7.08885439e-01 -7.05081886e-01 1.84653053e-02 3.22994571e+02] [-2.58546244e-02 1.86028720e-04 9.99665696e-01 -1.51661446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:323.01, Z:-0.15 [[-7.05368379e-01 -7.08631171e-01 -1.72427813e-02 1.20696880e+02] [ 7.08413030e-01 -7.05579073e-01 1.75826768e-02 3.23013622e+02] [-2.46257785e-02 1.87253244e-04 9.99696722e-01 -1.53668112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:323.03, Z:-0.16 [[-7.06849894e-01 -7.07177363e-01 -1.62297740e-02 1.20677628e+02] [ 7.06983965e-01 -7.07036160e-01 1.65391250e-02 3.23032544e+02] [-2.31711319e-02 2.16488778e-04 9.99731490e-01 -1.56058183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:323.05, Z:-0.16 [[-7.07602024e-01 -7.06427713e-01 -1.61016303e-02 1.20658716e+02] [ 7.06237374e-01 -7.07785160e-01 1.63993756e-02 3.23052256e+02] [-2.29814684e-02 2.32658261e-04 9.99735864e-01 -1.56792706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:323.07, Z:-0.16 [[-7.09601030e-01 -7.04405391e-01 -1.67159916e-02 1.20639528e+02] [ 7.04199944e-01 -7.09797826e-01 1.70142323e-02 3.23072335e+02] [-2.38498915e-02 3.01916356e-04 9.99715505e-01 -1.55696123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:323.09, Z:-0.16 [[-7.10579458e-01 -7.03409514e-01 -1.70847879e-02 1.20621551e+02] [ 7.03194845e-01 -7.10784738e-01 1.73800482e-02 3.23091303e+02] [-2.43688977e-02 3.35970507e-04 9.99702978e-01 -1.55874034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:323.11, Z:-0.16 [[-7.11372900e-01 -7.02598592e-01 -1.74303069e-02 1.20603100e+02] [ 7.02375208e-01 -7.11586317e-01 1.77194981e-02 3.23110367e+02] [-2.48528624e-02 3.62555326e-04 9.99691054e-01 -1.56557041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:323.13, Z:-0.16 [[-7.11926601e-01 -7.02028002e-01 -1.78100720e-02 1.20582947e+02] [ 7.01794909e-01 -7.12149239e-01 1.80933016e-02 3.23129276e+02] [-2.53854336e-02 3.82084812e-04 9.99677665e-01 -1.57260802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:323.15, Z:-0.16 [[-7.12607440e-01 -7.01336068e-01 -1.78425560e-02 1.20564534e+02] [ 7.01102194e-01 -7.12830668e-01 1.81149770e-02 3.23148240e+02] [-2.54234078e-02 3.99412184e-04 9.99676693e-01 -1.58589533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters Centerline goodness [0,1] 0.999912661848512 Centerline is valid? [True, True] Translation: X:120.54, Y:323.17, Z:-0.16 [[-7.12915393e-01 -7.01026876e-01 -1.76907346e-02 1.20543809e+02] [ 7.00797177e-01 -7.13134742e-01 1.79487012e-02 3.23167751e+02] [-2.51983994e-02 3.98288486e-04 9.99682391e-01 -1.59450573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:323.19, Z:-0.16 [[-7.13019447e-01 -7.00923981e-01 -1.75738839e-02 1.20523804e+02] [ 7.00697526e-01 -7.13235879e-01 1.78201722e-02 3.23187018e+02] [-2.50249106e-02 3.92152389e-04 9.99686751e-01 -1.60711839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:323.21, Z:-0.16 [[-7.12806407e-01 -7.01145359e-01 -1.73842692e-02 1.20505251e+02] [ 7.00924062e-01 -7.13018265e-01 1.76185298e-02 3.23205324e+02] [-2.47484519e-02 3.73548341e-04 9.99693640e-01 -1.61374291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.086875 meters Centerline goodness [0,1] 0.9999563871080291 Centerline is valid? [True, True] Translation: X:120.48, Y:323.22, Z:-0.16 [[-7.11063938e-01 -7.02914011e-01 -1.73196005e-02 1.20483696e+02] [ 7.02695180e-01 -7.11274772e-01 1.75409120e-02 3.23223519e+02] [-2.46487477e-02 3.02310141e-04 9.99696128e-01 -1.61382520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters Centerline goodness [0,1] 0.9999781911761498 Centerline is valid? [True, True] Translation: X:120.46, Y:323.24, Z:-0.16 [[-7.09887111e-01 -7.04101112e-01 -1.73756578e-02 1.20463716e+02] [ 7.03881466e-01 -7.10099682e-01 1.75875948e-02 3.23242557e+02] [-2.47218941e-02 2.54803356e-04 9.99694335e-01 -1.62894872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.146875 meters Centerline goodness [0,1] 0.9999782717336984 Centerline is valid? [True, True] Translation: X:120.44, Y:323.26, Z:-0.16 [[-7.08486400e-01 -7.05506926e-01 -1.75213715e-02 1.20441906e+02] [ 7.05284261e-01 -7.08702997e-01 1.77249503e-02 3.23259852e+02] [-2.49225237e-02 2.00338684e-04 9.99689366e-01 -1.63504944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters Centerline goodness [0,1] 0.9999566311041721 Centerline is valid? [True, True] Translation: X:120.42, Y:323.28, Z:-0.17 [[-7.05549369e-01 -7.08451464e-01 -1.72224104e-02 1.20420328e+02] [ 7.08237431e-01 -7.05759531e-01 1.74133918e-02 3.23275157e+02] [-2.44914232e-02 8.84519118e-05 9.99700036e-01 -1.65972507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:323.29, Z:-0.17 [[-7.04305858e-01 -7.09694983e-01 -1.69200982e-02 1.20400867e+02] [ 7.09489047e-01 -7.04509070e-01 1.70956661e-02 3.23292412e+02] [-2.40530711e-02 3.59534086e-05 9.99710682e-01 -1.67578268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:323.31, Z:-0.17 [[-7.03210496e-01 -7.10782255e-01 -1.68399940e-02 1.20380562e+02] [ 7.10578754e-01 -7.03412103e-01 1.70072716e-02 3.23311263e+02] [-2.39339225e-02 -6.45005075e-06 9.99713543e-01 -1.68434102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.266875 meters Centerline goodness [0,1] 0.9999348986589124 Centerline is valid? [True, True] Translation: X:120.36, Y:323.33, Z:-0.17 [[-7.02382538e-01 -7.11610098e-01 -1.64268049e-02 1.20360848e+02] [ 7.11416920e-01 -7.02574599e-01 1.65800776e-02 3.23330109e+02] [-2.33396065e-02 -4.07500148e-05 9.99727593e-01 -1.69055287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:323.35, Z:-0.17 [[-7.00551543e-01 -7.13401744e-01 -1.68963757e-02 1.20341325e+02] [ 7.13198145e-01 -7.00755264e-01 1.70430795e-02 3.23347329e+02] [-2.39987868e-02 -1.10908132e-04 9.99711981e-01 -1.69673646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:323.37, Z:-0.17 [[-6.99883573e-01 -7.14055732e-01 -1.69527713e-02 1.20321719e+02] [ 7.13851239e-01 -7.00088846e-01 1.70885092e-02 3.23365979e+02] [-2.40705940e-02 -1.41789904e-04 9.99710251e-01 -1.69918710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters Centerline goodness [0,1] 0.9999567277526559 Centerline is valid? [True, True] Translation: X:120.30, Y:323.38, Z:-0.17 [[-6.99219118e-01 -7.14696729e-01 -1.73554267e-02 1.20302224e+02] [ 7.14482880e-01 -6.99434453e-01 1.74831130e-02 3.23384720e+02] [-2.46341071e-02 -1.75628431e-04 9.99696519e-01 -1.70170393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:323.40, Z:-0.17 [[-6.98658104e-01 -7.15228290e-01 -1.80373638e-02 1.20282761e+02] [ 7.14997783e-01 -6.98890870e-01 1.81582651e-02 3.23402939e+02] [-2.55934538e-02 -2.10256055e-04 9.99672412e-01 -1.70317540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:323.42, Z:-0.17 [[-6.96938333e-01 -7.16890221e-01 -1.85841657e-02 1.20262055e+02] [ 7.16646457e-01 -6.97186006e-01 1.86956741e-02 3.23421467e+02] [-2.63593662e-02 -2.88544508e-04 9.99652490e-01 -1.70773164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44687500000003 meters Centerline goodness [0,1] 0.9999783287101248 Centerline is valid? [True, True] Translation: X:120.24, Y:323.44, Z:-0.17 [[-6.96320948e-01 -7.17492992e-01 -1.84646390e-02 1.20242560e+02] [ 7.17252825e-01 -6.96565651e-01 1.85655326e-02 3.23438819e+02] [-2.61824728e-02 -3.16245200e-04 9.99657130e-01 -1.72547626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters Centerline goodness [0,1] 0.9999566517837791 Centerline is valid? [True, True] Translation: X:120.22, Y:323.46, Z:-0.17 [[-6.95759583e-01 -7.18042173e-01 -1.82767857e-02 1.20222910e+02] [ 7.17807374e-01 -6.95999512e-01 1.83644306e-02 3.23458855e+02] [-2.59070696e-02 -3.41982938e-04 9.99664297e-01 -1.74294997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:323.48, Z:-0.18 [[-6.95209508e-01 -7.18607822e-01 -1.69274487e-02 1.20203439e+02] [ 7.18406795e-01 -6.95415474e-01 1.69998913e-02 3.23478677e+02] [-2.39878646e-02 -3.42308125e-04 9.99712191e-01 -1.77166772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:120.18, Y:323.50, Z:-0.18 [[-6.95271668e-01 -7.18562513e-01 -1.62856764e-02 1.20184728e+02] [ 7.18376642e-01 -6.95462295e-01 1.63461776e-02 3.23497154e+02] [-2.30718243e-02 -3.34215358e-04 9.99733754e-01 -1.79006773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.566875 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:120.17, Y:323.52, Z:-0.18 [[-6.95639667e-01 -7.18216571e-01 -1.58243558e-02 1.20166834e+02] [ 7.18041141e-01 -6.95819557e-01 1.58765501e-02 3.23517137e+02] [-2.24136976e-02 -3.18180448e-04 9.99748731e-01 -1.80021613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters Centerline goodness [0,1] 0.9999349748569447 Centerline is valid? [True, True] Translation: X:120.15, Y:323.54, Z:-0.18 [[-6.96798932e-01 -7.17114687e-01 -1.47571767e-02 1.20149489e+02] [ 7.16962053e-01 -6.96955130e-01 1.47973716e-02 3.23538713e+02] [-2.08965025e-02 -2.69543026e-04 9.99781608e-01 -1.81326403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.626875 meters Centerline goodness [0,1] 0.9999782466826191 Centerline is valid? [True, True] Translation: X:120.13, Y:323.56, Z:-0.18 [[-6.98001365e-01 -7.15951625e-01 -1.44002009e-02 1.20131629e+02] [ 7.15806217e-01 -6.98149852e-01 1.44306702e-02 3.23559117e+02] [-2.03851599e-02 -2.35125861e-04 9.99792173e-01 -1.82365247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:323.58, Z:-0.18 [[-6.99663191e-01 -7.14334200e-01 -1.40737322e-02 1.20114252e+02] [ 7.14195149e-01 -6.99804697e-01 1.40952244e-02 3.23579175e+02] [-1.99175647e-02 -1.89481557e-04 9.99801608e-01 -1.84300432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.686875 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:120.10, Y:323.60, Z:-0.18 [[-7.03171385e-01 -7.10888028e-01 -1.37191599e-02 1.20099414e+02] [ 7.10755409e-01 -7.03305199e-01 1.37311721e-02 3.23603032e+02] [-1.94100823e-02 -9.55998095e-05 9.99811602e-01 -1.84469124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:323.57, Z:-0.18 [[-6.55762022e-01 -7.54835765e-01 -1.41116263e-02 1.20089789e+02] [ 7.54711257e-01 -6.55911893e-01 1.38024434e-02 3.23574062e+02] [-1.96745615e-02 -1.59908502e-03 9.99805158e-01 -1.83972377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:323.60, Z:-0.18 [[-6.60109563e-01 -7.51053770e-01 -1.31757227e-02 1.20076103e+02] [ 7.50902232e-01 -6.60241040e-01 1.50866838e-02 3.23598278e+02] [-2.00300636e-02 6.51846232e-05 9.99799376e-01 -1.84813543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:323.62, Z:-0.18 [[-6.61935917e-01 -7.49438423e-01 -1.35237950e-02 1.20059670e+02] [ 7.49278649e-01 -6.62074043e-01 1.54747524e-02 3.23621538e+02] [-2.05511277e-02 1.10203571e-04 9.99788797e-01 -1.84629727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:323.64, Z:-0.18 [[-6.63786653e-01 -7.47797855e-01 -1.36252205e-02 1.20044089e+02] [ 7.47635505e-01 -6.63926459e-01 1.55823212e-02 3.23643643e+02] [-2.06985707e-02 1.56638208e-04 9.99785749e-01 -1.84837219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters Centerline goodness [0,1] 0.9999779034824112 Centerline is valid? [True, True] Translation: X:120.03, Y:323.67, Z:-0.19 [[-6.65115938e-01 -7.46610279e-01 -1.39240808e-02 1.20027190e+02] [ 7.46440699e-01 -6.65261644e-01 1.59131076e-02 3.23666283e+02] [-2.11440466e-02 1.90560915e-04 9.99776421e-01 -1.85044993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:323.69, Z:-0.19 [[-6.66653783e-01 -7.45236199e-01 -1.39907499e-02 1.20012150e+02] [ 7.45064868e-01 -6.66800536e-01 1.59808370e-02 3.23688127e+02] [-2.12385378e-02 2.29669213e-04 9.99774410e-01 -1.85337934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:323.71, Z:-0.19 [[-6.67053590e-01 -7.44873610e-01 -1.42412459e-02 1.19995017e+02] [ 7.44696251e-01 -6.67205552e-01 1.62556450e-02 3.23708608e+02] [-2.16102393e-02 2.37983910e-04 9.99766443e-01 -1.86661806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:323.73, Z:-0.19 [[-6.66925318e-01 -7.44990095e-01 -1.41555467e-02 1.19977374e+02] [ 7.44815124e-01 -6.67075489e-01 1.61469138e-02 3.23728783e+02] [-2.14721091e-02 2.25520322e-04 9.99769422e-01 -1.87806384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters Centerline goodness [0,1] 0.9999558245350533 Centerline is valid? [True, True] Translation: X:119.96, Y:323.75, Z:-0.19 [[-6.66724576e-01 -7.45171583e-01 -1.40588427e-02 1.19958772e+02] [ 7.44999245e-01 -6.66872752e-01 1.60267731e-02 3.23749286e+02] [-2.13181550e-02 2.11616317e-04 9.99772720e-01 -1.88730279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:323.77, Z:-0.19 [[-6.65738303e-01 -7.46064052e-01 -1.34514530e-02 1.19941648e+02] [ 7.45906676e-01 -6.65874164e-01 1.53241088e-02 3.23769112e+02] [-2.03897417e-02 1.68317583e-04 9.99792093e-01 -1.90573901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:323.79, Z:-0.19 [[-6.65124933e-01 -7.46612523e-01 -1.33627734e-02 1.19924777e+02] [ 7.46457448e-01 -6.65259137e-01 1.52170892e-02 3.23789360e+02] [-2.02509765e-02 1.46523704e-04 9.99794917e-01 -1.92599967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:323.81, Z:-0.19 [[-6.64199240e-01 -7.47434756e-01 -1.34407760e-02 1.19906263e+02] [ 7.47278245e-01 -6.64335211e-01 1.52954895e-02 3.23809426e+02] [-2.03615612e-02 1.15253021e-04 9.99792675e-01 -1.92693254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:323.83, Z:-0.19 [[-6.62096571e-01 -7.49299010e-01 -1.33837648e-02 1.19887670e+02] [ 7.49144389e-01 -6.62231826e-01 1.52214830e-02 3.23828550e+02] [-2.02685972e-02 5.17193973e-05 9.99794570e-01 -1.94794889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:323.85, Z:-0.20 [[-6.60958337e-01 -7.50299789e-01 -1.35758445e-02 1.19869678e+02] [ 7.50141147e-01 -6.61097744e-01 1.54282882e-02 3.23848049e+02] [-2.05508015e-02 1.36561334e-05 9.99788810e-01 -1.95617887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:323.87, Z:-0.20 [[-6.59873247e-01 -7.51249222e-01 -1.38529690e-02 1.19851459e+02] [ 7.51084386e-01 -6.60018641e-01 1.57365574e-02 3.23867882e+02] [-2.09652943e-02 -2.06154404e-05 9.99780204e-01 -1.96353389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:323.89, Z:-0.20 [[-6.57667106e-01 -7.53176227e-01 -1.41261599e-02 1.19833391e+02] [ 7.53005481e-01 -6.57818792e-01 1.60369363e-02 3.23887982e+02] [-2.13710926e-02 -9.01103910e-05 9.99771608e-01 -1.96817512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:323.91, Z:-0.20 [[-6.56795566e-01 -7.53936920e-01 -1.40962740e-02 1.19816263e+02] [ 7.53767270e-01 -6.56946806e-01 1.59936469e-02 3.23907497e+02] [-2.13187031e-02 -1.20753595e-04 9.99772723e-01 -1.97622700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:323.93, Z:-0.20 [[-6.56331684e-01 -7.54335372e-01 -1.43828861e-02 1.19799177e+02] [ 7.54159077e-01 -6.56489243e-01 1.63082919e-02 3.23928866e+02] [-2.17441314e-02 -1.43335403e-04 9.99763558e-01 -1.97242241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters Centerline goodness [0,1] 0.9999777901166019 Centerline is valid? [True, True] Translation: X:119.78, Y:323.95, Z:-0.20 [[-6.55237717e-01 -7.55269410e-01 -1.52201386e-02 1.19781376e+02] [ 7.55072515e-01 -6.55414435e-01 1.72457531e-02 3.23950074e+02] [-2.30006882e-02 -1.92240423e-04 9.99735431e-01 -1.98227123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:323.97, Z:-0.20 [[-6.55000053e-01 -7.55464831e-01 -1.57422496e-02 1.19763983e+02] [ 7.55254551e-01 -6.55189166e-01 1.78247297e-02 3.23969915e+02] [-2.37801077e-02 -2.14206762e-04 9.99717190e-01 -1.99479568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:323.99, Z:-0.20 [[-6.54569154e-01 -7.55830304e-01 -1.61175228e-02 1.19746043e+02] [ 7.55610194e-01 -6.54767512e-01 1.82411343e-02 3.23990863e+02] [-2.43404323e-02 -2.38480689e-04 9.99703699e-01 -1.99888629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:324.01, Z:-0.20 [[-6.54209032e-01 -7.56142725e-01 -1.60847963e-02 1.19729433e+02] [ 7.55923898e-01 -6.54406687e-01 1.81919719e-02 3.24011241e+02] [-2.42817255e-02 -2.57529616e-04 9.99705122e-01 -2.01153588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:324.03, Z:-0.20 [[-6.54252189e-01 -7.56112058e-01 -1.57679497e-02 1.19712073e+02] [ 7.55901942e-01 -6.54442121e-01 1.78259609e-02 3.24032713e+02] [-2.37976344e-02 -2.56349824e-04 9.99716763e-01 -2.02237021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:324.05, Z:-0.20 [[-6.54295476e-01 -7.56069376e-01 -1.60165194e-02 1.19695510e+02] [ 7.55852864e-01 -6.54491427e-01 1.80947681e-02 3.24052445e+02] [-2.41635747e-02 -2.66807148e-04 9.99707983e-01 -2.03200491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:324.07, Z:-0.20 [[-6.54458975e-01 -7.55931449e-01 -1.58459395e-02 1.19677558e+02] [ 7.55719669e-01 -6.54650727e-01 1.78943408e-02 3.24073341e+02] [-2.39004508e-02 -2.63976188e-04 9.99714309e-01 -2.04435984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:324.10, Z:-0.21 [[-6.54988694e-01 -7.55475927e-01 -1.56822903e-02 1.19660001e+02] [ 7.55268628e-01 -6.55176358e-01 1.76985634e-02 3.24095666e+02] [-2.36455045e-02 -2.51982962e-04 9.99720374e-01 -2.06285538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:324.11, Z:-0.21 [[-6.55406144e-01 -7.55119804e-01 -1.53905157e-02 1.19641323e+02] [ 7.54920262e-01 -6.55586778e-01 1.73601584e-02 3.24114816e+02] [-2.31988180e-02 -2.40657689e-04 9.99730842e-01 -2.08869265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:324.14, Z:-0.21 [[-6.56477902e-01 -7.54197716e-01 -1.49187239e-02 1.19624805e+02] [ 7.54010234e-01 -6.56647364e-01 1.68168196e-02 3.24136466e+02] [-2.24795476e-02 -2.09000052e-04 9.99747281e-01 -2.10037184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:324.16, Z:-0.21 [[-6.57427152e-01 -7.53371667e-01 -1.48550104e-02 1.19607041e+02] [ 7.53185816e-01 -6.57594933e-01 1.67341265e-02 3.24158714e+02] [-2.23755963e-02 -1.87114020e-04 9.99749617e-01 -2.10538214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:324.18, Z:-0.21 [[-6.58775444e-01 -7.52190707e-01 -1.49684937e-02 1.19590300e+02] [ 7.52001905e-01 -6.58945458e-01 1.68528211e-02 3.24178855e+02] [-2.25399564e-02 -1.54111052e-04 9.99745931e-01 -2.11541711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:324.20, Z:-0.21 [[-6.59937038e-01 -7.51167827e-01 -1.51657765e-02 1.19573285e+02] [ 7.50974048e-01 -6.60111262e-01 1.70616879e-02 3.24200896e+02] [-2.28272909e-02 -1.29464799e-04 9.99739415e-01 -2.10961047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:324.22, Z:-0.21 [[-6.62597560e-01 -7.48801712e-01 -1.61390735e-02 1.19557136e+02] [ 7.48581742e-01 -6.62794080e-01 1.81488974e-02 3.24222939e+02] [-2.42868079e-02 -5.60006480e-05 9.99705030e-01 -2.10312007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:324.24, Z:-0.21 [[-6.62833658e-01 -7.48592604e-01 -1.61447987e-02 1.19539256e+02] [ 7.48372696e-01 -6.63030248e-01 1.81438026e-02 3.24242877e+02] [-2.42868063e-02 -5.60034410e-05 9.99705030e-01 -2.11144587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:324.26, Z:-0.21 [[-6.64155222e-01 -7.47412156e-01 -1.65199904e-02 1.19522279e+02] [ 7.47181859e-01 -6.64360647e-01 1.85526324e-02 3.24263280e+02] [-2.48416944e-02 -2.16094300e-05 9.99691397e-01 -2.11660853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:324.28, Z:-0.21 [[-6.65235255e-01 -7.46447041e-01 -1.66993963e-02 1.19504792e+02] [ 7.46211629e-01 -6.65444824e-01 1.87454176e-02 3.24283808e+02] [-2.51049884e-02 8.82892877e-06 9.99684820e-01 -2.12092782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:324.30, Z:-0.21 [[-6.66132190e-01 -7.45648018e-01 -1.66415145e-02 1.19488087e+02] [ 7.45414293e-01 -6.66340028e-01 1.86681224e-02 3.24303413e+02] [-2.50087557e-02 3.06144862e-05 9.99687232e-01 -2.13200398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:324.32, Z:-0.21 [[-6.67184601e-01 -7.44714526e-01 -1.62783081e-02 1.19470222e+02] [ 7.44490808e-01 -6.67383152e-01 1.82528119e-02 3.24324431e+02] [-2.44570027e-02 5.89442739e-05 9.99700881e-01 -2.14453832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:324.35, Z:-0.22 [[-6.67369159e-01 -7.44560350e-01 -1.57572371e-02 1.19451836e+02] [ 7.44350934e-01 -6.67555153e-01 1.76579777e-02 3.24345158e+02] [-2.36662549e-02 5.54755325e-05 9.99719913e-01 -2.15695841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:324.37, Z:-0.22 [[-6.67380054e-01 -7.44551727e-01 -1.57031621e-02 1.19433112e+02] [ 7.44344012e-01 -6.67564771e-01 1.75860327e-02 3.24365625e+02] [-2.35765888e-02 4.80128018e-05 9.99722032e-01 -2.16394736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:324.38, Z:-0.22 [[-6.66087724e-01 -7.45709625e-01 -1.56300521e-02 1.19413392e+02] [ 7.45504382e-01 -6.66271082e-01 1.74946018e-02 3.24383980e+02] [-2.34597447e-02 6.67159712e-07 9.99724782e-01 -2.17001066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:324.40, Z:-0.22 [[-6.65191146e-01 -7.46501132e-01 -1.60249443e-02 1.19394536e+02] [ 7.46285898e-01 -6.65384144e-01 1.79248624e-02 3.24401906e+02] [-2.40436739e-02 -3.57301959e-05 9.99710908e-01 -2.18139331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:324.42, Z:-0.22 [[-6.64182578e-01 -7.47394551e-01 -1.62138334e-02 1.19374812e+02] [ 7.47174783e-01 -6.64380448e-01 1.81235653e-02 3.24421069e+02] [-2.43176079e-02 -7.72111507e-05 9.99704280e-01 -2.18524509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:324.44, Z:-0.22 [[-6.61915868e-01 -7.49382446e-01 -1.71269747e-02 1.19354645e+02] [ 7.49138231e-01 -6.62137389e-01 1.91308447e-02 3.24438123e+02] [-2.56767295e-02 -1.67461879e-04 9.99670284e-01 -2.18397445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00687500000004 meters Centerline goodness [0,1] 0.999955329223622 Centerline is valid? [True, True] Translation: X:119.33, Y:324.46, Z:-0.22 [[-6.61085731e-01 -7.50108193e-01 -1.74170915e-02 1.19334867e+02] [ 7.49856122e-01 -6.61315096e-01 1.94458162e-02 3.24457665e+02] [-2.61046516e-02 -2.04961100e-04 9.99659195e-01 -2.18963009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:324.48, Z:-0.22 [[-6.60495098e-01 -7.50625929e-01 -1.75196880e-02 1.19315790e+02] [ 7.50371380e-01 -6.60727371e-01 1.95482403e-02 3.24475849e+02] [-2.62491534e-02 -2.34755602e-04 9.99655404e-01 -2.19884964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:324.49, Z:-0.22 [[-6.59534187e-01 -7.51473232e-01 -1.73964873e-02 1.19295382e+02] [ 7.51222875e-01 -6.59763522e-01 1.93981200e-02 3.24494693e+02] [-2.60547356e-02 -2.74915924e-04 9.99660480e-01 -2.21106017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:324.51, Z:-0.22 [[-6.59527111e-01 -7.51483955e-01 -1.72004649e-02 1.19276884e+02] [ 7.51239509e-01 -6.59751307e-01 1.91680138e-02 3.24514577e+02] [-2.57524841e-02 -2.79844030e-04 9.99668311e-01 -2.21874005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.126875 meters Centerline goodness [0,1] 0.9999776436396155 Centerline is valid? [True, True] Translation: X:119.26, Y:324.53, Z:-0.22 [[-6.59976464e-01 -7.51086914e-01 -1.73064879e-02 1.19258265e+02] [ 7.50839622e-01 -6.60203281e-01 1.92740609e-02 3.24534065e+02] [-2.59022950e-02 -2.73970240e-04 9.99664442e-01 -2.22406890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:324.55, Z:-0.22 [[-6.60432408e-01 -7.50693073e-01 -1.69983553e-02 1.19240068e+02] [ 7.50454678e-01 -6.60651074e-01 1.89191835e-02 3.24552921e+02] [-2.54324817e-02 -2.61653289e-04 9.99676508e-01 -2.23822945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:324.57, Z:-0.22 [[-6.60984539e-01 -7.50209505e-01 -1.68860255e-02 1.19221986e+02] [ 7.49974412e-01 -6.61200148e-01 1.87815044e-02 3.24573196e+02] [-2.52551057e-02 -2.49803033e-04 9.99681008e-01 -2.24838626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:324.59, Z:-0.23 [[-6.61990679e-01 -7.49337727e-01 -1.61651401e-02 1.19204361e+02] [ 7.49122273e-01 -6.62187983e-01 1.79692802e-02 3.24593500e+02] [-2.41694211e-02 -2.14170569e-04 9.99707854e-01 -2.26136673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:324.61, Z:-0.23 [[-6.62651490e-01 -7.48761792e-01 -1.57728208e-02 1.19186567e+02] [ 7.48556758e-01 -6.62839152e-01 1.75225131e-02 3.24612560e+02] [-2.35750314e-02 -1.95532186e-04 9.99722051e-01 -2.27998297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:324.63, Z:-0.23 [[-6.63737155e-01 -7.47803816e-01 -1.55705430e-02 1.19168153e+02] [ 7.47604013e-01 -6.63919743e-01 1.72862602e-02 3.24633156e+02] [-2.32643223e-02 -1.67067241e-04 9.99729335e-01 -2.29859925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:324.65, Z:-0.23 [[-6.65034569e-01 -7.46673481e-01 -1.44130428e-02 1.19150833e+02] [ 7.46502209e-01 -6.65190723e-01 1.59923229e-02 3.24652901e+02] [-2.15284658e-02 -1.23920669e-04 9.99768228e-01 -2.32564369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:324.67, Z:-0.23 [[-6.65667019e-01 -7.46115768e-01 -1.40954173e-02 1.19133047e+02] [ 7.45952052e-01 -6.65816227e-01 1.56297126e-02 3.24672366e+02] [-2.10465326e-02 -1.10321214e-04 9.99778491e-01 -2.34807738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:324.69, Z:-0.23 [[-6.66411875e-01 -7.45446181e-01 -1.43249523e-02 1.19115639e+02] [ 7.45277167e-01 -6.66565812e-01 1.58732939e-02 3.24692839e+02] [-2.13812098e-02 -9.79082977e-05 9.99771391e-01 -2.34793394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters Centerline goodness [0,1] 0.9999550985586637 Centerline is valid? [True, True] Translation: X:119.10, Y:324.71, Z:-0.24 [[-6.67182081e-01 -7.44767554e-01 -1.37608520e-02 1.19098407e+02] [ 7.44611627e-01 -6.67323973e-01 1.52394206e-02 3.24712287e+02] [-2.05327724e-02 -7.90220778e-05 9.99789177e-01 -2.36512924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:324.73, Z:-0.24 [[-6.68743574e-01 -7.43367843e-01 -1.36485608e-02 1.19081604e+02] [ 7.43214366e-01 -6.68882836e-01 1.51049004e-02 3.24734017e+02] [-2.03577853e-02 -4.25014126e-05 9.99792758e-01 -2.36283393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:324.75, Z:-0.24 [[-6.69721441e-01 -7.42484036e-01 -1.38075644e-02 1.19063688e+02] [ 7.42326974e-01 -6.69863760e-01 1.52711425e-02 3.24754439e+02] [-2.05877665e-02 -2.23159674e-05 9.99788049e-01 -2.37066661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:324.77, Z:-0.24 [[-6.70552230e-01 -7.41730791e-01 -1.39693091e-02 1.19046043e+02] [ 7.41570064e-01 -6.70697722e-01 1.54404217e-02 3.24773924e+02] [-2.08218199e-02 -5.61224659e-06 9.99783202e-01 -2.38424284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:324.79, Z:-0.24 [[-6.71760754e-01 -7.40622007e-01 -1.47150133e-02 1.19028140e+02] [ 7.40443649e-01 -6.71921902e-01 1.62530033e-02 3.24794985e+02] [-2.19246717e-02 2.24916325e-05 9.99759625e-01 -2.38265890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:324.82, Z:-0.24 [[-6.72255731e-01 -7.40171449e-01 -1.47803089e-02 1.19009854e+02] [ 7.39991624e-01 -6.72418192e-01 1.63147653e-02 3.24815858e+02] [-2.20142720e-02 3.03896657e-05 9.99757656e-01 -2.38753143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:324.84, Z:-0.24 [[-6.72782456e-01 -7.39691192e-01 -1.48562320e-02 1.18992621e+02] [ 7.39509623e-01 -6.72946461e-01 1.63883537e-02 3.24835031e+02] [-2.21197696e-02 3.94703826e-05 9.99755327e-01 -2.39814107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:324.86, Z:-0.24 [[-6.73472657e-01 -7.39070197e-01 -1.44852975e-02 1.18973508e+02] [ 7.38897673e-01 -6.73628415e-01 1.59683331e-02 3.24855307e+02] [-2.15594271e-02 5.10831567e-05 9.99767567e-01 -2.41184082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:324.87, Z:-0.24 [[-6.74001487e-01 -7.38591395e-01 -1.43089496e-02 1.18956197e+02] [ 7.38423111e-01 -6.74153356e-01 1.57658708e-02 3.24874693e+02] [-2.12909629e-02 6.01612887e-05 9.99773320e-01 -2.43176987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:324.89, Z:-0.24 [[-6.74583772e-01 -7.38063836e-01 -1.40892757e-02 1.18938994e+02] [ 7.37900780e-01 -6.74730886e-01 1.55135249e-02 3.24894127e+02] [-2.09564411e-02 6.86846015e-05 9.99780387e-01 -2.44325836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters Centerline goodness [0,1] 0.9999553760681854 Centerline is valid? [True, True] Translation: X:118.92, Y:324.91, Z:-0.24 [[-6.74860561e-01 -7.37815409e-01 -1.38436139e-02 1.18920808e+02] [ 7.37658143e-01 -6.75002532e-01 1.52330448e-02 3.24914413e+02] [-2.05836496e-02 6.83266458e-05 9.99788132e-01 -2.44601209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.726875 meters Centerline goodness [0,1] 0.9999103058570276 Centerline is valid? [True, True] Translation: X:118.90, Y:324.93, Z:-0.24 [[-6.75184891e-01 -7.37520441e-01 -1.37463477e-02 1.18902454e+02] [ 7.37365498e-01 -6.75324806e-01 1.51171392e-02 3.24934333e+02] [-2.04324488e-02 7.07814904e-05 9.99791233e-01 -2.43957382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:324.95, Z:-0.25 [[-6.75612651e-01 -7.37121104e-01 -1.41429824e-02 1.18885111e+02] [ 7.36957215e-01 -6.75760662e-01 1.55432199e-02 3.24954267e+02] [-2.10145065e-02 7.84230728e-05 9.99779168e-01 -2.45298071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.786875 meters Centerline goodness [0,1] 0.9999100719424461 Centerline is valid? [True, True] Translation: X:118.87, Y:324.97, Z:-0.24 [[-6.76065119e-01 -7.36706960e-01 -1.40999944e-02 1.18866490e+02] [ 7.36544197e-01 -6.76212132e-01 1.54854422e-02 3.24974489e+02] [-2.09428203e-02 8.38982513e-05 9.99780672e-01 -2.44947635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:324.99, Z:-0.25 [[-6.76484023e-01 -7.36319820e-01 -1.42299137e-02 1.18848998e+02] [ 7.36154192e-01 -6.76633664e-01 1.56170086e-02 3.24993561e+02] [-2.11275515e-02 8.92461869e-05 9.99776784e-01 -2.46191340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:325.01, Z:-0.25 [[-6.77019476e-01 -7.35827877e-01 -1.42114187e-02 1.18830200e+02] [ 7.35662709e-01 -6.77168610e-01 1.55901757e-02 3.25013271e+02] [-2.10952125e-02 1.00041868e-04 9.99777466e-01 -2.47156935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters Centerline goodness [0,1] 0.9998657297587611 Centerline is valid? [True, True] Translation: X:118.81, Y:325.03, Z:-0.25 [[-6.77469154e-01 -7.35409975e-01 -1.44122734e-02 1.18811999e+02] [ 7.35240226e-01 -6.77622430e-01 1.58003989e-02 3.25033097e+02] [-2.13858507e-02 1.07799729e-04 9.99771291e-01 -2.47807968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:325.05, Z:-0.25 [[-6.78707745e-01 -7.34252328e-01 -1.51431891e-02 1.18795348e+02] [ 7.34064911e-01 -6.78876644e-01 1.65893847e-02 3.25053003e+02] [-2.24611517e-02 1.43260086e-04 9.99747706e-01 -2.48236840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:325.07, Z:-0.25 [[-6.79428506e-01 -7.33577873e-01 -1.55051152e-02 1.18776900e+02] [ 7.33381393e-01 -6.79605383e-01 1.69780936e-02 3.25073197e+02] [-2.29921135e-02 1.64237786e-04 9.99735633e-01 -2.48334418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.966875 meters Centerline goodness [0,1] 0.9999775507913347 Centerline is valid? [True, True] Translation: X:118.76, Y:325.09, Z:-0.25 [[-6.80264035e-01 -7.32801161e-01 -1.55980750e-02 1.18758868e+02] [ 7.32602366e-01 -6.80442815e-01 1.70689764e-02 3.25093488e+02] [-2.31217638e-02 1.84224087e-04 9.99732639e-01 -2.48832614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:325.11, Z:-0.25 [[-6.80585076e-01 -7.32492375e-01 -1.60895666e-02 1.18741262e+02] [ 7.32281059e-01 -6.80775208e-01 1.75945116e-02 3.25112470e+02] [-2.38412236e-02 1.92477202e-04 9.99715739e-01 -2.49702230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:325.13, Z:-0.25 [[-6.80881894e-01 -7.32209495e-01 -1.64043089e-02 1.18720641e+02] [ 7.31989955e-01 -6.81079448e-01 1.79301672e-02 3.25132310e+02] [-2.43012763e-02 2.00536903e-04 9.99704660e-01 -2.50724053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:325.15, Z:-0.25 [[-6.80624485e-01 -7.32447722e-01 -1.64512804e-02 1.18701589e+02] [ 7.32227234e-01 -6.80823251e-01 1.79716022e-02 3.25151434e+02] [-2.43636733e-02 1.85836933e-04 9.99703144e-01 -2.52072940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:325.17, Z:-0.25 [[-6.80435906e-01 -7.32626957e-01 -1.62702317e-02 1.18683264e+02] [ 7.32411612e-01 -6.80630379e-01 1.77628183e-02 3.25170244e+02] [-2.40875335e-02 1.69952738e-04 9.99709839e-01 -2.53761889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:325.19, Z:-0.26 [[-6.79976418e-01 -7.33059120e-01 -1.60124001e-02 1.18663534e+02] [ 7.32850942e-01 -6.80164911e-01 1.74697123e-02 3.25188583e+02] [-2.36974047e-02 1.44289908e-04 9.99719167e-01 -2.56182943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:325.21, Z:-0.26 [[-6.79991770e-01 -7.33046275e-01 -1.59484005e-02 1.18645152e+02] [ 7.32840008e-01 -6.80178756e-01 1.73891456e-02 3.25207996e+02] [-2.35948116e-02 1.36849878e-04 9.99721594e-01 -2.58182349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:325.23, Z:-0.26 [[-6.79640055e-01 -7.33377309e-01 -1.57199923e-02 1.18625486e+02] [ 7.33177261e-01 -6.79821821e-01 1.71287922e-02 3.25227427e+02] [-2.32486613e-02 1.15872357e-04 9.99729707e-01 -2.59039727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:325.25, Z:-0.26 [[-6.79744719e-01 -7.33283681e-01 -1.55615322e-02 1.18606479e+02] [ 7.33087860e-01 -6.79922813e-01 1.69457198e-02 3.25246935e+02] [-2.30066605e-02 1.10793153e-04 9.99735306e-01 -2.60029956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:325.27, Z:-0.26 [[-6.79696995e-01 -7.33325762e-01 -1.56627502e-02 1.18588061e+02] [ 7.33127667e-01 -6.79877428e-01 1.70442607e-02 3.25265979e+02] [-2.31477458e-02 1.02137242e-04 9.99732050e-01 -2.61218742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:325.29, Z:-0.26 [[-6.79853592e-01 -7.33168411e-01 -1.62226709e-02 1.18569119e+02] [ 7.32956051e-01 -6.80047109e-01 1.76453147e-02 3.25285426e+02] [-2.39691678e-02 1.05725812e-04 9.99712693e-01 -2.61524477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:325.31, Z:-0.26 [[-6.80173783e-01 -7.32866045e-01 -1.64616279e-02 1.18550512e+02] [ 7.32647568e-01 -6.80372948e-01 1.78939177e-02 3.25305153e+02] [-2.43138910e-02 1.10402009e-04 9.99704368e-01 -2.61975984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:325.33, Z:-0.26 [[-6.80444444e-01 -7.32609906e-01 -1.66758793e-02 1.18531774e+02] [ 7.32385915e-01 -6.80648744e-01 1.81151587e-02 3.25325106e+02] [-2.46217610e-02 1.13179938e-04 9.99696832e-01 -2.62915879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:325.35, Z:-0.26 [[-6.80819488e-01 -7.32264253e-01 -1.65495766e-02 1.18512941e+02] [ 7.32043814e-01 -6.81020594e-01 1.79667504e-02 3.25345223e+02] [-2.44270116e-02 1.17098673e-04 9.99701609e-01 -2.63772800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:325.37, Z:-0.26 [[-6.81047087e-01 -7.32067292e-01 -1.58853796e-02 1.18494477e+02] [ 7.31864379e-01 -6.81232315e-01 1.72355277e-02 3.25365713e+02] [-2.34392000e-02 1.12262507e-04 9.99725258e-01 -2.64894821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:325.39, Z:-0.27 [[-6.81267387e-01 -7.31870028e-01 -1.55245021e-02 1.18475759e+02] [ 7.31676427e-01 -6.81444239e-01 1.68331653e-02 3.25386266e+02] [-2.28987717e-02 1.08974357e-04 9.99737783e-01 -2.65690149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:325.41, Z:-0.27 [[-6.81130972e-01 -7.32003172e-01 -1.52300811e-02 1.18458074e+02] [ 7.31817069e-01 -6.81301216e-01 1.65054418e-02 3.25405407e+02] [-2.24583085e-02 9.67342990e-05 9.99747776e-01 -2.66933697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters Centerline goodness [0,1] 0.9999777263007841 Centerline is valid? [True, True] Translation: X:118.44, Y:325.42, Z:-0.27 [[-6.81152603e-01 -7.31980744e-01 -1.53401945e-02 1.18439903e+02] [ 7.31792193e-01 -6.81325313e-01 1.66133924e-02 3.25424582e+02] [-2.26123462e-02 9.04208984e-05 9.99744304e-01 -2.68242546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:325.44, Z:-0.27 [[-6.80826866e-01 -7.32277125e-01 -1.56521848e-02 1.18421181e+02] [ 7.32081167e-01 -6.81006759e-01 1.69398463e-02 3.25444216e+02] [-2.30639056e-02 7.44327317e-05 9.99733990e-01 -2.69119479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:325.46, Z:-0.27 [[-6.81052686e-01 -7.32066995e-01 -1.56574017e-02 1.18402923e+02] [ 7.31871092e-01 -6.81232640e-01 1.69350224e-02 3.25463798e+02] [-2.30639041e-02 7.44428407e-05 9.99733990e-01 -2.69952051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:325.48, Z:-0.27 [[-6.81210138e-01 -7.31921914e-01 -1.55903972e-02 1.18384681e+02] [ 7.31727883e-01 -6.81388514e-01 1.68522378e-02 3.25483636e+02] [-2.29576397e-02 7.19869136e-05 9.99736436e-01 -2.70799526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:325.50, Z:-0.27 [[-6.81358121e-01 -7.31784800e-01 -1.55601540e-02 1.18366455e+02] [ 7.31591726e-01 -6.81535767e-01 1.68090474e-02 3.25503617e+02] [-2.29054068e-02 6.93010315e-05 9.99737634e-01 -2.71810174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:325.52, Z:-0.27 [[-6.81287994e-01 -7.31861281e-01 -1.50244813e-02 1.18349246e+02] [ 7.31681503e-01 -6.81453639e-01 1.62208265e-02 3.25523179e+02] [-2.21098823e-02 5.79192300e-05 9.99755545e-01 -2.73805215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters Centerline goodness [0,1] 0.9999553521598392 Centerline is valid? [True, True] Translation: X:118.33, Y:325.54, Z:-0.28 [[-6.81500826e-01 -7.31669512e-01 -1.47088068e-02 1.18331761e+02] [ 7.31497388e-01 -6.81659535e-01 1.58697899e-02 3.25542443e+02] [-2.16378398e-02 5.58212119e-05 9.99765873e-01 -2.75758352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:325.56, Z:-0.28 [[-6.81524672e-01 -7.31651550e-01 -1.44958607e-02 1.18313661e+02] [ 7.31484586e-01 -6.81678815e-01 1.56298788e-02 3.25561966e+02] [-2.13171462e-02 4.86492971e-05 9.99772763e-01 -2.76913547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:325.58, Z:-0.28 [[-6.81540771e-01 -7.31634961e-01 -1.45760504e-02 1.18295664e+02] [ 7.31466357e-01 -6.81696620e-01 1.57062289e-02 3.25581521e+02] [-2.14276705e-02 4.25448707e-05 9.99770400e-01 -2.78330426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.746875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:325.60, Z:-0.28 [[-6.82382563e-01 -7.30841192e-01 -1.50063625e-02 1.18278213e+02] [ 7.30662527e-01 -6.82547543e-01 1.61593040e-02 3.25602021e+02] [-2.20524408e-02 6.22405525e-05 9.99756813e-01 -2.76757531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:325.62, Z:-0.28 [[-6.83179842e-01 -7.30079161e-01 -1.58025718e-02 1.18260732e+02] [ 7.29881093e-01 -6.83362577e-01 1.70052580e-02 3.25622249e+02] [-2.32140707e-02 8.36511636e-05 9.99730514e-01 -2.76737045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:325.64, Z:-0.28 [[-6.84390097e-01 -7.28923686e-01 -1.67467949e-02 1.18243837e+02] [ 7.28701208e-01 -6.84594950e-01 1.80084310e-02 3.25642743e+02] [-2.45915431e-02 1.21382170e-04 9.99697575e-01 -2.76670960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:325.66, Z:-0.28 [[-6.85047081e-01 -7.28296529e-01 -1.71657551e-02 1.18225250e+02] [ 7.28062904e-01 -6.85262101e-01 1.84461790e-02 3.25662988e+02] [-2.51973296e-02 1.38751548e-04 9.99682487e-01 -2.77146771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.866875 meters Centerline goodness [0,1] 0.9999776161163962 Centerline is valid? [True, True] Translation: X:118.21, Y:325.68, Z:-0.28 [[-6.85326929e-01 -7.28026849e-01 -1.74329393e-02 1.18206784e+02] [ 7.27786099e-01 -6.85548603e-01 1.87218254e-02 3.25682790e+02] [-2.55811187e-02 1.43120255e-04 9.99672739e-01 -2.77757464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:325.70, Z:-0.28 [[-6.85531841e-01 -7.27833337e-01 -1.74565053e-02 1.18188236e+02] [ 7.27592158e-01 -6.85754048e-01 1.87359887e-02 3.25702143e+02] [-2.56075463e-02 1.42900449e-04 9.99672063e-01 -2.78079176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:325.72, Z:-0.28 [[-6.86021211e-01 -7.27374696e-01 -1.73479037e-02 1.18169648e+02] [ 7.27136651e-01 -6.86240504e-01 1.86081234e-02 3.25721916e+02] [-2.54399122e-02 1.51270787e-04 9.99676342e-01 -2.78972647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:325.74, Z:-0.28 [[-6.86611377e-01 -7.26816351e-01 -1.74013965e-02 1.18150630e+02] [ 7.26576955e-01 -6.86831831e-01 1.86538030e-02 3.25742007e+02] [-2.55097221e-02 1.64459716e-04 9.99674561e-01 -2.80373451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:325.76, Z:-0.28 [[-6.87649142e-01 -7.25836582e-01 -1.73180273e-02 1.18132926e+02] [ 7.25599450e-01 -6.87867152e-01 1.85531486e-02 3.25761664e+02] [-2.53790561e-02 1.92105625e-04 9.99677881e-01 -2.81574062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:325.78, Z:-0.28 [[-6.88397247e-01 -7.25127510e-01 -1.73010097e-02 1.18114591e+02] [ 7.24890927e-01 -6.88614588e-01 1.85227699e-02 3.25781879e+02] [-2.53450976e-02 2.09678825e-04 9.99678739e-01 -2.82645391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:325.80, Z:-0.28 [[-6.89027371e-01 -7.24530428e-01 -1.72319903e-02 1.18096569e+02] [ 7.24295821e-01 -6.89242780e-01 1.84378414e-02 3.25801210e+02] [-2.52358020e-02 2.23118848e-04 9.99681502e-01 -2.83446790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:325.82, Z:-0.28 [[-6.89698149e-01 -7.23880536e-01 -1.77040135e-02 1.18075334e+02] [ 7.23633015e-01 -6.89925293e-01 1.89301508e-02 3.25820374e+02] [-2.59176144e-02 2.44881331e-04 9.99664052e-01 -2.83757492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:325.84, Z:-0.28 [[-6.89848858e-01 -7.23724104e-01 -1.82201671e-02 1.18057411e+02] [ 7.23462194e-01 -6.90089384e-01 1.94703657e-02 3.25839336e+02] [-2.66647168e-02 2.50007429e-04 9.99644402e-01 -2.84878937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:325.86, Z:-0.28 [[-6.90122337e-01 -7.23455810e-01 -1.85162290e-02 1.18037832e+02] [ 7.23185480e-01 -6.90370642e-01 1.97772166e-02 3.25858539e+02] [-2.70910032e-02 2.58031010e-04 9.99632938e-01 -2.84937430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:325.88, Z:-0.29 [[-6.90518892e-01 -7.23075992e-01 -1.85679556e-02 1.18019091e+02] [ 7.22804353e-01 -6.90768441e-01 1.98198814e-02 3.25878788e+02] [-2.71574382e-02 2.65003352e-04 9.99631134e-01 -2.85804420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:325.90, Z:-0.29 [[-6.90835866e-01 -7.22776152e-01 -1.84510013e-02 1.18001279e+02] [ 7.22508148e-01 -6.91082168e-01 1.96828307e-02 3.25898769e+02] [-2.69774386e-02 2.66606609e-04 9.99636007e-01 -2.86457349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:325.92, Z:-0.29 [[-6.90915046e-01 -7.22695574e-01 -1.86415365e-02 1.17981871e+02] [ 7.22422340e-01 -6.91166433e-01 1.98726949e-02 3.25917916e+02] [-2.72463129e-02 2.63281528e-04 9.99628716e-01 -2.87112950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:325.94, Z:-0.29 [[-6.90875378e-01 -7.22721955e-01 -1.90837117e-02 1.17963131e+02] [ 7.22435979e-01 -6.91138849e-01 2.03309639e-02 3.25937005e+02] [-2.78831285e-02 2.59402433e-04 9.99611156e-01 -2.88124814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:325.96, Z:-0.29 [[-6.89740529e-01 -7.23783456e-01 -1.98874913e-02 1.17944674e+02] [ 7.23473743e-01 -6.90027147e-01 2.11726433e-02 3.25955332e+02] [-2.90473178e-02 2.15552446e-04 9.99578014e-01 -2.88633732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters Centerline goodness [0,1] 0.9999778152453633 Centerline is valid? [True, True] Translation: X:117.92, Y:325.97, Z:-0.29 [[-6.89132442e-01 -7.24360591e-01 -1.99552412e-02 1.17924018e+02] [ 7.24049407e-01 -6.89421279e-01 2.12310157e-02 3.25974007e+02] [-2.91364790e-02 1.82401161e-04 9.99575426e-01 -2.88938677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:325.99, Z:-0.29 [[-6.88869574e-01 -7.24613355e-01 -1.98543409e-02 1.17904586e+02] [ 7.24305792e-01 -6.89155613e-01 2.11106805e-02 3.25993039e+02] [-2.89798115e-02 1.61891421e-04 9.99579984e-01 -2.89932262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:326.01, Z:-0.29 [[-6.88197693e-01 -7.25258811e-01 -1.95855205e-02 1.17886130e+02] [ 7.24960150e-01 -6.88476319e-01 2.08119845e-02 3.26011619e+02] [-2.85782421e-02 1.24037845e-04 9.99591551e-01 -2.91402715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:326.03, Z:-0.29 [[-6.88001396e-01 -7.25434711e-01 -1.99639679e-02 1.17866894e+02] [ 7.25124887e-01 -6.88290977e-01 2.11997674e-02 3.26030956e+02] [-2.91200661e-02 1.09099657e-04 9.99575915e-01 -2.92424814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:326.05, Z:-0.29 [[-6.87842344e-01 -7.25582465e-01 -2.00747504e-02 1.17846707e+02] [ 7.25269646e-01 -6.88135217e-01 2.13040724e-02 3.26050715e+02] [-2.92720041e-02 9.42360083e-05 9.99571479e-01 -2.93736502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:326.07, Z:-0.30 [[-6.87121247e-01 -7.26267772e-01 -1.99878966e-02 1.17827237e+02] [ 7.25958297e-01 -6.87411900e-01 2.11997831e-02 3.26068842e+02] [-2.91366372e-02 5.64420208e-05 9.99575436e-01 -2.96137219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:326.09, Z:-0.30 [[-6.87173738e-01 -7.26227088e-01 -1.96588364e-02 1.17808840e+02] [ 7.25927984e-01 -6.87454881e-01 2.08410058e-02 3.26087691e+02] [-2.86498660e-02 5.04923583e-05 9.99589507e-01 -2.97695430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:326.11, Z:-0.30 [[-6.87376186e-01 -7.26045394e-01 -1.92889711e-02 1.17790470e+02] [ 7.25757745e-01 -6.87646772e-01 2.04355592e-02 3.26107174e+02] [-2.81011424e-02 4.77965706e-05 9.99605084e-01 -2.98819808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:326.13, Z:-0.30 [[-6.87812577e-01 -7.25638404e-01 -1.90464061e-02 1.17772489e+02] [ 7.25358132e-01 -6.88076234e-01 2.01662259e-02 3.26126939e+02] [-2.77387673e-02 5.51182699e-05 9.99615205e-01 -2.99836622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:326.15, Z:-0.30 [[-6.88433120e-01 -7.25054810e-01 -1.88510551e-02 1.17753873e+02] [ 7.24780396e-01 -6.88691163e-01 1.99464141e-02 3.26146886e+02] [-2.74447985e-02 6.88968789e-05 9.99623318e-01 -3.01088647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:326.17, Z:-0.30 [[-6.89261748e-01 -7.24260855e-01 -1.90907583e-02 1.17734847e+02] [ 7.23979464e-01 -6.89526073e-01 2.01873624e-02 3.26167072e+02] [-2.77844919e-02 9.30597417e-05 9.99613932e-01 -3.02300495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:326.19, Z:-0.30 [[-6.90168388e-01 -7.23388121e-01 -1.94222184e-02 1.17715987e+02] [ 7.23096896e-01 -6.90441606e-01 2.05247972e-02 3.26187056e+02] [-2.82573022e-02 1.21420389e-04 9.99600675e-01 -3.03766296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:326.21, Z:-0.31 [[-6.91615440e-01 -7.22006074e-01 -1.93729870e-02 1.17698383e+02] [ 7.21716142e-01 -6.91886697e-01 2.04599350e-02 3.26207196e+02] [-2.81761094e-02 1.68609510e-04 9.99602960e-01 -3.05622901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:326.23, Z:-0.31 [[-6.92325912e-01 -7.21313742e-01 -1.97817381e-02 1.17679184e+02] [ 7.21011574e-01 -6.92608439e-01 2.08772998e-02 3.26227625e+02] [-2.87600820e-02 1.91033536e-04 9.99586325e-01 -3.06659249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:326.25, Z:-0.31 [[-6.93089772e-01 -7.20583327e-01 -1.96528782e-02 1.17661583e+02] [ 7.20285125e-01 -6.93368317e-01 2.07295576e-02 3.26247769e+02] [-2.85640567e-02 2.11768468e-04 9.99591942e-01 -3.07470665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:326.27, Z:-0.31 [[-6.93897489e-01 -7.19794619e-01 -2.00494646e-02 1.17643917e+02] [ 7.19484307e-01 -6.94187041e-01 2.11349030e-02 3.26267610e+02] [-2.91308680e-02 2.40180972e-04 9.99575577e-01 -3.08625277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:326.29, Z:-0.31 [[-6.94250321e-01 -7.19449783e-01 -2.02114409e-02 1.17625133e+02] [ 7.19134699e-01 -6.94544418e-01 2.12916698e-02 3.26287584e+02] [-2.93560307e-02 2.47000130e-04 9.99568988e-01 -3.09107254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:326.31, Z:-0.31 [[-6.94628243e-01 -7.19074204e-01 -2.05886751e-02 1.17606168e+02] [ 7.18747483e-01 -6.94933251e-01 2.16756173e-02 3.26307047e+02] [-2.98941321e-02 2.58437531e-04 9.99553037e-01 -3.09644595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters Centerline goodness [0,1] 0.9999777629530798 Centerline is valid? [True, True] Translation: X:117.59, Y:326.33, Z:-0.31 [[-6.94931373e-01 -7.18774961e-01 -2.08072873e-02 1.17587291e+02] [ 7.18441549e-01 -6.95242753e-01 2.18918922e-02 3.26327231e+02] [-3.02014596e-02 2.64543020e-04 9.99543797e-01 -3.10369584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:326.35, Z:-0.31 [[-6.96197987e-01 -7.17557194e-01 -2.04947873e-02 1.17568826e+02] [ 7.17233595e-01 -6.96499520e-01 2.15496754e-02 3.26348586e+02] [-2.97377341e-02 3.03290699e-04 9.99557690e-01 -3.12147666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:326.37, Z:-0.31 [[-6.97221276e-01 -7.16571461e-01 -2.01949035e-02 1.17551106e+02] [ 7.16257195e-01 -6.97513606e-01 2.12226232e-02 3.26368693e+02] [-2.92937461e-02 3.32119472e-04 9.99570791e-01 -3.13894490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:326.39, Z:-0.32 [[-6.98649701e-01 -7.15213055e-01 -1.89441633e-02 1.17533488e+02] [ 7.14936342e-01 -6.98906402e-01 1.98964195e-02 3.26389701e+02] [-2.74703760e-02 3.56756690e-04 9.99622554e-01 -3.17424941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:326.41, Z:-0.32 [[-6.99176731e-01 -7.14715115e-01 -1.82812179e-02 1.17516112e+02] [ 7.14457559e-01 -6.99415598e-01 1.91889969e-02 3.26408656e+02] [-2.65008351e-02 3.55345837e-04 9.99648728e-01 -3.19668049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:326.43, Z:-0.32 [[-6.99502392e-01 -7.14406242e-01 -1.78920362e-02 1.17496881e+02] [ 7.14159672e-01 -6.99731089e-01 1.87714199e-02 3.26427984e+02] [-2.59300335e-02 3.52882364e-04 9.99663698e-01 -3.20910026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:326.45, Z:-0.32 [[-6.99562172e-01 -7.14348669e-01 -1.78534794e-02 1.17478834e+02] [ 7.14103445e-01 -6.99789868e-01 1.87192394e-02 3.26447469e+02] [-2.58657477e-02 3.46040624e-04 9.99665366e-01 -3.21819294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.066875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:326.47, Z:-0.32 [[-6.99450938e-01 -7.14451882e-01 -1.80801680e-02 1.17460238e+02] [ 7.14200763e-01 -6.99684496e-01 1.89440444e-02 3.26467103e+02] [-2.61850214e-02 3.37559833e-04 9.99657057e-01 -3.21519427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:326.49, Z:-0.32 [[-6.98367600e-01 -7.15486436e-01 -1.90224665e-02 1.17441436e+02] [ 7.15209201e-01 -6.98626557e-01 1.99181336e-02 3.26486040e+02] [-2.75407547e-02 3.05136065e-04 9.99620635e-01 -3.20343411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:326.50, Z:-0.32 [[-6.97618320e-01 -7.16203892e-01 -1.95106264e-02 1.17421066e+02] [ 7.15912917e-01 -6.97891044e-01 2.04153283e-02 3.26504345e+02] [-2.82378290e-02 2.74197528e-04 9.99601195e-01 -3.20743077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:326.52, Z:-0.32 [[-6.96821883e-01 -7.16964562e-01 -2.00269988e-02 1.17400704e+02] [ 7.16658690e-01 -6.97109575e-01 2.09418905e-02 3.26522881e+02] [-2.89756060e-02 2.40244857e-04 9.99580090e-01 -3.21574828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:326.54, Z:-0.32 [[-6.96086833e-01 -7.17666493e-01 -2.04432566e-02 1.17380746e+02] [ 7.17348484e-01 -6.96386935e-01 2.13632918e-02 3.26541811e+02] [-2.95681355e-02 2.05766998e-04 9.99562746e-01 -3.21849469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:326.56, Z:-0.32 [[-6.94879471e-01 -7.18824487e-01 -2.08297389e-02 1.17360192e+02] [ 7.18495280e-01 -6.95191582e-01 2.17530969e-02 3.26560829e+02] [-3.01173179e-02 1.49711364e-04 9.99546359e-01 -3.21533962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:326.58, Z:-0.32 [[-6.94448943e-01 -7.19246996e-01 -2.06015735e-02 1.17341075e+02] [ 7.18925510e-01 -6.94754449e-01 2.15027094e-02 3.26579105e+02] [-2.97787939e-02 1.21537053e-04 9.99556506e-01 -3.22614215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:326.60, Z:-0.32 [[-6.92910330e-01 -7.20752728e-01 -1.97681616e-02 1.17320926e+02] [ 7.20457621e-01 -6.93192255e-01 2.06231407e-02 3.26596312e+02] [-2.85673214e-02 4.78645226e-05 9.99591870e-01 -3.24609092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.306875 meters Centerline goodness [0,1] 0.9999337704483741 Centerline is valid? [True, True] Translation: X:117.30, Y:326.61, Z:-0.33 [[-6.92156036e-01 -7.21491768e-01 -1.92263148e-02 1.17302137e+02] [ 7.21213168e-01 -6.92423013e-01 2.00483837e-02 3.26614231e+02] [-2.77774866e-02 1.03384331e-05 9.99614131e-01 -3.25975239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:326.63, Z:-0.33 [[-6.91560436e-01 -7.22070130e-01 -1.89444298e-02 1.17281901e+02] [ 7.21800101e-01 -6.91819866e-01 1.97455514e-02 3.26633249e+02] [-2.73638058e-02 -1.88492092e-05 9.99625541e-01 -3.27406794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:326.65, Z:-0.33 [[-6.91186364e-01 -7.22443350e-01 -1.83579884e-02 1.17262119e+02] [ 7.22190215e-01 -6.91430115e-01 1.91230090e-02 3.26651742e+02] [-2.65085567e-02 -4.03965245e-05 9.99648586e-01 -3.29036084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:326.67, Z:-0.33 [[-6.90750561e-01 -7.22863998e-01 -1.82017374e-02 1.17242013e+02] [ 7.22615599e-01 -6.90990330e-01 1.89488528e-02 3.26670727e+02] [-2.62746681e-02 -6.39286785e-05 9.99654759e-01 -3.30526642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:326.69, Z:-0.33 [[-6.89926472e-01 -7.23657116e-01 -1.79399206e-02 1.17222517e+02] [ 7.23416375e-01 -6.90159668e-01 1.86649723e-02 3.26688340e+02] [-2.58884497e-02 -1.00573863e-04 9.99664833e-01 -3.31925695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:326.71, Z:-0.33 [[-6.89832819e-01 -7.23742020e-01 -1.81154792e-02 1.17203735e+02] [ 7.23496898e-01 -6.90070631e-01 1.88351359e-02 3.26708430e+02] [-2.61327395e-02 -1.13398075e-04 9.99658475e-01 -3.31411149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:326.73, Z:-0.33 [[-6.90062480e-01 -7.23522900e-01 -1.81214609e-02 1.17185096e+02] [ 7.23277854e-01 -6.90300369e-01 1.88293788e-02 3.26727652e+02] [-2.61327379e-02 -1.13403534e-04 9.99658475e-01 -3.32243715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:326.75, Z:-0.33 [[-6.89936231e-01 -7.23635620e-01 -1.84251444e-02 1.17166168e+02] [ 7.23382658e-01 -6.90182203e-01 1.91326314e-02 3.26746242e+02] [-2.65617603e-02 -1.28134326e-04 9.99647166e-01 -3.32802532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:326.76, Z:-0.33 [[-6.89429613e-01 -7.24098893e-01 -1.91729256e-02 1.17146522e+02] [ 7.23825542e-01 -6.89696141e-01 1.98951836e-02 3.26764987e+02] [-2.76295732e-02 -1.61524495e-04 9.99618217e-01 -3.32080764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:326.78, Z:-0.33 [[-6.89188336e-01 -7.24312579e-01 -1.97667744e-02 1.17127601e+02] [ 7.24022494e-01 -6.89471721e-01 2.04981266e-02 3.26782982e+02] [-2.84756829e-02 -1.84519596e-04 9.99594468e-01 -3.31900207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:326.80, Z:-0.33 [[-6.88791724e-01 -7.24664828e-01 -2.06602979e-02 1.17108443e+02] [ 7.24348518e-01 -6.89101472e-01 2.14099386e-02 3.26801761e+02] [-2.97520712e-02 -2.18267679e-04 9.99557285e-01 -3.32055034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:326.82, Z:-0.33 [[-6.88014170e-01 -7.25375395e-01 -2.16110803e-02 1.17088479e+02] [ 7.25030107e-01 -6.88353443e-01 2.23803575e-02 3.26819219e+02] [-3.11102223e-02 -2.70680794e-04 9.99515923e-01 -3.31335965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:326.84, Z:-0.33 [[-6.88174140e-01 -7.25215849e-01 -2.18706719e-02 1.17069211e+02] [ 7.24862612e-01 -6.88521529e-01 2.26339860e-02 3.26838150e+02] [-3.14729538e-02 -2.77108554e-04 9.99504565e-01 -3.32412317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:326.86, Z:-0.33 [[-6.88284993e-01 -7.25107610e-01 -2.19709296e-02 1.17049407e+02] [ 7.24751528e-01 -6.88635516e-01 2.27233076e-02 3.26857992e+02] [-3.16068057e-02 -2.83353164e-04 9.99500340e-01 -3.33298023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:326.88, Z:-0.34 [[-6.88901005e-01 -7.24530178e-01 -2.17123691e-02 1.17029960e+02] [ 7.24182538e-01 -6.89243029e-01 2.24432311e-02 3.26875153e+02] [-3.12258973e-02 -2.62554108e-04 9.99512318e-01 -3.35589781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:326.89, Z:-0.34 [[-6.89434701e-01 -7.24031284e-01 -2.14124431e-02 1.17010630e+02] [ 7.23693277e-01 -6.89767091e-01 2.21224137e-02 3.26893842e+02] [-3.07869182e-02 -2.44081460e-04 9.99525941e-01 -3.37335321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:326.91, Z:-0.34 [[-6.90564672e-01 -7.22964671e-01 -2.10361129e-02 1.16991001e+02] [ 7.22638352e-01 -6.90884971e-01 2.17202196e-02 3.26913011e+02] [-3.02364857e-02 -2.02285623e-04 9.99542752e-01 -3.39085476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:326.93, Z:-0.34 [[-6.92747781e-01 -7.20887799e-01 -2.05254605e-02 1.16972096e+02] [ 7.20576602e-01 -6.93051779e-01 2.11800149e-02 3.26932748e+02] [-2.94936212e-02 -1.17758271e-04 9.99564962e-01 -3.40963288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:326.95, Z:-0.34 [[-6.94645857e-01 -7.19069340e-01 -2.01598060e-02 1.16953519e+02] [ 7.18768736e-01 -6.94938329e-01 2.07899715e-02 3.26952606e+02] [-2.89592530e-02 -4.85707176e-05 9.99580592e-01 -3.42333265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:326.97, Z:-0.34 [[-6.96625722e-01 -7.17156061e-01 -1.99947000e-02 1.16934160e+02] [ 7.16859938e-01 -6.96912608e-01 2.06069252e-02 3.26973591e+02] [-2.87129399e-02 2.19147336e-05 9.99587698e-01 -3.43699230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:326.99, Z:-0.34 [[-6.98545677e-01 -7.15288473e-01 -1.99082399e-02 1.16914690e+02] [ 7.14994477e-01 -6.98829301e-01 2.05062263e-02 3.26994357e+02] [-2.85803287e-02 9.02541275e-05 9.99591495e-01 -3.44588079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters Centerline goodness [0,1] 0.9999781243847483 Centerline is valid? [True, True] Translation: X:116.90, Y:327.01, Z:-0.34 [[-7.02011247e-01 -7.11880716e-01 -2.01508268e-02 1.16896260e+02] [ 7.11578453e-01 -7.02300360e-01 2.07439025e-02 3.27014891e+02] [-2.89191171e-02 2.23558658e-04 9.99581730e-01 -3.44626386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.966875 meters Centerline goodness [0,1] 0.999978233424753 Centerline is valid? [True, True] Translation: X:116.88, Y:327.03, Z:-0.34 [[-7.03669301e-01 -7.10226944e-01 -2.06688842e-02 1.16878182e+02] [ 7.09908481e-01 -7.03972729e-01 2.12684396e-02 3.27034675e+02] [-2.96557496e-02 2.92931884e-04 9.99560129e-01 -3.44949803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:327.06, Z:-0.34 [[-7.05481790e-01 -7.08419703e-01 -2.09037883e-02 1.16858970e+02] [ 7.08093600e-01 -7.05791324e-01 2.14956146e-02 3.27055136e+02] [-2.99816293e-02 3.62925956e-04 9.99550384e-01 -3.44924158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:327.07, Z:-0.35 [[-7.07746600e-01 -7.06135469e-01 -2.16205858e-02 1.16839244e+02] [ 7.05785942e-01 -7.08076607e-01 2.22198758e-02 3.27074567e+02] [-3.09992735e-02 4.66535996e-04 9.99519298e-01 -3.45637088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:327.09, Z:-0.35 [[-7.08526835e-01 -7.05345238e-01 -2.18590929e-02 1.16819959e+02] [ 7.04987973e-01 -7.08863772e-01 2.24523892e-02 3.27093137e+02] [-3.13318048e-02 4.97722674e-04 9.99508915e-01 -3.46436305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:327.11, Z:-0.35 [[-7.08915592e-01 -7.04943795e-01 -2.22020212e-02 1.16799992e+02] [ 7.04575395e-01 -7.09262984e-01 2.27932538e-02 3.27112446e+02] [-3.18150346e-02 5.15495114e-04 9.99493641e-01 -3.46866595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:327.13, Z:-0.35 [[-7.09008218e-01 -7.04838035e-01 -2.25984894e-02 1.16779767e+02] [ 7.04456783e-01 -7.09368082e-01 2.31854633e-02 3.27129854e+02] [-3.23726434e-02 5.19024857e-04 9.99475734e-01 -3.46787924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.146875 meters Centerline goodness [0,1] 0.9999782891880157 Centerline is valid? [True, True] Translation: X:116.76, Y:327.15, Z:-0.35 [[-7.08572823e-01 -7.05271109e-01 -2.27424192e-02 1.16759009e+02] [ 7.04885707e-01 -7.08937530e-01 2.33177796e-02 3.27147554e+02] [-3.25683108e-02 4.91538701e-04 9.99469391e-01 -3.47526245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters Centerline goodness [0,1] 0.9999567174515236 Centerline is valid? [True, True] Translation: X:116.74, Y:327.17, Z:-0.35 [[-7.07706418e-01 -7.06136352e-01 -2.28709216e-02 1.16739138e+02] [ 7.05747509e-01 -7.08075742e-01 2.34349699e-02 3.27165013e+02] [-3.27426289e-02 4.43982630e-04 9.99463718e-01 -3.48069947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:327.18, Z:-0.35 [[-7.06438483e-01 -7.07415180e-01 -2.25484526e-02 1.16719262e+02] [ 7.07038233e-01 -7.06798150e-01 2.30935524e-02 3.27182148e+02] [-3.22739341e-02 3.71556006e-04 9.99478992e-01 -3.48692541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters Centerline goodness [0,1] 0.9999568965517242 Centerline is valid? [True, True] Translation: X:116.70, Y:327.20, Z:-0.35 [[-7.03275614e-01 -7.10578070e-01 -2.19594563e-02 1.16695080e+02] [ 7.10222424e-01 -7.03618335e-01 2.24799351e-02 3.27197234e+02] [-3.14248249e-02 2.13491903e-04 9.99506095e-01 -3.49564556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:327.21, Z:-0.35 [[-7.01918641e-01 -7.11922021e-01 -2.18462264e-02 1.16673327e+02] [ 7.11571069e-01 -7.02258511e-01 2.23516879e-02 3.27214613e+02] [-3.12543573e-02 1.43923718e-04 9.99511453e-01 -3.50996845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:116.65, Y:327.23, Z:-0.35 [[-7.00512986e-01 -7.13325339e-01 -2.11782250e-02 1.16651890e+02] [ 7.12996561e-01 -7.00833044e-01 2.16552069e-02 3.27231635e+02] [-3.02896077e-02 6.97520949e-05 9.99541162e-01 -3.52623439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:327.25, Z:-0.35 [[-6.99439756e-01 -7.14385393e-01 -2.09174061e-02 1.16632027e+02] [ 7.14065539e-01 -6.99752464e-01 2.13751228e-02 3.27248672e+02] [-2.99070820e-02 1.42118688e-05 9.99552683e-01 -3.53981745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters Centerline goodness [0,1] 0.9999145573000107 Centerline is valid? [True, True] Translation: X:116.61, Y:327.27, Z:-0.35 [[-6.97743627e-01 -7.16061572e-01 -2.02399672e-02 1.16610548e+02] [ 7.15763081e-01 -6.98037121e-01 2.06734286e-02 3.27265380e+02] [-2.89316962e-02 -6.22681760e-05 9.99581389e-01 -3.54968973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38687500000003 meters Centerline goodness [0,1] 0.9998931144316894 Centerline is valid? [True, True] Translation: X:116.59, Y:327.28, Z:-0.36 [[-6.97134845e-01 -7.16661411e-01 -1.99857564e-02 1.16590340e+02] [ 7.16370982e-01 -6.97421260e-01 2.04010529e-02 3.27283295e+02] [-2.85591388e-02 -9.49310919e-05 9.99592100e-01 -3.55802430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:116.57, Y:327.30, Z:-0.36 [[-6.96536387e-01 -7.17239688e-01 -2.01070279e-02 1.16569434e+02] [ 7.16946336e-01 -6.96826531e-01 2.05118847e-02 3.27301596e+02] [-2.87230482e-02 -1.28385948e-04 9.99587400e-01 -3.56350934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44687500000003 meters Centerline goodness [0,1] 0.9999572576508805 Centerline is valid? [True, True] Translation: X:116.55, Y:327.32, Z:-0.36 [[-6.94367237e-01 -7.19323302e-01 -2.06912478e-02 1.16546551e+02] [ 7.19013980e-01 -6.94675417e-01 2.10941057e-02 3.27318767e+02] [-2.95471830e-02 -2.30240487e-04 9.99563360e-01 -3.55780586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters Centerline goodness [0,1] 0.9999142973453603 Centerline is valid? [True, True] Translation: X:116.53, Y:327.34, Z:-0.36 [[-6.93493398e-01 -7.20163385e-01 -2.07751308e-02 1.16525777e+02] [ 7.19852279e-01 -6.93804456e-01 2.11677252e-02 3.27336978e+02] [-2.96580989e-02 -2.75347554e-04 9.99560064e-01 -3.55909975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50687500000004 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:116.50, Y:327.36, Z:-0.36 [[-6.92384204e-01 -7.21226823e-01 -2.08802211e-02 1.16504632e+02] [ 7.20913449e-01 -6.92698895e-01 2.12612391e-02 3.27355927e+02] [-2.97978821e-02 -3.31886090e-04 9.99555889e-01 -3.55982498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:116.48, Y:327.37, Z:-0.36 [[-6.90295511e-01 -7.23231116e-01 -2.07089597e-02 1.16482855e+02] [ 7.22924108e-01 -6.90605947e-01 2.10750939e-02 3.27371991e+02] [-2.95438945e-02 -4.22963528e-04 9.99563394e-01 -3.56426542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:327.39, Z:-0.36 [[-6.89366963e-01 -7.24114339e-01 -2.07753242e-02 1.16461318e+02] [ 7.23806135e-01 -6.89679782e-01 2.11299989e-02 3.27388943e+02] [-2.96288563e-02 -4.70983909e-04 9.99560858e-01 -3.57701157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters Centerline goodness [0,1] 0.9998725383978077 Centerline is valid? [True, True] Translation: X:116.44, Y:327.41, Z:-0.36 [[-6.88460467e-01 -7.24984938e-01 -2.04701065e-02 1.16440621e+02] [ 7.24686464e-01 -6.88764532e-01 2.08074205e-02 3.27408214e+02] [-2.91841498e-02 -5.09322689e-04 9.99573922e-01 -3.58667677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.626875 meters Centerline goodness [0,1] 0.9998301305871111 Centerline is valid? [True, True] Translation: X:116.42, Y:327.43, Z:-0.36 [[-6.87670042e-01 -7.25739308e-01 -2.03069093e-02 1.16419986e+02] [ 7.25446233e-01 -6.87969592e-01 2.06301452e-02 3.27427034e+02] [-2.89426434e-02 -5.44838002e-04 9.99580925e-01 -3.60110359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters Centerline goodness [0,1] 0.9999575254316478 Centerline is valid? [True, True] Translation: X:116.40, Y:327.45, Z:-0.36 [[-6.87160799e-01 -7.26251613e-01 -1.91997725e-02 1.16399825e+02] [ 7.25990120e-01 -6.87428760e-01 1.94947575e-02 3.27445614e+02] [-2.73565748e-02 -5.42812022e-04 9.99625591e-01 -3.62071086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.686875 meters Centerline goodness [0,1] 0.9999787414965986 Centerline is valid? [True, True] Translation: X:116.38, Y:327.47, Z:-0.36 [[-6.87509691e-01 -7.25936111e-01 -1.86329626e-02 1.16380662e+02] [ 7.25689894e-01 -6.87761945e-01 1.89125411e-02 3.27465639e+02] [-2.65443391e-02 -5.19197360e-04 9.99647502e-01 -3.63630960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters Centerline goodness [0,1] 0.9998725790010193 Centerline is valid? [True, True] Translation: X:116.36, Y:327.48, Z:-0.37 [[-6.88118626e-01 -7.25366165e-01 -1.83489575e-02 1.16361845e+02] [ 7.25127507e-01 -6.88363043e-01 1.86123519e-02 3.27484429e+02] [-2.61315146e-02 -4.97827774e-04 9.99658390e-01 -3.65354717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.746875 meters Centerline goodness [0,1] 0.9998938451412921 Centerline is valid? [True, True] Translation: X:116.34, Y:327.50, Z:-0.37 [[-6.88769755e-01 -7.24758741e-01 -1.79162359e-02 1.16343148e+02] [ 7.24531207e-01 -6.89002574e-01 1.81654191e-02 3.27504408e+02] [-2.55098789e-02 -4.69080772e-04 9.99674460e-01 -3.66381161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:116.33, Y:327.53, Z:-0.37 [[-6.91331467e-01 -7.22317845e-01 -1.78250838e-02 1.16326459e+02] [ 7.22092092e-01 -6.91561120e-01 1.80617798e-02 3.27528075e+02] [-2.53734808e-02 -3.84675299e-04 9.99677967e-01 -3.67169195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:327.55, Z:-0.37 [[-6.93047770e-01 -7.20670226e-01 -1.78665769e-02 1.16308285e+02] [ 7.20443101e-01 -6.93277950e-01 1.80947966e-02 3.27547366e+02] [-2.54268849e-02 -3.31293649e-04 9.99676630e-01 -3.68614908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:327.57, Z:-0.37 [[-6.96342173e-01 -7.17480418e-01 -1.81501236e-02 1.16292614e+02] [ 7.17245273e-01 -6.96578637e-01 1.83690065e-02 3.27570616e+02] [-2.58223908e-02 -2.26976436e-04 9.99666521e-01 -3.68564658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.866875 meters Centerline goodness [0,1] 0.9999574866082817 Centerline is valid? [True, True] Translation: X:116.28, Y:327.59, Z:-0.37 [[-6.98068125e-01 -7.15801088e-01 -1.81575163e-02 1.16275873e+02] [ 7.15565424e-01 -6.98304213e-01 1.83671030e-02 3.27592680e+02] [-2.58266625e-02 -1.71401672e-04 9.99666421e-01 -3.68293834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:327.61, Z:-0.37 [[-6.99534423e-01 -7.14364069e-01 -1.83185101e-02 1.16257500e+02] [ 7.14124026e-01 -6.99774221e-01 1.85179495e-02 3.27614474e+02] [-2.60473789e-02 -1.27745079e-04 9.99660701e-01 -3.68787432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.926875 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:116.24, Y:327.64, Z:-0.37 [[-7.01055505e-01 -7.12866408e-01 -1.85111780e-02 1.16239356e+02] [ 7.12621046e-01 -7.01299849e-01 1.87020575e-02 3.27635129e+02] [-2.63139549e-02 -8.02746874e-05 9.99653725e-01 -3.69572042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:327.66, Z:-0.37 [[-7.02688519e-01 -7.11259973e-01 -1.83873799e-02 1.16221662e+02] [ 7.11017621e-01 -7.02929050e-01 1.85659073e-02 3.27657782e+02] [-2.61302103e-02 -2.77012016e-05 9.99658547e-01 -3.69766425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:327.68, Z:-0.37 [[-7.02985136e-01 -7.10974110e-01 -1.81028305e-02 1.16203855e+02] [ 7.10739357e-01 -7.03218184e-01 1.82688882e-02 3.27676997e+02] [-2.57189461e-02 -2.36372945e-05 9.99669213e-01 -3.70934775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:327.70, Z:-0.37 [[-7.03313115e-01 -7.10653064e-01 -1.79689701e-02 1.16184526e+02] [ 7.10421973e-01 -7.03542623e-01 1.81217566e-02 3.27696844e+02] [-2.55202182e-02 -2.02821354e-05 9.99674306e-01 -3.72118175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:327.72, Z:-0.37 [[-7.03092009e-01 -7.10871689e-01 -1.79740777e-02 1.16165205e+02] [ 7.10640836e-01 -7.03321719e-01 1.81152522e-02 3.27717848e+02] [-2.55191791e-02 -3.64245136e-05 9.99674332e-01 -3.72597579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:327.74, Z:-0.37 [[-7.02965562e-01 -7.10999601e-01 -1.78601887e-02 1.16145857e+02] [ 7.10771964e-01 -7.03192410e-01 1.79902934e-02 3.27738219e+02] [-2.53502406e-02 -4.79647264e-05 9.99678630e-01 -3.73106371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.106875 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:116.13, Y:327.76, Z:-0.37 [[-7.02367541e-01 -7.11586912e-01 -1.79973339e-02 1.16127238e+02] [ 7.11356230e-01 -7.02598079e-01 1.81177684e-02 3.27756769e+02] [-2.55372591e-02 -7.71831287e-05 9.99673868e-01 -3.73985221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:327.78, Z:-0.37 [[-7.01084439e-01 -7.12864330e-01 -1.74658776e-02 1.16107332e+02] [ 7.12647659e-01 -7.01301954e-01 1.75750591e-02 3.27775809e+02] [-2.47774868e-02 -1.25416307e-04 9.99692983e-01 -3.74693789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.166875 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:116.09, Y:327.79, Z:-0.38 [[-7.00817137e-01 -7.13134909e-01 -1.71447315e-02 1.16088066e+02] [ 7.12926470e-01 -7.01026806e-01 1.72414177e-02 3.27794141e+02] [-2.43143732e-02 -1.39851873e-04 9.99704352e-01 -3.75933395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:327.81, Z:-0.38 [[-7.00402965e-01 -7.13552345e-01 -1.66954032e-02 1.16068780e+02] [ 7.13355068e-01 -7.00601902e-01 1.67786139e-02 3.27813123e+02] [-2.36692506e-02 -1.57959563e-04 9.99719832e-01 -3.77025944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.226875 meters Centerline goodness [0,1] 0.999892537826685 Centerline is valid? [True, True] Translation: X:116.05, Y:327.83, Z:-0.38 [[-7.00460149e-01 -7.13503439e-01 -1.63835738e-02 1.16050206e+02] [ 7.13313682e-01 -7.00651708e-01 1.64552282e-02 3.27832447e+02] [-2.32200408e-02 -1.60395732e-04 9.99730366e-01 -3.78627642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:116.03, Y:327.85, Z:-0.38 [[-7.00973280e-01 -7.13000703e-01 -1.63235752e-02 1.16031358e+02] [ 7.12812436e-01 -7.01163301e-01 1.63846088e-02 3.27853307e+02] [-2.31277295e-02 -1.50474447e-04 9.99732507e-01 -3.78638426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.286875 meters Centerline goodness [0,1] 0.9998923434674016 Centerline is valid? [True, True] Translation: X:116.01, Y:327.87, Z:-0.38 [[-7.01535878e-01 -7.12445282e-01 -1.64052456e-02 1.16013332e+02] [ 7.12255185e-01 -7.01727654e-01 1.64575478e-02 3.27873113e+02] [-2.32371168e-02 -1.39160981e-04 9.99729972e-01 -3.79718288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:116.00, Y:327.90, Z:-0.38 [[-7.03137527e-01 -7.10863224e-01 -1.64649637e-02 1.15995861e+02] [ 7.10671560e-01 -7.03330269e-01 1.65065695e-02 3.27895686e+02] [-2.33142206e-02 -9.47929751e-05 9.99728182e-01 -3.79951966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.346875 meters Centerline goodness [0,1] 0.9999569410954185 Centerline is valid? [True, True] Translation: X:115.98, Y:327.92, Z:-0.38 [[-7.04134429e-01 -7.09869954e-01 -1.67138964e-02 1.15976735e+02] [ 7.09672398e-01 -7.04332765e-01 1.67464555e-02 3.27916837e+02] [-2.36599504e-02 -6.96350434e-05 9.99720062e-01 -3.80843580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters Centerline goodness [0,1] 0.9999569410954185 Centerline is valid? [True, True] Translation: X:115.96, Y:327.94, Z:-0.38 [[-7.04335112e-01 -7.09670725e-01 -1.67186257e-02 1.15957193e+02] [ 7.09473225e-01 -7.04533503e-01 1.67417323e-02 3.27936307e+02] [-2.36599492e-02 -6.96273604e-05 9.99720062e-01 -3.81702218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:327.96, Z:-0.38 [[-7.05238781e-01 -7.08766972e-01 -1.69599877e-02 1.15938994e+02] [ 7.08563689e-01 -7.05442682e-01 1.69741630e-02 3.27955357e+02] [-2.39950253e-02 -4.63933983e-05 9.99712077e-01 -3.83202826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:327.41, Z:0.38 [[-7.56175489e-01 6.53798944e-01 2.73051325e-02 1.15369915e+02] [ 6.53261088e-01 7.56664861e-01 -2.66127484e-02 3.27408799e+02] [-3.80602211e-02 -2.28652744e-03 -9.99272831e-01 3.83640709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.466875 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:115.91, Y:327.98, Z:-0.38 [[-7.08312876e-01 -7.05673714e-01 -1.78179507e-02 1.15910806e+02] [ 7.05500072e-01 -7.08535494e-01 1.57194580e-02 3.27983397e+02] [-2.37174588e-02 -1.43627102e-03 9.99717670e-01 -3.83540905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:115.90, Y:327.95, Z:-0.38 [[-6.58722673e-01 -7.52199213e-01 -1.67566160e-02 1.15896864e+02] [ 7.52015470e-01 -6.58933825e-01 1.67017292e-02 3.27954334e+02] [-2.36045287e-02 -1.59942675e-03 9.99720095e-01 -3.83582124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.526875 meters Centerline goodness [0,1] 0.9999568416736799 Centerline is valid? [True, True] Translation: X:115.88, Y:327.97, Z:-0.39 [[-6.58433273e-01 -7.52478534e-01 -1.55460798e-02 1.15877854e+02] [ 7.52270945e-01 -6.58616772e-01 1.76740695e-02 3.27974486e+02] [-2.35382668e-02 -5.76687363e-05 9.99722935e-01 -3.85316477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters Centerline goodness [0,1] 0.999892380542402 Centerline is valid? [True, True] Translation: X:115.86, Y:327.99, Z:-0.39 [[-6.57934093e-01 -7.52913303e-01 -1.56296760e-02 1.15859245e+02] [ 7.52703861e-01 -6.58119709e-01 1.77579935e-02 3.27994016e+02] [-2.36564273e-02 -8.09280965e-05 9.99720144e-01 -3.86640307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.586875 meters Centerline goodness [0,1] 0.9998922738828802 Centerline is valid? [True, True] Translation: X:115.84, Y:328.01, Z:-0.39 [[-6.56345901e-01 -7.54305987e-01 -1.52491279e-02 1.15839577e+02] [ 7.54107241e-01 -6.56523008e-01 1.73150089e-02 3.28013326e+02] [-2.30722182e-02 -1.34842679e-04 9.99733792e-01 -3.88480406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:328.03, Z:-0.39 [[-6.55602755e-01 -7.54960004e-01 -1.48465867e-02 1.15821296e+02] [ 7.54771982e-01 -6.55770819e-01 1.68489588e-02 3.28032845e+02] [-2.24562483e-02 -1.59563902e-04 9.99747814e-01 -3.89834872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:328.05, Z:-0.39 [[-6.55139166e-01 -7.55364279e-01 -1.47472055e-02 1.15803189e+02] [ 7.55179110e-01 -6.55305100e-01 1.67253452e-02 3.28052036e+02] [-2.22976473e-02 -1.79352786e-04 9.99751360e-01 -3.91259896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters Centerline goodness [0,1] 0.9998928303504447 Centerline is valid? [True, True] Translation: X:115.79, Y:328.07, Z:-0.39 [[-6.54631514e-01 -7.55808931e-01 -1.45065797e-02 1.15785124e+02] [ 7.55630100e-01 -6.54792196e-01 1.64417662e-02 3.28072979e+02] [-2.19256289e-02 -1.98309999e-04 9.99759585e-01 -3.92735903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:328.09, Z:-0.39 [[-6.54823021e-01 -7.55646637e-01 -1.43168114e-02 1.15767664e+02] [ 7.55472625e-01 -6.54979481e-01 1.62170339e-02 3.28093589e+02] [-2.16315649e-02 -1.96671971e-04 9.99765991e-01 -3.93385409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:115.75, Y:328.11, Z:-0.39 [[-6.54767784e-01 -7.55691125e-01 -1.44939018e-02 1.15749819e+02] [ 7.55513010e-01 -6.54928150e-01 1.64076321e-02 3.28114697e+02] [-2.18915662e-02 -2.07142464e-04 9.99760329e-01 -3.93670622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.766875 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:115.73, Y:328.13, Z:-0.39 [[-6.54222016e-01 -7.56149555e-01 -1.52119921e-02 1.15731929e+02] [ 7.55953749e-01 -6.54398802e-01 1.72086185e-02 3.28133254e+02] [-2.29669986e-02 -2.41305398e-04 9.99736195e-01 -3.94016389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:328.15, Z:-0.39 [[-6.53690224e-01 -7.56611133e-01 -1.51223097e-02 1.15713056e+02] [ 7.56417915e-01 -6.53865067e-01 1.71000466e-02 3.28153191e+02] [-2.28260356e-02 -2.60652671e-04 9.99739418e-01 -3.94942490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:328.17, Z:-0.40 [[-6.53034932e-01 -7.57177711e-01 -1.50762163e-02 1.15694976e+02] [ 7.56986069e-01 -6.53208873e-01 1.70370132e-02 3.28172473e+02] [-2.27479649e-02 -2.86720942e-04 9.99741190e-01 -3.95862111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters Centerline goodness [0,1] 0.9999784371226497 Centerline is valid? [True, True] Translation: X:115.68, Y:328.19, Z:-0.40 [[-6.52455856e-01 -7.57673678e-01 -1.52300585e-02 1.15678035e+02] [ 7.57478399e-01 -6.52633512e-01 1.72038867e-02 3.28193364e+02] [-2.29745787e-02 -3.11663757e-04 9.99736001e-01 -3.95669169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:328.21, Z:-0.40 [[-6.51024099e-01 -7.58897740e-01 -1.55512918e-02 1.15658671e+02] [ 7.58694759e-01 -6.51209707e-01 1.75550292e-02 3.28213554e+02] [-2.34496242e-02 -3.69936518e-04 9.99724951e-01 -3.96320881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:328.23, Z:-0.40 [[-6.50909494e-01 -7.58991626e-01 -1.57652206e-02 1.15640122e+02] [ 7.58783283e-01 -6.51100271e-01 1.77866936e-02 3.28233510e+02] [-2.37646909e-02 -3.84858102e-04 9.99717506e-01 -3.97292482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94687500000003 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:115.62, Y:328.25, Z:-0.40 [[-6.51085251e-01 -7.58843508e-01 -1.56373172e-02 1.15622400e+02] [ 7.58638747e-01 -6.51272894e-01 1.76314784e-02 3.28254007e+02] [-2.35636937e-02 -3.83479174e-04 9.99722264e-01 -3.97945973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters Centerline goodness [0,1] 0.999978400328315 Centerline is valid? [True, True] Translation: X:115.60, Y:328.27, Z:-0.40 [[-6.51276931e-01 -7.58678526e-01 -1.56605603e-02 1.15604665e+02] [ 7.58473370e-01 -6.51465076e-01 1.76465484e-02 3.28273056e+02] [-2.35903655e-02 -3.85328074e-04 9.99721634e-01 -3.98956830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:328.29, Z:-0.40 [[-6.51587068e-01 -7.58409363e-01 -1.57965577e-02 1.15586907e+02] [ 7.58200841e-01 -6.51778405e-01 1.77875340e-02 3.28293410e+02] [-2.37860875e-02 -3.86836201e-04 9.99716996e-01 -3.98688052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters Centerline goodness [0,1] 0.9999785144919752 Centerline is valid? [True, True] Translation: X:115.57, Y:328.31, Z:-0.40 [[-6.51994694e-01 -7.58047514e-01 -1.63366309e-02 1.15568908e+02] [ 7.57824667e-01 -6.52199212e-01 1.83837475e-02 3.28313021e+02] [-2.45904919e-02 -3.94196021e-04 9.99697530e-01 -3.99495141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.066875 meters Centerline goodness [0,1] 0.999891908251724 Centerline is valid? [True, True] Translation: X:115.55, Y:328.33, Z:-0.40 [[-6.52325884e-01 -7.57754341e-01 -1.67122565e-02 1.15551652e+02] [ 7.57521354e-01 -6.52539806e-01 1.87936187e-02 3.28333596e+02] [-2.51463587e-02 -4.00327269e-04 9.99683700e-01 -3.99145717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters Centerline goodness [0,1] 0.9999137075549036 Centerline is valid? [True, True] Translation: X:115.53, Y:328.35, Z:-0.40 [[-6.52951879e-01 -7.57196981e-01 -1.75093045e-02 1.15532929e+02] [ 7.56941383e-01 -6.53186472e-01 1.96767650e-02 3.28352323e+02] [-2.63360279e-02 -4.05536507e-04 9.99653064e-01 -4.00005727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.126875 meters Centerline goodness [0,1] 0.9999568388795373 Centerline is valid? [True, True] Translation: X:115.52, Y:328.37, Z:-0.40 [[-6.53655933e-01 -7.56581842e-01 -1.78279881e-02 1.15515373e+02] [ 7.56316995e-01 -6.53898890e-01 2.00210955e-02 3.28372981e+02] [-2.68052989e-02 -3.96702522e-04 9.99640595e-01 -4.00353684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:328.39, Z:-0.40 [[-6.54466501e-01 -7.55873777e-01 -1.81227139e-02 1.15497450e+02] [ 7.55600185e-01 -6.54717257e-01 2.03389659e-02 3.28392989e+02] [-2.72389445e-02 -3.82354145e-04 9.99628878e-01 -4.01330860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.186875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:328.41, Z:-0.40 [[-6.55543266e-01 -7.54937292e-01 -1.82403916e-02 1.15479786e+02] [ 7.54660127e-01 -6.55796889e-01 2.04580987e-02 3.28413603e+02] [-2.74065737e-02 -3.54127451e-04 9.99624307e-01 -4.02263670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:115.46, Y:328.44, Z:-0.40 [[-6.57802688e-01 -7.52973531e-01 -1.80688676e-02 1.15462854e+02] [ 7.52701157e-01 -6.58050745e-01 2.02530067e-02 3.28435095e+02] [-2.71402098e-02 -2.77975255e-04 9.99631598e-01 -4.03843026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.246875 meters Centerline goodness [0,1] 0.9998494040703928 Centerline is valid? [True, True] Translation: X:115.44, Y:328.46, Z:-0.40 [[-6.59151610e-01 -7.51800990e-01 -1.77321067e-02 1.15444976e+02] [ 7.51538577e-01 -6.59390034e-01 1.98632665e-02 3.28456218e+02] [-2.66255979e-02 -2.33458109e-04 9.99645449e-01 -4.04778712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:328.48, Z:-0.41 [[-6.61042505e-01 -7.50140887e-01 -1.76481341e-02 1.15427441e+02] [ 7.49880685e-01 -6.61278020e-01 1.97569905e-02 3.28475576e+02] [-2.64908496e-02 -1.73784413e-04 9.99649041e-01 -4.06687930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:328.50, Z:-0.41 [[-6.62555914e-01 -7.48811325e-01 -1.73568698e-02 1.15410338e+02] [ 7.48559514e-01 -6.62783211e-01 1.94182873e-02 3.28496346e+02] [-2.60444753e-02 -1.26948883e-04 9.99660777e-01 -4.07766567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:328.52, Z:-0.41 [[-6.65548059e-01 -7.46174404e-01 -1.64176922e-02 1.15393191e+02] [ 7.45948565e-01 -6.65750523e-01 1.83570243e-02 3.28517099e+02] [-2.46276288e-02 -2.92720286e-05 9.99696694e-01 -4.09927328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:328.54, Z:-0.41 [[-6.67112491e-01 -7.44784327e-01 -1.60384393e-02 1.15375288e+02] [ 7.44568657e-01 -6.67305257e-01 1.79222706e-02 3.28537889e+02] [-2.40507611e-02 1.44512976e-05 9.99710739e-01 -4.11376170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:328.56, Z:-0.41 [[-6.70401630e-01 -7.41841529e-01 -1.52577934e-02 1.15357904e+02] [ 7.41645809e-01 -6.70575227e-01 1.70399158e-02 3.28559349e+02] [-2.28724154e-02 1.07708786e-04 9.99738386e-01 -4.13283620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:328.58, Z:-0.41 [[-6.71879053e-01 -7.40514267e-01 -1.47363188e-02 1.15340119e+02] [ 7.40331573e-01 -6.72040624e-01 1.64487430e-02 3.28579519e+02] [-2.20839338e-02 1.41803729e-04 9.99756110e-01 -4.13611369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:115.32, Y:328.60, Z:-0.41 [[-6.73219749e-01 -7.39301148e-01 -1.44561941e-02 1.15322689e+02] [ 7.39125266e-01 -6.73374920e-01 1.61263497e-02 3.28599113e+02] [-2.16566674e-02 1.71638779e-04 9.99765452e-01 -4.14702509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.486875 meters Centerline goodness [0,1] 0.9999353016023637 Centerline is valid? [True, True] Translation: X:115.30, Y:328.62, Z:-0.42 [[-6.75108780e-01 -7.37593608e-01 -1.35574461e-02 1.15302681e+02] [ 7.37438773e-01 -6.75244864e-01 1.51138673e-02 3.28618808e+02] [-2.03024878e-02 2.05718082e-04 9.99793862e-01 -4.16144526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:328.64, Z:-0.42 [[-6.75874451e-01 -7.36897902e-01 -1.32366648e-02 1.15283973e+02] [ 7.36750318e-01 -6.76004021e-01 1.47489912e-02 3.28638078e+02] [-1.98165393e-02 2.16349306e-04 9.99803610e-01 -4.16977558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:328.66, Z:-0.42 [[-6.76399895e-01 -7.36424374e-01 -1.27406569e-02 1.15264607e+02] [ 7.36287733e-01 -6.76519841e-01 1.41872655e-02 3.28658396e+02] [-1.90671553e-02 2.15475522e-04 9.99818182e-01 -4.17503383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:328.68, Z:-0.42 [[-6.76468529e-01 -7.36385310e-01 -1.12696829e-02 1.15243766e+02] [ 7.36278490e-01 -6.76562370e-01 1.25437217e-02 3.28677340e+02] [-1.68616558e-02 1.87807884e-04 9.99857815e-01 -4.18624842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:328.70, Z:-0.42 [[-6.76287389e-01 -7.36559372e-01 -1.07544859e-02 1.15223645e+02] [ 7.36462217e-01 -6.76372873e-01 1.19641479e-02 3.28697238e+02] [-1.60863478e-02 1.70929800e-04 9.99870592e-01 -4.19705546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:328.72, Z:-0.42 [[-6.76252719e-01 -7.36600547e-01 -1.00942681e-02 1.15204835e+02] [ 7.36515039e-01 -6.76328034e-01 1.12244334e-02 3.28716865e+02] [-1.50949603e-02 1.55973360e-04 9.99886052e-01 -4.22076010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:328.74, Z:-0.42 [[-6.75212780e-01 -7.37571896e-01 -8.68331977e-03 1.15182815e+02] [ 7.37508759e-01 -6.75268603e-01 9.65110615e-03 3.28735347e+02] [-1.29819579e-02 1.12525822e-04 9.99915725e-01 -4.22299585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:328.76, Z:-0.42 [[-6.74306026e-01 -7.38408542e-01 -8.01305316e-03 1.15162130e+02] [ 7.38354883e-01 -6.74353630e-01 8.90220523e-03 3.28755028e+02] [-1.19770959e-02 8.63337025e-05 9.99928268e-01 -4.22438308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:328.77, Z:-0.43 [[-6.73150880e-01 -7.39471487e-01 -7.05783271e-03 1.15143569e+02] [ 7.39429960e-01 -6.73187876e-01 7.83696840e-03 3.28773288e+02] [-1.05464621e-02 5.66892149e-05 9.99944383e-01 -4.25357114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:115.12, Y:328.79, Z:-0.42 [[-6.72166576e-01 -7.40373766e-01 -6.22738331e-03 1.15122593e+02] [ 7.40341483e-01 -6.72195422e-01 6.91398479e-03 3.28792605e+02] [-9.30495151e-03 3.69592879e-05 9.99956707e-01 -4.23682247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.786875 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:115.10, Y:328.81, Z:-0.42 [[-6.69677542e-01 -7.42639451e-01 -4.31681986e-03 1.15102225e+02] [ 7.42623990e-01 -6.69691455e-01 4.79206033e-03 3.28809979e+02] [-6.44971043e-03 3.36119433e-06 9.99979200e-01 -4.23443156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:115.08, Y:328.83, Z:-0.42 [[-6.68795480e-01 -7.43438240e-01 -3.49140972e-03 1.15082680e+02] [ 7.43428141e-01 -6.68804593e-01 3.87503871e-03 3.28828115e+02] [-5.21592282e-03 -4.00385796e-06 9.99986397e-01 -4.24166077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.846875 meters Centerline goodness [0,1] 0.9999359275554227 Centerline is valid? [True, True] Translation: X:115.06, Y:328.85, Z:-0.42 [[-6.67688658e-01 -7.44433956e-01 -3.15307869e-03 1.15062124e+02] [ 7.44425717e-01 -6.67696102e-01 3.50228557e-03 3.28847759e+02] [-4.71251866e-03 -8.79651425e-06 9.99988896e-01 -4.22386212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:328.86, Z:-0.42 [[-6.64980754e-01 -7.46851820e-01 -3.59935213e-03 1.15040327e+02] [ 7.46841158e-01 -6.64990494e-01 3.99089453e-03 3.28864396e+02] [-5.37414179e-03 -3.42762598e-05 9.99985559e-01 -4.22172123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:328.88, Z:-0.42 [[-6.63862826e-01 -7.47840796e-01 -4.50468920e-03 1.15021012e+02] [ 7.47824129e-01 -6.63878107e-01 4.99305682e-03 3.28884614e+02] [-6.72457613e-03 -5.40104680e-05 9.99977388e-01 -4.16388811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:115.00, Y:328.90, Z:-0.42 [[-6.62561710e-01 -7.48986295e-01 -5.61339911e-03 1.15000163e+02] [ 7.48960510e-01 -6.62585483e-01 6.21542953e-03 3.28901805e+02] [-8.37462830e-03 -8.61086461e-05 9.99964928e-01 -4.18046268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:328.92, Z:-0.41 [[-6.59793609e-01 -7.51393770e-01 -8.93287794e-03 1.14979669e+02] [ 7.51328880e-01 -6.59854048e-01 9.87669958e-03 3.28922070e+02] [-1.33156862e-02 -1.94945912e-04 9.99911323e-01 -4.06676347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters Centerline goodness [0,1] 0.9999789358385642 Centerline is valid? [True, True] Translation: X:114.96, Y:328.94, Z:-0.40 [[-6.58327948e-01 -7.52655035e-01 -1.07103074e-02 1.14959873e+02] [ 7.52562049e-01 -6.58415010e-01 1.18337399e-02 3.28940036e+02] [-1.59585511e-02 -2.69689168e-04 9.99872618e-01 -4.03908370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.026875 meters Centerline goodness [0,1] 0.9999576477563898 Centerline is valid? [True, True] Translation: X:114.94, Y:328.96, Z:-0.40 [[-6.56769032e-01 -7.53992533e-01 -1.22351547e-02 1.14939779e+02] [ 7.53871636e-01 -6.56882893e-01 1.35063049e-02 3.28960083e+02] [-1.82207168e-02 -3.53213326e-04 9.99833927e-01 -4.00741601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters Centerline goodness [0,1] 0.9998316462888529 Centerline is valid? [True, True] Translation: X:114.92, Y:328.98, Z:-0.40 [[-6.52816947e-01 -7.57369810e-01 -1.48662449e-02 1.14917478e+02] [ 7.57192455e-01 -6.52985963e-01 1.63987458e-02 3.28976778e+02] [-2.21273642e-02 -5.51229313e-04 9.99755008e-01 -3.95874986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.086875 meters Centerline goodness [0,1] 0.9999578405952908 Centerline is valid? [True, True] Translation: X:114.90, Y:329.00, Z:-0.39 [[-6.50887584e-01 -7.59002655e-01 -1.61344952e-02 1.14897595e+02] [ 7.58794534e-01 -6.51087187e-01 1.77856691e-02 3.28996629e+02] [-2.40043332e-02 -6.66295618e-04 9.99711632e-01 -3.94097676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters Centerline goodness [0,1] 0.9998527648654902 Centerline is valid? [True, True] Translation: X:114.88, Y:329.01, Z:-0.39 [[-6.49156747e-01 -7.60461817e-01 -1.71272648e-02 1.14877398e+02] [ 7.60228089e-01 -6.49382191e-01 1.88685891e-02 3.29014723e+02] [-2.54709823e-02 -7.71955816e-04 9.99675264e-01 -3.93249229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.146875 meters Centerline goodness [0,1] 0.9998744034162271 Centerline is valid? [True, True] Translation: X:114.86, Y:329.03, Z:-0.39 [[-6.47766528e-01 -7.61629861e-01 -1.78460246e-02 1.14857317e+02] [ 7.61376875e-01 -6.48011740e-01 1.96478865e-02 3.29034534e+02] [-2.65288505e-02 -8.60307185e-04 9.99647678e-01 -3.92923690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters Centerline goodness [0,1] 0.9999369708174884 Centerline is valid? [True, True] Translation: X:114.84, Y:329.05, Z:-0.39 [[-6.46108340e-01 -7.63018099e-01 -1.86385154e-02 1.14836825e+02] [ 7.62743051e-01 -6.46376398e-01 2.05082846e-02 3.29053964e+02] [-2.76956888e-02 -9.65824383e-04 9.99615934e-01 -3.92288969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:329.07, Z:-0.39 [[-6.46018783e-01 -7.63082336e-01 -1.91070588e-02 1.14817708e+02] [ 7.62793649e-01 -6.46300508e-01 2.10119400e-02 3.29071857e+02] [-2.83827421e-02 -1.00063514e-03 9.99596628e-01 -3.92870124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters Centerline goodness [0,1] 0.9999372017081135 Centerline is valid? [True, True] Translation: X:114.80, Y:329.09, Z:-0.39 [[-6.46502511e-01 -7.62666300e-01 -1.93550598e-02 1.14801969e+02] [ 7.62370293e-01 -6.46791393e-01 2.12703949e-02 3.29093918e+02] [-2.87408995e-02 -1.00435891e-03 9.99586390e-01 -3.93161420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.266875 meters Centerline goodness [0,1] 0.9998737400307233 Centerline is valid? [True, True] Translation: X:114.78, Y:329.11, Z:-0.39 [[-6.47558702e-01 -7.61761824e-01 -1.96634328e-02 1.14784701e+02] [ 7.61456303e-01 -6.47856424e-01 2.15952125e-02 3.29114892e+02] [-2.91894898e-02 -9.88677055e-04 9.99573407e-01 -3.93383773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters Centerline goodness [0,1] 0.9998737400307233 Centerline is valid? [True, True] Translation: X:114.77, Y:329.13, Z:-0.39 [[-6.47797518e-01 -7.61558593e-01 -1.96693989e-02 1.14766592e+02] [ 7.61253143e-01 -6.48095313e-01 2.15897771e-02 3.29134602e+02] [-2.91895255e-02 -9.87587709e-04 9.99573407e-01 -3.94213583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32687500000003 meters Centerline goodness [0,1] 0.999958081824279 Centerline is valid? [True, True] Translation: X:114.75, Y:329.16, Z:-0.40 [[-6.48736210e-01 -7.60758189e-01 -1.97055081e-02 1.14749623e+02] [ 7.60451647e-01 -6.49034707e-01 2.16157779e-02 3.29155846e+02] [-2.92339388e-02 -9.62148266e-04 9.99572134e-01 -3.95391096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters Centerline goodness [0,1] 0.9999157664202835 Centerline is valid? [True, True] Translation: X:114.73, Y:329.18, Z:-0.40 [[-6.50424353e-01 -7.59330814e-01 -1.91017207e-02 1.14731267e+02] [ 7.59042527e-01 -6.50704189e-01 2.09403965e-02 3.29177497e+02] [-2.83302580e-02 -8.78874555e-04 9.99598231e-01 -3.98249761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38687500000003 meters Centerline goodness [0,1] 0.9998734257325486 Centerline is valid? [True, True] Translation: X:114.71, Y:329.20, Z:-0.40 [[-6.51416158e-01 -7.58496780e-01 -1.84288825e-02 1.14712700e+02] [ 7.58228420e-01 -6.51676271e-01 2.01916323e-02 3.29195552e+02] [-2.73249535e-02 -8.20146915e-04 9.99626267e-01 -4.00414424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters Centerline goodness [0,1] 0.9998947035906076 Centerline is valid? [True, True] Translation: X:114.70, Y:329.22, Z:-0.40 [[-6.52397205e-01 -7.57667243e-01 -1.78391685e-02 1.14696139e+02] [ 7.57415707e-01 -6.52640607e-01 1.95367464e-02 3.29217086e+02] [-2.64449185e-02 -7.65947660e-04 9.99649979e-01 -4.02285893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44687500000003 meters Centerline goodness [0,1] 0.9998737719058338 Centerline is valid? [True, True] Translation: X:114.68, Y:329.24, Z:-0.40 [[-6.53445742e-01 -7.56785225e-01 -1.68755804e-02 1.14678173e+02] [ 7.56560126e-01 -6.53663243e-01 1.84699800e-02 3.29236682e+02] [-2.50087546e-02 -6.98261482e-04 9.99686988e-01 -4.04539974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:329.26, Z:-0.41 [[-6.55356051e-01 -7.55169777e-01 -1.50682946e-02 1.14661730e+02] [ 7.54990024e-01 -6.55529008e-01 1.64858608e-02 3.29259222e+02] [-2.23273280e-02 -5.72303459e-04 9.99750550e-01 -4.07352740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50687500000004 meters Centerline goodness [0,1] 0.9999577952224192 Centerline is valid? [True, True] Translation: X:114.64, Y:329.28, Z:-0.41 [[-6.56453425e-01 -7.54240148e-01 -1.38094430e-02 1.14643862e+02] [ 7.54089122e-01 -6.56598469e-01 1.51012071e-02 3.29278254e+02] [-2.04571957e-02 -5.00311616e-04 9.99790604e-01 -4.09622995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:329.30, Z:-0.41 [[-6.57655001e-01 -7.53207696e-01 -1.29640456e-02 1.14626398e+02] [ 7.53074565e-01 -6.57782615e-01 1.41679666e-02 3.29299345e+02] [-1.91989453e-02 -4.45258964e-04 9.99815584e-01 -4.11295458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.566875 meters Centerline goodness [0,1] 0.9999156687468376 Centerline is valid? [True, True] Translation: X:114.61, Y:329.32, Z:-0.41 [[-6.58708885e-01 -7.52305465e-01 -1.17937304e-02 1.14608292e+02] [ 7.52195286e-01 -6.58814342e-01 1.28807624e-02 3.29318901e+02] [-1.74601467e-02 -3.86515773e-04 9.99847485e-01 -4.13432035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters Centerline goodness [0,1] 0.999915743354257 Centerline is valid? [True, True] Translation: X:114.59, Y:329.34, Z:-0.41 [[-6.60783473e-01 -7.50508721e-01 -1.00926559e-02 1.14591654e+02] [ 7.50427852e-01 -6.60860481e-01 1.10210412e-02 3.29339122e+02] [-1.49412250e-02 -2.91288218e-04 9.99888331e-01 -4.14756602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.626875 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:114.58, Y:329.36, Z:-0.41 [[-6.61855788e-01 -7.49566423e-01 -9.85357681e-03 1.14575303e+02] [ 7.49489333e-01 -6.61929079e-01 1.07533413e-02 3.29361002e+02] [-1.45827126e-02 -2.67989522e-04 9.99893631e-01 -4.13547024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters Centerline goodness [0,1] 0.9998947612131928 Centerline is valid? [True, True] Translation: X:114.56, Y:329.38, Z:-0.41 [[-6.62593889e-01 -7.48915449e-01 -9.74622868e-03 1.14556856e+02] [ 7.48840066e-01 -6.62665516e-01 1.06287421e-02 3.29382055e+02] [-1.44185188e-02 -2.55826977e-04 9.99896015e-01 -4.12854822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.686875 meters Centerline goodness [0,1] 0.9999367542269259 Centerline is valid? [True, True] Translation: X:114.54, Y:329.40, Z:-0.41 [[-6.63427747e-01 -7.48162197e-01 -1.08144398e-02 1.14537083e+02] [ 7.48069414e-01 -6.63515828e-01 1.17855013e-02 3.29400490e+02] [-1.59930185e-02 -2.71123117e-04 9.99872067e-01 -4.11575587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:114.52, Y:329.42, Z:-0.41 [[-6.63739527e-01 -7.47869892e-01 -1.18517972e-02 1.14518754e+02] [ 7.47758555e-01 -6.63845267e-01 1.29075522e-02 3.29422198e+02] [-1.75209291e-02 -2.95030149e-04 9.99846453e-01 -4.08598223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.746875 meters Centerline goodness [0,1] 0.9999578477037536 Centerline is valid? [True, True] Translation: X:114.50, Y:329.44, Z:-0.41 [[-6.64049561e-01 -7.47575785e-01 -1.29856023e-02 1.14500315e+02] [ 7.47442230e-01 -6.64176440e-01 1.41339904e-02 3.29440600e+02] [-1.91909600e-02 -3.20317427e-04 9.99815785e-01 -4.07338427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters Centerline goodness [0,1] 0.9998947634281866 Centerline is valid? [True, True] Translation: X:114.48, Y:329.46, Z:-0.41 [[-6.64384068e-01 -7.47255588e-01 -1.42441552e-02 1.14480277e+02] [ 7.47095085e-01 -6.64536653e-01 1.54910038e-02 3.29461007e+02] [-2.10415024e-02 -3.49762238e-04 9.99778542e-01 -4.06110469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.806875 meters Centerline goodness [0,1] 0.9999789770218849 Centerline is valid? [True, True] Translation: X:114.46, Y:329.48, Z:-0.40 [[-6.65234605e-01 -7.46464601e-01 -1.59222767e-02 1.14460314e+02] [ 7.46264060e-01 -6.65425024e-01 1.73057871e-02 3.29480463e+02] [-2.35132388e-02 -3.69814410e-04 9.99723457e-01 -4.03741504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:329.50, Z:-0.40 [[-6.65938328e-01 -7.45824772e-01 -1.64788517e-02 1.14441030e+02] [ 7.45610044e-01 -6.66142083e-01 1.78993881e-02 3.29501036e+02] [-2.43270637e-02 -3.66908760e-04 9.99703986e-01 -4.03168747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:329.52, Z:-0.40 [[-6.66568170e-01 -7.45257204e-01 -1.66905377e-02 1.14421399e+02] [ 7.45037011e-01 -6.66777003e-01 1.81185149e-02 3.29518742e+02] [-2.46318205e-02 -3.57842993e-04 9.99696527e-01 -4.03428659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters Centerline goodness [0,1] 0.9998951562172363 Centerline is valid? [True, True] Translation: X:114.40, Y:329.54, Z:-0.40 [[-6.67838399e-01 -7.44105698e-01 -1.72795596e-02 1.14401749e+02] [ 7.43869536e-01 -6.68061823e-01 1.87486783e-02 3.29538415e+02] [-2.54948124e-02 -3.32650678e-04 9.99674899e-01 -4.02685509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:329.56, Z:-0.40 [[-6.68617551e-01 -7.43404159e-01 -1.73443686e-02 1.14382152e+02] [ 7.43166268e-01 -6.68842401e-01 1.88079821e-02 3.29557222e+02] [-2.55825813e-02 -3.14402764e-04 9.99672663e-01 -4.03256915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters Centerline goodness [0,1] 0.9998535503577556 Centerline is valid? [True, True] Translation: X:114.36, Y:329.58, Z:-0.40 [[-6.69510941e-01 -7.42596707e-01 -1.74708563e-02 1.14362764e+02] [ 7.42355362e-01 -6.69738788e-01 1.89333375e-02 3.29575441e+02] [-2.57607443e-02 -2.93507280e-04 9.99668094e-01 -4.04501858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.986875 meters Centerline goodness [0,1] 0.9998535227772082 Centerline is valid? [True, True] Translation: X:114.34, Y:329.59, Z:-0.41 [[-6.70421307e-01 -7.41784912e-01 -1.70415516e-02 1.14343478e+02] [ 7.41555320e-01 -6.70637812e-01 1.84562388e-02 3.29594308e+02] [-2.51192684e-02 -2.63797552e-04 9.99684427e-01 -4.05856380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters Centerline goodness [0,1] 0.9998953405618118 Centerline is valid? [True, True] Translation: X:114.32, Y:329.61, Z:-0.41 [[-6.72883845e-01 -7.39569610e-01 -1.62518371e-02 1.14323874e+02] [ 7.39360401e-01 -6.73080054e-01 1.75908499e-02 3.29612848e+02] [-2.39484454e-02 -1.79366092e-04 9.99713179e-01 -4.08016152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.046875 meters Centerline goodness [0,1] 0.9999167793612816 Centerline is valid? [True, True] Translation: X:114.31, Y:329.63, Z:-0.41 [[-6.74292167e-01 -7.38301087e-01 -1.55427671e-02 1.14305243e+02] [ 7.38109626e-01 -6.74471264e-01 1.68135085e-02 3.29631798e+02] [-2.28965814e-02 -1.35048958e-04 9.99737830e-01 -4.10034248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters Centerline goodness [0,1] 0.9997495146847016 Centerline is valid? [True, True] Translation: X:114.29, Y:329.65, Z:-0.41 [[-6.77423155e-01 -7.35457055e-01 -1.41700260e-02 1.14286540e+02] [ 7.35297489e-01 -6.77571338e-01 1.53194256e-02 3.29650959e+02] [-2.08679831e-02 -4.14508808e-05 9.99782239e-01 -4.12673933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:329.67, Z:-0.41 [[-6.79389073e-01 -7.33654458e-01 -1.34767843e-02 1.14268436e+02] [ 7.33509931e-01 -6.79522727e-01 1.45617870e-02 3.29670240e+02] [-1.98411011e-02 7.76385853e-06 9.99803146e-01 -4.14023608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:329.69, Z:-0.41 [[-6.81185255e-01 -7.31990510e-01 -1.32868848e-02 1.14249416e+02] [ 7.31849896e-01 -6.81314825e-01 1.43470794e-02 3.29690355e+02] [-1.95544776e-02 4.90137268e-05 9.99808792e-01 -4.14673007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.166875 meters Centerline goodness [0,1] 0.9999586648754779 Centerline is valid? [True, True] Translation: X:114.23, Y:329.71, Z:-0.41 [[-6.83040388e-01 -7.30260056e-01 -1.32694848e-02 1.14231793e+02] [ 7.30119677e-01 -6.83169263e-01 1.43183390e-02 3.29709350e+02] [-1.95214152e-02 9.16918641e-05 9.99809435e-01 -4.14856920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters Centerline goodness [0,1] 0.9999168779352479 Centerline is valid? [True, True] Translation: X:114.21, Y:329.73, Z:-0.41 [[-6.86381188e-01 -7.27110063e-01 -1.38499312e-02 1.14213028e+02] [ 7.26956619e-01 -6.86520882e-01 1.49382565e-02 3.29729407e+02] [-2.03700236e-02 1.85039117e-04 9.99792492e-01 -4.13125966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:329.75, Z:-0.41 [[-6.88062616e-01 -7.25505220e-01 -1.45606540e-02 1.14195503e+02] [ 7.25335481e-01 -6.88216623e-01 1.56946062e-02 3.29749053e+02] [-2.14074028e-02 2.37512849e-04 9.99770807e-01 -4.13153929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters Centerline goodness [0,1] 0.9998967837826679 Centerline is valid? [True, True] Translation: X:114.17, Y:329.77, Z:-0.41 [[-6.90638964e-01 -7.23024120e-01 -1.59356125e-02 1.14174966e+02] [ 7.22820447e-01 -6.90822705e-01 1.71636782e-02 3.29767828e+02] [-2.34184362e-02 3.35318351e-04 9.99725695e-01 -4.11716230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.286875 meters Centerline goodness [0,1] 0.9999792660170018 Centerline is valid? [True, True] Translation: X:114.16, Y:329.79, Z:-0.41 [[-6.91724410e-01 -7.21974925e-01 -1.64179449e-02 1.14156985e+02] [ 7.21758675e-01 -6.91919119e-01 1.76733576e-02 3.29786416e+02] [-2.41196110e-02 3.75298671e-04 9.99709009e-01 -4.12360245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters Centerline goodness [0,1] 0.9999792939227663 Centerline is valid? [True, True] Translation: X:114.14, Y:329.81, Z:-0.41 [[-6.92514229e-01 -7.21215473e-01 -1.65010268e-02 1.14136874e+02] [ 7.20997112e-01 -6.92710680e-01 1.77504553e-02 3.29805913e+02] [-2.42323405e-02 3.95250217e-04 9.99706276e-01 -4.12630849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:329.83, Z:-0.41 [[-6.92895080e-01 -7.20847874e-01 -1.65756122e-02 1.14117927e+02] [ 7.20627672e-01 -6.93093198e-01 1.78207192e-02 3.29825754e+02] [-2.43344716e-02 4.03043811e-04 9.99703792e-01 -4.13806926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:329.84, Z:-0.42 [[-6.92614132e-01 -7.21115863e-01 -1.66606335e-02 1.14098644e+02] [ 7.20893729e-01 -6.92814378e-01 1.79016506e-02 3.29843094e+02] [-2.44518906e-02 3.88390001e-04 9.99700932e-01 -4.15351868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:329.86, Z:-0.42 [[-6.92129527e-01 -7.21573900e-01 -1.69654003e-02 1.14076688e+02] [ 7.21344010e-01 -6.92337324e-01 1.82167235e-02 3.29861436e+02] [-2.48904920e-02 3.70442346e-04 9.99690115e-01 -4.15283217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters Centerline goodness [0,1] 0.9998970091455879 Centerline is valid? [True, True] Translation: X:114.06, Y:329.88, Z:-0.42 [[-6.91534846e-01 -7.22136260e-01 -1.72852170e-02 1.14057669e+02] [ 7.21898074e-01 -6.91750749e-01 1.85491743e-02 3.29879252e+02] [-2.53520932e-02 3.49235536e-04 9.99678523e-01 -4.16126074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.466875 meters Centerline goodness [0,1] 0.9999587169219337 Centerline is valid? [True, True] Translation: X:114.04, Y:329.90, Z:-0.42 [[-6.90611206e-01 -7.23015078e-01 -1.74744982e-02 1.14037050e+02] [ 7.22772157e-01 -6.90832178e-01 1.87433160e-02 3.29897897e+02] [-2.56236458e-02 3.14263312e-04 9.99671611e-01 -4.16504772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters Centerline goodness [0,1] 0.9999792737522799 Centerline is valid? [True, True] Translation: X:114.01, Y:329.92, Z:-0.42 [[-6.88302747e-01 -7.25211010e-01 -1.75590290e-02 1.14014637e+02] [ 7.24966717e-01 -6.88526644e-01 1.88233811e-02 3.29915249e+02] [-2.57407825e-02 2.26473324e-04 9.99668626e-01 -4.18190607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.526875 meters Centerline goodness [0,1] 0.9999382003955175 Centerline is valid? [True, True] Translation: X:113.99, Y:329.93, Z:-0.42 [[-6.87065067e-01 -7.26403101e-01 -1.67370388e-02 1.13994221e+02] [ 7.26181723e-01 -6.87268875e-01 1.79331668e-02 3.29933618e+02] [-2.45295538e-02 1.67120741e-04 9.99699091e-01 -4.20043121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:329.95, Z:-0.42 [[-6.85597522e-01 -7.27809749e-01 -1.57799887e-02 1.13973358e+02] [ 7.27613571e-01 -6.85779089e-01 1.68976936e-02 3.29951936e+02] [-2.31198924e-02 1.03282943e-04 9.99732694e-01 -4.21518155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.586875 meters Centerline goodness [0,1] 0.99987618399059 Centerline is valid? [True, True] Translation: X:113.95, Y:329.97, Z:-0.43 [[-6.82321470e-01 -7.30927361e-01 -1.35131530e-02 1.13950339e+02] [ 7.30784233e-01 -6.82455268e-01 1.44641405e-02 3.29967818e+02] [-1.97943585e-02 -6.00550895e-06 9.99804072e-01 -4.25864703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:329.99, Z:-0.43 [[-6.80579342e-01 -7.32562656e-01 -1.27950603e-02 1.13928858e+02] [ 7.32434775e-01 -6.80699604e-01 1.36875765e-02 3.29986230e+02] [-1.87365999e-02 -5.60652868e-05 9.99824453e-01 -4.26754942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.646875 meters Centerline goodness [0,1] 0.999938247463 Centerline is valid? [True, True] Translation: X:113.91, Y:330.00, Z:-0.43 [[-6.78987849e-01 -7.34046089e-01 -1.23223380e-02 1.13907260e+02] [ 7.33927850e-01 -6.79099647e-01 1.31750183e-02 3.30004695e+02] [-1.80391660e-02 -9.80296415e-05 9.99837276e-01 -4.27866498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters Centerline goodness [0,1] 0.9999179537669477 Centerline is valid? [True, True] Translation: X:113.88, Y:330.02, Z:-0.43 [[-6.75801968e-01 -7.36974674e-01 -1.26502852e-02 1.13884373e+02] [ 7.36850711e-01 -6.75920332e-01 1.35179539e-02 3.30020554e+02] [-1.85129746e-02 -1.85911739e-04 9.99828603e-01 -4.27757418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:330.04, Z:-0.43 [[-6.74835074e-01 -7.37845375e-01 -1.34842736e-02 1.13863248e+02] [ 7.37704891e-01 -6.74969740e-01 1.43994280e-02 3.30039888e+02] [-1.97260280e-02 -2.30175582e-04 9.99805396e-01 -4.27059922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters Centerline goodness [0,1] 0.9999179419849834 Centerline is valid? [True, True] Translation: X:113.84, Y:330.06, Z:-0.42 [[-6.73036349e-01 -7.39450777e-01 -1.53173771e-02 1.13841873e+02] [ 7.39270154e-01 -6.73210551e-01 1.63460766e-02 3.30056993e+02] [-2.23989389e-02 -3.22176001e-04 9.99749060e-01 -4.24672990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:330.08, Z:-0.42 [[-6.72455922e-01 -7.39961753e-01 -1.61132801e-02 1.13822053e+02] [ 7.39762272e-01 -6.72648847e-01 1.71845727e-02 3.30075758e+02] [-2.35545059e-02 -3.64128991e-04 9.99722488e-01 -4.23702137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters Centerline goodness [0,1] 0.9997940310189285 Centerline is valid? [True, True] Translation: X:113.80, Y:330.10, Z:-0.42 [[-6.71916841e-01 -7.40432037e-01 -1.69751869e-02 1.13802671e+02] [ 7.40211116e-01 -6.72131111e-01 1.80907078e-02 3.30095385e+02] [-2.48044909e-02 -4.09770820e-04 9.99692237e-01 -4.23276013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82687500000003 meters Centerline goodness [0,1] 0.9999589170535311 Centerline is valid? [True, True] Translation: X:113.78, Y:330.11, Z:-0.42 [[-6.70786360e-01 -7.41423833e-01 -1.83400839e-02 1.13780696e+02] [ 7.41166557e-01 -6.71036855e-01 1.95364748e-02 3.30111847e+02] [-2.67916803e-02 -4.88255995e-04 9.99640919e-01 -4.22815381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:330.13, Z:-0.42 [[-6.70264647e-01 -7.41881495e-01 -1.88984129e-02 1.13760282e+02] [ 7.41608782e-01 -6.70530810e-01 2.01208116e-02 3.30130382e+02] [-2.75992259e-02 -5.28960289e-04 9.99618929e-01 -4.22985782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88687500000003 meters Centerline goodness [0,1] 0.9998975325846381 Centerline is valid? [True, True] Translation: X:113.74, Y:330.15, Z:-0.42 [[-6.69712924e-01 -7.42362409e-01 -1.95615354e-02 1.13739870e+02] [ 7.42070817e-01 -6.69998299e-01 2.08130260e-02 3.30149287e+02] [-2.85570036e-02 -5.77292082e-04 9.99591999e-01 -4.23013566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters Centerline goodness [0,1] 0.9999795542833776 Centerline is valid? [True, True] Translation: X:113.72, Y:330.17, Z:-0.42 [[-6.69218371e-01 -7.42785839e-01 -2.03953155e-02 1.13718597e+02] [ 7.42469431e-01 -6.69528790e-01 2.16874096e-02 3.30166664e+02] [-2.97643516e-02 -6.29285419e-04 9.99556745e-01 -4.23214958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94687500000003 meters Centerline goodness [0,1] 0.9999180042227825 Centerline is valid? [True, True] Translation: X:113.70, Y:330.19, Z:-0.42 [[-6.68219782e-01 -7.43651720e-01 -2.15509189e-02 1.13698128e+02] [ 7.43299332e-01 -6.68566831e-01 2.29018696e-02 3.30185787e+02] [-3.14392443e-02 -7.15301265e-04 9.99505409e-01 -4.23565089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:330.20, Z:-0.42 [[-6.67645160e-01 -7.44160748e-01 -2.17881029e-02 1.13677448e+02] [ 7.43801250e-01 -6.68000157e-01 2.31406947e-02 3.30203650e+02] [-3.17748529e-02 -7.56245341e-04 9.99494766e-01 -4.24707834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:330.22, Z:-0.43 [[-6.67217946e-01 -7.44555877e-01 -2.13719164e-02 1.13656490e+02] [ 7.44210475e-01 -6.67559704e-01 2.26894415e-02 3.30222995e+02] [-3.11605872e-02 -7.66401493e-04 9.99514097e-01 -4.26659111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters Centerline goodness [0,1] 0.9997954675611552 Centerline is valid? [True, True] Translation: X:113.63, Y:330.24, Z:-0.43 [[-6.66763250e-01 -7.45018235e-01 -1.93545338e-02 1.13634626e+02] [ 7.44735461e-01 -6.67043710e-01 2.05373353e-02 3.30240911e+02] [-2.82110093e-02 -7.20467177e-04 9.99601731e-01 -4.30621021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.066875 meters Centerline goodness [0,1] 0.9999387317471663 Centerline is valid? [True, True] Translation: X:113.61, Y:330.26, Z:-0.43 [[-6.67162473e-01 -7.44682743e-01 -1.84891222e-02 1.13614540e+02] [ 7.44424855e-01 -6.67418270e-01 1.96083541e-02 3.30257649e+02] [-2.69419809e-02 -6.81804065e-04 9.99636766e-01 -4.33236013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:330.28, Z:-0.43 [[-6.67465897e-01 -7.44422992e-01 -1.79912489e-02 1.13596225e+02] [ 7.44178943e-01 -6.67708001e-01 1.90716066e-02 3.30279307e+02] [-2.62102433e-02 -6.59061602e-04 9.99656235e-01 -4.34486751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.126875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:330.30, Z:-0.44 [[-6.67726614e-01 -7.44204412e-01 -1.73482448e-02 1.13574740e+02] [ 7.43977675e-01 -6.67951638e-01 1.83801033e-02 3.30295937e+02] [-2.52663425e-02 -6.33822645e-04 9.99680554e-01 -4.36461366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters Centerline goodness [0,1] 0.9998970812234984 Centerline is valid? [True, True] Translation: X:113.55, Y:330.31, Z:-0.44 [[-6.68174638e-01 -7.43788652e-01 -1.79191106e-02 1.13554218e+02] [ 7.43546904e-01 -6.68414559e-01 1.89731041e-02 3.30314623e+02] [-2.60893740e-02 -6.46352194e-04 9.99659405e-01 -4.36140602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.186875 meters Centerline goodness [0,1] 0.9998970812234984 Centerline is valid? [True, True] Translation: X:113.54, Y:330.33, Z:-0.44 [[-6.68401383e-01 -7.43584756e-01 -1.79248972e-02 1.13535769e+02] [ 7.43343081e-01 -6.68641378e-01 1.89676354e-02 3.30333967e+02] [-2.60893725e-02 -6.46354574e-04 9.99659405e-01 -4.36969789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:330.35, Z:-0.44 [[-6.68786872e-01 -7.43220185e-01 -1.86514562e-02 1.13516510e+02] [ 7.42958722e-01 -6.69046570e-01 1.97237133e-02 3.30354755e+02] [-2.71377546e-02 -6.66301520e-04 9.99631481e-01 -4.36337712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.246875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:330.37, Z:-0.44 [[-6.69102388e-01 -7.42928898e-01 -1.89379547e-02 1.13496476e+02] [ 7.42659534e-01 -6.69370003e-01 2.00153986e-02 3.30373839e+02] [-2.75465168e-02 -6.72101586e-04 9.99620297e-01 -4.36605084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:330.39, Z:-0.44 [[-6.70215022e-01 -7.41902515e-01 -1.98111698e-02 1.13475935e+02] [ 7.41607684e-01 -6.70507428e-01 2.09244514e-02 3.30390780e+02] [-2.88074396e-02 -6.68234083e-04 9.99584756e-01 -4.36765274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:330.41, Z:-0.44 [[-6.71066161e-01 -7.41127618e-01 -2.00015299e-02 1.13457473e+02] [ 7.40827161e-01 -6.71363858e-01 2.11113105e-02 3.30410945e+02] [-2.90744795e-02 -6.50590533e-04 9.99577036e-01 -4.37391123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:330.43, Z:-0.44 [[-6.71950584e-01 -7.40326890e-01 -1.99626676e-02 1.13438646e+02] [ 7.40027625e-01 -6.72246761e-01 2.10572445e-02 3.30430689e+02] [-2.90090830e-02 -6.23497725e-04 9.99578954e-01 -4.38085922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:330.45, Z:-0.44 [[-6.73787731e-01 -7.38655620e-01 -1.99491534e-02 1.13420441e+02] [ 7.38356408e-01 -6.74082755e-01 2.10298166e-02 3.30452448e+02] [-2.89811725e-02 -5.59952896e-04 9.99579801e-01 -4.38334768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:330.47, Z:-0.44 [[-6.74431867e-01 -7.38066882e-01 -1.99733638e-02 1.13400625e+02] [ 7.37767020e-01 -6.74727340e-01 2.10437824e-02 3.30472678e+02] [-2.90082935e-02 -5.43091701e-04 9.99579023e-01 -4.38450209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:330.49, Z:-0.44 [[-6.75284043e-01 -7.37259744e-01 -2.09650061e-02 1.13380980e+02] [ 7.36929374e-01 -6.75609189e-01 2.20753764e-02 3.30491319e+02] [-3.04394372e-02 -5.42579393e-04 9.99536466e-01 -4.38631084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:330.51, Z:-0.44 [[-6.75930662e-01 -7.36654206e-01 -2.14084428e-02 1.13362314e+02] [ 7.36309824e-01 -6.76269395e-01 2.25288267e-02 3.30509605e+02] [-3.10738296e-02 -5.35321979e-04 9.99516949e-01 -4.38966076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:330.53, Z:-0.44 [[-6.76542917e-01 -7.36088860e-01 -2.15144505e-02 1.13343633e+02] [ 7.35741239e-01 -6.76884715e-01 2.26254726e-02 3.30528985e+02] [-3.12171611e-02 -5.21965268e-04 9.99512489e-01 -4.40165379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:330.55, Z:-0.44 [[-6.76998893e-01 -7.35683815e-01 -2.10195711e-02 1.13325084e+02] [ 7.35352214e-01 -6.77324939e-01 2.20918278e-02 3.30550437e+02] [-3.04896799e-02 -5.00645232e-04 9.99534956e-01 -4.42040271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:330.57, Z:-0.45 [[-6.77901137e-01 -7.34915737e-01 -1.86790990e-02 1.13306599e+02] [ 7.34653850e-01 -6.78158303e-01 1.96223654e-02 3.30570297e+02] [-2.70881712e-02 -4.20648190e-04 9.99632960e-01 -4.45744746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:330.59, Z:-0.45 [[-6.78539527e-01 -7.34360492e-01 -1.72851827e-02 1.13288308e+02] [ 7.34136299e-01 -6.78759550e-01 1.81484760e-02 3.30589562e+02] [-2.50600066e-02 -3.75221732e-04 9.99685878e-01 -4.47991431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:330.61, Z:-0.45 [[-6.79369512e-01 -7.33608416e-01 -1.66059572e-02 1.13270161e+02] [ 7.33401544e-01 -6.79572347e-01 1.74241401e-02 3.30611313e+02] [-2.40674451e-02 -3.41405081e-04 9.99710279e-01 -4.48981317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:330.63, Z:-0.45 [[-6.79959059e-01 -7.33076355e-01 -1.59604206e-02 1.13251535e+02] [ 7.32885314e-01 -6.80146276e-01 1.67379789e-02 3.30631038e+02] [-2.31256372e-02 -3.16017430e-04 9.99732517e-01 -4.50190350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:330.65, Z:-0.45 [[-6.80638968e-01 -7.32430176e-01 -1.66322604e-02 1.13233744e+02] [ 7.32222774e-01 -6.80842081e-01 1.74318938e-02 3.30650126e+02] [-2.40915878e-02 -3.13693567e-04 9.99709706e-01 -4.49235091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:330.67, Z:-0.45 [[-6.81127758e-01 -7.31961693e-01 -1.72353171e-02 1.13215325e+02] [ 7.31739141e-01 -6.81345712e-01 1.80513077e-02 3.30670006e+02] [-2.49560751e-02 -3.16509385e-04 9.99688499e-01 -4.48557762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:330.69, Z:-0.45 [[-6.81204095e-01 -7.31875804e-01 -1.78546747e-02 1.13197064e+02] [ 7.31637252e-01 -6.81437963e-01 1.86878173e-02 3.30689907e+02] [-2.58440144e-02 -3.32927450e-04 9.99665932e-01 -4.47754158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:330.71, Z:-0.45 [[-6.81015617e-01 -7.32028373e-01 -1.87667255e-02 1.13178586e+02] [ 7.31765234e-01 -6.81274047e-01 1.96294282e-02 3.30710164e+02] [-2.71545815e-02 -3.64890120e-04 9.99631180e-01 -4.46276328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:330.73, Z:-0.45 [[-6.80848664e-01 -7.32170244e-01 -1.92829062e-02 1.13159464e+02] [ 7.31892846e-01 -6.81121562e-01 2.01563765e-02 3.30730260e+02] [-2.78919023e-02 -3.89579117e-04 9.99610869e-01 -4.46284951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:330.75, Z:-0.45 [[-6.80296942e-01 -7.32668068e-01 -1.98386716e-02 1.13139796e+02] [ 7.32375047e-01 -6.80586010e-01 2.07237574e-02 3.30750949e+02] [-2.86855576e-02 -4.31039245e-04 9.99588392e-01 -4.46665370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:330.77, Z:-0.45 [[-6.79726416e-01 -7.33188885e-01 -2.01508578e-02 1.13120456e+02] [ 7.32887149e-01 -6.80024881e-01 2.10377661e-02 3.30769437e+02] [-2.91277409e-02 -4.68379352e-04 9.99575588e-01 -4.47283406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:330.79, Z:-0.45 [[-6.78071244e-01 -7.34713958e-01 -2.03663390e-02 1.13099929e+02] [ 7.34406799e-01 -6.78376812e-01 2.12498138e-02 3.30788787e+02] [-2.94285869e-02 -5.48290129e-04 9.99566735e-01 -4.48430050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.906875 meters Centerline goodness [0,1] 0.9999591595025628 Centerline is valid? [True, True] Translation: X:113.08, Y:330.81, Z:-0.45 [[-6.77238685e-01 -7.35484987e-01 -2.02384920e-02 1.13080081e+02] [ 7.35182366e-01 -6.77540766e-01 2.11044825e-02 3.30806769e+02] [-2.92344334e-02 -5.86210396e-04 9.99572411e-01 -4.49800711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters Centerline goodness [0,1] 0.9999794120069175 Centerline is valid? [True, True] Translation: X:113.06, Y:330.83, Z:-0.45 [[-6.76753067e-01 -7.35940471e-01 -1.99226023e-02 1.13060652e+02] [ 7.35647654e-01 -6.77045982e-01 2.07669724e-02 3.30826886e+02] [-2.87717733e-02 -6.01903411e-04 9.99585826e-01 -4.51192958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:330.85, Z:-0.45 [[-6.75905289e-01 -7.36753708e-01 -1.86014368e-02 1.13042245e+02] [ 7.36499014e-01 -6.76160937e-01 1.93801384e-02 3.30848600e+02] [-2.68559538e-02 -6.00801849e-04 9.99639133e-01 -4.53061969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:330.87, Z:-0.46 [[-6.75852973e-01 -7.36827997e-01 -1.75289154e-02 1.13023269e+02] [ 7.36602090e-01 -6.76080005e-01 1.82534593e-02 3.30868163e+02] [-2.53006090e-02 -5.75180968e-04 9.99679723e-01 -4.55391082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:330.89, Z:-0.46 [[-6.75944882e-01 -7.36759429e-01 -1.68540645e-02 1.13004367e+02] [ 7.36550826e-01 -6.76154740e-01 1.75399276e-02 3.30889433e+02] [-2.43186627e-02 -5.57850821e-04 9.99704102e-01 -4.56670121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:330.91, Z:-0.46 [[-6.76111489e-01 -7.36619068e-01 -1.62973222e-02 1.12985105e+02] [ 7.36424197e-01 -6.76307663e-01 1.69512985e-02 3.30909876e+02] [-2.35086536e-02 -5.40774720e-04 9.99723487e-01 -4.58241599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:330.93, Z:-0.46 [[-6.76700831e-01 -7.36090083e-01 -1.57281716e-02 1.12966805e+02] [ 7.35908644e-01 -6.76883395e-01 1.63504894e-02 3.30930657e+02] [-2.26815713e-02 -5.10107680e-04 9.99742610e-01 -4.59254257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:330.95, Z:-0.46 [[-6.77357659e-01 -7.35482328e-01 -1.58854387e-02 1.12946600e+02] [ 7.35297291e-01 -6.77543721e-01 1.65045709e-02 3.30948897e+02] [-2.29018995e-02 -5.01022501e-04 9.99737592e-01 -4.60560355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:330.97, Z:-0.46 [[-6.78087815e-01 -7.34801011e-01 -1.62600742e-02 1.12929942e+02] [ 7.34607181e-01 -6.78282558e-01 1.68837644e-02 3.30970295e+02] [-2.34351319e-02 -4.96092325e-04 9.99725236e-01 -4.59776366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:330.99, Z:-0.46 [[-6.79958976e-01 -7.33042176e-01 -1.74630821e-02 1.12912223e+02] [ 7.32818342e-01 -6.80183020e-01 1.81200403e-02 3.30992970e+02] [-2.51608457e-02 -4.76382829e-04 9.99683302e-01 -4.58068746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:331.01, Z:-0.46 [[-6.81182485e-01 -7.31889999e-01 -1.80956194e-02 1.12894685e+02] [ 7.31649502e-01 -6.81422645e-01 1.87665747e-02 3.31013544e+02] [-2.60658332e-02 -4.56188966e-04 9.99660124e-01 -4.57632906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:331.03, Z:-0.46 [[-6.82386291e-01 -7.30760971e-01 -1.83671747e-02 1.12876659e+02] [ 7.30513112e-01 -6.82633299e-01 1.90360975e-02 3.31034736e+02] [-2.64488822e-02 -4.27489965e-04 9.99650076e-01 -4.57570892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:331.06, Z:-0.46 [[-6.84056991e-01 -7.29185174e-01 -1.88418130e-02 1.12859517e+02] [ 7.28924057e-01 -6.84316326e-01 1.95162855e-02 3.31057661e+02] [-2.71247463e-02 -3.83999246e-04 9.99631983e-01 -4.57073161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters Centerline goodness [0,1] 0.9999794568388184 Centerline is valid? [True, True] Translation: X:112.84, Y:331.08, Z:-0.46 [[-6.84701742e-01 -7.28579519e-01 -1.88523150e-02 1.12841241e+02] [ 7.28318172e-01 -6.84961130e-01 1.95164179e-02 3.31075874e+02] [-2.71323653e-02 -3.67558288e-04 9.99631782e-01 -4.58078884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:331.10, Z:-0.46 [[-6.85158064e-01 -7.28155790e-01 -1.86433024e-02 1.12823125e+02] [ 7.27900395e-01 -6.85411569e-01 1.92872074e-02 3.31096663e+02] [-2.68224269e-02 -3.55681452e-04 9.99640151e-01 -4.59170494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters Centerline goodness [0,1] 0.999958895100296 Centerline is valid? [True, True] Translation: X:112.80, Y:331.12, Z:-0.46 [[-6.85366833e-01 -7.27966377e-01 -1.83645798e-02 1.12804924e+02] [ 7.27718809e-01 -6.85612741e-01 1.89869445e-02 3.31116201e+02] [-2.64128471e-02 -3.51228161e-04 9.99651058e-01 -4.60491944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:331.14, Z:-0.46 [[-6.85722852e-01 -7.27643780e-01 -1.78521549e-02 1.12787022e+02] [ 7.27409932e-01 -6.85955113e-01 1.84492150e-02 3.31136173e+02] [-2.56702335e-02 -3.34786472e-04 9.99670409e-01 -4.61338816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:331.16, Z:-0.46 [[-6.85881844e-01 -7.27534239e-01 -1.61253420e-02 1.12769838e+02] [ 7.27343633e-01 -6.86071307e-01 1.66553751e-02 3.31157973e+02] [-2.31804901e-02 -3.05045427e-04 9.99731250e-01 -4.63036683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44687500000003 meters Centerline goodness [0,1] 0.9999588299470965 Centerline is valid? [True, True] Translation: X:112.75, Y:331.18, Z:-0.46 [[-6.86043367e-01 -7.27400733e-01 -1.52535870e-02 1.12751202e+02] [ 7.27230326e-01 -6.86212860e-01 1.57468653e-02 3.31178087e+02] [-2.19214889e-02 -2.89838566e-04 9.99759653e-01 -4.64638498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:331.20, Z:-0.47 [[-6.86179973e-01 -7.27281808e-01 -1.47721681e-02 1.12732466e+02] [ 7.27122148e-01 -6.86338905e-01 1.52410814e-02 3.31197638e+02] [-2.12232749e-02 -2.83045770e-04 9.99774721e-01 -4.66098441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50687500000004 meters Centerline goodness [0,1] 0.9999382614422128 Centerline is valid? [True, True] Translation: X:112.71, Y:331.22, Z:-0.47 [[-6.86117277e-01 -7.27346815e-01 -1.44807866e-02 1.12713065e+02] [ 7.27193591e-01 -6.86270012e-01 1.49315770e-02 3.31218519e+02] [-2.07981645e-02 -2.85522231e-04 9.99783654e-01 -4.66448239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters Centerline goodness [0,1] 0.9999588849601184 Centerline is valid? [True, True] Translation: X:112.69, Y:331.24, Z:-0.47 [[-6.85594854e-01 -7.27828761e-01 -1.49996796e-02 1.12694160e+02] [ 7.27664667e-01 -6.85758846e-01 1.54576398e-02 3.31237299e+02] [-2.15366778e-02 -3.17058590e-04 9.99768009e-01 -4.66009380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:331.26, Z:-0.47 [[-6.85386595e-01 -7.28008815e-01 -1.57600914e-02 1.12674577e+02] [ 7.27827950e-01 -6.85567681e-01 1.62305121e-02 3.31258159e+02] [-2.26205652e-02 -3.46459613e-04 9.99744062e-01 -4.65060187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:331.28, Z:-0.46 [[-6.85276022e-01 -7.28095371e-01 -1.65500501e-02 1.12655752e+02] [ 7.27896154e-01 -6.85475741e-01 1.70351696e-02 3.31276836e+02] [-2.37478860e-02 -3.72924571e-04 9.99717910e-01 -4.64377857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.626875 meters Centerline goodness [0,1] 0.9998974422086846 Centerline is valid? [True, True] Translation: X:112.64, Y:331.30, Z:-0.46 [[-6.84781219e-01 -7.28527753e-01 -1.79442298e-02 1.12636993e+02] [ 7.28294053e-01 -6.85016152e-01 1.84565455e-02 3.31296293e+02] [-2.57381929e-02 -4.29980069e-04 9.99668625e-01 -4.63112370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters Centerline goodness [0,1] 0.9997550570512951 Centerline is valid? [True, True] Translation: X:112.62, Y:331.32, Z:-0.46 [[-6.84842671e-01 -7.28460746e-01 -1.83155278e-02 1.12618076e+02] [ 7.28217568e-01 -6.85087399e-01 1.88262738e-02 3.31315920e+02] [-2.62619388e-02 -4.44653446e-04 9.99654997e-01 -4.63626083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.686875 meters Centerline goodness [0,1] 0.9999591419816138 Centerline is valid? [True, True] Translation: X:112.60, Y:331.34, Z:-0.46 [[-6.85218237e-01 -7.28105698e-01 -1.83864246e-02 1.12599421e+02] [ 7.27860820e-01 -6.85464732e-01 1.88872226e-02 3.31335611e+02] [-2.63551400e-02 -4.40888693e-04 9.99652546e-01 -4.64050360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters Centerline goodness [0,1] 0.9998560470520492 Centerline is valid? [True, True] Translation: X:112.58, Y:331.36, Z:-0.47 [[-6.85723522e-01 -7.27637170e-01 -1.80941980e-02 1.12580377e+02] [ 7.27400155e-01 -6.85962075e-01 1.85753873e-02 3.31356247e+02] [-2.59280759e-02 -4.24142427e-04 9.99663721e-01 -4.65180568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.746875 meters Centerline goodness [0,1] 0.9997131323894023 Centerline is valid? [True, True] Translation: X:112.56, Y:331.38, Z:-0.47 [[-6.86530230e-01 -7.26910277e-01 -1.66641054e-02 1.12560957e+02] [ 7.26709245e-01 -6.86732343e-01 1.70986104e-02 3.31376690e+02] [-2.38729358e-02 -3.71246520e-04 9.99714932e-01 -4.68429175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters Centerline goodness [0,1] 0.9998770794067032 Centerline is valid? [True, True] Translation: X:112.54, Y:331.39, Z:-0.47 [[-6.86915573e-01 -7.26563286e-01 -1.58992698e-02 1.12541654e+02] [ 7.26380375e-01 -6.87099462e-01 1.63058371e-02 3.31394690e+02] [-2.27716023e-02 -3.48184160e-04 9.99740633e-01 -4.70967677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:331.42, Z:-0.47 [[-6.87506743e-01 -7.26020567e-01 -1.51199792e-02 1.12523008e+02] [ 7.25855239e-01 -6.87672911e-01 1.54964169e-02 3.31416196e+02] [-2.16483175e-02 -3.21024968e-04 9.99765596e-01 -4.71929718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters Centerline goodness [0,1] 0.9998971426220403 Centerline is valid? [True, True] Translation: X:112.50, Y:331.44, Z:-0.47 [[-6.87927752e-01 -7.25635108e-01 -1.44602211e-02 1.12503824e+02] [ 7.25483970e-01 -6.88079646e-01 1.48124768e-02 3.31436703e+02] [-2.06982370e-02 -3.00744731e-04 9.99785723e-01 -4.73222061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.866875 meters Centerline goodness [0,1] 0.9998146431881372 Centerline is valid? [True, True] Translation: X:112.48, Y:331.46, Z:-0.47 [[-6.88081183e-01 -7.25501849e-01 -1.38330208e-02 1.12484180e+02] [ 7.25363661e-01 -6.88220157e-01 1.41624885e-02 3.31456868e+02] [-1.97950753e-02 -2.89028766e-04 9.99804017e-01 -4.74195171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters Centerline goodness [0,1] 0.9998361629359602 Centerline is valid? [True, True] Translation: X:112.46, Y:331.48, Z:-0.48 [[-6.88323606e-01 -7.25274354e-01 -1.37012669e-02 1.12464419e+02] [ 7.25138890e-01 -6.88459897e-01 1.40199738e-02 3.31475990e+02] [-1.96011002e-02 -2.85042552e-04 9.99807839e-01 -4.75373529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.926875 meters Centerline goodness [0,1] 0.9999589001685093 Centerline is valid? [True, True] Translation: X:112.44, Y:331.50, Z:-0.48 [[-6.88340304e-01 -7.25255550e-01 -1.38568684e-02 1.12444175e+02] [ 7.25117165e-01 -6.88479702e-01 1.41702650e-02 3.31495681e+02] [-1.98172360e-02 -2.93888575e-04 9.99803576e-01 -4.75528131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters Centerline goodness [0,1] 0.999835624319382 Centerline is valid? [True, True] Translation: X:112.42, Y:331.51, Z:-0.48 [[-6.88499312e-01 -7.25096386e-01 -1.42803481e-02 1.12423941e+02] [ 7.24949551e-01 -6.88647325e-01 1.45948590e-02 3.31514069e+02] [-2.04168030e-02 -3.03981559e-04 9.99791509e-01 -4.76933482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.986875 meters Centerline goodness [0,1] 0.9999589979088933 Centerline is valid? [True, True] Translation: X:112.41, Y:331.53, Z:-0.48 [[-6.88992951e-01 -7.24618303e-01 -1.47319177e-02 1.12405147e+02] [ 7.24462129e-01 -6.89150362e-01 1.50466441e-02 3.31534319e+02] [-2.10555801e-02 -3.05684741e-04 9.99778260e-01 -4.76531317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters Centerline goodness [0,1] 0.9998565779498843 Centerline is valid? [True, True] Translation: X:112.39, Y:331.55, Z:-0.48 [[-6.90313684e-01 -7.23338752e-01 -1.57501682e-02 1.12386328e+02] [ 7.23160131e-01 -6.90493276e-01 1.60767182e-02 3.31554593e+02] [-2.25042985e-02 -2.91915116e-04 9.99746704e-01 -4.76011028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:331.57, Z:-0.48 [[-6.91337059e-01 -7.22342311e-01 -1.65727459e-02 1.12367724e+02] [ 7.22144485e-01 -6.91535615e-01 1.69066675e-02 3.31574717e+02] [-2.36730453e-02 -2.79711242e-04 9.99719715e-01 -4.75894614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:331.60, Z:-0.48 [[-6.92477490e-01 -7.21236962e-01 -1.70929794e-02 1.12348530e+02] [ 7.21026470e-01 -6.92688370e-01 1.74256247e-02 3.31595105e+02] [-2.44081126e-02 -2.57637766e-04 9.99702044e-01 -4.75965237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:331.61, Z:-0.48 [[-6.92680216e-01 -7.21042150e-01 -1.70978763e-02 1.12329173e+02] [ 7.20831716e-01 -6.92891155e-01 1.74208181e-02 3.31614722e+02] [-2.44081114e-02 -2.57635479e-04 9.99702044e-01 -4.76820192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters Centerline goodness [0,1] 0.9999794572608312 Centerline is valid? [True, True] Translation: X:112.31, Y:331.63, Z:-0.48 [[-6.93631664e-01 -7.20106784e-01 -1.79257951e-02 1.12310862e+02] [ 7.19875447e-01 -6.93863215e-01 1.82532130e-02 3.31633434e+02] [-2.55823123e-02 -2.43333291e-04 9.99672689e-01 -4.77398828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:331.65, Z:-0.48 [[-6.95629092e-01 -7.18160159e-01 -1.86051705e-02 1.12292421e+02] [ 7.17910499e-01 -6.95877829e-01 1.89357651e-02 3.31653830e+02] [-2.65458377e-02 -1.84578140e-04 9.99647580e-01 -4.78096366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:331.67, Z:-0.48 [[-6.96707200e-01 -7.17113271e-01 -1.86449522e-02 1.12273393e+02] [ 7.16862487e-01 -6.96956622e-01 1.89642378e-02 3.31673974e+02] [-2.65942295e-02 -1.53345728e-04 9.99646299e-01 -4.79649192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.226875 meters Centerline goodness [0,1] 0.9999381991224275 Centerline is valid? [True, True] Translation: X:112.25, Y:331.69, Z:-0.48 [[-6.97768123e-01 -7.16092828e-01 -1.81853731e-02 1.12254164e+02] [ 7.15854171e-01 -6.98005049e-01 1.84867182e-02 3.31694707e+02] [-2.59316886e-02 -1.18632519e-04 9.99663710e-01 -4.81217635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:331.72, Z:-0.48 [[-7.00436235e-01 -7.13513565e-01 -1.69550275e-02 1.12235893e+02] [ 7.13305570e-01 -7.00641415e-01 1.72270739e-02 3.31716716e+02] [-2.41711453e-02 -2.76487826e-05 9.99707835e-01 -4.83823178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:331.74, Z:-0.49 [[-7.01863502e-01 -7.12128745e-01 -1.61330736e-02 1.12218114e+02] [ 7.11940285e-01 -7.02048895e-01 1.63822865e-02 3.31736760e+02] [-2.29925036e-02 1.23438933e-05 9.99735637e-01 -4.86971097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters Centerline goodness [0,1] 0.9999385636173742 Centerline is valid? [True, True] Translation: X:112.20, Y:331.76, Z:-0.49 [[-7.03376903e-01 -7.10653466e-01 -1.52506855e-02 1.12200462e+02] [ 7.10484835e-01 -7.03542215e-01 1.54806730e-02 3.31756820e+02] [-2.17308950e-02 5.33671060e-05 9.99763855e-01 -4.88593835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:331.78, Z:-0.49 [[-7.06248106e-01 -7.07805125e-01 -1.50172890e-02 1.12183578e+02] [ 7.07641095e-01 -7.06407735e-01 1.52378671e-02 3.31778171e+02] [-2.13937696e-02 1.34863934e-04 9.99771118e-01 -4.88746424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:331.80, Z:-0.49 [[-7.07468329e-01 -7.06584755e-01 -1.50514946e-02 1.12164500e+02] [ 7.06419916e-01 -7.07628403e-01 1.52625462e-02 3.31799306e+02] [-2.14351475e-02 1.65092488e-04 9.99770227e-01 -4.88927960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:331.82, Z:-0.49 [[-7.08753292e-01 -7.05282467e-01 -1.56656407e-02 1.12147201e+02] [ 7.05103777e-01 -7.08926371e-01 1.58765643e-02 3.31818851e+02] [-2.23032483e-02 2.06664775e-04 9.99751230e-01 -4.88702178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters Centerline goodness [0,1] 0.9999794107352427 Centerline is valid? [True, True] Translation: X:112.13, Y:331.84, Z:-0.49 [[-7.10260036e-01 -7.03723282e-01 -1.74420255e-02 1.12128247e+02] [ 7.03501630e-01 -7.10474114e-01 1.76632187e-02 3.31839414e+02] [-2.48221258e-02 2.74984986e-04 9.99691846e-01 -4.86862003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.466875 meters Centerline goodness [0,1] 0.9999794559947407 Centerline is valid? [True, True] Translation: X:112.11, Y:331.86, Z:-0.49 [[-7.10701323e-01 -7.03252290e-01 -1.84349078e-02 1.12110290e+02] [ 7.03004817e-01 -7.10940312e-01 1.86574519e-02 3.31859252e+02] [-2.62270148e-02 3.00046738e-04 9.99655968e-01 -4.86350577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:331.88, Z:-0.49 [[-7.11229460e-01 -7.02683497e-01 -1.97118739e-02 1.12090819e+02] [ 7.02400690e-01 -7.11502489e-01 1.99368856e-02 3.31878897e+02] [-2.80343678e-02 3.34066610e-04 9.99606904e-01 -4.85802132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.526875 meters Centerline goodness [0,1] 0.999938256359595 Centerline is valid? [True, True] Translation: X:112.07, Y:331.90, Z:-0.49 [[-7.11301886e-01 -7.02592623e-01 -2.03281274e-02 1.12072495e+02] [ 7.02292163e-01 -7.11592222e-01 2.05481587e-02 3.31898826e+02] [-2.89023221e-02 3.39659502e-04 9.99582183e-01 -4.86133995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters Centerline goodness [0,1] 0.9998970367167068 Centerline is valid? [True, True] Translation: X:112.05, Y:331.92, Z:-0.49 [[-7.10508855e-01 -7.03385670e-01 -2.06340845e-02 1.12051530e+02] [ 7.03076803e-01 -7.10808348e-01 2.08447101e-02 3.31918056e+02] [-2.93287498e-02 3.03004949e-04 9.99569774e-01 -4.87416550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:331.94, Z:-0.49 [[-7.10104418e-01 -7.03808629e-01 -2.01278181e-02 1.12031833e+02] [ 7.03515227e-01 -7.10389570e-01 2.03220271e-02 3.31937394e+02] [-2.86014100e-02 2.70534673e-04 9.99590859e-01 -4.88960840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters Centerline goodness [0,1] 0.9999587254416378 Centerline is valid? [True, True] Translation: X:112.01, Y:331.96, Z:-0.49 [[-7.09535411e-01 -7.04398211e-01 -1.95616871e-02 1.12012687e+02] [ 7.04121610e-01 -7.09804977e-01 1.97396105e-02 3.31956427e+02] [-2.77895292e-02 2.32146007e-04 9.99613769e-01 -4.90965057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:331.97, Z:-0.49 [[-7.07625371e-01 -7.06369265e-01 -1.75725590e-02 1.11992049e+02] [ 7.06146907e-01 -7.07843516e-01 1.77229416e-02 3.31974980e+02] [-2.49575632e-02 1.32394906e-04 9.99688503e-01 -4.94305241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters Centerline goodness [0,1] 0.9999381621799893 Centerline is valid? [True, True] Translation: X:111.97, Y:331.99, Z:-0.50 [[-7.06689291e-01 -7.07325323e-01 -1.67670481e-02 1.11971871e+02] [ 7.07123366e-01 -7.06888167e-01 1.69016353e-02 3.31993780e+02] [-2.38073825e-02 8.78331499e-05 9.99716560e-01 -4.96391673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.706875 meters Centerline goodness [0,1] 0.9999588621264167 Centerline is valid? [True, True] Translation: X:111.95, Y:332.01, Z:-0.50 [[-7.04725632e-01 -7.09300692e-01 -1.59471549e-02 1.11952814e+02] [ 7.09118686e-01 -7.04906042e-01 1.60673846e-02 3.32011197e+02] [-2.26378529e-02 1.46722307e-05 9.99743731e-01 -4.97591202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters Centerline goodness [0,1] 0.9999589389833292 Centerline is valid? [True, True] Translation: X:111.93, Y:332.03, Z:-0.50 [[-7.04001763e-01 -7.10019637e-01 -1.59258326e-02 1.11934349e+02] [ 7.09838540e-01 -7.04181876e-01 1.60353419e-02 3.32029167e+02] [-2.26000903e-02 -1.58607770e-05 9.99744585e-01 -4.98365238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:332.05, Z:-0.50 [[-7.02479672e-01 -7.11515839e-01 -1.63560501e-02 1.11914716e+02] [ 7.11325493e-01 -7.02670054e-01 1.64571680e-02 3.32048117e+02] [-2.32024423e-02 -7.36493884e-05 9.99730784e-01 -4.97069916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:332.07, Z:-0.50 [[-7.02697601e-01 -7.11300496e-01 -1.63610964e-02 1.11895782e+02] [ 7.11110208e-01 -7.02888041e-01 1.64521492e-02 3.32066992e+02] [-2.32024408e-02 -7.36568934e-05 9.99730784e-01 -4.97898871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82687500000003 meters Centerline goodness [0,1] 0.9998769483182937 Centerline is valid? [True, True] Translation: X:111.88, Y:332.09, Z:-0.50 [[-7.01454929e-01 -7.12508463e-01 -1.71077097e-02 1.11876734e+02] [ 7.12301054e-01 -7.01663505e-01 1.71910900e-02 3.32085195e+02] [-2.42526527e-02 -1.27064866e-04 9.99705853e-01 -4.97563744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters Centerline goodness [0,1] 0.9998972293019814 Centerline is valid? [True, True] Translation: X:111.86, Y:332.10, Z:-0.50 [[-7.01208990e-01 -7.12740650e-01 -1.75133741e-02 1.11857378e+02] [ 7.12523558e-01 -7.01427648e-01 1.75907352e-02 3.32104351e+02] [-2.48219968e-02 -1.43910025e-04 9.99691876e-01 -4.97856896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88687500000003 meters Centerline goodness [0,1] 0.9998555420269517 Centerline is valid? [True, True] Translation: X:111.84, Y:332.12, Z:-0.50 [[-7.00737108e-01 -7.13211167e-01 -1.72434623e-02 1.11838970e+02] [ 7.13001106e-01 -7.00949216e-01 1.73095196e-02 3.32123664e+02] [-2.44321341e-02 -1.65184988e-04 9.99701477e-01 -4.98115018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters Centerline goodness [0,1] 0.9999794905451413 Centerline is valid? [True, True] Translation: X:111.82, Y:332.14, Z:-0.50 [[-7.00577914e-01 -7.13370230e-01 -1.71318680e-02 1.11820018e+02] [ 7.13163193e-01 -7.00787331e-01 1.71865233e-02 3.32143241e+02] [-2.42661501e-02 -1.77319020e-04 9.99705518e-01 -4.98613691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:332.16, Z:-0.50 [[-7.00381048e-01 -7.13559388e-01 -1.73028324e-02 1.11801909e+02] [ 7.13348507e-01 -7.00594721e-01 1.73477555e-02 3.32162450e+02] [-2.45009269e-02 -1.92910502e-04 9.99699789e-01 -4.98312550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters Centerline goodness [0,1] 0.9997745439639271 Centerline is valid? [True, True] Translation: X:111.78, Y:332.18, Z:-0.50 [[-7.00192603e-01 -7.13740448e-01 -1.74611461e-02 1.11782937e+02] [ 7.13526023e-01 -7.00410257e-01 1.74953284e-02 3.32181673e+02] [-2.47170893e-02 -2.08882603e-04 9.99694464e-01 -4.98791518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00687500000004 meters Centerline goodness [0,1] 0.9998970027809249 Centerline is valid? [True, True] Translation: X:111.76, Y:332.20, Z:-0.50 [[-7.00116000e-01 -7.13814030e-01 -1.75247684e-02 1.11764019e+02] [ 7.13598318e-01 -7.00335264e-01 1.75487406e-02 3.32200615e+02] [-2.47997506e-02 -2.19491215e-04 9.99692415e-01 -4.99228168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters Centerline goodness [0,1] 0.9999793907918058 Centerline is valid? [True, True] Translation: X:111.74, Y:332.22, Z:-0.50 [[-6.99869156e-01 -7.14048674e-01 -1.78228855e-02 1.11744469e+02] [ 7.13825903e-01 -7.00096017e-01 1.78366641e-02 3.32219895e+02] [-2.52139775e-02 -2.39106287e-04 9.99682049e-01 -4.99728904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.066875 meters Centerline goodness [0,1] 0.9999383869708981 Centerline is valid? [True, True] Translation: X:111.73, Y:332.24, Z:-0.50 [[-6.99280496e-01 -7.14633968e-01 -1.74665249e-02 1.11726114e+02] [ 7.14420439e-01 -6.99498551e-01 1.74703651e-02 3.32239720e+02] [-2.47027252e-02 -2.61756818e-04 9.99694807e-01 -4.99554597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters Centerline goodness [0,1] 0.999897374848628 Centerline is valid? [True, True] Translation: X:111.27, Y:331.82, Z:0.13 [[-7.62851903e-01 6.46006507e-01 2.70659810e-02 1.11267992e+02] [ 6.45473149e-01 7.63327292e-01 -2.63791530e-02 3.31821417e+02] [-3.77013065e-02 -2.65302307e-03 -9.99285531e-01 1.25324110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.126875 meters Centerline goodness [0,1] 0.9998972736424712 Centerline is valid? [True, True] Translation: X:111.69, Y:332.27, Z:-0.50 [[-7.00614249e-01 -7.13313337e-01 -1.79932762e-02 1.11691120e+02] [ 7.13142705e-01 -7.00842883e-01 1.57078082e-02 3.32269996e+02] [-2.38150487e-02 -1.82665938e-03 9.99714713e-01 -5.00861578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters Centerline goodness [0,1] 0.9999177631578947 Centerline is valid? [True, True] Translation: X:111.24, Y:331.85, Z:0.12 [[-7.66772283e-01 6.41323896e-01 2.76392275e-02 1.11238808e+02] [ 6.40774425e-01 7.67265337e-01 -2.66840517e-02 3.31847605e+02] [-3.83197412e-02 -2.75008112e-03 -9.99261745e-01 1.24818108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.186875 meters Centerline goodness [0,1] 0.999896992171405 Centerline is valid? [True, True] Translation: X:111.25, Y:331.87, Z:0.12 [[-8.10675040e-01 5.84731901e-01 2.99095774e-02 1.11253599e+02] [ 5.84204494e-01 8.11221837e-01 -2.49848178e-02 3.31870330e+02] [-3.88727224e-02 -2.78125866e-03 -9.99240299e-01 1.24060044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters Centerline goodness [0,1] 0.9997529288229118 Centerline is valid? [True, True] Translation: X:111.27, Y:331.89, Z:0.12 [[-8.50450637e-01 5.25095791e-01 3.17509718e-02 1.11266863e+02] [ 5.24604141e-01 8.51038489e-01 -2.28907138e-02 3.31894767e+02] [-3.90411165e-02 -2.81073084e-03 -9.99233652e-01 1.23674379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.246875 meters Centerline goodness [0,1] 0.999814906219151 Centerline is valid? [True, True] Translation: X:111.28, Y:331.92, Z:0.12 [[-8.85781117e-01 4.62860024e-01 3.39471837e-02 1.11276798e+02] [ 4.62395260e-01 8.86426823e-01 -2.09310822e-02 3.31920012e+02] [-3.97798554e-02 -2.84334059e-03 -9.99204423e-01 1.22446149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters Centerline goodness [0,1] 0.9998150393555149 Centerline is valid? [True, True] Translation: X:111.59, Y:332.44, Z:-0.50 [[-8.34885342e-01 -5.50137275e-01 -1.77607592e-02 1.11589778e+02] [ 5.50059471e-01 -8.35072105e-01 9.44232551e-03 3.32444158e+02] [-2.00260898e-02 -1.88621462e-03 9.99797678e-01 -5.04922821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.306875 meters Centerline goodness [0,1] 0.9998969836822152 Centerline is valid? [True, True] Translation: X:111.24, Y:331.94, Z:0.12 [[-8.87766754e-01 4.58925812e-01 3.54582701e-02 1.11239961e+02] [ 4.58427558e-01 8.88469863e-01 -2.15749075e-02 3.31938369e+02] [-4.14048863e-02 -2.89843746e-03 -9.99138246e-01 1.20217257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters Centerline goodness [0,1] 0.9998763702299514 Centerline is valid? [True, True] Translation: X:111.25, Y:331.96, Z:0.12 [[-9.18094047e-01 3.94597372e-01 3.73662192e-02 1.11249518e+02] [ 3.94140283e-01 9.18849529e-01 -1.92088433e-02 3.31963766e+02] [-4.19136920e-02 -2.90799249e-03 -9.99117003e-01 1.18979975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.366875 meters Centerline goodness [0,1] 0.9997945050654501 Centerline is valid? [True, True] Translation: X:111.26, Y:331.99, Z:0.12 [[-9.43710329e-01 3.28514052e-01 3.85918622e-02 1.11259183e+02] [ 3.28112725e-01 9.44494632e-01 -1.64902873e-02 3.31989199e+02] [-4.18670978e-02 -2.89957336e-03 -9.99118981e-01 1.18106223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters Centerline goodness [0,1] 0.9998559077809799 Centerline is valid? [True, True] Translation: X:111.49, Y:332.55, Z:-0.51 [[-9.06040499e-01 -4.22758011e-01 -1.91383860e-02 1.11487764e+02] [ 4.22710208e-01 -9.06240310e-01 6.67680496e-03 3.32552503e+02] [-2.01666497e-02 -2.04053542e-03 9.99794550e-01 -5.05805114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.426875 meters Centerline goodness [0,1] 0.9999590315047728 Centerline is valid? [True, True] Translation: X:111.22, Y:332.01, Z:0.11 [[-9.44584848e-01 3.26242387e-01 3.64056284e-02 1.11216400e+02] [ 3.25884737e-01 9.45281995e-01 -1.55269884e-02 3.32006590e+02] [-3.94791468e-02 -2.80251932e-03 -9.99216464e-01 1.14637066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters Centerline goodness [0,1] 0.9999383375811889 Centerline is valid? [True, True] Translation: X:111.22, Y:332.03, Z:0.11 [[-9.65243350e-01 2.59072726e-01 3.44470424e-02 1.11221867e+02] [ 2.58806559e-01 9.65853996e-01 -1.20508879e-02 3.32032239e+02] [-3.63928700e-02 -2.71691893e-03 -9.99333867e-01 1.09747457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.486875 meters Centerline goodness [0,1] 0.9999177157903398 Centerline is valid? [True, True] Translation: X:111.41, Y:332.61, Z:-0.50 [[-9.35439953e-01 -3.52650881e-01 -2.42786185e-02 1.11408421e+02] [ 3.52590389e-01 -9.35752535e-01 6.87102750e-03 3.32610249e+02] [-2.51418527e-02 -2.13297392e-03 9.99681618e-01 -5.00969077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters Centerline goodness [0,1] 0.9998150849581886 Centerline is valid? [True, True] Translation: X:111.18, Y:332.04, Z:0.11 [[-9.66247351e-01 2.55550705e-01 3.25560003e-02 1.11178105e+02] [ 2.55311472e-01 9.66791942e-01 -1.13751280e-02 3.32044114e+02] [-3.43818008e-02 -2.67926699e-03 -9.99405180e-01 1.05860829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.546875 meters Centerline goodness [0,1] 0.9999176242843609 Centerline is valid? [True, True] Translation: X:111.36, Y:332.62, Z:-0.50 [[-9.36334338e-01 -3.50205200e-01 -2.51858304e-02 1.11359484e+02] [ 3.50139569e-01 -9.36670521e-01 7.11455761e-03 3.32620367e+02] [-2.60823799e-02 -2.15695120e-03 9.99657470e-01 -5.01308203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters Centerline goodness [0,1] 0.9998973411354071 Centerline is valid? [True, True] Translation: X:111.13, Y:332.06, Z:0.10 [[-9.67665721e-01 2.50130044e-01 3.25271094e-02 1.11134141e+02] [ 2.49893115e-01 9.68208400e-01 -1.12216799e-02 3.32059189e+02] [-3.42998998e-02 -2.73053426e-03 -9.99407855e-01 1.04668785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.606875 meters Centerline goodness [0,1] 0.9997347101197885 Centerline is valid? [True, True] Translation: X:111.31, Y:332.63, Z:-0.51 [[-9.37177362e-01 -3.48104211e-01 -2.28484038e-02 1.11307416e+02] [ 3.48051916e-01 -9.37453718e-01 6.35537757e-03 3.32628160e+02] [-2.36316548e-02 -1.99631476e-03 9.99718740e-01 -5.06752470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters Centerline goodness [0,1] 0.9998972377507399 Centerline is valid? [True, True] Translation: X:111.09, Y:332.08, Z:0.11 [[-9.68705235e-01 2.45712186e-01 3.51523876e-02 1.11088401e+02] [ 2.45444993e-01 9.69338801e-01 -1.17916860e-02 3.32075614e+02] [-3.69719342e-02 -2.79469040e-03 -9.99312396e-01 1.07007632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:332.10, Z:0.11 [[-9.83569034e-01 1.76784421e-01 3.65954111e-02 1.11089406e+02] [ 1.76556579e-01 9.84245679e-01 -9.39237738e-03 3.32102807e+02] [-3.76793012e-02 -2.77689094e-03 -9.99286025e-01 1.06896441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters Centerline goodness [0,1] 0.9998970557957587 Centerline is valid? [True, True] Translation: X:111.09, Y:332.13, Z:0.11 [[-9.93482846e-01 1.07542384e-01 3.77686472e-02 1.11088844e+02] [ 1.07359672e-01 9.94196727e-01 -6.83884370e-03 3.32128871e+02] [-3.82849310e-02 -2.73944435e-03 -9.99263108e-01 1.06378884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:332.16, Z:0.11 [[-9.98539051e-01 3.76124090e-02 3.87952269e-02 1.11086378e+02] [ 3.74787648e-02 9.99288738e-01 -4.16665865e-03 3.32156503e+02] [-3.89243514e-02 -2.70657420e-03 -9.99238495e-01 1.06636358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters Centerline goodness [0,1] 0.9999175784550082 Centerline is valid? [True, True] Translation: X:111.14, Y:332.75, Z:-0.51 [[-9.91028787e-01 -1.32145509e-01 -1.99876970e-02 1.11137365e+02] [ 1.32156691e-01 -9.91228542e-01 7.66197352e-04 3.32746149e+02] [-1.99136253e-02 -1.88218427e-03 9.99799932e-01 -5.13362334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:332.16, Z:0.10 [[-9.98522614e-01 3.72487286e-02 3.95616130e-02 1.11023365e+02] [ 3.71177251e-02 9.99302729e-01 -4.04099419e-03 3.32158696e+02] [-3.96845497e-02 -2.56658701e-03 -9.99208962e-01 1.04038712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.07, Y:332.75, Z:-0.51 [[-9.91969139e-01 -1.25004479e-01 -1.92641386e-02 1.11069243e+02] [ 1.25017271e-01 -9.92154417e-01 5.43591253e-04 3.32749566e+02] [-1.91809516e-02 -1.86912429e-03 9.99814281e-01 -5.14851136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.846875 meters Centerline goodness [0,1] 0.9999795308470135 Centerline is valid? [True, True] Translation: X:110.96, Y:332.16, Z:0.10 [[-9.98568909e-01 3.65788040e-02 3.90144319e-02 1.10963820e+02] [ 3.64571108e-02 9.99327893e-01 -3.82632363e-03 3.32160441e+02] [-3.91281724e-02 -2.39849435e-03 -9.99231321e-01 1.00733525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:332.19, Z:0.10 [[-9.98706384e-01 -3.33759704e-02 3.83614719e-02 1.10954920e+02] [-3.34401713e-02 9.99440187e-01 -1.03297540e-03 3.32186736e+02] [-3.83055201e-02 -2.31445332e-03 -9.99263394e-01 9.86230587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:332.78, Z:-0.51 [[-9.98795702e-01 -4.45518445e-02 -2.05494475e-02 1.10958102e+02] [ 4.45809231e-02 -9.99005316e-01 -9.58900397e-04 3.32782159e+02] [-2.04862865e-02 -1.87385893e-03 9.99788378e-01 -5.14659470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:332.18, Z:0.09 [[-9.98657784e-01 -3.55529379e-02 3.76645499e-02 1.10879281e+02] [-3.56117082e-02 9.99365305e-01 -8.90411925e-04 3.32184864e+02] [-3.76089876e-02 -2.23051576e-03 -9.99290042e-01 9.48753698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.966875 meters Centerline goodness [0,1] 0.9999795056769275 Centerline is valid? [True, True] Translation: X:110.87, Y:332.21, Z:0.09 [[-9.93680854e-01 -1.05874027e-01 3.72699769e-02 1.10873422e+02] [-1.05880753e-01 9.94377207e-01 1.79882708e-03 3.32211403e+02] [-3.72508646e-02 -2.15871321e-03 -9.99303614e-01 9.44360419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters Centerline goodness [0,1] 0.9999795056769275 Centerline is valid? [True, True] Translation: X:110.86, Y:332.24, Z:0.09 [[-9.83571052e-01 -1.76694668e-01 3.69727011e-02 1.10856569e+02] [-1.76651910e-01 9.84263347e-01 4.44596962e-03 3.32236241e+02] [-3.71764537e-02 -2.15837127e-03 -9.99306386e-01 9.33723975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:332.26, Z:0.09 [[-9.68637749e-01 -2.45817477e-01 3.62585099e-02 1.10827745e+02] [-2.45726602e-01 9.69313819e-01 7.01120115e-03 3.32257246e+02] [-3.68693505e-02 -2.11836633e-03 -9.99317849e-01 9.15449060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.79, Y:332.27, Z:0.09 [[-9.48730769e-01 -3.14090993e-01 3.54510287e-02 1.10787209e+02] [-3.13952823e-01 9.49390615e-01 9.54378649e-03 3.32272954e+02] [-3.66544914e-02 -2.07546666e-03 -9.99325843e-01 8.98326619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:332.28, Z:0.09 [[-9.24161122e-01 -3.80499219e-01 3.38609752e-02 1.10725850e+02] [-3.80322385e-01 9.24779078e-01 1.17703409e-02 3.32277383e+02] [-3.57925269e-02 -2.00039540e-03 -9.99357240e-01 8.69610870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:332.28, Z:0.08 [[-8.94224787e-01 -4.46423438e-01 3.26824688e-02 1.10658321e+02] [-4.46204092e-01 8.94819710e-01 1.41278145e-02 3.32275509e+02] [-3.55519048e-02 -1.94960938e-03 -9.99365930e-01 8.42631228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:332.27, Z:0.08 [[-8.59145096e-01 -5.10787053e-01 3.10852128e-02 1.10584468e+02] [-5.10532673e-01 8.59705116e-01 1.62328068e-02 3.32265857e+02] [-3.50156240e-02 -1.92368042e-03 -9.99384914e-01 8.08115409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:332.25, Z:0.08 [[-8.19265527e-01 -5.72659623e-01 2.94100833e-02 1.10503089e+02] [-5.72372299e-01 8.19791055e-01 1.82367121e-02 3.32245308e+02] [-3.45535519e-02 -1.89280746e-03 -9.99401055e-01 7.86116948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.206875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:332.22, Z:0.08 [[-7.73972909e-01 -6.32588819e-01 2.82368989e-02 1.10418867e+02] [-6.32255662e-01 7.74485498e-01 2.06153283e-02 3.32216484e+02] [-3.49100949e-02 -1.89723366e-03 -9.99388656e-01 7.53841515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:332.18, Z:0.07 [[-7.23052346e-01 -6.90273053e-01 2.68032902e-02 1.10332251e+02] [-6.89896906e-01 7.23546325e-01 2.28686281e-02 3.32178149e+02] [-3.51790199e-02 -1.95629173e-03 -9.99379112e-01 7.33051241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:332.13, Z:0.07 [[-6.67924267e-01 -7.43799050e-01 2.53011102e-02 1.10245847e+02] [-7.43376056e-01 6.68400301e-01 2.51610151e-02 3.32129532e+02] [-3.56260088e-02 -2.00258695e-03 -9.99363186e-01 6.98775289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:332.07, Z:0.07 [[-6.08843005e-01 -7.92946008e-01 2.33842570e-02 1.10160858e+02] [-7.92485968e-01 6.09288486e-01 2.70837989e-02 3.32071416e+02] [-3.57237488e-02 -2.04191398e-03 -9.99359617e-01 6.71324779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:332.01, Z:0.06 [[-5.45570113e-01 -8.37789319e-01 2.15013888e-02 1.10079464e+02] [-8.37284591e-01 5.45989611e-01 2.91523418e-02 3.32005756e+02] [-3.61630555e-02 -2.09813517e-03 -9.99343700e-01 6.33404570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters Centerline goodness [0,1] 0.9999794103113161 Centerline is valid? [True, True] Translation: X:110.00, Y:331.93, Z:0.06 [[-4.77611765e-01 -8.78360920e-01 1.92118834e-02 1.09999025e+02] [-8.77827514e-01 4.77992904e-01 3.06861570e-02 3.31929243e+02] [-3.61366650e-02 -2.20865021e-03 -9.99344417e-01 5.96752214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:331.85, Z:0.06 [[-4.07902426e-01 -9.12873771e-01 1.66459992e-02 1.09925922e+02] [-9.12326680e-01 4.08235659e-01 3.16808464e-02 3.31845889e+02] [-3.57161042e-02 -2.26389507e-03 -9.99359412e-01 5.52817835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:331.76, Z:0.05 [[-3.34095761e-01 -9.42437969e-01 1.38093094e-02 1.09856827e+02] [-9.41902928e-01 3.34372638e-01 3.18404301e-02 3.31755768e+02] [-3.46250855e-02 -2.36927623e-03 -9.99397564e-01 5.12285142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:331.66, Z:0.05 [[-2.59749336e-01 -9.65612022e-01 1.11223177e-02 1.09796111e+02] [-9.65083514e-01 2.59976155e-01 3.20345059e-02 3.31659682e+02] [-3.38244414e-02 -2.41302383e-03 -9.99424877e-01 4.73133639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:331.56, Z:0.04 [[-1.83574476e-01 -9.82968332e-01 8.58309143e-03 1.09742905e+02] [-9.82433802e-01 1.83758487e-01 3.25060531e-02 3.31557458e+02] [-3.35296367e-02 -2.46503747e-03 -9.99434684e-01 4.33253898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50687500000004 meters Centerline goodness [0,1] 0.9999794939096912 Centerline is valid? [True, True] Translation: X:109.70, Y:331.45, Z:0.04 [[-1.04772331e-01 -9.94478011e-01 6.02034379e-03 1.09697658e+02] [-9.93944908e-01 1.04913876e-01 3.26588310e-02 3.31449210e+02] [-3.31101069e-02 -2.56214819e-03 -9.99448426e-01 3.94827368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:331.34, Z:0.04 [[-2.67382165e-02 -9.99636317e-01 3.50748625e-03 1.09661440e+02] [-9.99088338e-01 2.68400429e-02 3.31979539e-02 3.31339884e+02] [-3.32800214e-02 -2.61663454e-03 -9.99442641e-01 3.60340883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:331.23, Z:0.03 [[ 5.13001582e-02 -9.98682853e-01 9.23433734e-04 1.09634164e+02] [-9.98102540e-01 -5.12387762e-02 3.41453827e-02 3.31225782e+02] [-3.40530926e-02 -2.67334509e-03 -9.99416450e-01 3.23816919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:331.11, Z:0.03 [[ 1.30279834e-01 -9.91475635e-01 -1.79708182e-03 1.09615075e+02] [-9.90861472e-01 -1.30262577e-01 3.50029067e-02 3.31114014e+02] [-3.49386216e-02 -2.77951374e-03 -9.99385595e-01 2.96437439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.626875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:331.00, Z:0.03 [[ 2.07117136e-01 -9.78305742e-01 -4.51304094e-03 1.09605351e+02] [-9.77685009e-01 -2.07146992e-01 3.49592218e-02 3.30996572e+02] [-3.51356702e-02 -2.82832143e-03 -9.99378550e-01 2.62271299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:330.88, Z:0.02 [[ 2.82578441e-01 -9.59216777e-01 -7.25259675e-03 1.09604601e+02] [-9.58590532e-01 -2.82656883e-01 3.47746714e-02 3.30882320e+02] [-3.54064446e-02 -2.87430183e-03 -9.99368862e-01 2.21603414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:330.77, Z:0.02 [[ 3.57149200e-01 -9.33998038e-01 -9.59761330e-03 1.09614201e+02] [-9.33409930e-01 -3.57266175e-01 3.32683331e-02 3.30765855e+02] [-3.45014604e-02 -2.92325097e-03 -9.99400372e-01 1.72094026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:330.65, Z:0.01 [[ 4.28579113e-01 -9.03424767e-01 -1.19847320e-02 1.09629428e+02] [-9.02858000e-01 -4.28736498e-01 3.21317133e-02 3.30650996e+02] [-3.41668777e-02 -2.95047001e-03 -9.99411787e-01 1.31470715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.746875 meters Centerline goodness [0,1] 0.9998764872987772 Centerline is valid? [True, True] Translation: X:109.65, Y:330.54, Z:0.01 [[ 4.97218927e-01 -8.67512380e-01 -1.39859914e-02 1.09652772e+02] [-8.66987066e-01 -4.97406814e-01 3.03296506e-02 3.30544148e+02] [-3.32680748e-02 -2.95480272e-03 -9.99442097e-01 8.79980880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:330.44, Z:0.00 [[ 5.63721398e-01 -8.25815145e-01 -1.57331687e-02 1.09688580e+02] [-8.25334160e-01 -5.63932979e-01 2.83393668e-02 3.30438251e+02] [-3.22755309e-02 -2.99038588e-03 -9.99474536e-01 3.33150855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.806875 meters Centerline goodness [0,1] 0.9999588705862998 Centerline is valid? [True, True] Translation: X:109.73, Y:330.33, Z:-0.00 [[ 6.25780148e-01 -7.79800944e-01 -1.75981225e-02 1.09727295e+02] [-7.79349075e-01 -6.26020353e-01 2.67121106e-02 3.30334955e+02] [-3.18469119e-02 -3.00082801e-03 -9.99488254e-01 -6.37946670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:330.24, Z:-0.00 [[ 6.84093721e-01 -7.29137040e-01 -1.93638231e-02 1.09771194e+02] [-7.28713248e-01 -6.84361065e-01 2.50386711e-02 3.30239155e+02] [-3.15084691e-02 -3.01812328e-03 -9.99498928e-01 -3.99534945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.866875 meters Centerline goodness [0,1] 0.999979532103895 Centerline is valid? [True, True] Translation: X:109.82, Y:330.14, Z:-0.01 [[ 7.39245270e-01 -6.73110980e-01 -2.09293946e-02 1.09823210e+02] [-6.72717718e-01 -7.39535076e-01 2.32108494e-02 3.30144061e+02] [-3.11014990e-02 -3.07893605e-03 -9.99511489e-01 -7.31886055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters Centerline goodness [0,1] 0.9998362601825699 Centerline is valid? [True, True] Translation: X:109.83, Y:330.14, Z:-0.01 [[ 7.90317126e-01 -6.12275346e-01 -2.27539220e-02 1.09826251e+02] [-6.11901217e-01 -7.90638234e-01 2.16352455e-02 3.30135391e+02] [-3.12368481e-02 -3.17555252e-03 -9.99506966e-01 -8.41024460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.926875 meters Centerline goodness [0,1] 0.9998768952994522 Centerline is valid? [True, True] Translation: X:109.83, Y:330.13, Z:-0.01 [[ 8.36445725e-01 -5.47501760e-01 -2.45024789e-02 1.09829546e+02] [-5.47150467e-01 -8.36798355e-01 1.98715647e-02 3.30126024e+02] [-3.13833507e-02 -3.21494257e-03 -9.99502251e-01 -9.15010415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters Centerline goodness [0,1] 0.9999182939782661 Centerline is valid? [True, True] Translation: X:109.83, Y:330.12, Z:-0.01 [[ 8.77908537e-01 -4.78089972e-01 -2.65815698e-02 1.09832603e+02] [-4.77753235e-01 -8.78304600e-01 1.82449079e-02 3.30116524e+02] [-3.20694225e-02 -3.31792943e-03 -9.99480137e-01 -9.66934297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.986875 meters Centerline goodness [0,1] 0.9997743080489957 Centerline is valid? [True, True] Translation: X:109.84, Y:330.11, Z:-0.01 [[ 9.13082222e-01 -4.06836159e-01 -2.76621615e-02 1.09838500e+02] [-4.06536221e-01 -9.13495045e-01 1.59719630e-02 3.30108711e+02] [-3.17672196e-02 -3.33804486e-03 -9.99489720e-01 -1.09600567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters Centerline goodness [0,1] 0.9999179554498092 Centerline is valid? [True, True] Translation: X:109.84, Y:330.10, Z:-0.01 [[ 9.42571118e-01 -3.32753749e-01 -2.88899717e-02 1.09843290e+02] [-3.32485521e-01 -9.43007688e-01 1.37796714e-02 3.30099995e+02] [-3.18287027e-02 -3.38282302e-03 -9.99487614e-01 -1.19458314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.046875 meters Centerline goodness [0,1] 0.999835624319382 Centerline is valid? [True, True] Translation: X:109.85, Y:330.09, Z:-0.01 [[ 9.66482994e-01 -2.55017204e-01 -2.96116088e-02 1.09848946e+02] [-2.54786288e-01 -9.66930315e-01 1.13891649e-02 3.30091923e+02] [-3.15367952e-02 -3.46280235e-03 -9.99496593e-01 -1.35354574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters Centerline goodness [0,1] 0.9997747517149586 Centerline is valid? [True, True] Translation: X:109.85, Y:330.08, Z:-0.01 [[ 9.83737874e-01 -1.77051174e-01 -3.02105638e-02 1.09854482e+02] [-1.76857507e-01 -9.84195428e-01 8.98785822e-03 3.30084413e+02] [-3.13244097e-02 -3.49873154e-03 -9.99503147e-01 -1.45068532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.106875 meters Centerline goodness [0,1] 0.9997750925187593 Centerline is valid? [True, True] Translation: X:109.86, Y:330.08, Z:-0.02 [[ 9.94715987e-01 -9.80138703e-02 -3.05513822e-02 1.09862129e+02] [-9.78582647e-02 -9.95178800e-01 6.55111130e-03 3.30078135e+02] [-3.10461876e-02 -3.52678989e-03 -9.99511729e-01 -1.57459614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters Centerline goodness [0,1] 0.9997953964194374 Centerline is valid? [True, True] Translation: X:109.87, Y:330.07, Z:-0.02 [[ 9.99401492e-01 -1.73183714e-02 -2.99454720e-02 1.09869270e+02] [-1.72042162e-02 -9.99843731e-01 4.06558008e-03 3.30069842e+02] [-3.00112017e-02 -3.54795842e-03 -9.99543266e-01 -1.70058192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.166875 meters Centerline goodness [0,1] 0.9997745439639271 Centerline is valid? [True, True] Translation: X:109.87, Y:330.07, Z:-0.02 [[ 9.97634325e-01 6.19938570e-02 -2.97071511e-02 1.09873513e+02] [ 6.20718599e-02 -9.98070218e-01 1.70988137e-03 3.30067294e+02] [-2.95438206e-02 -3.54981447e-03 -9.99557183e-01 -1.84967927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters Centerline goodness [0,1] 0.9997548518896834 Centerline is valid? [True, True] Translation: X:109.88, Y:330.06, Z:-0.02 [[ 9.89638461e-01 1.40718965e-01 -2.85287411e-02 1.09878410e+02] [ 1.40761579e-01 -9.90043387e-01 -5.19049553e-04 3.30063767e+02] [-2.83177316e-02 -3.50207925e-03 -9.99592838e-01 -1.99139581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.226875 meters Centerline goodness [0,1] 0.9996933706739712 Centerline is valid? [True, True] Translation: X:109.88, Y:330.06, Z:-0.02 [[ 9.75487243e-01 2.18352935e-01 -2.73246253e-02 1.09883827e+02] [ 2.18365027e-01 -9.75863758e-01 -2.57705412e-03 3.30061528e+02] [-2.72278188e-02 -3.45285913e-03 -9.99623291e-01 -2.12894328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters Centerline goodness [0,1] 0.9998770718515028 Centerline is valid? [True, True] Translation: X:109.89, Y:330.06, Z:-0.02 [[ 9.55346501e-01 2.94319235e-01 -2.62535886e-02 1.09888623e+02] [ 2.94304312e-01 -9.55701082e-01 -4.51809725e-03 3.30058684e+02] [-2.64203460e-02 -3.41019596e-03 -9.99645105e-01 -2.24691497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.286875 meters Centerline goodness [0,1] 0.9998564867967853 Centerline is valid? [True, True] Translation: X:109.89, Y:330.05, Z:-0.02 [[ 9.29260071e-01 3.68517993e-01 -2.58883874e-02 1.09894348e+02] [ 3.68474894e-01 -9.29614341e-01 -6.59004946e-03 3.30050702e+02] [-2.64947680e-02 -3.41535097e-03 -9.99643118e-01 -2.24640966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters Centerline goodness [0,1] 0.9997132205334098 Centerline is valid? [True, True] Translation: X:109.90, Y:330.05, Z:-0.02 [[ 8.97355104e-01 4.40552135e-01 -2.58386195e-02 1.09899573e+02] [ 4.40477008e-01 -8.97720394e-01 -8.83737773e-03 3.30048704e+02] [-2.70891813e-02 -3.45105179e-03 -9.99627064e-01 -2.24729846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.346875 meters Centerline goodness [0,1] 0.9998157663097992 Centerline is valid? [True, True] Translation: X:109.90, Y:330.04, Z:-0.02 [[ 8.59858700e-01 5.09885911e-01 -2.56782746e-02 1.09904950e+02] [ 5.09775770e-01 -8.60234934e-01 -1.11589613e-02 3.30044879e+02] [-2.77791461e-02 -3.49503221e-03 -9.99607975e-01 -2.23908730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters Centerline goodness [0,1] 0.9996709511568124 Centerline is valid? [True, True] Translation: X:109.91, Y:330.04, Z:-0.02 [[ 8.16979539e-01 5.76104915e-01 -2.54472139e-02 1.09909604e+02] [ 5.75955429e-01 -8.17368048e-01 -1.35947502e-02 3.30044799e+02] [-2.86317420e-02 -3.54982826e-03 -9.99583724e-01 -2.22835909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.406875 meters Centerline goodness [0,1] 0.9997956431111292 Centerline is valid? [True, True] Translation: X:109.92, Y:330.04, Z:-0.02 [[ 7.68616176e-01 6.39209024e-01 -2.53179161e-02 1.09916814e+02] [ 6.39011390e-01 -7.69024406e-01 -1.63066036e-02 3.30040142e+02] [-2.98934236e-02 -3.64491747e-03 -9.99546446e-01 -2.05149720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters Centerline goodness [0,1] 0.9998361260190913 Centerline is valid? [True, True] Translation: X:109.92, Y:330.04, Z:-0.02 [[ 7.15798656e-01 6.97883300e-01 -2.43142588e-02 1.09922901e+02] [ 6.97646349e-01 -7.16202025e-01 -1.85534587e-02 3.30039554e+02] [-3.03620704e-02 -3.68221310e-03 -9.99532184e-01 -2.06234673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.466875 meters Centerline goodness [0,1] 0.9997132322818517 Centerline is valid? [True, True] Translation: X:109.93, Y:330.04, Z:-0.02 [[ 6.58609593e-01 7.52129196e-01 -2.31317169e-02 1.09930003e+02] [ 7.51851816e-01 -6.59005194e-01 -2.07605554e-02 3.30037027e+02] [-3.08585414e-02 -3.71852239e-03 -9.99516845e-01 -2.02363651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters Centerline goodness [0,1] 0.9998349766904575 Centerline is valid? [True, True] Translation: X:109.94, Y:330.04, Z:-0.02 [[ 5.97697887e-01 8.01419455e-01 -2.20021360e-02 1.09935676e+02] [ 8.01092566e-01 -5.98090882e-01 -2.31947693e-02 3.30037849e+02] [-3.17480163e-02 -3.76228303e-03 -9.99488824e-01 -2.06396753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.526875 meters Centerline goodness [0,1] 0.9997346397223923 Centerline is valid? [True, True] Translation: X:109.95, Y:330.03, Z:-0.02 [[ 5.33593656e-01 8.45503249e-01 -2.00516014e-02 1.09946934e+02] [ 8.45148733e-01 -5.33957233e-01 -2.47647490e-02 3.30033420e+02] [-3.16453734e-02 -3.73227258e-03 -9.99492191e-01 -2.06499740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters Centerline goodness [0,1] 0.9997946991315774 Centerline is valid? [True, True] Translation: X:109.95, Y:330.04, Z:-0.02 [[ 4.67455907e-01 8.83835019e-01 -1.79062828e-02 1.09949103e+02] [ 8.83459146e-01 -4.67784490e-01 -2.60309216e-02 3.30036778e+02] [-3.13833214e-02 -3.65116119e-03 -9.99500753e-01 -2.28615481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.586875 meters Centerline goodness [0,1] 0.9997551819813938 Centerline is valid? [True, True] Translation: X:109.96, Y:330.03, Z:-0.02 [[ 3.98316425e-01 9.17120069e-01 -1.53233223e-02 1.09958617e+02] [ 9.16747226e-01 -3.98595366e-01 -2.63867087e-02 3.30034652e+02] [-3.03075854e-02 -3.53735378e-03 -9.99534360e-01 -2.38378083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters Centerline goodness [0,1] 0.9996925410457704 Centerline is valid? [True, True] Translation: X:109.96, Y:330.04, Z:-0.03 [[ 3.27286003e-01 9.44839552e-01 -1.27315988e-02 1.09959520e+02] [ 9.44478496e-01 -3.27515849e-01 -2.63389118e-02 3.30037616e+02] [-2.90558461e-02 -3.40436416e-03 -9.99571992e-01 -2.61334274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.646875 meters Centerline goodness [0,1] 0.9997344988154563 Centerline is valid? [True, True] Translation: X:109.96, Y:330.04, Z:-0.03 [[ 2.54165885e-01 9.67107092e-01 -1.01771579e-02 1.09964292e+02] [ 9.66767390e-01 -2.54348518e-01 -2.58388373e-02 3.30038450e+02] [-2.75774678e-02 -3.27159347e-03 -9.99614316e-01 -2.76396851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters Centerline goodness [0,1] 0.9997540277948592 Centerline is valid? [True, True] Translation: X:109.97, Y:330.04, Z:-0.03 [[ 1.81542004e-01 9.83354683e-01 -7.48789701e-03 1.09965958e+02] [ 9.83070307e-01 -1.81671046e-01 -2.38411928e-02 3.30040751e+02] [-2.48046827e-02 -3.03295129e-03 -9.99687716e-01 -3.03418211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.706875 meters Centerline goodness [0,1] 0.9997952246385715 Centerline is valid? [True, True] Translation: X:109.97, Y:330.04, Z:-0.03 [[ 1.05688246e-01 9.94384322e-01 -5.46026808e-03 1.09971137e+02] [ 9.94111537e-01 -1.05788161e-01 -2.34758609e-02 3.30042548e+02] [-2.39216597e-02 -2.94699294e-03 -9.99709493e-01 -3.18481080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters Centerline goodness [0,1] 0.999795077767987 Centerline is valid? [True, True] Translation: X:109.98, Y:330.04, Z:-0.03 [[ 2.89355238e-02 9.99574948e-01 -3.55791769e-03 1.09976229e+02] [ 9.99308752e-01 -2.90105628e-02 -2.32466302e-02 3.30044930e+02] [-2.33399664e-02 -2.88280486e-03 -9.99723429e-01 -3.27348804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.766875 meters Centerline goodness [0,1] 0.9999590667212443 Centerline is valid? [True, True] Translation: X:109.98, Y:330.05, Z:-0.03 [[-4.75885560e-02 9.98865562e-01 -1.70806313e-03 1.09983227e+02] [ 9.98562785e-01 4.75317900e-02 -2.47607065e-02 3.30045777e+02] [-2.46514297e-02 -2.88393454e-03 -9.99691948e-01 -3.17805901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters Centerline goodness [0,1] 0.99991830399085 Centerline is valid? [True, True] Translation: X:109.99, Y:330.05, Z:-0.03 [[-1.25127028e-01 9.92140665e-01 3.58144499e-04 1.09986822e+02] [ 9.91800464e-01 1.25093560e-01 -2.61427156e-02 3.30048616e+02] [-2.59820528e-02 -2.91595243e-03 -9.99658157e-01 -3.14262832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82687500000003 meters Centerline goodness [0,1] 0.9997951617198222 Centerline is valid? [True, True] Translation: X:109.99, Y:330.05, Z:-0.03 [[-2.01956602e-01 9.79390357e-01 2.83908061e-03 1.09991135e+02] [ 9.78977219e-01 2.01954321e-01 -2.86016992e-02 3.30051585e+02] [-2.85855930e-02 -2.99690673e-03 -9.99586856e-01 -2.95587308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters Centerline goodness [0,1] 0.9996719967199672 Centerline is valid? [True, True] Translation: X:110.00, Y:330.05, Z:-0.03 [[-2.77831255e-01 9.60615494e-01 5.25989639e-03 1.09995765e+02] [ 9.60181527e-01 2.77864689e-01 -2.90284229e-02 3.30054416e+02] [-2.93466922e-02 -3.01454781e-03 -9.99564747e-01 -2.94058040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88687500000003 meters Centerline goodness [0,1] 0.9997946654072811 Centerline is valid? [True, True] Translation: X:110.00, Y:330.06, Z:-0.03 [[-3.50591978e-01 9.36497556e-01 7.58901025e-03 1.09999681e+02] [ 9.36061731e-01 3.50661565e-01 -2.87211229e-02 3.30057669e+02] [-2.95584356e-02 -2.96561321e-03 -9.99558655e-01 -2.98960351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters Centerline goodness [0,1] 0.9997946654072811 Centerline is valid? [True, True] Translation: X:110.01, Y:330.06, Z:-0.03 [[-4.22870716e-01 9.06137103e-01 9.79330574e-03 1.10005063e+02] [ 9.05710223e-01 4.22973769e-01 -2.79675314e-02 3.30061503e+02] [-2.94847293e-02 -2.95675291e-03 -9.99560858e-01 -3.05344550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94687500000003 meters Centerline goodness [0,1] 0.9997144488863506 Centerline is valid? [True, True] Translation: X:110.01, Y:330.06, Z:-0.03 [[-4.91321098e-01 8.70899169e-01 1.17565621e-02 1.10009018e+02] [ 8.70494007e-01 4.91453217e-01 -2.67192776e-02 3.30064786e+02] [-2.90475969e-02 -2.89372792e-03 -9.99573841e-01 -3.16732121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters Centerline goodness [0,1] 0.9996930443857818 Centerline is valid? [True, True] Translation: X:110.01, Y:330.07, Z:-0.03 [[-5.56446839e-01 8.30773288e-01 1.35151367e-02 1.10011967e+02] [ 8.30395036e-01 5.56603837e-01 -2.52240593e-02 3.30068153e+02] [-2.84780517e-02 -2.81294562e-03 -9.99590460e-01 -3.27973759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00687500000004 meters Centerline goodness [0,1] 0.9998156946264745 Centerline is valid? [True, True] Translation: X:110.01, Y:330.07, Z:-0.03 [[-6.18341993e-01 7.85773320e-01 1.46105484e-02 1.10014504e+02] [ 7.85443049e-01 6.18508649e-01 -2.29405305e-02 3.30072897e+02] [-2.70628074e-02 -2.70933965e-03 -9.99630064e-01 -3.48649989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters Centerline goodness [0,1] 0.9998359849106118 Centerline is valid? [True, True] Translation: X:110.02, Y:330.08, Z:-0.04 [[-6.75246439e-01 7.37452000e-01 1.43803134e-02 1.10018837e+02] [ 7.37200312e-01 6.75394851e-01 -1.94292189e-02 3.30077352e+02] [-2.40405060e-02 -2.51833938e-03 -9.99707813e-01 -3.86498017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.066875 meters Centerline goodness [0,1] 0.9998563070922714 Centerline is valid? [True, True] Translation: X:110.02, Y:330.08, Z:-0.04 [[-7.30248058e-01 6.83021503e-01 1.48121803e-02 1.10023158e+02] [ 6.82809181e-01 7.30394158e-01 -1.72045526e-02 3.30084532e+02] [-2.25698093e-02 -2.44969847e-03 -9.99742268e-01 -4.04575016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters Centerline goodness [0,1] 0.9998571603477125 Centerline is valid? [True, True] Translation: X:110.04, Y:330.11, Z:-0.04 [[-7.76645124e-01 6.29748003e-01 1.54855869e-02 1.10043008e+02] [ 6.29562760e-01 7.76796264e-01 -1.54368208e-02 3.30105523e+02] [-2.17504531e-02 -2.23978283e-03 -9.99760922e-01 -4.18603292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.126875 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:110.45, Y:330.55, Z:-0.63 [[-6.95757336e-01 -7.18020197e-01 -1.92022589e-02 1.10449202e+02] [ 7.17817970e-01 -6.96019788e-01 1.71410722e-02 3.30554213e+02] [-2.56727882e-02 -1.85769981e-03 9.99668674e-01 -6.33909439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters Centerline goodness [0,1] 0.999733158175623 Centerline is valid? [True, True] Translation: X:110.01, Y:330.14, Z:-0.04 [[-7.80393554e-01 6.25076555e-01 1.62850136e-02 1.10013220e+02] [ 6.24875795e-01 7.80560010e-01 -1.60097378e-02 3.30138743e+02] [-2.27187422e-02 -2.31778535e-03 -9.99739209e-01 -4.13701499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.186875 meters Centerline goodness [0,1] 0.9996930820698545 Centerline is valid? [True, True] Translation: X:110.03, Y:330.16, Z:-0.04 [[-8.23686168e-01 5.66739587e-01 1.86369708e-02 1.10029480e+02] [ 5.66526229e-01 8.23893484e-01 -1.57340225e-02 3.30161021e+02] [-2.42719723e-02 -2.40156392e-03 -9.99702508e-01 -3.99231389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters Centerline goodness [0,1] 0.9998157210426094 Centerline is valid? [True, True] Translation: X:110.04, Y:330.19, Z:-0.04 [[-8.63472271e-01 5.03877336e-01 2.28750193e-02 1.10044988e+02] [ 5.03618223e-01 8.63771270e-01 -1.63670104e-02 3.30192414e+02] [-2.80057501e-02 -2.61218310e-03 -9.99604349e-01 -3.66207257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.246875 meters Centerline goodness [0,1] 0.9997954424579635 Centerline is valid? [True, True] Translation: X:110.05, Y:330.22, Z:-0.04 [[-8.97764473e-01 4.39738013e-01 2.54839293e-02 1.10054503e+02] [ 4.39472941e-01 8.98121969e-01 -1.55068694e-02 3.30217045e+02] [-2.97066367e-02 -2.72201903e-03 -9.99554954e-01 -3.61037880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters Centerline goodness [0,1] 0.9997540429195105 Centerline is valid? [True, True] Translation: X:110.33, Y:330.72, Z:-0.65 [[-8.27828008e-01 -5.60813527e-01 -1.37469015e-02 1.10334432e+02] [ 5.60769652e-01 -8.27940337e-01 7.22463684e-03 3.30719244e+02] [-1.54332883e-02 -1.72808846e-03 9.99879406e-01 -6.46301957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.306875 meters Centerline goodness [0,1] 0.9995707189435598 Centerline is valid? [True, True] Translation: X:110.32, Y:330.69, Z:-0.65 [[-7.87344633e-01 -6.16347256e-01 -1.42999549e-02 1.10317497e+02] [ 6.16292451e-01 -7.87471606e-01 8.49022017e-03 3.30691118e+02] [-1.64937324e-02 -2.12822497e-03 9.99861704e-01 -6.45601647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters Centerline goodness [0,1] 0.9996509526938239 Centerline is valid? [True, True] Translation: X:109.97, Y:330.24, Z:-0.04 [[-8.69185588e-01 4.93959943e-01 2.28032596e-02 1.09968506e+02] [ 4.93705832e-01 8.69480431e-01 -1.60727253e-02 3.30239548e+02] [-2.77662705e-02 -2.71207896e-03 -9.99610764e-01 -4.01543397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.366875 meters Centerline goodness [0,1] 0.9997333770868371 Centerline is valid? [True, True] Translation: X:110.28, Y:330.71, Z:-0.64 [[-7.89793358e-01 -6.13123172e-01 -1.75050980e-02 1.10281261e+02] [ 6.13028854e-01 -7.89984588e-01 1.09533114e-02 3.30710545e+02] [-2.05444867e-02 -2.08027756e-03 9.99786776e-01 -6.42632386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters Centerline goodness [0,1] 0.9997539470986262 Centerline is valid? [True, True] Translation: X:109.94, Y:330.26, Z:-0.05 [[-8.70573644e-01 4.91668037e-01 1.90806576e-02 1.09935355e+02] [ 4.91484701e-01 8.70779091e-01 -1.36588381e-02 3.30259629e+02] [-2.33306518e-02 -2.51317315e-03 -9.99724644e-01 -4.54057468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.426875 meters Centerline goodness [0,1] 0.9997337702232234 Centerline is valid? [True, True] Translation: X:110.25, Y:330.73, Z:-0.64 [[-7.92532677e-01 -6.09447098e-01 -2.15914379e-02 1.10245086e+02] [ 6.09296655e-01 -7.92823476e-01 1.37303354e-02 3.30733247e+02] [-2.54861119e-02 -2.27385145e-03 9.99672590e-01 -6.39327598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters Centerline goodness [0,1] 0.9997539622332028 Centerline is valid? [True, True] Translation: X:109.90, Y:330.28, Z:-0.05 [[-8.72145492e-01 4.88952401e-01 1.69643634e-02 1.09898916e+02] [ 4.88804512e-01 8.72307158e-01 -1.22626156e-02 3.30284048e+02] [-2.07939710e-02 -2.40252749e-03 -9.99780895e-01 -4.81280162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.486875 meters Centerline goodness [0,1] 0.9997542695662858 Centerline is valid? [True, True] Translation: X:109.91, Y:330.31, Z:-0.05 [[-9.05075812e-01 4.24777897e-01 2.00377651e-02 1.09909547e+02] [ 4.24610577e-01 9.05294089e-01 -1.21848375e-02 3.30311881e+02] [-2.33159200e-02 -2.51995467e-03 -9.99724971e-01 -4.53184731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters Centerline goodness [0,1] 0.999774155134891 Centerline is valid? [True, True] Translation: X:110.18, Y:330.79, Z:-0.65 [[-8.34543985e-01 -5.50651113e-01 -1.78798660e-02 1.10176333e+02] [ 5.50571468e-01 -8.34733396e-01 9.55074732e-03 3.30794189e+02] [-2.01840509e-02 -1.87362533e-03 9.99794526e-01 -6.47163420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.546875 meters Centerline goodness [0,1] 0.9997538108036026 Centerline is valid? [True, True] Translation: X:109.87, Y:330.34, Z:-0.04 [[-9.07257508e-01 4.19898051e-01 2.38629638e-02 1.09871727e+02] [ 4.19671941e-01 9.07567178e-01 -1.40455974e-02 3.30336137e+02] [-2.75549617e-02 -2.72835732e-03 -9.99616567e-01 -4.22420818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters Centerline goodness [0,1] 0.9997744145030967 Centerline is valid? [True, True] Translation: X:109.88, Y:330.37, Z:-0.04 [[-9.34930940e-01 3.53764583e-01 2.74728522e-02 1.09881055e+02] [ 3.53520374e-01 9.35330113e-01 -1.34508047e-02 3.30365127e+02] [-3.04546043e-02 -2.86336049e-03 -9.99532050e-01 -4.03615563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.606875 meters Centerline goodness [0,1] 0.9997335410346807 Centerline is valid? [True, True] Translation: X:110.10, Y:330.85, Z:-0.65 [[-8.72700250e-01 -4.88064348e-01 -1.36918234e-02 1.10103900e+02] [ 4.88035294e-01 -8.72805831e-01 5.61543301e-03 3.30853923e+02] [-1.46909959e-02 -1.78150325e-03 9.99890494e-01 -6.53020511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters Centerline goodness [0,1] 0.9997536035481089 Centerline is valid? [True, True] Translation: X:109.84, Y:330.38, Z:-0.04 [[-9.35178193e-01 3.53078237e-01 2.78837945e-02 1.09840161e+02] [ 3.52831159e-01 9.35589659e-01 -1.34967813e-02 3.30380204e+02] [-3.08532095e-02 -2.78362398e-03 -9.99520050e-01 -4.21425834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.666875 meters Centerline goodness [0,1] 0.9999589768834738 Centerline is valid? [True, True] Translation: X:109.85, Y:330.40, Z:-0.04 [[-9.57317233e-01 2.87672756e-01 2.80731149e-02 1.09846877e+02] [ 2.87465634e-01 9.57724982e-01 -1.12413557e-02 3.30404147e+02] [-3.01201553e-02 -2.69148779e-03 -9.99542661e-01 -4.33620384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters Centerline goodness [0,1] 0.9999795383859879 Centerline is valid? [True, True] Translation: X:109.85, Y:330.43, Z:-0.04 [[-9.74767713e-01 2.21415243e-01 2.83407083e-02 1.09850397e+02] [ 2.21243523e-01 9.75176160e-01 -9.09729510e-03 3.30429315e+02] [-2.96514628e-02 -2.59755140e-03 -9.99556924e-01 -4.47607987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.726875 meters Centerline goodness [0,1] 0.9999589086127547 Centerline is valid? [True, True] Translation: X:109.85, Y:330.45, Z:-0.05 [[-9.87632312e-01 1.54192101e-01 2.84114687e-02 1.09851013e+02] [ 1.54055028e-01 9.88037720e-01 -6.96509930e-03 3.30454508e+02] [-2.91455661e-02 -2.50202754e-03 -9.99572046e-01 -4.59190545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:330.48, Z:-0.05 [[-9.95679986e-01 8.86249947e-02 2.76943163e-02 1.09852253e+02] [ 8.85256315e-02 9.96062353e-01 -4.79597583e-03 3.30478310e+02] [-2.80103092e-02 -2.32360031e-03 -9.99604934e-01 -4.78753879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.786875 meters Centerline goodness [0,1] 0.9999795643111129 Centerline is valid? [True, True] Translation: X:109.85, Y:330.50, Z:-0.05 [[-9.99436686e-01 1.93121854e-02 2.74472126e-02 1.09848845e+02] [ 1.92427816e-02 9.99810946e-01 -2.79053919e-03 3.30504589e+02] [-2.74959150e-02 -2.26080653e-03 -9.99619359e-01 -4.93280777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters Centerline goodness [0,1] 0.9999591820074288 Centerline is valid? [True, True] Translation: X:109.85, Y:330.53, Z:-0.05 [[-9.98362443e-01 -5.01149131e-02 2.75849105e-02 1.09845983e+02] [-5.01568059e-02 9.98741012e-01 -8.28430953e-04 3.30532940e+02] [-2.75086647e-02 -2.21064535e-03 -9.99619121e-01 -5.01265834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.846875 meters Centerline goodness [0,1] 0.9998562569304694 Centerline is valid? [True, True] Translation: X:109.84, Y:331.09, Z:-0.65 [[-9.97957928e-01 -6.17858256e-02 -1.62013914e-02 1.09841502e+02] [ 6.18044171e-02 -9.98088069e-01 -6.48879245e-04 3.31085136e+02] [-1.61303239e-02 -1.64887174e-03 9.99868538e-01 -6.52825933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:330.53, Z:-0.05 [[-9.98041181e-01 -5.51321719e-02 2.95676134e-02 1.09777961e+02] [-5.51754184e-02 9.98476466e-01 -6.48128324e-04 3.30530979e+02] [-2.94868334e-02 -2.27826420e-03 -9.99562572e-01 -5.13972177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.906875 meters Centerline goodness [0,1] 0.9998364208890524 Centerline is valid? [True, True] Translation: X:109.77, Y:331.08, Z:-0.66 [[-9.98142673e-01 -5.97096343e-02 -1.20815225e-02 1.09771222e+02] [ 5.97233970e-02 -9.98214659e-01 -7.81264260e-04 3.31080932e+02] [-1.20133039e-02 -1.50136276e-03 9.99926711e-01 -6.55692870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:330.53, Z:-0.05 [[-9.97442255e-01 -6.29232884e-02 3.39058665e-02 1.09713222e+02] [-6.29712067e-02 9.98015284e-01 -3.46217395e-04 3.30532950e+02] [-3.38167878e-02 -2.48042518e-03 -9.99424971e-01 -5.09321568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:330.56, Z:-0.05 [[-9.90246980e-01 -1.34892694e-01 3.48551363e-02 1.09698477e+02] [-1.34898336e-01 9.90857001e-01 2.20056446e-03 3.30560915e+02] [-3.48332959e-02 -2.52279756e-03 -9.99389952e-01 -5.08496283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.68, Y:330.59, Z:-0.05 [[-9.77865260e-01 -2.06289945e-01 3.49855846e-02 1.09681469e+02] [-2.06251274e-01 9.78487531e-01 4.75005080e-03 3.30586431e+02] [-3.52128460e-02 -2.57091173e-03 -9.99376529e-01 -5.19482479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:330.61, Z:-0.05 [[-9.60095885e-01 -2.77670608e-01 3.33904990e-02 1.09658173e+02] [-2.77596053e-01 9.60672810e-01 6.94134978e-03 3.30611535e+02] [-3.40047533e-02 -2.60470939e-03 -9.99418277e-01 -5.48097726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:331.12, Z:-0.66 [[-9.88306238e-01 1.52109552e-01 -1.06519916e-02 1.09516505e+02] [-1.52080713e-01 -9.88361980e-01 -3.47178007e-03 3.31120914e+02] [-1.10561145e-02 -1.81121942e-03 9.99937239e-01 -6.58236154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.086875 meters Centerline goodness [0,1] 0.9998368179500255 Centerline is valid? [True, True] Translation: X:109.54, Y:330.59, Z:-0.06 [[-9.58000323e-01 -2.85182852e-01 3.01018689e-02 1.09541009e+02] [-2.85126122e-01 9.58469620e-01 6.25154011e-03 3.30585184e+02] [-3.06345589e-02 -2.59385170e-03 -9.99527286e-01 -6.09271948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters Centerline goodness [0,1] 0.999918245549492 Centerline is valid? [True, True] Translation: X:109.51, Y:330.61, Z:-0.07 [[-9.34495241e-01 -3.55039573e-01 2.57981712e-02 1.09509404e+02] [-3.54976097e-01 9.34848003e-01 7.15410093e-03 3.30606174e+02] [-2.66573578e-02 -2.47226084e-03 -9.99641572e-01 -6.59218303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.146875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:330.62, Z:-0.07 [[-9.06002028e-01 -4.22602178e-01 2.38269479e-02 1.09462610e+02] [-4.22525644e-01 9.06311974e-01 8.40743645e-03 3.30616691e+02] [-2.51476491e-02 -2.45034203e-03 -9.99680745e-01 -6.86592660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters Centerline goodness [0,1] 0.9999795759977125 Centerline is valid? [True, True] Translation: X:109.40, Y:330.62, Z:-0.07 [[-8.70949892e-01 -4.90891330e-01 2.17252641e-02 1.09400325e+02] [-4.90807986e-01 8.71217249e-01 9.38224154e-03 3.30623253e+02] [-2.35330858e-02 -2.49147085e-03 -9.99719954e-01 -7.15283512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.206875 meters Centerline goodness [0,1] 0.9999795333606222 Centerline is valid? [True, True] Translation: X:109.33, Y:330.62, Z:-0.07 [[-8.31302538e-01 -5.55423498e-01 2.09958985e-02 1.09331377e+02] [-5.55321173e-01 8.31563737e-01 1.09611278e-02 3.30616300e+02] [-2.35474957e-02 -2.54745363e-03 -9.99719474e-01 -7.27666977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:330.61, Z:-0.07 [[-7.86412036e-01 -6.17342492e-01 2.10798057e-02 1.09259230e+02] [-6.17207872e-01 7.86690014e-01 1.31630083e-02 3.30605743e+02] [-2.47093570e-02 -2.65907389e-03 -9.99691141e-01 -7.32871196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.266875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:330.59, Z:-0.07 [[-7.35295677e-01 -6.77383828e-01 2.21679413e-02 1.09179154e+02] [-6.77189847e-01 7.35624035e-01 1.64678526e-02 3.30587846e+02] [-2.74623274e-02 -2.90316398e-03 -9.99618623e-01 -7.14482305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:330.56, Z:-0.07 [[-6.81060599e-01 -7.31886243e-01 2.23380324e-02 1.09102506e+02] [-7.31633189e-01 6.81419913e-01 1.94879329e-02 3.30556263e+02] [-2.94845301e-02 -3.07078264e-03 -9.99560520e-01 -7.15011660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:330.52, Z:-0.07 [[-6.22821465e-01 -7.82043299e-01 2.23987109e-02 1.09023206e+02] [-7.81715143e-01 6.23215596e-01 2.28857107e-02 3.30516630e+02] [-3.18568427e-02 -3.25569957e-03 -9.99487139e-01 -7.17826328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:330.47, Z:-0.07 [[-5.60071594e-01 -8.28129373e-01 2.28375014e-02 1.08946023e+02] [-8.27682874e-01 5.60525803e-01 2.74204862e-02 3.30468664e+02] [-3.55087188e-02 -3.54477337e-03 -9.99363080e-01 -7.20417222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:330.41, Z:-0.07 [[-4.95904813e-01 -8.68116926e-01 2.12466278e-02 1.08871363e+02] [-8.67609898e-01 4.96346597e-01 2.98851119e-02 3.30410268e+02] [-3.64894629e-02 -3.61361376e-03 -9.99327504e-01 -7.41003218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:330.34, Z:-0.08 [[-4.28830718e-01 -9.03181712e-01 1.91575006e-02 1.08799243e+02] [-9.02628766e-01 4.29242895e-01 3.18095512e-02 3.30339583e+02] [-3.69530259e-02 -3.65119842e-03 -9.99310333e-01 -7.74298654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:330.27, Z:-0.08 [[-3.60184684e-01 -9.32741440e-01 1.61369203e-02 1.08734040e+02] [-9.32201916e-01 3.60528541e-01 3.19180102e-02 3.30270064e+02] [-3.55890711e-02 -3.54648963e-03 -9.99360216e-01 -8.24956189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:330.19, Z:-0.09 [[-2.89538467e-01 -9.57074010e-01 1.32971740e-02 1.08672597e+02] [-9.56544761e-01 2.89823100e-01 3.20107940e-02 3.30190204e+02] [-3.44905272e-02 -3.45098590e-03 -9.99399067e-01 -8.68211893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:330.11, Z:-0.09 [[-2.18155295e-01 -9.75863448e-01 9.93968330e-03 1.08618490e+02] [-9.75415876e-01 2.18358017e-01 2.97261727e-02 3.30107260e+02] [-3.11790949e-02 -3.21040292e-03 -9.99508658e-01 -9.27651573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:330.01, Z:-0.10 [[-1.44357363e-01 -9.89497758e-01 7.42555085e-03 1.08567938e+02] [-9.89070438e-01 1.44514482e-01 2.92443662e-02 3.30014384e+02] [-3.00103344e-02 -3.12275323e-03 -9.99544710e-01 -9.68560777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:329.92, Z:-0.10 [[-6.93613176e-02 -9.97578459e-01 5.12111048e-03 1.08525782e+02] [-9.97155420e-01 6.94818647e-02 2.92119710e-02 3.29917418e+02] [-2.94970573e-02 -3.08036227e-03 -9.99560121e-01 -1.00255047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters Centerline goodness [0,1] 0.999917947034811 Centerline is valid? [True, True] Translation: X:108.49, Y:329.82, Z:-0.10 [[ 6.07146392e-03 -9.99977538e-01 2.83909763e-03 1.08491451e+02] [-9.99576917e-01 -5.98822112e-03 2.84627640e-02 3.29819028e+02] [-2.84451235e-02 -3.01070710e-03 -9.99590822e-01 -1.04216133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.626875 meters Centerline goodness [0,1] 0.9999592277740403 Centerline is valid? [True, True] Translation: X:108.46, Y:329.71, Z:-0.11 [[ 8.18495858e-02 -9.96644466e-01 6.73415552e-04 1.08462036e+02] [-9.96246985e-01 -8.17978188e-02 2.83030213e-02 3.29714420e+02] [-2.81529656e-02 -2.98747878e-03 -9.99599162e-01 -1.06909005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters Centerline goodness [0,1] 0.9999591286222258 Centerline is valid? [True, True] Translation: X:108.44, Y:329.61, Z:-0.11 [[ 1.56882050e-01 -9.87616397e-01 -1.36936168e-03 1.08438323e+02] [-9.87245316e-01 -1.56860856e-01 2.72279039e-02 3.29608819e+02] [-2.71055236e-02 -2.91967348e-03 -9.99628314e-01 -1.09409843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.686875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:329.50, Z:-0.11 [[ 2.31069343e-01 -9.72931722e-01 -3.28997821e-03 1.08428052e+02] [-9.72581466e-01 -2.31074961e-01 2.62612910e-02 3.29501332e+02] [-2.63106746e-02 -2.86840743e-03 -9.99649699e-01 -1.12171749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters Centerline goodness [0,1] 0.9999590600180136 Centerline is valid? [True, True] Translation: X:108.43, Y:329.39, Z:-0.11 [[ 3.03731400e-01 -9.52743117e-01 -5.27161542e-03 1.08427459e+02] [-9.52395002e-01 -3.03763784e-01 2.59099267e-02 3.29393425e+02] [-2.62868301e-02 -2.84899814e-03 -9.99650382e-01 -1.14783461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.746875 meters Centerline goodness [0,1] 0.999979599330858 Centerline is valid? [True, True] Translation: X:108.43, Y:329.29, Z:-0.12 [[ 3.73469879e-01 -9.27614985e-01 -7.11959914e-03 1.08432668e+02] [-9.27278897e-01 -3.73527384e-01 2.51225085e-02 3.29289720e+02] [-2.59633806e-02 -2.78064618e-03 -9.99659027e-01 -1.15972175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.45, Y:329.19, Z:-0.12 [[ 4.41536917e-01 -8.97197126e-01 -9.08117791e-03 1.08445937e+02] [-8.96862156e-01 -4.41621750e-01 2.46678409e-02 3.29186981e+02] [-2.61423617e-02 -2.74719764e-03 -9.99654455e-01 -1.17213448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:329.08, Z:-0.12 [[ 5.08270446e-01 -8.61128500e-01 -1.09023228e-02 1.08466580e+02] [-8.60802417e-01 -5.08379979e-01 2.38536415e-02 3.29083247e+02] [-2.60835731e-02 -2.73935519e-03 -9.99656012e-01 -1.19713947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:328.98, Z:-0.12 [[ 5.70697901e-01 -8.21059180e-01 -1.28735857e-02 1.08493540e+02] [-8.20734168e-01 -5.70836661e-01 2.32579716e-02 3.28983228e+02] [-2.64448858e-02 -2.70748391e-03 -9.99646606e-01 -1.20395149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:328.89, Z:-0.12 [[ 6.30137205e-01 -7.76335930e-01 -1.51534360e-02 1.08531401e+02] [-7.76001179e-01 -6.30313573e-01 2.29558221e-02 3.28891130e+02] [-2.73728459e-02 -2.70623338e-03 -9.99621630e-01 -1.22301933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters Centerline goodness [0,1] 0.9999589077684864 Centerline is valid? [True, True] Translation: X:108.57, Y:328.80, Z:-0.12 [[ 6.85203619e-01 -7.28141122e-01 -1.75073159e-02 1.08571408e+02] [-7.27798483e-01 -6.85422038e-01 2.24944214e-02 3.28797840e+02] [-2.83790134e-02 -2.67146096e-03 -9.99593665e-01 -1.22624782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.926875 meters Centerline goodness [0,1] 0.999959027308299 Centerline is valid? [True, True] Translation: X:108.62, Y:328.71, Z:-0.12 [[ 7.37367776e-01 -6.75215745e-01 -1.92992242e-02 1.08616116e+02] [-6.74886635e-01 -7.37615570e-01 2.12438286e-02 3.28711003e+02] [-2.85795758e-02 -2.63972613e-03 -9.99588035e-01 -1.24271204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:328.70, Z:-0.12 [[ 7.87180191e-01 -6.16345079e-01 -2.15891129e-02 1.08622084e+02] [-6.16015931e-01 -7.87471570e-01 2.03199201e-02 3.28699432e+02] [-2.95248954e-02 -2.69620114e-03 -9.99560409e-01 -1.24014841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.986875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:328.69, Z:-0.12 [[ 8.32666991e-01 -5.53284140e-01 -2.32882531e-02 1.08628044e+02] [-5.52974867e-01 -8.32988265e-01 1.86908337e-02 3.28687900e+02] [-2.97401834e-02 -2.68542163e-03 -9.99554056e-01 -1.24412958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:328.68, Z:-0.12 [[ 8.73297465e-01 -4.86540268e-01 -2.51019095e-02 1.08634248e+02] [-4.86248407e-01 -8.73653991e-01 1.70642786e-02 3.28676308e+02] [-3.02328421e-02 -2.69642768e-03 -9.99539246e-01 -1.24491900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:328.67, Z:-0.13 [[ 9.08514073e-01 -4.17044707e-01 -2.59979067e-02 1.08642921e+02] [-4.16788328e-01 -9.08882060e-01 1.48623942e-02 3.28667291e+02] [-2.98273139e-02 -2.66707024e-03 -9.99551508e-01 -1.25692549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:328.66, Z:-0.13 [[ 9.38087543e-01 -3.45401936e-01 -2.62538618e-02 1.08651074e+02] [-3.45187667e-01 -9.38451224e-01 1.24408263e-02 3.28658638e+02] [-2.89350543e-02 -2.60807490e-03 -9.99577891e-01 -1.26684829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.106875 meters Centerline goodness [0,1] 0.9999382296621162 Centerline is valid? [True, True] Translation: X:108.66, Y:328.65, Z:-0.13 [[ 9.62167523e-01 -2.71131628e-01 -2.68569954e-02 1.08661820e+02] [-2.70950056e-01 -9.62538800e-01 1.02531006e-02 3.28651361e+02] [-2.86308400e-02 -2.58829603e-03 -9.99586702e-01 -1.28174860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:328.64, Z:-0.13 [[ 9.80352966e-01 -1.95297616e-01 -2.76930317e-02 1.08672346e+02] [-1.95144783e-01 -9.80740630e-01 8.14431603e-03 3.28642943e+02] [-2.87502468e-02 -2.58015372e-03 -9.99583296e-01 -1.29036505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:328.63, Z:-0.13 [[ 9.92569120e-01 -1.18258649e-01 -2.86606534e-02 1.08681720e+02] [-1.18133908e-01 -9.92979467e-01 6.01316332e-03 3.28634382e+02] [-2.91705489e-02 -2.58268522e-03 -9.99571112e-01 -1.28569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:328.63, Z:-0.13 [[ 9.98761949e-01 -4.04967197e-02 -2.88891720e-02 1.08692244e+02] [-4.04054128e-02 -9.99176377e-01 3.73762322e-03 3.28628311e+02] [-2.90167397e-02 -2.56571694e-03 -9.99575633e-01 -1.28477977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:328.63, Z:-0.13 [[ 9.98874258e-01 3.75437486e-02 -2.89945391e-02 1.08703892e+02] [ 3.76018607e-02 -9.99291731e-01 1.46141884e-03 3.28627825e+02] [-2.89191361e-02 -2.55002228e-03 -9.99578502e-01 -1.29509368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters Centerline goodness [0,1] 0.9999182238214008 Centerline is valid? [True, True] Translation: X:108.71, Y:328.63, Z:-0.13 [[ 9.93088558e-01 1.13851485e-01 -2.85123809e-02 1.08712707e+02] [ 1.13875727e-01 -9.93494698e-01 -7.77363537e-04 3.28626989e+02] [-2.84154033e-02 -2.47487728e-03 -9.99593137e-01 -1.30364276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.286875 meters Centerline goodness [0,1] 0.9999794293707445 Centerline is valid? [True, True] Translation: X:108.72, Y:328.63, Z:-0.13 [[ 9.81492099e-01 1.89509044e-01 -2.75605232e-02 1.08721594e+02] [ 1.89502208e-01 -9.81876060e-01 -2.88361119e-03 3.28625264e+02] [-2.76074883e-02 -2.39253841e-03 -9.99615977e-01 -1.31433097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters Centerline goodness [0,1] 0.9999589709924916 Centerline is valid? [True, True] Translation: X:108.73, Y:328.63, Z:-0.13 [[ 9.64662080e-01 2.62232051e-01 -2.57181468e-02 1.08729711e+02] [ 2.62200112e-01 -9.65002241e-01 -4.66642542e-03 3.28625928e+02] [-2.60417556e-02 -2.24177733e-03 -9.99658342e-01 -1.33041707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.346875 meters Centerline goodness [0,1] 0.9999176361577268 Centerline is valid? [True, True] Translation: X:108.74, Y:328.62, Z:-0.13 [[ 9.41853372e-01 3.35128442e-01 -2.45184238e-02 1.08738414e+02] [ 3.35073862e-01 -9.42169963e-01 -6.42397732e-03 3.28624061e+02] [-2.52533800e-02 -2.16503825e-03 -9.99678738e-01 -1.33805144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:328.62, Z:-0.13 [[ 9.13495310e-01 4.06163414e-01 -2.36135590e-02 1.08747806e+02] [ 4.06086233e-01 -9.13798036e-01 -8.19276412e-03 3.28620964e+02] [-2.49056249e-02 -2.10508964e-03 -9.99687590e-01 -1.34468703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.406875 meters Centerline goodness [0,1] 0.9999386691199019 Centerline is valid? [True, True] Translation: X:108.76, Y:328.62, Z:-0.13 [[ 8.79859430e-01 4.74660123e-01 -2.33484462e-02 1.08757044e+02] [ 4.74553878e-01 -8.80166759e-01 -1.02515305e-02 3.28617612e+02] [-2.54165190e-02 -2.06018991e-03 -9.99674825e-01 -1.33735423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:328.61, Z:-0.13 [[ 8.40359685e-01 5.41558875e-01 -2.25740020e-02 1.08767622e+02] [ 5.41427206e-01 -8.40660346e-01 -1.21145760e-02 3.28614916e+02] [-2.55378245e-02 -2.04157751e-03 -9.99671772e-01 -1.34108787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.466875 meters Centerline goodness [0,1] 0.999979538804657 Centerline is valid? [True, True] Translation: X:108.78, Y:328.61, Z:-0.13 [[ 7.95499960e-01 6.05553453e-01 -2.20188175e-02 1.08779788e+02] [ 6.05390657e-01 -7.95802011e-01 -1.41884475e-02 3.28608706e+02] [-2.61144826e-02 -2.04307701e-03 -9.99656871e-01 -1.33070243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:328.61, Z:-0.13 [[ 7.45958817e-01 6.65651416e-01 -2.12987270e-02 1.08787711e+02] [ 6.65455712e-01 -7.46260035e-01 -1.62682566e-02 3.28609956e+02] [-2.67233769e-02 -2.03791008e-03 -9.99640790e-01 -1.33730684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.526875 meters Centerline goodness [0,1] 0.9999794517733119 Centerline is valid? [True, True] Translation: X:108.80, Y:328.61, Z:-0.13 [[ 6.92102213e-01 7.21529610e-01 -1.97369992e-02 1.08796996e+02] [ 7.21316040e-01 -6.92380668e-01 -1.76686335e-02 3.28608223e+02] [-2.64139590e-02 -2.00811377e-03 -9.99649074e-01 -1.33683498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:328.61, Z:-0.13 [[ 6.34277747e-01 7.72920289e-01 -1.69105559e-02 1.08803771e+02] [ 7.72723584e-01 -6.34500171e-01 -1.75441347e-02 3.28611227e+02] [-2.42899682e-02 -1.93933112e-03 -9.99703074e-01 -1.34972334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.81, Y:328.61, Z:-0.14 [[ 5.72469946e-01 8.19792508e-01 -1.47785118e-02 1.08813142e+02] [ 8.19600399e-01 -5.72657534e-01 -1.78475538e-02 3.28612201e+02] [-2.30943170e-02 -1.89528602e-03 -9.99731494e-01 -1.36153274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters Centerline goodness [0,1] 0.9998774034040988 Centerline is valid? [True, True] Translation: X:108.82, Y:328.61, Z:-0.14 [[ 5.06852096e-01 8.61935312e-01 -1.29796205e-02 1.08822353e+02] [ 8.61741412e-01 -5.07014811e-01 -1.83771545e-02 3.28612650e+02] [-2.24207782e-02 -1.87057721e-03 -9.99746873e-01 -1.36736746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.646875 meters Centerline goodness [0,1] 0.9998161914876236 Centerline is valid? [True, True] Translation: X:108.83, Y:328.61, Z:-0.14 [[ 4.38034636e-01 8.98887821e-01 -1.12402227e-02 1.08829508e+02] [ 8.98692367e-01 -4.38174919e-01 -1.88353379e-02 3.28614950e+02] [-2.18560395e-02 -1.85097194e-03 -9.99759415e-01 -1.37078488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters Centerline goodness [0,1] 0.9999794648540978 Centerline is valid? [True, True] Translation: X:108.84, Y:328.62, Z:-0.14 [[ 3.65941964e-01 9.30586737e-01 -9.73673124e-03 1.08837594e+02] [ 9.30380365e-01 -3.66066774e-01 -1.96848400e-02 3.28617335e+02] [-2.18827449e-02 -1.85535454e-03 -9.99758822e-01 -1.36972709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.706875 meters Centerline goodness [0,1] 0.9999590054727694 Centerline is valid? [True, True] Translation: X:108.85, Y:328.62, Z:-0.14 [[ 2.90940164e-01 9.56703587e-01 -8.48923675e-03 1.08846511e+02] [ 9.56466033e-01 -2.91057835e-01 -2.14024176e-02 3.28620113e+02] [-2.29466286e-02 -1.89284370e-03 -9.99734900e-01 -1.36809405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters Centerline goodness [0,1] 0.9999387655127367 Centerline is valid? [True, True] Translation: X:108.86, Y:328.62, Z:-0.14 [[ 2.13719454e-01 9.76869950e-01 -7.00685673e-03 1.08856151e+02] [ 9.76602455e-01 -2.13825485e-01 -2.29413948e-02 3.28622400e+02] [-2.39090037e-02 -1.93989112e-03 -9.99712257e-01 -1.35569566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.766875 meters Centerline goodness [0,1] 0.9998977442378878 Centerline is valid? [True, True] Translation: X:108.86, Y:328.63, Z:-0.13 [[ 1.32710050e-01 9.91139130e-01 -5.59172005e-03 1.08861628e+02] [ 9.90800358e-01 -1.32811352e-01 -2.59960479e-02 3.28626392e+02] [-2.65083442e-02 -2.09034141e-03 -9.99646407e-01 -1.33604077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:328.63, Z:-0.13 [[ 5.28158644e-02 9.98597772e-01 -3.60187289e-03 1.08867068e+02] [ 9.98228815e-01 -5.28945620e-02 -2.72286171e-02 3.28631181e+02] [-2.73809559e-02 -2.15739036e-03 -9.99622743e-01 -1.33573178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82687500000003 meters Centerline goodness [0,1] 0.9998773181753123 Centerline is valid? [True, True] Translation: X:108.87, Y:328.64, Z:-0.13 [[-2.92450728e-02 9.99571215e-01 -1.45302927e-03 1.08873568e+02] [ 9.99175268e-01 2.91924608e-02 -2.82238056e-02 3.28635529e+02] [-2.81692862e-02 -2.27723816e-03 -9.99600573e-01 -1.32909048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters Centerline goodness [0,1] 0.9999590180730298 Centerline is valid? [True, True] Translation: X:108.88, Y:328.64, Z:-0.13 [[-1.08895974e-01 9.94052897e-01 7.10309154e-04 1.08875475e+02] [ 9.93674429e-01 1.08874181e-01 -2.75234798e-02 3.28640294e+02] [-2.74371291e-02 -2.29138010e-03 -9.99620905e-01 -1.34073089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88687500000003 meters Centerline goodness [0,1] 0.9998769508418613 Centerline is valid? [True, True] Translation: X:108.88, Y:328.65, Z:-0.14 [[-1.88239409e-01 9.82119906e-01 2.53260264e-03 1.08877099e+02] [ 9.81797780e-01 1.88242792e-01 -2.52541311e-02 3.28645477e+02] [-2.52793290e-02 -2.26731906e-03 -9.99677856e-01 -1.37339599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters Centerline goodness [0,1] 0.9998763218106487 Centerline is valid? [True, True] Translation: X:108.88, Y:328.65, Z:-0.14 [[-2.65098241e-01 9.64212667e-01 4.10565927e-03 1.08880932e+02] [ 9.63933650e-01 2.65120743e-01 -2.33004375e-02 3.28651129e+02] [-2.35550724e-02 -2.21932186e-03 -9.99720077e-01 -1.39107331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94687500000003 meters Centerline goodness [0,1] 0.9998775235256895 Centerline is valid? [True, True] Translation: X:108.89, Y:328.66, Z:-0.14 [[-3.40209004e-01 9.40333108e-01 5.61064411e-03 1.08885381e+02] [ 9.40079609e-01 3.40248214e-01 -2.19426691e-02 3.28656752e+02] [-2.25424299e-02 -2.19064149e-03 -9.99743487e-01 -1.40267920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters Centerline goodness [0,1] 0.9998557295960429 Centerline is valid? [True, True] Translation: X:108.89, Y:328.66, Z:-0.14 [[-4.13216978e-01 9.10604481e-01 7.15596812e-03 1.08889607e+02] [ 9.10363871e-01 4.13273177e-01 -2.10452868e-02 3.28663602e+02] [-2.21213022e-02 -2.18173498e-03 -9.99752913e-01 -1.41397083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00687500000004 meters Centerline goodness [0,1] 0.9997732332811082 Centerline is valid? [True, True] Translation: X:108.90, Y:328.67, Z:-0.14 [[-4.83823503e-01 8.75114766e-01 9.43209120e-03 1.08897675e+02] [ 8.74848842e-01 4.83910242e-01 -2.16882965e-02 3.28671508e+02] [-2.35440341e-02 -2.24165356e-03 -9.99720288e-01 -1.39918924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters Centerline goodness [0,1] 0.9999386766419329 Centerline is valid? [True, True] Translation: X:108.90, Y:328.68, Z:-0.14 [[-5.51877990e-01 8.33826658e-01 1.27980033e-02 1.08902365e+02] [ 8.33494692e-01 5.52021218e-01 -2.36468544e-02 3.28677666e+02] [-2.67821470e-02 -2.38311065e-03 -9.99638453e-01 -1.36745106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.066875 meters Centerline goodness [0,1] 0.9997128852976764 Centerline is valid? [True, True] Translation: X:108.90, Y:328.68, Z:-0.14 [[-6.15928163e-01 7.87648706e-01 1.55567992e-02 1.08899157e+02] [ 7.87290802e-01 6.16119710e-01 -2.38682943e-02 3.28680055e+02] [-2.83846817e-02 -2.45342978e-03 -9.99594063e-01 -1.36568923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters Centerline goodness [0,1] 0.99973335521188 Centerline is valid? [True, True] Translation: X:108.90, Y:328.69, Z:-0.14 [[-6.76093390e-01 7.36596858e-01 1.79665694e-02 1.08898807e+02] [ 7.36233762e-01 6.76327456e-01 -2.32598204e-02 3.28685316e+02] [-2.92843948e-02 -2.49821583e-03 -9.99567998e-01 -1.37329274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.126875 meters Centerline goodness [0,1] 0.9997946991315774 Centerline is valid? [True, True] Translation: X:108.91, Y:328.70, Z:-0.13 [[-7.31851421e-01 6.81165813e-01 2.01651362e-02 1.08906077e+02] [ 6.80808387e-01 7.32124829e-01 -2.22075446e-02 3.28697148e+02] [-2.98904171e-02 -2.52402922e-03 -9.99549995e-01 -1.34774807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters Centerline goodness [0,1] 0.9996734493948609 Centerline is valid? [True, True] Translation: X:108.90, Y:328.69, Z:-0.14 [[-7.83089931e-01 6.21548937e-01 2.11442393e-02 1.08899215e+02] [ 6.21233497e-01 7.83371374e-01 -1.99557686e-02 3.28693807e+02] [-2.89672785e-02 -2.49165172e-03 -9.99577255e-01 -1.36650381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.186875 meters Centerline goodness [0,1] 0.9997110840539034 Centerline is valid? [True, True] Translation: X:109.27, Y:329.11, Z:-0.75 [[-6.87216146e-01 -7.26426292e-01 -6.22988843e-03 1.09273576e+02] [ 7.26410208e-01 -6.87243477e-01 4.96107311e-03 3.29110684e+02] [-7.88530413e-03 -1.11612501e-03 9.99968288e-01 -7.48992604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters Centerline goodness [0,1] 0.9998154376179148 Centerline is valid? [True, True] Translation: X:109.26, Y:329.09, Z:-0.75 [[-6.36577425e-01 -7.71172982e-01 -7.83670519e-03 1.09256421e+02] [ 7.71140444e-01 -6.36624029e-01 7.22921631e-03 3.29088965e+02] [-1.05640111e-02 -1.44124441e-03 9.99943161e-01 -7.46348494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.246875 meters Centerline goodness [0,1] 0.9998155964430603 Centerline is valid? [True, True] Translation: X:109.24, Y:329.11, Z:-0.75 [[-6.36622899e-01 -7.71139080e-01 -7.47023904e-03 1.09240232e+02] [ 7.71093588e-01 -6.36666586e-01 8.38668951e-03 3.29110661e+02] [-1.12233556e-02 -4.21094838e-04 9.99936927e-01 -7.46088137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters Centerline goodness [0,1] 0.9999590549891496 Centerline is valid? [True, True] Translation: X:109.22, Y:329.13, Z:-0.75 [[-6.36651799e-01 -7.71114651e-01 -7.52877327e-03 1.09223607e+02] [ 7.71068507e-01 -6.36696169e-01 8.44662392e-03 3.29132976e+02] [-1.13068566e-02 -4.27641654e-04 9.99935984e-01 -7.45668773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.306875 meters Centerline goodness [0,1] 0.9999388067312596 Centerline is valid? [True, True] Translation: X:109.21, Y:329.15, Z:-0.75 [[-6.36189950e-01 -7.71500125e-01 -7.06431769e-03 1.09206952e+02] [ 7.71459572e-01 -6.36229038e-01 7.92089369e-03 3.29153643e+02] [-1.06054945e-02 -4.10642536e-04 9.99943676e-01 -7.47102629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters Centerline goodness [0,1] 0.99987722529159 Centerline is valid? [True, True] Translation: X:109.19, Y:329.18, Z:-0.75 [[-6.36041812e-01 -7.71625985e-01 -6.64472628e-03 1.09190941e+02] [ 7.71590138e-01 -6.36076400e-01 7.44797471e-03 3.29176990e+02] [-9.97360440e-03 -3.89781936e-04 9.99950186e-01 -7.47918256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.366875 meters Centerline goodness [0,1] 0.9997536844698058 Centerline is valid? [True, True] Translation: X:109.18, Y:329.20, Z:-0.75 [[-6.35283959e-01 -7.72255966e-01 -5.91733066e-03 1.09176076e+02] [ 7.72227590e-01 -6.35311416e-01 6.62975127e-03 3.29201272e+02] [-8.87921269e-03 -3.57751359e-04 9.99960515e-01 -7.48775901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters Centerline goodness [0,1] 0.99993843375472 Centerline is valid? [True, True] Translation: X:109.16, Y:329.22, Z:-0.75 [[-6.35285955e-01 -7.72253909e-01 -5.97119192e-03 1.09159484e+02] [ 7.72225043e-01 -6.35313913e-01 6.68686931e-03 3.29222327e+02] [-8.95754226e-03 -3.63029778e-04 9.99959815e-01 -7.49377511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.426875 meters Centerline goodness [0,1] 0.9998359108996185 Centerline is valid? [True, True] Translation: X:109.14, Y:329.24, Z:-0.75 [[-6.35103182e-01 -7.72401641e-01 -6.29708331e-03 1.09142476e+02] [ 7.72369606e-01 -6.35134280e-01 7.04543316e-03 3.29242580e+02] [-9.44139761e-03 -3.89098731e-04 9.99955353e-01 -7.49932122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters Centerline goodness [0,1] 0.9998566132038755 Centerline is valid? [True, True] Translation: X:109.13, Y:329.27, Z:-0.75 [[-6.34511789e-01 -7.72881363e-01 -7.01339557e-03 1.09127924e+02] [ 7.72841699e-01 -6.34550393e-01 7.84264990e-03 3.29266728e+02] [-1.05117909e-02 -4.43990725e-04 9.99944651e-01 -7.49531713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.486875 meters Centerline goodness [0,1] 0.9998975409836065 Centerline is valid? [True, True] Translation: X:109.11, Y:329.29, Z:-0.75 [[-6.34306816e-01 -7.73044436e-01 -7.56058845e-03 1.09108116e+02] [ 7.72998412e-01 -6.34351688e-01 8.44929181e-03 3.29285300e+02] [-1.13277501e-02 -4.84879484e-04 9.99935721e-01 -7.50187639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters Centerline goodness [0,1] 0.9998972271895747 Centerline is valid? [True, True] Translation: X:109.09, Y:329.31, Z:-0.75 [[-6.34249853e-01 -7.73090093e-01 -7.67017130e-03 1.09094502e+02] [ 7.73042787e-01 -6.34296036e-01 8.56667475e-03 3.29309149e+02] [-1.14879706e-02 -4.95958399e-04 9.99933888e-01 -7.50199400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.546875 meters Centerline goodness [0,1] 0.9999179133575489 Centerline is valid? [True, True] Translation: X:109.08, Y:329.33, Z:-0.75 [[-6.34068510e-01 -7.73245504e-01 -6.96528744e-03 1.09078661e+02] [ 7.73206548e-01 -6.34106603e-01 7.77500289e-03 3.29330963e+02] [-1.04287208e-02 -4.55721355e-04 9.99945516e-01 -7.51762577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters Centerline goodness [0,1] 0.9999178341070621 Centerline is valid? [True, True] Translation: X:109.06, Y:329.35, Z:-0.75 [[-6.33772869e-01 -7.73491883e-01 -6.50049683e-03 1.09061209e+02] [ 7.73458004e-01 -6.33806059e-01 7.25231680e-03 3.29352211e+02] [-9.72966246e-03 -4.31539675e-04 9.99952573e-01 -7.53022764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.606875 meters Centerline goodness [0,1] 0.9998763039623964 Centerline is valid? [True, True] Translation: X:109.05, Y:329.37, Z:-0.75 [[-6.33892299e-01 -7.73398455e-01 -5.94833081e-03 1.09045257e+02] [ 7.73370109e-01 -6.33920084e-01 6.63334378e-03 3.29374646e+02] [-8.90098421e-03 -3.95435708e-04 9.99960307e-01 -7.53738263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters Centerline goodness [0,1] 0.9997723933869933 Centerline is valid? [True, True] Translation: X:109.03, Y:329.40, Z:-0.75 [[-6.33746571e-01 -7.73523135e-01 -5.21949668e-03 1.09029329e+02] [ 7.73501338e-01 -6.33767967e-01 5.81752282e-03 3.29398428e+02] [-7.80793829e-03 -3.50452534e-04 9.99969456e-01 -7.54133912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.666875 meters Centerline goodness [0,1] 0.9998761533221872 Centerline is valid? [True, True] Translation: X:109.01, Y:329.42, Z:-0.76 [[-6.32998121e-01 -7.74138156e-01 -4.84705725e-03 1.09009411e+02] [ 7.74119393e-01 -6.33016591e-01 5.40009732e-03 3.29416543e+02] [-7.24868904e-03 -3.33949561e-04 9.99973672e-01 -7.56499143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters Centerline goodness [0,1] 0.9998962569507843 Centerline is valid? [True, True] Translation: X:109.00, Y:329.44, Z:-0.76 [[-6.32855211e-01 -7.74252391e-01 -5.24566315e-03 1.08996379e+02] [ 7.74230454e-01 -6.32876845e-01 5.83979227e-03 3.29442941e+02] [-7.84133188e-03 -3.65609192e-04 9.99969189e-01 -7.55413396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.726875 meters Centerline goodness [0,1] 0.9998962569507843 Centerline is valid? [True, True] Translation: X:108.98, Y:329.46, Z:-0.76 [[-6.33078718e-01 -7.74069637e-01 -5.24734655e-03 1.08977861e+02] [ 7.74047706e-01 -6.33100358e-01 5.83827870e-03 3.29463421e+02] [-7.84133126e-03 -3.65606568e-04 9.99969189e-01 -7.55903212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.96, Y:329.49, Z:-0.76 [[-6.32472576e-01 -7.74550025e-01 -7.12035080e-03 1.08961723e+02] [ 7.74509750e-01 -6.32512450e-01 7.91504200e-03 3.29485264e+02] [-1.06343065e-02 -5.08734115e-04 9.99943325e-01 -7.55213000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.786875 meters Centerline goodness [0,1] 0.9999170348246323 Centerline is valid? [True, True] Translation: X:108.94, Y:329.51, Z:-0.75 [[-6.32101111e-01 -7.74841317e-01 -8.31374972e-03 1.08943735e+02] [ 7.74786523e-01 -6.32155494e-01 9.23446554e-03 3.29506871e+02] [-1.24108280e-02 -6.04265306e-04 9.99922800e-01 -7.54727341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters Centerline goodness [0,1] 0.9999374609130707 Centerline is valid? [True, True] Translation: X:108.93, Y:329.53, Z:-0.75 [[-6.31846087e-01 -7.75036822e-01 -9.40458908e-03 1.08925819e+02] [ 7.74966824e-01 -6.31915695e-01 1.04391490e-02 3.29528553e+02] [-1.40336323e-02 -6.92309052e-04 9.99901284e-01 -7.54467741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.846875 meters Centerline goodness [0,1] 0.9999163477424347 Centerline is valid? [True, True] Translation: X:108.91, Y:329.55, Z:-0.75 [[-6.31223835e-01 -7.75522000e-01 -1.10498061e-02 1.08909738e+02] [ 7.75425579e-01 -6.31319995e-01 1.22570472e-02 3.29552400e+02] [-1.64815733e-02 -8.31361966e-04 9.99863824e-01 -7.54452456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters Centerline goodness [0,1] 0.9998751066797111 Centerline is valid? [True, True] Translation: X:108.89, Y:329.57, Z:-0.76 [[-6.31230042e-01 -7.75512485e-01 -1.13587244e-02 1.08890222e+02] [ 7.75410722e-01 -6.31331647e-01 1.25922506e-02 3.29571777e+02] [-1.69365697e-02 -8.59069807e-04 9.99856197e-01 -7.55765531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.906875 meters Centerline goodness [0,1] 0.9999163424938302 Centerline is valid? [True, True] Translation: X:108.87, Y:329.60, Z:-0.76 [[-6.31454165e-01 -7.75333676e-01 -1.11053368e-02 1.08874975e+02] [ 7.75236497e-01 -6.31551253e-01 1.23040168e-02 3.29596233e+02] [-1.65533079e-02 -8.39839699e-04 9.99862632e-01 -7.57121162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters Centerline goodness [0,1] 0.9999371332774518 Centerline is valid? [True, True] Translation: X:108.86, Y:329.62, Z:-0.76 [[-6.32081931e-01 -7.74838628e-01 -9.87590375e-03 1.08856519e+02] [ 7.74761801e-01 -6.32158647e-01 1.09360227e-02 3.29616063e+02] [-1.47167908e-02 -7.39010655e-04 9.99891429e-01 -7.61198817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.966875 meters Centerline goodness [0,1] 0.999937124054241 Centerline is valid? [True, True] Translation: X:108.84, Y:329.64, Z:-0.76 [[-6.32682319e-01 -7.74359543e-01 -8.96555222e-03 1.08839661e+02] [ 7.74296219e-01 -6.32745493e-01 9.92501408e-03 3.29636064e+02] [-1.33584421e-02 -6.62612259e-04 9.99910552e-01 -7.63892148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters Centerline goodness [0,1] 0.9998533232755008 Centerline is valid? [True, True] Translation: X:108.82, Y:329.66, Z:-0.77 [[-6.33809169e-01 -7.73446144e-01 -8.18533647e-03 1.08824209e+02] [ 7.73393354e-01 -6.33861746e-01 9.05575137e-03 3.29660263e+02] [-1.21925076e-02 -5.90866579e-04 9.99925494e-01 -7.65844179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.026875 meters Centerline goodness [0,1] 0.9999151499724237 Centerline is valid? [True, True] Translation: X:108.81, Y:329.69, Z:-0.77 [[-6.36171100e-01 -7.71507977e-01 -7.85960900e-03 1.08811979e+02] [ 7.71459210e-01 -6.36219424e-01 8.69088588e-03 3.29687413e+02] [-1.17055237e-02 -5.34477325e-04 9.99931345e-01 -7.67481786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters Centerline goodness [0,1] 0.9999789575573933 Centerline is valid? [True, True] Translation: X:108.79, Y:329.71, Z:-0.77 [[-6.37323557e-01 -7.70557436e-01 -7.74085091e-03 1.08793673e+02] [ 7.70510116e-01 -6.37370359e-01 8.55487927e-03 3.29707602e+02] [-1.15258148e-02 -5.12177846e-04 9.99933444e-01 -7.68841702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.086875 meters Centerline goodness [0,1] 0.9999788985017937 Centerline is valid? [True, True] Translation: X:108.78, Y:329.73, Z:-0.77 [[-6.38959231e-01 -7.69198648e-01 -8.03372120e-03 1.08777815e+02] [ 7.69147634e-01 -6.39009531e-01 8.87338384e-03 3.29730904e+02] [-1.19590193e-02 -5.09387135e-04 9.99928359e-01 -7.69498443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:108.76, Y:329.75, Z:-0.77 [[-6.40532276e-01 -7.67885329e-01 -8.39788113e-03 1.08760744e+02] [ 7.67829544e-01 -6.40587122e-01 9.26990732e-03 3.29753145e+02] [-1.24978003e-02 -5.10466403e-04 9.99921769e-01 -7.69849272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.146875 meters Centerline goodness [0,1] 0.9999574486192077 Centerline is valid? [True, True] Translation: X:108.75, Y:329.78, Z:-0.77 [[-6.43552467e-01 -7.65344818e-01 -9.35581093e-03 1.08747596e+02] [ 7.65275402e-01 -6.43620262e-01 1.03207555e-02 3.29777772e+02] [-1.39205262e-02 -5.17824276e-04 9.99902971e-01 -7.69421731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:108.73, Y:329.80, Z:-0.77 [[-6.45115746e-01 -7.64025843e-01 -9.49659658e-03 1.08731189e+02] [ 7.63954278e-01 -6.45185446e-01 1.04691012e-02 3.29800799e+02] [-1.41257298e-02 -5.01183549e-04 9.99900101e-01 -7.69231104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.206875 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:108.72, Y:329.82, Z:-0.77 [[-6.47465038e-01 -7.62028526e-01 -1.00772201e-02 1.08716625e+02] [ 7.61947800e-01 -6.47543270e-01 1.11024190e-02 3.29824879e+02] [-1.49857960e-02 -4.89887520e-04 9.99887587e-01 -7.68623541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:108.70, Y:329.85, Z:-0.77 [[-6.48617209e-01 -7.61043094e-01 -1.04463339e-02 1.08700053e+02] [ 7.60956327e-01 -6.48701141e-01 1.15020986e-02 3.29847671e+02] [-1.55301414e-02 -4.88744812e-04 9.99879281e-01 -7.68544508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.266875 meters Centerline goodness [0,1] 0.9999569735171998 Centerline is valid? [True, True] Translation: X:108.68, Y:329.87, Z:-0.77 [[-6.49763157e-01 -7.60058991e-01 -1.08706320e-02 1.08682506e+02] [ 7.59965010e-01 -6.49853901e-01 1.19620634e-02 3.29868379e+02] [-1.61561964e-02 -4.88791846e-04 9.99869361e-01 -7.68429380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:329.89, Z:-0.77 [[-6.51167068e-01 -7.58846004e-01 -1.15841203e-02 1.08665683e+02] [ 7.58739224e-01 -6.51269912e-01 1.27393732e-02 3.29889661e+02] [-1.72116114e-02 -4.93866177e-04 9.99851747e-01 -7.68058904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32687500000003 meters Centerline goodness [0,1] 0.9999566339252802 Centerline is valid? [True, True] Translation: X:108.65, Y:329.91, Z:-0.77 [[-6.51599966e-01 -7.58466448e-01 -1.20885063e-02 1.08649812e+02] [ 7.58350237e-01 -6.51711890e-01 1.32864523e-02 3.29913870e+02] [-1.79555516e-02 -5.09869764e-04 9.99838656e-01 -7.67856423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters Centerline goodness [0,1] 0.9999569336778639 Centerline is valid? [True, True] Translation: X:108.63, Y:329.93, Z:-0.77 [[-6.52048758e-01 -7.58083763e-01 -1.18922316e-02 1.08632579e+02] [ 7.57971354e-01 -6.52157007e-01 1.30638539e-02 3.29933636e+02] [-1.76590977e-02 -4.95701214e-04 9.99843943e-01 -7.68330170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38687500000003 meters Centerline goodness [0,1] 0.9999569253300596 Centerline is valid? [True, True] Translation: X:108.61, Y:329.95, Z:-0.77 [[-6.52326740e-01 -7.57846204e-01 -1.17879569e-02 1.08614609e+02] [ 7.57735870e-01 -6.52433055e-01 1.29406477e-02 3.29954021e+02] [-1.74978735e-02 -4.90627215e-04 9.99846780e-01 -7.69346052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:329.98, Z:-0.77 [[-6.52041769e-01 -7.58098588e-01 -1.13164908e-02 1.08595980e+02] [ 7.57997069e-01 -6.52139784e-01 1.24154983e-02 3.29975527e+02] [-1.67921056e-02 -4.82443388e-04 9.99858886e-01 -7.70850469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44687500000003 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:108.58, Y:329.99, Z:-0.77 [[-6.51975621e-01 -7.58161360e-01 -1.09151915e-02 1.08576975e+02] [ 7.58067031e-01 -6.52066814e-01 1.19685698e-02 3.29993960e+02] [-1.61915413e-02 -4.71231075e-04 9.99868797e-01 -7.71926760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:330.01, Z:-0.77 [[-6.51995709e-01 -7.58146732e-01 -1.07297532e-02 1.08559730e+02] [ 7.58055667e-01 -6.52083825e-01 1.17597047e-02 3.30014672e+02] [-1.59122802e-02 -4.66473259e-04 9.99873283e-01 -7.72104281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:330.03, Z:-0.77 [[-6.52348564e-01 -7.57848212e-01 -1.03652494e-02 1.08541070e+02] [ 7.57763298e-01 -6.52430753e-01 1.13533071e-02 3.30033850e+02] [-1.53666910e-02 -4.48091994e-04 9.99881825e-01 -7.71804369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:108.52, Y:330.06, Z:-0.77 [[-6.52919272e-01 -7.57358219e-01 -1.02446421e-02 1.08524873e+02] [ 7.57275323e-01 -6.52999493e-01 1.12137548e-02 3.30055902e+02] [-1.51825755e-02 -4.36338039e-04 9.99884643e-01 -7.71304292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.566875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:330.08, Z:-0.77 [[-6.54172464e-01 -7.56280360e-01 -9.91990997e-03 1.08506625e+02] [ 7.56202612e-01 -6.54247548e-01 1.08514833e-02 3.30077850e+02] [-1.46968405e-02 -4.02720268e-04 9.99891915e-01 -7.71001557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters Centerline goodness [0,1] 0.9999782660668101 Centerline is valid? [True, True] Translation: X:108.49, Y:330.10, Z:-0.77 [[-6.55080328e-01 -7.55495431e-01 -9.81926923e-03 1.08488404e+02] [ 7.55419251e-01 -6.55153803e-01 1.07354357e-02 3.30099418e+02] [-1.45437042e-02 -3.85092279e-04 9.99894161e-01 -7.71835120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.626875 meters Centerline goodness [0,1] 0.999956610404825 Centerline is valid? [True, True] Translation: X:108.47, Y:330.12, Z:-0.77 [[-6.55703947e-01 -7.54958772e-01 -9.46504391e-03 1.08470583e+02] [ 7.54888008e-01 -6.55772156e-01 1.03428074e-02 3.30118735e+02] [-1.40153055e-02 -3.63228485e-04 9.99901715e-01 -7.73204691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters Centerline goodness [0,1] 0.999978300965607 Centerline is valid? [True, True] Translation: X:108.45, Y:330.14, Z:-0.78 [[-6.57348700e-01 -7.53538534e-01 -8.50665307e-03 1.08452273e+02] [ 7.53481330e-01 -6.57403670e-01 9.28975319e-03 3.30140151e+02] [-1.25924919e-02 -3.02997090e-04 9.99920666e-01 -7.75342921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.686875 meters Centerline goodness [0,1] 0.9999783937946979 Centerline is valid? [True, True] Translation: X:108.43, Y:330.16, Z:-0.78 [[-6.58306753e-01 -7.52702455e-01 -8.43998779e-03 1.08433334e+02] [ 7.52646135e-01 -6.58360791e-01 9.21222146e-03 3.30159015e+02] [-1.24906188e-02 -2.87856593e-04 9.99921948e-01 -7.76713114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:330.18, Z:-0.78 [[-6.59379811e-01 -7.51767558e-01 -7.98775512e-03 1.08417149e+02] [ 7.51717107e-01 -6.59428140e-01 8.71312008e-03 3.30181114e+02] [-1.18175915e-02 -2.59276695e-04 9.99930136e-01 -7.76526211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.746875 meters Centerline goodness [0,1] 0.999956655541589 Centerline is valid? [True, True] Translation: X:108.40, Y:330.20, Z:-0.78 [[-6.60997622e-01 -7.50348050e-01 -7.74263417e-03 1.08399416e+02] [ 7.50300613e-01 -6.61042927e-01 8.44034474e-03 3.30201414e+02] [-1.14514098e-02 -2.30255356e-04 9.99934404e-01 -7.76558664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters Centerline goodness [0,1] 0.9999783235428001 Centerline is valid? [True, True] Translation: X:108.38, Y:330.22, Z:-0.78 [[-6.61911791e-01 -7.49538302e-01 -8.06933721e-03 1.08382592e+02] [ 7.49486775e-01 -6.61960936e-01 8.79160280e-03 3.30222555e+02] [-1.19312291e-02 -2.28595971e-04 9.99928794e-01 -7.75783154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.806875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.37, Y:330.25, Z:-0.77 [[-6.63579709e-01 -7.48054574e-01 -8.73642174e-03 1.08365698e+02] [ 7.47994133e-01 -6.63637179e-01 9.51165380e-03 3.30245265e+02] [-1.29130504e-02 -2.23051748e-04 9.99916598e-01 -7.74665000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:330.27, Z:-0.77 [[-6.64489713e-01 -7.47245427e-01 -8.81438715e-03 1.08347449e+02] [ 7.47183904e-01 -6.64548137e-01 9.59095509e-03 3.30266161e+02] [-1.30243819e-02 -2.12877210e-04 9.99915156e-01 -7.74625325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.866875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:330.29, Z:-0.78 [[-6.65175354e-01 -7.46636541e-01 -8.69621952e-03 1.08329538e+02] [ 7.46576673e-01 -6.65232166e-01 9.45710689e-03 3.30285997e+02] [-1.28460265e-02 -2.01760206e-04 9.99917466e-01 -7.75478115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters Centerline goodness [0,1] 0.9999346689895471 Centerline is valid? [True, True] Translation: X:108.31, Y:330.31, Z:-0.78 [[-6.66659555e-01 -7.45328262e-01 -7.12878571e-03 1.08311235e+02] [ 7.45287992e-01 -6.66697652e-01 7.74909896e-03 3.30307566e+02] [-1.05283672e-02 -1.46987525e-04 9.99944564e-01 -7.77905385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.926875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:330.33, Z:-0.78 [[-6.67759359e-01 -7.44355717e-01 -5.65737306e-03 1.08293353e+02] [ 7.44330335e-01 -6.67783315e-01 6.14788409e-03 3.30327311e+02] [-8.35411200e-03 -1.05647249e-04 9.99965098e-01 -7.80338564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:330.35, Z:-0.78 [[-6.68972627e-01 -7.43273861e-01 -4.42625186e-03 1.08274774e+02] [ 7.43258310e-01 -6.68987266e-01 4.80854469e-03 3.30348960e+02] [-6.53517171e-03 -7.30637063e-05 9.99978643e-01 -7.82292869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.986875 meters Centerline goodness [0,1] 0.999956492418804 Centerline is valid? [True, True] Translation: X:108.26, Y:330.37, Z:-0.78 [[-6.70936661e-01 -7.41510600e-01 -2.45514607e-03 1.08257836e+02] [ 7.41505793e-01 -6.70941152e-01 2.67006897e-03 3.30369486e+02] [-3.62714298e-03 -2.90578708e-05 9.99993421e-01 -7.84828635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:330.39, Z:-0.78 [[-6.71999711e-01 -7.40548078e-01 -2.22101924e-03 1.08240669e+02] [ 7.40544143e-01 -6.72003381e-01 2.41417810e-03 3.30390458e+02] [-3.28034739e-03 -2.24358005e-05 9.99994619e-01 -7.83708694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.046875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.22, Y:330.41, Z:-0.78 [[-6.73703316e-01 -7.38992470e-01 -3.73785631e-03 1.08223007e+02] [ 7.38981351e-01 -6.73713684e-01 4.05394589e-03 3.30413193e+02] [-5.51408044e-03 -3.10493180e-05 9.99984797e-01 -7.79745199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.20, Y:330.43, Z:-0.78 [[-6.74535578e-01 -7.38222700e-01 -5.38509540e-03 1.08204850e+02] [ 7.38199644e-01 -6.74557072e-01 5.83450753e-03 3.30432981e+02] [-7.93972009e-03 -3.96925970e-05 9.99968479e-01 -7.78768162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.106875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:330.45, Z:-0.78 [[-6.75392364e-01 -7.37424723e-01 -7.06630663e-03 1.08187486e+02] [ 7.37385057e-01 -6.75429327e-01 7.64866621e-03 3.30453029e+02] [-1.04131063e-02 -4.47381632e-05 9.99945781e-01 -7.77095457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:330.47, Z:-0.78 [[-6.76469237e-01 -7.36420475e-01 -8.61710612e-03 1.08169915e+02] [ 7.36361473e-01 -6.76524118e-01 9.32200392e-03 3.30473454e+02] [-1.26945947e-02 -3.92560744e-05 9.99919420e-01 -7.75002387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.166875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:330.50, Z:-0.77 [[-6.77148632e-01 -7.35777225e-01 -1.00799250e-02 1.08151114e+02] [ 7.35696541e-01 -6.77223651e-01 1.08961066e-02 3.30495034e+02] [-1.48434707e-02 -3.74822578e-05 9.99889829e-01 -7.73757884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.13, Y:330.51, Z:-0.77 [[-6.78090462e-01 -7.34901560e-01 -1.06312182e-02 1.08132981e+02] [ 7.34811799e-01 -6.78173795e-01 1.14857618e-02 3.30514643e+02] [-1.56507179e-02 -2.35591185e-05 9.99877520e-01 -7.74017485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.226875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:330.53, Z:-0.78 [[-6.78287778e-01 -7.34729108e-01 -9.94123402e-03 1.08114805e+02] [ 7.34650706e-01 -6.78360625e-01 1.07332702e-02 3.30533764e+02] [-1.46297878e-02 -2.30885796e-05 9.99892979e-01 -7.75943347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:330.55, Z:-0.78 [[-6.78787304e-01 -7.34286328e-01 -8.44894232e-03 1.08095889e+02] [ 7.34229700e-01 -6.78839885e-01 9.11914506e-03 3.30553240e+02] [-1.24315426e-02 -1.35044949e-05 9.99922725e-01 -7.78811900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.286875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:330.57, Z:-0.78 [[-6.79237245e-01 -7.33906284e-01 -4.28152065e-03 1.08076832e+02] [ 7.33891740e-01 -6.79250739e-01 4.62042849e-03 3.30572931e+02] [-6.29918757e-03 -3.80552408e-06 9.99980160e-01 -7.84467134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:330.59, Z:-0.79 [[-6.79848543e-01 -7.33347367e-01 -2.75635433e-03 1.08057751e+02] [ 7.33341326e-01 -6.79854130e-01 2.97674561e-03 3.30593571e+02] [-4.05690744e-03 2.38762552e-06 9.99991771e-01 -7.86025676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.346875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:330.61, Z:-0.79 [[-6.80314918e-01 -7.32918420e-01 -1.48381309e-03 1.08038405e+02] [ 7.32916663e-01 -6.80316536e-01 1.60488954e-03 3.30614464e+02] [-2.18571569e-03 4.31896139e-06 9.99997611e-01 -7.87363911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:330.63, Z:-0.79 [[-6.81295514e-01 -7.32007426e-01 -1.24505021e-03 1.08019737e+02] [ 7.32006185e-01 -6.81296652e-01 1.34794062e-03 3.30634632e+02] [-1.83495109e-03 6.96144619e-06 9.99998316e-01 -7.85825806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.406875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:330.65, Z:-0.78 [[-6.81991747e-01 -7.31357969e-01 -1.66686385e-03 1.08000864e+02] [ 7.31355752e-01 -6.81993784e-01 1.80078825e-03 3.30654797e+02] [-2.45381162e-03 9.05226052e-06 9.99996989e-01 -7.84597071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:330.68, Z:-0.78 [[-6.83340328e-01 -7.30089279e-01 -3.95484603e-03 1.07982361e+02] [ 7.30076864e-01 -6.83351772e-01 4.25778863e-03 3.30675256e+02] [-5.81111687e-03 2.21770913e-05 9.99983115e-01 -7.81564595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.466875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:330.70, Z:-0.78 [[-6.84263038e-01 -7.29212781e-01 -5.72838985e-03 1.07963790e+02] [ 7.29186755e-01 -6.84287015e-01 6.16092825e-03 3.30695323e+02] [-8.41249041e-03 3.86294805e-05 9.99964614e-01 -7.79612986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:330.72, Z:-0.78 [[-6.85441095e-01 -7.28090983e-01 -7.35021565e-03 1.07946401e+02] [ 7.28048147e-01 -6.85480500e-01 7.89805409e-03 3.30715177e+02] [-1.07889315e-02 6.23399543e-05 9.99941796e-01 -7.78599239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.526875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:330.74, Z:-0.78 [[-6.87582241e-01 -7.26052545e-01 -8.85229229e-03 1.07928459e+02] [ 7.25990348e-01 -6.87639215e-01 9.50393901e-03 3.30735508e+02] [-1.29875424e-02 1.08060931e-04 9.99915652e-01 -7.76670910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:330.76, Z:-0.78 [[-6.88890464e-01 -7.24813826e-01 -8.65130949e-03 1.07910237e+02] [ 7.24754396e-01 -6.88944774e-01 9.28245033e-03 3.30755901e+02] [-1.26883228e-02 1.24516934e-04 9.99919492e-01 -7.77345382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.586875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.89, Y:330.78, Z:-0.78 [[-6.90054349e-01 -7.23711531e-01 -8.16181969e-03 1.07891743e+02] [ 7.23658619e-01 -6.90102603e-01 8.75215964e-03 3.30776568e+02] [-1.19665319e-02 1.33094656e-04 9.99928390e-01 -7.78215160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:330.80, Z:-0.78 [[-6.90284046e-01 -7.23492416e-01 -8.16459939e-03 1.07873394e+02] [ 7.23439519e-01 -6.90332316e-01 8.74956538e-03 3.30796083e+02] [-1.19665310e-02 1.33091531e-04 9.99928390e-01 -7.78689587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.646875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:330.82, Z:-0.78 [[-6.92559142e-01 -7.21322309e-01 -7.48080773e-03 1.07855093e+02] [ 7.21277827e-01 -6.92599526e-01 8.01201448e-03 3.30817490e+02] [-1.09604487e-02 1.53053126e-04 9.99939921e-01 -7.80521534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:330.84, Z:-0.78 [[-6.93582229e-01 -7.20332111e-01 -8.08343147e-03 1.07837234e+02] [ 7.20280176e-01 -6.93629309e-01 8.65164053e-03 3.30837441e+02] [-1.18389595e-02 1.78288683e-04 9.99929901e-01 -7.81051875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.706875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:330.86, Z:-0.78 [[-6.94477773e-01 -7.19454551e-01 -9.26129703e-03 1.07817982e+02] [ 7.19386373e-01 -6.94539489e-01 9.90676999e-03 3.30857590e+02] [-1.35598073e-02 2.17580680e-04 9.99908038e-01 -7.80781607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:330.88, Z:-0.78 [[-6.95356883e-01 -7.18587944e-01 -1.04962396e-02 1.07800592e+02] [ 7.18500383e-01 -6.95436049e-01 1.12205894e-02 3.30877063e+02] [-1.53624437e-02 2.60761905e-04 9.99881957e-01 -7.81099356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.766875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:330.90, Z:-0.78 [[-6.95828139e-01 -7.18107056e-01 -1.20605636e-02 1.07780279e+02] [ 7.17991551e-01 -6.95932585e-01 1.28829544e-02 3.30895996e+02] [-1.76446797e-02 3.04939418e-04 9.99844274e-01 -7.82091131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:330.91, Z:-0.78 [[-6.95735547e-01 -7.18206862e-01 -1.14434265e-02 1.07760504e+02] [ 7.18103009e-01 -6.95829594e-01 1.22165408e-02 3.30914208e+02] [-1.67366782e-02 2.81922657e-04 9.99859892e-01 -7.83600235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:330.93, Z:-0.79 [[-6.93960503e-01 -7.19956874e-01 -8.99560682e-03 1.07738505e+02] [ 7.19892907e-01 -6.94018779e-01 9.59881044e-03 3.30932083e+02] [-1.31538496e-02 1.85321777e-04 9.99913467e-01 -7.88606873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:330.95, Z:-0.79 [[-6.92782351e-01 -7.21112296e-01 -7.04774668e-03 1.07720179e+02] [ 7.21073124e-01 -6.92818188e-01 7.51725611e-03 3.30950545e+02] [-1.03035929e-02 1.25881651e-04 9.99946909e-01 -7.91923139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:330.97, Z:-0.79 [[-6.91229265e-01 -7.22617432e-01 -5.11370860e-03 1.07698588e+02] [ 7.22596854e-01 -6.91248176e-01 5.45398893e-03 3.30969196e+02] [-7.47598922e-03 7.48070212e-05 9.99972052e-01 -7.93605413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters Centerline goodness [0,1] 0.9999783596624108 Centerline is valid? [True, True] Translation: X:107.68, Y:330.99, Z:-0.80 [[-6.87752646e-01 -7.25943078e-01 -1.71618893e-03 1.07677891e+02] [ 7.25940766e-01 -6.87754787e-01 1.83241302e-03 3.30986157e+02] [-2.51054470e-03 1.43953995e-05 9.99996848e-01 -7.97066425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:331.00, Z:-0.80 [[-6.86311563e-01 -7.27307348e-01 -6.77906946e-04 1.07658374e+02] [ 7.27306983e-01 -6.86311898e-01 7.28963830e-04 3.31004791e+02] [-9.95436354e-04 7.24985014e-06 9.99999505e-01 -7.98749377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:331.02, Z:-0.80 [[-6.84542143e-01 -7.28970801e-01 -1.90430184e-03 1.07637785e+02] [ 7.28967966e-01 -6.84544791e-01 2.03312057e-03 3.31023079e+02] [-2.78566544e-03 3.58166779e-06 9.99996120e-01 -7.95162284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:331.04, Z:-0.80 [[-6.84770271e-01 -7.28756508e-01 -1.90493424e-03 1.07619362e+02] [ 7.28753673e-01 -6.84772920e-01 2.03252687e-03 3.31042514e+02] [-2.78566457e-03 3.58614840e-06 9.99996120e-01 -7.95636724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:331.06, Z:-0.79 [[-6.84420447e-01 -7.29051060e-01 -7.29407593e-03 1.07600137e+02] [ 7.29009822e-01 -6.84459314e-01 7.75422343e-03 3.31061561e+02] [-1.06457230e-02 -1.03039307e-05 9.99943333e-01 -7.90849838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.066875 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:107.58, Y:331.08, Z:-0.79 [[-6.84579594e-01 -7.28870431e-01 -9.93349396e-03 1.07581087e+02] [ 7.28794039e-01 -6.84651659e-01 1.05524625e-02 3.31081689e+02] [-1.44923610e-02 -1.54707036e-05 9.99894980e-01 -7.87408586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:107.56, Y:331.10, Z:-0.78 [[-6.85395948e-01 -7.28024298e-01 -1.45950405e-02 1.07562879e+02] [ 7.27859474e-01 -6.85551326e-01 1.54907950e-02 3.31101403e+02] [-2.12833246e-02 -5.81039280e-06 9.99773484e-01 -7.82640765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.126875 meters Centerline goodness [0,1] 0.9999568956227505 Centerline is valid? [True, True] Translation: X:107.54, Y:331.12, Z:-0.78 [[-6.85606883e-01 -7.27798743e-01 -1.58805517e-02 1.07543469e+02] [ 7.27603808e-01 -6.85790777e-01 1.68436722e-02 3.31121944e+02] [-2.31495393e-02 -6.61225136e-06 9.99732013e-01 -7.83050345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:331.14, Z:-0.78 [[-6.85726459e-01 -7.27682772e-01 -1.60314304e-02 1.07525419e+02] [ 7.27484320e-01 -6.85913830e-01 1.69935563e-02 3.31140459e+02] [-2.33620980e-02 -9.68307027e-06 9.99727069e-01 -7.83259867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.186875 meters Centerline goodness [0,1] 0.999956964258817 Centerline is valid? [True, True] Translation: X:107.51, Y:331.16, Z:-0.79 [[-6.84752684e-01 -7.28625277e-01 -1.47975414e-02 1.07505812e+02] [ 7.28456631e-01 -6.84912552e-01 1.56758985e-02 3.31159424e+02] [-2.15568778e-02 -4.52535539e-05 9.99767622e-01 -7.86551617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:331.18, Z:-0.79 [[-6.84169684e-01 -7.29199998e-01 -1.33868131e-02 1.07486802e+02] [ 7.29062246e-01 -6.84300635e-01 1.41732904e-02 3.31178631e+02] [-1.94957681e-02 -6.28843945e-05 9.99809937e-01 -7.89488865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.246875 meters Centerline goodness [0,1] 0.9999352890422778 Centerline is valid? [True, True] Translation: X:107.47, Y:331.20, Z:-0.80 [[-6.82696543e-01 -7.30627126e-01 -1.04609892e-02 1.07466965e+02] [ 7.30543261e-01 -6.82776680e-01 1.10702099e-02 3.31197881e+02] [-1.52307151e-02 -8.46111197e-05 9.99884002e-01 -7.95292308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:331.22, Z:-0.80 [[-6.82109764e-01 -7.31198146e-01 -8.69144495e-03 1.07448435e+02] [ 7.31140354e-01 -6.82165130e-01 9.19335865e-03 3.31216524e+02] [-1.26511675e-02 -8.37864303e-05 9.99919967e-01 -7.98610657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.306875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:331.24, Z:-0.80 [[-6.81782083e-01 -7.31518958e-01 -7.29418361e-03 1.07429813e+02] [ 7.31478295e-01 -6.81821097e-01 7.71336662e-03 3.31236555e+02] [-1.06158022e-02 -7.67018275e-05 9.99943648e-01 -8.01650680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters Centerline goodness [0,1] 0.9999783676206546 Centerline is valid? [True, True] Translation: X:107.41, Y:331.26, Z:-0.80 [[-6.81839825e-01 -7.31474865e-01 -6.24310273e-03 1.07411250e+02] [ 7.31445105e-01 -6.81868402e-01 6.59848928e-03 3.31257098e+02] [-9.08360354e-03 -6.73741594e-05 9.99958741e-01 -8.04017880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.366875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:331.28, Z:-0.81 [[-6.81804941e-01 -7.31515972e-01 -5.13859574e-03 1.07393830e+02] [ 7.31495835e-01 -6.81824302e-01 5.42814122e-03 3.31277788e+02] [-7.47439146e-03 -5.79278735e-05 9.99972065e-01 -8.06566322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:331.30, Z:-0.81 [[-6.82462306e-01 -7.30900720e-01 -5.41659074e-03 1.07376418e+02] [ 7.30878334e-01 -6.82483798e-01 5.72060708e-03 3.31298190e+02] [-7.87793126e-03 -5.47701200e-05 9.99968967e-01 -8.06691319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.426875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:331.32, Z:-0.80 [[-6.83815887e-01 -7.29614397e-01 -7.65927407e-03 1.07359912e+02] [ 7.29569653e-01 -6.83858778e-01 8.08043553e-03 3.31320917e+02] [-1.11334639e-02 -6.24437303e-05 9.99938019e-01 -8.03649488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:331.34, Z:-0.80 [[-6.84636309e-01 -7.28825104e-01 -9.33231993e-03 1.07342337e+02] [ 7.28758695e-01 -6.84699908e-01 9.83878721e-03 3.31342269e+02] [-1.35605937e-02 -6.50183313e-05 9.99908049e-01 -8.01571651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.486875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:331.36, Z:-0.80 [[-6.85695955e-01 -7.27802354e-01 -1.11709934e-02 1.07324908e+02] [ 7.27707203e-01 -6.85786942e-01 1.17684212e-02 3.31363486e+02] [-1.62260060e-02 -5.96535434e-05 9.99868348e-01 -7.99195952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:331.38, Z:-0.80 [[-6.86787247e-01 -7.26693386e-01 -1.54919498e-02 1.07307995e+02] [ 7.26510402e-01 -6.86961949e-01 1.63069405e-02 3.31384993e+02] [-2.24925258e-02 -5.56639232e-05 9.99747010e-01 -7.95082783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.546875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:331.41, Z:-0.79 [[-6.86988417e-01 -7.26469014e-01 -1.70201630e-02 1.07289579e+02] [ 7.26248367e-01 -6.87199220e-01 1.79036954e-02 3.31405732e+02] [-2.47027227e-02 -6.12342044e-05 9.99694839e-01 -7.94298568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:331.43, Z:-0.80 [[-6.86393859e-01 -7.27026609e-01 -1.71982735e-02 1.07270816e+02] [ 7.26801753e-01 -6.86609279e-01 1.80806569e-02 3.31427039e+02] [-2.49536128e-02 -8.92834800e-05 9.99688606e-01 -7.96095452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.606875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:331.45, Z:-0.80 [[-6.85625172e-01 -7.27770570e-01 -1.63744306e-02 1.07252586e+02] [ 7.27567190e-01 -6.85820665e-01 1.72046611e-02 3.31446017e+02] [-2.37509689e-02 -1.17549738e-04 9.99717899e-01 -7.98584557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:331.47, Z:-0.80 [[-6.84589224e-01 -7.28777484e-01 -1.48651597e-02 1.07233466e+02] [ 7.28610316e-01 -6.84750581e-01 1.56092815e-02 3.31465632e+02] [-2.15546196e-02 -1.44962752e-04 9.99767662e-01 -8.02021627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.666875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:331.49, Z:-0.81 [[-6.82664505e-01 -7.30660902e-01 -1.01892533e-02 1.07214980e+02] [ 7.30582638e-01 -6.82740526e-01 1.06949629e-02 3.31485189e+02] [-1.47710074e-02 -1.43020011e-04 9.99890892e-01 -8.09595084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:331.51, Z:-0.81 [[-6.82468018e-01 -7.30867822e-01 -8.34458667e-03 1.07196923e+02] [ 7.30815392e-01 -6.82519020e-01 8.75500892e-03 3.31505792e+02] [-1.20940934e-02 -1.23338795e-04 9.99926856e-01 -8.12392219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.726875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:331.53, Z:-0.81 [[-6.82856546e-01 -7.30518229e-01 -7.07485195e-03 1.07179631e+02] [ 7.30480559e-01 -6.82893188e-01 7.41937571e-03 3.31527075e+02] [-1.02513574e-02 -1.01672531e-04 9.99947448e-01 -8.13866783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:331.55, Z:-0.81 [[-6.84163665e-01 -7.29292551e-01 -7.24248779e-03 1.07163068e+02] [ 7.29253056e-01 -6.84201993e-01 7.59032209e-03 3.31549393e+02] [-1.04908899e-02 -8.85837782e-05 9.99944965e-01 -8.13279666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.786875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:331.57, Z:-0.81 [[-6.87953145e-01 -7.25666551e-01 -1.13369873e-02 1.07150182e+02] [ 7.25569478e-01 -6.88046549e-01 1.18692587e-02 3.31574494e+02] [-1.64134991e-02 -6.02780804e-05 9.99865288e-01 -8.07636254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:331.60, Z:-0.80 [[-6.90370434e-01 -7.23312170e-01 -1.44280348e-02 1.07135608e+02] [ 7.23154631e-01 -6.90521183e-01 1.50955398e-02 3.31596319e+02] [-2.08816513e-02 -1.21858167e-05 9.99781954e-01 -8.03457125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.846875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:331.62, Z:-0.80 [[-6.94741555e-01 -7.18977807e-01 -2.01267066e-02 1.07121734e+02] [ 7.18669759e-01 -6.95033013e-01 2.10449372e-02 3.31622050e+02] [-2.91195683e-02 1.56337049e-04 9.99575923e-01 -7.97589251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.10, Y:331.64, Z:-0.80 [[-6.97083464e-01 -7.16679265e-01 -2.11063069e-02 1.07104092e+02] [ 7.16339828e-01 -6.97402872e-01 2.20563843e-02 3.31644442e+02] [-3.05269523e-02 2.55852459e-04 9.99533911e-01 -7.98108085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.906875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:331.67, Z:-0.80 [[-6.99386252e-01 -7.14436297e-01 -2.09677916e-02 1.07088150e+02] [ 7.14100680e-01 -6.99700408e-01 2.18988284e-02 3.31666673e+02] [-3.03164902e-02 3.42625316e-04 9.99540291e-01 -7.97646840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:331.69, Z:-0.80 [[-7.01414414e-01 -7.12469700e-01 -2.01183056e-02 1.07072124e+02] [ 7.12160289e-01 -7.01702762e-01 2.09989937e-02 3.31687276e+02] [-2.90782173e-02 4.01538533e-04 9.99577059e-01 -7.99761260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.966875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:331.71, Z:-0.81 [[-7.06108625e-01 -7.07934289e-01 -1.54806877e-02 1.07055510e+02] [ 7.07750187e-01 -7.06278162e-01 1.61502706e-02 3.31710071e+02] [-2.23670020e-02 4.47385732e-04 9.99749727e-01 -8.06442117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:331.73, Z:-0.81 [[-7.08627695e-01 -7.05457700e-01 -1.32749307e-02 1.07037102e+02] [ 7.05322020e-01 -7.08751885e-01 1.38424492e-02 3.31730601e+02] [-1.91738946e-02 4.46041923e-04 9.99816064e-01 -8.09607241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.026875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:331.75, Z:-0.81 [[-7.13121023e-01 -7.00947518e-01 -1.14447972e-02 1.07020010e+02] [ 7.00846190e-01 -7.13212690e-01 1.19280127e-02 3.31752126e+02] [-1.65234855e-02 4.85074130e-04 9.99863360e-01 -8.09586772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:331.77, Z:-0.81 [[-7.15127577e-01 -6.98878389e-01 -1.27100409e-02 1.07000928e+02] [ 6.98753251e-01 -7.15240277e-01 1.32378230e-02 3.31772198e+02] [-1.83423616e-02 5.85549950e-04 9.99831593e-01 -8.07075796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.086875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:331.79, Z:-0.80 [[-7.16953631e-01 -6.96957414e-01 -1.50948235e-02 1.06983999e+02] [ 6.96780705e-01 -7.17112129e-01 1.57112547e-02 3.31793305e+02] [-2.17747565e-02 7.46459322e-04 9.99762623e-01 -8.03656463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.96, Y:331.81, Z:-0.80 [[-7.19841010e-01 -6.93897010e-01 -1.83264583e-02 1.06962279e+02] [ 6.93635839e-01 -7.20073550e-01 1.90632033e-02 3.31811262e+02] [-2.64242976e-02 1.01058726e-03 9.99650306e-01 -7.99567943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.146875 meters Centerline goodness [0,1] 0.9994666074008223 Centerline is valid? [True, True] Translation: X:106.94, Y:331.83, Z:-0.80 [[-7.21170095e-01 -6.92499073e-01 -1.89401015e-02 1.06941774e+02] [ 6.92219843e-01 -7.21417938e-01 1.96938578e-02 3.31829579e+02] [-2.73017073e-02 1.09190724e-03 9.99626643e-01 -7.99858129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters Centerline goodness [0,1] 0.9982786396839759 Centerline is valid? [True, True] Translation: X:106.92, Y:331.85, Z:-0.80 [[-7.22156788e-01 -6.91466072e-01 -1.90852299e-02 1.06919104e+02] [ 6.91182442e-01 -7.22408048e-01 1.98354140e-02 3.31846690e+02] [-2.75028395e-02 1.13290308e-03 9.99621083e-01 -8.02108421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.206875 meters Centerline goodness [0,1] 0.9965614530065244 Centerline is valid? [True, True] Translation: X:106.90, Y:331.86, Z:-0.80 [[-7.22423218e-01 -6.91175121e-01 -1.95357647e-02 1.06898005e+02] [ 6.90878188e-01 -7.22686379e-01 2.02910757e-02 3.31862524e+02] [-2.81429178e-02 1.16191052e-03 9.99603234e-01 -8.04302384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters Centerline goodness [0,1] 0.9922660648949455 Centerline is valid? [True, True] Translation: X:106.87, Y:331.87, Z:-0.81 [[-7.20459830e-01 -6.93242230e-01 -1.87841323e-02 1.06868628e+02] [ 6.92968745e-01 -7.20703926e-01 1.94979324e-02 3.31872109e+02] [-2.70545880e-02 1.03066047e-03 9.99633426e-01 -8.10617066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.266875 meters Centerline goodness [0,1] 0.9900065459306131 Centerline is valid? [True, True] Translation: X:106.84, Y:331.89, Z:-0.81 [[-7.18952227e-01 -6.94821163e-01 -1.82001989e-02 1.06844720e+02] [ 6.94565220e-01 -7.19181953e-01 1.88805352e-02 3.31887408e+02] [-2.62078500e-02 9.32977631e-04 9.99656080e-01 -8.13001527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters Centerline goodness [0,1] 0.9840920163528141 Centerline is valid? [True, True] Translation: X:106.82, Y:331.90, Z:-0.81 [[-7.14712476e-01 -6.99160380e-01 -1.89957942e-02 1.06817498e+02] [ 6.98883397e-01 -7.14964421e-01 1.96945243e-02 3.31898091e+02] [-2.73509481e-02 8.00077040e-04 9.99625573e-01 -8.13248514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32687500000003 meters Centerline goodness [0,1] 0.9803002279667943 Centerline is valid? [True, True] Translation: X:106.79, Y:331.91, Z:-0.81 [[-7.14215830e-01 -6.99629516e-01 -2.03540846e-02 1.06793145e+02] [ 6.99311987e-01 -7.14505319e-01 2.10925152e-02 3.31912309e+02] [-2.93000479e-02 8.30752885e-04 9.99570316e-01 -8.13606417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters Centerline goodness [0,1] 0.9754914584942913 Centerline is valid? [True, True] Translation: X:106.77, Y:331.93, Z:-0.81 [[-7.15933121e-01 -6.97831792e-01 -2.16922962e-02 1.06770994e+02] [ 6.97470699e-01 -7.16261041e-01 2.24665391e-02 3.31929254e+02] [-3.12152119e-02 9.54798461e-04 9.99512230e-01 -8.13709267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38687500000003 meters Centerline goodness [0,1] 0.9628717077315209 Centerline is valid? [True, True] Translation: X:106.75, Y:331.95, Z:-0.81 [[-7.24414673e-01 -6.88942140e-01 -2.41269446e-02 1.06752773e+02] [ 6.88490984e-01 -7.24814831e-01 2.49725077e-02 3.31948145e+02] [-3.46921802e-02 1.47926717e-03 9.99396950e-01 -8.11685483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters Centerline goodness [0,1] 0.9422578811043022 Centerline is valid? [True, False] Translation: X:106.71, Y:331.02, Z:-0.89 [[ 7.96813101e-01 6.04061584e-01 1.40884699e-02 1.06708253e+02] [-5.88780349e-01 7.81471767e-01 -2.06493533e-01 3.31023387e+02] [-1.35744552e-01 1.56241738e-01 9.78346532e-01 -8.93741154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44687500000003 meters Centerline goodness [0,1] 0.841831621147582 Centerline is valid? [False, False] Translation: X:106.51, Y:331.25, Z:-0.89 [[ 8.26558871e-01 5.62580622e-01 1.74205787e-02 1.06512221e+02] [-5.39851439e-01 8.01161796e-01 -2.58263819e-01 3.31248756e+02] [-1.59250922e-01 2.04065726e-01 9.65917348e-01 -8.85890187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters Centerline goodness [0,1] 0.6902245980440909 Centerline is valid? [False, False] Translation: X:106.35, Y:331.43, Z:-0.87 [[ 8.53994677e-01 5.19139689e-01 3.44539543e-02 1.06345970e+02] [-4.88403487e-01 8.22733482e-01 -2.90812056e-01 3.31434126e+02] [-1.79318502e-01 2.31524517e-01 9.56159648e-01 -8.69007107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50687500000004 meters Centerline goodness [0,1] 0.6798580559475388 Centerline is valid? [False, False] Translation: X:106.19, Y:331.58, Z:-0.85 [[ 8.71069667e-01 4.88445065e-01 5.15660020e-02 1.06194791e+02] [-4.49747198e-01 8.35411556e-01 -3.15935104e-01 3.31581980e+02] [-1.97395777e-01 2.52009821e-01 9.47378466e-01 -8.49097089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters Centerline goodness [0,1] 0.6798580559475388 Centerline is valid? [False, False] Translation: X:106.05, Y:331.70, Z:-0.83 [[ 8.81603542e-01 4.66818558e-01 6.96823479e-02 1.06045734e+02] [-4.20462343e-01 8.43827500e-01 -3.33416509e-01 3.31699883e+02] [-2.14444895e-01 2.64642372e-01 9.40200937e-01 -8.27592264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.566875 meters Centerline goodness [0,1] 0.6796883052629409 Centerline is valid? [False, False] Translation: X:105.91, Y:331.82, Z:-0.80 [[ 8.92922068e-01 4.41317347e-01 8.90459404e-02 1.05912319e+02] [-3.86991595e-01 8.53443447e-01 -3.49101401e-01 3.31816447e+02] [-2.30060179e-01 2.77260315e-01 9.32844592e-01 -8.03320836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters Centerline goodness [0,1] 0.653017951251647 Centerline is valid? [False, False] Translation: X:105.80, Y:331.93, Z:-0.78 [[ 9.02248432e-01 4.17757092e-01 1.06896118e-01 1.05799909e+02] [-3.56207923e-01 8.61753389e-01 -3.61243701e-01 3.31933181e+02] [-2.43030210e-01 2.87854319e-01 9.26324030e-01 -7.77635352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.626875 meters Centerline goodness [0,1] 0.6575311344720047 Centerline is valid? [False, False] Translation: X:105.68, Y:332.03, Z:-0.75 [[ 9.08028626e-01 3.99028974e-01 1.27514285e-01 1.05676731e+02] [-3.29914631e-01 8.68771026e-01 -3.69314556e-01 3.32031487e+02] [-2.58147925e-01 2.93279361e-01 9.20514457e-01 -7.49938416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters Centerline goodness [0,1] 0.6760034652035807 Centerline is valid? [False, False] Translation: X:105.57, Y:332.12, Z:-0.72 [[ 9.11399685e-01 3.83885459e-01 1.48265194e-01 1.05567367e+02] [-3.07776787e-01 8.75019082e-01 -3.73650982e-01 3.32115956e+02] [-2.73174053e-01 2.94912802e-01 9.15643149e-01 -7.23111271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.686875 meters Centerline goodness [0,1] 0.6635654138426781 Centerline is valid? [False, False] Translation: X:105.45, Y:332.20, Z:-0.69 [[ 9.13281464e-01 3.69705442e-01 1.70982029e-01 1.05451583e+02] [-2.85515479e-01 8.80412875e-01 -3.78621290e-01 3.32201638e+02] [-2.90513131e-01 2.96969790e-01 9.09621385e-01 -6.94467436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters Centerline goodness [0,1] 0.9075522449824126 Centerline is valid? [False, False] Translation: X:105.47, Y:332.21, Z:-0.69 [[ 9.08313475e-01 3.78529851e-01 1.77993772e-01 1.05473190e+02] [-2.99702429e-01 8.85784573e-01 -3.54350312e-01 3.32213142e+02] [-2.91796308e-01 2.68515998e-01 9.18016380e-01 -6.85944500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.746875 meters Centerline goodness [0,1] 0.9058283030140711 Centerline is valid? [False, False] Translation: X:105.48, Y:332.22, Z:-0.68 [[ 9.05132138e-01 3.80445609e-01 1.89728625e-01 1.05475497e+02] [-3.04212050e-01 8.91356824e-01 -3.36062555e-01 3.32217132e+02] [-2.96969428e-01 2.46463285e-01 9.22531847e-01 -6.81843438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters Centerline goodness [0,1] 0.902451628906896 Centerline is valid? [False, False] Translation: X:105.48, Y:332.22, Z:-0.68 [[ 9.02745573e-01 3.80701204e-01 2.00292345e-01 1.05477281e+02] [-3.06692187e-01 8.96081336e-01 -3.20902074e-01 3.32221980e+02] [-3.01646038e-01 2.28264830e-01 9.25691544e-01 -6.78357809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.806875 meters Centerline goodness [0,1] 0.9019307892669616 Centerline is valid? [False, False] Translation: X:105.49, Y:332.22, Z:-0.67 [[ 9.00923569e-01 3.81691176e-01 2.06515300e-01 1.05485042e+02] [-3.09827275e-01 8.98910404e-01 -3.09785643e-01 3.32224551e+02] [-3.03881198e-01 2.15109115e-01 9.28107907e-01 -6.74469476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters Centerline goodness [0,1] 0.8937866305996147 Centerline is valid? [False, False] Translation: X:105.51, Y:332.24, Z:-0.68 [[ 8.99524787e-01 3.80468490e-01 2.14706511e-01 1.05509338e+02] [-3.09451707e-01 9.01820075e-01 -3.01596077e-01 3.32237980e+02] [-3.08374445e-01 2.04851851e-01 9.28946134e-01 -6.76395573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.866875 meters Centerline goodness [0,1] 0.8927289233689597 Centerline is valid? [False, False] Translation: X:105.52, Y:332.24, Z:-0.67 [[ 8.98942371e-01 3.80395044e-01 2.17260728e-01 1.05521228e+02] [-3.11594674e-01 9.03836275e-01 -2.93238380e-01 3.32243401e+02] [-3.07914554e-01 1.95907119e-01 9.31025794e-01 -6.74812211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters Centerline goodness [0,1] 0.8894685830944673 Centerline is valid? [False, False] Translation: X:105.53, Y:332.25, Z:-0.67 [[ 8.98157389e-01 3.82266225e-01 2.17223013e-01 1.05531170e+02] [-3.15046827e-01 9.04163419e-01 -2.88503046e-01 3.32252476e+02] [-3.06690073e-01 1.90685722e-01 9.32512817e-01 -6.73662033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.926875 meters Centerline goodness [0,1] 0.8840624676802151 Centerline is valid? [False, False] Translation: X:105.55, Y:332.27, Z:-0.68 [[ 8.96688354e-01 3.84886417e-01 2.18660565e-01 1.05549411e+02] [-3.19805419e-01 9.04802990e-01 -2.81169064e-01 3.32271380e+02] [-3.06062887e-01 1.82192192e-01 9.34415065e-01 -6.75167834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.956875 meters Centerline goodness [0,1] 0.879595834622126 Centerline is valid? [False, False] Translation: X:105.55, Y:332.28, Z:-0.68 [[ 8.94815012e-01 3.88366150e-01 2.20176808e-01 1.05554832e+02] [-3.24153027e-01 9.04318115e-01 -2.77729297e-01 3.32278767e+02] [-3.06970534e-01 1.77145365e-01 9.35087488e-01 -6.76556708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.986875 meters Centerline goodness [0,1] 0.8776560562215792 Centerline is valid? [False, False] Translation: X:105.56, Y:332.29, Z:-0.68 [[ 8.92798753e-01 3.91936227e-01 2.22027882e-01 1.05559268e+02] [-3.28570202e-01 9.03796240e-01 -2.74215206e-01 3.32285529e+02] [-3.08142838e-01 1.71867248e-01 9.35686721e-01 -6.77418488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters Centerline goodness [0,1] 0.8524979355904212 Centerline is valid? [False, False] Translation: X:105.57, Y:332.30, Z:-0.68 [[ 8.89886703e-01 3.96791204e-01 2.25074202e-01 1.05567021e+02] [-3.34234722e-01 9.02903847e-01 -2.70280954e-01 3.32300770e+02] [-3.10465468e-01 1.65291814e-01 9.36103525e-01 -6.77221895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.046875 meters Centerline goodness [0,1] 0.8395428477121756 Centerline is valid? [False, False] Translation: X:105.57, Y:332.31, Z:-0.68 [[ 8.88811823e-01 3.98716385e-01 2.25917655e-01 1.05570881e+02] [-3.36657547e-01 9.02559705e-01 -2.68416978e-01 3.32306877e+02] [-3.10926419e-01 1.62515299e-01 9.36436618e-01 -6.76984923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07687500000003 meters Centerline goodness [0,1] 0.5621997236942491 Centerline is valid? [False, False] Translation: X:105.58, Y:332.32, Z:-0.68 [[ 8.88079793e-01 4.00235687e-01 2.26109875e-01 1.05583259e+02] [-3.39598712e-01 9.02732267e-01 -2.64096894e-01 3.32316807e+02] [-3.09817682e-01 1.57752492e-01 9.37617809e-01 -6.80640297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.106875 meters Centerline goodness [0,1] 0.5330896099040339 Centerline is valid? [False, False] Translation: X:105.59, Y:332.32, Z:-0.68 [[ 8.87257236e-01 4.01363184e-01 2.27337178e-01 1.05585551e+02] [-3.41094621e-01 9.02659908e-01 -2.62411033e-01 3.32321192e+02] [-3.10530283e-01 1.55282599e-01 9.37794358e-01 -6.81319431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters Centerline goodness [0,1] 0.5055310878150652 Centerline is valid? [False, False] Translation: X:105.59, Y:332.33, Z:-0.68 [[ 8.87754652e-01 4.00729170e-01 2.26512273e-01 1.05589013e+02] [-3.40364241e-01 9.02737641e-01 -2.63091115e-01 3.32325063e+02] [-3.09909439e-01 1.56463683e-01 9.37803421e-01 -6.81245557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.166875 meters Centerline goodness [0,1] 0.4450190584114556 Centerline is valid? [False, False] Translation: X:105.60, Y:332.33, Z:-0.68 [[ 8.90556778e-01 3.96102544e-01 2.23632287e-01 1.05596738e+02] [-3.34372286e-01 9.03375456e-01 -2.68529252e-01 3.32333970e+02] [-3.08389039e-01 1.64364106e-01 9.36952849e-01 -6.81583066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters Centerline goodness [0,1] 0.4454134966289355 Centerline is valid? [False, False] Translation: X:105.60, Y:332.34, Z:-0.68 [[ 8.93042884e-01 3.91633567e-01 2.21579684e-01 1.05603043e+02] [-3.28180283e-01 9.03783761e-01 -2.74722798e-01 3.32344440e+02] [-3.07850790e-01 1.72621156e-01 9.35644071e-01 -6.80061541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.226875 meters Centerline goodness [0,1] 0.4405200255075803 Centerline is valid? [False, False] Translation: X:105.61, Y:332.35, Z:-0.68 [[ 8.93596774e-01 3.90643447e-01 2.21093878e-01 1.05605473e+02] [-3.26736059e-01 9.03812524e-01 -2.76344838e-01 3.32348401e+02] [-3.07779715e-01 1.74701513e-01 9.35281256e-01 -6.79591305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters Centerline goodness [0,1] 0.43266298524684743 Centerline is valid? [False, False] Translation: X:105.61, Y:332.35, Z:-0.68 [[ 8.94021707e-01 3.90033224e-01 2.20452425e-01 1.05608390e+02] [-3.25842322e-01 9.03764043e-01 -2.77556005e-01 3.32352348e+02] [-3.07493039e-01 1.76308363e-01 9.35074004e-01 -6.79144884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.286875 meters Centerline goodness [0,1] 0.40730533503352395 Centerline is valid? [False, False] Translation: X:105.61, Y:332.36, Z:-0.68 [[ 8.93468904e-01 3.91033253e-01 2.20921507e-01 1.05612188e+02] [-3.27054981e-01 9.03596837e-01 -2.76672721e-01 3.32357189e+02] [-3.07812209e-01 1.74944993e-01 9.35225049e-01 -6.80052114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters Centerline goodness [0,1] 0.3951415840160989 Centerline is valid? [False, False] Translation: X:105.63, Y:332.37, Z:-0.68 [[ 8.94872383e-01 3.88198361e-01 2.20239531e-01 1.05633470e+02] [-3.26601047e-01 9.05874287e-01 -2.69673009e-01 3.32366765e+02] [-3.04195948e-01 1.69392467e-01 9.37427873e-01 -6.84591588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.346875 meters Centerline goodness [0,1] 0.3862555827690535 Centerline is valid? [False, False] Translation: X:105.64, Y:332.37, Z:-0.69 [[ 8.94566789e-01 3.89147160e-01 2.19806161e-01 1.05638704e+02] [-3.27796233e-01 9.05585268e-01 -2.69193149e-01 3.32371231e+02] [-3.03808971e-01 1.68759619e-01 9.37667478e-01 -6.86985076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters Centerline goodness [0,1] 0.3716779706165605 Centerline is valid? [False, False] Translation: X:105.64, Y:332.38, Z:-0.69 [[ 8.95317405e-01 3.88250562e-01 2.18330585e-01 1.05643802e+02] [-3.26341324e-01 9.05355029e-01 -2.71723411e-01 3.32376766e+02] [-3.03163460e-01 1.72028407e-01 9.37282318e-01 -6.88500506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.406875 meters Centerline goodness [0,1] 0.3861048304213772 Centerline is valid? [False, False] Translation: X:105.65, Y:332.38, Z:-0.69 [[ 8.95932941e-01 3.87506102e-01 2.17124816e-01 1.05648199e+02] [-3.24982940e-01 9.05067911e-01 -2.74295761e-01 3.32382377e+02] [-3.02803985e-01 1.75188747e-01 9.36813028e-01 -6.89528849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters Centerline goodness [0,1] 0.3666789864892612 Centerline is valid? [False, False] Translation: X:105.65, Y:332.39, Z:-0.69 [[ 8.95176759e-01 3.88989666e-01 2.17590463e-01 1.05651822e+02] [-3.26558053e-01 9.04654199e-01 -2.73789367e-01 3.32387470e+02] [-3.03345360e-01 1.74033960e-01 9.36853122e-01 -6.90520302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.466875 meters Centerline goodness [0,1] 0.3755561047948591 Centerline is valid? [False, False] Translation: X:105.66, Y:332.40, Z:-0.69 [[ 8.91291809e-01 3.95887367e-01 2.21070361e-01 1.05658896e+02] [-3.35398354e-01 9.03710132e-01 -2.66112647e-01 3.32399548e+02] [-3.05134161e-01 1.63037387e-01 9.38249410e-01 -6.87635931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters Centerline goodness [0,1] 0.38472156410309233 Centerline is valid? [False, False] Translation: X:105.66, Y:332.41, Z:-0.69 [[ 8.88815070e-01 4.00060925e-01 2.23515162e-01 1.05662106e+02] [-3.40591272e-01 9.03004245e-01 -2.61879587e-01 3.32405888e+02] [-3.06602930e-01 1.56635210e-01 9.38861041e-01 -6.86446802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.526875 meters Centerline goodness [0,1] 0.37005067776358613 Centerline is valid? [False, False] Translation: X:105.67, Y:332.42, Z:-0.69 [[ 8.85221852e-01 4.06448953e-01 2.26233334e-01 1.05671832e+02] [-3.48336767e-01 9.01536673e-01 -2.56696562e-01 3.32417155e+02] [-3.08291696e-01 1.48428018e-01 9.39641077e-01 -6.89894383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters Centerline goodness [0,1] 0.37339108656826725 Centerline is valid? [False, False] Translation: X:105.68, Y:332.42, Z:-0.69 [[ 8.84219284e-01 4.08255638e-01 2.26899959e-01 1.05675997e+02] [-3.50150151e-01 9.00903157e-01 -2.56453452e-01 3.32421936e+02] [-3.09113458e-01 1.47312033e-01 9.39546718e-01 -6.93202570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.586875 meters Centerline goodness [0,1] 0.37015097289069887 Centerline is valid? [False, False] Translation: X:105.68, Y:332.43, Z:-0.70 [[ 8.83353934e-01 4.09775895e-01 2.27529216e-01 1.05679782e+02] [-3.51757048e-01 9.00413259e-01 -2.55974496e-01 3.32426015e+02] [-3.09762501e-01 1.46081072e-01 9.39525153e-01 -6.96071907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters Centerline goodness [0,1] 0.3640572910235832 Centerline is valid? [False, False] Translation: X:105.68, Y:332.43, Z:-0.70 [[ 8.83742611e-01 4.09147612e-01 2.27150233e-01 1.05682726e+02] [-3.50551188e-01 9.00342006e-01 -2.57872326e-01 3.32430106e+02] [-3.10020743e-01 1.48264979e-01 9.39097777e-01 -6.96479754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.646875 meters Centerline goodness [0,1] 0.38348094747682804 Centerline is valid? [False, False] Translation: X:105.70, Y:332.43, Z:-0.70 [[ 8.86657542e-01 3.99487937e-01 2.32911553e-01 1.05697064e+02] [-3.35783700e-01 9.02504816e-01 -2.69693092e-01 3.32434614e+02] [-3.17942936e-01 1.60917511e-01 9.34354239e-01 -6.97579677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters Centerline goodness [0,1] 0.3850474211533318 Centerline is valid? [False, False] Translation: X:105.71, Y:332.44, Z:-0.70 [[ 8.90025559e-01 3.90120149e-01 2.35925358e-01 1.05705026e+02] [-3.26081742e-01 9.06374562e-01 -2.68618411e-01 3.32437466e+02] [-3.18630197e-01 1.62146300e-01 9.33907584e-01 -6.96982447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.706875 meters Centerline goodness [0,1] 0.4022564904984456 Centerline is valid? [False, False] Translation: X:105.72, Y:332.44, Z:-0.70 [[ 8.93708622e-01 3.81326052e-01 2.36379654e-01 1.05716135e+02] [-3.18362670e-01 9.10251557e-01 -2.64740086e-01 3.32441895e+02] [-3.16117240e-01 1.61346040e-01 9.34899645e-01 -6.99357871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters Centerline goodness [0,1] 0.40899463283226056 Centerline is valid? [False, False] Translation: X:105.73, Y:332.45, Z:-0.70 [[ 8.98841546e-01 3.70006748e-01 2.34901854e-01 1.05729268e+02] [-3.06415607e-01 9.13743205e-01 -2.66801107e-01 3.32445429e+02] [-3.13358183e-01 1.67834325e-01 9.34686198e-01 -7.00612590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.766875 meters Centerline goodness [0,1] 0.40748153344612714 Centerline is valid? [False, False] Translation: X:105.76, Y:332.44, Z:-0.71 [[ 9.05748723e-01 3.50858900e-01 2.37733637e-01 1.05762841e+02] [-2.84379999e-01 9.19048059e-01 -2.72907825e-01 3.32443615e+02] [-3.14240777e-01 1.79579223e-01 9.32203860e-01 -7.13926906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters Centerline goodness [0,1] 0.40656466857484097 Centerline is valid? [False, False] Translation: X:105.78, Y:332.45, Z:-0.72 [[ 9.10851522e-01 3.37478117e-01 2.37608978e-01 1.05775597e+02] [-2.69829299e-01 9.22531105e-01 -2.75913953e-01 3.32445159e+02] [-3.12316594e-01 1.87202780e-01 9.31350344e-01 -7.16397368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82687500000003 meters Centerline goodness [0,1] 0.42527694271712724 Centerline is valid? [False, False] Translation: X:105.79, Y:332.45, Z:-0.72 [[ 9.15817805e-01 3.22385204e-01 2.39469264e-01 1.05792371e+02] [-2.48641750e-01 9.23442414e-01 -2.92286483e-01 3.32447907e+02] [-3.15364912e-01 2.08139109e-01 9.25863426e-01 -7.16579685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters Centerline goodness [0,1] 0.43094560600437126 Centerline is valid? [False, False] Translation: X:105.83, Y:332.44, Z:-0.73 [[ 9.23606261e-01 2.92313801e-01 2.48000234e-01 1.05826204e+02] [-2.07144318e-01 9.24927815e-01 -3.18747186e-01 3.32442946e+02] [-3.22556517e-01 2.43025057e-01 9.14820264e-01 -7.26537135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88687500000003 meters Centerline goodness [0,1] 0.465276484825917 Centerline is valid? [False, False] Translation: X:105.85, Y:332.45, Z:-0.73 [[ 9.30814593e-01 2.70986744e-01 2.45255741e-01 1.05851638e+02] [-1.93577186e-01 9.34703815e-01 -2.98088328e-01 3.32446982e+02] [-3.10019462e-01 2.29989050e-01 9.22492802e-01 -7.29827298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters Centerline goodness [0,1] 0.4748512150768722 Centerline is valid? [False, False] Translation: X:105.87, Y:332.46, Z:-0.73 [[ 9.36848182e-01 2.52762721e-01 2.41715723e-01 1.05873790e+02] [-1.85900178e-01 9.45313342e-01 -2.67999646e-01 3.32458815e+02] [-2.96237418e-01 2.06139985e-01 9.32603720e-01 -7.34433163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94687500000003 meters Centerline goodness [0,1] 0.47868613138686134 Centerline is valid? [False, False] Translation: X:105.93, Y:332.48, Z:-0.74 [[ 9.41085860e-01 2.45609235e-01 2.32451086e-01 1.05928718e+02] [-1.89978133e-01 9.52644627e-01 -2.37437410e-01 3.32479825e+02] [-2.79760099e-01 1.79288366e-01 9.43180772e-01 -7.41042191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters Centerline goodness [0,1] 0.47090398418807866 Centerline is valid? [False, False] Translation: X:105.94, Y:332.49, Z:-0.74 [[ 9.40376349e-01 2.46064676e-01 2.34828655e-01 1.05942965e+02] [-1.85615670e-01 9.49779841e-01 -2.51922759e-01 3.32492519e+02] [-2.85024815e-01 1.93314326e-01 9.38823959e-01 -7.44879235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00687500000004 meters Centerline goodness [0,1] 0.46192766568805044 Centerline is valid? [False, False] Translation: X:105.95, Y:332.50, Z:-0.75 [[ 9.39020363e-01 2.46876817e-01 2.39358714e-01 1.05954183e+02] [-1.81047978e-01 9.46754574e-01 -2.66228111e-01 3.32504229e+02] [-2.92339506e-01 2.06658206e-01 9.33718372e-01 -7.49119044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters Centerline goodness [0,1] 0.45631168831168833 Centerline is valid? [False, False] Translation: X:106.00, Y:332.52, Z:-0.75 [[ 9.35164876e-01 2.53619380e-01 2.47272853e-01 1.05998112e+02] [-1.77939773e-01 9.39982114e-01 -2.91154706e-01 3.32523619e+02] [-3.06274535e-01 2.28277979e-01 9.24167232e-01 -7.52188334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.066875 meters Centerline goodness [0,1] 0.46577733449694547 Centerline is valid? [False, False] Translation: X:106.01, Y:332.54, Z:-0.75 [[ 9.34827560e-01 2.49664653e-01 2.52517313e-01 1.06014429e+02] [-1.75209350e-01 9.42819277e-01 -2.83537465e-01 3.32537760e+02] [-3.08867474e-01 2.20815242e-01 9.25117026e-01 -7.54748817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters Centerline goodness [0,1] 0.46212594164897824 Centerline is valid? [False, False] Translation: X:106.04, Y:332.56, Z:-0.76 [[ 9.34231937e-01 2.51497230e-01 2.52902808e-01 1.06038386e+02] [-1.83501307e-01 9.46953484e-01 -2.63830191e-01 3.32555348e+02] [-3.05839758e-01 2.00070595e-01 9.30824258e-01 -7.57722168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.126875 meters Centerline goodness [0,1] 0.5188961190360117 Centerline is valid? [False, False] Translation: X:106.09, Y:332.59, Z:-0.76 [[ 9.31786682e-01 2.66411897e-01 2.46573074e-01 1.06089179e+02] [-2.09041157e-01 9.49119643e-01 -2.35528548e-01 3.32589814e+02] [-2.96774955e-01 1.67918443e-01 9.40068094e-01 -7.62832262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters Centerline goodness [0,1] 0.5259704053184645 Centerline is valid? [False, False] Translation: X:106.10, Y:332.60, Z:-0.77 [[ 9.30044166e-01 2.70977794e-01 2.48171078e-01 1.06098299e+02] [-2.14362265e-01 9.48675567e-01 -2.32515563e-01 3.32604781e+02] [-2.98440393e-01 1.63051229e-01 9.40397591e-01 -7.68138428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.186875 meters Centerline goodness [0,1] 0.545854557277555 Centerline is valid? [False, False] Translation: X:106.12, Y:332.62, Z:-0.77 [[ 9.28578647e-01 2.74504478e-01 2.49777876e-01 1.06115743e+02] [-2.13997291e-01 9.45880545e-01 -2.43957277e-01 3.32619492e+02] [-3.03227398e-01 1.73081730e-01 9.37067692e-01 -7.69186340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters Centerline goodness [0,1] 0.5496822771587744 Centerline is valid? [False, False] Translation: X:106.13, Y:332.63, Z:-0.77 [[ 9.26985500e-01 2.77778058e-01 2.52065930e-01 1.06130045e+02] [-2.13709810e-01 9.43383344e-01 -2.53684812e-01 3.32630058e+02] [-3.08262875e-01 1.81293180e-01 9.33866577e-01 -7.71860233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.246875 meters Centerline goodness [0,1] 0.5545768073281638 Centerline is valid? [False, False] Translation: X:106.13, Y:332.64, Z:-0.78 [[ 9.25856124e-01 2.79190100e-01 2.54643525e-01 1.06134927e+02] [-2.13832981e-01 9.42702251e-01 -2.56101391e-01 3.32641984e+02] [-3.11553997e-01 1.82661857e-01 9.32506704e-01 -7.76382111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters Centerline goodness [0,1] 0.5546043754285841 Centerline is valid? [False, False] Translation: X:106.15, Y:332.65, Z:-0.78 [[ 9.24239275e-01 2.79309184e-01 2.60323151e-01 1.06150858e+02] [-2.17900996e-01 9.45727880e-01 -2.41076614e-01 3.32653926e+02] [-3.13529774e-01 1.66087801e-01 9.34940599e-01 -7.82384640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.306875 meters Centerline goodness [0,1] 0.5651601181012946 Centerline is valid? [False, False] Translation: X:106.17, Y:332.67, Z:-0.79 [[ 9.23433171e-01 2.79844722e-01 2.62598763e-01 1.06170661e+02] [-2.23959277e-01 9.48650026e-01 -2.23395101e-01 3.32667739e+02] [-3.11630263e-01 1.47479017e-01 9.38688723e-01 -7.87166855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters Centerline goodness [0,1] 0.5894462231708764 Centerline is valid? [False, False] Translation: X:106.22, Y:332.69, Z:-0.80 [[ 9.25195509e-01 2.79825968e-01 2.56340978e-01 1.06222577e+02] [-2.30822047e-01 9.51119439e-01 -2.05165777e-01 3.32687609e+02] [-3.01221599e-01 1.30649306e-01 9.44561436e-01 -7.98545740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.366875 meters Centerline goodness [0,1] 0.5744650499286733 Centerline is valid? [False, False] Translation: X:106.23, Y:332.70, Z:-0.80 [[ 9.25812685e-01 2.78341517e-01 2.55728121e-01 1.06229353e+02] [-2.27827266e-01 9.50775902e-01 -2.10047427e-01 3.32698347e+02] [-3.01605054e-01 1.36202734e-01 9.43654178e-01 -8.03211275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters Centerline goodness [0,1] 0.6096786700916008 Centerline is valid? [False, False] Translation: X:106.26, Y:332.70, Z:-0.82 [[ 9.19301856e-01 2.99591749e-01 2.55203609e-01 1.06255096e+02] [-2.40446988e-01 9.40922194e-01 -2.38433789e-01 3.32704513e+02] [-3.11559535e-01 1.57829686e-01 9.37027452e-01 -8.15647175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.426875 meters Centerline goodness [0,1] 0.6096786700916008 Centerline is valid? [False, False] Translation: X:106.26, Y:332.70, Z:-0.82 [[ 9.19301856e-01 2.99591749e-01 2.55203609e-01 1.06255096e+02] [-2.40446988e-01 9.40922194e-01 -2.38433789e-01 3.32704513e+02] [-3.11559535e-01 1.57829686e-01 9.37027452e-01 -8.15647175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters Centerline goodness [0,1] 0.6281700464207183 Centerline is valid? [False, False] Translation: X:106.26, Y:332.71, Z:-0.82 [[ 9.17915385e-01 3.02151080e-01 2.57169342e-01 1.06258543e+02] [-2.42769185e-01 9.40355337e-01 -2.38316938e-01 3.32710985e+02] [-3.13838283e-01 1.56321992e-01 9.36519603e-01 -8.22374779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.486875 meters Centerline goodness [0,1] 0.6144388015454523 Centerline is valid? [False, False] Translation: X:106.26, Y:332.71, Z:-0.82 [[ 9.18148881e-01 2.96750358e-01 2.62567813e-01 1.06262905e+02] [-2.39608988e-01 9.43583033e-01 -2.28557636e-01 3.32711711e+02] [-3.15579094e-01 1.46936329e-01 9.37453759e-01 -8.23608772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters Centerline goodness [0,1] 0.633118061098614 Centerline is valid? [False, False] Translation: X:106.27, Y:332.71, Z:-0.83 [[ 9.17784995e-01 2.90517474e-01 2.70684872e-01 1.06271967e+02] [-2.32191940e-01 9.45650614e-01 -2.27666027e-01 3.32710672e+02] [-3.22114275e-01 1.46097618e-01 9.35359760e-01 -8.28558318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.546875 meters Centerline goodness [0,1] 0.6688372766080601 Centerline is valid? [False, False] Translation: X:106.29, Y:332.70, Z:-0.84 [[ 9.16807892e-01 2.85414940e-01 2.79287668e-01 1.06286004e+02] [-2.26841400e-01 9.47827545e-01 -2.23977509e-01 3.32704728e+02] [-3.28643072e-01 1.41990342e-01 9.33719698e-01 -8.38967487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters Centerline goodness [0,1] 0.670196305966541 Centerline is valid? [False, False] Translation: X:106.29, Y:332.70, Z:-0.84 [[ 9.16789918e-01 2.80152407e-01 2.84624095e-01 1.06292841e+02] [-2.25402459e-01 9.51294530e-01 -2.10315119e-01 3.32703396e+02] [-3.29681632e-01 1.28659810e-01 9.35284275e-01 -8.43052204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.606875 meters Centerline goodness [0,1] 0.667848015815613 Centerline is valid? [False, False] Translation: X:106.30, Y:332.70, Z:-0.85 [[ 9.17888940e-01 2.73404446e-01 2.87628062e-01 1.06300941e+02] [-2.21407182e-01 9.54331298e-01 -2.00575756e-01 3.32702252e+02] [-3.29330765e-01 1.20423349e-01 9.36503852e-01 -8.47889037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters Centerline goodness [0,1] 0.6686039501290182 Centerline is valid? [False, False] Translation: X:106.31, Y:332.70, Z:-0.86 [[ 9.17834746e-01 2.67536647e-01 2.93263569e-01 1.06313186e+02] [-2.15418634e-01 9.56211840e-01 -1.98125538e-01 3.32697679e+02] [-3.33427939e-01 1.18672065e-01 9.35276831e-01 -8.56645188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.666875 meters Centerline goodness [0,1] 0.6607319485657764 Centerline is valid? [False, False] Translation: X:106.32, Y:332.70, Z:-0.86 [[ 9.18445383e-01 2.66426151e-01 2.92361395e-01 1.06316288e+02] [-2.13335983e-01 9.56065375e-01 -2.01064061e-01 3.32699579e+02] [-3.33085330e-01 1.22295152e-01 9.34932114e-01 -8.58923824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters Centerline goodness [0,1] 0.6518167456556082 Centerline is valid? [False, False] Translation: X:106.34, Y:332.69, Z:-0.88 [[ 9.18554157e-01 2.70376481e-01 2.88365775e-01 1.06344667e+02] [-2.13900027e-01 9.53438527e-01 -2.12607042e-01 3.32689602e+02] [-3.32422984e-01 1.33609635e-01 9.33618458e-01 -8.77279983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.726875 meters Centerline goodness [0,1] 0.6372807660364453 Centerline is valid? [False, False] Translation: X:106.35, Y:332.69, Z:-0.89 [[ 9.19237227e-01 2.68854085e-01 2.87611546e-01 1.06349219e+02] [-2.10452415e-01 9.52948715e-01 -2.18170867e-01 3.32687463e+02] [-3.32735182e-01 1.40022239e-01 9.32566926e-01 -8.88686870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters Centerline goodness [0,1] 0.3408281494847809 Centerline is valid? [False, False] Translation: X:106.35, Y:332.68, Z:-0.90 [[ 9.20350271e-01 2.66753309e-01 2.86003587e-01 1.06353622e+02] [-2.06089845e-01 9.52309096e-01 -2.25020804e-01 3.32681680e+02] [-3.32388861e-01 1.48155523e-01 9.31433082e-01 -9.00296187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.786875 meters Centerline goodness [0,1] 0.5972367049009385 Centerline is valid? [False, False] Translation: X:106.37, Y:332.67, Z:-0.92 [[ 9.20282581e-01 2.61897750e-01 2.90670845e-01 1.06368160e+02] [-2.04175909e-01 9.55207992e-01 -2.14219256e-01 3.32670230e+02] [-3.33754655e-01 1.37794266e-01 9.32534488e-01 -9.16687033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters Centerline goodness [0,1] 0.5638927210232189 Centerline is valid? [False, False] Translation: X:106.37, Y:332.66, Z:-0.92 [[ 9.18900861e-01 2.56684692e-01 2.99556633e-01 1.06374344e+02] [-1.99674867e-01 9.57534592e-01 -2.07984261e-01 3.32663751e+02] [-3.40222214e-01 1.31302986e-01 9.31132843e-01 -9.24573207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.846875 meters Centerline goodness [0,1] 0.5426669780476413 Centerline is valid? [False, False] Translation: X:106.37, Y:332.66, Z:-0.93 [[ 9.18922250e-01 2.49619607e-01 3.05404568e-01 1.06370062e+02] [-1.92703863e-01 9.59694505e-01 -2.04576828e-01 3.32656402e+02] [-3.44161473e-01 1.29137559e-01 9.29987297e-01 -9.28258063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters Centerline goodness [0,1] 0.5048514669364481 Centerline is valid? [False, False] Translation: X:106.38, Y:332.64, Z:-0.94 [[ 9.21417105e-01 2.37267235e-01 3.07725165e-01 1.06381555e+02] [-1.78621637e-01 9.61931241e-01 -2.06839549e-01 3.32637765e+02] [-3.45086698e-01 1.35619126e-01 9.28720961e-01 -9.42266998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.906875 meters Centerline goodness [0,1] 0.5074498437570762 Centerline is valid? [False, False] Translation: X:106.39, Y:332.63, Z:-0.95 [[ 9.22719559e-01 2.26993427e-01 3.11548711e-01 1.06386496e+02] [-1.70187259e-01 9.65085886e-01 -1.99111850e-01 3.32630913e+02] [-3.45868345e-01 1.30702777e-01 9.29135013e-01 -9.46136594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters Centerline goodness [0,1] 0.6013222913616398 Centerline is valid? [False, False] Translation: X:106.40, Y:332.62, Z:-0.96 [[ 9.29031488e-01 2.12156126e-01 3.03134083e-01 1.06400612e+02] [-1.57993555e-01 9.68299725e-01 -1.93477852e-01 3.32615957e+02] [-3.34572161e-01 1.31853785e-01 9.33100235e-01 -9.61057800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.966875 meters Centerline goodness [0,1] 0.6830911976559639 Centerline is valid? [False, False] Translation: X:106.40, Y:332.62, Z:-0.97 [[ 9.29614918e-01 2.10311012e-01 3.02630769e-01 1.06404545e+02] [-1.53461849e-01 9.67504463e-01 -2.00959138e-01 3.32615999e+02] [-3.35060540e-01 1.40372335e-01 9.31681299e-01 -9.73312884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters Centerline goodness [0,1] 0.9667410432366438 Centerline is valid? [False, True] Translation: X:106.30, Y:332.61, Z:-0.91 [[ 9.43442092e-01 2.10954667e-01 2.55763853e-01 1.06301233e+02] [-1.63655486e-01 9.67234684e-01 -1.94097780e-01 3.32609377e+02] [-2.88329502e-01 1.41262857e-01 9.47053802e-01 -9.12598832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.026875 meters Centerline goodness [0,1] 0.24354031190654313 Centerline is valid? [True, False] Translation: X:106.38, Y:332.47, Z:-1.01 [[ 9.36060393e-01 1.97301995e-01 2.91312312e-01 1.06383147e+02] [-1.92469725e-01 9.80249537e-01 -4.54560351e-02 3.32469716e+02] [-2.94527325e-01 -1.35192063e-02 9.55547427e-01 -1.00840429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters Centerline goodness [0,1] 0.6149039249186696 Centerline is valid? [False, False] Translation: X:106.39, Y:332.47, Z:-1.00 [[ 9.33174241e-01 2.01558395e-01 2.97590405e-01 1.06390696e+02] [-1.93629912e-01 9.79462878e-01 -5.62132345e-02 3.32467109e+02] [-3.02809003e-01 -5.16566152e-03 9.53037262e-01 -9.99756964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.086875 meters Centerline goodness [0,1] 0.6809928060882238 Centerline is valid? [False, False] Translation: X:106.40, Y:332.47, Z:-0.99 [[ 9.34336803e-01 1.90116196e-01 3.01447459e-01 1.06403434e+02] [-1.88251940e-01 9.81478618e-01 -3.55095581e-02 3.32468758e+02] [-3.02615178e-01 -2.35701819e-02 9.52821337e-01 -9.94000574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters Centerline goodness [0,1] 0.8913748849823236 Centerline is valid? [False, False] Translation: X:106.40, Y:332.47, Z:-0.99 [[ 9.32962972e-01 1.80589691e-01 3.11395981e-01 1.06397311e+02] [-1.80545036e-01 9.83132324e-01 -2.92287973e-02 3.32473539e+02] [-3.11421874e-01 -2.89516130e-02 9.49830627e-01 -9.88958309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.146875 meters Centerline goodness [0,1] 0.7992601156069364 Centerline is valid? [False, False] Translation: X:106.40, Y:332.47, Z:-0.99 [[ 9.34733446e-01 1.70373114e-01 3.11843531e-01 1.06404063e+02] [-1.71984689e-01 9.84841593e-01 -2.25455618e-02 3.32468589e+02] [-3.10957638e-01 -3.25582222e-02 9.49865943e-01 -9.88179790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters Centerline goodness [0,1] 0.8371487444240654 Centerline is valid? [False, False] Translation: X:106.41, Y:332.47, Z:-0.99 [[ 9.35796753e-01 1.59980533e-01 3.14150706e-01 1.06409957e+02] [-1.63162496e-01 9.86464157e-01 -1.63237801e-02 3.32465378e+02] [-3.12509899e-01 -3.59818731e-02 9.49232779e-01 -9.87573760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.206875 meters Centerline goodness [0,1] 0.9027622626180563 Centerline is valid? [False, False] Translation: X:106.42, Y:332.48, Z:-1.00 [[ 9.34812288e-01 1.58646474e-01 3.17737758e-01 1.06422914e+02] [-1.57838287e-01 9.87054693e-01 -2.84623910e-02 3.32477962e+02] [-3.18140003e-01 -2.35441905e-02 9.47751344e-01 -9.96776881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters Centerline goodness [0,1] 0.8595675194220397 Centerline is valid? [False, False] Translation: X:106.42, Y:332.48, Z:-0.99 [[ 9.35421319e-01 1.63578514e-01 3.13415100e-01 1.06418971e+02] [-1.61038730e-01 9.86356584e-01 -3.41645407e-02 3.32479732e+02] [-3.14727633e-01 -1.85137298e-02 9.49001454e-01 -9.94308269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.266875 meters Centerline goodness [0,1] 0.8824612403100776 Centerline is valid? [False, False] Translation: X:106.40, Y:332.48, Z:-1.00 [[ 9.36495732e-01 1.57743162e-01 3.13197764e-01 1.06397830e+02] [-1.54964833e-01 9.87337695e-01 -3.39142450e-02 3.32476441e+02] [-3.14581698e-01 -1.67740933e-02 9.49082180e-01 -9.96999191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters Centerline goodness [0,1] 0.8170627970978234 Centerline is valid? [False, False] Translation: X:106.43, Y:332.48, Z:-1.00 [[ 9.38973388e-01 1.50969916e-01 3.09090699e-01 1.06429283e+02] [-1.49955385e-01 9.88318984e-01 -2.71839871e-02 3.32482202e+02] [-3.09584170e-01 -2.08247744e-02 9.50643977e-01 -9.98585425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32687500000003 meters Centerline goodness [0,1] 0.8982440858243169 Centerline is valid? [False, False] Translation: X:106.43, Y:332.47, Z:-1.00 [[ 9.39879306e-01 1.47762801e-01 3.07884791e-01 1.06431733e+02] [-1.46731794e-01 9.88817675e-01 -2.66342898e-02 3.32472344e+02] [-3.08377481e-01 -2.01434699e-02 9.51050771e-01 -1.00402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters Centerline goodness [0,1] 0.9033809909180829 Centerline is valid? [False, False] Translation: X:106.44, Y:332.47, Z:-1.00 [[ 9.38251301e-01 1.39770000e-01 3.16463022e-01 1.06437129e+02] [-1.40171339e-01 9.89891245e-01 -2.16175617e-02 3.32467483e+02] [-3.16285461e-01 -2.40763400e-02 9.48358496e-01 -1.00275823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38687500000003 meters Centerline goodness [0,1] 0.907105789319974 Centerline is valid? [False, False] Translation: X:106.44, Y:332.47, Z:-1.00 [[ 9.38291092e-01 1.38635223e-01 3.16843970e-01 1.06436383e+02] [-1.38871981e-01 9.90066977e-01 -2.19534339e-02 3.32466797e+02] [-3.16740271e-01 -2.34020383e-02 9.48223573e-01 -1.00115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters Centerline goodness [0,1] 0.9075886303990036 Centerline is valid? [False, False] Translation: X:106.44, Y:332.46, Z:-1.01 [[ 9.39858829e-01 1.33586373e-01 3.14356586e-01 1.06439801e+02] [-1.32203159e-01 9.90886304e-01 -2.58197244e-02 3.32458039e+02] [-3.14940798e-01 -1.72920379e-02 9.48953781e-01 -1.00978517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44687500000003 meters Centerline goodness [0,1] 0.907798114254021 Centerline is valid? [False, False] Translation: X:106.46, Y:332.45, Z:-1.02 [[ 9.43626926e-01 1.21912545e-01 3.07742679e-01 1.06459454e+02] [-1.20745151e-01 9.92419166e-01 -2.29086563e-02 3.32451885e+02] [-3.08202586e-01 -1.55412113e-02 9.51193796e-01 -1.01841657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters Centerline goodness [0,1] 0.9084380610412927 Centerline is valid? [False, False] Translation: X:106.46, Y:332.45, Z:-1.01 [[ 9.43149084e-01 1.14394012e-01 3.12063802e-01 1.06457234e+02] [-1.17480735e-01 9.93034761e-01 -8.95772913e-03 3.32454837e+02] [-3.10914913e-01 -2.82130108e-02 9.50018917e-01 -1.01255493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50687500000004 meters Centerline goodness [0,1] 0.9123148252855365 Centerline is valid? [False, False] Translation: X:106.46, Y:332.46, Z:-1.01 [[ 9.43236068e-01 1.08624553e-01 3.13857333e-01 1.06460004e+02] [-1.15390450e-01 9.93315678e-01 3.00124597e-03 3.32457798e+02] [-3.11433401e-01 -3.90470223e-02 9.49465411e-01 -1.00513234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters Centerline goodness [0,1] 0.9116157601907573 Centerline is valid? [False, False] Translation: X:106.46, Y:332.46, Z:-1.00 [[ 9.43731048e-01 1.08009763e-01 3.12578949e-01 1.06461595e+02] [-1.14663084e-01 9.93400133e-01 2.92469724e-03 3.32457946e+02] [-3.10200073e-01 -3.86013938e-02 9.49887281e-01 -1.00446472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.566875 meters Centerline goodness [0,1] 0.9130268026351412 Centerline is valid? [False, False] Translation: X:106.46, Y:332.46, Z:-1.00 [[ 9.44500283e-01 1.05226496e-01 3.11201863e-01 1.06463816e+02] [-1.10517408e-01 9.93873985e-01 -6.36736510e-04 3.32456870e+02] [-3.09362437e-01 -3.37918255e-02 9.50343619e-01 -1.00494072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters Centerline goodness [0,1] 0.9236317158898982 Centerline is valid? [False, False] Translation: X:106.47, Y:332.46, Z:-1.01 [[ 9.44681298e-01 1.04804357e-01 3.10794614e-01 1.06466858e+02] [-1.09411296e-01 9.93993096e-01 -2.62553601e-03 3.32457951e+02] [-3.09202868e-01 -3.15241466e-02 9.50473469e-01 -1.01286581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.626875 meters Centerline goodness [0,1] 0.9247304379949667 Centerline is valid? [False, False] Translation: X:106.47, Y:332.47, Z:-1.02 [[ 9.45454138e-01 1.07074095e-01 3.07655021e-01 1.06474609e+02] [-1.11190525e-01 9.93790349e-01 -4.17240327e-03 3.32469956e+02] [-3.06191347e-01 -3.02635073e-02 9.51488823e-01 -1.02030080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters Centerline goodness [0,1] 0.9266091417910448 Centerline is valid? [False, False] Translation: X:106.48, Y:332.48, Z:-1.02 [[ 9.46238095e-01 1.03804550e-01 3.06362666e-01 1.06482256e+02] [-1.10398831e-01 9.93878385e-01 4.22532315e-03 3.32475822e+02] [-3.04048624e-01 -3.78202420e-02 9.51905491e-01 -1.02012281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.686875 meters Centerline goodness [0,1] 0.933214522357027 Centerline is valid? [False, False] Translation: X:106.48, Y:332.48, Z:-1.02 [[ 9.46245894e-01 1.03638217e-01 3.06394888e-01 1.06482304e+02] [-1.09789630e-01 9.93950728e-01 2.86135607e-03 3.32479786e+02] [-3.04244876e-01 -3.63465277e-02 9.51900197e-01 -1.01876604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters Centerline goodness [0,1] 0.9394604276278966 Centerline is valid? [False, False] Translation: X:106.48, Y:332.48, Z:-1.02 [[ 9.46792121e-01 1.01795139e-01 3.05323484e-01 1.06484477e+02] [-1.06918391e-01 9.94267798e-01 5.85019199e-05 3.32476605e+02] [-3.03567353e-01 -3.27000849e-02 9.52248689e-01 -1.01968179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.746875 meters Centerline goodness [0,1] 0.9402792025333393 Centerline is valid? [False, False] Translation: X:106.49, Y:332.47, Z:-1.02 [[ 9.47142597e-01 1.00339926e-01 3.04717573e-01 1.06486290e+02] [-1.04846230e-01 9.94487185e-01 -1.58323607e-03 3.32473091e+02] [-3.03196583e-01 -3.04489385e-02 9.52441439e-01 -1.02353035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters Centerline goodness [0,1] 0.9438473398431391 Centerline is valid? [False, False] Translation: X:106.49, Y:332.47, Z:-1.02 [[ 9.47282091e-01 1.00446044e-01 3.04248635e-01 1.06487401e+02] [-1.04981094e-01 9.94473146e-01 -1.45993571e-03 3.32473948e+02] [-3.02713742e-01 -3.05573836e-02 9.52591537e-01 -1.02423398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.806875 meters Centerline goodness [0,1] 0.9525795037075435 Centerline is valid? [False, True] Translation: X:106.50, Y:332.48, Z:-1.02 [[ 9.47649795e-01 9.27064378e-02 3.05557493e-01 1.06500669e+02] [-1.04568779e-01 9.94259741e-01 2.26481205e-02 3.32481410e+02] [-3.01703888e-01 -5.34142606e-02 9.51904239e-01 -1.02056239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters Centerline goodness [0,1] 0.9516088913009068 Centerline is valid? [True, True] Translation: X:106.54, Y:332.51, Z:-1.00 [[ 9.45001386e-01 1.11089994e-01 3.07622161e-01 1.06543530e+02] [-1.06205084e-01 9.93808658e-01 -3.26317403e-02 3.32509702e+02] [-3.09342627e-01 -1.83399777e-03 9.50948882e-01 -9.99077609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.866875 meters Centerline goodness [0,1] 0.9505645270118304 Centerline is valid? [True, True] Translation: X:106.58, Y:332.51, Z:-1.01 [[ 9.44851162e-01 1.10786822e-01 3.08192409e-01 1.06575122e+02] [-1.05848886e-01 9.93842776e-01 -3.27498008e-02 3.32506705e+02] [-3.09923046e-01 -1.67813587e-03 9.50760164e-01 -1.00748553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters Centerline goodness [0,1] 0.9529159978598181 Centerline is valid? [True, True] Translation: X:106.60, Y:332.50, Z:-1.03 [[ 9.45639058e-01 1.10237371e-01 3.05964857e-01 1.06600644e+02] [-1.05321872e-01 9.93904282e-01 -3.25819086e-02 3.32496037e+02] [-3.07691526e-01 -1.41406615e-03 9.51485116e-01 -1.02664750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.926875 meters Centerline goodness [0,1] 0.9542757338946237 Centerline is valid? [True, True] Translation: X:106.63, Y:332.50, Z:-1.05 [[ 9.47113467e-01 1.12465186e-01 3.00545609e-01 1.06627886e+02] [-1.07825047e-01 9.93653525e-01 -3.20379805e-02 3.32497459e+02] [-3.02241362e-01 -2.06274159e-03 9.53229198e-01 -1.04666014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters Centerline goodness [0,1] 0.9575660708657873 Centerline is valid? [True, True] Translation: X:106.66, Y:332.50, Z:-1.06 [[ 9.47177415e-01 1.12523125e-01 3.00322313e-01 1.06658369e+02] [-1.07875499e-01 9.93647048e-01 -3.20689940e-02 3.32497152e+02] [-3.02022883e-01 -2.02239262e-03 9.53298530e-01 -1.06061284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.986875 meters Centerline goodness [0,1] 0.9599089043721392 Centerline is valid? [True, True] Translation: X:106.69, Y:332.49, Z:-1.07 [[ 9.47262341e-01 1.11291092e-01 3.00513478e-01 1.06689217e+02] [-1.06555397e-01 9.93786627e-01 -3.21572407e-02 3.32494313e+02] [-3.02225090e-01 -1.55998992e-03 9.53235313e-01 -1.07074034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters Centerline goodness [0,1] 0.9601027860427374 Centerline is valid? [True, True] Translation: X:106.72, Y:332.49, Z:-1.08 [[ 9.46132330e-01 1.11185353e-01 3.04091155e-01 1.06720968e+02] [-1.06308953e-01 9.93798580e-01 -3.26004490e-02 3.32491892e+02] [-3.05830051e-01 -1.48327364e-03 9.52084965e-01 -1.07647771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.046875 meters Centerline goodness [0,1] 0.9596011883327331 Centerline is valid? [True, True] Translation: X:106.75, Y:332.49, Z:-1.09 [[ 9.46473756e-01 1.09704158e-01 3.03566182e-01 1.06750171e+02] [-1.04750316e-01 9.93963843e-01 -3.26075239e-02 3.32488896e+02] [-3.05310989e-01 -9.36487925e-04 9.52252237e-01 -1.08870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters Centerline goodness [0,1] 0.9605405405405405 Centerline is valid? [True, True] Translation: X:106.78, Y:332.48, Z:-1.10 [[ 9.47725481e-01 1.08874001e-01 2.99938102e-01 1.06779781e+02] [-1.03983163e-01 9.94055374e-01 -3.22709661e-02 3.32484558e+02] [-3.01668552e-01 -6.04495917e-04 9.53412670e-01 -1.10487301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.106875 meters Centerline goodness [0,1] 0.9655764365739068 Centerline is valid? [True, True] Translation: X:106.81, Y:332.48, Z:-1.12 [[ 9.49459420e-01 1.06904367e-01 2.95124155e-01 1.06807947e+02] [-1.02059785e-01 9.94269304e-01 -3.18174766e-02 3.32479879e+02] [-2.96834315e-01 8.90950839e-05 9.54928993e-01 -1.11825217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters Centerline goodness [0,1] 0.9632862817261731 Centerline is valid? [True, True] Translation: X:106.84, Y:332.47, Z:-1.12 [[ 9.48758759e-01 1.05632181e-01 2.97823202e-01 1.06840765e+02] [-1.00618407e-01 9.94405120e-01 -3.21619906e-02 3.32474212e+02] [-2.99554258e-01 5.47474062e-04 9.54079109e-01 -1.12094276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.166875 meters Centerline goodness [0,1] 0.9654948062728558 Centerline is valid? [True, True] Translation: X:106.87, Y:332.47, Z:-1.12 [[ 9.47790831e-01 1.04215142e-01 3.01383054e-01 1.06873584e+02] [-9.89892918e-02 9.94554203e-01 -3.26045675e-02 3.32466876e+02] [-3.03139673e-01 1.06861500e-03 9.52945537e-01 -1.12380365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters Centerline goodness [0,1] 0.9666272558948847 Centerline is valid? [True, True] Translation: X:106.90, Y:332.46, Z:-1.14 [[ 9.48935705e-01 1.03170909e-01 2.98122109e-01 1.06899503e+02] [-9.79925024e-02 9.94662595e-01 -3.23077681e-02 3.32457342e+02] [-2.99864132e-01 1.44426317e-03 9.53980826e-01 -1.14114832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.226875 meters Centerline goodness [0,1] 0.9655349679265104 Centerline is valid? [True, True] Translation: X:106.93, Y:332.45, Z:-1.16 [[ 9.50664342e-01 1.02182839e-01 2.92909501e-01 1.06927034e+02] [-9.71271409e-02 9.94764051e-01 -3.17931155e-02 3.32453519e+02] [-2.94624553e-01 1.77511882e-03 9.55611439e-01 -1.16139525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters Centerline goodness [0,1] 0.9681781485468245 Centerline is valid? [True, True] Translation: X:106.96, Y:332.45, Z:-1.17 [[ 9.51430199e-01 1.01695978e-01 2.90583042e-01 1.06958979e+02] [-9.66837224e-02 9.94813584e-01 -3.15941582e-02 3.32454847e+02] [-2.92288956e-01 1.96498610e-03 9.56328032e-01 -1.16916003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.286875 meters Centerline goodness [0,1] 0.9702150394016295 Centerline is valid? [True, True] Translation: X:106.99, Y:332.45, Z:-1.17 [[ 9.48491878e-01 1.01499426e-01 3.00101690e-01 1.06990200e+02] [-9.61122676e-02 9.94833226e-01 -3.26999025e-02 3.32447198e+02] [-3.01870154e-01 2.17213800e-03 9.53346575e-01 -1.17045157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters Centerline goodness [0,1] 0.9702150394016295 Centerline is valid? [True, True] Translation: X:107.02, Y:332.44, Z:-1.18 [[ 9.48467305e-01 1.01731690e-01 3.00100707e-01 1.07021072e+02] [-9.63530268e-02 9.94809640e-01 -3.27089210e-02 3.32443712e+02] [-3.01870610e-01 2.10773068e-03 9.53346575e-01 -1.18038082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.346875 meters Centerline goodness [0,1] 0.9742871634286723 Centerline is valid? [True, True] Translation: X:107.05, Y:332.43, Z:-1.19 [[ 9.46166860e-01 1.05754354e-01 3.05915495e-01 1.07051283e+02] [-1.00338274e-01 9.94391852e-01 -3.34226890e-02 3.32434014e+02] [-3.07734470e-01 9.28407990e-04 9.51471825e-01 -1.18541355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters Centerline goodness [0,1] 0.9758996149249768 Centerline is valid? [True, True] Translation: X:107.08, Y:332.43, Z:-1.20 [[ 9.47107039e-01 1.06017002e-01 3.02900399e-01 1.07082694e+02] [-1.00703172e-01 9.94363911e-01 -3.31554449e-02 3.32434461e+02] [-3.04708266e-01 8.98724273e-04 9.52445308e-01 -1.19813486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.406875 meters Centerline goodness [0,1] 0.9756954481777145 Centerline is valid? [True, True] Translation: X:107.11, Y:332.44, Z:-1.21 [[ 9.48506681e-01 1.09045712e-01 2.97395543e-01 1.07113127e+02] [-1.04050216e-01 9.94036736e-01 -3.26269812e-02 3.32441777e+02] [-2.99179928e-01 2.83923275e-06 9.54196715e-01 -1.21117393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters Centerline goodness [0,1] 0.9773423695452818 Centerline is valid? [True, True] Translation: X:107.14, Y:332.45, Z:-1.22 [[ 9.49436648e-01 1.07339357e-01 2.95039511e-01 1.07142756e+02] [-1.02323934e-01 9.94222258e-01 -3.24332326e-02 3.32445691e+02] [-2.96816211e-01 6.03696229e-04 9.54934434e-01 -1.22158024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.466875 meters Centerline goodness [0,1] 0.9779576142358938 Centerline is valid? [True, True] Translation: X:107.17, Y:332.44, Z:-1.23 [[ 9.49217495e-01 1.01934954e-01 2.97649815e-01 1.07172454e+02] [-9.65493898e-02 9.94788222e-01 -3.27812119e-02 3.32435528e+02] [-2.99440082e-01 2.37859183e-03 9.54112142e-01 -1.23053087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters Centerline goodness [0,1] 0.9774179898893169 Centerline is valid? [True, True] Translation: X:107.20, Y:332.42, Z:-1.24 [[ 9.49108620e-01 9.63234312e-02 2.99857673e-01 1.07202435e+02] [-9.05611654e-02 9.95341012e-01 -3.30899613e-02 3.32423047e+02] [-3.01647979e-01 4.25050712e-03 9.53409896e-01 -1.23911614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.526875 meters Centerline goodness [0,1] 0.975707427155468 Centerline is valid? [True, True] Translation: X:107.23, Y:332.41, Z:-1.25 [[ 9.49601365e-01 8.99732581e-02 3.00269980e-01 1.07229929e+02] [-8.38639179e-02 9.95923965e-01 -3.32008982e-02 3.32411148e+02] [-3.02033262e-01 6.34580126e-03 9.53276266e-01 -1.24844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters Centerline goodness [0,1] 0.976677351608268 Centerline is valid? [True, True] Translation: X:107.26, Y:332.40, Z:-1.26 [[ 9.50875643e-01 7.96160886e-02 2.99160140e-01 1.07257932e+02] [-7.30527443e-02 9.96779387e-01 -3.30779385e-02 3.32401427e+02] [-3.00830197e-01 9.59853684e-03 9.53629415e-01 -1.25540904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.586875 meters Centerline goodness [0,1] 0.9790728772008023 Centerline is valid? [True, True] Translation: X:107.29, Y:332.40, Z:-1.26 [[ 9.50738033e-01 7.63072074e-02 3.00456988e-01 1.07289633e+02] [-6.95170035e-02 9.97026749e-01 -3.32422550e-02 3.32404264e+02] [-3.02100278e-01 1.07178067e-02 9.53215899e-01 -1.25888243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters Centerline goodness [0,1] 0.9762723289518032 Centerline is valid? [True, True] Translation: X:107.32, Y:332.41, Z:-1.26 [[ 9.49712460e-01 7.51926892e-02 3.03961023e-01 1.07322973e+02] [-6.81774493e-02 9.97105811e-01 -3.36427815e-02 3.32409112e+02] [-3.05610994e-01 1.12276816e-02 9.52090258e-01 -1.26310872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.646875 meters Centerline goodness [0,1] 0.9746838286497294 Centerline is valid? [True, True] Translation: X:107.36, Y:332.41, Z:-1.27 [[ 9.46783516e-01 7.69056401e-02 3.12548391e-01 1.07356575e+02] [-6.95404843e-02 9.96976786e-01 -3.46613642e-02 3.32412581e+02] [-3.14269144e-01 1.10820418e-02 9.49269242e-01 -1.26674557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters Centerline goodness [0,1] 0.9763593380614657 Centerline is valid? [True, True] Translation: X:107.39, Y:332.41, Z:-1.28 [[ 9.46266718e-01 7.72915149e-02 3.14014842e-01 1.07386964e+02] [-6.98512918e-02 9.96946903e-01 -3.48951144e-02 3.32408593e+02] [-3.15753220e-01 1.10857430e-02 9.48776586e-01 -1.27829869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.706875 meters Centerline goodness [0,1] 0.9785594866928743 Centerline is valid? [True, True] Translation: X:107.42, Y:332.41, Z:-1.29 [[ 9.46645041e-01 7.88567539e-02 3.12481644e-01 1.07416671e+02] [-7.15533490e-02 9.96829872e-01 -3.47897071e-02 3.32408023e+02] [-3.14234441e-01 1.05743956e-02 9.49286521e-01 -1.29223004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters Centerline goodness [0,1] 0.9768991861440457 Centerline is valid? [True, True] Translation: X:107.45, Y:332.41, Z:-1.31 [[ 9.47259815e-01 8.14800662e-02 3.09935220e-01 1.07445908e+02] [-7.44159674e-02 9.96627949e-01 -3.45686937e-02 3.32413572e+02] [-3.11706762e-01 9.68140512e-03 9.50129025e-01 -1.30538979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.766875 meters Centerline goodness [0,1] 0.9781295563424287 Centerline is valid? [True, True] Translation: X:107.48, Y:332.44, Z:-1.31 [[ 9.47426122e-01 8.75555964e-02 3.07762508e-01 1.07477824e+02] [-8.09030646e-02 9.96130404e-01 -3.43352897e-02 3.32437529e+02] [-3.09577838e-01 7.63122035e-03 9.50843482e-01 -1.31168491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters Centerline goodness [0,1] 0.9789779244797153 Centerline is valid? [True, True] Translation: X:107.51, Y:332.45, Z:-1.32 [[ 9.46878541e-01 9.00382296e-02 3.08729891e-01 1.07511249e+02] [-8.34708521e-02 9.95914797e-01 -3.44432035e-02 3.32446279e+02] [-3.10569872e-01 6.84358325e-03 9.50525918e-01 -1.31676646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82687500000003 meters Centerline goodness [0,1] 0.9804917219716114 Centerline is valid? [True, True] Translation: X:107.54, Y:332.45, Z:-1.32 [[ 9.46520275e-01 9.17379641e-02 3.09327520e-01 1.07544042e+02] [-8.52122877e-02 9.95762842e-01 -3.45720865e-02 3.32451291e+02] [-3.11188423e-01 6.36467522e-03 9.50326921e-01 -1.32370281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters Centerline goodness [0,1] 0.98149469578041 Centerline is valid? [True, True] Translation: X:107.58, Y:332.45, Z:-1.33 [[ 9.46887259e-01 9.25466485e-02 3.07960447e-01 1.07575355e+02] [-8.61146973e-02 9.95689708e-01 -3.44422012e-02 3.32453838e+02] [-3.09820558e-01 6.09296071e-03 9.50775524e-01 -1.33382202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88687500000003 meters Centerline goodness [0,1] 0.9837662337662337 Centerline is valid? [True, True] Translation: X:107.60, Y:332.46, Z:-1.36 [[ 9.49719216e-01 9.33844514e-02 2.98852398e-01 1.07601158e+02] [-8.73611635e-02 9.95613861e-01 -3.34823430e-02 3.32460677e+02] [-3.00668320e-01 5.69073128e-03 9.53711789e-01 -1.35919110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters Centerline goodness [0,1] 0.9870739456961294 Centerline is valid? [True, True] Translation: X:107.63, Y:332.45, Z:-1.38 [[ 9.51237934e-01 8.94495010e-02 2.95203626e-01 1.07626045e+02] [-8.33810781e-02 9.95967603e-01 -3.31078614e-02 3.32454548e+02] [-2.96974729e-01 6.87905709e-03 9.54860560e-01 -1.37815420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94687500000003 meters Centerline goodness [0,1] 0.980472470946847 Centerline is valid? [True, True] Translation: X:107.65, Y:332.43, Z:-1.39 [[ 9.51601190e-01 7.81155695e-02 2.97242550e-01 1.07651036e+02] [-7.14201861e-02 9.96889079e-01 -3.33364925e-02 3.32426686e+02] [-2.98921951e-01 1.04939277e-02 9.54219862e-01 -1.38968074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters Centerline goodness [0,1] 0.9829169335895793 Centerline is valid? [True, True] Translation: X:107.69, Y:332.44, Z:-1.40 [[ 9.51528944e-01 7.81130229e-02 2.97474410e-01 1.07685035e+02] [-7.14064363e-02 9.96889166e-01 -3.33633249e-02 3.32438352e+02] [-2.99155126e-01 1.05045818e-02 9.54146668e-01 -1.39527813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00687500000004 meters Centerline goodness [0,1] 0.9839434354899735 Centerline is valid? [True, True] Translation: X:107.72, Y:332.43, Z:-1.40 [[ 9.51886711e-01 7.86656864e-02 2.96181361e-01 1.07715184e+02] [-7.20206558e-02 9.96847174e-01 -3.32977130e-02 3.32433007e+02] [-2.97866940e-01 1.03644746e-02 9.54551132e-01 -1.40424467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters Centerline goodness [0,1] 0.9871033874466614 Centerline is valid? [True, True] Translation: X:107.75, Y:332.43, Z:-1.41 [[ 9.52922400e-01 8.16438538e-02 2.92015721e-01 1.07746058e+02] [-7.53035099e-02 9.96617542e-01 -3.29067748e-02 3.32434858e+02] [-2.93714626e-01 9.36779408e-03 9.55847249e-01 -1.41487750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.066875 meters Centerline goodness [0,1] 0.985929911437006 Centerline is valid? [True, True] Translation: X:107.78, Y:332.43, Z:-1.42 [[ 9.52832877e-01 8.38430013e-02 2.91684521e-01 1.07776199e+02] [-7.75963229e-02 9.96440532e-01 -3.29405113e-02 3.32434073e+02] [-2.93408111e-01 8.75315581e-03 9.55947207e-01 -1.42433474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters Centerline goodness [0,1] 0.9882883312661006 Centerline is valid? [True, True] Translation: X:107.81, Y:332.44, Z:-1.43 [[ 9.51828805e-01 8.69224738e-02 2.94051714e-01 1.07806790e+02] [-8.06928943e-02 9.96183395e-01 -3.32761330e-02 3.32436000e+02] [-2.95821878e-01 7.94529804e-03 9.55210076e-01 -1.43233437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.126875 meters Centerline goodness [0,1] 0.9845989304812834 Centerline is valid? [True, True] Translation: X:107.84, Y:332.43, Z:-1.44 [[ 9.51650322e-01 8.45449120e-02 2.95319865e-01 1.07836592e+02] [-7.81451513e-02 9.96381386e-01 -3.34285614e-02 3.32429317e+02] [-2.97077431e-01 8.73448572e-03 9.54813442e-01 -1.44172386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters Centerline goodness [0,1] 0.9853172147922516 Centerline is valid? [True, True] Translation: X:107.87, Y:332.42, Z:-1.45 [[ 9.51735624e-01 8.23618659e-02 2.95661673e-01 1.07866702e+02] [-7.58226889e-02 9.96557219e-01 -3.35354858e-02 3.32422770e+02] [-2.97405820e-01 9.49905344e-03 9.54703905e-01 -1.45197290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.186875 meters Centerline goodness [0,1] 0.9851848323170732 Centerline is valid? [True, True] Translation: X:107.90, Y:332.42, Z:-1.46 [[ 9.50882131e-01 8.26131296e-02 2.98325735e-01 1.07898334e+02] [-7.59571554e-02 9.96536080e-01 -3.38578315e-02 3.32419667e+02] [-3.00089460e-01 9.53483277e-03 9.53863409e-01 -1.45820573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters Centerline goodness [0,1] 0.9834673604541154 Centerline is valid? [True, True] Translation: X:107.93, Y:332.42, Z:-1.46 [[ 9.50156338e-01 8.35260354e-02 3.00376987e-01 1.07928945e+02] [-7.67952472e-02 9.96461293e-01 -3.41669660e-02 3.32415091e+02] [-3.02167872e-01 9.39643430e-03 9.53208416e-01 -1.46397265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.246875 meters Centerline goodness [0,1] 0.9847406384650177 Centerline is valid? [True, True] Translation: X:107.96, Y:332.41, Z:-1.47 [[ 9.49261182e-01 8.49041567e-02 3.02810985e-01 1.07960713e+02] [-7.81055732e-02 9.96347454e-01 -3.45147707e-02 3.32414373e+02] [-3.04635402e-01 9.11230649e-03 9.52425450e-01 -1.47160922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters Centerline goodness [0,1] 0.9869159324785712 Centerline is valid? [True, True] Translation: X:107.99, Y:332.41, Z:-1.48 [[ 9.49673107e-01 8.67269944e-02 3.00997373e-01 1.07988606e+02] [-8.00776423e-02 9.96195423e-01 -3.43838600e-02 3.32410387e+02] [-3.02834215e-01 8.55026716e-03 9.53004896e-01 -1.48479456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.306875 meters Centerline goodness [0,1] 0.9870337647452123 Centerline is valid? [True, True] Translation: X:108.02, Y:332.41, Z:-1.50 [[ 9.50353605e-01 8.66133102e-02 2.98874823e-01 1.08018451e+02] [-8.00415937e-02 9.96205190e-01 -3.41842509e-02 3.32405893e+02] [-3.00701461e-01 8.56470889e-03 9.53679861e-01 -1.49715175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters Centerline goodness [0,1] 0.9865126160750519 Centerline is valid? [True, True] Translation: X:108.05, Y:332.40, Z:-1.51 [[ 9.50193547e-01 8.71131772e-02 2.99238227e-01 1.08048915e+02] [-8.05408671e-02 9.96162625e-01 -3.42519041e-02 3.32402492e+02] [-3.01073730e-01 8.44503196e-03 9.53563469e-01 -1.50714053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.366875 meters Centerline goodness [0,1] 0.9872825749803155 Centerline is valid? [True, True] Translation: X:108.08, Y:332.40, Z:-1.52 [[ 9.50810241e-01 8.71688956e-02 2.97256571e-01 1.08080034e+02] [-8.06657577e-02 9.96157766e-01 -3.40989731e-02 3.32398895e+02] [-2.99086811e-01 8.44322635e-03 9.54188551e-01 -1.51622989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters Centerline goodness [0,1] 0.9886745666531557 Centerline is valid? [True, True] Translation: X:108.11, Y:332.39, Z:-1.53 [[ 9.52227944e-01 8.57720394e-02 2.93095719e-01 1.08107118e+02] [-7.93688229e-02 9.96275737e-01 -3.36933982e-02 3.32391650e+02] [-2.94894105e-01 8.82113308e-03 9.55489223e-01 -1.53193492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.426875 meters Centerline goodness [0,1] 0.9882889988288999 Centerline is valid? [True, True] Translation: X:108.14, Y:332.38, Z:-1.55 [[ 9.53394806e-01 8.39772515e-02 2.89803665e-01 1.08135463e+02] [-7.76201521e-02 9.96423975e-01 -3.33822445e-02 3.32383623e+02] [-2.91570669e-01 9.33185390e-03 9.56503770e-01 -1.54632295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters Centerline goodness [0,1] 0.988872280352101 Centerline is valid? [True, True] Translation: X:108.16, Y:332.38, Z:-1.56 [[ 9.53736999e-01 8.33245773e-02 2.88864590e-01 1.08164073e+02] [-7.69744775e-02 9.96476996e-01 -3.32945527e-02 3.32376683e+02] [-2.90621173e-01 9.51904590e-03 9.56790845e-01 -1.55579221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.486875 meters Centerline goodness [0,1] 0.9887105225551375 Centerline is valid? [True, True] Translation: X:108.20, Y:332.38, Z:-1.56 [[ 9.52953343e-01 8.61143275e-02 2.90627337e-01 1.08195135e+02] [-7.98075141e-02 9.96246949e-01 -3.35078553e-02 3.32376710e+02] [-2.92422104e-01 8.73717746e-03 9.56249431e-01 -1.56230232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters Centerline goodness [0,1] 0.9893361833511459 Centerline is valid? [True, True] Translation: X:108.23, Y:332.38, Z:-1.57 [[ 9.52134472e-01 9.01568930e-02 2.92081634e-01 1.08225431e+02] [-8.39674230e-02 9.95898974e-01 -3.36853747e-02 3.32376026e+02] [-2.93920769e-01 7.54766431e-03 9.55799987e-01 -1.57161028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.546875 meters Centerline goodness [0,1] 0.9899155666547746 Centerline is valid? [True, True] Translation: X:108.25, Y:332.37, Z:-1.58 [[ 9.52138842e-01 9.40364975e-02 2.90841475e-01 1.08253091e+02] [-8.80735752e-02 9.95548595e-01 -3.35565316e-02 3.32373924e+02] [-2.92702360e-01 6.33502866e-03 9.56182616e-01 -1.58354793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters Centerline goodness [0,1] 0.9914042150130239 Centerline is valid? [True, True] Translation: X:108.28, Y:332.37, Z:-1.60 [[ 9.51527655e-01 9.87340395e-02 2.91284587e-01 1.08280294e+02] [-9.29582432e-02 9.95101647e-01 -3.36374340e-02 3.32371334e+02] [-2.93178932e-01 4.92964520e-03 9.56044880e-01 -1.59707378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.606875 meters Centerline goodness [0,1] 0.9911033726088823 Centerline is valid? [True, True] Translation: X:108.31, Y:332.37, Z:-1.60 [[ 9.51557389e-01 9.96989595e-02 2.90858474e-01 1.08311191e+02] [-9.39838731e-02 9.95006887e-01 -3.35905717e-02 3.32368553e+02] [-2.92755130e-01 4.62735076e-03 9.56176250e-01 -1.60496457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters Centerline goodness [0,1] 0.9916445844971233 Centerline is valid? [True, True] Translation: X:108.34, Y:332.37, Z:-1.61 [[ 9.50655665e-01 9.93357819e-02 2.93915308e-01 1.08344626e+02] [-9.34584472e-02 9.95042080e-01 -3.40114325e-02 3.32368937e+02] [-2.95836652e-01 4.86429265e-03 9.55226159e-01 -1.60599734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.666875 meters Centerline goodness [0,1] 0.9908294030775094 Centerline is valid? [True, True] Translation: X:108.37, Y:332.36, Z:-1.62 [[ 9.50819066e-01 9.82710017e-02 2.93744640e-01 1.08374251e+02] [-9.23300423e-02 9.95145774e-01 -3.40595404e-02 3.32363812e+02] [-2.95665802e-01 5.26300541e-03 9.55276941e-01 -1.61557273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters Centerline goodness [0,1] 0.9921525468335048 Centerline is valid? [True, True] Translation: X:108.40, Y:332.36, Z:-1.63 [[ 9.50450168e-01 9.76402113e-02 2.95145502e-01 1.08404862e+02] [-9.15915076e-02 9.95206286e-01 -3.42847452e-02 3.32357324e+02] [-2.97078229e-01 5.55312033e-03 9.54836996e-01 -1.62629123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.726875 meters Centerline goodness [0,1] 0.9907624003437246 Centerline is valid? [True, True] Translation: X:108.43, Y:332.35, Z:-1.64 [[ 9.52012261e-01 9.40892297e-02 2.91238514e-01 1.08431838e+02] [-8.80182276e-02 9.95541582e-01 -3.39079767e-02 3.32348343e+02] [-2.93130426e-01 6.64651177e-03 9.56049359e-01 -1.63884889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters Centerline goodness [0,1] 0.9909549652480244 Centerline is valid? [True, True] Translation: X:108.46, Y:332.35, Z:-1.65 [[ 9.51651185e-01 9.42875872e-02 2.92352310e-01 1.08462872e+02] [-8.81743138e-02 9.95522960e-01 -3.40488766e-02 3.32345220e+02] [-2.94253823e-01 6.62468944e-03 9.55704348e-01 -1.64596868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.786875 meters Centerline goodness [0,1] 0.9908898958506323 Centerline is valid? [True, True] Translation: X:108.49, Y:332.34, Z:-1.65 [[ 9.49912702e-01 9.48581454e-02 2.97771373e-01 1.08493711e+02] [-8.85146377e-02 9.95468582e-01 -3.47485547e-02 3.32339676e+02] [-2.99718230e-01 6.65096830e-03 9.54004585e-01 -1.65217008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters Centerline goodness [0,1] 0.990813710596278 Centerline is valid? [True, True] Translation: X:108.52, Y:332.33, Z:-1.66 [[ 9.48790090e-01 9.56738040e-02 3.01071235e-01 1.08523949e+02] [-8.92025902e-02 9.95391236e-01 -3.52020755e-02 3.32333388e+02] [-3.03051585e-01 6.54304642e-03 9.52951691e-01 -1.66144286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.846875 meters Centerline goodness [0,1] 0.9887544483985765 Centerline is valid? [True, True] Translation: X:108.55, Y:332.33, Z:-1.67 [[ 9.48757023e-01 9.45056049e-02 3.01544030e-01 1.08552925e+02] [-8.79344261e-02 9.95499731e-01 -3.53245263e-02 3.32325259e+02] [-3.03525367e-01 6.99829112e-03 9.52797657e-01 -1.67123465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters Centerline goodness [0,1] 0.9894236482471777 Centerline is valid? [True, True] Translation: X:108.58, Y:332.32, Z:-1.68 [[ 9.49195297e-01 9.54266638e-02 2.99870040e-01 1.08584440e+02] [-8.89560993e-02 9.95413736e-01 -3.51895803e-02 3.32322392e+02] [-3.01852781e-01 6.72651510e-03 9.53330820e-01 -1.67844927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.906875 meters Centerline goodness [0,1] 0.9901333078503511 Centerline is valid? [True, True] Translation: X:108.61, Y:332.32, Z:-1.68 [[ 9.48368348e-01 9.89791559e-02 3.01331385e-01 1.08614932e+02] [-9.25969859e-02 9.95073204e-01 -3.54276249e-02 3.32324140e+02] [-3.03353383e-01 5.69606009e-03 9.52861102e-01 -1.68443458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters Centerline goodness [0,1] 0.9914798636778188 Centerline is valid? [True, True] Translation: X:108.65, Y:332.33, Z:-1.69 [[ 9.48699561e-01 1.01549981e-01 2.99427360e-01 1.08646427e+02] [-9.53743909e-02 9.94818646e-01 -3.52077783e-02 3.32326694e+02] [-3.01451270e-01 4.84390175e-03 9.53469280e-01 -1.69400539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.966875 meters Centerline goodness [0,1] 0.9948479791016617 Centerline is valid? [True, True] Translation: X:108.68, Y:332.34, Z:-1.70 [[ 9.46384810e-01 1.10788982e-01 3.03449490e-01 1.08679841e+02] [-1.04882677e-01 9.93841932e-01 -3.57468531e-02 3.32336767e+02] [-3.05541185e-01 2.00368398e-03 9.52176753e-01 -1.69751812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters Centerline goodness [0,1] 0.996306221481857 Centerline is valid? [True, True] Translation: X:108.71, Y:332.34, Z:-1.71 [[ 9.45891994e-01 1.14275051e-01 3.03693181e-01 1.08709490e+02] [-1.08529585e-01 9.93448748e-01 -3.57898745e-02 3.32337479e+02] [-3.05793500e-01 8.93660846e-04 9.52097441e-01 -1.70732189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.026875 meters Centerline goodness [0,1] 0.9960122773521521 Centerline is valid? [True, True] Translation: X:108.74, Y:332.33, Z:-1.72 [[ 9.44869328e-01 1.16682393e-01 3.05952892e-01 1.08741227e+02] [-1.10951937e-01 9.93169264e-01 -3.61175989e-02 3.32333531e+02] [-3.08077296e-01 1.80345373e-04 9.51361313e-01 -1.71685214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters Centerline goodness [0,1] 0.9964864994946335 Centerline is valid? [True, True] Translation: X:108.77, Y:332.33, Z:-1.73 [[ 9.44202207e-01 1.18375402e-01 3.07358839e-01 1.08771310e+02] [-1.12653747e-01 9.92968870e-01 -3.63587158e-02 3.32325383e+02] [-3.09501737e-01 -2.95145151e-04 9.50898832e-01 -1.72919954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.086875 meters Centerline goodness [0,1] 0.9959938366718027 Centerline is valid? [True, True] Translation: X:108.80, Y:332.32, Z:-1.74 [[ 9.45151689e-01 1.17751023e-01 3.04668642e-01 1.08799067e+02] [-1.12075879e-01 9.93043149e-01 -3.61151083e-02 3.32319732e+02] [-3.06801699e-01 -1.17501722e-05 9.51773459e-01 -1.74206460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters Centerline goodness [0,1] 0.9974087048322856 Centerline is valid? [True, True] Translation: X:108.83, Y:332.31, Z:-1.76 [[ 9.45762237e-01 1.19415406e-01 3.02115462e-01 1.08828918e+02] [-1.13901185e-01 9.92844261e-01 -3.58719183e-02 3.32314525e+02] [-3.04237262e-01 -4.85003305e-04 9.52596165e-01 -1.75669531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.146875 meters Centerline goodness [0,1] 0.9967284886098482 Centerline is valid? [True, True] Translation: X:108.86, Y:332.31, Z:-1.77 [[ 9.45664285e-01 1.21426394e-01 3.01620111e-01 1.08860120e+02] [-1.16007529e-01 9.92599878e-01 -3.58850288e-02 3.32313155e+02] [-3.03745475e-01 -1.05501366e-03 9.52752630e-01 -1.76546147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters Centerline goodness [0,1] 0.9975201040111715 Centerline is valid? [True, True] Translation: X:108.89, Y:332.31, Z:-1.77 [[ 9.45092600e-01 1.25071313e-01 3.01922415e-01 1.08892097e+02] [-1.19808397e-01 9.92145356e-01 -3.59658373e-02 3.32314724e+02] [-3.04049216e-01 -2.18179397e-03 9.52653827e-01 -1.77266518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.206875 meters Centerline goodness [0,1] 0.9980302193182637 Centerline is valid? [True, True] Translation: X:108.92, Y:332.32, Z:-1.78 [[ 9.44262406e-01 1.29889214e-01 3.02485207e-01 1.08923698e+02] [-1.24826962e-01 9.91521706e-01 -3.60962034e-02 3.32318112e+02] [-3.04609156e-01 -3.67402169e-03 9.52470348e-01 -1.77899933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters Centerline goodness [0,1] 0.9980302193182637 Centerline is valid? [True, True] Translation: X:108.95, Y:332.31, Z:-1.79 [[ 9.44233557e-01 1.30114735e-01 3.02478338e-01 1.08954552e+02] [-1.25045362e-01 9.91492092e-01 -3.61536773e-02 3.32314297e+02] [-3.04609006e-01 -3.68599784e-03 9.52470349e-01 -1.78890913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.266875 meters Centerline goodness [0,1] 0.9982575024201356 Centerline is valid? [True, True] Translation: X:108.98, Y:332.31, Z:-1.80 [[ 9.42643453e-01 1.40511645e-01 3.02786721e-01 1.08984152e+02] [-1.35931206e-01 9.90054446e-01 -3.62615564e-02 3.32313334e+02] [-3.04870510e-01 -6.97644525e-03 9.52368259e-01 -1.79732417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters Centerline goodness [0,1] 0.9985246456731002 Centerline is valid? [True, True] Translation: X:109.01, Y:332.33, Z:-1.81 [[ 9.42054845e-01 1.45341971e-01 3.02338189e-01 1.09014283e+02] [-1.41015854e-01 9.89344797e-01 -3.62132691e-02 3.32326652e+02] [-3.04380022e-01 -8.51959222e-03 9.52512582e-01 -1.80778431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32687500000003 meters Centerline goodness [0,1] 0.9978789558678204 Centerline is valid? [True, True] Translation: X:109.04, Y:332.33, Z:-1.82 [[ 9.41467233e-01 1.48821058e-01 3.02476019e-01 1.09042110e+02] [-1.44664132e-01 9.88817122e-01 -3.62351709e-02 3.32328384e+02] [-3.04486024e-01 -9.64320478e-03 9.52467989e-01 -1.81858524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters Centerline goodness [0,1] 0.9984176835846659 Centerline is valid? [True, True] Translation: X:109.07, Y:332.31, Z:-1.84 [[ 9.42416146e-01 1.49575058e-01 2.99130590e-01 1.09067257e+02] [-1.45550127e-01 9.88702040e-01 -3.58250730e-02 3.32305988e+02] [-3.01109562e-01 -9.77636806e-03 9.53539435e-01 -1.83645840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38687500000003 meters Centerline goodness [0,1] 0.9984890999352471 Centerline is valid? [True, True] Translation: X:109.10, Y:332.31, Z:-1.85 [[ 9.43566187e-01 1.49151851e-01 2.95696762e-01 1.09096929e+02] [-1.45178073e-01 9.88769146e-01 -3.54810354e-02 3.32313294e+02] [-2.97667897e-01 -9.44998088e-03 9.54622711e-01 -1.85394213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters Centerline goodness [0,1] 0.9978407945875918 Centerline is valid? [True, True] Translation: X:109.12, Y:332.31, Z:-1.87 [[ 9.44859593e-01 1.47900935e-01 2.92174027e-01 1.09122420e+02] [-1.43939304e-01 9.88962529e-01 -3.51367652e-02 3.32308373e+02] [-2.94145925e-01 -8.85601654e-03 9.55719491e-01 -1.86686855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44687500000003 meters Centerline goodness [0,1] 0.9983955554491247 Centerline is valid? [True, True] Translation: X:109.15, Y:332.30, Z:-1.88 [[ 9.45132592e-01 1.47857823e-01 2.91311599e-01 1.09149369e+02] [-1.43921456e-01 9.88969238e-01 -3.50208494e-02 3.32303946e+02] [-2.93276316e-01 -8.82664333e-03 9.55986973e-01 -1.87556289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters Centerline goodness [0,1] 0.9985445348476534 Centerline is valid? [True, True] Translation: X:109.18, Y:332.30, Z:-1.88 [[ 9.45138391e-01 1.47950904e-01 2.91245519e-01 1.09176799e+02] [-1.44025697e-01 9.88954927e-01 -3.49964521e-02 3.32298447e+02] [-2.93206448e-01 -8.87034854e-03 9.56008000e-01 -1.88288275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50687500000004 meters Centerline goodness [0,1] 0.9987836000667828 Centerline is valid? [True, True] Translation: X:109.21, Y:332.28, Z:-1.89 [[ 9.44929616e-01 1.47763563e-01 2.92017039e-01 1.09207664e+02] [-1.43814697e-01 9.88983045e-01 -3.50695042e-02 3.32279371e+02] [-2.93981895e-01 -8.85812876e-03 9.55769940e-01 -1.88643025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters Centerline goodness [0,1] 0.9989783796626277 Centerline is valid? [True, True] Translation: X:109.24, Y:332.27, Z:-1.89 [[ 9.43896720e-01 1.46133732e-01 2.96148468e-01 1.09238169e+02] [-1.41970160e-01 9.89229145e-01 -3.56394856e-02 3.32268814e+02] [-2.98166827e-01 -8.40425170e-03 9.54476774e-01 -1.89021616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.566875 meters Centerline goodness [0,1] 0.9990547534087956 Centerline is valid? [True, True] Translation: X:109.27, Y:332.27, Z:-1.90 [[ 9.43086377e-01 1.46110732e-01 2.98730211e-01 1.09268069e+02] [-1.41869139e-01 9.89232011e-01 -3.59607468e-02 3.32265002e+02] [-3.00767738e-01 -8.46650726e-03 9.53659838e-01 -1.89821909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters Centerline goodness [0,1] 0.9992229077379551 Centerline is valid? [True, True] Translation: X:109.30, Y:332.26, Z:-1.91 [[ 9.41925308e-01 1.48125935e-01 3.01389152e-01 1.09297078e+02] [-1.43885092e-01 9.88926429e-01 -3.63538045e-02 3.32262422e+02] [-3.03436639e-01 -9.12283738e-03 9.52807945e-01 -1.90902480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.626875 meters Centerline goodness [0,1] 0.9992974074334293 Centerline is valid? [True, True] Translation: X:109.33, Y:332.26, Z:-1.92 [[ 9.41126934e-01 1.50491503e-01 3.02708443e-01 1.09327743e+02] [-1.46309531e-01 9.88562144e-01 -3.65842556e-02 3.32260510e+02] [-3.04751727e-01 -9.85870199e-03 9.52380801e-01 -1.91953513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters Centerline goodness [0,1] 0.9989389044778231 Centerline is valid? [True, True] Translation: X:109.36, Y:332.26, Z:-1.93 [[ 9.40962532e-01 1.51485864e-01 3.02723548e-01 1.09358336e+02] [-1.47330726e-01 9.88407750e-01 -3.66575678e-02 3.32258299e+02] [-3.04767404e-01 -1.01070824e-02 9.52373181e-01 -1.93008741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.686875 meters Centerline goodness [0,1] 0.9992910483032422 Centerline is valid? [True, True] Translation: X:109.39, Y:332.26, Z:-1.95 [[ 9.42381372e-01 1.49303308e-01 2.99375806e-01 1.09386871e+02] [-1.45109664e-01 9.88748547e-01 -3.63248597e-02 3.32258786e+02] [-3.01430815e-01 -9.21045145e-03 9.53443565e-01 -1.94509536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters Centerline goodness [0,1] 0.9989596879063719 Centerline is valid? [True, True] Translation: X:109.41, Y:332.25, Z:-1.96 [[ 9.43096294e-01 1.45316828e-01 2.99085942e-01 1.09414787e+02] [-1.40914183e-01 9.89353979e-01 -3.63579046e-02 3.32246278e+02] [-3.01185282e-01 -7.85644605e-03 9.53533273e-01 -1.95674634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.746875 meters Centerline goodness [0,1] 0.9987332695984703 Centerline is valid? [True, True] Translation: X:109.44, Y:332.24, Z:-1.97 [[ 9.45233090e-01 1.36038510e-01 2.96695010e-01 1.09442470e+02] [-1.31256511e-01 9.90691723e-01 -3.60782232e-02 3.32239816e+02] [-2.98841319e-01 -4.84082150e-03 9.54290539e-01 -1.96646285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters Centerline goodness [0,1] 0.9977086664916343 Centerline is valid? [True, True] Translation: X:109.47, Y:332.23, Z:-1.97 [[ 9.46041096e-01 1.31994987e-01 2.95945211e-01 1.09473761e+02] [-1.27044727e-01 9.91244010e-01 -3.59854009e-02 3.32234439e+02] [-2.98103811e-01 -3.55461064e-03 9.54526837e-01 -1.97351613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.806875 meters Centerline goodness [0,1] 0.9976109133478271 Centerline is valid? [True, True] Translation: X:109.50, Y:332.23, Z:-1.98 [[ 9.46553541e-01 1.29207662e-01 2.95536418e-01 1.09503594e+02] [-1.24114729e-01 9.91614167e-01 -3.60121840e-02 3.32231128e+02] [-2.97711149e-01 -2.59296220e-03 9.54652475e-01 -1.98224407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters Centerline goodness [0,1] 0.9966935464687552 Centerline is valid? [True, True] Translation: X:109.53, Y:332.22, Z:-2.00 [[ 9.47575435e-01 1.25580101e-01 2.93820411e-01 1.09530319e+02] [-1.20355181e-01 9.92082537e-01 -3.58729740e-02 3.32220667e+02] [-2.95999030e-01 -1.37045980e-03 9.55187257e-01 -1.99930346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.866875 meters Centerline goodness [0,1] 0.9957194210576105 Centerline is valid? [True, True] Translation: X:109.56, Y:332.21, Z:-2.01 [[ 9.47974120e-01 1.24466834e-01 2.93006956e-01 1.09559573e+02] [-1.19198755e-01 9.92223314e-01 -3.58406490e-02 3.32212025e+02] [-2.95189305e-01 -9.50056616e-04 9.55438314e-01 -2.01403683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters Centerline goodness [0,1] 0.9953692765675944 Centerline is valid? [True, True] Translation: X:109.59, Y:332.21, Z:-2.02 [[ 9.48034249e-01 1.24115365e-01 2.92961497e-01 1.09590503e+02] [-1.18806613e-01 9.92267509e-01 -3.59190752e-02 3.32206616e+02] [-2.95154284e-01 -7.53249685e-04 9.55449308e-01 -2.02458930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.926875 meters Centerline goodness [0,1] 0.9947087436232056 Centerline is valid? [True, True] Translation: X:109.62, Y:332.20, Z:-2.03 [[ 9.47740761e-01 1.23530168e-01 2.94155993e-01 1.09620151e+02] [-1.18121901e-01 9.92340701e-01 -3.61545375e-02 3.32204843e+02] [-2.96369140e-01 -4.81136059e-04 9.55073349e-01 -2.03345414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters Centerline goodness [0,1] 0.9950980392156863 Centerline is valid? [True, True] Translation: X:109.65, Y:332.21, Z:-2.04 [[ 9.47409754e-01 1.25444772e-01 2.94411899e-01 1.09653644e+02] [-1.20095192e-01 9.92100093e-01 -3.62567337e-02 3.32207433e+02] [-2.96634290e-01 -1.00747047e-03 9.54990619e-01 -2.03946897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.986875 meters Centerline goodness [0,1] 0.9955113285517504 Centerline is valid? [True, True] Translation: X:109.69, Y:332.21, Z:-2.05 [[ 9.47425585e-01 1.26280735e-01 2.94003294e-01 1.09685901e+02] [-1.20959089e-01 9.91993844e-01 -3.62920296e-02 3.32206071e+02] [-2.96232442e-01 -1.17837334e-03 9.55115151e-01 -2.04915976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters Centerline goodness [0,1] 0.9952646507379453 Centerline is valid? [True, True] Translation: X:109.72, Y:332.21, Z:-2.05 [[ 9.47238003e-01 1.25374972e-01 2.94993698e-01 1.09718718e+02] [-1.19947008e-01 9.92109098e-01 -3.65000542e-02 3.32207320e+02] [-2.97242125e-01 -8.09372975e-04 9.54801793e-01 -2.05308779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.046875 meters Centerline goodness [0,1] 0.9959771078278777 Centerline is valid? [True, True] Translation: X:109.75, Y:332.21, Z:-2.06 [[ 9.46746387e-01 1.25349379e-01 2.96578508e-01 1.09749532e+02] [-1.19836225e-01 9.92112396e-01 -3.67732651e-02 3.32207173e+02] [-2.98848720e-01 -7.25892913e-04 9.54300223e-01 -2.05976668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters Centerline goodness [0,1] 0.9950809838032394 Centerline is valid? [True, True] Translation: X:109.78, Y:332.21, Z:-2.07 [[ 9.46297989e-01 1.24716424e-01 2.98271569e-01 1.09781193e+02] [-1.19085482e-01 9.92192323e-01 -3.70545733e-02 3.32205109e+02] [-3.00564075e-01 -4.55145436e-04 9.53761516e-01 -2.06734178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.106875 meters Centerline goodness [0,1] 0.9951037144235407 Centerline is valid? [True, True] Translation: X:109.81, Y:332.20, Z:-2.08 [[ 9.45984734e-01 1.23349008e-01 2.99829794e-01 1.09810825e+02] [-1.17566044e-01 9.92363350e-01 -3.73256850e-02 3.32200550e+02] [-3.02144185e-01 5.97255585e-05 9.53262235e-01 -2.07787884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters Centerline goodness [0,1] 0.993677403903724 Centerline is valid? [True, True] Translation: X:109.84, Y:332.19, Z:-2.10 [[ 9.46680833e-01 1.18958687e-01 2.99406464e-01 1.09836015e+02] [-1.12952016e-01 9.92898003e-01 -3.73550208e-02 3.32187994e+02] [-3.01723784e-01 1.54471859e-03 9.53394132e-01 -2.09715165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.166875 meters Centerline goodness [0,1] 0.993726893261777 Centerline is valid? [True, True] Translation: X:109.86, Y:332.18, Z:-2.11 [[ 9.47247965e-01 1.15701646e-01 2.98888643e-01 1.09864422e+02] [-1.09535953e-01 9.93280477e-01 -3.73599923e-02 3.32179049e+02] [-3.01202867e-01 2.65012415e-03 9.53556401e-01 -2.11071898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters Centerline goodness [0,1] 0.9932989568234204 Centerline is valid? [True, True] Translation: X:109.89, Y:332.17, Z:-2.12 [[ 9.47585110e-01 1.12537190e-01 2.99028160e-01 1.09893193e+02] [-1.06187545e-01 9.93640484e-01 -3.74539002e-02 3.32171530e+02] [-3.01341442e-01 3.73769192e-03 9.53508975e-01 -2.12008172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.226875 meters Centerline goodness [0,1] 0.9916712276610428 Centerline is valid? [True, True] Translation: X:109.93, Y:332.17, Z:-2.12 [[ 9.47908620e-01 1.09012206e-01 2.99308516e-01 1.09926842e+02] [-1.02456419e-01 9.94028152e-01 -3.75595004e-02 3.32171185e+02] [-3.01615535e-01 4.93689529e-03 9.53416853e-01 -2.12088299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters Centerline goodness [0,1] 0.9933371680567539 Centerline is valid? [True, True] Translation: X:109.96, Y:332.17, Z:-2.13 [[ 9.47994304e-01 1.10430951e-01 2.98516003e-01 1.09958329e+02] [-1.03955696e-01 9.93873379e-01 -3.75355917e-02 3.32172696e+02] [-3.00832199e-01 4.55108826e-03 9.53666229e-01 -2.12660360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.286875 meters Centerline goodness [0,1] 0.9938993267384488 Centerline is valid? [True, True] Translation: X:109.99, Y:332.18, Z:-2.13 [[ 9.48195618e-01 1.17042237e-01 2.95340794e-01 1.09991329e+02] [-1.10999723e-01 9.93123806e-01 -3.72044123e-02 3.32182886e+02] [-2.97664461e-01 2.49431435e-03 9.54667297e-01 -2.13479804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters Centerline goodness [0,1] 0.9937659187386295 Centerline is valid? [True, True] Translation: X:110.02, Y:332.18, Z:-2.15 [[ 9.47777287e-01 1.18508960e-01 2.96097688e-01 1.10021156e+02] [-1.12481156e-01 9.92950726e-01 -3.73743983e-02 3.32179845e+02] [-2.98439615e-01 2.11719546e-03 9.54426170e-01 -2.14575346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.346875 meters Centerline goodness [0,1] 0.9945637729831598 Centerline is valid? [True, True] Translation: X:110.05, Y:332.17, Z:-2.16 [[ 9.47297943e-01 1.19280598e-01 2.97319265e-01 1.10049531e+02] [-1.13214442e-01 9.92858643e-01 -3.76059227e-02 3.32172541e+02] [-2.99681659e-01 1.96317867e-03 9.54037237e-01 -2.15872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters Centerline goodness [0,1] 0.9942648218510287 Centerline is valid? [True, True] Translation: X:110.08, Y:332.16, Z:-2.18 [[ 9.46581061e-01 1.21362470e-01 2.98756498e-01 1.10076891e+02] [-1.15314592e-01 9.92607289e-01 -3.78591390e-02 3.32160944e+02] [-3.01142557e-01 1.38576019e-03 9.53578125e-01 -2.17667861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.406875 meters Centerline goodness [0,1] 0.9949989283417875 Centerline is valid? [True, True] Translation: X:110.11, Y:332.15, Z:-2.19 [[ 9.46889025e-01 1.21724243e-01 2.97631287e-01 1.10106426e+02] [-1.15717880e-01 9.92563052e-01 -3.77883505e-02 3.32153045e+02] [-3.00017577e-01 1.34011283e-03 9.53932732e-01 -2.18989540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters Centerline goodness [0,1] 0.9947307208468823 Centerline is valid? [True, True] Translation: X:110.14, Y:332.15, Z:-2.20 [[ 9.47463126e-01 1.22457530e-01 2.95495817e-01 1.10136830e+02] [-1.16547652e-01 9.92473045e-01 -3.76018705e-02 3.32147284e+02] [-2.97876265e-01 1.18704223e-03 9.54603751e-01 -2.20141068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.466875 meters Centerline goodness [0,1] 0.995821294682299 Centerline is valid? [True, True] Translation: X:110.17, Y:332.15, Z:-2.20 [[ 9.48523624e-01 1.26502302e-01 2.90344801e-01 1.10169826e+02] [-1.20961006e-01 9.91966314e-01 -3.70306290e-02 3.32151555e+02] [-2.92696721e-01 4.02736438e-06 9.56205328e-01 -2.20277196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters Centerline goodness [0,1] 0.9972334843787265 Centerline is valid? [True, True] Translation: X:110.20, Y:332.15, Z:-2.21 [[ 9.47899555e-01 1.30667717e-01 2.90538090e-01 1.10203969e+02] [-1.25289270e-01 9.91425478e-01 -3.71230524e-02 3.32153434e+02] [-2.92897649e-01 -1.21238037e-03 9.56143032e-01 -2.20685767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.526875 meters Centerline goodness [0,1] 0.9979209482387803 Centerline is valid? [True, True] Translation: X:110.23, Y:332.15, Z:-2.21 [[ 9.47150940e-01 1.34533230e-01 2.91214539e-01 1.10234348e+02] [-1.29281458e-01 9.90906355e-01 -3.72947662e-02 3.32153170e+02] [-2.93583723e-01 -2.32486729e-03 9.55930538e-01 -2.21423229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters Centerline goodness [0,1] 0.997202027931892 Centerline is valid? [True, True] Translation: X:110.26, Y:332.15, Z:-2.22 [[ 9.46513033e-01 1.37564392e-01 2.91871746e-01 1.10264908e+02] [-1.32408179e-01 9.90487650e-01 -3.74471493e-02 3.32145400e+02] [-2.94246754e-01 -3.20199143e-03 9.55724121e-01 -2.22286281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.586875 meters Centerline goodness [0,1] 0.9973995271867613 Centerline is valid? [True, True] Translation: X:110.29, Y:332.13, Z:-2.24 [[ 9.45018636e-01 1.40302773e-01 2.95389420e-01 1.10292597e+02] [-1.35126039e-01 9.90100452e-01 -3.79743246e-02 3.32130494e+02] [-2.97793102e-01 -4.02835782e-03 9.54621936e-01 -2.23622441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters Centerline goodness [0,1] 0.9974666322629073 Centerline is valid? [True, True] Translation: X:110.32, Y:332.12, Z:-2.25 [[ 9.44122028e-01 1.40746576e-01 2.98033551e-01 1.10322291e+02] [-1.35470964e-01 9.90037064e-01 -3.83956953e-02 3.32122043e+02] [-3.00468324e-01 -4.12467078e-03 9.53782875e-01 -2.24530550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.646875 meters Centerline goodness [0,1] 0.9967827668205343 Centerline is valid? [True, True] Translation: X:110.35, Y:332.12, Z:-2.25 [[ 9.43543376e-01 1.40806741e-01 2.99832218e-01 1.10353478e+02] [-1.35445163e-01 9.90028640e-01 -3.87027104e-02 3.32115503e+02] [-3.02292085e-01 -4.09313753e-03 9.53206558e-01 -2.25300365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters Centerline goodness [0,1] 0.9966598452238139 Centerline is valid? [True, True] Translation: X:110.38, Y:332.11, Z:-2.26 [[ 9.44247810e-01 1.39268990e-01 2.98329049e-01 1.10383716e+02] [-1.33863710e-01 9.90248389e-01 -3.85828251e-02 3.32107910e+02] [-3.00793251e-01 -3.50368529e-03 9.53682937e-01 -2.26372206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.706875 meters Centerline goodness [0,1] 0.9957810851986406 Centerline is valid? [True, True] Translation: X:110.41, Y:332.10, Z:-2.28 [[ 9.45037108e-01 1.38255162e-01 2.96294405e-01 1.10413037e+02] [-1.32852108e-01 9.90391862e-01 -3.83963221e-02 3.32102106e+02] [-2.98756057e-01 -3.07738709e-03 9.54324551e-01 -2.27663283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters Centerline goodness [0,1] 0.9956704918414376 Centerline is valid? [True, True] Translation: X:110.44, Y:332.09, Z:-2.29 [[ 9.45822944e-01 1.36390083e-01 2.94646745e-01 1.10443053e+02] [-1.30934427e-01 9.90652331e-01 -3.82640201e-02 3.32091782e+02] [-2.97111317e-01 -2.38841439e-03 9.54839861e-01 -2.28774495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.766875 meters Centerline goodness [0,1] 0.9954138051449191 Centerline is valid? [True, True] Translation: X:110.47, Y:332.09, Z:-2.30 [[ 9.46077275e-01 1.34269711e-01 2.94804061e-01 1.10472715e+02] [-1.28680624e-01 9.90943477e-01 -3.83708424e-02 3.32085832e+02] [-2.97286203e-01 -1.63378859e-03 9.54787015e-01 -2.29597702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters Centerline goodness [0,1] 0.9944832402234637 Centerline is valid? [True, True] Translation: X:110.50, Y:332.08, Z:-2.30 [[ 9.45865353e-01 1.31911719e-01 2.96543475e-01 1.10503839e+02] [-1.26119877e-01 9.91261124e-01 -3.86673042e-02 3.32078710e+02] [-2.99052689e-01 -8.25963271e-04 9.54236243e-01 -2.30344958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82687500000003 meters Centerline goodness [0,1] 0.994169299386731 Centerline is valid? [True, True] Translation: X:110.54, Y:332.07, Z:-2.31 [[ 9.45727895e-01 1.28995655e-01 2.98259736e-01 1.10535283e+02] [-1.22969775e-01 9.91645144e-01 -3.89659307e-02 3.32071238e+02] [-3.00794254e-01 1.74235029e-04 9.53689041e-01 -2.31023492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters Centerline goodness [0,1] 0.9933311721391191 Centerline is valid? [True, True] Translation: X:110.56, Y:332.06, Z:-2.32 [[ 9.46709357e-01 1.23706352e-01 2.97385495e-01 1.10564512e+02] [-1.17438486e-01 9.92317000e-01 -3.89252404e-02 3.32061665e+02] [-2.99915982e-01 1.92638691e-03 9.53963675e-01 -2.32093228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88687500000003 meters Centerline goodness [0,1] 0.992880752606153 Centerline is valid? [True, True] Translation: X:110.59, Y:332.05, Z:-2.34 [[ 9.47356068e-01 1.22084716e-01 2.95992909e-01 1.10593130e+02] [-1.15776423e-01 9.92516523e-01 -3.88171499e-02 3.32054451e+02] [-2.98516834e-01 2.50466231e-03 9.54401083e-01 -2.33516591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters Centerline goodness [0,1] 0.9940436338450883 Centerline is valid? [True, True] Translation: X:110.62, Y:332.05, Z:-2.35 [[ 9.47581439e-01 1.20845106e-01 2.95780117e-01 1.10622005e+02] [-1.14463939e-01 9.92666932e-01 -3.88634536e-02 3.32046843e+02] [-2.98307599e-01 2.97013004e-03 9.54465167e-01 -2.34716695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94687500000003 meters Centerline goodness [0,1] 0.9928041014322827 Centerline is valid? [True, True] Translation: X:110.66, Y:332.04, Z:-2.35 [[ 9.46731920e-01 1.20005967e-01 2.98826436e-01 1.10655337e+02] [-1.13424233e-01 9.92767519e-01 -3.93395046e-02 3.32042131e+02] [-3.01386154e-01 3.34980547e-03 9.53496285e-01 -2.35200208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters Centerline goodness [0,1] 0.9920236746584052 Centerline is valid? [True, True] Translation: X:110.69, Y:332.04, Z:-2.36 [[ 9.46627547e-01 1.20725250e-01 2.98867364e-01 1.10687133e+02] [-1.14149009e-01 9.92680762e-01 -3.94323292e-02 3.32041493e+02] [-3.01440360e-01 3.21231561e-03 9.53479622e-01 -2.35856382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00687500000004 meters Centerline goodness [0,1] 0.9920236746584052 Centerline is valid? [True, True] Translation: X:110.72, Y:332.04, Z:-2.37 [[ 9.46595523e-01 1.21002171e-01 2.98856806e-01 1.10717955e+02] [-1.14414192e-01 9.92647057e-01 -3.95121918e-02 3.32037359e+02] [-3.01440390e-01 3.20860397e-03 9.53479626e-01 -2.36846933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters Centerline goodness [0,1] 0.9912374488657494 Centerline is valid? [True, True] Translation: X:110.75, Y:332.04, Z:-2.38 [[ 9.45515167e-01 1.25750839e-01 3.00312829e-01 1.10750079e+02] [-1.19302925e-01 9.92060233e-01 -3.97907797e-02 3.32041089e+02] [-3.02932139e-01 1.79458672e-03 9.53010440e-01 -2.37738283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.066875 meters Centerline goodness [0,1] 0.9936532471486451 Centerline is valid? [True, True] Translation: X:110.78, Y:332.04, Z:-2.39 [[ 9.45012536e-01 1.27788170e-01 3.01034034e-01 1.10779462e+02] [-1.21385199e-01 9.91800730e-01 -3.99618101e-02 3.32038674e+02] [-3.03672421e-01 1.22333522e-03 9.52775715e-01 -2.38731448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters Centerline goodness [0,1] 0.9924463478915663 Centerline is valid? [True, True] Translation: X:110.81, Y:332.04, Z:-2.40 [[ 9.44443567e-01 1.27765637e-01 3.02823860e-01 1.10807354e+02] [-1.21260631e-01 9.91803520e-01 -4.02695657e-02 3.32036700e+02] [-3.05486837e-01 1.31171973e-03 9.52195396e-01 -2.40430003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.126875 meters Centerline goodness [0,1] 0.9924463478915663 Centerline is valid? [True, True] Translation: X:110.84, Y:332.03, Z:-2.41 [[ 9.44410212e-01 1.28036634e-01 3.02813428e-01 1.10838171e+02] [-1.21520112e-01 9.91768578e-01 -4.03478650e-02 3.32032529e+02] [-3.05486848e-01 1.30701395e-03 9.52195399e-01 -2.41420540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters Centerline goodness [0,1] 0.9976100658403431 Centerline is valid? [True, True] Translation: X:110.87, Y:332.03, Z:-2.42 [[ 9.45323544e-01 1.28431616e-01 2.99781115e-01 1.10871326e+02] [-1.22041404e-01 9.91717576e-01 -4.00267977e-02 3.32027074e+02] [-3.02438908e-01 1.25256595e-03 9.53167949e-01 -2.41788196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.186875 meters Centerline goodness [0,1] 0.9965767878077374 Centerline is valid? [True, True] Translation: X:110.90, Y:332.02, Z:-2.43 [[ 9.45527402e-01 1.28066749e-01 2.99293903e-01 1.10902004e+02] [-1.21652670e-01 9.91764481e-01 -4.00479948e-02 3.32024450e+02] [-3.01957879e-01 1.45657414e-03 9.53320155e-01 -2.42768318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters Centerline goodness [0,1] 0.9965729952021933 Centerline is valid? [True, True] Translation: X:110.93, Y:332.03, Z:-2.43 [[ 9.46338972e-01 1.26669584e-01 2.97316947e-01 1.10934262e+02] [-1.20249849e-01 9.91943007e-01 -3.98628141e-02 3.32026122e+02] [-2.99970873e-01 1.97141660e-03 9.53946324e-01 -2.43466290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.246875 meters Centerline goodness [0,1] 0.9968477436480849 Centerline is valid? [True, True] Translation: X:110.96, Y:332.02, Z:-2.45 [[ 9.46776364e-01 1.27479789e-01 2.95573038e-01 1.10963606e+02] [-1.21153044e-01 9.91839573e-01 -3.97013906e-02 3.32023076e+02] [-2.98222161e-01 1.77876495e-03 9.54494829e-01 -2.44714134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters Centerline goodness [0,1] 0.9965776057401813 Centerline is valid? [True, True] Translation: X:110.99, Y:332.02, Z:-2.46 [[ 9.46421838e-01 1.31264703e-01 2.95051320e-01 1.10990241e+02] [-1.25124512e-01 9.91347149e-01 -3.96823124e-02 3.32018213e+02] [-2.97707172e-01 6.38054597e-04 9.54657023e-01 -2.46462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.306875 meters Centerline goodness [0,1] 0.9970495904831591 Centerline is valid? [True, True] Translation: X:111.02, Y:332.01, Z:-2.47 [[ 9.45658158e-01 1.33363006e-01 2.96555148e-01 1.11021467e+02] [-1.27238381e-01 9.91067256e-01 -3.99510717e-02 3.32014692e+02] [-2.99234092e-01 4.68600733e-05 9.54179729e-01 -2.47328979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters Centerline goodness [0,1] 0.9975414874001229 Centerline is valid? [True, True] Translation: X:111.05, Y:332.01, Z:-2.48 [[ 9.45150310e-01 1.34671339e-01 2.97581119e-01 1.11051950e+02] [-1.28543054e-01 9.90890279e-01 -4.01638857e-02 3.32013459e+02] [-3.00279162e-01 -2.91076722e-04 9.53851320e-01 -2.48222210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.366875 meters Centerline goodness [0,1] 0.9977898189077428 Centerline is valid? [True, True] Translation: X:111.08, Y:332.01, Z:-2.49 [[ 9.45419445e-01 1.35731857e-01 2.96241348e-01 1.11083998e+02] [-1.29686184e-01 9.90745461e-01 -4.00615263e-02 3.32013637e+02] [-2.98937396e-01 -5.43464099e-04 9.54272570e-01 -2.49076331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters Centerline goodness [0,1] 0.9966322676866084 Centerline is valid? [True, True] Translation: X:111.12, Y:332.02, Z:-2.50 [[ 9.46577385e-01 1.37300391e-01 2.91787349e-01 1.11116893e+02] [-1.31487030e-01 9.90529011e-01 -3.95403392e-02 3.32020784e+02] [-2.94452738e-01 -9.38261114e-04 9.55665582e-01 -2.49804735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.426875 meters Centerline goodness [0,1] 0.9969456469456469 Centerline is valid? [True, True] Translation: X:111.15, Y:332.02, Z:-2.51 [[ 9.46363310e-01 1.38499034e-01 2.91915232e-01 1.11148076e+02] [-1.32713758e-01 9.90361797e-01 -3.96304100e-02 3.32020172e+02] [-2.94590467e-01 -1.23640154e-03 9.55622796e-01 -2.50765309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters Centerline goodness [0,1] 0.9967946400597691 Centerline is valid? [True, True] Translation: X:111.18, Y:332.02, Z:-2.52 [[ 9.45862226e-01 1.40037199e-01 2.92804085e-01 1.11179312e+02] [-1.34263787e-01 9.90144885e-01 -3.98289244e-02 3.32016988e+02] [-2.95495998e-01 -1.64031013e-03 9.55342569e-01 -2.51754220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.486875 meters Centerline goodness [0,1] 0.9965823485523118 Centerline is valid? [True, True] Translation: X:111.21, Y:332.01, Z:-2.53 [[ 9.45399617e-01 1.39334540e-01 2.94627647e-01 1.11209506e+02] [-1.33427636e-01 9.90244457e-01 -4.01619467e-02 3.32012743e+02] [-2.97349341e-01 -1.34238142e-03 9.54767808e-01 -2.52768804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters Centerline goodness [0,1] 0.9962433174396763 Centerline is valid? [True, True] Translation: X:111.24, Y:332.01, Z:-2.54 [[ 9.45833649e-01 1.37196214e-01 2.94237841e-01 1.11239964e+02] [-1.31181341e-01 9.90543713e-01 -4.01821913e-02 3.32009146e+02] [-2.96968288e-01 -5.92845973e-04 9.54887158e-01 -2.53760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.546875 meters Centerline goodness [0,1] 0.9964000096644036 Centerline is valid? [True, True] Translation: X:111.27, Y:332.00, Z:-2.55 [[ 9.46688365e-01 1.33990514e-01 2.92963620e-01 1.11270278e+02] [-1.27854636e-01 9.90982492e-01 -4.00860594e-02 3.32003710e+02] [-2.95692970e-01 4.92248928e-04 9.55282903e-01 -2.54809963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters Centerline goodness [0,1] 0.9946252108941914 Centerline is valid? [True, True] Translation: X:111.30, Y:331.99, Z:-2.56 [[ 9.48441572e-01 1.24080395e-01 2.91655001e-01 1.11297201e+02] [-1.17519999e-01 9.92265486e-01 -3.99781957e-02 3.31991291e+02] [-2.94359701e-01 3.64168747e-03 9.55687765e-01 -2.56198805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.606875 meters Centerline goodness [0,1] 0.9933661819492849 Centerline is valid? [True, True] Translation: X:111.33, Y:331.98, Z:-2.57 [[ 9.48700893e-01 1.19030685e-01 2.92913490e-01 1.11327336e+02] [-1.12155768e-01 9.92876413e-01 -4.02183003e-02 3.31982625e+02] [-2.95614107e-01 5.30320002e-03 9.55292717e-01 -2.57007783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters Centerline goodness [0,1] 0.9923697091851426 Centerline is valid? [True, True] Translation: X:111.36, Y:331.98, Z:-2.58 [[ 9.48558088e-01 1.15900169e-01 2.94626381e-01 1.11358516e+02] [-1.08788713e-01 9.93240641e-01 -4.04727686e-02 3.31976012e+02] [-2.97325696e-01 6.33874731e-03 9.54755074e-01 -2.57587827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.666875 meters Centerline goodness [0,1] 0.9910828025477707 Centerline is valid? [True, True] Translation: X:111.39, Y:331.97, Z:-2.58 [[ 9.49154650e-01 1.12069077e-01 2.94186969e-01 1.11390334e+02] [-1.04777423e-01 9.93671345e-01 -4.04839546e-02 3.31973951e+02] [-2.96862161e-01 7.60138115e-03 9.54890086e-01 -2.58122299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters Centerline goodness [0,1] 0.9908358123020823 Centerline is valid? [True, True] Translation: X:111.42, Y:331.97, Z:-2.59 [[ 9.49330680e-01 1.11634674e-01 2.93783865e-01 1.11419536e+02] [-1.04321827e-01 9.93718721e-01 -4.04976427e-02 3.31968616e+02] [-2.96459468e-01 7.79758511e-03 9.55013603e-01 -2.59200118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.726875 meters Centerline goodness [0,1] 0.9903324857266228 Centerline is valid? [True, True] Translation: X:111.45, Y:331.96, Z:-2.60 [[ 9.49264601e-01 1.10434674e-01 2.94450167e-01 1.11450739e+02] [-1.03009449e-01 9.93849016e-01 -4.06594075e-02 3.31964307e+02] [-2.97129217e-01 8.26538689e-03 9.54801504e-01 -2.59996020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters Centerline goodness [0,1] 0.9893971741790006 Centerline is valid? [True, True] Translation: X:111.48, Y:331.96, Z:-2.61 [[ 9.49167245e-01 1.07439073e-01 2.95868866e-01 1.11482141e+02] [-9.97895861e-02 9.94168372e-01 -4.08813618e-02 3.31961706e+02] [-2.98535724e-01 9.27861791e-03 9.54353356e-01 -2.60701877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.786875 meters Centerline goodness [0,1] 0.9901123487381818 Centerline is valid? [True, True] Translation: X:111.51, Y:331.95, Z:-2.62 [[ 9.49528424e-01 1.06688445e-01 2.94980251e-01 1.11509444e+02] [-9.90446647e-02 9.94247073e-01 -4.07788298e-02 3.31954707e+02] [-2.97633881e-01 9.50443792e-03 9.54632777e-01 -2.62051642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters Centerline goodness [0,1] 0.9902411021814007 Centerline is valid? [True, True] Translation: X:111.54, Y:331.95, Z:-2.63 [[ 9.49473693e-01 1.07313904e-01 2.94929539e-01 1.11537347e+02] [-9.96844145e-02 9.94181069e-01 -4.08291509e-02 3.31947941e+02] [-2.97594900e-01 9.36632618e-03 9.54646294e-01 -2.63430730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.846875 meters Centerline goodness [0,1] 0.9907578115647073 Centerline is valid? [True, True] Translation: X:111.57, Y:331.94, Z:-2.65 [[ 9.49384288e-01 1.08637199e-01 2.94732816e-01 1.11566915e+02] [-1.01059473e-01 9.94040586e-01 -4.08692503e-02 3.31943446e+02] [-2.97416302e-01 9.01508089e-03 9.54705332e-01 -2.64597840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters Centerline goodness [0,1] 0.9930002645948092 Centerline is valid? [True, True] Translation: X:111.60, Y:331.95, Z:-2.65 [[ 9.49302159e-01 1.13829121e-01 2.93033006e-01 1.11598941e+02] [-1.06560181e-01 9.93472657e-01 -4.07063685e-02 3.31949648e+02] [-2.95753850e-01 7.41699327e-03 9.55235389e-01 -2.65267484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.906875 meters Centerline goodness [0,1] 0.994073717176584 Centerline is valid? [True, True] Translation: X:111.63, Y:331.95, Z:-2.66 [[ 9.49803478e-01 1.15911226e-01 2.90582073e-01 1.11629747e+02] [-1.08859657e-01 9.93236879e-01 -4.03742187e-02 3.31949011e+02] [-2.93296657e-01 6.71490857e-03 9.55997898e-01 -2.65986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters Centerline goodness [0,1] 0.9946000920163692 Centerline is valid? [True, True] Translation: X:111.66, Y:331.95, Z:-2.67 [[ 9.50056292e-01 1.16532151e-01 2.89505268e-01 1.11661956e+02] [-1.09542100e-01 9.93165216e-01 -4.02912116e-02 3.31945596e+02] [-2.92221783e-01 6.56590419e-03 9.56328039e-01 -2.66798046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.966875 meters Centerline goodness [0,1] 0.9937658571946357 Centerline is valid? [True, True] Translation: X:111.69, Y:331.94, Z:-2.68 [[ 9.50193883e-01 1.17445103e-01 2.88683622e-01 1.11691247e+02] [-1.10511535e-01 9.93059059e-01 -4.02604714e-02 3.31941155e+02] [-2.91408281e-01 6.35238340e-03 9.56577682e-01 -2.67754887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters Centerline goodness [0,1] 0.9945192307692308 Centerline is valid? [True, True] Translation: X:111.72, Y:331.93, Z:-2.69 [[ 9.50955314e-01 1.17366872e-01 2.86197500e-01 1.11718955e+02] [-1.10540720e-01 9.93068287e-01 -3.99515474e-02 3.31930912e+02] [-2.88902649e-01 6.35565854e-03 9.57337383e-01 -2.69412087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.026875 meters Centerline goodness [0,1] 0.9939539347408829 Centerline is valid? [True, True] Translation: X:111.75, Y:331.92, Z:-2.71 [[ 9.51219879e-01 1.17196154e-01 2.85387113e-01 1.11746604e+02] [-1.10380700e-01 9.93087764e-01 -3.99098293e-02 3.31921077e+02] [-2.88091728e-01 6.46179368e-03 9.57581016e-01 -2.70726823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters Centerline goodness [0,1] 0.9946090358284433 Centerline is valid? [True, True] Translation: X:111.78, Y:331.91, Z:-2.72 [[ 9.50900505e-01 1.17940726e-01 2.86143697e-01 1.11777471e+02] [-1.11101052e-01 9.93000506e-01 -4.00817994e-02 3.31914962e+02] [-2.88868112e-01 6.32293749e-03 9.57348022e-01 -2.71597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.086875 meters Centerline goodness [0,1] 0.9940159732983669 Centerline is valid? [True, True] Translation: X:111.81, Y:331.91, Z:-2.72 [[ 9.49868254e-01 1.19717472e-01 2.88821792e-01 1.11809525e+02] [-1.12804364e-01 9.92790381e-01 -4.05269652e-02 3.31912715e+02] [-2.91591283e-01 5.91491916e-03 9.56524719e-01 -2.72085762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters Centerline goodness [0,1] 0.9955953463877053 Centerline is valid? [True, True] Translation: X:111.84, Y:331.92, Z:-2.72 [[ 9.47969713e-01 1.27356614e-01 2.91776824e-01 1.11842074e+02] [-1.20627656e-01 9.91850147e-01 -4.10152925e-02 3.31917483e+02] [-2.94622455e-01 3.68490071e-03 9.55606630e-01 -2.72393950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.146875 meters Centerline goodness [0,1] 0.9947577556491766 Centerline is valid? [True, True] Translation: X:111.87, Y:331.92, Z:-2.74 [[ 9.47700616e-01 1.31769964e-01 2.90689213e-01 1.11872530e+02] [-1.25293643e-01 9.91277633e-01 -4.08675506e-02 3.31916077e+02] [-2.93538831e-01 2.30869242e-03 9.55944363e-01 -2.73623963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters Centerline goodness [0,1] 0.9958013435700576 Centerline is valid? [True, True] Translation: X:111.90, Y:331.91, Z:-2.75 [[ 9.47527906e-01 1.38189353e-01 2.88261289e-01 1.11901327e+02] [-1.32106742e-01 9.90405769e-01 -4.05490019e-02 3.31914481e+02] [-2.91099084e-01 3.40051060e-04 9.56692849e-01 -2.75172427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.206875 meters Centerline goodness [0,1] 0.9964209363214912 Centerline is valid? [True, True] Translation: X:111.93, Y:331.91, Z:-2.76 [[ 9.47758660e-01 1.38216226e-01 2.87488777e-01 1.11931912e+02] [-1.32145236e-01 9.90401993e-01 -4.05157846e-02 3.31910956e+02] [-2.90329397e-01 4.08913382e-04 9.56926682e-01 -2.76101653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters Centerline goodness [0,1] 0.9961690439475713 Centerline is valid? [True, True] Translation: X:111.96, Y:331.91, Z:-2.77 [[ 9.48059972e-01 1.37650201e-01 2.86765953e-01 1.11962490e+02] [-1.31564353e-01 9.90480690e-01 -4.04823849e-02 3.31907562e+02] [-2.89608547e-01 6.51551676e-04 9.57144955e-01 -2.76975177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.266875 meters Centerline goodness [0,1] 0.9952010032073697 Centerline is valid? [True, True] Translation: X:111.99, Y:331.90, Z:-2.78 [[ 9.48638986e-01 1.36078507e-01 2.85598869e-01 1.11993733e+02] [-1.29952984e-01 9.90697334e-01 -4.03858265e-02 3.31904429e+02] [-2.88437681e-01 1.19714414e-03 9.57497922e-01 -2.77677340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters Centerline goodness [0,1] 0.9954290663266534 Centerline is valid? [True, True] Translation: X:112.02, Y:331.90, Z:-2.79 [[ 9.48690680e-01 1.35985836e-01 2.85471269e-01 1.12024902e+02] [-1.29841449e-01 9.90709935e-01 -4.04354043e-02 3.31898783e+02] [-2.88317865e-01 1.29468794e-03 9.57533881e-01 -2.78802845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32687500000003 meters Centerline goodness [0,1] 0.9948871819491119 Centerline is valid? [True, True] Translation: X:112.05, Y:331.89, Z:-2.80 [[ 9.48765413e-01 1.35540251e-01 2.85434811e-01 1.12054881e+02] [-1.29354283e-01 9.90770689e-01 -4.05081573e-02 3.31890518e+02] [-2.88290930e-01 1.51052319e-03 9.57541674e-01 -2.80181719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters Centerline goodness [0,1] 0.9953324716357892 Centerline is valid? [True, True] Translation: X:112.08, Y:331.88, Z:-2.82 [[ 9.48843554e-01 1.35403849e-01 2.85239736e-01 1.12084679e+02] [-1.29197025e-01 9.90789148e-01 -4.05585139e-02 3.31881347e+02] [-2.88104214e-01 1.63155920e-03 9.57597671e-01 -2.81587408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38687500000003 meters Centerline goodness [0,1] 0.9954532401646405 Centerline is valid? [True, True] Translation: X:112.12, Y:331.88, Z:-2.82 [[ 9.49029385e-01 1.35121201e-01 2.84755136e-01 1.12116029e+02] [-1.28900097e-01 9.90827452e-01 -4.05675391e-02 3.31878007e+02] [-2.87624740e-01 1.79482204e-03 9.57741503e-01 -2.82253151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters Centerline goodness [0,1] 0.9953839496081166 Centerline is valid? [True, True] Translation: X:112.15, Y:331.88, Z:-2.83 [[ 9.48640363e-01 1.35395766e-01 2.85918606e-01 1.12148590e+02] [-1.29113128e-01 9.90789973e-01 -4.08047671e-02 3.31878712e+02] [-2.88810080e-01 1.79320348e-03 9.57384730e-01 -2.82641041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44687500000003 meters Centerline goodness [0,1] 0.9954038559229783 Centerline is valid? [True, True] Translation: X:112.18, Y:331.88, Z:-2.82 [[ 9.47046772e-01 1.36664282e-01 2.90560296e-01 1.12184175e+02] [-1.30206783e-01 9.90616273e-01 -4.15402505e-02 3.31882916e+02] [-2.93510826e-01 1.50763859e-03 9.55954561e-01 -2.82396282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters Centerline goodness [0,1] 0.9950812557264792 Centerline is valid? [True, True] Translation: X:112.21, Y:331.88, Z:-2.83 [[ 9.46451139e-01 1.36660613e-01 2.92496355e-01 1.12214276e+02] [-1.30092418e-01 9.90616645e-01 -4.18882495e-02 3.31877577e+02] [-2.95476231e-01 1.59362340e-03 9.55348762e-01 -2.83295275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50687500000004 meters Centerline goodness [0,1] 0.9959820998941391 Centerline is valid? [True, True] Translation: X:112.24, Y:331.87, Z:-2.85 [[ 9.46289040e-01 1.35423108e-01 2.93594338e-01 1.12241604e+02] [-1.28723475e-01 9.90785710e-01 -4.21182048e-02 3.31866638e+02] [-2.96592853e-01 2.06351206e-03 9.55001791e-01 -2.84769970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters Centerline goodness [0,1] 0.9947703717790244 Centerline is valid? [True, True] Translation: X:112.27, Y:331.85, Z:-2.86 [[ 9.46741031e-01 1.29983546e-01 2.94594124e-01 1.12268049e+02] [-1.22955258e-01 9.91508627e-01 -4.23396747e-02 3.31849585e+02] [-2.97596076e-01 3.86281089e-03 9.54684060e-01 -2.86287635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.566875 meters Centerline goodness [0,1] 0.994226382816955 Centerline is valid? [True, True] Translation: X:112.30, Y:331.84, Z:-2.87 [[ 9.46813129e-01 1.27475896e-01 2.95456925e-01 1.12297734e+02] [-1.20264521e-01 9.91830357e-01 -4.25322103e-02 3.31842879e+02] [-2.98464979e-01 4.73706971e-03 9.54408831e-01 -2.87028971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters Centerline goodness [0,1] 0.9940556863304563 Centerline is valid? [True, True] Translation: X:112.33, Y:331.84, Z:-2.88 [[ 9.46597976e-01 1.26195314e-01 2.96693469e-01 1.12329633e+02] [-1.18838750e-01 9.91991598e-01 -4.27787334e-02 3.31839435e+02] [-2.99715904e-01 5.23558139e-03 9.54014133e-01 -2.87548316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.626875 meters Centerline goodness [0,1] 0.9932929157914837 Centerline is valid? [True, True] Translation: X:112.36, Y:331.84, Z:-2.88 [[ 9.46586622e-01 1.26975622e-01 2.96396624e-01 1.12362778e+02] [-1.19648935e-01 9.91892942e-01 -4.28079850e-02 3.31838522e+02] [-2.99429290e-01 5.05792558e-03 9.54105087e-01 -2.88012574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters Centerline goodness [0,1] 0.9938045084115713 Centerline is valid? [True, True] Translation: X:112.39, Y:331.83, Z:-2.89 [[ 9.46690761e-01 1.28403041e-01 2.95447561e-01 1.12392801e+02] [-1.21166630e-01 9.91711044e-01 -4.27533877e-02 3.31834321e+02] [-2.98488275e-01 4.67585179e-03 9.54401847e-01 -2.89119234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.686875 meters Centerline goodness [0,1] 0.9942900647126 Centerline is valid? [True, True] Translation: X:112.42, Y:331.83, Z:-2.90 [[ 9.46951807e-01 1.29265579e-01 2.94232365e-01 1.12421603e+02] [-1.22108524e-01 9.91599985e-01 -4.26494859e-02 3.31827029e+02] [-2.97273919e-01 4.45872801e-03 9.54781827e-01 -2.90472381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters Centerline goodness [0,1] 0.9943365504872926 Centerline is valid? [True, True] Translation: X:112.45, Y:331.82, Z:-2.92 [[ 9.48415737e-01 1.29790166e-01 2.89244021e-01 1.12449341e+02] [-1.22881271e-01 9.91532194e-01 -4.20012042e-02 3.31818381e+02] [-2.92246102e-01 4.29193019e-03 9.56333517e-01 -2.92227744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.746875 meters Centerline goodness [0,1] 0.9949872900482265 Centerline is valid? [True, True] Translation: X:112.48, Y:331.81, Z:-2.94 [[ 9.49779240e-01 1.28850633e-01 2.85161201e-01 1.12478383e+02] [-1.22076823e-01 9.91653402e-01 -4.14822787e-02 3.31812532e+02] [-2.88126093e-01 4.58743369e-03 9.57581490e-01 -2.93613657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters Centerline goodness [0,1] 0.9947900559057928 Centerline is valid? [True, True] Translation: X:112.51, Y:331.81, Z:-2.95 [[ 9.50759210e-01 1.27977288e-01 2.82274226e-01 1.12508022e+02] [-1.21300759e-01 9.91765403e-01 -4.10793170e-02 3.31808927e+02] [-2.85207031e-01 4.81646096e-03 9.58453834e-01 -2.94709708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.806875 meters Centerline goodness [0,1] 0.994539167759628 Centerline is valid? [True, True] Translation: X:112.54, Y:331.81, Z:-2.95 [[ 9.50559814e-01 1.28430059e-01 2.82739739e-01 1.12537844e+02] [-1.21730614e-01 9.91707155e-01 -4.12137968e-02 3.31806181e+02] [-2.85688112e-01 4.75809698e-03 9.58310838e-01 -2.95494109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters Centerline goodness [0,1] 0.9940420866995543 Centerline is valid? [True, True] Translation: X:112.57, Y:331.80, Z:-2.96 [[ 9.49712138e-01 1.30417994e-01 2.84671743e-01 1.12569855e+02] [-1.23691534e-01 9.91449946e-01 -4.15621214e-02 3.31804795e+02] [-2.87658232e-01 4.26056673e-03 9.57723650e-01 -2.96030660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.866875 meters Centerline goodness [0,1] 0.9962904461037718 Centerline is valid? [True, True] Translation: X:112.60, Y:331.81, Z:-2.97 [[ 9.47747150e-01 1.37720322e-01 2.87764579e-01 1.12602104e+02] [-1.31148665e-01 9.90468823e-01 -4.20896546e-02 3.31806628e+02] [-2.90818445e-01 2.15040972e-03 9.56775840e-01 -2.96660718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters Centerline goodness [0,1] 0.9959760479041916 Centerline is valid? [True, True] Translation: X:112.63, Y:331.80, Z:-2.98 [[ 9.47373320e-01 1.41737641e-01 2.87043958e-01 1.12630818e+02] [-1.35375946e-01 9.89903823e-01 -4.19973059e-02 3.31804673e+02] [-2.90098510e-01 9.28279810e-04 9.56996339e-01 -2.97980292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.926875 meters Centerline goodness [0,1] 0.9961117511520737 Centerline is valid? [True, True] Translation: X:112.66, Y:331.80, Z:-2.99 [[ 9.47256046e-01 1.45115834e-01 2.85740054e-01 1.12661562e+02] [-1.38943488e-01 9.89414672e-01 -4.18725907e-02 3.31803796e+02] [-2.88791778e-01 -3.76551152e-05 9.57391930e-01 -2.99144137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters Centerline goodness [0,1] 0.9953547703860595 Centerline is valid? [True, True] Translation: X:112.69, Y:331.80, Z:-3.00 [[ 9.47221662e-01 1.43826783e-01 2.86504764e-01 1.12691385e+02] [-1.37541147e-01 9.89602784e-01 -4.20566524e-02 3.31800368e+02] [-2.89574785e-01 4.30778283e-04 9.57155295e-01 -2.99981557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.986875 meters Centerline goodness [0,1] 0.9954004719934499 Centerline is valid? [True, True] Translation: X:112.72, Y:331.80, Z:-3.01 [[ 9.47078262e-01 1.41812572e-01 2.87979096e-01 1.12723355e+02] [-1.35349306e-01 9.89892892e-01 -4.23394303e-02 3.31796066e+02] [-2.91072724e-01 1.12098307e-03 9.56700273e-01 -3.00504921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters Centerline goodness [0,1] 0.9955023209947808 Centerline is valid? [True, True] Translation: X:112.75, Y:331.79, Z:-3.01 [[ 9.46910960e-01 1.39347614e-01 2.89727244e-01 1.12754656e+02] [-1.32669422e-01 9.90241580e-01 -4.26665834e-02 3.31790979e+02] [-2.92845451e-01 1.96350945e-03 9.56157773e-01 -3.01095490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.046875 meters Centerline goodness [0,1] 0.9955023209947808 Centerline is valid? [True, True] Translation: X:112.79, Y:331.79, Z:-3.02 [[ 9.46875002e-01 1.39612592e-01 2.89717198e-01 1.12785418e+02] [-1.32925687e-01 9.90204276e-01 -4.27346937e-02 3.31786366e+02] [-2.92845510e-01 1.95355554e-03 9.56157775e-01 -3.02086392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters Centerline goodness [0,1] 0.9945923958557653 Centerline is valid? [True, True] Translation: X:112.81, Y:331.78, Z:-3.03 [[ 9.46764654e-01 1.35770182e-01 2.91895783e-01 1.12814967e+02] [-1.28776016e-01 9.90735021e-01 -4.31376344e-02 3.31775054e+02] [-2.95048179e-01 3.25201137e-03 9.55476842e-01 -3.03109657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.106875 meters Centerline goodness [0,1] 0.9939538205189241 Centerline is valid? [True, True] Translation: X:112.84, Y:331.76, Z:-3.05 [[ 9.46852936e-01 1.34844472e-01 2.92038501e-01 1.12842009e+02] [-1.27777144e-01 9.90860164e-01 -4.32335177e-02 3.31763145e+02] [-2.95199118e-01 3.61993749e-03 9.55428897e-01 -3.04532184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters Centerline goodness [0,1] 0.9930943458483584 Centerline is valid? [True, True] Translation: X:112.87, Y:331.75, Z:-3.06 [[ 9.47098244e-01 1.32925305e-01 2.92122884e-01 1.12870544e+02] [-1.25743331e-01 9.91116771e-01 -4.33146859e-02 3.31751558e+02] [-2.95285507e-01 4.29075859e-03 9.55399424e-01 -3.05711263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.166875 meters Centerline goodness [0,1] 0.9935625872719097 Centerline is valid? [True, True] Translation: X:112.90, Y:331.75, Z:-3.06 [[ 9.47375127e-01 1.31319685e-01 2.91951210e-01 1.12901606e+02] [-1.24049414e-01 9.91328142e-01 -4.33619393e-02 3.31746642e+02] [-2.95113727e-01 4.86364639e-03 9.55449754e-01 -3.06464870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters Centerline goodness [0,1] 0.9930025143507757 Centerline is valid? [True, True] Translation: X:112.93, Y:331.74, Z:-3.07 [[ 9.47741092e-01 1.29792904e-01 2.91445749e-01 1.12931830e+02] [-1.22455108e-01 9.91526388e-01 -4.33609038e-02 3.31742540e+02] [-2.94604088e-01 5.40588967e-03 9.55604106e-01 -3.07184129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.226875 meters Centerline goodness [0,1] 0.9937488115611333 Centerline is valid? [True, True] Translation: X:112.96, Y:331.74, Z:-3.08 [[ 9.48488308e-01 1.27115164e-01 2.90192463e-01 1.12960780e+02] [-1.19698072e-01 9.91868075e-01 -4.32445787e-02 3.31735461e+02] [-2.93329681e-01 6.28149876e-03 9.55990712e-01 -3.07990830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters Centerline goodness [0,1] 0.9933961370952471 Centerline is valid? [True, True] Translation: X:112.99, Y:331.73, Z:-3.09 [[ 9.48653288e-01 1.25553819e-01 2.90332873e-01 1.12990952e+02] [-1.18055432e-01 9.92063669e-01 -4.32734604e-02 3.31727598e+02] [-2.93461843e-01 6.77613775e-03 9.55946772e-01 -3.09001444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.286875 meters Centerline goodness [0,1] 0.9936992206930857 Centerline is valid? [True, True] Translation: X:113.02, Y:331.72, Z:-3.10 [[ 9.48784183e-01 1.23648522e-01 2.90722577e-01 1.13020944e+02] [-1.16020172e-01 9.92298111e-01 -4.34025149e-02 3.31720078e+02] [-2.93850121e-01 7.44993631e-03 9.55822476e-01 -3.09945701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters Centerline goodness [0,1] 0.991736315479694 Centerline is valid? [True, True] Translation: X:113.05, Y:331.71, Z:-3.11 [[ 9.49015861e-01 1.21737999e-01 2.90772688e-01 1.13050566e+02] [-1.13996733e-01 9.92529061e-01 -4.34834312e-02 3.31711399e+02] [-2.93893928e-01 8.11932959e-03 9.55803555e-01 -3.11093497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.346875 meters Centerline goodness [0,1] 0.9923078727046739 Centerline is valid? [True, True] Translation: X:113.08, Y:331.70, Z:-3.13 [[ 9.49963736e-01 1.19047908e-01 2.88784516e-01 1.13078267e+02] [-1.11271033e-01 9.92848057e-01 -4.32607629e-02 3.31702147e+02] [-2.91869248e-01 8.96280465e-03 9.56416233e-01 -3.12633877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters Centerline goodness [0,1] 0.9912218936300051 Centerline is valid? [True, True] Translation: X:113.11, Y:331.70, Z:-3.14 [[ 9.50061927e-01 1.19605356e-01 2.88230625e-01 1.13109000e+02] [-1.11878885e-01 9.92782589e-01 -4.31954304e-02 3.31698202e+02] [-2.91316751e-01 8.79141306e-03 9.56586254e-01 -3.13751769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.406875 meters Centerline goodness [0,1] 0.9913466738777718 Centerline is valid? [True, True] Translation: X:113.14, Y:331.69, Z:-3.15 [[ 9.49914755e-01 1.21530632e-01 2.87910165e-01 1.13137941e+02] [-1.13882806e-01 9.92553164e-01 -4.32310389e-02 3.31693453e+02] [-2.91020041e-01 8.27778419e-03 9.56681146e-01 -3.14836621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters Centerline goodness [0,1] 0.9921729054836955 Centerline is valid? [True, True] Translation: X:113.17, Y:331.69, Z:-3.16 [[ 9.50129076e-01 1.23414029e-01 2.86397831e-01 1.13167824e+02] [-1.15910745e-01 9.92325157e-01 -4.30753130e-02 3.31690961e+02] [-2.89515870e-01 7.73052131e-03 9.57141996e-01 -3.15980074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.466875 meters Centerline goodness [0,1] 0.9926772045406071 Centerline is valid? [True, True] Translation: X:113.20, Y:331.69, Z:-3.17 [[ 9.50355201e-01 1.25705635e-01 2.84645544e-01 1.13198121e+02] [-1.18375855e-01 9.92042477e-01 -4.28821748e-02 3.31689493e+02] [-2.87771002e-01 7.05813825e-03 9.57673239e-01 -3.17079131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters Centerline goodness [0,1] 0.9929757949691504 Centerline is valid? [True, True] Translation: X:113.23, Y:331.69, Z:-3.18 [[ 9.50492549e-01 1.29166055e-01 2.82630580e-01 1.13228967e+02] [-1.22070011e-01 9.91604579e-01 -4.26529055e-02 3.31690853e+02] [-2.85767085e-01 6.04055080e-03 9.58280066e-01 -3.17959507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.526875 meters Centerline goodness [0,1] 0.9918448366575788 Centerline is valid? [True, True] Translation: X:113.26, Y:331.69, Z:-3.18 [[ 9.50045173e-01 1.30849000e-01 2.83359680e-01 1.13262211e+02] [-1.23776644e-01 9.91386544e-01 -4.28026110e-02 3.31693802e+02] [-2.86519653e-01 5.59110364e-03 9.58058051e-01 -3.18287565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters Centerline goodness [0,1] 0.993039387466097 Centerline is valid? [True, True] Translation: X:113.30, Y:331.70, Z:-3.18 [[ 9.48275118e-01 1.34940336e-01 2.87341967e-01 1.13295527e+02] [-1.27822519e-01 9.90843494e-01 -4.34807351e-02 3.31700047e+02] [-2.90578223e-01 4.50292524e-03 9.56840645e-01 -3.18321444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.586875 meters Centerline goodness [0,1] 0.993869455463397 Centerline is valid? [True, True] Translation: X:113.33, Y:331.70, Z:-3.19 [[ 9.47298173e-01 1.37969137e-01 2.89120542e-01 1.13325299e+02] [-1.30895875e-01 9.90429960e-01 -4.37580228e-02 3.31697870e+02] [-2.92390903e-01 3.60720868e-03 9.56292083e-01 -3.19236915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters Centerline goodness [0,1] 0.9935852773706845 Centerline is valid? [True, True] Translation: X:113.35, Y:331.69, Z:-3.21 [[ 9.46596294e-01 1.40901325e-01 2.90003920e-01 1.13353906e+02] [-1.33897501e-01 9.90019740e-01 -4.39587691e-02 3.31693392e+02] [-2.93303454e-01 2.78040780e-03 9.56015352e-01 -3.20607707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.646875 meters Centerline goodness [0,1] 0.9947863104776027 Centerline is valid? [True, True] Translation: X:113.38, Y:331.69, Z:-3.22 [[ 9.46276866e-01 1.43887620e-01 2.89579776e-01 1.13382611e+02] [-1.37020148e-01 9.89592164e-01 -4.39639313e-02 3.31687833e+02] [-2.92891743e-01 1.92378749e-03 9.56143674e-01 -3.22071016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters Centerline goodness [0,1] 0.9945530125662956 Centerline is valid? [True, True] Translation: X:113.41, Y:331.68, Z:-3.23 [[ 9.45701065e-01 1.47114544e-01 2.89839277e-01 1.13411898e+02] [-1.40360966e-01 9.89118959e-01 -4.40736311e-02 3.31683301e+02] [-2.93169396e-01 9.98358808e-04 9.56059992e-01 -3.23314405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.706875 meters Centerline goodness [0,1] 0.9939168069247415 Centerline is valid? [True, True] Translation: X:113.45, Y:331.68, Z:-3.23 [[ 9.45234745e-01 1.48440528e-01 2.90683137e-01 1.13445996e+02] [-1.41686301e-01 9.88921115e-01 -4.42721180e-02 3.31683681e+02] [-2.94034468e-01 6.61725848e-04 9.55794588e-01 -3.23260187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters Centerline goodness [0,1] 0.9946999445903298 Centerline is valid? [True, True] Translation: X:113.48, Y:331.68, Z:-3.24 [[ 9.44952324e-01 1.48915952e-01 2.91357417e-01 1.13477788e+02] [-1.42129573e-01 9.88849681e-01 -4.44465103e-02 3.31681881e+02] [-2.94727483e-01 5.89327797e-04 9.55581165e-01 -3.23746335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.766875 meters Centerline goodness [0,1] 0.9942706570613548 Centerline is valid? [True, True] Translation: X:113.51, Y:331.68, Z:-3.24 [[ 9.45120693e-01 1.48518794e-01 2.91013819e-01 1.13510463e+02] [-1.41710310e-01 9.88909278e-01 -4.44592879e-02 3.31678032e+02] [-2.94389306e-01 7.79734480e-04 9.55685267e-01 -3.24495690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters Centerline goodness [0,1] 0.9938497901693116 Centerline is valid? [True, True] Translation: X:113.54, Y:331.67, Z:-3.26 [[ 9.44979850e-01 1.48941340e-01 2.91255147e-01 1.13541502e+02] [-1.42115655e-01 9.88845761e-01 -4.45780363e-02 3.31671430e+02] [-2.94645930e-01 7.33430116e-04 9.55606215e-01 -3.25605640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82687500000003 meters Centerline goodness [0,1] 0.9919260164354681 Centerline is valid? [True, True] Translation: X:113.57, Y:331.66, Z:-3.27 [[ 9.44204455e-01 1.47937809e-01 2.94265784e-01 1.13567852e+02] [-1.40892412e-01 9.88996000e-01 -4.51247094e-02 3.31656892e+02] [-2.97703334e-01 1.14713573e-03 9.54657745e-01 -3.27244432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters Centerline goodness [0,1] 0.993310797943249 Centerline is valid? [True, True] Translation: X:113.60, Y:331.65, Z:-3.28 [[ 9.43972930e-01 1.47065030e-01 2.95443708e-01 1.13596841e+02] [-1.39896585e-01 9.89125679e-01 -4.53799077e-02 3.31647500e+02] [-2.98904756e-01 1.50583845e-03 9.54281761e-01 -3.28450888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88687500000003 meters Centerline goodness [0,1] 0.9918499630626981 Centerline is valid? [True, True] Translation: X:113.63, Y:331.64, Z:-3.30 [[ 9.44599863e-01 1.45493784e-01 2.94215327e-01 1.13626225e+02] [-1.38287318e-01 9.89356988e-01 -4.52699388e-02 3.31640993e+02] [-2.97670484e-01 2.07572950e-03 9.54666420e-01 -3.29615921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters Centerline goodness [0,1] 0.9930909177843124 Centerline is valid? [True, True] Translation: X:113.65, Y:331.64, Z:-3.31 [[ 9.46499358e-01 1.43352943e-01 2.89117447e-01 1.13654905e+02] [-1.36280200e-01 9.89667743e-01 -4.45585738e-02 3.31637553e+02] [-2.92517814e-01 2.77367802e-03 9.56256051e-01 -3.30674302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94687500000003 meters Centerline goodness [0,1] 0.9927981563280199 Centerline is valid? [True, True] Translation: X:113.68, Y:331.63, Z:-3.32 [[ 9.46831703e-01 1.43786222e-01 2.87811133e-01 1.13684689e+02] [-1.36787931e-01 9.89605191e-01 -4.43917573e-02 3.31634679e+02] [-2.91202315e-01 2.66243358e-03 9.56657788e-01 -3.31593827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters Centerline goodness [0,1] 0.9940155884269202 Centerline is valid? [True, True] Translation: X:113.72, Y:331.64, Z:-3.33 [[ 9.47418036e-01 1.47013577e-01 2.84228909e-01 1.13715435e+02] [-1.40315269e-01 9.89132990e-01 -4.39039166e-02 3.31635369e+02] [-2.87594662e-01 1.71370670e-03 9.57750684e-01 -3.32502950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.00687500000004 meters Centerline goodness [0,1] 0.9940584015651039 Centerline is valid? [True, True] Translation: X:113.75, Y:331.63, Z:-3.33 [[ 9.47819591e-01 1.48216081e-01 2.82258775e-01 1.13745771e+02] [-1.41646106e-01 9.88954006e-01 -4.36618217e-02 3.31632154e+02] [-2.85612331e-01 1.40267344e-03 9.58344212e-01 -3.33412598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters Centerline goodness [0,1] 0.9937264742785445 Centerline is valid? [True, True] Translation: X:113.77, Y:331.63, Z:-3.35 [[ 9.48114978e-01 1.48693986e-01 2.81012609e-01 1.13774591e+02] [-1.42184218e-01 9.88882377e-01 -4.35349690e-02 3.31626087e+02] [-2.84361805e-01 1.32059819e-03 9.58716131e-01 -3.34728000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.066875 meters Centerline goodness [0,1] 0.993374144760533 Centerline is valid? [True, True] Translation: X:113.80, Y:331.62, Z:-3.36 [[ 9.47987068e-01 1.47129241e-01 2.82264954e-01 1.13801290e+02] [-1.40470552e-01 9.89115503e-01 -4.38012090e-02 3.31615528e+02] [-2.85637081e-01 1.87306570e-03 9.58336032e-01 -3.36195600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters Centerline goodness [0,1] 0.9929128956567543 Centerline is valid? [True, True] Translation: X:113.83, Y:331.61, Z:-3.37 [[ 9.47671409e-01 1.46475989e-01 2.83661217e-01 1.13832785e+02] [-1.39701216e-01 9.89211891e-01 -4.40840735e-02 3.31609087e+02] [-2.87058307e-01 2.14939914e-03 9.57910700e-01 -3.36807506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.126875 meters Centerline goodness [0,1] 0.9935511607910577 Centerline is valid? [True, True] Translation: X:113.86, Y:331.60, Z:-3.38 [[ 9.47207651e-01 1.46331509e-01 2.85280135e-01 1.13862002e+02] [-1.39448728e-01 9.89232975e-01 -4.44091626e-02 3.31602709e+02] [-2.88706976e-01 2.28274668e-03 9.57414785e-01 -3.37647192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters Centerline goodness [0,1] 0.9934205804244324 Centerline is valid? [True, True] Translation: X:113.89, Y:331.60, Z:-3.38 [[ 9.47346838e-01 1.46733551e-01 2.84610669e-01 1.13893502e+02] [-1.39881701e-01 9.89173556e-01 -4.43710044e-02 3.31597168e+02] [-2.88040062e-01 2.22290642e-03 9.57615780e-01 -3.38487925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.186875 meters Centerline goodness [0,1] 0.993356434460509 Centerline is valid? [True, True] Translation: X:113.92, Y:331.59, Z:-3.39 [[ 9.47210575e-01 1.47305945e-01 2.84768477e-01 1.13923952e+02] [-1.40445666e-01 9.89088663e-01 -4.44818211e-02 3.31591045e+02] [-2.88213709e-01 2.13915300e-03 9.57563722e-01 -3.39120960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters Centerline goodness [0,1] 0.9928018244880505 Centerline is valid? [True, True] Translation: X:113.96, Y:331.59, Z:-3.40 [[ 9.46965727e-01 1.47010399e-01 2.85733889e-01 1.13956164e+02] [-1.40077366e-01 9.89132324e-01 -4.46718879e-02 3.31586522e+02] [-2.89195857e-01 2.27789622e-03 9.57267239e-01 -3.39704414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.246875 meters Centerline goodness [0,1] 0.9923816779354347 Centerline is valid? [True, True] Translation: X:113.99, Y:331.58, Z:-3.40 [[ 9.46604673e-01 1.45430717e-01 2.87731643e-01 1.13987629e+02] [-1.38304215e-01 9.89364312e-01 -4.50577684e-02 3.31580016e+02] [-2.91224203e-01 2.85739516e-03 9.56650563e-01 -3.40400921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters Centerline goodness [0,1] 0.9904768656363723 Centerline is valid? [True, True] Translation: X:114.02, Y:331.56, Z:-3.42 [[ 9.46399577e-01 1.41250564e-01 2.90475676e-01 1.14015383e+02] [-1.33768664e-01 9.89964700e-01 -4.55613540e-02 3.31563922e+02] [-2.93996232e-01 4.26270298e-03 9.55797073e-01 -3.41733405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.306875 meters Centerline goodness [0,1] 0.9921704681309923 Centerline is valid? [True, True] Translation: X:114.04, Y:331.55, Z:-3.43 [[ 9.46511680e-01 1.39295351e-01 2.91054023e-01 1.14043488e+02] [-1.31669638e-01 9.90238471e-01 -4.57260998e-02 3.31551215e+02] [-2.94582324e-01 4.95730971e-03 9.55613248e-01 -3.42994913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters Centerline goodness [0,1] 0.9918509351577276 Centerline is valid? [True, True] Translation: X:114.07, Y:331.54, Z:-3.44 [[ 9.46666563e-01 1.37886771e-01 2.91220976e-01 1.14072674e+02] [-1.30164252e-01 9.90432865e-01 -4.58258362e-02 3.31540349e+02] [-2.94753602e-01 5.47522635e-03 9.55557605e-01 -3.44161752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.366875 meters Centerline goodness [0,1] 0.9922644489871771 Centerline is valid? [True, True] Translation: X:114.10, Y:331.53, Z:-3.45 [[ 9.47838037e-01 1.36720018e-01 2.87942167e-01 1.14100992e+02] [-1.29100106e-01 9.90592498e-01 -4.53835344e-02 3.31530464e+02] [-2.91438188e-01 5.84287585e-03 9.56571818e-01 -3.45179596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters Centerline goodness [0,1] 0.9923017884968719 Centerline is valid? [True, True] Translation: X:114.13, Y:331.53, Z:-3.46 [[ 9.48677905e-01 1.36503185e-01 2.85266741e-01 1.14129334e+02] [-1.29007183e-01 9.90622131e-01 -4.49993275e-02 3.31525255e+02] [-2.88734098e-01 5.88840896e-03 9.57391219e-01 -3.46221494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.426875 meters Centerline goodness [0,1] 0.9932092613623195 Centerline is valid? [True, True] Translation: X:114.16, Y:331.52, Z:-3.47 [[ 9.49378349e-01 1.36022730e-01 2.83158201e-01 1.14160363e+02] [-1.28617346e-01 9.90687593e-01 -4.46729331e-02 3.31519192e+02] [-2.86597851e-01 5.99245903e-03 9.58032234e-01 -3.47005436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters Centerline goodness [0,1] 0.9919924308856787 Centerline is valid? [True, True] Translation: X:114.19, Y:331.51, Z:-3.48 [[ 9.48891272e-01 1.35169915e-01 2.85191949e-01 1.14191769e+02] [-1.27596123e-01 9.90801950e-01 -4.50635712e-02 3.31512352e+02] [-2.88659979e-01 6.37104234e-03 9.57410480e-01 -3.47658605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.486875 meters Centerline goodness [0,1] 0.9919670395433412 Centerline is valid? [True, True] Translation: X:114.22, Y:331.50, Z:-3.48 [[ 9.48353742e-01 1.33869051e-01 2.87583479e-01 1.14222580e+02] [-1.26084127e-01 9.90974995e-01 -4.55121006e-02 3.31502427e+02] [-2.91080699e-01 6.90185900e-03 9.56673608e-01 -3.48390382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters Centerline goodness [0,1] 0.9923140269009059 Centerline is valid? [True, True] Translation: X:114.25, Y:331.49, Z:-3.49 [[ 9.47918356e-01 1.33109294e-01 2.89366042e-01 1.14252924e+02] [-1.25165282e-01 9.91074719e-01 -4.58754143e-02 3.31492351e+02] [-2.92889813e-01 7.26756494e-03 9.56118581e-01 -3.49294197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.546875 meters Centerline goodness [0,1] 0.9936659831396674 Centerline is valid? [True, True] Translation: X:114.28, Y:331.48, Z:-3.50 [[ 9.47046872e-01 1.35422223e-01 2.91140933e-01 1.14283289e+02] [-1.27458686e-01 9.90765442e-01 -4.62398364e-02 3.31484666e+02] [-2.94714277e-01 6.68285171e-03 9.55562052e-01 -3.50260453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters Centerline goodness [0,1] 0.9942048825005704 Centerline is valid? [True, True] Translation: X:114.31, Y:331.48, Z:-3.51 [[ 9.46808337e-01 1.38079313e-01 2.90668327e-01 1.14312387e+02] [-1.30257068e-01 9.90403774e-01 -4.61893979e-02 3.31478983e+02] [-2.94256808e-01 5.87090309e-03 9.55708357e-01 -3.51375071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.606875 meters Centerline goodness [0,1] 0.9950725368413815 Centerline is valid? [True, True] Translation: X:114.34, Y:331.48, Z:-3.52 [[ 9.46545247e-01 1.41811197e-01 2.89726906e-01 1.14343375e+02] [-1.34191268e-01 9.89882265e-01 -4.61064599e-02 3.31478657e+02] [-2.93333938e-01 4.76302956e-03 9.55998177e-01 -3.52332097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters Centerline goodness [0,1] 0.9953446977476552 Centerline is valid? [True, True] Translation: X:114.37, Y:331.48, Z:-3.53 [[ 9.44597962e-01 1.52182364e-01 2.90818187e-01 1.14373043e+02] [-1.44958634e-01 9.88351081e-01 -4.63587717e-02 3.31478242e+02] [-2.94485457e-01 1.63379416e-03 9.55654564e-01 -3.53187718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.666875 meters Centerline goodness [0,1] 0.9957193544694976 Centerline is valid? [True, True] Translation: X:114.40, Y:331.48, Z:-3.54 [[ 9.43139331e-01 1.59010411e-01 2.91897056e-01 1.14403624e+02] [-1.52047959e-01 9.87276785e-01 -4.65399586e-02 3.31477938e+02] [-2.95583525e-01 -4.88686216e-04 9.55316775e-01 -3.53958714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters Centerline goodness [0,1] 0.9976060034068414 Centerline is valid? [True, True] Translation: X:114.44, Y:331.48, Z:-3.54 [[ 9.40807208e-01 1.70003194e-01 2.93224678e-01 1.14437155e+02] [-1.63474988e-01 9.85435848e-01 -4.68200511e-02 3.31479043e+02] [-2.96913668e-01 -3.88625927e-03 9.54896419e-01 -3.54269959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.726875 meters Centerline goodness [0,1] 0.9975161564821416 Centerline is valid? [True, True] Translation: X:114.47, Y:331.48, Z:-3.55 [[ 9.39911898e-01 1.73864238e-01 2.93831330e-01 1.14467953e+02] [-1.67468394e-01 9.84756750e-01 -4.69944615e-02 3.31477397e+02] [-2.97523042e-01 -5.03680754e-03 9.54701351e-01 -3.55018113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters Centerline goodness [0,1] 0.9975903061458669 Centerline is valid? [True, True] Translation: X:114.50, Y:331.47, Z:-3.56 [[ 9.39279924e-01 1.76683080e-01 2.94170552e-01 1.14497811e+02] [-1.70384835e-01 9.84250329e-01 -4.71200300e-02 3.31473436e+02] [-2.97862775e-01 -5.86330272e-03 9.54590692e-01 -3.55828264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.786875 meters Centerline goodness [0,1] 0.9974498001194688 Centerline is valid? [True, True] Translation: X:114.53, Y:331.46, Z:-3.57 [[ 9.38655084e-01 1.79272140e-01 2.94598256e-01 1.14527686e+02] [-1.73058317e-01 9.83777216e-01 -4.72568246e-02 3.31464991e+02] [-2.98290885e-01 -6.62481962e-03 9.54452021e-01 -3.56905486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters Centerline goodness [0,1] 0.9981567449481158 Centerline is valid? [True, True] Translation: X:114.55, Y:331.45, Z:-3.59 [[ 9.39360439e-01 1.81534419e-01 2.90941954e-01 1.14553860e+02] [-1.75559259e-01 9.83358471e-01 -4.67446714e-02 3.31452204e+02] [-2.94586002e-01 -7.16745875e-03 9.55598093e-01 -3.58689004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.846875 meters Centerline goodness [0,1] 0.997626112759644 Centerline is valid? [True, True] Translation: X:114.58, Y:331.44, Z:-3.60 [[ 9.39515624e-01 1.82879292e-01 2.89595507e-01 1.14582548e+02] [-1.77016767e-01 9.83106525e-01 -4.65470148e-02 3.31442326e+02] [-2.93215717e-01 -7.53161279e-03 9.56016641e-01 -3.59914930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters Centerline goodness [0,1] 0.9980000909049589 Centerline is valid? [True, True] Translation: X:114.61, Y:331.44, Z:-3.61 [[ 9.39157484e-01 1.85433362e-01 2.89132650e-01 1.14610902e+02] [-1.79685183e-01 9.82622311e-01 -4.65470559e-02 3.31435874e+02] [-2.92739569e-01 -8.23783724e-03 9.56156725e-01 -3.61011637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.906875 meters Centerline goodness [0,1] 0.9991676789490259 Centerline is valid? [True, True] Translation: X:114.64, Y:331.43, Z:-3.62 [[ 9.37813877e-01 1.91492271e-01 2.89544199e-01 1.14639118e+02] [-1.85987205e-01 9.81442461e-01 -4.66846314e-02 3.31432629e+02] [-2.93110717e-01 -1.00700211e-02 9.56025472e-01 -3.61969296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters Centerline goodness [0,1] 0.9991676789490259 Centerline is valid? [True, True] Translation: X:114.67, Y:331.43, Z:-3.63 [[ 9.37807743e-01 1.91522219e-01 2.89544259e-01 1.14668140e+02] [-1.86018661e-01 9.81436517e-01 -4.66842581e-02 3.31427916e+02] [-2.93110382e-01 -1.00797766e-02 9.56025472e-01 -3.62909387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.966875 meters Centerline goodness [0,1] 0.9989663618183043 Centerline is valid? [True, True] Translation: X:114.70, Y:331.42, Z:-3.64 [[ 9.37366777e-01 1.93793167e-01 2.89461110e-01 1.14697711e+02] [-1.88395366e-01 9.80983224e-01 -4.66808422e-02 3.31421632e+02] [-2.93002921e-01 -1.07760613e-02 9.56050817e-01 -3.63735399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters Centerline goodness [0,1] 0.9992599735384478 Centerline is valid? [True, True] Translation: X:114.73, Y:331.41, Z:-3.64 [[ 9.36564633e-01 1.95891291e-01 2.90642890e-01 1.14727505e+02] [-1.90544940e-01 9.80558479e-01 -4.68795729e-02 3.31412291e+02] [-2.94175651e-01 -1.14747822e-02 9.55682487e-01 -3.64485406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.026875 meters Centerline goodness [0,1] 0.9991532222123184 Centerline is valid? [True, True] Translation: X:114.76, Y:331.40, Z:-3.65 [[ 9.35630079e-01 1.98062978e-01 2.92177020e-01 1.14756843e+02] [-1.92741468e-01 9.80113907e-01 -4.71959237e-02 3.31403252e+02] [-2.95714526e-01 -1.21567020e-02 9.55199002e-01 -3.65305627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters Centerline goodness [0,1] 0.9991134948250261 Centerline is valid? [True, True] Translation: X:114.79, Y:331.38, Z:-3.66 [[ 9.34548652e-01 1.98854621e-01 2.95085848e-01 1.14785780e+02] [-1.93461490e-01 9.79948854e-01 -4.76748845e-02 3.31384207e+02] [-2.98649410e-01 -1.25332488e-02 9.54280592e-01 -3.66194007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.086875 meters Centerline goodness [0,1] 0.9988735256438575 Centerline is valid? [True, True] Translation: X:114.81, Y:331.37, Z:-3.67 [[ 9.34195471e-01 1.98192072e-01 2.96645789e-01 1.14814616e+02] [-1.92681922e-01 9.80085957e-01 -4.80124391e-02 3.31373944e+02] [-3.00254056e-01 -1.23052775e-02 9.53779892e-01 -3.67019062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters Centerline goodness [0,1] 0.9992078162133615 Centerline is valid? [True, True] Translation: X:114.84, Y:331.36, Z:-3.68 [[ 9.33995334e-01 1.96975157e-01 2.98083049e-01 1.14844196e+02] [-1.91328880e-01 9.80336174e-01 -4.83140219e-02 3.31360199e+02] [-3.01738258e-01 -1.19068249e-02 9.53316449e-01 -3.67827969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.146875 meters Centerline goodness [0,1] 0.9989663741725495 Centerline is valid? [True, True] Translation: X:114.87, Y:331.35, Z:-3.69 [[ 9.33697993e-01 1.97771114e-01 2.98487261e-01 1.14873823e+02] [-1.92125106e-01 9.80173487e-01 -4.84549199e-02 3.31351561e+02] [-3.02152283e-01 -1.21046353e-02 9.53182813e-01 -3.68885088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters Centerline goodness [0,1] 0.9992145054657328 Centerline is valid? [True, True] Translation: X:114.90, Y:331.33, Z:-3.70 [[ 9.33017325e-01 1.99613336e-01 2.99388022e-01 1.14900441e+02] [-1.94001191e-01 9.79792889e-01 -4.86768112e-02 3.31332653e+02] [-3.03054796e-01 -1.26653248e-02 9.52888965e-01 -3.70299350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.206875 meters Centerline goodness [0,1] 0.9994349300182561 Centerline is valid? [True, True] Translation: X:114.93, Y:331.32, Z:-3.72 [[ 9.32802627e-01 2.01032962e-01 2.99107018e-01 1.14927713e+02] [-1.95495690e-01 9.79497000e-01 -4.86524542e-02 3.31319652e+02] [-3.02755174e-01 -1.30909956e-02 9.52978452e-01 -3.71643087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters Centerline goodness [0,1] 0.9995466810577442 Centerline is valid? [True, True] Translation: X:114.96, Y:331.31, Z:-3.73 [[ 9.32865181e-01 2.02356518e-01 2.98017438e-01 1.14955709e+02] [-1.96903469e-01 9.79220311e-01 -4.85448852e-02 3.31310801e+02] [-3.01648102e-01 -1.33948342e-02 9.53325234e-01 -3.72923870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.266875 meters Centerline goodness [0,1] 0.9997417633260883 Centerline is valid? [True, True] Translation: X:114.98, Y:331.30, Z:-3.74 [[ 9.32951878e-01 2.02918621e-01 2.97363121e-01 1.14984806e+02] [-1.97495629e-01 9.79102913e-01 -4.85073424e-02 3.31296431e+02] [-3.00992141e-01 -1.34729004e-02 9.53531443e-01 -3.73877402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters Centerline goodness [0,1] 0.9996983278745044 Centerline is valid? [True, True] Translation: X:115.02, Y:331.29, Z:-3.75 [[ 9.33155897e-01 2.02563918e-01 2.96964528e-01 1.15015337e+02] [-1.97114718e-01 9.79179226e-01 -4.85162936e-02 3.31290497e+02] [-3.00609147e-01 -1.32628138e-02 9.53655199e-01 -3.74717286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32687500000003 meters Centerline goodness [0,1] 0.9992474413004214 Centerline is valid? [True, True] Translation: X:115.05, Y:331.28, Z:-3.76 [[ 9.33738639e-01 2.01215698e-01 2.96047964e-01 1.15046021e+02] [-1.95711240e-01 9.79464498e-01 -4.84397381e-02 3.31283707e+02] [-2.99715306e-01 -1.27098590e-02 9.53944021e-01 -3.75545523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters Centerline goodness [0,1] 0.9993404535977193 Centerline is valid? [True, True] Translation: X:115.07, Y:331.27, Z:-3.76 [[ 9.34941288e-01 1.94980424e-01 2.96424395e-01 1.15072951e+02] [-1.89132668e-01 9.80749330e-01 -4.85755580e-02 3.31266634e+02] [-3.00189310e-01 -1.06482419e-02 9.53820210e-01 -3.76464478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38687500000003 meters Centerline goodness [0,1] 0.999573851529873 Centerline is valid? [True, True] Translation: X:115.10, Y:331.25, Z:-3.77 [[ 9.35676389e-01 1.90697227e-01 2.96890994e-01 1.15100416e+02] [-1.84619948e-01 9.81604962e-01 -4.86536101e-02 3.31252340e+02] [-3.00707781e-01 -9.28796546e-03 9.53671099e-01 -3.77486047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters Centerline goodness [0,1] 0.998491031199524 Centerline is valid? [True, True] Translation: X:115.12, Y:331.23, Z:-3.79 [[ 9.38163750e-01 1.81776470e-01 2.94628739e-01 1.15124568e+02] [-1.75360921e-01 9.83319282e-01 -4.82880551e-02 3.31230664e+02] [-2.98491752e-01 -6.36426426e-03 9.54390994e-01 -3.78959120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44687500000003 meters Centerline goodness [0,1] 0.9979735720015198 Centerline is valid? [True, True] Translation: X:115.15, Y:331.22, Z:-3.80 [[ 9.39636836e-01 1.76184313e-01 2.93328663e-01 1.15150712e+02] [-1.69558827e-01 9.84346631e-01 -4.80782060e-02 3.31219519e+02] [-2.97207707e-01 -4.56041053e-03 9.54801959e-01 -3.80251030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters Centerline goodness [0,1] 0.9974112893042051 Centerline is valid? [True, True] Translation: X:115.18, Y:331.21, Z:-3.81 [[ 9.40611342e-01 1.70837012e-01 2.93368401e-01 1.15179740e+02] [-1.63954040e-01 9.85295135e-01 -4.80891841e-02 3.31205994e+02] [-2.97269871e-01 -2.86570265e-03 9.54789197e-01 -3.81299426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.50687500000004 meters Centerline goodness [0,1] 0.9961385073115149 Centerline is valid? [True, True] Translation: X:115.21, Y:331.19, Z:-3.82 [[ 9.40700355e-01 1.66260007e-01 2.95703319e-01 1.15209659e+02] [-1.59031607e-01 9.86080966e-01 -4.85105773e-02 3.31193051e+02] [-2.99652783e-01 -1.39225684e-03 9.54047311e-01 -3.81933696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters Centerline goodness [0,1] 0.9942900327483416 Centerline is valid? [True, True] Translation: X:115.24, Y:331.18, Z:-3.82 [[ 9.40522764e-01 1.60979461e-01 2.99169757e-01 1.15241028e+02] [-1.53291784e-01 9.86957687e-01 -4.91543806e-02 3.31179705e+02] [-3.03180737e-01 3.70548068e-04 9.52933000e-01 -3.82064329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.566875 meters Centerline goodness [0,1] 0.9940431085290898 Centerline is valid? [True, True] Translation: X:115.27, Y:331.17, Z:-3.83 [[ 9.40621792e-01 1.60338564e-01 2.99202587e-01 1.15272017e+02] [-1.52593280e-01 9.87061859e-01 -4.92359263e-02 3.31171265e+02] [-3.03225880e-01 6.56081046e-04 9.52918483e-01 -3.82914407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters Centerline goodness [0,1] 0.993602248652277 Centerline is valid? [True, True] Translation: X:115.30, Y:331.16, Z:-3.84 [[ 9.41317492e-01 1.59680303e-01 2.97361027e-01 1.15301391e+02] [-1.51973018e-01 9.87168321e-01 -4.90194598e-02 3.31162673e+02] [-3.01372828e-01 9.52022247e-04 9.53505906e-01 -3.83964325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.626875 meters Centerline goodness [0,1] 0.9932824107983677 Centerline is valid? [True, True] Translation: X:115.33, Y:331.15, Z:-3.85 [[ 9.41616720e-01 1.59090265e-01 2.96729238e-01 1.15331006e+02] [-1.51362467e-01 9.87263285e-01 -4.89960100e-02 3.31152769e+02] [-3.00744670e-01 1.22179287e-03 9.53703911e-01 -3.84872174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters Centerline goodness [0,1] 0.9930147675784528 Centerline is valid? [True, True] Translation: X:115.36, Y:331.15, Z:-3.86 [[ 9.40491771e-01 1.59748612e-01 2.99926006e-01 1.15362340e+02] [-1.51855521e-01 9.87157106e-01 -4.96059335e-02 3.31146482e+02] [-3.03998567e-01 1.10855231e-03 9.52671844e-01 -3.85617468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.686875 meters Centerline goodness [0,1] 0.9917612214249958 Centerline is valid? [True, True] Translation: X:115.39, Y:331.14, Z:-3.86 [[ 9.37660280e-01 1.62578711e-01 3.07182946e-01 1.15392427e+02] [-1.54410677e-01 9.86695538e-01 -5.08847580e-02 3.31137782e+02] [-3.11368820e-01 2.80289959e-04 9.50289103e-01 -3.86003524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters Centerline goodness [0,1] 0.9928020029209264 Centerline is valid? [True, True] Translation: X:115.42, Y:331.13, Z:-3.87 [[ 9.36869999e-01 1.64465538e-01 3.08586604e-01 1.15422238e+02] [-1.56296779e-01 9.86382792e-01 -5.11889153e-02 3.31130211e+02] [-3.12803329e-01 -2.73733171e-04 9.49817879e-01 -3.86873421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.746875 meters Centerline goodness [0,1] 0.9934173640384576 Centerline is valid? [True, True] Translation: X:115.45, Y:331.12, Z:-3.88 [[ 9.36626181e-01 1.66469226e-01 3.08252160e-01 1.15453144e+02] [-1.58399316e-01 9.86046273e-01 -5.12094182e-02 3.31123700e+02] [-3.12475686e-01 -8.62849586e-04 9.49925366e-01 -3.87918133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters Centerline goodness [0,1] 0.9930189426302957 Centerline is valid? [True, True] Translation: X:115.48, Y:331.12, Z:-3.89 [[ 9.36453832e-01 1.69133803e-01 3.07323895e-01 1.15483771e+02] [-1.61225131e-01 9.85591706e-01 -5.11414248e-02 3.31118698e+02] [-3.11545626e-01 -1.65675194e-03 9.50229750e-01 -3.89103804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.806875 meters Centerline goodness [0,1] 0.9945056092924144 Centerline is valid? [True, True] Translation: X:115.51, Y:331.12, Z:-3.90 [[ 9.35928054e-01 1.74999380e-01 3.05636869e-01 1.15512802e+02] [-1.67454716e-01 9.84562341e-01 -5.09501131e-02 3.31119012e+02] [-3.09834789e-01 -3.49469479e-03 9.50783987e-01 -3.90250685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters Centerline goodness [0,1] 0.994160189534062 Centerline is valid? [True, True] Translation: X:115.54, Y:331.11, Z:-3.91 [[ 9.35686284e-01 1.77904984e-01 3.04698204e-01 1.15542459e+02] [-1.70537638e-01 9.84037931e-01 -5.08553173e-02 3.31113944e+02] [-3.08882005e-01 -4.37788919e-03 9.51090291e-01 -3.91453314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.866875 meters Centerline goodness [0,1] 0.9945956097153827 Centerline is valid? [True, True] Translation: X:115.57, Y:331.11, Z:-3.93 [[ 9.35619476e-01 1.79679092e-01 3.03861184e-01 1.15572225e+02] [-1.72420728e-01 9.83713206e-01 -5.07880093e-02 3.31107492e+02] [-3.08037803e-01 -4.87371587e-03 9.51361634e-01 -3.92542174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters Centerline goodness [0,1] 0.9953583674834825 Centerline is valid? [True, True] Translation: X:115.60, Y:331.10, Z:-3.93 [[ 9.35307514e-01 1.82656577e-01 3.03045261e-01 1.15602131e+02] [-1.75566920e-01 9.83159890e-01 -5.07236453e-02 3.31099342e+02] [-3.07206952e-01 -5.76251644e-03 9.51625284e-01 -3.93497553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.926875 meters Centerline goodness [0,1] 0.9959689986909634 Centerline is valid? [True, True] Translation: X:115.63, Y:331.10, Z:-3.94 [[ 9.34856831e-01 1.84681162e-01 3.03208795e-01 1.15632170e+02] [-1.77662462e-01 9.82777964e-01 -5.08283745e-02 3.31098258e+02] [-3.07373966e-01 -6.35156810e-03 9.51567603e-01 -3.94338163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters Centerline goodness [0,1] 0.9956137615632471 Centerline is valid? [True, True] Translation: X:115.66, Y:331.09, Z:-3.95 [[ 9.33511092e-01 1.88108009e-01 3.05241573e-01 1.15662218e+02] [-1.81148236e-01 9.82120013e-01 -5.12405700e-02 3.31090237e+02] [-3.09422619e-01 -7.46033204e-03 9.50895360e-01 -3.95216206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.986875 meters Centerline goodness [0,1] 0.996011964107677 Centerline is valid? [True, True] Translation: X:115.69, Y:331.08, Z:-3.96 [[ 9.33050652e-01 1.89736950e-01 3.05640919e-01 1.15692261e+02] [-1.82836407e-01 9.81802460e-01 -5.13300895e-02 3.31083193e+02] [-3.09818220e-01 -7.98871380e-03 9.50762247e-01 -3.96161864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters Centerline goodness [0,1] 0.9957320119920053 Centerline is valid? [True, True] Translation: X:115.72, Y:331.08, Z:-3.97 [[ 9.32859368e-01 1.90817161e-01 3.05552304e-01 1.15721691e+02] [-1.83952444e-01 9.81590787e-01 -5.13908960e-02 3.31075413e+02] [-3.09733591e-01 -8.26661438e-03 9.50787445e-01 -3.97125470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.046875 meters Centerline goodness [0,1] 0.9958509684548507 Centerline is valid? [True, True] Translation: X:115.75, Y:331.07, Z:-3.98 [[ 9.32515562e-01 1.92058165e-01 3.05824112e-01 1.15751399e+02] [-1.85220630e-01 9.81345801e-01 -5.15144285e-02 3.31070981e+02] [-3.10012975e-01 -8.60692847e-03 9.50693366e-01 -3.98042316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters Centerline goodness [0,1] 0.9956809314165294 Centerline is valid? [True, True] Translation: X:115.78, Y:331.06, Z:-3.99 [[ 9.32382837e-01 1.92636587e-01 3.05864988e-01 1.15782356e+02] [-1.85804014e-01 9.81231368e-01 -5.15933125e-02 3.31064430e+02] [-3.10063080e-01 -8.72622349e-03 9.50675938e-01 -3.99112672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.106875 meters Centerline goodness [0,1] 0.9963102707886015 Centerline is valid? [True, True] Translation: X:115.81, Y:331.06, Z:-4.00 [[ 9.32229021e-01 1.93360830e-01 3.05876842e-01 1.15811983e+02] [-1.86537495e-01 9.81087542e-01 -5.16817000e-02 3.31055683e+02] [-3.10085175e-01 -8.87831915e-03 9.50667323e-01 -4.00188734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters Centerline goodness [0,1] 0.9960287757817698 Centerline is valid? [True, True] Translation: X:115.84, Y:331.04, Z:-4.01 [[ 9.32363203e-01 1.92701075e-01 3.05884216e-01 1.15838778e+02] [-1.85818000e-01 9.81219991e-01 -5.17590651e-02 3.31042185e+02] [-3.10113735e-01 -8.58054565e-03 9.50660742e-01 -4.01354633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.166875 meters Centerline goodness [0,1] 0.9956528039414577 Centerline is valid? [True, True] Translation: X:115.87, Y:331.03, Z:-4.02 [[ 9.32467539e-01 1.92128867e-01 3.05926114e-01 1.15867034e+02] [-1.85190977e-01 9.81334445e-01 -5.18363761e-02 3.31032345e+02] [-3.10175097e-01 -8.31901772e-03 9.50643047e-01 -4.02316215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters Centerline goodness [0,1] 0.9945784765519111 Centerline is valid? [True, True] Translation: X:115.90, Y:331.02, Z:-4.03 [[ 9.32680888e-01 1.90986029e-01 3.05991335e-01 1.15895266e+02] [-1.83962963e-01 9.81561203e-01 -5.19156391e-02 3.31017871e+02] [-3.10264385e-01 -7.87034834e-03 9.50617730e-01 -4.03333116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.226875 meters Centerline goodness [0,1] 0.9940902021772939 Centerline is valid? [True, True] Translation: X:115.92, Y:331.01, Z:-4.04 [[ 9.33006666e-01 1.89411074e-01 3.05977134e-01 1.15924120e+02] [-1.82280035e-01 9.81871014e-01 -5.19932814e-02 3.31006682e+02] [-3.10278182e-01 -7.26344449e-03 9.50618058e-01 -4.04163053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters Centerline goodness [0,1] 0.9936708860759493 Centerline is valid? [True, True] Translation: X:115.95, Y:331.00, Z:-4.05 [[ 9.32942280e-01 1.88751453e-01 3.06580480e-01 1.15953481e+02] [-1.81532757e-01 9.82000067e-01 -5.21701694e-02 3.30996410e+02] [-3.10909247e-01 -6.98264284e-03 9.50413953e-01 -4.05101109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.286875 meters Centerline goodness [0,1] 0.9940462654786761 Centerline is valid? [True, True] Translation: X:115.98, Y:330.99, Z:-4.06 [[ 9.32592408e-01 1.88755810e-01 3.07640448e-01 1.15983590e+02] [-1.81460398e-01 9.81999610e-01 -5.24298485e-02 3.30987248e+02] [-3.11999239e-01 -6.92887966e-03 9.50057085e-01 -4.05961616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters Centerline goodness [0,1] 0.9942024769345856 Centerline is valid? [True, True] Translation: X:116.01, Y:330.97, Z:-4.07 [[ 9.31384850e-01 1.89065239e-01 3.11089371e-01 1.16013198e+02] [-1.81590586e-01 9.81939355e-01 -5.31033196e-02 3.30971173e+02] [-3.15510888e-01 -7.03127385e-03 9.48895906e-01 -4.06564073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.346875 meters Centerline goodness [0,1] 0.9933995447961929 Centerline is valid? [True, True] Translation: X:116.04, Y:330.96, Z:-4.08 [[ 9.31257537e-01 1.89847802e-01 3.10993910e-01 1.16043112e+02] [-1.82394494e-01 9.81787032e-01 -5.31645859e-02 3.30962038e+02] [-3.15422967e-01 -7.21365563e-03 9.48923767e-01 -4.07511494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters Centerline goodness [0,1] 0.9930368466862851 Centerline is valid? [True, True] Translation: X:116.07, Y:330.95, Z:-4.09 [[ 9.31303034e-01 1.90885290e-01 3.10221637e-01 1.16073141e+02] [-1.83499543e-01 9.81583981e-01 -5.31112593e-02 3.30953997e+02] [-3.14646748e-01 -7.46285165e-03 9.49179504e-01 -4.08572969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.406875 meters Centerline goodness [0,1] 0.9939705548328481 Centerline is valid? [True, True] Translation: X:116.10, Y:330.95, Z:-4.10 [[ 9.30947925e-01 1.93877461e-01 3.09430915e-01 1.16101969e+02] [-1.86661159e-01 9.80990153e-01 -5.30653560e-02 3.30948605e+02] [-3.13836857e-01 -8.35765013e-03 9.49440139e-01 -4.09586650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters Centerline goodness [0,1] 0.9933024107161429 Centerline is valid? [True, True] Translation: X:116.13, Y:330.94, Z:-4.11 [[ 9.30229770e-01 1.95932303e-01 3.10295194e-01 1.16131812e+02] [-1.88761829e-01 9.80576097e-01 -5.32868713e-02 3.30941876e+02] [-3.14708670e-01 -9.00285429e-03 9.49145617e-01 -4.10610042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.466875 meters Centerline goodness [0,1] 0.9937254089873679 Centerline is valid? [True, True] Translation: X:116.16, Y:330.93, Z:-4.12 [[ 9.30279406e-01 1.98106921e-01 3.08761842e-01 1.16160474e+02] [-1.91099358e-01 9.80133345e-01 -5.31004778e-02 3.30934032e+02] [-3.13147350e-01 -9.60590901e-03 9.49655971e-01 -4.11803382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters Centerline goodness [0,1] 0.9951263836114324 Centerline is valid? [True, True] Translation: X:116.19, Y:330.92, Z:-4.13 [[ 9.31677973e-01 1.99630882e-01 3.03518805e-01 1.16185912e+02] [-1.92919104e-01 9.79821580e-01 -5.22674905e-02 3.30922515e+02] [-3.07828481e-01 -9.85810648e-03 9.51390795e-01 -4.13431737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.526875 meters Centerline goodness [0,1] 0.9945400568830576 Centerline is valid? [True, True] Translation: X:116.22, Y:330.91, Z:-4.14 [[ 9.31549629e-01 1.99696694e-01 3.03869247e-01 1.16215095e+02] [-1.92960251e-01 9.79808219e-01 -5.23659834e-02 3.30914685e+02] [-3.08190900e-01 -9.85317370e-03 9.51273507e-01 -4.14465687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters Centerline goodness [0,1] 0.994869142443364 Centerline is valid? [True, True] Translation: X:116.25, Y:330.90, Z:-4.15 [[ 9.30534076e-01 1.99730327e-01 3.06943202e-01 1.16246946e+02] [-1.92830190e-01 9.79800981e-01 -5.29769276e-02 3.30904726e+02] [-3.11324349e-01 -9.89107963e-03 9.50252238e-01 -4.14848800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.586875 meters Centerline goodness [0,1] 0.9954899040052962 Centerline is valid? [True, True] Translation: X:116.28, Y:330.90, Z:-4.15 [[ 9.29991123e-01 2.00830590e-01 3.07869431e-01 1.16276974e+02] [-1.93922382e-01 9.79572707e-01 -5.32110989e-02 3.30898561e+02] [-3.12266908e-01 -1.02169237e-02 9.49939468e-01 -4.15433926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters Centerline goodness [0,1] 0.9947658004822058 Centerline is valid? [True, True] Translation: X:116.31, Y:330.89, Z:-4.16 [[ 9.29993958e-01 2.02147781e-01 3.06997577e-01 1.16306025e+02] [-1.95335940e-01 9.79297829e-01 -5.31002218e-02 3.30891639e+02] [-3.11376152e-01 -1.05847747e-02 9.50227791e-01 -4.16266979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.646875 meters Centerline goodness [0,1] 0.9957721959711514 Centerline is valid? [True, True] Translation: X:116.34, Y:330.88, Z:-4.17 [[ 9.29928623e-01 2.03881199e-01 3.06047730e-01 1.16336009e+02] [-1.97181029e-01 9.78933197e-01 -5.30041247e-02 3.30883135e+02] [-3.10406828e-01 -1.10567536e-02 9.50539504e-01 -4.17267234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters Centerline goodness [0,1] 0.9953906525756286 Centerline is valid? [True, True] Translation: X:116.36, Y:330.87, Z:-4.18 [[ 9.29535037e-01 2.07229834e-01 3.04992476e-01 1.16363184e+02] [-2.00728314e-01 9.78218012e-01 -5.28929602e-02 3.30866392e+02] [-3.09310133e-01 -1.20547657e-02 9.50884811e-01 -4.18380741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.706875 meters Centerline goodness [0,1] 0.9952643057430678 Centerline is valid? [True, True] Translation: X:116.39, Y:330.86, Z:-4.19 [[ 9.28950380e-01 2.07907175e-01 3.06309970e-01 1.16393230e+02] [-2.01380478e-01 9.78070896e-01 -5.31340379e-02 3.30857990e+02] [-3.10639815e-01 -1.23259634e-02 9.50447777e-01 -4.19315763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters Centerline goodness [0,1] 0.9953026383859286 Centerline is valid? [True, True] Translation: X:116.42, Y:330.85, Z:-4.20 [[ 9.27445629e-01 2.09680191e-01 3.09643058e-01 1.16421752e+02] [-2.03079685e-01 9.77683659e-01 -5.37894496e-02 3.30848484e+02] [-3.14011540e-01 -1.29954250e-02 9.49330223e-01 -4.19913355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.766875 meters Centerline goodness [0,1] 0.9964681195853157 Centerline is valid? [True, True] Translation: X:116.45, Y:330.84, Z:-4.21 [[ 9.26779663e-01 2.11027052e-01 3.10720195e-01 1.16449896e+02] [-2.04450908e-01 9.77387062e-01 -5.39847950e-02 3.30835517e+02] [-3.15086151e-01 -1.34950160e-02 9.48967124e-01 -4.20975612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters Centerline goodness [0,1] 0.9962228125518845 Centerline is valid? [True, True] Translation: X:116.48, Y:330.83, Z:-4.22 [[ 9.26627072e-01 2.12464713e-01 3.10195125e-01 1.16478711e+02] [-2.05964665e-01 9.77070137e-01 -5.39676192e-02 3.30828842e+02] [-3.14548608e-01 -1.38813781e-02 9.49139863e-01 -4.21969339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82687500000003 meters Centerline goodness [0,1] 0.9960838228554764 Centerline is valid? [True, True] Translation: X:116.51, Y:330.81, Z:-4.23 [[ 9.27329954e-01 2.13045685e-01 3.07686028e-01 1.16506277e+02] [-2.06658386e-01 9.76943678e-01 -5.36037439e-02 3.30814191e+02] [-3.12011967e-01 -1.38775406e-02 9.49976814e-01 -4.23203147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters Centerline goodness [0,1] 0.9960838228554764 Centerline is valid? [True, True] Translation: X:116.54, Y:330.81, Z:-4.24 [[ 9.27271247e-01 2.13320264e-01 3.07672716e-01 1.16536844e+02] [-2.06922388e-01 9.76883605e-01 -5.36800541e-02 3.30808807e+02] [-3.12011475e-01 -1.38884022e-02 9.49976817e-01 -4.24194594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88687500000003 meters Centerline goodness [0,1] 0.9971567325253196 Centerline is valid? [True, True] Translation: X:116.57, Y:330.80, Z:-4.25 [[ 9.28014125e-01 2.13001936e-01 3.05646790e-01 1.16565871e+02] [-2.06642906e-01 9.76957267e-01 -5.34154258e-02 3.30797307e+02] [-3.09981441e-01 -1.35894713e-02 9.50645482e-01 -4.25222960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters Centerline goodness [0,1] 0.9982260992967006 Centerline is valid? [True, True] Translation: X:116.59, Y:330.78, Z:-4.26 [[ 9.30256366e-01 2.09642268e-01 3.01119932e-01 1.16589951e+02] [-2.03276000e-01 9.77702211e-01 -5.26996552e-02 3.30776990e+02] [-3.05453698e-01 -1.21862655e-02 9.52128948e-01 -4.26405681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94687500000003 meters Centerline goodness [0,1] 0.9982518574015109 Centerline is valid? [True, True] Translation: X:116.62, Y:330.77, Z:-4.27 [[ 9.30667610e-01 2.07645557e-01 3.01232671e-01 1.16617673e+02] [-2.01174317e-01 9.78136047e-01 -5.27140151e-02 3.30766579e+02] [-3.05592365e-01 -1.15410504e-02 9.52092491e-01 -4.27219230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters Centerline goodness [0,1] 0.9982091914291069 Centerline is valid? [True, True] Translation: X:116.65, Y:330.75, Z:-4.28 [[ 9.29950030e-01 2.06071999e-01 3.04511531e-01 1.16647904e+02] [-1.99373281e-01 9.78473301e-01 -5.32944036e-02 3.30753676e+02] [-3.08938887e-01 -1.11503309e-02 9.51016527e-01 -4.27732321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.00687500000004 meters Centerline goodness [0,1] 0.9986906370154838 Centerline is valid? [True, True] Translation: X:116.68, Y:330.74, Z:-4.28 [[ 9.28726693e-01 2.04644923e-01 3.09171772e-01 1.16678957e+02] [-1.97634422e-01 9.78776944e-01 -5.41879012e-02 3.30744828e+02] [-3.13699481e-01 -1.07772342e-02 9.49461156e-01 -4.27924875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters Centerline goodness [0,1] 0.9985476575791526 Centerline is valid? [True, True] Translation: X:116.71, Y:330.72, Z:-4.28 [[ 9.28109114e-01 2.01559530e-01 3.13029116e-01 1.16708923e+02] [-1.94185012e-01 9.79426994e-01 -5.49085177e-02 3.30724316e+02] [-3.17656501e-01 -9.82446701e-03 9.48154959e-01 -4.28306150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.066875 meters Centerline goodness [0,1] 0.9992572725397153 Centerline is valid? [True, True] Translation: X:116.74, Y:330.71, Z:-4.29 [[ 9.29380532e-01 2.00401453e-01 3.09985619e-01 1.16736077e+02] [-1.93100079e-01 9.79669740e-01 -5.44018286e-02 3.30711381e+02] [-3.14585737e-01 -9.29824728e-03 9.49183521e-01 -4.29478702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters Centerline goodness [0,1] 0.999524055871702 Centerline is valid? [True, True] Translation: X:116.76, Y:330.69, Z:-4.31 [[ 9.31595666e-01 1.96473055e-01 3.05823239e-01 1.16760979e+02] [-1.89157720e-01 9.80477932e-01 -5.36878161e-02 3.30693577e+02] [-3.10401146e-01 -7.83348987e-03 9.50573388e-01 -4.30888533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.126875 meters Centerline goodness [0,1] 0.9992154595755224 Centerline is valid? [True, True] Translation: X:116.79, Y:330.68, Z:-4.32 [[ 9.31878236e-01 1.94389479e-01 3.06293460e-01 1.16789163e+02] [-1.86938292e-01 9.80898433e-01 -5.37804803e-02 3.30684508e+02] [-3.10897135e-01 -7.14111706e-03 9.50416738e-01 -4.31954767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters Centerline goodness [0,1] 0.9996078512311407 Centerline is valid? [True, True] Translation: X:116.82, Y:330.67, Z:-4.33 [[ 9.32374246e-01 1.91552234e-01 3.06571372e-01 1.16818120e+02] [-1.83914200e-01 9.81463299e-01 -5.39013916e-02 3.30672683e+02] [-3.11213482e-01 -6.12655931e-03 9.50320280e-01 -4.33010122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.186875 meters Centerline goodness [0,1] 0.9992786777132022 Centerline is valid? [True, True] Translation: X:116.84, Y:330.65, Z:-4.34 [[ 9.34273368e-01 1.83219736e-01 3.05882008e-01 1.16844834e+02] [-1.75156934e-01 9.83066568e-01 -5.38532422e-02 3.30653849e+02] [-3.10569353e-01 -3.26370491e-03 9.50545120e-01 -4.34085644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters Centerline goodness [0,1] 0.9998552971576228 Centerline is valid? [True, True] Translation: X:116.87, Y:330.64, Z:-4.35 [[ 9.35329156e-01 1.79345470e-01 3.04950114e-01 1.16874702e+02] [-1.71128420e-01 9.83784208e-01 -5.37000629e-02 3.30642493e+02] [-3.09635969e-01 -1.95839660e-03 9.50853160e-01 -4.34825479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.246875 meters Centerline goodness [0,1] 0.9999585792689241 Centerline is valid? [True, True] Translation: X:116.90, Y:330.63, Z:-4.36 [[ 9.35988201e-01 1.76070445e-01 3.04836491e-01 1.16902930e+02] [-1.67679222e-01 9.84377211e-01 -5.37139093e-02 3.30626769e+02] [-3.09531527e-01 -8.39160344e-04 9.50888810e-01 -4.35768111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters Centerline goodness [0,1] 0.9997736346050953 Centerline is valid? [True, True] Translation: X:116.93, Y:330.61, Z:-4.37 [[ 9.36469623e-01 1.73029685e-01 3.05098957e-01 1.16933315e+02] [-1.64435780e-01 9.84916575e-01 -5.38536473e-02 3.30612749e+02] [-3.09815299e-01 2.63119919e-04 9.50796724e-01 -4.36537953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.306875 meters Centerline goodness [0,1] 0.9996502777206336 Centerline is valid? [True, True] Translation: X:116.96, Y:330.59, Z:-4.37 [[ 9.37098908e-01 1.66049369e-01 3.07039482e-01 1.16961611e+02] [-1.56948653e-01 9.86113800e-01 -5.42834522e-02 3.30592928e+02] [-3.11789604e-01 2.67953069e-03 9.50147390e-01 -4.37276939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters Centerline goodness [0,1] 0.9994032676241821 Centerline is valid? [True, True] Translation: X:116.99, Y:330.58, Z:-4.38 [[ 9.37470770e-01 1.63128085e-01 3.07469972e-01 1.16990868e+02] [-1.53822365e-01 9.86597820e-01 -5.44373238e-02 3.30584116e+02] [-3.12229460e-01 3.73764180e-03 9.49999365e-01 -4.38197407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.366875 meters Centerline goodness [0,1] 0.9996707141387117 Centerline is valid? [True, True] Translation: X:117.02, Y:330.57, Z:-4.39 [[ 9.38131903e-01 1.59891608e-01 3.07153391e-01 1.17019326e+02] [-1.50412490e-01 9.87122487e-01 -5.44543746e-02 3.30574338e+02] [-3.11904817e-01 4.88567979e-03 9.50100792e-01 -4.39218643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters Centerline goodness [0,1] 0.9995653433787308 Centerline is valid? [True, True] Translation: X:117.05, Y:330.57, Z:-4.40 [[ 9.38187344e-01 1.59784914e-01 3.07039555e-01 1.17049372e+02] [-1.50281757e-01 9.87139188e-01 -5.45125443e-02 3.30568863e+02] [-3.11801059e-01 5.00053539e-03 9.50134251e-01 -4.40409210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.426875 meters Centerline goodness [0,1] 0.9994630650723829 Centerline is valid? [True, True] Translation: X:117.08, Y:330.56, Z:-4.42 [[ 9.38147387e-01 1.60615394e-01 3.06728180e-01 1.17078761e+02] [-1.51146048e-01 9.87005339e-01 -5.45466073e-02 3.30564191e+02] [-3.11503376e-01 4.81200507e-03 9.50232862e-01 -4.41527591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters Centerline goodness [0,1] 0.9996882015465204 Centerline is valid? [True, True] Translation: X:117.11, Y:330.56, Z:-4.42 [[ 9.37843254e-01 1.61748482e-01 3.07062633e-01 1.17108104e+02] [-1.52290792e-01 9.86821646e-01 -5.46859469e-02 3.30557495e+02] [-3.11861422e-01 4.52403480e-03 9.50116828e-01 -4.42457491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.486875 meters Centerline goodness [0,1] 0.9991763785364247 Centerline is valid? [True, True] Translation: X:117.14, Y:330.55, Z:-4.43 [[ 9.36597431e-01 1.65001767e-01 3.09127269e-01 1.17137046e+02] [-1.55560295e-01 9.86286900e-01 -5.51284533e-02 3.30546669e+02] [-3.13984468e-01 3.54523865e-03 9.49421500e-01 -4.43285174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters Centerline goodness [0,1] 0.9992195522694598 Centerline is valid? [True, True] Translation: X:117.17, Y:330.54, Z:-4.44 [[ 9.36375231e-01 1.67346599e-01 3.08539369e-01 1.17166809e+02] [-1.58041966e-01 9.85894068e-01 -5.50964913e-02 3.30540194e+02] [-3.13407344e-01 2.82882142e-03 9.49614572e-01 -4.44198505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.546875 meters Centerline goodness [0,1] 0.9991143516230021 Centerline is valid? [True, True] Translation: X:117.20, Y:330.54, Z:-4.45 [[ 9.36720756e-01 1.73937135e-01 3.03809313e-01 1.17196362e+02] [-1.65236375e-01 9.84756517e-01 -5.43281064e-02 3.30540076e+02] [-3.08627876e-01 6.89915229e-04 9.51182610e-01 -4.45453914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters Centerline goodness [0,1] 0.9995250681423969 Centerline is valid? [True, True] Translation: X:117.23, Y:330.54, Z:-4.47 [[ 9.36529678e-01 1.77855361e-01 3.02125194e-01 1.17227536e+02] [-1.69427425e-01 9.84056503e-01 -5.41031097e-02 3.30539332e+02] [-3.06930790e-01 -5.19125839e-04 9.51731696e-01 -4.46520314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.606875 meters Centerline goodness [0,1] 0.9993619561190467 Centerline is valid? [True, True] Translation: X:117.26, Y:330.54, Z:-4.47 [[ 9.35601217e-01 1.81707162e-01 3.02709215e-01 1.17259165e+02] [-1.73414171e-01 9.83351224e-01 -5.42945198e-02 3.30538486e+02] [-3.07535181e-01 -1.69604869e-03 9.51535200e-01 -4.47412240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters Centerline goodness [0,1] 0.9993988889810131 Centerline is valid? [True, True] Translation: X:117.29, Y:330.54, Z:-4.48 [[ 9.33419373e-01 1.88432146e-01 3.05322127e-01 1.17290308e+02] [-1.80316571e-01 9.82078606e-01 -5.48410915e-02 3.30537937e+02] [-3.10184154e-01 -3.86490184e-03 9.50668635e-01 -4.48262154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.666875 meters Centerline goodness [0,1] 0.9993197278911564 Centerline is valid? [True, True] Translation: X:117.32, Y:330.53, Z:-4.49 [[ 9.32526018e-01 1.91771961e-01 3.05971796e-01 1.17318548e+02] [-1.83771027e-01 9.81427241e-01 -5.50343622e-02 3.30531913e+02] [-3.10843103e-01 -4.90777672e-03 9.50448567e-01 -4.49298554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters Centerline goodness [0,1] 0.9988869880660387 Centerline is valid? [True, True] Translation: X:117.35, Y:330.52, Z:-4.50 [[ 9.32074058e-01 1.94901278e-01 3.05370992e-01 1.17346789e+02] [-1.87083138e-01 9.80805131e-01 -5.49653857e-02 3.30524309e+02] [-3.10222260e-01 -5.89795321e-03 9.50645761e-01 -4.50260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.726875 meters Centerline goodness [0,1] 0.998966472363471 Centerline is valid? [True, True] Translation: X:117.38, Y:330.52, Z:-4.51 [[ 9.31626492e-01 1.99187777e-01 3.03967612e-01 1.17375639e+02] [-1.91660909e-01 9.79934332e-01 -5.47247789e-02 3.30515998e+02] [-3.08768806e-01 -7.27565513e-03 9.51109294e-01 -4.51346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters Centerline goodness [0,1] 0.9991545868816628 Centerline is valid? [True, True] Translation: X:117.41, Y:330.51, Z:-4.52 [[ 9.31230317e-01 2.00738987e-01 3.04161070e-01 1.17406208e+02] [-1.93259603e-01 9.79614332e-01 -5.48314327e-02 3.30512758e+02] [-3.08967350e-01 -7.72135536e-03 9.51041302e-01 -4.52433854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.786875 meters Centerline goodness [0,1] 0.9991173331143772 Centerline is valid? [True, True] Translation: X:117.44, Y:330.51, Z:-4.54 [[ 9.31389885e-01 2.01006504e-01 3.03495086e-01 1.17436315e+02] [-1.93549413e-01 9.79559547e-01 -5.47879515e-02 3.30507623e+02] [-3.08304243e-01 -7.71235170e-03 9.51256544e-01 -4.53755011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters Centerline goodness [0,1] 0.9989882304356804 Centerline is valid? [True, True] Translation: X:117.47, Y:330.50, Z:-4.55 [[ 9.31943303e-01 2.00166977e-01 3.02348908e-01 1.17465734e+02] [-1.92695936e-01 9.79734498e-01 -5.46679869e-02 3.30499570e+02] [-3.07164381e-01 -7.31394156e-03 9.51628367e-01 -4.54987860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.846875 meters Centerline goodness [0,1] 0.9990928022102638 Centerline is valid? [True, True] Translation: X:117.49, Y:330.49, Z:-4.56 [[ 9.32301057e-01 1.99400028e-01 3.01752163e-01 1.17494243e+02] [-1.91910895e-01 9.79893048e-01 -5.45877488e-02 3.30491044e+02] [-3.06569645e-01 -7.01731156e-03 9.51822363e-01 -4.55981726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters Centerline goodness [0,1] 0.9991157176054455 Centerline is valid? [True, True] Translation: X:117.52, Y:330.48, Z:-4.57 [[ 9.32268505e-01 1.98741330e-01 3.02286813e-01 1.17523783e+02] [-1.91168510e-01 9.80028797e-01 -5.47554341e-02 3.30481349e+02] [-3.07131950e-01 -6.74095285e-03 9.51643066e-01 -4.56834814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.906875 meters Centerline goodness [0,1] 0.9991121205864134 Centerline is valid? [True, True] Translation: X:117.55, Y:330.47, Z:-4.58 [[ 9.31977427e-01 1.98217679e-01 3.03525662e-01 1.17553500e+02] [-1.90529948e-01 9.80136336e-01 -5.50554405e-02 3.30467348e+02] [-3.08409492e-01 -6.52030101e-03 9.51231344e-01 -4.57543111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters Centerline goodness [0,1] 0.9990345309258232 Centerline is valid? [True, True] Translation: X:117.58, Y:330.46, Z:-4.58 [[ 9.31812821e-01 1.98111750e-01 3.04099655e-01 1.17583022e+02] [-1.90364437e-01 9.80158406e-01 -5.52347688e-02 3.30458312e+02] [-3.09008490e-01 -6.42129386e-03 9.51037602e-01 -4.58314261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.966875 meters Centerline goodness [0,1] 0.9986217394881922 Centerline is valid? [True, True] Translation: X:117.61, Y:330.45, Z:-4.59 [[ 9.31226434e-01 1.98844374e-01 3.05414871e-01 1.17613215e+02] [-1.91040714e-01 9.80008766e-01 -5.55541603e-02 3.30449396e+02] [-3.10355883e-01 -6.61317220e-03 9.50597440e-01 -4.59070645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters Centerline goodness [0,1] 0.9984367929573409 Centerline is valid? [True, True] Translation: X:117.64, Y:330.44, Z:-4.60 [[ 9.30218751e-01 2.01382247e-01 3.06819599e-01 1.17642714e+02] [-1.93615048e-01 9.79484626e-01 -5.58845210e-02 3.30439731e+02] [-3.11779231e-01 -7.42006226e-03 9.50125599e-01 -4.59867627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.026875 meters Centerline goodness [0,1] 0.9986642005754213 Centerline is valid? [True, True] Translation: X:117.67, Y:330.43, Z:-4.61 [[ 9.30206770e-01 2.02778116e-01 3.05935290e-01 1.17672285e+02] [-1.95106546e-01 9.79193732e-01 -5.57949032e-02 3.30433568e+02] [-3.10883904e-01 -7.78918111e-03 9.50415976e-01 -4.61073209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters Centerline goodness [0,1] 0.9990094105993066 Centerline is valid? [True, True] Translation: X:117.70, Y:330.42, Z:-4.62 [[ 9.30677958e-01 2.03442284e-01 3.04055548e-01 1.17701842e+02] [-1.95876007e-01 9.79055246e-01 -5.55285139e-02 3.30424620e+02] [-3.08984026e-01 -7.87802281e-03 9.51034599e-01 -4.62463272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.086875 meters Centerline goodness [0,1] 0.9983261696148124 Centerline is valid? [True, True] Translation: X:117.73, Y:330.41, Z:-4.64 [[ 9.31463081e-01 2.03297981e-01 3.01739060e-01 1.17728508e+02] [-1.95812605e-01 9.79086847e-01 -5.51939363e-02 3.30410398e+02] [-3.06649561e-01 -7.67319757e-03 9.51791558e-01 -4.63835420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters Centerline goodness [0,1] 0.9979271846652711 Centerline is valid? [True, True] Translation: X:117.76, Y:330.40, Z:-4.65 [[ 9.31428838e-01 2.03279612e-01 3.01857117e-01 1.17757531e+02] [-1.95764110e-01 9.79091260e-01 -5.52875934e-02 3.30401202e+02] [-3.06784505e-01 -7.59633096e-03 9.51748687e-01 -4.64900587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.146875 meters Centerline goodness [0,1] 0.9982062595356892 Centerline is valid? [True, True] Translation: X:117.78, Y:330.38, Z:-4.66 [[ 9.31721743e-01 2.01679304e-01 3.02026576e-01 1.17784933e+02] [-1.94046724e-01 9.79426675e-01 -5.54008802e-02 3.30382878e+02] [-3.06986096e-01 -6.98906308e-03 9.51688337e-01 -4.65938159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters Centerline goodness [0,1] 0.9985430932212209 Centerline is valid? [True, True] Translation: X:117.81, Y:330.37, Z:-4.67 [[ 9.31890420e-01 2.01274037e-01 3.01776418e-01 1.17814360e+02] [-1.93609169e-01 9.79511568e-01 -5.54308305e-02 3.30373676e+02] [-3.06750280e-01 -6.77122166e-03 9.51765946e-01 -4.66885915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.206875 meters Centerline goodness [0,1] 0.9983098010924456 Centerline is valid? [True, True] Translation: X:117.84, Y:330.37, Z:-4.68 [[ 9.32034594e-01 2.00666484e-01 3.01735775e-01 1.17843942e+02] [-1.92947392e-01 9.79638121e-01 -5.55018497e-02 3.30368943e+02] [-3.06729229e-01 -6.48948680e-03 9.51774693e-01 -4.67811534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters Centerline goodness [0,1] 0.9981765059367165 Centerline is valid? [True, True] Translation: X:117.87, Y:330.36, Z:-4.69 [[ 9.32673476e-01 1.99222069e-01 3.00717068e-01 1.17872344e+02] [-1.91459684e-01 9.79936501e-01 -5.53863093e-02 3.30356312e+02] [-3.05717807e-01 -5.91785306e-03 9.52103777e-01 -4.68703874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.266875 meters Centerline goodness [0,1] 0.9988003888394796 Centerline is valid? [True, True] Translation: X:117.90, Y:330.34, Z:-4.70 [[ 9.32904900e-01 1.98088854e-01 3.00747825e-01 1.17900700e+02] [-1.90245235e-01 9.80168771e-01 -5.54610689e-02 3.30343249e+02] [-3.05769845e-01 -5.47593777e-03 9.52089710e-01 -4.69675261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters Centerline goodness [0,1] 0.9980258509621379 Centerline is valid? [True, True] Translation: X:117.93, Y:330.33, Z:-4.71 [[ 9.32923392e-01 1.97746861e-01 3.00915476e-01 1.17929195e+02] [-1.89852817e-01 9.80238847e-01 -5.55671686e-02 3.30329136e+02] [-3.05957273e-01 -5.28973935e-03 9.52030549e-01 -4.70651852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32687500000003 meters Centerline goodness [0,1] 0.9984927009559993 Centerline is valid? [True, True] Translation: X:117.96, Y:330.32, Z:-4.71 [[ 9.32017507e-01 1.98185674e-01 3.03423474e-01 1.17958901e+02] [-1.90153195e-01 9.80149620e-01 -5.61113654e-02 3.30318911e+02] [-3.08520872e-01 -5.40016832e-03 9.51202244e-01 -4.71391927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters Centerline goodness [0,1] 0.9989093079250098 Centerline is valid? [True, True] Translation: X:117.99, Y:330.31, Z:-4.72 [[ 9.30918640e-01 1.98659398e-01 3.06471743e-01 1.17989424e+02] [-1.90457859e-01 9.80052995e-01 -5.67620575e-02 3.30313342e+02] [-3.11634866e-01 -5.52909467e-03 9.50185845e-01 -4.72090946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38687500000003 meters Centerline goodness [0,1] 0.9987675622381069 Centerline is valid? [True, True] Translation: X:118.02, Y:330.31, Z:-4.73 [[ 9.29201953e-01 2.01325315e-01 3.09922325e-01 1.18020442e+02] [-1.93053320e-01 9.79503368e-01 -5.74766662e-02 3.30310306e+02] [-3.15141469e-01 -6.42410314e-03 9.49022964e-01 -4.72590397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters Centerline goodness [0,1] 0.998849252013809 Centerline is valid? [True, True] Translation: X:118.05, Y:330.30, Z:-4.74 [[ 9.29686106e-01 2.02873095e-01 3.07451219e-01 1.18050281e+02] [-1.94793279e-01 9.79181344e-01 -5.70918052e-02 3.30302762e+02] [-3.12632889e-01 -6.81197302e-03 9.49849606e-01 -4.73944813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44687500000003 meters Centerline goodness [0,1] 0.9988697081792026 Centerline is valid? [True, True] Translation: X:118.08, Y:330.29, Z:-4.75 [[ 9.30381125e-01 2.04670528e-01 3.04139669e-01 1.18078907e+02] [-1.96831918e-01 9.78804166e-01 -5.65650114e-02 3.30294891e+02] [-3.09270366e-01 -7.23737539e-03 9.50946613e-01 -4.75434669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters Centerline goodness [0,1] 0.9986839940779734 Centerline is valid? [True, True] Translation: X:118.11, Y:330.29, Z:-4.77 [[ 9.30748103e-01 2.08205359e-01 3.00596901e-01 1.18106225e+02] [-2.00702627e-01 9.78050644e-01 -5.59945760e-02 3.30287631e+02] [-3.05657363e-01 -8.21374223e-03 9.52106145e-01 -4.76831371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.50687500000004 meters Centerline goodness [0,1] 0.9990536926558321 Centerline is valid? [True, True] Translation: X:118.14, Y:330.28, Z:-4.78 [[ 9.30581892e-01 2.09657010e-01 3.00102118e-01 1.18135037e+02] [-2.02240809e-01 9.77736855e-01 -5.59401276e-02 3.30282753e+02] [-3.05149141e-01 -8.63602544e-03 9.52265415e-01 -4.77858933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters Centerline goodness [0,1] 0.9981661206239311 Centerline is valid? [True, True] Translation: X:118.16, Y:330.28, Z:-4.79 [[ 9.29072340e-01 2.13912081e-01 3.01771782e-01 1.18164413e+02] [-2.06607031e-01 9.76801528e-01 -5.63232586e-02 3.30276780e+02] [-3.06819364e-01 -1.00197902e-02 9.51715021e-01 -4.78618772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.566875 meters Centerline goodness [0,1] 0.99848180214189 Centerline is valid? [True, True] Translation: X:118.20, Y:330.27, Z:-4.79 [[ 9.27837212e-01 2.15697872e-01 3.04290218e-01 1.18195246e+02] [-2.08357302e-01 9.76401606e-01 -5.68079086e-02 3.30268259e+02] [-3.09362802e-01 -1.06925971e-02 9.50883970e-01 -4.79221243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters Centerline goodness [0,1] 0.9982933750051405 Centerline is valid? [True, True] Translation: X:118.23, Y:330.26, Z:-4.80 [[ 9.26739466e-01 2.17570331e-01 3.06295794e-01 1.18226153e+02] [-2.10223426e-01 9.75978342e-01 -5.72047857e-02 3.30258665e+02] [-3.11384125e-01 -1.13766186e-02 9.50216028e-01 -4.79848592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.626875 meters Centerline goodness [0,1] 0.9983206013066541 Centerline is valid? [True, True] Translation: X:118.26, Y:330.25, Z:-4.81 [[ 9.25840571e-01 2.19116758e-01 3.07907590e-01 1.18257017e+02] [-2.11766475e-01 9.75625574e-01 -5.75299825e-02 3.30250997e+02] [-3.13008302e-01 -1.19409131e-02 9.49675322e-01 -4.80569976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters Centerline goodness [0,1] 0.9984425272045413 Centerline is valid? [True, True] Translation: X:118.29, Y:330.24, Z:-4.82 [[ 9.24544241e-01 2.22402219e-01 3.09443371e-01 1.18285220e+02] [-2.15131028e-01 9.74867708e-01 -5.78929479e-02 3.30244053e+02] [-3.14541870e-01 -1.30462790e-02 9.49153943e-01 -4.81584972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.686875 meters Centerline goodness [0,1] 0.9983375066704979 Centerline is valid? [True, True] Translation: X:118.31, Y:330.24, Z:-4.83 [[ 9.24643666e-01 2.24061932e-01 3.07945356e-01 1.18312756e+02] [-2.16948688e-01 9.74480982e-01 -5.76201601e-02 3.30236693e+02] [-3.12997377e-01 -1.35302251e-02 9.49657609e-01 -4.82813299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters Centerline goodness [0,1] 0.9985195542213267 Centerline is valid? [True, True] Translation: X:118.34, Y:330.22, Z:-4.84 [[ 9.25012894e-01 2.24834983e-01 3.06268471e-01 1.18341265e+02] [-2.17817462e-01 9.74301448e-01 -5.73780507e-02 3.30222161e+02] [-3.11298408e-01 -1.36351844e-02 9.50214388e-01 -4.84202517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.746875 meters Centerline goodness [0,1] 0.9985195542213267 Centerline is valid? [True, True] Translation: X:118.37, Y:330.22, Z:-4.85 [[ 9.24949280e-01 2.25119369e-01 3.06251693e-01 1.18371688e+02] [-2.18087453e-01 9.74235779e-01 -5.74674729e-02 3.30216400e+02] [-3.11298397e-01 -1.36351538e-02 9.50214392e-01 -4.85193792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters Centerline goodness [0,1] 0.998479493712501 Centerline is valid? [True, True] Translation: X:118.40, Y:330.21, Z:-4.86 [[ 9.25149726e-01 2.25985714e-01 3.05005643e-01 1.18400286e+02] [-2.19027569e-01 9.74033275e-01 -5.73245468e-02 3.30210370e+02] [-3.10040174e-01 -1.37708556e-02 9.50623719e-01 -4.86234485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.806875 meters Centerline goodness [0,1] 0.998357559333169 Centerline is valid? [True, True] Translation: X:118.43, Y:330.20, Z:-4.87 [[ 9.25185350e-01 2.24975342e-01 3.05643852e-01 1.18428177e+02] [-2.17919643e-01 9.74272064e-01 -5.74889019e-02 3.30198433e+02] [-3.10713852e-01 -1.34179092e-02 9.50408787e-01 -4.87339375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters Centerline goodness [0,1] 0.9985414954806903 Centerline is valid? [True, True] Translation: X:118.46, Y:330.18, Z:-4.88 [[ 9.25473406e-01 2.23477987e-01 3.05870176e-01 1.18456326e+02] [-2.16307093e-01 9.74624308e-01 -5.76081547e-02 3.30182619e+02] [-3.10982663e-01 -1.28470735e-02 9.50328751e-01 -4.88413376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.866875 meters Centerline goodness [0,1] 0.9985835403280439 Centerline is valid? [True, True] Translation: X:118.48, Y:330.17, Z:-4.89 [[ 9.26887706e-01 2.20261781e-01 3.03914343e-01 1.18484050e+02] [-2.12989610e-01 9.75371779e-01 -5.73177100e-02 3.30170597e+02] [-3.09054374e-01 -1.16035166e-02 9.50973581e-01 -4.89284271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters Centerline goodness [0,1] 0.9986025482942869 Centerline is valid? [True, True] Translation: X:118.51, Y:330.16, Z:-4.90 [[ 9.28081331e-01 2.19093783e-01 3.01102901e-01 1.18512319e+02] [-2.11893616e-01 9.75640803e-01 -5.67989370e-02 3.30160136e+02] [-3.06212570e-01 -1.10877493e-02 9.51898589e-01 -4.90438833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.926875 meters Centerline goodness [0,1] 0.999012853470437 Centerline is valid? [True, True] Translation: X:118.54, Y:330.15, Z:-4.92 [[ 9.28884601e-01 2.17945493e-01 2.99454771e-01 1.18539693e+02] [-2.10742976e-01 9.75903725e-01 -5.65625106e-02 3.30149102e+02] [-3.04566570e-01 -1.05679444e-02 9.52432424e-01 -4.91589146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters Centerline goodness [0,1] 0.9986845891396391 Centerline is valid? [True, True] Translation: X:118.57, Y:330.14, Z:-4.92 [[ 9.29090989e-01 2.16200605e-01 3.00078709e-01 1.18569244e+02] [-2.08856763e-01 9.76298283e-01 -5.67495869e-02 3.30135564e+02] [-3.05235623e-01 -9.94793812e-03 9.52224896e-01 -4.92454527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.986875 meters Centerline goodness [0,1] 0.9987446234899467 Centerline is valid? [True, True] Translation: X:118.60, Y:330.12, Z:-4.93 [[ 9.27985179e-01 2.12477437e-01 3.06099407e-01 1.18598817e+02] [-2.04625125e-01 9.77125529e-01 -5.79159710e-02 3.30116869e+02] [-3.11403382e-01 -8.89046670e-03 9.50236230e-01 -4.92641079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters Centerline goodness [0,1] 0.9994232749742533 Centerline is valid? [True, True] Translation: X:118.63, Y:330.11, Z:-4.93 [[ 9.28132062e-01 2.10396770e-01 3.07089685e-01 1.18629175e+02] [-2.02377944e-01 9.77581608e-01 -5.81151209e-02 3.30105552e+02] [-3.12432461e-01 -8.20967189e-03 9.49904500e-01 -4.93389324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.046875 meters Centerline goodness [0,1] 0.9993209317639312 Centerline is valid? [True, True] Translation: X:118.66, Y:330.09, Z:-4.95 [[ 9.29488179e-01 2.08957525e-01 3.03954729e-01 1.18655784e+02] [-2.01020269e-01 9.77895114e-01 -5.75499504e-02 3.30092001e+02] [-3.09261340e-01 -7.60906277e-03 9.50946647e-01 -4.94687005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters Centerline goodness [0,1] 0.9995869048848497 Centerline is valid? [True, True] Translation: X:118.69, Y:330.08, Z:-4.96 [[ 9.29881962e-01 2.09266859e-01 3.02534161e-01 1.18685574e+02] [-2.01397943e-01 9.77829041e-01 -5.73518603e-02 3.30083417e+02] [-3.07828532e-01 -7.59929739e-03 9.51411502e-01 -4.95944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.106875 meters Centerline goodness [0,1] 0.9995885789516992 Centerline is valid? [True, True] Translation: X:118.71, Y:330.07, Z:-4.97 [[ 9.30166921e-01 2.09134931e-01 3.01748371e-01 1.18714399e+02] [-2.01272867e-01 9.77858452e-01 -5.72894455e-02 3.30073544e+02] [-3.07048419e-01 -7.44501250e-03 9.51664773e-01 -4.97073953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters Centerline goodness [0,1] 0.9994438035596572 Centerline is valid? [True, True] Translation: X:118.74, Y:330.06, Z:-4.98 [[ 9.30475578e-01 2.06938898e-01 3.02310257e-01 1.18742791e+02] [-1.98908751e-01 9.78331242e-01 -5.74742468e-02 3.30058241e+02] [-3.07653227e-01 -6.65377276e-03 9.51475286e-01 -4.98077912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.166875 meters Centerline goodness [0,1] 0.999589356110381 Centerline is valid? [True, True] Translation: X:118.77, Y:330.05, Z:-4.99 [[ 9.31003557e-01 2.05474835e-01 3.01682729e-01 1.18770714e+02] [-1.97378724e-01 9.78643537e-01 -5.74322753e-02 3.30046994e+02] [-3.07040741e-01 -6.07609960e-03 9.51676975e-01 -4.99001673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters Centerline goodness [0,1] 0.9996293321801446 Centerline is valid? [True, True] Translation: X:118.80, Y:330.03, Z:-5.00 [[ 9.31196245e-01 2.05288661e-01 3.01214408e-01 1.18799514e+02] [-1.97185695e-01 9.78683497e-01 -5.74144065e-02 3.30030079e+02] [-3.06580097e-01 -5.93109253e-03 9.51826385e-01 -4.99663762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.226875 meters Centerline goodness [0,1] 0.9997531473710195 Centerline is valid? [True, True] Translation: X:118.83, Y:330.02, Z:-5.00 [[ 9.30667300e-01 2.06090469e-01 3.02299679e-01 1.18828827e+02] [-1.97943698e-01 9.78513685e-01 -5.76997552e-02 3.30021754e+02] [-3.07695742e-01 -6.13904083e-03 9.51464998e-01 -5.00311007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters Centerline goodness [0,1] 0.9996092946740696 Centerline is valid? [True, True] Translation: X:118.86, Y:330.01, Z:-5.01 [[ 9.30122491e-01 2.07246804e-01 3.03184622e-01 1.18859066e+02] [-1.99087612e-01 9.78267310e-01 -5.79412897e-02 3.30012745e+02] [-3.08603751e-01 -6.46780548e-03 9.51168698e-01 -5.01157912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.286875 meters Centerline goodness [0,1] 0.9996295229078336 Centerline is valid? [True, True] Translation: X:118.89, Y:330.00, Z:-5.02 [[ 9.29625314e-01 2.09699594e-01 3.03022863e-01 1.18887406e+02] [-2.01650481e-01 9.77739380e-01 -5.79895510e-02 3.30004044e+02] [-3.08437771e-01 -7.19615139e-03 9.51217302e-01 -5.02120931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters Centerline goodness [0,1] 0.999627622160619 Centerline is valid? [True, True] Translation: X:118.92, Y:330.00, Z:-5.03 [[ 9.29299430e-01 2.11407402e-01 3.02835731e-01 1.18916745e+02] [-2.03433028e-01 9.77367837e-01 -5.80268327e-02 3.29996793e+02] [-3.08249205e-01 -7.68248735e-03 9.51274622e-01 -5.03213131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.346875 meters Centerline goodness [0,1] 0.9996709917542308 Centerline is valid? [True, True] Translation: X:118.95, Y:329.99, Z:-5.04 [[ 9.28552937e-01 2.13179256e-01 3.03881635e-01 1.18945263e+02] [-2.05216434e-01 9.76978490e-01 -5.83030463e-02 3.29991409e+02] [-3.09314820e-01 -8.22404040e-03 9.50924133e-01 -5.04179828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters Centerline goodness [0,1] 0.9994043584529752 Centerline is valid? [True, True] Translation: X:118.98, Y:329.98, Z:-5.05 [[ 9.27376285e-01 2.14639964e-01 3.06435819e-01 1.18975220e+02] [-2.06609611e-01 9.76653904e-01 -5.88185330e-02 3.29983552e+02] [-3.11906547e-01 -8.76567273e-03 9.50072349e-01 -5.05087321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.406875 meters Centerline goodness [0,1] 0.9996281068572963 Centerline is valid? [True, True] Translation: X:119.00, Y:329.97, Z:-5.06 [[ 9.26628103e-01 2.14774516e-01 3.08597256e-01 1.19003861e+02] [-2.06609335e-01 9.76624036e-01 -5.93133569e-02 3.29970636e+02] [-3.14122496e-01 -8.79765045e-03 9.49341698e-01 -5.06020468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters Centerline goodness [0,1] 0.9991778513144102 Centerline is valid? [True, True] Translation: X:119.03, Y:329.96, Z:-5.07 [[ 9.27491507e-01 2.14611871e-01 3.06106599e-01 1.19031332e+02] [-2.06545318e-01 9.76661709e-01 -5.89146663e-02 3.29961331e+02] [-3.11606381e-01 -8.58203219e-03 9.50172517e-01 -5.07140585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.466875 meters Centerline goodness [0,1] 0.9992755273126203 Centerline is valid? [True, True] Translation: X:119.06, Y:329.95, Z:-5.08 [[ 9.28445796e-01 2.14193890e-01 3.03495275e-01 1.19059358e+02] [-2.06221127e-01 9.76756013e-01 -5.84853639e-02 3.29950506e+02] [-3.08968042e-01 -8.28664751e-03 9.51036319e-01 -5.08368781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters Centerline goodness [0,1] 0.9994417335208006 Centerline is valid? [True, True] Translation: X:119.09, Y:329.94, Z:-5.10 [[ 9.29653717e-01 2.14235554e-01 2.99745049e-01 1.19087413e+02] [-2.06439452e-01 9.76748369e-01 -5.78392361e-02 3.29944432e+02] [-3.05166708e-01 -8.10874267e-03 9.52264422e-01 -5.09619211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.526875 meters Centerline goodness [0,1] 0.9994006159188145 Centerline is valid? [True, True] Translation: X:119.12, Y:329.94, Z:-5.11 [[ 9.29240359e-01 2.16241466e-01 2.99586355e-01 1.19116581e+02] [-2.08541259e-01 9.76300997e-01 -5.78524504e-02 3.29936529e+02] [-3.04996556e-01 -8.71728376e-03 9.52313557e-01 -5.10612830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters Centerline goodness [0,1] 0.999090702432371 Centerline is valid? [True, True] Translation: X:119.14, Y:329.93, Z:-5.12 [[ 9.28880594e-01 2.21618006e-01 2.96759670e-01 1.19144675e+02] [-2.14306753e-01 9.75079232e-01 -5.73855982e-02 3.29930515e+02] [-3.02081873e-01 -1.02932327e-02 9.53226411e-01 -5.11561799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.586875 meters Centerline goodness [0,1] 0.9988215105340418 Centerline is valid? [True, True] Translation: X:119.17, Y:329.92, Z:-5.13 [[ 9.28766274e-01 2.24177332e-01 2.95191010e-01 1.19173995e+02] [-2.17059381e-01 9.74485991e-01 -5.71163648e-02 3.29923428e+02] [-3.00463698e-01 -1.10262245e-02 9.53729515e-01 -5.12646097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters Centerline goodness [0,1] 0.9987408401279801 Centerline is valid? [True, True] Translation: X:119.20, Y:329.92, Z:-5.14 [[ 9.27808027e-01 2.26851987e-01 2.96159487e-01 1.19204477e+02] [-2.19812450e-01 9.73856391e-01 -5.73255369e-02 3.29919541e+02] [-3.01421221e-01 -1.19124492e-02 9.53416667e-01 -5.13609091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.646875 meters Centerline goodness [0,1] 0.9983026991223712 Centerline is valid? [True, True] Translation: X:119.23, Y:329.91, Z:-5.14 [[ 9.25447811e-01 2.31765772e-01 2.99718162e-01 1.19234149e+02] [-2.24797467e-01 9.72675621e-01 -5.80364996e-02 3.29913990e+02] [-3.04979423e-01 -1.36661320e-02 9.52260882e-01 -5.14174195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters Centerline goodness [0,1] 0.998369217430795 Centerline is valid? [True, True] Translation: X:119.26, Y:329.90, Z:-5.15 [[ 9.25075869e-01 2.33480336e-01 2.99535590e-01 1.19263353e+02] [-2.26599397e-01 9.72257917e-01 -5.80280647e-02 3.29902517e+02] [-3.04774260e-01 -1.41942218e-02 9.52318841e-01 -5.15196785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.706875 meters Centerline goodness [0,1] 0.998246012257279 Centerline is valid? [True, True] Translation: X:119.29, Y:329.89, Z:-5.16 [[ 9.25176119e-01 2.34431329e-01 2.98481325e-01 1.19292200e+02] [-2.27640245e-01 9.72025599e-01 -5.78459468e-02 3.29893487e+02] [-3.03692391e-01 -1.44286734e-02 9.52660876e-01 -5.16351091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters Centerline goodness [0,1] 0.9980320261844096 Centerline is valid? [True, True] Translation: X:119.32, Y:329.89, Z:-5.18 [[ 9.26208346e-01 2.33113104e-01 2.96304539e-01 1.19320485e+02] [-2.26331226e-01 9.72351645e-01 -5.75017846e-02 3.29887155e+02] [-3.01516625e-01 -1.38043367e-02 9.53360984e-01 -5.17548668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.766875 meters Centerline goodness [0,1] 0.9985034918523445 Centerline is valid? [True, True] Translation: X:119.35, Y:329.87, Z:-5.18 [[ 9.26625747e-01 2.32032718e-01 2.95847162e-01 1.19348217e+02] [-2.25204437e-01 9.72615885e-01 -5.74569580e-02 3.29869338e+02] [-3.01077544e-01 -1.33849971e-02 9.53505718e-01 -5.18431919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters Centerline goodness [0,1] 0.9983423811694501 Centerline is valid? [True, True] Translation: X:119.37, Y:329.86, Z:-5.20 [[ 9.28175557e-01 2.29805717e-01 2.92710553e-01 1.19373805e+02] [-2.22990518e-01 9.73157084e-01 -5.69255617e-02 3.29855309e+02] [-2.97935168e-01 -1.24347630e-02 9.54505114e-01 -5.19626478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82687500000003 meters Centerline goodness [0,1] 0.9982969885773624 Centerline is valid? [True, True] Translation: X:119.40, Y:329.84, Z:-5.21 [[ 9.28595062e-01 2.28607268e-01 2.92318197e-01 1.19402449e+02] [-2.21742745e-01 9.73444767e-01 -5.68809313e-02 3.29844899e+02] [-2.97559014e-01 -1.20000875e-02 9.54628007e-01 -5.20706368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters Centerline goodness [0,1] 0.9980700989852456 Centerline is valid? [True, True] Translation: X:119.43, Y:329.83, Z:-5.21 [[ 9.28471158e-01 2.27894252e-01 2.93266975e-01 1.19432241e+02] [-2.20926338e-01 9.73615150e-01 -5.71409815e-02 3.29832902e+02] [-2.98551271e-01 -1.17366456e-02 9.54321429e-01 -5.21490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88687500000003 meters Centerline goodness [0,1] 0.9976904831259623 Centerline is valid? [True, True] Translation: X:119.46, Y:329.82, Z:-5.22 [[ 9.26473793e-01 2.28234129e-01 2.99258238e-01 1.19463260e+02] [-2.20967173e-01 9.73531929e-01 -5.83874212e-02 3.29818573e+02] [-3.04663452e-01 -1.20318313e-02 9.52384070e-01 -5.21681252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters Centerline goodness [0,1] 0.9978772112382934 Centerline is valid? [True, True] Translation: X:119.49, Y:329.81, Z:-5.22 [[ 9.25839556e-01 2.28604193e-01 3.00933946e-01 1.19494114e+02] [-2.21248500e-01 9.73443646e-01 -5.87925925e-02 3.29808234e+02] [-3.06382470e-01 -1.21486763e-02 9.51830968e-01 -5.22499020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94687500000003 meters Centerline goodness [0,1] 0.9972828358832874 Centerline is valid? [True, True] Translation: X:119.52, Y:329.80, Z:-5.24 [[ 9.25944382e-01 2.29072679e-01 3.00254406e-01 1.19522665e+02] [-2.21745680e-01 9.73333102e-01 -5.87496942e-02 3.29799777e+02] [-3.05705503e-01 -1.21811682e-02 9.52048195e-01 -5.23557964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters Centerline goodness [0,1] 0.9975222576852008 Centerline is valid? [True, True] Translation: X:119.55, Y:329.79, Z:-5.25 [[ 9.26649022e-01 2.29543643e-01 2.97710104e-01 1.19551198e+02] [-2.22339173e-01 9.73222690e-01 -5.83342805e-02 3.29787102e+02] [-3.03128492e-01 -1.21372146e-02 9.52872397e-01 -5.24732886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.00687500000004 meters Centerline goodness [0,1] 0.9973278347044837 Centerline is valid? [True, True] Translation: X:119.58, Y:329.77, Z:-5.26 [[ 9.27248513e-01 2.30829677e-01 2.94835301e-01 1.19577833e+02] [-2.23800712e-01 9.72915991e-01 -5.78594447e-02 3.29770950e+02] [-3.00205656e-01 -1.23342663e-02 9.53794752e-01 -5.25813333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters Centerline goodness [0,1] 0.996640040573095 Centerline is valid? [True, True] Translation: X:119.61, Y:329.76, Z:-5.27 [[ 9.27135084e-01 2.31187156e-01 2.94911909e-01 1.19606880e+02] [-2.24159744e-01 9.72830100e-01 -5.79137727e-02 3.29761966e+02] [-3.00288102e-01 -1.24134874e-02 9.53767771e-01 -5.26884171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.066875 meters Centerline goodness [0,1] 0.9970031445877213 Centerline is valid? [True, True] Translation: X:119.64, Y:329.75, Z:-5.28 [[ 9.27063929e-01 2.31578786e-01 2.94828318e-01 1.19636350e+02] [-2.24549000e-01 9.72736441e-01 -5.79789834e-02 3.29753218e+02] [-3.00216951e-01 -1.24531796e-02 9.53789652e-01 -5.28075515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters Centerline goodness [0,1] 0.9970622424178379 Centerline is valid? [True, True] Translation: X:119.67, Y:329.75, Z:-5.29 [[ 9.27222135e-01 2.31783493e-01 2.94169212e-01 1.19665634e+02] [-2.24768067e-01 9.72688367e-01 -5.79366570e-02 3.29745481e+02] [-2.99563731e-01 -1.23996943e-02 9.53995712e-01 -5.29352988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.126875 meters Centerline goodness [0,1] 0.99691902343667 Centerline is valid? [True, True] Translation: X:119.69, Y:329.73, Z:-5.31 [[ 9.27547125e-01 2.32107127e-01 2.92886690e-01 1.19694547e+02] [-2.25142077e-01 9.72611745e-01 -5.77705695e-02 3.29731214e+02] [-2.98273996e-01 -1.23561922e-02 9.54400308e-01 -5.30558168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters Centerline goodness [0,1] 0.996602854456884 Centerline is valid? [True, True] Translation: X:119.72, Y:329.72, Z:-5.31 [[ 9.27820372e-01 2.32099167e-01 2.92026255e-01 1.19723623e+02] [-2.25148156e-01 9.72615291e-01 -5.76871182e-02 3.29721331e+02] [-2.97418333e-01 -1.22258893e-02 9.54668981e-01 -5.31427950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.186875 meters Centerline goodness [0,1] 0.9967101046784875 Centerline is valid? [True, True] Translation: X:119.75, Y:329.71, Z:-5.32 [[ 9.27722950e-01 2.31785759e-01 2.92584159e-01 1.19752992e+02] [-2.24767455e-01 9.72691993e-01 -5.78781346e-02 3.29706618e+02] [-2.98009596e-01 -1.20685232e-02 9.54486580e-01 -5.32193933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters Centerline goodness [0,1] 0.9970450574811811 Centerline is valid? [True, True] Translation: X:119.78, Y:329.69, Z:-5.33 [[ 9.27594866e-01 2.31786589e-01 2.92989322e-01 1.19781815e+02] [-2.24725110e-01 9.72692514e-01 -5.80335877e-02 3.29688173e+02] [-2.98439927e-01 -1.20103996e-02 9.54352849e-01 -5.32726733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.246875 meters Centerline goodness [0,1] 0.9973558734286952 Centerline is valid? [True, True] Translation: X:119.81, Y:329.68, Z:-5.34 [[ 9.28037319e-01 2.32007498e-01 2.91409086e-01 1.19811301e+02] [-2.25010352e-01 9.72640784e-01 -5.77948721e-02 3.29677325e+02] [-2.96845205e-01 -1.19342630e-02 9.54851034e-01 -5.33817209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters Centerline goodness [0,1] 0.99739085058271 Centerline is valid? [True, True] Translation: X:119.84, Y:329.67, Z:-5.35 [[ 9.28147882e-01 2.33942067e-01 2.89504090e-01 1.19837984e+02] [-2.27102431e-01 9.72171764e-01 -5.75025776e-02 3.29669992e+02] [-2.94899974e-01 -1.23761871e-02 9.55447976e-01 -5.35332411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.306875 meters Centerline goodness [0,1] 0.997689927210914 Centerline is valid? [True, True] Translation: X:119.87, Y:329.66, Z:-5.36 [[ 9.27778588e-01 2.35157590e-01 2.89702949e-01 1.19866995e+02] [-2.28344993e-01 9.71874252e-01 -5.76107791e-02 3.29661175e+02] [-2.95102449e-01 -1.27021704e-02 9.55381180e-01 -5.36423505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters Centerline goodness [0,1] 0.997151871001665 Centerline is valid? [True, True] Translation: X:119.90, Y:329.65, Z:-5.37 [[ 9.27402583e-01 2.35875092e-01 2.90322905e-01 1.19895442e+02] [-2.29043982e-01 9.71697966e-01 -5.78093101e-02 3.29653654e+02] [-2.95741953e-01 -1.28842107e-02 9.55180975e-01 -5.37476575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.366875 meters Centerline goodness [0,1] 0.9975278121137207 Centerline is valid? [True, True] Translation: X:119.92, Y:329.64, Z:-5.38 [[ 9.27044265e-01 2.35579038e-01 2.91704385e-01 1.19924249e+02] [-2.28646126e-01 9.71771087e-01 -5.81541394e-02 3.29636079e+02] [-2.97169784e-01 -1.27856163e-02 9.54739047e-01 -5.38091517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters Centerline goodness [0,1] 0.9975437043593716 Centerline is valid? [True, True] Translation: X:119.95, Y:329.62, Z:-5.39 [[ 9.27176580e-01 2.35404137e-01 2.91424916e-01 1.19953515e+02] [-2.28453049e-01 9.71815370e-01 -5.81729324e-02 3.29623550e+02] [-2.96905362e-01 -1.26403302e-02 9.54823244e-01 -5.38858424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.426875 meters Centerline goodness [0,1] 0.9984009949364839 Centerline is valid? [True, True] Translation: X:119.98, Y:329.61, Z:-5.40 [[ 9.27569308e-01 2.35174294e-01 2.90358796e-01 1.19982992e+02] [-2.28240047e-01 9.71873612e-01 -5.80358788e-02 3.29613081e+02] [-2.95840599e-01 -1.24392053e-02 9.55156326e-01 -5.39892304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters Centerline goodness [0,1] 0.9977696493888839 Centerline is valid? [True, True] Translation: X:120.01, Y:329.60, Z:-5.41 [[ 9.28063689e-01 2.35836017e-01 2.88234561e-01 1.20009582e+02] [-2.29027408e-01 9.71712164e-01 -5.76360625e-02 3.29603187e+02] [-2.93673688e-01 -1.25236777e-02 9.55823688e-01 -5.41279314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.486875 meters Centerline goodness [0,1] 0.9979811574697174 Centerline is valid? [True, True] Translation: X:120.04, Y:329.59, Z:-5.42 [[ 9.27801698e-01 2.36486001e-01 2.88545284e-01 1.20039440e+02] [-2.29672186e-01 9.71552220e-01 -5.77665144e-02 3.29594922e+02] [-2.93997783e-01 -1.26749559e-02 9.55722056e-01 -5.42227971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters Centerline goodness [0,1] 0.9980711001457889 Centerline is valid? [True, True] Translation: X:120.07, Y:329.59, Z:-5.43 [[ 9.27409374e-01 2.36042564e-01 2.90165058e-01 1.20068598e+02] [-2.29106764e-01 9.71661867e-01 -5.81661965e-02 3.29587745e+02] [-2.95672020e-01 -1.25349014e-02 9.55207272e-01 -5.42966430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.546875 meters Centerline goodness [0,1] 0.997729955507128 Centerline is valid? [True, True] Translation: X:120.10, Y:329.57, Z:-5.43 [[ 9.28873760e-01 2.31349970e-01 2.89258931e-01 1.20096540e+02] [-2.24214152e-01 9.72809184e-01 -5.80543303e-02 3.29565708e+02] [-2.94824612e-01 -1.09308019e-02 9.55488862e-01 -5.43470229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters Centerline goodness [0,1] 0.9975651936467482 Centerline is valid? [True, True] Translation: X:120.13, Y:329.56, Z:-5.44 [[ 9.29596093e-01 2.28343810e-01 2.89327165e-01 1.20125182e+02] [-2.21048032e-01 9.73529896e-01 -5.81146244e-02 3.29555372e+02] [-2.94938760e-01 -9.93207257e-03 9.55464537e-01 -5.44413291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.606875 meters Centerline goodness [0,1] 0.9978476596130319 Centerline is valid? [True, True] Translation: X:120.15, Y:329.55, Z:-5.45 [[ 9.29915505e-01 2.23984052e-01 2.91698984e-01 1.20152485e+02] [-2.16352076e-01 9.74554775e-01 -5.86069154e-02 3.29546885e+02] [-2.97403652e-01 -8.61020139e-03 9.54713010e-01 -5.45409203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters Centerline goodness [0,1] 0.9977927958677498 Centerline is valid? [True, True] Translation: X:120.18, Y:329.54, Z:-5.46 [[ 9.30061128e-01 2.22628937e-01 2.92271542e-01 1.20182040e+02] [-2.14890094e-01 9.74869120e-01 -5.87575252e-02 3.29539452e+02] [-2.98007627e-01 -8.15816899e-03 9.54528626e-01 -5.46485054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.666875 meters Centerline goodness [0,1] 0.9977927958677498 Centerline is valid? [True, True] Translation: X:120.21, Y:329.53, Z:-5.47 [[ 9.30000694e-01 2.22887714e-01 2.92266618e-01 1.20212281e+02] [-2.15153650e-01 9.74809511e-01 -5.87820100e-02 3.29533275e+02] [-2.98006067e-01 -8.21491970e-03 9.54528627e-01 -5.47473197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters Centerline goodness [0,1] 0.9981095547204191 Centerline is valid? [True, True] Translation: X:120.24, Y:329.52, Z:-5.49 [[ 9.30856913e-01 2.21548078e-01 2.90554395e-01 1.20241280e+02] [-2.13815538e-01 9.75119455e-01 -5.85231874e-02 3.29524359e+02] [-2.96290943e-01 -7.64833075e-03 9.55067108e-01 -5.48646704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.726875 meters Centerline goodness [0,1] 0.9983335616125645 Centerline is valid? [True, True] Translation: X:120.27, Y:329.52, Z:-5.50 [[ 9.31889187e-01 2.19861747e-01 2.88519246e-01 1.20270008e+02] [-2.12137074e-01 9.75506060e-01 -5.81875264e-02 3.29515056e+02] [-2.94245484e-01 -6.98130196e-03 9.55704377e-01 -5.49878331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters Centerline goodness [0,1] 0.9985072227453322 Centerline is valid? [True, True] Translation: X:120.30, Y:329.50, Z:-5.51 [[ 9.32834390e-01 2.16782012e-01 2.87794301e-01 1.20298321e+02] [-2.08930698e-01 9.76202105e-01 -5.81155235e-02 3.29503229e+02] [-2.93543802e-01 -5.91690499e-03 9.55927312e-01 -5.50719678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.786875 meters Centerline goodness [0,1] 0.998893371757925 Centerline is valid? [True, True] Translation: X:120.33, Y:329.49, Z:-5.51 [[ 9.32703694e-01 2.15780535e-01 2.88968128e-01 1.20327984e+02] [-2.07795957e-01 9.76426074e-01 -5.84205716e-02 3.29492983e+02] [-2.94762037e-01 -5.55732590e-03 9.55554529e-01 -5.51390551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters Centerline goodness [0,1] 0.9983717836994909 Centerline is valid? [True, True] Translation: X:120.36, Y:329.49, Z:-5.52 [[ 9.32779944e-01 2.14995171e-01 2.89307194e-01 1.20356918e+02] [-2.06931220e-01 9.76601062e-01 -5.85648080e-02 3.29486219e+02] [-2.95128863e-01 -5.23861211e-03 9.55443097e-01 -5.52349565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.846875 meters Centerline goodness [0,1] 0.9988318292180127 Centerline is valid? [True, True] Translation: X:120.39, Y:329.48, Z:-5.53 [[ 9.32745435e-01 2.14907701e-01 2.89483389e-01 1.20387200e+02] [-2.06807983e-01 9.76620823e-01 -5.86704966e-02 3.29480417e+02] [-2.95324247e-01 -5.14283788e-03 9.55383243e-01 -5.53417263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters Centerline goodness [0,1] 0.9986484938724086 Centerline is valid? [True, True] Translation: X:120.42, Y:329.47, Z:-5.54 [[ 9.32243503e-01 2.16056759e-01 2.90243913e-01 1.20418133e+02] [-2.07954818e-01 9.76365432e-01 -5.88671181e-02 3.29474867e+02] [-2.96102762e-01 -5.47913175e-03 9.55140374e-01 -5.54306084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.906875 meters Centerline goodness [0,1] 0.9979420574851943 Centerline is valid? [True, True] Translation: X:120.45, Y:329.47, Z:-5.55 [[ 9.31183200e-01 2.19120697e-01 2.91348533e-01 1.20448873e+02] [-2.11075119e-01 9.75676829e-01 -5.91778589e-02 3.29470893e+02] [-2.97229107e-01 -6.39099825e-03 9.54784799e-01 -5.55188941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters Centerline goodness [0,1] 0.99858282475028 Centerline is valid? [True, True] Translation: X:120.48, Y:329.47, Z:-5.56 [[ 9.30860656e-01 2.20123308e-01 2.91623334e-01 1.20478078e+02] [-2.12086763e-01 9.75449449e-01 -5.93091627e-02 3.29465194e+02] [-2.97519150e-01 -6.64088298e-03 9.54692754e-01 -5.56096699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.966875 meters Centerline goodness [0,1] 0.9982788691022582 Centerline is valid? [True, True] Translation: X:120.51, Y:329.46, Z:-5.57 [[ 9.31078729e-01 2.20579255e-01 2.90580785e-01 1.20507705e+02] [-2.12610521e-01 9.75345906e-01 -5.91365318e-02 3.29458422e+02] [-2.96461072e-01 -6.71976530e-03 9.55021297e-01 -5.57118633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters Centerline goodness [0,1] 0.9982417682787597 Centerline is valid? [True, True] Translation: X:120.54, Y:329.45, Z:-5.58 [[ 9.31169592e-01 2.21617040e-01 2.89497978e-01 1.20537165e+02] [-2.13734712e-01 9.75109041e-01 -5.89900976e-02 3.29454603e+02] [-2.95365306e-01 -6.94598192e-03 9.55359142e-01 -5.58467522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.026875 meters Centerline goodness [0,1] 0.9983290606116096 Centerline is valid? [True, True] Translation: X:120.57, Y:329.45, Z:-5.59 [[ 9.30587663e-01 2.22870934e-01 2.90405145e-01 1.20567513e+02] [-2.14974673e-01 9.74820683e-01 -5.92496991e-02 3.29449772e+02] [-2.96297977e-01 -7.29271188e-03 9.55067707e-01 -5.59318778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters Centerline goodness [0,1] 0.998220802919708 Centerline is valid? [True, True] Translation: X:120.60, Y:329.44, Z:-5.60 [[ 9.29910937e-01 2.24604032e-01 2.91236464e-01 1.20598192e+02] [-2.16721235e-01 9.74418958e-01 -5.94945448e-02 3.29443635e+02] [-2.97149047e-01 -7.79249827e-03 9.54799309e-01 -5.60115067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.086875 meters Centerline goodness [0,1] 0.9979390414252673 Centerline is valid? [True, True] Translation: X:120.63, Y:329.44, Z:-5.61 [[ 9.29658956e-01 2.25912470e-01 2.91028832e-01 1.20627169e+02] [-2.18080148e-01 9.74113702e-01 -5.95276748e-02 3.29440338e+02] [-2.96943217e-01 -8.12717476e-03 9.54860553e-01 -5.61062287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters Centerline goodness [0,1] 0.9985820144543043 Centerline is valid? [True, True] Translation: X:120.66, Y:329.44, Z:-5.63 [[ 9.30517688e-01 2.27732876e-01 2.86835441e-01 1.20655709e+02] [-2.20191108e-01 9.73686545e-01 -5.87400087e-02 3.29435851e+02] [-2.92664841e-01 -8.49999654e-03 9.56177306e-01 -5.62525303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.146875 meters Centerline goodness [0,1] 0.9990411615642765 Centerline is valid? [True, True] Translation: X:120.68, Y:329.43, Z:-5.64 [[ 9.30576746e-01 2.28836569e-01 2.85763442e-01 1.20683969e+02] [-2.21396817e-01 9.73425158e-01 -5.85398295e-02 3.29432312e+02] [-2.91565377e-01 -8.79131249e-03 9.56510504e-01 -5.63769656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters Centerline goodness [0,1] 0.9982605511306417 Centerline is valid? [True, True] Translation: X:120.71, Y:329.43, Z:-5.65 [[ 9.30562307e-01 2.29480570e-01 2.85293639e-01 1.20713225e+02] [-2.22074679e-01 9.73272474e-01 -5.85109316e-02 3.29425695e+02] [-2.91095568e-01 -8.90842587e-03 9.56652502e-01 -5.64868614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.206875 meters Centerline goodness [0,1] 0.9983168088540466 Centerline is valid? [True, True] Translation: X:120.74, Y:329.42, Z:-5.65 [[ 9.30438892e-01 2.28220234e-01 2.86703666e-01 1.20742793e+02] [-2.20658827e-01 9.73572560e-01 -5.88740382e-02 3.29415533e+02] [-2.92563069e-01 -8.48499983e-03 9.56208584e-01 -5.65496000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters Centerline goodness [0,1] 0.9983057534755263 Centerline is valid? [True, True] Translation: X:120.77, Y:329.40, Z:-5.66 [[ 9.30671007e-01 2.27171242e-01 2.86783374e-01 1.20772859e+02] [-2.19534536e-01 9.73821282e-01 -5.89635378e-02 3.29404008e+02] [-2.92670573e-01 -8.08319994e-03 9.56179166e-01 -5.66168516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.266875 meters Centerline goodness [0,1] 0.9986619604586245 Centerline is valid? [True, True] Translation: X:120.80, Y:329.40, Z:-5.67 [[ 9.31251631e-01 2.25206051e-01 2.86448312e-01 1.20801433e+02] [-2.17474161e-01 9.74283201e-01 -5.89680727e-02 3.29397489e+02] [-2.92361745e-01 -7.38099240e-03 9.56279316e-01 -5.67251922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters Centerline goodness [0,1] 0.9986545420803563 Centerline is valid? [True, True] Translation: X:120.83, Y:329.39, Z:-5.68 [[ 9.31697506e-01 2.24584297e-01 2.85484941e-01 1.20830535e+02] [-2.16856158e-01 9.74428865e-01 -5.88370073e-02 3.29390868e+02] [-2.91398635e-01 -7.09087469e-03 9.56575431e-01 -5.68423052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32687500000003 meters Centerline goodness [0,1] 0.9984291984291984 Centerline is valid? [True, True] Translation: X:120.86, Y:329.39, Z:-5.70 [[ 9.32020420e-01 2.23574810e-01 2.85223142e-01 1.20859006e+02] [-2.15792947e-01 9.74663779e-01 -5.88550984e-02 3.29385019e+02] [-2.91155182e-01 -6.69498887e-03 9.56652412e-01 -5.69587246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters Centerline goodness [0,1] 0.9985062085706283 Centerline is valid? [True, True] Translation: X:120.89, Y:329.38, Z:-5.71 [[ 9.32598993e-01 2.21770305e-01 2.84740321e-01 1.20887603e+02] [-2.13912418e-01 9.75080159e-01 -5.88231356e-02 3.29375487e+02] [-2.90689862e-01 -6.05109361e-03 9.56798196e-01 -5.70628987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38687500000003 meters Centerline goodness [0,1] 0.9983446024714385 Centerline is valid? [True, True] Translation: X:120.92, Y:329.37, Z:-5.72 [[ 9.32767711e-01 2.21013706e-01 2.84775945e-01 1.20916502e+02] [-2.13107236e-01 9.75253601e-01 -5.88703626e-02 3.29367985e+02] [-2.90739923e-01 -5.77544124e-03 9.56784689e-01 -5.71578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters Centerline goodness [0,1] 0.9984168005401504 Centerline is valid? [True, True] Translation: X:120.95, Y:329.36, Z:-5.72 [[ 9.32854120e-01 2.20323106e-01 2.85027928e-01 1.20946035e+02] [-2.12358432e-01 9.75411306e-01 -5.89633809e-02 3.29358638e+02] [-2.91010459e-01 -5.52385108e-03 9.56703925e-01 -5.72367990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44687500000003 meters Centerline goodness [0,1] 0.9988324031478412 Centerline is valid? [True, True] Translation: X:120.98, Y:329.35, Z:-5.73 [[ 9.32794905e-01 2.20125964e-01 2.85373834e-01 1.20976324e+02] [-2.12110322e-01 9.75456536e-01 -5.91080199e-02 3.29351003e+02] [-2.91380981e-01 -5.39507605e-03 9.56591876e-01 -5.73173607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters Centerline goodness [0,1] 0.9985534635216163 Centerline is valid? [True, True] Translation: X:121.01, Y:329.34, Z:-5.74 [[ 9.32921592e-01 2.17813019e-01 2.86731218e-01 1.21006268e+02] [-2.09589813e-01 9.75979579e-01 -5.94640419e-02 3.29343955e+02] [-2.92795856e-01 -4.62065370e-03 9.56163812e-01 -5.73996198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.50687500000004 meters Centerline goodness [0,1] 0.9990161399892243 Centerline is valid? [True, True] Translation: X:121.04, Y:329.34, Z:-5.75 [[ 9.32826865e-01 2.17309357e-01 2.87420744e-01 1.21036383e+02] [-2.08999739e-01 9.76092871e-01 -5.96809504e-02 3.29336963e+02] [-2.93518568e-01 -4.39886658e-03 9.55943251e-01 -5.74751934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters Centerline goodness [0,1] 0.99885100595601 Centerline is valid? [True, True] Translation: X:121.07, Y:329.33, Z:-5.76 [[ 9.32994686e-01 2.16322667e-01 2.87620270e-01 1.21066455e+02] [-2.07932461e-01 9.76313670e-01 -5.97972305e-02 3.29329165e+02] [-2.93743098e-01 -4.01509238e-03 9.55875971e-01 -5.75680605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.566875 meters Centerline goodness [0,1] 0.9988937271978345 Centerline is valid? [True, True] Translation: X:121.09, Y:329.32, Z:-5.77 [[ 9.34444845e-01 2.15436350e-01 2.83548957e-01 1.21093913e+02] [-2.07239592e-01 9.76511046e-01 -5.89739687e-02 3.29318638e+02] [-2.89593825e-01 -3.65464901e-03 9.57142654e-01 -5.76910001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters Centerline goodness [0,1] 0.9988669357694214 Centerline is valid? [True, True] Translation: X:121.12, Y:329.31, Z:-5.78 [[ 9.34839886e-01 2.15685868e-01 2.82053174e-01 1.21122992e+02] [-2.07568391e-01 9.76456005e-01 -5.87284653e-02 3.29310304e+02] [-2.88079416e-01 -3.64361180e-03 9.57599590e-01 -5.78001455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.626875 meters Centerline goodness [0,1] 0.9987018504531722 Centerline is valid? [True, True] Translation: X:121.15, Y:329.30, Z:-5.79 [[ 9.35026480e-01 2.15852496e-01 2.81306207e-01 1.21151929e+02] [-2.07764746e-01 9.76419304e-01 -5.86442973e-02 3.29304599e+02] [-2.87331329e-01 -3.61154182e-03 9.57824443e-01 -5.79174095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters Centerline goodness [0,1] 0.999247749124333 Centerline is valid? [True, True] Translation: X:121.18, Y:329.30, Z:-5.81 [[ 9.34325369e-01 2.16624910e-01 2.83036663e-01 1.21180316e+02] [-2.08448264e-01 9.76247510e-01 -5.90772503e-02 3.29304502e+02] [-2.89111442e-01 -3.80112736e-03 9.57287901e-01 -5.80618185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.686875 meters Centerline goodness [0,1] 0.9984474606572417 Centerline is valid? [True, True] Translation: X:121.21, Y:329.30, Z:-5.81 [[ 9.33760874e-01 2.17338363e-01 2.84349548e-01 1.21210910e+02] [-2.09096306e-01 9.76088234e-01 -5.94179572e-02 3.29295772e+02] [-2.90464050e-01 -3.97427641e-03 9.56877652e-01 -5.81117210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters Centerline goodness [0,1] 0.9988921626399528 Centerline is valid? [True, True] Translation: X:121.24, Y:329.29, Z:-5.82 [[ 9.33345396e-01 2.17453701e-01 2.85622583e-01 1.21241115e+02] [-2.09119241e-01 9.76062623e-01 -5.97569986e-02 3.29288065e+02] [-2.91779908e-01 -3.95525836e-03 9.56477308e-01 -5.81776008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.746875 meters Centerline goodness [0,1] 0.9979169625526677 Centerline is valid? [True, True] Translation: X:121.27, Y:329.28, Z:-5.82 [[ 9.32767555e-01 2.17867392e-01 2.87190682e-01 1.21271032e+02] [-2.09435993e-01 9.75970043e-01 -6.01584596e-02 3.29280712e+02] [-2.93396069e-01 -4.03420645e-03 9.55982464e-01 -5.82257750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters Centerline goodness [0,1] 0.9985497253988255 Centerline is valid? [True, True] Translation: X:121.30, Y:329.27, Z:-5.83 [[ 9.32339638e-01 2.17780844e-01 2.88642171e-01 1.21302065e+02] [-2.09235535e-01 9.75989688e-01 -6.05361122e-02 3.29273307e+02] [-2.94895388e-01 -3.95398212e-03 9.55521363e-01 -5.82961824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.806875 meters Centerline goodness [0,1] 0.9984906372340927 Centerline is valid? [True, True] Translation: X:121.33, Y:329.27, Z:-5.84 [[ 9.32331877e-01 2.17845161e-01 2.88618704e-01 1.21332301e+02] [-2.09282789e-01 9.75975539e-01 -6.06008309e-02 3.29266233e+02] [-2.94886393e-01 -3.90284070e-03 9.55524350e-01 -5.83906866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters Centerline goodness [0,1] 0.9989157592042616 Centerline is valid? [True, True] Translation: X:121.36, Y:329.26, Z:-5.85 [[ 9.32699859e-01 2.18824738e-01 2.86682240e-01 1.21361000e+02] [-2.10398902e-01 9.75755578e-01 -6.02773039e-02 3.29262270e+02] [-2.92921960e-01 -4.09699561e-03 9.56127575e-01 -5.85305273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.866875 meters Centerline goodness [0,1] 0.9990820289513946 Centerline is valid? [True, True] Translation: X:121.39, Y:329.26, Z:-5.87 [[ 9.33284362e-01 2.21074796e-01 2.83030447e-01 1.21387962e+02] [-2.12945966e-01 9.75245700e-01 -5.95805302e-02 3.29263234e+02] [-2.89195980e-01 -4.66461488e-03 9.57258547e-01 -5.87291545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters Centerline goodness [0,1] 0.9987489673079193 Centerline is valid? [True, True] Translation: X:121.42, Y:329.26, Z:-5.88 [[ 9.32846723e-01 2.22619428e-01 2.83262389e-01 1.21418787e+02] [-2.14526686e-01 9.74892187e-01 -5.96952727e-02 3.29255206e+02] [-2.89439617e-01 -5.08080203e-03 9.57182790e-01 -5.87995086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.926875 meters Centerline goodness [0,1] 0.9987070992007522 Centerline is valid? [True, True] Translation: X:121.45, Y:329.25, Z:-5.88 [[ 9.32474829e-01 2.24681068e-01 2.82858818e-01 1.21448932e+02] [-2.16682065e-01 9.74416056e-01 -5.96844357e-02 3.29247956e+02] [-2.89032137e-01 -5.63619868e-03 9.57302803e-01 -5.88480921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters Centerline goodness [0,1] 0.9987978502734302 Centerline is valid? [True, True] Translation: X:121.48, Y:329.24, Z:-5.89 [[ 9.32325913e-01 2.25561237e-01 2.82649113e-01 1.21478552e+02] [-2.17592890e-01 9.74211526e-01 -5.97096045e-02 3.29242155e+02] [-2.88828196e-01 -5.83362594e-03 9.57363171e-01 -5.89338127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.986875 meters Centerline goodness [0,1] 0.9983071569641682 Centerline is valid? [True, True] Translation: X:121.51, Y:329.24, Z:-5.90 [[ 9.32170746e-01 2.26435446e-01 2.82461835e-01 1.21508642e+02] [-2.18505775e-01 9.74007311e-01 -5.97074965e-02 3.29235577e+02] [-2.88639786e-01 -6.06196054e-03 9.57418574e-01 -5.90130179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters Centerline goodness [0,1] 0.9984486649116209 Centerline is valid? [True, True] Translation: X:121.54, Y:329.23, Z:-5.91 [[ 9.31778131e-01 2.27412390e-01 2.82971942e-01 1.21539934e+02] [-2.19475770e-01 9.73778142e-01 -5.98875368e-02 3.29231539e+02] [-2.89171060e-01 -6.30358766e-03 9.57256686e-01 -5.91205073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.046875 meters Centerline goodness [0,1] 0.9993687901811806 Centerline is valid? [True, True] Translation: X:121.57, Y:329.23, Z:-5.93 [[ 9.32146815e-01 2.28389878e-01 2.80963306e-01 1.21567357e+02] [-2.20585600e-01 9.73548252e-01 -5.95465724e-02 3.29230845e+02] [-2.87131170e-01 -6.47031175e-03 9.57869420e-01 -5.92842046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters Centerline goodness [0,1] 0.9987622895308377 Centerline is valid? [True, True] Translation: X:121.60, Y:329.23, Z:-5.94 [[ 9.32170671e-01 2.29327922e-01 2.80118803e-01 1.21596670e+02] [-2.21602703e-01 9.73326138e-01 -5.94009421e-02 3.29226717e+02] [-2.86269248e-01 -6.70326782e-03 9.58125766e-01 -5.94121665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.106875 meters Centerline goodness [0,1] 0.9991594676628531 Centerline is valid? [True, True] Translation: X:121.63, Y:329.22, Z:-5.95 [[ 9.31705357e-01 2.30183795e-01 2.80963607e-01 1.21627182e+02] [-2.22427985e-01 9.73122589e-01 -5.96508062e-02 3.29221822e+02] [-2.87142681e-01 -6.91719318e-03 9.57862847e-01 -5.95197154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters Centerline goodness [0,1] 0.9983000326021145 Centerline is valid? [True, True] Translation: X:121.66, Y:329.21, Z:-5.96 [[ 9.30338564e-01 2.32177090e-01 2.83837903e-01 1.21658192e+02] [-2.24324573e-01 9.72644373e-01 -6.03440863e-02 3.29214813e+02] [-2.90083854e-01 -7.53138587e-03 9.56971596e-01 -5.95574097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.166875 meters Centerline goodness [0,1] 0.998078185056717 Centerline is valid? [True, True] Translation: X:121.69, Y:329.21, Z:-5.96 [[ 9.29965008e-01 2.32850696e-01 2.84509467e-01 1.21689468e+02] [-2.24967891e-01 9.72482142e-01 -6.05634573e-02 3.29205530e+02] [-2.90782619e-01 -7.68359871e-03 9.56758293e-01 -5.96157730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters Centerline goodness [0,1] 0.9980555230174535 Centerline is valid? [True, True] Translation: X:121.72, Y:329.20, Z:-5.97 [[ 9.30071427e-01 2.32585610e-01 2.84378401e-01 1.21719673e+02] [-2.24673448e-01 9.72546897e-01 -6.06166268e-02 3.29195537e+02] [-2.90669886e-01 -7.51448312e-03 9.56793891e-01 -5.96858630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.226875 meters Centerline goodness [0,1] 0.9986852299673655 Centerline is valid? [True, True] Translation: X:121.75, Y:329.19, Z:-5.98 [[ 9.30508640e-01 2.30926531e-01 2.84300208e-01 1.21748615e+02] [-2.22921692e-01 9.72946565e-01 -6.06704240e-02 3.29185057e+02] [-2.90619321e-01 -6.92232964e-03 9.56813718e-01 -5.97561275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters Centerline goodness [0,1] 0.9986852299673655 Centerline is valid? [True, True] Translation: X:121.78, Y:329.18, Z:-5.99 [[ 9.30448915e-01 2.31183261e-01 2.84287033e-01 1.21778772e+02] [-2.23171300e-01 9.72885494e-01 -6.07320966e-02 3.29178514e+02] [-2.90618974e-01 -6.93659317e-03 9.56813720e-01 -5.98551289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.286875 meters Centerline goodness [0,1] 0.9986478610560672 Centerline is valid? [True, True] Translation: X:121.81, Y:329.18, Z:-6.00 [[ 9.29815881e-01 2.30827961e-01 2.86637191e-01 1.21807526e+02] [-2.22639172e-01 9.72970789e-01 -6.13159273e-02 3.29179099e+02] [-2.93043044e-01 -6.80414386e-03 9.56075038e-01 -6.00095979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters Centerline goodness [0,1] 0.9989320208023774 Centerline is valid? [True, True] Translation: X:121.84, Y:329.18, Z:-6.01 [[ 9.29425594e-01 2.31527592e-01 2.87337847e-01 1.21836679e+02] [-2.23310797e-01 9.72803314e-01 -6.15304880e-02 3.29177355e+02] [-2.93769216e-01 -6.97763339e-03 9.55850909e-01 -6.01465448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.346875 meters Centerline goodness [0,1] 0.9985355308119668 Centerline is valid? [True, True] Translation: X:121.87, Y:329.17, Z:-6.02 [[ 9.29409293e-01 2.32026725e-01 2.86987743e-01 1.21866609e+02] [-2.23829271e-01 9.72683895e-01 -6.15345255e-02 3.29169832e+02] [-2.93426010e-01 -7.04549730e-03 9.55955824e-01 -6.02390398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters Centerline goodness [0,1] 0.9984868237266039 Centerline is valid? [True, True] Translation: X:121.90, Y:329.16, Z:-6.03 [[ 9.29874932e-01 2.31799253e-01 2.85660142e-01 1.21897599e+02] [-2.23647557e-01 9.72739388e-01 -6.13176434e-02 3.29160207e+02] [-2.92086255e-01 -6.86945337e-03 9.56367309e-01 -6.03231781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.406875 meters Centerline goodness [0,1] 0.9984323818437061 Centerline is valid? [True, True] Translation: X:121.93, Y:329.15, Z:-6.04 [[ 9.30694635e-01 2.31787924e-01 2.82987374e-01 1.21927111e+02] [-2.23766407e-01 9.72743158e-01 -6.08222296e-02 3.29148048e+02] [-2.89371890e-01 -6.71614495e-03 9.57193190e-01 -6.03934330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters Centerline goodness [0,1] 0.9984312807305081 Centerline is valid? [True, True] Translation: X:121.96, Y:329.15, Z:-6.05 [[ 9.31281893e-01 2.32047084e-01 2.80834803e-01 1.21955076e+02] [-2.24153699e-01 9.72681364e-01 -6.03828054e-02 3.29145418e+02] [-2.87174433e-01 -6.71674651e-03 9.57854754e-01 -6.05328265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.466875 meters Centerline goodness [0,1] 0.9992031125486336 Centerline is valid? [True, True] Translation: X:121.98, Y:329.14, Z:-6.06 [[ 9.31388286e-01 2.34522299e-01 2.78415431e-01 1.21984109e+02] [-2.26854934e-01 9.72083007e-01 -5.99288370e-02 3.29137686e+02] [-2.84697558e-01 -7.34289749e-03 9.58589267e-01 -6.06287617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters Centerline goodness [0,1] 0.9990175668405418 Centerline is valid? [True, True] Translation: X:122.01, Y:329.13, Z:-6.07 [[ 9.30508947e-01 2.36292936e-01 2.79854869e-01 1.22014832e+02] [-2.28603478e-01 9.71650058e-01 -6.03043428e-02 3.29131780e+02] [-2.86170490e-01 -7.86206587e-03 9.58146460e-01 -6.07098208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.526875 meters Centerline goodness [0,1] 0.998909588659722 Centerline is valid? [True, True] Translation: X:122.04, Y:329.13, Z:-6.08 [[ 9.29771995e-01 2.37060694e-01 2.81649186e-01 1.22044311e+02] [-2.29282831e-01 9.71461245e-01 -6.07653852e-02 3.29128725e+02] [-2.88016354e-01 -8.07936934e-03 9.57591408e-01 -6.07990587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters Centerline goodness [0,1] 0.998909588659722 Centerline is valid? [True, True] Translation: X:122.07, Y:329.12, Z:-6.09 [[ 9.29707682e-01 2.37329192e-01 2.81635370e-01 1.22074459e+02] [-2.29544006e-01 9.71395562e-01 -6.08293571e-02 3.29122134e+02] [-2.88015930e-01 -8.09419040e-03 9.57591410e-01 -6.08980736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.586875 meters Centerline goodness [0,1] 0.9986739560311737 Centerline is valid? [True, True] Translation: X:122.10, Y:329.12, Z:-6.10 [[ 9.29206851e-01 2.37581402e-01 2.83071908e-01 1.22104930e+02] [-2.29701315e-01 9.71333590e-01 -6.12238820e-02 3.29115786e+02] [-2.89502908e-01 -8.13233883e-03 9.57142587e-01 -6.09706339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters Centerline goodness [0,1] 0.99892728883914 Centerline is valid? [True, True] Translation: X:122.13, Y:329.11, Z:-6.11 [[ 9.29281079e-01 2.37120150e-01 2.83214956e-01 1.22134892e+02] [-2.29188708e-01 9.71448062e-01 -6.13286120e-02 3.29109697e+02] [-2.89670870e-01 -7.91815120e-03 9.57093564e-01 -6.10786534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.646875 meters Centerline goodness [0,1] 0.9991901147723066 Centerline is valid? [True, True] Translation: X:122.16, Y:329.10, Z:-6.12 [[ 9.29418603e-01 2.35912171e-01 2.83771929e-01 1.22163782e+02] [-2.27871263e-01 9.71745579e-01 -6.15241192e-02 3.29104844e+02] [-2.90268406e-01 -7.48180697e-03 9.56916023e-01 -6.11811037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters Centerline goodness [0,1] 0.9990474862930955 Centerline is valid? [True, True] Translation: X:122.19, Y:329.10, Z:-6.13 [[ 9.29140405e-01 2.35123753e-01 2.85333015e-01 1.22193507e+02] [-2.26943932e-01 9.71938494e-01 -6.19032778e-02 3.29096672e+02] [-2.91881072e-01 -7.23775985e-03 9.56427234e-01 -6.12596878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.706875 meters Centerline goodness [0,1] 0.9992288097964526 Centerline is valid? [True, True] Translation: X:122.22, Y:329.08, Z:-6.13 [[ 9.29115109e-01 2.32739704e-01 2.87362741e-01 1.22223511e+02] [-2.24306001e-01 9.72517600e-01 -6.24206311e-02 3.29084282e+02] [-2.93993082e-01 -6.46123576e-03 9.55785708e-01 -6.13045690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters Centerline goodness [0,1] 0.9988287655188569 Centerline is valid? [True, True] Translation: X:122.25, Y:329.07, Z:-6.14 [[ 9.29681314e-01 2.31665467e-01 2.86397914e-01 1.22253105e+02] [-2.23232751e-01 9.72776535e-01 -6.22330414e-02 3.29074428e+02] [-2.93018417e-01 -6.07649851e-03 9.56087487e-01 -6.13987308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.766875 meters Centerline goodness [0,1] 0.9991790011963125 Centerline is valid? [True, True] Translation: X:122.28, Y:329.07, Z:-6.15 [[ 9.30145426e-01 2.30991176e-01 2.85433991e-01 1.22282829e+02] [-2.22562524e-01 9.72938753e-01 -6.20975567e-02 3.29065882e+02] [-2.92053779e-01 -5.76715106e-03 9.56384510e-01 -6.14994920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters Centerline goodness [0,1] 0.9989732819974332 Centerline is valid? [True, True] Translation: X:122.31, Y:329.06, Z:-6.16 [[ 9.29664306e-01 2.30069244e-01 2.87736723e-01 1.22312325e+02] [-2.21431267e-01 9.73159076e-01 -6.26865718e-02 3.29060177e+02] [-2.94435856e-01 -5.43643871e-03 9.55655781e-01 -6.15749913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82687500000003 meters Centerline goodness [0,1] 0.998392432785052 Centerline is valid? [True, True] Translation: X:122.34, Y:329.06, Z:-6.17 [[ 9.29580409e-01 2.30140541e-01 2.87950682e-01 1.22342196e+02] [-2.21471442e-01 9.73142460e-01 -6.28024885e-02 3.29055129e+02] [-2.94670434e-01 -5.39288965e-03 9.55583723e-01 -6.16778252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters Centerline goodness [0,1] 0.9989260616814138 Centerline is valid? [True, True] Translation: X:122.37, Y:329.05, Z:-6.18 [[ 9.30105487e-01 2.30011408e-01 2.86353865e-01 1.22372406e+02] [-2.21409922e-01 9.73173828e-01 -6.25327664e-02 3.29048391e+02] [-2.93055337e-01 -5.23951771e-03 9.56081125e-01 -6.17988681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88687500000003 meters Centerline goodness [0,1] 0.9989498739848782 Centerline is valid? [True, True] Translation: X:122.40, Y:329.04, Z:-6.19 [[ 9.30942974e-01 2.30002814e-01 2.83626312e-01 1.22399765e+02] [-2.21540691e-01 9.73176632e-01 -6.20239136e-02 3.29042998e+02] [-2.90284173e-01 -5.09404248e-03 9.56926930e-01 -6.19313259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters Centerline goodness [0,1] 0.9991340775585668 Centerline is valid? [True, True] Translation: X:122.43, Y:329.04, Z:-6.21 [[ 9.31428087e-01 2.29732254e-01 2.82249552e-01 1.22427943e+02] [-2.21330969e-01 9.73241291e-01 -6.17575264e-02 3.29040095e+02] [-2.88884614e-01 -4.94787217e-03 9.57351136e-01 -6.20749886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94687500000003 meters Centerline goodness [0,1] 0.999369983199552 Centerline is valid? [True, True] Translation: X:122.46, Y:329.03, Z:-6.21 [[ 9.31359193e-01 2.28295082e-01 2.83639577e-01 1.22458957e+02] [-2.19721589e-01 9.73581813e-01 -6.21359602e-02 3.29025550e+02] [-2.90331668e-01 -4.45084095e-03 9.56915729e-01 -6.20923882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters Centerline goodness [0,1] 0.9990874417951657 Centerline is valid? [True, True] Translation: X:122.49, Y:329.02, Z:-6.22 [[ 9.31353700e-01 2.27015441e-01 2.84682764e-01 1.22489130e+02] [-2.18296314e-01 9.73882977e-01 -6.24393062e-02 3.29017438e+02] [-2.91422384e-01 -3.99211896e-03 9.56586147e-01 -6.21777388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.00687500000004 meters Centerline goodness [0,1] 0.9991102786232733 Centerline is valid? [True, True] Translation: X:122.52, Y:329.01, Z:-6.23 [[ 9.31564853e-01 2.25403032e-01 2.85272497e-01 1.22518606e+02] [-2.16550781e-01 9.74259600e-01 -6.26417604e-02 3.29010561e+02] [-2.92049111e-01 -3.42111970e-03 9.56397204e-01 -6.22825787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters Centerline goodness [0,1] 0.9993006340917568 Centerline is valid? [True, True] Translation: X:122.55, Y:329.00, Z:-6.24 [[ 9.31587662e-01 2.24675252e-01 2.85771692e-01 1.22548551e+02] [-2.15735506e-01 9.74428688e-01 -6.28245404e-02 3.29004137e+02] [-2.92579254e-01 -3.12453389e-03 9.56236172e-01 -6.23784249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.066875 meters Centerline goodness [0,1] 0.99895002099958 Centerline is valid? [True, True] Translation: X:122.58, Y:329.00, Z:-6.25 [[ 9.31048901e-01 2.24458098e-01 2.87691684e-01 1.22579321e+02] [-2.15362317e-01 9.74479114e-01 -6.33208423e-02 3.28997942e+02] [-2.94562413e-01 -3.00314710e-03 9.55627525e-01 -6.24510617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters Centerline goodness [0,1] 0.998968733886467 Centerline is valid? [True, True] Translation: X:122.61, Y:328.99, Z:-6.25 [[ 9.30816304e-01 2.25269581e-01 2.87810048e-01 1.22609824e+02] [-2.16181153e-01 9.74291264e-01 -6.34211457e-02 3.28991529e+02] [-2.94697670e-01 -3.18567164e-03 9.55585231e-01 -6.25478163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.126875 meters Centerline goodness [0,1] 0.9991354130155392 Centerline is valid? [True, True] Translation: X:122.64, Y:328.98, Z:-6.26 [[ 9.30540329e-01 2.26214871e-01 2.87960983e-01 1.22640993e+02] [-2.17134653e-01 9.74071492e-01 -6.35395287e-02 3.28984927e+02] [-2.94868171e-01 -3.40021430e-03 9.55531894e-01 -6.26417638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters Centerline goodness [0,1] 0.998670956911024 Centerline is valid? [True, True] Translation: X:122.67, Y:328.98, Z:-6.27 [[ 9.29594445e-01 2.28515631e-01 2.89196774e-01 1.22672368e+02] [-2.19437692e-01 9.73531773e-01 -6.38982488e-02 3.28978327e+02] [-2.96143997e-01 -4.06121553e-03 9.55134671e-01 -6.27041768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.186875 meters Centerline goodness [0,1] 0.9988363433252653 Centerline is valid? [True, True] Translation: X:122.70, Y:328.97, Z:-6.28 [[ 9.29332034e-01 2.29281169e-01 2.89434133e-01 1.22703143e+02] [-2.20200660e-01 9.73351037e-01 -6.40267828e-02 3.28971647e+02] [-2.96401149e-01 -4.23144669e-03 9.55054163e-01 -6.27877779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters Centerline goodness [0,1] 0.9991570468541456 Centerline is valid? [True, True] Translation: X:122.73, Y:328.96, Z:-6.29 [[ 9.29304821e-01 2.30087908e-01 2.88880780e-01 1.22732632e+02] [-2.21073081e-01 9.73159657e-01 -6.39294487e-02 3.28964492e+02] [-2.95836514e-01 -4.45381934e-03 9.55228203e-01 -6.28826201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.246875 meters Centerline goodness [0,1] 0.9989257607248779 Centerline is valid? [True, True] Translation: X:122.76, Y:328.96, Z:-6.30 [[ 9.29603110e-01 2.30323484e-01 2.87731038e-01 1.22761352e+02] [-2.21369897e-01 9.73104021e-01 -6.37489937e-02 3.28959693e+02] [-2.94675120e-01 -4.43372720e-03 9.55587210e-01 -6.30074030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters Centerline goodness [0,1] 0.9991398749331659 Centerline is valid? [True, True] Translation: X:122.79, Y:328.96, Z:-6.32 [[ 9.29893038e-01 2.31234885e-01 2.86058326e-01 1.22790176e+02] [-2.22408968e-01 9.72886959e-01 -6.34445881e-02 3.28957689e+02] [-2.92973017e-01 -4.62525622e-03 9.56109522e-01 -6.31810299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.306875 meters Centerline goodness [0,1] 0.9990706751545002 Centerline is valid? [True, True] Translation: X:122.82, Y:328.95, Z:-6.33 [[ 9.29556616e-01 2.31765821e-01 2.86721298e-01 1.22819766e+02] [-2.22899795e-01 9.72760118e-01 -6.36665927e-02 3.28951900e+02] [-2.93666784e-01 -4.72841622e-03 9.55896157e-01 -6.33047423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters Centerline goodness [0,1] 0.9992986557568674 Centerline is valid? [True, True] Translation: X:122.85, Y:328.94, Z:-6.34 [[ 9.30205003e-01 2.29607477e-01 2.86354777e-01 1.22848264e+02] [-2.20637795e-01 9.73275288e-01 -6.36724229e-02 3.28944028e+02] [-2.93321693e-01 -3.95228023e-03 9.56005630e-01 -6.34132055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.366875 meters Centerline goodness [0,1] 0.999084442566378 Centerline is valid? [True, True] Translation: X:122.88, Y:328.93, Z:-6.34 [[ 9.30747878e-01 2.26007941e-01 2.87452255e-01 1.22878727e+02] [-2.16787117e-01 9.74121474e-01 -6.39585841e-02 3.28925553e+02] [-2.94468562e-01 -2.78662913e-03 9.55657104e-01 -6.34222962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters Centerline goodness [0,1] 0.9987969428193999 Centerline is valid? [True, True] Translation: X:122.91, Y:328.92, Z:-6.35 [[ 9.30402954e-01 2.25464497e-01 2.88991529e-01 1.22909133e+02] [-2.16093666e-01 9.74248038e-01 -6.43761363e-02 3.28915709e+02] [-2.96063963e-01 -2.55349164e-03 9.55164703e-01 -6.34732203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.426875 meters Centerline goodness [0,1] 0.9989635597013168 Centerline is valid? [True, True] Translation: X:122.94, Y:328.91, Z:-6.35 [[ 9.30245320e-01 2.25445540e-01 2.89513305e-01 1.22940116e+02] [-2.16016082e-01 9.74252624e-01 -6.45668410e-02 3.28907563e+02] [-2.96615404e-01 -2.47652831e-03 9.54993806e-01 -6.35479979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters Centerline goodness [0,1] 0.999031190926276 Centerline is valid? [True, True] Translation: X:122.97, Y:328.90, Z:-6.37 [[ 9.30108078e-01 2.25772231e-01 2.89699607e-01 1.22970921e+02] [-2.16319360e-01 9.74176920e-01 -6.46936060e-02 3.28901714e+02] [-2.96824690e-01 -2.49558801e-03 9.54928728e-01 -6.36628900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.486875 meters Centerline goodness [0,1] 0.9989654118366291 Centerline is valid? [True, True] Translation: X:123.00, Y:328.90, Z:-6.38 [[ 9.30232520e-01 2.27187915e-01 2.88189366e-01 1.22998652e+02] [-2.17875672e-01 9.73846785e-01 -6.44409098e-02 3.28900517e+02] [-2.95292484e-01 -2.84442190e-03 9.55402668e-01 -6.38392074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters Centerline goodness [0,1] 0.9990833881733572 Centerline is valid? [True, True] Translation: X:123.03, Y:328.90, Z:-6.40 [[ 9.30295153e-01 2.26824499e-01 2.88273439e-01 1.23029052e+02] [-2.17467010e-01 9.73932029e-01 -6.45329619e-02 3.28895111e+02] [-2.95396392e-01 -2.65526144e-03 9.55371091e-01 -6.39699442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.546875 meters Centerline goodness [0,1] 0.9993646909339043 Centerline is valid? [True, True] Translation: X:123.06, Y:328.89, Z:-6.41 [[ 9.30027637e-01 2.27140188e-01 2.88887400e-01 1.23058905e+02] [-2.17730482e-01 9.73858397e-01 -6.47553842e-02 3.28889432e+02] [-2.96043970e-01 -2.67529575e-03 9.55170566e-01 -6.40830456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters Centerline goodness [0,1] 0.9991465149359886 Centerline is valid? [True, True] Translation: X:123.09, Y:328.88, Z:-6.41 [[ 9.29846040e-01 2.26271924e-01 2.90150580e-01 1.23089282e+02] [-2.16710311e-01 9.74061402e-01 -6.51231622e-02 3.28875805e+02] [-2.97360024e-01 -2.32410785e-03 9.54762596e-01 -6.41257452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.606875 meters Centerline goodness [0,1] 0.9989294635422862 Centerline is valid? [True, True] Translation: X:123.12, Y:328.86, Z:-6.42 [[ 9.29967703e-01 2.25659245e-01 2.90237794e-01 1.23118717e+02] [-2.16039632e-01 9.74204130e-01 -6.52164846e-02 3.28864076e+02] [-2.97467560e-01 -2.05364179e-03 9.54729717e-01 -6.41789823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters Centerline goodness [0,1] 0.9988563531962545 Centerline is valid? [True, True] Translation: X:123.15, Y:328.85, Z:-6.42 [[ 9.30373635e-01 2.25147508e-01 2.89332852e-01 1.23149333e+02] [-2.15540791e-01 9.74323019e-01 -6.50908809e-02 3.28852959e+02] [-2.96558708e-01 -1.80419245e-03 9.55012920e-01 -6.42478380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.666875 meters Centerline goodness [0,1] 0.9987842090206923 Centerline is valid? [True, True] Translation: X:123.18, Y:328.85, Z:-6.44 [[ 9.30941282e-01 2.24812617e-01 2.87763127e-01 1.23177645e+02] [-2.15270113e-01 9.74400701e-01 -6.48232352e-02 3.28845977e+02] [-2.94969674e-01 -1.60017537e-03 9.55505275e-01 -6.43617234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters Centerline goodness [0,1] 0.9990466429916343 Centerline is valid? [True, True] Translation: X:123.21, Y:328.84, Z:-6.45 [[ 9.31226347e-01 2.25362834e-01 2.86407200e-01 1.23206051e+02] [-2.15916839e-01 9.74273428e-01 -6.45848701e-02 3.28843990e+02] [-2.93593954e-01 -1.69700456e-03 9.55928716e-01 -6.45425297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.726875 meters Centerline goodness [0,1] 0.9992176015932477 Centerline is valid? [True, True] Translation: X:123.24, Y:328.84, Z:-6.47 [[ 9.31265963e-01 2.24439448e-01 2.87002859e-01 1.23235937e+02] [-2.14888690e-01 9.74487119e-01 -6.47896977e-02 3.28838602e+02] [-2.94221953e-01 -1.33722829e-03 9.55736184e-01 -6.46602215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters Centerline goodness [0,1] 0.9990250398306898 Centerline is valid? [True, True] Translation: X:123.27, Y:328.83, Z:-6.48 [[ 9.31008507e-01 2.23270359e-01 2.88744708e-01 1.23265975e+02] [-2.13522617e-01 9.74756144e-01 -6.52575823e-02 3.28831703e+02] [-2.96025762e-01 -8.98161321e-04 9.55179534e-01 -6.47541278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.786875 meters Centerline goodness [0,1] 0.9991909192585013 Centerline is valid? [True, True] Translation: X:123.29, Y:328.82, Z:-6.48 [[ 9.30871772e-01 2.22750892e-01 2.89585540e-01 1.23294853e+02] [-2.12896773e-01 9.74875175e-01 -6.55237086e-02 3.28824207e+02] [-2.96905219e-01 -6.57656221e-04 9.54906728e-01 -6.48406046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters Centerline goodness [0,1] 0.9992346694728786 Centerline is valid? [True, True] Translation: X:123.32, Y:328.81, Z:-6.49 [[ 9.31423366e-01 2.21969344e-01 2.88409645e-01 1.23324917e+02] [-2.12139123e-01 9.75053587e-01 -6.53260695e-02 3.28811226e+02] [-2.95715244e-01 -3.36741817e-04 9.55276076e-01 -6.48865889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.846875 meters Centerline goodness [0,1] 0.9990654205607477 Centerline is valid? [True, True] Translation: X:123.35, Y:328.80, Z:-6.50 [[ 9.31833778e-01 2.21729542e-01 2.87266113e-01 1.23353684e+02] [-2.11944127e-01 9.75108188e-01 -6.51437620e-02 3.28801596e+02] [-2.94559835e-01 -1.81207603e-04 9.55633021e-01 -6.49664442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters Centerline goodness [0,1] 0.9989947343226424 Centerline is valid? [True, True] Translation: X:123.39, Y:328.79, Z:-6.50 [[ 9.31830529e-01 2.21225503e-01 2.87664982e-01 1.23385631e+02] [-2.11368723e-01 9.75222680e-01 -6.52992215e-02 3.28793161e+02] [-2.94983267e-01 4.44283771e-05 9.55502418e-01 -6.50219671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.906875 meters Centerline goodness [0,1] 0.9989948546128994 Centerline is valid? [True, True] Translation: X:123.42, Y:328.79, Z:-6.51 [[ 9.31777854e-01 2.20702860e-01 2.88236499e-01 1.23416235e+02] [-2.10755203e-01 9.75341048e-01 -6.55140054e-02 3.28787376e+02] [-2.95588017e-01 2.97157548e-04 9.55315464e-01 -6.51221918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters Centerline goodness [0,1] 0.9989987842380033 Centerline is valid? [True, True] Translation: X:123.44, Y:328.78, Z:-6.53 [[ 9.32154384e-01 2.18601198e-01 2.88620373e-01 1.23444820e+02] [-2.08500801e-01 9.75813714e-01 -6.56887470e-02 3.28782220e+02] [-2.95999357e-01 1.05447449e-03 9.55187557e-01 -6.52763691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.966875 meters Centerline goodness [0,1] 0.9990016164305411 Centerline is valid? [True, True] Translation: X:123.47, Y:328.77, Z:-6.54 [[ 9.32471188e-01 2.17202745e-01 2.88652821e-01 1.23474801e+02] [-2.07009376e-01 9.76125231e-01 -6.57772903e-02 3.28773361e+02] [-2.96048310e-01 1.58158752e-03 9.55171658e-01 -6.53775837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters Centerline goodness [0,1] 0.9990441598164786 Centerline is valid? [True, True] Translation: X:123.51, Y:328.76, Z:-6.55 [[ 9.32393299e-01 2.16365883e-01 2.89531588e-01 1.23505988e+02] [-2.06043069e-01 9.76310423e-01 -6.60621878e-02 3.28764760e+02] [-2.96966310e-01 1.93996425e-03 9.54885986e-01 -6.54595565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.026875 meters Centerline goodness [0,1] 0.9985440832497972 Centerline is valid? [True, True] Translation: X:123.54, Y:328.76, Z:-6.55 [[ 9.32205447e-01 2.15023678e-01 2.91131967e-01 1.23537493e+02] [-2.04493098e-01 9.76605716e-01 -6.65120127e-02 3.28756618e+02] [-2.98622800e-01 2.46838267e-03 9.54368027e-01 -6.55367921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters Centerline goodness [0,1] 0.9992628525229467 Centerline is valid? [True, True] Translation: X:123.57, Y:328.75, Z:-6.57 [[ 9.33260428e-01 2.13578813e-01 2.88806275e-01 1.23565068e+02] [-2.03126026e-01 9.76921254e-01 -6.60657374e-02 3.28751291e+02] [-2.96251230e-01 2.99246733e-03 9.55105363e-01 -6.56692751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.086875 meters Centerline goodness [0,1] 0.9992429619115212 Centerline is valid? [True, True] Translation: X:123.59, Y:328.75, Z:-6.58 [[ 9.33747069e-01 2.13543769e-01 2.87255060e-01 1.23594121e+02] [-2.03183229e-01 9.76928720e-01 -6.57788118e-02 3.28747469e+02] [-2.94674373e-01 3.05536225e-03 9.55592841e-01 -6.58007940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters Centerline goodness [0,1] 0.9990794070437163 Centerline is valid? [True, True] Translation: X:123.62, Y:328.74, Z:-6.59 [[ 9.33575527e-01 2.14541713e-01 2.87068961e-01 1.23624455e+02] [-2.04218264e-01 9.76710774e-01 -6.58100709e-02 3.28741959e+02] [-2.94502352e-01 2.81394688e-03 9.55646612e-01 -6.58963505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.146875 meters Centerline goodness [0,1] 0.9989130177934261 Centerline is valid? [True, True] Translation: X:123.66, Y:328.73, Z:-6.60 [[ 9.33178512e-01 2.15848913e-01 2.87379735e-01 1.23655139e+02] [-2.05538627e-01 9.76423612e-01 -6.59606170e-02 3.28733698e+02] [-2.94841887e-01 2.48539402e-03 9.55542822e-01 -6.59617503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters Centerline goodness [0,1] 0.9990028726763373 Centerline is valid? [True, True] Translation: X:123.69, Y:328.73, Z:-6.60 [[ 9.33169264e-01 2.16891751e-01 2.86623608e-01 1.23685297e+02] [-2.06662302e-01 9.76193125e-01 -6.58610364e-02 3.28725392e+02] [-2.94084711e-01 2.22520030e-03 9.55776769e-01 -6.60256926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.206875 meters Centerline goodness [0,1] 0.9991025883242017 Centerline is valid? [True, True] Translation: X:123.72, Y:328.72, Z:-6.61 [[ 9.33169731e-01 2.17817712e-01 2.85919040e-01 1.23715884e+02] [-2.07666501e-01 9.75987460e-01 -6.57502988e-02 3.28718350e+02] [-2.93374978e-01 1.98038192e-03 9.55995398e-01 -6.61085822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters Centerline goodness [0,1] 0.9985561446695702 Centerline is valid? [True, True] Translation: X:123.75, Y:328.72, Z:-6.62 [[ 9.32931546e-01 2.19839638e-01 2.85147795e-01 1.23747266e+02] [-2.09811506e-01 9.75534983e-01 -6.56553731e-02 3.28716880e+02] [-2.92605303e-01 1.42468040e-03 9.56232245e-01 -6.62215224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.266875 meters Centerline goodness [0,1] 0.9982670195077399 Centerline is valid? [True, True] Translation: X:123.78, Y:328.71, Z:-6.64 [[ 9.32513306e-01 2.20630227e-01 2.85904244e-01 1.23775769e+02] [-2.10557467e-01 9.75356702e-01 -6.59155314e-02 3.28714567e+02] [-2.93401579e-01 1.26783661e-03 9.55988444e-01 -6.63512272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters Centerline goodness [0,1] 0.9988082998411066 Centerline is valid? [True, True] Translation: X:123.80, Y:328.71, Z:-6.65 [[ 9.31767131e-01 2.21249013e-01 2.87852198e-01 1.23804930e+02] [-2.11042461e-01 9.75216666e-01 -6.64344274e-02 3.28710807e+02] [-2.95416812e-01 1.15237962e-03 9.55367772e-01 -6.64631474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32687500000003 meters Centerline goodness [0,1] 0.998645777393822 Centerline is valid? [True, True] Translation: X:123.83, Y:328.70, Z:-6.66 [[ 9.31270377e-01 2.21542749e-01 2.89230523e-01 1.23834455e+02] [-2.11228170e-01 9.75149999e-01 -6.68216949e-02 3.28704579e+02] [-2.96847006e-01 1.13543094e-03 9.54924377e-01 -6.65682108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters Centerline goodness [0,1] 0.998825629462608 Centerline is valid? [True, True] Translation: X:123.86, Y:328.69, Z:-6.67 [[ 9.31705009e-01 2.22238021e-01 2.87290860e-01 1.23863010e+02] [-2.12074614e-01 9.74991949e-01 -6.64459023e-02 3.28693827e+02] [-2.94873081e-01 9.80881746e-04 9.55535925e-01 -6.66669462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38687500000003 meters Centerline goodness [0,1] 0.9982809777233551 Centerline is valid? [True, True] Translation: X:123.89, Y:328.68, Z:-6.68 [[ 9.31994306e-01 2.22701884e-01 2.85990356e-01 1.23892279e+02] [-2.12631803e-01 9.74886176e-01 -6.62167740e-02 3.28684080e+02] [-2.93554645e-01 9.03011503e-04 9.55941868e-01 -6.67648611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters Centerline goodness [0,1] 0.9978560490045941 Centerline is valid? [True, True] Translation: X:123.92, Y:328.67, Z:-6.68 [[ 9.31636523e-01 2.23302699e-01 2.86686751e-01 1.23922320e+02] [-2.13187802e-01 9.74748830e-01 -6.64505815e-02 3.28674636e+02] [-2.94286169e-01 7.89670368e-04 9.55717023e-01 -6.68410828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44687500000003 meters Centerline goodness [0,1] 0.9972677595628415 Centerline is valid? [True, True] Translation: X:123.95, Y:328.67, Z:-6.69 [[ 9.30155957e-01 2.25081492e-01 2.90083120e-01 1.23953430e+02] [-2.14780902e-01 9.74339893e-01 -6.73122307e-02 3.28666916e+02] [-2.97790293e-01 3.06558233e-04 9.54631262e-01 -6.68781205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters Centerline goodness [0,1] 0.9972677595628415 Centerline is valid? [True, True] Translation: X:123.98, Y:328.66, Z:-6.70 [[ 9.30095703e-01 2.25351515e-01 2.90066677e-01 1.23983451e+02] [-2.15041676e-01 9.74277479e-01 -6.73830155e-02 3.28659874e+02] [-2.97790296e-01 2.96228738e-04 9.54631265e-01 -6.69771029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.50687500000004 meters Centerline goodness [0,1] 0.9973200521759753 Centerline is valid? [True, True] Translation: X:124.01, Y:328.65, Z:-6.71 [[ 9.29542199e-01 2.27387722e-01 2.90251829e-01 1.24014068e+02] [-2.17134503e-01 9.73804268e-01 -6.75118967e-02 3.28654078e+02] [-2.97999847e-01 -2.68529667e-04 9.54565880e-01 -6.70896132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters Centerline goodness [0,1] 0.9968860681261736 Centerline is valid? [True, True] Translation: X:124.04, Y:328.65, Z:-6.72 [[ 9.29395498e-01 2.30163580e-01 2.88528569e-01 1.24042306e+02] [-2.20138879e-01 9.73151372e-01 -6.71958457e-02 3.28649486e+02] [-2.96248009e-01 -1.06483908e-03 9.55110456e-01 -6.72246198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.566875 meters Centerline goodness [0,1] 0.997407107854798 Centerline is valid? [True, True] Translation: X:124.07, Y:328.64, Z:-6.73 [[ 9.29543566e-01 2.33446766e-01 2.85396858e-01 1.24072112e+02] [-2.23773537e-01 9.72367491e-01 -6.65347033e-02 3.28644183e+02] [-2.93042938e-01 -2.01735896e-03 9.56097153e-01 -6.73459196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters Centerline goodness [0,1] 0.997736748064324 Centerline is valid? [True, True] Translation: X:124.10, Y:328.64, Z:-6.75 [[ 9.29404005e-01 2.37169389e-01 2.82770007e-01 1.24100810e+02] [-2.27838363e-01 9.71463251e-01 -6.59456721e-02 3.28638971e+02] [-2.90340965e-01 -3.13568388e-03 9.56918122e-01 -6.74697662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.626875 meters Centerline goodness [0,1] 0.9956452037422535 Centerline is valid? [True, True] Translation: X:124.13, Y:328.63, Z:-6.77 [[ 9.29300426e-01 2.42598853e-01 2.78471749e-01 1.24127997e+02] [-2.33772441e-01 9.70115387e-01 -6.50121642e-02 3.28634787e+02] [-2.85921605e-01 -4.68318878e-03 9.58241568e-01 -6.76589987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters Centerline goodness [0,1] 0.995837220986148 Centerline is valid? [True, True] Translation: X:124.16, Y:328.63, Z:-6.78 [[ 9.29027773e-01 2.44040647e-01 2.78121483e-01 1.24157323e+02] [-2.35295500e-01 9.69751569e-01 -6.49455260e-02 3.28628027e+02] [-2.85558093e-01 -5.10453613e-03 9.58347807e-01 -6.77565137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.686875 meters Centerline goodness [0,1] 0.9958237877052311 Centerline is valid? [True, True] Translation: X:124.19, Y:328.62, Z:-6.78 [[ 9.28193839e-01 2.45001759e-01 2.80054167e-01 1.24186500e+02] [-2.36152800e-01 9.69507788e-01 -6.54714040e-02 3.28621997e+02] [-2.87555305e-01 -5.36542172e-03 9.57749006e-01 -6.78438049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters Centerline goodness [0,1] 0.996109413786519 Centerline is valid? [True, True] Translation: X:124.22, Y:328.62, Z:-6.79 [[ 9.26922181e-01 2.44566599e-01 2.84609291e-01 1.24217417e+02] [-2.35380510e-01 9.69618271e-01 -6.66064932e-02 3.28615178e+02] [-2.92252092e-01 -5.25244403e-03 9.56326893e-01 -6.78904830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.746875 meters Centerline goodness [0,1] 0.9957270058007687 Centerline is valid? [True, True] Translation: X:124.25, Y:328.61, Z:-6.80 [[ 9.26716523e-01 2.44553971e-01 2.85289048e-01 1.24247886e+02] [-2.35301153e-01 9.69621784e-01 -6.68353421e-02 3.28608857e+02] [-2.92967324e-01 -5.19142602e-03 9.56108360e-01 -6.79739840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters Centerline goodness [0,1] 0.9957735994044618 Centerline is valid? [True, True] Translation: X:124.28, Y:328.60, Z:-6.81 [[ 9.26608045e-01 2.44688108e-01 2.85526288e-01 1.24278168e+02] [-2.35402992e-01 9.69588094e-01 -6.69653580e-02 3.28602588e+02] [-2.93228516e-01 -5.16310307e-03 9.56028441e-01 -6.80792952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.806875 meters Centerline goodness [0,1] 0.996062235881675 Centerline is valid? [True, True] Translation: X:124.31, Y:328.59, Z:-6.82 [[ 9.26879697e-01 2.44122381e-01 2.85128552e-01 1.24306924e+02] [-2.34811343e-01 9.69732103e-01 -6.69573188e-02 3.28593475e+02] [-2.92844091e-01 -4.89003879e-03 9.56147701e-01 -6.81772367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters Centerline goodness [0,1] 0.9963264424115825 Centerline is valid? [True, True] Translation: X:124.34, Y:328.58, Z:-6.83 [[ 9.26801846e-01 2.43675962e-01 2.85762776e-01 1.24336695e+02] [-2.34278907e-01 9.69845390e-01 -6.71811962e-02 3.28583958e+02] [-2.93516154e-01 -4.68453432e-03 9.55942636e-01 -6.82578905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.866875 meters Centerline goodness [0,1] 0.9968805490233719 Centerline is valid? [True, True] Translation: X:124.37, Y:328.57, Z:-6.83 [[ 9.26833679e-01 2.43527439e-01 2.85786139e-01 1.24367258e+02] [-2.34099089e-01 9.69883277e-01 -6.72610298e-02 3.28574153e+02] [-2.93559103e-01 -4.56248721e-03 9.55930037e-01 -6.83479006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters Centerline goodness [0,1] 0.9966196638980104 Centerline is valid? [True, True] Translation: X:124.40, Y:328.57, Z:-6.85 [[ 9.27166815e-01 2.42915360e-01 2.85225919e-01 1.24397329e+02] [-2.33470265e-01 9.70038077e-01 -6.72143206e-02 3.28565203e+02] [-2.93007393e-01 -4.27288335e-03 9.56100628e-01 -6.84527908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.926875 meters Centerline goodness [0,1] 0.9969157369701935 Centerline is valid? [True, True] Translation: X:124.42, Y:328.56, Z:-6.86 [[ 9.27835062e-01 2.40750028e-01 2.84888613e-01 1.24424940e+02] [-2.31201726e-01 9.70580853e-01 -6.72203059e-02 3.28556545e+02] [-2.92690724e-01 -3.49738248e-03 9.56200768e-01 -6.85759867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters Centerline goodness [0,1] 0.9973137145761235 Centerline is valid? [True, True] Translation: X:124.45, Y:328.55, Z:-6.87 [[ 9.28179323e-01 2.39686660e-01 2.84663749e-01 1.24454144e+02] [-2.30083890e-01 9.70845384e-01 -6.72357406e-02 3.28549780e+02] [-2.92479996e-01 -3.08971852e-03 9.56266650e-01 -6.86895643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.986875 meters Centerline goodness [0,1] 0.9972269110200145 Centerline is valid? [True, True] Translation: X:124.48, Y:328.54, Z:-6.88 [[ 9.28611150e-01 2.39042927e-01 2.83795368e-01 1.24483965e+02] [-2.29448491e-01 9.71004952e-01 -6.71027120e-02 3.28543024e+02] [-2.91607137e-01 -2.80409236e-03 9.56534064e-01 -6.88122688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters Centerline goodness [0,1] 0.9972871101721364 Centerline is valid? [True, True] Translation: X:124.51, Y:328.54, Z:-6.90 [[ 9.28682407e-01 2.39019420e-01 2.83581918e-01 1.24513014e+02] [-2.29413129e-01 9.71011007e-01 -6.71359826e-02 3.28540905e+02] [-2.91407967e-01 -2.70940925e-03 9.56595032e-01 -6.89708824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.046875 meters Centerline goodness [0,1] 0.997532283955054 Centerline is valid? [True, True] Translation: X:124.54, Y:328.53, Z:-6.91 [[ 9.28588609e-01 2.38359772e-01 2.84442990e-01 1.24543427e+02] [-2.28637762e-01 9.71173897e-01 -6.74242934e-02 3.28532962e+02] [-2.92314846e-01 -2.42497781e-03 9.56319063e-01 -6.90511029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters Centerline goodness [0,1] 0.9972113373560594 Centerline is valid? [True, True] Translation: X:124.57, Y:328.52, Z:-6.91 [[ 9.28473318e-01 2.37961292e-01 2.85152102e-01 1.24574044e+02] [-2.28148769e-01 9.71272076e-01 -6.76660395e-02 3.28524444e+02] [-2.93062172e-01 -2.23098879e-03 9.56090783e-01 -6.91244144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.106875 meters Centerline goodness [0,1] 0.9975918121613486 Centerline is valid? [True, True] Translation: X:124.60, Y:328.51, Z:-6.92 [[ 9.28527952e-01 2.37671481e-01 2.85215899e-01 1.24603735e+02] [-2.27818512e-01 9.71343401e-01 -6.77548771e-02 3.28512341e+02] [-2.93145983e-01 -2.06516424e-03 9.56065462e-01 -6.91704523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters Centerline goodness [0,1] 0.9973696911196911 Centerline is valid? [True, True] Translation: X:124.63, Y:328.50, Z:-6.92 [[ 9.28308134e-01 2.37876886e-01 2.85759683e-01 1.24634437e+02] [-2.27971080e-01 9.71293139e-01 -6.79619302e-02 3.28502665e+02] [-2.93722992e-01 -2.05533091e-03 9.55888372e-01 -6.92388182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.166875 meters Centerline goodness [0,1] 0.996820426351921 Centerline is valid? [True, True] Translation: X:124.66, Y:328.50, Z:-6.93 [[ 9.28207418e-01 2.39335474e-01 2.84867547e-01 1.24664584e+02] [-2.29534206e-01 9.70933910e-01 -6.78335432e-02 3.28496587e+02] [-2.92822535e-01 -2.42324840e-03 9.56163736e-01 -6.93451646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters Centerline goodness [0,1] 0.9964935715478377 Centerline is valid? [True, True] Translation: X:124.69, Y:328.50, Z:-6.95 [[ 9.27234577e-01 2.43498876e-01 2.84507183e-01 1.24694986e+02] [-2.33891913e-01 9.69894280e-01 -6.78207762e-02 3.28501660e+02] [-2.92456173e-01 -3.65816070e-03 9.56271930e-01 -6.95233352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.226875 meters Centerline goodness [0,1] 0.9963944603629418 Centerline is valid? [True, True] Translation: X:124.73, Y:328.50, Z:-6.96 [[ 9.26633535e-01 2.44556638e-01 2.85556200e-01 1.24725212e+02] [-2.34903612e-01 9.69627033e-01 -6.81447723e-02 3.28497826e+02] [-2.93548267e-01 -3.93295168e-03 9.55936162e-01 -6.96426280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters Centerline goodness [0,1] 0.9957786787502981 Centerline is valid? [True, True] Translation: X:124.76, Y:328.49, Z:-6.97 [[ 9.26111508e-01 2.44527679e-01 2.87269367e-01 1.24755482e+02] [-2.34727947e-01 9.69634623e-01 -6.86402852e-02 3.28490479e+02] [-2.95330774e-01 -3.86159047e-03 9.55387263e-01 -6.97305058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.286875 meters Centerline goodness [0,1] 0.996952308388295 Centerline is valid? [True, True] Translation: X:124.78, Y:328.48, Z:-6.98 [[ 9.26148354e-01 2.43073707e-01 2.88382384e-01 1.24784264e+02] [-2.33103711e-01 9.70002089e-01 -6.89826632e-02 3.28479531e+02] [-2.96499386e-01 -3.33482393e-03 9.55027221e-01 -6.97922187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters Centerline goodness [0,1] 0.9968966340415374 Centerline is valid? [True, True] Translation: X:124.81, Y:328.47, Z:-6.99 [[ 9.26553042e-01 2.41837364e-01 2.88121760e-01 1.24813023e+02] [-2.31805705e-01 9.70312568e-01 -6.89901134e-02 3.28470582e+02] [-2.96252552e-01 -2.86526829e-03 9.55105343e-01 -6.98797747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.346875 meters Centerline goodness [0,1] 0.9971563754540241 Centerline is valid? [True, True] Translation: X:124.84, Y:328.46, Z:-7.00 [[ 9.26438593e-01 2.40860909e-01 2.89305299e-01 1.24842905e+02] [-2.30676652e-01 9.70556440e-01 -6.93431942e-02 3.28460949e+02] [-2.97489186e-01 -2.49376656e-03 9.54721931e-01 -6.99613792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters Centerline goodness [0,1] 0.9964355306306735 Centerline is valid? [True, True] Translation: X:124.87, Y:328.45, Z:-7.00 [[ 9.25860804e-01 2.39509556e-01 2.92261773e-01 1.24872670e+02] [-2.29021677e-01 9.70891935e-01 -7.01278932e-02 3.28453827e+02] [-3.00550899e-01 -2.00561380e-03 9.53763668e-01 -7.00336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.406875 meters Centerline goodness [0,1] 0.9964495067435543 Centerline is valid? [True, True] Translation: X:124.90, Y:328.45, Z:-7.01 [[ 9.25959563e-01 2.39903761e-01 2.91624885e-01 1.24903181e+02] [-2.29459987e-01 9.70794494e-01 -7.00440262e-02 3.28446784e+02] [-2.99911658e-01 -2.05830650e-03 9.53964759e-01 -7.01486231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters Centerline goodness [0,1] 0.9967666219582295 Centerline is valid? [True, True] Translation: X:124.93, Y:328.44, Z:-7.03 [[ 9.26054048e-01 2.40845583e-01 2.90546564e-01 1.24932817e+02] [-2.30498862e-01 9.70560802e-01 -6.98713411e-02 3.28439695e+02] [-2.98821310e-01 -2.26601399e-03 9.54306392e-01 -7.02631105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.466875 meters Centerline goodness [0,1] 0.9962769384978879 Centerline is valid? [True, True] Translation: X:124.96, Y:328.43, Z:-7.04 [[ 9.26242409e-01 2.41682369e-01 2.89248392e-01 1.24961762e+02] [-2.31442961e-01 9.70352358e-01 -6.96452290e-02 3.28431804e+02] [-2.97504883e-01 -2.43613964e-03 9.54717188e-01 -7.03649620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters Centerline goodness [0,1] 0.9965036628294168 Centerline is valid? [True, True] Translation: X:124.99, Y:328.42, Z:-7.05 [[ 9.25604161e-01 2.43048197e-01 2.90145672e-01 1.24992507e+02] [-2.32785431e-01 9.70010151e-01 -6.99374702e-02 3.28424999e+02] [-2.98442424e-01 -2.80727210e-03 9.54423511e-01 -7.04546899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.526875 meters Centerline goodness [0,1] 0.99672052663076 Centerline is valid? [True, True] Translation: X:125.02, Y:328.42, Z:-7.06 [[ 9.25279520e-01 2.43907370e-01 2.90459989e-01 1.25022966e+02] [-2.33651598e-01 9.69793736e-01 -7.00502727e-02 3.28418505e+02] [-2.98772056e-01 -3.05035781e-03 9.54319629e-01 -7.05640383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters Centerline goodness [0,1] 0.9958708260734659 Centerline is valid? [True, True] Translation: X:125.05, Y:328.41, Z:-7.07 [[ 9.25299790e-01 2.44589940e-01 2.89820738e-01 1.25052992e+02] [-2.34385973e-01 9.69621410e-01 -6.99824024e-02 3.28411877e+02] [-2.98133384e-01 -3.17521326e-03 9.54518938e-01 -7.06836724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.586875 meters Centerline goodness [0,1] 0.9962480112084728 Centerline is valid? [True, True] Translation: X:125.08, Y:328.41, Z:-7.08 [[ 9.25272294e-01 2.44819615e-01 2.89714580e-01 1.25082373e+02] [-2.34607129e-01 9.69563496e-01 -7.00437152e-02 3.28406852e+02] [-2.98044756e-01 -3.15959662e-03 9.54546667e-01 -7.08111770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters Centerline goodness [0,1] 0.996519639178919 Centerline is valid? [True, True] Translation: X:125.11, Y:328.40, Z:-7.09 [[ 9.24850522e-01 2.46120155e-01 2.89959275e-01 1.25112342e+02] [-2.35927318e-01 9.69233005e-01 -7.01832144e-02 3.28402719e+02] [-2.98311602e-01 -3.50033149e-03 9.54462118e-01 -7.09216400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.646875 meters Centerline goodness [0,1] 0.9958978493348825 Centerline is valid? [True, True] Translation: X:125.14, Y:328.40, Z:-7.10 [[ 9.24708870e-01 2.47386012e-01 2.89333142e-01 1.25142039e+02] [-2.37273459e-01 9.68909483e-01 -7.01121934e-02 3.28395199e+02] [-2.97682401e-01 -3.81770827e-03 9.54657328e-01 -7.10095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters Centerline goodness [0,1] 0.9963984456449626 Centerline is valid? [True, True] Translation: X:125.17, Y:328.39, Z:-7.11 [[ 9.24771175e-01 2.47564445e-01 2.88981174e-01 1.25172076e+02] [-2.37477526e-01 9.68863803e-01 -7.00525206e-02 3.28385599e+02] [-2.97325913e-01 -3.84398242e-03 9.54768310e-01 -7.10884382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.706875 meters Centerline goodness [0,1] 0.996513117320556 Centerline is valid? [True, True] Translation: X:125.20, Y:328.38, Z:-7.12 [[ 9.24700921e-01 2.47002875e-01 2.89685667e-01 1.25202304e+02] [-2.36813354e-01 9.69008094e-01 -7.03046823e-02 3.28375227e+02] [-2.98073215e-01 -3.59062995e-03 9.54536257e-01 -7.11533080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters Centerline goodness [0,1] 0.9966882683693891 Centerline is valid? [True, True] Translation: X:125.23, Y:328.37, Z:-7.12 [[ 9.24492124e-01 2.46269631e-01 2.90973507e-01 1.25231891e+02] [-2.35927923e-01 9.69195762e-01 -7.06936390e-02 3.28366224e+02] [-2.99419986e-01 -3.29306263e-03 9.54115731e-01 -7.12210857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.766875 meters Centerline goodness [0,1] 0.9962061034311052 Centerline is valid? [True, True] Translation: X:125.26, Y:328.36, Z:-7.13 [[ 9.24410453e-01 2.45621232e-01 2.91779925e-01 1.25261313e+02] [-2.35167224e-01 9.69361173e-01 -7.09598013e-02 3.28358451e+02] [-3.00269364e-01 -3.02109303e-03 9.53849664e-01 -7.13192801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters Centerline goodness [0,1] 0.9966339476967258 Centerline is valid? [True, True] Translation: X:125.29, Y:328.36, Z:-7.15 [[ 9.24416979e-01 2.45386710e-01 2.91956524e-01 1.25290069e+02] [-2.34884640e-01 9.69421025e-01 -7.10780007e-02 3.28358893e+02] [-3.00470390e-01 -2.87039248e-03 9.53786824e-01 -7.15050553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82687500000003 meters Centerline goodness [0,1] 0.9966386949674447 Centerline is valid? [True, True] Translation: X:125.32, Y:328.36, Z:-7.16 [[ 9.24228217e-01 2.46378029e-01 2.91719161e-01 1.25318988e+02] [-2.35916410e-01 9.69168821e-01 -7.11002365e-02 3.28355717e+02] [-3.00242651e-01 -3.10849225e-03 9.53857792e-01 -7.16375741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters Centerline goodness [0,1] 0.9962883788672509 Centerline is valid? [True, True] Translation: X:125.35, Y:328.35, Z:-7.17 [[ 9.23937826e-01 2.48125958e-01 2.91157008e-01 1.25348400e+02] [-2.37765287e-01 9.68721133e-01 -7.10424861e-02 3.28348032e+02] [-2.99677431e-01 -3.58818917e-03 9.54033837e-01 -7.17233559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88687500000003 meters Centerline goodness [0,1] 0.9967036330672694 Centerline is valid? [True, True] Translation: X:125.38, Y:328.34, Z:-7.18 [[ 9.23676853e-01 2.49660955e-01 2.90672459e-01 1.25378041e+02] [-2.39388057e-01 9.68325016e-01 -7.09931065e-02 3.28339134e+02] [-2.99189620e-01 -4.00882612e-03 9.54185255e-01 -7.17981911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters Centerline goodness [0,1] 0.9963604565972632 Centerline is valid? [True, True] Translation: X:125.41, Y:328.33, Z:-7.19 [[ 9.23444222e-01 2.50965313e-01 2.90288099e-01 1.25407450e+02] [-2.40759475e-01 9.67986312e-01 -7.09744641e-02 3.28331874e+02] [-2.98807035e-01 -4.34865142e-03 9.54303644e-01 -7.18719392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94687500000003 meters Centerline goodness [0,1] 0.9953932292281887 Centerline is valid? [True, True] Translation: X:125.44, Y:328.33, Z:-7.19 [[ 9.22693696e-01 2.53144874e-01 2.90781733e-01 1.25438566e+02] [-2.42987288e-01 9.67415497e-01 -7.11648397e-02 3.28325633e+02] [-2.99321769e-01 -4.99291592e-03 9.54139167e-01 -7.19316203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters Centerline goodness [0,1] 0.9958808991408733 Centerline is valid? [True, True] Translation: X:125.47, Y:328.32, Z:-7.20 [[ 9.22183661e-01 2.53643672e-01 2.91962642e-01 1.25468705e+02] [-2.43401994e-01 9.67284279e-01 -7.15303656e-02 3.28321479e+02] [-3.00554098e-01 -5.10015465e-03 9.53751133e-01 -7.20261815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.00687500000004 meters Centerline goodness [0,1] 0.9967126118299011 Centerline is valid? [True, True] Translation: X:125.50, Y:328.31, Z:-7.22 [[ 9.22792587e-01 2.53497024e-01 2.90160474e-01 1.25498280e+02] [-2.43351591e-01 9.67323572e-01 -7.11695928e-02 3.28314716e+02] [-2.98720346e-01 -4.93624026e-03 9.54327925e-01 -7.21718269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters Centerline goodness [0,1] 0.9972358866245022 Centerline is valid? [True, True] Translation: X:125.53, Y:328.31, Z:-7.23 [[ 9.23714554e-01 2.50430436e-01 2.89889667e-01 1.25526988e+02] [-2.40129424e-01 9.68126936e-01 -7.11905563e-02 3.28307249e+02] [-2.98478277e-01 -3.85128574e-03 9.54408658e-01 -7.22823450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.066875 meters Centerline goodness [0,1] 0.9970772540216984 Centerline is valid? [True, True] Translation: X:125.56, Y:328.30, Z:-7.24 [[ 9.23670952e-01 2.49209351e-01 2.91078464e-01 1.25555600e+02] [-2.38738864e-01 9.68443685e-01 -7.15582610e-02 3.28301741e+02] [-2.99726088e-01 -3.39545468e-03 9.54019257e-01 -7.23833555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters Centerline goodness [0,1] 0.997828624795704 Centerline is valid? [True, True] Translation: X:125.59, Y:328.29, Z:-7.25 [[ 9.23901897e-01 2.47428927e-01 2.91863343e-01 1.25585304e+02] [-2.36792007e-01 9.68902128e-01 -7.18206974e-02 3.28294303e+02] [-3.00557532e-01 -2.75562836e-03 9.53759706e-01 -7.24797375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.126875 meters Centerline goodness [0,1] 0.9980308038539981 Centerline is valid? [True, True] Translation: X:125.61, Y:328.28, Z:-7.26 [[ 9.25675609e-01 2.42841492e-01 2.90090808e-01 1.25614092e+02] [-2.32093287e-01 9.70065262e-01 -7.14569380e-02 3.28283883e+02] [-2.98759725e-01 -1.18218467e-03 9.54327632e-01 -7.25947772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters Centerline goodness [0,1] 0.9984294052837619 Centerline is valid? [True, True] Translation: X:125.64, Y:328.27, Z:-7.27 [[ 9.26316174e-01 2.40438409e-01 2.90047785e-01 1.25644737e+02] [-2.29554765e-01 9.70664341e-01 -7.15216572e-02 3.28273022e+02] [-2.98735596e-01 -3.30183394e-04 9.54335861e-01 -7.26786655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.186875 meters Centerline goodness [0,1] 0.9979554907997086 Centerline is valid? [True, True] Translation: X:125.67, Y:328.26, Z:-7.28 [[ 9.26629946e-01 2.38485768e-01 2.90656982e-01 1.25674858e+02] [-2.27434163e-01 9.71145915e-01 -7.17587188e-02 3.28262824e+02] [-2.99383774e-01 3.88450186e-04 9.54132698e-01 -7.27514356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters Centerline goodness [0,1] 0.9979057345224369 Centerline is valid? [True, True] Translation: X:125.71, Y:328.25, Z:-7.28 [[ 9.26937004e-01 2.36596370e-01 2.91221477e-01 1.25705278e+02] [-2.25382372e-01 9.71607416e-01 -7.19848275e-02 3.28254024e+02] [-2.99984296e-01 1.08921305e-03 9.53943518e-01 -7.28379915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.246875 meters Centerline goodness [0,1] 0.9978590754028938 Centerline is valid? [True, True] Translation: X:125.73, Y:328.25, Z:-7.30 [[ 9.27622748e-01 2.34759585e-01 2.90523622e-01 1.25734083e+02] [-2.23485528e-01 9.72051858e-01 -7.18985654e-02 3.28246704e+02] [-2.99282904e-01 1.76691966e-03 9.54162786e-01 -7.29520853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters Centerline goodness [0,1] 0.9984533908234522 Centerline is valid? [True, True] Translation: X:125.76, Y:328.24, Z:-7.31 [[ 9.27665912e-01 2.34640391e-01 2.90482086e-01 1.25763210e+02] [-2.23340116e-01 9.72080420e-01 -7.19642220e-02 3.28239072e+02] [-2.99257661e-01 1.88245293e-03 9.54170482e-01 -7.30574049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.306875 meters Centerline goodness [0,1] 0.9983100575049877 Centerline is valid? [True, True] Translation: X:125.79, Y:328.23, Z:-7.31 [[ 9.27161755e-01 2.35418611e-01 2.91460387e-01 1.25792990e+02] [-2.24052001e-01 9.71892544e-01 -7.22881959e-02 3.28232381e+02] [-3.00286164e-01 1.72056753e-03 9.53847608e-01 -7.31458605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters Centerline goodness [0,1] 0.9975469009181599 Centerline is valid? [True, True] Translation: X:125.82, Y:328.23, Z:-7.32 [[ 9.26234452e-01 2.38297535e-01 2.92068527e-01 1.25823500e+02] [-2.26998126e-01 9.71191811e-01 -7.25142492e-02 3.28226975e+02] [-3.00934528e-01 8.66187682e-04 9.53644409e-01 -7.32466320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.366875 meters Centerline goodness [0,1] 0.9975469009181599 Centerline is valid? [True, True] Translation: X:125.85, Y:328.22, Z:-7.33 [[ 9.26170744e-01 2.38566711e-01 2.92050814e-01 1.25853410e+02] [-2.27257893e-01 9.71125734e-01 -7.25855218e-02 3.28219466e+02] [-3.00934550e-01 8.55733995e-04 9.53644412e-01 -7.33456132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters Centerline goodness [0,1] 0.9974163241338814 Centerline is valid? [True, True] Translation: X:125.88, Y:328.21, Z:-7.34 [[ 9.25797381e-01 2.39631143e-01 2.92363002e-01 1.25883301e+02] [-2.28321766e-01 9.70863820e-01 -7.27503603e-02 3.28211561e+02] [-3.01277913e-01 5.99256044e-04 9.53536187e-01 -7.34391883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.426875 meters Centerline goodness [0,1] 0.9972591829085458 Centerline is valid? [True, True] Translation: X:125.91, Y:328.20, Z:-7.35 [[ 9.25687639e-01 2.39578453e-01 2.92753410e-01 1.25913679e+02] [-2.28209820e-01 9.70876756e-01 -7.29287548e-02 3.28203248e+02] [-3.01699640e-01 7.00043750e-04 9.53402768e-01 -7.35381734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters Centerline goodness [0,1] 0.9965049727903922 Centerline is valid? [True, True] Translation: X:125.94, Y:328.20, Z:-7.36 [[ 9.25634533e-01 2.39361310e-01 2.93098745e-01 1.25943513e+02] [-2.27926833e-01 9.70930184e-01 -7.31022353e-02 3.28195615e+02] [-3.02076265e-01 8.60884789e-04 9.53283373e-01 -7.36398689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.486875 meters Centerline goodness [0,1] 0.9974323661912654 Centerline is valid? [True, True] Translation: X:125.97, Y:328.19, Z:-7.38 [[ 9.25239060e-01 2.40033616e-01 2.93796776e-01 1.25974217e+02] [-2.28548306e-01 9.70764300e-01 -7.33644725e-02 3.28189316e+02] [-3.02817361e-01 7.32920004e-04 9.53048324e-01 -7.37542749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters Centerline goodness [0,1] 0.9967696629213483 Centerline is valid? [True, True] Translation: X:126.00, Y:328.18, Z:-7.38 [[ 9.25075985e-01 2.40309777e-01 2.94084396e-01 1.26003863e+02] [-2.28786983e-01 9.70695974e-01 -7.35244360e-02 3.28180785e+02] [-3.03135180e-01 7.33008332e-04 9.52947284e-01 -7.38391830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.546875 meters Centerline goodness [0,1] 0.99619396673245 Centerline is valid? [True, True] Translation: X:126.04, Y:328.17, Z:-7.39 [[ 9.24717920e-01 2.41381322e-01 2.94332847e-01 1.26035186e+02] [-2.29865284e-01 9.70430235e-01 -7.36689275e-02 3.28170040e+02] [-3.03411797e-01 4.66073873e-04 9.52859415e-01 -7.38957982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters Centerline goodness [0,1] 0.9970606217372902 Centerline is valid? [True, True] Translation: X:126.07, Y:328.16, Z:-7.40 [[ 9.24779091e-01 2.41757830e-01 2.93831216e-01 1.26065884e+02] [-2.30273121e-01 9.70336523e-01 -7.36296308e-02 3.28161775e+02] [-3.02915701e-01 4.29711726e-04 9.53017258e-01 -7.39885716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.606875 meters Centerline goodness [0,1] 0.9966565349544073 Centerline is valid? [True, True] Translation: X:126.10, Y:328.16, Z:-7.41 [[ 9.24845258e-01 2.42460925e-01 2.93042570e-01 1.26095675e+02] [-2.31046466e-01 9.70161130e-01 -7.35181115e-02 3.28155299e+02] [-3.02123780e-01 2.86426681e-04 9.53268661e-01 -7.41024012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters Centerline goodness [0,1] 0.9967629250116442 Centerline is valid? [True, True] Translation: X:126.13, Y:328.15, Z:-7.43 [[ 9.24632767e-01 2.45221548e-01 2.91411459e-01 1.26125832e+02] [-2.34043865e-01 9.69466924e-01 -7.31939407e-02 3.28153874e+02] [-3.00462502e-01 -5.25548332e-04 9.53793483e-01 -7.42541381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.666875 meters Centerline goodness [0,1] 0.9967868867726839 Centerline is valid? [True, True] Translation: X:126.16, Y:328.15, Z:-7.44 [[ 9.24066855e-01 2.46740334e-01 2.91924057e-01 1.26156484e+02] [-2.35568732e-01 9.69081182e-01 -7.34100418e-02 3.28149126e+02] [-3.01011329e-01 -9.32393588e-04 9.53620108e-01 -7.43635361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters Centerline goodness [0,1] 0.9974141545916227 Centerline is valid? [True, True] Translation: X:126.19, Y:328.14, Z:-7.44 [[ 9.23096485e-01 2.48810993e-01 2.93233643e-01 1.26187756e+02] [-2.37610492e-01 9.68550857e-01 -7.38274456e-02 3.28143731e+02] [-3.02380776e-01 -1.52553460e-03 9.53185994e-01 -7.44490621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.726875 meters Centerline goodness [0,1] 0.9971318869408337 Centerline is valid? [True, True] Translation: X:126.22, Y:328.14, Z:-7.45 [[ 9.21657122e-01 2.52728887e-01 2.94408322e-01 1.26217949e+02] [-2.41602682e-01 9.67533281e-01 -7.42124969e-02 3.28140504e+02] [-3.03605491e-01 -2.73136400e-03 9.52793916e-01 -7.45159951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters Centerline goodness [0,1] 0.9967387533248525 Centerline is valid? [True, True] Translation: X:126.25, Y:328.14, Z:-7.46 [[ 9.21659172e-01 2.54046226e-01 2.93265896e-01 1.26247387e+02] [-2.43050515e-01 9.67187176e-01 -7.39960425e-02 3.28135272e+02] [-3.02441429e-01 -3.07929572e-03 9.53162998e-01 -7.46261777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.786875 meters Centerline goodness [0,1] 0.9967136258129754 Centerline is valid? [True, True] Translation: X:126.28, Y:328.13, Z:-7.47 [[ 9.21709385e-01 2.54905419e-01 2.92361141e-01 1.26276984e+02] [-2.43996891e-01 9.66960455e-01 -7.38444061e-02 3.28130284e+02] [-3.01525001e-01 -3.27212749e-03 9.53452656e-01 -7.47443760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters Centerline goodness [0,1] 0.996821228664225 Centerline is valid? [True, True] Translation: X:126.31, Y:328.12, Z:-7.48 [[ 9.21970568e-01 2.55619261e-01 2.90910752e-01 1.26306807e+02] [-2.44828392e-01 9.66771557e-01 -7.35650332e-02 3.28121119e+02] [-3.00048880e-01 -3.39841612e-03 9.53917774e-01 -7.48373665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.846875 meters Centerline goodness [0,1] 0.9965041484105528 Centerline is valid? [True, True] Translation: X:126.34, Y:328.11, Z:-7.49 [[ 9.22321037e-01 2.56430319e-01 2.89080259e-01 1.26336645e+02] [-2.45789271e-01 9.66556207e-01 -7.31897116e-02 3.28106758e+02] [-2.98180380e-01 -3.54841534e-03 9.54502944e-01 -7.48718623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters Centerline goodness [0,1] 0.9963321494068761 Centerline is valid? [True, True] Translation: X:126.37, Y:328.10, Z:-7.50 [[ 9.22431217e-01 2.56885453e-01 2.88323628e-01 1.26365596e+02] [-2.46298945e-01 9.66435126e-01 -7.30751418e-02 3.28098841e+02] [-2.97418023e-01 -3.60701334e-03 9.54740546e-01 -7.49530237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.906875 meters Centerline goodness [0,1] 0.9963282837613153 Centerline is valid? [True, True] Translation: X:126.40, Y:328.09, Z:-7.51 [[ 9.22259544e-01 2.57247015e-01 2.88550352e-01 1.26396297e+02] [-2.46648058e-01 9.66338652e-01 -7.31733933e-02 3.28091784e+02] [-2.97660996e-01 -3.68552361e-03 9.54664522e-01 -7.50610313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters Centerline goodness [0,1] 0.9965335965657354 Centerline is valid? [True, True] Translation: X:126.43, Y:328.09, Z:-7.52 [[ 9.21681677e-01 2.58730443e-01 2.89069962e-01 1.26425783e+02] [-2.48136557e-01 9.65940926e-01 -7.33919424e-02 3.28093719e+02] [-2.98213237e-01 -4.08481652e-03 9.54490534e-01 -7.52247663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.966875 meters Centerline goodness [0,1] 0.9962955340605063 Centerline is valid? [True, True] Translation: X:126.45, Y:328.09, Z:-7.54 [[ 9.21173381e-01 2.60055802e-01 2.89500574e-01 1.26454432e+02] [-2.49469631e-01 9.65583364e-01 -7.35776529e-02 3.28092277e+02] [-2.98671233e-01 -4.44382592e-03 9.54345717e-01 -7.53524691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters Centerline goodness [0,1] 0.9962643809873035 Centerline is valid? [True, True] Translation: X:126.48, Y:328.08, Z:-7.55 [[ 9.20756858e-01 2.61506920e-01 2.89518462e-01 1.26483557e+02] [-2.50967440e-01 9.65189447e-01 -7.36523936e-02 3.28084711e+02] [-2.98700775e-01 -4.84376090e-03 9.54334525e-01 -7.54503741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.026875 meters Centerline goodness [0,1] 0.9961192247634794 Centerline is valid? [True, True] Translation: X:126.51, Y:328.08, Z:-7.55 [[ 9.20548446e-01 2.63209635e-01 2.88636876e-01 1.26513564e+02] [-2.52793541e-01 9.64724096e-01 -7.35040377e-02 3.28075148e+02] [-2.97801920e-01 -5.30151020e-03 9.54612964e-01 -7.55324026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters Centerline goodness [0,1] 0.9961715160796325 Centerline is valid? [True, True] Translation: X:126.54, Y:328.06, Z:-7.55 [[ 9.20801732e-01 2.64983432e-01 2.86195652e-01 1.26544304e+02] [-2.54806699e-01 9.64235849e-01 -7.29573450e-02 3.28059133e+02] [-2.95292595e-01 -5.74531961e-03 9.55389593e-01 -7.55399982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.086875 meters Centerline goodness [0,1] 0.9954224370294638 Centerline is valid? [True, True] Translation: X:126.58, Y:328.05, Z:-7.56 [[ 9.20383413e-01 2.65550020e-01 2.87014911e-01 1.26575113e+02] [-2.55317087e-01 9.64079221e-01 -7.32423446e-02 3.28050736e+02] [-2.96154618e-01 -5.86877176e-03 9.55121982e-01 -7.55999092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters Centerline goodness [0,1] 0.9960587021538033 Centerline is valid? [True, True] Translation: X:126.61, Y:328.04, Z:-7.57 [[ 9.19748321e-01 2.65970505e-01 2.88656745e-01 1.26605799e+02] [-2.55612394e-01 9.63962751e-01 -7.37436073e-02 3.28044909e+02] [-2.97867974e-01 -5.95868251e-03 9.54588479e-01 -7.56730141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.146875 meters Centerline goodness [0,1] 0.9956160484759456 Centerline is valid? [True, True] Translation: X:126.64, Y:328.05, Z:-7.58 [[ 9.18442224e-01 2.68226458e-01 2.90720567e-01 1.26636510e+02] [-2.57802762e-01 9.63332835e-01 -7.43477239e-02 3.28045172e+02] [-3.00002695e-01 -6.66447622e-03 9.53915074e-01 -7.58112604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters Centerline goodness [0,1] 0.9956546729509139 Centerline is valid? [True, True] Translation: X:126.66, Y:328.04, Z:-7.59 [[ 9.17927788e-01 2.70701233e-01 2.90050716e-01 1.26664802e+02] [-2.60422459e-01 9.62635155e-01 -7.42542984e-02 3.28041628e+02] [-2.99313746e-01 -7.37563667e-03 9.54126240e-01 -7.59304901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.206875 meters Centerline goodness [0,1] 0.9952806414662084 Centerline is valid? [True, True] Translation: X:126.69, Y:328.03, Z:-7.60 [[ 9.17552541e-01 2.73332225e-01 2.88767778e-01 1.26694537e+02] [-2.63258689e-01 9.61885182e-01 -7.39713355e-02 3.28034620e+02] [-2.97980197e-01 -8.14803998e-03 9.54537276e-01 -7.60289609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters Centerline goodness [0,1] 0.9952543616313991 Centerline is valid? [True, True] Translation: X:126.72, Y:328.03, Z:-7.61 [[ 9.16751641e-01 2.76664959e-01 2.88136998e-01 1.26724718e+02] [-2.66789860e-01 9.60922525e-01 -7.38313706e-02 3.28027382e+02] [-2.97303885e-01 -9.18699906e-03 9.54738707e-01 -7.61113180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.266875 meters Centerline goodness [0,1] 0.994503984611157 Centerline is valid? [True, True] Translation: X:126.75, Y:328.02, Z:-7.62 [[ 9.16322696e-01 2.78335637e-01 2.87892322e-01 1.26754321e+02] [-2.68551442e-01 9.60434905e-01 -7.37896720e-02 3.28021438e+02] [-2.97040131e-01 -9.69874700e-03 9.54815739e-01 -7.62172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters Centerline goodness [0,1] 0.9945729009896475 Centerline is valid? [True, True] Translation: X:126.78, Y:328.02, Z:-7.63 [[ 9.15979083e-01 2.79679370e-01 2.87683454e-01 1.26783545e+02] [-2.69961505e-01 9.60040487e-01 -7.37770173e-02 3.28017551e+02] [-2.96821673e-01 -1.00852537e-02 9.54879669e-01 -7.63359249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.326875 meters Centerline goodness [0,1] 0.9950913553313335 Centerline is valid? [True, True] Translation: X:126.81, Y:328.02, Z:-7.65 [[ 9.15446661e-01 2.82802150e-01 2.86322117e-01 1.26813733e+02] [-2.73313685e-01 9.59115200e-01 -7.34687948e-02 3.28016474e+02] [-2.95393027e-01 -1.09989899e-02 9.55312505e-01 -7.64608626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters Centerline goodness [0,1] 0.9947511353522445 Centerline is valid? [True, True] Translation: X:126.84, Y:328.01, Z:-7.66 [[ 9.15356511e-01 2.84704299e-01 2.84720775e-01 1.26842991e+02] [-2.75405266e-01 9.58546205e-01 -7.30829091e-02 3.28007286e+02] [-2.93725037e-01 -1.15166840e-02 9.55820574e-01 -7.65588142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.386875 meters Centerline goodness [0,1] 0.9946053443664709 Centerline is valid? [True, True] Translation: X:126.87, Y:328.00, Z:-7.67 [[ 9.16124957e-01 2.85239660e-01 2.81697353e-01 1.26871168e+02] [-2.76158669e-01 9.58386831e-01 -7.23261509e-02 3.27996611e+02] [-2.90605320e-01 -1.15333740e-02 9.56773499e-01 -7.66625130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters Centerline goodness [0,1] 0.995252581120944 Centerline is valid? [True, True] Translation: X:126.90, Y:327.98, Z:-7.68 [[ 9.17953963e-01 2.83300707e-01 2.77671084e-01 1.26898488e+02] [-2.74374107e-01 9.58971653e-01 -7.13597835e-02 3.27982680e+02] [-2.86494976e-01 -1.06807597e-02 9.58022208e-01 -7.67777937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.446875 meters Centerline goodness [0,1] 0.9955755271344625 Centerline is valid? [True, True] Translation: X:126.93, Y:327.98, Z:-7.69 [[ 9.18344582e-01 2.81915430e-01 2.77789341e-01 1.26926725e+02] [-2.72897136e-01 9.59385256e-01 -7.14638688e-02 3.27975896e+02] [-2.86653766e-01 -1.01794589e-02 9.57980165e-01 -7.68853820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters Centerline goodness [0,1] 0.9955292328255709 Centerline is valid? [True, True] Translation: X:126.96, Y:327.97, Z:-7.70 [[ 9.18298748e-01 2.80775059e-01 2.79092773e-01 1.26955765e+02] [-2.71598863e-01 9.59723506e-01 -7.18668864e-02 3.27966565e+02] [-2.88030324e-01 -9.80600804e-03 9.57571081e-01 -7.69804829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.506875 meters Centerline goodness [0,1] 0.9951774424292769 Centerline is valid? [True, True] Translation: X:126.98, Y:327.96, Z:-7.71 [[ 9.18236626e-01 2.78400511e-01 2.81664079e-01 1.26984232e+02] [-2.68920290e-01 9.60422163e-01 -7.26026601e-02 3.27955097e+02] [-2.90729042e-01 -9.07876417e-03 9.56762353e-01 -7.70591312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters Centerline goodness [0,1] 0.9951688587873604 Centerline is valid? [True, True] Translation: X:127.01, Y:327.95, Z:-7.72 [[ 9.18134570e-01 2.77783085e-01 2.82604794e-01 1.27012575e+02] [-2.68190477e-01 9.60603040e-01 -7.29086285e-02 3.27947287e+02] [-2.91723808e-01 -8.85198221e-03 9.56461637e-01 -7.71502705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.566875 meters Centerline goodness [0,1] 0.995912964726099 Centerline is valid? [True, True] Translation: X:127.04, Y:327.94, Z:-7.72 [[ 9.18132083e-01 2.77075451e-01 2.83306677e-01 1.27041855e+02] [-2.67380357e-01 9.60809843e-01 -7.31586599e-02 3.27936679e+02] [-2.92474313e-01 -8.58132779e-03 9.56234875e-01 -7.72332758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters Centerline goodness [0,1] 0.9952589097805222 Centerline is valid? [True, True] Translation: X:127.07, Y:327.93, Z:-7.73 [[ 9.18095130e-01 2.76944023e-01 2.83554828e-01 1.27070496e+02] [-2.67202489e-01 9.60848705e-01 -7.32979990e-02 3.27928925e+02] [-2.92752732e-01 -8.47201990e-03 9.56150649e-01 -7.73231598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.626875 meters Centerline goodness [0,1] 0.995501762196253 Centerline is valid? [True, True] Translation: X:127.10, Y:327.92, Z:-7.74 [[ 9.17904065e-01 2.76323096e-01 2.84776533e-01 1.27100161e+02] [-2.66445598e-01 9.61029442e-01 -7.36828019e-02 3.27917023e+02] [-2.94038892e-01 -8.24371015e-03 9.55757904e-01 -7.73826635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters Centerline goodness [0,1] 0.9961414193068502 Centerline is valid? [True, True] Translation: X:127.13, Y:327.91, Z:-7.75 [[ 9.17976303e-01 2.75534181e-01 2.85307593e-01 1.27130233e+02] [-2.65559157e-01 9.61258541e-01 -7.38941860e-02 3.27907279e+02] [-2.94614735e-01 -7.93293204e-03 9.55583187e-01 -7.74582682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.686875 meters Centerline goodness [0,1] 0.9964558850960642 Centerline is valid? [True, True] Translation: X:127.16, Y:327.90, Z:-7.75 [[ 9.17975256e-01 2.75431830e-01 2.85409768e-01 1.27159781e+02] [-2.65421145e-01 9.61288747e-01 -7.39970328e-02 3.27899631e+02] [-2.94742337e-01 -7.82634225e-03 9.55544715e-01 -7.75468519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters Centerline goodness [0,1] 0.9965588597735358 Centerline is valid? [True, True] Translation: X:127.19, Y:327.90, Z:-7.77 [[ 9.18427565e-01 2.76640564e-01 2.82773417e-01 1.27187582e+02] [-2.66865396e-01 9.60939274e-01 -7.33387432e-02 3.27895924e+02] [-2.92016554e-01 -8.10611663e-03 9.56378912e-01 -7.76775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.746875 meters Centerline goodness [0,1] 0.9961507057039543 Centerline is valid? [True, True] Translation: X:127.22, Y:327.89, Z:-7.78 [[ 9.18274616e-01 2.78425284e-01 2.81515702e-01 1.27216992e+02] [-2.68804802e-01 9.60419562e-01 -7.30632877e-02 3.27889587e+02] [-2.90715854e-01 -8.58061020e-03 9.56770958e-01 -7.77947053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters Centerline goodness [0,1] 0.996081886258781 Centerline is valid? [True, True] Translation: X:127.25, Y:327.89, Z:-7.79 [[ 9.18150169e-01 2.79784801e-01 2.80572150e-01 1.27245836e+02] [-2.70270295e-01 9.60021421e-01 -7.28892222e-02 3.27885312e+02] [-2.89748571e-01 -8.90706593e-03 9.57061351e-01 -7.79175645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.806875 meters Centerline goodness [0,1] 0.9967307380185026 Centerline is valid? [True, True] Translation: X:127.28, Y:327.88, Z:-7.81 [[ 9.18831195e-01 2.79085329e-01 2.79035148e-01 1.27275448e+02] [-2.69625510e-01 9.60228066e-01 -7.25544297e-02 3.27879549e+02] [-2.88186257e-01 -8.56972069e-03 9.57536026e-01 -7.80502864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters Centerline goodness [0,1] 0.9968561455419681 Centerline is valid? [True, True] Translation: X:127.30, Y:327.87, Z:-7.82 [[ 9.19634556e-01 2.75117426e-01 2.80326033e-01 1.27303959e+02] [-2.65363053e-01 9.61383070e-01 -7.29728944e-02 3.27871181e+02] [-2.89576817e-01 -7.27977651e-03 9.57127093e-01 -7.81501080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.866875 meters Centerline goodness [0,1] 0.9971298289470638 Centerline is valid? [True, True] Translation: X:127.33, Y:327.86, Z:-7.82 [[ 9.19392953e-01 2.73899788e-01 2.82303922e-01 1.27334389e+02] [-2.63929811e-01 9.61733577e-01 -7.35498628e-02 3.27860426e+02] [-2.91646453e-01 -6.88719533e-03 9.56501392e-01 -7.82076652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters Centerline goodness [0,1] 0.9969501628890275 Centerline is valid? [True, True] Translation: X:127.36, Y:327.85, Z:-7.83 [[ 9.19425735e-01 2.72471871e-01 2.83576087e-01 1.27363555e+02] [-2.62321362e-01 9.62142514e-01 -7.39546131e-02 3.27850669e+02] [-2.92991161e-01 -6.39229093e-03 9.56093781e-01 -7.82725177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.926875 meters Centerline goodness [0,1] 0.9966077278747183 Centerline is valid? [True, True] Translation: X:127.39, Y:327.84, Z:-7.84 [[ 9.19726743e-01 2.70937318e-01 2.84069863e-01 1.27393023e+02] [-2.60658085e-01 9.62579245e-01 -7.41522797e-02 3.27842032e+02] [-2.93530374e-01 -5.84527160e-03 9.55931877e-01 -7.83609740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters Centerline goodness [0,1] 0.9975664024475038 Centerline is valid? [True, True] Translation: X:127.42, Y:327.83, Z:-7.85 [[ 9.21972678e-01 2.67274793e-01 2.80233055e-01 1.27420332e+02] [-2.57104108e-01 9.63609443e-01 -7.31732082e-02 3.27833466e+02] [-2.89592572e-01 -4.58537083e-03 9.57139027e-01 -7.85175412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.986875 meters Centerline goodness [0,1] 0.9980706648070665 Centerline is valid? [True, True] Translation: X:127.45, Y:327.83, Z:-7.87 [[ 9.22904839e-01 2.65609882e-01 2.78743696e-01 1.27448537e+02] [-2.55453506e-01 9.64072428e-01 -7.28550553e-02 3.27826196e+02] [-2.88080135e-01 -3.96777130e-03 9.57598085e-01 -7.86530225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters Centerline goodness [0,1] 0.9971746178786475 Centerline is valid? [True, True] Translation: X:127.48, Y:327.82, Z:-7.87 [[ 9.22728395e-01 2.64540263e-01 2.80340432e-01 1.27477217e+02] [-2.54201728e-01 9.64367895e-01 -7.33215129e-02 3.27816951e+02] [-2.89747804e-01 -3.60718013e-03 9.57096232e-01 -7.87269788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.046875 meters Centerline goodness [0,1] 0.9976797067149288 Centerline is valid? [True, True] Translation: X:127.51, Y:327.80, Z:-7.88 [[ 9.21890102e-01 2.64890231e-01 2.82757504e-01 1.27508177e+02] [-2.54365347e-01 9.64271524e-01 -7.40182319e-02 3.27804900e+02] [-2.92261716e-01 -3.68703543e-03 9.56331269e-01 -7.87592524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters Centerline goodness [0,1] 0.997553360052195 Centerline is valid? [True, True] Translation: X:127.54, Y:327.79, Z:-7.88 [[ 9.21376832e-01 2.65182861e-01 2.84152748e-01 1.27538108e+02] [-2.54542492e-01 9.64190942e-01 -7.44576911e-02 3.27794411e+02] [-2.93722410e-01 -3.72535719e-03 9.55883501e-01 -7.88121367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1068750000001 meters Centerline goodness [0,1] 0.9972378255419897 Centerline is valid? [True, True] Translation: X:127.57, Y:327.79, Z:-7.89 [[ 9.20924027e-01 2.65516446e-01 2.85306769e-01 1.27567190e+02] [-2.54779985e-01 9.64098950e-01 -7.48356488e-02 3.27789375e+02] [-2.94934052e-01 -3.77250729e-03 9.55510164e-01 -7.89166355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters Centerline goodness [0,1] 0.9981002247295137 Centerline is valid? [True, True] Translation: X:127.60, Y:327.78, Z:-7.90 [[ 9.20295343e-01 2.66628851e-01 2.86296240e-01 1.27597484e+02] [-2.55847386e-01 9.63790668e-01 -7.51642446e-02 3.27783198e+02] [-2.95970601e-01 -4.07484025e-03 9.55188358e-01 -7.90211567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.166875 meters Centerline goodness [0,1] 0.997946090648943 Centerline is valid? [True, True] Translation: X:127.63, Y:327.78, Z:-7.91 [[ 9.18772573e-01 2.69697154e-01 2.88306095e-01 1.27627565e+02] [-2.58880349e-01 9.62932150e-01 -7.57802087e-02 3.27782533e+02] [-2.98056914e-01 -5.01200510e-03 9.54534942e-01 -7.91497013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters Centerline goodness [0,1] 0.9982050810014728 Centerline is valid? [True, True] Translation: X:127.66, Y:327.78, Z:-7.93 [[ 9.18473270e-01 2.71120090e-01 2.87924901e-01 1.27657179e+02] [-2.60376757e-01 9.62530447e-01 -7.57567341e-02 3.27775361e+02] [-2.97675657e-01 -5.38841679e-03 9.54651857e-01 -7.92513236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2268750000001 meters Centerline goodness [0,1] 0.9974431091792381 Centerline is valid? [True, True] Translation: X:127.69, Y:327.76, Z:-7.93 [[ 9.18500081e-01 2.72444754e-01 2.86585864e-01 1.27686090e+02] [-2.61842130e-01 9.62154481e-01 -7.54814742e-02 3.27764851e+02] [-2.96304405e-01 -5.71051276e-03 9.55076484e-01 -7.93336948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters Centerline goodness [0,1] 0.9974431091792381 Centerline is valid? [True, True] Translation: X:127.72, Y:327.76, Z:-7.94 [[ 9.18423223e-01 2.72714477e-01 2.86575642e-01 1.27715903e+02] [-2.62112574e-01 9.62077797e-01 -7.55202649e-02 3.27756925e+02] [-2.96303532e-01 -5.75551403e-03 9.55076485e-01 -7.94325353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.286875 meters Centerline goodness [0,1] 0.9975963221395067 Centerline is valid? [True, True] Translation: X:127.74, Y:327.75, Z:-7.95 [[ 9.18411036e-01 2.73386305e-01 2.85973944e-01 1.27744921e+02] [-2.62833528e-01 9.61886429e-01 -7.54522026e-02 3.27748205e+02] [-2.95702055e-01 -5.86740520e-03 9.55262199e-01 -7.95114610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters Centerline goodness [0,1] 0.9971208321723786 Centerline is valid? [True, True] Translation: X:127.78, Y:327.74, Z:-7.96 [[ 9.17981260e-01 2.73463416e-01 2.87277159e-01 1.27775661e+02] [-2.62793207e-01 9.61864628e-01 -7.58694073e-02 3.27744818e+02] [-2.97069245e-01 -5.84779192e-03 9.54838032e-01 -7.95814549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.346875 meters Centerline goodness [0,1] 0.99767549976755 Centerline is valid? [True, True] Translation: X:127.81, Y:327.74, Z:-7.97 [[ 9.17689751e-01 2.73641938e-01 2.88037517e-01 1.27805942e+02] [-2.62900686e-01 9.61813831e-01 -7.61405513e-02 3.27735158e+02] [-2.97873716e-01 -5.85185718e-03 9.54587348e-01 -7.96665973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters Centerline goodness [0,1] 0.9972200986864966 Centerline is valid? [True, True] Translation: X:127.84, Y:327.73, Z:-7.98 [[ 9.17345649e-01 2.74591107e-01 2.88230262e-01 1.27835039e+02] [-2.63855771e-01 9.61541843e-01 -7.62719903e-02 3.27728740e+02] [-2.98089068e-01 -6.08343957e-03 9.54518674e-01 -7.97794832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.406875 meters Centerline goodness [0,1] 0.997933404541866 Centerline is valid? [True, True] Translation: X:127.86, Y:327.72, Z:-7.99 [[ 9.17047050e-01 2.75670665e-01 2.88149949e-01 1.27864323e+02] [-2.64970829e-01 9.61231108e-01 -7.63231142e-02 3.27722447e+02] [-2.98018738e-01 -6.35944412e-03 9.54538836e-01 -7.98992013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters Centerline goodness [0,1] 0.9974003063924609 Centerline is valid? [True, True] Translation: X:127.89, Y:327.72, Z:-8.00 [[ 9.16477883e-01 2.78454248e-01 2.87282998e-01 1.27892493e+02] [-2.67930004e-01 9.60422768e-01 -7.61683668e-02 3.27718718e+02] [-2.97122537e-01 -7.16511113e-03 9.54812473e-01 -8.00277989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.466875 meters Centerline goodness [0,1] 0.9975244661407121 Centerline is valid? [True, True] Translation: X:127.92, Y:327.71, Z:-8.01 [[ 9.16409616e-01 2.78660801e-01 2.87300492e-01 1.27921514e+02] [-2.68123803e-01 9.60362870e-01 -7.62416183e-02 3.27710001e+02] [-2.97158276e-01 -7.16354853e-03 9.54801363e-01 -8.01119834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters Centerline goodness [0,1] 0.9975085570587002 Centerline is valid? [True, True] Translation: X:127.95, Y:327.70, Z:-8.02 [[ 9.16550460e-01 2.78349602e-01 2.87152840e-01 1.27950528e+02] [-2.67784591e-01 9.60454460e-01 -7.62800293e-02 3.27696732e+02] [-2.97029741e-01 -6.98060967e-03 9.54842712e-01 -8.01893176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.526875 meters Centerline goodness [0,1] 0.9976706266014442 Centerline is valid? [True, True] Translation: X:127.98, Y:327.68, Z:-8.03 [[ 9.17873158e-01 2.75917086e-01 2.85269394e-01 1.27978342e+02] [-2.65354657e-01 9.61162261e-01 -7.58552227e-02 3.27684149e+02] [-2.95119928e-01 -6.07208916e-03 9.55440923e-01 -8.02744942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters Centerline goodness [0,1] 0.9974303868435807 Centerline is valid? [True, True] Translation: X:128.01, Y:327.67, Z:-8.04 [[ 9.17835218e-01 2.74996239e-01 2.86278851e-01 1.28007641e+02] [-2.64290041e-01 9.61428277e-01 -7.62000147e-02 3.27673475e+02] [-2.96191300e-01 -5.72159214e-03 9.55111500e-01 -8.03527442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.586875 meters Centerline goodness [0,1] 0.9967763034946739 Centerline is valid? [True, True] Translation: X:128.04, Y:327.66, Z:-8.04 [[ 9.17505727e-01 2.74312550e-01 2.87985877e-01 1.28037470e+02] [-2.63418480e-01 9.61625099e-01 -7.67324748e-02 3.27663256e+02] [-2.97983129e-01 -5.45831703e-03 9.54555531e-01 -8.04214611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters Centerline goodness [0,1] 0.9977627071243795 Centerline is valid? [True, True] Translation: X:128.07, Y:327.66, Z:-8.05 [[ 9.17186355e-01 2.73684066e-01 2.89596653e-01 1.28066112e+02] [-2.62610020e-01 9.61805550e-01 -7.72402802e-02 3.27655344e+02] [-2.99675102e-01 -5.20725194e-03 9.54027105e-01 -8.04988399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.646875 meters Centerline goodness [0,1] 0.9976236516552897 Centerline is valid? [True, True] Translation: X:128.09, Y:327.65, Z:-8.06 [[ 9.17296575e-01 2.73279227e-01 2.89629864e-01 1.28094516e+02] [-2.62160584e-01 9.61921735e-01 -7.73201417e-02 3.27647411e+02] [-2.99731250e-01 -5.00403330e-03 9.54010554e-01 -8.06208331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters Centerline goodness [0,1] 0.9975710014947683 Centerline is valid? [True, True] Translation: X:128.12, Y:327.64, Z:-8.07 [[ 9.17753093e-01 2.73362999e-01 2.88100556e-01 1.28123784e+02] [-2.62344189e-01 9.61898335e-01 -7.69877817e-02 3.27639632e+02] [-2.98169056e-01 -4.92573204e-03 9.54500367e-01 -8.07495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.706875 meters Centerline goodness [0,1] 0.9973453182125143 Centerline is valid? [True, True] Translation: X:128.15, Y:327.63, Z:-8.09 [[ 9.18095838e-01 2.73278930e-01 2.87086501e-01 1.28152262e+02] [-2.62308075e-01 9.61922899e-01 -7.68037109e-02 3.27632867e+02] [-2.97143915e-01 -4.79193997e-03 9.54820680e-01 -8.08771096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters Centerline goodness [0,1] 0.9976264335401391 Centerline is valid? [True, True] Translation: X:128.18, Y:327.62, Z:-8.10 [[ 9.18415216e-01 2.73425192e-01 2.85923338e-01 1.28180605e+02] [-2.62526893e-01 9.61881607e-01 -7.65728685e-02 3.27623472e+02] [-2.95961352e-01 -4.73687818e-03 9.55188170e-01 -8.09771733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.766875 meters Centerline goodness [0,1] 0.9970631769377158 Centerline is valid? [True, True] Translation: X:128.21, Y:327.61, Z:-8.11 [[ 9.18613500e-01 2.73539778e-01 2.85175784e-01 1.28209798e+02] [-2.62680816e-01 9.61849299e-01 -7.64507406e-02 3.27611659e+02] [-2.95208447e-01 -4.68152530e-03 9.55421402e-01 -8.10645180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters Centerline goodness [0,1] 0.9972587201058701 Centerline is valid? [True, True] Translation: X:128.24, Y:327.60, Z:-8.12 [[ 9.18450939e-01 2.74115862e-01 2.85146221e-01 1.28239982e+02] [-2.63259638e-01 9.61684799e-01 -7.65291418e-02 3.27602380e+02] [-2.95198638e-01 -4.77922890e-03 9.55423949e-01 -8.11639142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.826875 meters Centerline goodness [0,1] 0.9982167577840869 Centerline is valid? [True, True] Translation: X:128.27, Y:327.60, Z:-8.13 [[ 9.18667882e-01 2.75588585e-01 2.83019884e-01 1.28269842e+02] [-2.64938905e-01 9.61262024e-01 -7.60440500e-02 3.27595030e+02] [-2.93013139e-01 -5.12375183e-03 9.56094686e-01 -8.12560081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters Centerline goodness [0,1] 0.997939785550405 Centerline is valid? [True, True] Translation: X:128.30, Y:327.59, Z:-8.13 [[ 9.17989584e-01 2.76858940e-01 2.83979316e-01 1.28298643e+02] [-2.66171313e-01 9.60894988e-01 -7.63783610e-02 3.27588636e+02] [-2.94020333e-01 -5.47260766e-03 9.55783498e-01 -8.13479102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.886875 meters Centerline goodness [0,1] 0.9977303570592915 Centerline is valid? [True, True] Translation: X:128.33, Y:327.58, Z:-8.14 [[ 9.17471447e-01 2.77578416e-01 2.84949761e-01 1.28329072e+02] [-2.66837586e-01 9.60686170e-01 -7.66797616e-02 3.27580545e+02] [-2.95031942e-01 -5.68381457e-03 9.55470485e-01 -8.14372011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters Centerline goodness [0,1] 0.9979552985969118 Centerline is valid? [True, True] Translation: X:128.36, Y:327.57, Z:-8.15 [[ 9.16595778e-01 2.79278228e-01 2.86104616e-01 1.28358509e+02] [-2.68502688e-01 9.60190385e-01 -7.70761373e-02 3.27570669e+02] [-2.96240588e-01 -6.17219648e-03 9.55093408e-01 -8.15124723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.946875 meters Centerline goodness [0,1] 0.9977419203086042 Centerline is valid? [True, True] Translation: X:128.39, Y:327.56, Z:-8.16 [[ 9.16980438e-01 2.78698700e-01 2.85436350e-01 1.28386732e+02] [-2.67923436e-01 9.60360509e-01 -7.69722403e-02 3.27561842e+02] [-2.95573862e-01 -5.89304922e-03 9.55301714e-01 -8.16255460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters Centerline goodness [0,1] 0.9978145928798026 Centerline is valid? [True, True] Translation: X:128.41, Y:327.55, Z:-8.17 [[ 9.18491680e-01 2.74691333e-01 2.84460377e-01 1.28414295e+02] [-2.63779770e-01 9.61521889e-01 -7.67847020e-02 3.27551771e+02] [-2.94606971e-01 -4.50878305e-03 9.55607871e-01 -8.17482052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.006875 meters Centerline goodness [0,1] 0.9987019423662411 Centerline is valid? [True, True] Translation: X:128.44, Y:327.53, Z:-8.18 [[ 9.22179719e-01 2.60522248e-01 2.85854374e-01 1.28441206e+02] [-2.48809467e-01 9.65467839e-01 -7.72379540e-02 3.27530731e+02] [-2.96105410e-01 1.04000083e-04 9.55155262e-01 -8.18142481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters Centerline goodness [0,1] 0.9988627209401507 Centerline is valid? [True, True] Translation: X:128.47, Y:327.52, Z:-8.19 [[ 9.22783658e-01 2.56731034e-01 2.87331684e-01 1.28471555e+02] [-2.44706494e-01 9.66481942e-01 -7.76620069e-02 3.27518957e+02] [-2.97639132e-01 1.35330178e-03 9.54677493e-01 -8.18939853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.066875 meters Centerline goodness [0,1] 0.9986935246329992 Centerline is valid? [True, True] Translation: X:128.50, Y:327.51, Z:-8.20 [[ 9.23577602e-01 2.55061773e-01 2.86265444e-01 1.28500893e+02] [-2.43023169e-01 9.66922750e-01 -7.74605375e-02 3.27509518e+02] [-2.96553792e-01 1.97168204e-03 9.55014115e-01 -8.19944190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters Centerline goodness [0,1] 0.9986708755607244 Centerline is valid? [True, True] Translation: X:128.53, Y:327.50, Z:-8.21 [[ 9.24691138e-01 2.54424725e-01 2.83221396e-01 1.28529884e+02] [-2.42595238e-01 9.67090021e-01 -7.67101178e-02 3.27500762e+02] [-2.93417537e-01 2.22500408e-03 9.55981798e-01 -8.21131990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.126875 meters Centerline goodness [0,1] 0.9984804957382654 Centerline is valid? [True, True] Translation: X:128.56, Y:327.49, Z:-8.22 [[ 9.24966975e-01 2.54723541e-01 2.82049662e-01 1.28557831e+02] [-2.42984885e-01 9.67011425e-01 -7.64673144e-02 3.27493602e+02] [-2.92223271e-01 2.19593587e-03 9.56347603e-01 -8.22176223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters Centerline goodness [0,1] 0.9986200333095409 Centerline is valid? [True, True] Translation: X:128.59, Y:327.49, Z:-8.23 [[ 9.24898480e-01 2.55287361e-01 2.81764378e-01 1.28588121e+02] [-2.43577813e-01 9.66862978e-01 -7.64580292e-02 3.27488378e+02] [-2.91946314e-01 2.08436408e-03 9.56432436e-01 -8.23322009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.186875 meters Centerline goodness [0,1] 0.9986764045474958 Centerline is valid? [True, True] Translation: X:128.62, Y:327.48, Z:-8.25 [[ 9.24365135e-01 2.56694476e-01 2.82235793e-01 1.28616826e+02] [-2.44982617e-01 9.66491052e-01 -7.66717927e-02 3.27484401e+02] [-2.92459594e-01 1.72986893e-03 9.56276317e-01 -8.24543842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters Centerline goodness [0,1] 0.9984215981907275 Centerline is valid? [True, True] Translation: X:128.65, Y:327.48, Z:-8.26 [[ 9.22850041e-01 2.60864402e-01 2.83368252e-01 1.28647539e+02] [-2.49226701e-01 9.65375332e-01 -7.70488114e-02 3.27482697e+02] [-2.93656012e-01 4.81564077e-04 9.55911039e-01 -8.25633083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.246875 meters Centerline goodness [0,1] 0.9985139757046821 Centerline is valid? [True, True] Translation: X:128.68, Y:327.48, Z:-8.26 [[ 9.21717907e-01 2.63672185e-01 2.84452244e-01 1.28677829e+02] [-2.52050998e-01 9.64612287e-01 -7.74172532e-02 3.27475677e+02] [-2.94798906e-01 -3.39603276e-04 9.55559255e-01 -8.26399970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters Centerline goodness [0,1] 0.9979319420943786 Centerline is valid? [True, True] Translation: X:128.71, Y:327.47, Z:-8.27 [[ 9.20553400e-01 2.66381320e-01 2.85696393e-01 1.28708414e+02] [-2.54760426e-01 9.63867054e-01 -7.78294804e-02 3.27468595e+02] [-2.96105661e-01 -1.13794205e-03 9.55154513e-01 -8.27121345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.306875 meters Centerline goodness [0,1] 0.9984233810240963 Centerline is valid? [True, True] Translation: X:128.74, Y:327.46, Z:-8.28 [[ 9.19666061e-01 2.69224867e-01 2.85888626e-01 1.28739161e+02] [-2.57697687e-01 9.63075319e-01 -7.79604547e-02 3.27461391e+02] [-2.96321172e-01 -1.97525337e-03 9.55086311e-01 -8.27814329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters Centerline goodness [0,1] 0.9974453923314897 Centerline is valid? [True, True] Translation: X:128.77, Y:327.46, Z:-8.29 [[ 9.18325640e-01 2.74170232e-01 2.85497291e-01 1.28770404e+02] [-2.62885832e-01 9.61674838e-01 -7.79265322e-02 3.27457562e+02] [-2.95920696e-01 -3.49126035e-03 9.55206131e-01 -8.28629800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.366875 meters Centerline goodness [0,1] 0.9978288275668861 Centerline is valid? [True, True] Translation: X:128.80, Y:327.45, Z:-8.30 [[ 9.17331959e-01 2.77493154e-01 2.85481394e-01 1.28799715e+02] [-2.66343572e-01 9.60717141e-01 -7.79979323e-02 3.27454954e+02] [-2.95910761e-01 -4.48613828e-03 9.55205055e-01 -8.29625829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters Centerline goodness [0,1] 0.9975978917418783 Centerline is valid? [True, True] Translation: X:128.83, Y:327.45, Z:-8.31 [[ 9.16158691e-01 2.80720759e-01 2.86092830e-01 1.28829873e+02] [-2.69659709e-01 9.59773792e-01 -7.82170674e-02 3.27453440e+02] [-2.96541555e-01 -5.48846309e-03 9.55004180e-01 -8.30702713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.426875 meters Centerline goodness [0,1] 0.9976639837172726 Centerline is valid? [True, True] Translation: X:128.86, Y:327.45, Z:-8.32 [[ 9.14741033e-01 2.83931416e-01 2.87457465e-01 1.28859881e+02] [-2.72895674e-01 9.58822603e-01 -7.86585550e-02 3.27449415e+02] [-2.97954350e-01 -6.49369077e-03 9.54558033e-01 -8.31669870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters Centerline goodness [0,1] 0.9971062805287404 Centerline is valid? [True, True] Translation: X:128.89, Y:327.45, Z:-8.33 [[ 9.14372543e-01 2.85349037e-01 2.87226007e-01 1.28889628e+02] [-2.74377616e-01 9.58398984e-01 -7.86658172e-02 3.27446382e+02] [-2.97724329e-01 -6.87852373e-03 9.54627105e-01 -8.32682903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.486875 meters Centerline goodness [0,1] 0.9970593002523908 Centerline is valid? [True, True] Translation: X:128.92, Y:327.44, Z:-8.34 [[ 9.14237149e-01 2.86278567e-01 2.86731613e-01 1.28918645e+02] [-2.75368337e-01 9.58120145e-01 -7.86006768e-02 3.27435541e+02] [-2.97225024e-01 -7.09714897e-03 9.54781083e-01 -8.33541240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters Centerline goodness [0,1] 0.9971990092363249 Centerline is valid? [True, True] Translation: X:128.95, Y:327.43, Z:-8.34 [[ 9.14804323e-01 2.85772024e-01 2.85424949e-01 1.28948755e+02] [-2.74916123e-01 9.58273332e-01 -7.83156891e-02 3.27426568e+02] [-2.95895549e-01 -6.82438938e-03 9.55195923e-01 -8.34489169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.546875 meters Centerline goodness [0,1] 0.9974548231102062 Centerline is valid? [True, True] Translation: X:128.98, Y:327.42, Z:-8.36 [[ 9.15461871e-01 2.84702638e-01 2.84383492e-01 1.28977860e+02] [-2.73850891e-01 9.58594730e-01 -7.81142351e-02 3.27417963e+02] [-2.94847846e-01 -6.36806904e-03 9.55522996e-01 -8.35550898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters Centerline goodness [0,1] 0.9974294845074336 Centerline is valid? [True, True] Translation: X:129.01, Y:327.41, Z:-8.37 [[ 9.15805657e-01 2.83653728e-01 2.84324746e-01 1.29006620e+02] [-2.72734364e-01 9.58908287e-01 -7.81720111e-02 3.27409676e+02] [-2.94815137e-01 -5.95475880e-03 9.55535753e-01 -8.36577442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6068750000001 meters Centerline goodness [0,1] 0.9975015615240475 Centerline is valid? [True, True] Translation: X:129.04, Y:327.40, Z:-8.38 [[ 9.16145022e-01 2.81248484e-01 2.85617906e-01 1.29036746e+02] [-2.70090108e-01 9.59621259e-01 -7.86026193e-02 3.27401818e+02] [-2.96191882e-01 -5.13117287e-03 9.55114674e-01 -8.37575183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters Centerline goodness [0,1] 0.9978750923872876 Centerline is valid? [True, True] Translation: X:129.07, Y:327.39, Z:-8.38 [[ 9.16441638e-01 2.79341889e-01 2.86535920e-01 1.29066701e+02] [-2.68004248e-01 9.60181241e-01 -7.89031570e-02 3.27391905e+02] [-2.97167372e-01 -4.48270552e-03 9.54814882e-01 -8.38414382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.666875 meters Centerline goodness [0,1] 0.9977772117900391 Centerline is valid? [True, True] Translation: X:129.10, Y:327.38, Z:-8.39 [[ 9.17250719e-01 2.76817085e-01 2.86397313e-01 1.29095133e+02] [-2.65362383e-01 9.60915749e-01 -7.88906144e-02 3.27381471e+02] [-2.97041959e-01 -3.63660067e-03 9.54857502e-01 -8.39328077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters Centerline goodness [0,1] 0.9985401459854014 Centerline is valid? [True, True] Translation: X:129.12, Y:327.37, Z:-8.40 [[ 9.19243141e-01 2.70327154e-01 2.86208451e-01 1.29123137e+02] [-2.58557034e-01 9.62767414e-01 -7.89123966e-02 3.27366618e+02] [-2.96884334e-01 -1.46152885e-03 9.54912329e-01 -8.40071390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7268750000001 meters Centerline goodness [0,1] 0.9987048429622092 Centerline is valid? [True, True] Translation: X:129.15, Y:327.36, Z:-8.41 [[ 9.20065081e-01 2.67674599e-01 2.86060407e-01 1.29152626e+02] [-2.55767952e-01 9.63509227e-01 -7.89476056e-02 3.27356344e+02] [-2.96754110e-01 -5.28149370e-04 9.54953778e-01 -8.41012511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters Centerline goodness [0,1] 0.9982199001294618 Centerline is valid? [True, True] Translation: X:129.18, Y:327.35, Z:-8.42 [[ 9.20624422e-01 2.65750983e-01 2.86054345e-01 1.29182153e+02] [-2.53730743e-01 9.64041694e-01 -7.90210298e-02 3.27347144e+02] [-2.96768232e-01 1.67908364e-04 9.54949521e-01 -8.42028043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.786875 meters Centerline goodness [0,1] 0.9986372875092387 Centerline is valid? [True, True] Translation: X:129.21, Y:327.34, Z:-8.43 [[ 9.21555892e-01 2.63656504e-01 2.84991204e-01 1.29209686e+02] [-2.51602990e-01 9.64616188e-01 -7.88133593e-02 3.27340329e+02] [-2.95686783e-01 9.26276632e-04 9.55284496e-01 -8.43287963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters Centerline goodness [0,1] 0.9986582149632166 Centerline is valid? [True, True] Translation: X:129.24, Y:327.33, Z:-8.44 [[ 9.21643973e-01 2.63246173e-01 2.85085671e-01 1.29238802e+02] [-2.51143816e-01 9.64728034e-01 -7.89088371e-02 3.27332210e+02] [-2.95802588e-01 1.12835074e-03 9.55248426e-01 -8.44281340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.846875 meters Centerline goodness [0,1] 0.9984225665769695 Centerline is valid? [True, True] Translation: X:129.27, Y:327.32, Z:-8.45 [[ 9.21545194e-01 2.63393955e-01 2.85268435e-01 1.29268849e+02] [-2.51258128e-01 9.64687657e-01 -7.90384582e-02 3.27322857e+02] [-2.96013191e-01 1.16149829e-03 9.55183146e-01 -8.45204247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters Centerline goodness [0,1] 0.9983315954118874 Centerline is valid? [True, True] Translation: X:129.30, Y:327.31, Z:-8.46 [[ 9.21502560e-01 2.64091260e-01 2.84761018e-01 1.29298587e+02] [-2.52006298e-01 9.64497157e-01 -7.89813880e-02 3.27312842e+02] [-2.95509487e-01 1.01998118e-03 9.55339261e-01 -8.45987677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.906875 meters Centerline goodness [0,1] 0.9985779891367694 Centerline is valid? [True, True] Translation: X:129.33, Y:327.31, Z:-8.47 [[ 9.21013681e-01 2.65618331e-01 2.84922274e-01 1.29329667e+02] [-2.53566593e-01 9.64078073e-01 -7.91040563e-02 3.27305637e+02] [-2.95698804e-01 6.09147638e-04 9.55281030e-01 -8.46923427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters Centerline goodness [0,1] 0.9981423429699292 Centerline is valid? [True, True] Translation: X:129.36, Y:327.30, Z:-8.48 [[ 9.20391857e-01 2.67533964e-01 2.85139276e-01 1.29359392e+02] [-2.55526332e-01 9.63548427e-01 -7.92510093e-02 3.27299496e+02] [-2.95947838e-01 8.13903381e-05 9.55204099e-01 -8.48045110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.966875 meters Centerline goodness [0,1] 0.998078347842193 Centerline is valid? [True, True] Translation: X:129.39, Y:327.30, Z:-8.49 [[ 9.19270742e-01 2.70138736e-01 2.86297689e-01 1.29388467e+02] [-2.58128892e-01 9.62821169e-01 -7.96546980e-02 3.27295117e+02] [-2.97171295e-01 -6.77471896e-04 9.54823943e-01 -8.49009703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters Centerline goodness [0,1] 0.9976059482976911 Centerline is valid? [True, True] Translation: X:129.42, Y:327.30, Z:-8.50 [[ 9.16618774e-01 2.76867280e-01 2.88365277e-01 1.29419235e+02] [-2.64980731e-01 9.60904078e-01 -8.03029614e-02 3.27296197e+02] [-2.99324633e-01 -2.80403990e-03 9.54147212e-01 -8.49878324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.026875 meters Centerline goodness [0,1] 0.9979914115528467 Centerline is valid? [True, True] Translation: X:129.45, Y:327.29, Z:-8.51 [[ 9.15486603e-01 2.81099129e-01 2.87867261e-01 1.29449022e+02] [-2.69440781e-01 9.59669885e-01 -8.02208061e-02 3.27291605e+02] [-2.98807540e-01 -4.12210632e-03 9.54304491e-01 -8.50895592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters Centerline goodness [0,1] 0.9979910405024708 Centerline is valid? [True, True] Translation: X:129.48, Y:327.28, Z:-8.52 [[ 9.14710755e-01 2.85208956e-01 2.86286720e-01 1.29478553e+02] [-2.73856392e-01 9.58450352e-01 -7.98473563e-02 3.27283263e+02] [-2.97164788e-01 -5.36421242e-03 9.54811140e-01 -8.51809355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.086875 meters Centerline goodness [0,1] 0.9973950529057839 Centerline is valid? [True, True] Translation: X:129.51, Y:327.28, Z:-8.53 [[ 9.13736536e-01 2.92555587e-01 2.81951718e-01 1.29508526e+02] [-2.81885755e-01 9.56218271e-01 -7.86577370e-02 3.27279178e+02] [-2.92619145e-01 -7.60572496e-03 9.56198823e-01 -8.52797689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters Centerline goodness [0,1] 0.9978090405904059 Centerline is valid? [True, True] Translation: X:129.54, Y:327.28, Z:-8.54 [[ 9.13166915e-01 2.95918144e-01 2.80283138e-01 1.29537267e+02] [-2.85509522e-01 9.55174978e-01 -7.82628487e-02 3.27276983e+02] [-2.90878837e-01 -8.55646075e-03 9.56721636e-01 -8.54063877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.146875 meters Centerline goodness [0,1] 0.9977965479250827 Centerline is valid? [True, True] Translation: X:129.57, Y:327.27, Z:-8.55 [[ 9.12741920e-01 2.98521706e-01 2.78903169e-01 1.29566282e+02] [-2.88324373e-01 9.54357549e-01 -7.79148613e-02 3.27274181e+02] [-2.89432622e-01 -9.29842126e-03 9.57153225e-01 -8.55441949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters Centerline goodness [0,1] 0.9977965479250827 Centerline is valid? [True, True] Translation: X:129.60, Y:327.27, Z:-8.56 [[ 9.12663136e-01 2.98766695e-01 2.78898659e-01 1.29595991e+02] [-2.88575606e-01 9.54280293e-01 -7.79310022e-02 3.27265766e+02] [-2.89430683e-01 -9.35859683e-03 9.57153225e-01 -8.56430173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.206875 meters Centerline goodness [0,1] 0.9972420767162327 Centerline is valid? [True, True] Translation: X:129.63, Y:327.26, Z:-8.58 [[ 9.11918117e-01 3.01136413e-01 2.78787031e-01 1.29625543e+02] [-2.91035611e-01 9.53528426e-01 -7.79859917e-02 3.27261216e+02] [-2.89315781e-01 -1.00201153e-02 9.57181266e-01 -8.57667703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters Centerline goodness [0,1] 0.9979353536280425 Centerline is valid? [True, True] Translation: X:129.66, Y:327.25, Z:-8.58 [[ 9.10327158e-01 3.03841092e-01 2.81042803e-01 1.29655693e+02] [-2.93693379e-01 9.52659730e-01 -7.86361116e-02 3.27253693e+02] [-2.91631043e-01 -1.09558225e-02 9.56468141e-01 -8.58477531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.266875 meters Centerline goodness [0,1] 0.9976068848083207 Centerline is valid? [True, True] Translation: X:129.68, Y:327.24, Z:-8.59 [[ 9.09961470e-01 3.03786490e-01 2.82283355e-01 1.29684998e+02] [-2.93522032e-01 9.52677596e-01 -7.90583039e-02 3.27244524e+02] [-2.92941872e-01 -1.09163735e-02 9.56067933e-01 -8.59125317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters Centerline goodness [0,1] 0.9974120202416988 Centerline is valid? [True, True] Translation: X:129.71, Y:327.23, Z:-8.60 [[ 9.10148006e-01 3.02403815e-01 2.83165217e-01 1.29714070e+02] [-2.91987222e-01 9.53122761e-01 -7.93754675e-02 3.27227998e+02] [-2.93894658e-01 -1.04372018e-02 9.55780830e-01 -8.59723221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.326875 meters Centerline goodness [0,1] 0.9973573796332784 Centerline is valid? [True, True] Translation: X:129.74, Y:327.21, Z:-8.60 [[ 9.10710725e-01 3.00386158e-01 2.83503320e-01 1.29743070e+02] [-2.89840404e-01 9.53767621e-01 -7.94975781e-02 3.27214371e+02] [-2.94276259e-01 -9.77141971e-03 9.55670447e-01 -8.60497653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters Centerline goodness [0,1] 0.997049599256592 Centerline is valid? [True, True] Translation: X:129.77, Y:327.20, Z:-8.61 [[ 9.11215270e-01 2.97379447e-01 2.85047707e-01 1.29771137e+02] [-2.86564906e-01 9.54718568e-01 -7.99563053e-02 3.27201300e+02] [-2.95917701e-01 -8.82726314e-03 9.55172651e-01 -8.61339469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.386875 meters Centerline goodness [0,1] 0.9976487568674923 Centerline is valid? [True, True] Translation: X:129.80, Y:327.19, Z:-8.62 [[ 9.11195872e-01 2.96884855e-01 2.85624695e-01 1.29799861e+02] [-2.85997275e-01 9.54873919e-01 -8.01333675e-02 3.27193753e+02] [-2.96525955e-01 -8.67069077e-03 9.54985433e-01 -8.62388502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters Centerline goodness [0,1] 0.9975013303102515 Centerline is valid? [True, True] Translation: X:129.83, Y:327.19, Z:-8.64 [[ 9.11211928e-01 2.96921103e-01 2.85535780e-01 1.29829546e+02] [-2.86020094e-01 9.54863212e-01 -8.01795010e-02 3.27185766e+02] [-2.96454598e-01 -8.60845310e-03 9.55008150e-01 -8.63506163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.446875 meters Centerline goodness [0,1] 0.9968281163178366 Centerline is valid? [True, True] Translation: X:129.86, Y:327.18, Z:-8.65 [[ 9.11495558e-01 2.97534323e-01 2.83987984e-01 1.29858311e+02] [-2.86755529e-01 9.54671764e-01 -7.98316378e-02 3.27178353e+02] [-2.94867962e-01 -8.66894150e-03 9.55498684e-01 -8.64793681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters Centerline goodness [0,1] 0.9968957049529722 Centerline is valid? [True, True] Translation: X:129.89, Y:327.17, Z:-8.66 [[ 9.11463372e-01 2.98305519e-01 2.83281378e-01 1.29887676e+02] [-2.87605598e-01 9.54429359e-01 -7.96719406e-02 3.27168603e+02] [-2.94138644e-01 -8.85525461e-03 9.55721739e-01 -8.65799796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.506875 meters Centerline goodness [0,1] 0.9972925440829361 Centerline is valid? [True, True] Translation: X:129.92, Y:327.16, Z:-8.67 [[ 9.11686256e-01 2.98303086e-01 2.82565813e-01 1.29917006e+02] [-2.87634317e-01 9.54431063e-01 -7.95477609e-02 3.27160795e+02] [-2.93418932e-01 -8.75302444e-03 9.55943887e-01 -8.66791428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters Centerline goodness [0,1] 0.9972391072340031 Centerline is valid? [True, True] Translation: X:129.95, Y:327.15, Z:-8.68 [[ 9.12025336e-01 2.98124961e-01 2.81658117e-01 1.29946652e+02] [-2.87492672e-01 9.54488251e-01 -7.93734342e-02 3.27150240e+02] [-2.92502566e-01 -8.58406172e-03 9.56226209e-01 -8.67757287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.566875 meters Centerline goodness [0,1] 0.997279322853688 Centerline is valid? [True, True] Translation: X:129.97, Y:327.14, Z:-8.69 [[ 9.12127303e-01 2.97972027e-01 2.81489705e-01 1.29974790e+02] [-2.87318884e-01 9.54537269e-01 -7.94132253e-02 3.27143342e+02] [-2.92355334e-01 -8.44233685e-03 9.56272496e-01 -8.68753479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters Centerline goodness [0,1] 0.9972528751687852 Centerline is valid? [True, True] Translation: X:130.00, Y:327.13, Z:-8.69 [[ 9.12745769e-01 2.95746676e-01 2.81831626e-01 1.30002800e+02] [-2.84940538e-01 9.55235655e-01 -7.95847485e-02 3.27127363e+02] [-2.92752542e-01 -7.66461269e-03 9.56157520e-01 -8.69453800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.626875 meters Centerline goodness [0,1] 0.9977604628376802 Centerline is valid? [True, True] Translation: X:130.03, Y:327.12, Z:-8.71 [[ 9.12797616e-01 2.95215426e-01 2.82220420e-01 1.30030745e+02] [-2.84330342e-01 9.55401840e-01 -7.97720556e-02 3.27120172e+02] [-2.93183850e-01 -7.42808630e-03 9.56027224e-01 -8.70537885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters Centerline goodness [0,1] 0.9976537818249396 Centerline is valid? [True, True] Translation: X:130.06, Y:327.11, Z:-8.72 [[ 9.12733513e-01 2.94694314e-01 2.82971370e-01 1.30060473e+02] [-2.83703403e-01 9.55564381e-01 -8.00568122e-02 3.27112330e+02] [-2.93989649e-01 -7.20940518e-03 9.55781414e-01 -8.71645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.686875 meters Centerline goodness [0,1] 0.9971946582583696 Centerline is valid? [True, True] Translation: X:130.09, Y:327.11, Z:-8.73 [[ 9.12441142e-01 2.95218292e-01 2.83367823e-01 1.30090022e+02] [-2.84212913e-01 9.55401447e-01 -8.01941046e-02 3.27107913e+02] [-2.94404795e-01 -7.36439405e-03 9.55652438e-01 -8.72822855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters Centerline goodness [0,1] 0.9974560003700363 Centerline is valid? [True, True] Translation: X:130.12, Y:327.09, Z:-8.74 [[ 9.12311342e-01 2.96288734e-01 2.82667652e-01 1.30118481e+02] [-2.85362383e-01 9.55068155e-01 -8.00820184e-02 3.27094581e+02] [-2.93694273e-01 -7.60298118e-03 9.55869169e-01 -8.73523103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.746875 meters Centerline goodness [0,1] 0.9972297879274623 Centerline is valid? [True, True] Translation: X:130.15, Y:327.09, Z:-8.74 [[ 9.12407746e-01 2.96724790e-01 2.81898037e-01 1.30147628e+02] [-2.85855559e-01 9.54932450e-01 -7.99413304e-02 3.27085033e+02] [-2.92914158e-01 -7.64303179e-03 9.56108195e-01 -8.74438627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters Centerline goodness [0,1] 0.9975058856436912 Centerline is valid? [True, True] Translation: X:130.18, Y:327.08, Z:-8.75 [[ 9.12529825e-01 2.97205156e-01 2.80995397e-01 1.30176415e+02] [-2.86416473e-01 9.54782359e-01 -7.97260972e-02 3.27076279e+02] [-2.91984455e-01 -7.72926890e-03 9.56391832e-01 -8.75332513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.806875 meters Centerline goodness [0,1] 0.9973194098039673 Centerline is valid? [True, True] Translation: X:130.21, Y:327.07, Z:-8.76 [[ 9.12301001e-01 2.97737380e-01 2.81174920e-01 1.30206173e+02] [-2.86946452e-01 9.54615433e-01 -7.98192184e-02 3.27065531e+02] [-2.92179083e-01 -7.86299298e-03 9.56331301e-01 -8.76056774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters Centerline goodness [0,1] 0.997366826676609 Centerline is valid? [True, True] Translation: X:130.24, Y:327.06, Z:-8.77 [[ 9.12103952e-01 2.97620539e-01 2.81936864e-01 1.30235974e+02] [-2.86756820e-01 9.54652191e-01 -8.00607297e-02 3.27056940e+02] [-2.92979363e-01 -7.82361065e-03 9.56086756e-01 -8.77004036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.866875 meters Centerline goodness [0,1] 0.9977225191726702 Centerline is valid? [True, True] Translation: X:130.27, Y:327.05, Z:-8.78 [[ 9.11684342e-01 2.97880370e-01 2.83017570e-01 1.30265688e+02] [-2.86920333e-01 9.54570818e-01 -8.04442414e-02 3.27049335e+02] [-2.94123074e-01 -7.86374018e-03 9.55735203e-01 -8.78016374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters Centerline goodness [0,1] 0.9977686353810752 Centerline is valid? [True, True] Translation: X:130.29, Y:327.04, Z:-8.79 [[ 9.11374713e-01 2.97451490e-01 2.84462199e-01 1.30294856e+02] [-2.86333051e-01 9.54705948e-01 -8.09316835e-02 3.27041724e+02] [-2.95651003e-01 -7.69183945e-03 9.55265052e-01 -8.79010167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.926875 meters Centerline goodness [0,1] 0.998461753600895 Centerline is valid? [True, True] Translation: X:130.32, Y:327.03, Z:-8.79 [[ 9.13606059e-01 2.86641411e-01 2.88375920e-01 1.30322791e+02] [-2.74656747e-01 9.58028846e-01 -8.21243053e-02 3.27027471e+02] [-2.99812676e-01 -4.17512912e-03 9.53988956e-01 -8.79451019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters Centerline goodness [0,1] 0.9979103299356846 Centerline is valid? [True, True] Translation: X:130.35, Y:327.02, Z:-8.80 [[ 9.14666317e-01 2.83010910e-01 2.88600682e-01 1.30351281e+02] [-2.70809443e-01 9.59112246e-01 -8.22553643e-02 3.27016166e+02] [-3.00079614e-01 -2.91957887e-03 9.53909692e-01 -8.80372935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.986875 meters Centerline goodness [0,1] 0.9981378459533065 Centerline is valid? [True, True] Translation: X:130.38, Y:327.01, Z:-8.81 [[ 9.15709036e-01 2.80899029e-01 2.87354654e-01 1.30379148e+02] [-2.68678961e-01 9.59734945e-01 -8.19783574e-02 3.27006327e+02] [-2.98811944e-01 -2.13782705e-03 9.54309621e-01 -8.81384380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters Centerline goodness [0,1] 0.9983966538863716 Centerline is valid? [True, True] Translation: X:130.41, Y:327.00, Z:-8.83 [[ 9.16976065e-01 2.79519076e-01 2.84647120e-01 1.30407999e+02] [-2.67446750e-01 9.60138805e-01 -8.12755217e-02 3.27000801e+02] [-2.96018805e-01 -1.60023911e-03 9.55180772e-01 -8.82912214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.046875 meters Centerline goodness [0,1] 0.9985680631899857 Centerline is valid? [True, True] Translation: X:130.44, Y:327.00, Z:-8.84 [[ 9.17208462e-01 2.80048395e-01 2.83375252e-01 1.30437104e+02] [-2.68084173e-01 9.59984421e-01 -8.09986901e-02 3.26997295e+02] [-2.94719380e-01 -1.67573600e-03 9.55582377e-01 -8.84323555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters Centerline goodness [0,1] 0.9985909962349572 Centerline is valid? [True, True] Translation: X:130.47, Y:326.99, Z:-8.85 [[ 9.19144238e-01 2.74954935e-01 2.82088023e-01 1.30465555e+02] [-2.62843914e-01 9.61457114e-01 -8.07049844e-02 3.26988986e+02] [-2.93405771e-01 3.44012117e-05 9.55987998e-01 -8.85469206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1068750000001 meters Centerline goodness [0,1] 0.9985234063170524 Centerline is valid? [True, True] Translation: X:130.50, Y:326.98, Z:-8.86 [[ 9.19721728e-01 2.73564089e-01 2.81557513e-01 1.30496297e+02] [-2.61411517e-01 9.61853616e-01 -8.06327500e-02 3.26979400e+02] [-2.92875336e-01 5.57315712e-04 9.56150473e-01 -8.86333708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters Centerline goodness [0,1] 0.9990117895801255 Centerline is valid? [True, True] Translation: X:130.53, Y:326.97, Z:-8.87 [[ 9.19941016e-01 2.72556019e-01 2.81818636e-01 1.30526908e+02] [-2.60307650e-01 9.62139430e-01 -8.07938377e-02 3.26969523e+02] [-2.93169669e-01 9.66018232e-04 9.56059942e-01 -8.87213228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.166875 meters Centerline goodness [0,1] 0.998730378578024 Centerline is valid? [True, True] Translation: X:130.56, Y:326.96, Z:-8.88 [[ 9.19593973e-01 2.71844329e-01 2.83632837e-01 1.30557211e+02] [-2.59374094e-01 9.62340377e-01 -8.14007326e-02 3.26959831e+02] [-2.95079659e-01 1.28861296e-03 9.55471786e-01 -8.87803265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters Centerline goodness [0,1] 0.9988956377691883 Centerline is valid? [True, True] Translation: X:130.59, Y:326.95, Z:-8.89 [[ 9.19639322e-01 2.72568802e-01 2.82789260e-01 1.30587191e+02] [-2.60184991e-01 9.62135633e-01 -8.12329579e-02 3.26952628e+02] [-2.94223194e-01 1.12750134e-03 9.55736073e-01 -8.88912452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2268750000001 meters Centerline goodness [0,1] 0.9987382716615815 Centerline is valid? [True, True] Translation: X:130.62, Y:326.95, Z:-8.90 [[ 9.19507687e-01 2.73427044e-01 2.82388500e-01 1.30616314e+02] [-2.61091914e-01 9.61892286e-01 -8.12049434e-02 3.26947088e+02] [-2.93830947e-01 9.39215652e-04 9.55856941e-01 -8.90191977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters Centerline goodness [0,1] 0.9989524026417672 Centerline is valid? [True, True] Translation: X:130.65, Y:326.95, Z:-8.91 [[ 9.17385087e-01 2.77640649e-01 2.85167096e-01 1.30647119e+02] [-2.65228435e-01 9.60684944e-01 -8.20872404e-02 3.26948897e+02] [-2.96746491e-01 -3.28812526e-04 9.54956236e-01 -8.91255557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.286875 meters Centerline goodness [0,1] 0.9993659707440786 Centerline is valid? [True, True] Translation: X:130.68, Y:326.94, Z:-8.92 [[ 9.15957443e-01 2.80597476e-01 2.86857140e-01 1.30679325e+02] [-2.68153785e-01 9.59824754e-01 -8.26437444e-02 3.26943827e+02] [-2.98522210e-01 -1.22367517e-03 9.54401903e-01 -8.91994829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters Centerline goodness [0,1] 0.9988659817196254 Centerline is valid? [True, True] Translation: X:130.71, Y:326.94, Z:-8.93 [[ 9.15096920e-01 2.83525795e-01 2.86724170e-01 1.30709571e+02] [-2.71206645e-01 9.58962335e-01 -8.26933890e-02 3.26937497e+02] [-2.98403389e-01 -2.08903457e-03 9.54437559e-01 -8.92805480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.346875 meters Centerline goodness [0,1] 0.998567335243553 Centerline is valid? [True, True] Translation: X:130.74, Y:326.93, Z:-8.94 [[ 9.14410561e-01 2.85950316e-01 2.86506096e-01 1.30738806e+02] [-2.73742432e-01 9.58240353e-01 -8.27073547e-02 3.26930258e+02] [-2.98191897e-01 -2.80039677e-03 9.54501834e-01 -8.93574010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters Centerline goodness [0,1] 0.998371151279325 Centerline is valid? [True, True] Translation: X:130.77, Y:326.92, Z:-8.94 [[ 9.13708728e-01 2.88280864e-01 2.86409677e-01 1.30767926e+02] [-2.76170823e-01 9.57539544e-01 -8.27508203e-02 3.26923385e+02] [-2.98104070e-01 -3.48784940e-03 9.54527002e-01 -8.94328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.406875 meters Centerline goodness [0,1] 0.9982070718532976 Centerline is valid? [True, True] Translation: X:130.80, Y:326.92, Z:-8.95 [[ 9.12157639e-01 2.92806201e-01 2.86762916e-01 1.30798684e+02] [-2.80870940e-01 9.56159092e-01 -8.28933461e-02 3.26919454e+02] [-2.98462655e-01 -4.93157091e-03 9.54408572e-01 -8.95134793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters Centerline goodness [0,1] 0.9979706877113868 Centerline is valid? [True, True] Translation: X:130.83, Y:326.91, Z:-8.96 [[ 9.11626171e-01 2.95040580e-01 2.86162158e-01 1.30827131e+02] [-2.83239454e-01 9.55468475e-01 -8.27973689e-02 3.26914754e+02] [-2.97847504e-01 -5.57216511e-03 9.54597200e-01 -8.96312851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.466875 meters Centerline goodness [0,1] 0.9983952626344815 Centerline is valid? [True, True] Translation: X:130.86, Y:326.91, Z:-8.98 [[ 9.11163176e-01 2.97019605e-01 2.85588903e-01 1.30857033e+02] [-2.85339143e-01 9.54851682e-01 -8.27033170e-02 3.26909783e+02] [-2.97259551e-01 -6.13347571e-03 9.54777011e-01 -8.97567744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters Centerline goodness [0,1] 0.9983072652176856 Centerline is valid? [True, True] Translation: X:130.89, Y:326.91, Z:-8.99 [[ 9.09889247e-01 3.01425794e-01 2.85033417e-01 1.30886129e+02] [-2.89978541e-01 9.53460303e-01 -8.26189869e-02 3.26906765e+02] [-2.96671542e-01 -7.47944671e-03 9.54950289e-01 -8.99013171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.526875 meters Centerline goodness [0,1] 0.9979737031700289 Centerline is valid? [True, True] Translation: X:130.92, Y:326.90, Z:-9.00 [[ 9.09417524e-01 3.03060743e-01 2.84805115e-01 1.30915307e+02] [-2.91687766e-01 9.52938222e-01 -8.26256203e-02 3.26901240e+02] [-2.96442262e-01 -7.93298066e-03 9.55017829e-01 -9.00055608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters Centerline goodness [0,1] 0.9985065170166546 Centerline is valid? [True, True] Translation: X:130.94, Y:326.89, Z:-9.01 [[ 9.08984288e-01 3.03909648e-01 2.85283176e-01 1.30944000e+02] [-2.92514035e-01 9.52666030e-01 -8.28430787e-02 3.26893048e+02] [-2.96956402e-01 -8.14627591e-03 9.54856290e-01 -9.00921415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.586875 meters Centerline goodness [0,1] 0.997833006026952 Centerline is valid? [True, True] Translation: X:130.97, Y:326.88, Z:-9.02 [[ 9.08707623e-01 3.05384939e-01 2.84588290e-01 1.30972478e+02] [-2.94103468e-01 9.52190474e-01 -8.26828360e-02 3.26882832e+02] [-2.96232351e-01 -8.56387955e-03 9.55077512e-01 -9.01803523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters Centerline goodness [0,1] 0.9976463133119088 Centerline is valid? [True, True] Translation: X:131.00, Y:326.87, Z:-9.03 [[ 9.08637983e-01 3.06037716e-01 2.84109016e-01 1.31001344e+02] [-2.94804202e-01 9.51979725e-01 -8.26140800e-02 3.26872499e+02] [-2.95749047e-01 -8.69024089e-03 9.55226141e-01 -9.02807122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.646875 meters Centerline goodness [0,1] 0.9977583044630121 Centerline is valid? [True, True] Translation: X:131.03, Y:326.86, Z:-9.04 [[ 9.08295564e-01 3.06954204e-01 2.84215209e-01 1.31030616e+02] [-2.95732030e-01 9.51682526e-01 -8.27220384e-02 3.26864999e+02] [-2.95874526e-01 -8.91548042e-03 9.55185207e-01 -9.03809390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters Centerline goodness [0,1] 0.9977787851314597 Centerline is valid? [True, True] Translation: X:131.06, Y:326.86, Z:-9.05 [[ 9.07365075e-01 3.07959761e-01 2.86093354e-01 1.31061024e+02] [-2.96610547e-01 9.51354584e-01 -8.33464999e-02 3.26857403e+02] [-2.97843592e-01 -9.23260287e-03 9.54570036e-01 -9.04779521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.706875 meters Centerline goodness [0,1] 0.9980528448841895 Centerline is valid? [True, True] Translation: X:131.09, Y:326.85, Z:-9.06 [[ 9.06591867e-01 3.08631245e-01 2.87815811e-01 1.31091657e+02] [-2.97146847e-01 9.51135073e-01 -8.39394045e-02 3.26847479e+02] [-2.99658035e-01 -9.42477917e-03 9.54000123e-01 -9.05662906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters Centerline goodness [0,1] 0.9979784213515048 Centerline is valid? [True, True] Translation: X:131.12, Y:326.84, Z:-9.06 [[ 9.06345708e-01 3.08660510e-01 2.88558743e-01 1.31119963e+02] [-2.97088402e-01 9.51126115e-01 -8.42472271e-02 3.26837869e+02] [-3.00459548e-01 -9.37034308e-03 9.53748529e-01 -9.06442782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.766875 meters Centerline goodness [0,1] 0.9976774898674803 Centerline is valid? [True, True] Translation: X:131.15, Y:326.82, Z:-9.07 [[ 9.06965748e-01 3.06941142e-01 2.88444565e-01 1.31147837e+02] [-2.95268710e-01 9.51688568e-01 -8.42926930e-02 3.26823775e+02] [-3.00382290e-01 -8.71806934e-03 9.53779049e-01 -9.07271677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters Centerline goodness [0,1] 0.9979722956347398 Centerline is valid? [True, True] Translation: X:131.18, Y:326.82, Z:-9.08 [[ 9.07303137e-01 3.05764559e-01 2.88633074e-01 1.31175799e+02] [-2.93993341e-01 9.52071370e-01 -8.44276140e-02 3.26815842e+02] [-3.00614258e-01 -8.25476269e-03 9.53710085e-01 -9.08283046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.826875 meters Centerline goodness [0,1] 0.9976323817329145 Centerline is valid? [True, True] Translation: X:131.20, Y:326.81, Z:-9.09 [[ 9.07456446e-01 3.05014359e-01 2.88944698e-01 1.31204935e+02] [-2.93157229e-01 9.52314625e-01 -8.45913349e-02 3.26806606e+02] [-3.00967834e-01 -7.94327496e-03 9.53601210e-01 -9.09398150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters Centerline goodness [0,1] 0.9977760127084988 Centerline is valid? [True, True] Translation: X:131.23, Y:326.80, Z:-9.11 [[ 9.08187390e-01 3.03505843e-01 2.88235784e-01 1.31232485e+02] [-2.91609209e-01 9.52801267e-01 -8.44619122e-02 3.26797728e+02] [-3.00266104e-01 -7.34496545e-03 9.53827195e-01 -9.10630545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.886875 meters Centerline goodness [0,1] 0.9974216218682973 Centerline is valid? [True, True] Translation: X:131.26, Y:326.79, Z:-9.12 [[ 9.08559313e-01 3.02739829e-01 2.87869016e-01 1.31261110e+02] [-2.90814057e-01 9.53047454e-01 -8.44259091e-02 3.26786898e+02] [-2.99911918e-01 -7.01041048e-03 9.53941138e-01 -9.11596252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters Centerline goodness [0,1] 0.9969716978984039 Centerline is valid? [True, True] Translation: X:131.29, Y:326.78, Z:-9.13 [[ 9.09034817e-01 3.02058831e-01 2.87082155e-01 1.31289392e+02] [-2.90142345e-01 9.53265819e-01 -8.42715740e-02 3.26775699e+02] [-2.99120579e-01 -6.68889468e-03 9.54191877e-01 -9.12589960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.946875 meters Centerline goodness [0,1] 0.9975581926061159 Centerline is valid? [True, True] Translation: X:131.32, Y:326.77, Z:-9.14 [[ 9.09608163e-01 3.00916728e-01 2.86464854e-01 1.31318827e+02] [-2.88972582e-01 9.53630137e-01 -8.41689324e-02 3.26766037e+02] [-2.98509357e-01 -6.21974042e-03 9.54386441e-01 -9.13555409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters Centerline goodness [0,1] 0.9960792359069046 Centerline is valid? [True, True] Translation: X:131.35, Y:326.75, Z:-9.15 [[ 9.10819391e-01 2.97951886e-01 2.85714387e-01 1.31345576e+02] [-2.85920577e-01 9.54566697e-01 -8.39752649e-02 3.26754961e+02] [-2.97754027e-01 -5.20532287e-03 9.54628432e-01 -9.14733650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.006875 meters Centerline goodness [0,1] 0.9968872833026606 Centerline is valid? [True, True] Translation: X:131.37, Y:326.74, Z:-9.16 [[ 9.11637634e-01 2.95928070e-01 2.85207646e-01 1.31374075e+02] [-2.83821064e-01 9.55199801e-01 -8.38984184e-02 3.26744390e+02] [-2.97258183e-01 -4.46298176e-03 9.54786706e-01 -9.15744687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters Centerline goodness [0,1] 0.9966237025208167 Centerline is valid? [True, True] Translation: X:131.40, Y:326.74, Z:-9.17 [[ 9.12136972e-01 2.94655062e-01 2.84929005e-01 1.31402365e+02] [-2.82487488e-01 9.55595449e-01 -8.38937206e-02 3.26737050e+02] [-2.96996570e-01 -3.96631469e-03 9.54870308e-01 -9.16846628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.066875 meters Centerline goodness [0,1] 0.9966237025208167 Centerline is valid? [True, True] Translation: X:131.43, Y:326.73, Z:-9.18 [[ 9.12063029e-01 2.94902514e-01 2.84909703e-01 1.31431938e+02] [-2.82726273e-01 9.55519075e-01 -8.39592214e-02 3.26728233e+02] [-2.96996442e-01 -3.97535691e-03 9.54870311e-01 -9.17836633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters Centerline goodness [0,1] 0.9974055530268549 Centerline is valid? [True, True] Translation: X:131.46, Y:326.71, Z:-9.19 [[ 9.12655549e-01 2.93065202e-01 2.84908119e-01 1.31460267e+02] [-2.80776356e-01 9.56086777e-01 -8.40399528e-02 3.26714348e+02] [-2.97026071e-01 -3.29593416e-03 9.54863681e-01 -9.18590394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.126875 meters Centerline goodness [0,1] 0.9975446889556897 Centerline is valid? [True, True] Translation: X:131.49, Y:326.70, Z:-9.20 [[ 9.12735870e-01 2.92729728e-01 2.84995680e-01 1.31490030e+02] [-2.80393259e-01 9.56190164e-01 -8.41426854e-02 3.26704285e+02] [-2.97141131e-01 -3.11082022e-03 9.54828504e-01 -9.19600367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters Centerline goodness [0,1] 0.9977273770717597 Centerline is valid? [True, True] Translation: X:131.52, Y:326.69, Z:-9.21 [[ 9.12884458e-01 2.92508803e-01 2.84746496e-01 1.31520089e+02] [-2.80156521e-01 9.56258286e-01 -8.41570764e-02 3.26694758e+02] [-2.96907882e-01 -2.94790067e-03 9.54901576e-01 -9.20661771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.186875 meters Centerline goodness [0,1] 0.9982302105359934 Centerline is valid? [True, True] Translation: X:131.55, Y:326.69, Z:-9.22 [[ 9.12745543e-01 2.90922937e-01 2.86809030e-01 1.31549476e+02] [-2.78282349e-01 9.56743575e-01 -8.48567342e-02 3.26685184e+02] [-2.99089467e-01 -2.36128443e-03 9.54222152e-01 -9.21699741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters Centerline goodness [0,1] 0.9979358271599276 Centerline is valid? [True, True] Translation: X:131.58, Y:326.68, Z:-9.23 [[ 9.12542567e-01 2.89794205e-01 2.88592070e-01 1.31577807e+02] [-2.76923841e-01 9.57086969e-01 -8.54266898e-02 3.26675621e+02] [-3.00963869e-01 -1.96253369e-03 9.53633524e-01 -9.22593851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.246875 meters Centerline goodness [0,1] 0.997934453318645 Centerline is valid? [True, True] Translation: X:131.61, Y:326.67, Z:-9.24 [[ 9.12081818e-01 2.89832669e-01 2.90006518e-01 1.31607538e+02] [-2.76820645e-01 9.57075366e-01 -8.58898990e-02 3.26665671e+02] [-3.02451793e-01 -1.94117615e-03 9.53162706e-01 -9.23539556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters Centerline goodness [0,1] 0.9980650511379342 Centerline is valid? [True, True] Translation: X:131.64, Y:326.66, Z:-9.25 [[ 9.11553464e-01 2.91077757e-01 2.90420423e-01 1.31637730e+02] [-2.78060633e-01 9.56696712e-01 -8.61027590e-02 3.26657671e+02] [-3.02906862e-01 -2.26721844e-03 9.53017467e-01 -9.24606013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.306875 meters Centerline goodness [0,1] 0.9981996953330564 Centerline is valid? [True, True] Translation: X:131.67, Y:326.65, Z:-9.26 [[ 9.11050663e-01 2.92975347e-01 2.90089875e-01 1.31666869e+02] [-2.80053968e-01 9.56115882e-01 -8.60941094e-02 3.26650830e+02] [-3.02582988e-01 -2.80472507e-03 9.53118916e-01 -9.25725469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters Centerline goodness [0,1] 0.9979518571362821 Centerline is valid? [True, True] Translation: X:131.69, Y:326.64, Z:-9.27 [[ 9.10706690e-01 2.95116316e-01 2.88997726e-01 1.31694770e+02] [-2.82374714e-01 9.55455201e-01 -8.58480032e-02 3.26644309e+02] [-3.01459527e-01 -3.42329945e-03 9.53472829e-01 -9.26842803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.366875 meters Centerline goodness [0,1] 0.9982238420372762 Centerline is valid? [True, True] Translation: X:131.72, Y:326.64, Z:-9.28 [[ 9.10231023e-01 2.97534312e-01 2.88015310e-01 1.31724443e+02] [-2.84986969e-01 9.54702021e-01 -8.55948539e-02 3.26637335e+02] [-3.00436204e-01 -4.16951872e-03 9.53792798e-01 -9.27973422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters Centerline goodness [0,1] 0.9980233065943411 Centerline is valid? [True, True] Translation: X:131.75, Y:326.63, Z:-9.29 [[ 9.09669774e-01 3.00059322e-01 2.87167731e-01 1.31754233e+02] [-2.87701708e-01 9.53907645e-01 -8.53693867e-02 3.26628250e+02] [-2.99547374e-01 -4.96069616e-03 9.54068531e-01 -9.28880684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.426875 meters Centerline goodness [0,1] 0.9978201509832266 Centerline is valid? [True, True] Translation: X:131.79, Y:326.62, Z:-9.29 [[ 9.07577988e-01 3.05315413e-01 2.88244159e-01 1.31785011e+02] [-2.93096189e-01 9.52228117e-01 -8.57685089e-02 3.26621329e+02] [-3.00660640e-01 -6.64165369e-03 9.53708062e-01 -9.29490432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters Centerline goodness [0,1] 0.9981342853852355 Centerline is valid? [True, True] Translation: X:131.82, Y:326.61, Z:-9.30 [[ 9.06456910e-01 3.08169432e-01 2.88734259e-01 1.31815110e+02] [-2.96029463e-01 9.51301603e-01 -8.59756768e-02 3.26614151e+02] [-3.01168439e-01 -7.54060112e-03 9.53541143e-01 -9.30384313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.486875 meters Centerline goodness [0,1] 0.9980275681750419 Centerline is valid? [True, True] Translation: X:131.84, Y:326.61, Z:-9.31 [[ 9.05558618e-01 3.10250001e-01 2.89324259e-01 1.31844444e+02] [-2.98137526e-01 9.50619889e-01 -8.62313307e-02 3.26611317e+02] [-3.01790665e-01 -8.17089417e-03 9.53339200e-01 -9.31451548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters Centerline goodness [0,1] 0.9977588730332967 Centerline is valid? [True, True] Translation: X:131.87, Y:326.61, Z:-9.33 [[ 9.04681884e-01 3.12888551e-01 2.89225592e-01 1.31872732e+02] [-3.00902820e-01 9.49747146e-01 -8.62429847e-02 3.26610560e+02] [-3.01675623e-01 -9.00633025e-03 9.53368084e-01 -9.32959653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.546875 meters Centerline goodness [0,1] 0.9977051061388411 Centerline is valid? [True, True] Translation: X:131.90, Y:326.60, Z:-9.34 [[ 9.05523077e-01 3.11150542e-01 2.88467151e-01 1.31900530e+02] [-2.99130943e-01 9.50323819e-01 -8.60541610e-02 3.26600778e+02] [-3.00913003e-01 -8.36542231e-03 9.53614903e-01 -9.34211713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters Centerline goodness [0,1] 0.9976761308729465 Centerline is valid? [True, True] Translation: X:131.93, Y:326.58, Z:-9.35 [[ 9.06485657e-01 3.08550391e-01 2.88236724e-01 1.31928056e+02] [-2.96413754e-01 9.51178675e-01 -8.60117155e-02 3.26583735e+02] [-3.00703573e-01 -7.46894306e-03 9.53688406e-01 -9.35125542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6068750000001 meters Centerline goodness [0,1] 0.9981182046278227 Centerline is valid? [True, True] Translation: X:131.96, Y:326.56, Z:-9.35 [[ 9.07284273e-01 3.03951542e-01 2.90600599e-01 1.31955885e+02] [-2.91371523e-01 9.52668789e-01 -8.67456850e-02 3.26563724e+02] [-3.03212606e-01 -5.96974334e-03 9.52904233e-01 -9.35366965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters Centerline goodness [0,1] 0.9980076912384748 Centerline is valid? [True, True] Translation: X:131.98, Y:326.55, Z:-9.36 [[ 9.07588892e-01 3.02220493e-01 2.91453558e-01 1.31984491e+02] [-2.89470498e-01 9.53222832e-01 -8.70233498e-02 3.26551434e+02] [-3.04120425e-01 -5.38578095e-03 9.52618371e-01 -9.36043119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.666875 meters Centerline goodness [0,1] 0.9982786694580135 Centerline is valid? [True, True] Translation: X:132.01, Y:326.54, Z:-9.37 [[ 9.07715006e-01 3.00856234e-01 2.92470502e-01 1.32013883e+02] [-2.87920148e-01 9.53657088e-01 -8.74079311e-02 3.26541510e+02] [-3.05213788e-01 -4.86665961e-03 9.52271421e-01 -9.36943170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters Centerline goodness [0,1] 0.998243505593048 Centerline is valid? [True, True] Translation: X:132.04, Y:326.53, Z:-9.38 [[ 9.07545368e-01 3.00488014e-01 2.93374093e-01 1.32041953e+02] [-2.87441881e-01 9.53773865e-01 -8.77073555e-02 3.26534016e+02] [-3.06167551e-01 -4.72959689e-03 9.51965893e-01 -9.37957811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7268750000001 meters Centerline goodness [0,1] 0.9982266645171691 Centerline is valid? [True, True] Translation: X:132.07, Y:326.53, Z:-9.39 [[ 9.07161182e-01 3.01787779e-01 2.93228113e-01 1.32070549e+02] [-2.88796866e-01 9.53361542e-01 -8.77390519e-02 3.26528385e+02] [-3.06030979e-01 -5.08989780e-03 9.52007948e-01 -9.39372089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters Centerline goodness [0,1] 0.9975737689765927 Centerline is valid? [True, True] Translation: X:132.10, Y:326.52, Z:-9.41 [[ 9.06890674e-01 3.03709485e-01 2.92078506e-01 1.32098602e+02] [-2.90894276e-01 9.52748026e-01 -8.74741068e-02 3.26520690e+02] [-3.04843936e-01 -5.63451366e-03 9.52385650e-01 -9.40517450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.786875 meters Centerline goodness [0,1] 0.9982439520321634 Centerline is valid? [True, True] Translation: X:132.13, Y:326.51, Z:-9.42 [[ 9.06907457e-01 3.05419326e-01 2.90237660e-01 1.32127235e+02] [-2.92830904e-01 9.52198455e-01 -8.69951892e-02 3.26509771e+02] [-3.02933864e-01 -6.09397059e-03 9.52992097e-01 -9.41518722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters Centerline goodness [0,1] 0.9982132912567292 Centerline is valid? [True, True] Translation: X:132.15, Y:326.50, Z:-9.43 [[ 9.07504977e-01 3.06210174e-01 2.87523992e-01 1.32154212e+02] [-2.93874981e-01 9.51943647e-01 -8.62600058e-02 3.26499123e+02] [-3.00120329e-01 -6.21472330e-03 9.53881106e-01 -9.42602909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.846875 meters Centerline goodness [0,1] 0.998003574993616 Centerline is valid? [True, True] Translation: X:132.18, Y:326.49, Z:-9.44 [[ 9.07734956e-01 3.06383455e-01 2.86611982e-01 1.32184422e+02] [-2.94113995e-01 9.51888124e-01 -8.60578741e-02 3.26490239e+02] [-2.99189251e-01 -6.17885437e-03 9.54173786e-01 -9.43705485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters Centerline goodness [0,1] 0.9977415599534343 Centerline is valid? [True, True] Translation: X:132.21, Y:326.48, Z:-9.45 [[ 9.07356908e-01 3.07243295e-01 2.86888480e-01 1.32213637e+02] [-2.94964019e-01 9.51609601e-01 -8.62287307e-02 3.26482617e+02] [-2.99499032e-01 -6.38154462e-03 9.54075262e-01 -9.44788938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.906875 meters Centerline goodness [0,1] 0.997936375440549 Centerline is valid? [True, True] Translation: X:132.24, Y:326.47, Z:-9.46 [[ 9.07363566e-01 3.07291647e-01 2.86815626e-01 1.32244075e+02] [-2.94996826e-01 9.51594409e-01 -8.62841445e-02 3.26474379e+02] [-2.99446543e-01 -6.31861013e-03 9.54092157e-01 -9.45860412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters Centerline goodness [0,1] 0.997876269621422 Centerline is valid? [True, True] Translation: X:132.27, Y:326.46, Z:-9.47 [[ 9.08668330e-01 3.05044526e-01 2.85078415e-01 1.32270947e+02] [-2.92765440e-01 9.52322486e-01 -8.58503344e-02 3.26462491e+02] [-2.97674759e-01 -5.45162774e-03 9.54651778e-01 -9.46945199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.966875 meters Centerline goodness [0,1] 0.998650692101896 Centerline is valid? [True, True] Translation: X:132.30, Y:326.45, Z:-9.48 [[ 9.09557839e-01 3.02534095e-01 2.84916933e-01 1.32298876e+02] [-2.90126491e-01 9.53127679e-01 -8.58734338e-02 3.26449491e+02] [-2.97541857e-01 -4.55509517e-03 9.54697908e-01 -9.47898300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters Centerline goodness [0,1] 0.9988055926368299 Centerline is valid? [True, True] Translation: X:132.33, Y:326.43, Z:-9.48 [[ 9.10688788e-01 2.97833760e-01 2.86253354e-01 1.32326452e+02] [-2.85055672e-01 9.54613172e-01 -8.63536646e-02 3.26432267e+02] [-2.98980259e-01 -2.95682820e-03 9.54254715e-01 -9.48493878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.026875 meters Centerline goodness [0,1] 0.9985689821005466 Centerline is valid? [True, True] Translation: X:132.36, Y:326.42, Z:-9.49 [[ 9.10730718e-01 2.95498586e-01 2.88531012e-01 1.32355562e+02] [-2.82372503e-01 9.55340800e-01 -8.71190342e-02 3.26419571e+02] [-3.01388999e-01 -2.13124334e-03 9.53498888e-01 -9.49190472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters Centerline goodness [0,1] 0.9989914626137536 Centerline is valid? [True, True] Translation: X:132.38, Y:326.41, Z:-9.50 [[ 9.10809913e-01 2.93281968e-01 2.90535694e-01 1.32384609e+02] [-2.79833518e-01 9.56025061e-01 -8.78025291e-02 3.26407874e+02] [-3.03510303e-01 -1.33021167e-03 9.52827228e-01 -9.49866149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.086875 meters Centerline goodness [0,1] 0.9987093140590899 Centerline is valid? [True, True] Translation: X:132.41, Y:326.40, Z:-9.51 [[ 9.10542630e-01 2.90313494e-01 2.94330078e-01 1.32414435e+02] [-2.76325331e-01 9.56931557e-01 -8.90298071e-02 3.26395478e+02] [-3.07500294e-01 -2.65421383e-04 9.51547949e-01 -9.50662281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters Centerline goodness [0,1] 0.9986153160130489 Centerline is valid? [True, True] Translation: X:132.44, Y:326.39, Z:-9.52 [[ 9.10703790e-01 2.89733189e-01 2.94403273e-01 1.32443882e+02] [-2.75679087e-01 9.57107454e-01 -8.91423706e-02 3.26385241e+02] [-3.07603070e-01 2.14694563e-05 9.51514766e-01 -9.51609744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.146875 meters Centerline goodness [0,1] 0.9987030137244729 Centerline is valid? [True, True] Translation: X:132.47, Y:326.37, Z:-9.53 [[ 9.11020538e-01 2.88436117e-01 2.94696770e-01 1.32473476e+02] [-2.74258087e-01 9.57498984e-01 -8.93207575e-02 3.26374975e+02] [-3.07935191e-01 5.50071861e-04 9.51407177e-01 -9.52634882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters Centerline goodness [0,1] 0.9977617039323328 Centerline is valid? [True, True] Translation: X:132.50, Y:326.37, Z:-9.54 [[ 9.11407661e-01 2.87563360e-01 2.94352491e-01 1.32502917e+02] [-2.73361723e-01 9.57761208e-01 -8.92571429e-02 3.26365105e+02] [-3.07586482e-01 8.84939686e-04 9.51519718e-01 -9.53783474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.206875 meters Centerline goodness [0,1] 0.9980718132010252 Centerline is valid? [True, True] Translation: X:132.53, Y:326.36, Z:-9.55 [[ 9.11490078e-01 2.87412746e-01 2.94244374e-01 1.32532460e+02] [-2.73184531e-01 9.57806273e-01 -8.93160361e-02 3.26355998e+02] [-3.07499675e-01 1.02766923e-03 9.51547631e-01 -9.54867076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters Centerline goodness [0,1] 0.9980543834974215 Centerline is valid? [True, True] Translation: X:132.56, Y:326.35, Z:-9.56 [[ 9.11453495e-01 2.87829636e-01 2.93950041e-01 1.32561975e+02] [-2.73622872e-01 9.57681131e-01 -8.93161572e-02 3.26347375e+02] [-3.07218244e-01 9.76069373e-04 9.51638586e-01 -9.55936483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.266875 meters Centerline goodness [0,1] 0.9983327071200451 Centerline is valid? [True, True] Translation: X:132.59, Y:326.34, Z:-9.57 [[ 9.11367493e-01 2.88605163e-01 2.93455879e-01 1.32591553e+02] [-2.74466279e-01 9.57447887e-01 -8.92289476e-02 3.26338994e+02] [-3.06720647e-01 7.76619023e-04 9.51799265e-01 -9.57000797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters Centerline goodness [0,1] 0.9984759671746776 Centerline is valid? [True, True] Translation: X:132.62, Y:326.33, Z:-9.58 [[ 9.10935441e-01 2.90382993e-01 2.93043239e-01 1.32621829e+02] [-2.76345137e-01 9.56910468e-01 -8.91948465e-02 3.26331347e+02] [-3.06316809e-01 2.69672865e-04 9.51929588e-01 -9.57988507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.326875 meters Centerline goodness [0,1] 0.9980734440711416 Centerline is valid? [True, True] Translation: X:132.65, Y:326.32, Z:-9.59 [[ 9.10388955e-01 2.91703722e-01 2.93429530e-01 1.32652151e+02] [-2.77665112e-01 9.56508720e-01 -8.94044387e-02 3.26323266e+02] [-3.06747512e-01 -8.23300512e-05 9.51790921e-01 -9.58906597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters Centerline goodness [0,1] 0.9983589647411854 Centerline is valid? [True, True] Translation: X:132.68, Y:326.32, Z:-9.60 [[ 9.09850226e-01 2.93008479e-01 2.93800268e-01 1.32682040e+02] [-2.78969919e-01 9.56109746e-01 -8.96099198e-02 3.26316050e+02] [-3.07161766e-01 -4.29831265e-04 9.51657220e-01 -9.59793984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.386875 meters Centerline goodness [0,1] 0.998648081674514 Centerline is valid? [True, True] Translation: X:132.71, Y:326.31, Z:-9.61 [[ 9.09009724e-01 2.95137958e-01 2.94270127e-01 1.32712569e+02] [-2.81134148e-01 9.55454056e-01 -8.98395126e-02 3.26309683e+02] [-3.07676636e-01 -1.06439094e-03 9.51490386e-01 -9.60702754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters Centerline goodness [0,1] 0.9975932330124311 Centerline is valid? [True, True] Translation: X:132.74, Y:326.31, Z:-9.62 [[ 9.07741228e-01 2.99411725e-01 2.93868137e-01 1.32742553e+02] [-2.85635926e-01 9.54120943e-01 -8.98072573e-02 3.26306133e+02] [-3.07275090e-01 -2.41754732e-03 9.51617662e-01 -9.61836190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.446875 meters Centerline goodness [0,1] 0.9977607240325628 Centerline is valid? [True, True] Translation: X:132.77, Y:326.30, Z:-9.63 [[ 9.07628579e-01 3.00968002e-01 2.92623691e-01 1.32772357e+02] [-2.87364708e-01 9.53629977e-01 -8.95063796e-02 3.26298374e+02] [-3.05993280e-01 -2.85117357e-03 9.52029403e-01 -9.62914747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters Centerline goodness [0,1] 0.9967547627941726 Centerline is valid? [True, True] Translation: X:132.80, Y:326.29, Z:-9.64 [[ 9.07396219e-01 3.03446180e-01 2.90779155e-01 1.32801136e+02] [-2.90112356e-01 9.52841895e-01 -8.90345081e-02 3.26292006e+02] [-3.04083743e-01 -3.56904975e-03 9.52638619e-01 -9.64041707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.506875 meters Centerline goodness [0,1] 0.996309963099631 Centerline is valid? [True, True] Translation: X:132.83, Y:326.28, Z:-9.65 [[ 9.06938043e-01 3.04892400e-01 2.90695734e-01 1.32829911e+02] [-2.91614939e-01 9.52378497e-01 -8.90838097e-02 3.26283805e+02] [-3.04013343e-01 -3.97772273e-03 9.52659470e-01 -9.65051052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters Centerline goodness [0,1] 0.9959803692451508 Centerline is valid? [True, True] Translation: X:132.86, Y:326.28, Z:-9.66 [[ 9.06234086e-01 3.06083203e-01 2.91638226e-01 1.32859042e+02] [-2.92751829e-01 9.51995000e-01 -8.94532694e-02 3.26275641e+02] [-3.05018276e-01 -4.31202236e-03 9.52336735e-01 -9.66064586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.566875 meters Centerline goodness [0,1] 0.9961801835375227 Centerline is valid? [True, True] Translation: X:132.89, Y:326.27, Z:-9.67 [[ 9.04777677e-01 3.08133122e-01 2.93992065e-01 1.32889982e+02] [-2.94659569e-01 9.51330296e-01 -9.02574465e-02 3.26269859e+02] [-3.07494867e-01 -4.96465264e-03 9.51536788e-01 -9.66800709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters Centerline goodness [0,1] 0.9959426372857643 Centerline is valid? [True, True] Translation: X:132.92, Y:326.26, Z:-9.68 [[ 9.03939003e-01 3.08437801e-01 2.96243823e-01 1.32919065e+02] [-2.94753758e-01 9.51231019e-01 -9.09932444e-02 3.26262896e+02] [-3.09862069e-01 -5.06663732e-03 9.50768020e-01 -9.67629617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.626875 meters Centerline goodness [0,1] 0.9959547303933031 Centerline is valid? [True, True] Translation: X:132.95, Y:326.26, Z:-9.69 [[ 9.03518782e-01 3.09209496e-01 2.96720908e-01 1.32948756e+02] [-2.95505931e-01 9.50979206e-01 -9.11854925e-02 3.26255119e+02] [-3.10370834e-01 -5.29498311e-03 9.50600815e-01 -9.68510533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters Centerline goodness [0,1] 0.9953765636367904 Centerline is valid? [True, True] Translation: X:132.98, Y:326.25, Z:-9.70 [[ 9.03518685e-01 3.09494157e-01 2.96424278e-01 1.32977689e+02] [-2.95819033e-01 9.50886337e-01 -9.11387613e-02 3.26246649e+02] [-3.10072710e-01 -5.34236952e-03 9.50697835e-01 -9.69645179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.686875 meters Centerline goodness [0,1] 0.9941217963790265 Centerline is valid? [True, True] Translation: X:133.01, Y:326.24, Z:-9.71 [[ 9.03838177e-01 3.10665144e-01 2.94217129e-01 1.33005770e+02] [-2.97239062e-01 9.50502694e-01 -9.05183332e-02 3.26237187e+02] [-3.07775065e-01 -5.63889822e-03 9.51442438e-01 -9.70753918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters Centerline goodness [0,1] 0.9952893833589774 Centerline is valid? [True, True] Translation: X:133.03, Y:326.23, Z:-9.72 [[ 9.03944907e-01 3.11614616e-01 2.92882120e-01 1.33034575e+02] [-2.98334347e-01 9.50190572e-01 -9.01914292e-02 3.26226718e+02] [-3.06398797e-01 -5.84871316e-03 9.51885271e-01 -9.71924900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.746875 meters Centerline goodness [0,1] 0.994902918375572 Centerline is valid? [True, True] Translation: X:133.06, Y:326.22, Z:-9.73 [[ 9.04068415e-01 3.12094794e-01 2.91988256e-01 1.33064443e+02] [-2.98892849e-01 9.50032636e-01 -9.00058635e-02 3.26219476e+02] [-3.05488734e-01 -5.90174333e-03 9.52177401e-01 -9.73077799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters Centerline goodness [0,1] 0.9938355349280019 Centerline is valid? [True, True] Translation: X:133.09, Y:326.22, Z:-9.75 [[ 9.04054310e-01 3.13960664e-01 2.90025008e-01 1.33092093e+02] [-3.01021725e-01 9.49414090e-01 -8.94360465e-02 3.26215182e+02] [-3.03433229e-01 -6.44878479e-03 9.52830881e-01 -9.74554251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.806875 meters Centerline goodness [0,1] 0.9940473286167358 Centerline is valid? [True, True] Translation: X:133.12, Y:326.21, Z:-9.76 [[ 9.03491437e-01 3.16125653e-01 2.89426664e-01 1.33119521e+02] [-3.03326060e-01 9.48690864e-01 -8.93249447e-02 3.26205078e+02] [-3.02814338e-01 -7.08632714e-03 9.53023221e-01 -9.75850392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters Centerline goodness [0,1] 0.9935852265824323 Centerline is valid? [True, True] Translation: X:133.15, Y:326.20, Z:-9.77 [[ 9.03411985e-01 3.16778116e-01 2.88960914e-01 1.33147381e+02] [-3.04027563e-01 9.48472251e-01 -8.92615842e-02 3.26197473e+02] [-3.02347525e-01 -7.21209740e-03 9.53170478e-01 -9.76968287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.866875 meters Centerline goodness [0,1] 0.99461167307551 Centerline is valid? [True, True] Translation: X:133.18, Y:326.19, Z:-9.78 [[ 9.02994113e-01 3.17140687e-01 2.89867929e-01 1.33177023e+02] [-3.04302827e-01 9.48350525e-01 -8.96162448e-02 3.26189084e+02] [-3.03317360e-01 -7.28468875e-03 9.52861749e-01 -9.78071796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters Centerline goodness [0,1] 0.990856772714816 Centerline is valid? [True, True] Translation: X:133.21, Y:326.18, Z:-9.79 [[ 9.02938088e-01 3.18527693e-01 2.88518489e-01 1.33205627e+02] [-3.05852320e-01 9.47882908e-01 -8.92880265e-02 3.26179440e+02] [-3.01922453e-01 -7.62248935e-03 9.53302014e-01 -9.79295733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.926875 meters Centerline goodness [0,1] 0.9912464985994398 Centerline is valid? [True, True] Translation: X:133.23, Y:326.17, Z:-9.81 [[ 9.03037125e-01 3.18759194e-01 2.87952300e-01 1.33234365e+02] [-3.06137286e-01 9.47804813e-01 -8.91403348e-02 3.26168054e+02] [-3.01336877e-01 -7.65590393e-03 9.53487008e-01 -9.80517877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters Centerline goodness [0,1] 0.993815220157801 Centerline is valid? [True, True] Translation: X:133.26, Y:326.16, Z:-9.81 [[ 9.04011641e-01 3.16797606e-01 2.87057886e-01 1.33262242e+02] [-3.04130314e-01 9.48468157e-01 -8.89545226e-02 3.26157316e+02] [-3.00445844e-01 -6.88708126e-03 9.53774010e-01 -9.81443544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.986875 meters Centerline goodness [0,1] 0.9903294123650839 Centerline is valid? [True, True] Translation: X:133.29, Y:326.14, Z:-9.82 [[ 9.04057036e-01 3.17073913e-01 2.86609508e-01 1.33290771e+02] [-3.04435434e-01 9.48375819e-01 -8.88952915e-02 3.26143926e+02] [-2.99999905e-01 -6.88767634e-03 9.53914366e-01 -9.82495416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters Centerline goodness [0,1] 0.9903294123650839 Centerline is valid? [True, True] Translation: X:133.32, Y:326.13, Z:-9.83 [[ 9.03971134e-01 3.17341835e-01 2.86583929e-01 1.33320206e+02] [-3.04690385e-01 9.48286213e-01 -8.89776818e-02 3.26134697e+02] [-2.99999929e-01 -6.88611166e-03 9.53914369e-01 -9.83486058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.046875 meters Centerline goodness [0,1] 0.9893962011633294 Centerline is valid? [True, True] Translation: X:133.35, Y:326.12, Z:-9.84 [[ 9.04107669e-01 3.15736385e-01 2.87923355e-01 1.33347576e+02] [-3.02856199e-01 9.48826055e-01 -8.94831782e-02 3.26122500e+02] [-3.01442276e-01 -6.29694531e-03 9.53463635e-01 -9.84436618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters Centerline goodness [0,1] 0.9886294416243655 Centerline is valid? [True, True] Translation: X:133.38, Y:326.11, Z:-9.85 [[ 9.04172728e-01 3.15182468e-01 2.88325667e-01 1.33375181e+02] [-3.02215253e-01 9.49011807e-01 -8.96801656e-02 3.26112619e+02] [-3.01890078e-01 -6.05005441e-03 9.53323543e-01 -9.85458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1068750000001 meters Centerline goodness [0,1] 0.9886263536970827 Centerline is valid? [True, True] Translation: X:133.40, Y:326.10, Z:-9.87 [[ 9.04359104e-01 3.12694661e-01 2.90442179e-01 1.33400420e+02] [-2.99384476e-01 9.49839512e-01 -9.04092771e-02 3.26098549e+02] [-3.04143956e-01 -5.19142665e-03 9.52611937e-01 -9.87076673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters Centerline goodness [0,1] 0.9898602214672856 Centerline is valid? [True, True] Translation: X:133.43, Y:326.09, Z:-9.88 [[ 9.04843025e-01 3.10935129e-01 2.90823737e-01 1.33427959e+02] [-2.97475594e-01 9.50420347e-01 -9.06059349e-02 3.26091861e+02] [-3.04577365e-01 -4.52881576e-03 9.52476834e-01 -9.88308361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.166875 meters Centerline goodness [0,1] 0.9867858041782028 Centerline is valid? [True, True] Translation: X:133.46, Y:326.08, Z:-9.90 [[ 9.05320651e-01 3.09629331e-01 2.90730454e-01 1.33455798e+02] [-2.96090052e-01 9.50848855e-01 -9.06484188e-02 3.26082455e+02] [-3.04508129e-01 -4.01651005e-03 9.52501269e-01 -9.89510427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters Centerline goodness [0,1] 0.9924525385744829 Centerline is valid? [True, True] Translation: X:133.48, Y:326.07, Z:-9.91 [[ 9.05363602e-01 3.08202018e-01 2.92110020e-01 1.33483874e+02] [-2.94434710e-01 9.51314563e-01 -9.11526381e-02 3.26071808e+02] [-3.05981943e-01 -3.48104815e-03 9.52030952e-01 -9.90792424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2268750000001 meters Centerline goodness [0,1] 0.9927475165351516 Centerline is valid? [True, True] Translation: X:133.51, Y:326.06, Z:-9.92 [[ 9.06346053e-01 3.04434328e-01 2.93012923e-01 1.33512228e+02] [-2.90362597e-01 9.52530927e-01 -9.15117253e-02 3.26058660e+02] [-3.06963182e-01 -2.13870232e-03 9.51718987e-01 -9.91715566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters Centerline goodness [0,1] 0.9921061342975732 Centerline is valid? [True, True] Translation: X:133.54, Y:326.05, Z:-9.93 [[ 9.06506027e-01 3.03202324e-01 2.93794440e-01 1.33541129e+02] [-2.88965435e-01 9.52924777e-01 -9.18332507e-02 3.26049162e+02] [-3.07808056e-01 -1.64904288e-03 9.51447046e-01 -9.92524134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.286875 meters Centerline goodness [0,1] 0.9937351369320071 Centerline is valid? [True, True] Translation: X:133.57, Y:326.04, Z:-9.94 [[ 9.06791402e-01 3.02247104e-01 2.93898011e-01 1.33570997e+02] [-2.87924360e-01 9.53228799e-01 -9.19479174e-02 3.26039207e+02] [-3.07943040e-01 -1.24281553e-03 9.51403983e-01 -9.93623628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters Centerline goodness [0,1] 0.99369540448158 Centerline is valid? [True, True] Translation: X:133.60, Y:326.03, Z:-9.95 [[ 9.07488871e-01 3.00596099e-01 2.93438127e-01 1.33600227e+02] [-2.86206592e-01 9.53751348e-01 -9.18920735e-02 3.26031440e+02] [-3.07489408e-01 -5.92892071e-04 9.51551319e-01 -9.94987471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.346875 meters Centerline goodness [0,1] 0.9925314762950067 Centerline is valid? [True, True] Translation: X:133.63, Y:326.02, Z:-9.96 [[ 9.07811593e-01 2.99861725e-01 2.93191161e-01 1.33629849e+02] [-2.85431421e-01 9.53982642e-01 -9.19022487e-02 3.26023195e+02] [-3.07257245e-01 -2.56043107e-04 9.51626460e-01 -9.96145510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters Centerline goodness [0,1] 0.9938309061488673 Centerline is valid? [True, True] Translation: X:133.66, Y:326.02, Z:-9.97 [[ 9.08001645e-01 2.98460446e-01 2.94031247e-01 1.33658393e+02] [-2.83844472e-01 9.54421954e-01 -9.22553461e-02 3.26015523e+02] [-3.08164449e-01 3.08861856e-04 9.51333053e-01 -9.97270074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.406875 meters Centerline goodness [0,1] 0.9955962568182956 Centerline is valid? [True, True] Translation: X:133.69, Y:326.01, Z:-9.99 [[ 9.09780812e-01 2.93665772e-01 2.93358636e-01 1.33685040e+02] [-2.78848100e-01 9.55906043e-01 -9.21269459e-02 3.26006806e+02] [-3.07477824e-01 2.01282932e-03 9.51553118e-01 -9.98607498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters Centerline goodness [0,1] 0.9967428342353177 Centerline is valid? [True, True] Translation: X:133.71, Y:326.00, Z:-10.00 [[ 9.10828212e-01 2.90694817e-01 2.93067385e-01 1.33712714e+02] [-2.75734233e-01 9.56810853e-01 -9.21065890e-02 3.25996561e+02] [-3.07184963e-01 3.08456895e-03 9.51644831e-01 -9.99820039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.466875 meters Centerline goodness [0,1] 0.9964410135592371 Centerline is valid? [True, True] Translation: X:133.74, Y:325.99, Z:-10.01 [[ 9.11983638e-01 2.87519004e-01 2.92606674e-01 1.33739567e+02] [-2.72422644e-01 9.57765618e-01 -9.20376215e-02 3.25985853e+02] [-3.06711177e-01 4.22412117e-03 9.51793260e-01 -1.00097220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters Centerline goodness [0,1] 0.9970459381649769 Centerline is valid? [True, True] Translation: X:133.77, Y:325.97, Z:-10.02 [[ 9.12786691e-01 2.84411409e-01 2.93139228e-01 1.33768034e+02] [-2.69089037e-01 9.58687566e-01 -9.22455501e-02 3.25973958e+02] [-3.07264620e-01 5.31995792e-03 9.51609243e-01 -1.00200869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.526875 meters Centerline goodness [0,1] 0.997334728241917 Centerline is valid? [True, True] Translation: X:133.79, Y:325.96, Z:-10.03 [[ 9.13643846e-01 2.78686886e-01 2.95953615e-01 1.33794833e+02] [-2.62742254e-01 9.60353516e-01 -9.32074674e-02 3.25957724e+02] [-3.10195793e-01 7.39890904e-03 9.50643901e-01 -1.00255184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters Centerline goodness [0,1] 0.997345952577681 Centerline is valid? [True, True] Translation: X:133.82, Y:325.95, Z:-10.03 [[ 9.13631809e-01 2.77034454e-01 2.97537945e-01 1.33824738e+02] [-2.60808169e-01 9.60826110e-01 -9.37671895e-02 3.25947997e+02] [-3.11858968e-01 8.06836043e-03 9.50094146e-01 -1.00333834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.586875 meters Centerline goodness [0,1] 0.9977293709609003 Centerline is valid? [True, True] Translation: X:133.85, Y:325.94, Z:-10.04 [[ 9.13449704e-01 2.76221852e-01 2.98849671e-01 1.33854346e+02] [-2.59779506e-01 9.61056614e-01 -9.42591779e-02 3.25938698e+02] [-3.13247898e-01 8.46599817e-03 9.49633656e-01 -1.00421739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters Centerline goodness [0,1] 0.9976080727544537 Centerline is valid? [True, True] Translation: X:133.89, Y:325.93, Z:-10.05 [[ 9.12153487e-01 2.77651506e-01 3.01472482e-01 1.33886246e+02] [-2.60959540e-01 9.60647425e-01 -9.51663968e-02 3.25933993e+02] [-3.16031857e-01 8.13424047e-03 9.48713708e-01 -1.00502411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.646875 meters Centerline goodness [0,1] 0.9982376886417792 Centerline is valid? [True, True] Translation: X:133.91, Y:325.93, Z:-10.06 [[ 9.11357623e-01 2.80118361e-01 3.01597393e-01 1.33914982e+02] [-2.63513567e-01 9.59937152e-01 -9.52956647e-02 3.25926779e+02] [-3.16208608e-01 7.37342570e-03 9.48661029e-01 -1.00597669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters Centerline goodness [0,1] 0.997386043964251 Centerline is valid? [True, True] Translation: X:133.94, Y:325.92, Z:-10.07 [[ 9.10787750e-01 2.83267931e-01 3.00374688e-01 1.33944670e+02] [-2.66944192e-01 9.59019955e-01 -9.49817011e-02 3.25921737e+02] [-3.14970589e-01 6.32489177e-03 9.49080357e-01 -1.00702338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.706875 meters Centerline goodness [0,1] 0.9962056394613497 Centerline is valid? [True, True] Translation: X:133.97, Y:325.92, Z:-10.08 [[ 9.09416413e-01 2.89883372e-01 2.98210358e-01 1.33973693e+02] [-2.74122293e-01 9.57053296e-01 -9.43713837e-02 3.25920055e+02] [-3.12759901e-01 4.07677821e-03 9.49823470e-01 -1.00827415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters Centerline goodness [0,1] 0.9965503646757343 Centerline is valid? [True, True] Translation: X:134.00, Y:325.91, Z:-10.09 [[ 9.08453153e-01 2.92875233e-01 2.98223015e-01 1.34003651e+02] [-2.77247976e-01 9.56145597e-01 -9.44412900e-02 3.25914922e+02] [-3.12804137e-01 3.11376039e-03 9.49812548e-01 -1.00927489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.766875 meters Centerline goodness [0,1] 0.9956431841677743 Centerline is valid? [True, True] Translation: X:134.03, Y:325.91, Z:-10.10 [[ 9.07201358e-01 2.95315153e-01 2.99624191e-01 1.34033537e+02] [-2.79640375e-01 9.55396973e-01 -9.49625455e-02 3.25908204e+02] [-3.14303924e-01 2.36312921e-03 9.49319472e-01 -1.01009138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters Centerline goodness [0,1] 0.994115772182313 Centerline is valid? [True, True] Translation: X:134.06, Y:325.90, Z:-10.11 [[ 9.05850577e-01 2.99190598e-01 2.99866167e-01 1.34064654e+02] [-2.83669099e-01 9.54192732e-01 -9.51213573e-02 3.25903496e+02] [-3.14589533e-01 1.10297081e-03 9.49227164e-01 -1.01090036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.826875 meters Centerline goodness [0,1] 0.9931581019885805 Centerline is valid? [True, True] Translation: X:134.09, Y:325.90, Z:-10.12 [[ 9.05489838e-01 3.01242355e-01 2.98899978e-01 1.34093570e+02] [-2.85907516e-01 9.53547497e-01 -9.48897468e-02 3.25897523e+02] [-3.13600137e-01 4.63951068e-04 9.49555021e-01 -1.01199730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters Centerline goodness [0,1] 0.9933422103861518 Centerline is valid? [True, True] Translation: X:134.12, Y:325.89, Z:-10.13 [[ 9.04916113e-01 3.03910931e-01 2.97934513e-01 1.34122540e+02] [-2.88804056e-01 9.52700359e-01 -9.46268675e-02 3.25891163e+02] [-3.12600456e-01 -4.15318453e-04 9.49884615e-01 -1.01316430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.886875 meters Centerline goodness [0,1] 0.9915510998349631 Centerline is valid? [True, True] Translation: X:134.15, Y:325.89, Z:-10.14 [[ 9.03287797e-01 3.10586344e-01 2.95985267e-01 1.34152051e+02] [-2.96005827e-01 9.50541531e-01 -9.40816003e-02 3.25887133e+02] [-3.10566749e-01 -2.63060212e-03 9.50547934e-01 -1.01411519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters Centerline goodness [0,1] 0.9896886871577285 Centerline is valid? [True, True] Translation: X:134.18, Y:325.88, Z:-10.15 [[ 9.02169622e-01 3.14589529e-01 2.95166734e-01 1.34181894e+02] [-3.00277691e-01 9.49219681e-01 -9.38898549e-02 3.25879997e+02] [-3.09714838e-01 -3.92741049e-03 9.50821379e-01 -1.01511176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.946875 meters Centerline goodness [0,1] 0.9871845620979713 Centerline is valid? [True, True] Translation: X:134.21, Y:325.87, Z:-10.16 [[ 9.01013516e-01 3.18405907e-01 2.94605368e-01 1.34211176e+02] [-3.04324177e-01 9.47940461e-01 -9.37852775e-02 3.25874459e+02] [-3.09130135e-01 -5.15373337e-03 9.51005783e-01 -1.01608972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters Centerline goodness [0,1] 0.9850079035763684 Centerline is valid? [True, True] Translation: X:134.24, Y:325.87, Z:-10.17 [[ 9.00201030e-01 3.21745440e-01 2.93458647e-01 1.34241171e+02] [-3.07926262e-01 9.46805875e-01 -9.34882454e-02 3.25867685e+02] [-3.07927788e-01 -6.20540959e-03 9.51389495e-01 -1.01713314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.006875 meters Centerline goodness [0,1] 0.9826275252835945 Centerline is valid? [True, True] Translation: X:134.27, Y:325.86, Z:-10.18 [[ 8.98896304e-01 3.26545147e-01 2.92153558e-01 1.34271212e+02] [-3.13074467e-01 9.45149929e-01 -9.31449945e-02 3.25864242e+02] [-3.06544961e-01 -7.73812817e-03 9.51824726e-01 -1.01822392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters Centerline goodness [0,1] 0.9822444406136873 Centerline is valid? [True, True] Translation: X:134.30, Y:325.86, Z:-10.19 [[ 8.98207757e-01 3.28262585e-01 2.92346542e-01 1.34299791e+02] [-3.14840695e-01 9.44550363e-01 -9.32735126e-02 3.25857171e+02] [-3.06754236e-01 -8.26359580e-03 9.51752884e-01 -1.01925297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.066875 meters Centerline goodness [0,1] 0.9819493695823484 Centerline is valid? [True, True] Translation: X:134.33, Y:325.85, Z:-10.20 [[ 8.97698712e-01 3.29795402e-01 2.92184899e-01 1.34329230e+02] [-3.16446237e-01 9.44012197e-01 -9.32885407e-02 3.25849398e+02] [-3.06592240e-01 -8.71580882e-03 9.51801047e-01 -1.02021151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters Centerline goodness [0,1] 0.9782791133929012 Centerline is valid? [True, True] Translation: X:134.36, Y:325.84, Z:-10.21 [[ 8.97046711e-01 3.31317667e-01 2.92465042e-01 1.34357731e+02] [-3.18012602e-01 9.43474221e-01 -9.34043893e-02 3.25839729e+02] [-3.06879752e-01 -9.21946903e-03 9.51703640e-01 -1.02113273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.126875 meters Centerline goodness [0,1] 0.9810727893512792 Centerline is valid? [True, True] Translation: X:134.38, Y:325.83, Z:-10.22 [[ 8.97043798e-01 3.30327300e-01 2.93592064e-01 1.34384755e+02] [-3.16843703e-01 9.43824949e-01 -9.38324713e-02 3.25825835e+02] [-3.08094942e-01 -8.85096023e-03 9.51314442e-01 -1.02188492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters Centerline goodness [0,1] 0.9816463701976735 Centerline is valid? [True, True] Translation: X:134.41, Y:325.81, Z:-10.23 [[ 8.98024388e-01 3.27969826e-01 2.93237091e-01 1.34412474e+02] [-3.14375370e-01 9.44654624e-01 -9.37857582e-02 3.25811931e+02] [-3.07766672e-01 -7.96462083e-03 9.51428526e-01 -1.02283039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.186875 meters Centerline goodness [0,1] 0.9865528705403662 Centerline is valid? [True, True] Translation: X:134.44, Y:325.79, Z:-10.24 [[ 8.99275513e-01 3.24925569e-01 2.92791610e-01 1.34438161e+02] [-3.11204480e-01 9.45714600e-01 -9.36785248e-02 3.25793508e+02] [-3.07335849e-01 -6.87525753e-03 9.51576275e-01 -1.02389289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters Centerline goodness [0,1] 0.9870607227120328 Centerline is valid? [True, True] Translation: X:134.47, Y:325.78, Z:-10.25 [[ 8.99886682e-01 3.24288131e-01 2.91618187e-01 1.34465800e+02] [-3.10621686e-01 9.45935669e-01 -9.33802929e-02 3.25783460e+02] [-3.06134165e-01 -6.55125091e-03 9.51965837e-01 -1.02495881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.246875 meters Centerline goodness [0,1] 0.9874199735944 Centerline is valid? [True, True] Translation: X:134.49, Y:325.77, Z:-10.26 [[ 9.00598914e-01 3.22998815e-01 2.90849379e-01 1.34494006e+02] [-3.09317077e-01 9.46380203e-01 -9.32065293e-02 3.25771936e+02] [-3.05359693e-01 -6.02298062e-03 9.52218033e-01 -1.02592299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters Centerline goodness [0,1] 0.9885819704826486 Centerline is valid? [True, True] Translation: X:134.52, Y:325.76, Z:-10.27 [[ 9.01340899e-01 3.21601337e-01 2.90098543e-01 1.34522276e+02] [-3.07896141e-01 9.46859447e-01 -9.30438293e-02 3.25759327e+02] [-3.04605566e-01 -5.45601318e-03 9.52462955e-01 -1.02690717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.306875 meters Centerline goodness [0,1] 0.9888099688473521 Centerline is valid? [True, True] Translation: X:134.55, Y:325.75, Z:-10.28 [[ 9.02653103e-01 3.20436963e-01 2.87293455e-01 1.34549068e+02] [-3.06919532e-01 9.47256997e-01 -9.22202960e-02 3.25747817e+02] [-3.01691527e-01 -4.93303635e-03 9.53392830e-01 -1.02798039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters Centerline goodness [0,1] 0.9875474146536235 Centerline is valid? [True, True] Translation: X:134.58, Y:325.74, Z:-10.29 [[ 9.02957593e-01 3.20700616e-01 2.86039682e-01 1.34577629e+02] [-3.07294405e-01 9.47167795e-01 -9.18875269e-02 3.25737704e+02] [-3.00395961e-01 -4.92785359e-03 9.53801857e-01 -1.02906797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.366875 meters Centerline goodness [0,1] 0.9897265410188472 Centerline is valid? [True, True] Translation: X:134.61, Y:325.73, Z:-10.30 [[ 9.02882804e-01 3.20975617e-01 2.85967299e-01 1.34606934e+02] [-3.07565564e-01 9.47074566e-01 -9.19412283e-02 3.25725758e+02] [-3.00343248e-01 -4.94153952e-03 9.53818387e-01 -1.03005471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters Centerline goodness [0,1] 0.9881711325829265 Centerline is valid? [True, True] Translation: X:134.64, Y:325.72, Z:-10.31 [[ 9.02323571e-01 3.22039430e-01 2.86535824e-01 1.34636004e+02] [-3.08599157e-01 9.46711872e-01 -9.22127565e-02 3.25720427e+02] [-3.00963009e-01 -5.21896978e-03 9.53621534e-01 -1.03097722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.426875 meters Centerline goodness [0,1] 0.9885925889107041 Centerline is valid? [True, True] Translation: X:134.67, Y:325.71, Z:-10.32 [[ 9.01796829e-01 3.22266996e-01 2.87934822e-01 1.34666073e+02] [-3.08690245e-01 9.46634084e-01 -9.27051418e-02 3.25709369e+02] [-3.02444724e-01 -5.28146788e-03 9.53152294e-01 -1.03184917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters Centerline goodness [0,1] 0.9873001643508142 Centerline is valid? [True, True] Translation: X:134.70, Y:325.70, Z:-10.33 [[ 9.01183834e-01 3.23076032e-01 2.88945626e-01 1.34696818e+02] [-3.09413592e-01 9.46357117e-01 -9.31205490e-02 3.25702510e+02] [-3.03530767e-01 -5.48497068e-03 9.52805850e-01 -1.03263463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.486875 meters Centerline goodness [0,1] 0.9874436333740253 Centerline is valid? [True, True] Translation: X:134.73, Y:325.69, Z:-10.33 [[ 9.00951540e-01 3.24441480e-01 2.88138940e-01 1.34726081e+02] [-3.10898592e-01 9.45887715e-01 -9.29435120e-02 3.25690898e+02] [-3.02701814e-01 -5.84439035e-03 9.53067393e-01 -1.03345681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters Centerline goodness [0,1] 0.9878876812495336 Centerline is valid? [True, True] Translation: X:134.75, Y:325.68, Z:-10.34 [[ 9.00997494e-01 3.25249301e-01 2.87082579e-01 1.34755000e+02] [-3.11839192e-01 9.45608857e-01 -9.26294065e-02 3.25681378e+02] [-3.01595480e-01 -6.06473659e-03 9.53416690e-01 -1.03439890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.546875 meters Centerline goodness [0,1] 0.9875969377609862 Centerline is valid? [True, True] Translation: X:134.79, Y:325.67, Z:-10.35 [[ 9.00974170e-01 3.25639440e-01 2.86713272e-01 1.34785079e+02] [-3.12259631e-01 9.45474280e-01 -9.25867616e-02 3.25671169e+02] [-3.01229926e-01 -6.11069975e-03 9.53531956e-01 -1.03542450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters Centerline goodness [0,1] 0.9878300689380553 Centerline is valid? [True, True] Translation: X:134.81, Y:325.66, Z:-10.36 [[ 9.00869150e-01 3.26144523e-01 2.86469063e-01 1.34814725e+02] [-3.12785136e-01 9.45299675e-01 -9.25958009e-02 3.25660430e+02] [-3.00998726e-01 -6.18656441e-03 9.53604474e-01 -1.03640232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6068750000001 meters Centerline goodness [0,1] 0.9878696169874975 Centerline is valid? [True, True] Translation: X:134.84, Y:325.65, Z:-10.37 [[ 9.00645788e-01 3.25634252e-01 2.87749019e-01 1.34843566e+02] [-3.12098752e-01 9.45477051e-01 -9.30994843e-02 3.25651916e+02] [-3.02376475e-01 -5.95645136e-03 9.53169968e-01 -1.03726243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters Centerline goodness [0,1] 0.9881972111553785 Centerline is valid? [True, True] Translation: X:134.87, Y:325.64, Z:-10.38 [[ 9.00571865e-01 3.26282435e-01 2.87245693e-01 1.34873322e+02] [-3.12804834e-01 9.45252699e-01 -9.30079026e-02 3.25640785e+02] [-3.01866612e-01 -6.09154104e-03 9.53330710e-01 -1.03819809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.666875 meters Centerline goodness [0,1] 0.9876077184791516 Centerline is valid? [True, True] Translation: X:134.90, Y:325.63, Z:-10.39 [[ 9.00541082e-01 3.26457354e-01 2.87143440e-01 1.34902847e+02] [-3.12969865e-01 9.45192512e-01 -9.30643762e-02 3.25634823e+02] [-3.01787379e-01 -6.05894962e-03 9.53356002e-01 -1.03922226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters Centerline goodness [0,1] 0.9873593761641046 Centerline is valid? [True, True] Translation: X:134.93, Y:325.62, Z:-10.40 [[ 9.00708527e-01 3.26946642e-01 2.86059509e-01 1.34932149e+02] [-3.13560977e-01 9.45023013e-01 -9.27955705e-02 3.25624379e+02] [-3.00672020e-01 -6.11533760e-03 9.53707995e-01 -1.04019223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7268750000001 meters Centerline goodness [0,1] 0.9870666205054651 Centerline is valid? [True, True] Translation: X:134.96, Y:325.62, Z:-10.41 [[ 9.00743981e-01 3.26781873e-01 2.86136137e-01 1.34960854e+02] [-3.13352560e-01 9.45080909e-01 -9.29098916e-02 3.25617779e+02] [-3.00783069e-01 -5.97346543e-03 9.53673877e-01 -1.04115471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters Centerline goodness [0,1] 0.9863340456194405 Centerline is valid? [True, True] Translation: X:134.99, Y:325.61, Z:-10.42 [[ 9.00897635e-01 3.27018317e-01 2.85381275e-01 1.34990530e+02] [-3.13650455e-01 9.44999178e-01 -9.27358921e-02 3.25608118e+02] [-3.00011406e-01 -5.96442115e-03 9.53916968e-01 -1.04214068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.786875 meters Centerline goodness [0,1] 0.9877740303541316 Centerline is valid? [True, True] Translation: X:135.02, Y:325.60, Z:-10.43 [[ 9.01658414e-01 3.25811006e-01 2.84357684e-01 1.35018274e+02] [-3.12456438e-01 9.45419160e-01 -9.24855993e-02 3.25597220e+02] [-2.98970029e-01 -5.45897028e-03 9.54246887e-01 -1.04314394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters Centerline goodness [0,1] 0.9880934662896265 Centerline is valid? [True, True] Translation: X:135.05, Y:325.58, Z:-10.44 [[ 9.01910053e-01 3.25590125e-01 2.83812133e-01 1.35047811e+02] [-3.12256484e-01 9.45496106e-01 -9.23742525e-02 3.25584900e+02] [-2.98419411e-01 -5.30891166e-03 9.54420070e-01 -1.04400816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.846875 meters Centerline goodness [0,1] 0.9884263858533677 Centerline is valid? [True, True] Translation: X:135.08, Y:325.57, Z:-10.45 [[ 9.02019712e-01 3.24853953e-01 2.84306786e-01 1.35076545e+02] [-3.11410635e-01 9.45751022e-01 -9.26197639e-02 3.25573626e+02] [-2.98971330e-01 -4.99130394e-03 9.54249040e-01 -1.04481477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters Centerline goodness [0,1] 0.9894515290330568 Centerline is valid? [True, True] Translation: X:135.10, Y:325.56, Z:-10.46 [[ 9.02366573e-01 3.24192974e-01 2.83960357e-01 1.35104897e+02] [-3.10727724e-01 9.45979336e-01 -9.25817347e-02 3.25564416e+02] [-2.98634978e-01 -4.69169276e-03 9.54355876e-01 -1.04568129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.906875 meters Centerline goodness [0,1] 0.9894515290330568 Centerline is valid? [True, True] Translation: X:135.13, Y:325.55, Z:-10.47 [[ 9.02284069e-01 3.24440212e-01 2.83940149e-01 1.35134204e+02] [-3.10967427e-01 9.45894502e-01 -9.26436709e-02 3.25554766e+02] [-2.98634758e-01 -4.70522923e-03 9.54355878e-01 -1.04667108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters Centerline goodness [0,1] 0.9887218972878261 Centerline is valid? [True, True] Translation: X:135.16, Y:325.55, Z:-10.48 [[ 9.02250251e-01 3.24049265e-01 2.84493512e-01 1.35163681e+02] [-3.10477465e-01 9.46029494e-01 -9.29082375e-02 3.25546045e+02] [-2.99246099e-01 -4.50234376e-03 9.54165343e-01 -1.04755785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.966875 meters Centerline goodness [0,1] 0.9890604257829785 Centerline is valid? [True, True] Translation: X:135.19, Y:325.54, Z:-10.49 [[ 9.02098642e-01 3.24010413e-01 2.85018057e-01 1.35193425e+02] [-3.10362687e-01 9.46043159e-01 -9.31522592e-02 3.25536820e+02] [-2.99821685e-01 -4.42644365e-03 9.53984991e-01 -1.04853474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters Centerline goodness [0,1] 0.9885617297616413 Centerline is valid? [True, True] Translation: X:135.22, Y:325.53, Z:-10.50 [[ 9.01754763e-01 3.24795877e-01 2.85212177e-01 1.35223270e+02] [-3.11140070e-01 9.45772930e-01 -9.33028460e-02 3.25528646e+02] [-3.00050336e-01 -4.60465092e-03 9.53912256e-01 -1.04970367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.026875 meters Centerline goodness [0,1] 0.9879914540409126 Centerline is valid? [True, True] Translation: X:135.25, Y:325.52, Z:-10.51 [[ 9.01660708e-01 3.25971986e-01 2.84165852e-01 1.35252085e+02] [-3.12447769e-01 9.45366788e-01 -9.30485213e-02 3.25518903e+02] [-2.98972170e-01 -4.88879096e-03 9.54249308e-01 -1.05068268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters Centerline goodness [0,1] 0.9882042296967154 Centerline is valid? [True, True] Translation: X:135.28, Y:325.51, Z:-10.51 [[ 9.01245993e-01 3.26915968e-01 2.84396924e-01 1.35280830e+02] [-3.13390793e-01 9.45039489e-01 -9.32017923e-02 3.25508503e+02] [-2.99235478e-01 -5.12963588e-03 9.54165507e-01 -1.05146688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.086875 meters Centerline goodness [0,1] 0.988173972905859 Centerline is valid? [True, True] Translation: X:135.31, Y:325.50, Z:-10.52 [[ 9.01018458e-01 3.27140819e-01 2.84858952e-01 1.35310697e+02] [-3.13559276e-01 9.44961605e-01 -9.34245425e-02 3.25497906e+02] [-2.99743754e-01 -5.14292967e-03 9.54005887e-01 -1.05221141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters Centerline goodness [0,1] 0.9875267547420474 Centerline is valid? [True, True] Translation: X:135.34, Y:325.49, Z:-10.53 [[ 9.00517863e-01 3.27609209e-01 2.85901706e-01 1.35340899e+02] [-3.13921051e-01 9.44798829e-01 -9.38549234e-02 3.25489517e+02] [-3.00867334e-01 -5.23252886e-03 9.53651649e-01 -1.05307807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.146875 meters Centerline goodness [0,1] 0.9869916707496326 Centerline is valid? [True, True] Translation: X:135.37, Y:325.48, Z:-10.54 [[ 9.00654896e-01 3.27944007e-01 2.85085050e-01 1.35369418e+02] [-3.14323993e-01 9.44682632e-01 -9.36757796e-02 3.25481523e+02] [-3.00035306e-01 -5.23952167e-03 9.53913708e-01 -1.05414651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters Centerline goodness [0,1] 0.9877265907469809 Centerline is valid? [True, True] Translation: X:135.40, Y:325.47, Z:-10.55 [[ 9.00823696e-01 3.28368734e-01 2.84060984e-01 1.35398879e+02] [-3.14853825e-01 9.44534680e-01 -9.33879436e-02 3.25472616e+02] [-2.98971132e-01 -5.31161478e-03 9.54247373e-01 -1.05531870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.206875 meters Centerline goodness [0,1] 0.9867664123645162 Centerline is valid? [True, True] Translation: X:135.43, Y:325.46, Z:-10.56 [[ 9.01253398e-01 3.28891326e-01 2.82086526e-01 1.35427115e+02] [-3.15566042e-01 9.44352570e-01 -9.28240052e-02 3.25462580e+02] [-2.96918146e-01 -5.35897868e-03 9.54887897e-01 -1.05639724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters Centerline goodness [0,1] 0.9879447077021287 Centerline is valid? [True, True] Translation: X:135.45, Y:325.45, Z:-10.58 [[ 9.01955667e-01 3.29070992e-01 2.79621632e-01 1.35454786e+02] [-3.15967634e-01 9.44290355e-01 -9.20878913e-02 3.25452639e+02] [-2.94347464e-01 -5.29218996e-03 9.55683820e-01 -1.05756628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.266875 meters Centerline goodness [0,1] 0.9885360033457158 Centerline is valid? [True, True] Translation: X:135.48, Y:325.44, Z:-10.59 [[ 9.02111904e-01 3.29394483e-01 2.78735336e-01 1.35482619e+02] [-3.16369095e-01 9.44177466e-01 -9.18667944e-02 3.25442811e+02] [-2.93436039e-01 -5.30911720e-03 9.55963966e-01 -1.05851101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters Centerline goodness [0,1] 0.9874830267868164 Centerline is valid? [True, True] Translation: X:135.51, Y:325.43, Z:-10.59 [[ 9.02023108e-01 3.29251935e-01 2.79190752e-01 1.35511383e+02] [-3.16164115e-01 9.44227612e-01 -9.20568827e-02 3.25431584e+02] [-2.93929523e-01 -5.23266150e-03 9.55812772e-01 -1.05936420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.326875 meters Centerline goodness [0,1] 0.9879272691580988 Centerline is valid? [True, True] Translation: X:135.54, Y:325.42, Z:-10.60 [[ 9.01863757e-01 3.29127898e-01 2.79851016e-01 1.35539929e+02] [-3.15947790e-01 9.44271410e-01 -9.23498648e-02 3.25423591e+02] [-2.94650230e-01 -5.13131394e-03 9.55591394e-01 -1.06026085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters Centerline goodness [0,1] 0.9881883010267846 Centerline is valid? [True, True] Translation: X:135.57, Y:325.42, Z:-10.61 [[ 9.01281523e-01 3.29147833e-01 2.81697214e-01 1.35569772e+02] [-3.15768861e-01 9.44264600e-01 -9.30289882e-02 3.25415750e+02] [-2.96616997e-01 -5.10590026e-03 9.54982873e-01 -1.06127537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.386875 meters Centerline goodness [0,1] 0.9885277716363279 Centerline is valid? [True, True] Translation: X:135.60, Y:325.40, Z:-10.62 [[ 9.01193463e-01 3.29496035e-01 2.81571848e-01 1.35599302e+02] [-3.16122669e-01 9.44142945e-01 -9.30621202e-02 3.25404646e+02] [-2.96507673e-01 -5.14426981e-03 9.55016616e-01 -1.06215978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters Centerline goodness [0,1] 0.98862212174084 Centerline is valid? [True, True] Translation: X:135.63, Y:325.39, Z:-10.63 [[ 9.01412853e-01 3.29073469e-01 2.81363681e-01 1.35627850e+02] [-3.15672859e-01 9.44291535e-01 -9.30813772e-02 3.25394668e+02] [-2.96319954e-01 -4.91412776e-03 9.55076089e-01 -1.06308847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.446875 meters Centerline goodness [0,1] 0.9897643064264294 Centerline is valid? [True, True] Translation: X:135.66, Y:325.38, Z:-10.64 [[ 9.02110726e-01 3.29193795e-01 2.78976135e-01 1.35655064e+02] [-3.16022342e-01 9.44249755e-01 -9.23161977e-02 3.25381443e+02] [-2.93813067e-01 -4.88325959e-03 9.55850425e-01 -1.06419976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters Centerline goodness [0,1] 0.9902517673322585 Centerline is valid? [True, True] Translation: X:135.68, Y:325.37, Z:-10.65 [[ 9.02390554e-01 3.29260199e-01 2.77991025e-01 1.35684429e+02] [-3.16164452e-01 9.44226954e-01 -9.20624683e-02 3.25370510e+02] [-2.92799126e-01 -4.81457822e-03 9.56161854e-01 -1.06527418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.506875 meters Centerline goodness [0,1] 0.98936432731221 Centerline is valid? [True, True] Translation: X:135.71, Y:325.36, Z:-10.66 [[ 9.02070109e-01 3.30219404e-01 2.77893258e-01 1.35712999e+02] [-3.17151938e-01 9.43890740e-01 -9.21136226e-02 3.25361109e+02] [-2.92718578e-01 -5.04143960e-03 9.56185347e-01 -1.06628355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters Centerline goodness [0,1] 0.9888239084105664 Centerline is valid? [True, True] Translation: X:135.74, Y:325.35, Z:-10.67 [[ 9.00925310e-01 3.31905082e-01 2.79593637e-01 1.35743651e+02] [-3.18730749e-01 9.43296436e-01 -9.27498997e-02 3.25350566e+02] [-2.94523844e-01 -5.55435720e-03 9.55627989e-01 -1.06706223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.566875 meters Centerline goodness [0,1] 0.9877697841726619 Centerline is valid? [True, True] Translation: X:135.77, Y:325.34, Z:-10.68 [[ 9.00490485e-01 3.33388516e-01 2.79229266e-01 1.35772575e+02] [-3.20292277e-01 9.42770781e-01 -9.27152223e-02 3.25341436e+02] [-2.94159384e-01 -5.94580190e-03 9.55737885e-01 -1.06800549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters Centerline goodness [0,1] 0.9877514661123896 Centerline is valid? [True, True] Translation: X:135.80, Y:325.34, Z:-10.69 [[ 8.99947534e-01 3.35285097e-01 2.78708341e-01 1.35801275e+02] [-3.22304406e-01 9.42094440e-01 -9.26171454e-02 3.25335869e+02] [-2.93622727e-01 -6.47835438e-03 9.55899433e-01 -1.06910567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.626875 meters Centerline goodness [0,1] 0.9864254516577328 Centerline is valid? [True, True] Translation: X:135.83, Y:325.33, Z:-10.70 [[ 8.98398995e-01 3.40650045e-01 2.77194503e-01 1.35830512e+02] [-3.28040849e-01 9.40155144e-01 -9.21819232e-02 3.25329359e+02] [-2.92007614e-01 -8.11497306e-03 9.56381566e-01 -1.07020742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters Centerline goodness [0,1] 0.9855162476398688 Centerline is valid? [True, True] Translation: X:135.86, Y:325.32, Z:-10.71 [[ 8.97709397e-01 3.42945585e-01 2.76597477e-01 1.35859986e+02] [-3.30477415e-01 9.39314290e-01 -9.20507610e-02 3.25322557e+02] [-2.91380365e-01 -8.77438603e-03 9.56567035e-01 -1.07125162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.686875 meters Centerline goodness [0,1] 0.9855438388039012 Centerline is valid? [True, True] Translation: X:135.89, Y:325.31, Z:-10.72 [[ 8.96993835e-01 3.45262866e-01 2.76035530e-01 1.35888775e+02] [-3.32933108e-01 9.38458537e-01 -9.19299721e-02 3.25314784e+02] [-2.90787905e-01 -9.44074875e-03 9.56740961e-01 -1.07228094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters Centerline goodness [0,1] 0.9852861035422343 Centerline is valid? [True, True] Translation: X:135.92, Y:325.31, Z:-10.73 [[ 8.96041779e-01 3.47630774e-01 2.76155709e-01 1.35918584e+02] [-3.35379242e-01 9.37576596e-01 -9.20374448e-02 3.25306176e+02] [-2.90912178e-01 -1.01474966e-02 9.56695946e-01 -1.07313136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.746875 meters Centerline goodness [0,1] 0.9834409136047666 Centerline is valid? [True, True] Translation: X:135.95, Y:325.30, Z:-10.74 [[ 8.95830649e-01 3.48151993e-01 2.76184065e-01 1.35948495e+02] [-3.35902573e-01 9.37382005e-01 -9.21110129e-02 3.25297467e+02] [-2.90958606e-01 -1.02550696e-02 9.56680680e-01 -1.07402811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters Centerline goodness [0,1] 0.9839548247468842 Centerline is valid? [True, True] Translation: X:135.98, Y:325.29, Z:-10.75 [[ 8.95700026e-01 3.48548761e-01 2.76107272e-01 1.35977981e+02] [-3.36313457e-01 9.37233561e-01 -9.21222550e-02 3.25287217e+02] [-2.90886099e-01 -1.03446850e-02 9.56701764e-01 -1.07494566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.806875 meters Centerline goodness [0,1] 0.9839402288579443 Centerline is valid? [True, True] Translation: X:136.01, Y:325.28, Z:-10.76 [[ 8.95765498e-01 3.48348237e-01 2.76147927e-01 1.36006953e+02] [-3.36074592e-01 9.37309702e-01 -9.22192597e-02 3.25277286e+02] [-2.90960548e-01 -1.01994709e-02 9.56680684e-01 -1.07599125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters Centerline goodness [0,1] 0.9856675262844674 Centerline is valid? [True, True] Translation: X:136.03, Y:325.27, Z:-10.77 [[ 8.96005755e-01 3.47236895e-01 2.76767456e-01 1.36034467e+02] [-3.34833383e-01 9.37726323e-01 -9.24983700e-02 3.25270129e+02] [-2.91650976e-01 -9.79191189e-03 9.56474687e-01 -1.07732259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.866875 meters Centerline goodness [0,1] 0.9847415223799262 Centerline is valid? [True, True] Translation: X:136.06, Y:325.26, Z:-10.78 [[ 8.96397126e-01 3.46333666e-01 2.76631859e-01 1.36063434e+02] [-3.33879994e-01 9.38064031e-01 -9.25203913e-02 3.25260675e+02] [-2.91541323e-01 -9.42683044e-03 9.56511784e-01 -1.07843918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters Centerline goodness [0,1] 0.9843061056722218 Centerline is valid? [True, True] Translation: X:136.09, Y:325.25, Z:-10.79 [[ 8.96698633e-01 3.44349995e-01 2.78127028e-01 1.36091810e+02] [-3.31657853e-01 9.38800026e-01 -9.30461203e-02 3.25248479e+02] [-2.93146092e-01 -8.80868395e-03 9.56027079e-01 -1.07925457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.926875 meters Centerline goodness [0,1] 0.9849545397932494 Centerline is valid? [True, True] Translation: X:136.12, Y:325.24, Z:-10.80 [[ 8.96919019e-01 3.43469281e-01 2.78505164e-01 1.36119973e+02] [-3.30696156e-01 9.39125269e-01 -9.31868149e-02 3.25235191e+02] [-2.93558046e-01 -8.51956064e-03 9.55903285e-01 -1.07998023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters Centerline goodness [0,1] 0.9870398524537048 Centerline is valid? [True, True] Translation: X:136.15, Y:325.22, Z:-10.81 [[ 8.97347671e-01 3.42864019e-01 2.77869435e-01 1.36147905e+02] [-3.30100287e-01 9.39348981e-01 -9.30445743e-02 3.25220302e+02] [-2.92918007e-01 -8.23144809e-03 9.56102131e-01 -1.08069570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.986875 meters Centerline goodness [0,1] 0.9880145519784711 Centerline is valid? [True, True] Translation: X:136.18, Y:325.21, Z:-10.82 [[ 8.98068783e-01 3.41724875e-01 2.76941458e-01 1.36175504e+02] [-3.28972730e-01 9.39768003e-01 -9.28064861e-02 3.25209877e+02] [-2.91975006e-01 -7.75957942e-03 9.56394471e-01 -1.08164168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters Centerline goodness [0,1] 0.9877709560205488 Centerline is valid? [True, True] Translation: X:136.20, Y:325.20, Z:-10.83 [[ 8.99197089e-01 3.40841080e-01 2.74357347e-01 1.36204139e+02] [-3.28270145e-01 9.40092338e-01 -9.20060221e-02 3.25198036e+02] [-2.89280672e-01 -7.33177905e-03 9.57216244e-01 -1.08283504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.046875 meters Centerline goodness [0,1] 0.9879620592136547 Centerline is valid? [True, True] Translation: X:136.23, Y:325.19, Z:-10.84 [[ 8.99397857e-01 3.40362393e-01 2.74293524e-01 1.36232371e+02] [-3.27750564e-01 9.40267574e-01 -9.20676747e-02 3.25188570e+02] [-2.89245680e-01 -7.09438766e-03 9.57228607e-01 -1.08394948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters Centerline goodness [0,1] 0.988704368641532 Centerline is valid? [True, True] Translation: X:136.26, Y:325.18, Z:-10.85 [[ 8.99306805e-01 3.40213185e-01 2.74776745e-01 1.36261433e+02] [-3.27542119e-01 9.40322004e-01 -9.22533934e-02 3.25178953e+02] [-2.89764440e-01 -7.03685286e-03 9.57072125e-01 -1.08502323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1068750000001 meters Centerline goodness [0,1] 0.9890824796231212 Centerline is valid? [True, True] Translation: X:136.29, Y:325.17, Z:-10.86 [[ 8.99336399e-01 3.40243776e-01 2.74641974e-01 1.36291149e+02] [-3.27564803e-01 9.40311422e-01 -9.22807155e-02 3.25169374e+02] [-2.89646924e-01 -6.97163778e-03 9.57108173e-01 -1.08619504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters Centerline goodness [0,1] 0.9887110067684008 Centerline is valid? [True, True] Translation: X:136.32, Y:325.16, Z:-10.87 [[ 9.00385938e-01 3.39285975e-01 2.72378762e-01 1.36319312e+02] [-3.26751976e-01 9.40660651e-01 -9.16006869e-02 3.25157915e+02] [-2.87294812e-01 -6.52432854e-03 9.57819985e-01 -1.08737902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.166875 meters Centerline goodness [0,1] 0.9886349475363257 Centerline is valid? [True, True] Translation: X:136.35, Y:325.15, Z:-10.88 [[ 9.00630953e-01 3.38723663e-01 2.72268557e-01 1.36347225e+02] [-3.26150334e-01 9.40865065e-01 -9.16454539e-02 3.25147922e+02] [-2.87210457e-01 -6.26174809e-03 9.57847036e-01 -1.08839589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters Centerline goodness [0,1] 0.9889910084933622 Centerline is valid? [True, True] Translation: X:136.38, Y:325.14, Z:-10.89 [[ 9.00889354e-01 3.38440603e-01 2.71765211e-01 1.36377068e+02] [-3.25882770e-01 9.40968011e-01 -9.15402791e-02 3.25136076e+02] [-2.86703317e-01 -6.09593689e-03 9.58000025e-01 -1.08924278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2268750000001 meters Centerline goodness [0,1] 0.9899349759585441 Centerline is valid? [True, True] Translation: X:136.41, Y:325.12, Z:-10.90 [[ 9.00821645e-01 3.37667997e-01 2.72948141e-01 1.36406369e+02] [-3.24939198e-01 9.41247425e-01 -9.20206686e-02 3.25122311e+02] [-2.87984169e-01 -5.79733974e-03 9.57617622e-01 -1.08974172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters Centerline goodness [0,1] 0.990034965034965 Centerline is valid? [True, True] Translation: X:136.44, Y:325.11, Z:-10.90 [[ 9.00652270e-01 3.37165890e-01 2.74125246e-01 1.36435558e+02] [-3.24280710e-01 9.41428636e-01 -9.24886219e-02 3.25111823e+02] [-2.89253365e-01 -5.59344208e-03 9.57236232e-01 -1.09047021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.286875 meters Centerline goodness [0,1] 0.9892852672424584 Centerline is valid? [True, True] Translation: X:136.46, Y:325.10, Z:-10.91 [[ 9.00377206e-01 3.36762380e-01 2.75521297e-01 1.36464833e+02] [-3.23702806e-01 9.41574045e-01 -9.30312414e-02 3.25101443e+02] [-2.90753125e-01 -5.42380779e-03 9.56782735e-01 -1.09125937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters Centerline goodness [0,1] 0.9899199081813419 Centerline is valid? [True, True] Translation: X:136.49, Y:325.09, Z:-10.92 [[ 9.00530398e-01 3.35561843e-01 2.76483727e-01 1.36493830e+02] [-3.22331832e-01 9.42004990e-01 -9.34279868e-02 3.25091736e+02] [-2.91799918e-01 -4.98476414e-03 9.56466392e-01 -1.09222515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.346875 meters Centerline goodness [0,1] 0.9908607386321073 Centerline is valid? [True, True] Translation: X:136.52, Y:325.08, Z:-10.94 [[ 9.01325148e-01 3.34427816e-01 2.75265351e-01 1.36521355e+02] [-3.21243467e-01 9.42410500e-01 -9.30864341e-02 3.25082366e+02] [-2.90543650e-01 -4.52605170e-03 9.56851035e-01 -1.09354475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters Centerline goodness [0,1] 0.9905034895314058 Centerline is valid? [True, True] Translation: X:136.55, Y:325.07, Z:-10.95 [[ 9.01748805e-01 3.34016822e-01 2.74375393e-01 1.36550062e+02] [-3.20878085e-01 9.42557284e-01 -9.28602194e-02 3.25071909e+02] [-2.89631400e-01 -4.30445876e-03 9.57128583e-01 -1.09474055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.406875 meters Centerline goodness [0,1] 0.9913158485763481 Centerline is valid? [True, True] Translation: X:136.58, Y:325.06, Z:-10.96 [[ 9.01798597e-01 3.33433159e-01 2.74921115e-01 1.36578983e+02] [-3.20190119e-01 9.42765057e-01 -9.31253749e-02 3.25061294e+02] [-2.90237108e-01 -4.04669192e-03 9.56946208e-01 -1.09560415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters Centerline goodness [0,1] 0.9909333200488206 Centerline is valid? [True, True] Translation: X:136.61, Y:325.05, Z:-10.96 [[ 9.01536262e-01 3.32812968e-01 2.76528293e-01 1.36607811e+02] [-3.19361385e-01 9.42985192e-01 -9.37402461e-02 3.25050415e+02] [-2.91960055e-01 -3.80222759e-03 9.56422955e-01 -1.09632433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.466875 meters Centerline goodness [0,1] 0.9912950481259483 Centerline is valid? [True, True] Translation: X:136.64, Y:325.04, Z:-10.97 [[ 9.01025741e-01 3.31641124e-01 2.79583223e-01 1.36637927e+02] [-3.17807194e-01 9.43399515e-01 -9.48469392e-02 3.25037574e+02] [-2.95213822e-01 -3.39402592e-03 9.55425183e-01 -1.09663016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters Centerline goodness [0,1] 0.9909487675445122 Centerline is valid? [True, True] Translation: X:136.67, Y:325.03, Z:-10.98 [[ 9.01174957e-01 3.31813322e-01 2.78897141e-01 1.36666696e+02] [-3.18034926e-01 9.43339045e-01 -9.46849135e-02 3.25029300e+02] [-2.94512278e-01 -3.37135857e-03 9.55641749e-01 -1.09766801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.526875 meters Centerline goodness [0,1] 0.9920235305847749 Centerline is valid? [True, True] Translation: X:136.70, Y:325.02, Z:-10.99 [[ 9.01274770e-01 3.32575240e-01 2.77664363e-01 1.36695130e+02] [-3.18933189e-01 9.43070124e-01 -9.43417295e-02 3.25019899e+02] [-2.93232688e-01 -3.52856003e-03 9.56034591e-01 -1.09868656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters Centerline goodness [0,1] 0.9899665551839465 Centerline is valid? [True, True] Translation: X:136.72, Y:325.02, Z:-11.00 [[ 9.01143773e-01 3.34219480e-01 2.76110921e-01 1.36723168e+02] [-3.20788065e-01 9.42486896e-01 -9.38800733e-02 3.25016273e+02] [-2.91607474e-01 -3.97364444e-03 9.56529817e-01 -1.10009674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.586875 meters Centerline goodness [0,1] 0.9908409451945989 Centerline is valid? [True, True] Translation: X:136.75, Y:325.01, Z:-11.01 [[ 9.01149397e-01 3.34643164e-01 2.75578876e-01 1.36751892e+02] [-3.21264019e-01 9.42336272e-01 -9.37644973e-02 3.25007909e+02] [-2.91065618e-01 -4.03775691e-03 9.56694571e-01 -1.10115476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters Centerline goodness [0,1] 0.9907092286672463 Centerline is valid? [True, True] Translation: X:136.78, Y:325.00, Z:-11.02 [[ 9.00886347e-01 3.35866958e-01 2.74949406e-01 1.36779942e+02] [-3.22584988e-01 9.41899371e-01 -9.36189137e-02 3.24999642e+02] [-2.90418172e-01 -4.35454964e-03 9.56889922e-01 -1.10230976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.646875 meters Centerline goodness [0,1] 0.9901938879372408 Centerline is valid? [True, True] Translation: X:136.81, Y:324.99, Z:-11.03 [[ 9.00976975e-01 3.36305981e-01 2.74114533e-01 1.36808491e+02] [-3.23107107e-01 9.41742403e-01 -9.33972331e-02 3.24987097e+02] [-2.89555327e-01 -4.41959703e-03 9.57151075e-01 -1.10295850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters Centerline goodness [0,1] 0.9899052532367677 Centerline is valid? [True, True] Translation: X:136.84, Y:324.98, Z:-11.04 [[ 9.01190135e-01 3.36098897e-01 2.73667449e-01 1.36837312e+02] [-3.22914550e-01 9.41816974e-01 -9.33112047e-02 3.24979150e+02] [-2.89106441e-01 -4.28006391e-03 9.57287390e-01 -1.10409432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.706875 meters Centerline goodness [0,1] 0.9904385834202553 Centerline is valid? [True, True] Translation: X:136.87, Y:324.97, Z:-11.05 [[ 9.01226120e-01 3.36498022e-01 2.73057800e-01 1.36865968e+02] [-3.23368238e-01 9.41674256e-01 -9.31803523e-02 3.24969072e+02] [-2.88486505e-01 -4.32165212e-03 9.57474209e-01 -1.10508582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters Centerline goodness [0,1] 0.9900361869826005 Centerline is valid? [True, True] Translation: X:136.90, Y:324.96, Z:-11.06 [[ 9.00344185e-01 3.38515340e-01 2.73473424e-01 1.36895407e+02] [-3.25415682e-01 9.40948058e-01 -9.33883614e-02 3.24959612e+02] [-2.88937680e-01 -4.91087276e-03 9.57335312e-01 -1.10591139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.766875 meters Centerline goodness [0,1] 0.9902398146550662 Centerline is valid? [True, True] Translation: X:136.93, Y:324.95, Z:-11.07 [[ 8.99731758e-01 3.39530377e-01 2.74229626e-01 1.36926010e+02] [-3.26381469e-01 9.40580808e-01 -9.37170186e-02 3.24952257e+02] [-2.89754898e-01 -5.18329037e-03 9.57086847e-01 -1.10694223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters Centerline goodness [0,1] 0.9902398146550662 Centerline is valid? [True, True] Translation: X:136.96, Y:324.94, Z:-11.08 [[ 8.99645769e-01 3.39778094e-01 2.74204919e-01 1.36955181e+02] [-3.26618425e-01 9.40491351e-01 -9.37892537e-02 3.24942194e+02] [-2.89754888e-01 -5.18327342e-03 9.57086850e-01 -1.10793280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.826875 meters Centerline goodness [0,1] 0.9886021611486653 Centerline is valid? [True, True] Translation: X:136.98, Y:324.94, Z:-11.09 [[ 8.98876773e-01 3.41223608e-01 2.74930892e-01 1.36983808e+02] [-3.28033952e-01 9.39965562e-01 -9.41194366e-02 3.24938005e+02] [-2.90541345e-01 -5.58489156e-03 9.56846140e-01 -1.10914031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters Centerline goodness [0,1] 0.9888172998592906 Centerline is valid? [True, True] Translation: X:137.01, Y:324.92, Z:-11.10 [[ 8.98315151e-01 3.42448333e-01 2.75243581e-01 1.37012793e+02] [-3.29264424e-01 9.39517983e-01 -9.42915588e-02 3.24923870e+02] [-2.90886281e-01 -5.92438322e-03 9.56739292e-01 -1.10975202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.886875 meters Centerline goodness [0,1] 0.9894944512946979 Centerline is valid? [True, True] Translation: X:137.04, Y:324.91, Z:-11.11 [[ 8.97937719e-01 3.43132002e-01 2.75623443e-01 1.37042110e+02] [-3.29920782e-01 9.39267480e-01 -9.44927474e-02 3.24911816e+02] [-2.91307622e-01 -6.08529989e-03 9.56610077e-01 -1.11054053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters Centerline goodness [0,1] 0.9884521430157672 Centerline is valid? [True, True] Translation: X:137.07, Y:324.90, Z:-11.12 [[ 8.97778186e-01 3.43707310e-01 2.75426239e-01 1.37071629e+02] [-3.30516112e-01 9.39056463e-01 -9.45095691e-02 3.24903610e+02] [-2.91124420e-01 -6.18418018e-03 9.56665212e-01 -1.11156037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.946875 meters Centerline goodness [0,1] 0.9893197868913394 Centerline is valid? [True, True] Translation: X:137.10, Y:324.89, Z:-11.12 [[ 8.97378560e-01 3.45157038e-01 2.74915149e-01 1.37100440e+02] [-3.32058209e-01 9.38521996e-01 -9.44129646e-02 3.24889212e+02] [-2.90601214e-01 -6.56366201e-03 9.56821746e-01 -1.11220629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters Centerline goodness [0,1] 0.9874863442248485 Centerline is valid? [True, True] Translation: X:137.13, Y:324.88, Z:-11.13 [[ 8.97181516e-01 3.45982156e-01 2.74520808e-01 1.37128518e+02] [-3.32936101e-01 9.38216847e-01 -9.43541281e-02 3.24881945e+02] [-2.90204891e-01 -6.74510779e-03 9.56940763e-01 -1.11321049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.006875 meters Centerline goodness [0,1] 0.9881432708730414 Centerline is valid? [True, True] Translation: X:137.16, Y:324.87, Z:-11.14 [[ 8.96956679e-01 3.46852761e-01 2.74156668e-01 1.37156402e+02] [-3.33870798e-01 9.37893609e-01 -9.42648817e-02 3.24872940e+02] [-2.89825821e-01 -6.98139033e-03 9.57053945e-01 -1.11415788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters Centerline goodness [0,1] 0.9875253700311866 Centerline is valid? [True, True] Translation: X:137.18, Y:324.86, Z:-11.15 [[ 8.96495930e-01 3.48105894e-01 2.74075417e-01 1.37184628e+02] [-3.35168825e-01 9.37426648e-01 -9.43034377e-02 3.24861916e+02] [-2.89753182e-01 -7.31888753e-03 9.57073418e-01 -1.11518041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.066875 meters Centerline goodness [0,1] 0.9875705655145093 Centerline is valid? [True, True] Translation: X:137.21, Y:324.86, Z:-11.17 [[ 8.95615581e-01 3.50629320e-01 2.73736755e-01 1.37214039e+02] [-3.37832458e-01 9.36479294e-01 -9.42112629e-02 3.24857603e+02] [-2.89382034e-01 -8.10008568e-03 9.57179412e-01 -1.11670109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters Centerline goodness [0,1] 0.986460778258184 Centerline is valid? [True, True] Translation: X:137.24, Y:324.85, Z:-11.18 [[ 8.95126258e-01 3.51719583e-01 2.73938527e-01 1.37242368e+02] [-3.38932080e-01 9.36067804e-01 -9.43509966e-02 3.24853539e+02] [-2.89610129e-01 -8.39050041e-03 9.57107921e-01 -1.11802785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.126875 meters Centerline goodness [0,1] 0.986283733597425 Centerline is valid? [True, True] Translation: X:137.27, Y:324.84, Z:-11.19 [[ 8.94979911e-01 3.52254246e-01 2.73729622e-01 1.37271191e+02] [-3.39488549e-01 9.35865895e-01 -9.43533375e-02 3.24842009e+02] [-2.89410581e-01 -8.48373073e-03 9.57167457e-01 -1.11895139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters Centerline goodness [0,1] 0.9871105272290113 Centerline is valid? [True, True] Translation: X:137.30, Y:324.83, Z:-11.20 [[ 8.95306816e-01 3.53174613e-01 2.71465279e-01 1.37298251e+02] [-3.40643079e-01 9.35517591e-01 -9.36436263e-02 3.24827670e+02] [-2.87033095e-01 -8.63299153e-03 9.57881764e-01 -1.11984691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.186875 meters Centerline goodness [0,1] 0.9870857397813747 Centerline is valid? [True, True] Translation: X:137.33, Y:324.82, Z:-11.21 [[ 8.95166708e-01 3.54148490e-01 2.70657369e-01 1.37327370e+02] [-3.41716205e-01 9.35147320e-01 -9.34319302e-02 3.24817345e+02] [-2.86193290e-01 -8.85085551e-03 9.58131026e-01 -1.12083550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters Centerline goodness [0,1] 0.9803697478991596 Centerline is valid? [True, True] Translation: X:137.36, Y:324.83, Z:-11.23 [[ 8.95383637e-01 3.52147292e-01 2.72544359e-01 1.37359354e+02] [-3.39425552e-01 9.35908647e-01 -9.41557184e-02 3.24832104e+02] [-2.88233304e-01 -8.20303003e-03 9.57525077e-01 -1.12301373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.246875 meters Centerline goodness [0,1] 0.9880483058036829 Centerline is valid? [True, True] Translation: X:137.39, Y:324.79, Z:-11.22 [[ 8.95049986e-01 3.52569437e-01 2.73093965e-01 1.37385689e+02] [-3.39796686e-01 9.35748852e-01 -9.44049687e-02 3.24794369e+02] [-2.88831671e-01 -8.29925818e-03 9.57343924e-01 -1.12217112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters Centerline goodness [0,1] 0.9883024891504963 Centerline is valid? [True, True] Translation: X:137.41, Y:324.78, Z:-11.23 [[ 8.94879347e-01 3.52516659e-01 2.73720586e-01 1.37414324e+02] [-3.39671523e-01 9.35768996e-01 -9.46553882e-02 3.24780840e+02] [-2.89506839e-01 -8.26993648e-03 9.57140219e-01 -1.12298516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.306875 meters Centerline goodness [0,1] 0.9889118680387711 Centerline is valid? [True, True] Translation: X:137.44, Y:324.77, Z:-11.24 [[ 8.95014754e-01 3.52328930e-01 2.73519497e-01 1.37442950e+02] [-3.39471647e-01 9.35840930e-01 -9.46612613e-02 3.24771708e+02] [-2.89322641e-01 -8.12888867e-03 9.57197122e-01 -1.12410920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters Centerline goodness [0,1] 0.9881857381421201 Centerline is valid? [True, True] Translation: X:137.47, Y:324.76, Z:-11.25 [[ 8.95325134e-01 3.51289741e-01 2.73840141e-01 1.37471383e+02] [-3.38331016e-01 9.36234905e-01 -9.48489679e-02 3.24762119e+02] [-2.89698167e-01 -7.72794808e-03 9.57086856e-01 -1.12529312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.366875 meters Centerline goodness [0,1] 0.9887352024922118 Centerline is valid? [True, True] Translation: X:137.50, Y:324.75, Z:-11.26 [[ 8.95336244e-01 3.50052029e-01 2.75384436e-01 1.37500052e+02] [-3.36874795e-01 9.36701546e-01 -9.54231977e-02 3.24749972e+02] [-2.91356111e-01 -7.33422793e-03 9.56586549e-01 -1.12615805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters Centerline goodness [0,1] 0.9901780385916054 Centerline is valid? [True, True] Translation: X:137.53, Y:324.74, Z:-11.27 [[ 8.95551748e-01 3.46769043e-01 2.78815886e-01 1.37528680e+02] [-3.33074704e-01 9.37929567e-01 -9.66921382e-02 3.24738253e+02] [-2.95039504e-01 -6.27370555e-03 9.55464459e-01 -1.12695918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.426875 meters Centerline goodness [0,1] 0.9884777750186243 Centerline is valid? [True, True] Translation: X:137.56, Y:324.73, Z:-11.28 [[ 8.95635382e-01 3.46160564e-01 2.79302929e-01 1.37557303e+02] [-3.32378650e-01 9.38155753e-01 -9.68928109e-02 3.24731065e+02] [-2.95570119e-01 -6.05370056e-03 9.55301867e-01 -1.12807409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters Centerline goodness [0,1] 0.9892940031444186 Centerline is valid? [True, True] Translation: X:137.59, Y:324.72, Z:-11.29 [[ 8.95296962e-01 3.47035151e-01 2.79302620e-01 1.37585660e+02] [-3.33273039e-01 9.37831141e-01 -9.69630443e-02 3.24719458e+02] [-2.95588280e-01 -6.27331416e-03 9.55294831e-01 -1.12857010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.486875 meters Centerline goodness [0,1] 0.989267358661695 Centerline is valid? [True, True] Translation: X:137.62, Y:324.71, Z:-11.29 [[ 8.94738856e-01 3.48141497e-01 2.79713920e-01 1.37615230e+02] [-3.34368613e-01 9.37418909e-01 -9.71772584e-02 3.24707923e+02] [-2.96040554e-01 -6.57928638e-03 9.55152712e-01 -1.12916749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters Centerline goodness [0,1] 0.9902297266828669 Centerline is valid? [True, True] Translation: X:137.64, Y:324.69, Z:-11.30 [[ 8.94361408e-01 3.48899691e-01 2.79976208e-01 1.37644406e+02] [-3.35114670e-01 9.37135639e-01 -9.73393679e-02 3.24692914e+02] [-2.96337358e-01 -6.76756029e-03 9.55059354e-01 -1.12982274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.546875 meters Centerline goodness [0,1] 0.989875564200394 Centerline is valid? [True, True] Translation: X:137.67, Y:324.68, Z:-11.31 [[ 8.94424631e-01 3.49390002e-01 2.79161613e-01 1.37672254e+02] [-3.35682481e-01 9.36952562e-01 -9.71450855e-02 3.24684511e+02] [-2.95502711e-01 -6.82070581e-03 9.55317552e-01 -1.13087758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters Centerline goodness [0,1] 0.9896465903434545 Centerline is valid? [True, True] Translation: X:137.70, Y:324.68, Z:-11.32 [[ 8.94145880e-01 3.51010063e-01 2.78019931e-01 1.37699846e+02] [-3.37471073e-01 9.36343594e-01 -9.68191547e-02 3.24681007e+02] [-2.94306679e-01 -7.25323597e-03 9.55683509e-01 -1.13240669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6068750000001 meters Centerline goodness [0,1] 0.9904106526221648 Centerline is valid? [True, True] Translation: X:137.73, Y:324.67, Z:-11.34 [[ 8.93913911e-01 3.51492072e-01 2.78156870e-01 1.37728766e+02] [-3.37944029e-01 9.36161943e-01 -9.69259999e-02 3.24671374e+02] [-2.94468596e-01 -7.35795345e-03 9.55632830e-01 -1.13351526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters Centerline goodness [0,1] 0.9898222619402244 Centerline is valid? [True, True] Translation: X:137.76, Y:324.66, Z:-11.35 [[ 8.93561099e-01 3.52237012e-01 2.78348073e-01 1.37758012e+02] [-3.38679908e-01 9.35880551e-01 -9.70747816e-02 3.24663423e+02] [-2.94693879e-01 -7.52865114e-03 9.55562053e-01 -1.13463820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.666875 meters Centerline goodness [0,1] 0.9906569849570023 Centerline is valid? [True, True] Translation: X:137.79, Y:324.65, Z:-11.35 [[ 8.93541855e-01 3.50585755e-01 2.80486332e-01 1.37786699e+02] [-3.36708379e-01 9.36504801e-01 -9.79092748e-02 3.24649086e+02] [-2.97002393e-01 -6.95606319e-03 9.54851398e-01 -1.13532069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters Centerline goodness [0,1] 0.9908361685747634 Centerline is valid? [True, True] Translation: X:137.81, Y:324.64, Z:-11.36 [[ 8.93832167e-01 3.48927607e-01 2.81626673e-01 1.37814632e+02] [-3.34829698e-01 9.37128129e-01 -9.83867073e-02 3.24637287e+02] [-2.98250115e-01 -6.35576991e-03 9.54466591e-01 -1.13599095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7268750000001 meters Centerline goodness [0,1] 0.9916907154940791 Centerline is valid? [True, True] Translation: X:137.84, Y:324.62, Z:-11.37 [[ 8.94461598e-01 3.47199524e-01 2.81763979e-01 1.37842978e+02] [-3.32981286e-01 9.37773890e-01 -9.85068243e-02 3.24624651e+02] [-2.98432425e-01 -5.71156046e-03 9.54413676e-01 -1.13675560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters Centerline goodness [0,1] 0.9923660338075646 Centerline is valid? [True, True] Translation: X:137.87, Y:324.61, Z:-11.38 [[ 8.95450868e-01 3.43969674e-01 2.82582033e-01 1.37871452e+02] [-3.29485500e-01 9.38969621e-01 -9.88703963e-02 3.24612530e+02] [-2.99344362e-01 -4.57310030e-03 9.54134183e-01 -1.13769388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.786875 meters Centerline goodness [0,1] 0.991337276934881 Centerline is valid? [True, True] Translation: X:137.90, Y:324.60, Z:-11.39 [[ 8.95714636e-01 3.43066583e-01 2.82843792e-01 1.37899409e+02] [-3.28486377e-01 9.39301705e-01 -9.90404288e-02 3.24603229e+02] [-2.99653118e-01 -4.19837085e-03 9.54038984e-01 -1.13859396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters Centerline goodness [0,1] 0.9921023221159816 Centerline is valid? [True, True] Translation: X:137.93, Y:324.59, Z:-11.39 [[ 8.96075109e-01 3.41935511e-01 2.83071555e-01 1.37927470e+02] [-3.27253543e-01 9.39715928e-01 -9.91922042e-02 3.24590961e+02] [-2.99924186e-01 -3.75250400e-03 9.53955660e-01 -1.13946051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.846875 meters Centerline goodness [0,1] 0.9931805171855944 Centerline is valid? [True, True] Translation: X:137.96, Y:324.58, Z:-11.40 [[ 8.97180272e-01 3.39092543e-01 2.82990824e-01 1.37955642e+02] [-3.24256894e-01 9.40749074e-01 -9.92403471e-02 3.24578494e+02] [-2.99875017e-01 -2.72524387e-03 9.53974605e-01 -1.14044831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters Centerline goodness [0,1] 0.9935455041954223 Centerline is valid? [True, True] Translation: X:137.98, Y:324.57, Z:-11.42 [[ 8.97805936e-01 3.37688449e-01 2.82685360e-01 1.37983647e+02] [-3.22793130e-01 9.41255424e-01 -9.92109961e-02 3.24568195e+02] [-2.99581536e-01 -2.17667100e-03 9.54068218e-01 -1.14151589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.906875 meters Centerline goodness [0,1] 0.994076387339827 Centerline is valid? [True, True] Translation: X:138.01, Y:324.56, Z:-11.43 [[ 8.98333812e-01 3.36796850e-01 2.82071346e-01 1.38012482e+02] [-3.21900564e-01 9.41575619e-01 -9.90726022e-02 3.24558276e+02] [-2.98958843e-01 -1.79865687e-03 9.54264311e-01 -1.14267042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters Centerline goodness [0,1] 0.993439711939231 Centerline is valid? [True, True] Translation: X:138.04, Y:324.55, Z:-11.44 [[ 8.98384319e-01 3.37188334e-01 2.81442077e-01 1.38042016e+02] [-3.22351150e-01 9.41435421e-01 -9.89397997e-02 3.24550290e+02] [-2.98320887e-01 -1.83721289e-03 9.54463867e-01 -1.14377692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.966875 meters Centerline goodness [0,1] 0.9927555940165657 Centerline is valid? [True, True] Translation: X:138.07, Y:324.54, Z:-11.45 [[ 8.97764153e-01 3.38493421e-01 2.81854095e-01 1.38072689e+02] [-3.23657431e-01 9.40966138e-01 -9.91392644e-02 3.24540634e+02] [-2.98773148e-01 -2.22049455e-03 9.54321579e-01 -1.14465802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters Centerline goodness [0,1] 0.9924570298009151 Centerline is valid? [True, True] Translation: X:138.10, Y:324.53, Z:-11.45 [[ 8.96974747e-01 3.40009289e-01 2.82542010e-01 1.38103059e+02] [-3.25144518e-01 9.40418359e-01 -9.94703604e-02 3.24531196e+02] [-2.99528540e-01 -2.64458445e-03 9.54083675e-01 -1.14548657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.026875 meters Centerline goodness [0,1] 0.9921158963240366 Centerline is valid? [True, True] Translation: X:138.13, Y:324.52, Z:-11.46 [[ 8.96199143e-01 3.42176785e-01 2.82386516e-01 1.38133117e+02] [-3.27405640e-01 9.39629873e-01 -9.95050172e-02 3.24523024e+02] [-2.99387113e-01 -3.27862676e-03 9.54126096e-01 -1.14639385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters Centerline goodness [0,1] 0.9891149442233034 Centerline is valid? [True, True] Translation: X:138.16, Y:324.52, Z:-11.48 [[ 8.95162646e-01 3.46009104e-01 2.81000955e-01 1.38162575e+02] [-3.31545707e-01 9.38220557e-01 -9.90940487e-02 3.24521031e+02] [-2.97928315e-01 -4.45936941e-03 9.54577830e-01 -1.14759333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.086875 meters Centerline goodness [0,1] 0.9891022187392859 Centerline is valid? [True, True] Translation: X:138.19, Y:324.51, Z:-11.49 [[ 8.94683357e-01 3.47820668e-01 2.80289982e-01 1.38191067e+02] [-3.33496520e-01 9.37547864e-01 -9.89144819e-02 3.24512263e+02] [-2.97189775e-01 -4.97859294e-03 9.54805452e-01 -1.14864337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters Centerline goodness [0,1] 0.9896841537820685 Centerline is valid? [True, True] Translation: X:138.22, Y:324.50, Z:-11.50 [[ 8.93825709e-01 3.49883347e-01 2.80458989e-01 1.38220149e+02] [-3.35618464e-01 9.36776550e-01 -9.90451519e-02 3.24504721e+02] [-2.97381654e-01 -5.59811203e-03 9.54742276e-01 -1.14967072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.146875 meters Centerline goodness [0,1] 0.9881569932465498 Centerline is valid? [True, True] Translation: X:138.25, Y:324.50, Z:-11.51 [[ 8.92220669e-01 3.54395595e-01 2.79903624e-01 1.38249398e+02] [-3.40382203e-01 9.35069279e-01 -9.89211789e-02 3.24499939e+02] [-2.96786510e-01 -7.01469192e-03 9.54918091e-01 -1.15060592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters Centerline goodness [0,1] 0.9866024496980662 Centerline is valid? [True, True] Translation: X:138.28, Y:324.49, Z:-11.51 [[ 8.91471706e-01 3.57031857e-01 2.78938076e-01 1.38278541e+02] [-3.43231348e-01 9.34059420e-01 -9.86166340e-02 3.24490168e+02] [-2.95754017e-01 -7.82635283e-03 9.55232071e-01 -1.15147434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.206875 meters Centerline goodness [0,1] 0.9864705882352941 Centerline is valid? [True, True] Translation: X:138.31, Y:324.48, Z:-11.52 [[ 8.90576113e-01 3.59683953e-01 2.78391165e-01 1.38307589e+02] [-3.46043421e-01 9.33034375e-01 -9.84926662e-02 3.24481143e+02] [-2.95174758e-01 -8.62021518e-03 9.55404393e-01 -1.15236589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters Centerline goodness [0,1] 0.9837311251826595 Centerline is valid? [True, True] Translation: X:138.34, Y:324.48, Z:-11.54 [[ 8.88376426e-01 3.64049653e-01 2.79741265e-01 1.38337943e+02] [-3.50462072e-01 9.31325304e-01 -9.90429873e-02 3.24481871e+02] [-2.96586684e-01 -1.00512485e-02 9.54953041e-01 -1.15354284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.266875 meters Centerline goodness [0,1] 0.9823782130634239 Centerline is valid? [True, True] Translation: X:138.37, Y:324.48, Z:-11.55 [[ 8.87277435e-01 3.65949481e-01 2.80748518e-01 1.38367764e+02] [-3.52336051e-01 9.30573551e-01 -9.94594060e-02 3.24475512e+02] [-2.97654263e-01 -1.06697375e-02 9.54614109e-01 -1.15454812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters Centerline goodness [0,1] 0.9832840021349896 Centerline is valid? [True, True] Translation: X:138.40, Y:324.46, Z:-11.55 [[ 8.86334784e-01 3.67223860e-01 2.82059014e-01 1.38396096e+02] [-3.53520387e-01 9.30066567e-01 -9.99975809e-02 3.24462465e+02] [-2.99055157e-01 -1.10822777e-02 9.54171471e-01 -1.15546203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.326875 meters Centerline goodness [0,1] 0.9829287810082689 Centerline is valid? [True, True] Translation: X:138.43, Y:324.45, Z:-11.56 [[ 8.85690132e-01 3.67892402e-01 2.83210471e-01 1.38425136e+02] [-3.54083190e-01 9.29799927e-01 -1.00484776e-01 3.24452022e+02] [-3.00296661e-01 -1.12816925e-02 9.53779135e-01 -1.15639727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters Centerline goodness [0,1] 0.981679389312977 Centerline is valid? [True, True] Translation: X:138.45, Y:324.44, Z:-11.57 [[ 8.84825795e-01 3.68751582e-01 2.84790418e-01 1.38453221e+02] [-3.54803003e-01 9.29456020e-01 -1.01125342e-01 3.24442281e+02] [-3.01990299e-01 -1.15661848e-02 9.53240831e-01 -1.15718887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.386875 meters Centerline goodness [0,1] 0.9808411441892089 Centerline is valid? [True, True] Translation: X:138.48, Y:324.43, Z:-11.58 [[ 8.84496285e-01 3.69524593e-01 2.84812039e-01 1.38481795e+02] [-3.55589651e-01 9.29146537e-01 -1.01206291e-01 3.24434828e+02] [-3.02030333e-01 -1.17596256e-02 9.53225781e-01 -1.15806804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters Centerline goodness [0,1] 0.9834857045856876 Centerline is valid? [True, True] Translation: X:138.51, Y:324.42, Z:-11.59 [[ 8.84176893e-01 3.70313505e-01 2.84779091e-01 1.38508950e+02] [-3.56398878e-01 9.28829871e-01 -1.01266535e-01 3.24420529e+02] [-3.02011692e-01 -1.19574182e-02 9.53229227e-01 -1.15902835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.446875 meters Centerline goodness [0,1] 0.9809107468123861 Centerline is valid? [True, True] Translation: X:138.54, Y:324.41, Z:-11.60 [[ 8.83936715e-01 3.71443328e-01 2.84052350e-01 1.38537624e+02] [-3.57632549e-01 9.28375059e-01 -1.01087638e-01 3.24414518e+02] [-3.01255446e-01 -1.22312916e-02 9.53465024e-01 -1.16011239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters Centerline goodness [0,1] 0.9822035544333301 Centerline is valid? [True, True] Translation: X:138.57, Y:324.40, Z:-11.61 [[ 8.83772322e-01 3.71460320e-01 2.84541235e-01 1.38565464e+02] [-3.57578655e-01 9.28368822e-01 -1.01335264e-01 3.24402606e+02] [-3.01801241e-01 -1.21885707e-02 9.53292951e-01 -1.16113436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.506875 meters Centerline goodness [0,1] 0.9823892343567819 Centerline is valid? [True, True] Translation: X:138.59, Y:324.39, Z:-11.62 [[ 8.83669656e-01 3.72034503e-01 2.84109605e-01 1.38592841e+02] [-3.58199224e-01 9.28137589e-01 -1.01261701e-01 3.24393274e+02] [-3.01365650e-01 -1.22859476e-02 9.53429494e-01 -1.16214007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters Centerline goodness [0,1] 0.9812085751050038 Centerline is valid? [True, True] Translation: X:138.62, Y:324.39, Z:-11.63 [[ 8.83646197e-01 3.73192687e-01 2.82659896e-01 1.38620742e+02] [-3.59538860e-01 9.27668977e-01 -1.00807126e-01 3.24387594e+02] [-2.99835299e-01 -1.25493832e-02 9.53908437e-01 -1.16340830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.566875 meters Centerline goodness [0,1] 0.9816799086425152 Centerline is valid? [True, True] Translation: X:138.65, Y:324.38, Z:-11.65 [[ 8.83683816e-01 3.73887147e-01 2.81622647e-01 1.38648001e+02] [-3.60345023e-01 9.27387827e-01 -1.00515083e-01 3.24376987e+02] [-2.98754712e-01 -1.26577671e-02 9.54245987e-01 -1.16464278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters Centerline goodness [0,1] 0.9815857149788927 Centerline is valid? [True, True] Translation: X:138.68, Y:324.37, Z:-11.66 [[ 8.84065108e-01 3.74203731e-01 2.80000808e-01 1.38675045e+02] [-3.60813165e-01 9.27260711e-01 -1.00007169e-01 3.24368715e+02] [-2.97056804e-01 -1.26151292e-02 9.54776473e-01 -1.16585546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.626875 meters Centerline goodness [0,1] 0.9812448173259841 Centerline is valid? [True, True] Translation: X:138.70, Y:324.36, Z:-11.67 [[ 8.84684632e-01 3.73537796e-01 2.78931206e-01 1.38702699e+02] [-3.60200296e-01 9.27533655e-01 -9.96848343e-02 3.24357093e+02] [-2.95954134e-01 -1.22814619e-02 9.55123194e-01 -1.16710321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters Centerline goodness [0,1] 0.982186987692383 Centerline is valid? [True, True] Translation: X:138.73, Y:324.34, Z:-11.68 [[ 8.84944241e-01 3.72616185e-01 2.79340060e-01 1.38730288e+02] [-3.59186187e-01 9.27908376e-01 -9.98565377e-02 3.24341922e+02] [-2.96410143e-01 -1.19676229e-02 9.54985761e-01 -1.16792163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.686875 meters Centerline goodness [0,1] 0.982186987692383 Centerline is valid? [True, True] Translation: X:138.76, Y:324.33, Z:-11.69 [[ 8.84842652e-01 3.72875826e-01 2.79315411e-01 1.38759331e+02] [-3.59436725e-01 9.27803938e-01 -9.99254380e-02 3.24331450e+02] [-2.96409719e-01 -1.19779270e-02 9.54985763e-01 -1.16891229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters Centerline goodness [0,1] 0.9822206984375765 Centerline is valid? [True, True] Translation: X:138.79, Y:324.32, Z:-11.70 [[ 8.85149258e-01 3.71410702e-01 2.80294275e-01 1.38787811e+02] [-3.57775532e-01 9.28398166e-01 -1.00366902e-01 3.24317849e+02] [-2.97502032e-01 -1.14427446e-02 9.54652609e-01 -1.16978706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.746875 meters Centerline goodness [0,1] 0.982037691401649 Centerline is valid? [True, True] Translation: X:138.81, Y:324.31, Z:-11.71 [[ 8.86290727e-01 3.67385561e-01 2.81986875e-01 1.38814579e+02] [-3.53374490e-01 9.30013560e-01 -1.01001226e-01 3.24305308e+02] [-2.99358010e-01 -1.01305180e-02 9.54087079e-01 -1.17057649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters Centerline goodness [0,1] 0.9844919392437367 Centerline is valid? [True, True] Translation: X:138.84, Y:324.29, Z:-11.71 [[ 8.86714269e-01 3.65563115e-01 2.83021931e-01 1.38842429e+02] [-3.51344467e-01 9.30737905e-01 -1.01410147e-01 3.24288666e+02] [-3.00491048e-01 -9.51636536e-03 9.53737159e-01 -1.17135991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.806875 meters Centerline goodness [0,1] 0.984078549105495 Centerline is valid? [True, True] Translation: X:138.87, Y:324.28, Z:-11.72 [[ 8.86595562e-01 3.64506885e-01 2.84750838e-01 1.38871221e+02] [-3.50043628e-01 9.31155467e-01 -1.02073279e-01 3.24275213e+02] [-3.02353713e-01 -9.17750012e-03 9.53151617e-01 -1.17218499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters Centerline goodness [0,1] 0.9828661588146833 Centerline is valid? [True, True] Translation: X:138.90, Y:324.27, Z:-11.73 [[ 8.86622527e-01 3.63722247e-01 2.85668726e-01 1.38900757e+02] [-3.49114963e-01 9.31464799e-01 -1.02430810e-01 3.24266999e+02] [-3.03346727e-01 -8.91376300e-03 9.52838553e-01 -1.17299826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.866875 meters Centerline goodness [0,1] 0.9845275871399405 Centerline is valid? [True, True] Translation: X:138.93, Y:324.25, Z:-11.74 [[ 8.86429496e-01 3.62388872e-01 2.87953214e-01 1.38928716e+02] [-3.47447674e-01 9.31988653e-01 -1.03330851e-01 3.24251960e+02] [-3.05815078e-01 -8.45316008e-03 9.52053403e-01 -1.17387383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters Centerline goodness [0,1] 0.9855514805424964 Centerline is valid? [True, True] Translation: X:138.96, Y:324.24, Z:-11.75 [[ 8.86387078e-01 3.61752808e-01 2.88882076e-01 1.38956508e+02] [-3.46670839e-01 9.32237680e-01 -1.03692993e-01 3.24239836e+02] [-3.06817988e-01 -8.23486283e-03 9.51732583e-01 -1.17483817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.926875 meters Centerline goodness [0,1] 0.9849570200573066 Centerline is valid? [True, True] Translation: X:138.98, Y:324.23, Z:-11.76 [[ 8.86484652e-01 3.61202589e-01 2.89270898e-01 1.38984096e+02] [-3.46024597e-01 9.32453243e-01 -1.03913083e-01 3.24229207e+02] [-3.07265261e-01 -7.97749258e-03 9.51590468e-01 -1.17570825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters Centerline goodness [0,1] 0.9868222238735727 Centerline is valid? [True, True] Translation: X:139.01, Y:324.21, Z:-11.77 [[ 8.87340080e-01 3.59490795e-01 2.88780108e-01 1.39011513e+02] [-3.44253209e-01 9.33120091e-01 -1.03810519e-01 3.24213950e+02] [-3.06785446e-01 -7.29824469e-03 9.51750716e-01 -1.17669813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.986875 meters Centerline goodness [0,1] 0.9858257605689451 Centerline is valid? [True, True] Translation: X:139.04, Y:324.20, Z:-11.78 [[ 8.87413917e-01 3.59788994e-01 2.88181227e-01 1.39040374e+02] [-3.44617023e-01 9.33004816e-01 -1.03639375e-01 3.24203270e+02] [-3.06162779e-01 -7.34113289e-03 9.51950871e-01 -1.17790271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters Centerline goodness [0,1] 0.9867216003573999 Centerline is valid? [True, True] Translation: X:139.07, Y:324.19, Z:-11.79 [[ 8.87469306e-01 3.59789770e-01 2.88009639e-01 1.39069424e+02] [-3.44606409e-01 9.33005265e-01 -1.03670626e-01 3.24193673e+02] [-3.06014140e-01 -7.24546906e-03 9.51999396e-01 -1.17908599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.046875 meters Centerline goodness [0,1] 0.9862215418045336 Centerline is valid? [True, True] Translation: X:139.10, Y:324.18, Z:-11.80 [[ 8.87351007e-01 3.60427196e-01 2.87576820e-01 1.39098795e+02] [-3.45293311e-01 9.32758294e-01 -1.03607408e-01 3.24184232e+02] [-3.05582591e-01 -7.36221456e-03 9.52137111e-01 -1.18017419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters Centerline goodness [0,1] 0.9855573386001728 Centerline is valid? [True, True] Translation: X:139.13, Y:324.17, Z:-11.81 [[ 8.87053622e-01 3.60421345e-01 2.88500131e-01 1.39127959e+02] [-3.45157969e-01 9.32761077e-01 -1.04032448e-01 3.24174890e+02] [-3.06597208e-01 -7.29575955e-03 9.51811391e-01 -1.18103246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1068750000001 meters Centerline goodness [0,1] 0.9878535484990456 Centerline is valid? [True, True] Translation: X:139.16, Y:324.16, Z:-11.82 [[ 8.87542065e-01 3.59935691e-01 2.87602817e-01 1.39155515e+02] [-3.44715106e-01 9.32950747e-01 -1.03799802e-01 3.24160680e+02] [-3.05680516e-01 -7.01434450e-03 9.52108303e-01 -1.18192240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters Centerline goodness [0,1] 0.9857784616911965 Centerline is valid? [True, True] Translation: X:139.18, Y:324.15, Z:-11.83 [[ 8.88383695e-01 3.58628148e-01 2.86636114e-01 1.39183654e+02] [-3.43419836e-01 9.33458143e-01 -1.03531208e-01 3.24151264e+02] [-3.04692020e-01 -6.46108998e-03 9.52429014e-01 -1.18293911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.166875 meters Centerline goodness [0,1] 0.9886039886039886 Centerline is valid? [True, True] Translation: X:139.21, Y:324.14, Z:-11.84 [[ 8.89964735e-01 3.56499565e-01 2.84377972e-01 1.39210086e+02] [-3.41414840e-01 9.34278477e-01 -1.02760082e-01 3.24138236e+02] [-3.02322143e-01 -5.63801066e-03 9.53189139e-01 -1.18424596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters Centerline goodness [0,1] 0.9883674883674883 Centerline is valid? [True, True] Translation: X:139.24, Y:324.13, Z:-11.85 [[ 8.90116360e-01 3.56139548e-01 2.84354511e-01 1.39237719e+02] [-3.41014715e-01 9.34416953e-01 -1.02829576e-01 3.24128636e+02] [-3.02327355e-01 -5.43878496e-03 9.53188644e-01 -1.18534063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2268750000001 meters Centerline goodness [0,1] 0.9871295722256664 Centerline is valid? [True, True] Translation: X:139.27, Y:324.12, Z:-11.86 [[ 8.90145512e-01 3.55383279e-01 2.85208155e-01 1.39266574e+02] [-3.40104783e-01 9.34706596e-01 -1.03210053e-01 3.24119948e+02] [-3.03265071e-01 -5.12869278e-03 9.52892435e-01 -1.18625571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters Centerline goodness [0,1] 0.9887861983980284 Centerline is valid? [True, True] Translation: X:139.29, Y:324.11, Z:-11.87 [[ 8.90115486e-01 3.52996523e-01 2.88249676e-01 1.39294963e+02] [-3.37237569e-01 9.35614772e-01 -1.04383043e-01 3.24107511e+02] [-3.06537506e-01 -4.29565673e-03 9.51848887e-01 -1.18675350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.286875 meters Centerline goodness [0,1] 0.9900155313956068 Centerline is valid? [True, True] Translation: X:139.32, Y:324.09, Z:-11.87 [[ 8.90522416e-01 3.50648386e-01 2.89854337e-01 1.39323971e+02] [-3.34565563e-01 9.36500865e-01 -1.05033392e-01 3.24093561e+02] [-3.08278627e-01 -3.44068965e-03 9.51289887e-01 -1.18745498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters Centerline goodness [0,1] 0.9917893335305866 Centerline is valid? [True, True] Translation: X:139.35, Y:324.08, Z:-11.88 [[ 8.91084401e-01 3.48605816e-01 2.90590048e-01 1.39352099e+02] [-3.32324363e-01 9.37265500e-01 -1.05327585e-01 3.24078495e+02] [-3.09077835e-01 -2.71438502e-03 9.51032872e-01 -1.18829575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.346875 meters Centerline goodness [0,1] 0.9918691174296556 Centerline is valid? [True, True] Translation: X:139.38, Y:324.07, Z:-11.89 [[ 8.92180163e-01 3.45601642e-01 2.90816199e-01 1.39380038e+02] [-3.29128757e-01 9.38379880e-01 -1.05439379e-01 3.24065998e+02] [-3.09336093e-01 -1.64505144e-03 9.50951353e-01 -1.18905870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters Centerline goodness [0,1] 0.9943914198563416 Centerline is valid? [True, True] Translation: X:139.41, Y:324.05, Z:-11.90 [[ 8.94054406e-01 3.41124766e-01 2.90345679e-01 1.39407374e+02] [-3.24451545e-01 9.40018028e-01 -1.05343730e-01 3.24053697e+02] [-3.08865528e-01 -2.00781500e-05 9.51105717e-01 -1.19035169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.406875 meters Centerline goodness [0,1] 0.9932968301127016 Centerline is valid? [True, True] Translation: X:139.44, Y:324.04, Z:-11.91 [[ 8.94431190e-01 3.40583135e-01 2.89820592e-01 1.39435788e+02] [-3.23918061e-01 9.40214373e-01 -1.05233179e-01 3.24043944e+02] [-3.08334132e-01 2.45713926e-04 9.51278089e-01 -1.19144581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters Centerline goodness [0,1] 0.9938843905183591 Centerline is valid? [True, True] Translation: X:139.47, Y:324.03, Z:-11.93 [[ 8.94528648e-01 3.40423924e-01 2.89706836e-01 1.39465734e+02] [-3.23736492e-01 9.40271984e-01 -1.05277157e-01 3.24033897e+02] [-3.08242084e-01 3.84758254e-04 9.51307873e-01 -1.19251399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.466875 meters Centerline goodness [0,1] 0.9942259023563232 Centerline is valid? [True, True] Translation: X:139.50, Y:324.02, Z:-11.93 [[ 8.94361512e-01 3.41375975e-01 2.89101938e-01 1.39496266e+02] [-3.24779246e-01 9.39926818e-01 -1.05147604e-01 3.24023943e+02] [-3.07629531e-01 1.45661082e-04 9.51506201e-01 -1.19343563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters Centerline goodness [0,1] 0.9935211544124865 Centerline is valid? [True, True] Translation: X:139.53, Y:324.01, Z:-11.94 [[ 8.94435431e-01 3.41692030e-01 2.88499248e-01 1.39526044e+02] [-3.25152814e-01 9.39811971e-01 -1.05019556e-01 3.24014432e+02] [-3.07019392e-01 1.26869840e-04 9.51703250e-01 -1.19442186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.526875 meters Centerline goodness [0,1] 0.9935214159984354 Centerline is valid? [True, True] Translation: X:139.55, Y:324.01, Z:-11.95 [[ 8.94428400e-01 3.42420567e-01 2.87656031e-01 1.39554537e+02] [-3.25987945e-01 9.39546781e-01 -1.04803174e-01 3.24005447e+02] [-3.06153060e-01 -3.34627415e-05 9.51982302e-01 -1.19543771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters Centerline goodness [0,1] 0.9933025347705996 Centerline is valid? [True, True] Translation: X:139.58, Y:324.00, Z:-11.97 [[ 8.94670446e-01 3.42432268e-01 2.86888368e-01 1.39584251e+02] [-3.26063044e-01 9.39542516e-01 -1.04607608e-01 3.23996208e+02] [-3.05364839e-01 4.56406125e-05 9.52235429e-01 -1.19653237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.586875 meters Centerline goodness [0,1] 0.9928001366753716 Centerline is valid? [True, True] Translation: X:139.61, Y:323.99, Z:-11.98 [[ 8.94652454e-01 3.43216361e-01 2.86006149e-01 1.39613811e+02] [-3.26960342e-01 9.39256361e-01 -1.04376349e-01 3.23988591e+02] [-3.04456765e-01 -1.32111415e-04 9.52526147e-01 -1.19779276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters Centerline goodness [0,1] 0.9930185604125618 Centerline is valid? [True, True] Translation: X:139.64, Y:323.98, Z:-11.99 [[ 8.94628306e-01 3.43537554e-01 2.85695892e-01 1.39643119e+02] [-3.27304716e-01 9.39138928e-01 -1.04353710e-01 3.23979870e+02] [-3.04157552e-01 -1.51829438e-04 9.52621730e-01 -1.19884800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.646875 meters Centerline goodness [0,1] 0.9924039538394118 Centerline is valid? [True, True] Translation: X:139.67, Y:323.97, Z:-12.00 [[ 8.94399838e-01 3.44668136e-01 2.85048776e-01 1.39673208e+02] [-3.28548760e-01 9.38724478e-01 -1.04173253e-01 3.23970531e+02] [-3.03487465e-01 -4.79881000e-04 9.52835310e-01 -1.19988423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters Centerline goodness [0,1] 0.9912342471408105 Centerline is valid? [True, True] Translation: X:139.70, Y:323.96, Z:-12.01 [[ 8.93641580e-01 3.47061644e-01 2.84522304e-01 1.39702657e+02] [-3.31092770e-01 9.37841550e-01 -1.04071152e-01 3.23963567e+02] [-3.02955944e-01 -1.20096897e-03 9.53003806e-01 -1.20090772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.706875 meters Centerline goodness [0,1] 0.9910200713540276 Centerline is valid? [True, True] Translation: X:139.73, Y:323.95, Z:-12.02 [[ 8.93185168e-01 3.48741827e-01 2.83900324e-01 1.39733112e+02] [-3.32900554e-01 9.37217318e-01 -1.03927473e-01 3.23954238e+02] [-3.02320157e-01 -1.68409815e-03 9.53204955e-01 -1.20188414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters Centerline goodness [0,1] 0.9912499697021112 Centerline is valid? [True, True] Translation: X:139.76, Y:323.95, Z:-12.03 [[ 8.92468471e-01 3.50456765e-01 2.84042399e-01 1.39763218e+02] [-3.34655298e-01 9.36576380e-01 -1.04069767e-01 3.23945487e+02] [-3.02499356e-01 -2.17730775e-03 9.53147103e-01 -1.20282064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.766875 meters Centerline goodness [0,1] 0.9903378132945877 Centerline is valid? [True, True] Translation: X:139.79, Y:323.94, Z:-12.04 [[ 8.90911570e-01 3.53585863e-01 2.85050191e-01 1.39794358e+02] [-3.37796622e-01 9.35396727e-01 -1.04529450e-01 3.23938084e+02] [-3.03595152e-01 -3.16249544e-03 9.52795877e-01 -1.20350395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters Centerline goodness [0,1] 0.9876561103461603 Centerline is valid? [True, True] Translation: X:139.82, Y:323.93, Z:-12.04 [[ 8.90041866e-01 3.55522381e-01 2.85358219e-01 1.39823434e+02] [-3.39769948e-01 9.34660247e-01 -1.04721560e-01 3.23930460e+02] [-3.03943842e-01 -3.74957432e-03 9.52682571e-01 -1.20435052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.826875 meters Centerline goodness [0,1] 0.9887347096649423 Centerline is valid? [True, True] Translation: X:139.85, Y:323.92, Z:-12.05 [[ 8.89238522e-01 3.57594084e-01 2.85274119e-01 1.39852429e+02] [-3.41931907e-01 9.33866824e-01 -1.04763192e-01 3.23921288e+02] [-3.03870733e-01 -4.38485726e-03 9.52703181e-01 -1.20545058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters Centerline goodness [0,1] 0.9874325011502046 Centerline is valid? [True, True] Translation: X:139.88, Y:323.92, Z:-12.07 [[ 8.87998448e-01 3.62505786e-01 2.82928104e-01 1.39881782e+02] [-3.47339905e-01 9.31962313e-01 -1.03928999e-01 3.23915963e+02] [-3.01353194e-01 -5.98343109e-03 9.53493813e-01 -1.20682348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.886875 meters Centerline goodness [0,1] 0.9807920792079208 Centerline is valid? [True, True] Translation: X:139.92, Y:323.92, Z:-12.08 [[ 8.87540946e-01 3.63243227e-01 2.83417408e-01 1.39916241e+02] [-3.48034979e-01 9.31673936e-01 -1.04188915e-01 3.23924834e+02] [-3.01898530e-01 -6.16724343e-03 9.53320116e-01 -1.20808986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters Centerline goodness [0,1] 0.9856358360710774 Centerline is valid? [True, True] Translation: X:139.94, Y:323.90, Z:-12.09 [[ 8.86556180e-01 3.66910097e-01 2.81771398e-01 1.39940285e+02] [-3.52035786e-01 9.30227867e-01 -1.03667354e-01 3.23900117e+02] [-3.00148206e-01 -7.28668188e-03 9.53864749e-01 -1.20891622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.946875 meters Centerline goodness [0,1] 0.9850316637881404 Centerline is valid? [True, True] Translation: X:139.97, Y:323.89, Z:-12.10 [[ 8.85289259e-01 3.70189525e-01 2.81465173e-01 1.39970151e+02] [-3.55485099e-01 9.28919065e-01 -1.03632599e-01 3.23892570e+02] [-2.99822068e-01 -8.31184836e-03 9.53958930e-01 -1.20979287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters Centerline goodness [0,1] 0.982926654055219 Centerline is valid? [True, True] Translation: X:140.00, Y:323.88, Z:-12.11 [[ 8.84553926e-01 3.72100840e-01 2.81256673e-01 1.39998859e+02] [-3.57488363e-01 9.28149865e-01 -1.03633485e-01 3.23882889e+02] [-2.99610450e-01 -8.87658159e-03 9.54020327e-01 -1.21066822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.006875 meters Centerline goodness [0,1] 0.98371780729941 Centerline is valid? [True, True] Translation: X:140.03, Y:323.87, Z:-12.12 [[ 8.83928856e-01 3.73859903e-01 2.80888858e-01 1.40027363e+02] [-3.59350127e-01 9.27437669e-01 -1.03570541e-01 3.23874776e+02] [-2.99227780e-01 -9.38845664e-03 9.54135521e-01 -1.21154268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters Centerline goodness [0,1] 0.9829746532759446 Centerline is valid? [True, True] Translation: X:140.06, Y:323.87, Z:-12.12 [[ 8.83235929e-01 3.75897532e-01 2.80348603e-01 1.40056631e+02] [-3.61522120e-01 9.26607410e-01 -1.03443044e-01 3.23866526e+02] [-2.98657078e-01 -9.98760805e-03 9.54308230e-01 -1.21249952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.066875 meters Centerline goodness [0,1] 0.9827302435417312 Centerline is valid? [True, True] Translation: X:140.09, Y:323.86, Z:-12.13 [[ 8.81502848e-01 3.79131217e-01 2.81446710e-01 1.40086246e+02] [-3.64777814e-01 9.25276852e-01 -1.03922540e-01 3.23858288e+02] [-2.99816405e-01 -1.10575001e-02 9.53932836e-01 -1.21344290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters Centerline goodness [0,1] 0.9811042360780581 Centerline is valid? [True, True] Translation: X:140.11, Y:323.85, Z:-12.14 [[ 8.80983821e-01 3.79944808e-01 2.81974202e-01 1.40114469e+02] [-3.65551962e-01 9.24940377e-01 -1.04197225e-01 3.23849249e+02] [-3.00398519e-01 -1.12801534e-02 9.53747078e-01 -1.21432905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.126875 meters Centerline goodness [0,1] 0.9808757520771655 Centerline is valid? [True, True] Translation: X:140.14, Y:323.84, Z:-12.15 [[ 8.81052367e-01 3.80203304e-01 2.81411041e-01 1.40143284e+02] [-3.65858660e-01 9.24834250e-01 -1.04062723e-01 3.23838665e+02] [-2.99823560e-01 -1.12719579e-02 9.53928077e-01 -1.21530624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters Centerline goodness [0,1] 0.9824826264078601 Centerline is valid? [True, True] Translation: X:140.17, Y:323.82, Z:-12.16 [[ 8.82116827e-01 3.78716677e-01 2.80077815e-01 1.40170328e+02] [-3.64419961e-01 9.25451296e-01 -1.03624274e-01 3.23824167e+02] [-2.98442618e-01 -1.06572306e-02 9.54368077e-01 -1.21635218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.186875 meters Centerline goodness [0,1] 0.9823615404893714 Centerline is valid? [True, True] Translation: X:140.20, Y:323.81, Z:-12.17 [[ 8.82432686e-01 3.78240648e-01 2.79725878e-01 1.40198379e+02] [-3.63933048e-01 9.25648806e-01 -1.03571351e-01 3.23811679e+02] [-2.98102820e-01 -1.04067460e-02 9.54477034e-01 -1.21738858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters Centerline goodness [0,1] 0.9832293666026871 Centerline is valid? [True, True] Translation: X:140.23, Y:323.80, Z:-12.18 [[ 8.82857800e-01 3.76812779e-01 2.80310960e-01 1.40225882e+02] [-3.62349378e-01 9.26236843e-01 -1.03866450e-01 3.23800583e+02] [-2.98772544e-01 -9.87119652e-03 9.54273297e-01 -1.21831446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.246875 meters Centerline goodness [0,1] 0.9838686272612944 Centerline is valid? [True, True] Translation: X:140.25, Y:323.78, Z:-12.19 [[ 8.83442939e-01 3.75241730e-01 2.80574800e-01 1.40252972e+02] [-3.60650673e-01 9.26880541e-01 -1.04036313e-01 3.23783465e+02] [-2.99098089e-01 -9.27934450e-03 9.54177251e-01 -1.21896076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters Centerline goodness [0,1] 0.9840168294806074 Centerline is valid? [True, True] Translation: X:140.28, Y:323.77, Z:-12.20 [[ 8.84002875e-01 3.74087969e-01 2.80351758e-01 1.40281108e+02] [-3.59439811e-01 9.27351413e-01 -1.04030664e-01 3.23769309e+02] [-2.98901219e-01 -8.80617700e-03 9.54243424e-01 -1.21974986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.306875 meters Centerline goodness [0,1] 0.9846418449165476 Centerline is valid? [True, True] Translation: X:140.31, Y:323.76, Z:-12.21 [[ 8.84560358e-01 3.72926490e-01 2.80140690e-01 1.40308214e+02] [-3.58219793e-01 9.27823485e-01 -1.04029610e-01 3.23757560e+02] [-2.98716508e-01 -8.33147111e-03 9.54305525e-01 -1.22068199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters Centerline goodness [0,1] 0.9853281853281853 Centerline is valid? [True, True] Translation: X:140.34, Y:323.75, Z:-12.22 [[ 8.85629937e-01 3.70516459e-01 2.79959225e-01 1.40335155e+02] [-3.55698158e-01 9.28795855e-01 -1.04005196e-01 3.23746591e+02] [-2.98560605e-01 -7.47086558e-03 9.54361436e-01 -1.22195444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.366875 meters Centerline goodness [0,1] 0.985729808040565 Centerline is valid? [True, True] Translation: X:140.36, Y:323.74, Z:-12.23 [[ 8.86002379e-01 3.69825156e-01 2.79694725e-01 1.40362915e+02] [-3.54978253e-01 9.29073803e-01 -1.03982253e-01 3.23735736e+02] [-2.98312294e-01 -7.15702121e-03 9.54441487e-01 -1.22305803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters Centerline goodness [0,1] 0.9860625485625486 Centerline is valid? [True, True] Translation: X:140.39, Y:323.72, Z:-12.24 [[ 8.86305376e-01 3.69602192e-01 2.79028673e-01 1.40390615e+02] [-3.54793315e-01 9.29163790e-01 -1.03809230e-01 3.23723867e+02] [-2.97631458e-01 -6.99082946e-03 9.54655249e-01 -1.22418860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.426875 meters Centerline goodness [0,1] 0.987315165587193 Centerline is valid? [True, True] Translation: X:140.42, Y:323.71, Z:-12.25 [[ 8.87579849e-01 3.67832577e-01 2.77310669e-01 1.40415981e+02] [-3.53100171e-01 9.29870853e-01 -1.03249529e-01 3.23706951e+02] [-2.95841649e-01 -6.27624328e-03 9.55216377e-01 -1.22502048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters Centerline goodness [0,1] 0.9872199779654792 Centerline is valid? [True, True] Translation: X:140.44, Y:323.69, Z:-12.26 [[ 8.88034993e-01 3.66243159e-01 2.77956472e-01 1.40444270e+02] [-3.51343349e-01 9.30501756e-01 -1.03558354e-01 3.23692579e+02] [-2.96566524e-01 -5.69471573e-03 9.54995218e-01 -1.22577106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.486875 meters Centerline goodness [0,1] 0.9890435805676749 Centerline is valid? [True, True] Translation: X:140.47, Y:323.68, Z:-12.26 [[ 8.88197610e-01 3.65187038e-01 2.78825095e-01 1.40471887e+02] [-3.50118239e-01 9.30919147e-01 -1.03955572e-01 3.23676653e+02] [-2.97526846e-01 -5.28866061e-03 9.54698804e-01 -1.22645453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters Centerline goodness [0,1] 0.9891330891330892 Centerline is valid? [True, True] Translation: X:140.50, Y:323.67, Z:-12.27 [[ 8.89032691e-01 3.62365665e-01 2.79842812e-01 1.40499308e+02] [-3.47022645e-01 9.32026168e-01 -1.04415066e-01 3.23665689e+02] [-2.98657259e-01 -4.28338555e-03 9.54350824e-01 -1.22745426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.546875 meters Centerline goodness [0,1] 0.9892019240208109 Centerline is valid? [True, True] Translation: X:140.53, Y:323.65, Z:-12.28 [[ 8.89280719e-01 3.61909176e-01 2.79645401e-01 1.40527407e+02] [-3.46552354e-01 9.32204416e-01 -1.04385788e-01 3.23653841e+02] [-2.98464852e-01 -4.08350348e-03 9.54411891e-01 -1.22849190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters Centerline goodness [0,1] 0.9901494731683411 Centerline is valid? [True, True] Translation: X:140.55, Y:323.64, Z:-12.30 [[ 8.89405940e-01 3.61444794e-01 2.79847700e-01 1.40554566e+02] [-3.46020034e-01 9.32385523e-01 -1.04534075e-01 3.23640611e+02] [-2.98709241e-01 -3.85968327e-03 9.54336362e-01 -1.22950136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6068750000001 meters Centerline goodness [0,1] 0.9905127070736863 Centerline is valid? [True, True] Translation: X:140.58, Y:323.63, Z:-12.30 [[ 8.89677926e-01 3.60941157e-01 2.79633097e-01 1.40582444e+02] [-3.45492316e-01 9.32581594e-01 -1.04530520e-01 3.23628174e+02] [-2.98510046e-01 -3.61259016e-03 9.54399655e-01 -1.23046375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters Centerline goodness [0,1] 0.9905127070736863 Centerline is valid? [True, True] Translation: X:140.61, Y:323.62, Z:-12.31 [[ 8.89581773e-01 3.61197877e-01 2.79607514e-01 1.40611310e+02] [-3.45739925e-01 9.32482157e-01 -1.04598908e-01 3.23617307e+02] [-2.98509921e-01 -3.62219904e-03 9.54399658e-01 -1.23145367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.666875 meters Centerline goodness [0,1] 0.9912550806749599 Centerline is valid? [True, True] Translation: X:140.64, Y:323.60, Z:-12.32 [[ 8.89765699e-01 3.60223528e-01 2.80278453e-01 1.40639442e+02] [-3.44614402e-01 9.32860474e-01 -1.04939273e-01 3.23604586e+02] [-2.99262286e-01 -3.21662558e-03 9.54165467e-01 -1.23240099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters Centerline goodness [0,1] 0.9928916971073156 Centerline is valid? [True, True] Translation: X:140.67, Y:323.59, Z:-12.33 [[ 8.89992896e-01 3.59653183e-01 2.80289553e-01 1.40666398e+02] [-3.43990706e-01 9.33081397e-01 -1.05021431e-01 3.23592555e+02] [-2.99304260e-01 -2.94867406e-03 9.54153167e-01 -1.23330633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7268750000001 meters Centerline goodness [0,1] 0.9916014270141711 Centerline is valid? [True, True] Translation: X:140.70, Y:323.58, Z:-12.34 [[ 8.90484937e-01 3.59260908e-01 2.79227824e-01 1.40695066e+02] [-3.43678477e-01 9.33233153e-01 -1.04694734e-01 3.23579387e+02] [-2.98197387e-01 -2.73550990e-03 9.54500306e-01 -1.23425681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters Centerline goodness [0,1] 0.9928606965174129 Centerline is valid? [True, True] Translation: X:140.72, Y:323.57, Z:-12.35 [[ 8.91444396e-01 3.58022675e-01 2.77752863e-01 1.40723296e+02] [-3.42522581e-01 9.33710245e-01 -1.04227923e-01 3.23566284e+02] [-2.96656653e-01 -2.22322959e-03 9.54981616e-01 -1.23544337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.786875 meters Centerline goodness [0,1] 0.9937394833217856 Centerline is valid? [True, True] Translation: X:140.75, Y:323.56, Z:-12.37 [[ 8.91723224e-01 3.57748820e-01 2.77210161e-01 1.40751033e+02] [-3.42271003e-01 9.33815617e-01 -1.04110298e-01 3.23555603e+02] [-2.96108513e-01 -2.04342906e-03 9.55152120e-01 -1.23657114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters Centerline goodness [0,1] 0.9924701789264414 Centerline is valid? [True, True] Translation: X:140.78, Y:323.54, Z:-12.38 [[ 8.91808475e-01 3.58264675e-01 2.76268107e-01 1.40778490e+02] [-3.42893784e-01 9.33617637e-01 -1.03836222e-01 3.23544935e+02] [-2.95129627e-01 -2.12859329e-03 9.55454851e-01 -1.23767939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.846875 meters Centerline goodness [0,1] 0.9931636726546906 Centerline is valid? [True, True] Translation: X:140.81, Y:323.53, Z:-12.39 [[ 8.91807940e-01 3.58657482e-01 2.75759695e-01 1.40807077e+02] [-3.43341846e-01 9.33466670e-01 -1.03712838e-01 3.23533019e+02] [-2.94609869e-01 -2.18791037e-03 9.55615110e-01 -1.23863615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters Centerline goodness [0,1] 0.9929451510333863 Centerline is valid? [True, True] Translation: X:140.84, Y:323.52, Z:-12.40 [[ 8.90600588e-01 3.59504087e-01 2.78545156e-01 1.40835716e+02] [-3.43884597e-01 9.33140392e-01 -1.04844615e-01 3.23522472e+02] [-2.97613804e-01 -2.41271267e-03 9.54683300e-01 -1.23952271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.906875 meters Centerline goodness [0,1] 0.9927635002849992 Centerline is valid? [True, True] Translation: X:140.86, Y:323.51, Z:-12.40 [[ 8.89901865e-01 3.59759301e-01 2.80442357e-01 1.40864110e+02] [-3.43909223e-01 9.33041955e-01 -1.05636905e-01 3.23512650e+02] [-2.99668344e-01 -2.44023426e-03 9.54040318e-01 -1.24029651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters Centerline goodness [0,1] 0.9925089916904378 Centerline is valid? [True, True] Translation: X:140.89, Y:323.50, Z:-12.41 [[ 8.89596982e-01 3.60238292e-01 2.80794556e-01 1.40893323e+02] [-3.44348249e-01 9.32856873e-01 -1.05841096e-01 3.23500115e+02] [-3.00069148e-01 -2.53519380e-03 9.53914084e-01 -1.24117283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.966875 meters Centerline goodness [0,1] 0.9918299020587648 Centerline is valid? [True, True] Translation: X:140.92, Y:323.49, Z:-12.42 [[ 8.89517236e-01 3.60954289e-01 2.80126916e-01 1.40921409e+02] [-3.45148897e-01 9.32579645e-01 -1.05676132e-01 3.23489767e+02] [-2.99384913e-01 -2.68475489e-03 9.54128642e-01 -1.24221510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters Centerline goodness [0,1] 0.9913272532988743 Centerline is valid? [True, True] Translation: X:140.95, Y:323.48, Z:-12.43 [[ 8.89066636e-01 3.62431690e-01 2.79649399e-01 1.40949018e+02] [-3.46739726e-01 9.32005063e-01 -1.05537320e-01 3.23481851e+02] [-2.98884725e-01 -3.13584623e-03 9.54284071e-01 -1.24342111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.026875 meters Centerline goodness [0,1] 0.9904301475145655 Centerline is valid? [True, True] Translation: X:140.98, Y:323.47, Z:-12.44 [[ 8.88125691e-01 3.64537483e-01 2.79902091e-01 1.40978152e+02] [-3.48905306e-01 9.31180934e-01 -1.05674767e-01 3.23473148e+02] [-2.99161903e-01 -3.80684953e-03 9.54194772e-01 -1.24446874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters Centerline goodness [0,1] 0.9895750792393027 Centerline is valid? [True, True] Translation: X:141.01, Y:323.46, Z:-12.45 [[ 8.87321764e-01 3.66697116e-01 2.79630671e-01 1.41007727e+02] [-3.51192371e-01 9.30329476e-01 -1.05598223e-01 3.23464150e+02] [-2.98871220e-01 -4.50455700e-03 9.54282821e-01 -1.24546449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.086875 meters Centerline goodness [0,1] 0.9894483340781568 Centerline is valid? [True, True] Translation: X:141.04, Y:323.46, Z:-12.46 [[ 8.85863617e-01 3.70335238e-01 2.79459234e-01 1.41037214e+02] [-3.55002690e-01 9.28880965e-01 -1.05608916e-01 3.23455149e+02] [-2.98695066e-01 -5.65368333e-03 9.54331857e-01 -1.24638769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters Centerline goodness [0,1] 0.9884994795023051 Centerline is valid? [True, True] Translation: X:141.07, Y:323.44, Z:-12.47 [[ 8.84964798e-01 3.71880187e-01 2.80254231e-01 1.41066519e+02] [-3.56509747e-01 9.28260569e-01 -1.05986401e-01 3.23443701e+02] [-2.99563194e-01 -6.11913104e-03 9.54056837e-01 -1.24719801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.146875 meters Centerline goodness [0,1] 0.9878745713859762 Centerline is valid? [True, True] Translation: X:141.10, Y:323.43, Z:-12.48 [[ 8.84399898e-01 3.72759759e-01 2.80868267e-01 1.41096403e+02] [-3.57339100e-01 9.27906116e-01 -1.06296796e-01 3.23432975e+02] [-3.00242551e-01 -6.35633851e-03 9.53841710e-01 -1.24804415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters Centerline goodness [0,1] 0.9871487531819193 Centerline is valid? [True, True] Translation: X:141.12, Y:323.43, Z:-12.49 [[ 8.84533940e-01 3.72593285e-01 2.80666979e-01 1.41124479e+02] [-3.57158986e-01 9.27973977e-01 -1.06309719e-01 3.23425316e+02] [-3.00061940e-01 -6.20817870e-03 9.53899518e-01 -1.24929843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.206875 meters Centerline goodness [0,1] 0.9873861420354966 Centerline is valid? [True, True] Translation: X:141.15, Y:323.42, Z:-12.51 [[ 8.84812931e-01 3.72520054e-01 2.79883703e-01 1.41152986e+02] [-3.57156783e-01 9.28003941e-01 -1.06055259e-01 3.23415624e+02] [-2.99240890e-01 -6.12329894e-03 9.54157951e-01 -1.25059720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters Centerline goodness [0,1] 0.9885984220809735 Centerline is valid? [True, True] Translation: X:141.18, Y:323.41, Z:-12.52 [[ 8.85084904e-01 3.72588244e-01 2.78931377e-01 1.41181876e+02] [-3.57307476e-01 9.27977123e-01 -1.05781982e-01 3.23406848e+02] [-2.98255059e-01 -6.03823030e-03 9.54467107e-01 -1.25190035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.266875 meters Centerline goodness [0,1] 0.9877832074633496 Centerline is valid? [True, True] Translation: X:141.21, Y:323.40, Z:-12.53 [[ 8.85269159e-01 3.73388468e-01 2.77271650e-01 1.41208524e+02] [-3.58303912e-01 9.27654482e-01 -1.05240053e-01 3.23397359e+02] [-2.96507711e-01 -6.18174417e-03 9.55010452e-01 -1.25309570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters Centerline goodness [0,1] 0.9875722686168898 Centerline is valid? [True, True] Translation: X:141.24, Y:323.39, Z:-12.54 [[ 8.85219784e-01 3.73792359e-01 2.76884824e-01 1.41236096e+02] [-3.58758387e-01 9.27491212e-01 -1.05130738e-01 3.23385689e+02] [-2.96105308e-01 -6.27094404e-03 9.55134714e-01 -1.25395680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.326875 meters Centerline goodness [0,1] 0.9877776121627664 Centerline is valid? [True, True] Translation: X:141.27, Y:323.37, Z:-12.55 [[ 8.84848705e-01 3.74351961e-01 2.77314583e-01 1.41265736e+02] [-3.59284597e-01 9.27264399e-01 -1.05334293e-01 3.23371792e+02] [-2.96576039e-01 -6.42994502e-03 9.54987596e-01 -1.25470095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters Centerline goodness [0,1] 0.9871759686634565 Centerline is valid? [True, True] Translation: X:141.29, Y:323.36, Z:-12.55 [[ 8.84241554e-01 3.74202888e-01 2.79444221e-01 1.41294269e+02] [-3.58863684e-01 9.27325127e-01 -1.06230713e-01 3.23358702e+02] [-2.98887488e-01 -6.34877227e-03 9.54267239e-01 -1.25510339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.386875 meters Centerline goodness [0,1] 0.987659225784024 Centerline is valid? [True, True] Translation: X:141.32, Y:323.35, Z:-12.56 [[ 8.84075651e-01 3.73819433e-01 2.80480437e-01 1.41323601e+02] [-3.58322745e-01 9.27480939e-01 -1.06695445e-01 3.23348349e+02] [-3.00025090e-01 -6.17567502e-03 9.53911320e-01 -1.25603760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters Centerline goodness [0,1] 0.9875360959597206 Centerline is valid? [True, True] Translation: X:141.35, Y:323.34, Z:-12.57 [[ 8.84072787e-01 3.73263511e-01 2.81228838e-01 1.41352578e+02] [-3.57646316e-01 9.27706101e-01 -1.07007024e-01 3.23338483e+02] [-3.00839526e-01 -5.97845992e-03 9.53656037e-01 -1.25718172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.446875 meters Centerline goodness [0,1] 0.9889757565294597 Centerline is valid? [True, True] Translation: X:141.38, Y:323.33, Z:-12.59 [[ 8.84706432e-01 3.72214501e-01 2.80625898e-01 1.41379772e+02] [-3.56605943e-01 9.28129945e-01 -1.06803589e-01 3.23328443e+02] [-3.00211144e-01 -5.58304099e-03 9.53856435e-01 -1.25863093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters Centerline goodness [0,1] 0.9869464558396138 Centerline is valid? [True, True] Translation: X:141.41, Y:323.32, Z:-12.60 [[ 8.85065627e-01 3.71745847e-01 2.80114016e-01 1.41407567e+02] [-3.56148242e-01 9.28319197e-01 -1.06685982e-01 3.23319620e+02] [-2.99695289e-01 -5.33801920e-03 9.54020041e-01 -1.25987077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.506875 meters Centerline goodness [0,1] 0.9881488445741996 Centerline is valid? [True, True] Translation: X:141.44, Y:323.31, Z:-12.61 [[ 8.85522509e-01 3.71551501e-01 2.78925381e-01 1.41435693e+02] [-3.56057833e-01 9.28397891e-01 -1.06302280e-01 3.23306425e+02] [-2.98450507e-01 -5.18050489e-03 9.54411052e-01 -1.26100251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters Centerline goodness [0,1] 0.9897966820506424 Centerline is valid? [True, True] Translation: X:141.46, Y:323.29, Z:-12.62 [[ 8.86558411e-01 3.70873432e-01 2.76526818e-01 1.41463208e+02] [-3.55592682e-01 9.28670891e-01 -1.05471423e-01 3.23290309e+02] [-2.95918955e-01 -4.82433562e-03 9.55200868e-01 -1.26188278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.566875 meters Centerline goodness [0,1] 0.9898686399642422 Centerline is valid? [True, True] Translation: X:141.49, Y:323.28, Z:-12.63 [[ 8.86873659e-01 3.70316467e-01 2.76262244e-01 1.41490177e+02] [-3.55012242e-01 9.28894515e-01 -1.05457514e-01 3.23278431e+02] [-2.95671138e-01 -4.54898721e-03 9.55278957e-01 -1.26276201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters Centerline goodness [0,1] 0.9898129053097126 Centerline is valid? [True, True] Translation: X:141.52, Y:323.27, Z:-12.64 [[ 8.86871894e-01 3.70618126e-01 2.75863097e-01 1.41518997e+02] [-3.55351826e-01 9.28774072e-01 -1.05374585e-01 3.23266434e+02] [-2.95268223e-01 -4.57469770e-03 9.55403448e-01 -1.26371060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.626875 meters Centerline goodness [0,1] 0.9901783278355117 Centerline is valid? [True, True] Translation: X:141.55, Y:323.26, Z:-12.65 [[ 8.86981873e-01 3.70655603e-01 2.75458856e-01 1.41548020e+02] [-3.55410357e-01 9.28759497e-01 -1.05305627e-01 3.23256523e+02] [-2.94867150e-01 -4.49674806e-03 9.55527678e-01 -1.26477347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters Centerline goodness [0,1] 0.99013353115727 Centerline is valid? [True, True] Translation: X:141.58, Y:323.25, Z:-12.66 [[ 8.86389009e-01 3.70817618e-01 2.77144040e-01 1.41576988e+02] [-3.55361814e-01 9.28694825e-01 -1.06037268e-01 3.23249573e+02] [-2.96702723e-01 -4.49614002e-03 9.54959307e-01 -1.26575810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.686875 meters Centerline goodness [0,1] 0.9903540964094426 Centerline is valid? [True, True] Translation: X:141.61, Y:323.24, Z:-12.67 [[ 8.86089240e-01 3.70732033e-01 2.78215057e-01 1.41605181e+02] [-3.55127739e-01 9.28729371e-01 -1.06517813e-01 3.23239676e+02] [-2.97876060e-01 -4.41759579e-03 9.54594331e-01 -1.26665272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters Centerline goodness [0,1] 0.9893501089756291 Centerline is valid? [True, True] Translation: X:141.63, Y:323.23, Z:-12.68 [[ 8.86029840e-01 3.70639249e-01 2.78527682e-01 1.41634540e+02] [-3.54981705e-01 9.28766715e-01 -1.06678856e-01 3.23228012e+02] [-2.98226611e-01 -4.35158225e-03 9.54485176e-01 -1.26762207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.746875 meters Centerline goodness [0,1] 0.9900183286273344 Centerline is valid? [True, True] Translation: X:141.66, Y:323.22, Z:-12.69 [[ 8.86314102e-01 3.70204630e-01 2.78201085e-01 1.41663118e+02] [-3.54537456e-01 9.28941103e-01 -1.06637796e-01 3.23216340e+02] [-2.97910229e-01 -4.11812255e-03 9.54585007e-01 -1.26863445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters Centerline goodness [0,1] 0.9904411947265188 Centerline is valid? [True, True] Translation: X:141.69, Y:323.20, Z:-12.70 [[ 8.86180440e-01 3.69542192e-01 2.79504554e-01 1.41690008e+02] [-3.53669151e-01 9.29206004e-01 -1.07211631e-01 3.23204668e+02] [-2.99336531e-01 -3.84328775e-03 9.54139859e-01 -1.26954656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.806875 meters Centerline goodness [0,1] 0.9910874327823143 Centerline is valid? [True, True] Translation: X:141.72, Y:323.19, Z:-12.70 [[ 8.86241126e-01 3.68814310e-01 2.80272496e-01 1.41718470e+02] [-3.52795026e-01 9.29496347e-01 -1.07574210e-01 3.23191598e+02] [-3.00187169e-01 -3.54205365e-03 9.53873743e-01 -1.27043698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters Centerline goodness [0,1] 0.9907978511738957 Centerline is valid? [True, True] Translation: X:141.75, Y:323.18, Z:-12.71 [[ 8.86562521e-01 3.67725248e-01 2.80686728e-01 1.41746523e+02] [-3.51579959e-01 9.29929304e-01 -1.07810116e-01 3.23178656e+02] [-3.00663315e-01 -3.10342040e-03 9.53725296e-01 -1.27136256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.866875 meters Centerline goodness [0,1] 0.9910911482244336 Centerline is valid? [True, True] Translation: X:141.77, Y:323.17, Z:-12.72 [[ 8.86466119e-01 3.67860731e-01 2.80813643e-01 1.41774843e+02] [-3.51682728e-01 9.29875811e-01 -1.07936254e-01 3.23167407e+02] [-3.00827323e-01 -3.07547568e-03 9.53673667e-01 -1.27223406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters Centerline goodness [0,1] 0.9908364252097911 Centerline is valid? [True, True] Translation: X:141.80, Y:323.16, Z:-12.73 [[ 8.86112865e-01 3.68688472e-01 2.80843019e-01 1.41804814e+02] [-3.52521582e-01 9.29547242e-01 -1.08029902e-01 3.23156757e+02] [-3.00886233e-01 -3.27653954e-03 9.53654413e-01 -1.27322815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.926875 meters Centerline goodness [0,1] 0.9909851578842515 Centerline is valid? [True, True] Translation: X:141.83, Y:323.15, Z:-12.74 [[ 8.85540066e-01 3.70311372e-01 2.80514312e-01 1.41834056e+02] [-3.54235289e-01 9.28900162e-01 -1.07990042e-01 3.23147504e+02] [-3.00559730e-01 -3.73855970e-03 9.53755667e-01 -1.27425288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters Centerline goodness [0,1] 0.988843712812376 Centerline is valid? [True, True] Translation: X:141.86, Y:323.14, Z:-12.75 [[ 8.84421663e-01 3.73866556e-01 2.79324400e-01 1.41862880e+02] [-3.58078718e-01 9.27469826e-01 -1.07607408e-01 3.23141118e+02] [-2.99295763e-01 -4.84980036e-03 9.54148063e-01 -1.27544974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.986875 meters Centerline goodness [0,1] 0.9885485754030355 Centerline is valid? [True, True] Translation: X:141.89, Y:323.13, Z:-12.77 [[ 8.83634175e-01 3.75959835e-01 2.79006894e-01 1.41891149e+02] [-3.60288447e-01 9.26619735e-01 -1.07555112e-01 3.23132257e+02] [-2.98969696e-01 -5.48358804e-03 9.54246850e-01 -1.27657529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters Centerline goodness [0,1] 0.9870226545247016 Centerline is valid? [True, True] Translation: X:141.92, Y:323.12, Z:-12.78 [[ 8.82958050e-01 3.77651939e-01 2.78862143e-01 1.41919425e+02] [-3.62056052e-01 9.25928317e-01 -1.07574008e-01 3.23123099e+02] [-2.98831888e-01 -5.98039012e-03 9.54287031e-01 -1.27761126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.046875 meters Centerline goodness [0,1] 0.986584698093484 Centerline is valid? [True, True] Translation: X:141.95, Y:323.11, Z:-12.79 [[ 8.81811816e-01 3.79516863e-01 2.79955126e-01 1.41947961e+02] [-3.63865501e-01 9.25161473e-01 -1.08065469e-01 3.23114538e+02] [-3.00016364e-01 -6.57260482e-03 9.53911412e-01 -1.27861844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters Centerline goodness [0,1] 0.9870521904001597 Centerline is valid? [True, True] Translation: X:141.98, Y:323.10, Z:-12.80 [[ 8.81590741e-01 3.79932674e-01 2.80087357e-01 1.41977312e+02] [-3.64263409e-01 9.24990268e-01 -1.08190451e-01 3.23101297e+02] [-3.00183167e-01 -6.64587605e-03 9.53858427e-01 -1.27950684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1068750000001 meters Centerline goodness [0,1] 0.98680271429997 Centerline is valid? [True, True] Translation: X:142.01, Y:323.09, Z:-12.80 [[ 8.81306959e-01 3.80134184e-01 2.80706335e-01 1.42005954e+02] [-3.64376703e-01 9.24907468e-01 -1.08516330e-01 3.23090147e+02] [-3.00878152e-01 -6.64665240e-03 9.53639428e-01 -1.28034240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters Centerline goodness [0,1] 0.9878417944518882 Centerline is valid? [True, True] Translation: X:142.03, Y:323.08, Z:-12.81 [[ 8.81552609e-01 3.79364895e-01 2.80975575e-01 1.42034161e+02] [-3.63513023e-01 9.25225607e-01 -1.08700771e-01 3.23078030e+02] [-3.01203053e-01 -6.31283254e-03 9.53539128e-01 -1.28125649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.166875 meters Centerline goodness [0,1] 0.9873622008143808 Centerline is valid? [True, True] Translation: X:142.06, Y:323.07, Z:-12.82 [[ 8.81681124e-01 3.79339707e-01 2.80606098e-01 1.42062775e+02] [-3.63506037e-01 9.25236536e-01 -1.08631085e-01 3.23067041e+02] [-3.00835098e-01 -6.22403306e-03 9.53655863e-01 -1.28232814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters Centerline goodness [0,1] 0.9878473951588803 Centerline is valid? [True, True] Translation: X:142.09, Y:323.06, Z:-12.83 [[ 8.81651366e-01 3.79749033e-01 2.80145570e-01 1.42090842e+02] [-3.63962095e-01 9.25068295e-01 -1.08536829e-01 3.23056972e+02] [-3.00370541e-01 -6.27072465e-03 9.53801980e-01 -1.28345050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2268750000001 meters Centerline goodness [0,1] 0.9867654712632283 Centerline is valid? [True, True] Translation: X:142.12, Y:323.05, Z:-12.85 [[ 8.81045233e-01 3.80698899e-01 2.80762616e-01 1.42119226e+02] [-3.64862888e-01 9.24675975e-01 -1.08855011e-01 3.23051119e+02] [-3.01055429e-01 -6.53367010e-03 9.53584260e-01 -1.28469299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters Centerline goodness [0,1] 0.985600634464299 Centerline is valid? [True, True] Translation: X:142.15, Y:323.04, Z:-12.86 [[ 8.80461893e-01 3.81729189e-01 2.81193316e-01 1.42148165e+02] [-3.65882214e-01 9.24248765e-01 -1.09061570e-01 3.23042433e+02] [-3.01524560e-01 -6.85907652e-03 9.53433738e-01 -1.28577586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.286875 meters Centerline goodness [0,1] 0.9879691414680128 Centerline is valid? [True, True] Translation: X:142.18, Y:323.03, Z:-12.87 [[ 8.80201631e-01 3.82079644e-01 2.81531943e-01 1.42176134e+02] [-3.66188455e-01 9.24103498e-01 -1.09264547e-01 3.23026462e+02] [-3.01912413e-01 -6.91891452e-03 9.53310560e-01 -1.28669477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters Centerline goodness [0,1] 0.9851669034976193 Centerline is valid? [True, True] Translation: X:142.21, Y:323.02, Z:-12.87 [[ 8.79998940e-01 3.82378009e-01 2.81760403e-01 1.42205832e+02] [-3.66446265e-01 9.23979932e-01 -1.09445052e-01 3.23017940e+02] [-3.02190339e-01 -6.93851709e-03 9.53222354e-01 -1.28745554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.346875 meters Centerline goodness [0,1] 0.9879470066739715 Centerline is valid? [True, True] Translation: X:142.23, Y:323.00, Z:-12.88 [[ 8.80246703e-01 3.82099140e-01 2.81364513e-01 1.42232477e+02] [-3.66170335e-01 9.24096731e-01 -1.09382437e-01 3.23000565e+02] [-3.01802962e-01 -6.74380849e-03 9.53346471e-01 -1.28831602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters Centerline goodness [0,1] 0.9883651551312649 Centerline is valid? [True, True] Translation: X:142.26, Y:322.99, Z:-12.89 [[ 8.80297290e-01 3.82256131e-01 2.80992761e-01 1.42260961e+02] [-3.66353274e-01 9.24032036e-01 -1.09316400e-01 3.22988955e+02] [-3.01433177e-01 -6.71168775e-03 9.53463682e-01 -1.28935651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.406875 meters Centerline goodness [0,1] 0.9884825368334456 Centerline is valid? [True, True] Translation: X:142.29, Y:322.98, Z:-12.91 [[ 8.80439667e-01 3.82570891e-01 2.80116951e-01 1.42289485e+02] [-3.66756774e-01 9.23901772e-01 -1.09064130e-01 3.22978225e+02] [-3.00525308e-01 -6.71040254e-03 9.53750234e-01 -1.29054003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters Centerline goodness [0,1] 0.9871469137647586 Centerline is valid? [True, True] Translation: X:142.32, Y:322.97, Z:-12.92 [[ 8.80166989e-01 3.83964780e-01 2.79064722e-01 1.42317271e+02] [-3.68312208e-01 9.23320665e-01 -1.08743119e-01 3.22971888e+02] [-2.99419752e-01 -7.07084077e-03 9.54095286e-01 -1.29187580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.466875 meters Centerline goodness [0,1] 0.9872589187568702 Centerline is valid? [True, True] Translation: X:142.35, Y:322.96, Z:-12.93 [[ 8.80038115e-01 3.84203550e-01 2.79142524e-01 1.42345818e+02] [-3.68529436e-01 9.23221272e-01 -1.08850988e-01 3.22958349e+02] [-2.99531253e-01 -7.07921856e-03 9.54060225e-01 -1.29279466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters Centerline goodness [0,1] 0.9870352432754639 Centerline is valid? [True, True] Translation: X:142.37, Y:322.95, Z:-12.94 [[ 8.79983496e-01 3.84219144e-01 2.79293207e-01 1.42374061e+02] [-3.68499884e-01 9.23215382e-01 -1.09000886e-01 3.22947609e+02] [-2.99728012e-01 -7.00053353e-03 9.53999010e-01 -1.29377382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.526875 meters Centerline goodness [0,1] 0.9870352432754639 Centerline is valid? [True, True] Translation: X:142.40, Y:322.94, Z:-12.95 [[ 8.79882898e-01 3.84470383e-01 2.79264411e-01 1.42402772e+02] [-3.68740080e-01 9.23110763e-01 -1.09074616e-01 3.22936312e+02] [-2.99727943e-01 -7.00309172e-03 9.53999013e-01 -1.29476427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters Centerline goodness [0,1] 0.9872470541440859 Centerline is valid? [True, True] Translation: X:142.43, Y:322.93, Z:-12.96 [[ 8.79961141e-01 3.84699903e-01 2.78701228e-01 1.42432484e+02] [-3.69017817e-01 9.23015310e-01 -1.08943047e-01 3.22925426e+02] [-2.99155881e-01 -6.98007090e-03 9.54178724e-01 -1.29580860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.586875 meters Centerline goodness [0,1] 0.9877541932610955 Centerline is valid? [True, True] Translation: X:142.46, Y:322.92, Z:-12.97 [[ 8.80189028e-01 3.84873092e-01 2.77740848e-01 1.42461436e+02] [-3.69298005e-01 9.22943135e-01 -1.08604572e-01 3.22915212e+02] [-2.98137987e-01 -6.97658824e-03 9.54497286e-01 -1.29706264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters Centerline goodness [0,1] 0.9863481228668942 Centerline is valid? [True, True] Translation: X:142.49, Y:322.91, Z:-12.98 [[ 8.80127680e-01 3.85199545e-01 2.77482571e-01 1.42490771e+02] [-3.69641464e-01 9.22806817e-01 -1.08594502e-01 3.22907079e+02] [-2.97893361e-01 -6.99203677e-03 9.54573547e-01 -1.29818801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.646875 meters Centerline goodness [0,1] 0.9876118034736503 Centerline is valid? [True, True] Translation: X:142.52, Y:322.90, Z:-12.99 [[ 8.80042763e-01 3.85431552e-01 2.77429728e-01 1.42519619e+02] [-3.69873736e-01 9.22709754e-01 -1.08628402e-01 3.22895122e+02] [-2.97855930e-01 -7.01633081e-03 9.54585049e-01 -1.29915884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters Centerline goodness [0,1] 0.9871374652363926 Centerline is valid? [True, True] Translation: X:142.55, Y:322.88, Z:-13.00 [[ 8.80497803e-01 3.83425343e-01 2.78762668e-01 1.42547835e+02] [-3.67588993e-01 9.23550477e-01 -1.09237575e-01 3.22877702e+02] [-2.99335850e-01 -6.28664413e-03 9.54127102e-01 -1.29962913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.706875 meters Centerline goodness [0,1] 0.9888526711289158 Centerline is valid? [True, True] Translation: X:142.58, Y:322.86, Z:-13.00 [[ 8.80825693e-01 3.82471877e-01 2.79036488e-01 1.42575040e+02] [-3.66548734e-01 9.23948017e-01 -1.09371324e-01 3.22861996e+02] [-2.99646665e-01 -5.94339944e-03 9.54031735e-01 -1.30035980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters Centerline goodness [0,1] 0.9887755102040816 Centerline is valid? [True, True] Translation: X:142.60, Y:322.85, Z:-13.01 [[ 8.81428833e-01 3.81044787e-01 2.79084365e-01 1.42603212e+02] [-3.65033158e-01 9.24540700e-01 -1.09431657e-01 3.22849229e+02] [-2.99723217e-01 -5.41882884e-03 9.54010812e-01 -1.30127107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.766875 meters Centerline goodness [0,1] 0.9892435722270525 Centerline is valid? [True, True] Translation: X:142.63, Y:322.84, Z:-13.02 [[ 8.81864265e-01 3.79357635e-01 2.80005718e-01 1.42630961e+02] [-3.63129939e-01 9.25237739e-01 -1.09871624e-01 3.22836658e+02] [-3.00752497e-01 -4.78660068e-03 9.53690214e-01 -1.30232094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters Centerline goodness [0,1] 0.9894044665012407 Centerline is valid? [True, True] Translation: X:142.66, Y:322.83, Z:-13.03 [[ 8.81949661e-01 3.78461717e-01 2.80947548e-01 1.42658666e+02] [-3.62052459e-01 9.25606393e-01 -1.10321452e-01 3.22827198e+02] [-3.01799293e-01 -4.41978370e-03 9.53361239e-01 -1.30333264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.826875 meters Centerline goodness [0,1] 0.9892528906018381 Centerline is valid? [True, True] Translation: X:142.69, Y:322.82, Z:-13.04 [[ 8.81939455e-01 3.77455999e-01 2.82329182e-01 1.42686240e+02] [-3.60816646e-01 9.26018646e-01 -1.10909035e-01 3.22816578e+02] [-3.03305367e-01 -4.05401454e-03 9.52884788e-01 -1.30432782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters Centerline goodness [0,1] 0.9899189563154773 Centerline is valid? [True, True] Translation: X:142.71, Y:322.80, Z:-13.05 [[ 8.82638359e-01 3.75506146e-01 2.82744870e-01 1.42714250e+02] [-3.58696263e-01 9.26813957e-01 -1.11143508e-01 3.22803886e+02] [-3.03786963e-01 -3.32000442e-03 9.52734202e-01 -1.30529375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.886875 meters Centerline goodness [0,1] 0.9916147224695755 Centerline is valid? [True, True] Translation: X:142.74, Y:322.79, Z:-13.06 [[ 8.82707085e-01 3.75393331e-01 2.82680117e-01 1.42742414e+02] [-3.58561604e-01 9.26860056e-01 -1.11193585e-01 3.22790582e+02] [-3.03746239e-01 -3.20687109e-03 9.52747573e-01 -1.30631275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters Centerline goodness [0,1] 0.9904215985508326 Centerline is valid? [True, True] Translation: X:142.77, Y:322.78, Z:-13.07 [[ 8.82904508e-01 3.75639577e-01 2.81734872e-01 1.42771077e+02] [-3.58905942e-01 9.26760341e-01 -1.10913456e-01 3.22780493e+02] [-3.02764190e-01 -3.19032970e-03 9.53060159e-01 -1.30733112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.946875 meters Centerline goodness [0,1] 0.992046132431895 Centerline is valid? [True, True] Translation: X:142.80, Y:322.77, Z:-13.08 [[ 8.83305202e-01 3.75822858e-01 2.80230440e-01 1.42799320e+02] [-3.59253809e-01 9.26686164e-01 -1.10405864e-01 3.22765952e+02] [-3.01178719e-01 -3.15177864e-03 9.53562502e-01 -1.30826809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters Centerline goodness [0,1] 0.9916591972911064 Centerline is valid? [True, True] Translation: X:142.83, Y:322.75, Z:-13.09 [[ 8.83255544e-01 3.76292918e-01 2.79755759e-01 1.42827924e+02] [-3.59775392e-01 9.26495165e-01 -1.10310365e-01 3.22753996e+02] [-3.00701367e-01 -3.21699688e-03 9.53712923e-01 -1.30916233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.006875 meters Centerline goodness [0,1] 0.9915327887170065 Centerline is valid? [True, True] Translation: X:142.86, Y:322.74, Z:-13.10 [[ 8.83333399e-01 3.76409107e-01 2.79353342e-01 1.42856563e+02] [-3.59919139e-01 9.26448132e-01 -1.10236439e-01 3.22743220e+02] [-3.00300382e-01 -3.16908568e-03 9.53839419e-01 -1.31006909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters Centerline goodness [0,1] 0.9907824966549383 Centerline is valid? [True, True] Translation: X:142.89, Y:322.73, Z:-13.11 [[ 8.83207582e-01 3.77074380e-01 2.78853509e-01 1.42885901e+02] [-3.60651107e-01 9.26177071e-01 -1.10121809e-01 3.22733792e+02] [-2.99791839e-01 -3.30840983e-03 9.53998903e-01 -1.31127825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.066875 meters Centerline goodness [0,1] 0.9916617181314331 Centerline is valid? [True, True] Translation: X:142.91, Y:322.72, Z:-13.13 [[ 8.83339387e-01 3.77309273e-01 2.78117313e-01 1.42914658e+02] [-3.60959459e-01 9.26081447e-01 -1.09915524e-01 3.22723701e+02] [-2.99031430e-01 -3.29636297e-03 9.54237569e-01 -1.31253785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters Centerline goodness [0,1] 0.9913759019472176 Centerline is valid? [True, True] Translation: X:142.94, Y:322.71, Z:-13.14 [[ 8.83319228e-01 3.77898771e-01 2.77379994e-01 1.42943363e+02] [-3.61638272e-01 9.25840676e-01 -1.09712363e-01 3.22713448e+02] [-2.98269849e-01 -3.40018246e-03 9.54475529e-01 -1.31375383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.126875 meters Centerline goodness [0,1] 0.991816046482878 Centerline is valid? [True, True] Translation: X:142.97, Y:322.70, Z:-13.15 [[ 8.83239522e-01 3.78291544e-01 2.77098278e-01 1.42971182e+02] [-3.62055605e-01 9.25680108e-01 -1.09690822e-01 3.22702501e+02] [-2.97999474e-01 -3.44171550e-03 9.54559830e-01 -1.31480092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters Centerline goodness [0,1] 0.991100865124811 Centerline is valid? [True, True] Translation: X:143.00, Y:322.69, Z:-13.16 [[ 8.82987289e-01 3.78294662e-01 2.77896735e-01 1.42998865e+02] [-3.61945610e-01 9.25678990e-01 -1.10062634e-01 3.22691544e+02] [-2.98879276e-01 -3.39959654e-03 9.54284874e-01 -1.31561251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.186875 meters Centerline goodness [0,1] 0.9906045246631228 Centerline is valid? [True, True] Translation: X:143.03, Y:322.68, Z:-13.16 [[ 8.83058067e-01 3.77935382e-01 2.78160560e-01 1.43026891e+02] [-3.61514698e-01 9.25826404e-01 -1.10238795e-01 3.22679145e+02] [-2.99191532e-01 -3.21187425e-03 9.54187671e-01 -1.31646255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters Centerline goodness [0,1] 0.9911080373462432 Centerline is valid? [True, True] Translation: X:143.06, Y:322.67, Z:-13.17 [[ 8.83103188e-01 3.77664169e-01 2.78385586e-01 1.43055258e+02] [-3.61178328e-01 9.25937631e-01 -1.10407058e-01 3.22667940e+02] [-2.99464480e-01 -3.04601602e-03 9.54102587e-01 -1.31735026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.246875 meters Centerline goodness [0,1] 0.9918966326555821 Centerline is valid? [True, True] Translation: X:143.08, Y:322.66, Z:-13.18 [[ 8.82883842e-01 3.78166155e-01 2.78399857e-01 1.43084179e+02] [-3.61676612e-01 9.25732429e-01 -1.10496594e-01 3.22656208e+02] [-2.99509848e-01 -3.13505972e-03 9.54088058e-01 -1.31803342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters Centerline goodness [0,1] 0.9920815037742365 Centerline is valid? [True, True] Translation: X:143.11, Y:322.65, Z:-13.19 [[ 8.82401940e-01 3.79322936e-01 2.78353959e-01 1.43113743e+02] [-3.62869094e-01 9.25257927e-01 -1.10561247e-01 3.22645024e+02] [-2.99487623e-01 -3.44658998e-03 9.54093960e-01 -1.31880998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.306875 meters Centerline goodness [0,1] 0.9915497133820913 Centerline is valid? [True, True] Translation: X:143.14, Y:322.63, Z:-13.20 [[ 8.81893370e-01 3.80543197e-01 2.78300125e-01 1.43142353e+02] [-3.64130846e-01 9.24755399e-01 -1.10617262e-01 3.22634722e+02] [-2.99454190e-01 -3.78502972e-03 9.54103171e-01 -1.31968988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters Centerline goodness [0,1] 0.9903924522709872 Centerline is valid? [True, True] Translation: X:143.17, Y:322.63, Z:-13.21 [[ 8.81462806e-01 3.81894719e-01 2.77812427e-01 1.43170106e+02] [-3.65581881e-01 9.24196474e-01 -1.10502335e-01 3.22625920e+02] [-2.98953524e-01 -4.15949140e-03 9.54258607e-01 -1.32067934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.366875 meters Centerline goodness [0,1] 0.9909169443416018 Centerline is valid? [True, True] Translation: X:143.20, Y:322.62, Z:-13.22 [[ 8.80987566e-01 3.84029570e-01 2.76373293e-01 1.43198748e+02] [-3.67969054e-01 9.23308387e-01 -1.10001809e-01 3.22616752e+02] [-2.97421727e-01 -4.78659337e-03 9.54734206e-01 -1.32172916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters Centerline goodness [0,1] 0.9900461876651765 Centerline is valid? [True, True] Translation: X:143.23, Y:322.61, Z:-13.23 [[ 8.80745600e-01 3.85029814e-01 2.75752117e-01 1.43226650e+02] [-3.69066343e-01 9.22890397e-01 -1.09833283e-01 3.22607540e+02] [-2.96778069e-01 -5.03564479e-03 9.54933202e-01 -1.32276878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.426875 meters Centerline goodness [0,1] 0.9909901014539261 Centerline is valid? [True, True] Translation: X:143.26, Y:322.60, Z:-13.24 [[ 8.80570397e-01 3.85184609e-01 2.76095259e-01 1.43255596e+02] [-3.69165564e-01 9.22825858e-01 -1.10041913e-01 3.22597085e+02] [-2.97174296e-01 -5.02521061e-03 9.54810026e-01 -1.32378928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters Centerline goodness [0,1] 0.9900634561463919 Centerline is valid? [True, True] Translation: X:143.28, Y:322.59, Z:-13.25 [[ 8.80597989e-01 3.84698347e-01 2.76684593e-01 1.43283172e+02] [-3.68557570e-01 9.23029950e-01 -1.10367698e-01 3.22589560e+02] [-2.97846437e-01 -4.78462859e-03 9.54601806e-01 -1.32510164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.486875 meters Centerline goodness [0,1] 0.9906434184675835 Centerline is valid? [True, True] Translation: X:143.31, Y:322.58, Z:-13.26 [[ 8.80667968e-01 3.84213752e-01 2.77134846e-01 1.43311519e+02] [-3.67973055e-01 9.23232914e-01 -1.10620151e-01 3.22576997e+02] [-2.98361794e-01 -4.55853183e-03 9.54441962e-01 -1.32608528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters Centerline goodness [0,1] 0.9906743889270639 Centerline is valid? [True, True] Translation: X:143.34, Y:322.56, Z:-13.27 [[ 8.80689746e-01 3.83931641e-01 2.77456423e-01 1.43339268e+02] [-3.67613807e-01 9.23351076e-01 -1.10828154e-01 3.22564232e+02] [-2.98740121e-01 -4.39159340e-03 9.54324397e-01 -1.32693013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.546875 meters Centerline goodness [0,1] 0.9914094026192657 Centerline is valid? [True, True] Translation: X:143.37, Y:322.55, Z:-13.27 [[ 8.81048505e-01 3.82992267e-01 2.77615662e-01 1.43366553e+02] [-3.66584800e-01 9.23742895e-01 -1.10971390e-01 3.22549228e+02] [-2.98946680e-01 -3.99850432e-03 9.54261439e-01 -1.32739416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters Centerline goodness [0,1] 0.9916627611553736 Centerline is valid? [True, True] Translation: X:143.40, Y:322.54, Z:-13.28 [[ 8.81075535e-01 3.83297535e-01 2.77108102e-01 1.43395454e+02] [-3.66943306e-01 9.23616160e-01 -1.10841321e-01 3.22535377e+02] [-2.98426726e-01 -4.02338642e-03 9.54424068e-01 -1.32828919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6068750000001 meters Centerline goodness [0,1] 0.9919681692368525 Centerline is valid? [True, True] Translation: X:143.42, Y:322.52, Z:-13.29 [[ 8.81503647e-01 3.83532514e-01 2.75416289e-01 1.43423313e+02] [-3.67365111e-01 9.23518760e-01 -1.10254141e-01 3.22524815e+02] [-2.96638157e-01 -3.98890821e-03 9.54981619e-01 -1.32936165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters Centerline goodness [0,1] 0.9906114825009831 Centerline is valid? [True, True] Translation: X:143.45, Y:322.52, Z:-13.31 [[ 8.81305414e-01 3.85457190e-01 2.73356035e-01 1.43451158e+02] [-3.69602424e-01 9.22714630e-01 -1.09506897e-01 3.22519633e+02] [-2.94439833e-01 -4.52403228e-03 9.55659311e-01 -1.33091925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.666875 meters Centerline goodness [0,1] 0.9908918125046281 Centerline is valid? [True, True] Translation: X:143.48, Y:322.51, Z:-13.32 [[ 8.80788966e-01 3.87023073e-01 2.72807510e-01 1.43478958e+02] [-3.71284605e-01 9.22056649e-01 -1.09358480e-01 3.22508437e+02] [-2.93868234e-01 -4.96748660e-03 9.55833032e-01 -1.33191400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters Centerline goodness [0,1] 0.9905850540806294 Centerline is valid? [True, True] Translation: X:143.51, Y:322.50, Z:-13.33 [[ 8.80242107e-01 3.88069386e-01 2.73086039e-01 1.43506931e+02] [-3.72325132e-01 9.21615188e-01 -1.09541966e-01 3.22498666e+02] [-2.94190125e-01 -5.25334446e-03 9.55732480e-01 -1.33293394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7268750000001 meters Centerline goodness [0,1] 0.9906194603112074 Centerline is valid? [True, True] Translation: X:143.54, Y:322.49, Z:-13.34 [[ 8.79874483e-01 3.89521592e-01 2.72201806e-01 1.43535199e+02] [-3.73927111e-01 9.21000007e-01 -1.09258880e-01 3.22487333e+02] [-2.93256558e-01 -5.64953483e-03 9.56017089e-01 -1.33400060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters Centerline goodness [0,1] 0.9897878638381845 Centerline is valid? [True, True] Translation: X:143.56, Y:322.47, Z:-13.35 [[ 8.80205403e-01 3.89407895e-01 2.71293089e-01 1.43563577e+02] [-3.73902491e-01 9.21048664e-01 -1.08932481e-01 3.22474623e+02] [-2.92293306e-01 -5.55420313e-03 9.56312592e-01 -1.33497835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.786875 meters Centerline goodness [0,1] 0.9902907836372598 Centerline is valid? [True, True] Translation: X:143.59, Y:322.46, Z:-13.36 [[ 8.80177856e-01 3.88887286e-01 2.72127949e-01 1.43591061e+02] [-3.73232101e-01 9.21270028e-01 -1.09358742e-01 3.22463508e+02] [-2.93231548e-01 -5.31174342e-03 9.56026697e-01 -1.33589003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters Centerline goodness [0,1] 0.9904184832138723 Centerline is valid? [True, True] Translation: X:143.62, Y:322.45, Z:-13.37 [[ 8.80131533e-01 3.86974876e-01 2.74988963e-01 1.43618804e+02] [-3.70876640e-01 9.22078354e-01 -1.10553277e-01 3.22450927e+02] [-2.96342711e-01 -4.68555812e-03 9.55070177e-01 -1.33651739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.846875 meters Centerline goodness [0,1] 0.9903122694861077 Centerline is valid? [True, True] Translation: X:143.65, Y:322.44, Z:-13.37 [[ 8.80424257e-01 3.85982216e-01 2.75446651e-01 1.43647065e+02] [-3.69768036e-01 9.22496122e-01 -1.10781339e-01 3.22437520e+02] [-2.96858094e-01 -4.31678893e-03 9.54911848e-01 -1.33745541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters Centerline goodness [0,1] 0.9913636139953742 Centerline is valid? [True, True] Translation: X:143.67, Y:322.42, Z:-13.38 [[ 8.80774008e-01 3.85122665e-01 2.75531631e-01 1.43674738e+02] [-3.68849330e-01 9.22856707e-01 -1.10840746e-01 3.22422032e+02] [-2.96963497e-01 -4.00400963e-03 9.54880437e-01 -1.33823150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.906875 meters Centerline goodness [0,1] 0.991236060165924 Centerline is valid? [True, True] Translation: X:143.70, Y:322.41, Z:-13.39 [[ 8.81216007e-01 3.84246399e-01 2.75341703e-01 1.43702120e+02] [-3.67929340e-01 9.23223450e-01 -1.10844315e-01 3.22411297e+02] [-2.96793446e-01 -3.62850612e-03 9.54934806e-01 -1.33923019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters Centerline goodness [0,1] 0.991299619358347 Centerline is valid? [True, True] Translation: X:143.73, Y:322.40, Z:-13.40 [[ 8.81427824e-01 3.84660046e-01 2.74083273e-01 1.43729989e+02] [-3.68501299e-01 9.23050867e-01 -1.10380655e-01 3.22397424e+02] [-2.95451831e-01 -3.70746165e-03 9.55350444e-01 -1.34019392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.966875 meters Centerline goodness [0,1] 0.991552972467123 Centerline is valid? [True, True] Translation: X:143.76, Y:322.39, Z:-13.41 [[ 8.81357222e-01 3.85318675e-01 2.73384282e-01 1.43757077e+02] [-3.69250939e-01 9.22775573e-01 -1.10177069e-01 3.22387801e+02] [-2.94725620e-01 -3.84204755e-03 9.55574198e-01 -1.34126628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters Centerline goodness [0,1] 0.9922963689892051 Centerline is valid? [True, True] Translation: X:143.79, Y:322.38, Z:-13.42 [[ 8.81125481e-01 3.86221275e-01 2.72857129e-01 1.43785716e+02] [-3.70237055e-01 9.22397199e-01 -1.10036043e-01 3.22377426e+02] [-2.94180913e-01 -4.06625857e-03 9.55741103e-01 -1.34233447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.026875 meters Centerline goodness [0,1] 0.9919087085905413 Centerline is valid? [True, True] Translation: X:143.81, Y:322.37, Z:-13.43 [[ 8.80748392e-01 3.87605680e-01 2.72110469e-01 1.43814318e+02] [-3.71751585e-01 9.21814577e-01 -1.09811858e-01 3.22367100e+02] [-2.93399097e-01 -4.44088072e-03 9.55979732e-01 -1.34341000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters Centerline goodness [0,1] 0.9915937469275391 Centerline is valid? [True, True] Translation: X:143.84, Y:322.36, Z:-13.44 [[ 8.80582397e-01 3.87896371e-01 2.72233441e-01 1.43842924e+02] [-3.72016794e-01 9.21692185e-01 -1.09940988e-01 3.22356028e+02] [-2.93561146e-01 -4.46331348e-03 9.55929879e-01 -1.34437244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.086875 meters Centerline goodness [0,1] 0.9903230572244657 Centerline is valid? [True, True] Translation: X:143.87, Y:322.35, Z:-13.45 [[ 8.80451001e-01 3.88370547e-01 2.71982267e-01 1.43871759e+02] [-3.72526156e-01 9.21491991e-01 -1.09894377e-01 3.22345934e+02] [-2.93309220e-01 -4.56389362e-03 9.56006732e-01 -1.34542147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters Centerline goodness [0,1] 0.9905644150674497 Centerline is valid? [True, True] Translation: X:143.90, Y:322.33, Z:-13.46 [[ 8.80374560e-01 3.88732565e-01 2.71712399e-01 1.43900173e+02] [-3.72911804e-01 9.21339153e-01 -1.09867886e-01 3.22334125e+02] [-2.93048497e-01 -4.59986877e-03 9.56086513e-01 -1.34646031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.146875 meters Centerline goodness [0,1] 0.9909466640425113 Centerline is valid? [True, True] Translation: X:143.93, Y:322.32, Z:-13.47 [[ 8.80558886e-01 3.88182670e-01 2.71901200e-01 1.43928434e+02] [-3.72287227e-01 9.21572248e-01 -1.10030960e-01 3.22320871e+02] [-2.93288712e-01 -4.33660379e-03 9.56014082e-01 -1.34738645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters Centerline goodness [0,1] 0.9911645993305769 Centerline is valid? [True, True] Translation: X:143.96, Y:322.31, Z:-13.48 [[ 8.80397205e-01 3.87665749e-01 2.73159347e-01 1.43956668e+02] [-3.71571960e-01 9.21790842e-01 -1.10616102e-01 3.22308791e+02] [-2.94677858e-01 -4.11224679e-03 9.55587803e-01 -1.34821019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.206875 meters Centerline goodness [0,1] 0.9901140684410646 Centerline is valid? [True, True] Translation: X:143.99, Y:322.30, Z:-13.49 [[ 8.80099621e-01 3.87983049e-01 2.73667336e-01 1.43986122e+02] [-3.71819788e-01 9.21657145e-01 -1.10897031e-01 3.22296253e+02] [-2.95253624e-01 -4.15449594e-03 9.55409879e-01 -1.34913538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters Centerline goodness [0,1] 0.9907302401262266 Centerline is valid? [True, True] Translation: X:144.02, Y:322.29, Z:-13.50 [[ 8.79871252e-01 3.88076095e-01 2.74269072e-01 1.44015312e+02] [-3.71817270e-01 9.21618167e-01 -1.11228920e-01 3.22285254e+02] [-2.95936644e-01 -4.11084876e-03 9.55198725e-01 -1.35004769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.266875 meters Centerline goodness [0,1] 0.989750522305518 Centerline is valid? [True, True] Translation: X:144.04, Y:322.28, Z:-13.51 [[ 8.79029704e-01 3.89539632e-01 2.74892078e-01 1.44043888e+02] [-3.73251200e-01 9.20998512e-01 -1.11558433e-01 3.22276493e+02] [-2.96631625e-01 -4.54062179e-03 9.54981184e-01 -1.35087894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters Centerline goodness [0,1] 0.988653388019746 Centerline is valid? [True, True] Translation: X:144.07, Y:322.27, Z:-13.52 [[ 8.78304944e-01 3.91119445e-01 2.74965461e-01 1.44071844e+02] [-3.74875599e-01 9.20326306e-01 -1.11659195e-01 3.22267487e+02] [-2.96730029e-01 -5.00701895e-03 9.54948281e-01 -1.35177684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.326875 meters Centerline goodness [0,1] 0.9885040566708336 Centerline is valid? [True, True] Translation: X:144.10, Y:322.26, Z:-13.53 [[ 8.77650324e-01 3.92583737e-01 2.74968941e-01 1.44100453e+02] [-3.76391229e-01 9.19700147e-01 -1.11719661e-01 3.22257626e+02] [-2.96748298e-01 -5.44510113e-03 9.54940207e-01 -1.35273209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters Centerline goodness [0,1] 0.9864557055034412 Centerline is valid? [True, True] Translation: X:144.13, Y:322.25, Z:-13.54 [[ 8.76731271e-01 3.95632060e-01 2.73527974e-01 1.44129343e+02] [-3.79734174e-01 9.18387020e-01 -1.11208091e-01 3.22248222e+02] [-2.95202027e-01 -6.36830795e-03 9.55413632e-01 -1.35374111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.386875 meters Centerline goodness [0,1] 0.9870161745575927 Centerline is valid? [True, True] Translation: X:144.16, Y:322.24, Z:-13.55 [[ 8.76140789e-01 3.96934058e-01 2.73533676e-01 1.44157177e+02] [-3.81073679e-01 9.17822432e-01 -1.11287170e-01 3.22239991e+02] [-2.95229011e-01 -6.73325524e-03 9.55402792e-01 -1.35477135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters Centerline goodness [0,1] 0.9870161745575927 Centerline is valid? [True, True] Translation: X:144.19, Y:322.23, Z:-13.56 [[ 8.76039315e-01 3.97174882e-01 2.73509107e-01 1.44185728e+02] [-3.81307130e-01 9.17718150e-01 -1.11347520e-01 3.22228279e+02] [-2.95228710e-01 -6.74616724e-03 9.55402794e-01 -1.35576134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.446875 meters Centerline goodness [0,1] 0.9854483096521313 Centerline is valid? [True, True] Translation: X:144.21, Y:322.22, Z:-13.57 [[ 8.75605799e-01 3.98324532e-01 2.73225277e-01 1.44214257e+02] [-3.82518691e-01 9.17217505e-01 -1.11317112e-01 3.22218088e+02] [-2.94947344e-01 -7.04386649e-03 9.55487545e-01 -1.35684945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters Centerline goodness [0,1] 0.9854243091220347 Centerline is valid? [True, True] Translation: X:144.24, Y:322.21, Z:-13.58 [[ 8.75118550e-01 3.98374496e-01 2.74709454e-01 1.44241810e+02] [-3.82371655e-01 9.17195915e-01 -1.11998083e-01 3.22209468e+02] [-2.96579569e-01 -7.02950837e-03 9.54982275e-01 -1.35790957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.506875 meters Centerline goodness [0,1] 0.9854510660222282 Centerline is valid? [True, True] Translation: X:144.27, Y:322.20, Z:-13.59 [[ 8.74869849e-01 3.98381945e-01 2.75489698e-01 1.44269504e+02] [-3.82264584e-01 9.17193011e-01 -1.12386692e-01 3.22196293e+02] [-2.97450055e-01 -6.98622660e-03 9.54711819e-01 -1.35875129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters Centerline goodness [0,1] 0.9846311475409836 Centerline is valid? [True, True] Translation: X:144.30, Y:322.19, Z:-13.60 [[ 8.74937363e-01 3.97731449e-01 2.76214236e-01 1.44297771e+02] [-3.81471128e-01 9.17477350e-01 -1.12761216e-01 3.22185461e+02] [-2.98268987e-01 -6.70875469e-03 9.54458278e-01 -1.35960357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.566875 meters Centerline goodness [0,1] 0.9861565506128229 Centerline is valid? [True, True] Translation: X:144.33, Y:322.17, Z:-13.60 [[ 8.74971800e-01 3.97511587e-01 2.76421575e-01 1.44325212e+02] [-3.81201999e-01 9.17573437e-01 -1.12889430e-01 3.22169892e+02] [-2.98511951e-01 -6.59738868e-03 9.54383094e-01 -1.36040804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters Centerline goodness [0,1] 0.9866493238766044 Centerline is valid? [True, True] Translation: X:144.35, Y:322.15, Z:-13.61 [[ 8.75680487e-01 3.97111849e-01 2.74746911e-01 1.44353391e+02] [-3.80960159e-01 9.17748297e-01 -1.12282773e-01 3.22154481e+02] [-2.96737329e-01 -6.34379366e-03 9.54938068e-01 -1.36126756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.626875 meters Centerline goodness [0,1] 0.9867717076522848 Centerline is valid? [True, True] Translation: X:144.38, Y:322.14, Z:-13.62 [[ 8.76177462e-01 3.97103854e-01 2.73169515e-01 1.44381822e+02] [-3.81112689e-01 9.17752640e-01 -1.11728287e-01 3.22144208e+02] [-2.95069777e-01 -6.21456100e-03 9.55455496e-01 -1.36241756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters Centerline goodness [0,1] 0.9874399704469893 Centerline is valid? [True, True] Translation: X:144.41, Y:322.13, Z:-13.63 [[ 8.76400001e-01 3.97476969e-01 2.71910089e-01 1.44409244e+02] [-3.81627648e-01 9.17591018e-01 -1.11297178e-01 3.22131024e+02] [-2.93740321e-01 -6.22756089e-03 9.55864970e-01 -1.36345025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.686875 meters Centerline goodness [0,1] 0.9870999507631708 Centerline is valid? [True, True] Translation: X:144.44, Y:322.12, Z:-13.65 [[ 8.77000619e-01 3.96960936e-01 2.70724823e-01 1.44437690e+02] [-3.81204562e-01 9.17816211e-01 -1.10889518e-01 3.22118809e+02] [-2.92494438e-01 -5.95136146e-03 9.56248705e-01 -1.36463071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters Centerline goodness [0,1] 0.9889963485640975 Centerline is valid? [True, True] Translation: X:144.46, Y:322.10, Z:-13.66 [[ 8.77997672e-01 3.94699200e-01 2.70799981e-01 1.44463982e+02] [-3.78801128e-01 9.18796171e-01 -1.11010368e-01 3.22104211e+02] [-2.92625689e-01 -5.11249344e-03 9.56213401e-01 -1.36574465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.746875 meters Centerline goodness [0,1] 0.9886954165948328 Centerline is valid? [True, True] Translation: X:144.49, Y:322.09, Z:-13.67 [[ 8.78194206e-01 3.93628931e-01 2.71718975e-01 1.44492274e+02] [-3.77546493e-01 9.19257411e-01 -1.11465052e-01 3.22090937e+02] [-2.93655551e-01 -4.69858379e-03 9.55899754e-01 -1.36664496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters Centerline goodness [0,1] 0.9891437834651471 Centerline is valid? [True, True] Translation: X:144.52, Y:322.08, Z:-13.68 [[ 8.77975749e-01 3.93033540e-01 2.73282308e-01 1.44521273e+02] [-3.76708671e-01 9.19513363e-01 -1.12186241e-01 3.22079056e+02] [-2.95379689e-01 -4.45101592e-03 9.55369576e-01 -1.36754092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.806875 meters Centerline goodness [0,1] 0.9891834882637168 Centerline is valid? [True, True] Translation: X:144.55, Y:322.07, Z:-13.68 [[ 8.77518057e-01 3.93553171e-01 2.74003579e-01 1.44549895e+02] [-3.77152076e-01 9.19290349e-01 -1.12523624e-01 3.22068709e+02] [-2.96172874e-01 -4.59950664e-03 9.55123276e-01 -1.36845528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters Centerline goodness [0,1] 0.9889202108101482 Centerline is valid? [True, True] Translation: X:144.58, Y:322.06, Z:-13.69 [[ 8.77126241e-01 3.94207035e-01 2.74318012e-01 1.44579556e+02] [-3.77772756e-01 9.19009407e-01 -1.12736220e-01 3.22056397e+02] [-2.96542244e-01 -4.74597419e-03 9.55007944e-01 -1.36937098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.866875 meters Centerline goodness [0,1] 0.9893103194645353 Centerline is valid? [True, True] Translation: X:144.61, Y:322.05, Z:-13.70 [[ 8.76777067e-01 3.94485877e-01 2.75032484e-01 1.44608119e+02] [-3.77949436e-01 9.18889636e-01 -1.13119678e-01 3.22045137e+02] [-2.97348614e-01 -4.76763227e-03 9.54757074e-01 -1.37022690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters Centerline goodness [0,1] 0.9886305036465879 Centerline is valid? [True, True] Translation: X:144.64, Y:322.03, Z:-13.71 [[ 8.76506017e-01 3.94566872e-01 2.75779233e-01 1.44635933e+02] [-3.77916301e-01 9.18855060e-01 -1.13510560e-01 3.22030855e+02] [-2.98188650e-01 -4.72877839e-03 9.54495242e-01 -1.37094216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.926875 meters Centerline goodness [0,1] 0.9900553846153846 Centerline is valid? [True, True] Translation: X:144.66, Y:322.02, Z:-13.72 [[ 8.76837706e-01 3.93653948e-01 2.76029357e-01 1.44662462e+02] [-3.76903554e-01 9.19248431e-01 -1.13692714e-01 3.22016765e+02] [-2.98495139e-01 -4.34638723e-03 9.54401258e-01 -1.37175238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters Centerline goodness [0,1] 0.989370884608745 Centerline is valid? [True, True] Translation: X:144.69, Y:322.00, Z:-13.73 [[ 8.77110922e-01 3.93632711e-01 2.75190335e-01 1.44690490e+02] [-3.76971729e-01 9.19257823e-01 -1.13390349e-01 3.22004219e+02] [-2.97605018e-01 -4.28306315e-03 9.54679479e-01 -1.37286082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.986875 meters Centerline goodness [0,1] 0.9899490059862538 Centerline is valid? [True, True] Translation: X:144.72, Y:321.99, Z:-13.74 [[ 8.77470208e-01 3.93714740e-01 2.73924693e-01 1.44718975e+02] [-3.77186632e-01 9.19223055e-01 -1.12956716e-01 3.21991959e+02] [-2.96270617e-01 -4.20457956e-03 9.55094782e-01 -1.37402772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters Centerline goodness [0,1] 0.9914622711345803 Centerline is valid? [True, True] Translation: X:144.75, Y:321.98, Z:-13.75 [[ 8.77842989e-01 3.93897845e-01 2.72463162e-01 1.44747164e+02] [-3.77530478e-01 9.19144831e-01 -1.12443399e-01 3.21982875e+02] [-2.94724320e-01 -4.15549806e-03 9.55573287e-01 -1.37535275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.046875 meters Centerline goodness [0,1] 0.9895887047268263 Centerline is valid? [True, True] Translation: X:144.78, Y:321.97, Z:-13.76 [[ 8.77542710e-01 3.94520942e-01 2.72528931e-01 1.44776133e+02] [-3.78150982e-01 9.18876928e-01 -1.12547882e-01 3.21972147e+02] [-2.94823044e-01 -4.29150926e-03 9.55542231e-01 -1.37640191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters Centerline goodness [0,1] 0.9908306497209862 Centerline is valid? [True, True] Translation: X:144.81, Y:321.96, Z:-13.77 [[ 8.77111881e-01 3.95207560e-01 2.72920743e-01 1.44805807e+02] [-3.78794492e-01 9.18581099e-01 -1.12798483e-01 3.21961182e+02] [-2.95278649e-01 -4.44398428e-03 9.55400843e-01 -1.37743641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1068750000001 meters Centerline goodness [0,1] 0.9883427000760793 Centerline is valid? [True, True] Translation: X:144.83, Y:321.95, Z:-13.78 [[ 8.76527388e-01 3.96695877e-01 2.72639173e-01 1.44833954e+02] [-3.80360185e-01 9.17937263e-01 -1.12771057e-01 3.21953066e+02] [-2.95001469e-01 -4.85416613e-03 9.55484469e-01 -1.37841321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters Centerline goodness [0,1] 0.9888275015346839 Centerline is valid? [True, True] Translation: X:144.86, Y:321.94, Z:-13.79 [[ 8.76670652e-01 3.97337308e-01 2.71240909e-01 1.44861470e+02] [-3.81180481e-01 9.17659156e-01 -1.12263590e-01 3.21942155e+02] [-2.93513217e-01 -4.97354553e-03 9.55942078e-01 -1.37945591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.166875 meters Centerline goodness [0,1] 0.9896575443423574 Centerline is valid? [True, True] Translation: X:144.89, Y:321.93, Z:-13.81 [[ 8.77288511e-01 3.97385041e-01 2.69165373e-01 1.44889014e+02] [-3.81461424e-01 9.17638971e-01 -1.11471528e-01 3.21928732e+02] [-2.91293753e-01 -4.88351595e-03 9.56621190e-01 -1.38051603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters Centerline goodness [0,1] 0.9912174961253659 Centerline is valid? [True, True] Translation: X:144.91, Y:321.92, Z:-13.82 [[ 8.78584267e-01 3.96371375e-01 2.66419628e-01 1.44914306e+02] [-3.80709697e-01 9.18079597e-01 -1.10408239e-01 3.21916070e+02] [-2.88357090e-01 -4.42559432e-03 9.57512717e-01 -1.38173495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2268750000001 meters Centerline goodness [0,1] 0.9906993955840632 Centerline is valid? [True, True] Translation: X:144.94, Y:321.90, Z:-13.83 [[ 8.78818481e-01 3.95853197e-01 2.66417575e-01 1.44940952e+02] [-3.80158205e-01 9.18304097e-01 -1.10441500e-01 3.21904012e+02] [-2.88370972e-01 -4.22279537e-03 9.57509452e-01 -1.38265977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters Centerline goodness [0,1] 0.9917013469920462 Centerline is valid? [True, True] Translation: X:144.97, Y:321.89, Z:-13.83 [[ 8.78689616e-01 3.95036605e-01 2.68049695e-01 1.44969402e+02] [-3.79087414e-01 9.18657027e-01 -1.11184530e-01 3.21891279e+02] [-2.90167695e-01 -3.91757409e-03 9.56967795e-01 -1.38339758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.286875 meters Centerline goodness [0,1] 0.9911238226737018 Centerline is valid? [True, True] Translation: X:145.00, Y:321.88, Z:-13.84 [[ 8.78180396e-01 3.94752616e-01 2.70128790e-01 1.44997770e+02] [-3.78514167e-01 9.18779648e-01 -1.12120401e-01 3.21878199e+02] [-2.92448656e-01 -3.78563616e-03 9.56273733e-01 -1.38406478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters Centerline goodness [0,1] 0.9919709283767525 Centerline is valid? [True, True] Translation: X:145.03, Y:321.86, Z:-13.85 [[ 8.78005292e-01 3.92867488e-01 2.73426121e-01 1.45027281e+02] [-3.76107837e-01 9.19589784e-01 -1.13567264e-01 3.21864552e+02] [-2.96056754e-01 -3.12504849e-03 9.55165238e-01 -1.38456588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.346875 meters Centerline goodness [0,1] 0.9923433703894574 Centerline is valid? [True, True] Translation: X:145.05, Y:321.85, Z:-13.85 [[ 8.78234530e-01 3.91537811e-01 2.74594707e-01 1.45054811e+02] [-3.74554596e-01 9.20158209e-01 -1.14095248e-01 3.21853662e+02] [-2.97343178e-01 -2.64832314e-03 9.54766998e-01 -1.38547969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters Centerline goodness [0,1] 0.9921980421501999 Centerline is valid? [True, True] Translation: X:145.08, Y:321.84, Z:-13.86 [[ 8.78597616e-01 3.90421476e-01 2.75022364e-01 1.45082503e+02] [-3.73307853e-01 9.20633594e-01 -1.14346109e-01 3.21840215e+02] [-2.97838004e-01 -2.20378916e-03 9.54613884e-01 -1.38624938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.406875 meters Centerline goodness [0,1] 0.9933898513330875 Centerline is valid? [True, True] Translation: X:145.11, Y:321.83, Z:-13.87 [[ 8.79616176e-01 3.88377161e-01 2.74660814e-01 1.45109661e+02] [-3.71187282e-01 9.21499392e-01 -1.14275423e-01 3.21827884e+02] [-2.97481738e-01 -1.43209085e-03 9.54726435e-01 -1.38710111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters Centerline goodness [0,1] 0.9935357011183483 Centerline is valid? [True, True] Translation: X:145.14, Y:321.81, Z:-13.88 [[ 8.80148529e-01 3.87316526e-01 2.74453048e-01 1.45138632e+02] [-3.70080131e-01 9.21946259e-01 -1.14261945e-01 3.21814464e+02] [-2.97286500e-01 -1.00213695e-03 9.54787794e-01 -1.38804061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.466875 meters Centerline goodness [0,1] 0.9938163632332291 Centerline is valid? [True, True] Translation: X:145.17, Y:321.80, Z:-13.89 [[ 8.80481789e-01 3.86665393e-01 2.74302194e-01 1.45167609e+02] [-3.69389628e-01 9.22219817e-01 -1.14288723e-01 3.21801698e+02] [-2.97158413e-01 -6.95246448e-04 9.54827940e-01 -1.38900131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters Centerline goodness [0,1] 0.9935010790661173 Centerline is valid? [True, True] Translation: X:145.20, Y:321.79, Z:-13.90 [[ 8.80760683e-01 3.85895487e-01 2.74490968e-01 1.45195949e+02] [-3.68530501e-01 9.22542439e-01 -1.14458369e-01 3.21789961e+02] [-2.97398535e-01 -3.47862874e-04 9.54753366e-01 -1.39001562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.526875 meters Centerline goodness [0,1] 0.994178477561347 Centerline is valid? [True, True] Translation: X:145.22, Y:321.78, Z:-13.91 [[ 8.81200636e-01 3.84956356e-01 2.74397598e-01 1.45223925e+02] [-3.67532692e-01 9.22934776e-01 -1.14503796e-01 3.21778905e+02] [-2.97330050e-01 5.07296837e-05 9.54774758e-01 -1.39111601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters Centerline goodness [0,1] 0.9936691843269536 Centerline is valid? [True, True] Translation: X:145.25, Y:321.77, Z:-13.92 [[ 8.82500622e-01 3.82935388e-01 2.73044212e-01 1.45252584e+02] [-3.65566932e-01 9.23774775e-01 -1.14021854e-01 3.21769715e+02] [-2.95894358e-01 8.08422706e-04 9.55220328e-01 -1.39237707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.586875 meters Centerline goodness [0,1] 0.9944065850858552 Centerline is valid? [True, True] Translation: X:145.28, Y:321.76, Z:-13.94 [[ 8.82868334e-01 3.82369299e-01 2.72648536e-01 1.45281454e+02] [-3.65002728e-01 9.24008969e-01 -1.13931703e-01 3.21758986e+02] [-2.95493678e-01 1.06923352e-03 9.55344097e-01 -1.39354363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters Centerline goodness [0,1] 0.9931320681454158 Centerline is valid? [True, True] Translation: X:145.31, Y:321.75, Z:-13.94 [[ 8.83157594e-01 3.81968918e-01 2.72272674e-01 1.45311143e+02] [-3.64606297e-01 9.24174278e-01 -1.13860228e-01 3.21747962e+02] [-2.95118470e-01 1.28419339e-03 9.55459805e-01 -1.39448568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.646875 meters Centerline goodness [0,1] 0.9940025252525253 Centerline is valid? [True, True] Translation: X:145.34, Y:321.74, Z:-13.95 [[ 8.82767072e-01 3.82047482e-01 2.73426440e-01 1.45339090e+02] [-3.64509323e-01 9.24141707e-01 -1.14433646e-01 3.21737177e+02] [-2.96403863e-01 1.35176840e-03 9.55061738e-01 -1.39523387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters Centerline goodness [0,1] 0.9931828071362955 Centerline is valid? [True, True] Translation: X:145.37, Y:321.73, Z:-13.96 [[ 8.82626344e-01 3.82671859e-01 2.73007299e-01 1.45368829e+02] [-3.65195644e-01 9.23883534e-01 -1.14330033e-01 3.21726478e+02] [-2.95977834e-01 1.20962234e-03 9.55194042e-01 -1.39609316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.706875 meters Centerline goodness [0,1] 0.9928412498790752 Centerline is valid? [True, True] Translation: X:145.40, Y:321.72, Z:-13.97 [[ 8.82514373e-01 3.83210833e-01 2.72612984e-01 1.45396976e+02] [-3.65783197e-01 9.23660226e-01 -1.14256026e-01 3.21716427e+02] [-2.95585917e-01 1.11533596e-03 9.55315509e-01 -1.39716768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters Centerline goodness [0,1] 0.9931797368294211 Centerline is valid? [True, True] Translation: X:145.43, Y:321.71, Z:-13.98 [[ 8.82174552e-01 3.83660250e-01 2.73080341e-01 1.45426935e+02] [-3.66175205e-01 9.23473753e-01 -1.14507414e-01 3.21706940e+02] [-2.96114470e-01 1.02027659e-03 9.55151914e-01 -1.39822142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.766875 meters Centerline goodness [0,1] 0.9927503180737931 Centerline is valid? [True, True] Translation: X:145.46, Y:321.70, Z:-13.99 [[ 8.81774293e-01 3.84221848e-01 2.73583018e-01 1.45456171e+02] [-3.66670661e-01 9.23240344e-01 -1.14803718e-01 3.21698741e+02] [-2.96692976e-01 9.16100840e-04 9.54972481e-01 -1.39919404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters Centerline goodness [0,1] 0.9925296053421729 Centerline is valid? [True, True] Translation: X:145.49, Y:321.69, Z:-14.00 [[ 8.81411253e-01 3.85106588e-01 2.73508899e-01 1.45485519e+02] [-3.67582181e-01 9.22871840e-01 -1.14851672e-01 3.21687297e+02] [-2.96643797e-01 6.94558661e-04 9.54987945e-01 -1.40008172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.826875 meters Centerline goodness [0,1] 0.9922969859857939 Centerline is valid? [True, True] Translation: X:145.51, Y:321.68, Z:-14.01 [[ 8.81073798e-01 3.85828458e-01 2.73578805e-01 1.45514666e+02] [-3.68301255e-01 9.22570383e-01 -1.14969883e-01 3.21675464e+02] [-2.96754356e-01 5.37534032e-04 9.54953697e-01 -1.40094862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters Centerline goodness [0,1] 0.9911819528748268 Centerline is valid? [True, True] Translation: X:145.54, Y:321.67, Z:-14.02 [[ 8.79837820e-01 3.86988272e-01 2.75908478e-01 1.45544031e+02] [-3.69180965e-01 9.22084606e-01 -1.16040483e-01 3.21666731e+02] [-2.99317266e-01 2.36646985e-04 9.54153613e-01 -1.40175478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.886875 meters Centerline goodness [0,1] 0.9907620698662993 Centerline is valid? [True, True] Translation: X:145.57, Y:321.66, Z:-14.03 [[ 8.79236154e-01 3.87949596e-01 2.76475851e-01 1.45572983e+02] [-3.70099687e-01 9.21680589e-01 -1.16323313e-01 3.21658007e+02] [-2.99950008e-01 -4.79635819e-05 9.53954921e-01 -1.40272918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters Centerline goodness [0,1] 0.9908335312277369 Centerline is valid? [True, True] Translation: X:145.60, Y:321.65, Z:-14.04 [[ 8.78411435e-01 3.89694827e-01 2.76642898e-01 1.45603101e+02] [-3.71881191e-01 9.20943877e-01 -1.16476417e-01 3.21648739e+02] [-3.00162840e-01 -5.64073985e-04 9.53887809e-01 -1.40374736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.946875 meters Centerline goodness [0,1] 0.990614679117067 Centerline is valid? [True, True] Translation: X:145.63, Y:321.64, Z:-14.05 [[ 8.77839300e-01 3.91294318e-01 2.76200867e-01 1.45631897e+02] [-3.73588178e-01 9.20265022e-01 -1.16379394e-01 3.21639389e+02] [-2.99716593e-01 -1.02297270e-03 9.54027734e-01 -1.40471617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters Centerline goodness [0,1] 0.988586853570752 Centerline is valid? [True, True] Translation: X:145.66, Y:321.63, Z:-14.06 [[ 8.76589957e-01 3.95324493e-01 2.74424111e-01 1.45661010e+02] [-3.78017591e-01 9.18538641e-01 -1.15712859e-01 3.21631224e+02] [-2.97813277e-01 -2.30441081e-03 9.54621360e-01 -1.40577345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.006875 meters Centerline goodness [0,1] 0.9881377733314277 Centerline is valid? [True, True] Translation: X:145.69, Y:321.62, Z:-14.07 [[ 8.76140172e-01 3.96815392e-01 2.73707772e-01 1.45689618e+02] [-3.79648073e-01 9.17894380e-01 -1.15487003e-01 3.21621109e+02] [-2.97061846e-01 -2.72982574e-03 9.54854339e-01 -1.40673478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters Centerline goodness [0,1] 0.9875343634467723 Centerline is valid? [True, True] Translation: X:145.72, Y:321.61, Z:-14.08 [[ 8.75501071e-01 3.98090692e-01 2.73900849e-01 1.45718918e+02] [-3.80935921e-01 9.17340853e-01 -1.15644213e-01 3.21610683e+02] [-2.97297323e-01 -3.09204018e-03 9.54779944e-01 -1.40768236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.066875 meters Centerline goodness [0,1] 0.9863039621525724 Centerline is valid? [True, True] Translation: X:145.75, Y:321.60, Z:-14.09 [[ 8.74933870e-01 3.98923501e-01 2.74500933e-01 1.45747907e+02] [-3.81704503e-01 9.16978275e-01 -1.15984982e-01 3.21601589e+02] [-2.97980527e-01 -3.29905287e-03 9.54566248e-01 -1.40867800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters Centerline goodness [0,1] 0.9866786126895056 Centerline is valid? [True, True] Translation: X:145.78, Y:321.59, Z:-14.10 [[ 8.74265235e-01 4.00422393e-01 2.74448913e-01 1.45777052e+02] [-3.83256772e-01 9.16323080e-01 -1.16044214e-01 3.21593663e+02] [-2.97950575e-01 -3.73098271e-03 9.54574007e-01 -1.40977954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.126875 meters Centerline goodness [0,1] 0.9870815652993871 Centerline is valid? [True, True] Translation: X:145.81, Y:321.58, Z:-14.11 [[ 8.74055201e-01 4.00895092e-01 2.74427825e-01 1.45806467e+02] [-3.83731575e-01 9.16116004e-01 -1.16110059e-01 3.21582261e+02] [-2.97955675e-01 -3.82002059e-03 9.54572063e-01 -1.41085574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters Centerline goodness [0,1] 0.9874114685051413 Centerline is valid? [True, True] Translation: X:145.84, Y:321.57, Z:-14.12 [[ 8.73614178e-01 4.01470594e-01 2.74990236e-01 1.45835674e+02] [-3.84235986e-01 9.15863427e-01 -1.16434057e-01 3.21570039e+02] [-2.98598350e-01 -3.94270156e-03 9.54370725e-01 -1.41171076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.186875 meters Centerline goodness [0,1] 0.9856903350728471 Centerline is valid? [True, True] Translation: X:145.86, Y:321.56, Z:-14.12 [[ 8.72783005e-01 4.03215231e-01 2.75076906e-01 1.45863671e+02] [-3.86027103e-01 9.15094312e-01 -1.16556745e-01 3.21558322e+02] [-2.98718767e-01 -4.45839469e-03 9.54330771e-01 -1.41245111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters Centerline goodness [0,1] 0.986444212721585 Centerline is valid? [True, True] Translation: X:145.89, Y:321.54, Z:-14.13 [[ 8.72439417e-01 4.03810874e-01 2.75293010e-01 1.45892328e+02] [-3.86602545e-01 9.14830921e-01 -1.16717002e-01 3.21544183e+02] [-2.98978153e-01 -4.60046492e-03 9.54248867e-01 -1.41336570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.246875 meters Centerline goodness [0,1] 0.986574968203872 Centerline is valid? [True, True] Translation: X:145.92, Y:321.53, Z:-14.14 [[ 8.72555702e-01 4.03534787e-01 2.75329299e-01 1.45920029e+02] [-3.86279547e-01 9.14953635e-01 -1.16824469e-01 3.21533715e+02] [-2.99056280e-01 -4.41822012e-03 9.54225246e-01 -1.41438876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters Centerline goodness [0,1] 0.9876479307343011 Centerline is valid? [True, True] Translation: X:145.95, Y:321.52, Z:-14.16 [[ 8.73759224e-01 4.01122445e-01 2.75037456e-01 1.45947269e+02] [-3.83764734e-01 9.16017693e-01 -1.16774208e-01 3.21521194e+02] [-2.98779932e-01 -3.51713434e-03 9.54315557e-01 -1.41554657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.306875 meters Centerline goodness [0,1] 0.9876479307343011 Centerline is valid? [True, True] Translation: X:145.98, Y:321.51, Z:-14.17 [[ 8.73648665e-01 4.01383357e-01 2.75008021e-01 1.45975643e+02] [-3.84016459e-01 9.15903356e-01 -1.16843489e-01 3.21509084e+02] [-2.98779801e-01 -3.52744832e-03 9.54315560e-01 -1.41653650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters Centerline goodness [0,1] 0.9897647776890934 Centerline is valid? [True, True] Translation: X:146.00, Y:321.50, Z:-14.18 [[ 8.74581754e-01 3.99634622e-01 2.74588646e-01 1.46002281e+02] [-3.82208333e-01 9.16670133e-01 -1.16758970e-01 3.21495975e+02] [-2.98368138e-01 -2.83480383e-03 9.54446656e-01 -1.41756265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.366875 meters Centerline goodness [0,1] 0.9893169918527388 Centerline is valid? [True, True] Translation: X:146.03, Y:321.48, Z:-14.18 [[ 8.75247982e-01 3.97864791e-01 2.75035593e-01 1.46028521e+02] [-3.80271380e-01 9.17441514e-01 -1.17024554e-01 3.21481642e+02] [-2.98889021e-01 -2.16265938e-03 9.54285427e-01 -1.41844027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters Centerline goodness [0,1] 0.9897577821932065 Centerline is valid? [True, True] Translation: X:146.06, Y:321.46, Z:-14.19 [[ 8.76432649e-01 3.94983991e-01 2.75415065e-01 1.46055179e+02] [-3.77178448e-01 9.18687333e-01 -1.17260408e-01 3.21464699e+02] [-2.99336315e-01 -1.10977636e-03 9.54147022e-01 -1.41911607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.426875 meters Centerline goodness [0,1] 0.991403066632122 Centerline is valid? [True, True] Translation: X:146.08, Y:321.45, Z:-14.20 [[ 8.76503257e-01 3.93762399e-01 2.76935396e-01 1.46082981e+02] [-3.75669646e-01 9.19212049e-01 -1.17989515e-01 3.21452851e+02] [-3.01022187e-01 -6.18027938e-04 9.53616936e-01 -1.42000520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters Centerline goodness [0,1] 0.9902898925540169 Centerline is valid? [True, True] Translation: X:146.11, Y:321.44, Z:-14.21 [[ 8.76402899e-01 3.93567498e-01 2.77529429e-01 1.46112007e+02] [-3.75371177e-01 9.19295581e-01 -1.18288263e-01 3.21441520e+02] [-3.01685993e-01 -5.08371510e-04 9.53407207e-01 -1.42095261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.486875 meters Centerline goodness [0,1] 0.9910412757973733 Centerline is valid? [True, True] Translation: X:146.14, Y:321.43, Z:-14.22 [[ 8.76687037e-01 3.92729147e-01 2.77819468e-01 1.46140336e+02] [-3.74423115e-01 9.19654174e-01 -1.18505402e-01 3.21430451e+02] [-3.02038359e-01 -1.29880680e-04 9.53295764e-01 -1.42194025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters Centerline goodness [0,1] 0.9910689170182841 Centerline is valid? [True, True] Translation: X:146.17, Y:321.42, Z:-14.23 [[ 8.76781220e-01 3.92445388e-01 2.77923209e-01 1.46168299e+02] [-3.74083842e-01 9.19775307e-01 -1.18636688e-01 3.21418002e+02] [-3.02185326e-01 5.18384626e-05 9.53249194e-01 -1.42293787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.546875 meters Centerline goodness [0,1] 0.9919400187441425 Centerline is valid? [True, True] Translation: X:146.20, Y:321.41, Z:-14.24 [[ 8.77277866e-01 3.91201807e-01 2.78109138e-01 1.46196608e+02] [-3.72726625e-01 9.20304747e-01 -1.18802506e-01 3.21405330e+02] [-3.02420915e-01 5.64129131e-04 9.53174314e-01 -1.42388553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters Centerline goodness [0,1] 0.9922853257046382 Centerline is valid? [True, True] Translation: X:146.23, Y:321.39, Z:-14.25 [[ 8.77585180e-01 3.90425284e-01 2.78230750e-01 1.46225137e+02] [-3.71877373e-01 9.20634189e-01 -1.18911348e-01 3.21392193e+02] [-3.02574738e-01 8.87115926e-04 9.53125249e-01 -1.42493074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6068750000001 meters Centerline goodness [0,1] 0.9916482897761929 Centerline is valid? [True, True] Translation: X:146.25, Y:321.38, Z:-14.26 [[ 8.78196191e-01 3.89104953e-01 2.78152451e-01 1.46253870e+02] [-3.70490561e-01 9.21192397e-01 -1.18917251e-01 3.21380511e+02] [-3.02503215e-01 1.37981919e-03 9.53147366e-01 -1.42593135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters Centerline goodness [0,1] 0.9928126385550603 Centerline is valid? [True, True] Translation: X:146.28, Y:321.37, Z:-14.27 [[ 8.78221140e-01 3.88242221e-01 2.79276937e-01 1.46282249e+02] [-3.69400556e-01 9.21555655e-01 -1.19492276e-01 3.21369559e+02] [-3.03761187e-01 1.77558726e-03 9.52746550e-01 -1.42697020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.666875 meters Centerline goodness [0,1] 0.9920465975812299 Centerline is valid? [True, True] Translation: X:146.31, Y:321.36, Z:-14.28 [[ 8.77896439e-01 3.88397974e-01 2.80080089e-01 1.46312155e+02] [-3.69425005e-01 9.21489953e-01 -1.19922605e-01 3.21358110e+02] [-3.04668684e-01 1.81103927e-03 9.52456672e-01 -1.42784793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters Centerline goodness [0,1] 0.9916860735910573 Centerline is valid? [True, True] Translation: X:146.34, Y:321.35, Z:-14.28 [[ 8.77809201e-01 3.87143867e-01 2.82082669e-01 1.46341676e+02] [-3.67799311e-01 9.22016322e-01 -1.20870047e-01 3.21345484e+02] [-3.06878922e-01 2.35102843e-03 9.51745659e-01 -1.42834157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7268750000001 meters Centerline goodness [0,1] 0.9913007168209339 Centerline is valid? [True, True] Translation: X:146.37, Y:321.33, Z:-14.29 [[ 8.77909583e-01 3.86430232e-01 2.82748016e-01 1.46370134e+02] [-3.66929926e-01 9.22314734e-01 -1.21235149e-01 3.21333481e+02] [-3.07631588e-01 2.68479040e-03 9.51501759e-01 -1.42915005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters Centerline goodness [0,1] 0.9917002828395234 Centerline is valid? [True, True] Translation: X:146.40, Y:321.32, Z:-14.30 [[ 8.77858823e-01 3.85645514e-01 2.83974337e-01 1.46398586e+02] [-3.65904997e-01 9.22641980e-01 -1.21841330e-01 3.21323398e+02] [-3.08994207e-01 3.05185724e-03 9.51059023e-01 -1.43010064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.786875 meters Centerline goodness [0,1] 0.9951257928568388 Centerline is valid? [True, True] Translation: X:146.43, Y:321.31, Z:-14.30 [[ 8.78369295e-01 3.81815813e-01 2.87548374e-01 1.46426092e+02] [-3.61336204e-01 9.24227317e-01 -1.23450455e-01 3.21307817e+02] [-3.12895398e-01 4.53345074e-03 9.49776773e-01 -1.43040103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters Centerline goodness [0,1] 0.9927281042762406 Centerline is valid? [True, True] Translation: X:146.46, Y:321.31, Z:-14.32 [[ 8.76586850e-01 3.84861417e-01 2.88924183e-01 1.46458868e+02] [-3.64327102e-01 9.22967713e-01 -1.24082083e-01 3.21311082e+02] [-3.14422099e-01 3.50581140e-03 9.49276805e-01 -1.43201415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.846875 meters Centerline goodness [0,1] 0.9928368729403149 Centerline is valid? [True, True] Translation: X:146.49, Y:321.30, Z:-14.33 [[ 8.76147684e-01 3.85284241e-01 2.89691714e-01 1.46488370e+02] [-3.64631921e-01 9.22791512e-01 -1.24496534e-01 3.21301355e+02] [-3.15291607e-01 3.44650419e-03 9.48988579e-01 -1.43286974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters Centerline goodness [0,1] 0.9926748259702444 Centerline is valid? [True, True] Translation: X:146.52, Y:321.29, Z:-14.34 [[ 8.76070510e-01 3.85057694e-01 2.90225834e-01 1.46517043e+02] [-3.64285375e-01 9.22885398e-01 -1.24814695e-01 3.21292302e+02] [-3.15906043e-01 3.62144687e-03 9.48783567e-01 -1.43380418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.906875 meters Centerline goodness [0,1] 0.99212045737575 Centerline is valid? [True, True] Translation: X:146.55, Y:321.29, Z:-14.34 [[ 8.75583362e-01 3.85125873e-01 2.91602191e-01 1.46547211e+02] [-3.64139261e-01 9.22856801e-01 -1.25450882e-01 3.21285228e+02] [-3.17421445e-01 3.65889866e-03 9.48277511e-01 -1.43440220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters Centerline goodness [0,1] 0.9913556345954707 Centerline is valid? [True, True] Translation: X:146.58, Y:321.28, Z:-14.35 [[ 8.75027745e-01 3.85392422e-01 2.92914881e-01 1.46577638e+02] [-3.64210250e-01 9.22745656e-01 -1.26060889e-01 3.21275676e+02] [-3.18868845e-01 3.62417355e-03 9.47791921e-01 -1.43514635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.966875 meters Centerline goodness [0,1] 0.9908996944094913 Centerline is valid? [True, True] Translation: X:146.61, Y:321.27, Z:-14.36 [[ 8.74112905e-01 3.86713726e-01 2.93903256e-01 1.46608914e+02] [-3.65429625e-01 9.22194147e-01 -1.26566763e-01 3.21268733e+02] [-3.19980967e-01 3.23268415e-03 9.47418456e-01 -1.43622385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters Centerline goodness [0,1] 0.9903689666703823 Centerline is valid? [True, True] Translation: X:146.64, Y:321.27, Z:-14.38 [[ 8.72501746e-01 3.88914612e-01 2.95780539e-01 1.46641727e+02] [-3.67439469e-01 9.21270308e-01 -1.27472573e-01 3.21271376e+02] [-3.22069775e-01 2.53859816e-03 9.46712531e-01 -1.43767468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.026875 meters Centerline goodness [0,1] 0.9903886519808215 Centerline is valid? [True, True] Translation: X:146.67, Y:321.27, Z:-14.39 [[ 8.71660676e-01 3.90098935e-01 2.96699319e-01 1.46671187e+02] [-3.68522331e-01 9.20770329e-01 -1.27958165e-01 3.21266145e+02] [-3.23108274e-01 2.19577610e-03 9.46359457e-01 -1.43873321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters Centerline goodness [0,1] 0.9901431123067763 Centerline is valid? [True, True] Translation: X:146.70, Y:321.26, Z:-14.40 [[ 8.70474964e-01 3.91694051e-01 2.98075674e-01 1.46701000e+02] [-3.69972952e-01 9.20093963e-01 -1.28635586e-01 3.21260267e+02] [-3.24643422e-01 1.69412042e-03 9.45834964e-01 -1.43999231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.086875 meters Centerline goodness [0,1] 0.9896394711950903 Centerline is valid? [True, True] Translation: X:146.73, Y:321.25, Z:-14.41 [[ 8.68412519e-01 3.95788221e-01 2.98682743e-01 1.46732362e+02] [-3.74179779e-01 9.18341777e-01 -1.28987878e-01 3.21253993e+02] [-3.25344723e-01 2.53645493e-04 9.45595446e-01 -1.44074664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters Centerline goodness [0,1] 0.9890071387903473 Centerline is valid? [True, True] Translation: X:146.76, Y:321.24, Z:-14.42 [[ 8.67333907e-01 3.97579771e-01 2.99436503e-01 1.46761340e+02] [-3.75929803e-01 9.17567556e-01 -1.29408516e-01 3.21244416e+02] [-3.26203428e-01 -3.26711572e-04 9.45299538e-01 -1.44161821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.146875 meters Centerline goodness [0,1] 0.9887307886255509 Centerline is valid? [True, True] Translation: X:146.79, Y:321.24, Z:-14.42 [[ 8.66254163e-01 3.99005823e-01 3.00662732e-01 1.46790287e+02] [-3.77227995e-01 9.16948053e-01 -1.30020411e-01 3.21236236e+02] [-3.27571008e-01 -7.87677686e-04 9.44826235e-01 -1.44240832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters Centerline goodness [0,1] 0.9892919200695047 Centerline is valid? [True, True] Translation: X:146.82, Y:321.23, Z:-14.44 [[ 8.66107836e-01 3.99598852e-01 3.00296477e-01 1.46821271e+02] [-3.77892690e-01 9.16689606e-01 -1.29912592e-01 3.21234027e+02] [-3.27191582e-01 -9.61529136e-04 9.44957536e-01 -1.44358138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.206875 meters Centerline goodness [0,1] 0.9899867790806043 Centerline is valid? [True, True] Translation: X:146.85, Y:321.23, Z:-14.45 [[ 8.66215207e-01 3.99998451e-01 2.99453595e-01 1.46850261e+02] [-3.78413463e-01 9.16515233e-01 -1.29626687e-01 3.21226587e+02] [-3.26304255e-01 -1.03266452e-03 9.45264231e-01 -1.44504555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters Centerline goodness [0,1] 0.9898229320371495 Centerline is valid? [True, True] Translation: X:146.88, Y:321.22, Z:-14.46 [[ 8.66189253e-01 4.00253275e-01 2.99188059e-01 1.46879961e+02] [-3.78709696e-01 9.16403909e-01 -1.29548609e-01 3.21217944e+02] [-3.26029361e-01 -1.09180560e-03 9.45359013e-01 -1.44632665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.266875 meters Centerline goodness [0,1] 0.9889071843313979 Centerline is valid? [True, True] Translation: X:146.91, Y:321.21, Z:-14.47 [[ 8.66170485e-01 3.99129157e-01 3.00740099e-01 1.46908721e+02] [-3.77253243e-01 9.16894535e-01 -1.30324218e-01 3.21209813e+02] [-3.27763149e-01 -5.72186995e-04 9.44759753e-01 -1.44747515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters Centerline goodness [0,1] 0.9895413797583474 Centerline is valid? [True, True] Translation: X:146.94, Y:321.20, Z:-14.48 [[ 8.66132344e-01 3.98034607e-01 3.02296568e-01 1.46937029e+02] [-3.75828322e-01 9.17370398e-01 -1.31090142e-01 3.21197501e+02] [-3.29496336e-01 -7.01997741e-05 9.44156851e-01 -1.44814999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.326875 meters Centerline goodness [0,1] 0.9896711180258438 Centerline is valid? [True, True] Translation: X:146.97, Y:321.18, Z:-14.49 [[ 8.66685721e-01 3.95931859e-01 3.03469643e-01 1.46965380e+02] [-3.73392537e-01 9.18279531e-01 -1.31684152e-01 3.21184195e+02] [-3.30807913e-01 8.15474196e-04 9.43697759e-01 -1.44901516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters Centerline goodness [0,1] 0.9910175104434968 Centerline is valid? [True, True] Translation: X:146.99, Y:321.17, Z:-14.50 [[ 8.68686398e-01 3.90869519e-01 3.04310632e-01 1.46991876e+02] [-3.67868404e-01 9.20441722e-01 -1.32135817e-01 3.21172390e+02] [-3.31748066e-01 2.83832031e-03 9.43363750e-01 -1.45002507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.386875 meters Centerline goodness [0,1] 0.9915937256261375 Centerline is valid? [True, True] Translation: X:147.02, Y:321.16, Z:-14.51 [[ 8.69488401e-01 3.88385576e-01 3.05199222e-01 1.47019901e+02] [-3.65074249e-01 9.21488867e-01 -1.32586052e-01 3.21162096e+02] [-3.32732195e-01 3.86165725e-03 9.43013454e-01 -1.45137011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters Centerline goodness [0,1] 0.9918331286228371 Centerline is valid? [True, True] Translation: X:147.05, Y:321.15, Z:-14.52 [[ 8.70746950e-01 3.85572362e-01 3.05178149e-01 1.47046491e+02] [-3.62065488e-01 9.22663929e-01 -1.32664449e-01 3.21150787e+02] [-3.32728615e-01 5.02268878e-03 9.43009248e-01 -1.45236661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.446875 meters Centerline goodness [0,1] 0.9928250345781466 Centerline is valid? [True, True] Translation: X:147.07, Y:321.14, Z:-14.54 [[ 8.71216088e-01 3.83346080e-01 3.06640361e-01 1.47073739e+02] [-3.59448788e-01 9.23585489e-01 -1.33365712e-01 3.21141630e+02] [-3.34333811e-01 5.96884818e-03 9.42435821e-01 -1.45377529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters Centerline goodness [0,1] 0.9927536231884058 Centerline is valid? [True, True] Translation: X:147.10, Y:321.13, Z:-14.55 [[ 8.71988040e-01 3.79952151e-01 3.08663605e-01 1.47100233e+02] [-3.55491758e-01 9.24976500e-01 -1.34328272e-01 3.21128950e+02] [-3.36544897e-01 7.40527926e-03 9.41638303e-01 -1.45476798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.506875 meters Centerline goodness [0,1] 0.9936651388048084 Centerline is valid? [True, True] Translation: X:147.13, Y:321.12, Z:-14.56 [[ 8.71883683e-01 3.79542366e-01 3.09461525e-01 1.47127936e+02] [-3.54910250e-01 9.25142906e-01 -1.34719402e-01 3.21118000e+02] [-3.37427856e-01 7.62858137e-03 9.41320480e-01 -1.45588904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters Centerline goodness [0,1] 0.9929088747162469 Centerline is valid? [True, True] Translation: X:147.16, Y:321.11, Z:-14.57 [[ 8.71240767e-01 3.80304685e-01 3.10335099e-01 1.47156451e+02] [-3.55543103e-01 9.24831292e-01 -1.35189436e-01 3.21109588e+02] [-3.38420786e-01 7.44504387e-03 9.40965431e-01 -1.45719982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.566875 meters Centerline goodness [0,1] 0.9931085139017909 Centerline is valid? [True, True] Translation: X:147.19, Y:321.10, Z:-14.59 [[ 8.70232582e-01 3.81404820e-01 3.11810226e-01 1.47185782e+02] [-3.56434181e-01 9.24380496e-01 -1.35924149e-01 3.21103157e+02] [-3.40073416e-01 7.14580040e-03 9.40371740e-01 -1.45861551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters Centerline goodness [0,1] 0.9927254673401545 Centerline is valid? [True, True] Translation: X:147.22, Y:321.10, Z:-14.60 [[ 8.67619689e-01 3.85446305e-01 3.14113389e-01 1.47216273e+02] [-3.60313760e-01 9.22712632e-01 -1.37023330e-01 3.21100470e+02] [-3.42651528e-01 5.70476294e-03 9.39445254e-01 -1.46014947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.626875 meters Centerline goodness [0,1] 0.991998447137989 Centerline is valid? [True, True] Translation: X:147.25, Y:321.09, Z:-14.61 [[ 8.66030654e-01 3.88335235e-01 3.14939125e-01 1.47246216e+02] [-3.63215168e-01 9.21506334e-01 -1.37480249e-01 3.21091098e+02] [-3.43606823e-01 4.67144260e-03 9.39101980e-01 -1.46136446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters Centerline goodness [0,1] 0.990472913395987 Centerline is valid? [True, True] Translation: X:147.28, Y:321.08, Z:-14.62 [[ 8.64255716e-01 3.92313222e-01 3.14884730e-01 1.47275257e+02] [-3.67418534e-01 9.19826141e-01 -1.37562683e-01 3.21080264e+02] [-3.43606865e-01 3.19484958e-03 9.39108149e-01 -1.46183618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.686875 meters Centerline goodness [0,1] 0.9894153766880649 Centerline is valid? [True, True] Translation: X:147.31, Y:321.08, Z:-14.63 [[ 8.59930561e-01 3.99112476e-01 3.18164521e-01 1.47305607e+02] [-3.74097224e-01 9.16901796e-01 -1.39076822e-01 3.21077547e+02] [-3.47232916e-01 5.71945670e-04 9.37778745e-01 -1.46339130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters Centerline goodness [0,1] 0.9887809491059147 Centerline is valid? [True, True] Translation: X:147.33, Y:321.07, Z:-14.65 [[ 8.57490710e-01 4.02542270e-01 3.20420667e-01 1.47334380e+02] [-3.77379303e-01 9.15401056e-01 -1.40092001e-01 3.21069528e+02] [-3.49706369e-01 -7.92538893e-04 9.36859022e-01 -1.46464037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.746875 meters Centerline goodness [0,1] 0.987381158167675 Centerline is valid? [True, True] Translation: X:147.36, Y:321.06, Z:-14.66 [[ 8.55357829e-01 4.05562301e-01 3.22307623e-01 1.47362845e+02] [-3.80276699e-01 9.14065258e-01 -1.40976368e-01 3.21060610e+02] [-3.51784901e-01 -1.98083902e-03 9.36078768e-01 -1.46572163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters Centerline goodness [0,1] 0.9861126016870935 Centerline is valid? [True, True] Translation: X:147.39, Y:321.05, Z:-14.67 [[ 8.53862479e-01 4.08209052e-01 3.22930700e-01 1.47390902e+02] [-3.82973145e-01 9.12883565e-01 -1.41333530e-01 3.21051572e+02] [-3.52491755e-01 -2.99438741e-03 9.35810129e-01 -1.46664683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.806875 meters Centerline goodness [0,1] 0.9868528114427647 Centerline is valid? [True, True] Translation: X:147.42, Y:321.04, Z:-14.68 [[ 8.51464812e-01 4.12670949e-01 3.23589803e-01 1.47418255e+02] [-3.87618486e-01 9.10867541e-01 -1.41676503e-01 3.21044167e+02] [-3.53213225e-01 -4.79683291e-03 9.35530549e-01 -1.46825441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters Centerline goodness [0,1] 0.9856700898036351 Centerline is valid? [True, True] Translation: X:147.45, Y:321.03, Z:-14.69 [[ 8.50201398e-01 4.14128050e-01 3.25046982e-01 1.47445469e+02] [-3.88910914e-01 9.10202954e-01 -1.42403942e-01 3.21034011e+02] [-3.54832190e-01 -5.34228800e-03 9.34914743e-01 -1.46927054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.866875 meters Centerline goodness [0,1] 0.9843106995884774 Centerline is valid? [True, True] Translation: X:147.47, Y:321.02, Z:-14.70 [[ 8.49452705e-01 4.15709076e-01 3.24986255e-01 1.47473137e+02] [-3.90583112e-01 9.09478352e-01 -1.42456868e-01 3.21022160e+02] [-3.54788577e-01 -5.92377070e-03 9.34927791e-01 -1.47049259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters Centerline goodness [0,1] 0.9827071384073381 Centerline is valid? [True, True] Translation: X:147.50, Y:321.01, Z:-14.72 [[ 8.47836970e-01 4.18729812e-01 3.25327245e-01 1.47499383e+02] [-3.93727302e-01 9.08083094e-01 -1.42702159e-01 3.21009657e+02] [-3.55177819e-01 -7.10205206e-03 9.34771778e-01 -1.47173155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.926875 meters Centerline goodness [0,1] 0.980874022701329 Centerline is valid? [True, True] Translation: X:147.53, Y:321.00, Z:-14.73 [[ 8.46594575e-01 4.20753338e-01 3.25951306e-01 1.47526537e+02] [-3.95762562e-01 9.07140843e-01 -1.43064620e-01 3.20996609e+02] [-3.55878659e-01 -7.88159251e-03 9.34498936e-01 -1.47280402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters Centerline goodness [0,1] 0.9826795062366703 Centerline is valid? [True, True] Translation: X:147.55, Y:320.98, Z:-14.74 [[ 8.45302352e-01 4.22378471e-01 3.27200795e-01 1.47552350e+02] [-3.97277271e-01 9.06379453e-01 -1.43690838e-01 3.20982924e+02] [-3.57259994e-01 -8.52723607e-03 9.33966050e-01 -1.47415589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.986875 meters Centerline goodness [0,1] 0.9770491803278688 Centerline is valid? [True, True] Translation: X:147.58, Y:320.97, Z:-14.75 [[ 8.42665752e-01 4.25852006e-01 3.29491274e-01 1.47579524e+02] [-4.00622345e-01 9.04737273e-01 -1.44748759e-01 3.20972367e+02] [-3.59744586e-01 -1.00267452e-02 9.32996944e-01 -1.47501581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters Centerline goodness [0,1] 0.9768269790924979 Centerline is valid? [True, True] Translation: X:147.61, Y:320.96, Z:-14.76 [[ 8.41735265e-01 4.27437294e-01 3.29816772e-01 1.47606023e+02] [-4.02239121e-01 9.03982500e-01 -1.44980441e-01 3.20958799e+02] [-3.60118638e-01 -1.06300586e-02 9.32845951e-01 -1.47630548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.046875 meters Centerline goodness [0,1] 0.9744364798341826 Centerline is valid? [True, True] Translation: X:147.63, Y:320.95, Z:-14.77 [[ 8.40760060e-01 4.28816352e-01 3.30513324e-01 1.47632525e+02] [-4.03573560e-01 9.03322823e-01 -1.45383146e-01 3.20946203e+02] [-3.60902900e-01 -1.11540964e-02 9.32536693e-01 -1.47719493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters Centerline goodness [0,1] 0.9779997828211532 Centerline is valid? [True, True] Translation: X:147.66, Y:320.93, Z:-14.79 [[ 8.40040023e-01 4.29961770e-01 3.30855916e-01 1.47656932e+02] [-4.04718550e-01 9.02772829e-01 -1.45616326e-01 3.20929944e+02] [-3.61297184e-01 -1.15799847e-02 9.32378812e-01 -1.47878708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1068750000001 meters Centerline goodness [0,1] 0.9724766640495507 Centerline is valid? [True, True] Translation: X:147.68, Y:320.91, Z:-14.80 [[ 8.40404123e-01 4.31071336e-01 3.28478938e-01 1.47682523e+02] [-4.06243687e-01 9.02239882e-01 -1.44669495e-01 3.20914894e+02] [-3.58729671e-01 -1.18616545e-02 9.33366126e-01 -1.47960299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters Centerline goodness [0,1] 0.9762816445309936 Centerline is valid? [True, True] Translation: X:147.71, Y:320.90, Z:-14.81 [[ 8.40585898e-01 4.31115893e-01 3.27954929e-01 1.47705700e+02] [-4.06340228e-01 9.02219709e-01 -1.44524099e-01 3.20897756e+02] [-3.58194036e-01 -1.17763613e-02 9.33572895e-01 -1.48122851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.166875 meters Centerline goodness [0,1] 0.9769895586557866 Centerline is valid? [True, True] Translation: X:147.73, Y:320.88, Z:-14.82 [[ 8.40812630e-01 4.30589490e-01 3.28065254e-01 1.47731982e+02] [-4.05719168e-01 9.02475147e-01 -1.44674000e-01 3.20882226e+02] [-3.58365843e-01 -1.14586355e-02 9.33510912e-01 -1.48241400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters Centerline goodness [0,1] 0.977284255563152 Centerline is valid? [True, True] Translation: X:147.76, Y:320.86, Z:-14.84 [[ 8.41576496e-01 4.28768710e-01 3.28491089e-01 1.47756193e+02] [-4.03658924e-01 9.03352105e-01 -1.44963611e-01 3.20863622e+02] [-3.58898977e-01 -1.06003918e-02 9.33316215e-01 -1.48354003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2268750000001 meters Centerline goodness [0,1] 0.9758025237989816 Centerline is valid? [True, True] Translation: X:147.78, Y:320.85, Z:-14.84 [[ 8.41948517e-01 4.28421865e-01 3.27989940e-01 1.47782130e+02] [-4.03327379e-01 9.03519692e-01 -1.44841952e-01 3.20848028e+02] [-3.58398829e-01 -1.03378563e-02 9.33511333e-01 -1.48425322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters Centerline goodness [0,1] 0.9758025237989816 Centerline is valid? [True, True] Translation: X:147.81, Y:320.84, Z:-14.85 [[ 8.41832524e-01 4.28676803e-01 3.27954570e-01 1.47810413e+02] [-4.03569808e-01 9.03398597e-01 -1.44921999e-01 3.20835472e+02] [-3.58398398e-01 -1.03525106e-02 9.33511336e-01 -1.48524506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.286875 meters Centerline goodness [0,1] 0.9734755081639453 Centerline is valid? [True, True] Translation: X:147.84, Y:320.82, Z:-14.86 [[ 8.42430669e-01 4.28148376e-01 3.27107836e-01 1.47836641e+02] [-4.03096724e-01 9.03653153e-01 -1.44651341e-01 3.20819562e+02] [-3.57524264e-01 -9.99737098e-03 9.33850338e-01 -1.48588299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters Centerline goodness [0,1] 0.975150264645196 Centerline is valid? [True, True] Translation: X:147.86, Y:320.80, Z:-14.87 [[ 8.43143686e-01 4.27347891e-01 3.26316572e-01 1.47859288e+02] [-4.02339619e-01 9.04036597e-01 -1.44362952e-01 3.20796865e+02] [-3.56695326e-01 -9.57137374e-03 9.34171736e-01 -1.48711219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.346875 meters Centerline goodness [0,1] 0.9780932787737662 Centerline is valid? [True, True] Translation: X:147.88, Y:320.78, Z:-14.89 [[ 8.43441974e-01 4.27018099e-01 3.25977268e-01 1.47883617e+02] [-4.02002975e-01 9.04194967e-01 -1.44308937e-01 3.20779610e+02] [-3.56369533e-01 -9.32761710e-03 9.34298534e-01 -1.48854589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters Centerline goodness [0,1] 0.9770847027357827 Centerline is valid? [True, True] Translation: X:147.91, Y:320.77, Z:-14.89 [[ 8.43783859e-01 4.26619299e-01 3.25614453e-01 1.47909981e+02] [-4.01595581e-01 9.04385992e-01 -1.44246204e-01 3.20765804e+02] [-3.56019365e-01 -9.05270686e-03 9.34434728e-01 -1.48937103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.406875 meters Centerline goodness [0,1] 0.9763865757112546 Centerline is valid? [True, True] Translation: X:147.93, Y:320.75, Z:-14.91 [[ 8.45114816e-01 4.26171967e-01 3.22735809e-01 1.47933387e+02] [-4.01536783e-01 9.04600450e-01 -1.43060259e-01 3.20748876e+02] [-3.52915230e-01 -8.68795374e-03 9.35614964e-01 -1.49080808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters Centerline goodness [0,1] 0.9782309492131944 Centerline is valid? [True, True] Translation: X:147.96, Y:320.73, Z:-14.92 [[ 8.45857800e-01 4.25750030e-01 3.21343265e-01 1.47957726e+02] [-4.01271342e-01 9.04801960e-01 -1.42529727e-01 3.20732188e+02] [-3.51434052e-01 -8.38596155e-03 9.36175081e-01 -1.49223118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.466875 meters Centerline goodness [0,1] 0.9792241855328547 Centerline is valid? [True, True] Translation: X:147.98, Y:320.72, Z:-14.93 [[ 8.46814280e-01 4.24937419e-01 3.19896493e-01 1.47982660e+02] [-4.00595804e-01 9.05188075e-01 -1.41977288e-01 3.20715151e+02] [-3.49897953e-01 -7.92079793e-03 9.36754335e-01 -1.49337566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters Centerline goodness [0,1] 0.9807354301572618 Centerline is valid? [True, True] Translation: X:148.00, Y:320.69, Z:-14.95 [[ 8.49572451e-01 4.22070488e-01 3.16359215e-01 1.48004139e+02] [-3.98057445e-01 9.06539180e-01 -1.40488384e-01 3.20691093e+02] [-3.46088024e-01 -6.57407954e-03 9.38179013e-01 -1.49475865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.526875 meters Centerline goodness [0,1] 0.9820658974002503 Centerline is valid? [True, True] Translation: X:148.03, Y:320.68, Z:-14.96 [[ 8.50783811e-01 4.20175126e-01 3.15625997e-01 1.48030560e+02] [-3.96131084e-01 9.07424902e-01 -1.40214874e-01 3.20675961e+02] [-3.45321692e-01 -5.73672392e-03 9.38466845e-01 -1.49588095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters Centerline goodness [0,1] 0.9832878107495023 Centerline is valid? [True, True] Translation: X:148.06, Y:320.66, Z:-14.97 [[ 8.52139344e-01 4.18149311e-01 3.14658055e-01 1.48056828e+02] [-3.94089075e-01 9.08365585e-01 -1.39877675e-01 3.20662033e+02] [-3.44314302e-01 -4.80803128e-03 9.38842130e-01 -1.49690299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.586875 meters Centerline goodness [0,1] 0.9863013698630136 Centerline is valid? [True, True] Translation: X:148.08, Y:320.65, Z:-14.98 [[ 8.54997484e-01 4.13020787e-01 3.13676796e-01 1.48081037e+02] [-3.88746744e-01 9.10717768e-01 -1.39531778e-01 3.20646098e+02] [-3.43300556e-01 -2.64151401e-03 9.39221886e-01 -1.49804149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters Centerline goodness [0,1] 0.9875636346730514 Centerline is valid? [True, True] Translation: X:148.11, Y:320.63, Z:-14.99 [[ 8.56180669e-01 4.10908432e-01 3.13223439e-01 1.48107028e+02] [-3.86539341e-01 9.11675016e-01 -1.39413064e-01 3.20632138e+02] [-3.42843988e-01 -1.71041108e-03 9.39390800e-01 -1.49924568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.646875 meters Centerline goodness [0,1] 0.9880852842809364 Centerline is valid? [True, True] Translation: X:148.13, Y:320.62, Z:-15.00 [[ 8.57618941e-01 4.09035850e-01 3.11736148e-01 1.48133101e+02] [-3.84752319e-01 9.12517900e-01 -1.38840680e-01 3.20618244e+02] [-3.41255630e-01 -8.68808880e-04 9.39970127e-01 -1.50030575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters Centerline goodness [0,1] 0.9892680433924133 Centerline is valid? [True, True] Translation: X:148.16, Y:320.60, Z:-15.02 [[ 8.58556381e-01 4.07996503e-01 3.10515370e-01 1.48160152e+02] [-3.83812512e-01 9.12983415e-01 -1.38380781e-01 3.20604825e+02] [-3.39954258e-01 -3.71981400e-04 9.40441898e-01 -1.50151846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.706875 meters Centerline goodness [0,1] 0.989045747377724 Centerline is valid? [True, True] Translation: X:148.19, Y:320.59, Z:-15.03 [[ 8.58682465e-01 4.08268495e-01 3.09808426e-01 1.48187635e+02] [-3.84182665e-01 9.12861809e-01 -1.38155698e-01 3.20592962e+02] [-3.39216899e-01 -3.91151207e-04 9.40708107e-01 -1.50271215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters Centerline goodness [0,1] 0.9892585617632699 Centerline is valid? [True, True] Translation: X:148.22, Y:320.58, Z:-15.04 [[ 8.58630872e-01 4.08840623e-01 3.09196329e-01 1.48216092e+02] [-3.84858457e-01 9.12605643e-01 -1.37967056e-01 3.20581585e+02] [-3.38580852e-01 -5.34048727e-04 9.40937151e-01 -1.50385994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.766875 meters Centerline goodness [0,1] 0.9892807424593968 Centerline is valid? [True, True] Translation: X:148.24, Y:320.57, Z:-15.05 [[ 8.58354786e-01 4.10131118e-01 3.08252376e-01 1.48244173e+02] [-3.86366727e-01 9.12026020e-01 -1.37583765e-01 3.20571677e+02] [-3.37561571e-01 -1.00277864e-03 9.41302916e-01 -1.50498449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters Centerline goodness [0,1] 0.9877277884548591 Centerline is valid? [True, True] Translation: X:148.27, Y:320.56, Z:-15.06 [[ 8.57549769e-01 4.12083422e-01 3.07889017e-01 1.48274439e+02] [-3.88465994e-01 9.11144571e-01 -1.37512698e-01 3.20564636e+02] [-3.37198109e-01 -1.68043030e-03 9.41432213e-01 -1.50639515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.826875 meters Centerline goodness [0,1] 0.9880487297440995 Centerline is valid? [True, True] Translation: X:148.30, Y:320.56, Z:-15.07 [[ 8.57238686e-01 4.12896633e-01 3.07665737e-01 1.48303016e+02] [-3.89328125e-01 9.10775915e-01 -1.37516705e-01 3.20555002e+02] [-3.36994727e-01 -1.89828472e-03 9.41504620e-01 -1.50733010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters Centerline goodness [0,1] 0.9880988214591678 Centerline is valid? [True, True] Translation: X:148.33, Y:320.54, Z:-15.08 [[ 8.57007604e-01 4.13732267e-01 3.07186551e-01 1.48331506e+02] [-3.90256945e-01 9.10396109e-01 -1.37398843e-01 3.20543621e+02] [-3.36507776e-01 -2.12983168e-03 9.41678279e-01 -1.50840605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.886875 meters Centerline goodness [0,1] 0.9879780408144356 Centerline is valid? [True, True] Translation: X:148.36, Y:320.53, Z:-15.10 [[ 8.57524951e-01 4.15011076e-01 3.04001258e-01 1.48358097e+02] [-3.92081076e-01 9.09812879e-01 -1.36062319e-01 3.20531020e+02] [-3.33051629e-01 -2.51630688e-03 9.42905234e-01 -1.50963708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters Centerline goodness [0,1] 0.9875847024969832 Centerline is valid? [True, True] Translation: X:148.39, Y:320.52, Z:-15.11 [[ 8.57719815e-01 4.16283509e-01 3.01703097e-01 1.48385058e+02] [-3.93755062e-01 9.09230233e-01 -1.35119705e-01 3.20518637e+02] [-3.30565682e-01 -2.90227349e-03 9.43778526e-01 -1.51058920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.946875 meters Centerline goodness [0,1] 0.9870981191513017 Centerline is valid? [True, True] Translation: X:148.41, Y:320.51, Z:-15.12 [[ 8.57888760e-01 4.17259433e-01 2.99869039e-01 1.48411864e+02] [-3.95041254e-01 9.08781859e-01 -1.34379835e-01 3.20506104e+02] [-3.28586797e-01 -3.17769165e-03 9.44468432e-01 -1.51188030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters Centerline goodness [0,1] 0.9860427498555748 Centerline is valid? [True, True] Translation: X:148.44, Y:320.50, Z:-15.13 [[ 8.56670608e-01 4.21376083e-01 2.97586401e-01 1.48440391e+02] [-3.99716054e-01 9.06874142e-01 -1.33440503e-01 3.20500119e+02] [-3.26102049e-01 -4.63550478e-03 9.45323207e-01 -1.51316412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.006875 meters Centerline goodness [0,1] 0.9839183654580373 Centerline is valid? [True, True] Translation: X:148.47, Y:320.49, Z:-15.14 [[ 8.55383866e-01 4.24680178e-01 2.96589259e-01 1.48469232e+02] [-4.03344226e-01 9.05324707e-01 -1.33043639e-01 3.20492414e+02] [-3.25010581e-01 -5.82418274e-03 9.45692445e-01 -1.51434717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters Centerline goodness [0,1] 0.983579335793358 Centerline is valid? [True, True] Translation: X:148.50, Y:320.48, Z:-15.16 [[ 8.54403462e-01 4.27358559e-01 2.95566212e-01 1.48498015e+02] [-4.06301889e-01 9.04057089e-01 -1.32663315e-01 3.20483469e+02] [-3.23903533e-01 -6.74111503e-03 9.46066097e-01 -1.51552300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.066875 meters Centerline goodness [0,1] 0.9826062948647156 Centerline is valid? [True, True] Translation: X:148.53, Y:320.48, Z:-15.17 [[ 8.53064839e-01 4.31009068e-01 2.94128481e-01 1.48526766e+02] [-4.10343646e-01 9.02312113e-01 -1.32102019e-01 3.20476274e+02] [-3.22332859e-01 -8.00216541e-03 9.46592570e-01 -1.51658474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters Centerline goodness [0,1] 0.9821346560117571 Centerline is valid? [True, True] Translation: X:148.56, Y:320.47, Z:-15.18 [[ 8.52457712e-01 4.32252917e-01 2.94063369e-01 1.48555086e+02] [-4.11641928e-01 9.01713333e-01 -1.32151387e-01 3.20465361e+02] [-3.22283683e-01 -8.39534311e-03 9.46605908e-01 -1.51768332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.126875 meters Centerline goodness [0,1] 0.9834665070117669 Centerline is valid? [True, True] Translation: X:148.58, Y:320.45, Z:-15.19 [[ 8.52036718e-01 4.33328334e-01 2.93700504e-01 1.48582475e+02] [-4.12802659e-01 9.01194042e-01 -1.32072946e-01 3.20453208e+02] [-3.21912095e-01 -8.70934968e-03 9.46729502e-01 -1.51874613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters Centerline goodness [0,1] 0.9824945295404814 Centerline is valid? [True, True] Translation: X:148.61, Y:320.44, Z:-15.20 [[ 8.51210611e-01 4.35477457e-01 2.92916166e-01 1.48609660e+02] [-4.15158107e-01 9.00150436e-01 -1.31806441e-01 3.20439025e+02] [-3.21067348e-01 -9.41147958e-03 9.47009600e-01 -1.51965535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.186875 meters Centerline goodness [0,1] 0.9827717957624175 Centerline is valid? [True, True] Translation: X:148.64, Y:320.42, Z:-15.21 [[ 8.51091879e-01 4.36740901e-01 2.91376045e-01 1.48636923e+02] [-4.16682617e-01 8.99534518e-01 -1.31199270e-01 3.20424336e+02] [-3.19402897e-01 -9.74869975e-03 9.47568864e-01 -1.52069551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters Centerline goodness [0,1] 0.9822848795418183 Centerline is valid? [True, True] Translation: X:148.66, Y:320.41, Z:-15.22 [[ 8.51258187e-01 4.37943425e-01 2.89076212e-01 1.48664916e+02] [-4.18242674e-01 8.98946710e-01 -1.30260808e-01 3.20410141e+02] [-3.16910974e-01 -1.00184287e-02 9.48402375e-01 -1.52185583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.246875 meters Centerline goodness [0,1] 0.9817205051280262 Centerline is valid? [True, True] Translation: X:148.69, Y:320.40, Z:-15.23 [[ 8.51436683e-01 4.39120641e-01 2.86755362e-01 1.48692612e+02] [-4.19775059e-01 8.98369377e-01 -1.29311103e-01 3.20397441e+02] [-3.14395410e-01 -1.02725324e-02 9.49236536e-01 -1.52312950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters Centerline goodness [0,1] 0.9830677753518837 Centerline is valid? [True, True] Translation: X:148.72, Y:320.39, Z:-15.24 [[ 8.51491087e-01 4.40422672e-01 2.84588826e-01 1.48720502e+02] [-4.21414228e-01 8.97728281e-01 -1.28428896e-01 3.20387916e+02] [-3.12046435e-01 -1.05737199e-02 9.50008010e-01 -1.52439858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.306875 meters Centerline goodness [0,1] 0.9826338305006359 Centerline is valid? [True, True] Translation: X:148.75, Y:320.38, Z:-15.26 [[ 8.51541764e-01 4.42178843e-01 2.81699298e-01 1.48748320e+02] [-4.23629529e-01 8.96859270e-01 -1.27206413e-01 3.20383099e+02] [-3.08892611e-01 -1.10145679e-02 9.51033140e-01 -1.52589451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters Centerline goodness [0,1] 0.9829924898902369 Centerline is valid? [True, True] Translation: X:148.78, Y:320.37, Z:-15.27 [[ 8.51491538e-01 4.43277909e-01 2.80119361e-01 1.48776468e+02] [-4.24984929e-01 8.96312959e-01 -1.26534143e-01 3.20372906e+02] [-3.07164404e-01 -1.13037553e-02 9.51589331e-01 -1.52708863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.366875 meters Centerline goodness [0,1] 0.9834640417653688 Centerline is valid? [True, True] Translation: X:148.81, Y:320.37, Z:-15.28 [[ 8.51351800e-01 4.44894542e-01 2.77972945e-01 1.48805912e+02] [-4.26944213e-01 8.95506406e-01 -1.25645996e-01 3.20366394e+02] [-3.04825771e-01 -1.17099952e-02 9.52336141e-01 -1.52829572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters Centerline goodness [0,1] 0.9834722126575305 Centerline is valid? [True, True] Translation: X:148.83, Y:320.35, Z:-15.29 [[ 8.50807948e-01 4.46013593e-01 2.77844760e-01 1.48834727e+02] [-4.28111770e-01 8.94945375e-01 -1.25670556e-01 3.20354551e+02] [-3.04706659e-01 -1.20271041e-02 9.52370307e-01 -1.52916343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.426875 meters Centerline goodness [0,1] 0.9832590823496992 Centerline is valid? [True, True] Translation: X:148.86, Y:320.34, Z:-15.30 [[ 8.50578142e-01 4.46745357e-01 2.77372332e-01 1.48862015e+02] [-4.28917023e-01 8.94578127e-01 -1.25539487e-01 3.20342837e+02] [-3.04215404e-01 -1.21885709e-02 9.52525289e-01 -1.52998407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters Centerline goodness [0,1] 0.9844019204704694 Centerline is valid? [True, True] Translation: X:148.89, Y:320.33, Z:-15.31 [[ 8.51196230e-01 4.47641644e-01 2.74010832e-01 1.48888290e+02] [-4.30272800e-01 8.94128822e-01 -1.24092575e-01 3.20327255e+02] [-3.00549987e-01 -1.22722757e-02 9.53687106e-01 -1.53100161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.486875 meters Centerline goodness [0,1] 0.9842729697415616 Centerline is valid? [True, True] Translation: X:148.92, Y:320.32, Z:-15.32 [[ 8.51965945e-01 4.47390279e-01 2.72021998e-01 1.48915072e+02] [-4.30239700e-01 8.94258174e-01 -1.23272535e-01 3.20317024e+02] [-2.98408829e-01 -1.20106608e-02 9.54362570e-01 -1.53214028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters Centerline goodness [0,1] 0.9852318733897681 Centerline is valid? [True, True] Translation: X:148.94, Y:320.30, Z:-15.33 [[ 8.52511265e-01 4.47612066e-01 2.69940700e-01 1.48941641e+02] [-4.30725147e-01 8.94148048e-01 -1.22372858e-01 3.20302604e+02] [-2.96142517e-01 -1.19460080e-02 9.55069056e-01 -1.53338102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.546875 meters Centerline goodness [0,1] 0.9875856658282761 Centerline is valid? [True, True] Translation: X:148.97, Y:320.29, Z:-15.35 [[ 8.54349493e-01 4.46871428e-01 2.65316548e-01 1.48966468e+02] [-4.30509825e-01 8.94525600e-01 -1.20354652e-01 3.20290020e+02] [-2.91115499e-01 -1.13964442e-02 9.56620033e-01 -1.53503670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters Centerline goodness [0,1] 0.9886458044862919 Centerline is valid? [True, True] Translation: X:148.99, Y:320.27, Z:-15.36 [[ 8.54721687e-01 4.47185740e-01 2.63582535e-01 1.48993388e+02] [-4.31043606e-01 8.94368671e-01 -1.19608068e-01 3.20274930e+02] [-2.89226984e-01 -1.13839569e-02 9.57192853e-01 -1.53608931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6068750000001 meters Centerline goodness [0,1] 0.9878959745469637 Centerline is valid? [True, True] Translation: X:149.02, Y:320.27, Z:-15.37 [[ 8.53904206e-01 4.48899869e-01 2.63318275e-01 1.49021582e+02] [-4.32845635e-01 8.93503150e-01 -1.19569133e-01 3.20266687e+02] [-2.88950277e-01 -1.18755806e-02 9.57270447e-01 -1.53710224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters Centerline goodness [0,1] 0.987601401179941 Centerline is valid? [True, True] Translation: X:149.05, Y:320.26, Z:-15.38 [[ 8.52964896e-01 4.51180516e-01 2.62463386e-01 1.49050335e+02] [-4.35326121e-01 8.92344206e-01 -1.19218231e-01 3.20258232e+02] [-2.87996624e-01 -1.25682020e-02 9.57548946e-01 -1.53796938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.666875 meters Centerline goodness [0,1] 0.9861478635035321 Centerline is valid? [True, True] Translation: X:149.08, Y:320.25, Z:-15.39 [[ 8.52059182e-01 4.52486623e-01 2.63155860e-01 1.49079442e+02] [-4.36585932e-01 8.91676727e-01 -1.19604930e-01 3.20248289e+02] [-2.88769586e-01 -1.29796675e-02 9.57310636e-01 -1.53873343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters Centerline goodness [0,1] 0.9846153846153847 Centerline is valid? [True, True] Translation: X:149.11, Y:320.24, Z:-15.39 [[ 8.51289722e-01 4.53631570e-01 2.63674435e-01 1.49108488e+02] [-4.37698939e-01 8.91089619e-01 -1.19912173e-01 3.20238510e+02] [-2.89353499e-01 -1.33300200e-02 9.57129491e-01 -1.53946004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7268750000001 meters Centerline goodness [0,1] 0.9866431046749133 Centerline is valid? [True, True] Translation: X:149.14, Y:320.22, Z:-15.40 [[ 8.50749688e-01 4.54373466e-01 2.64139588e-01 1.49136597e+02] [-4.38397468e-01 8.90708321e-01 -1.20192956e-01 3.20223456e+02] [-2.89883819e-01 -1.35440067e-02 9.56966003e-01 -1.54008621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters Centerline goodness [0,1] 0.986417579402282 Centerline is valid? [True, True] Translation: X:149.16, Y:320.21, Z:-15.41 [[ 8.49973600e-01 4.55435877e-01 2.64807555e-01 1.49164091e+02] [-4.39404224e-01 8.90160501e-01 -1.20574501e-01 3.20208437e+02] [-2.90635180e-01 -1.38724158e-02 9.56733374e-01 -1.54088069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.786875 meters Centerline goodness [0,1] 0.9854493124400384 Centerline is valid? [True, True] Translation: X:149.19, Y:320.20, Z:-15.42 [[ 8.49994222e-01 4.55915116e-01 2.63915193e-01 1.49191288e+02] [-4.39991735e-01 8.89914540e-01 -1.20247180e-01 3.20198075e+02] [-2.89684474e-01 -1.39110956e-02 9.57021100e-01 -1.54201190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters Centerline goodness [0,1] 0.9849431947803076 Centerline is valid? [True, True] Translation: X:149.22, Y:320.19, Z:-15.43 [[ 8.50422786e-01 4.56083804e-01 2.62237773e-01 1.49218726e+02] [-4.40352026e-01 8.89829741e-01 -1.19553855e-01 3.20186583e+02] [-2.87873546e-01 -1.38056122e-02 9.57568915e-01 -1.54319720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.846875 meters Centerline goodness [0,1] 0.9857669885224996 Centerline is valid? [True, True] Translation: X:149.25, Y:320.18, Z:-15.45 [[ 8.51150166e-01 4.55820046e-01 2.60329562e-01 1.49245717e+02] [-4.40285236e-01 8.89969020e-01 -1.18760496e-01 3.20177454e+02] [-2.85818660e-01 -1.35362466e-02 9.58188115e-01 -1.54467817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters Centerline goodness [0,1] 0.9837698602657914 Centerline is valid? [True, True] Translation: X:149.27, Y:320.17, Z:-15.46 [[ 8.51389676e-01 4.55606397e-01 2.59920046e-01 1.49272848e+02] [-4.40099920e-01 8.90080396e-01 -1.18612603e-01 3.20166216e+02] [-2.85390398e-01 -1.34052460e-02 9.58317599e-01 -1.54577139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.906875 meters Centerline goodness [0,1] 0.9857826384142173 Centerline is valid? [True, True] Translation: X:149.30, Y:320.14, Z:-15.46 [[ 8.51948062e-01 4.54225566e-01 2.60506498e-01 1.49297918e+02] [-4.38564397e-01 8.90793158e-01 -1.18948810e-01 3.20143768e+02] [-2.86086997e-01 -1.29106669e-02 9.58116666e-01 -1.54624154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters Centerline goodness [0,1] 0.9860266203174313 Centerline is valid? [True, True] Translation: X:149.32, Y:320.13, Z:-15.47 [[ 8.52596407e-01 4.53537438e-01 2.59582662e-01 1.49324896e+02] [-4.37936279e-01 8.91148675e-01 -1.18599557e-01 3.20126270e+02] [-2.85116085e-01 -1.25631087e-02 9.58410656e-01 -1.54701023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.966875 meters Centerline goodness [0,1] 0.9871900448348431 Centerline is valid? [True, True] Translation: X:149.35, Y:320.11, Z:-15.48 [[ 8.52845064e-01 4.53507646e-01 2.58816751e-01 1.49352612e+02] [-4.37991872e-01 8.91164841e-01 -1.18272341e-01 3.20110736e+02] [-2.84285800e-01 -1.24916516e-02 9.58658199e-01 -1.54794564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters Centerline goodness [0,1] 0.9866831411312466 Centerline is valid? [True, True] Translation: X:149.38, Y:320.10, Z:-15.49 [[ 8.53207378e-01 4.54075401e-01 2.56617810e-01 1.49379568e+02] [-4.38825959e-01 8.90875810e-01 -1.17354461e-01 3.20099903e+02] [-2.81902373e-01 -1.24828643e-02 9.59361887e-01 -1.54907311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.026875 meters Centerline goodness [0,1] 0.9855194938674828 Centerline is valid? [True, True] Translation: X:149.41, Y:320.09, Z:-15.50 [[ 8.52855493e-01 4.55005070e-01 2.56140380e-01 1.49408280e+02] [-4.39833902e-01 8.90398277e-01 -1.17205149e-01 3.20090842e+02] [-2.81395890e-01 -1.27001679e-02 9.59507717e-01 -1.55024232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters Centerline goodness [0,1] 0.9851100758198593 Centerline is valid? [True, True] Translation: X:149.44, Y:320.08, Z:-15.51 [[ 8.52091753e-01 4.57034017e-01 2.55067739e-01 1.49437963e+02] [-4.42057650e-01 8.89350709e-01 -1.16791914e-01 3.20082264e+02] [-2.80222552e-01 -1.32372186e-02 9.59843788e-01 -1.55129579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.086875 meters Centerline goodness [0,1] 0.9834639015142864 Centerline is valid? [True, True] Translation: X:149.47, Y:320.08, Z:-15.52 [[ 8.50517189e-01 4.60126333e-01 2.54763163e-01 1.49467508e+02] [-4.45316372e-01 8.87739562e-01 -1.16669619e-01 3.20075781e+02] [-2.79846102e-01 -1.42206909e-02 9.59939545e-01 -1.55223382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters Centerline goodness [0,1] 0.9837834139220873 Centerline is valid? [True, True] Translation: X:149.50, Y:320.06, Z:-15.53 [[ 8.49930877e-01 4.60776122e-01 2.55544261e-01 1.49496718e+02] [-4.45885822e-01 8.87399086e-01 -1.17084144e-01 3.20063455e+02] [-2.80719321e-01 -1.44301339e-02 9.59681423e-01 -1.55304799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.146875 meters Centerline goodness [0,1] 0.9837834139220873 Centerline is valid? [True, True] Translation: X:149.52, Y:320.05, Z:-15.54 [[ 8.49811122e-01 4.61014377e-01 2.55512822e-01 1.49524807e+02] [-4.46114030e-01 8.87275332e-01 -1.17152713e-01 3.20050499e+02] [-2.80719309e-01 -1.44301762e-02 9.59681426e-01 -1.55403987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters Centerline goodness [0,1] 0.9837114999088755 Centerline is valid? [True, True] Translation: X:149.55, Y:320.04, Z:-15.55 [[ 8.49458067e-01 4.61329099e-01 2.56118049e-01 1.49552491e+02] [-4.46346228e-01 8.87110700e-01 -1.17514468e-01 3.20036257e+02] [-2.81417905e-01 -1.44937118e-02 9.59475844e-01 -1.55476448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.206875 meters Centerline goodness [0,1] 0.9828166962538122 Centerline is valid? [True, True] Translation: X:149.58, Y:320.03, Z:-15.56 [[ 8.49842753e-01 4.60933633e-01 2.55553285e-01 1.49580005e+02] [-4.45978824e-01 8.87320027e-01 -1.17328846e-01 3.20025301e+02] [-2.80838359e-01 -1.42602836e-02 9.59649134e-01 -1.55564394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters Centerline goodness [0,1] 0.9839026926816034 Centerline is valid? [True, True] Translation: X:149.61, Y:320.02, Z:-15.57 [[ 8.50134484e-01 4.60623511e-01 2.55141805e-01 1.49610026e+02] [-4.45684377e-01 8.87484076e-01 -1.17206872e-01 3.20017614e+02] [-2.80422530e-01 -1.40711127e-02 9.59773519e-01 -1.55658944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.266875 meters Centerline goodness [0,1] 0.98131976953547 Centerline is valid? [True, True] Translation: X:149.64, Y:320.01, Z:-15.58 [[ 8.49656605e-01 4.61239678e-01 2.55620055e-01 1.49639462e+02] [-4.46249587e-01 8.87161362e-01 -1.17499041e-01 3.20010992e+02] [-2.80971456e-01 -1.42365077e-02 9.59610527e-01 -1.55766676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters Centerline goodness [0,1] 0.9811150876719112 Centerline is valid? [True, True] Translation: X:149.67, Y:320.00, Z:-15.59 [[ 8.49216751e-01 4.62355917e-01 2.55064532e-01 1.49668465e+02] [-4.47460953e-01 8.86575731e-01 -1.17312268e-01 3.20001778e+02] [-2.80374045e-01 -1.45078754e-02 9.59781181e-01 -1.55860287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.326875 meters Centerline goodness [0,1] 0.9723646787449891 Centerline is valid? [True, True] Translation: X:149.70, Y:320.00, Z:-15.60 [[ 8.48262167e-01 4.64825427e-01 2.53749126e-01 1.49698890e+02] [-4.50184467e-01 8.85271717e-01 -1.16738735e-01 3.19998640e+02] [-2.78900057e-01 -1.52088624e-02 9.60199692e-01 -1.55974693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters Centerline goodness [0,1] 0.9729254336161023 Centerline is valid? [True, True] Translation: X:149.73, Y:319.99, Z:-15.61 [[ 8.47840823e-01 4.65675167e-01 2.53599247e-01 1.49728332e+02] [-4.51070451e-01 8.84821371e-01 -1.16732986e-01 3.19990241e+02] [-2.78749686e-01 -1.54201360e-02 9.60239987e-01 -1.56072985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.386875 meters Centerline goodness [0,1] 0.9836713838224513 Centerline is valid? [True, True] Translation: X:149.76, Y:319.98, Z:-15.61 [[ 8.47624066e-01 4.66630659e-01 2.52565377e-01 1.49756299e+02] [-4.52167810e-01 8.84314673e-01 -1.16326399e-01 3.19975107e+02] [-2.77628733e-01 -1.56008783e-02 9.60561762e-01 -1.56139573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters Centerline goodness [0,1] 0.9530939884444052 Centerline is valid? [True, True] Translation: X:149.79, Y:319.98, Z:-15.63 [[ 8.47034490e-01 4.68351458e-01 2.51355296e-01 1.49789743e+02] [-4.54084105e-01 8.83396980e-01 -1.15833506e-01 3.19979264e+02] [-2.76297301e-01 -1.60214702e-02 9.60938663e-01 -1.56261989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.446875 meters Centerline goodness [0,1] 0.9410509175725036 Centerline is valid? [True, False] Translation: X:149.72, Y:320.01, Z:-15.59 [[ 8.48448603e-01 4.62441527e-01 2.57454468e-01 1.49717479e+02] [-4.53336645e-01 8.85996379e-01 -9.74489798e-02 3.20006209e+02] [-2.73168181e-01 -3.40330939e-02 9.61364079e-01 -1.55928114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters Centerline goodness [0,1] 0.9807514831905075 Centerline is valid? [False, True] Translation: X:149.65, Y:320.04, Z:-15.56 [[ 8.50419865e-01 4.56677809e-01 2.61211470e-01 1.49646165e+02] [-4.50960125e-01 8.88473618e-01 -8.51445629e-02 3.20037677e+02] [-2.70963133e-01 -4.53873296e-02 9.61519096e-01 -1.55617452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.506875 meters Centerline goodness [0,1] 0.9507157687684407 Centerline is valid? [True, True] Translation: X:149.68, Y:320.06, Z:-15.58 [[ 8.48559394e-01 4.67253486e-01 2.48236046e-01 1.49684024e+02] [-4.53729746e-01 8.83962690e-01 -1.12868417e-01 3.20058475e+02] [-2.72169564e-01 -1.68565228e-02 9.62101651e-01 -1.55821192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters Centerline goodness [0,1] 0.9657170238717546 Centerline is valid? [True, True] Translation: X:149.71, Y:320.05, Z:-15.59 [[ 8.48156805e-01 4.68380378e-01 2.47487084e-01 1.49713351e+02] [-4.54971874e-01 8.83361115e-01 -1.12577679e-01 3.20048181e+02] [-2.71349643e-01 -1.71161376e-02 9.62328639e-01 -1.55907330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.566875 meters Centerline goodness [0,1] 0.9617365710080942 Centerline is valid? [True, True] Translation: X:149.74, Y:320.04, Z:-15.60 [[ 8.47624584e-01 4.69897143e-01 2.46433033e-01 1.49744543e+02] [-4.56662313e-01 8.82547554e-01 -1.12113100e-01 3.20044422e+02] [-2.70170496e-01 -1.75068590e-02 9.62653319e-01 -1.56012985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters Centerline goodness [0,1] 0.9572483482316362 Centerline is valid? [True, True] Translation: X:149.77, Y:320.04, Z:-15.61 [[ 8.47810509e-01 4.69782781e-01 2.46011139e-01 1.49774018e+02] [-4.56571398e-01 8.82610939e-01 -1.11984329e-01 3.20037648e+02] [-2.69740432e-01 -1.73801586e-02 9.62776210e-01 -1.56121886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.626875 meters Centerline goodness [0,1] 0.9542792938786975 Centerline is valid? [True, True] Translation: X:149.80, Y:320.03, Z:-15.62 [[ 8.48452959e-01 4.68812321e-01 2.45647276e-01 1.49803541e+02] [-4.55582955e-01 8.83134470e-01 -1.11882432e-01 3.20029315e+02] [-2.69391440e-01 -1.69857316e-02 9.62880957e-01 -1.56221462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters Centerline goodness [0,1] 0.954815644383184 Centerline is valid? [True, True] Translation: X:149.83, Y:320.02, Z:-15.63 [[ 8.49480243e-01 4.66810983e-01 2.45908158e-01 1.49830930e+02] [-4.53450607e-01 8.84206853e-01 -1.12074923e-01 3.20019412e+02] [-2.69751483e-01 -1.63017703e-02 9.62791976e-01 -1.56313498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.686875 meters Centerline goodness [0,1] 0.9653624533310313 Centerline is valid? [True, True] Translation: X:149.86, Y:320.01, Z:-15.64 [[ 8.51030410e-01 4.64612788e-01 2.44708395e-01 1.49857969e+02] [-4.51286882e-01 8.85378387e-01 -1.11558330e-01 3.20005079e+02] [-2.68490951e-01 -1.54941572e-02 9.63157589e-01 -1.56394999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters Centerline goodness [0,1] 0.9812077065643722 Centerline is valid? [True, True] Translation: X:149.89, Y:319.99, Z:-15.65 [[ 8.53482165e-01 4.60920530e-01 2.43146992e-01 1.49885370e+02] [-4.47615760e-01 8.87327496e-01 -1.10860479e-01 3.19989940e+02] [-2.66848882e-01 -1.42189836e-02 9.63633486e-01 -1.56451236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.746875 meters Centerline goodness [0,1] 0.9723961358893264 Centerline is valid? [True, True] Translation: X:149.91, Y:319.98, Z:-15.66 [[ 8.53897299e-01 4.59792487e-01 2.43824264e-01 1.49913953e+02] [-4.46363042e-01 8.87917702e-01 -1.11185378e-01 3.19984329e+02] [-2.67618082e-01 -1.38932461e-02 9.63424901e-01 -1.56554369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters Centerline goodness [0,1] 0.9827589917992208 Centerline is valid? [True, True] Translation: X:149.94, Y:319.97, Z:-15.66 [[ 8.53955129e-01 4.59466889e-01 2.44235165e-01 1.49943334e+02] [-4.45970771e-01 8.88087830e-01 -1.11400526e-01 3.19972344e+02] [-2.68087131e-01 -1.37906948e-02 9.63295960e-01 -1.56619054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.806875 meters Centerline goodness [0,1] 0.9815287580717825 Centerline is valid? [True, True] Translation: X:149.97, Y:319.97, Z:-15.67 [[ 8.53691199e-01 4.59416585e-01 2.45250357e-01 1.49974779e+02] [-4.45784806e-01 8.88114144e-01 -1.11933790e-01 3.19969850e+02] [-2.69234551e-01 -1.37719919e-02 9.62976162e-01 -1.56701689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters Centerline goodness [0,1] 0.9789326447170217 Centerline is valid? [True, True] Translation: X:150.00, Y:319.96, Z:-15.68 [[ 8.53406411e-01 4.59936805e-01 2.45266454e-01 1.50004605e+02] [-4.46306484e-01 8.87843183e-01 -1.12004484e-01 3.19961078e+02] [-2.69273134e-01 -1.38786644e-02 9.62963843e-01 -1.56800088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.866875 meters Centerline goodness [0,1] 0.9772023822229812 Centerline is valid? [True, True] Translation: X:150.03, Y:319.96, Z:-15.69 [[ 8.53230272e-01 4.59346354e-01 2.46979818e-01 1.50034906e+02] [-4.45476718e-01 8.88151184e-01 -1.12862610e-01 3.19955417e+02] [-2.71198446e-01 -1.37259630e-02 9.62425582e-01 -1.56866499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters Centerline goodness [0,1] 0.9889119148845258 Centerline is valid? [True, True] Translation: X:150.06, Y:319.94, Z:-15.69 [[ 8.53514945e-01 4.58605864e-01 2.47371986e-01 1.50062614e+02] [-4.44658676e-01 8.88537143e-01 -1.13050466e-01 3.19935690e+02] [-2.71644804e-01 -1.35058375e-02 9.62302807e-01 -1.56893773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.926875 meters Centerline goodness [0,1] 0.9891016891315475 Centerline is valid? [True, True] Translation: X:150.09, Y:319.93, Z:-15.70 [[ 8.53927448e-01 4.57649852e-01 2.47718644e-01 1.50091899e+02] [-4.43617623e-01 8.89034488e-01 -1.13230223e-01 3.19926017e+02] [-2.72050212e-01 -1.32019608e-02 9.62192491e-01 -1.56979808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters Centerline goodness [0,1] 0.9903172378646962 Centerline is valid? [True, True] Translation: X:150.12, Y:319.92, Z:-15.71 [[ 8.55437914e-01 4.54647857e-01 2.48034881e-01 1.50122402e+02] [-4.40433170e-01 8.90587861e-01 -1.13454324e-01 3.19918234e+02] [-2.72478620e-01 -1.21896586e-02 9.62084619e-01 -1.57061445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.986875 meters Centerline goodness [0,1] 0.9899624387241899 Centerline is valid? [True, True] Translation: X:150.15, Y:319.91, Z:-15.72 [[ 8.56634203e-01 4.52504669e-01 2.47825274e-01 1.50150570e+02] [-4.38223553e-01 8.91688047e-01 -1.13369066e-01 3.19910009e+02] [-2.72282866e-01 -1.14870522e-02 9.62148683e-01 -1.57162914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters Centerline goodness [0,1] 0.9906532152091899 Centerline is valid? [True, True] Translation: X:150.18, Y:319.90, Z:-15.72 [[ 8.57765676e-01 4.50196132e-01 2.48115874e-01 1.50178815e+02] [-4.35769797e-01 8.92865429e-01 -1.13560602e-01 3.19898416e+02] [-2.72658630e-01 -1.07130173e-02 9.62051196e-01 -1.57249091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.046875 meters Centerline goodness [0,1] 0.9918122731493205 Centerline is valid? [True, True] Translation: X:150.21, Y:319.88, Z:-15.73 [[ 8.60762874e-01 4.43385383e-01 2.49993352e-01 1.50206893e+02] [-4.28449694e-01 8.96289748e-01 -1.14435776e-01 3.19881937e+02] [-2.74805629e-01 -8.60750757e-03 9.61461272e-01 -1.57277170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters Centerline goodness [0,1] 0.9919110640550556 Centerline is valid? [True, True] Translation: X:150.23, Y:319.87, Z:-15.74 [[ 8.62443216e-01 4.39826951e-01 2.50487428e-01 1.50234222e+02] [-4.24680374e-01 8.98051418e-01 -1.14674455e-01 3.19868953e+02] [-2.75387506e-01 -7.47688928e-03 9.61304227e-01 -1.57360005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1068750000001 meters Centerline goodness [0,1] 0.99204653622422 Centerline is valid? [True, True] Translation: X:150.26, Y:319.86, Z:-15.74 [[ 8.64392915e-01 4.35962282e-01 2.50523007e-01 1.50261276e+02] [-4.20635734e-01 8.99943637e-01 -1.14747678e-01 3.19856461e+02] [-2.75482245e-01 -6.19184883e-03 9.61286218e-01 -1.57446338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters Centerline goodness [0,1] 0.9935031954966775 Centerline is valid? [True, True] Translation: X:150.29, Y:319.84, Z:-15.75 [[ 8.66391115e-01 4.32231754e-01 2.50084280e-01 1.50290236e+02] [-4.16790436e-01 9.01749029e-01 -1.14605500e-01 3.19844928e+02] [-2.75049393e-01 -4.93954917e-03 9.61417408e-01 -1.57547705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.166875 meters Centerline goodness [0,1] 0.9946283176483028 Centerline is valid? [True, True] Translation: X:150.32, Y:319.84, Z:-15.76 [[ 8.69186184e-01 4.25947027e-01 2.51166296e-01 1.50320458e+02] [-4.10103340e-01 9.04743341e-01 -1.15129218e-01 3.19838943e+02] [-2.76279982e-01 -2.93541127e-03 9.61072711e-01 -1.57647466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters Centerline goodness [0,1] 0.9947446492901039 Centerline is valid? [True, True] Translation: X:150.35, Y:319.83, Z:-15.77 [[ 8.70672792e-01 4.22113506e-01 2.52485796e-01 1.50349783e+02] [-4.05938066e-01 9.06541361e-01 -1.15745614e-01 3.19831104e+02] [-2.77746604e-01 -1.71703862e-03 9.60652838e-01 -1.57739143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2268750000001 meters Centerline goodness [0,1] 0.9950324155931632 Centerline is valid? [True, True] Translation: X:150.38, Y:319.82, Z:-15.78 [[ 8.71190309e-01 4.21041023e-01 2.52491390e-01 1.50378775e+02] [-4.04800974e-01 9.07040649e-01 -1.15816372e-01 3.19820117e+02] [-2.77783398e-01 -1.31065963e-03 9.60642840e-01 -1.57814275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters Centerline goodness [0,1] 0.9948254101809003 Centerline is valid? [True, True] Translation: X:150.41, Y:319.81, Z:-15.79 [[ 8.70992806e-01 4.20926893e-01 2.53361564e-01 1.50408199e+02] [-4.04545652e-01 9.07093762e-01 -1.16291541e-01 3.19810188e+02] [-2.78772931e-01 -1.20722311e-03 9.60356286e-01 -1.57898514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.286875 meters Centerline goodness [0,1] 0.9950358175191655 Centerline is valid? [True, True] Translation: X:150.44, Y:319.80, Z:-15.80 [[ 8.70782829e-01 4.20577296e-01 2.54660563e-01 1.50437370e+02] [-4.03987260e-01 9.07256126e-01 -1.16964160e-01 3.19801457e+02] [-2.80234826e-01 -1.02924072e-03 9.59930926e-01 -1.57979191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters Centerline goodness [0,1] 0.9956679004037685 Centerline is valid? [True, True] Translation: X:150.47, Y:319.79, Z:-15.80 [[ 8.70274294e-01 4.20660566e-01 2.56256398e-01 1.50468634e+02] [-4.03839491e-01 9.07217560e-01 -1.17770815e-01 3.19792439e+02] [-2.82021842e-01 -9.93540103e-04 9.59407470e-01 -1.58046087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.346875 meters Centerline goodness [0,1] 0.9946521821194136 Centerline is valid? [True, True] Translation: X:150.50, Y:319.79, Z:-15.81 [[ 8.69872383e-01 4.20508388e-01 2.57865727e-01 1.50501878e+02] [-4.03457290e-01 9.07288176e-01 -1.18534300e-01 3.19789065e+02] [-2.83803192e-01 -9.28093630e-04 9.58882103e-01 -1.58107959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters Centerline goodness [0,1] 0.9950357593605385 Centerline is valid? [True, True] Translation: X:150.53, Y:319.78, Z:-15.82 [[ 8.69623572e-01 4.20695397e-01 2.58399354e-01 1.50531907e+02] [-4.03557467e-01 9.07201488e-01 -1.18856351e-01 3.19780770e+02] [-2.84422598e-01 -9.18704224e-04 9.58698567e-01 -1.58199906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.406875 meters Centerline goodness [0,1] 0.9960112276554882 Centerline is valid? [True, True] Translation: X:150.56, Y:319.77, Z:-15.83 [[ 8.69621554e-01 4.20771343e-01 2.58282460e-01 1.50561408e+02] [-4.03629428e-01 9.07166314e-01 -1.18880462e-01 3.19771164e+02] [-2.84326639e-01 -8.69389335e-04 9.58727076e-01 -1.58301184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters Centerline goodness [0,1] 0.9960789247447107 Centerline is valid? [True, True] Translation: X:150.59, Y:319.76, Z:-15.84 [[ 8.69943438e-01 4.19969317e-01 2.58503749e-01 1.50592126e+02] [-4.02747153e-01 9.07538132e-01 -1.19034740e-01 3.19761578e+02] [-2.84592948e-01 -5.58157585e-04 9.58648289e-01 -1.58388803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.466875 meters Centerline goodness [0,1] 0.9955990527484964 Centerline is valid? [True, True] Translation: X:150.62, Y:319.75, Z:-15.85 [[ 8.69813144e-01 4.19668435e-01 2.59429181e-01 1.50621467e+02] [-4.02280474e-01 9.07677400e-01 -1.19549813e-01 3.19751575e+02] [-2.85649287e-01 -3.77294720e-04 9.58334150e-01 -1.58478191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters Centerline goodness [0,1] 0.9953680520781172 Centerline is valid? [True, True] Translation: X:150.65, Y:319.74, Z:-15.86 [[ 8.69731273e-01 4.19698231e-01 2.59655363e-01 1.50651896e+02] [-4.02257766e-01 9.07663647e-01 -1.19730504e-01 3.19741914e+02] [-2.85930414e-01 -3.15022361e-04 9.58250332e-01 -1.58572798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.526875 meters Centerline goodness [0,1] 0.9957065365363269 Centerline is valid? [True, True] Translation: X:150.68, Y:319.74, Z:-15.87 [[ 8.70012319e-01 4.18676205e-01 2.60362825e-01 1.50682036e+02] [-4.01066575e-01 9.08135576e-01 -1.20147319e-01 3.19736372e+02] [-2.86747568e-01 1.06821179e-04 9.58006170e-01 -1.58659089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters Centerline goodness [0,1] 0.995216909998538 Centerline is valid? [True, True] Translation: X:150.71, Y:319.73, Z:-15.88 [[ 8.70315082e-01 4.18424435e-01 2.59754983e-01 1.50711039e+02] [-4.00875392e-01 9.08251584e-01 -1.19908214e-01 3.19726171e+02] [-2.86095401e-01 2.28546152e-04 9.58201111e-01 -1.58758459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.586875 meters Centerline goodness [0,1] 0.9952564048982321 Centerline is valid? [True, True] Translation: X:150.74, Y:319.72, Z:-15.89 [[ 8.70507182e-01 4.18221915e-01 2.59437229e-01 1.50740296e+02] [-4.00685502e-01 9.08344811e-01 -1.19836691e-01 3.19715214e+02] [-2.85776791e-01 3.65964229e-04 9.58296140e-01 -1.58851360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters Centerline goodness [0,1] 0.9951526294895635 Centerline is valid? [True, True] Translation: X:150.77, Y:319.71, Z:-15.89 [[ 8.70263281e-01 4.17976236e-01 2.60648590e-01 1.50769519e+02] [-4.00234706e-01 9.08457804e-01 -1.20484846e-01 3.19706422e+02] [-2.87148048e-01 5.32925389e-04 9.57886066e-01 -1.58922629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.646875 meters Centerline goodness [0,1] 0.995679218502129 Centerline is valid? [True, True] Translation: X:150.80, Y:319.69, Z:-15.90 [[ 8.69889405e-01 4.18042285e-01 2.61788217e-01 1.50798862e+02] [-4.00123424e-01 9.08427383e-01 -1.21082346e-01 3.19694431e+02] [-2.88433125e-01 5.80652476e-04 9.57499867e-01 -1.59000921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters Centerline goodness [0,1] 0.9954623395090126 Centerline is valid? [True, True] Translation: X:150.83, Y:319.68, Z:-15.91 [[ 8.69380016e-01 4.18475681e-01 2.62786019e-01 1.50829069e+02] [-4.00413354e-01 9.08227859e-01 -1.21619497e-01 3.19683087e+02] [-2.89564385e-01 5.10528741e-04 9.57158402e-01 -1.59063664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.706875 meters Centerline goodness [0,1] 0.9955117449664429 Centerline is valid? [True, True] Translation: X:150.86, Y:319.67, Z:-15.92 [[ 8.68778037e-01 4.18906464e-01 2.64087291e-01 1.50858379e+02] [-4.00655362e-01 9.08029281e-01 -1.22303337e-01 3.19672444e+02] [-2.91032651e-01 4.46463815e-04 9.56713017e-01 -1.59151382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters Centerline goodness [0,1] 0.9954469507101086 Centerline is valid? [True, True] Translation: X:150.89, Y:319.67, Z:-15.92 [[ 8.68694429e-01 4.19256520e-01 2.63806670e-01 1.50888772e+02] [-4.01036328e-01 9.07867725e-01 -1.22254070e-01 3.19666424e+02] [-2.90757377e-01 4.05370823e-04 9.56796730e-01 -1.59247825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.766875 meters Centerline goodness [0,1] 0.9963780252910142 Centerline is valid? [True, True] Translation: X:150.92, Y:319.66, Z:-15.94 [[ 8.68683164e-01 4.19194508e-01 2.63942278e-01 1.50917528e+02] [-4.00926018e-01 9.07896308e-01 -1.22403519e-01 3.19656660e+02] [-2.90943103e-01 5.08549784e-04 9.56740222e-01 -1.59356759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters Centerline goodness [0,1] 0.9957832331329325 Centerline is valid? [True, True] Translation: X:150.95, Y:319.65, Z:-15.94 [[ 8.68947121e-01 4.18939272e-01 2.63478247e-01 1.50947511e+02] [-4.00700197e-01 9.08014007e-01 -1.22269844e-01 3.19645127e+02] [-2.90465579e-01 6.70243629e-04 9.56885206e-01 -1.59448454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.826875 meters Centerline goodness [0,1] 0.9954389488660139 Centerline is valid? [True, True] Translation: X:150.97, Y:319.63, Z:-15.96 [[ 8.69622832e-01 4.18172526e-01 2.62464983e-01 1.50974230e+02] [-4.00015029e-01 9.08367063e-01 -1.21890343e-01 3.19632512e+02] [-2.89385739e-01 1.00868735e-03 9.57212033e-01 -1.59550396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters Centerline goodness [0,1] 0.995201919232307 Centerline is valid? [True, True] Translation: X:151.00, Y:319.62, Z:-15.96 [[ 8.69405607e-01 4.18353760e-01 2.62895460e-01 1.51002859e+02] [-4.00121340e-01 9.08283597e-01 -1.22163088e-01 3.19618963e+02] [-2.89891021e-01 1.01918960e-03 9.57059119e-01 -1.59647621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.886875 meters Centerline goodness [0,1] 0.9950436037392559 Centerline is valid? [True, True] Translation: X:151.03, Y:319.61, Z:-15.98 [[ 8.69444326e-01 4.18909449e-01 2.61880579e-01 1.51029794e+02] [-4.00818003e-01 9.08027551e-01 -1.21782162e-01 3.19607323e+02] [-2.88810479e-01 9.16358757e-04 9.57385851e-01 -1.59757825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters Centerline goodness [0,1] 0.9949656368156086 Centerline is valid? [True, True] Translation: X:151.06, Y:319.60, Z:-15.98 [[ 8.68679719e-01 4.21622235e-01 2.60058140e-01 1.51061152e+02] [-4.03894071e-01 9.06771575e-01 -1.20974753e-01 3.19599662e+02] [-2.86818975e-01 5.23731586e-05 9.57984798e-01 -1.59834728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.946875 meters Centerline goodness [0,1] 0.9949658094558879 Centerline is valid? [True, True] Translation: X:151.09, Y:319.59, Z:-15.99 [[ 8.67678133e-01 4.24030503e-01 2.59485626e-01 1.51089648e+02] [-4.06464038e-01 9.05647661e-01 -1.20786171e-01 3.19590618e+02] [-2.86219571e-01 -6.68055932e-04 9.58163822e-01 -1.59920929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters Centerline goodness [0,1] 0.9936464146132464 Centerline is valid? [True, True] Translation: X:151.12, Y:319.58, Z:-16.00 [[ 8.66211203e-01 4.27020775e-01 2.59482967e-01 1.51120374e+02] [-4.09564605e-01 9.04240419e-01 -1.20855698e-01 3.19580579e+02] [-2.86242881e-01 -1.58847903e-03 9.58155775e-01 -1.60010846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.006875 meters Centerline goodness [0,1] 0.9941762164193124 Centerline is valid? [True, True] Translation: X:151.15, Y:319.57, Z:-16.01 [[ 8.63132564e-01 4.32940303e-01 2.59932434e-01 1.51150894e+02] [-4.15657346e-01 9.01415913e-01 -1.21154128e-01 3.19571801e+02] [-2.86759737e-01 -3.47075229e-03 9.57996246e-01 -1.60084618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters Centerline goodness [0,1] 0.9941762164193124 Centerline is valid? [True, True] Translation: X:151.18, Y:319.56, Z:-16.02 [[ 8.63015993e-01 4.33190301e-01 2.59902979e-01 1.51178944e+02] [-4.15899416e-01 9.01295759e-01 -1.21217283e-01 3.19558656e+02] [-2.86759604e-01 -3.48104328e-03 9.57996248e-01 -1.60182846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.066875 meters Centerline goodness [0,1] 0.9931193140227962 Centerline is valid? [True, True] Translation: X:151.21, Y:319.55, Z:-16.03 [[ 8.61553430e-01 4.35931186e-01 2.60172419e-01 1.51206558e+02] [-4.18698771e-01 8.99969666e-01 -1.21432861e-01 3.19551191e+02] [-2.87083656e-01 -4.31297424e-03 9.57895805e-01 -1.60311446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters Centerline goodness [0,1] 0.9931028717134138 Centerline is valid? [True, True] Translation: X:151.23, Y:319.54, Z:-16.04 [[ 8.60197017e-01 4.38634958e-01 2.60116254e-01 1.51233807e+02] [-4.21508878e-01 8.98650603e-01 -1.21479874e-01 3.19535025e+02] [-2.87038948e-01 -5.14468503e-03 9.57905097e-01 -1.60367470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.126875 meters Centerline goodness [0,1] 0.9939673527324343 Centerline is valid? [True, True] Translation: X:151.26, Y:319.52, Z:-16.05 [[ 8.58656245e-01 4.42319503e-01 2.58965074e-01 1.51261011e+02] [-4.25498693e-01 8.96835379e-01 -1.20984152e-01 3.19523713e+02] [-2.85762690e-01 -6.30550265e-03 9.58279670e-01 -1.60452884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters Centerline goodness [0,1] 0.9938954278427027 Centerline is valid? [True, True] Translation: X:151.29, Y:319.51, Z:-16.05 [[ 8.58017509e-01 4.43979466e-01 2.58240563e-01 1.51288473e+02] [-4.27325898e-01 8.96010922e-01 -1.20652414e-01 3.19509197e+02] [-2.84953559e-01 -6.83099695e-03 9.58516983e-01 -1.60542368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.186875 meters Centerline goodness [0,1] 0.9933294299694702 Centerline is valid? [True, True] Translation: X:151.32, Y:319.50, Z:-16.06 [[ 8.57381500e-01 4.45388540e-01 2.57926369e-01 1.51315922e+02] [-4.28815652e-01 8.95308302e-01 -1.20582671e-01 3.19496068e+02] [-2.84629759e-01 -7.21751297e-03 9.58610352e-01 -1.60648736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters Centerline goodness [0,1] 0.9926943308007014 Centerline is valid? [True, True] Translation: X:151.34, Y:319.48, Z:-16.07 [[ 8.56392364e-01 4.48023935e-01 2.56645034e-01 1.51342675e+02] [-4.31710746e-01 8.93985981e-01 -1.20062056e-01 3.19480928e+02] [-2.83227737e-01 -7.97619143e-03 9.59019514e-01 -1.60729625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.246875 meters Centerline goodness [0,1] 0.9922720894678423 Centerline is valid? [True, True] Translation: X:151.37, Y:319.47, Z:-16.08 [[ 8.55566741e-01 4.49059139e-01 2.57587737e-01 1.51370615e+02] [-4.32659581e-01 8.93463292e-01 -1.20536442e-01 3.19466064e+02] [-2.84273178e-01 -8.32083174e-03 9.58707215e-01 -1.60817504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters Centerline goodness [0,1] 0.9925794314381271 Centerline is valid? [True, True] Translation: X:151.40, Y:319.45, Z:-16.09 [[ 8.55012613e-01 4.50228870e-01 2.57385695e-01 1.51398212e+02] [-4.33880549e-01 8.92871598e-01 -1.20532064e-01 3.19451827e+02] [-2.84079392e-01 -8.61821147e-03 9.58762028e-01 -1.60904387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.306875 meters Centerline goodness [0,1] 0.9921284503278073 Centerline is valid? [True, True] Translation: X:151.43, Y:319.44, Z:-16.10 [[ 8.54359912e-01 4.51456839e-01 2.57402141e-01 1.51425014e+02] [-4.35137653e-01 8.92248028e-01 -1.20617909e-01 3.19436892e+02] [-2.84120333e-01 -8.95425749e-03 9.58746816e-01 -1.60986888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters Centerline goodness [0,1] 0.9918285666638873 Centerline is valid? [True, True] Translation: X:151.45, Y:319.42, Z:-16.11 [[ 8.52708898e-01 4.54607903e-01 2.57330895e-01 1.51449791e+02] [-4.38415541e-01 8.90636314e-01 -1.20659722e-01 3.19420972e+02] [-2.84041103e-01 -9.93024480e-03 9.58760680e-01 -1.61060604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.366875 meters Centerline goodness [0,1] 0.9917918085173041 Centerline is valid? [True, True] Translation: X:151.48, Y:319.41, Z:-16.11 [[ 8.51935943e-01 4.56138586e-01 2.57182308e-01 1.51477101e+02] [-4.40026063e-01 8.89847852e-01 -1.20614525e-01 3.19405612e+02] [-2.83870063e-01 -1.04110690e-02 9.58806235e-01 -1.61148865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters Centerline goodness [0,1] 0.9912442011117149 Centerline is valid? [True, True] Translation: X:151.50, Y:319.39, Z:-16.12 [[ 8.50566169e-01 4.58769871e-01 2.57035792e-01 1.51501829e+02] [-4.42769292e-01 8.88484448e-01 -1.20626451e-01 3.19388498e+02] [-2.83712085e-01 -1.12067769e-02 9.58844023e-01 -1.61229659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.426875 meters Centerline goodness [0,1] 0.9917532643328683 Centerline is valid? [True, True] Translation: X:151.53, Y:319.37, Z:-16.13 [[ 8.49571965e-01 4.60544374e-01 2.57150452e-01 1.51528391e+02] [-4.44604448e-01 8.87558353e-01 -1.20694059e-01 3.19373947e+02] [-2.83821001e-01 -1.17919462e-02 9.58804771e-01 -1.61320265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters Centerline goodness [0,1] 0.9909930619409847 Centerline is valid? [True, True] Translation: X:151.55, Y:319.36, Z:-16.14 [[ 8.49076643e-01 4.61561888e-01 2.56962017e-01 1.51554876e+02] [-4.45670185e-01 8.87026076e-01 -1.20676534e-01 3.19358695e+02] [-2.83631699e-01 -1.20566836e-02 9.58857495e-01 -1.61410665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.486875 meters Centerline goodness [0,1] 0.9914897167410621 Centerline is valid? [True, True] Translation: X:151.58, Y:319.34, Z:-16.15 [[ 8.48665401e-01 4.62437211e-01 2.56746692e-01 1.51581880e+02] [-4.46588884e-01 8.86567175e-01 -1.20652450e-01 3.19343572e+02] [-2.83417372e-01 -1.22666586e-02 9.58918204e-01 -1.61504245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters Centerline goodness [0,1] 0.9909271453956308 Centerline is valid? [True, True] Translation: X:151.61, Y:319.32, Z:-16.16 [[ 8.47802446e-01 4.64345301e-01 2.56153184e-01 1.51606167e+02] [-4.48632948e-01 8.85561762e-01 -1.20452658e-01 3.19322835e+02] [-2.82771091e-01 -1.27987000e-02 9.59102030e-01 -1.61580131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.546875 meters Centerline goodness [0,1] 0.9905609041439933 Centerline is valid? [True, True] Translation: X:151.63, Y:319.31, Z:-16.17 [[ 8.47542970e-01 4.65236319e-01 2.55393972e-01 1.51632421e+02] [-4.49648154e-01 8.85090713e-01 -1.20128963e-01 3.19305702e+02] [-2.81935189e-01 -1.30229700e-02 9.59345064e-01 -1.61666683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters Centerline goodness [0,1] 0.9898031381362634 Centerline is valid? [True, True] Translation: X:151.66, Y:319.29, Z:-16.18 [[ 8.46795945e-01 4.67244338e-01 2.54203377e-01 1.51657029e+02] [-4.51868124e-01 8.84024428e-01 -1.19649525e-01 3.19289836e+02] [-2.80627558e-01 -1.35476704e-02 9.59721123e-01 -1.61760162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6068750000001 meters Centerline goodness [0,1] 0.9899219156689224 Centerline is valid? [True, True] Translation: X:151.68, Y:319.28, Z:-16.19 [[ 8.46454714e-01 4.68032769e-01 2.53889235e-01 1.51684675e+02] [-4.52720582e-01 8.83603952e-01 -1.19532968e-01 3.19280983e+02] [-2.80282877e-01 -1.37616381e-02 9.59818799e-01 -1.61871391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters Centerline goodness [0,1] 0.9899943482720365 Centerline is valid? [True, True] Translation: X:151.71, Y:319.26, Z:-16.19 [[ 8.45861379e-01 4.69026983e-01 2.54031922e-01 1.51711138e+02] [-4.53720349e-01 8.83072320e-01 -1.19670888e-01 3.19262735e+02] [-2.80457434e-01 -1.40344698e-02 9.59763857e-01 -1.61946435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.666875 meters Centerline goodness [0,1] 0.9907615480649189 Centerline is valid? [True, True] Translation: X:151.74, Y:319.24, Z:-16.20 [[ 8.45463157e-01 4.69763803e-01 2.53996099e-01 1.51736392e+02] [-4.54472509e-01 8.82677784e-01 -1.19727471e-01 3.19242801e+02] [-2.80440347e-01 -1.42090787e-02 9.59766281e-01 -1.62007712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters Centerline goodness [0,1] 0.9904797695102092 Centerline is valid? [True, True] Translation: X:151.76, Y:319.23, Z:-16.21 [[ 8.44765781e-01 4.70471322e-01 2.55004921e-01 1.51763266e+02] [-4.55065384e-01 8.82297195e-01 -1.20279494e-01 3.19226975e+02] [-2.81578179e-01 -1.44359119e-02 9.59429692e-01 -1.62080515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7268750000001 meters Centerline goodness [0,1] 0.9894888619551134 Centerline is valid? [True, True] Translation: X:151.79, Y:319.21, Z:-16.22 [[ 8.44315085e-01 4.70872362e-01 2.55756246e-01 1.51791261e+02] [-4.55367918e-01 8.82081502e-01 -1.20715713e-01 3.19211859e+02] [-2.82439546e-01 -1.45410920e-02 9.59174885e-01 -1.62169029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters Centerline goodness [0,1] 0.9906817991456571 Centerline is valid? [True, True] Translation: X:151.82, Y:319.19, Z:-16.22 [[ 8.44083615e-01 4.70974443e-01 2.56331669e-01 1.51816278e+02] [-4.55377668e-01 8.82027183e-01 -1.21075300e-01 3.19188768e+02] [-2.83114872e-01 -1.45300404e-02 9.58975937e-01 -1.62225349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.786875 meters Centerline goodness [0,1] 0.990628734355018 Centerline is valid? [True, True] Translation: X:151.84, Y:319.17, Z:-16.23 [[ 8.44921050e-01 4.70480010e-01 2.54473927e-01 1.51842363e+02] [-4.55078506e-01 8.82296157e-01 -1.20237449e-01 3.19172001e+02] [-2.81090684e-01 -1.42144626e-02 9.59575936e-01 -1.62321908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters Centerline goodness [0,1] 0.9917828319882612 Centerline is valid? [True, True] Translation: X:151.87, Y:319.16, Z:-16.24 [[ 8.45415473e-01 4.70230195e-01 2.53290824e-01 1.51868655e+02] [-4.54938550e-01 8.82433018e-01 -1.19761783e-01 3.19155106e+02] [-2.79827793e-01 -1.39832959e-02 9.59948370e-01 -1.62425526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.846875 meters Centerline goodness [0,1] 0.9918020756892756 Centerline is valid? [True, True] Translation: X:151.89, Y:319.14, Z:-16.25 [[ 8.46130205e-01 4.70025804e-01 2.51275586e-01 1.51894391e+02] [-4.54945861e-01 8.82546127e-01 -1.18897418e-01 3.19141334e+02] [-2.77647150e-01 -1.37140908e-02 9.60585230e-01 -1.62540454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters Centerline goodness [0,1] 0.9915592323520765 Centerline is valid? [True, True] Translation: X:151.92, Y:319.12, Z:-16.27 [[ 8.47203011e-01 4.69945342e-01 2.47787072e-01 1.51918920e+02] [-4.55263150e-01 8.82593583e-01 -1.17320211e-01 3.19122762e+02] [-2.73829366e-01 -1.34142872e-02 9.61684738e-01 -1.62651324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.906875 meters Centerline goodness [0,1] 0.9914659267667213 Centerline is valid? [True, True] Translation: X:151.94, Y:319.11, Z:-16.27 [[ 8.47820742e-01 4.69607309e-01 2.46310707e-01 1.51944192e+02] [-4.55083618e-01 8.82776653e-01 -1.16637388e-01 3.19107213e+02] [-2.72211112e-01 -1.32043705e-02 9.62146951e-01 -1.62748328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters Centerline goodness [0,1] 0.9917035979080464 Centerline is valid? [True, True] Translation: X:151.97, Y:319.09, Z:-16.28 [[ 8.48096678e-01 4.69089655e-01 2.46347152e-01 1.51969657e+02] [-4.54520874e-01 8.83055198e-01 -1.16723147e-01 3.19088783e+02] [-2.72291754e-01 -1.29774093e-02 9.62127220e-01 -1.62828261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.966875 meters Centerline goodness [0,1] 0.9919233028446757 Centerline is valid? [True, True] Translation: X:151.99, Y:319.07, Z:-16.29 [[ 8.48283920e-01 4.67592310e-01 2.48539380e-01 1.51994902e+02] [-4.52672706e-01 8.83855272e-01 -1.17844304e-01 3.19068795e+02] [-2.74775931e-01 -1.25415654e-02 9.61426491e-01 -1.62869582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters Centerline goodness [0,1] 0.9917972447155327 Centerline is valid? [True, True] Translation: X:152.02, Y:319.05, Z:-16.29 [[ 8.47990568e-01 4.67311346e-01 2.50064198e-01 1.52021887e+02] [-4.52192066e-01 8.84004026e-01 -1.18571569e-01 3.19054793e+02] [-2.76467597e-01 -1.25294746e-02 9.60941559e-01 -1.62941945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.026875 meters Centerline goodness [0,1] 0.9922068127540118 Centerline is valid? [True, True] Translation: X:152.05, Y:319.04, Z:-16.30 [[ 8.47749007e-01 4.67184899e-01 2.51117286e-01 1.52048975e+02] [-4.51910415e-01 8.84071541e-01 -1.19140619e-01 3.19040388e+02] [-2.77666344e-01 -1.24811752e-02 9.60596493e-01 -1.63025226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters Centerline goodness [0,1] 0.9918432225545354 Centerline is valid? [True, True] Translation: X:152.07, Y:319.02, Z:-16.31 [[ 8.47725983e-01 4.67095521e-01 2.51361160e-01 1.52074693e+02] [-4.51765435e-01 8.84119961e-01 -1.19330991e-01 3.19023356e+02] [-2.77972391e-01 -1.23963024e-02 9.60509074e-01 -1.63112283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.086875 meters Centerline goodness [0,1] 0.9920345449209743 Centerline is valid? [True, True] Translation: X:152.10, Y:319.01, Z:-16.32 [[ 8.47770506e-01 4.67165026e-01 2.51081677e-01 1.52101611e+02] [-4.51851333e-01 8.84084072e-01 -1.19271648e-01 3.19007293e+02] [-2.77696854e-01 -1.23366053e-02 9.60589541e-01 -1.63206491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters Centerline goodness [0,1] 0.991151923358504 Centerline is valid? [True, True] Translation: X:152.13, Y:318.99, Z:-16.33 [[ 8.47689496e-01 4.67521542e-01 2.50691297e-01 1.52126791e+02] [-4.52246311e-01 8.83895371e-01 -1.19173182e-01 3.18992491e+02] [-2.77300906e-01 -1.23523601e-02 9.60703714e-01 -1.63302577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.146875 meters Centerline goodness [0,1] 0.9916984471460778 Centerline is valid? [True, True] Translation: X:152.15, Y:318.97, Z:-16.34 [[ 8.47827211e-01 4.67844948e-01 2.49619960e-01 1.52151089e+02] [-4.52699678e-01 8.83724282e-01 -1.18719815e-01 3.18968495e+02] [-2.76137686e-01 -1.23489863e-02 9.61038751e-01 -1.63357975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters Centerline goodness [0,1] 0.991129932789752 Centerline is valid? [True, True] Translation: X:152.18, Y:318.96, Z:-16.35 [[ 8.47370572e-01 4.68489898e-01 2.49960654e-01 1.52179261e+02] [-4.53308274e-01 8.83380302e-01 -1.18957345e-01 3.18958620e+02] [-2.76540632e-01 -1.25082793e-02 9.60920820e-01 -1.63465951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.206875 meters Centerline goodness [0,1] 0.9912367342649995 Centerline is valid? [True, True] Translation: X:152.21, Y:318.94, Z:-16.35 [[ 8.46584404e-01 4.69786033e-01 2.50191788e-01 1.52205657e+02] [-4.54607673e-01 8.82686498e-01 -1.19148687e-01 3.18940087e+02] [-2.76815302e-01 -1.28696862e-02 9.60836958e-01 -1.63522615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters Centerline goodness [0,1] 0.9906545972676222 Centerline is valid? [True, True] Translation: X:152.23, Y:318.93, Z:-16.36 [[ 8.45870552e-01 4.70659174e-01 2.50964045e-01 1.52233034e+02] [-4.55399746e-01 8.82217469e-01 -1.19596856e-01 3.18928714e+02] [-2.77694222e-01 -1.31255035e-02 9.60579846e-01 -1.63616658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.266875 meters Centerline goodness [0,1] 0.990932370597372 Centerline is valid? [True, True] Translation: X:152.26, Y:318.91, Z:-16.37 [[ 8.45351279e-01 4.71528761e-01 2.51081346e-01 1.52259645e+02] [-4.56280060e-01 8.81749185e-01 -1.19694950e-01 3.18912607e+02] [-2.77830384e-01 -1.33791329e-02 9.60536973e-01 -1.63687240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters Centerline goodness [0,1] 0.9908599220158484 Centerline is valid? [True, True] Translation: X:152.29, Y:318.90, Z:-16.38 [[ 8.45676115e-01 4.71119073e-01 2.50756312e-01 1.52285886e+02] [-4.55881872e-01 8.81970984e-01 -1.19578014e-01 3.18897857e+02] [-2.77495274e-01 -1.31909868e-02 9.60636441e-01 -1.63778971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.326875 meters Centerline goodness [0,1] 0.9913751495183933 Centerline is valid? [True, True] Translation: X:152.31, Y:318.88, Z:-16.39 [[ 8.46373098e-01 4.70244079e-01 2.50046167e-01 1.52312050e+02] [-4.55037127e-01 8.82443568e-01 -1.19308687e-01 3.18881451e+02] [-2.76755835e-01 -1.28006265e-02 9.60855011e-01 -1.63875368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters Centerline goodness [0,1] 0.9906840788173196 Centerline is valid? [True, True] Translation: X:152.34, Y:318.86, Z:-16.39 [[ 8.48122430e-01 4.67139051e-01 2.49938893e-01 1.52335428e+02] [-4.51790857e-01 8.84106334e-01 -1.19335706e-01 3.18859674e+02] [-2.76718927e-01 -1.17088175e-02 9.60879565e-01 -1.63949703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.386875 meters Centerline goodness [0,1] 0.9919354838709677 Centerline is valid? [True, True] Translation: X:152.36, Y:318.84, Z:-16.40 [[ 8.48984076e-01 4.65534641e-01 2.50007072e-01 1.52360911e+02] [-4.50101602e-01 8.84959264e-01 -1.19397022e-01 3.18842289e+02] [-2.76829524e-01 -1.11624134e-02 9.60854211e-01 -1.64026306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters Centerline goodness [0,1] 0.9917612442202606 Centerline is valid? [True, True] Translation: X:152.39, Y:318.83, Z:-16.41 [[ 8.49794120e-01 4.63882036e-01 2.50326608e-01 1.52387178e+02] [-4.48321947e-01 8.85833740e-01 -1.19607759e-01 3.18826416e+02] [-2.77231646e-01 -1.05849422e-02 9.60744801e-01 -1.64113078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.446875 meters Centerline goodness [0,1] 0.9931845037137069 Centerline is valid? [True, True] Translation: X:152.41, Y:318.81, Z:-16.42 [[ 8.51381188e-01 4.60770092e-01 2.50681064e-01 1.52411280e+02] [-4.45026896e-01 8.87467982e-01 -1.19798345e-01 3.18807409e+02] [-2.77670912e-01 -9.56575843e-03 9.60628628e-01 -1.64185861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters Centerline goodness [0,1] 0.9924658543258202 Centerline is valid? [True, True] Translation: X:152.44, Y:318.79, Z:-16.43 [[ 8.51885876e-01 4.59820470e-01 2.50710171e-01 1.52437709e+02] [-4.44025865e-01 8.87963895e-01 -1.19838028e-01 3.18790387e+02] [-2.77725559e-01 -9.23347688e-03 9.60616082e-01 -1.64269402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.506875 meters Centerline goodness [0,1] 0.9927098038389415 Centerline is valid? [True, True] Translation: X:152.46, Y:318.77, Z:-16.44 [[ 8.51997887e-01 4.59579406e-01 2.50771551e-01 1.52464783e+02] [-4.43745233e-01 8.88090179e-01 -1.19941659e-01 3.18774364e+02] [-2.77830468e-01 -9.08864021e-03 9.60587126e-01 -1.64350030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters Centerline goodness [0,1] 0.9925709234784073 Centerline is valid? [True, True] Translation: X:152.49, Y:318.76, Z:-16.44 [[ 8.51600829e-01 4.60400430e-01 2.50614189e-01 1.52491273e+02] [-4.44599718e-01 8.87662831e-01 -1.19940773e-01 3.18759201e+02] [-2.77681684e-01 -9.28133589e-03 9.60628304e-01 -1.64431743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.566875 meters Centerline goodness [0,1] 0.991865978295227 Centerline is valid? [True, True] Translation: X:152.52, Y:318.75, Z:-16.45 [[ 8.51215854e-01 4.61381787e-01 2.50116805e-01 1.52517553e+02] [-4.45666618e-01 8.87150638e-01 -1.19770663e-01 3.18745715e+02] [-2.77151285e-01 -9.51802364e-03 9.60779149e-01 -1.64519842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters Centerline goodness [0,1] 0.9922467554356986 Centerline is valid? [True, True] Translation: X:152.55, Y:318.73, Z:-16.46 [[ 8.50582275e-01 4.62658068e-01 2.49914596e-01 1.52545659e+02] [-4.47003401e-01 8.86481934e-01 -1.19740303e-01 3.18732625e+02] [-2.76943592e-01 -9.86369493e-03 9.60835550e-01 -1.64615829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.626875 meters Centerline goodness [0,1] 0.9923607895955217 Centerline is valid? [True, True] Translation: X:152.57, Y:318.71, Z:-16.47 [[ 8.49140780e-01 4.65557799e-01 2.49431098e-01 1.52572233e+02] [-4.50066195e-01 8.84952549e-01 -1.19580121e-01 3.18714956e+02] [-2.76406144e-01 -1.07201483e-02 9.60981125e-01 -1.64662210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters Centerline goodness [0,1] 0.9919502686755874 Centerline is valid? [True, True] Translation: X:152.60, Y:318.70, Z:-16.47 [[ 8.48409575e-01 4.66822317e-01 2.49555841e-01 1.52599936e+02] [-4.51348748e-01 8.84281779e-01 -1.19708156e-01 3.18701982e+02] [-2.76560122e-01 -1.10751706e-02 9.60932797e-01 -1.64746972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.686875 meters Centerline goodness [0,1] 0.9920429428481212 Centerline is valid? [True, True] Translation: X:152.63, Y:318.69, Z:-16.48 [[ 8.47864362e-01 4.67876764e-01 2.49434076e-01 1.52627547e+02] [-4.52440955e-01 8.83720934e-01 -1.19726742e-01 3.18686477e+02] [-2.76447475e-01 -1.13421541e-02 9.60962096e-01 -1.64818564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters Centerline goodness [0,1] 0.9917176431018898 Centerline is valid? [True, True] Translation: X:152.65, Y:318.67, Z:-16.49 [[ 8.47431512e-01 4.68520043e-01 2.49697421e-01 1.52654480e+02] [-4.53055723e-01 8.83378109e-01 -1.19931768e-01 3.18673030e+02] [-2.76767673e-01 -1.14928862e-02 9.60868133e-01 -1.64906771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.746875 meters Centerline goodness [0,1] 0.9918817476383266 Centerline is valid? [True, True] Translation: X:152.68, Y:318.66, Z:-16.50 [[ 8.47749244e-01 4.68214082e-01 2.49192279e-01 1.52680688e+02] [-4.52779930e-01 8.83542769e-01 -1.19760225e-01 3.18655937e+02] [-2.76245459e-01 -1.13026223e-02 9.61020654e-01 -1.64983407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters Centerline goodness [0,1] 0.9921623159092345 Centerline is valid? [True, True] Translation: X:152.71, Y:318.64, Z:-16.51 [[ 8.48066620e-01 4.68108775e-01 2.48308643e-01 1.52707917e+02] [-4.52759221e-01 8.83600450e-01 -1.19412446e-01 3.18642918e+02] [-2.75303642e-01 -1.11543183e-02 9.61292612e-01 -1.65084326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.806875 meters Centerline goodness [0,1] 0.9921144983298803 Centerline is valid? [True, True] Translation: X:152.74, Y:318.63, Z:-16.52 [[ 8.48266881e-01 4.67689375e-01 2.48414870e-01 1.52735119e+02] [-4.52284029e-01 8.83825145e-01 -1.19550279e-01 3.18625650e+02] [-2.75467704e-01 -1.09435360e-02 9.61248034e-01 -1.65154915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters Centerline goodness [0,1] 0.9924646980602402 Centerline is valid? [True, True] Translation: X:152.76, Y:318.61, Z:-16.52 [[ 8.48256355e-01 4.67221579e-01 2.49329406e-01 1.52763071e+02] [-4.51669791e-01 8.84074306e-01 -1.20029251e-01 3.18611184e+02] [-2.76505978e-01 -1.07989855e-02 9.60951521e-01 -1.65227933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.866875 meters Centerline goodness [0,1] 0.992991834329489 Centerline is valid? [True, True] Translation: X:152.79, Y:318.60, Z:-16.53 [[ 8.48301017e-01 4.67136708e-01 2.49336483e-01 1.52789846e+02] [-4.51557232e-01 8.84120388e-01 -1.20113301e-01 3.18598678e+02] [-2.76552800e-01 -1.06974564e-02 9.60939183e-01 -1.65315633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters Centerline goodness [0,1] 0.9917336250052585 Centerline is valid? [True, True] Translation: X:152.82, Y:318.59, Z:-16.54 [[ 8.48591669e-01 4.66906269e-01 2.48778445e-01 1.52818119e+02] [-4.51376625e-01 8.84243753e-01 -1.19883809e-01 3.18587366e+02] [-2.75955288e-01 -1.05603738e-02 9.61112458e-01 -1.65430674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.926875 meters Centerline goodness [0,1] 0.9917336250052585 Centerline is valid? [True, True] Translation: X:152.85, Y:318.57, Z:-16.55 [[ 8.48467416e-01 4.67150234e-01 2.48744252e-01 1.52845972e+02] [-4.51610090e-01 8.84114921e-01 -1.19954713e-01 3.18573856e+02] [-2.75955377e-01 -1.05577488e-02 9.61112462e-01 -1.65529007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters Centerline goodness [0,1] 0.9926274874308166 Centerline is valid? [True, True] Translation: X:152.87, Y:318.56, Z:-16.56 [[ 8.49545041e-01 4.65745783e-01 2.47697577e-01 1.52871064e+02] [-4.50255493e-01 8.84862324e-01 -1.19535179e-01 3.18556295e+02] [-2.74851259e-01 -9.97667652e-03 9.61434996e-01 -1.65601498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.986875 meters Centerline goodness [0,1] 0.9927821522309711 Centerline is valid? [True, True] Translation: X:152.90, Y:318.54, Z:-16.57 [[ 8.50156805e-01 4.64692813e-01 2.47576243e-01 1.52897617e+02] [-4.49155134e-01 8.85420248e-01 -1.19543506e-01 3.18538070e+02] [-2.74760026e-01 -9.56941538e-03 9.61465212e-01 -1.65662557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters Centerline goodness [0,1] 0.9929396391839488 Centerline is valid? [True, True] Translation: X:152.92, Y:318.52, Z:-16.57 [[ 8.50256409e-01 4.63946779e-01 2.48631101e-01 1.52924098e+02] [-4.48220998e-01 8.85814246e-01 -1.20129340e-01 3.18524009e+02] [-2.75974592e-01 -9.30093934e-03 9.61119929e-01 -1.65741620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.046875 meters Centerline goodness [0,1] 0.9926263375357559 Centerline is valid? [True, True] Translation: X:152.95, Y:318.51, Z:-16.58 [[ 8.50832973e-01 4.63111758e-01 2.48215133e-01 1.52951868e+02] [-4.47384916e-01 8.86254701e-01 -1.19997256e-01 3.18509464e+02] [-2.75553969e-01 -8.95008426e-03 9.61243937e-01 -1.65829061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters Centerline goodness [0,1] 0.9928772814957709 Centerline is valid? [True, True] Translation: X:152.98, Y:318.49, Z:-16.59 [[ 8.52426866e-01 4.61330676e-01 2.46053744e-01 1.52979147e+02] [-4.45787938e-01 8.87190117e-01 -1.19024410e-01 3.18492403e+02] [-2.73206061e-01 -8.22818655e-03 9.61920342e-01 -1.65909529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1068750000001 meters Centerline goodness [0,1] 0.9932112342441418 Centerline is valid? [True, True] Translation: X:153.01, Y:318.48, Z:-16.60 [[ 8.52981440e-01 4.60814345e-01 2.45097536e-01 1.53006240e+02] [-4.45348703e-01 8.87460963e-01 -1.18648943e-01 3.18480820e+02] [-2.72189631e-01 -7.94852398e-03 9.62210801e-01 -1.66027184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters Centerline goodness [0,1] 0.9933358801307356 Centerline is valid? [True, True] Translation: X:153.03, Y:318.46, Z:-16.61 [[ 8.53506520e-01 4.60496222e-01 2.43864408e-01 1.53033248e+02] [-4.45153124e-01 8.87628002e-01 -1.18132237e-01 3.18463234e+02] [-2.70860326e-01 -7.73036889e-03 9.62587619e-01 -1.66082884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.166875 meters Centerline goodness [0,1] 0.9928828638000423 Centerline is valid? [True, True] Translation: X:153.06, Y:318.45, Z:-16.62 [[ 8.54015550e-01 4.59632680e-01 2.43711387e-01 1.53060389e+02] [-4.44253132e-01 8.88078446e-01 -1.18134791e-01 3.18452506e+02] [-2.70733441e-01 -7.38059846e-03 9.62626060e-01 -1.66210072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters Centerline goodness [0,1] 0.9926976309756305 Centerline is valid? [True, True] Translation: X:153.09, Y:318.43, Z:-16.62 [[ 8.55383285e-01 4.57026235e-01 2.43816441e-01 1.53086201e+02] [-4.41507551e-01 8.89429562e-01 -1.18263003e-01 3.18432171e+02] [-2.70906845e-01 -6.48660341e-03 9.62583713e-01 -1.66226801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2268750000001 meters Centerline goodness [0,1] 0.9924867619142772 Centerline is valid? [True, True] Translation: X:153.11, Y:318.43, Z:-16.65 [[ 8.56391891e-01 4.54832984e-01 2.44376523e-01 1.53112614e+02] [-4.39135780e-01 8.90558213e-01 -1.18599480e-01 3.18428456e+02] [-2.71574475e-01 -5.74684177e-03 9.62400269e-01 -1.66455195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters Centerline goodness [0,1] 0.9931406485591114 Centerline is valid? [True, True] Translation: X:153.14, Y:318.40, Z:-16.64 [[ 8.56681878e-01 4.53975609e-01 2.44953680e-01 1.53140289e+02] [-4.38148761e-01 8.90997599e-01 -1.18949321e-01 3.18403496e+02] [-2.72253231e-01 -5.42442382e-03 9.62210348e-01 -1.66387578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.286875 meters Centerline goodness [0,1] 0.9924030218147866 Centerline is valid? [True, True] Translation: X:153.17, Y:318.39, Z:-16.65 [[ 8.58526074e-01 4.50375143e-01 2.45143245e-01 1.53167226e+02] [-4.34357622e-01 8.92829474e-01 -1.19117530e-01 3.18388098e+02] [-2.72518689e-01 -4.21433113e-03 9.62141260e-01 -1.66459466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters Centerline goodness [0,1] 0.9922256680402736 Centerline is valid? [True, True] Translation: X:153.19, Y:318.37, Z:-16.65 [[ 8.59090221e-01 4.49083916e-01 2.45535391e-01 1.53194501e+02] [-4.32943781e-01 8.93481714e-01 -1.19373823e-01 3.18373931e+02] [-2.72990246e-01 -3.75013626e-03 9.62009492e-01 -1.66549206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.346875 meters Centerline goodness [0,1] 0.9923553894504374 Centerline is valid? [True, True] Translation: X:153.22, Y:318.36, Z:-16.66 [[ 8.59227210e-01 4.48849519e-01 2.45484646e-01 1.53222968e+02] [-4.32685949e-01 8.93600080e-01 -1.19422641e-01 3.18358342e+02] [-2.72967894e-01 -3.60657498e-03 9.62016383e-01 -1.66615737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters Centerline goodness [0,1] 0.9924733918500614 Centerline is valid? [True, True] Translation: X:153.25, Y:318.34, Z:-16.67 [[ 8.60193863e-01 4.47295215e-01 2.44935722e-01 1.53251101e+02] [-4.31118675e-01 8.94381263e-01 -1.19242797e-01 3.18342513e+02] [-2.72402653e-01 -3.02444176e-03 9.62178594e-01 -1.66684811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.406875 meters Centerline goodness [0,1] 0.9912087446511036 Centerline is valid? [True, True] Translation: X:153.28, Y:318.33, Z:-16.68 [[ 8.60873580e-01 4.46260685e-01 2.44434205e-01 1.53279657e+02] [-4.30086026e-01 8.94899206e-01 -1.19085771e-01 3.18328625e+02] [-2.71887274e-01 -2.60994227e-03 9.62325568e-01 -1.66780893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters Centerline goodness [0,1] 0.9918152401497367 Centerline is valid? [True, True] Translation: X:153.31, Y:318.32, Z:-16.68 [[ 8.61302822e-01 4.45220545e-01 2.44818536e-01 1.53308811e+02] [-4.28927741e-01 8.95418234e-01 -1.19361550e-01 3.18316613e+02] [-2.72357195e-01 -2.20302186e-03 9.62193694e-01 -1.66846388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.466875 meters Centerline goodness [0,1] 0.99047297154566 Centerline is valid? [True, True] Translation: X:153.34, Y:318.31, Z:-16.70 [[ 8.61075646e-01 4.45668006e-01 2.44803514e-01 1.53336429e+02] [-4.29373066e-01 8.95195434e-01 -1.19431595e-01 3.18305502e+02] [-2.72373829e-01 -2.27239702e-03 9.62188824e-01 -1.66961319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters Centerline goodness [0,1] 0.991193427805115 Centerline is valid? [True, True] Translation: X:153.37, Y:318.29, Z:-16.70 [[ 8.60580974e-01 4.46546339e-01 2.44942349e-01 1.53365813e+02] [-4.30243965e-01 8.94757086e-01 -1.19582143e-01 3.18292989e+02] [-2.72562871e-01 -2.47485051e-03 9.62134791e-01 -1.67049551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.526875 meters Centerline goodness [0,1] 0.9915407982448738 Centerline is valid? [True, True] Translation: X:153.39, Y:318.28, Z:-16.71 [[ 8.60559303e-01 4.46653536e-01 2.44823006e-01 1.53394566e+02] [-4.30347750e-01 8.94703704e-01 -1.19608092e-01 3.18280456e+02] [-2.72467427e-01 -2.42917352e-03 9.62161941e-01 -1.67144935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters Centerline goodness [0,1] 0.9904247690555532 Centerline is valid? [True, True] Translation: X:153.42, Y:318.27, Z:-16.72 [[ 8.60290163e-01 4.46771649e-01 2.45552293e-01 1.53422262e+02] [-4.30346897e-01 8.94644824e-01 -1.20050766e-01 3.18269593e+02] [-2.73317367e-01 -2.39417458e-03 9.61920935e-01 -1.67227880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.586875 meters Centerline goodness [0,1] 0.9912882454442153 Centerline is valid? [True, True] Translation: X:153.45, Y:318.26, Z:-16.73 [[ 8.59556044e-01 4.48029781e-01 2.45830678e-01 1.53451927e+02] [-4.31598665e-01 8.94014446e-01 -1.20252914e-01 3.18255197e+02] [-2.73653064e-01 -2.73607358e-03 9.61824576e-01 -1.67269956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters Centerline goodness [0,1] 0.9920178597754892 Centerline is valid? [True, True] Translation: X:153.48, Y:318.25, Z:-16.74 [[ 8.59396577e-01 4.48402128e-01 2.45709288e-01 1.53479659e+02] [-4.31977038e-01 8.93827645e-01 -1.20282917e-01 3.18245773e+02] [-2.73556870e-01 -2.77004332e-03 9.61851842e-01 -1.67398413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.646875 meters Centerline goodness [0,1] 0.9911435706940335 Centerline is valid? [True, True] Translation: X:153.51, Y:318.24, Z:-16.75 [[ 8.58196472e-01 4.49635893e-01 2.47641635e-01 1.53510244e+02] [-4.32972504e-01 8.93206518e-01 -1.21313346e-01 3.18236762e+02] [-2.75741958e-01 -3.11133331e-03 9.61226660e-01 -1.67459501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters Centerline goodness [0,1] 0.9909129066107031 Centerline is valid? [True, True] Translation: X:153.54, Y:318.23, Z:-16.76 [[ 8.57456659e-01 4.50443669e-01 2.48733953e-01 1.53538203e+02] [-4.33640526e-01 8.92798702e-01 -1.21927731e-01 3.18227463e+02] [-2.76990925e-01 -3.31337719e-03 9.60866822e-01 -1.67569005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.706875 meters Centerline goodness [0,1] 0.9913807566479322 Centerline is valid? [True, True] Translation: X:153.57, Y:318.22, Z:-16.76 [[ 8.56775666e-01 4.51192298e-01 2.49721781e-01 1.53566939e+02] [-4.34263023e-01 8.92419877e-01 -1.22484247e-01 3.18215167e+02] [-2.78120630e-01 -3.50341329e-03 9.60539766e-01 -1.67642696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters Centerline goodness [0,1] 0.9907936308664449 Centerline is valid? [True, True] Translation: X:153.60, Y:318.20, Z:-16.77 [[ 8.55204532e-01 4.53201710e-01 2.51462559e-01 1.53596564e+02] [-4.36091257e-01 8.91398521e-01 -1.23422410e-01 3.18204736e+02] [-2.80088601e-01 -4.10921916e-03 9.59965359e-01 -1.67739920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.766875 meters Centerline goodness [0,1] 0.9906970896976555 Centerline is valid? [True, True] Translation: X:153.63, Y:318.19, Z:-16.78 [[ 8.54409807e-01 4.54398500e-01 2.52003738e-01 1.53626128e+02] [-4.37256815e-01 8.90787206e-01 -1.23711893e-01 3.18192698e+02] [-2.80696204e-01 -4.48969725e-03 9.59786166e-01 -1.67840662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters Centerline goodness [0,1] 0.9901833827645266 Centerline is valid? [True, True] Translation: X:153.65, Y:318.18, Z:-16.79 [[ 8.53603476e-01 4.55639823e-01 2.52494469e-01 1.53653999e+02] [-4.38455895e-01 8.90151168e-01 -1.24045663e-01 3.18182135e+02] [-2.81278391e-01 -4.82187908e-03 9.59614098e-01 -1.67946516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.826875 meters Centerline goodness [0,1] 0.9894263922265176 Centerline is valid? [True, True] Translation: X:153.68, Y:318.17, Z:-16.81 [[ 8.52678049e-01 4.57034699e-01 2.53099642e-01 1.53682998e+02] [-4.39801520e-01 8.89433572e-01 -1.24428869e-01 3.18171780e+02] [-2.81983630e-01 -5.21584182e-03 9.59405038e-01 -1.68059629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters Centerline goodness [0,1] 0.98989221155056 Centerline is valid? [True, True] Translation: X:153.71, Y:318.17, Z:-16.82 [[ 8.50259941e-01 4.60377927e-01 2.55166999e-01 1.53713989e+02] [-4.42975813e-01 8.87700719e-01 -1.25538291e-01 3.18166237e+02] [-2.84306987e-01 -6.29262921e-03 9.58712647e-01 -1.68174387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.886875 meters Centerline goodness [0,1] 0.9890387506263572 Centerline is valid? [True, True] Translation: X:153.74, Y:318.16, Z:-16.83 [[ 8.49123347e-01 4.61382419e-01 2.57129937e-01 1.53742964e+02] [-4.43726941e-01 8.87176749e-01 -1.26585218e-01 3.18156152e+02] [-2.86523896e-01 -6.60901632e-03 9.58050300e-01 -1.68273785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters Centerline goodness [0,1] 0.9896935177651207 Centerline is valid? [True, True] Translation: X:153.77, Y:318.15, Z:-16.84 [[ 8.47613820e-01 4.62654839e-01 2.59810147e-01 1.53771702e+02] [-4.44655208e-01 8.86510526e-01 -1.27987632e-01 3.18145524e+02] [-2.89538527e-01 -7.04184985e-03 9.57140456e-01 -1.68364813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.946875 meters Centerline goodness [0,1] 0.9891555963379283 Centerline is valid? [True, True] Translation: X:153.80, Y:318.14, Z:-16.84 [[ 8.45778424e-01 4.63424268e-01 2.64380039e-01 1.53800014e+02] [-4.44782926e-01 8.86105912e-01 -1.30324446e-01 3.18135176e+02] [-2.94664226e-01 -7.36612277e-03 9.55572464e-01 -1.68436197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters Centerline goodness [0,1] 0.9884956858822058 Centerline is valid? [True, True] Translation: X:153.83, Y:318.12, Z:-16.85 [[ 8.45362336e-01 4.63659519e-01 2.65296761e-01 1.53828347e+02] [-4.44882820e-01 8.85982280e-01 -1.30823076e-01 3.18122132e+02] [-2.95705593e-01 -7.43307029e-03 9.55250204e-01 -1.68542035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.006875 meters Centerline goodness [0,1] 0.9882720549942714 Centerline is valid? [True, True] Translation: X:153.86, Y:318.11, Z:-16.87 [[ 8.44950089e-01 4.63965530e-01 2.66073927e-01 1.53856360e+02] [-4.45061713e-01 8.85821703e-01 -1.31301111e-01 3.18109631e+02] [-2.96613249e-01 -7.47643209e-03 9.54968420e-01 -1.68652886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters Centerline goodness [0,1] 0.9878291933205948 Centerline is valid? [True, True] Translation: X:153.88, Y:318.10, Z:-16.88 [[ 8.44044336e-01 4.65224661e-01 2.66749271e-01 1.53884517e+02] [-4.46254319e-01 8.85157814e-01 -1.31729747e-01 3.18099352e+02] [-2.97399129e-01 -7.85226779e-03 9.54720954e-01 -1.68779462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.066875 meters Centerline goodness [0,1] 0.9872235769815961 Centerline is valid? [True, True] Translation: X:153.91, Y:318.09, Z:-16.89 [[ 8.42784579e-01 4.66816910e-01 2.67947991e-01 1.53913019e+02] [-4.47723949e-01 8.84314313e-01 -1.32406426e-01 3.18088143e+02] [-2.98759802e-01 -8.37663811e-03 9.54291576e-01 -1.68878402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters Centerline goodness [0,1] 0.9874113069352255 Centerline is valid? [True, True] Translation: X:153.94, Y:318.08, Z:-16.90 [[ 8.41490428e-01 4.68284685e-01 2.69450018e-01 1.53941579e+02] [-4.49018997e-01 8.83533088e-01 -1.33233711e-01 3.18077147e+02] [-3.00459313e-01 -8.87328486e-03 9.53753357e-01 -1.68968257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.126875 meters Centerline goodness [0,1] 0.9861450692746536 Centerline is valid? [True, True] Translation: X:153.97, Y:318.07, Z:-16.90 [[ 8.38038197e-01 4.72634199e-01 2.72596576e-01 1.53970874e+02] [-4.53102141e-01 8.81196355e-01 -1.34875621e-01 3.18069174e+02] [-3.03957940e-01 -1.04831700e-02 9.52627773e-01 -1.69042922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters Centerline goodness [0,1] 0.9859773223759493 Centerline is valid? [True, True] Translation: X:154.00, Y:318.06, Z:-16.91 [[ 8.37040329e-01 4.74644157e-01 2.72169821e-01 1.53999406e+02] [-4.55255472e-01 8.80107424e-01 -1.34734471e-01 3.18057912e+02] [-3.03489609e-01 -1.11286144e-02 9.52769758e-01 -1.69144124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.186875 meters Centerline goodness [0,1] 0.984786595531844 Centerline is valid? [True, True] Translation: X:154.03, Y:318.05, Z:-16.93 [[ 8.35440829e-01 4.77166927e-01 2.72672597e-01 1.54026852e+02] [-4.57827831e-01 8.78730114e-01 -1.35007645e-01 3.18046748e+02] [-3.04026805e-01 -1.20462049e-02 9.52587314e-01 -1.69258418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters Centerline goodness [0,1] 0.9839759639459189 Centerline is valid? [True, True] Translation: X:154.05, Y:318.04, Z:-16.94 [[ 8.32648225e-01 4.82228037e-01 2.72310581e-01 1.54054658e+02] [-4.63178879e-01 8.75937041e-01 -1.34905989e-01 3.18040064e+02] [-3.03582375e-01 -1.37992775e-02 9.52705265e-01 -1.69378421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.246875 meters Centerline goodness [0,1] 0.9838520994359724 Centerline is valid? [True, True] Translation: X:154.08, Y:318.03, Z:-16.95 [[ 8.30944787e-01 4.84611429e-01 2.73281035e-01 1.54081491e+02] [-4.65547038e-01 8.74605639e-01 -1.35391772e-01 3.18029044e+02] [-3.04625535e-01 -1.47220893e-02 9.52358411e-01 -1.69469616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters Centerline goodness [0,1] 0.9824634655532359 Centerline is valid? [True, True] Translation: X:154.11, Y:318.02, Z:-16.96 [[ 8.29655844e-01 4.86458619e-01 2.73914572e-01 1.54109029e+02] [-4.67389694e-01 8.73567801e-01 -1.35743037e-01 3.18017778e+02] [-3.05316320e-01 -1.54048444e-02 9.52126376e-01 -1.69559820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.306875 meters Centerline goodness [0,1] 0.9836959929767355 Centerline is valid? [True, True] Translation: X:154.14, Y:318.00, Z:-16.97 [[ 8.28765359e-01 4.87661666e-01 2.74470546e-01 1.54135232e+02] [-4.68553279e-01 8.72889475e-01 -1.36094780e-01 3.18002597e+02] [-3.05950657e-01 -1.58134352e-02 9.51916031e-01 -1.69656230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters Centerline goodness [0,1] 0.9832132294747365 Centerline is valid? [True, True] Translation: X:154.16, Y:317.99, Z:-16.98 [[ 8.27485294e-01 4.89329088e-01 2.75363635e-01 1.54162469e+02] [-4.70169501e-01 8.71944070e-01 -1.36580305e-01 3.17989359e+02] [-3.06934405e-01 -1.64493892e-02 9.51588508e-01 -1.69775302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.366875 meters Centerline goodness [0,1] 0.9817220922459893 Centerline is valid? [True, True] Translation: X:154.19, Y:317.98, Z:-16.99 [[ 8.26481924e-01 4.90282370e-01 2.76678201e-01 1.54189789e+02] [-4.70979226e-01 8.71400406e-01 -1.37258518e-01 3.17976356e+02] [-3.08392928e-01 -1.68680013e-02 9.51109495e-01 -1.69869289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters Centerline goodness [0,1] 0.9835188937396863 Centerline is valid? [True, True] Translation: X:154.22, Y:317.96, Z:-17.00 [[ 8.26203082e-01 4.90670246e-01 2.76823368e-01 1.54217580e+02] [-4.71341345e-01 8.71180495e-01 -1.37411360e-01 3.17962158e+02] [-3.08586785e-01 -1.69486096e-02 9.51045183e-01 -1.69960207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.426875 meters Centerline goodness [0,1] 0.9832087599187656 Centerline is valid? [True, True] Translation: X:154.24, Y:317.94, Z:-17.01 [[ 8.25859911e-01 4.91345267e-01 2.76650024e-01 1.54241397e+02] [-4.72050073e-01 8.70796791e-01 -1.37410617e-01 3.17942020e+02] [-3.08422009e-01 -1.71107442e-02 9.51095730e-01 -1.70052675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters Centerline goodness [0,1] 0.9828338728202987 Centerline is valid? [True, True] Translation: X:154.27, Y:317.93, Z:-17.02 [[ 8.26009323e-01 4.91296371e-01 2.76290561e-01 1.54267785e+02] [-4.72034008e-01 8.70826081e-01 -1.37280124e-01 3.17928804e+02] [-3.08046253e-01 -1.70238787e-02 9.51219057e-01 -1.70154104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.486875 meters Centerline goodness [0,1] 0.9798083576206151 Centerline is valid? [True, True] Translation: X:154.30, Y:317.92, Z:-17.02 [[ 8.25724697e-01 4.91657842e-01 2.76498266e-01 1.54297018e+02] [-4.72369060e-01 8.70620042e-01 -1.37434395e-01 3.17920754e+02] [-3.08295630e-01 -1.71262518e-02 9.51136423e-01 -1.70245195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters Centerline goodness [0,1] 0.9831184647041532 Centerline is valid? [True, True] Translation: X:154.32, Y:317.90, Z:-17.04 [[ 8.25672699e-01 4.91435150e-01 2.77048891e-01 1.54320577e+02] [-4.72029259e-01 8.70748125e-01 -1.37789989e-01 3.17902054e+02] [-3.08954646e-01 -1.70057509e-02 9.50924724e-01 -1.70374545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.546875 meters Centerline goodness [0,1] 0.9830052727769258 Centerline is valid? [True, True] Translation: X:154.35, Y:317.89, Z:-17.05 [[ 8.25759814e-01 4.91089339e-01 2.77402217e-01 1.54347408e+02] [-4.71585009e-01 8.70946841e-01 -1.38054986e-01 3.17888158e+02] [-3.09399916e-01 -1.68184678e-02 9.50783272e-01 -1.70478548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters Centerline goodness [0,1] 0.9796586000083882 Centerline is valid? [True, True] Translation: X:154.38, Y:317.88, Z:-17.06 [[ 8.26190479e-01 4.90351233e-01 2.77425594e-01 1.54376236e+02] [-4.70774279e-01 8.71369420e-01 -1.38155393e-01 3.17877879e+02] [-3.09484846e-01 -1.64621640e-02 9.50761867e-01 -1.70564406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6068750000001 meters Centerline goodness [0,1] 0.9837238493723849 Centerline is valid? [True, True] Translation: X:154.40, Y:317.86, Z:-17.07 [[ 8.26927530e-01 4.89260646e-01 2.77154977e-01 1.54399547e+02] [-4.69634525e-01 8.71991648e-01 -1.38108574e-01 3.17855804e+02] [-3.09247915e-01 -1.59557642e-02 9.50847591e-01 -1.70668309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters Centerline goodness [0,1] 0.9830884972442843 Centerline is valid? [True, True] Translation: X:154.42, Y:317.84, Z:-17.08 [[ 8.28242674e-01 4.87063234e-01 2.77098320e-01 1.54424372e+02] [-4.67297412e-01 8.73237007e-01 -1.38167500e-01 3.17840106e+02] [-3.09268817e-01 -1.50511081e-02 9.50855543e-01 -1.70757233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.666875 meters Centerline goodness [0,1] 0.9837095892714508 Centerline is valid? [True, True] Translation: X:154.45, Y:317.82, Z:-17.09 [[ 8.28718541e-01 4.86315692e-01 2.76988497e-01 1.54450094e+02] [-4.66515373e-01 8.73658888e-01 -1.38143237e-01 3.17823437e+02] [-3.09174687e-01 -1.47375303e-02 9.50891065e-01 -1.70851782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters Centerline goodness [0,1] 0.9851141111507695 Centerline is valid? [True, True] Translation: X:154.48, Y:317.81, Z:-17.09 [[ 8.29246126e-01 4.85248282e-01 2.77281387e-01 1.54476285e+02] [-4.65318720e-01 8.74259864e-01 -1.38376946e-01 3.17807635e+02] [-3.09563163e-01 -1.42756740e-02 9.50771715e-01 -1.70948505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7268750000001 meters Centerline goodness [0,1] 0.984851663799253 Centerline is valid? [True, True] Translation: X:154.50, Y:317.79, Z:-17.10 [[ 8.29416394e-01 4.84957147e-01 2.77281466e-01 1.54502885e+02] [-4.64983049e-01 8.74424470e-01 -1.38465196e-01 3.17792454e+02] [-3.09611385e-01 -1.40858781e-02 9.50758843e-01 -1.71041926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters Centerline goodness [0,1] 0.9837326421813432 Centerline is valid? [True, True] Translation: X:154.53, Y:317.78, Z:-17.11 [[ 8.28301243e-01 4.86580917e-01 2.77769802e-01 1.54529369e+02] [-4.66594976e-01 8.73512829e-01 -1.38796493e-01 3.17779834e+02] [-3.10171210e-01 -1.46406865e-02 9.50567973e-01 -1.71132644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.786875 meters Centerline goodness [0,1] 0.9834500452127101 Centerline is valid? [True, True] Translation: X:154.56, Y:317.77, Z:-17.12 [[ 8.27952594e-01 4.87624665e-01 2.76977775e-01 1.54556431e+02] [-4.67796874e-01 8.72925481e-01 -1.38445618e-01 3.17765603e+02] [-3.09290456e-01 -1.49429288e-02 9.50850211e-01 -1.71235559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters Centerline goodness [0,1] 0.9817929234460839 Centerline is valid? [True, True] Translation: X:154.58, Y:317.76, Z:-17.13 [[ 8.26136429e-01 4.90263274e-01 2.77741826e-01 1.54584990e+02] [-4.70438980e-01 8.71429420e-01 -1.38917000e-01 3.17756436e+02] [-3.10138302e-01 -1.58961870e-02 9.50558544e-01 -1.71327705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.846875 meters Centerline goodness [0,1] 0.9817929234460839 Centerline is valid? [True, True] Translation: X:154.61, Y:317.74, Z:-17.14 [[ 8.26004004e-01 4.90504270e-01 2.77710185e-01 1.54612657e+02] [-4.70672001e-01 8.71293500e-01 -1.38980228e-01 3.17742509e+02] [-3.10137474e-01 -1.59121834e-02 9.50558546e-01 -1.71426017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters Centerline goodness [0,1] 0.9824960505529226 Centerline is valid? [True, True] Translation: X:154.64, Y:317.73, Z:-17.15 [[ 8.25090821e-01 4.92290584e-01 2.77263624e-01 1.54638750e+02] [-4.72589362e-01 8.70275182e-01 -1.38853889e-01 3.17727567e+02] [-3.09652113e-01 -1.64647702e-02 9.50707358e-01 -1.71520894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.906875 meters Centerline goodness [0,1] 0.9821999663356338 Centerline is valid? [True, True] Translation: X:154.67, Y:317.71, Z:-17.16 [[ 8.24404167e-01 4.93558604e-01 2.77051753e-01 1.54665914e+02] [-4.73930949e-01 8.69549259e-01 -1.38829184e-01 3.17712912e+02] [-3.09430485e-01 -1.68520424e-02 9.50772730e-01 -1.71622782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters Centerline goodness [0,1] 0.9813113648813788 Centerline is valid? [True, True] Translation: X:154.69, Y:317.70, Z:-17.17 [[ 8.23251053e-01 4.95831481e-01 2.76421501e-01 1.54693350e+02] [-4.76390603e-01 8.68240760e-01 -1.38600060e-01 3.17699293e+02] [-3.08722687e-01 -1.75819604e-02 9.50989578e-01 -1.71706126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.966875 meters Centerline goodness [0,1] 0.9827604308842366 Centerline is valid? [True, True] Translation: X:154.72, Y:317.68, Z:-17.18 [[ 8.23051967e-01 4.96803006e-01 2.75267565e-01 1.54719368e+02] [-4.77572717e-01 8.67679884e-01 -1.38043182e-01 3.17683696e+02] [-3.07424396e-01 -1.78435667e-02 9.51405196e-01 -1.71802405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters Centerline goodness [0,1] 0.9815145843410233 Centerline is valid? [True, True] Translation: X:154.75, Y:317.67, Z:-17.19 [[ 8.22264825e-01 4.98035788e-01 2.75392286e-01 1.54746104e+02] [-4.78825878e-01 8.66964788e-01 -1.38194918e-01 3.17671477e+02] [-3.07581430e-01 -1.82321329e-02 9.51347073e-01 -1.71895472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.026875 meters Centerline goodness [0,1] 0.9802214858005789 Centerline is valid? [True, True] Translation: X:154.77, Y:317.66, Z:-17.20 [[ 8.21214016e-01 4.99630334e-01 2.75639384e-01 1.54773110e+02] [-4.80457734e-01 8.66034545e-01 -1.38363767e-01 3.17659832e+02] [-3.07843963e-01 -1.88068094e-02 9.51250965e-01 -1.71979073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters Centerline goodness [0,1] 0.9815043673153055 Centerline is valid? [True, True] Translation: X:154.80, Y:317.64, Z:-17.21 [[ 8.20284210e-01 5.00958448e-01 2.75997189e-01 1.54798920e+02] [-4.81793311e-01 8.65256299e-01 -1.38588394e-01 3.17644203e+02] [-3.08235334e-01 -1.92917280e-02 9.51114509e-01 -1.72072510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.086875 meters Centerline goodness [0,1] 0.981058063433462 Centerline is valid? [True, True] Translation: X:154.83, Y:317.63, Z:-17.22 [[ 8.19472171e-01 5.02293700e-01 2.75982608e-01 1.54826329e+02] [-4.83177024e-01 8.64472250e-01 -1.38663954e-01 3.17631408e+02] [-3.08229336e-01 -1.97172039e-02 9.51107727e-01 -1.72163245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters Centerline goodness [0,1] 0.973745011552195 Centerline is valid? [True, True] Translation: X:154.86, Y:317.63, Z:-17.22 [[ 8.18844308e-01 5.03414369e-01 2.75804228e-01 1.54856318e+02] [-4.84358060e-01 8.63812444e-01 -1.38655439e-01 3.17625137e+02] [-3.08044264e-01 -2.00507841e-02 9.51160711e-01 -1.72246147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.146875 meters Centerline goodness [0,1] 0.9807555089192025 Centerline is valid? [True, True] Translation: X:154.88, Y:317.60, Z:-17.24 [[ 8.17368632e-01 5.06601754e-01 2.74341363e-01 1.54878944e+02] [-4.87913669e-01 8.61922015e-01 -1.37951768e-01 3.17604652e+02] [-3.06347468e-01 -2.10974527e-02 9.51685939e-01 -1.72367836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters Centerline goodness [0,1] 0.9676348198898743 Centerline is valid? [True, True] Translation: X:154.91, Y:317.60, Z:-17.25 [[ 8.16895352e-01 5.07889075e-01 2.73369111e-01 1.54911801e+02] [-4.89380350e-01 8.61155983e-01 -1.37539979e-01 3.17603782e+02] [-3.05268499e-01 -2.14257018e-02 9.52025253e-01 -1.72466531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.206875 meters Centerline goodness [0,1] 0.9755174576625549 Centerline is valid? [True, True] Translation: X:154.93, Y:317.58, Z:-17.26 [[ 8.16520449e-01 5.08608932e-01 2.73150710e-01 1.54934503e+02] [-4.90142968e-01 8.60726627e-01 -1.37511978e-01 3.17582420e+02] [-3.05047910e-01 -2.16015576e-02 9.52091984e-01 -1.72581196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters Centerline goodness [0,1] 0.9810965270363625 Centerline is valid? [True, True] Translation: X:154.96, Y:317.56, Z:-17.27 [[ 8.16327187e-01 5.09553339e-01 2.71965655e-01 1.54959693e+02] [-4.91273196e-01 8.60163579e-01 -1.37000967e-01 3.17564298e+02] [-3.03744252e-01 -2.17718227e-02 9.52504812e-01 -1.72689736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.266875 meters Centerline goodness [0,1] 0.9623935567767105 Centerline is valid? [True, True] Translation: X:154.99, Y:317.56, Z:-17.28 [[ 8.16149406e-01 5.11316791e-01 2.69175198e-01 1.54991547e+02] [-4.93481002e-01 8.59108202e-01 -1.35681975e-01 3.17563507e+02] [-3.00627092e-01 -2.20960828e-02 9.53485770e-01 -1.72792728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters Centerline goodness [0,1] 0.9815436241610738 Centerline is valid? [True, True] Translation: X:155.01, Y:317.53, Z:-17.29 [[ 8.16235111e-01 5.11691557e-01 2.68201404e-01 1.55011526e+02] [-4.93983137e-01 8.58885466e-01 -1.35264246e-01 3.17532397e+02] [-2.99567861e-01 -2.20795439e-02 9.53819475e-01 -1.72891477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.326875 meters Centerline goodness [0,1] 0.9808903865876887 Centerline is valid? [True, True] Translation: X:155.04, Y:317.52, Z:-17.30 [[ 8.15405677e-01 5.12638199e-01 2.68915710e-01 1.55039477e+02] [-4.94851267e-01 8.58312472e-01 -1.35727390e-01 3.17519772e+02] [-3.00392752e-01 -2.24003958e-02 9.53552524e-01 -1.72982896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters Centerline goodness [0,1] 0.9771989698708151 Centerline is valid? [True, True] Translation: X:155.07, Y:317.51, Z:-17.31 [[ 8.14926639e-01 5.13190730e-01 2.69313660e-01 1.55068404e+02] [-4.95371466e-01 8.57976515e-01 -1.35953706e-01 3.17511977e+02] [-3.00834977e-01 -2.26180062e-02 9.53407962e-01 -1.73079474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.386875 meters Centerline goodness [0,1] 0.9818817812408361 Centerline is valid? [True, True] Translation: X:155.09, Y:317.49, Z:-17.32 [[ 8.14620834e-01 5.14167012e-01 2.68375075e-01 1.55092360e+02] [-4.96510140e-01 8.57385702e-01 -1.35526520e-01 3.17491381e+02] [-2.99784218e-01 -2.28482192e-02 9.53733391e-01 -1.73173030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters Centerline goodness [0,1] 0.9812675289882372 Centerline is valid? [True, True] Translation: X:155.12, Y:317.48, Z:-17.33 [[ 8.14144450e-01 5.14896491e-01 2.68422090e-01 1.55118818e+02] [-4.97243571e-01 8.56942659e-01 -1.35639637e-01 3.17478259e+02] [-2.99862712e-01 -2.30409010e-02 9.53704079e-01 -1.73268982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.446875 meters Centerline goodness [0,1] 0.9826241505488761 Centerline is valid? [True, True] Translation: X:155.15, Y:317.46, Z:-17.34 [[ 8.14029977e-01 5.15476108e-01 2.67655709e-01 1.55145357e+02] [-4.97929957e-01 8.56592328e-01 -1.35334187e-01 3.17462678e+02] [-2.99033367e-01 -2.31077110e-02 9.53962829e-01 -1.73366271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters Centerline goodness [0,1] 0.9819955933270381 Centerline is valid? [True, True] Translation: X:155.17, Y:317.45, Z:-17.35 [[ 8.13834329e-01 5.16160389e-01 2.66930959e-01 1.55171753e+02] [-4.98718537e-01 8.56177396e-01 -1.35055868e-01 3.17450658e+02] [-2.98250743e-01 -2.32103159e-02 9.54205311e-01 -1.73466359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.506875 meters Centerline goodness [0,1] 0.9811901719695859 Centerline is valid? [True, True] Translation: X:155.20, Y:317.44, Z:-17.36 [[ 8.13295026e-01 5.17193287e-01 2.66575137e-01 1.55199411e+02] [-4.99838719e-01 8.55545510e-01 -1.34918998e-01 3.17440024e+02] [-2.97846362e-01 -2.35156247e-02 9.54324138e-01 -1.73575491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters Centerline goodness [0,1] 0.9802048639477157 Centerline is valid? [True, True] Translation: X:155.23, Y:317.43, Z:-17.37 [[ 8.12865121e-01 5.18108319e-01 2.66109122e-01 1.55226998e+02] [-5.00837635e-01 8.54985679e-01 -1.34763318e-01 3.17427755e+02] [-2.97341485e-01 -2.37330622e-02 9.54476183e-01 -1.73676527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.566875 meters Centerline goodness [0,1] 0.9777629159003511 Centerline is valid? [True, True] Translation: X:155.26, Y:317.42, Z:-17.38 [[ 8.12490354e-01 5.18454441e-01 2.66579102e-01 1.55255847e+02] [-5.01127109e-01 8.54772038e-01 -1.35042157e-01 3.17417173e+02] [-2.97877569e-01 -2.38695648e-02 9.54305610e-01 -1.73767504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters Centerline goodness [0,1] 0.9780265773778383 Centerline is valid? [True, True] Translation: X:155.28, Y:317.40, Z:-17.38 [[ 8.12040754e-01 5.19223413e-01 2.66452362e-01 1.55281846e+02] [-5.01924431e-01 8.54299877e-01 -1.35068818e-01 3.17400284e+02] [-2.97761112e-01 -2.40575653e-02 9.54337233e-01 -1.73841668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.626875 meters Centerline goodness [0,1] 0.9790628323566826 Centerline is valid? [True, True] Translation: X:155.31, Y:317.38, Z:-17.39 [[ 8.12033322e-01 5.19030215e-01 2.66851119e-01 1.55308606e+02] [-5.01644483e-01 8.54420089e-01 -1.35348155e-01 3.17384017e+02] [-2.98252739e-01 -2.39571794e-02 9.54186228e-01 -1.73927942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters Centerline goodness [0,1] 0.9785903395943213 Centerline is valid? [True, True] Translation: X:155.34, Y:317.37, Z:-17.40 [[ 8.11718494e-01 5.19195653e-01 2.67486374e-01 1.55336775e+02] [-5.01708213e-01 8.54318207e-01 -1.35754446e-01 3.17370686e+02] [-2.99001598e-01 -2.40057158e-02 9.53950612e-01 -1.74024321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.686875 meters Centerline goodness [0,1] 0.9784617318611326 Centerline is valid? [True, True] Translation: X:155.36, Y:317.36, Z:-17.41 [[ 8.11587268e-01 5.19587531e-01 2.67123388e-01 1.55364141e+02] [-5.02138893e-01 8.54079282e-01 -1.35665446e-01 3.17358261e+02] [-2.98634625e-01 -2.40286933e-02 9.54064978e-01 -1.74128162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters Centerline goodness [0,1] 0.9764797051061869 Centerline is valid? [True, True] Translation: X:155.39, Y:317.35, Z:-17.43 [[ 8.11233691e-01 5.20590576e-01 2.66243030e-01 1.55391003e+02] [-5.03284838e-01 8.53462412e-01 -1.35300714e-01 3.17348131e+02] [-2.97664696e-01 -2.42355824e-02 9.54362806e-01 -1.74255864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.746875 meters Centerline goodness [0,1] 0.9741260205149675 Centerline is valid? [True, True] Translation: X:155.42, Y:317.34, Z:-17.44 [[ 8.11030462e-01 5.21286845e-01 2.65498805e-01 1.55417754e+02] [-5.04091533e-01 8.53034114e-01 -1.34998247e-01 3.17336201e+02] [-2.96852348e-01 -2.43480090e-02 9.54612936e-01 -1.74361629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters Centerline goodness [0,1] 0.9749287271507631 Centerline is valid? [True, True] Translation: X:155.44, Y:317.32, Z:-17.45 [[ 8.10708650e-01 5.21938819e-01 2.65200591e-01 1.55444732e+02] [-5.04793096e-01 8.52631301e-01 -1.34921438e-01 3.17321505e+02] [-2.96539061e-01 -2.44894507e-02 9.54706684e-01 -1.74461241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.806875 meters Centerline goodness [0,1] 0.9820215323507892 Centerline is valid? [True, True] Translation: X:155.47, Y:317.30, Z:-17.45 [[ 8.10447818e-01 5.21832205e-01 2.66205716e-01 1.55468933e+02] [-5.04523546e-01 8.52696832e-01 -1.35514224e-01 3.17300478e+02] [-2.97708457e-01 -2.44798443e-02 9.54342921e-01 -1.74545925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters Centerline goodness [0,1] 0.9812353237168735 Centerline is valid? [True, True] Translation: X:155.50, Y:317.29, Z:-17.46 [[ 8.10172307e-01 5.21609302e-01 2.67478166e-01 1.55497093e+02] [-5.04093961e-01 8.52834053e-01 -1.36247414e-01 3.17286264e+02] [-2.99182406e-01 -2.44502464e-02 9.53882631e-01 -1.74625872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.866875 meters Centerline goodness [0,1] 0.9849387481120994 Centerline is valid? [True, True] Translation: X:155.52, Y:317.27, Z:-17.47 [[ 8.10427469e-01 5.20153989e-01 2.69531344e-01 1.55522135e+02] [-5.02259975e-01 8.53734120e-01 -1.37378929e-01 3.17268130e+02] [-3.01566302e-01 -2.40391483e-02 9.53142111e-01 -1.74696482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters Centerline goodness [0,1] 0.983409886952327 Centerline is valid? [True, True] Translation: X:155.55, Y:317.26, Z:-17.48 [[ 8.10796982e-01 5.19637257e-01 2.69416730e-01 1.55549250e+02] [-5.01720989e-01 8.54055236e-01 -1.37352481e-01 3.17255390e+02] [-3.01470235e-01 -2.38070514e-02 9.53178326e-01 -1.74792169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.926875 meters Centerline goodness [0,1] 0.9833968140401086 Centerline is valid? [True, True] Translation: X:155.58, Y:317.24, Z:-17.49 [[ 8.12000185e-01 5.18254990e-01 2.68453843e-01 1.55575471e+02] [-5.00370116e-01 8.54913317e-01 -1.36941475e-01 3.17241470e+02] [-3.00475368e-01 -2.31297776e-02 9.53509081e-01 -1.74887930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters Centerline goodness [0,1] 0.9821718331823067 Centerline is valid? [True, True] Translation: X:155.60, Y:317.23, Z:-17.50 [[ 8.12203621e-01 5.17326491e-01 2.69626742e-01 1.55602164e+02] [-4.99223620e-01 8.55482495e-01 -1.37569905e-01 3.17229994e+02] [-3.01829514e-01 -2.28692629e-02 9.53087583e-01 -1.74966752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.986875 meters Centerline goodness [0,1] 0.9838875701111275 Centerline is valid? [True, True] Translation: X:155.63, Y:317.21, Z:-17.51 [[ 8.12683913e-01 5.16310107e-01 2.70127251e-01 1.55625353e+02] [-4.98082085e-01 8.56105274e-01 -1.37833217e-01 3.17210484e+02] [-3.02422047e-01 -2.25307063e-02 9.52907799e-01 -1.75074425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters Centerline goodness [0,1] 0.9838967373023881 Centerline is valid? [True, True] Translation: X:155.65, Y:317.20, Z:-17.52 [[ 8.13412020e-01 5.15437600e-01 2.69601494e-01 1.55651869e+02] [-4.97222347e-01 8.56641522e-01 -1.37605383e-01 3.17196115e+02] [-3.01878822e-01 -2.21220149e-02 9.53089604e-01 -1.75180124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.046875 meters Centerline goodness [0,1] 0.985683306314083 Centerline is valid? [True, True] Translation: X:155.68, Y:317.18, Z:-17.53 [[ 8.13815640e-01 5.14783482e-01 2.69633216e-01 1.55678763e+02] [-4.96523256e-01 8.57041345e-01 -1.37640076e-01 3.17182056e+02] [-3.01941651e-01 -2.18655156e-02 9.53075621e-01 -1.75281424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters Centerline goodness [0,1] 0.979881057826142 Centerline is valid? [True, True] Translation: X:155.71, Y:317.18, Z:-17.54 [[ 8.14886439e-01 5.12808701e-01 2.70161669e-01 1.55707862e+02] [-4.94343469e-01 8.58243511e-01 -1.37994966e-01 3.17176457e+02] [-3.02629518e-01 -2.11024304e-02 9.52874631e-01 -1.75376152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1068750000001 meters Centerline goodness [0,1] 0.9857278581230867 Centerline is valid? [True, True] Translation: X:155.73, Y:317.15, Z:-17.55 [[ 8.15752279e-01 5.11874460e-01 2.69319062e-01 1.55728865e+02] [-4.93475833e-01 8.58811278e-01 -1.37567403e-01 3.17153214e+02] [-3.01711489e-01 -2.06815260e-02 9.53174933e-01 -1.75479077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters Centerline goodness [0,1] 0.9808032703978422 Centerline is valid? [True, True] Translation: X:155.76, Y:317.15, Z:-17.56 [[ 8.16352797e-01 5.11226321e-01 2.68729901e-01 1.55758993e+02] [-4.92856015e-01 8.59205473e-01 -1.37327728e-01 3.17147443e+02] [-3.01099751e-01 -2.03372736e-02 9.53375758e-01 -1.75583955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.166875 meters Centerline goodness [0,1] 0.986322188449848 Centerline is valid? [True, True] Translation: X:155.78, Y:317.12, Z:-17.57 [[ 8.16789702e-01 5.10167346e-01 2.69413924e-01 1.55781419e+02] [-4.91621574e-01 8.59844139e-01 -1.37754435e-01 3.17124757e+02] [-3.01931798e-01 -1.99332933e-02 9.53121111e-01 -1.75676190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters Centerline goodness [0,1] 0.9796704337395038 Centerline is valid? [True, True] Translation: X:155.81, Y:317.12, Z:-17.58 [[ 8.16517780e-01 5.10099484e-01 2.70364997e-01 1.55813472e+02] [-4.91408977e-01 8.59883691e-01 -1.38265161e-01 3.17120892e+02] [-3.03011439e-01 -1.99638241e-02 9.52777788e-01 -1.75762235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2268750000001 meters Centerline goodness [0,1] 0.985136441996384 Centerline is valid? [True, True] Translation: X:155.84, Y:317.10, Z:-17.59 [[ 8.16140680e-01 5.10367966e-01 2.70996180e-01 1.55835925e+02] [-4.91578362e-01 8.59722462e-01 -1.38665074e-01 3.17096658e+02] [-3.03751715e-01 -2.00456503e-02 9.52540323e-01 -1.75857956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters Centerline goodness [0,1] 0.9847257383966245 Centerline is valid? [True, True] Translation: X:155.86, Y:317.08, Z:-17.60 [[ 8.15452455e-01 5.11676701e-01 2.70599792e-01 1.55862398e+02] [-4.92982473e-01 8.58935512e-01 -1.38557092e-01 3.17082740e+02] [-3.03324207e-01 -2.04142340e-02 9.52668717e-01 -1.75957326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.286875 meters Centerline goodness [0,1] 0.984747940761339 Centerline is valid? [True, True] Translation: X:155.89, Y:317.07, Z:-17.61 [[ 8.15000215e-01 5.12679762e-01 2.70063159e-01 1.55889916e+02] [-4.94089757e-01 8.58330994e-01 -1.38359010e-01 3.17069623e+02] [-3.02737445e-01 -2.06728176e-02 9.52849765e-01 -1.76060596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters Centerline goodness [0,1] 0.9838899886282273 Centerline is valid? [True, True] Translation: X:155.92, Y:317.06, Z:-17.62 [[ 8.14613379e-01 5.13511288e-01 2.69650144e-01 1.55916979e+02] [-4.95015559e-01 8.57827667e-01 -1.38171235e-01 3.17056175e+02] [-3.02265843e-01 -2.09248806e-02 9.52993971e-01 -1.76168789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.346875 meters Centerline goodness [0,1] 0.9844541005737428 Centerline is valid? [True, True] Translation: X:155.94, Y:317.04, Z:-17.63 [[ 8.14210717e-01 5.14378221e-01 2.69213585e-01 1.55944634e+02] [-4.95963055e-01 8.57302967e-01 -1.38029960e-01 3.17043655e+02] [-3.01797210e-01 -2.11345189e-02 9.53137858e-01 -1.76277037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters Centerline goodness [0,1] 0.9863392010119111 Centerline is valid? [True, True] Translation: X:155.97, Y:317.02, Z:-17.64 [[ 8.14237100e-01 5.14934341e-01 2.68068218e-01 1.55967323e+02] [-4.96681548e-01 8.56968242e-01 -1.37524078e-01 3.17023179e+02] [-3.00541821e-01 -2.11673308e-02 9.53533722e-01 -1.76416261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.406875 meters Centerline goodness [0,1] 0.9864215408508048 Centerline is valid? [True, True] Translation: X:156.00, Y:317.01, Z:-17.65 [[ 8.13988534e-01 5.15188102e-01 2.68335398e-01 1.55995736e+02] [-4.96884067e-01 8.56814761e-01 -1.37748646e-01 3.17009339e+02] [-3.00880193e-01 -2.12057654e-02 9.53426151e-01 -1.76524999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters Centerline goodness [0,1] 0.9861306659381764 Centerline is valid? [True, True] Translation: X:156.02, Y:317.00, Z:-17.66 [[ 8.13629380e-01 5.15227397e-01 2.69347289e-01 1.56022965e+02] [-4.96753016e-01 8.56790826e-01 -1.38368789e-01 3.16995602e+02] [-3.02065677e-01 -2.12181666e-02 9.53050951e-01 -1.76615427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.466875 meters Centerline goodness [0,1] 0.9861637604245641 Centerline is valid? [True, True] Translation: X:156.05, Y:316.98, Z:-17.67 [[ 8.13377645e-01 5.14937934e-01 2.70657959e-01 1.56050516e+02] [-4.96236861e-01 8.56966630e-01 -1.39130056e-01 3.16980075e+02] [-3.03588182e-01 -2.11451786e-02 9.52568684e-01 -1.76694524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters Centerline goodness [0,1] 0.9873401696417268 Centerline is valid? [True, True] Translation: X:156.08, Y:316.96, Z:-17.68 [[ 8.14025951e-01 5.12373235e-01 2.73560631e-01 1.56075524e+02] [-4.93093345e-01 8.58521742e-01 -1.40710243e-01 3.16960171e+02] [-3.06953912e-01 -2.03491368e-02 9.51506810e-01 -1.76754750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.526875 meters Centerline goodness [0,1] 0.9865828268595823 Centerline is valid? [True, True] Translation: X:156.10, Y:316.95, Z:-17.68 [[ 8.14588005e-01 5.10943506e-01 2.74559860e-01 1.56103252e+02] [-4.91429703e-01 8.59384893e-01 -1.41260229e-01 3.16949583e+02] [-3.08128593e-01 -1.98579822e-02 9.51137441e-01 -1.76835634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters Centerline goodness [0,1] 0.987240593892357 Centerline is valid? [True, True] Translation: X:156.13, Y:316.93, Z:-17.69 [[ 8.16137104e-01 5.07908950e-01 2.75587964e-01 1.56125770e+02] [-4.88056432e-01 8.61207145e-01 -1.41856172e-01 3.16928951e+02] [-3.09388343e-01 -1.87283930e-02 9.50751335e-01 -1.76934636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.586875 meters Centerline goodness [0,1] 0.9868562401263823 Centerline is valid? [True, True] Translation: X:156.15, Y:316.92, Z:-17.70 [[ 8.17098948e-01 5.06793628e-01 2.74789970e-01 1.56151415e+02] [-4.86974947e-01 8.61875569e-01 -1.41512914e-01 3.16916256e+02] [-3.08552605e-01 -1.81857783e-02 9.51033421e-01 -1.77030158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters Centerline goodness [0,1] 0.9871837969577275 Centerline is valid? [True, True] Translation: X:156.18, Y:316.90, Z:-17.71 [[ 8.17709860e-01 5.05944269e-01 2.74537761e-01 1.56177088e+02] [-4.86103898e-01 8.62382229e-01 -1.41420970e-01 3.16899406e+02] [-3.08307615e-01 -1.78125546e-02 9.51119933e-01 -1.77142982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.646875 meters Centerline goodness [0,1] 0.9873206045468016 Centerline is valid? [True, True] Translation: X:156.20, Y:316.89, Z:-17.73 [[ 8.18512788e-01 5.04813605e-01 2.74226256e-01 1.56202788e+02] [-4.84947052e-01 8.63054293e-01 -1.41292761e-01 3.16887501e+02] [-3.07998656e-01 -1.73352826e-02 9.51228845e-01 -1.77257337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters Centerline goodness [0,1] 0.9869336321542592 Centerline is valid? [True, True] Translation: X:156.23, Y:316.87, Z:-17.74 [[ 8.18325249e-01 5.05205255e-01 2.74064659e-01 1.56230507e+02] [-4.85365266e-01 8.62823402e-01 -1.41266896e-01 3.16874552e+02] [-3.07838180e-01 -1.74191988e-02 9.51279258e-01 -1.77363290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.706875 meters Centerline goodness [0,1] 0.9880191355150079 Centerline is valid? [True, True] Translation: X:156.26, Y:316.86, Z:-17.75 [[ 8.18022575e-01 5.05583987e-01 2.74269755e-01 1.56255789e+02] [-4.85703998e-01 8.62600075e-01 -1.41466382e-01 3.16855940e+02] [-3.08108249e-01 -1.74912229e-02 9.51190498e-01 -1.77477932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters Centerline goodness [0,1] 0.9878852059726781 Centerline is valid? [True, True] Translation: X:156.28, Y:316.85, Z:-17.76 [[ 8.17550611e-01 5.06709104e-01 2.73599859e-01 1.56283354e+02] [-4.86955701e-01 8.61933866e-01 -1.41223779e-01 3.16846284e+02] [-3.07384359e-01 -1.77734247e-02 9.51419445e-01 -1.77578632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.766875 meters Centerline goodness [0,1] 0.9878852059726781 Centerline is valid? [True, True] Translation: X:156.31, Y:316.83, Z:-17.77 [[ 8.17409279e-01 5.06947255e-01 2.73580977e-01 1.56310844e+02] [-4.87194594e-01 8.61792864e-01 -1.41260349e-01 3.16832009e+02] [-3.07381680e-01 -1.78196528e-02 9.51419446e-01 -1.77676886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters Centerline goodness [0,1] 0.9878267096312209 Centerline is valid? [True, True] Translation: X:156.34, Y:316.82, Z:-17.78 [[ 8.17308340e-01 5.07950203e-01 2.72017772e-01 1.56337630e+02] [-4.88448548e-01 8.61198521e-01 -1.40552919e-01 3.16817487e+02] [-3.05655186e-01 -1.79916130e-02 9.51972273e-01 -1.77781447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.826875 meters Centerline goodness [0,1] 0.9875731917940941 Centerline is valid? [True, True] Translation: X:156.36, Y:316.81, Z:-17.79 [[ 8.16916915e-01 5.08753077e-01 2.71692952e-01 1.56364744e+02] [-4.89313504e-01 8.60720342e-01 -1.40473444e-01 3.16805572e+02] [-3.05317947e-01 -1.81878983e-02 9.52076757e-01 -1.77883282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters Centerline goodness [0,1] 0.9865940422657125 Centerline is valid? [True, True] Translation: X:156.39, Y:316.80, Z:-17.80 [[ 8.16194904e-01 5.09836548e-01 2.71831885e-01 1.56392340e+02] [-4.90408697e-01 8.60071710e-01 -1.40627035e-01 3.16795364e+02] [-3.05491716e-01 -1.85296513e-02 9.52014424e-01 -1.77989856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.886875 meters Centerline goodness [0,1] 0.9876103584146316 Centerline is valid? [True, True] Translation: X:156.42, Y:316.78, Z:-17.81 [[ 8.15796735e-01 5.10090314e-01 2.72550101e-01 1.56420236e+02] [-4.90545292e-01 8.59919594e-01 -1.41080149e-01 3.16780812e+02] [-3.06334790e-01 -1.86054443e-02 9.51742000e-01 -1.78092307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters Centerline goodness [0,1] 0.9871843594291023 Centerline is valid? [True, True] Translation: X:156.45, Y:316.77, Z:-17.82 [[ 8.15788499e-01 5.09855293e-01 2.73014111e-01 1.56446882e+02] [-4.90197070e-01 8.60062081e-01 -1.41421528e-01 3.16765662e+02] [-3.06913599e-01 -1.84606614e-02 9.51558326e-01 -1.78188806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.946875 meters Centerline goodness [0,1] 0.986210967973181 Centerline is valid? [True, True] Translation: X:156.47, Y:316.75, Z:-17.83 [[ 8.15982640e-01 5.09148745e-01 2.73751506e-01 1.56474069e+02] [-4.89314618e-01 8.60486767e-01 -1.41893370e-01 3.16752889e+02] [-3.07804379e-01 -1.81680869e-02 9.51276187e-01 -1.78281635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters Centerline goodness [0,1] 0.9867432611577552 Centerline is valid? [True, True] Translation: X:156.50, Y:316.74, Z:-17.84 [[ 8.16717930e-01 5.07892476e-01 2.73892418e-01 1.56499760e+02] [-4.87942254e-01 8.61240052e-01 -1.42049038e-01 3.16737141e+02] [-3.08032758e-01 -1.76296876e-02 9.51212392e-01 -1.78376307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.006875 meters Centerline goodness [0,1] 0.9862223443146039 Centerline is valid? [True, True] Translation: X:156.53, Y:316.72, Z:-17.85 [[ 8.16905173e-01 5.07957861e-01 2.73211912e-01 1.56526927e+02] [-4.88088340e-01 8.61203335e-01 -1.41769493e-01 3.16724058e+02] [-3.07303939e-01 -1.75393164e-02 9.51449768e-01 -1.78480210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters Centerline goodness [0,1] 0.986851006257399 Centerline is valid? [True, True] Translation: X:156.55, Y:316.71, Z:-17.86 [[ 8.17300570e-01 5.07574519e-01 2.72741427e-01 1.56554812e+02] [-4.87726064e-01 8.61434491e-01 -1.41611810e-01 3.16711380e+02] [-3.06827419e-01 -1.72836892e-02 9.51608223e-01 -1.78593830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.066875 meters Centerline goodness [0,1] 0.9878420095572377 Centerline is valid? [True, True] Translation: X:156.58, Y:316.70, Z:-17.87 [[ 8.17819921e-01 5.06517566e-01 2.73149286e-01 1.56581618e+02] [-4.86541150e-01 8.62064270e-01 -1.41855217e-01 3.16696797e+02] [-3.07324399e-01 -1.68863452e-02 9.51454973e-01 -1.78711461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters Centerline goodness [0,1] 0.9869135282979171 Centerline is valid? [True, True] Translation: X:156.61, Y:316.69, Z:-17.88 [[ 8.18208765e-01 5.05949281e-01 2.73037986e-01 1.56610275e+02] [-4.85942701e-01 8.62403091e-01 -1.41847099e-01 3.16686202e+02] [-3.07236241e-01 -1.66202769e-02 9.51488129e-01 -1.78802664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.126875 meters Centerline goodness [0,1] 0.9866057391996982 Centerline is valid? [True, True] Translation: X:156.64, Y:316.67, Z:-17.89 [[ 8.18526673e-01 5.05273252e-01 2.73336836e-01 1.56636855e+02] [-4.85156585e-01 8.62805351e-01 -1.42091570e-01 3.16670464e+02] [-3.07631554e-01 -1.63054261e-02 9.51365839e-01 -1.78888006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters Centerline goodness [0,1] 0.987051206592113 Centerline is valid? [True, True] Translation: X:156.66, Y:316.65, Z:-17.89 [[ 8.19825605e-01 5.02532627e-01 2.74493964e-01 1.56661820e+02] [-4.82064455e-01 8.64423396e-01 -1.42779738e-01 3.16651763e+02] [-3.09030481e-01 -1.52692979e-02 9.50929551e-01 -1.78948256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.186875 meters Centerline goodness [0,1] 0.9877233319973844 Centerline is valid? [True, True] Translation: X:156.69, Y:316.64, Z:-17.90 [[ 8.20680011e-01 5.00636362e-01 2.75404345e-01 1.56687801e+02] [-4.79903874e-01 8.65535441e-01 -1.43320172e-01 3.16636946e+02] [-3.10123511e-01 -1.45476115e-02 9.50584965e-01 -1.79039419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters Centerline goodness [0,1] 0.9873075147904167 Centerline is valid? [True, True] Translation: X:156.71, Y:316.63, Z:-17.91 [[ 8.21984630e-01 4.98404994e-01 2.75560755e-01 1.56714294e+02] [-4.77504878e-01 8.66836808e-01 -1.43467903e-01 3.16625011e+02] [-3.10371324e-01 -1.36531940e-02 9.50517349e-01 -1.79135080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.246875 meters Centerline goodness [0,1] 0.9883872322553549 Centerline is valid? [True, True] Translation: X:156.74, Y:316.61, Z:-17.93 [[ 8.24140151e-01 4.94919719e-01 2.75404218e-01 1.56740674e+02] [-4.73832800e-01 8.68852059e-01 -1.43452348e-01 3.16613369e+02] [-3.10282918e-01 -1.22707123e-02 9.50565064e-01 -1.79256878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters Centerline goodness [0,1] 0.9886979538674846 Centerline is valid? [True, True] Translation: X:156.77, Y:316.60, Z:-17.94 [[ 8.25216431e-01 4.93361260e-01 2.74977289e-01 1.56766797e+02] [-4.72236055e-01 8.69747075e-01 -1.43293875e-01 3.16598099e+02] [-3.09856339e-01 -1.16057304e-02 9.50712552e-01 -1.79372614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.306875 meters Centerline goodness [0,1] 0.9899890636830151 Centerline is valid? [True, True] Translation: X:156.79, Y:316.58, Z:-17.95 [[ 8.27247365e-01 4.89597644e-01 2.75601058e-01 1.56791984e+02] [-4.68161100e-01 8.71888901e-01 -1.43648633e-01 3.16582112e+02] [-3.10623536e-01 -1.01927414e-02 9.50478367e-01 -1.79469092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters Centerline goodness [0,1] 0.9887727692436834 Centerline is valid? [True, True] Translation: X:156.82, Y:316.57, Z:-17.95 [[ 8.28361889e-01 4.87304651e-01 2.76316409e-01 1.56820178e+02] [-4.65607425e-01 8.73182546e-01 -1.44090138e-01 3.16569586e+02] [-3.11490460e-01 -9.29619304e-03 9.50203807e-01 -1.79546281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.366875 meters Centerline goodness [0,1] 0.9905785646538097 Centerline is valid? [True, True] Translation: X:156.85, Y:316.55, Z:-17.96 [[ 8.29526268e-01 4.84895273e-01 2.77060906e-01 1.56845971e+02] [-4.62918751e-01 8.74532496e-01 -1.44565361e-01 3.16551816e+02] [-3.12397826e-01 -8.33592393e-03 9.49914791e-01 -1.79644055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters Centerline goodness [0,1] 0.9914796036437843 Centerline is valid? [True, True] Translation: X:156.87, Y:316.54, Z:-17.97 [[ 8.30428220e-01 4.83013373e-01 2.77645552e-01 1.56873278e+02] [-4.60827972e-01 8.75579873e-01 -1.44905024e-01 3.16538189e+02] [-3.13091921e-01 -7.61361511e-03 9.49692309e-01 -1.79732836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.426875 meters Centerline goodness [0,1] 0.9906500819431021 Centerline is valid? [True, True] Translation: X:156.90, Y:316.53, Z:-17.98 [[ 8.31147756e-01 4.81810441e-01 2.77582614e-01 1.56900794e+02] [-4.59540008e-01 8.76246912e-01 -1.44963203e-01 3.16526627e+02] [-3.13075693e-01 -7.07447593e-03 9.49701828e-01 -1.79827810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters Centerline goodness [0,1] 0.9917860594092686 Centerline is valid? [True, True] Translation: X:156.93, Y:316.52, Z:-17.99 [[ 8.31292048e-01 4.80718742e-01 2.79039463e-01 1.56931055e+02] [-4.58120124e-01 8.76849828e-01 -1.45809232e-01 3.16518354e+02] [-3.14768935e-01 -6.62353839e-03 9.49145219e-01 -1.79931959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.486875 meters Centerline goodness [0,1] 0.9917275754466062 Centerline is valid? [True, True] Translation: X:156.96, Y:316.51, Z:-18.00 [[ 8.30796270e-01 4.81094562e-01 2.79867076e-01 1.56960217e+02] [-4.58348483e-01 8.76643081e-01 -1.46333787e-01 3.16508186e+02] [-3.15743925e-01 -6.70308587e-03 9.48820764e-01 -1.80028219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters Centerline goodness [0,1] 0.9907518765810973 Centerline is valid? [True, True] Translation: X:156.99, Y:316.50, Z:-18.01 [[ 8.29601907e-01 4.82709471e-01 2.80628298e-01 1.56991164e+02] [-4.59895634e-01 8.75750497e-01 -1.46823269e-01 3.16504565e+02] [-3.16633354e-01 -7.25486521e-03 9.48520261e-01 -1.80130925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.546875 meters Centerline goodness [0,1] 0.9900957067495152 Centerline is valid? [True, True] Translation: X:157.02, Y:316.50, Z:-18.02 [[ 8.28825519e-01 4.84473295e-01 2.79881913e-01 1.57019848e+02] [-4.61853225e-01 8.74771033e-01 -1.46517026e-01 3.16495179e+02] [-3.15816176e-01 -7.82731373e-03 9.48788109e-01 -1.80242209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters Centerline goodness [0,1] 0.9900635350484325 Centerline is valid? [True, True] Translation: X:157.05, Y:316.49, Z:-18.03 [[ 8.27888405e-01 4.86158130e-01 2.79733913e-01 1.57049036e+02] [-4.63625702e-01 8.73830666e-01 -1.46530463e-01 3.16487194e+02] [-3.15677047e-01 -8.38096032e-03 9.48829680e-01 -1.80349302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6068750000001 meters Centerline goodness [0,1] 0.989567561962045 Centerline is valid? [True, True] Translation: X:157.08, Y:316.48, Z:-18.05 [[ 8.25677893e-01 4.89776468e-01 2.79955406e-01 1.57081612e+02] [-4.67381966e-01 8.71794126e-01 -1.46727979e-01 3.16484623e+02] [-3.15927390e-01 -9.69605924e-03 9.48733825e-01 -1.80452896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters Centerline goodness [0,1] 0.9901318517289991 Centerline is valid? [True, True] Translation: X:157.11, Y:316.48, Z:-18.05 [[ 8.24862110e-01 4.91246692e-01 2.79784180e-01 1.57111336e+02] [-4.68954597e-01 8.70960402e-01 -1.46661394e-01 3.16476941e+02] [-3.15727867e-01 -1.02306503e-02 9.48794629e-01 -1.80540852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.666875 meters Centerline goodness [0,1] 0.9897266670817508 Centerline is valid? [True, True] Translation: X:157.14, Y:316.47, Z:-18.06 [[ 8.23639939e-01 4.93090482e-01 2.80141086e-01 1.57140089e+02] [-4.70827288e-01 8.69909653e-01 -1.46897450e-01 3.16466812e+02] [-3.16131169e-01 -1.09074613e-02 9.48652787e-01 -1.80645671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters Centerline goodness [0,1] 0.9892488740374836 Centerline is valid? [True, True] Translation: X:157.17, Y:316.46, Z:-18.07 [[ 8.21740390e-01 4.95665995e-01 2.81172462e-01 1.57172436e+02] [-4.73351220e-01 8.68432181e-01 -1.47526840e-01 3.16463775e+02] [-3.17303253e-01 -1.18645653e-02 9.48249903e-01 -1.80739469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7268750000001 meters Centerline goodness [0,1] 0.9889447860381343 Centerline is valid? [True, True] Translation: X:157.20, Y:316.45, Z:-18.08 [[ 8.20840654e-01 4.96611227e-01 2.82131016e-01 1.57202411e+02] [-4.74187161e-01 8.67886564e-01 -1.48052182e-01 3.16454772e+02] [-3.18382094e-01 -1.22556554e-02 9.47883242e-01 -1.80833531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters Centerline goodness [0,1] 0.9894702068794649 Centerline is valid? [True, True] Translation: X:157.23, Y:316.44, Z:-18.09 [[ 8.19831977e-01 4.97780260e-01 2.83002372e-01 1.57231838e+02] [-4.75250756e-01 8.67210651e-01 -1.48601499e-01 3.16444697e+02] [-3.19393564e-01 -1.26688307e-02 9.47537467e-01 -1.80933676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.786875 meters Centerline goodness [0,1] 0.9887880295117301 Centerline is valid? [True, True] Translation: X:157.26, Y:316.44, Z:-18.10 [[ 8.18362949e-01 4.98679286e-01 2.85658981e-01 1.57264056e+02] [-4.75736820e-01 8.66688000e-01 -1.50087936e-01 3.16442124e+02] [-3.22422956e-01 -1.30720899e-02 9.46505445e-01 -1.81021814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters Centerline goodness [0,1] 0.9879411279683378 Centerline is valid? [True, True] Translation: X:157.29, Y:316.43, Z:-18.11 [[ 8.18040103e-01 4.99293455e-01 2.85510834e-01 1.57293871e+02] [-4.76395563e-01 8.66331420e-01 -1.50057118e-01 3.16432466e+02] [-3.22269543e-01 -1.32633544e-02 9.46555030e-01 -1.81122666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.846875 meters Centerline goodness [0,1] 0.9882864238410596 Centerline is valid? [True, True] Translation: X:157.32, Y:316.42, Z:-18.12 [[ 8.17313443e-01 5.00029649e-01 2.86302440e-01 1.57321556e+02] [-4.77013979e-01 8.65902878e-01 -1.50565167e-01 3.16421434e+02] [-3.23197154e-01 -1.35113313e-02 9.46235195e-01 -1.81237821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters Centerline goodness [0,1] 0.9871423846535472 Centerline is valid? [True, True] Translation: X:157.35, Y:316.42, Z:-18.13 [[ 8.16916551e-01 5.00560974e-01 2.86506649e-01 1.57352080e+02] [-4.77513104e-01 8.65593639e-01 -1.50761028e-01 3.16415736e+02] [-3.23463420e-01 -1.36515005e-02 9.46142195e-01 -1.81322756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.906875 meters Centerline goodness [0,1] 0.988646666117201 Centerline is valid? [True, True] Translation: X:157.38, Y:316.41, Z:-18.14 [[ 8.16569975e-01 5.01071164e-01 2.86602799e-01 1.57383082e+02] [-4.78007703e-01 8.65296397e-01 -1.50899903e-01 3.16410278e+02] [-3.23607959e-01 -1.37780152e-02 9.46090934e-01 -1.81445894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters Centerline goodness [0,1] 0.9876543209876543 Centerline is valid? [True, True] Translation: X:157.41, Y:316.40, Z:-18.15 [[ 8.16372518e-01 5.01269517e-01 2.86818379e-01 1.57414975e+02] [-4.78150109e-01 8.65181441e-01 -1.51107731e-01 3.16404652e+02] [-3.23895638e-01 -1.37820397e-02 9.45992427e-01 -1.81528375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.966875 meters Centerline goodness [0,1] 0.9880857172152159 Centerline is valid? [True, True] Translation: X:157.44, Y:316.40, Z:-18.16 [[ 8.16025458e-01 5.01858009e-01 2.86776901e-01 1.57444448e+02] [-4.78746774e-01 8.64837957e-01 -1.51184769e-01 3.16396102e+02] [-3.23888836e-01 -1.39228956e-02 9.45992693e-01 -1.81627048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters Centerline goodness [0,1] 0.9884327744904668 Centerline is valid? [True, True] Translation: X:157.48, Y:316.39, Z:-18.17 [[ 8.15114289e-01 5.03053963e-01 2.87272356e-01 1.57477834e+02] [-4.79903500e-01 8.64135902e-01 -1.51531427e-01 3.16392283e+02] [-3.24470841e-01 -1.43475774e-02 9.45786879e-01 -1.81716195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.026875 meters Centerline goodness [0,1] 0.988876965619712 Centerline is valid? [True, True] Translation: X:157.51, Y:316.38, Z:-18.18 [[ 8.14487075e-01 5.04032388e-01 2.87336313e-01 1.57506906e+02] [-4.80898810e-01 8.63560375e-01 -1.51656895e-01 3.16382161e+02] [-3.24572241e-01 -1.46571104e-02 9.45747339e-01 -1.81820388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters Centerline goodness [0,1] 0.9883451318354366 Centerline is valid? [True, True] Translation: X:157.54, Y:316.38, Z:-18.19 [[ 8.13990352e-01 5.04832588e-01 2.87339111e-01 1.57538720e+02] [-4.81714711e-01 8.63088824e-01 -1.51751835e-01 3.16376957e+02] [-3.24608447e-01 -1.48909473e-02 9.45731260e-01 -1.81899680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.086875 meters Centerline goodness [0,1] 0.9905148772088995 Centerline is valid? [True, True] Translation: X:157.57, Y:316.37, Z:-18.20 [[ 8.12768606e-01 5.05990193e-01 2.88757887e-01 1.57571545e+02] [-4.82680200e-01 8.62402417e-01 -1.52584063e-01 3.16374116e+02] [-3.26231539e-01 -1.53621789e-02 9.45165058e-01 -1.82000029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters Centerline goodness [0,1] 0.9913145976797568 Centerline is valid? [True, True] Translation: X:157.60, Y:316.37, Z:-18.21 [[ 8.12242822e-01 5.06498310e-01 2.89345919e-01 1.57601110e+02] [-4.83111080e-01 8.62100324e-01 -1.52927159e-01 3.16365213e+02] [-3.26902558e-01 -1.55722326e-02 9.44929745e-01 -1.82110304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.146875 meters Centerline goodness [0,1] 0.9897563278796214 Centerline is valid? [True, True] Translation: X:157.63, Y:316.36, Z:-18.22 [[ 8.12339515e-01 5.07143717e-01 2.87940555e-01 1.57632192e+02] [-4.83995025e-01 8.61719224e-01 -1.52278678e-01 3.16359976e+02] [-3.25351086e-01 -1.56598086e-02 9.45463612e-01 -1.82200506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters Centerline goodness [0,1] 0.9924889604225992 Centerline is valid? [True, True] Translation: X:157.66, Y:316.35, Z:-18.23 [[ 8.12712664e-01 5.07491514e-01 2.86269958e-01 1.57663450e+02] [-4.84609073e-01 8.61515153e-01 -1.51478340e-01 3.16354557e+02] [-3.23499878e-01 -1.56206538e-02 9.46099267e-01 -1.82327999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.206875 meters Centerline goodness [0,1] 0.9929878111658795 Centerline is valid? [True, True] Translation: X:157.69, Y:316.34, Z:-18.24 [[ 8.12492281e-01 5.08194633e-01 2.85647525e-01 1.57692529e+02] [-4.85443011e-01 8.61096801e-01 -1.51186581e-01 3.16343552e+02] [-3.22802379e-01 -1.58276645e-02 9.46334037e-01 -1.82430463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters Centerline goodness [0,1] 0.9914121547871574 Centerline is valid? [True, True] Translation: X:157.72, Y:316.34, Z:-18.25 [[ 8.12325088e-01 5.08423865e-01 2.85715112e-01 1.57724295e+02] [-4.85640592e-01 8.60961406e-01 -1.51323075e-01 3.16336793e+02] [-3.22925947e-01 -1.58313260e-02 9.46291816e-01 -1.82505180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.266875 meters Centerline goodness [0,1] 0.992824983039 Centerline is valid? [True, True] Translation: X:157.76, Y:316.33, Z:-18.26 [[ 8.11886005e-01 5.08750163e-01 2.86381540e-01 1.57758015e+02] [-4.85843589e-01 8.60767148e-01 -1.51775900e-01 3.16332913e+02] [-3.23723835e-01 -1.59119060e-02 9.46017806e-01 -1.82576251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters Centerline goodness [0,1] 0.9950369653411314 Centerline is valid? [True, True] Translation: X:157.79, Y:316.32, Z:-18.27 [[ 8.11738361e-01 5.09060563e-01 2.86248452e-01 1.57786779e+02] [-4.86163050e-01 8.60583020e-01 -1.51797080e-01 3.16320634e+02] [-3.23614465e-01 -1.59439080e-02 9.46054687e-01 -1.82681129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.326875 meters Centerline goodness [0,1] 0.9945459391851715 Centerline is valid? [True, True] Translation: X:157.82, Y:316.32, Z:-18.28 [[ 8.12076311e-01 5.09028010e-01 2.85346368e-01 1.57818454e+02] [-4.86240571e-01 8.60605284e-01 -1.51422097e-01 3.16315053e+02] [-3.22648681e-01 -1.57806827e-02 9.46387235e-01 -1.82756667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters Centerline goodness [0,1] 0.9966269025092555 Centerline is valid? [True, True] Translation: X:157.85, Y:316.31, Z:-18.29 [[ 8.12161534e-01 5.09490551e-01 2.84276310e-01 1.57848360e+02] [-4.86886026e-01 8.60330314e-01 -1.50909740e-01 3.16307200e+02] [-3.21458614e-01 -1.58470766e-02 9.46791017e-01 -1.82865649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.386875 meters Centerline goodness [0,1] 0.9968475058207817 Centerline is valid? [True, True] Translation: X:157.88, Y:316.30, Z:-18.30 [[ 8.11510077e-01 5.10378572e-01 2.84543684e-01 1.57877598e+02] [-4.87751585e-01 8.59798530e-01 -1.51145225e-01 3.16297556e+02] [-3.21791525e-01 -1.61307597e-02 9.46673129e-01 -1.82955008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters Centerline goodness [0,1] 0.9959696489893278 Centerline is valid? [True, True] Translation: X:157.91, Y:316.29, Z:-18.30 [[ 8.10623763e-01 5.11484326e-01 2.85084021e-01 1.57910517e+02] [-4.88805346e-01 8.59133713e-01 -1.51520942e-01 3.16294152e+02] [-3.22425881e-01 -1.65241177e-02 9.46450477e-01 -1.83010618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.446875 meters Centerline goodness [0,1] 0.9957578490040168 Centerline is valid? [True, True] Translation: X:157.94, Y:316.29, Z:-18.31 [[ 8.08415061e-01 5.14065056e-01 2.86709274e-01 1.57942220e+02] [-4.91249184e-01 8.57570854e-01 -1.52467930e-01 3.16290263e+02] [-3.24251952e-01 -1.75883264e-02 9.45807233e-01 -1.83097967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters Centerline goodness [0,1] 0.9949987651271919 Centerline is valid? [True, True] Translation: X:157.97, Y:316.29, Z:-18.32 [[ 8.07257461e-01 5.15491274e-01 2.87409357e-01 1.57974384e+02] [-4.92644349e-01 8.56701549e-01 -1.52852875e-01 3.16285711e+02] [-3.25018364e-01 -1.81989719e-02 9.45532580e-01 -1.83164877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.506875 meters Centerline goodness [0,1] 0.9960525504225005 Centerline is valid? [True, True] Translation: X:158.01, Y:316.28, Z:-18.32 [[ 8.06737874e-01 5.16551160e-01 2.86964985e-01 1.58006457e+02] [-4.93813565e-01 8.56055999e-01 -1.52696725e-01 3.16284929e+02] [-3.24533767e-01 -1.85209712e-02 9.45692766e-01 -1.83242030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters Centerline goodness [0,1] 0.9959202175883953 Centerline is valid? [True, True] Translation: X:158.03, Y:316.28, Z:-18.33 [[ 8.06800419e-01 5.16890858e-01 2.86176387e-01 1.58033409e+02] [-4.94306076e-01 8.55848941e-01 -1.52263240e-01 3.16277563e+02] [-3.23627234e-01 -1.86126812e-02 9.46001576e-01 -1.83333295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.566875 meters Centerline goodness [0,1] 0.9961662132080138 Centerline is valid? [True, True] Translation: X:158.06, Y:316.27, Z:-18.34 [[ 8.06861926e-01 5.16970938e-01 2.85858151e-01 1.58058995e+02] [-4.94451430e-01 8.55799850e-01 -1.52067093e-01 3.16269270e+02] [-3.23251630e-01 -1.86458239e-02 9.46129334e-01 -1.83424099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters Centerline goodness [0,1] 0.9961912212797497 Centerline is valid? [True, True] Translation: X:158.09, Y:316.26, Z:-18.35 [[ 8.07425028e-01 5.16357376e-01 2.85376741e-01 1.58085847e+02] [-4.93890980e-01 8.56175522e-01 -1.51773433e-01 3.16260004e+02] [-3.22701912e-01 -1.83993294e-02 9.46321796e-01 -1.83511218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.626875 meters Centerline goodness [0,1] 0.9965744944283945 Centerline is valid? [True, True] Translation: X:158.11, Y:316.25, Z:-18.36 [[ 8.07672810e-01 5.15807045e-01 2.85670658e-01 1.58114071e+02] [-4.93266856e-01 8.56511053e-01 -1.51909922e-01 3.16253167e+02] [-3.23036284e-01 -1.82183539e-02 9.46211208e-01 -1.83588278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters Centerline goodness [0,1] 0.9965744944283945 Centerline is valid? [True, True] Translation: X:158.14, Y:316.24, Z:-18.37 [[ 8.07725232e-01 5.15718781e-01 2.85681794e-01 1.58137295e+02] [-4.93180634e-01 8.56564417e-01 -1.51888977e-01 3.16240923e+02] [-3.23036857e-01 -1.82081691e-02 9.46211209e-01 -1.83671472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.686875 meters Centerline goodness [0,1] 0.9969187157207124 Centerline is valid? [True, True] Translation: X:158.16, Y:316.23, Z:-18.38 [[ 8.07967157e-01 5.15178603e-01 2.85972168e-01 1.58163944e+02] [-4.92573974e-01 8.56892819e-01 -1.52005185e-01 3.16231874e+02] [-3.23357316e-01 -1.80472497e-02 9.46104827e-01 -1.83753370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters Centerline goodness [0,1] 0.9968084668286455 Centerline is valid? [True, True] Translation: X:158.19, Y:316.22, Z:-18.38 [[ 8.07856745e-01 5.15380151e-01 2.85920932e-01 1.58189264e+02] [-4.92804888e-01 8.56769488e-01 -1.51951922e-01 3.16222209e+02] [-3.23281335e-01 -1.81478483e-02 9.46128868e-01 -1.83843656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.746875 meters Centerline goodness [0,1] 0.9962287480680062 Centerline is valid? [True, True] Translation: X:158.22, Y:316.22, Z:-18.39 [[ 8.06948546e-01 5.16821632e-01 2.85883620e-01 1.58219662e+02] [-4.94348782e-01 8.55887831e-01 -1.51905571e-01 3.16220271e+02] [-3.23192397e-01 -1.87462399e-02 9.46147585e-01 -1.83926155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters Centerline goodness [0,1] 0.9962261829070698 Centerline is valid? [True, True] Translation: X:158.25, Y:316.21, Z:-18.40 [[ 8.06771900e-01 5.17523643e-01 2.85111170e-01 1.58246508e+02] [-4.95227787e-01 8.55457964e-01 -1.51463232e-01 3.16213279e+02] [-3.22286425e-01 -1.89986945e-02 9.46451536e-01 -1.84021599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.806875 meters Centerline goodness [0,1] 0.996005735354363 Centerline is valid? [True, True] Translation: X:158.28, Y:316.21, Z:-18.41 [[ 8.05605677e-01 5.20078792e-01 2.83756135e-01 1.58276568e+02] [-4.98180197e-01 8.53884327e-01 -1.50658714e-01 3.16209568e+02] [-3.20649318e-01 -1.99901718e-02 9.46987016e-01 -1.84141269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters Centerline goodness [0,1] 0.9956272710476073 Centerline is valid? [True, True] Translation: X:158.30, Y:316.20, Z:-18.42 [[ 8.04656788e-01 5.21680972e-01 2.83507350e-01 1.58303755e+02] [-4.99917848e-01 8.52891688e-01 -1.50525462e-01 3.16202048e+02] [-3.20327332e-01 -2.06090494e-02 9.47082714e-01 -1.84235999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.866875 meters Centerline goodness [0,1] 0.9938879803761242 Centerline is valid? [True, True] Translation: X:158.33, Y:316.20, Z:-18.43 [[ 8.03973044e-01 5.22880306e-01 2.83237584e-01 1.58331442e+02] [-5.01237930e-01 8.52145367e-01 -1.50362270e-01 3.16196788e+02] [-3.19981065e-01 -2.10822086e-02 9.47189347e-01 -1.84317570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters Centerline goodness [0,1] 0.9955203024823278 Centerline is valid? [True, True] Translation: X:158.36, Y:316.18, Z:-18.44 [[ 8.02646365e-01 5.24891119e-01 2.83281001e-01 1.58356843e+02] [-5.03371209e-01 8.50887351e-01 -1.50360042e-01 3.16184766e+02] [-3.19962871e-01 -2.19095589e-02 9.47176716e-01 -1.84423980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.926875 meters Centerline goodness [0,1] 0.9913162518899923 Centerline is valid? [True, True] Translation: X:158.39, Y:316.19, Z:-18.45 [[ 8.01414716e-01 5.27147029e-01 2.82578241e-01 1.58391096e+02] [-5.05873044e-01 8.49469450e-01 -1.49980390e-01 3.16189025e+02] [-3.19103300e-01 -2.27522234e-02 9.47446790e-01 -1.84507895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters Centerline goodness [0,1] 0.9899701983352174 Centerline is valid? [True, True] Translation: X:158.42, Y:316.18, Z:-18.46 [[ 8.00004481e-01 5.29159564e-01 2.82812635e-01 1.58420301e+02] [-5.07972917e-01 8.48194582e-01 -1.50098193e-01 3.16182406e+02] [-3.19306039e-01 -2.35819321e-02 9.47358193e-01 -1.84599368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.986875 meters Centerline goodness [0,1] 0.993811602221266 Centerline is valid? [True, True] Translation: X:158.45, Y:316.17, Z:-18.47 [[ 7.98743130e-01 5.31660637e-01 2.81684896e-01 1.58447129e+02] [-5.10797394e-01 8.46603702e-01 -1.49493121e-01 3.16174785e+02] [-3.17955083e-01 -2.44773078e-02 9.47789759e-01 -1.84724808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters Centerline goodness [0,1] 0.9910250354274918 Centerline is valid? [True, True] Translation: X:158.47, Y:316.17, Z:-18.48 [[ 7.97881916e-01 5.33452277e-01 2.80736738e-01 1.58474948e+02] [-5.12841562e-01 8.45457519e-01 -1.48980254e-01 3.16170197e+02] [-3.16824842e-01 -2.51048162e-02 9.48151764e-01 -1.84822246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.046875 meters Centerline goodness [0,1] 0.9919973599537992 Centerline is valid? [True, True] Translation: X:158.50, Y:316.16, Z:-18.49 [[ 7.96985468e-01 5.35141934e-01 2.80066553e-01 1.58500470e+02] [-5.14740157e-01 8.44370206e-01 -1.48598538e-01 3.16160083e+02] [-3.16001163e-01 -2.57306259e-02 9.48409827e-01 -1.84929932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters Centerline goodness [0,1] 0.9868712562566669 Centerline is valid? [True, True] Translation: X:158.53, Y:316.16, Z:-18.50 [[ 7.97181782e-01 5.35447520e-01 2.78921422e-01 1.58529542e+02] [-5.15239688e-01 8.44175805e-01 -1.47970520e-01 3.16157669e+02] [-3.14689163e-01 -2.57519833e-02 9.48845386e-01 -1.85019438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1068750000001 meters Centerline goodness [0,1] 0.9826714949160171 Centerline is valid? [True, True] Translation: X:158.56, Y:316.16, Z:-18.51 [[ 7.96878981e-01 5.36566685e-01 2.77632999e-01 1.58560270e+02] [-5.16624083e-01 8.43454576e-01 -1.47254660e-01 3.16158217e+02] [-3.13182769e-01 -2.60877501e-02 9.49334495e-01 -1.85118446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters Centerline goodness [0,1] 0.9856421876609331 Centerline is valid? [True, True] Translation: X:158.59, Y:316.15, Z:-18.52 [[ 7.96706653e-01 5.36771469e-01 2.77731703e-01 1.58585934e+02] [-5.16833663e-01 8.43320848e-01 -1.47285140e-01 3.16148274e+02] [-3.13275396e-01 -2.61980419e-02 9.49300895e-01 -1.85203344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.166875 meters Centerline goodness [0,1] 0.9845924453280318 Centerline is valid? [True, True] Translation: X:158.61, Y:316.14, Z:-18.53 [[ 7.97290766e-01 5.36160937e-01 2.77234348e-01 1.58613494e+02] [-5.16288705e-01 8.43715770e-01 -1.46934246e-01 3.16144721e+02] [-3.12687394e-01 -2.59836452e-02 9.49500629e-01 -1.85297837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters Centerline goodness [0,1] 0.9849308906518361 Centerline is valid? [True, True] Translation: X:158.64, Y:316.13, Z:-18.54 [[ 7.99298178e-01 5.33730000e-01 2.76142554e-01 1.58639108e+02] [-5.13886379e-01 8.45286843e-01 -1.46324787e-01 3.16134738e+02] [-3.11517596e-01 -2.49487611e-02 9.49912810e-01 -1.85401131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2268750000001 meters Centerline goodness [0,1] 0.9869225858269662 Centerline is valid? [True, True] Translation: X:158.66, Y:316.12, Z:-18.55 [[ 7.99621717e-01 5.33460364e-01 2.75726586e-01 1.58664035e+02] [-5.13667145e-01 8.45460940e-01 -1.46088547e-01 3.16123690e+02] [-3.11048508e-01 -2.48161131e-02 9.50069990e-01 -1.85503423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters Centerline goodness [0,1] 0.9918132263704618 Centerline is valid? [True, True] Translation: X:158.69, Y:316.12, Z:-18.56 [[ 8.00647212e-01 5.32784131e-01 2.74053117e-01 1.58690721e+02] [-5.13223978e-01 8.45897497e-01 -1.45115724e-01 3.16116675e+02] [-3.09136201e-01 -2.44641314e-02 9.50703064e-01 -1.85611852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.286875 meters Centerline goodness [0,1] 0.9960807896483079 Centerline is valid? [True, True] Translation: X:158.71, Y:316.10, Z:-18.57 [[ 8.00305948e-01 5.34111347e-01 2.72461850e-01 1.58713525e+02] [-5.14883265e-01 8.45047589e-01 -1.44186670e-01 3.16100928e+02] [-3.07254966e-01 -2.48925967e-02 9.51301605e-01 -1.85724309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters Centerline goodness [0,1] 0.995433126440122 Centerline is valid? [True, True] Translation: X:158.74, Y:316.09, Z:-18.58 [[ 8.00251757e-01 5.35019563e-01 2.70834254e-01 1.58740976e+02] [-5.16078271e-01 8.44467155e-01 -1.43312395e-01 3.16094500e+02] [-3.05385567e-01 -2.50856779e-02 9.51898295e-01 -1.85826383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.346875 meters Centerline goodness [0,1] 0.9958721182225341 Centerline is valid? [True, True] Translation: X:158.77, Y:316.09, Z:-18.59 [[ 8.00589522e-01 5.35214231e-01 2.69447852e-01 1.58767457e+02] [-5.16485743e-01 8.44345333e-01 -1.42560289e-01 3.16088163e+02] [-3.03807332e-01 -2.50337005e-02 9.52404546e-01 -1.85925876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters Centerline goodness [0,1] 0.9955393098321046 Centerline is valid? [True, True] Translation: X:158.80, Y:316.08, Z:-18.60 [[ 7.99467299e-01 5.37322230e-01 2.68583057e-01 1.58797334e+02] [-5.18839666e-01 8.42983258e-01 -1.42072614e-01 3.16083828e+02] [-3.02749794e-01 -2.57691344e-02 9.52721635e-01 -1.86023803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.406875 meters Centerline goodness [0,1] 0.9922051537201733 Centerline is valid? [True, True] Translation: X:158.83, Y:316.08, Z:-18.61 [[ 7.98551167e-01 5.38766321e-01 2.68415510e-01 1.58828204e+02] [-5.20387648e-01 8.42044522e-01 -1.41977881e-01 3.16082408e+02] [-3.02510710e-01 -2.63035131e-02 9.52782974e-01 -1.86099482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters Centerline goodness [0,1] 0.9928345757531956 Centerline is valid? [True, True] Translation: X:158.86, Y:316.08, Z:-18.62 [[ 7.96574076e-01 5.41417167e-01 2.68955746e-01 1.58858087e+02] [-5.23114060e-01 8.40308005e-01 -1.42246749e-01 3.16077677e+02] [-3.03020498e-01 -2.73844590e-02 9.52590504e-01 -1.86180801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.466875 meters Centerline goodness [0,1] 0.9953876065194011 Centerline is valid? [True, True] Translation: X:158.88, Y:316.07, Z:-18.63 [[ 7.95553572e-01 5.43067991e-01 2.68647856e-01 1.58884225e+02] [-5.24900166e-01 8.39222298e-01 -1.42076569e-01 3.16066211e+02] [-3.02612508e-01 -2.79837818e-02 9.52702775e-01 -1.86271623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters Centerline goodness [0,1] 0.9905527179103858 Centerline is valid? [True, True] Translation: X:158.91, Y:316.07, Z:-18.64 [[ 7.94255597e-01 5.45475340e-01 2.67609230e-01 1.58914714e+02] [-5.27582697e-01 8.37632527e-01 -1.41521193e-01 3.16065400e+02] [-3.01354516e-01 -2.87819994e-02 9.53077674e-01 -1.86360146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.526875 meters Centerline goodness [0,1] 0.9944483572937813 Centerline is valid? [True, True] Translation: X:158.94, Y:316.05, Z:-18.65 [[ 7.91917123e-01 5.49084975e-01 2.67157183e-01 1.58940655e+02] [-5.31454561e-01 8.35224017e-01 -1.41268865e-01 3.16054645e+02] [-3.00704707e-01 -3.01086703e-02 9.53241914e-01 -1.86461056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters Centerline goodness [0,1] 0.9916815334190765 Centerline is valid? [True, True] Translation: X:158.97, Y:316.05, Z:-18.66 [[ 7.91040369e-01 5.50343520e-01 2.67165014e-01 1.58967839e+02] [-5.32783724e-01 8.34377568e-01 -1.41264211e-01 3.16046600e+02] [-3.00660338e-01 -3.05954781e-02 9.53240409e-01 -1.86558309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.586875 meters Centerline goodness [0,1] 0.9909668577124345 Centerline is valid? [True, True] Translation: X:158.99, Y:316.04, Z:-18.66 [[ 7.90224157e-01 5.51249790e-01 2.67711505e-01 1.58993098e+02] [-5.33669433e-01 8.33763548e-01 -1.41546040e-01 3.16037024e+02] [-3.01235319e-01 -3.10163466e-02 9.53045261e-01 -1.86647499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters Centerline goodness [0,1] 0.9870351132349886 Centerline is valid? [True, True] Translation: X:159.02, Y:316.03, Z:-18.67 [[ 7.89382077e-01 5.52171820e-01 2.68295020e-01 1.59021287e+02] [-5.34572646e-01 8.33136390e-01 -1.41830326e-01 3.16030059e+02] [-3.01841053e-01 -3.14648612e-02 9.52838885e-01 -1.86729663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.646875 meters Centerline goodness [0,1] 0.9649627483443709 Centerline is valid? [True, True] Translation: X:159.05, Y:316.03, Z:-18.68 [[ 7.88218445e-01 5.53831027e-01 2.68296246e-01 1.59053555e+02] [-5.36329419e-01 8.32009490e-01 -1.41813127e-01 3.16031382e+02] [-3.01765533e-01 -3.21154471e-02 9.52841100e-01 -1.86817367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters Centerline goodness [0,1] 0.984400215169446 Centerline is valid? [True, True] Translation: X:159.08, Y:316.02, Z:-18.69 [[ 7.87419074e-01 5.55170617e-01 2.67874577e-01 1.59077999e+02] [-5.37803639e-01 8.31097945e-01 -1.41574897e-01 3.16016837e+02] [-3.01228233e-01 -3.25851483e-02 9.52995152e-01 -1.86910554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.706875 meters Centerline goodness [0,1] 0.972892999772384 Centerline is valid? [True, True] Translation: X:159.11, Y:316.01, Z:-18.70 [[ 7.86830490e-01 5.56376888e-01 2.67100243e-01 1.59105472e+02] [-5.39181148e-01 8.30276473e-01 -1.41154769e-01 3.16011012e+02] [-3.00302298e-01 -3.29505393e-02 9.53274772e-01 -1.86998458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters Centerline goodness [0,1] 0.9085444486043512 Centerline is valid? [True, False] Translation: X:159.05, Y:316.03, Z:-18.68 [[ 7.85628701e-01 5.54326676e-01 2.74789885e-01 1.59050380e+02] [-5.44139733e-01 8.30438137e-01 -1.19517575e-01 3.16033979e+02] [-2.94447780e-01 -5.56276575e-02 9.54047205e-01 -1.86845449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.766875 meters Centerline goodness [0,1] 0.9551452282157676 Centerline is valid? [False, True] Translation: X:159.00, Y:316.06, Z:-18.67 [[ 7.85978561e-01 5.51596746e-01 2.79246723e-01 1.58999708e+02] [-5.46102055e-01 8.31150788e-01 -1.04694380e-01 3.16055252e+02] [-2.89845213e-01 -7.02096710e-02 9.54494817e-01 -1.86689579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters Centerline goodness [0,1] 0.8967544243637046 Centerline is valid? [True, False] Translation: X:158.95, Y:316.08, Z:-18.65 [[ 7.86938585e-01 5.50516769e-01 2.78673556e-01 1.58946738e+02] [-5.47415339e-01 8.31292677e-01 -9.63791030e-02 3.16081660e+02] [-2.84717599e-01 -7.67057441e-02 9.55537607e-01 -1.86479315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.826875 meters Centerline goodness [0,1] 0.9833719304834032 Centerline is valid? [False, True] Translation: X:158.90, Y:316.11, Z:-18.63 [[ 7.86831907e-01 5.49985764e-01 2.80020017e-01 1.58896240e+02] [-5.48289946e-01 8.31218568e-01 -9.19446950e-02 3.16110078e+02] [-2.83326111e-01 -8.11871401e-02 9.55580956e-01 -1.86273993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters Centerline goodness [0,1] 0.8757211039634779 Centerline is valid? [True, False] Translation: X:158.85, Y:316.14, Z:-18.61 [[ 7.87449394e-01 5.48992656e-01 2.80232968e-01 1.58849575e+02] [-5.48258684e-01 8.31605811e-01 -8.85674312e-02 3.16135348e+02] [-2.81666234e-01 -8.38977883e-02 9.55837483e-01 -1.86092115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.886875 meters Centerline goodness [0,1] 0.8895843662204594 Centerline is valid? [False, False] Translation: X:158.80, Y:316.16, Z:-18.59 [[ 7.88476939e-01 5.48478944e-01 2.78343248e-01 1.58804965e+02] [-5.47689123e-01 8.32034115e-01 -8.80673397e-02 3.16161215e+02] [-2.79894159e-01 -8.30065028e-02 9.56435664e-01 -1.85900901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters Centerline goodness [0,1] 0.8961041658013872 Centerline is valid? [False, False] Translation: X:158.75, Y:316.19, Z:-18.57 [[ 7.88998197e-01 5.49107739e-01 2.75613018e-01 1.58747742e+02] [-5.47314436e-01 8.31988663e-01 -9.07842107e-02 3.16194711e+02] [-2.79157219e-01 -7.92184053e-02 9.56972148e-01 -1.85681471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.946875 meters Centerline goodness [0,1] 0.9789855525673901 Centerline is valid? [False, True] Translation: X:158.69, Y:316.23, Z:-18.55 [[ 7.88834699e-01 5.49612237e-01 2.75074910e-01 1.58689424e+02] [-5.47734050e-01 8.31687928e-01 -9.10088003e-02 3.16226962e+02] [-2.78796032e-01 -7.88769949e-02 9.57105633e-01 -1.85476157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters Centerline goodness [0,1] 0.9763454317897372 Centerline is valid? [True, True] Translation: X:158.73, Y:316.23, Z:-18.54 [[ 7.87244648e-01 5.61379400e-01 2.55145123e-01 1.58726059e+02] [-5.47123932e-01 8.26751550e-01 -1.30909423e-01 3.16230376e+02] [-2.84431479e-01 -3.65382600e-02 9.57999838e-01 -1.85426561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.006875 meters Centerline goodness [0,1] 0.965769150490503 Centerline is valid? [True, True] Translation: X:158.75, Y:316.22, Z:-18.55 [[ 7.87143893e-01 5.61337622e-01 2.55547581e-01 1.58750565e+02] [-5.47043469e-01 8.26776680e-01 -1.31086860e-01 3.16219666e+02] [-2.84864767e-01 -3.66114135e-02 9.57868294e-01 -1.85507730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters Centerline goodness [0,1] 0.9776875 Centerline is valid? [True, True] Translation: X:158.77, Y:316.20, Z:-18.56 [[ 7.87530873e-01 5.60555773e-01 2.56070986e-01 1.58773605e+02] [-5.46175819e-01 8.27314247e-01 -1.31313030e-01 3.16204067e+02] [-2.85459452e-01 -3.64467153e-02 9.57697519e-01 -1.85583874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.066875 meters Centerline goodness [0,1] 0.9665673135043875 Centerline is valid? [True, True] Translation: X:158.80, Y:316.19, Z:-18.57 [[ 7.87841363e-01 5.60086232e-01 2.56143317e-01 1.58799392e+02] [-5.45681602e-01 8.27638261e-01 -1.31325921e-01 3.16193410e+02] [-2.85547850e-01 -3.63087030e-02 9.57676408e-01 -1.85658010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters Centerline goodness [0,1] 0.9530785694989922 Centerline is valid? [True, True] Translation: X:158.83, Y:316.18, Z:-18.57 [[ 7.88729694e-01 5.59183997e-01 2.55379575e-01 1.58825410e+02] [-5.44843331e-01 8.28264578e-01 -1.30856920e-01 3.16184618e+02] [-2.84694951e-01 -3.59311200e-02 9.57944539e-01 -1.85744299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.126875 meters Centerline goodness [0,1] 0.9776117845890625 Centerline is valid? [True, True] Translation: X:158.85, Y:316.17, Z:-18.58 [[ 7.89024782e-01 5.58782143e-01 2.55347625e-01 1.58848398e+02] [-5.44430397e-01 8.28541543e-01 -1.30822223e-01 3.16168773e+02] [-2.84667238e-01 -3.57970329e-02 9.57957795e-01 -1.85832854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters Centerline goodness [0,1] 0.8577320014921043 Centerline is valid? [True, False] Translation: X:158.80, Y:316.19, Z:-18.57 [[ 7.92199427e-01 5.50575563e-01 2.63223512e-01 1.58795809e+02] [-5.42614377e-01 8.32874627e-01 -1.09038959e-01 3.16187181e+02] [-2.79266370e-01 -5.64482605e-02 9.58553018e-01 -1.85691523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.186875 meters Centerline goodness [0,1] 0.8753089240098856 Centerline is valid? [False, False] Translation: X:158.73, Y:316.21, Z:-18.55 [[ 7.94107934e-01 5.45709830e-01 2.67569377e-01 1.58733518e+02] [-5.40746697e-01 8.35356448e-01 -9.88565403e-02 3.16214597e+02] [-2.77462790e-01 -6.61844939e-02 9.58453970e-01 -1.85491555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters Centerline goodness [0,1] 0.8604665681643185 Centerline is valid? [False, False] Translation: X:158.67, Y:316.24, Z:-18.53 [[ 7.94315721e-01 5.44246654e-01 2.69922425e-01 1.58671592e+02] [-5.40260334e-01 8.36023872e-01 -9.58272300e-02 3.16244167e+02] [-2.77815240e-01 -6.97113040e-02 9.58101783e-01 -1.85311111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.246875 meters Centerline goodness [0,1] 0.9786502095365177 Centerline is valid? [False, True] Translation: X:158.61, Y:316.27, Z:-18.51 [[ 7.94916594e-01 5.42961736e-01 2.70740027e-01 1.58609840e+02] [-5.39807265e-01 8.36642125e-01 -9.29412188e-02 3.16274214e+02] [-2.76976038e-01 -7.22669168e-02 9.58155398e-01 -1.85125997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters Centerline goodness [0,1] 0.9842839300582847 Centerline is valid? [True, True] Translation: X:158.65, Y:316.27, Z:-18.51 [[ 7.94658771e-01 5.51618996e-01 2.53444118e-01 1.58646082e+02] [-5.37541715e-01 8.33396306e-01 -1.28450387e-01 3.16274652e+02] [-2.82075065e-01 -3.41625598e-02 9.58783905e-01 -1.85100224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.306875 meters Centerline goodness [0,1] 0.983351738795241 Centerline is valid? [True, True] Translation: X:158.67, Y:316.26, Z:-18.52 [[ 7.94586707e-01 5.51183141e-01 2.54615611e-01 1.58670631e+02] [-5.36965020e-01 8.33682493e-01 -1.29004141e-01 3.16261598e+02] [-2.83373485e-01 -3.42147008e-02 9.58399094e-01 -1.85176772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters Centerline goodness [0,1] 0.9565217391304348 Centerline is valid? [True, True] Translation: X:158.70, Y:316.25, Z:-18.52 [[ 7.94496225e-01 5.50751675e-01 2.55828733e-01 1.58696396e+02] [-5.36399539e-01 8.33963716e-01 -1.29537851e-01 3.16253282e+02] [-2.84695069e-01 -3.43090809e-02 9.58003969e-01 -1.85237501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.366875 meters Centerline goodness [0,1] 0.9488038974828756 Centerline is valid? [True, False] Translation: X:158.64, Y:316.28, Z:-18.51 [[ 7.96058281e-01 5.45071745e-01 2.63036131e-01 1.58635439e+02] [-5.35690976e-01 8.36834273e-01 -1.12887456e-01 3.16275401e+02] [-2.81649412e-01 -5.10410877e-02 9.58158868e-01 -1.85085425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters Centerline goodness [0,1] 0.8325061777104056 Centerline is valid? [False, False] Translation: X:158.58, Y:316.30, Z:-18.49 [[ 7.97887193e-01 5.41461390e-01 2.64944505e-01 1.58578464e+02] [-5.35243193e-01 8.38540296e-01 -1.01808135e-01 3.16300661e+02] [-2.77291818e-01 -6.05783362e-02 9.58874086e-01 -1.84919169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.426875 meters Centerline goodness [0,1] 0.8572345934748835 Centerline is valid? [False, False] Translation: X:158.53, Y:316.33, Z:-18.48 [[ 8.00697174e-01 5.37497925e-01 2.64537362e-01 1.58527198e+02] [-5.33010653e-01 8.40760212e-01 -9.49837347e-02 3.16326763e+02] [-2.73466049e-01 -6.49480240e-02 9.59686446e-01 -1.84750635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters Centerline goodness [0,1] 0.8653834187218684 Centerline is valid? [False, False] Translation: X:158.47, Y:316.36, Z:-18.46 [[ 8.00684268e-01 5.37041815e-01 2.65501021e-01 1.58467147e+02] [-5.32947740e-01 8.40936640e-01 -9.37671281e-02 3.16356851e+02] [-2.73626405e-01 -6.64203047e-02 9.59539959e-01 -1.84573248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.486875 meters Centerline goodness [0,1] 0.9250723460953928 Centerline is valid? [False, False] Translation: X:158.41, Y:316.39, Z:-18.44 [[ 8.01220062e-01 5.36276630e-01 2.65431325e-01 1.58407090e+02] [-5.32689388e-01 8.41313655e-01 -9.18332732e-02 3.16385655e+02] [-2.72559036e-01 -6.78137894e-02 9.59746249e-01 -1.84393147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters Centerline goodness [0,1] 0.9455663591789246 Centerline is valid? [False, False] Translation: X:158.36, Y:316.41, Z:-18.42 [[ 8.04223315e-01 5.32452683e-01 2.64043556e-01 1.58357016e+02] [-5.29403340e-01 8.43700155e-01 -8.88940544e-02 3.16411006e+02] [-2.70105467e-01 -6.82948693e-02 9.60405564e-01 -1.84228115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.546875 meters Centerline goodness [0,1] 0.9455663591789246 Centerline is valid? [False, False] Translation: X:158.31, Y:316.44, Z:-18.41 [[ 8.07308817e-01 5.28753158e-01 2.62054520e-01 1.58307171e+02] [-5.26417078e-01 8.45950377e-01 -8.51646605e-02 3.16436542e+02] [-2.66716203e-01 -6.91957934e-02 9.61287891e-01 -1.84055100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters Centerline goodness [0,1] 0.9216201012563285 Centerline is valid? [False, False] Translation: X:158.26, Y:316.46, Z:-18.39 [[ 8.10783583e-01 5.24794588e-01 2.59269402e-01 1.58255576e+02] [-5.22984350e-01 8.48406577e-01 -8.18147251e-02 3.16462919e+02] [-2.62901791e-01 -6.92598036e-02 9.62333481e-01 -1.83876091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6068750000001 meters Centerline goodness [0,1] 0.8758728179551122 Centerline is valid? [False, False] Translation: X:158.21, Y:316.49, Z:-18.37 [[ 8.14499866e-01 5.20145022e-01 2.56980787e-01 1.58205268e+02] [-5.18846470e-01 8.51254693e-01 -7.85097999e-02 3.16489407e+02] [-2.59592582e-01 -6.93873528e-02 9.63222241e-01 -1.83717423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters Centerline goodness [0,1] 0.8473844485232771 Centerline is valid? [False, False] Translation: X:158.15, Y:316.52, Z:-18.35 [[ 8.15665524e-01 5.19519327e-01 2.54537664e-01 1.58146307e+02] [-5.17183849e-01 8.51976021e-01 -8.15948944e-02 3.16520870e+02] [-2.59250111e-01 -6.50886264e-02 9.63614472e-01 -1.83538519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.666875 meters Centerline goodness [0,1] 0.834371237597044 Centerline is valid? [False, False] Translation: X:158.10, Y:316.55, Z:-18.34 [[ 8.17950577e-01 5.15903257e-01 2.54559784e-01 1.58097522e+02] [-5.13580602e-01 8.54213742e-01 -8.09558404e-02 3.16547234e+02] [-2.59213847e-01 -6.45190907e-02 9.63662528e-01 -1.83392202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters Centerline goodness [0,1] 0.8630482867993823 Centerline is valid? [False, False] Translation: X:158.04, Y:316.58, Z:-18.32 [[ 8.18891853e-01 5.15370150e-01 2.52605904e-01 1.58038185e+02] [-5.11979260e-01 8.54846581e-01 -8.43478528e-02 3.16579048e+02] [-2.59409659e-01 -6.02572142e-02 9.63885728e-01 -1.83209272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7268750000001 meters Centerline goodness [0,1] 0.868928312065567 Centerline is valid? [False, False] Translation: X:157.99, Y:316.60, Z:-18.31 [[ 8.20583937e-01 5.13006054e-01 2.51926162e-01 1.57992047e+02] [-5.09431918e-01 8.56353902e-01 -8.44814482e-02 3.16604217e+02] [-2.59077447e-01 -5.90151088e-02 9.64051914e-01 -1.83061018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters Centerline goodness [0,1] 0.879768378232535 Centerline is valid? [False, False] Translation: X:157.94, Y:316.63, Z:-18.29 [[ 8.22744422e-01 5.09861778e-01 2.51261983e-01 1.57940957e+02] [-5.06870650e-01 8.58147912e-01 -8.16351912e-02 3.16630147e+02] [-2.57242610e-01 -6.01924265e-02 9.64470379e-01 -1.82899320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.786875 meters Centerline goodness [0,1] 0.8698473915567719 Centerline is valid? [False, False] Translation: X:157.89, Y:316.66, Z:-18.28 [[ 8.25420968e-01 5.06471925e-01 2.49331938e-01 1.57893633e+02] [-5.03179120e-01 8.60305560e-01 -8.17625612e-02 3.16656283e+02] [-2.55912094e-01 -5.79700925e-02 9.64960346e-01 -1.82759401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters Centerline goodness [0,1] 0.8590333955610869 Centerline is valid? [False, False] Translation: X:157.84, Y:316.68, Z:-18.26 [[ 8.28397093e-01 5.02473962e-01 2.47544287e-01 1.57844121e+02] [-4.99089168e-01 8.62751009e-01 -8.10598463e-02 3.16681353e+02] [-2.54299546e-01 -5.63969314e-02 9.65479739e-01 -1.82610994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.846875 meters Centerline goodness [0,1] 0.9139731270019551 Centerline is valid? [False, False] Translation: X:157.80, Y:316.71, Z:-18.25 [[ 8.31079445e-01 4.98706043e-01 2.46169127e-01 1.57796090e+02] [-4.95115477e-01 8.65048830e-01 -8.09394052e-02 3.16706583e+02] [-2.53313285e-01 -5.46150686e-02 9.65841381e-01 -1.82462914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters Centerline goodness [0,1] 0.9887456134886522 Centerline is valid? [False, True] Translation: X:157.75, Y:316.73, Z:-18.23 [[ 8.34093897e-01 4.94418156e-01 2.44618187e-01 1.57752375e+02] [-4.90095725e-01 8.67733715e-01 -8.27307661e-02 3.16734043e+02] [-2.53167041e-01 -5.08811005e-02 9.66083621e-01 -1.82331006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.906875 meters Centerline goodness [0,1] 0.893338570956004 Centerline is valid? [True, False] Translation: X:157.72, Y:316.75, Z:-18.23 [[ 8.36940082e-01 4.88665126e-01 2.46450185e-01 1.57719266e+02] [-4.85827254e-01 8.70694791e-01 -7.65666995e-02 3.16749843e+02] [-2.51998368e-01 -5.56504768e-02 9.66126207e-01 -1.82260064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters Centerline goodness [0,1] 0.8910466321243523 Centerline is valid? [False, False] Translation: X:157.67, Y:316.78, Z:-18.21 [[ 8.40875552e-01 4.83278307e-01 2.43660388e-01 1.57674773e+02] [-4.79610575e-01 8.73979559e-01 -7.83161956e-02 3.16775262e+02] [-2.50802717e-01 -5.10079244e-02 9.66693431e-01 -1.82137872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.966875 meters Centerline goodness [0,1] 0.9524134508003474 Centerline is valid? [False, True] Translation: X:157.64, Y:316.79, Z:-18.20 [[ 8.44360083e-01 4.76954860e-01 2.44069891e-01 1.57641317e+02] [-4.74362953e-01 8.77273633e-01 -7.32854818e-02 3.16791511e+02] [-2.49069946e-01 -5.38983787e-02 9.66984553e-01 -1.82045921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters Centerline goodness [0,1] 0.9783703888750104 Centerline is valid? [True, True] Translation: X:157.67, Y:316.79, Z:-18.20 [[ 8.45331129e-01 4.80781376e-01 2.32947528e-01 1.57674032e+02] [-4.70616142e-01 8.76510680e-01 -1.01239691e-01 3.16789384e+02] [-2.52855154e-01 -2.40478049e-02 9.67205239e-01 -1.82020185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.026875 meters Centerline goodness [0,1] 0.9802304376657824 Centerline is valid? [True, True] Translation: X:157.70, Y:316.78, Z:-18.21 [[ 8.46787775e-01 4.78192780e-01 2.32985257e-01 1.57701959e+02] [-4.67930867e-01 8.77946165e-01 -1.01248381e-01 3.16780548e+02] [-2.52964758e-01 -2.32851019e-02 9.67195242e-01 -1.82086701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters Centerline goodness [0,1] 0.9888538990635618 Centerline is valid? [True, True] Translation: X:157.73, Y:316.77, Z:-18.22 [[ 8.49924820e-01 4.72879388e-01 2.32406721e-01 1.57730225e+02] [-4.62476786e-01 8.80861162e-01 -1.00989286e-01 3.16774128e+02] [-2.52473806e-01 -2.16494125e-02 9.67361504e-01 -1.82163449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.086875 meters Centerline goodness [0,1] 0.9875453320899389 Centerline is valid? [True, True] Translation: X:157.76, Y:316.77, Z:-18.22 [[ 8.51465814e-01 4.70223745e-01 2.32154256e-01 1.57757201e+02] [-4.59749796e-01 8.82301046e-01 -1.00871154e-01 3.16766398e+02] [-2.52261954e-01 -2.08445325e-02 9.67434448e-01 -1.82228423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters Centerline goodness [0,1] 0.9919724770642202 Centerline is valid? [True, True] Translation: X:157.78, Y:316.76, Z:-18.23 [[ 8.52732223e-01 4.67942617e-01 2.32115193e-01 1.57784102e+02] [-4.57392693e-01 8.83528518e-01 -1.00842856e-01 3.16756180e+02] [-2.52269062e-01 -2.01758400e-02 9.67446771e-01 -1.82298542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.146875 meters Centerline goodness [0,1] 0.9931146720080121 Centerline is valid? [True, True] Translation: X:157.81, Y:316.75, Z:-18.24 [[ 8.54168941e-01 4.65694790e-01 2.31352078e-01 1.57814424e+02] [-4.55135978e-01 8.84731656e-01 -1.00504419e-01 3.16752367e+02] [-2.51488891e-01 -1.94489014e-02 9.67664755e-01 -1.82374603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters Centerline goodness [0,1] 0.9968023741849189 Centerline is valid? [True, True] Translation: X:157.84, Y:316.74, Z:-18.25 [[ 8.54218569e-01 4.65546148e-01 2.31467968e-01 1.57839942e+02] [-4.54975442e-01 8.84810296e-01 -1.00538982e-01 3.16742437e+02] [-2.51610778e-01 -1.94299757e-02 9.67633449e-01 -1.82452827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.206875 meters Centerline goodness [0,1] 0.9950253977582805 Centerline is valid? [True, True] Translation: X:157.87, Y:316.74, Z:-18.25 [[ 8.53932017e-01 4.66117743e-01 2.31374936e-01 1.57867627e+02] [-4.55592508e-01 8.84504503e-01 -1.00435307e-01 3.16738931e+02] [-2.51466851e-01 -1.96477634e-02 9.67666465e-01 -1.82506623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters Centerline goodness [0,1] 0.9859258946657664 Centerline is valid? [True, True] Translation: X:157.90, Y:316.74, Z:-18.26 [[ 8.51970511e-01 4.69753344e-01 2.31253204e-01 1.57899752e+02] [-4.59379452e-01 8.82553988e-01 -1.00344297e-01 3.16742808e+02] [-2.51230507e-01 -2.07425878e-02 9.67705005e-01 -1.82571223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.266875 meters Centerline goodness [0,1] 0.9912657290895633 Centerline is valid? [True, True] Translation: X:157.93, Y:316.74, Z:-18.26 [[ 8.51235203e-01 4.71037588e-01 2.31348698e-01 1.57927460e+02] [-4.60704119e-01 8.81859769e-01 -1.00374608e-01 3.16736184e+02] [-2.51297323e-01 -2.11408985e-02 9.67679037e-01 -1.82641669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters Centerline goodness [0,1] 0.992197769579782 Centerline is valid? [True, True] Translation: X:157.96, Y:316.73, Z:-18.27 [[ 8.50560848e-01 4.71517402e-01 2.32846695e-01 1.57958078e+02] [-4.61069669e-01 8.81596026e-01 -1.01010925e-01 3.16734588e+02] [-2.52905130e-01 -2.14426109e-02 9.67253436e-01 -1.82708004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.326875 meters Centerline goodness [0,1] 0.9924521080943167 Centerline is valid? [True, True] Translation: X:157.99, Y:316.73, Z:-18.28 [[ 8.50893994e-01 4.70452539e-01 2.33781562e-01 1.57986160e+02] [-4.59884725e-01 8.82169873e-01 -1.01401950e-01 3.16728503e+02] [-2.53939855e-01 -2.12302594e-02 9.66986983e-01 -1.82772266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters Centerline goodness [0,1] 0.9885925894396322 Centerline is valid? [True, True] Translation: X:158.01, Y:316.72, Z:-18.28 [[ 8.51610636e-01 4.68832070e-01 2.34426564e-01 1.58014917e+02] [-4.58161668e-01 8.83040868e-01 -1.01620428e-01 3.16723519e+02] [-2.54651153e-01 -2.08642282e-02 9.66807879e-01 -1.82839753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.386875 meters Centerline goodness [0,1] 0.995328 Centerline is valid? [True, True] Translation: X:158.04, Y:316.71, Z:-18.29 [[ 8.52932775e-01 4.66263030e-01 2.34743410e-01 1.58041033e+02] [-4.55471409e-01 8.84416953e-01 -1.01746989e-01 3.16712453e+02] [-2.55051911e-01 -2.01355697e-02 9.66717685e-01 -1.82920693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters Centerline goodness [0,1] 0.9971917940363138 Centerline is valid? [True, True] Translation: X:158.07, Y:316.71, Z:-18.30 [[ 8.56258027e-01 4.60060441e-01 2.34875673e-01 1.58071140e+02] [-4.49029991e-01 8.87698956e-01 -1.01797005e-01 3.16709003e+02] [-2.55331664e-01 -1.83017189e-02 9.66680293e-01 -1.82995094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.446875 meters Centerline goodness [0,1] 0.9979714273382537 Centerline is valid? [True, True] Translation: X:158.10, Y:316.70, Z:-18.31 [[ 8.58293496e-01 4.56343687e-01 2.34697070e-01 1.58099446e+02] [-4.45196442e-01 8.89637566e-01 -1.01711011e-01 3.16701155e+02] [-2.55210507e-01 -1.71884016e-02 9.66732722e-01 -1.83071155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters Centerline goodness [0,1] 0.9983978522559972 Centerline is valid? [True, True] Translation: X:158.13, Y:316.70, Z:-18.31 [[ 8.61826736e-01 4.49843325e-01 2.34298230e-01 1.58130388e+02] [-4.38501347e-01 8.92977435e-01 -1.01527676e-01 3.16698796e+02] [-2.54894580e-01 -1.52408241e-02 9.66848732e-01 -1.83140362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.506875 meters Centerline goodness [0,1] 0.9987352812908853 Centerline is valid? [True, True] Translation: X:158.16, Y:316.69, Z:-18.32 [[ 8.62739537e-01 4.47694061e-01 2.35054292e-01 1.58158818e+02] [-4.36208132e-01 8.94066202e-01 -1.01823825e-01 3.16692753e+02] [-2.55740020e-01 -1.46851539e-02 9.66634051e-01 -1.83204987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters Centerline goodness [0,1] 0.9988385598141696 Centerline is valid? [True, True] Translation: X:158.19, Y:316.69, Z:-18.33 [[ 8.63477768e-01 4.46079146e-01 2.35413549e-01 1.58187403e+02] [-4.34514291e-01 8.94879528e-01 -1.01921345e-01 3.16689036e+02] [-2.56131752e-01 -1.42837361e-02 9.66536342e-01 -1.83258593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.566875 meters Centerline goodness [0,1] 0.99896648781775 Centerline is valid? [True, True] Translation: X:158.22, Y:316.68, Z:-18.33 [[ 8.64050697e-01 4.44816392e-01 2.35700594e-01 1.58215259e+02] [-4.33183230e-01 8.95513145e-01 -1.02022036e-01 3.16684196e+02] [-2.56454054e-01 -1.39493339e-02 9.66455759e-01 -1.83327994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters Centerline goodness [0,1] 0.9991540139810321 Centerline is valid? [True, True] Translation: X:158.25, Y:316.69, Z:-18.34 [[ 8.64943056e-01 4.43375650e-01 2.35141538e-01 1.58246606e+02] [-4.31763385e-01 8.96233499e-01 -1.01714774e-01 3.16685446e+02] [-2.55839577e-01 -1.35480187e-02 9.66624313e-01 -1.83403958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.626875 meters Centerline goodness [0,1] 0.9991022130448445 Centerline is valid? [True, True] Translation: X:158.28, Y:316.68, Z:-18.35 [[ 8.65258976e-01 4.42714258e-01 2.35225403e-01 1.58275841e+02] [-4.31086095e-01 8.96562391e-01 -1.01689020e-01 3.16681587e+02] [-2.55913429e-01 -1.34150633e-02 9.66606618e-01 -1.83467047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters Centerline goodness [0,1] 0.9988229169024606 Centerline is valid? [True, True] Translation: X:158.31, Y:316.68, Z:-18.35 [[ 8.67852076e-01 4.36641265e-01 2.37017256e-01 1.58305095e+02] [-4.24627070e-01 8.99558651e-01 -1.02401586e-01 3.16678152e+02] [-2.57923681e-01 -1.17745142e-02 9.66093544e-01 -1.83507660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.686875 meters Centerline goodness [0,1] 0.9990258269143634 Centerline is valid? [True, True] Translation: X:158.33, Y:316.66, Z:-18.36 [[ 8.70377079e-01 4.30731688e-01 2.38566455e-01 1.58329105e+02] [-4.18344293e-01 9.02423431e-01 -1.03053398e-01 3.16660816e+02] [-2.59676323e-01 -1.01075998e-02 9.65642814e-01 -1.83576755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters Centerline goodness [0,1] 0.9991358530040478 Centerline is valid? [True, True] Translation: X:158.35, Y:316.65, Z:-18.36 [[ 8.73526331e-01 4.24092687e-01 2.38950081e-01 1.58353639e+02] [-4.11432126e-01 9.05581800e-01 -1.03175624e-01 3.16646600e+02] [-2.60144872e-01 -8.18511594e-03 9.65534903e-01 -1.83637703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.746875 meters Centerline goodness [0,1] 0.9989367478056285 Centerline is valid? [True, True] Translation: X:158.38, Y:316.63, Z:-18.37 [[ 8.76609263e-01 4.18510060e-01 2.37498482e-01 1.58378350e+02] [-4.05806802e-01 9.08188942e-01 -1.02536266e-01 3.16631749e+02] [-2.58605954e-01 -6.49425910e-03 9.65961068e-01 -1.83718433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters Centerline goodness [0,1] 0.9985233984552476 Centerline is valid? [True, True] Translation: X:158.40, Y:316.61, Z:-18.38 [[ 8.80285442e-01 4.12198205e-01 2.34925906e-01 1.58401124e+02] [-3.99554410e-01 9.11082624e-01 -1.01413639e-01 3.16614652e+02] [-2.55839430e-01 -4.59273132e-03 9.66708380e-01 -1.83836580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.806875 meters Centerline goodness [0,1] 0.9988662388607968 Centerline is valid? [True, True] Translation: X:158.43, Y:316.60, Z:-18.39 [[ 8.80790746e-01 4.11219282e-01 2.34747448e-01 1.58426403e+02] [-3.98564579e-01 9.11526223e-01 -1.01322362e-01 3.16604270e+02] [-2.55644163e-01 -4.31821860e-03 9.66761302e-01 -1.83880459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters Centerline goodness [0,1] 0.999024810631832 Centerline is valid? [True, True] Translation: X:158.45, Y:316.59, Z:-18.40 [[ 8.79759495e-01 4.13453010e-01 2.34690946e-01 1.58451064e+02] [-4.00892487e-01 9.10511722e-01 -1.01260148e-01 3.16593088e+02] [-2.55555171e-01 -5.00126018e-03 9.66781538e-01 -1.83966786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.866875 meters Centerline goodness [0,1] 0.9990937719477107 Centerline is valid? [True, True] Translation: X:158.48, Y:316.58, Z:-18.40 [[ 8.78656112e-01 4.16173208e-01 2.34015592e-01 1.58476796e+02] [-4.03797950e-01 9.09266629e-01 -1.00902989e-01 3.16583462e+02] [-2.54775689e-01 -5.83598829e-03 9.66982569e-01 -1.84044407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters Centerline goodness [0,1] 0.9993429102279422 Centerline is valid? [True, True] Translation: X:158.50, Y:316.58, Z:-18.41 [[ 8.77548546e-01 4.18905091e-01 2.33296108e-01 1.58502313e+02] [-4.06718328e-01 9.08005552e-01 -1.00529198e-01 3.16575180e+02] [-2.53946354e-01 -6.66655109e-03 9.67195330e-01 -1.84103234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.926875 meters Centerline goodness [0,1] 0.9991157866098351 Centerline is valid? [True, True] Translation: X:158.53, Y:316.57, Z:-18.42 [[ 8.75131986e-01 4.23406057e-01 2.34246277e-01 1.58530477e+02] [-4.11286533e-01 9.05904322e-01 -1.00899690e-01 3.16566241e+02] [-2.54926255e-01 -8.04179317e-03 9.66927057e-01 -1.84160000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters Centerline goodness [0,1] 0.9987072191603729 Centerline is valid? [True, True] Translation: X:158.56, Y:316.56, Z:-18.42 [[ 8.74414931e-01 4.25023269e-01 2.33995192e-01 1.58555485e+02] [-4.12990648e-01 9.05142357e-01 -1.00777175e-01 3.16556874e+02] [-2.54631603e-01 -8.51675939e-03 9.67000626e-01 -1.84228585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.986875 meters Centerline goodness [0,1] 0.9988237955213752 Centerline is valid? [True, True] Translation: X:158.58, Y:316.55, Z:-18.43 [[ 8.73993330e-01 4.26572459e-01 2.32747923e-01 1.58580637e+02] [-4.14730409e-01 9.04409188e-01 -1.00213311e-01 3.16545862e+02] [-2.53247599e-01 -8.94187553e-03 9.67360169e-01 -1.84315886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters Centerline goodness [0,1] 0.9991842469012712 Centerline is valid? [True, True] Translation: X:158.60, Y:316.53, Z:-18.44 [[ 8.73493630e-01 4.28834693e-01 2.30455387e-01 1.58604101e+02] [-4.17320735e-01 9.03332466e-01 -9.91658186e-02 3.16533709e+02] [-2.50703576e-01 -9.55310055e-03 9.68016764e-01 -1.84427813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.046875 meters Centerline goodness [0,1] 0.9993197587411001 Centerline is valid? [True, True] Translation: X:158.63, Y:316.52, Z:-18.45 [[ 8.73182476e-01 4.29555508e-01 2.30292053e-01 1.58629424e+02] [-4.18088602e-01 9.02987561e-01 -9.90726318e-02 3.16524126e+02] [-2.50508054e-01 -9.77399667e-03 9.68065175e-01 -1.84484042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters Centerline goodness [0,1] 0.9992978164356257 Centerline is valid? [True, True] Translation: X:158.66, Y:316.51, Z:-18.45 [[ 8.72780410e-01 4.30037838e-01 2.30915167e-01 1.58655014e+02] [-4.18531311e-01 9.02755863e-01 -9.93146160e-02 3.16513067e+02] [-2.51169063e-01 -9.96537608e-03 9.67891932e-01 -1.84547603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1068750000001 meters Centerline goodness [0,1] 0.9994347983360463 Centerline is valid? [True, True] Translation: X:158.68, Y:316.50, Z:-18.46 [[ 8.72137925e-01 4.31478977e-01 2.30654140e-01 1.58680884e+02] [-4.20064859e-01 9.02062723e-01 -9.91380747e-02 3.16501551e+02] [-2.50840496e-01 -1.04276237e-02 9.67972267e-01 -1.84609240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters Centerline goodness [0,1] 0.9990491714208095 Centerline is valid? [True, True] Translation: X:158.71, Y:316.49, Z:-18.47 [[ 8.71917560e-01 4.32228418e-01 2.30083381e-01 1.58707253e+02] [-4.20912933e-01 9.01701001e-01 -9.88312101e-02 3.16493373e+02] [-2.50184073e-01 -1.06724034e-02 9.68139468e-01 -1.84669461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.166875 meters Centerline goodness [0,1] 0.9989823148943869 Centerline is valid? [True, True] Translation: X:158.73, Y:316.48, Z:-18.47 [[ 8.70847987e-01 4.34616207e-01 2.29635658e-01 1.58733418e+02] [-4.23432236e-01 9.00544182e-01 -9.86170266e-02 3.16481811e+02] [-2.49657614e-01 -1.13547010e-02 9.68267601e-01 -1.84742494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters Centerline goodness [0,1] 0.9989348683315958 Centerline is valid? [True, True] Translation: X:158.76, Y:316.47, Z:-18.48 [[ 8.70340059e-01 4.35818800e-01 2.29281825e-01 1.58758259e+02] [-4.24713205e-01 8.99958512e-01 -9.84549125e-02 3.16470893e+02] [-2.49252632e-01 -1.16897646e-02 9.68367944e-01 -1.84821435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2268750000001 meters Centerline goodness [0,1] 0.9989378050985356 Centerline is valid? [True, True] Translation: X:158.78, Y:316.46, Z:-18.49 [[ 8.69813133e-01 4.37088578e-01 2.28863908e-01 1.58783691e+02] [-4.26072909e-01 8.99337722e-01 -9.82524224e-02 3.16462505e+02] [-2.48770957e-01 -1.20514638e-02 9.68487363e-01 -1.84889325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters Centerline goodness [0,1] 0.9992769995481248 Centerline is valid? [True, True] Translation: X:158.81, Y:316.45, Z:-18.49 [[ 8.68925248e-01 4.38352472e-01 2.29817372e-01 1.58809680e+02] [-4.27292904e-01 8.98716376e-01 -9.86389863e-02 3.16453508e+02] [-2.49779279e-01 -1.24894265e-02 9.68222250e-01 -1.84948011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.286875 meters Centerline goodness [0,1] 0.9989821767845833 Centerline is valid? [True, True] Translation: X:158.84, Y:316.44, Z:-18.50 [[ 8.69183683e-01 4.37729192e-01 2.30027997e-01 1.58835176e+02] [-4.26633240e-01 8.99022148e-01 -9.87079325e-02 3.16442247e+02] [-2.50007608e-01 -1.23422655e-02 9.68165205e-01 -1.85010657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters Centerline goodness [0,1] 0.9991625169760072 Centerline is valid? [True, True] Translation: X:158.86, Y:316.43, Z:-18.51 [[ 8.69486695e-01 4.36921315e-01 2.30418427e-01 1.58860387e+02] [-4.25775807e-01 8.99417115e-01 -9.88120176e-02 3.16430577e+02] [-2.50415354e-01 -1.21908570e-02 9.68061741e-01 -1.85071776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.346875 meters Centerline goodness [0,1] 0.9990263122141207 Centerline is valid? [True, True] Translation: X:158.89, Y:316.42, Z:-18.51 [[ 8.70072259e-01 4.35552104e-01 2.30799977e-01 1.58885816e+02] [-4.24338511e-01 9.00085164e-01 -9.89117079e-02 3.16418434e+02] [-2.50820838e-01 -1.18769856e-02 9.67960663e-01 -1.85134202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters Centerline goodness [0,1] 0.9988424612451485 Centerline is valid? [True, True] Translation: X:158.91, Y:316.41, Z:-18.52 [[ 8.71503110e-01 4.32697987e-01 2.30769976e-01 1.58911834e+02] [-4.21404689e-01 9.01470483e-01 -9.88385341e-02 3.16406178e+02] [-2.50799557e-01 -1.11094603e-02 9.67975290e-01 -1.85191471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.406875 meters Centerline goodness [0,1] 0.9988198715475569 Centerline is valid? [True, True] Translation: X:158.94, Y:316.39, Z:-18.53 [[ 8.72336795e-01 4.31025375e-01 2.30750175e-01 1.58936631e+02] [-4.19679932e-01 9.02277080e-01 -9.88171299e-02 3.16393594e+02] [-2.50793285e-01 -1.06393993e-02 9.67982196e-01 -1.85263406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters Centerline goodness [0,1] 0.9986647354365636 Centerline is valid? [True, True] Translation: X:158.96, Y:316.38, Z:-18.53 [[ 8.73323810e-01 4.29092591e-01 2.30618886e-01 1.58961599e+02] [-4.17698804e-01 9.03204095e-01 -9.87424521e-02 3.16381467e+02] [-2.50665577e-01 -1.00950983e-02 9.68021104e-01 -1.85337286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.466875 meters Centerline goodness [0,1] 0.9986647354365636 Centerline is valid? [True, True] Translation: X:158.99, Y:316.37, Z:-18.54 [[ 8.73436412e-01 4.28858957e-01 2.30627033e-01 1.58986123e+02] [-4.17462193e-01 9.03315562e-01 -9.87234189e-02 3.16371061e+02] [-2.50667410e-01 -1.00494381e-02 9.68021104e-01 -1.85400895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters Centerline goodness [0,1] 0.9984876870640814 Centerline is valid? [True, True] Translation: X:159.01, Y:316.36, Z:-18.55 [[ 8.75533158e-01 4.24319509e-01 2.31072810e-01 1.59011231e+02] [-4.12740445e-01 9.05469474e-01 -9.88451087e-02 3.16355024e+02] [-2.51171284e-01 -8.83092448e-03 9.67902372e-01 -1.85475618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.526875 meters Centerline goodness [0,1] 0.998893205637875 Centerline is valid? [True, True] Translation: X:159.04, Y:316.34, Z:-18.55 [[ 8.77304806e-01 4.20109870e-01 2.32043045e-01 1.59037885e+02] [-4.08290683e-01 9.07440822e-01 -9.92465304e-02 3.16341658e+02] [-2.52259778e-01 -7.67155517e-03 9.67629139e-01 -1.85525681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters Centerline goodness [0,1] 0.9985550764229111 Centerline is valid? [True, True] Translation: X:159.06, Y:316.33, Z:-18.56 [[ 8.78194109e-01 4.17982687e-01 2.32520062e-01 1.59063773e+02] [-4.06048795e-01 9.08427214e-01 -9.94201850e-02 3.16331432e+02] [-2.52783469e-01 -7.10427040e-03 9.67496795e-01 -1.85572935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.586875 meters Centerline goodness [0,1] 0.9985357722112093 Centerline is valid? [True, True] Translation: X:159.09, Y:316.32, Z:-18.56 [[ 8.79064163e-01 4.15738560e-01 2.33254470e-01 1.59089589e+02] [-4.03667611e-01 9.09460636e-01 -9.96685095e-02 3.16319577e+02] [-2.53571801e-01 -6.54225962e-03 9.67294444e-01 -1.85631072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters Centerline goodness [0,1] 0.9984883012567406 Centerline is valid? [True, True] Translation: X:159.11, Y:316.31, Z:-18.57 [[ 8.80231308e-01 4.13053171e-01 2.33623465e-01 1.59114432e+02] [-4.00867552e-01 9.10688190e-01 -9.97608475e-02 3.16306337e+02] [-2.53964664e-01 -5.83944514e-03 9.67195870e-01 -1.85694970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.646875 meters Centerline goodness [0,1] 0.9986262189491701 Centerline is valid? [True, True] Translation: X:159.14, Y:316.29, Z:-18.58 [[ 8.81748512e-01 4.09627530e-01 2.33933426e-01 1.59139977e+02] [-3.97307684e-01 9.12239591e-01 -9.98275118e-02 3.16294266e+02] [-2.54295430e-01 -4.92078775e-03 9.67114068e-01 -1.85766163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters Centerline goodness [0,1] 0.9981582552837859 Centerline is valid? [True, True] Translation: X:159.16, Y:316.28, Z:-18.58 [[ 8.82707210e-01 4.07188507e-01 2.34575149e-01 1.59163809e+02] [-3.94730456e-01 9.13334090e-01 -1.00043528e-01 3.16281361e+02] [-2.54982055e-01 -4.28481214e-03 9.66936292e-01 -1.85835603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.706875 meters Centerline goodness [0,1] 0.9976216652830443 Centerline is valid? [True, True] Translation: X:159.19, Y:316.27, Z:-18.59 [[ 8.83917589e-01 4.04496618e-01 2.34674629e-01 1.59188385e+02] [-3.91941657e-01 9.14532662e-01 -1.00058725e-01 3.16267668e+02] [-2.55091029e-01 -3.53509595e-03 9.66910580e-01 -1.85915907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters Centerline goodness [0,1] 0.9977678571428571 Centerline is valid? [True, True] Translation: X:159.21, Y:316.25, Z:-18.60 [[ 8.85408194e-01 4.00895186e-01 2.35234732e-01 1.59212947e+02] [-3.88171626e-01 9.16120334e-01 -1.00231346e-01 3.16254259e+02] [-2.55685585e-01 -2.56579315e-03 9.66756587e-01 -1.85986733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.766875 meters Centerline goodness [0,1] 0.9979510042330901 Centerline is valid? [True, True] Translation: X:159.24, Y:316.24, Z:-18.60 [[ 8.88250385e-01 3.94886073e-01 2.34683283e-01 1.59237884e+02] [-3.82033629e-01 9.18729661e-01 -9.99305541e-02 3.16240156e+02] [-2.55071677e-01 -8.93552920e-04 9.66921735e-01 -1.86043253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters Centerline goodness [0,1] 0.9974332417706129 Centerline is valid? [True, True] Translation: X:159.26, Y:316.23, Z:-18.61 [[ 8.89330582e-01 3.92822171e-01 2.34055248e-01 1.59263163e+02] [-3.79986509e-01 9.19614381e-01 -9.95974003e-02 3.16228755e+02] [-2.54364639e-01 -3.62822604e-04 9.67108318e-01 -1.86112337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.826875 meters Centerline goodness [0,1] 0.998292902066487 Centerline is valid? [True, True] Translation: X:159.29, Y:316.22, Z:-18.62 [[ 8.89303487e-01 3.93928858e-01 2.32291548e-01 1.59287476e+02] [-3.81342277e-01 9.19140641e-01 -9.87853692e-02 3.16218546e+02] [-2.52423010e-01 -7.32414415e-04 9.67616705e-01 -1.86193194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters Centerline goodness [0,1] 0.9983094400865566 Centerline is valid? [True, True] Translation: X:159.31, Y:316.21, Z:-18.63 [[ 8.88946160e-01 3.94986472e-01 2.31862916e-01 1.59312631e+02] [-3.82489496e-01 9.18686329e-01 -9.85759357e-02 3.16208560e+02] [-2.51945452e-01 -1.05643027e-03 9.67740861e-01 -1.86270282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.886875 meters Centerline goodness [0,1] 0.9980470065324264 Centerline is valid? [True, True] Translation: X:159.34, Y:316.20, Z:-18.63 [[ 8.88575254e-01 3.95978120e-01 2.31593062e-01 1.59337407e+02] [-3.83563004e-01 9.18258870e-01 -9.83873456e-02 3.16199053e+02] [-2.51621619e-01 -1.40596988e-03 9.67824666e-01 -1.86339217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters Centerline goodness [0,1] 0.9979525716599918 Centerline is valid? [True, True] Translation: X:159.36, Y:316.19, Z:-18.64 [[ 8.87295182e-01 3.98619604e-01 2.31969117e-01 1.59363298e+02] [-3.86270557e-01 9.17113657e-01 -9.84763788e-02 3.16191302e+02] [-2.51996660e-01 -2.22522370e-03 9.67725546e-01 -1.86387235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.946875 meters Centerline goodness [0,1] 0.9983410303546608 Centerline is valid? [True, True] Translation: X:159.39, Y:316.18, Z:-18.64 [[ 8.86583485e-01 4.00354358e-01 2.31702637e-01 1.59389757e+02] [-3.88099393e-01 9.16356305e-01 -9.83360763e-02 3.16182742e+02] [-2.51691449e-01 -2.74051167e-03 9.67803649e-01 -1.86435435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters Centerline goodness [0,1] 0.9980154703109848 Centerline is valid? [True, True] Translation: X:159.41, Y:316.17, Z:-18.66 [[ 8.86516430e-01 4.02022878e-01 2.29055069e-01 1.59413371e+02] [-3.90111807e-01 9.15624035e-01 -9.71874733e-02 3.16171338e+02] [-2.48799914e-01 -3.19879494e-03 9.68549622e-01 -1.86563870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.006875 meters Centerline goodness [0,1] 0.9981264108352145 Centerline is valid? [True, True] Translation: X:159.44, Y:316.16, Z:-18.67 [[ 8.86591343e-01 4.03040031e-01 2.26968112e-01 1.59437933e+02] [-3.91396383e-01 9.15175628e-01 -9.62415750e-02 3.16161016e+02] [-2.46504892e-01 -3.50755077e-03 9.69135200e-01 -1.86652258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters Centerline goodness [0,1] 0.9984460159452276 Centerline is valid? [True, True] Translation: X:159.46, Y:316.15, Z:-18.67 [[ 8.86439487e-01 4.04078626e-01 2.25711099e-01 1.59462204e+02] [-3.92604885e-01 9.14716373e-01 -9.56836514e-02 3.16150932e+02] [-2.45125356e-01 -3.79751312e-03 9.69483955e-01 -1.86730824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.066875 meters Centerline goodness [0,1] 0.9987580725285643 Centerline is valid? [True, True] Translation: X:159.49, Y:316.14, Z:-18.68 [[ 8.85847897e-01 4.05372409e-01 2.25713785e-01 1.59487671e+02] [-3.93957221e-01 9.14141890e-01 -9.56154474e-02 3.16140491e+02] [-2.45094291e-01 -4.22083263e-03 9.69490058e-01 -1.86796910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters Centerline goodness [0,1] 0.9987987307343609 Centerline is valid? [True, True] Translation: X:159.51, Y:316.13, Z:-18.69 [[ 8.85308076e-01 4.07019152e-01 2.24866675e-01 1.59513640e+02] [-3.95749099e-01 9.13407630e-01 -9.52320975e-02 3.16129955e+02] [-2.44156224e-01 -4.68103904e-03 9.69724614e-01 -1.86859680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.126875 meters Centerline goodness [0,1] 0.9986662748378055 Centerline is valid? [True, True] Translation: X:159.54, Y:316.12, Z:-18.69 [[ 8.85772528e-01 4.06698996e-01 2.23613405e-01 1.59538379e+02] [-3.95561514e-01 9.13550515e-01 -9.46390243e-02 3.16118505e+02] [-2.42771737e-01 -4.62420924e-03 9.70072420e-01 -1.86936334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters Centerline goodness [0,1] 0.998317782164005 Centerline is valid? [True, True] Translation: X:159.56, Y:316.11, Z:-18.70 [[ 8.86358895e-01 4.06238554e-01 2.22121916e-01 1.59562498e+02] [-3.95251899e-01 9.13755865e-01 -9.39476174e-02 3.16106605e+02] [-2.41130347e-01 -4.52280265e-03 9.70482200e-01 -1.87021916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.186875 meters Centerline goodness [0,1] 0.9982616155687001 Centerline is valid? [True, True] Translation: X:159.59, Y:316.09, Z:-18.71 [[ 8.87265579e-01 4.05252609e-01 2.20295519e-01 1.59586613e+02] [-3.94423999e-01 9.14194921e-01 -9.31523235e-02 3.16093550e+02] [-2.39143267e-01 -4.23898954e-03 9.70975040e-01 -1.87115940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters Centerline goodness [0,1] 0.9980585154415749 Centerline is valid? [True, True] Translation: X:159.61, Y:316.08, Z:-18.72 [[ 8.88582739e-01 4.03451243e-01 2.18283786e-01 1.59609138e+02] [-3.92783101e-01 9.14993363e-01 -9.22419673e-02 3.16077803e+02] [-2.36943352e-01 -3.77356261e-03 9.71516139e-01 -1.87214837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.246875 meters Centerline goodness [0,1] 0.9978151676915107 Centerline is valid? [True, True] Translation: X:159.63, Y:316.07, Z:-18.73 [[ 8.89129123e-01 4.02229350e-01 2.18313884e-01 1.59633854e+02] [-3.91536730e-01 9.15532228e-01 -9.21939686e-02 3.16066412e+02] [-2.36956517e-01 -3.50556195e-03 9.71513932e-01 -1.87276918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters Centerline goodness [0,1] 0.9981370920680522 Centerline is valid? [True, True] Translation: X:159.66, Y:316.05, Z:-18.73 [[ 8.90131016e-01 3.99780005e-01 2.18729790e-01 1.59658183e+02] [-3.88978676e-01 9.16606595e-01 -9.23468421e-02 3.16052541e+02] [-2.37407589e-01 -2.88043572e-03 9.71405857e-01 -1.87334049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.306875 meters Centerline goodness [0,1] 0.998197548666186 Centerline is valid? [True, True] Translation: X:159.68, Y:316.04, Z:-18.74 [[ 8.90656746e-01 3.98266359e-01 2.19350106e-01 1.59683106e+02] [-3.87372366e-01 9.17266291e-01 -9.25483722e-02 3.16039267e+02] [-2.38061361e-01 -2.54133727e-03 9.71246792e-01 -1.87383260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters Centerline goodness [0,1] 0.9982918661362461 Centerline is valid? [True, True] Translation: X:159.71, Y:316.03, Z:-18.74 [[ 8.91384332e-01 3.96183204e-01 2.20165485e-01 1.59708812e+02] [-3.85159342e-01 9.18169191e-01 -9.28311238e-02 3.16027769e+02] [-2.38927298e-01 -2.05058412e-03 9.71035294e-01 -1.87449655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.366875 meters Centerline goodness [0,1] 0.9981595780496016 Centerline is valid? [True, True] Translation: X:159.73, Y:316.01, Z:-18.75 [[ 8.92372609e-01 3.93174381e-01 2.21551423e-01 1.59732983e+02] [-3.81933067e-01 9.19462988e-01 -9.33538735e-02 3.16013365e+02] [-2.40412685e-01 -1.31137484e-03 9.70669883e-01 -1.87500243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters Centerline goodness [0,1] 0.9987467830368133 Centerline is valid? [True, True] Translation: X:159.76, Y:316.00, Z:-18.76 [[ 8.91997554e-01 3.93904499e-01 2.21764761e-01 1.59757477e+02] [-3.82678501e-01 9.19150037e-01 -9.33829500e-02 3.16003389e+02] [-2.40619052e-01 -1.56724336e-03 9.70618368e-01 -1.87571581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.426875 meters Centerline goodness [0,1] 0.9982494725975134 Centerline is valid? [True, True] Translation: X:159.78, Y:315.99, Z:-18.76 [[ 8.91757530e-01 3.94170591e-01 2.22256727e-01 1.59782784e+02] [-3.82908000e-01 9.19035784e-01 -9.35665061e-02 3.15992825e+02] [-2.41143050e-01 -1.66524240e-03 9.70488154e-01 -1.87642394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters Centerline goodness [0,1] 0.9982070016585235 Centerline is valid? [True, True] Translation: X:159.81, Y:315.98, Z:-18.77 [[ 8.91200161e-01 3.94202876e-01 2.24424523e-01 1.59808689e+02] [-3.82732924e-01 9.19021778e-01 -9.44165274e-02 3.15981679e+02] [-2.43470291e-01 -1.75062969e-03 9.69906775e-01 -1.87704676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.486875 meters Centerline goodness [0,1] 0.9982083669264534 Centerline is valid? [True, True] Translation: X:159.83, Y:315.97, Z:-18.78 [[ 8.91435130e-01 3.93417055e-01 2.24869806e-01 1.59832843e+02] [-3.81891984e-01 9.19358725e-01 -9.45412483e-02 3.15970857e+02] [-2.43930157e-01 -1.59858619e-03 9.69791484e-01 -1.87777869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters Centerline goodness [0,1] 0.9979527348791668 Centerline is valid? [True, True] Translation: X:159.86, Y:315.96, Z:-18.78 [[ 8.91320178e-01 3.93773579e-01 2.24701378e-01 1.59857642e+02] [-3.82295127e-01 9.19205778e-01 -9.43990109e-02 3.15962901e+02] [-2.43718641e-01 -1.76249873e-03 9.69844378e-01 -1.87838770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.546875 meters Centerline goodness [0,1] 0.9980953234588926 Centerline is valid? [True, True] Translation: X:159.88, Y:315.96, Z:-18.79 [[ 8.89910480e-01 3.97602286e-01 2.23543643e-01 1.59884582e+02] [-3.86370476e-01 9.17553506e-01 -9.38798135e-02 3.15957276e+02] [-2.42440082e-01 -2.82603379e-03 9.70162265e-01 -1.87941202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters Centerline goodness [0,1] 0.997597718955569 Centerline is valid? [True, True] Translation: X:159.91, Y:315.95, Z:-18.80 [[ 8.89154874e-01 3.99112388e-01 2.23859132e-01 1.59910222e+02] [-3.87910547e-01 9.16896077e-01 -9.39520719e-02 3.15948283e+02] [-2.42752996e-01 -3.29937555e-03 9.70082521e-01 -1.87995389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6068750000001 meters Centerline goodness [0,1] 0.99737420889627 Centerline is valid? [True, True] Translation: X:159.93, Y:315.94, Z:-18.81 [[ 8.88019479e-01 4.01568953e-01 2.23972723e-01 1.59934975e+02] [-3.90438359e-01 9.15820078e-01 -9.39759127e-02 3.15937655e+02] [-2.42856526e-01 -3.99510156e-03 9.70053992e-01 -1.88090605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters Centerline goodness [0,1] 0.9979547804198319 Centerline is valid? [True, True] Translation: X:159.96, Y:315.93, Z:-18.82 [[ 8.87836572e-01 4.02437861e-01 2.23136707e-01 1.59960180e+02] [-3.91433825e-01 9.15437326e-01 -9.35631541e-02 3.15929242e+02] [-2.41921026e-01 -4.27446461e-03 9.70286528e-01 -1.88155874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.666875 meters Centerline goodness [0,1] 0.997700579363827 Centerline is valid? [True, True] Translation: X:159.98, Y:315.92, Z:-18.82 [[ 8.87901510e-01 4.03113158e-01 2.21654442e-01 1.59984670e+02] [-3.92284552e-01 9.15139304e-01 -9.29133144e-02 3.15919978e+02] [-2.40299271e-01 -4.45374117e-03 9.70688634e-01 -1.88244295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters Centerline goodness [0,1] 0.9973852411388727 Centerline is valid? [True, True] Translation: X:160.01, Y:315.91, Z:-18.83 [[ 8.87886694e-01 4.03449523e-01 2.21101109e-01 1.60009583e+02] [-3.92703587e-01 9.14990339e-01 -9.26097866e-02 3.15910065e+02] [-2.39668753e-01 -4.60020127e-03 9.70843822e-01 -1.88312798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7268750000001 meters Centerline goodness [0,1] 0.9975167618574621 Centerline is valid? [True, True] Translation: X:160.04, Y:315.90, Z:-18.84 [[ 8.87001047e-01 4.05089224e-01 2.21657084e-01 1.60035953e+02] [-3.94356551e-01 9.14262799e-01 -9.27709342e-02 3.15901468e+02] [-2.40233332e-01 -5.12400740e-03 9.70701649e-01 -1.88378002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters Centerline goodness [0,1] 0.997185381999955 Centerline is valid? [True, True] Translation: X:160.06, Y:315.90, Z:-18.84 [[ 8.86814817e-01 4.05420233e-01 2.21797015e-01 1.60063945e+02] [-3.94699578e-01 9.14115198e-01 -9.27666374e-02 3.15896473e+02] [-2.40357494e-01 -5.27635944e-03 9.70670096e-01 -1.88426715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.786875 meters Centerline goodness [0,1] 0.9973839549235309 Centerline is valid? [True, True] Translation: X:160.09, Y:315.88, Z:-18.85 [[ 8.86316058e-01 4.06925105e-01 2.21033490e-01 1.60087689e+02] [-3.96331010e-01 9.13443829e-01 -9.24234936e-02 3.15883141e+02] [-2.39511117e-01 -5.68599967e-03 9.70876972e-01 -1.88536990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters Centerline goodness [0,1] 0.9981517378172474 Centerline is valid? [True, True] Translation: X:160.11, Y:315.87, Z:-18.86 [[ 8.85643106e-01 4.08470293e-01 2.20880757e-01 1.60113034e+02] [-3.97953308e-01 9.12750852e-01 -9.22986878e-02 3.15871873e+02] [-2.39310371e-01 -6.15653115e-03 9.70923603e-01 -1.88624789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.846875 meters Centerline goodness [0,1] 0.9989199648988593 Centerline is valid? [True, True] Translation: X:160.14, Y:315.86, Z:-18.87 [[ 8.84547162e-01 4.09713008e-01 2.22960915e-01 1.60137732e+02] [-3.99048775e-01 9.12190482e-01 -9.31053101e-02 3.15861406e+02] [-2.41529281e-01 -6.61624227e-03 9.70370976e-01 -1.88699717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters Centerline goodness [0,1] 0.9983652812611967 Centerline is valid? [True, True] Translation: X:160.16, Y:315.85, Z:-18.88 [[ 8.84610563e-01 4.09575512e-01 2.22961996e-01 1.60163022e+02] [-3.98912577e-01 9.12252343e-01 -9.30828607e-02 3.15852485e+02] [-2.41522063e-01 -6.60026244e-03 9.70372882e-01 -1.88753724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.906875 meters Centerline goodness [0,1] 0.9982531968736703 Centerline is valid? [True, True] Translation: X:160.19, Y:315.84, Z:-18.88 [[ 8.84271234e-01 4.10262030e-01 2.23045849e-01 1.60188563e+02] [-3.99620304e-01 9.11942187e-01 -9.30863042e-02 3.15844613e+02] [-2.41594696e-01 -6.82010882e-03 9.70353281e-01 -1.88814197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters Centerline goodness [0,1] 0.998303781436584 Centerline is valid? [True, True] Translation: X:160.22, Y:315.84, Z:-18.89 [[ 8.83057616e-01 4.12741620e-01 2.23279202e-01 1.60215601e+02] [-4.02164519e-01 9.10816931e-01 -9.31462219e-02 3.15836001e+02] [-2.41811800e-01 -7.54149229e-03 9.70293862e-01 -1.88886565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.966875 meters Centerline goodness [0,1] 0.9986203776998757 Centerline is valid? [True, True] Translation: X:160.24, Y:315.82, Z:-18.89 [[ 8.82838997e-01 4.11341525e-01 2.26701247e-01 1.60239325e+02] [-4.00392277e-01 9.11452135e-01 -9.45570197e-02 3.15822148e+02] [-2.45522564e-01 -7.29080402e-03 9.69363459e-01 -1.88936614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters Centerline goodness [0,1] 0.9988936304725778 Centerline is valid? [True, True] Translation: X:160.26, Y:315.81, Z:-18.90 [[ 8.82743355e-01 4.11437736e-01 2.26899005e-01 1.60264667e+02] [-4.00489795e-01 9.11407914e-01 -9.45702840e-02 3.15812893e+02] [-2.45707333e-01 -7.38944633e-03 9.69315894e-01 -1.88996438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.026875 meters Centerline goodness [0,1] 0.9985546522131888 Centerline is valid? [True, True] Translation: X:160.29, Y:315.80, Z:-18.91 [[ 8.83036782e-01 4.10893793e-01 2.26742877e-01 1.60290188e+02] [-3.99949676e-01 9.11654345e-01 -9.44807499e-02 3.15802516e+02] [-2.45532683e-01 -7.25576274e-03 9.69361159e-01 -1.89069752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters Centerline goodness [0,1] 0.9983017458053122 Centerline is valid? [True, True] Translation: X:160.32, Y:315.79, Z:-18.91 [[ 8.82190697e-01 4.12265007e-01 2.27545904e-01 1.60316942e+02] [-4.01302869e-01 9.11031225e-01 -9.47529112e-02 3.15794405e+02] [-2.46364733e-01 -7.72468714e-03 9.69146402e-01 -1.89142196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.086875 meters Centerline goodness [0,1] 0.9985991866244917 Centerline is valid? [True, True] Translation: X:160.34, Y:315.78, Z:-18.92 [[ 8.82106334e-01 4.12378121e-01 2.27667963e-01 1.60342266e+02] [-4.01423530e-01 9.10979225e-01 -9.47417601e-02 3.15783509e+02] [-2.46470214e-01 -7.81897065e-03 9.69118825e-01 -1.89204202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters Centerline goodness [0,1] 0.998482652414168 Centerline is valid? [True, True] Translation: X:160.37, Y:315.78, Z:-18.93 [[ 8.80877572e-01 4.14089532e-01 2.29313240e-01 1.60369005e+02] [-4.03046251e-01 9.10197231e-01 -9.53662446e-02 3.15775196e+02] [-2.48210439e-01 -8.41785558e-03 9.68669561e-01 -1.89251082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.146875 meters Centerline goodness [0,1] 0.9985985850229425 Centerline is valid? [True, True] Translation: X:160.39, Y:315.76, Z:-18.93 [[ 8.80080330e-01 4.15340005e-01 2.30111479e-01 1.60393290e+02] [-4.04265342e-01 9.09623486e-01 -9.56799195e-02 3.15762554e+02] [-2.49054504e-01 -8.82008049e-03 9.68449307e-01 -1.89323180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters Centerline goodness [0,1] 0.9980090047286138 Centerline is valid? [True, True] Translation: X:160.42, Y:315.76, Z:-18.94 [[ 8.78708393e-01 4.17954867e-01 2.30619361e-01 1.60421050e+02] [-4.06924743e-01 9.08417022e-01 -9.58684857e-02 3.15757579e+02] [-2.49567253e-01 -9.60428119e-03 9.68309839e-01 -1.89374653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.206875 meters Centerline goodness [0,1] 0.9981895127526196 Centerline is valid? [True, True] Translation: X:160.45, Y:315.75, Z:-18.94 [[ 8.77336954e-01 4.20546437e-01 2.31128887e-01 1.60447901e+02] [-4.09559568e-01 9.07211615e-01 -9.60627146e-02 3.15747411e+02] [-2.50081643e-01 -1.03816778e-02 9.68169093e-01 -1.89442965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters Centerline goodness [0,1] 0.9974212355645252 Centerline is valid? [True, True] Translation: X:160.48, Y:315.74, Z:-18.95 [[ 8.75042478e-01 4.25832379e-01 2.30146577e-01 1.60475076e+02] [-4.15120951e-01 9.04724538e-01 -9.56457287e-02 3.15739899e+02] [-2.48948304e-01 -1.18445905e-02 9.68444344e-01 -1.89533775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.266875 meters Centerline goodness [0,1] 0.9974622139376109 Centerline is valid? [True, True] Translation: X:160.50, Y:315.73, Z:-18.96 [[ 8.74206158e-01 4.27867646e-01 2.29549276e-01 1.60501823e+02] [-4.17283007e-01 9.03756388e-01 -9.53901643e-02 3.15729971e+02] [-2.48270990e-01 -1.23963431e-02 9.68611298e-01 -1.89619646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters Centerline goodness [0,1] 0.996214425741905 Centerline is valid? [True, True] Translation: X:160.53, Y:315.72, Z:-18.97 [[ 8.72431964e-01 4.31379987e-01 2.29725434e-01 1.60528449e+02] [-4.20900309e-01 9.02070603e-01 -9.54544799e-02 3.15720005e+02] [-2.48405713e-01 -1.34139666e-02 9.68563197e-01 -1.89698659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.326875 meters Centerline goodness [0,1] 0.9970442905169107 Centerline is valid? [True, True] Translation: X:160.55, Y:315.71, Z:-18.98 [[ 8.71365159e-01 4.33333089e-01 2.30098227e-01 1.60554988e+02] [-4.22887900e-01 9.01125051e-01 -9.56005603e-02 3.15708943e+02] [-2.48774163e-01 -1.40027588e-02 9.68460293e-01 -1.89761916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters Centerline goodness [0,1] 0.9960816105931631 Centerline is valid? [True, True] Translation: X:160.58, Y:315.70, Z:-18.98 [[ 8.70501570e-01 4.35000678e-01 2.30220387e-01 1.60581520e+02] [-4.24604794e-01 9.00313372e-01 -9.56378671e-02 3.15700862e+02] [-2.48873030e-01 -1.44997667e-02 9.68427577e-01 -1.89832126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.386875 meters Centerline goodness [0,1] 0.9960816105931631 Centerline is valid? [True, True] Translation: X:160.61, Y:315.69, Z:-18.99 [[ 8.70613001e-01 4.34774356e-01 2.30226543e-01 1.60606182e+02] [-4.24374627e-01 9.00423461e-01 -9.56230453e-02 3.15690718e+02] [-2.48875829e-01 -1.44516368e-02 9.68427577e-01 -1.89895779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters Centerline goodness [0,1] 0.9961669505962522 Centerline is valid? [True, True] Translation: X:160.63, Y:315.68, Z:-19.00 [[ 8.68222448e-01 4.39180870e-01 2.30889464e-01 1.60630764e+02] [-4.28889939e-01 8.98259309e-01 -9.58312758e-02 3.15677429e+02] [-2.49485873e-01 -1.58233032e-02 9.68249153e-01 -1.89995713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.446875 meters Centerline goodness [0,1] 0.994203741831528 Centerline is valid? [True, True] Translation: X:160.66, Y:315.67, Z:-19.01 [[ 8.67171098e-01 4.40855008e-01 2.31648761e-01 1.60657771e+02] [-4.30557091e-01 8.97428985e-01 -9.61343232e-02 3.15670254e+02] [-2.50269610e-01 -1.63731100e-02 9.68037728e-01 -1.90051368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters Centerline goodness [0,1] 0.9939305711086226 Centerline is valid? [True, True] Translation: X:160.68, Y:315.66, Z:-19.01 [[ 8.66125895e-01 4.42697302e-01 2.32045324e-01 1.60684019e+02] [-4.32432939e-01 8.96510854e-01 -9.62810571e-02 3.15659817e+02] [-2.50654516e-01 -1.69525248e-02 9.67928161e-01 -1.90122702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.506875 meters Centerline goodness [0,1] 0.9935712205720941 Centerline is valid? [True, True] Translation: X:160.71, Y:315.65, Z:-19.02 [[ 8.65846868e-01 4.43524844e-01 2.31505755e-01 1.60709545e+02] [-4.33341543e-01 8.96097717e-01 -9.60415990e-02 3.15648862e+02] [-2.50048614e-01 -1.71637434e-02 9.68081142e-01 -1.90201510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters Centerline goodness [0,1] 0.993214607754734 Centerline is valid? [True, True] Translation: X:160.74, Y:315.64, Z:-19.03 [[ 8.65801881e-01 4.44744746e-01 2.29323383e-01 1.60735710e+02] [-4.34811904e-01 8.95488391e-01 -9.50744452e-02 3.15639726e+02] [-2.47640288e-01 -1.73969034e-02 9.68695843e-01 -1.90288583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.566875 meters Centerline goodness [0,1] 0.9937527989252127 Centerline is valid? [True, True] Translation: X:160.76, Y:315.63, Z:-19.04 [[ 8.66933338e-01 4.43123688e-01 2.28184103e-01 1.60761855e+02] [-4.33250647e-01 8.96301174e-01 -9.45414342e-02 3.15628153e+02] [-2.46415229e-01 -1.68997891e-02 9.69016993e-01 -1.90360407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters Centerline goodness [0,1] 0.9949042584236873 Centerline is valid? [True, True] Translation: X:160.79, Y:315.62, Z:-19.04 [[ 8.68088334e-01 4.41824660e-01 2.26304250e-01 1.60787969e+02] [-4.32084215e-01 8.96950945e-01 -9.37135706e-02 3.15616517e+02] [-2.44388777e-01 -1.64308368e-02 9.69538113e-01 -1.90448799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.626875 meters Centerline goodness [0,1] 0.9944534267493039 Centerline is valid? [True, True] Translation: X:160.81, Y:315.61, Z:-19.05 [[ 8.68537366e-01 4.41663368e-01 2.24891781e-01 1.60812908e+02] [-4.32051116e-01 8.97032440e-01 -9.30840170e-02 3.15606503e+02] [-2.42847024e-01 -1.63177981e-02 9.69927344e-01 -1.90529653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters Centerline goodness [0,1] 0.9957256304695058 Centerline is valid? [True, True] Translation: X:160.84, Y:315.59, Z:-19.06 [[ 8.68788230e-01 4.41912083e-01 2.23429459e-01 1.60836782e+02] [-4.32439246e-01 8.96910355e-01 -9.24560088e-02 3.15593597e+02] [-2.41253623e-01 -1.62949746e-02 9.70325287e-01 -1.90621200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.686875 meters Centerline goodness [0,1] 0.9969844270411378 Centerline is valid? [True, True] Translation: X:160.86, Y:315.58, Z:-19.07 [[ 8.69496335e-01 4.41167824e-01 2.22142014e-01 1.60860339e+02] [-4.31795810e-01 8.97281173e-01 -9.18633465e-02 3.15579102e+02] [-2.39851000e-01 -1.60451476e-02 9.70677110e-01 -1.90709837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters Centerline goodness [0,1] 0.9967691997038433 Centerline is valid? [True, True] Translation: X:160.89, Y:315.57, Z:-19.08 [[ 8.69812058e-01 4.40954267e-01 2.21328531e-01 1.60885881e+02] [-4.31659414e-01 8.97387310e-01 -9.14667423e-02 3.15571052e+02] [-2.38950065e-01 -1.59796688e-02 9.70900364e-01 -1.90778914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.746875 meters Centerline goodness [0,1] 0.9973914412287211 Centerline is valid? [True, True] Translation: X:160.91, Y:315.56, Z:-19.09 [[ 8.69782171e-01 4.41009122e-01 2.21336687e-01 1.60910758e+02] [-4.31723529e-01 8.97359524e-01 -9.14367477e-02 3.15558516e+02] [-2.38943024e-01 -1.60262028e-02 9.70901330e-01 -1.90852415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters Centerline goodness [0,1] 0.9965112378396511 Centerline is valid? [True, True] Translation: X:160.94, Y:315.55, Z:-19.09 [[ 8.69542562e-01 4.40955194e-01 2.22383113e-01 1.60938083e+02] [-4.31593949e-01 8.97383852e-01 -9.18089614e-02 3.15551771e+02] [-2.40046653e-01 -1.61474061e-02 9.70627048e-01 -1.90898592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.806875 meters Centerline goodness [0,1] 0.9969901168014376 Centerline is valid? [True, True] Translation: X:160.96, Y:315.54, Z:-19.09 [[ 8.67966937e-01 4.42721625e-01 2.25013243e-01 1.60964780e+02] [-4.33199065e-01 8.96500499e-01 -9.28731662e-02 3.15539806e+02] [-2.42841444e-01 -1.68646892e-02 9.69919386e-01 -1.90933175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters Centerline goodness [0,1] 0.997323677581864 Centerline is valid? [True, True] Translation: X:160.99, Y:315.53, Z:-19.10 [[ 8.67691210e-01 4.42516456e-01 2.26475495e-01 1.60991722e+02] [-4.32865040e-01 8.96600453e-01 -9.34638184e-02 3.15530501e+02] [-2.44417309e-01 -1.69355905e-02 9.69522235e-01 -1.90985676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.866875 meters Centerline goodness [0,1] 0.9971279842039131 Centerline is valid? [True, True] Translation: X:161.02, Y:315.52, Z:-19.10 [[ 8.67800677e-01 4.41850358e-01 2.27354891e-01 1.61017953e+02] [-4.32116605e-01 8.96930038e-01 -9.37643160e-02 3.15520680e+02] [-2.45351227e-01 -1.68750867e-02 9.69287371e-01 -1.91033012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters Centerline goodness [0,1] 0.997255898693178 Centerline is valid? [True, True] Translation: X:161.04, Y:315.51, Z:-19.11 [[ 8.68388532e-01 4.40111215e-01 2.28480799e-01 1.61044135e+02] [-4.30236116e-01 8.97791199e-01 -9.41692554e-02 3.15510667e+02] [-2.46572996e-01 -1.65251901e-02 9.68983321e-01 -1.91087306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.926875 meters Centerline goodness [0,1] 0.9959395190236898 Centerline is valid? [True, True] Translation: X:161.07, Y:315.50, Z:-19.11 [[ 8.70525572e-01 4.34844010e-01 2.30425508e-01 1.61071686e+02] [-4.24620911e-01 9.00377825e-01 -9.49571218e-02 3.15502480e+02] [-2.48761553e-01 -1.51808861e-02 9.68445781e-01 -1.91116420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters Centerline goodness [0,1] 0.9978887316667789 Centerline is valid? [True, True] Translation: X:161.09, Y:315.49, Z:-19.12 [[ 8.71273484e-01 4.33307764e-01 2.30492726e-01 1.61094253e+02] [-4.23029492e-01 9.01125153e-01 -9.49710899e-02 3.15485647e+02] [-2.48854503e-01 -1.47594283e-02 9.68428415e-01 -1.91200071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.986875 meters Centerline goodness [0,1] 0.9986117641790376 Centerline is valid? [True, True] Translation: X:161.12, Y:315.47, Z:-19.13 [[ 8.72652214e-01 4.30632851e-01 2.30289952e-01 1.61118224e+02] [-4.20285935e-01 9.02418627e-01 -9.48702024e-02 3.15469375e+02] [-2.48672168e-01 -1.39989357e-02 9.68486542e-01 -1.91279166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters Centerline goodness [0,1] 0.9988996676547202 Centerline is valid? [True, True] Translation: X:161.14, Y:315.46, Z:-19.14 [[ 8.75367719e-01 4.25913327e-01 2.28755754e-01 1.61144198e+02] [-4.15549427e-01 9.04676577e-01 -9.42282633e-02 3.15459647e+02] [-2.47083045e-01 -1.25749425e-02 9.68912710e-01 -1.91351687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.046875 meters Centerline goodness [0,1] 0.9987227176982029 Centerline is valid? [True, True] Translation: X:161.17, Y:315.45, Z:-19.14 [[ 8.76705605e-01 4.23276896e-01 2.28525604e-01 1.61170001e+02] [-4.12849305e-01 9.05923127e-01 -9.41208753e-02 3.15446456e+02] [-2.46865821e-01 -1.18303377e-02 9.68977456e-01 -1.91431588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters Centerline goodness [0,1] 0.9983986477469864 Centerline is valid? [True, True] Translation: X:161.19, Y:315.43, Z:-19.15 [[ 8.79733981e-01 4.18711137e-01 2.25275624e-01 1.61194458e+02] [-4.08436964e-01 9.08059952e-01 -9.27705257e-02 3.15432219e+02] [-2.43407825e-01 -1.03975081e-02 9.69868302e-01 -1.91526776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1068750000001 meters Centerline goodness [0,1] 0.9986313356817519 Centerline is valid? [True, True] Translation: X:161.22, Y:315.42, Z:-19.16 [[ 8.80869456e-01 4.17458416e-01 2.23153472e-01 1.61220160e+02] [-4.07341635e-01 9.08641464e-01 -9.18884280e-02 3.15420453e+02] [-2.41126095e-01 -9.95799067e-03 9.70442705e-01 -1.91604409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters Centerline goodness [0,1] 0.9987871709639745 Centerline is valid? [True, True] Translation: X:161.25, Y:315.41, Z:-19.17 [[ 8.80640797e-01 4.18419893e-01 2.22253415e-01 1.61246631e+02] [-4.08422868e-01 9.08196372e-01 -9.14883101e-02 3.15411999e+02] [-2.40130274e-01 -1.02050389e-02 9.70687029e-01 -1.91685433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.166875 meters Centerline goodness [0,1] 0.9990819319733985 Centerline is valid? [True, True] Translation: X:161.27, Y:315.40, Z:-19.18 [[ 8.80319092e-01 4.19460154e-01 2.21565963e-01 1.61270940e+02] [-4.09572550e-01 9.07712909e-01 -9.11460436e-02 3.15398960e+02] [-2.39350419e-01 -1.05097344e-02 9.70876368e-01 -1.91756758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters Centerline goodness [0,1] 0.9986370847018343 Centerline is valid? [True, True] Translation: X:161.30, Y:315.39, Z:-19.18 [[ 8.78402195e-01 4.23253593e-01 2.21959410e-01 1.61299500e+02] [-4.13464073e-01 9.05936733e-01 -9.12474406e-02 3.15393591e+02] [-2.39701990e-01 -1.16202897e-02 9.70776970e-01 -1.91806984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2268750000001 meters Centerline goodness [0,1] 0.9988615309060874 Centerline is valid? [True, True] Translation: X:161.33, Y:315.38, Z:-19.18 [[ 8.76924339e-01 4.25787277e-01 2.22954923e-01 1.61327112e+02] [-4.15991922e-01 9.04738576e-01 -9.16451334e-02 3.15384921e+02] [-2.40737252e-01 -1.23815991e-02 9.70511345e-01 -1.91836584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters Centerline goodness [0,1] 0.9990170014074753 Centerline is valid? [True, True] Translation: X:161.35, Y:315.37, Z:-19.19 [[ 8.75895374e-01 4.27829856e-01 2.23089464e-01 1.61354365e+02] [-4.18090965e-01 9.03766313e-01 -9.16863998e-02 3.15374703e+02] [-2.40846922e-01 -1.29639960e-02 9.70476530e-01 -1.91895404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.286875 meters Centerline goodness [0,1] 0.9985760373790188 Centerline is valid? [True, True] Translation: X:161.38, Y:315.36, Z:-19.20 [[ 8.74713635e-01 4.30198105e-01 2.23171789e-01 1.61380947e+02] [-4.20529625e-01 9.02631619e-01 -9.17114827e-02 3.15364824e+02] [-2.40896019e-01 -1.36290644e-02 9.70455232e-01 -1.91962044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters Centerline goodness [0,1] 0.9987071751777634 Centerline is valid? [True, True] Translation: X:161.41, Y:315.35, Z:-19.20 [[ 8.72600662e-01 4.34590679e-01 2.22932786e-01 1.61406816e+02] [-4.25085931e-01 9.00505925e-01 -9.16025694e-02 3.15353629e+02] [-2.40561917e-01 -1.48331281e-02 9.70520449e-01 -1.92045243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.346875 meters Centerline goodness [0,1] 0.998617182621108 Centerline is valid? [True, True] Translation: X:161.43, Y:315.34, Z:-19.21 [[ 8.72073423e-01 4.35822852e-01 2.22590178e-01 1.61433358e+02] [-4.26389544e-01 8.99904813e-01 -9.14509958e-02 3.15342774e+02] [-2.40166407e-01 -1.51581417e-02 9.70613377e-01 -1.92123026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters Centerline goodness [0,1] 0.9982142458537021 Centerline is valid? [True, True] Translation: X:161.46, Y:315.33, Z:-19.22 [[ 8.72010404e-01 4.36097892e-01 2.22298189e-01 1.61458401e+02] [-4.26700580e-01 8.99770495e-01 -9.13218003e-02 3.15332864e+02] [-2.39842596e-01 -1.52212063e-02 9.70692456e-01 -1.92182166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.406875 meters Centerline goodness [0,1] 0.9983784984451355 Centerline is valid? [True, True] Translation: X:161.49, Y:315.33, Z:-19.22 [[ 8.71812230e-01 4.36671623e-01 2.21948933e-01 1.61485844e+02] [-4.27327660e-01 8.99489605e-01 -9.11565771e-02 3.15326955e+02] [-2.39446249e-01 -1.53734996e-02 9.70787901e-01 -1.92237431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters Centerline goodness [0,1] 0.9986648865153538 Centerline is valid? [True, True] Translation: X:161.51, Y:315.31, Z:-19.23 [[ 8.72151078e-01 4.36320233e-01 2.21307819e-01 1.61510236e+02] [-4.27025144e-01 8.99662191e-01 -9.08706093e-02 3.15313918e+02] [-2.38750963e-01 -1.52511036e-02 9.70961061e-01 -1.92317885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.466875 meters Centerline goodness [0,1] 0.9988652292904345 Centerline is valid? [True, True] Translation: X:161.54, Y:315.30, Z:-19.24 [[ 8.72818951e-01 4.35600433e-01 2.20089393e-01 1.61535772e+02] [-4.26400438e-01 9.00014792e-01 -9.03108039e-02 3.15302630e+02] [-2.37423135e-01 -1.50212325e-02 9.71290182e-01 -1.92390882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters Centerline goodness [0,1] 0.9982412004363604 Centerline is valid? [True, True] Translation: X:161.56, Y:315.29, Z:-19.25 [[ 8.73532374e-01 4.34653668e-01 2.19128686e-01 1.61560770e+02] [-4.25519672e-01 9.00476887e-01 -8.98575763e-02 3.15290155e+02] [-2.36377242e-01 -1.47500645e-02 9.71549399e-01 -1.92469109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.526875 meters Centerline goodness [0,1] 0.9982201259260908 Centerline is valid? [True, True] Translation: X:161.59, Y:315.28, Z:-19.26 [[ 8.73453064e-01 4.35100881e-01 2.18556557e-01 1.61586891e+02] [-4.26042860e-01 9.00258678e-01 -8.95644736e-02 3.15282724e+02] [-2.35727019e-01 -1.48840969e-02 9.71705324e-01 -1.92551193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters Centerline goodness [0,1] 0.999109587516417 Centerline is valid? [True, True] Translation: X:161.61, Y:315.27, Z:-19.26 [[ 8.73498680e-01 4.35141405e-01 2.18293412e-01 1.61612180e+02] [-4.26111856e-01 9.00238893e-01 -8.94350112e-02 3.15271422e+02] [-2.35433096e-01 -1.48960467e-02 9.71776397e-01 -1.92614574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.586875 meters Centerline goodness [0,1] 0.9979991996798719 Centerline is valid? [True, True] Translation: X:161.64, Y:315.27, Z:-19.27 [[ 8.73301763e-01 4.34933594e-01 2.19492138e-01 1.61639083e+02] [-4.25811652e-01 9.00337899e-01 -8.98671444e-02 3.15267777e+02] [-2.36703330e-01 -1.49811742e-02 9.71466468e-01 -1.92655126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters Centerline goodness [0,1] 0.998616565512317 Centerline is valid? [True, True] Translation: X:161.66, Y:315.25, Z:-19.27 [[ 8.73589753e-01 4.34257113e-01 2.19685467e-01 1.61663237e+02] [-4.25105328e-01 9.00666723e-01 -8.99161551e-02 3.15253845e+02] [-2.36910120e-01 -1.48396308e-02 9.71418232e-01 -1.92728280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.646875 meters Centerline goodness [0,1] 0.9981432598094045 Centerline is valid? [True, True] Translation: X:161.69, Y:315.25, Z:-19.28 [[ 8.73720106e-01 4.33958454e-01 2.19757224e-01 1.61690933e+02] [-4.24805529e-01 9.00811024e-01 -8.98874967e-02 3.15248614e+02] [-2.36967169e-01 -1.48175709e-02 9.71404653e-01 -1.92787726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters Centerline goodness [0,1] 0.9982337290674537 Centerline is valid? [True, True] Translation: X:161.72, Y:315.24, Z:-19.29 [[ 8.74359959e-01 4.32934716e-01 2.19230913e-01 1.61716215e+02] [-4.23799435e-01 9.01308292e-01 -8.96515571e-02 3.15237186e+02] [-2.36407912e-01 -1.45222053e-02 9.71545369e-01 -1.92869161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.706875 meters Centerline goodness [0,1] 0.998928116835265 Centerline is valid? [True, True] Translation: X:161.74, Y:315.22, Z:-19.29 [[ 8.75647164e-01 4.29866631e-01 2.20128880e-01 1.61739196e+02] [-4.20564336e-01 9.02787423e-01 -9.00028197e-02 3.15216305e+02] [-2.37418793e-01 -1.37676424e-02 9.71309821e-01 -1.92941612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters Centerline goodness [0,1] 0.9990815823663814 Centerline is valid? [True, True] Translation: X:161.77, Y:315.21, Z:-19.30 [[ 8.76603262e-01 4.27917266e-01 2.20121635e-01 1.61766030e+02] [-4.18556712e-01 9.03720862e-01 -8.99937956e-02 3.15207936e+02] [-2.37438413e-01 -1.32445331e-02 9.71312299e-01 -1.93005205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.766875 meters Centerline goodness [0,1] 0.9990826509151116 Centerline is valid? [True, True] Translation: X:161.79, Y:315.20, Z:-19.31 [[ 8.77203320e-01 4.26440569e-01 2.20596413e-01 1.61792732e+02] [-4.16996623e-01 9.04423782e-01 -9.01744942e-02 3.15197284e+02] [-2.37966705e-01 -1.28865937e-02 9.71187821e-01 -1.93063520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters Centerline goodness [0,1] 0.998923477168745 Centerline is valid? [True, True] Translation: X:161.82, Y:315.18, Z:-19.31 [[ 8.79527246e-01 4.20494415e-01 2.22747098e-01 1.61818190e+02] [-4.10689372e-01 9.07222950e-01 -9.09986784e-02 3.15184119e+02] [-2.40345716e-01 -1.14440488e-02 9.70619890e-01 -1.93109358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.826875 meters Centerline goodness [0,1] 0.9986101147776184 Centerline is valid? [True, True] Translation: X:161.84, Y:315.17, Z:-19.32 [[ 8.80894455e-01 4.17725209e-01 2.22554734e-01 1.61843707e+02] [-4.07853342e-01 9.08510533e-01 -9.09079945e-02 3.15170402e+02] [-2.40167881e-01 -1.06893439e-02 9.70672513e-01 -1.93185725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters Centerline goodness [0,1] 0.9984365926653862 Centerline is valid? [True, True] Translation: X:161.87, Y:315.16, Z:-19.33 [[ 8.82317640e-01 4.15011482e-01 2.21993362e-01 1.61869704e+02] [-4.05107500e-01 9.09761968e-01 -9.06701409e-02 3.15159293e+02] [-2.39590268e-01 -9.93131126e-03 9.70823296e-01 -1.93265183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.886875 meters Centerline goodness [0,1] 0.9985635731118842 Centerline is valid? [True, True] Translation: X:161.89, Y:315.14, Z:-19.33 [[ 8.84110814e-01 4.10913820e-01 2.22481240e-01 1.61893766e+02] [-4.00840239e-01 9.11631246e-01 -9.08601895e-02 3.15141580e+02] [-2.40156557e-01 -8.84895728e-03 9.70693836e-01 -1.93343027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters Centerline goodness [0,1] 0.9986325629357304 Centerline is valid? [True, True] Translation: X:161.92, Y:315.13, Z:-19.34 [[ 8.84832575e-01 4.08657453e-01 2.23764165e-01 1.61920346e+02] [-3.98401894e-01 9.12649976e-01 -9.13561874e-02 3.15133771e+02] [-2.41551746e-01 -8.31313637e-03 9.70352331e-01 -1.93381401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.946875 meters Centerline goodness [0,1] 0.9990364361582934 Centerline is valid? [True, True] Translation: X:161.94, Y:315.12, Z:-19.34 [[ 8.85841610e-01 4.05721198e-01 2.25110975e-01 1.61944378e+02] [-3.95252461e-01 9.13965446e-01 -9.18839191e-02 3.15117745e+02] [-2.43022906e-01 -7.58106804e-03 9.69990925e-01 -1.93442595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters Centerline goodness [0,1] 0.9986543464609312 Centerline is valid? [True, True] Translation: X:161.97, Y:315.11, Z:-19.35 [[ 8.85586350e-01 4.05994440e-01 2.25622099e-01 1.61970869e+02] [-3.95491287e-01 9.13843162e-01 -9.20723505e-02 3.15107467e+02] [-2.43564075e-01 -7.69355773e-03 9.69854293e-01 -1.93508809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.006875 meters Centerline goodness [0,1] 0.9988577827547592 Centerline is valid? [True, True] Translation: X:162.00, Y:315.10, Z:-19.36 [[ 8.84922390e-01 4.07075830e-01 2.26277778e-01 1.61998082e+02] [-3.96560845e-01 9.13358688e-01 -9.22789448e-02 3.15101320e+02] [-2.44237302e-01 -8.07320261e-03 9.69681888e-01 -1.93560052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters Centerline goodness [0,1] 0.9984778959149413 Centerline is valid? [True, True] Translation: X:162.02, Y:315.09, Z:-19.36 [[ 8.84118902e-01 4.08203634e-01 2.27384169e-01 1.62023713e+02] [-3.97627117e-01 9.12851777e-01 -9.27054976e-02 3.15089575e+02] [-2.45410763e-01 -8.45142863e-03 9.69382345e-01 -1.93631969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.066875 meters Centerline goodness [0,1] 0.9990796031069007 Centerline is valid? [True, True] Translation: X:162.05, Y:315.08, Z:-19.37 [[ 8.82687543e-01 4.10790279e-01 2.28285016e-01 1.62051435e+02] [-4.00228499e-01 9.11682800e-01 -9.30140867e-02 3.15080222e+02] [-2.46332805e-01 -9.26379367e-03 9.69141027e-01 -1.93686508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters Centerline goodness [0,1] 0.998992928117447 Centerline is valid? [True, True] Translation: X:162.08, Y:315.07, Z:-19.38 [[ 8.81809177e-01 4.13182428e-01 2.27360631e-01 1.62078133e+02] [-4.02787344e-01 9.10594489e-01 -9.26284606e-02 3.15071117e+02] [-2.45305790e-01 -9.89735795e-03 9.69395230e-01 -1.93769271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.126875 meters Centerline goodness [0,1] 0.9988338192419826 Centerline is valid? [True, True] Translation: X:162.11, Y:315.06, Z:-19.39 [[ 8.79956635e-01 4.17510281e-01 2.26630726e-01 1.62105429e+02] [-4.07326437e-01 9.08604687e-01 -9.23184503e-02 3.15061388e+02] [-2.44461642e-01 -1.10764531e-02 9.69595698e-01 -1.93861815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters Centerline goodness [0,1] 0.9990145797406553 Centerline is valid? [True, True] Translation: X:162.13, Y:315.05, Z:-19.39 [[ 8.79343762e-01 4.18540332e-01 2.27109090e-01 1.62129253e+02] [-4.08348220e-01 9.08126734e-01 -9.25071106e-02 3.15046914e+02] [-2.44961793e-01 -1.13940418e-02 9.69465779e-01 -1.93934784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.186875 meters Centerline goodness [0,1] 0.9988156424581005 Centerline is valid? [True, True] Translation: X:162.16, Y:315.04, Z:-19.40 [[ 8.78581327e-01 4.19954262e-01 2.27449488e-01 1.62157236e+02] [-4.09793450e-01 9.07467704e-01 -9.25834455e-02 3.15042447e+02] [-2.45283877e-01 -1.18652240e-02 9.69378686e-01 -1.93986722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters Centerline goodness [0,1] 0.999150781057948 Centerline is valid? [True, True] Translation: X:162.18, Y:315.03, Z:-19.41 [[ 8.78196023e-01 4.20379193e-01 2.28151437e-01 1.62182536e+02] [-4.10174514e-01 9.07268581e-01 -9.28471350e-02 3.15031303e+02] [-2.46025635e-01 -1.20439202e-02 9.69188491e-01 -1.94052324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.246875 meters Centerline goodness [0,1] 0.9992164062150182 Centerline is valid? [True, True] Translation: X:162.21, Y:315.02, Z:-19.41 [[ 8.78583727e-01 4.19730407e-01 2.27853067e-01 1.62207456e+02] [-4.09547064e-01 9.07570759e-01 -9.26634786e-02 3.15018609e+02] [-2.45686460e-01 -1.19039302e-02 9.69276256e-01 -1.94134715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters Centerline goodness [0,1] 0.9992164062150182 Centerline is valid? [True, True] Translation: X:162.23, Y:315.01, Z:-19.42 [[ 8.78695651e-01 4.19483926e-01 2.27875379e-01 1.62232164e+02] [-4.09306650e-01 9.07684812e-01 -9.26085788e-02 3.15008629e+02] [-2.45686831e-01 -1.18961526e-02 9.69276257e-01 -1.94198518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.306875 meters Centerline goodness [0,1] 0.9987039974973745 Centerline is valid? [True, True] Translation: X:162.26, Y:315.00, Z:-19.43 [[ 8.79092525e-01 4.18590553e-01 2.27987460e-01 1.62256698e+02] [-4.08391356e-01 9.08099466e-01 -9.25843432e-02 3.14998679e+02] [-2.45790222e-01 -1.17179036e-02 9.69252216e-01 -1.94269563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters Centerline goodness [0,1] 0.9989283561429751 Centerline is valid? [True, True] Translation: X:162.28, Y:314.99, Z:-19.43 [[ 8.79455716e-01 4.17793171e-01 2.28049357e-01 1.62282650e+02] [-4.07568349e-01 9.08469107e-01 -9.25846749e-02 3.14988931e+02] [-2.45857041e-01 -1.15215782e-02 9.69237622e-01 -1.94341250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.366875 meters Centerline goodness [0,1] 0.9987242614145031 Centerline is valid? [True, True] Translation: X:162.31, Y:314.97, Z:-19.44 [[ 8.79795483e-01 4.16713605e-01 2.28713094e-01 1.62305928e+02] [-4.06408734e-01 9.08967418e-01 -9.27910211e-02 3.14973193e+02] [-2.46560031e-01 -1.13138775e-02 9.69061478e-01 -1.94421928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters Centerline goodness [0,1] 0.9985451452616501 Centerline is valid? [True, True] Translation: X:162.33, Y:314.96, Z:-19.45 [[ 8.80154060e-01 4.16018284e-01 2.28599250e-01 1.62330421e+02] [-4.05716858e-01 9.09287612e-01 -9.26815475e-02 3.14963529e+02] [-2.46419685e-01 -1.11725294e-02 9.69098815e-01 -1.94499743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.426875 meters Centerline goodness [0,1] 0.9984586172232771 Centerline is valid? [True, True] Translation: X:162.36, Y:314.95, Z:-19.46 [[ 8.81239861e-01 4.13375441e-01 2.29209625e-01 1.62356192e+02] [-4.02936208e-01 9.10500318e-01 -9.29063174e-02 3.14952182e+02] [-2.47100626e-01 -1.04841068e-02 9.68933106e-01 -1.94551414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters Centerline goodness [0,1] 0.998727479740138 Centerline is valid? [True, True] Translation: X:162.38, Y:314.94, Z:-19.46 [[ 8.82165242e-01 4.11650263e-01 2.28754337e-01 1.62382409e+02] [-4.01199257e-01 9.11287128e-01 -9.27088268e-02 3.14943826e+02] [-2.46624495e-01 -9.99156528e-03 9.69059610e-01 -1.94607397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.486875 meters Centerline goodness [0,1] 0.9984391027070418 Centerline is valid? [True, True] Translation: X:162.41, Y:314.93, Z:-19.47 [[ 8.82753620e-01 4.10463713e-01 2.28616679e-01 1.62407704e+02] [-3.99992763e-01 9.11825579e-01 -9.26277684e-02 3.14932825e+02] [-2.46478874e-01 -9.67751938e-03 9.69099845e-01 -1.94671552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters Centerline goodness [0,1] 0.9985955056179775 Centerline is valid? [True, True] Translation: X:162.43, Y:314.92, Z:-19.47 [[ 8.83744656e-01 4.08364156e-01 2.28547805e-01 1.62431638e+02] [-3.97845993e-01 9.12773285e-01 -9.25391596e-02 3.14921357e+02] [-2.46402006e-01 -9.14584062e-03 9.69124556e-01 -1.94746248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.546875 meters Centerline goodness [0,1] 0.9987733618805478 Centerline is valid? [True, True] Translation: X:162.46, Y:314.91, Z:-19.48 [[ 8.84129247e-01 4.07575605e-01 2.28467944e-01 1.62456502e+02] [-3.97045312e-01 9.13127644e-01 -9.24820270e-02 3.14908400e+02] [-2.46313814e-01 -8.94606140e-03 9.69148840e-01 -1.94827517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters Centerline goodness [0,1] 0.9989098028745605 Centerline is valid? [True, True] Translation: X:162.48, Y:314.90, Z:-19.49 [[ 8.83021680e-01 4.09525998e-01 2.29262229e-01 1.62482032e+02] [-3.99001513e-01 9.12248121e-01 -9.27424308e-02 3.14896039e+02] [-2.47124474e-01 -9.58239900e-03 9.68936361e-01 -1.94914177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6068750000001 meters Centerline goodness [0,1] 0.9990617879640799 Centerline is valid? [True, True] Translation: X:162.51, Y:314.89, Z:-19.50 [[ 8.82062000e-01 4.11506415e-01 2.29410328e-01 1.62508004e+02] [-4.01036395e-01 9.11350307e-01 -9.27923930e-02 3.14886917e+02] [-2.47257838e-01 -1.01532473e-02 9.68896523e-01 -1.94979923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters Centerline goodness [0,1] 0.9991741071428571 Centerline is valid? [True, True] Translation: X:162.53, Y:314.88, Z:-19.50 [[ 8.81540196e-01 4.12179569e-01 2.30206180e-01 1.62533903e+02] [-4.01663975e-01 9.11043264e-01 -9.30925501e-02 3.14876565e+02] [-2.48098637e-01 -1.04007044e-02 9.68678942e-01 -1.95041040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.666875 meters Centerline goodness [0,1] 0.9988846505610207 Centerline is valid? [True, True] Translation: X:162.56, Y:314.87, Z:-19.51 [[ 8.81023965e-01 4.13036728e-01 2.30645691e-01 1.62559728e+02] [-4.02525996e-01 9.10651216e-01 -9.32050747e-02 3.14865991e+02] [-2.48534898e-01 -1.07249824e-02 9.68563565e-01 -1.95107875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters Centerline goodness [0,1] 0.9983307738532416 Centerline is valid? [True, True] Translation: X:162.59, Y:314.87, Z:-19.51 [[ 8.81081257e-01 4.12880406e-01 2.30706715e-01 1.62589035e+02] [-4.02375264e-01 9.10721873e-01 -9.31655327e-02 3.14866073e+02] [-2.48575875e-01 -1.07442706e-02 9.68552836e-01 -1.95122072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.726875 meters Centerline goodness [0,1] 0.9986598467758147 Centerline is valid? [True, True] Translation: X:162.61, Y:314.85, Z:-19.52 [[ 8.82012543e-01 4.11139974e-01 2.30255933e-01 1.62610693e+02] [-4.00626254e-01 9.11514460e-01 -9.29515710e-02 3.14847966e+02] [-2.48097719e-01 -1.02621202e-02 9.68680655e-01 -1.95226599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters Centerline goodness [0,1] 0.9986849144079886 Centerline is valid? [True, True] Translation: X:162.63, Y:314.84, Z:-19.53 [[ 8.82806450e-01 4.10155565e-01 2.28965464e-01 1.62634994e+02] [-3.99733571e-01 9.11961350e-01 -9.24097801e-02 3.14835182e+02] [-2.46710039e-01 -9.94523250e-03 9.69038311e-01 -1.95306862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.786875 meters Centerline goodness [0,1] 0.998778293609365 Centerline is valid? [True, True] Translation: X:162.66, Y:314.83, Z:-19.54 [[ 8.83763898e-01 4.08286816e-01 2.28611567e-01 1.62660407e+02] [-3.97851747e-01 9.12804615e-01 -9.22047823e-02 3.14826157e+02] [-2.46323691e-01 -9.46625368e-03 9.69141388e-01 -1.95380494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters Centerline goodness [0,1] 0.9989513376023561 Centerline is valid? [True, True] Translation: X:162.68, Y:314.81, Z:-19.55 [[ 8.84618610e-01 4.06824743e-01 2.27911263e-01 1.62684903e+02] [-3.96412912e-01 9.13461370e-01 -9.18973799e-02 3.14813032e+02] [-2.45574262e-01 -9.05283494e-03 9.69335508e-01 -1.95462501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.846875 meters Centerline goodness [0,1] 0.9990625418508102 Centerline is valid? [True, True] Translation: X:162.71, Y:314.80, Z:-19.55 [[ 8.85532781e-01 4.04685048e-01 2.28170342e-01 1.62709898e+02] [-3.94194790e-01 9.14416375e-01 -9.19410741e-02 3.14799240e+02] [-2.45849875e-01 -8.52672513e-03 9.69270413e-01 -1.95540226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters Centerline goodness [0,1] 0.998704200178731 Centerline is valid? [True, True] Translation: X:162.74, Y:314.79, Z:-19.56 [[ 8.86290726e-01 4.03072240e-01 2.28082262e-01 1.62736357e+02] [-3.92546049e-01 9.15132255e-01 -9.18724894e-02 3.14789070e+02] [-2.45756685e-01 -8.10705545e-03 9.69297646e-01 -1.95594573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.906875 meters Centerline goodness [0,1] 0.99835101167662 Centerline is valid? [True, True] Translation: X:162.76, Y:314.78, Z:-19.56 [[ 8.87191709e-01 4.01139390e-01 2.27986978e-01 1.62762055e+02] [-3.90575227e-01 9.15985270e-01 -9.17713327e-02 3.14779410e+02] [-2.45645810e-01 -7.62730033e-03 9.69329645e-01 -1.95644225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters Centerline goodness [0,1] 0.9987918652258541 Centerline is valid? [True, True] Translation: X:162.79, Y:314.77, Z:-19.57 [[ 8.87536520e-01 4.00912076e-01 2.27042802e-01 1.62787910e+02] [-3.90434820e-01 9.16085403e-01 -9.13684063e-02 3.14771423e+02] [-2.44621294e-01 -7.55261810e-03 9.69589284e-01 -1.95711142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.966875 meters Centerline goodness [0,1] 0.9990619346481138 Centerline is valid? [True, True] Translation: X:162.81, Y:314.76, Z:-19.58 [[ 8.87915013e-01 4.00246817e-01 2.26736445e-01 1.62812501e+02] [-3.89783005e-01 9.16377649e-01 -9.12206903e-02 3.14758362e+02] [-2.44287001e-01 -7.38179228e-03 9.69674879e-01 -1.95782483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters Centerline goodness [0,1] 0.9988204135229575 Centerline is valid? [True, True] Translation: X:162.84, Y:314.75, Z:-19.59 [[ 8.87564497e-01 4.00995572e-01 2.26785833e-01 1.62838698e+02] [-3.90567325e-01 9.16048048e-01 -9.11764165e-02 3.14748471e+02] [-2.44308059e-01 -7.65018595e-03 9.69667493e-01 -1.95851905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.026875 meters Centerline goodness [0,1] 0.9988392338943702 Centerline is valid? [True, True] Translation: X:162.87, Y:314.74, Z:-19.59 [[ 8.85916967e-01 4.03537513e-01 2.28710739e-01 1.62865840e+02] [-3.93028158e-01 9.14923759e-01 -9.18878808e-02 3.14740422e+02] [-2.46333096e-01 -8.48472783e-03 9.69148087e-01 -1.95898671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters Centerline goodness [0,1] 0.998818809895253 Centerline is valid? [True, True] Translation: X:162.89, Y:314.73, Z:-19.59 [[ 8.85049011e-01 4.04357662e-01 2.30614678e-01 1.62892053e+02] [-3.93701684e-01 9.14558556e-01 -9.26370918e-02 3.14732925e+02] [-2.48369145e-01 -8.80502062e-03 9.68625438e-01 -1.95940639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.086875 meters Centerline goodness [0,1] 0.9986177683647308 Centerline is valid? [True, True] Translation: X:162.92, Y:314.72, Z:-19.60 [[ 8.84356978e-01 4.04829343e-01 2.32434807e-01 1.62918307e+02] [-3.94028413e-01 9.14347475e-01 -9.33290115e-02 3.14724100e+02] [-2.50308501e-01 -9.04975561e-03 9.68123833e-01 -1.95973077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters Centerline goodness [0,1] 0.9987694923596662 Centerline is valid? [True, True] Translation: X:162.94, Y:314.71, Z:-19.60 [[ 8.84394207e-01 4.03844366e-01 2.34001313e-01 1.62942612e+02] [-3.92868524e-01 9.14784804e-01 -9.39312766e-02 3.14712499e+02] [-2.51994462e-01 -8.85947348e-03 9.67688122e-01 -1.96033779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.146875 meters Centerline goodness [0,1] 0.9988624704465361 Centerline is valid? [True, True] Translation: X:162.97, Y:314.70, Z:-19.61 [[ 8.86084418e-01 4.00162279e-01 2.33932798e-01 1.62968464e+02] [-3.89084420e-01 9.16410477e-01 -9.38357658e-02 3.14698395e+02] [-2.51928001e-01 -7.87319732e-03 9.67713953e-01 -1.96105052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters Centerline goodness [0,1] 0.9985966319165999 Centerline is valid? [True, True] Translation: X:162.99, Y:314.68, Z:-19.62 [[ 8.87113946e-01 3.97690532e-01 2.34245787e-01 1.62992682e+02] [-3.86499358e-01 9.17491469e-01 -9.39555827e-02 3.14683980e+02] [-2.52283757e-01 -7.18653854e-03 9.67626612e-01 -1.96188914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.206875 meters Centerline goodness [0,1] 0.9988806304289424 Centerline is valid? [True, True] Translation: X:163.02, Y:314.67, Z:-19.62 [[ 8.88831403e-01 3.94396024e-01 2.33303479e-01 1.63019446e+02] [-3.83189033e-01 9.18919380e-01 -9.35592752e-02 3.14674235e+02] [-2.51286495e-01 -6.24091284e-03 9.67892633e-01 -1.96237818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters Centerline goodness [0,1] 0.999083409715857 Centerline is valid? [True, True] Translation: X:163.04, Y:314.66, Z:-19.63 [[ 8.91588748e-01 3.89237484e-01 2.31438297e-01 1.63043628e+02] [-3.78043566e-01 9.21125161e-01 -9.27981707e-02 3.14658317e+02] [-2.49304165e-01 -4.75595424e-03 9.68413555e-01 -1.96335653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.266875 meters Centerline goodness [0,1] 0.9987089018988046 Centerline is valid? [True, True] Translation: X:163.07, Y:314.65, Z:-19.64 [[ 8.92732673e-01 3.86922262e-01 2.30910238e-01 1.63068147e+02] [-3.75706117e-01 9.22103190e-01 -9.25776452e-02 3.14645745e+02] [-2.48743419e-01 -4.10730008e-03 9.68560706e-01 -1.96420178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters Centerline goodness [0,1] 0.9985034287118318 Centerline is valid? [True, True] Translation: X:163.09, Y:314.63, Z:-19.65 [[ 8.94733232e-01 3.83373071e-01 2.29079752e-01 1.63092071e+02] [-3.72238109e-01 9.23588191e-01 -9.17804133e-02 3.14634136e+02] [-2.46761493e-01 -3.15322805e-03 9.69071113e-01 -1.96494034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.326875 meters Centerline goodness [0,1] 0.9986592478380372 Centerline is valid? [True, True] Translation: X:163.12, Y:314.62, Z:-19.66 [[ 8.95457987e-01 3.81956458e-01 2.28613773e-01 1.63117146e+02] [-3.70830743e-01 9.24176110e-01 -9.15591497e-02 3.14622024e+02] [-2.46250995e-01 -2.78964320e-03 9.69202077e-01 -1.96573922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters Centerline goodness [0,1] 0.9985281655590741 Centerline is valid? [True, True] Translation: X:163.14, Y:314.61, Z:-19.66 [[ 8.95970883e-01 3.80752580e-01 2.28612445e-01 1.63142278e+02] [-3.69604660e-01 9.24673523e-01 -9.14946505e-02 3.14611878e+02] [-2.46228699e-01 -2.51968231e-03 9.69208481e-01 -1.96623766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.386875 meters Centerline goodness [0,1] 0.9986148656196242 Centerline is valid? [True, True] Translation: X:163.17, Y:314.60, Z:-19.67 [[ 8.96229923e-01 3.80735278e-01 2.27623755e-01 1.63167810e+02] [-3.69693639e-01 9.24680597e-01 -9.10626549e-02 3.14600959e+02] [-2.45150035e-01 -2.53797797e-03 9.69481830e-01 -1.96713606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters Centerline goodness [0,1] 0.9984404242046163 Centerline is valid? [True, True] Translation: X:163.19, Y:314.59, Z:-19.68 [[ 8.96369087e-01 3.80600387e-01 2.27301134e-01 1.63192635e+02] [-3.69602161e-01 9.24736073e-01 -9.08704479e-02 3.14590651e+02] [-2.44778886e-01 -2.55752982e-03 9.69575555e-01 -1.96779834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.446875 meters Centerline goodness [0,1] 0.9984189899349781 Centerline is valid? [True, True] Translation: X:163.22, Y:314.58, Z:-19.68 [[ 8.96331622e-01 3.80852984e-01 2.27025612e-01 1.63217734e+02] [-3.69896264e-01 9.24631816e-01 -9.07345526e-02 3.14580716e+02] [-2.44471629e-01 -2.64767706e-03 9.69652831e-01 -1.96843401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters Centerline goodness [0,1] 0.9984145415568755 Centerline is valid? [True, True] Translation: X:163.24, Y:314.57, Z:-19.69 [[ 8.94918852e-01 3.83111824e-01 2.28791563e-01 1.63244917e+02] [-3.72072468e-01 9.23695858e-01 -9.13676135e-02 3.14572340e+02] [-2.46337832e-01 -3.36044181e-03 9.69178198e-01 -1.96877301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.506875 meters Centerline goodness [0,1] 0.9987510315141512 Centerline is valid? [True, True] Translation: X:163.27, Y:314.57, Z:-19.69 [[ 8.94297524e-01 3.84084528e-01 2.29588794e-01 1.63272141e+02] [-3.73004517e-01 9.23290663e-01 -9.16623255e-02 3.14565240e+02] [-2.47183270e-01 -3.66426642e-03 9.68961818e-01 -1.96909139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters Centerline goodness [0,1] 0.9986614910989158 Centerline is valid? [True, True] Translation: X:163.30, Y:314.55, Z:-19.70 [[ 8.93580417e-01 3.85178085e-01 2.30546917e-01 1.63298041e+02] [-3.74046545e-01 9.22833554e-01 -9.20185517e-02 3.14554885e+02] [-2.48199960e-01 -4.00930184e-03 9.68700524e-01 -1.96978996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.566875 meters Centerline goodness [0,1] 0.9984433721007805 Centerline is valid? [True, True] Translation: X:163.32, Y:314.55, Z:-19.70 [[ 8.93368864e-01 3.85858121e-01 2.30229415e-01 1.63324514e+02] [-3.74795732e-01 9.22548340e-01 -9.18298416e-02 3.14546406e+02] [-2.47831054e-01 -4.25108084e-03 9.68793939e-01 -1.97029372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters Centerline goodness [0,1] 0.9986205055179779 Centerline is valid? [True, True] Translation: X:163.35, Y:314.54, Z:-19.71 [[ 8.93819970e-01 3.85005816e-01 2.29905160e-01 1.63349376e+02] [-3.73953818e-01 9.22905334e-01 -9.16748904e-02 3.14535325e+02] [-2.47476064e-01 -4.03306441e-03 9.68885614e-01 -1.97109987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.626875 meters Centerline goodness [0,1] 0.9987910808632579 Centerline is valid? [True, True] Translation: X:163.38, Y:314.52, Z:-19.72 [[ 8.94619100e-01 3.83648357e-01 2.29064628e-01 1.63375010e+02] [-3.72651088e-01 9.23471822e-01 -9.12740937e-02 3.14524353e+02] [-2.46551886e-01 -3.70563528e-03 9.69122508e-01 -1.97175106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters Centerline goodness [0,1] 0.9984344947891041 Centerline is valid? [True, True] Translation: X:163.40, Y:314.51, Z:-19.72 [[ 8.96055181e-01 3.80737972e-01 2.28306173e-01 1.63400127e+02] [-3.69737404e-01 9.24678252e-01 -9.09086484e-02 3.14514694e+02] [-2.45722128e-01 -2.95416645e-03 9.69335808e-01 -1.97231242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.686875 meters Centerline goodness [0,1] 0.9981673110877679 Centerline is valid? [True, True] Translation: X:163.42, Y:314.50, Z:-19.73 [[ 8.97124444e-01 3.78220884e-01 2.28290814e-01 1.63424577e+02] [-3.67148020e-01 9.25712550e-01 -9.08768764e-02 3.14500890e+02] [-2.45703204e-01 -2.28865308e-03 9.69342405e-01 -1.97315307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters Centerline goodness [0,1] 0.9982152020168217 Centerline is valid? [True, True] Translation: X:163.45, Y:314.49, Z:-19.74 [[ 8.98447723e-01 3.75330635e-01 2.27856540e-01 1.63449715e+02] [-3.64224903e-01 9.26889689e-01 -9.06406322e-02 3.14489732e+02] [-2.45218084e-01 -1.55515671e-03 9.69466695e-01 -1.97375645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.746875 meters Centerline goodness [0,1] 0.9981255857544518 Centerline is valid? [True, True] Translation: X:163.47, Y:314.48, Z:-19.75 [[ 8.99943828e-01 3.73884264e-01 2.24302618e-01 1.63472807e+02] [-3.63089068e-01 9.27474637e-01 -8.92027309e-02 3.14476422e+02] [-2.41386487e-01 -1.16438157e-03 9.70428363e-01 -1.97491548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters Centerline goodness [0,1] 0.9981555145669904 Centerline is valid? [True, True] Translation: X:163.50, Y:314.47, Z:-19.76 [[ 9.00064725e-01 3.73953013e-01 2.23702114e-01 1.63498088e+02] [-3.63233873e-01 9.27446823e-01 -8.89018755e-02 3.14466101e+02] [-2.40716939e-01 -1.23874320e-03 9.70594571e-01 -1.97554861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.806875 meters Centerline goodness [0,1] 0.9979900607399227 Centerline is valid? [True, True] Translation: X:163.52, Y:314.46, Z:-19.76 [[ 9.00022245e-01 3.74139160e-01 2.23561730e-01 1.63523134e+02] [-3.63444976e-01 9.27371648e-01 -8.88232808e-02 3.14457139e+02] [-2.40557078e-01 -1.30945899e-03 9.70634111e-01 -1.97604072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters Centerline goodness [0,1] 0.9979374584165003 Centerline is valid? [True, True] Translation: X:163.55, Y:314.45, Z:-19.77 [[ 9.00331794e-01 3.73960183e-01 2.22612765e-01 1.63549345e+02] [-3.63360336e-01 9.27443867e-01 -8.84145862e-02 3.14447835e+02] [-2.39524378e-01 -1.28618603e-03 9.70889498e-01 -1.97655997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.866875 meters Centerline goodness [0,1] 0.9981599716236588 Centerline is valid? [True, True] Translation: X:163.57, Y:314.44, Z:-19.77 [[ 9.00332933e-01 3.73867900e-01 2.22763111e-01 1.63574055e+02] [-3.63268332e-01 9.27481009e-01 -8.84030344e-02 3.14438443e+02] [-2.39659612e-01 -1.33062052e-03 9.70856065e-01 -1.97707015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters Centerline goodness [0,1] 0.9978869636780178 Centerline is valid? [True, True] Translation: X:163.60, Y:314.43, Z:-19.78 [[ 9.00573158e-01 3.73277329e-01 2.22782454e-01 1.63598613e+02] [-3.62666168e-01 9.27719022e-01 -8.83779786e-02 3.14427602e+02] [-2.39669016e-01 -1.20482336e-03 9.70853908e-01 -1.97775981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.926875 meters Centerline goodness [0,1] 0.9981132494284256 Centerline is valid? [True, True] Translation: X:163.62, Y:314.42, Z:-19.79 [[ 9.00249917e-01 3.74120135e-01 2.22675125e-01 1.63622854e+02] [-3.63562422e-01 9.27379040e-01 -8.82637020e-02 3.14416709e+02] [-2.39525471e-01 -1.49691730e-03 9.70888927e-01 -1.97852278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters Centerline goodness [0,1] 0.9981951469506897 Centerline is valid? [True, True] Translation: X:163.65, Y:314.41, Z:-19.79 [[ 8.99961987e-01 3.74437429e-01 2.23304801e-01 1.63648348e+02] [-3.63834667e-01 9.27250787e-01 -8.84890557e-02 3.14406179e+02] [-2.40193167e-01 -1.60924131e-03 9.70723778e-01 -1.97917361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.986875 meters Centerline goodness [0,1] 0.9982435857530348 Centerline is valid? [True, True] Translation: X:163.67, Y:314.40, Z:-19.80 [[ 8.99149516e-01 3.76075760e-01 2.23823971e-01 1.63673948e+02] [-3.65488376e-01 9.26586512e-01 -8.86322899e-02 3.14397332e+02] [-2.40724728e-01 -2.11137884e-03 9.70591133e-01 -1.97978306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters Centerline goodness [0,1] 0.9986442335474407 Centerline is valid? [True, True] Translation: X:163.70, Y:314.39, Z:-19.80 [[ 8.97245256e-01 3.79626870e-01 2.25464833e-01 1.63701143e+02] [-3.68997782e-01 9.25134458e-01 -8.92573286e-02 3.14389623e+02] [-2.42469766e-01 -3.11030878e-03 9.70153977e-01 -1.98025717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.046875 meters Centerline goodness [0,1] 0.9981544892604616 Centerline is valid? [True, True] Translation: X:163.73, Y:314.38, Z:-19.81 [[ 8.96485349e-01 3.80329226e-01 2.27296502e-01 1.63727800e+02] [-3.69562782e-01 9.24844951e-01 -8.99175507e-02 3.14379863e+02] [-2.44412295e-01 -3.39056084e-03 9.69665475e-01 -1.98076791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters Centerline goodness [0,1] 0.9980875289094467 Centerline is valid? [True, True] Translation: X:163.75, Y:314.37, Z:-19.81 [[ 8.96158438e-01 3.81052018e-01 2.27375049e-01 1.63753856e+02] [-3.70316860e-01 9.24546398e-01 -8.98853750e-02 3.14370831e+02] [-2.44469786e-01 -3.64927688e-03 9.69650043e-01 -1.98133453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1068750000001 meters Centerline goodness [0,1] 0.9974949566605333 Centerline is valid? [True, True] Translation: X:163.78, Y:314.36, Z:-19.82 [[ 8.96250048e-01 3.80981804e-01 2.27131497e-01 1.63778381e+02] [-3.70274137e-01 9.24575330e-01 -8.97637013e-02 3.14359269e+02] [-2.44198516e-01 -3.65019754e-03 9.69718393e-01 -1.98221265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters Centerline goodness [0,1] 0.9979190649074648 Centerline is valid? [True, True] Translation: X:163.80, Y:314.35, Z:-19.83 [[ 8.97055853e-01 3.79437516e-01 2.26534695e-01 1.63803358e+02] [-3.68755551e-01 9.25211530e-01 -8.94593141e-02 3.14346055e+02] [-2.43536731e-01 -3.28592496e-03 9.69886108e-01 -1.98299160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.166875 meters Centerline goodness [0,1] 0.9979190649074648 Centerline is valid? [True, True] Translation: X:163.83, Y:314.34, Z:-19.84 [[ 8.97153310e-01 3.79194608e-01 2.26555486e-01 1.63828156e+02] [-3.68518321e-01 9.25311138e-01 -8.94066316e-02 3.14336350e+02] [-2.43536827e-01 -3.27839190e-03 9.69886110e-01 -1.98362895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters Centerline goodness [0,1] 0.9977398125373929 Centerline is valid? [True, True] Translation: X:163.85, Y:314.32, Z:-19.85 [[ 8.98918924e-01 3.75142609e-01 2.26302431e-01 1.63851082e+02] [-3.64380755e-01 9.26964400e-01 -8.92393744e-02 3.14318661e+02] [-2.43251789e-01 -2.24128830e-03 9.69960589e-01 -1.98460703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.226875 meters Centerline goodness [0,1] 0.9980482611781405 Centerline is valid? [True, True] Translation: X:163.88, Y:314.31, Z:-19.85 [[ 8.99886786e-01 3.72815630e-01 2.26301298e-01 1.63875853e+02] [-3.61990123e-01 9.27903981e-01 -8.92039910e-02 3.14305894e+02] [-2.43242517e-01 -1.64534190e-03 9.69964108e-01 -1.98530883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters Centerline goodness [0,1] 0.9980956177063265 Centerline is valid? [True, True] Translation: X:163.90, Y:314.29, Z:-19.86 [[ 9.01405561e-01 3.68581725e-01 2.27190509e-01 1.63899095e+02] [-3.57552932e-01 9.29595177e-01 -8.94913806e-02 3.14290872e+02] [-2.44180089e-01 -5.64604706e-04 9.69729738e-01 -1.98595266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.286875 meters Centerline goodness [0,1] 0.9980995735089386 Centerline is valid? [True, True] Translation: X:163.92, Y:314.28, Z:-19.87 [[ 9.01991050e-01 3.66721633e-01 2.27875821e-01 1.63922814e+02] [-3.55573219e-01 9.30330713e-01 -8.97354424e-02 3.14278505e+02] [-2.44907803e-01 -8.59732213e-05 9.69546368e-01 -1.98673068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters Centerline goodness [0,1] 0.9981013356882659 Centerline is valid? [True, True] Translation: X:163.95, Y:314.27, Z:-19.87 [[ 9.02393060e-01 3.65403276e-01 2.28401424e-01 1.63946593e+02] [-3.54179976e-01 9.30849293e-01 -8.98673395e-02 3.14266509e+02] [-2.45445125e-01 2.00452542e-04 9.69410466e-01 -1.98745491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.346875 meters Centerline goodness [0,1] 0.9982157411282684 Centerline is valid? [True, True] Translation: X:163.97, Y:314.25, Z:-19.88 [[ 9.02483743e-01 3.64771594e-01 2.29051910e-01 1.63972196e+02] [-3.53482177e-01 9.31096984e-01 -9.00486358e-02 3.14254663e+02] [-2.46116727e-01 3.01662033e-04 9.69240149e-01 -1.98818633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters Centerline goodness [0,1] 0.9981547789029721 Centerline is valid? [True, True] Translation: X:164.00, Y:314.24, Z:-19.89 [[ 9.01985896e-01 3.64442997e-01 2.31522666e-01 1.63996890e+02] [-3.52910653e-01 9.31225639e-01 -9.09553772e-02 3.14242526e+02] [-2.48747893e-01 3.33652081e-04 9.68568208e-01 -1.98856735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.406875 meters Centerline goodness [0,1] 0.9988334727296738 Centerline is valid? [True, True] Translation: X:164.02, Y:314.23, Z:-19.89 [[ 9.02004518e-01 3.64172093e-01 2.31876120e-01 1.64021827e+02] [-3.52604907e-01 9.31331599e-01 -9.10561994e-02 3.14233139e+02] [-2.49113685e-01 3.72445258e-04 9.68474178e-01 -1.98931176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters Centerline goodness [0,1] 0.9982797785766271 Centerline is valid? [True, True] Translation: X:164.05, Y:314.22, Z:-19.90 [[ 9.01911564e-01 3.63600897e-01 2.33130691e-01 1.64047389e+02] [-3.51906524e-01 9.31554708e-01 -9.14747175e-02 3.14222100e+02] [-2.50434282e-01 4.61894233e-04 9.68133491e-01 -1.98975565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.466875 meters Centerline goodness [0,1] 0.9980390860819177 Centerline is valid? [True, True] Translation: X:164.07, Y:314.21, Z:-19.91 [[ 9.01555591e-01 3.64348923e-01 2.33339622e-01 1.64072949e+02] [-3.52667875e-01 9.31262485e-01 -9.15180561e-02 3.14213905e+02] [-2.50644942e-01 2.17226370e-04 9.68079060e-01 -1.99059630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters Centerline goodness [0,1] 0.9986826794300393 Centerline is valid? [True, True] Translation: X:164.10, Y:314.20, Z:-19.91 [[ 9.01108118e-01 3.65542671e-01 2.33201018e-01 1.64097506e+02] [-3.53934756e-01 9.30794564e-01 -9.13874591e-02 3.14202622e+02] [-2.50468256e-01 -1.87964190e-04 9.68124794e-01 -1.99125530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.526875 meters Centerline goodness [0,1] 0.9989213700801268 Centerline is valid? [True, True] Translation: X:164.12, Y:314.19, Z:-19.92 [[ 9.00150483e-01 3.68143805e-01 2.32807316e-01 1.64122839e+02] [-3.56680750e-01 9.29768344e-01 -9.11573838e-02 3.14194128e+02] [-2.50015899e-01 -9.82524986e-04 9.68241233e-01 -1.99198336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters Centerline goodness [0,1] 0.998656121257518 Centerline is valid? [True, True] Translation: X:164.15, Y:314.19, Z:-19.93 [[ 8.96069716e-01 3.78382050e-01 2.32133772e-01 1.64150666e+02] [-3.67341113e-01 9.25641343e-01 -9.08218641e-02 3.14191768e+02] [-2.49237979e-01 -3.88955595e-03 9.68434459e-01 -1.99291531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.586875 meters Centerline goodness [0,1] 0.9980983548558288 Centerline is valid? [True, True] Translation: X:164.18, Y:314.19, Z:-19.94 [[ 8.93218160e-01 3.86080796e-01 2.30440746e-01 1.64179745e+02] [-3.75458513e-01 9.22445419e-01 -9.01407407e-02 3.14192229e+02] [-2.47370619e-01 -6.00559311e-03 9.68902322e-01 -1.99371524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters Centerline goodness [0,1] 0.997689042952692 Centerline is valid? [True, True] Translation: X:164.21, Y:314.19, Z:-19.95 [[ 8.90094734e-01 3.94288406e-01 2.28621998e-01 1.64209784e+02] [-3.84104936e-01 9.18949902e-01 -8.94118320e-02 3.14190646e+02] [-2.45346212e-01 -8.22983713e-03 9.69400591e-01 -1.99475122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.646875 meters Centerline goodness [0,1] 0.9972762904404437 Centerline is valid? [True, True] Translation: X:164.24, Y:314.18, Z:-19.96 [[ 8.88096944e-01 3.98330482e-01 2.29383183e-01 1.64237142e+02] [-3.88211618e-01 9.17193977e-01 -8.97047798e-02 3.14184599e+02] [-2.46121022e-01 -9.38267571e-03 9.69193690e-01 -1.99558927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters Centerline goodness [0,1] 0.9967931587386424 Centerline is valid? [True, True] Translation: X:164.26, Y:314.18, Z:-19.96 [[ 8.86377476e-01 4.00104996e-01 2.32918358e-01 1.64263982e+02] [-3.89729598e-01 9.16414277e-01 -9.10808108e-02 3.14175030e+02] [-2.49891596e-01 -1.00431989e-02 9.68221733e-01 -1.99627629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.706875 meters Centerline goodness [0,1] 0.996335938887902 Centerline is valid? [True, True] Translation: X:164.29, Y:314.16, Z:-19.97 [[ 8.87206110e-01 3.98444837e-01 2.32609177e-01 1.64290035e+02] [-3.88044806e-01 9.17142320e-01 -9.09461050e-02 3.14164991e+02] [-2.49572726e-01 -9.57484313e-03 9.68308720e-01 -1.99696668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters Centerline goodness [0,1] 0.9963116028973915 Centerline is valid? [True, True] Translation: X:164.32, Y:314.15, Z:-19.98 [[ 8.88381696e-01 3.95039327e-01 2.33927107e-01 1.64316805e+02] [-3.84408040e-01 9.18623142e-01 -9.14438756e-02 3.14153215e+02] [-2.51014781e-01 -8.68639554e-03 9.67944278e-01 -1.99750689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.766875 meters Centerline goodness [0,1] 0.9972094476938875 Centerline is valid? [True, True] Translation: X:164.34, Y:314.14, Z:-19.98 [[ 8.88237200e-01 3.94764915e-01 2.34936882e-01 1.64342874e+02] [-3.84034554e-01 9.18741334e-01 -9.18249533e-02 3.14143625e+02] [-2.52095494e-01 -8.66154128e-03 9.67663598e-01 -1.99809576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters Centerline goodness [0,1] 0.9972617377946971 Centerline is valid? [True, True] Translation: X:164.37, Y:314.13, Z:-19.99 [[ 8.88923711e-01 3.91761174e-01 2.37355890e-01 1.64368163e+02] [-3.80718138e-01 9.20032514e-01 -9.27031425e-02 3.14131287e+02] [-2.54692628e-01 -7.95967112e-03 9.66989301e-01 -1.99869729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.826875 meters Centerline goodness [0,1] 0.9981868242562622 Centerline is valid? [True, True] Translation: X:164.40, Y:314.12, Z:-19.99 [[ 8.88463085e-01 3.91518050e-01 2.39472258e-01 1.64395078e+02] [-3.80282946e-01 9.20135416e-01 -9.34649531e-02 3.14123955e+02] [-2.56940122e-01 -8.02705542e-03 9.66393988e-01 -1.99898829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters Centerline goodness [0,1] 0.997246647126743 Centerline is valid? [True, True] Translation: X:164.42, Y:314.11, Z:-20.00 [[ 8.88263775e-01 3.91667471e-01 2.39966785e-01 1.64421123e+02] [-3.80398246e-01 9.20071047e-01 -9.36292859e-02 3.14113694e+02] [-2.57458037e-01 -8.11544095e-03 9.66255401e-01 -1.99979799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.886875 meters Centerline goodness [0,1] 0.997211439789408 Centerline is valid? [True, True] Translation: X:164.45, Y:314.11, Z:-20.00 [[ 8.87337502e-01 3.92953954e-01 2.41286857e-01 1.64448340e+02] [-3.81621994e-01 9.19517952e-01 -9.40818250e-02 3.14105079e+02] [-2.58837421e-01 -8.59803969e-03 9.65882634e-01 -2.00028955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters Centerline goodness [0,1] 0.9972139880090044 Centerline is valid? [True, True] Translation: X:164.48, Y:314.10, Z:-20.01 [[ 8.86114599e-01 3.94904472e-01 2.42593024e-01 1.64476370e+02] [-3.83523385e-01 9.18675773e-01 -9.45760930e-02 3.14099504e+02] [-2.60212856e-01 -9.23484097e-03 9.65507114e-01 -2.00072497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.946875 meters Centerline goodness [0,1] 0.9961367544271008 Centerline is valid? [True, True] Translation: X:164.50, Y:314.09, Z:-20.01 [[ 8.82390961e-01 4.00921043e-01 2.46269180e-01 1.64504773e+02] [-3.89421261e-01 9.16044133e-01 -9.59907695e-02 3.14091854e+02] [-2.64078157e-01 -1.12010675e-02 9.64436241e-01 -2.00141237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters Centerline goodness [0,1] 0.99424903035977 Centerline is valid? [True, True] Translation: X:164.53, Y:314.09, Z:-20.02 [[ 8.80504537e-01 4.04680919e-01 2.46870641e-01 1.64532435e+02] [-3.93271397e-01 9.14374291e-01 -9.62146769e-02 3.14085453e+02] [-2.64668411e-01 -1.23697024e-02 9.64260143e-01 -2.00194846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.006875 meters Centerline goodness [0,1] 0.9937467896464703 Centerline is valid? [True, True] Translation: X:164.56, Y:314.08, Z:-20.03 [[ 8.79112408e-01 4.07419224e-01 2.47327618e-01 1.64559969e+02] [-3.96075163e-01 9.13145441e-01 -9.63839670e-02 3.14076752e+02] [-2.65114767e-01 -1.32279851e-02 9.64126123e-01 -2.00266357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters Centerline goodness [0,1] 0.9915541293399296 Centerline is valid? [True, True] Translation: X:164.59, Y:314.07, Z:-20.03 [[ 8.76414544e-01 4.12930532e-01 2.47761826e-01 1.64588051e+02] [-4.01762998e-01 9.10640177e-01 -9.65451317e-02 3.14071375e+02] [-2.65488305e-01 -1.49279763e-02 9.63998504e-01 -2.00328100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.066875 meters Centerline goodness [0,1] 0.9909706546275395 Centerline is valid? [True, True] Translation: X:164.61, Y:314.06, Z:-20.04 [[ 8.75595373e-01 4.15234796e-01 2.46805200e-01 1.64614449e+02] [-4.04246406e-01 9.09581012e-01 -9.61624933e-02 3.14061284e+02] [-2.64419337e-01 -1.55706809e-02 9.64282100e-01 -2.00415936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters Centerline goodness [0,1] 0.9896897993872028 Centerline is valid? [True, True] Translation: X:164.64, Y:314.05, Z:-20.05 [[ 8.74938807e-01 4.17202352e-01 2.45813509e-01 1.64640989e+02] [-4.06381448e-01 9.08670929e-01 -9.57667051e-02 3.14051386e+02] [-2.63317684e-01 -1.61040429e-02 9.64574754e-01 -2.00497735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.126875 meters Centerline goodness [0,1] 0.9895665773011617 Centerline is valid? [True, True] Translation: X:164.67, Y:314.04, Z:-20.06 [[ 8.74882139e-01 4.18150571e-01 2.44399965e-01 1.64666984e+02] [-4.07495520e-01 9.08231422e-01 -9.52002411e-02 3.14042346e+02] [-2.61779763e-01 -1.63029004e-02 9.64989933e-01 -2.00576006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters Centerline goodness [0,1] 0.9885442486768942 Centerline is valid? [True, True] Translation: X:164.69, Y:314.03, Z:-20.07 [[ 8.74752614e-01 4.20263434e-01 2.41218802e-01 1.64692957e+02] [-4.09982246e-01 9.07247378e-01 -9.38975602e-02 3.14034332e+02] [-2.58306837e-01 -1.67582900e-02 9.65917563e-01 -2.00675593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.186875 meters Centerline goodness [0,1] 0.9902472772719157 Centerline is valid? [True, True] Translation: X:164.72, Y:314.02, Z:-20.08 [[ 8.74101492e-01 4.22229372e-01 2.40143582e-01 1.64717980e+02] [-4.12128547e-01 9.06323719e-01 -9.34204323e-02 3.14022251e+02] [-2.57092675e-01 -1.73110863e-02 9.66231692e-01 -2.00763347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters Centerline goodness [0,1] 0.9838087549336204 Centerline is valid? [True, True] Translation: X:164.75, Y:314.02, Z:-20.08 [[ 8.72859832e-01 4.24667583e-01 2.40360476e-01 1.64746446e+02] [-4.14642152e-01 9.05169219e-01 -9.34910169e-02 3.14018073e+02] [-2.57269508e-01 -1.80590315e-02 9.66170933e-01 -2.00826067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.246875 meters Centerline goodness [0,1] 0.9817656414506843 Centerline is valid? [True, True] Translation: X:164.77, Y:314.01, Z:-20.09 [[ 8.71887661e-01 4.26371233e-01 2.40872326e-01 1.64774205e+02] [-4.16369056e-01 9.04356721e-01 -9.36788707e-02 3.14008700e+02] [-2.57776482e-01 -1.86143314e-02 9.66025254e-01 -2.00888549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters Centerline goodness [0,1] 0.9820066889632107 Centerline is valid? [True, True] Translation: X:164.80, Y:314.00, Z:-20.10 [[ 8.71807112e-01 4.27070947e-01 2.39922415e-01 1.64800371e+02] [-4.17177158e-01 9.04023644e-01 -9.32977464e-02 3.13999214e+02] [-2.56740293e-01 -1.87525126e-02 9.66298487e-01 -2.00967719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.306875 meters Centerline goodness [0,1] 0.9822052108514638 Centerline is valid? [True, True] Translation: X:164.83, Y:313.99, Z:-20.10 [[ 8.71776261e-01 4.27073721e-01 2.40029557e-01 1.64825960e+02] [-4.17187988e-01 9.04020896e-01 -9.32759451e-02 3.13987852e+02] [-2.56827440e-01 -1.88216932e-02 9.66273983e-01 -2.01044939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters Centerline goodness [0,1] 0.9883040935672515 Centerline is valid? [True, True] Translation: X:164.85, Y:313.97, Z:-20.11 [[ 8.73122426e-01 4.25298891e-01 2.38281520e-01 1.64850482e+02] [-4.15508391e-01 9.04869745e-01 -9.25392984e-02 3.13972815e+02] [-2.54970599e-01 -1.82098342e-02 9.66777325e-01 -2.01145802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.366875 meters Centerline goodness [0,1] 0.9835923237900174 Centerline is valid? [True, True] Translation: X:164.88, Y:313.97, Z:-20.12 [[ 8.73414187e-01 4.24689367e-01 2.38299391e-01 1.64878151e+02] [-4.14877277e-01 9.05159366e-01 -9.25384583e-02 3.13967198e+02] [-2.54999025e-01 -1.80406002e-02 9.66773000e-01 -2.01190295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters Centerline goodness [0,1] 0.9872084442158463 Centerline is valid? [True, True] Translation: X:164.90, Y:313.95, Z:-20.13 [[ 8.73713866e-01 4.24187228e-01 2.38095097e-01 1.64903488e+02] [-4.14380837e-01 9.05397540e-01 -9.24327689e-02 3.13954825e+02] [-2.54779515e-01 -1.79022539e-02 9.66833444e-01 -2.01269120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.426875 meters Centerline goodness [0,1] 0.9885183038302047 Centerline is valid? [True, True] Translation: X:164.93, Y:313.94, Z:-20.14 [[ 8.73766358e-01 4.24365006e-01 2.37585126e-01 1.64927721e+02] [-4.14622968e-01 9.05312917e-01 -9.21754711e-02 3.13940792e+02] [-2.54204928e-01 -1.79684244e-02 9.66983449e-01 -2.01366923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters Centerline goodness [0,1] 0.9852751456915343 Centerline is valid? [True, True] Translation: X:164.96, Y:313.94, Z:-20.14 [[ 8.73108674e-01 4.25983981e-01 2.37105233e-01 1.64955080e+02] [-4.16355481e-01 9.04542450e-01 -9.19296983e-02 3.13935041e+02] [-2.53632327e-01 -1.84554462e-02 9.67124624e-01 -2.01436017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.486875 meters Centerline goodness [0,1] 0.9852165432864932 Centerline is valid? [True, True] Translation: X:164.98, Y:313.92, Z:-20.15 [[ 8.72402145e-01 4.27469416e-01 2.37032478e-01 1.64981479e+02] [-4.17903814e-01 9.03832365e-01 -9.18882920e-02 3.13923800e+02] [-2.53517060e-01 -1.88932336e-02 9.67146393e-01 -2.01506007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters Centerline goodness [0,1] 0.9784975017844397 Centerline is valid? [True, True] Translation: X:165.01, Y:313.92, Z:-20.16 [[ 8.70120401e-01 4.31938851e-01 2.37316912e-01 1.65009736e+02] [-4.22514094e-01 9.01676041e-01 -9.19899905e-02 3.13916047e+02] [-2.53717024e-01 -2.02273724e-02 9.67066970e-01 -2.01579198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.546875 meters Centerline goodness [0,1] 0.9662442575290175 Centerline is valid? [True, True] Translation: X:165.04, Y:313.91, Z:-20.17 [[ 8.67258579e-01 4.38495319e-01 2.35763468e-01 1.65037304e+02] [-4.29430802e-01 8.98464385e-01 -9.13834545e-02 3.13907151e+02] [-2.51896296e-01 -2.19910101e-02 9.67504342e-01 -2.01654162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters Centerline goodness [0,1] 0.9625302623103746 Centerline is valid? [True, True] Translation: X:165.06, Y:313.90, Z:-20.17 [[ 8.65608527e-01 4.43040419e-01 2.33317521e-01 1.65064209e+02] [-4.34325945e-01 8.96205032e-01 -9.04296057e-02 3.13898605e+02] [-2.49164307e-01 -2.30592148e-02 9.68186666e-01 -2.01743961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6068750000001 meters Centerline goodness [0,1] 0.9584112982268556 Centerline is valid? [True, True] Translation: X:165.09, Y:313.89, Z:-20.18 [[ 8.64228350e-01 4.46534308e-01 2.31768139e-01 1.65090843e+02] [-4.38059983e-01 8.94447179e-01 -8.98203536e-02 3.13888414e+02] [-2.47412227e-01 -2.39030509e-02 9.68615421e-01 -2.01826463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters Centerline goodness [0,1] 0.9417991781311417 Centerline is valid? [True, False] Translation: X:165.08, Y:313.89, Z:-20.18 [[ 8.60867564e-01 4.54771768e-01 2.28231629e-01 1.65079687e+02] [-4.48108476e-01 8.90084997e-01 -8.33516199e-02 3.13888957e+02] [-2.41051513e-01 -3.05178216e-02 9.70032386e-01 -2.01815439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.666875 meters Centerline goodness [0,1] 0.9089560500387468 Centerline is valid? [False, False] Translation: X:165.08, Y:313.89, Z:-20.18 [[ 8.58947814e-01 4.57309583e-01 2.30383589e-01 1.65078853e+02] [-4.51949112e-01 8.88559573e-01 -7.87647509e-02 3.13885962e+02] [-2.40729419e-01 -3.64668481e-02 9.69906962e-01 -2.01829382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters Centerline goodness [0,1] 0.8580437437548574 Centerline is valid? [False, False] Translation: X:165.06, Y:313.89, Z:-20.18 [[ 8.58059662e-01 4.59373128e-01 2.29586465e-01 1.65055647e+02] [-4.55276713e-01 8.87286955e-01 -7.37900692e-02 3.13892806e+02] [-2.37606250e-01 -4.12090893e-02 9.70487033e-01 -2.01778467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.726875 meters Centerline goodness [0,1] 0.8482035795176978 Centerline is valid? [False, False] Translation: X:165.04, Y:313.90, Z:-20.17 [[ 8.56308213e-01 4.64614203e-01 2.25543536e-01 1.65040329e+02] [-4.60932908e-01 8.84504484e-01 -7.20601943e-02 3.13897917e+02] [-2.32974459e-01 -4.22547019e-02 9.71564430e-01 -2.01701498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters Centerline goodness [0,1] 0.8036095780665836 Centerline is valid? [False, False] Translation: X:165.01, Y:313.91, Z:-20.16 [[ 8.55955026e-01 4.64582193e-01 2.26945764e-01 1.65010765e+02] [-4.62346879e-01 8.84217892e-01 -6.62878775e-02 3.13909084e+02] [-2.31465673e-01 -4.81882237e-02 9.71648876e-01 -2.01620031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.786875 meters Centerline goodness [0,1] 0.900564820396044 Centerline is valid? [False, False] Translation: X:164.98, Y:313.92, Z:-20.16 [[ 8.56590695e-01 4.62846419e-01 2.28091151e-01 1.64980725e+02] [-4.61612888e-01 8.84905850e-01 -6.20900867e-02 3.13919554e+02] [-2.30577368e-01 -5.21040241e-02 9.71657989e-01 -2.01551876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters Centerline goodness [0,1] 0.7927076600771134 Centerline is valid? [False, False] Translation: X:164.97, Y:313.93, Z:-20.15 [[ 8.56625160e-01 4.66147656e-01 2.21132761e-01 1.64969342e+02] [-4.63197543e-01 8.83617226e-01 -6.83274110e-02 3.13927987e+02] [-2.27247380e-01 -4.38971723e-02 9.72847196e-01 -2.01453657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.846875 meters Centerline goodness [0,1] 0.8910688009987962 Centerline is valid? [False, False] Translation: X:164.94, Y:313.94, Z:-20.14 [[ 8.57556809e-01 4.63599163e-01 2.22872464e-01 1.64938847e+02] [-4.61650136e-01 8.84746253e-01 -6.40563869e-02 3.13938220e+02] [-2.26882065e-01 -4.79571124e-02 9.72740790e-01 -2.01397291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters Centerline goodness [0,1] 0.9182300253999376 Centerline is valid? [False, False] Translation: X:164.92, Y:313.95, Z:-20.13 [[ 8.58518610e-01 4.63462676e-01 2.19426856e-01 1.64917907e+02] [-4.60977355e-01 8.84982457e-01 -6.56195870e-02 3.13948168e+02] [-2.24601148e-01 -4.48151751e-02 9.73419706e-01 -2.01320200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.906875 meters Centerline goodness [0,1] 0.896919826531747 Centerline is valid? [False, False] Translation: X:164.90, Y:313.96, Z:-20.13 [[ 8.62796397e-01 4.55153082e-01 2.20041019e-01 1.64899229e+02] [-4.54341810e-01 8.88980009e-01 -5.73416441e-02 3.13955027e+02] [-2.21711293e-01 -5.04996707e-02 9.73803823e-01 -2.01274475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters Centerline goodness [0,1] 0.9074123688323287 Centerline is valid? [False, False] Translation: X:164.87, Y:313.97, Z:-20.12 [[ 8.64936150e-01 4.52677505e-01 2.16722247e-01 1.64874488e+02] [-4.51397324e-01 8.90414717e-01 -5.83274186e-02 3.13966628e+02] [-2.19376189e-01 -4.73783495e-02 9.74489292e-01 -2.01190770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.966875 meters Centerline goodness [0,1] 0.9073249966623649 Centerline is valid? [False, False] Translation: X:164.84, Y:313.98, Z:-20.11 [[ 8.68099096e-01 4.47463166e-01 2.14896896e-01 1.64843704e+02] [-4.45641813e-01 8.93220742e-01 -5.96664079e-02 3.13977442e+02] [-2.18648884e-01 -4.39706875e-02 9.74812415e-01 -2.01096975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters Centerline goodness [0,1] 0.9537047341360814 Centerline is valid? [False, True] Translation: X:164.82, Y:313.99, Z:-20.11 [[ 8.72288979e-01 4.38792492e-01 2.15807985e-01 1.64824168e+02] [-4.38736389e-01 8.97177039e-01 -5.08305184e-02 3.13985438e+02] [-2.15922019e-01 -5.03439152e-02 9.75111877e-01 -2.01056442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.026875 meters Centerline goodness [0,1] 0.9720684057197501 Centerline is valid? [True, True] Translation: X:164.86, Y:313.99, Z:-20.10 [[ 8.72234950e-01 4.43909231e-01 2.05306567e-01 1.64858010e+02] [-4.37643037e-01 8.95796847e-01 -7.75666225e-02 3.13988316e+02] [-2.18345516e-01 -2.21946706e-02 9.75619102e-01 -2.01001497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters Centerline goodness [0,1] 0.9185764776490987 Centerline is valid? [True, False] Translation: X:164.84, Y:313.99, Z:-20.10 [[ 8.73354978e-01 4.39065446e-01 2.10885317e-01 1.64836997e+02] [-4.36115258e-01 8.97690874e-01 -6.28854248e-02 3.13991262e+02] [-2.16920641e-01 -3.70490055e-02 9.75485934e-01 -2.01000806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.086875 meters Centerline goodness [0,1] 0.9185764776490987 Centerline is valid? [False, False] Translation: X:164.84, Y:313.99, Z:-20.10 [[ 8.73354978e-01 4.39065446e-01 2.10885317e-01 1.64836997e+02] [-4.36115258e-01 8.97690874e-01 -6.28854248e-02 3.13991262e+02] [-2.16920641e-01 -3.70490055e-02 9.75485934e-01 -2.01000806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters Centerline goodness [0,1] 0.9243156914067698 Centerline is valid? [False, False] Translation: X:164.82, Y:314.00, Z:-20.09 [[ 8.73274675e-01 4.40346759e-01 2.08533148e-01 1.64815255e+02] [-4.37694474e-01 8.97033291e-01 -6.12766024e-02 3.13999553e+02] [-2.14044129e-01 -3.77625013e-02 9.76093799e-01 -2.00928022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.146875 meters Centerline goodness [0,1] 0.7294295697847811 Centerline is valid? [False, False] Translation: X:164.81, Y:314.01, Z:-20.08 [[ 8.71605034e-01 4.46777288e-01 2.01729321e-01 1.64805770e+02] [-4.44040005e-01 8.93912283e-01 -6.12315614e-02 3.14006801e+02] [-2.07685189e-01 -3.62061516e-02 9.77525435e-01 -2.00841899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters Centerline goodness [0,1] 0.7294295697847811 Centerline is valid? [False, False] Translation: X:164.78, Y:314.02, Z:-20.08 [[ 8.72209357e-01 4.46257395e-01 2.00262763e-01 1.64780987e+02] [-4.44103842e-01 8.94087507e-01 -5.81318041e-02 3.14015201e+02] [-2.04994182e-01 -3.82343589e-02 9.78016114e-01 -2.00785016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.206875 meters Centerline goodness [0,1] 0.9203921218346657 Centerline is valid? [False, False] Translation: X:164.77, Y:314.02, Z:-20.07 [[ 8.70491744e-01 4.52019328e-01 1.94737389e-01 1.64768255e+02] [-4.49779840e-01 8.91242676e-01 -5.81772122e-02 3.14021674e+02] [-1.99855496e-01 -3.69461689e-02 9.79128572e-01 -2.00696523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters Centerline goodness [0,1] 0.8994256711633498 Centerline is valid? [False, False] Translation: X:164.74, Y:314.03, Z:-20.06 [[ 8.70564845e-01 4.51187730e-01 1.96332580e-01 1.64738165e+02] [-4.49967728e-01 8.91446947e-01 -5.33983672e-02 3.14030804e+02] [-1.99112767e-01 -4.18565837e-02 9.79082291e-01 -2.00640238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.266875 meters Centerline goodness [0,1] 0.860931407302375 Centerline is valid? [False, False] Translation: X:164.73, Y:314.04, Z:-20.06 [[ 8.68642131e-01 4.57316763e-01 1.90583909e-01 1.64729067e+02] [-4.54829817e-01 8.88605955e-01 -5.92392988e-02 3.14036464e+02] [-1.96445121e-01 -3.52254940e-02 9.79881870e-01 -2.00553229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters Centerline goodness [0,1] 0.8631889104667515 Centerline is valid? [False, False] Translation: X:164.69, Y:314.05, Z:-20.05 [[ 8.69946254e-01 4.54186297e-01 1.92115388e-01 1.64691675e+02] [-4.53630238e-01 8.89814792e-01 -4.94898324e-02 3.14048624e+02] [-1.93424718e-01 -4.40958551e-02 9.80123683e-01 -2.00493301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.326875 meters Centerline goodness [0,1] 0.8571713810316139 Centerline is valid? [False, False] Translation: X:164.68, Y:314.06, Z:-20.04 [[ 8.68950077e-01 4.58522145e-01 1.86234280e-01 1.64680627e+02] [-4.56831574e-01 8.87882118e-01 -5.45000725e-02 3.14056433e+02] [-1.90343577e-01 -3.77198571e-02 9.80992627e-01 -2.00405194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters Centerline goodness [0,1] 0.8546230061758564 Centerline is valid? [False, False] Translation: X:164.65, Y:314.07, Z:-20.03 [[ 8.69569355e-01 4.57340614e-01 1.86249027e-01 1.64652160e+02] [-4.56167961e-01 8.88391073e-01 -5.16922901e-02 3.14067965e+02] [-1.89102957e-01 -4.00108075e-02 9.81141787e-01 -2.00344393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.386875 meters Centerline goodness [0,1] 0.8706723252177797 Centerline is valid? [False, False] Translation: X:164.61, Y:314.08, Z:-20.03 [[ 8.72625008e-01 4.51902489e-01 1.85228876e-01 1.64614844e+02] [-4.51567211e-01 8.91026019e-01 -4.64724242e-02 3.14082349e+02] [-1.86044752e-01 -4.30902874e-02 9.81595934e-01 -2.00256993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters Centerline goodness [0,1] 0.8361412621251471 Centerline is valid? [False, False] Translation: X:164.60, Y:314.09, Z:-20.02 [[ 8.73367520e-01 4.53597563e-01 1.77421604e-01 1.64603921e+02] [-4.51664438e-01 8.90580949e-01 -5.35239122e-02 3.14089850e+02] [-1.82286616e-01 -3.33889824e-02 9.82678363e-01 -2.00174155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.446875 meters Centerline goodness [0,1] 0.9107506888595175 Centerline is valid? [False, False] Translation: X:164.57, Y:314.10, Z:-20.01 [[ 8.78007632e-01 4.45139822e-01 1.75935037e-01 1.64565595e+02] [-4.43704311e-01 8.94797172e-01 -4.96437907e-02 3.14103911e+02] [-1.79524601e-01 -3.44755071e-02 9.83149204e-01 -2.00108918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters Centerline goodness [0,1] 0.9041829336307864 Centerline is valid? [False, False] Translation: X:164.54, Y:314.11, Z:-20.01 [[ 8.79550891e-01 4.43080099e-01 1.73407775e-01 1.64542522e+02] [-4.41338544e-01 8.95910900e-01 -5.06354548e-02 3.14113257e+02] [-1.77793478e-01 -3.19950755e-02 9.83547556e-01 -2.00071306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.506875 meters Centerline goodness [0,1] 0.9160707901322847 Centerline is valid? [False, False] Translation: X:164.51, Y:314.12, Z:-20.00 [[ 8.82413719e-01 4.37879016e-01 1.72069741e-01 1.64511851e+02] [-4.36245856e-01 8.98478371e-01 -4.92561726e-02 3.14124613e+02] [-1.76169185e-01 -3.16003891e-02 9.83852547e-01 -2.00025877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters Centerline goodness [0,1] 0.9411317888340296 Centerline is valid? [False, False] Translation: X:164.49, Y:314.13, Z:-20.00 [[ 8.86306880e-01 4.28879507e-01 1.74706849e-01 1.64490856e+02] [-4.28781815e-01 9.02510016e-01 -4.02719079e-02 3.14129373e+02] [-1.74946477e-01 -3.92178509e-02 9.83796570e-01 -2.00031965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.566875 meters Centerline goodness [0,1] 0.9838609144739772 Centerline is valid? [False, True] Translation: X:164.48, Y:314.13, Z:-20.00 [[ 8.88683208e-01 4.22552110e-01 1.78022105e-01 1.64476901e+02] [-4.23195793e-01 9.05312480e-01 -3.62578742e-02 3.14132087e+02] [-1.76486475e-01 -4.31164420e-02 9.83358275e-01 -2.00041311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters Centerline goodness [0,1] 0.9927824454772971 Centerline is valid? [True, True] Translation: X:164.51, Y:314.13, Z:-20.00 [[ 8.92491134e-01 4.19305749e-01 1.66259634e-01 1.64509277e+02] [-4.15295344e-01 9.07711478e-01 -5.99136927e-02 3.14134441e+02] [-1.76037933e-01 -1.55744121e-02 9.84260171e-01 -1.99992037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.626875 meters Centerline goodness [0,1] 0.9920880097788644 Centerline is valid? [True, True] Translation: X:164.54, Y:314.13, Z:-20.01 [[ 8.95038158e-01 4.14417392e-01 1.64817838e-01 1.64535437e+02] [-4.10396172e-01 9.09971603e-01 -5.93857164e-02 3.14125691e+02] [-1.74590026e-01 -1.44881274e-02 9.84534619e-01 -2.00069472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters Centerline goodness [0,1] 0.9980854426857232 Centerline is valid? [True, True] Translation: X:164.56, Y:314.11, Z:-20.01 [[ 8.97219091e-01 4.10322411e-01 1.63197497e-01 1.64560692e+02] [-4.06314615e-01 9.11839728e-01 -5.87940752e-02 3.14109897e+02] [-1.72934488e-01 -1.35583615e-02 9.84840004e-01 -2.00135004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.686875 meters Centerline goodness [0,1] 0.9975733018678896 Centerline is valid? [True, True] Translation: X:164.59, Y:314.10, Z:-20.02 [[ 9.01332422e-01 4.00853765e-01 1.64061345e-01 1.64587781e+02] [-3.96648985e-01 9.16065970e-01 -5.90992516e-02 3.14100892e+02] [-1.73981173e-01 -1.18066945e-02 9.84678198e-01 -2.00172919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters Centerline goodness [0,1] 0.9989533459525666 Centerline is valid? [True, True] Translation: X:164.61, Y:314.08, Z:-20.02 [[ 9.03212149e-01 3.96603347e-01 1.64053649e-01 1.64613148e+02] [-3.92331030e-01 9.17924245e-01 -5.90884441e-02 3.14082618e+02] [-1.74023497e-01 -1.09939366e-02 9.84680129e-01 -2.00195226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.746875 meters Centerline goodness [0,1] 0.9985508861888307 Centerline is valid? [True, True] Translation: X:164.64, Y:314.08, Z:-20.02 [[ 9.03967679e-01 3.94308999e-01 1.65417193e-01 1.64642624e+02] [-3.89928072e-01 9.18916229e-01 -5.95740058e-02 3.14078817e+02] [-1.75495110e-01 -1.06478312e-02 9.84422719e-01 -2.00229520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters Centerline goodness [0,1] 0.9987716633911023 Centerline is valid? [True, True] Translation: X:164.67, Y:314.07, Z:-20.02 [[ 9.05017581e-01 3.90935362e-01 1.67668486e-01 1.64669532e+02] [-3.86377710e-01 9.20362279e-01 -6.03783142e-02 3.14065371e+02] [-1.77919768e-01 -1.01399300e-02 9.83992753e-01 -2.00247935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.806875 meters Centerline goodness [0,1] 0.998682418097769 Centerline is valid? [True, True] Translation: X:164.70, Y:314.06, Z:-20.03 [[ 9.05174798e-01 3.89663114e-01 1.69768202e-01 1.64696364e+02] [-3.84968768e-01 9.20902931e-01 -6.11296863e-02 3.14058873e+02] [-1.80160019e-01 -1.00224041e-02 9.83586254e-01 -2.00275785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters Centerline goodness [0,1] 0.9989936037929955 Centerline is valid? [True, True] Translation: X:164.72, Y:314.05, Z:-20.03 [[ 9.05535721e-01 3.87622861e-01 1.72492248e-01 1.64722652e+02] [-3.82743747e-01 9.21765968e-01 -6.20864248e-02 3.14045119e+02] [-1.83063602e-01 -9.79885385e-03 9.83052237e-01 -2.00302088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.866875 meters Centerline goodness [0,1] 0.9986146799240309 Centerline is valid? [True, True] Translation: X:164.75, Y:314.04, Z:-20.03 [[ 9.05677728e-01 3.86964112e-01 1.73224215e-01 1.64749241e+02] [-3.82039158e-01 9.22043257e-01 -6.23082240e-02 3.14038791e+02] [-1.83831266e-01 -9.74726228e-03 9.82909485e-01 -2.00341807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters Centerline goodness [0,1] 0.9993060840757487 Centerline is valid? [True, True] Translation: X:164.78, Y:314.03, Z:-20.04 [[ 9.05776823e-01 3.86456332e-01 1.73838577e-01 1.64775330e+02] [-3.81491561e-01 9.22256668e-01 -6.25046217e-02 3.14027788e+02] [-1.84479094e-01 -9.70271245e-03 9.82788544e-01 -2.00386533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.926875 meters Centerline goodness [0,1] 0.9990810471579702 Centerline is valid? [True, True] Translation: X:164.80, Y:314.02, Z:-20.04 [[ 9.05576687e-01 3.86055418e-01 1.75761424e-01 1.64801550e+02] [-3.80980872e-01 9.22423802e-01 -6.31498667e-02 3.14018541e+02] [-1.86505869e-01 -9.77469333e-03 9.82405220e-01 -2.00430507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters Centerline goodness [0,1] 0.9988791499473201 Centerline is valid? [True, True] Translation: X:164.83, Y:314.00, Z:-20.05 [[ 9.05820508e-01 3.84948742e-01 1.76928439e-01 1.64826383e+02] [-3.79795392e-01 9.22887377e-01 -6.35165290e-02 3.14002839e+02] [-1.87735631e-01 -9.66203121e-03 9.82172071e-01 -2.00479087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.986875 meters Centerline goodness [0,1] 0.9987695749440716 Centerline is valid? [True, True] Translation: X:164.85, Y:314.00, Z:-20.05 [[ 9.06196924e-01 3.84107030e-01 1.76830216e-01 1.64853444e+02] [-3.78952665e-01 9.23239422e-01 -6.34338027e-02 3.13997084e+02] [-1.87621996e-01 -9.52676467e-03 9.82195107e-01 -2.00513663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters Centerline goodness [0,1] 0.9983458142394098 Centerline is valid? [True, True] Translation: X:164.88, Y:313.99, Z:-20.06 [[ 9.06411127e-01 3.84255368e-01 1.75404336e-01 1.64880494e+02] [-3.79191738e-01 9.23177959e-01 -6.28973913e-02 3.13993134e+02] [-1.86098077e-01 -9.50097976e-03 9.82485235e-01 -2.00565266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.046875 meters Centerline goodness [0,1] 0.9983672556475062 Centerline is valid? [True, True] Translation: X:164.91, Y:313.99, Z:-20.06 [[ 9.06416342e-01 3.84667099e-01 1.74472454e-01 1.64907167e+02] [-3.79669224e-01 9.23005929e-01 -6.25406683e-02 3.13986941e+02] [-1.85096447e-01 -9.55393741e-03 9.82673917e-01 -2.00615003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters Centerline goodness [0,1] 0.99877056509299 Centerline is valid? [True, True] Translation: X:164.93, Y:313.97, Z:-20.07 [[ 9.06809724e-01 3.83815404e-01 1.74303932e-01 1.64931332e+02] [-3.78814820e-01 9.23362135e-01 -6.24635831e-02 3.13972451e+02] [-1.84920136e-01 -9.38632815e-03 9.82708726e-01 -2.00690802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1068750000001 meters Centerline goodness [0,1] 0.99892530897367 Centerline is valid? [True, True] Translation: X:164.95, Y:313.96, Z:-20.08 [[ 9.07650294e-01 3.82965537e-01 1.71779920e-01 1.64954958e+02] [-3.78102527e-01 9.23717652e-01 -6.15156709e-02 3.13956589e+02] [-1.82234526e-01 -9.11570511e-03 9.83212836e-01 -2.00771617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters Centerline goodness [0,1] 0.998768583198997 Centerline is valid? [True, True] Translation: X:164.98, Y:313.95, Z:-20.08 [[ 9.08187112e-01 3.82174141e-01 1.70701773e-01 1.64981996e+02] [-3.77366961e-01 9.24047060e-01 -6.10836106e-02 3.13950318e+02] [-1.81081048e-01 -8.94186117e-03 9.83427525e-01 -2.00822953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.166875 meters Centerline goodness [0,1] 0.9986330532212885 Centerline is valid? [True, True] Translation: X:165.01, Y:313.94, Z:-20.09 [[ 9.08819606e-01 3.80875551e-01 1.70237303e-01 1.65006944e+02] [-3.76075173e-01 9.24585621e-01 -6.09006781e-02 3.13936363e+02] [-1.80594542e-01 -8.67429285e-03 9.83519379e-01 -2.00885790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters Centerline goodness [0,1] 0.9991471215351813 Centerline is valid? [True, True] Translation: X:165.03, Y:313.93, Z:-20.09 [[ 9.10704603e-01 3.77126721e-01 1.68500927e-01 1.65034504e+02] [-3.72369090e-01 9.26128064e-01 -6.02334700e-02 3.13927758e+02] [-1.78769088e-01 -7.88963822e-03 9.83859424e-01 -2.00944523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.226875 meters Centerline goodness [0,1] 0.9990344022276116 Centerline is valid? [True, True] Translation: X:165.06, Y:313.92, Z:-20.10 [[ 9.11747697e-01 3.74785891e-01 1.68082340e-01 1.65060710e+02] [-3.70013783e-01 9.27081721e-01 -6.00773081e-02 3.13917206e+02] [-1.78342192e-01 -7.41743517e-03 9.83940569e-01 -2.00996323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters Centerline goodness [0,1] 0.99894722695099 Centerline is valid? [True, True] Translation: X:165.09, Y:313.91, Z:-20.11 [[ 9.12835850e-01 3.72392180e-01 1.67495596e-01 1.65086806e+02] [-3.67615898e-01 9.28049541e-01 -5.98548318e-02 3.13906784e+02] [-1.77733682e-01 -6.93640766e-03 9.84054178e-01 -2.01055295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.286875 meters Centerline goodness [0,1] 0.9987454635064295 Centerline is valid? [True, True] Translation: X:165.11, Y:313.89, Z:-20.11 [[ 9.14470036e-01 3.67888666e-01 1.68530361e-01 1.65114002e+02] [-3.62979328e-01 9.29849762e-01 -6.02115236e-02 3.13894453e+02] [-1.78859054e-01 -6.11140311e-03 9.83855726e-01 -2.01103343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters Centerline goodness [0,1] 0.9989017392863546 Centerline is valid? [True, True] Translation: X:165.14, Y:313.88, Z:-20.11 [[ 9.15115422e-01 3.66245440e-01 1.68606172e-01 1.65140605e+02] [-3.61305407e-01 9.30500208e-01 -6.02309382e-02 3.13884702e+02] [-1.78947385e-01 -5.80006115e-03 9.83841549e-01 -2.01144324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.346875 meters Centerline goodness [0,1] 0.9990810471579702 Centerline is valid? [True, True] Translation: X:165.17, Y:313.88, Z:-20.12 [[ 9.15518916e-01 3.65038434e-01 1.69032704e-01 1.65167127e+02] [-3.60061198e-01 9.30975474e-01 -6.03373892e-02 3.13877966e+02] [-1.79390768e-01 -5.62209677e-03 9.83761833e-01 -2.01185266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters Centerline goodness [0,1] 0.9989450766502816 Centerline is valid? [True, True] Translation: X:165.19, Y:313.87, Z:-20.12 [[ 9.15751525e-01 3.63684490e-01 1.70683145e-01 1.65194220e+02] [-3.58590175e-01 9.31506339e-01 -6.09017842e-02 3.13868370e+02] [-1.81141466e-01 -5.43439701e-03 9.83442035e-01 -2.01197341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.406875 meters Centerline goodness [0,1] 0.99907684686916 Centerline is valid? [True, True] Translation: X:165.22, Y:313.86, Z:-20.12 [[ 9.15546762e-01 3.63496135e-01 1.72176326e-01 1.65220925e+02] [-3.58317080e-01 9.31579527e-01 -6.13877391e-02 3.13861517e+02] [-1.82710146e-01 -5.49037247e-03 9.83151493e-01 -2.01226426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters Centerline goodness [0,1] 0.9987413467589679 Centerline is valid? [True, True] Translation: X:165.25, Y:313.86, Z:-20.12 [[ 9.14837110e-01 3.64344067e-01 1.74144947e-01 1.65248391e+02] [-3.59070252e-01 9.31246491e-01 -6.20364953e-02 3.13856771e+02] [-1.84774500e-01 -5.77698185e-03 9.82763965e-01 -2.01240069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.466875 meters Centerline goodness [0,1] 0.9983601033359542 Centerline is valid? [True, True] Translation: X:165.27, Y:313.84, Z:-20.13 [[ 9.14592382e-01 3.64434612e-01 1.75237522e-01 1.65273660e+02] [-3.59101265e-01 9.31210534e-01 -6.23957043e-02 3.13844206e+02] [-1.85922181e-01 -5.86138009e-03 9.82546990e-01 -2.01290960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters Centerline goodness [0,1] 0.9990076456392792 Centerline is valid? [True, True] Translation: X:165.30, Y:313.84, Z:-20.14 [[ 9.14512239e-01 3.64768953e-01 1.74959924e-01 1.65300484e+02] [-3.59467710e-01 9.31078960e-01 -6.22489823e-02 3.13835698e+02] [-1.85608000e-01 -5.96498721e-03 9.82605765e-01 -2.01351807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.526875 meters Centerline goodness [0,1] 0.998425090557293 Centerline is valid? [True, True] Translation: X:165.33, Y:313.83, Z:-20.14 [[ 9.14602467e-01 3.64373042e-01 1.75312904e-01 1.65327066e+02] [-3.59051906e-01 9.31234120e-01 -6.23276985e-02 3.13829446e+02] [-1.85967891e-01 -5.94136576e-03 9.82537859e-01 -2.01386861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters Centerline goodness [0,1] 0.9985376498908862 Centerline is valid? [True, True] Translation: X:165.35, Y:313.82, Z:-20.15 [[ 9.15184967e-01 3.63428788e-01 1.74229710e-01 1.65352396e+02] [-3.58160057e-01 9.31604363e-01 -6.19248267e-02 3.13816049e+02] [-1.84818423e-01 -5.72945220e-03 9.82755984e-01 -2.01454143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.586875 meters Centerline goodness [0,1] 0.9990081601370543 Centerline is valid? [True, True] Translation: X:165.38, Y:313.81, Z:-20.15 [[ 9.15605943e-01 3.62574555e-01 1.73797150e-01 1.65380161e+02] [-3.57325672e-01 9.31938022e-01 -6.17242833e-02 3.13811361e+02] [-1.84347827e-01 -5.58706280e-03 9.82845188e-01 -2.01481456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters Centerline goodness [0,1] 0.9987167364581926 Centerline is valid? [True, True] Translation: X:165.41, Y:313.80, Z:-20.15 [[ 9.16215735e-01 3.62007896e-01 1.71752762e-01 1.65406565e+02] [-3.56875898e-01 9.32159257e-01 -6.09812472e-02 3.13800385e+02] [-1.82176620e-01 -5.42244284e-03 9.83250872e-01 -2.01546326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.646875 meters Centerline goodness [0,1] 0.9990334254950884 Centerline is valid? [True, True] Translation: X:165.43, Y:313.79, Z:-20.16 [[ 9.16894618e-01 3.61353799e-01 1.69492450e-01 1.65431976e+02] [-3.56353312e-01 9.32413949e-01 -6.01377164e-02 3.13790506e+02] [-1.79768117e-01 -5.25924739e-03 9.83694955e-01 -2.01610803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters Centerline goodness [0,1] 0.9985461540182067 Centerline is valid? [True, True] Translation: X:165.46, Y:313.78, Z:-20.17 [[ 9.17183355e-01 3.61304224e-01 1.68029611e-01 1.65457132e+02] [-3.56392240e-01 9.32433395e-01 -5.96031510e-02 3.13780171e+02] [-1.78211291e-01 -5.21743129e-03 9.83978411e-01 -2.01674904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.706875 meters Centerline goodness [0,1] 0.998991167107564 Centerline is valid? [True, True] Translation: X:165.48, Y:313.77, Z:-20.18 [[ 9.17950902e-01 3.60597798e-01 1.65334117e-01 1.65481053e+02] [-3.55840429e-01 9.32707782e-01 -5.85984892e-02 3.13767478e+02] [-1.75338904e-01 -5.04202731e-03 9.84495224e-01 -2.01751933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters Centerline goodness [0,1] 0.9993949850987071 Centerline is valid? [True, True] Translation: X:165.51, Y:313.76, Z:-20.18 [[ 9.17990882e-01 3.61025129e-01 1.64175508e-01 1.65508351e+02] [-3.56350190e-01 9.32541957e-01 -5.81381148e-02 3.13759118e+02] [-1.74089870e-01 -5.13371414e-03 9.84716387e-01 -2.01809798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.766875 meters Centerline goodness [0,1] 0.9989026493180749 Centerline is valid? [True, True] Translation: X:165.53, Y:313.75, Z:-20.19 [[ 9.18154013e-01 3.60498960e-01 1.64419306e-01 1.65534992e+02] [-3.55809371e-01 9.32745767e-01 -5.81809813e-02 3.13747929e+02] [-1.74335595e-01 -5.08282822e-03 9.84673177e-01 -2.01853294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters Centerline goodness [0,1] 0.9987943737441393 Centerline is valid? [True, True] Translation: X:165.56, Y:313.74, Z:-20.19 [[ 9.17334935e-01 3.62219826e-01 1.65207189e-01 1.65561969e+02] [-3.57520579e-01 9.32076593e-01 -5.84145536e-02 3.13742443e+02] [-1.75144663e-01 -5.47925915e-03 9.84527463e-01 -2.01880026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.826875 meters Centerline goodness [0,1] 0.9987260577073509 Centerline is valid? [True, True] Translation: X:165.59, Y:313.73, Z:-20.19 [[ 9.16674172e-01 3.63604566e-01 1.65831787e-01 1.65588628e+02] [-3.58895251e-01 9.31535436e-01 -5.86168115e-02 3.13733530e+02] [-1.75791526e-01 -5.78372365e-03 9.84410427e-01 -2.01920448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters Centerline goodness [0,1] 0.998814450285203 Centerline is valid? [True, True] Translation: X:165.62, Y:313.73, Z:-20.20 [[ 9.16062043e-01 3.64478334e-01 1.67289804e-01 1.65615384e+02] [-3.59707929e-01 9.31192226e-01 -5.90867465e-02 3.13726219e+02] [-1.77314803e-01 -6.04834308e-03 9.84135599e-01 -2.01959034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.886875 meters Centerline goodness [0,1] 0.998994772818657 Centerline is valid? [True, True] Translation: X:165.64, Y:313.72, Z:-20.20 [[ 9.15953720e-01 3.63840440e-01 1.69259909e-01 1.65642675e+02] [-3.58948477e-01 9.31441885e-01 -5.97662644e-02 3.13716805e+02] [-1.79401152e-01 -6.01245423e-03 9.83757631e-01 -2.01984622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters Centerline goodness [0,1] 0.9989482870505046 Centerline is valid? [True, True] Translation: X:165.67, Y:313.71, Z:-20.20 [[ 9.15741687e-01 3.62942222e-01 1.72308170e-01 1.65670130e+02] [-3.57864159e-01 9.31792397e-01 -6.07961543e-02 3.13707919e+02] [-1.82620934e-01 -5.98934539e-03 9.83165155e-01 -2.01998744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.946875 meters Centerline goodness [0,1] 0.9988592900758236 Centerline is valid? [True, True] Translation: X:165.70, Y:313.70, Z:-20.20 [[ 9.15968404e-01 3.62058627e-01 1.72960787e-01 1.65698353e+02] [-3.56934826e-01 9.32136780e-01 -6.09799461e-02 3.13704073e+02] [-1.83301427e-01 -5.88002454e-03 9.83039171e-01 -2.02037654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters Centerline goodness [0,1] 0.9988592900758236 Centerline is valid? [True, True] Translation: X:165.72, Y:313.70, Z:-20.21 [[ 9.16060445e-01 3.61823072e-01 1.72966256e-01 1.65723793e+02] [-3.56698041e-01 9.32228430e-01 -6.09644285e-02 3.13695209e+02] [-1.83302398e-01 -5.84962325e-03 9.83039171e-01 -2.02086727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.006875 meters Centerline goodness [0,1] 0.998853236795359 Centerline is valid? [True, True] Translation: X:165.75, Y:313.68, Z:-20.21 [[ 9.16688048e-01 3.59580102e-01 1.74313433e-01 1.65749139e+02] [-3.54343735e-01 9.33098054e-01 -6.13884225e-02 3.13681957e+02] [-1.84725581e-01 -5.49284001e-03 9.82774790e-01 -2.02140236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters Centerline goodness [0,1] 0.9988810312416078 Centerline is valid? [True, True] Translation: X:165.77, Y:313.67, Z:-20.22 [[ 9.17256411e-01 3.57551559e-01 1.75492333e-01 1.65774187e+02] [-3.52215624e-01 9.33879122e-01 -6.17570957e-02 3.13668701e+02] [-1.85969972e-01 -5.16404973e-03 9.82541858e-01 -2.02186765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.066875 meters Centerline goodness [0,1] 0.9985704074338814 Centerline is valid? [True, True] Translation: X:165.80, Y:313.66, Z:-20.22 [[ 9.18004407e-01 3.54484861e-01 1.77787491e-01 1.65800196e+02] [-3.48959539e-01 9.35050193e-01 -6.25170176e-02 3.13659945e+02] [-1.88401564e-01 -4.64974315e-03 9.82081071e-01 -2.02227555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters Centerline goodness [0,1] 0.998811978839774 Centerline is valid? [True, True] Translation: X:165.83, Y:313.65, Z:-20.23 [[ 9.18226742e-01 3.53880679e-01 1.77842953e-01 1.65826434e+02] [-3.48344344e-01 9.35279532e-01 -6.25173172e-02 3.13650808e+02] [-1.88456545e-01 -4.54551418e-03 9.82071010e-01 -2.02275135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.126875 meters Centerline goodness [0,1] 0.998698676239623 Centerline is valid? [True, True] Translation: X:165.85, Y:313.64, Z:-20.23 [[ 9.18362033e-01 3.52082443e-01 1.80690700e-01 1.65852882e+02] [-3.46341968e-01 9.35959127e-01 -6.34645893e-02 3.13642285e+02] [-1.91463877e-01 -4.29730340e-03 9.81490253e-01 -2.02297835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters Centerline goodness [0,1] 0.9981403477325685 Centerline is valid? [True, True] Translation: X:165.88, Y:313.63, Z:-20.24 [[ 9.18525948e-01 3.51095433e-01 1.81774804e-01 1.65878236e+02] [-3.45270128e-01 9.36330544e-01 -6.38251567e-02 3.13631427e+02] [-1.92610022e-01 -4.13634722e-03 9.81266666e-01 -2.02359625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.186875 meters Centerline goodness [0,1] 0.9989209603452927 Centerline is valid? [True, True] Translation: X:165.90, Y:313.62, Z:-20.24 [[ 9.19032461e-01 3.49707537e-01 1.81890003e-01 1.65904476e+02] [-3.43858557e-01 9.36850804e-01 -6.38111559e-02 3.13621988e+02] [-1.92719038e-01 -3.89991037e-03 9.81246230e-01 -2.02389399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters Centerline goodness [0,1] 0.9989215421946617 Centerline is valid? [True, True] Translation: X:165.93, Y:313.61, Z:-20.25 [[ 9.19861640e-01 3.48973231e-01 1.79087261e-01 1.65930182e+02] [-3.43294402e-01 9.37125373e-01 -6.28091447e-02 3.13610511e+02] [-1.89745927e-01 -3.70393141e-03 9.81826239e-01 -2.02478225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.246875 meters Centerline goodness [0,1] 0.998971009305655 Centerline is valid? [True, True] Translation: X:165.96, Y:313.60, Z:-20.26 [[ 9.20269303e-01 3.48605636e-01 1.77703464e-01 1.65955511e+02] [-3.43016717e-01 9.37262422e-01 -6.22790764e-02 3.13599772e+02] [-1.88265616e-01 -3.64173662e-03 9.82111397e-01 -2.02552661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters Centerline goodness [0,1] 0.9989013699244411 Centerline is valid? [True, True] Translation: X:165.98, Y:313.59, Z:-20.26 [[ 9.20205365e-01 3.49569846e-01 1.76133498e-01 1.65981515e+02] [-3.44106382e-01 9.36902403e-01 -6.16821300e-02 3.13592095e+02] [-1.86582110e-01 -3.84843376e-03 9.82431833e-01 -2.02628827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.306875 meters Centerline goodness [0,1] 0.9989013699244411 Centerline is valid? [True, True] Translation: X:166.01, Y:313.58, Z:-20.27 [[ 9.20298145e-01 3.49322595e-01 1.76139292e-01 1.66006961e+02] [-3.43857811e-01 9.36994750e-01 -6.16655803e-02 3.13583276e+02] [-1.86582772e-01 -3.81615220e-03 9.82431833e-01 -2.02677882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters Centerline goodness [0,1] 0.99895159491412 Centerline is valid? [True, True] Translation: X:166.03, Y:313.57, Z:-20.27 [[ 9.19217548e-01 3.52153464e-01 1.76144935e-01 1.66033441e+02] [-3.46749833e-01 9.35931736e-01 -6.16144377e-02 3.13573123e+02] [-1.86557372e-01 -4.44115454e-03 9.82434030e-01 -2.02732952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.366875 meters Centerline goodness [0,1] 0.9988129367496864 Centerline is valid? [True, True] Translation: X:166.06, Y:313.57, Z:-20.28 [[ 9.18660948e-01 3.53595757e-01 1.76159310e-01 1.66059530e+02] [-3.48226434e-01 9.35386123e-01 -6.15723247e-02 3.13566353e+02] [-1.86548687e-01 -4.77923824e-03 9.82434093e-01 -2.02778511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters Centerline goodness [0,1] 0.9989076885351881 Centerline is valid? [True, True] Translation: X:166.09, Y:313.56, Z:-20.28 [[ 9.17970948e-01 3.55633073e-01 1.75654365e-01 1.66086216e+02] [-3.50337101e-01 9.34611161e-01 -6.13668733e-02 3.13557865e+02] [-1.85992620e-01 -5.20523428e-03 9.82537353e-01 -2.02827287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.426875 meters Centerline goodness [0,1] 0.9986413346103303 Centerline is valid? [True, True] Translation: X:166.11, Y:313.55, Z:-20.29 [[ 9.16830403e-01 3.58550980e-01 1.75679275e-01 1.66113712e+02] [-3.53309529e-01 9.33492048e-01 -6.13593810e-02 3.13547312e+02] [-1.85995672e-01 -5.81301569e-03 9.82533368e-01 -2.02875797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters Centerline goodness [0,1] 0.9992851079040257 Centerline is valid? [True, True] Translation: X:166.14, Y:313.54, Z:-20.29 [[ 9.16116277e-01 3.60096040e-01 1.76243604e-01 1.66140438e+02] [-3.54850273e-01 9.32894942e-01 -6.15492592e-02 3.13541059e+02] [-1.86580412e-01 -6.15381289e-03 9.82420419e-01 -2.02911128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.486875 meters Centerline goodness [0,1] 0.9989261985190487 Centerline is valid? [True, True] Translation: X:166.17, Y:313.53, Z:-20.29 [[ 9.15535688e-01 3.61247507e-01 1.76902919e-01 1.66166955e+02] [-3.55986660e-01 9.32447801e-01 -6.17624137e-02 3.13534889e+02] [-1.87264255e-01 -6.42938523e-03 9.82288533e-01 -2.02949919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters Centerline goodness [0,1] 0.9991730919655828 Centerline is valid? [True, True] Translation: X:166.19, Y:313.52, Z:-20.30 [[ 9.15062708e-01 3.62039471e-01 1.77729182e-01 1.66193000e+02] [-3.56747937e-01 9.32139089e-01 -6.20292580e-02 3.13522564e+02] [-1.88125357e-01 -6.64385818e-03 9.82122553e-01 -2.03001398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.546875 meters Centerline goodness [0,1] 0.9991047648888789 Centerline is valid? [True, True] Translation: X:166.22, Y:313.51, Z:-20.30 [[ 9.14992139e-01 3.62062877e-01 1.78044540e-01 1.66219588e+02] [-3.56761965e-01 9.32129553e-01 -6.20918491e-02 3.13514136e+02] [-1.88441731e-01 -6.70596584e-03 9.82061477e-01 -2.03043106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters Centerline goodness [0,1] 0.9985985674244784 Centerline is valid? [True, True] Translation: X:166.25, Y:313.51, Z:-20.31 [[ 9.15231711e-01 3.61377450e-01 1.78205651e-01 1.66246762e+02] [-3.56057432e-01 9.32396342e-01 -6.21302380e-02 3.13508436e+02] [-1.88610764e-01 -6.58788243e-03 9.82029826e-01 -2.03084948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6068750000001 meters Centerline goodness [0,1] 0.99903912761726 Centerline is valid? [True, True] Translation: X:166.27, Y:313.49, Z:-20.31 [[ 9.16072366e-01 3.59099348e-01 1.78491116e-01 1.66271306e+02] [-3.53724120e-01 9.33279061e-01 -6.22048401e-02 3.13493580e+02] [-1.88919739e-01 -6.15247783e-03 9.81973258e-01 -2.03144233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters Centerline goodness [0,1] 0.9988568866972991 Centerline is valid? [True, True] Translation: X:166.30, Y:313.49, Z:-20.32 [[ 9.16928230e-01 3.56794344e-01 1.78718821e-01 1.66297823e+02] [-3.51364746e-01 9.34165574e-01 -6.22695366e-02 3.13485977e+02] [-1.89170388e-01 -5.69879710e-03 9.81927741e-01 -2.03187357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.666875 meters Centerline goodness [0,1] 0.9985228290062668 Centerline is valid? [True, True] Translation: X:166.32, Y:313.48, Z:-20.32 [[ 9.17892435e-01 3.54278724e-01 1.78773777e-01 1.66323851e+02] [-3.48803293e-01 9.35125387e-01 -6.22637420e-02 3.13475308e+02] [-1.89234617e-01 -5.20546449e-03 9.81918104e-01 -2.03236774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters Centerline goodness [0,1] 0.9988573733028633 Centerline is valid? [True, True] Translation: X:166.35, Y:313.46, Z:-20.33 [[ 9.20481766e-01 3.47883712e-01 1.78017530e-01 1.66350730e+02] [-3.42338615e-01 9.37529646e-01 -6.19873786e-02 3.13462181e+02] [-1.88461112e-01 -3.88402305e-03 9.82072973e-01 -2.03295656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.726875 meters Centerline goodness [0,1] 0.998813840025066 Centerline is valid? [True, True] Translation: X:166.38, Y:313.45, Z:-20.34 [[ 9.21449027e-01 3.45435225e-01 1.77781317e-01 1.66376497e+02] [-3.39860840e-01 9.38436496e-01 -6.18995380e-02 3.13450212e+02] [-1.88218757e-01 -3.38363861e-03 9.82121301e-01 -2.03353146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters Centerline goodness [0,1] 0.9983657204262559 Centerline is valid? [True, True] Translation: X:166.40, Y:313.44, Z:-20.34 [[ 9.23347100e-01 3.40194129e-01 1.78039567e-01 1.66401539e+02] [-3.34515711e-01 9.40352260e-01 -6.19424486e-02 3.13439781e+02] [-1.88492367e-01 -2.36265213e-03 9.82071813e-01 -2.03400752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.786875 meters Centerline goodness [0,1] 0.9984783387039026 Centerline is valid? [True, True] Translation: X:166.43, Y:313.43, Z:-20.35 [[ 9.23816914e-01 3.39117011e-01 1.77656866e-01 1.66427685e+02] [-3.33447001e-01 9.40741731e-01 -6.17907126e-02 3.13429961e+02] [-1.88083510e-01 -2.15584394e-03 9.82150674e-01 -2.03461102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters Centerline goodness [0,1] 0.9987016184996977 Centerline is valid? [True, True] Translation: X:166.45, Y:313.42, Z:-20.35 [[ 9.23882322e-01 3.38419247e-01 1.78644533e-01 1.66453843e+02] [-3.32681853e-01 9.40993157e-01 -6.20859313e-02 3.13420639e+02] [-1.89114358e-01 -2.07170016e-03 9.81952885e-01 -2.03498509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.846875 meters Centerline goodness [0,1] 0.9990572813790627 Centerline is valid? [True, True] Translation: X:166.48, Y:313.41, Z:-20.36 [[ 9.23825391e-01 3.38209288e-01 1.79335229e-01 1.66480679e+02] [-3.32433622e-01 9.41068602e-01 -6.22717672e-02 3.13410611e+02] [-1.89827644e-01 -2.08882018e-03 9.81815208e-01 -2.03550506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters Centerline goodness [0,1] 0.9984514912812227 Centerline is valid? [True, True] Translation: X:166.51, Y:313.40, Z:-20.36 [[ 9.22657214e-01 3.40495501e-01 1.81015133e-01 1.66507626e+02] [-3.34663221e-01 9.40242466e-01 -6.28063212e-02 3.13404345e+02] [-1.91583385e-01 -2.63040192e-03 9.81472816e-01 -2.03569705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.906875 meters Centerline goodness [0,1] 0.9984977241642189 Centerline is valid? [True, True] Translation: X:166.53, Y:313.40, Z:-20.36 [[ 9.22040546e-01 3.42034288e-01 1.81256108e-01 1.66534598e+02] [-3.36220940e-01 9.39682749e-01 -6.28634321e-02 3.13396878e+02] [-1.91824687e-01 -2.97946574e-03 9.81424685e-01 -2.03604808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters Centerline goodness [0,1] 0.9984984311967727 Centerline is valid? [True, True] Translation: X:166.56, Y:313.39, Z:-20.37 [[ 9.21415060e-01 3.43704043e-01 1.81278289e-01 1.66560963e+02] [-3.37926446e-01 9.39072036e-01 -6.28444754e-02 3.13387564e+02] [-1.91833272e-01 -3.35288182e-03 9.81421802e-01 -2.03659711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.966875 meters Centerline goodness [0,1] 0.9987475398103417 Centerline is valid? [True, True] Translation: X:166.59, Y:313.38, Z:-20.37 [[ 9.19380716e-01 3.48756258e-01 1.81956509e-01 1.66588876e+02] [-3.43041823e-01 9.37202816e-01 -6.30332490e-02 3.13380106e+02] [-1.92513392e-01 -4.46713877e-03 9.81284178e-01 -2.03708629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters Centerline goodness [0,1] 0.9989494154726513 Centerline is valid? [True, True] Translation: X:166.62, Y:313.37, Z:-20.38 [[ 9.18289267e-01 3.51508502e-01 1.82171884e-01 1.66616570e+02] [-3.45836883e-01 9.36170993e-01 -6.30929706e-02 3.13373115e+02] [-1.92721749e-01 -5.06415888e-03 9.81240379e-01 -2.03751014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.026875 meters Centerline goodness [0,1] 0.9986326242406581 Centerline is valid? [True, True] Translation: X:166.64, Y:313.37, Z:-20.38 [[ 9.16803882e-01 3.55856791e-01 1.81208679e-01 1.66644637e+02] [-3.50331930e-01 9.34521511e-01 -6.27461801e-02 3.13366342e+02] [-1.91672063e-01 -5.95724490e-03 9.81440946e-01 -2.03825598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters Centerline goodness [0,1] 0.9990823840111009 Centerline is valid? [True, True] Translation: X:166.67, Y:313.35, Z:-20.39 [[ 9.16267692e-01 3.57624676e-01 1.80438656e-01 1.66669881e+02] [-3.52182725e-01 9.33844099e-01 -6.24702105e-02 3.13354205e+02] [-1.90842463e-01 -6.30794206e-03 9.81600410e-01 -2.03900500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.086875 meters Centerline goodness [0,1] 0.998686641586715 Centerline is valid? [True, True] Translation: X:166.70, Y:313.35, Z:-20.40 [[ 9.15990448e-01 3.58536976e-01 1.80035374e-01 1.66695480e+02] [-3.53145730e-01 9.33492714e-01 -6.22852003e-02 3.13346410e+02] [-1.90393257e-01 -6.52607502e-03 9.81686212e-01 -2.03965748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters Centerline goodness [0,1] 0.9989042443758666 Centerline is valid? [True, True] Translation: X:166.72, Y:313.33, Z:-20.40 [[ 9.16745137e-01 3.56851407e-01 1.79542269e-01 1.66720499e+02] [-3.51461432e-01 9.34140745e-01 -6.20961318e-02 3.13333558e+02] [-1.89876841e-01 -6.17585616e-03 9.81788492e-01 -2.04023699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.146875 meters Centerline goodness [0,1] 0.9985228620666503 Centerline is valid? [True, True] Translation: X:166.75, Y:313.33, Z:-20.41 [[ 9.18130416e-01 3.54036719e-01 1.78029609e-01 1.66746880e+02] [-3.48694132e-01 9.35214831e-01 -6.15274120e-02 3.13325780e+02] [-1.88278894e-01 -5.58769164e-03 9.82099708e-01 -2.04064847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters Centerline goodness [0,1] 0.9986137197030677 Centerline is valid? [True, True] Translation: X:166.77, Y:313.31, Z:-20.41 [[ 9.18739452e-01 3.52618215e-01 1.77702597e-01 1.66773050e+02] [-3.47272520e-01 9.35752245e-01 -6.13965245e-02 3.13313363e+02] [-1.87935137e-01 -5.30381935e-03 9.82167121e-01 -2.04116880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.206875 meters Centerline goodness [0,1] 0.9983450003354729 Centerline is valid? [True, True] Translation: X:166.80, Y:313.31, Z:-20.42 [[ 9.19400006e-01 3.51406071e-01 1.76684471e-01 1.66799033e+02] [-3.46107641e-01 9.36209439e-01 -6.10031693e-02 3.13305421e+02] [-1.86850553e-01 -5.06553125e-03 9.82375290e-01 -2.04170650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters Centerline goodness [0,1] 0.998617675911888 Centerline is valid? [True, True] Translation: X:166.82, Y:313.29, Z:-20.42 [[ 9.20505867e-01 3.49108632e-01 1.75476815e-01 1.66823547e+02] [-3.43844564e-01 9.37071060e-01 -6.05701541e-02 3.13291609e+02] [-1.85579808e-01 -4.58156657e-03 9.82618514e-01 -2.04241422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.266875 meters Centerline goodness [0,1] 0.9981545302946081 Centerline is valid? [True, True] Translation: X:166.85, Y:313.28, Z:-20.43 [[ 9.21211644e-01 3.47388606e-01 1.75186366e-01 1.66848957e+02] [-3.42113921e-01 9.37711666e-01 -6.04557372e-02 3.13280867e+02] [-1.85275934e-01 -4.24116572e-03 9.82677384e-01 -2.04303928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters Centerline goodness [0,1] 0.9985548811667667 Centerline is valid? [True, True] Translation: X:166.87, Y:313.27, Z:-20.44 [[ 9.22037995e-01 3.44864571e-01 1.75824810e-01 1.66874025e+02] [-3.39514260e-01 9.38644795e-01 -6.06301635e-02 3.13267125e+02] [-1.85946238e-01 -3.79171601e-03 9.82552604e-01 -2.04368580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.326875 meters Centerline goodness [0,1] 0.9983362541316356 Centerline is valid? [True, True] Translation: X:166.90, Y:313.26, Z:-20.44 [[ 9.23202209e-01 3.41974966e-01 1.75359070e-01 1.66899348e+02] [-3.36610260e-01 9.39703460e-01 -6.04230093e-02 3.13255156e+02] [-1.85448681e-01 -3.24500626e-03 9.82648593e-01 -2.04421425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters Centerline goodness [0,1] 0.9986489778742442 Centerline is valid? [True, True] Translation: X:166.93, Y:313.25, Z:-20.45 [[ 9.23537695e-01 3.40639726e-01 1.76189397e-01 1.66925177e+02] [-3.35208501e-01 9.40189001e-01 -6.06622050e-02 3.13245597e+02] [-1.86315290e-01 -3.03635082e-03 9.82485314e-01 -2.04473647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.386875 meters Centerline goodness [0,1] 0.9989383584367328 Centerline is valid? [True, True] Translation: X:166.95, Y:313.24, Z:-20.45 [[ 9.23400509e-01 3.40648742e-01 1.76889614e-01 1.66951638e+02] [-3.35177580e-01 9.40185631e-01 -6.08848904e-02 3.13235892e+02] [-1.87049434e-01 -3.06829372e-03 9.82345710e-01 -2.04516743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters Centerline goodness [0,1] 0.998718401979848 Centerline is valid? [True, True] Translation: X:166.98, Y:313.23, Z:-20.46 [[ 9.22742586e-01 3.42666487e-01 1.76425052e-01 1.66978468e+02] [-3.37269438e-01 9.39450557e-01 -6.06792996e-02 3.13231022e+02] [-1.86535375e-01 -3.51140411e-03 9.82441970e-01 -2.04559494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.446875 meters Centerline goodness [0,1] 0.9986451670220327 Centerline is valid? [True, True] Translation: X:167.01, Y:313.23, Z:-20.46 [[ 9.20047399e-01 3.48768617e-01 1.78530771e-01 1.67009803e+02] [-3.43358130e-01 9.37196449e-01 -6.13841238e-02 3.13229275e+02] [-1.88727260e-01 -4.82368808e-03 9.82017695e-01 -2.04602163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters Centerline goodness [0,1] 0.9986657771847899 Centerline is valid? [True, True] Translation: X:167.04, Y:313.22, Z:-20.46 [[ 9.18738163e-01 3.51573189e-01 1.79767853e-01 1.67038005e+02] [-3.46140276e-01 9.36144595e-01 -6.18078224e-02 3.13224630e+02] [-1.90018677e-01 -5.43968901e-03 9.81765406e-01 -2.04634723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.506875 meters Centerline goodness [0,1] 0.9983974358974359 Centerline is valid? [True, True] Translation: X:167.07, Y:313.22, Z:-20.47 [[ 9.17660222e-01 3.53760789e-01 1.80977959e-01 1.67066022e+02] [-3.48298535e-01 9.35317032e-01 -6.22107778e-02 3.13217845e+02] [-1.91279502e-01 -5.94600201e-03 9.81517599e-01 -2.04679411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters Centerline goodness [0,1] 0.9988640413399857 Centerline is valid? [True, True] Translation: X:167.09, Y:313.21, Z:-20.48 [[ 9.16705159e-01 3.55839785e-01 1.81740744e-01 1.67093056e+02] [-3.50373374e-01 9.34524944e-01 -6.24630191e-02 3.13209072e+02] [-1.92068086e-01 -6.41694564e-03 9.81360623e-01 -2.04751518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.566875 meters Centerline goodness [0,1] 0.9980111731843575 Centerline is valid? [True, True] Translation: X:167.12, Y:313.20, Z:-20.48 [[ 9.16810766e-01 3.55945076e-01 1.81000337e-01 1.67117953e+02] [-3.50527790e-01 9.34484803e-01 -6.21966403e-02 3.13202181e+02] [-1.91280652e-01 -6.42309859e-03 9.81514369e-01 -2.04820091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters Centerline goodness [0,1] 0.9981911971595097 Centerline is valid? [True, True] Translation: X:167.14, Y:313.19, Z:-20.49 [[ 9.17134579e-01 3.55284566e-01 1.80657250e-01 1.67143309e+02] [-3.49882584e-01 9.34736902e-01 -6.20411200e-02 3.13190001e+02] [-1.90909250e-01 -6.30876884e-03 9.81587417e-01 -2.04889923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.626875 meters Centerline goodness [0,1] 0.9982818636201357 Centerline is valid? [True, True] Translation: X:167.17, Y:313.19, Z:-20.49 [[ 9.17820540e-01 3.54127291e-01 1.79441682e-01 1.67170401e+02] [-3.48785359e-01 9.35177533e-01 -6.15772240e-02 3.13185246e+02] [-1.89616005e-01 -6.06979042e-03 9.81839563e-01 -2.04938240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters Centerline goodness [0,1] 0.9985725756088857 Centerline is valid? [True, True] Translation: X:167.20, Y:313.17, Z:-20.50 [[ 9.18347101e-01 3.53191469e-01 1.78590000e-01 1.67196663e+02] [-3.47886508e-01 9.35532675e-01 -6.12665558e-02 3.13173878e+02] [-1.88715606e-01 -5.86508764e-03 9.82014267e-01 -2.05003269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.686875 meters Centerline goodness [0,1] 0.9984363831308077 Centerline is valid? [True, True] Translation: X:167.22, Y:313.17, Z:-20.51 [[ 9.18576386e-01 3.53401254e-01 1.76988634e-01 1.67222712e+02] [-3.48203756e-01 9.35453264e-01 -6.06739979e-02 3.13166713e+02] [-1.87006862e-01 -5.89440554e-03 9.82340923e-01 -2.05064889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters Centerline goodness [0,1] 0.9981947849342545 Centerline is valid? [True, True] Translation: X:167.25, Y:313.16, Z:-20.51 [[ 9.18843086e-01 3.53272401e-01 1.75857880e-01 1.67248831e+02] [-3.48148928e-01 9.35502035e-01 -6.02350898e-02 3.13160019e+02] [-1.85794800e-01 -5.87813675e-03 9.82570985e-01 -2.05118786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.746875 meters Centerline goodness [0,1] 0.9981505414679799 Centerline is valid? [True, True] Translation: X:167.28, Y:313.15, Z:-20.52 [[ 9.17908533e-01 3.56188139e-01 1.74854038e-01 1.67275046e+02] [-3.51180150e-01 9.34391982e-01 -5.98675647e-02 3.13148104e+02] [-1.84706327e-01 -6.45231871e-03 9.82772578e-01 -2.05212959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters Centerline goodness [0,1] 0.9982905603409999 Centerline is valid? [True, True] Translation: X:167.30, Y:313.14, Z:-20.53 [[ 9.17754269e-01 3.56789869e-01 1.74436498e-01 1.67300774e+02] [-3.51817975e-01 9.34161606e-01 -5.97177127e-02 3.13140003e+02] [-1.84258554e-01 -6.56370974e-03 9.82855891e-01 -2.05269948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.806875 meters Centerline goodness [0,1] 0.9985786937307068 Centerline is valid? [True, True] Translation: X:167.33, Y:313.13, Z:-20.53 [[ 9.15830612e-01 3.61513093e-01 1.74821550e-01 1.67329472e+02] [-3.56607100e-01 9.32336500e-01 -5.98333190e-02 3.13134135e+02] [-1.84623040e-01 -7.54542076e-03 9.82780443e-01 -2.05308226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters Centerline goodness [0,1] 0.9987742093650405 Centerline is valid? [True, True] Translation: X:167.36, Y:313.13, Z:-20.54 [[ 9.14322566e-01 3.64977330e-01 1.75515791e-01 1.67358980e+02] [-3.60096445e-01 9.30979541e-01 -6.00636664e-02 3.13128289e+02] [-1.85323487e-01 -8.28504671e-03 9.82642643e-01 -2.05351151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.866875 meters Centerline goodness [0,1] 0.998374599216245 Centerline is valid? [True, True] Translation: X:167.39, Y:313.12, Z:-20.54 [[ 9.13195636e-01 3.67360269e-01 1.76409081e-01 1.67386698e+02] [-3.62474589e-01 9.30036888e-01 -6.03619083e-02 3.13118310e+02] [-1.86241519e-01 -8.82157767e-03 9.82464389e-01 -2.05393944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters Centerline goodness [0,1] 0.998374599216245 Centerline is valid? [True, True] Translation: X:167.41, Y:313.11, Z:-20.54 [[ 9.13292166e-01 3.67118982e-01 1.76411658e-01 1.67412229e+02] [-3.62230304e-01 9.30132548e-01 -6.03543741e-02 3.13109665e+02] [-1.86243461e-01 -8.78047132e-03 9.82464389e-01 -2.05443000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.926875 meters Centerline goodness [0,1] 0.9977045819219112 Centerline is valid? [True, True] Translation: X:167.44, Y:313.11, Z:-20.55 [[ 9.11629571e-01 3.70754135e-01 1.77406021e-01 1.67441439e+02] [-3.65887506e-01 9.28681165e-01 -6.06434428e-02 3.13105845e+02] [-1.87237438e-01 -9.62629083e-03 9.82267518e-01 -2.05479829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters Centerline goodness [0,1] 0.9985501104146685 Centerline is valid? [True, True] Translation: X:167.47, Y:313.09, Z:-20.55 [[ 9.11152748e-01 3.71912672e-01 1.77430649e-01 1.67467309e+02] [-3.67068130e-01 9.28215201e-01 -6.06426267e-02 3.13094762e+02] [-1.87247587e-01 -9.87444066e-03 9.82263120e-01 -2.05525328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.986875 meters Centerline goodness [0,1] 0.998037729117424 Centerline is valid? [True, True] Translation: X:167.50, Y:313.09, Z:-20.56 [[ 9.10978886e-01 3.72049982e-01 1.78034493e-01 1.67495365e+02] [-3.67183541e-01 9.28159036e-01 -6.08033838e-02 3.13090686e+02] [-1.87866221e-01 -9.98073666e-03 9.82143914e-01 -2.05558142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters Centerline goodness [0,1] 0.9982181437512528 Centerline is valid? [True, True] Translation: X:167.52, Y:313.08, Z:-20.56 [[ 9.11126392e-01 3.71589221e-01 1.78241827e-01 1.67521998e+02] [-3.66706131e-01 9.28344305e-01 -6.08561021e-02 3.13079961e+02] [-1.88083257e-01 -9.91477019e-03 9.82103042e-01 -2.05606904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.046875 meters Centerline goodness [0,1] 0.9984386849266181 Centerline is valid? [True, True] Translation: X:167.55, Y:313.07, Z:-20.57 [[ 9.12730713e-01 3.67995783e-01 1.77487320e-01 1.67548550e+02] [-3.63095297e-01 9.29782195e-01 -6.05547337e-02 3.13068474e+02] [-1.87308436e-01 -9.17464562e-03 9.82258304e-01 -2.05673205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters Centerline goodness [0,1] 0.9983060669549325 Centerline is valid? [True, True] Translation: X:167.58, Y:313.06, Z:-20.57 [[ 9.14122419e-01 3.64727808e-01 1.77070127e-01 1.67575420e+02] [-3.59791017e-01 9.31075480e-01 -6.04059175e-02 3.13060125e+02] [-1.86897371e-01 -8.48983767e-03 9.82342759e-01 -2.05723211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1068750000001 meters Centerline goodness [0,1] 0.9982797908940619 Centerline is valid? [True, True] Translation: X:167.60, Y:313.05, Z:-20.58 [[ 9.15148681e-01 3.62051716e-01 1.77260956e-01 1.67603105e+02] [-3.57055627e-01 9.32124045e-01 -6.04652253e-02 3.13048881e+02] [-1.87120738e-01 -7.95735085e-03 9.82304693e-01 -2.05777617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters Centerline goodness [0,1] 0.9988377550792338 Centerline is valid? [True, True] Translation: X:167.63, Y:313.04, Z:-20.58 [[ 9.16701185e-01 3.56934975e-01 1.79600559e-01 1.67629455e+02] [-3.51709691e-01 9.34102889e-01 -6.12542667e-02 3.13035274e+02] [-1.89629191e-01 -7.01539816e-03 9.81830716e-01 -2.05820347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.166875 meters Centerline goodness [0,1] 0.9981201745552198 Centerline is valid? [True, True] Translation: X:167.66, Y:313.03, Z:-20.58 [[ 9.17205893e-01 3.55070071e-01 1.80716888e-01 1.67656709e+02] [-3.49744822e-01 9.34815824e-01 -6.16273828e-02 3.13028667e+02] [-1.90819046e-01 -6.67979728e-03 9.81602502e-01 -2.05847448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters Centerline goodness [0,1] 0.9984818378692148 Centerline is valid? [True, True] Translation: X:167.68, Y:313.02, Z:-20.59 [[ 9.17934062e-01 3.52417154e-01 1.82206494e-01 1.67682673e+02] [-3.46954881e-01 9.35822493e-01 -6.21174134e-02 3.13015343e+02] [-1.92404178e-01 -6.19774296e-03 9.81296194e-01 -2.05895846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.226875 meters Centerline goodness [0,1] 0.9981866618907967 Centerline is valid? [True, True] Translation: X:167.71, Y:313.01, Z:-20.59 [[ 9.18762612e-01 3.50024560e-01 1.82641918e-01 1.67707784e+02] [-3.44493881e-01 9.36722975e-01 -6.22417333e-02 3.13005118e+02] [-1.92871016e-01 -5.73364564e-03 9.81207367e-01 -2.05947176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters Centerline goodness [0,1] 0.998321434166648 Centerline is valid? [True, True] Translation: X:167.73, Y:313.00, Z:-20.60 [[ 9.18586624e-01 3.50428857e-01 1.82751829e-01 1.67734898e+02] [-3.44904632e-01 9.36571098e-01 -6.22524962e-02 3.12996557e+02] [-1.92975152e-01 -5.84764212e-03 9.81186219e-01 -2.05987798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.286875 meters Centerline goodness [0,1] 0.9987675622381069 Centerline is valid? [True, True] Translation: X:167.76, Y:312.99, Z:-20.60 [[ 9.17343656e-01 3.53059459e-01 1.83928340e-01 1.67763121e+02] [-3.47524495e-01 9.35578401e-01 -6.26081484e-02 3.12988814e+02] [-1.94183782e-01 -6.48641582e-03 9.80943722e-01 -2.06028190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters Centerline goodness [0,1] 0.9982627675449341 Centerline is valid? [True, True] Translation: X:167.79, Y:312.98, Z:-20.61 [[ 9.16832966e-01 3.54646724e-01 1.83420317e-01 1.67790340e+02] [-3.49175425e-01 9.34975573e-01 -6.24275664e-02 3.12983017e+02] [-1.93633248e-01 -6.81021627e-03 9.81050348e-01 -2.06070068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.346875 meters Centerline goodness [0,1] 0.998771745684361 Centerline is valid? [True, True] Translation: X:167.82, Y:312.97, Z:-20.61 [[ 9.16277063e-01 3.56075551e-01 1.83429947e-01 1.67815469e+02] [-3.50635825e-01 9.34429960e-01 -6.24112880e-02 3.12970514e+02] [-1.93625572e-01 -7.13107926e-03 9.81049584e-01 -2.06147655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters Centerline goodness [0,1] 0.9982821319411909 Centerline is valid? [True, True] Translation: X:167.84, Y:312.97, Z:-20.62 [[ 9.16126032e-01 3.57575470e-01 1.81253625e-01 1.67842491e+02] [-3.52302970e-01 9.33854924e-01 -6.16246524e-02 3.12965857e+02] [-1.91300054e-01 -7.40024208e-03 9.81503706e-01 -2.06197537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.406875 meters Centerline goodness [0,1] 0.9985302632164966 Centerline is valid? [True, True] Translation: X:167.87, Y:312.96, Z:-20.63 [[ 9.14599820e-01 3.63031244e-01 1.78088417e-01 1.67870138e+02] [-3.58047619e-01 9.31739092e-01 -6.05323715e-02 3.12958104e+02] [-1.87907082e-01 -8.40123743e-03 9.82150878e-01 -2.06280124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters Centerline goodness [0,1] 0.9976470065928211 Centerline is valid? [True, True] Translation: X:167.90, Y:312.95, Z:-20.63 [[ 9.13303516e-01 3.66658563e-01 1.77308166e-01 1.67898149e+02] [-3.61787446e-01 9.30310959e-01 -6.02608043e-02 3.12953254e+02] [-1.87046870e-01 -9.11146423e-03 9.82308734e-01 -2.06333767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.466875 meters Centerline goodness [0,1] 0.9977933309557775 Centerline is valid? [True, True] Translation: X:167.93, Y:312.95, Z:-20.64 [[ 9.12019039e-01 3.69708493e-01 1.77586326e-01 1.67926293e+02] [-3.64880487e-01 9.29096541e-01 -6.03477251e-02 3.12945342e+02] [-1.87305908e-01 -9.75951107e-03 9.82253149e-01 -2.06380515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters Centerline goodness [0,1] 0.9970777192825913 Centerline is valid? [True, True] Translation: X:167.96, Y:312.94, Z:-20.64 [[ 9.09362814e-01 3.76813577e-01 1.76269114e-01 1.67956289e+02] [-3.72189836e-01 9.26222126e-01 -5.98940725e-02 3.12941606e+02] [-1.85833253e-01 -1.11401303e-02 9.82518142e-01 -2.06422419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.526875 meters Centerline goodness [0,1] 0.9964197005974624 Centerline is valid? [True, True] Translation: X:167.98, Y:312.93, Z:-20.65 [[ 9.08203017e-01 3.79990786e-01 1.75426004e-01 1.67984877e+02] [-3.75471260e-01 9.24915782e-01 -5.95997400e-02 3.12934066e+02] [-1.84901631e-01 -1.17387591e-02 9.82686923e-01 -2.06486476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters Centerline goodness [0,1] 0.9967960207922567 Centerline is valid? [True, True] Translation: X:168.01, Y:312.92, Z:-20.66 [[ 9.06685846e-01 3.83929435e-01 1.74696780e-01 1.68011493e+02] [-3.79520491e-01 9.23277932e-01 -5.93469307e-02 3.12922795e+02] [-1.84078715e-01 -1.24919856e-02 9.82832120e-01 -2.06555221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.586875 meters Centerline goodness [0,1] 0.9949224953586686 Centerline is valid? [True, True] Translation: X:168.04, Y:312.92, Z:-20.66 [[ 9.06774522e-01 3.83454086e-01 1.75279579e-01 1.68037773e+02] [-3.79007754e-01 9.23476113e-01 -5.95398185e-02 3.12916130e+02] [-1.84697291e-01 -1.24431290e-02 9.82716683e-01 -2.06596713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters Centerline goodness [0,1] 0.9966753687216904 Centerline is valid? [True, True] Translation: X:168.06, Y:312.90, Z:-20.66 [[ 9.07407781e-01 3.81602555e-01 1.76041496e-01 1.68064674e+02] [-3.77085922e-01 9.24246841e-01 -5.97828126e-02 3.12902311e+02] [-1.85519070e-01 -1.21353805e-02 9.82565727e-01 -2.06634885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.646875 meters Centerline goodness [0,1] 0.9974508050089446 Centerline is valid? [True, True] Translation: X:168.09, Y:312.89, Z:-20.67 [[ 9.08964075e-01 3.78643374e-01 1.74394686e-01 1.68093134e+02] [-3.74158990e-01 9.25472107e-01 -5.92151143e-02 3.12894297e+02] [-1.83818828e-01 -1.14269278e-02 9.82893719e-01 -2.06679193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters Centerline goodness [0,1] 0.9982085274095306 Centerline is valid? [True, True] Translation: X:168.12, Y:312.88, Z:-20.67 [[ 9.09409384e-01 3.78244306e-01 1.72932987e-01 1.68119360e+02] [-3.73828978e-01 9.25637413e-01 -5.87134959e-02 3.12882739e+02] [-1.82281288e-01 -1.12527578e-02 9.83182032e-01 -2.06737467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.706875 meters Centerline goodness [0,1] 0.9977600071679771 Centerline is valid? [True, True] Translation: X:168.15, Y:312.88, Z:-20.68 [[ 9.09991624e-01 3.77075941e-01 1.72420937e-01 1.68146151e+02] [-3.72674384e-01 9.26116700e-01 -5.84949714e-02 3.12876778e+02] [-1.81738956e-01 -1.10269325e-02 9.83284984e-01 -2.06802830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters Centerline goodness [0,1] 0.9980785987175763 Centerline is valid? [True, True] Translation: X:168.17, Y:312.86, Z:-20.69 [[ 9.10951156e-01 3.74337363e-01 1.73319158e-01 1.68172205e+02] [-3.69843650e-01 9.27232544e-01 -5.87833730e-02 3.12861974e+02] [-1.82711976e-01 -1.05522083e-02 9.83109854e-01 -2.06859764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.766875 meters Centerline goodness [0,1] 0.9986387878517394 Centerline is valid? [True, True] Translation: X:168.20, Y:312.85, Z:-20.69 [[ 9.13170859e-01 3.69526437e-01 1.71956954e-01 1.68199020e+02] [-3.65022794e-01 9.29171349e-01 -5.83006348e-02 3.12849217e+02] [-1.81321101e-01 -9.52976706e-03 9.83377772e-01 -2.06928776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters Centerline goodness [0,1] 0.9986610430474661 Centerline is valid? [True, True] Translation: X:168.22, Y:312.84, Z:-20.70 [[ 9.14024194e-01 3.67701295e-01 1.71334555e-01 1.68224756e+02] [-3.63199035e-01 9.29899084e-01 -5.80874761e-02 3.12840777e+02] [-1.80682686e-01 -9.13518647e-03 9.83499016e-01 -2.06978016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.826875 meters Centerline goodness [0,1] 0.9983088938830912 Centerline is valid? [True, True] Translation: X:168.25, Y:312.83, Z:-20.70 [[ 9.14739814e-01 3.66290428e-01 1.70535613e-01 1.68252428e+02] [-3.61808897e-01 9.30458693e-01 -5.78008868e-02 3.12832266e+02] [-1.79848255e-01 -8.82852968e-03 9.83654747e-01 -2.07022441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters Centerline goodness [0,1] 0.9988836295436277 Centerline is valid? [True, True] Translation: X:168.28, Y:312.82, Z:-20.70 [[ 9.15491504e-01 3.63710753e-01 1.72016841e-01 1.68280738e+02] [-3.59113021e-01 9.31473747e-01 -5.82623092e-02 3.12822158e+02] [-1.81419800e-01 -8.43483836e-03 9.83369569e-01 -2.07040241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.886875 meters Centerline goodness [0,1] 0.9987481557651898 Centerline is valid? [True, True] Translation: X:168.31, Y:312.81, Z:-20.71 [[ 9.15925460e-01 3.62732204e-01 1.71772814e-01 1.68306982e+02] [-3.58132209e-01 9.31857014e-01 -5.81706737e-02 3.12813377e+02] [-1.81168078e-01 -8.23737628e-03 9.83417649e-01 -2.07092837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters Centerline goodness [0,1] 0.9985265554885808 Centerline is valid? [True, True] Translation: X:168.33, Y:312.80, Z:-20.72 [[ 9.16041128e-01 3.62443688e-01 1.71765029e-01 1.68332400e+02] [-3.57847180e-01 9.31969409e-01 -5.81241452e-02 3.12802434e+02] [-1.81146482e-01 -8.22152377e-03 9.83421760e-01 -2.07160067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.946875 meters Centerline goodness [0,1] 0.9988635603984224 Centerline is valid? [True, True] Translation: X:168.36, Y:312.79, Z:-20.72 [[ 9.15684914e-01 3.63712303e-01 1.70980990e-01 1.68358699e+02] [-3.59188881e-01 9.31472736e-01 -5.78090870e-02 3.12793300e+02] [-1.80290007e-01 -8.47956171e-03 9.83576947e-01 -2.07230459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters Centerline goodness [0,1] 0.9984204671857619 Centerline is valid? [True, True] Translation: X:168.39, Y:312.79, Z:-20.72 [[ 9.14050515e-01 3.66060393e-01 1.74675255e-01 1.68388190e+02] [-3.61389013e-01 9.30545770e-01 -5.90131521e-02 3.12791277e+02] [-1.84145697e-01 -9.18471583e-03 9.82856044e-01 -2.07219666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.006875 meters Centerline goodness [0,1] 0.9979943842759728 Centerline is valid? [True, True] Translation: X:168.42, Y:312.78, Z:-20.72 [[ 9.12828341e-01 3.67466492e-01 1.78080871e-01 1.68416073e+02] [-3.62638996e-01 9.29986471e-01 -6.01508343e-02 3.12780413e+02] [-1.87716216e-01 -9.67168172e-03 9.82175687e-01 -2.07236647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters Centerline goodness [0,1] 0.9977057067759612 Centerline is valid? [True, True] Translation: X:168.44, Y:312.78, Z:-20.73 [[ 9.12059332e-01 3.68818826e-01 1.79221785e-01 1.68444950e+02] [-3.63956015e-01 9.29447267e-01 -6.05293026e-02 3.12778307e+02] [-1.88901545e-01 -1.00225314e-02 9.81944884e-01 -2.07259564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.066875 meters Centerline goodness [0,1] 0.9987980769230769 Centerline is valid? [True, True] Translation: X:168.47, Y:312.76, Z:-20.74 [[ 9.11948950e-01 3.70249293e-01 1.76817910e-01 1.68467339e+02] [-3.65545954e-01 9.28876555e-01 -5.97034489e-02 3.12759656e+02] [-1.86347171e-01 -1.01885740e-02 9.82431130e-01 -2.07367153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters Centerline goodness [0,1] 0.9982428434796148 Centerline is valid? [True, True] Translation: X:168.49, Y:312.75, Z:-20.74 [[ 9.11915012e-01 3.70922038e-01 1.75578622e-01 1.68494103e+02] [-3.66305469e-01 9.28606962e-01 -5.92403014e-02 3.12753780e+02] [-1.85017064e-01 -1.02932893e-02 9.82681400e-01 -2.07430953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.126875 meters Centerline goodness [0,1] 0.997907390917186 Centerline is valid? [True, True] Translation: X:168.52, Y:312.75, Z:-20.75 [[ 9.12286418e-01 3.69972665e-01 1.75652269e-01 1.68521505e+02] [-3.65338064e-01 9.28987505e-01 -5.92479023e-02 3.12747363e+02] [-1.85098867e-01 -1.01214034e-02 9.82667780e-01 -2.07467331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters Centerline goodness [0,1] 0.9990865341769896 Centerline is valid? [True, True] Translation: X:168.55, Y:312.74, Z:-20.75 [[ 9.12816811e-01 3.68800690e-01 1.75361114e-01 1.68547375e+02] [-3.64168475e-01 9.29455685e-01 -5.91054220e-02 3.12735077e+02] [-1.84788505e-01 -9.90856648e-03 9.82728360e-01 -2.07510539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.186875 meters Centerline goodness [0,1] 0.9987090743172561 Centerline is valid? [True, True] Translation: X:168.57, Y:312.73, Z:-20.76 [[ 9.13273235e-01 3.68119738e-01 1.74412894e-01 1.68574643e+02] [-3.63533846e-01 9.29727182e-01 -5.87410421e-02 3.12726006e+02] [-1.83780145e-01 -9.75836854e-03 9.82918935e-01 -2.07564752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters Centerline goodness [0,1] 0.9989104089301994 Centerline is valid? [True, True] Translation: X:168.60, Y:312.72, Z:-20.76 [[ 9.13361656e-01 3.68731455e-01 1.72648777e-01 1.68600866e+02] [-3.64256602e-01 9.29484135e-01 -5.81065486e-02 3.12720228e+02] [-1.81900011e-01 -9.81616345e-03 9.83268035e-01 -2.07628341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.246875 meters Centerline goodness [0,1] 0.998684943720049 Centerline is valid? [True, True] Translation: X:168.63, Y:312.71, Z:-20.77 [[ 9.13776572e-01 3.68179832e-01 1.71627471e-01 1.68625937e+02] [-3.63751327e-01 9.29704394e-01 -5.77469726e-02 3.12707616e+02] [-1.80824085e-01 -9.66188971e-03 9.83467996e-01 -2.07715257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters Centerline goodness [0,1] 0.9983986477469864 Centerline is valid? [True, True] Translation: X:168.65, Y:312.69, Z:-20.78 [[ 9.13300680e-01 3.68728173e-01 1.72978037e-01 1.68651002e+02] [-3.64247210e-01 9.29484637e-01 -5.81573705e-02 3.12694506e+02] [-1.82224689e-01 -9.89160139e-03 9.83207160e-01 -2.07758566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.306875 meters Centerline goodness [0,1] 0.9982674751782501 Centerline is valid? [True, True] Translation: X:168.68, Y:312.69, Z:-20.78 [[ 9.12228157e-01 3.70986215e-01 1.73807417e-01 1.68680388e+02] [-3.66505422e-01 9.28580035e-01 -5.84199853e-02 3.12692332e+02] [-1.83067107e-01 -1.04090052e-02 9.83045313e-01 -2.07780296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters Centerline goodness [0,1] 0.9989136459372575 Centerline is valid? [True, True] Translation: X:168.71, Y:312.68, Z:-20.78 [[ 9.11697136e-01 3.72920518e-01 1.72448889e-01 1.68707359e+02] [-3.68545745e-01 9.27801375e-01 -5.79537992e-02 3.12681991e+02] [-1.81610477e-01 -1.07189914e-02 9.83312126e-01 -2.07830516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.366875 meters Centerline goodness [0,1] 0.9988453937873304 Centerline is valid? [True, True] Translation: X:168.74, Y:312.67, Z:-20.79 [[ 9.10687497e-01 3.75973428e-01 1.71149831e-01 1.68735379e+02] [-3.71719487e-01 9.26562175e-01 -5.75079019e-02 3.12674841e+02] [-1.80202402e-01 -1.12480000e-02 9.83565238e-01 -2.07896664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters Centerline goodness [0,1] 0.9987351041874709 Centerline is valid? [True, True] Translation: X:168.76, Y:312.66, Z:-20.79 [[ 9.10266703e-01 3.76601207e-01 1.72005988e-01 1.68761178e+02] [-3.72316549e-01 9.26304882e-01 -5.77897317e-02 3.12661620e+02] [-1.81093669e-01 -1.14366070e-02 9.83399353e-01 -2.07941015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.426875 meters Centerline goodness [0,1] 0.9986423022991832 Centerline is valid? [True, True] Translation: X:168.79, Y:312.66, Z:-20.80 [[ 9.08659232e-01 3.79722429e-01 1.73635471e-01 1.68790101e+02] [-3.75420456e-01 9.25019768e-01 -5.82916017e-02 3.12656966e+02] [-1.82750871e-01 -1.22191056e-02 9.83083319e-01 -2.07960136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters Centerline goodness [0,1] 0.9984023432299295 Centerline is valid? [True, True] Translation: X:168.82, Y:312.65, Z:-20.80 [[ 9.07958847e-01 3.80891902e-01 1.74734346e-01 1.68817027e+02] [-3.76558008e-01 9.24534481e-01 -5.86520191e-02 3.12645832e+02] [-1.83888007e-01 -1.25439976e-02 9.82867157e-01 -2.07991721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.486875 meters Centerline goodness [0,1] 0.998062188168211 Centerline is valid? [True, True] Translation: X:168.85, Y:312.64, Z:-20.80 [[ 9.07390453e-01 3.82324608e-01 1.74557899e-01 1.68845502e+02] [-3.78027469e-01 9.23939003e-01 -5.85828644e-02 3.12642289e+02] [-1.83678522e-01 -1.28301489e-02 9.82902634e-01 -2.08025202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters Centerline goodness [0,1] 0.9970853265101791 Centerline is valid? [True, True] Translation: X:168.87, Y:312.63, Z:-20.81 [[ 9.07305332e-01 3.82047241e-01 1.75604498e-01 1.68871062e+02] [-3.77695818e-01 9.24053216e-01 -5.89196292e-02 3.12632622e+02] [-1.84777983e-01 -1.28669908e-02 9.82696056e-01 -2.08063490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.546875 meters Centerline goodness [0,1] 0.9982870998598536 Centerline is valid? [True, True] Translation: X:168.90, Y:312.62, Z:-20.81 [[ 9.07357721e-01 3.81597822e-01 1.76309579e-01 1.68896543e+02] [-3.77212655e-01 9.24238755e-01 -5.91044503e-02 3.12618574e+02] [-1.85506276e-01 -1.28773253e-02 9.82558699e-01 -2.08110400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters Centerline goodness [0,1] 0.9956569188623354 Centerline is valid? [True, True] Translation: X:168.93, Y:312.62, Z:-20.81 [[ 9.07000722e-01 3.82435768e-01 1.76330863e-01 1.68925709e+02] [-3.78073912e-01 9.23889296e-01 -5.90651077e-02 3.12619848e+02] [-1.85498807e-01 -1.30940039e-02 9.82557245e-01 -2.08142174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6068750000001 meters Centerline goodness [0,1] 0.9950340711708903 Centerline is valid? [True, True] Translation: X:168.95, Y:312.61, Z:-20.82 [[ 9.06834883e-01 3.82661668e-01 1.76693359e-01 1.68951497e+02] [-3.78291558e-01 9.23794306e-01 -5.91572264e-02 3.12609594e+02] [-1.85865522e-01 -1.31957696e-02 9.82486580e-01 -2.08199930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters Centerline goodness [0,1] 0.9984626696076465 Centerline is valid? [True, True] Translation: X:168.98, Y:312.60, Z:-20.83 [[ 9.07227050e-01 3.81913626e-01 1.76298218e-01 1.68976171e+02] [-3.77553817e-01 9.24106089e-01 -5.90004321e-02 3.12595985e+02] [-1.85451326e-01 -1.30352771e-02 9.82566989e-01 -2.08257754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.666875 meters Centerline goodness [0,1] 0.9984635938543754 Centerline is valid? [True, True] Translation: X:169.00, Y:312.59, Z:-20.83 [[ 9.07478817e-01 3.80896333e-01 1.77200961e-01 1.69003625e+02] [-3.76481083e-01 9.24527223e-01 -5.92571338e-02 3.12586780e+02] [-1.86397937e-01 -1.29382162e-02 9.82389134e-01 -2.08293932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters Centerline goodness [0,1] 0.998177332236769 Centerline is valid? [True, True] Translation: X:169.03, Y:312.58, Z:-20.83 [[ 9.08387786e-01 3.78507374e-01 1.77662034e-01 1.69031625e+02] [-3.74028244e-01 9.25513831e-01 -5.93887230e-02 3.12579572e+02] [-1.86907739e-01 -1.25026280e-02 9.82297909e-01 -2.08319610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.726875 meters Centerline goodness [0,1] 0.9987504462691896 Centerline is valid? [True, True] Translation: X:169.06, Y:312.57, Z:-20.84 [[ 9.08992273e-01 3.77578050e-01 1.76544224e-01 1.69057769e+02] [-3.73139381e-01 9.25896891e-01 -5.90080373e-02 3.12569324e+02] [-1.85741887e-01 -1.22377524e-02 9.82522360e-01 -2.08376916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters Centerline goodness [0,1] 0.9990612637178427 Centerline is valid? [True, True] Translation: X:169.08, Y:312.56, Z:-20.85 [[ 9.11109841e-01 3.74588250e-01 1.71937488e-01 1.69083666e+02] [-3.70328797e-01 9.27122103e-01 -5.74559683e-02 3.12557854e+02] [-1.80929376e-01 -1.13247048e-02 9.83430888e-01 -2.08485144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.786875 meters Centerline goodness [0,1] 0.9990612637178427 Centerline is valid? [True, True] Translation: X:169.11, Y:312.55, Z:-20.85 [[ 9.11208893e-01 3.74346526e-01 1.71939037e-01 1.69109275e+02] [-3.70083695e-01 9.27220256e-01 -5.74513326e-02 3.12549385e+02] [-1.80932064e-01 -1.12816689e-02 9.83430888e-01 -2.08534227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters Centerline goodness [0,1] 0.9987275081484127 Centerline is valid? [True, True] Translation: X:169.13, Y:312.54, Z:-20.86 [[ 9.12750644e-01 3.71692726e-01 1.69501563e-01 1.69134982e+02] [-3.67514231e-01 9.28294787e-01 -5.65869091e-02 3.12536964e+02] [-1.78380359e-01 -1.06444987e-02 9.83904031e-01 -2.08624034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.846875 meters Centerline goodness [0,1] 0.998730144585292 Centerline is valid? [True, True] Translation: X:169.16, Y:312.52, Z:-20.87 [[ 9.15232696e-01 3.66984218e-01 1.66348118e-01 1.69159712e+02] [-3.62884467e-01 9.30178206e-01 -5.55280865e-02 3.12524861e+02] [-1.75111325e-01 -9.54402773e-03 9.84502380e-01 -2.08723389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters Centerline goodness [0,1] 0.9987496092528916 Centerline is valid? [True, True] Translation: X:169.19, Y:312.51, Z:-20.88 [[ 9.15869512e-01 3.65390114e-01 1.66352343e-01 1.69186342e+02] [-3.61265409e-01 9.30808559e-01 -5.55223424e-02 3.12514286e+02] [-1.75129500e-01 -9.24612667e-03 9.84501990e-01 -2.08775298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.906875 meters Centerline goodness [0,1] 0.9989310767175148 Centerline is valid? [True, True] Translation: X:169.21, Y:312.51, Z:-20.88 [[ 9.16000647e-01 3.65059613e-01 1.66355928e-01 1.69214927e+02] [-3.60936603e-01 9.30938472e-01 -5.54826994e-02 3.12513960e+02] [-1.75121626e-01 -9.22175506e-03 9.84503619e-01 -2.08809913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters Centerline goodness [0,1] 0.9990856989942689 Centerline is valid? [True, True] Translation: X:169.24, Y:312.50, Z:-20.88 [[ 9.16320922e-01 3.63712229e-01 1.67539198e-01 1.69241466e+02] [-3.59510529e-01 9.31467450e-01 -5.58620529e-02 3.12501659e+02] [-1.76375021e-01 -9.04453789e-03 9.84281488e-01 -2.08835730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.966875 meters Centerline goodness [0,1] 0.9992860170909659 Centerline is valid? [True, True] Translation: X:169.27, Y:312.49, Z:-20.89 [[ 9.16929642e-01 3.61701110e-01 1.68559602e-01 1.69268996e+02] [-3.57421442e-01 9.32253046e-01 -5.61620126e-02 3.12491134e+02] [-1.77454064e-01 -8.75020178e-03 9.84090183e-01 -2.08853647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters Centerline goodness [0,1] 0.9991510087356733 Centerline is valid? [True, True] Translation: X:169.30, Y:312.48, Z:-20.89 [[ 9.16843706e-01 3.61809172e-01 1.68794970e-01 1.69295601e+02] [-3.57520998e-01 9.32210712e-01 -5.62309914e-02 3.12481006e+02] [-1.77697367e-01 -8.79271555e-03 9.84045900e-01 -2.08906494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.026875 meters Centerline goodness [0,1] 0.9987535335099161 Centerline is valid? [True, True] Translation: X:169.32, Y:312.48, Z:-20.90 [[ 9.17024513e-01 3.61311276e-01 1.68879258e-01 1.69322529e+02] [-3.57018585e-01 9.32404266e-01 -5.62140157e-02 3.12476452e+02] [-1.77774499e-01 -8.74340340e-03 9.84032408e-01 -2.08957434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters Centerline goodness [0,1] 0.9991301632616647 Centerline is valid? [True, True] Translation: X:169.35, Y:312.47, Z:-20.90 [[ 9.18149459e-01 3.57710355e-01 1.70425562e-01 1.69349657e+02] [-3.53281215e-01 9.33797068e-01 -5.67046645e-02 3.12465992e+02] [-1.79426736e-01 -8.14479265e-03 9.83737622e-01 -2.09006771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.086875 meters Centerline goodness [0,1] 0.9990194549060682 Centerline is valid? [True, True] Translation: X:169.38, Y:312.45, Z:-20.90 [[ 9.19145119e-01 3.54473841e-01 1.71815441e-01 1.69376437e+02] [-3.49916885e-01 9.35035192e-01 -5.71608613e-02 3.12450650e+02] [-1.80915514e-01 -7.58199731e-03 9.83469415e-01 -2.09041359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters Centerline goodness [0,1] 0.9993537892461617 Centerline is valid? [True, True] Translation: X:169.40, Y:312.44, Z:-20.90 [[ 9.19266905e-01 3.52599162e-01 1.74991963e-01 1.69404637e+02] [-3.47839289e-01 9.35745508e-01 -5.82080189e-02 3.12443062e+02] [-1.84272042e-01 -7.36037476e-03 9.82847719e-01 -2.09032954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.146875 meters Centerline goodness [0,1] 0.9992370180871595 Centerline is valid? [True, True] Translation: X:169.43, Y:312.44, Z:-20.91 [[ 9.18881705e-01 3.52926322e-01 1.76350287e-01 1.69433935e+02] [-3.48106517e-01 9.35620817e-01 -5.86134833e-02 3.12442916e+02] [-1.85683241e-01 -7.52982666e-03 9.82580804e-01 -2.09066926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters Centerline goodness [0,1] 0.9989282365024784 Centerline is valid? [True, True] Translation: X:169.46, Y:312.43, Z:-20.91 [[ 9.18762349e-01 3.52514510e-01 1.77789949e-01 1.69459251e+02] [-3.47611085e-01 9.35776074e-01 -5.90734604e-02 3.12430359e+02] [-1.87195832e-01 -7.52728560e-03 9.82293775e-01 -2.09106050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.206875 meters Centerline goodness [0,1] 0.9990401142933678 Centerline is valid? [True, True] Translation: X:169.49, Y:312.42, Z:-20.92 [[ 9.19035187e-01 3.51340156e-01 1.78702040e-01 1.69485358e+02] [-3.46373910e-01 9.36218824e-01 -5.93247639e-02 3.12420151e+02] [-1.88147386e-01 -7.37617898e-03 9.82113106e-01 -2.09159300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters Centerline goodness [0,1] 0.9989509396901924 Centerline is valid? [True, True] Translation: X:169.51, Y:312.41, Z:-20.92 [[ 9.19753333e-01 3.49569015e-01 1.78480559e-01 1.69511065e+02] [-3.44590457e-01 9.36884121e-01 -5.92077833e-02 3.12407821e+02] [-1.87912808e-01 -7.04614141e-03 9.82160439e-01 -2.09228950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.266875 meters Centerline goodness [0,1] 0.9989294078287052 Centerline is valid? [True, True] Translation: X:169.54, Y:312.40, Z:-20.93 [[ 9.20511571e-01 3.47709189e-01 1.78204287e-01 1.69537152e+02] [-3.42714362e-01 9.37578712e-01 -5.91018214e-02 3.12397199e+02] [-1.87630793e-01 -6.66925816e-03 9.82216986e-01 -2.09297391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters Centerline goodness [0,1] 0.9991298139140524 Centerline is valid? [True, True] Translation: X:169.56, Y:312.38, Z:-20.94 [[ 9.21488575e-01 3.45459055e-01 1.77529848e-01 1.69561670e+02] [-3.40468925e-01 9.38413164e-01 -5.88357374e-02 3.12381127e+02] [-1.86921685e-01 -6.22693666e-03 9.82355083e-01 -2.09356994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.326875 meters Centerline goodness [0,1] 0.9990876521506932 Centerline is valid? [True, True] Translation: X:169.59, Y:312.37, Z:-20.94 [[ 9.23567176e-01 3.42069320e-01 1.73240444e-01 1.69587753e+02] [-3.37262256e-01 9.39659126e-01 -5.74011949e-02 3.12372657e+02] [-1.82422152e-01 -5.41360357e-03 9.83205396e-01 -2.09444559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters Centerline goodness [0,1] 0.9993736158027785 Centerline is valid? [True, True] Translation: X:169.61, Y:312.36, Z:-20.95 [[ 9.24475540e-01 3.40684878e-01 1.71110459e-01 1.69613291e+02] [-3.35973836e-01 9.40163811e-01 -5.66885291e-02 3.12360939e+02] [-1.80184786e-01 -5.08147878e-03 9.83619653e-01 -2.09529107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.386875 meters Centerline goodness [0,1] 0.9991984681836399 Centerline is valid? [True, True] Translation: X:169.64, Y:312.35, Z:-20.96 [[ 9.24911735e-01 3.40056544e-01 1.69999499e-01 1.69638584e+02] [-3.35404567e-01 9.40391864e-01 -5.62753848e-02 3.12351956e+02] [-1.79002959e-01 -4.96884458e-03 9.83835988e-01 -2.09582820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters Centerline goodness [0,1] 0.9991300856531049 Centerline is valid? [True, True] Translation: X:169.67, Y:312.35, Z:-20.96 [[ 9.24243208e-01 3.41711304e-01 1.70316992e-01 1.69666589e+02] [-3.37072588e-01 9.39789943e-01 -5.63642912e-02 3.12345059e+02] [-1.79322511e-01 -5.31487583e-03 9.83775985e-01 -2.09628366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.446875 meters Centerline goodness [0,1] 0.999288367024707 Centerline is valid? [True, True] Translation: X:169.70, Y:312.34, Z:-20.96 [[ 9.22146072e-01 3.45796839e-01 1.73410401e-01 1.69696934e+02] [-3.41066693e-01 9.38288487e-01 -5.73430537e-02 3.12340808e+02] [-1.82538030e-01 -6.26584030e-03 9.83178828e-01 -2.09633390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters Centerline goodness [0,1] 0.9992179819465546 Centerline is valid? [True, True] Translation: X:169.72, Y:312.33, Z:-20.97 [[ 9.21450342e-01 3.47006194e-01 1.74688204e-01 1.69724690e+02] [-3.42228758e-01 9.37839871e-01 -5.77568393e-02 3.12333812e+02] [-1.83871543e-01 -6.56326772e-03 9.82928369e-01 -2.09659907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.506875 meters Centerline goodness [0,1] 0.999306410112988 Centerline is valid? [True, True] Translation: X:169.75, Y:312.33, Z:-20.97 [[ 9.20632489e-01 3.49357918e-01 1.74312553e-01 1.69753278e+02] [-3.44651024e-01 9.36962761e-01 -5.75886750e-02 3.12327665e+02] [-1.83443430e-01 -7.05899473e-03 9.83004923e-01 -2.09708440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters Centerline goodness [0,1] 0.9992840202264286 Centerline is valid? [True, True] Translation: X:169.78, Y:312.32, Z:-20.98 [[ 9.20395504e-01 3.49209575e-01 1.75854453e-01 1.69779391e+02] [-3.44417326e-01 9.37017739e-01 -5.80901284e-02 3.12316049e+02] [-1.85064371e-01 -7.10142753e-03 9.82700742e-01 -2.09751107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.566875 meters Centerline goodness [0,1] 0.99890907471725 Centerline is valid? [True, True] Translation: X:169.81, Y:312.31, Z:-20.98 [[ 9.20458765e-01 3.48760880e-01 1.76412899e-01 1.69805629e+02] [-3.43938836e-01 9.37184999e-01 -5.82267430e-02 3.12306804e+02] [-1.85638733e-01 -7.07993137e-03 9.82592558e-01 -2.09802798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters Centerline goodness [0,1] 0.9988593411017423 Centerline is valid? [True, True] Translation: X:169.83, Y:312.30, Z:-20.99 [[ 9.20230884e-01 3.49920747e-01 1.75301431e-01 1.69832044e+02] [-3.45190441e-01 9.36750733e-01 -5.78067838e-02 3.12299030e+02] [-1.84441536e-01 -7.31679028e-03 9.82816251e-01 -2.09883497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.626875 meters Centerline goodness [0,1] 0.9991296002856697 Centerline is valid? [True, True] Translation: X:169.86, Y:312.29, Z:-20.99 [[ 9.19645671e-01 3.50646490e-01 1.76914892e-01 1.69857648e+02] [-3.45850287e-01 9.36477236e-01 -5.82920783e-02 3.12290313e+02] [-1.86116682e-01 -7.57800863e-03 9.82498425e-01 -2.09922658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters Centerline goodness [0,1] 0.999243452526646 Centerline is valid? [True, True] Translation: X:169.89, Y:312.28, Z:-21.00 [[ 9.18404765e-01 3.53259730e-01 1.78157940e-01 1.69886571e+02] [-3.48447802e-01 9.35489481e-01 -5.86818610e-02 3.12283182e+02] [-1.87394817e-01 -8.18504185e-03 9.82250573e-01 -2.09957879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.686875 meters Centerline goodness [0,1] 0.9991952969577754 Centerline is valid? [True, True] Translation: X:169.92, Y:312.28, Z:-21.00 [[ 9.15381345e-01 3.60388386e-01 1.79435793e-01 1.69915801e+02] [-3.55642986e-01 9.32751702e-01 -5.90959351e-02 3.12280304e+02] [-1.88666530e-01 -9.71976467e-03 9.81993109e-01 -2.09995874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters Centerline goodness [0,1] 0.999126833090787 Centerline is valid? [True, True] Translation: X:169.94, Y:312.27, Z:-21.01 [[ 9.13952843e-01 3.63723254e-01 1.79987766e-01 1.69943737e+02] [-3.59013557e-01 9.31448467e-01 -5.92707336e-02 3.12270483e+02] [-1.89207473e-01 -1.04473925e-02 9.81881553e-01 -2.10051440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.746875 meters Centerline goodness [0,1] 0.9990360041250056 Centerline is valid? [True, True] Translation: X:169.97, Y:312.26, Z:-21.01 [[ 9.12504487e-01 3.67136168e-01 1.80406750e-01 1.69971273e+02] [-3.62471044e-01 9.30099947e-01 -5.94039652e-02 3.12261074e+02] [-1.89605653e-01 -1.11858384e-02 9.81796605e-01 -2.10113129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters Centerline goodness [0,1] 0.998789807489747 Centerline is valid? [True, True] Translation: X:170.00, Y:312.26, Z:-21.02 [[ 9.11071929e-01 3.70174882e-01 1.81434555e-01 1.70000293e+02] [-3.65516854e-01 9.28885940e-01 -5.97355761e-02 3.12257783e+02] [-1.90644617e-01 -1.18939814e-02 9.81587063e-01 -2.10158743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.806875 meters Centerline goodness [0,1] 0.9988606407220411 Centerline is valid? [True, True] Translation: X:170.03, Y:312.24, Z:-21.02 [[ 9.11449182e-01 3.68945861e-01 1.82042139e-01 1.70025652e+02] [-3.64234095e-01 9.29377416e-01 -5.99261441e-02 3.12243965e+02] [-1.91295355e-01 -1.16863186e-02 9.81462947e-01 -2.10211923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters Centerline goodness [0,1] 0.9993070922461387 Centerline is valid? [True, True] Translation: X:170.05, Y:312.23, Z:-21.03 [[ 9.12085348e-01 3.68030582e-01 1.80703646e-01 1.70051425e+02] [-3.63379180e-01 9.29743194e-01 -5.94404322e-02 3.12232115e+02] [-1.89883882e-01 -1.14491955e-02 9.81739796e-01 -2.10263732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.866875 meters Centerline goodness [0,1] 0.9989932435455725 Centerline is valid? [True, True] Translation: X:170.08, Y:312.22, Z:-21.03 [[ 9.12653994e-01 3.67488904e-01 1.78926222e-01 1.70077776e+02] [-3.62921664e-01 9.29960039e-01 -5.88403918e-02 3.12223079e+02] [-1.88017427e-01 -1.12352837e-02 9.82101428e-01 -2.10328684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters Centerline goodness [0,1] 0.9991520885398072 Centerline is valid? [True, True] Translation: X:170.10, Y:312.21, Z:-21.05 [[ 9.14702383e-01 3.65140003e-01 1.73182932e-01 1.70103143e+02] [-3.60829215e-01 9.30894118e-01 -5.69070997e-02 3.12211769e+02] [-1.81994031e-01 -1.04364015e-02 9.83244250e-01 -2.10451826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.926875 meters Centerline goodness [0,1] 0.999220038329545 Centerline is valid? [True, True] Translation: X:170.13, Y:312.20, Z:-21.05 [[ 9.15973654e-01 3.62738781e-01 1.71501724e-01 1.70129656e+02] [-3.58471240e-01 9.31838644e-01 -5.63481364e-02 3.12203192e+02] [-1.80251588e-01 -9.86502715e-03 9.83571068e-01 -2.10518527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters Centerline goodness [0,1] 0.9988192572459732 Centerline is valid? [True, True] Translation: X:170.16, Y:312.19, Z:-21.06 [[ 9.17188216e-01 3.59843276e-01 1.71109884e-01 1.70156219e+02] [-3.55547198e-01 9.32966585e-01 -5.62097986e-02 3.12189939e+02] [-1.79866522e-01 -9.28267481e-03 9.83647226e-01 -2.10561254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.986875 meters Centerline goodness [0,1] 0.9994443209602134 Centerline is valid? [True, True] Translation: X:170.19, Y:312.18, Z:-21.06 [[ 9.19803918e-01 3.53111042e-01 1.71094549e-01 1.70185421e+02] [-3.48701427e-01 9.35547475e-01 -5.61981930e-02 3.12183474e+02] [-1.79911276e-01 -7.96959523e-03 9.83650557e-01 -2.10563051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters Centerline goodness [0,1] 0.9989543937708565 Centerline is valid? [True, True] Translation: X:170.21, Y:312.17, Z:-21.06 [[ 9.21729797e-01 3.48100201e-01 1.70998336e-01 1.70212825e+02] [-3.43611076e-01 9.37431260e-01 -5.61610280e-02 3.12170836e+02] [-1.79848851e-01 -6.99162922e-03 9.83669410e-01 -2.10606849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.046875 meters Centerline goodness [0,1] 0.9988002132954141 Centerline is valid? [True, True] Translation: X:170.24, Y:312.16, Z:-21.07 [[ 9.23373118e-01 3.44021776e-01 1.70385160e-01 1.70240129e+02] [-3.39497279e-01 9.38941335e-01 -5.59532568e-02 3.12158946e+02] [-1.79230809e-01 -6.17956516e-03 9.83787645e-01 -2.10669175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters Centerline goodness [0,1] 0.9987338679224328 Centerline is valid? [True, True] Translation: X:170.27, Y:312.15, Z:-21.08 [[ 9.24651811e-01 3.40623577e-01 1.70278028e-01 1.70266849e+02] [-3.36048237e-01 9.40183551e-01 -5.59148702e-02 3.12148158e+02] [-1.79138524e-01 -5.51984498e-03 9.83808376e-01 -2.10754252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1068750000001 meters Centerline goodness [0,1] 0.9989973485439273 Centerline is valid? [True, True] Translation: X:170.29, Y:312.14, Z:-21.08 [[ 9.24367014e-01 3.40978008e-01 1.71112891e-01 1.70294068e+02] [-3.36364600e-01 9.40054456e-01 -5.61825269e-02 3.12143477e+02] [-1.80012442e-01 -5.62304460e-03 9.83648261e-01 -2.10787484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters Centerline goodness [0,1] 0.998840553858503 Centerline is valid? [True, True] Translation: X:170.32, Y:312.14, Z:-21.08 [[ 9.24141830e-01 3.39851517e-01 1.74536027e-01 1.70321647e+02] [-3.35033733e-01 9.40462834e-01 -5.72892241e-02 3.12135536e+02] [-1.83614476e-01 -5.53208815e-03 9.82982767e-01 -2.10800239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.166875 meters Centerline goodness [0,1] 0.9982640820777602 Centerline is valid? [True, True] Translation: X:170.35, Y:312.13, Z:-21.07 [[ 9.23771360e-01 3.38315703e-01 1.79412818e-01 1.70350203e+02] [-3.33203241e-01 9.41017042e-01 -5.88432353e-02 3.12127415e+02] [-1.88738110e-01 -5.42323702e-03 9.82012482e-01 -2.10739031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters Centerline goodness [0,1] 0.9986869631014377 Centerline is valid? [True, True] Translation: X:170.38, Y:312.12, Z:-21.08 [[ 9.23918754e-01 3.38254949e-01 1.78767240e-01 1.70376363e+02] [-3.33188379e-01 9.41038781e-01 -5.85791508e-02 3.12119435e+02] [-1.88041593e-01 -5.44079101e-03 9.82145996e-01 -2.10777035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.226875 meters Centerline goodness [0,1] 0.998683711487406 Centerline is valid? [True, True] Translation: X:170.40, Y:312.11, Z:-21.08 [[ 9.23862271e-01 3.39900889e-01 1.75914440e-01 1.70402976e+02] [-3.35034919e-01 9.40443813e-01 -5.75937238e-02 3.12113625e+02] [-1.85013804e-01 -5.72881159e-03 9.82719224e-01 -2.10844412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters Centerline goodness [0,1] 0.9987117981520967 Centerline is valid? [True, True] Translation: X:170.43, Y:312.11, Z:-21.09 [[ 9.23467801e-01 3.41547745e-01 1.74792331e-01 1.70428346e+02] [-3.36776291e-01 9.39845055e-01 -5.72101620e-02 3.12105301e+02] [-1.83817710e-01 -6.03417056e-03 9.82941829e-01 -2.10902784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.286875 meters Centerline goodness [0,1] 0.9987949118500334 Centerline is valid? [True, True] Translation: X:170.45, Y:312.09, Z:-21.09 [[ 9.23333152e-01 3.41594385e-01 1.75411423e-01 1.70454560e+02] [-3.36793442e-01 9.39827778e-01 -5.73927371e-02 3.12093752e+02] [-1.84461565e-01 -6.08480015e-03 9.82820892e-01 -2.10943795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters Centerline goodness [0,1] 0.9983936818151395 Centerline is valid? [True, True] Translation: X:170.48, Y:312.09, Z:-21.10 [[ 9.23213016e-01 3.42357064e-01 1.74554770e-01 1.70481818e+02] [-3.37625342e-01 9.39549136e-01 -5.70661745e-02 3.12085769e+02] [-1.83539791e-01 -6.24987894e-03 9.82992413e-01 -2.10987716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.346875 meters Centerline goodness [0,1] 0.9983928571428572 Centerline is valid? [True, True] Translation: X:170.51, Y:312.08, Z:-21.11 [[ 9.24531857e-01 3.42782138e-01 1.66557050e-01 1.70506014e+02] [-3.38491040e-01 9.39395282e-01 -5.44088201e-02 3.12076401e+02] [-1.75113278e-01 -6.07538149e-03 9.84529547e-01 -2.11121513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters Centerline goodness [0,1] 0.9987077224722606 Centerline is valid? [True, True] Translation: X:170.53, Y:312.06, Z:-21.12 [[ 9.25448695e-01 3.42055348e-01 1.62919772e-01 1.70530017e+02] [-3.37941854e-01 9.39661802e-01 -5.32071502e-02 3.12064718e+02] [-1.71289276e-01 -5.81692199e-03 9.85203607e-01 -2.11210709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.406875 meters Centerline goodness [0,1] 0.9985597482883163 Centerline is valid? [True, True] Translation: X:170.56, Y:312.05, Z:-21.13 [[ 9.25794775e-01 3.41443241e-01 1.62236087e-01 1.70555323e+02] [-3.37363651e-01 9.39884952e-01 -5.29343269e-02 3.12054850e+02] [-1.70557325e-01 -5.72623555e-03 9.85331116e-01 -2.11274121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters Centerline goodness [0,1] 0.9985772719189046 Centerline is valid? [True, True] Translation: X:170.58, Y:312.04, Z:-21.13 [[ 9.25810549e-01 3.41620966e-01 1.61771268e-01 1.70581911e+02] [-3.37569854e-01 9.39820195e-01 -5.27692641e-02 3.12043474e+02] [-1.70062991e-01 -5.75476195e-03 9.85416390e-01 -2.11311799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.466875 meters Centerline goodness [0,1] 0.9990389343346296 Centerline is valid? [True, True] Translation: X:170.61, Y:312.04, Z:-21.13 [[ 9.24767989e-01 3.45197612e-01 1.60133620e-01 1.70610931e+02] [-3.41289091e-01 9.38508293e-01 -5.21913840e-02 3.12039506e+02] [-1.68303071e-01 -6.38693637e-03 9.85714605e-01 -2.11327015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters Centerline goodness [0,1] 0.9991937470605362 Centerline is valid? [True, True] Translation: X:170.64, Y:312.03, Z:-21.14 [[ 9.23832811e-01 3.48402985e-01 1.58582150e-01 1.70640126e+02] [-3.44618554e-01 9.37319375e-01 -5.16763130e-02 3.12034348e+02] [-1.66646304e-01 -6.91007779e-03 9.85992525e-01 -2.11366675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.526875 meters Centerline goodness [0,1] 0.9992590430428633 Centerline is valid? [True, True] Translation: X:170.67, Y:312.03, Z:-21.14 [[ 9.22598701e-01 3.51838076e-01 1.58182192e-01 1.70669990e+02] [-3.48123752e-01 9.36030702e-01 -5.15400579e-02 3.12029601e+02] [-1.66197143e-01 -7.51618762e-03 9.86063901e-01 -2.11391074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters Centerline goodness [0,1] 0.9990732368896926 Centerline is valid? [True, True] Translation: X:170.70, Y:312.02, Z:-21.14 [[ 9.19665856e-01 3.59285845e-01 1.58519386e-01 1.70699983e+02] [-3.55665607e-01 9.33185277e-01 -5.16450758e-02 3.12024167e+02] [-1.66483302e-01 -8.88368098e-03 9.86004255e-01 -2.11395568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.586875 meters Centerline goodness [0,1] 0.9992087176704648 Centerline is valid? [True, True] Translation: X:170.73, Y:312.02, Z:-21.14 [[ 9.18405953e-01 3.62671924e-01 1.58112562e-01 1.70727959e+02] [-3.59120817e-01 9.31868693e-01 -5.15070737e-02 3.12017358e+02] [-1.66020316e-01 -9.47710927e-03 9.86076792e-01 -2.11446167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters Centerline goodness [0,1] 0.9987113984717638 Centerline is valid? [True, True] Translation: X:170.75, Y:312.01, Z:-21.15 [[ 9.18267220e-01 3.63306706e-01 1.57459680e-01 1.70754478e+02] [-3.59794992e-01 9.31620593e-01 -5.12897109e-02 3.12006737e+02] [-1.65326577e-01 -9.55554427e-03 9.86192585e-01 -2.11499025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.646875 meters Centerline goodness [0,1] 0.9989623279945861 Centerline is valid? [True, True] Translation: X:170.78, Y:312.00, Z:-21.15 [[ 9.17698155e-01 3.65112289e-01 1.56598575e-01 1.70781660e+02] [-3.61672102e-01 9.30911216e-01 -5.09666485e-02 3.11995984e+02] [-1.64387919e-01 -9.86533634e-03 9.86346434e-01 -2.11536568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters Centerline goodness [0,1] 0.9990313788209852 Centerline is valid? [True, True] Translation: X:170.81, Y:311.99, Z:-21.16 [[ 9.16622108e-01 3.67979051e-01 1.56190042e-01 1.70810480e+02] [-3.64600127e-01 9.29776325e-01 -5.08206041e-02 3.11988619e+02] [-1.63922721e-01 -1.03636200e-02 9.86418743e-01 -2.11589439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.706875 meters Centerline goodness [0,1] 0.9990313788209852 Centerline is valid? [True, True] Translation: X:170.84, Y:311.98, Z:-21.16 [[ 9.16718759e-01 3.67738069e-01 1.56190367e-01 1.70836161e+02] [-3.64355856e-01 9.29872130e-01 -5.08196080e-02 3.11980353e+02] [-1.63925374e-01 -1.03215869e-02 9.86418743e-01 -2.11638535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters Centerline goodness [0,1] 0.9987534845772046 Centerline is valid? [True, True] Translation: X:170.86, Y:311.97, Z:-21.17 [[ 9.15184751e-01 3.71873356e-01 1.55393305e-01 1.70863342e+02] [-3.68592643e-01 9.28217704e-01 -5.05109679e-02 3.11968921e+02] [-1.63022500e-01 -1.10499616e-02 9.86560471e-01 -2.11670748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.766875 meters Centerline goodness [0,1] 0.9986388075954536 Centerline is valid? [True, True] Translation: X:170.89, Y:311.97, Z:-21.17 [[ 9.10804471e-01 3.81712591e-01 1.57260018e-01 1.70892797e+02] [-3.78497637e-01 9.24190053e-01 -5.11105121e-02 3.11966424e+02] [-1.64847671e-01 -1.29708625e-02 9.86233746e-01 -2.11710791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters Centerline goodness [0,1] 0.9986419194205522 Centerline is valid? [True, True] Translation: X:170.92, Y:311.95, Z:-21.17 [[ 9.08648969e-01 3.86194299e-01 1.58779765e-01 1.70919507e+02] [-3.82985400e-01 9.22312308e-01 -5.15964130e-02 3.11953747e+02] [-1.66370772e-01 -1.39273043e-02 9.85964906e-01 -2.11744333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.826875 meters Centerline goodness [0,1] 0.9986214066172482 Centerline is valid? [True, True] Translation: X:170.95, Y:311.94, Z:-21.18 [[ 9.07113009e-01 3.89304419e-01 1.59962679e-01 1.70947281e+02] [-3.86096183e-01 9.20993199e-01 -5.19736995e-02 3.11944297e+02] [-1.67558130e-01 -1.46149606e-02 9.85753862e-01 -2.11775396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters Centerline goodness [0,1] 0.9971837332432127 Centerline is valid? [True, True] Translation: X:170.98, Y:311.94, Z:-21.18 [[ 9.06104899e-01 3.91001710e-01 1.61528866e-01 1.70975786e+02] [-3.87757534e-01 9.20266349e-01 -5.24780175e-02 3.11940628e+02] [-1.69168575e-01 -1.50834460e-02 9.85471706e-01 -2.11820388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.886875 meters Centerline goodness [0,1] 0.9974927805511405 Centerline is valid? [True, True] Translation: X:171.00, Y:311.92, Z:-21.19 [[ 9.05754358e-01 3.90700989e-01 1.64200424e-01 1.71000814e+02] [-3.87345036e-01 9.20390630e-01 -5.33377132e-02 3.11924412e+02] [-1.71967629e-01 -1.52913527e-02 9.84983913e-01 -2.11857975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters Centerline goodness [0,1] 0.9975108898568762 Centerline is valid? [True, True] Translation: X:171.03, Y:311.91, Z:-21.19 [[ 9.06030169e-01 3.89967713e-01 1.64421764e-01 1.71026835e+02] [-3.86598384e-01 9.20702844e-01 -5.33663128e-02 3.11911519e+02] [-1.72194725e-01 -1.52136987e-02 9.84945440e-01 -2.11915806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.946875 meters Centerline goodness [0,1] 0.9958177611674676 Centerline is valid? [True, True] Translation: X:171.05, Y:311.90, Z:-21.20 [[ 9.06162782e-01 3.89794979e-01 1.64100234e-01 1.71051891e+02] [-3.86443165e-01 9.20776405e-01 -5.32211650e-02 3.11904260e+02] [-1.71844966e-01 -1.51883748e-02 9.85006914e-01 -2.11966836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters Centerline goodness [0,1] 0.9906284699089496 Centerline is valid? [True, True] Translation: X:171.08, Y:311.90, Z:-21.20 [[ 9.04514770e-01 3.93152662e-01 1.65178740e-01 1.71078645e+02] [-3.89815417e-01 9.19334797e-01 -5.35487795e-02 3.11895405e+02] [-1.72907409e-01 -1.59535577e-02 9.84808871e-01 -2.12011421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.006875 meters Centerline goodness [0,1] 0.9824161726975139 Centerline is valid? [True, True] Translation: X:171.11, Y:311.89, Z:-21.21 [[ 9.03278031e-01 3.95344557e-01 1.66707766e-01 1.71106148e+02] [-3.91983277e-01 9.18384020e-01 -5.40361170e-02 3.11885065e+02] [-1.74464633e-01 -1.65370192e-02 9.84524565e-01 -2.12067521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters Centerline goodness [0,1] 0.9946065428824049 Centerline is valid? [True, True] Translation: X:171.13, Y:311.87, Z:-21.21 [[ 9.01967831e-01 3.97701371e-01 1.68189333e-01 1.71130555e+02] [-3.94321133e-01 9.17354557e-01 -5.45111137e-02 3.11865004e+02] [-1.75968396e-01 -1.71533375e-02 9.84246355e-01 -2.12131855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.066875 meters Centerline goodness [0,1] 0.9875500417931459 Centerline is valid? [True, True] Translation: X:171.16, Y:311.85, Z:-21.22 [[ 8.99939072e-01 4.01256338e-01 1.70596066e-01 1.71157200e+02] [-3.97842600e-01 9.15786576e-01 -5.52830297e-02 3.11851587e+02] [-1.78412253e-01 -1.81190238e-02 9.83788986e-01 -2.12196646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters Centerline goodness [0,1] 0.9872259965261746 Centerline is valid? [True, True] Translation: X:171.18, Y:311.84, Z:-21.22 [[ 8.99350715e-01 4.01989708e-01 1.71966758e-01 1.71184403e+02] [-3.98534724e-01 9.15458892e-01 -5.57233524e-02 3.11840468e+02] [-1.79828711e-01 -1.84198874e-02 9.83525466e-01 -2.12242198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.126875 meters Centerline goodness [0,1] 0.9595588235294118 Centerline is valid? [True, True] Translation: X:171.21, Y:311.84, Z:-21.23 [[ 8.98902921e-01 4.02413453e-01 1.73311718e-01 1.71212306e+02] [-3.98913172e-01 9.15267823e-01 -5.61524077e-02 3.11836274e+02] [-1.81223123e-01 -1.86607638e-02 9.83264947e-01 -2.12280613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters Centerline goodness [0,1] 0.9857127228968384 Centerline is valid? [True, True] Translation: X:171.24, Y:311.82, Z:-21.23 [[ 8.98670180e-01 4.02462745e-01 1.74400822e-01 1.71236044e+02] [-3.98922427e-01 9.15243132e-01 -5.64881168e-02 3.11817071e+02] [-1.82353517e-01 -1.88082130e-02 9.83053125e-01 -2.12337371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.186875 meters Centerline goodness [0,1] 0.9777889403337119 Centerline is valid? [True, True] Translation: X:171.26, Y:311.81, Z:-21.24 [[ 8.98099091e-01 4.03464587e-01 1.75026714e-01 1.71262458e+02] [-3.99925963e-01 9.14795368e-01 -5.66450222e-02 3.11807749e+02] [-1.82967888e-01 -1.91248842e-02 9.82932852e-01 -2.12397563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters Centerline goodness [0,1] 0.9682484222479418 Centerline is valid? [True, True] Translation: X:171.29, Y:311.80, Z:-21.25 [[ 8.97628547e-01 4.04655071e-01 1.74691911e-01 1.71288129e+02] [-4.01154660e-01 9.14264813e-01 -5.65224705e-02 3.11798896e+02] [-1.82586772e-01 -1.93422912e-02 9.82999464e-01 -2.12463181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.246875 meters Centerline goodness [0,1] 0.9626379847155392 Centerline is valid? [True, True] Translation: X:171.31, Y:311.79, Z:-21.25 [[ 8.97451635e-01 4.05628082e-01 1.73339035e-01 1.71314657e+02] [-4.02202210e-01 9.13832364e-01 -5.60695326e-02 3.11788667e+02] [-1.81146197e-01 -1.93976493e-02 9.83264861e-01 -2.12546420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters Centerline goodness [0,1] 0.9594250442439677 Centerline is valid? [True, True] Translation: X:171.34, Y:311.78, Z:-21.27 [[ 8.97388331e-01 4.07193221e-01 1.69964305e-01 1.71340981e+02] [-4.03927936e-01 9.13137629e-01 -5.49717534e-02 3.11778721e+02] [-1.77584928e-01 -1.93223208e-02 9.83915769e-01 -2.12671512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.306875 meters Centerline goodness [0,1] 0.9590504580169281 Centerline is valid? [True, True] Translation: X:171.37, Y:311.77, Z:-21.27 [[ 8.96522873e-01 4.08376532e-01 1.71683856e-01 1.71368293e+02] [-4.05067711e-01 9.12599462e-01 -5.55191140e-02 3.11768614e+02] [-1.79351297e-01 -1.97694308e-02 9.83586438e-01 -2.12725681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters Centerline goodness [0,1] 0.9228134079181302 Centerline is valid? [True, False] Translation: X:171.37, Y:311.77, Z:-21.27 [[ 8.96419160e-01 4.08491859e-01 1.71950837e-01 1.71367453e+02] [-4.05111901e-01 9.12553540e-01 -5.59498396e-02 3.11769483e+02] [-1.79769399e-01 -1.95048223e-02 9.83515391e-01 -2.12712521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.366875 meters Centerline goodness [0,1] 0.9481861916525809 Centerline is valid? [False, False] Translation: X:171.36, Y:311.77, Z:-21.27 [[ 8.94056919e-01 4.11451390e-01 1.77115722e-01 1.71355611e+02] [-4.07348390e-01 9.11255729e-01 -6.06653615e-02 3.11773030e+02] [-1.86358564e-01 -1.79095182e-02 9.82318551e-01 -2.12700382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters Centerline goodness [0,1] 0.912150995911977 Centerline is valid? [False, False] Translation: X:171.35, Y:311.77, Z:-21.27 [[ 8.94330404e-01 4.13913547e-01 1.69849060e-01 1.71345196e+02] [-4.09438088e-01 9.10210716e-01 -6.22647846e-02 3.11774837e+02] [-1.80370672e-01 -1.38573845e-02 9.83501090e-01 -2.12693767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.426875 meters Centerline goodness [0,1] 0.935521126146739 Centerline is valid? [False, False] Translation: X:171.34, Y:311.77, Z:-21.27 [[ 8.94081380e-01 4.13957265e-01 1.71049315e-01 1.71343841e+02] [-4.09690305e-01 9.10167223e-01 -6.12329910e-02 3.11772821e+02] [-1.81031322e-01 -1.53299691e-02 9.83357846e-01 -2.12715777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters Centerline goodness [0,1] 0.9321629304919599 Centerline is valid? [False, False] Translation: X:171.34, Y:311.77, Z:-21.27 [[ 8.94141573e-01 4.13656460e-01 1.71461890e-01 1.71342211e+02] [-4.09361206e-01 9.10304542e-01 -6.13925420e-02 3.11771836e+02] [-1.81477959e-01 -1.52962220e-02 9.83276043e-01 -2.12708859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.486875 meters Centerline goodness [0,1] 0.9539157478088776 Centerline is valid? [False, True] Translation: X:171.34, Y:311.77, Z:-21.27 [[ 8.94110458e-01 4.13434853e-01 1.72157225e-01 1.71340030e+02] [-4.09094991e-01 9.10405357e-01 -6.16715045e-02 3.11771492e+02] [-1.82230010e-01 -1.52875214e-02 9.83137079e-01 -2.12695070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters Centerline goodness [0,1] 0.924353564859894 Centerline is valid? [True, False] Translation: X:171.34, Y:311.77, Z:-21.27 [[ 8.94368356e-01 4.12677946e-01 1.72633009e-01 1.71338002e+02] [-4.08321289e-01 9.10748796e-01 -6.17280719e-02 3.11769109e+02] [-1.82699119e-01 -1.52820984e-02 9.83050095e-01 -2.12697724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.546875 meters Centerline goodness [0,1] 0.926687489154954 Centerline is valid? [False, False] Translation: X:171.32, Y:311.77, Z:-21.27 [[ 8.95119991e-01 4.11591243e-01 1.71326735e-01 1.71317024e+02] [-4.07227265e-01 9.11250435e-01 -6.15515889e-02 3.11773793e+02] [-1.81455657e-01 -1.46728603e-02 9.83289658e-01 -2.12699936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters Centerline goodness [0,1] 0.9766620438588888 Centerline is valid? [False, True] Translation: X:171.29, Y:311.78, Z:-21.27 [[ 8.95889661e-01 4.10234732e-01 1.70555507e-01 1.71294987e+02] [-4.05937726e-01 9.11863213e-01 -6.09921616e-02 3.11777526e+02] [-1.80544395e-01 -1.45926676e-02 9.83458578e-01 -2.12701522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6068750000001 meters Centerline goodness [0,1] 0.9382713381027514 Centerline is valid? [True, False] Translation: X:171.26, Y:311.78, Z:-21.27 [[ 8.98111802e-01 4.04099419e-01 1.73490207e-01 1.71264902e+02] [-4.00149290e-01 9.14563690e-01 -5.87690573e-02 3.11778656e+02] [-1.82416386e-01 -1.66407992e-02 9.83080539e-01 -2.12729965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters Centerline goodness [0,1] 0.9386966600841419 Centerline is valid? [False, False] Translation: X:171.26, Y:311.78, Z:-21.27 [[ 8.98875126e-01 4.02481351e-01 1.73298209e-01 1.71262937e+02] [-3.98228054e-01 9.15307278e-01 -6.02246156e-02 3.11777410e+02] [-1.82860397e-01 -1.48777995e-02 9.83026310e-01 -2.12721417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.666875 meters Centerline goodness [0,1] 0.9080839324527671 Centerline is valid? [False, False] Translation: X:171.26, Y:311.78, Z:-21.27 [[ 9.00620793e-01 3.99325373e-01 1.71526770e-01 1.71263524e+02] [-3.94171992e-01 9.16761082e-01 -6.46340432e-02 3.11779045e+02] [-1.83059080e-01 -9.40028533e-03 9.83056971e-01 -2.12717250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters Centerline goodness [0,1] 0.986024344689895 Centerline is valid? [False, True] Translation: X:171.21, Y:311.80, Z:-21.27 [[ 9.04701849e-01 3.90051614e-01 1.71389329e-01 1.71210935e+02] [-3.83929354e-01 9.20786544e-01 -6.89230859e-02 3.11795702e+02] [-1.84696549e-01 -3.44655109e-03 9.82789553e-01 -2.12661987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.726875 meters Centerline goodness [0,1] 0.9805399156515596 Centerline is valid? [True, True] Translation: X:171.23, Y:311.78, Z:-21.28 [[ 9.06238974e-01 3.84580760e-01 1.75580637e-01 1.71234915e+02] [-3.80432456e-01 9.22982781e-01 -5.80855659e-02 3.11779591e+02] [-1.84396496e-01 -1.41571693e-02 9.82749972e-01 -2.12768214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters Centerline goodness [0,1] 0.9601776557169523 Centerline is valid? [True, True] Translation: X:171.26, Y:311.77, Z:-21.28 [[ 9.07335220e-01 3.80728802e-01 1.78292957e-01 1.71262463e+02] [-3.76379135e-01 9.24586789e-01 -5.89747102e-02 3.11770953e+02] [-1.87300683e-01 -1.35959173e-02 9.82208534e-01 -2.12807134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.786875 meters Centerline goodness [0,1] 0.9868897410081189 Centerline is valid? [True, True] Translation: X:171.29, Y:311.75, Z:-21.29 [[ 9.08203253e-01 3.77326955e-01 1.81083461e-01 1.71285378e+02] [-3.72774190e-01 9.25987306e-01 -5.98908319e-02 3.11748852e+02] [-1.90279411e-01 -1.31101921e-02 9.81642434e-01 -2.12889938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters Centerline goodness [0,1] 0.9825257632977021 Centerline is valid? [True, True] Translation: X:171.31, Y:311.74, Z:-21.29 [[ 9.09445549e-01 3.72216528e-01 1.85374350e-01 1.71311944e+02] [-3.67341102e-01 9.28063834e-01 -6.13028091e-02 3.11737448e+02] [-1.94857149e-01 -1.23440512e-02 9.80753953e-01 -2.12912486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.846875 meters Centerline goodness [0,1] 0.9799931746438018 Centerline is valid? [True, True] Translation: X:171.34, Y:311.73, Z:-21.29 [[ 9.10099047e-01 3.69708213e-01 1.87177888e-01 1.71339143e+02] [-3.64686235e-01 9.29071266e-01 -6.18912968e-02 3.11729382e+02] [-1.96783318e-01 -1.19339892e-02 9.80374370e-01 -2.12937514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10432.46 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%| | 0/18862 [00:00